Fernon Eijkhoudt
/
ROBOBIRDS_FINAL
EMG driven robot which shoots elastic bands
Fork of RoboBirdV1 by
main.cpp@31:85d3b4db5e2b, 2015-10-20 (annotated)
- Committer:
- Fernon
- Date:
- Tue Oct 20 13:25:36 2015 +0000
- Revision:
- 31:85d3b4db5e2b
- Parent:
- 30:37e778f27fce
- Child:
- 32:c2c80a2ca83d
Hopelijk werkend met EMG en kalibratie
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Fernon | 0:5a5f417fa1b2 | 1 | #include "mbed.h" |
Fernon | 16:b0ec8e6a8ad4 | 2 | #include "QEI.h" |
Fernon | 8:a2b725b502d8 | 3 | #include "math.h" |
yc238 | 12:dcf90cafb2a5 | 4 | #include "HIDScope.h" |
Fernon | 0:5a5f417fa1b2 | 5 | |
Fernon | 25:230bd4e1f3ef | 6 | |
Fernon | 25:230bd4e1f3ef | 7 | |
Fernon | 25:230bd4e1f3ef | 8 | // Motor 1 & 2 |
Fernon | 22:2e1713475f5f | 9 | DigitalOut Direction(D4); //1 = CCW - 0 = CW, moet nog omgezet worden naar up en down |
Fernon | 22:2e1713475f5f | 10 | PwmOut PowerMotor(D5); //van 0 tot 1 |
Fernon | 25:230bd4e1f3ef | 11 | QEI Encoder(D10,D11,NC,32,QEI::X2_ENCODING); //Encoder |
Fernon | 28:b7d01a55530f | 12 | DigitalOut Direction2(D7); |
Fernon | 28:b7d01a55530f | 13 | PwmOut PowerMotor2(D6); |
Fernon | 29:7653adbbb101 | 14 | QEI Encoder2(D12,D13,NC,32,QEI::X2_ENCODING); |
Fernon | 23:c97e206cf2a7 | 15 | PwmOut PowerServo(D3); |
Fernon | 25:230bd4e1f3ef | 16 | |
Fernon | 25:230bd4e1f3ef | 17 | // Buttons & EMG (PotMeter) |
Fernon | 22:2e1713475f5f | 18 | DigitalIn Button(PTC6); |
Fernon | 23:c97e206cf2a7 | 19 | DigitalIn Button2(PTA4); |
Fernon | 31:85d3b4db5e2b | 20 | AnalogIn EMG(A0); |
Fernon | 31:85d3b4db5e2b | 21 | AnalogIn EMG2(A1); |
Fernon | 25:230bd4e1f3ef | 22 | |
Fernon | 25:230bd4e1f3ef | 23 | // Tickers & timers |
Fernon | 31:85d3b4db5e2b | 24 | |
Fernon | 31:85d3b4db5e2b | 25 | Ticker biquadTicker; |
Fernon | 22:2e1713475f5f | 26 | Ticker MotorWrite; |
Fernon | 22:2e1713475f5f | 27 | Ticker Sender; |
Fernon | 22:2e1713475f5f | 28 | Timer timer; |
Fernon | 31:85d3b4db5e2b | 29 | Timer TijdEMGCal; |
Fernon | 25:230bd4e1f3ef | 30 | |
Fernon | 25:230bd4e1f3ef | 31 | // Debugging |
Fernon | 25:230bd4e1f3ef | 32 | Serial pc(USBTX, USBRX); |
Fernon | 29:7653adbbb101 | 33 | HIDScope scope(6); |
Fernon | 0:5a5f417fa1b2 | 34 | |
yc238 | 15:f7e2b20f4dca | 35 | |
Fernon | 25:230bd4e1f3ef | 36 | |
Fernon | 25:230bd4e1f3ef | 37 | // Waardes |
Fernon | 25:230bd4e1f3ef | 38 | const double twopi = 6.2831853071795; |
Fernon | 25:230bd4e1f3ef | 39 | const double Fs=100; |
Fernon | 25:230bd4e1f3ef | 40 | int Fired = 0; |
Fernon | 25:230bd4e1f3ef | 41 | |
Fernon | 25:230bd4e1f3ef | 42 | // EMG |
Fernon | 23:c97e206cf2a7 | 43 | double emg_value; |
Fernon | 25:230bd4e1f3ef | 44 | double emg_value2; |
Fernon | 25:230bd4e1f3ef | 45 | const double T1 = 0.33333; // Treshold 1 |
Fernon | 25:230bd4e1f3ef | 46 | const double T2 = 0.66666; // Treshold 2 |
Fernon | 25:230bd4e1f3ef | 47 | |
Fernon | 25:230bd4e1f3ef | 48 | // Motor 1 (Translatie) |
Fernon | 25:230bd4e1f3ef | 49 | double n1 = 3.861464193; // Aantal rondjes dat ons apparaat maximaal mag draaien (omhoog) |
Fernon | 22:2e1713475f5f | 50 | int Pulses; |
Fernon | 22:2e1713475f5f | 51 | double Rotatie = 0; //aantal graden dat de motor is gedraaid |
Fernon | 25:230bd4e1f3ef | 52 | double Goal; //initele waarde goal waar de motor naar toe moet, dit wordt gedaan |
Fernon | 22:2e1713475f5f | 53 | double Error = 0; |
Fernon | 22:2e1713475f5f | 54 | double Errord = 0; |
Fernon | 22:2e1713475f5f | 55 | double Errori = 0; |
Fernon | 22:2e1713475f5f | 56 | double Errorp = 0; |
Fernon | 22:2e1713475f5f | 57 | const double Kp = 0.2; //Moet berekend worden aan de hand van Control concept slides |
Fernon | 22:2e1713475f5f | 58 | const double Kd = 10; |
Fernon | 22:2e1713475f5f | 59 | const double Ki = 0.2; |
Fernon | 25:230bd4e1f3ef | 60 | double v = 0; //snelheid van de motor (0-0.1)? |
Fernon | 25:230bd4e1f3ef | 61 | double upperlimit; //max aantal rotaties omhoog |
Fernon | 25:230bd4e1f3ef | 62 | const double downlimit = 0.4; |
Fernon | 25:230bd4e1f3ef | 63 | const double margin = 0.4; |
Fernon | 25:230bd4e1f3ef | 64 | bool OutRange = false; |
Fernon | 25:230bd4e1f3ef | 65 | |
Fernon | 25:230bd4e1f3ef | 66 | // Motor 2 (Rotatie) |
Fernon | 25:230bd4e1f3ef | 67 | double n2 = 0.3125; // Aantal rondjes dat dat ons apparaat maximaal mag draaien (rotatie) |
Fernon | 25:230bd4e1f3ef | 68 | int Pulses2; |
Fernon | 25:230bd4e1f3ef | 69 | double Rotatie2 = 0; |
Fernon | 25:230bd4e1f3ef | 70 | double Goal2; |
Fernon | 25:230bd4e1f3ef | 71 | double Error2 = 0; |
Fernon | 25:230bd4e1f3ef | 72 | double Errord2 = 0; |
Fernon | 25:230bd4e1f3ef | 73 | double Errori2 = 0; |
Fernon | 25:230bd4e1f3ef | 74 | double Errorp2 = 0; |
Fernon | 25:230bd4e1f3ef | 75 | const double Kp2 = 0.2; |
Fernon | 25:230bd4e1f3ef | 76 | const double Kd2 = 10; |
Fernon | 25:230bd4e1f3ef | 77 | const double Ki2 = 0.2; |
Fernon | 25:230bd4e1f3ef | 78 | double v2 = 0; |
Fernon | 28:b7d01a55530f | 79 | double turnlimit = 0.4; // max aantal rotaties voor roteren hele robot |
Fernon | 25:230bd4e1f3ef | 80 | // Margin 2 is in ons geval 0 |
Fernon | 25:230bd4e1f3ef | 81 | bool OutRange2 = false; |
Fernon | 25:230bd4e1f3ef | 82 | |
Fernon | 25:230bd4e1f3ef | 83 | // Activatie tussen het schietgedeelte en terugkeergedeelte |
Fernon | 22:2e1713475f5f | 84 | bool Excecute = false; |
Fernon | 22:2e1713475f5f | 85 | bool Home = false; |
Fernon | 25:230bd4e1f3ef | 86 | |
Fernon | 31:85d3b4db5e2b | 87 | // Filter |
Fernon | 31:85d3b4db5e2b | 88 | double Fs2 = 500; // in Hz |
Fernon | 31:85d3b4db5e2b | 89 | const double TijdCal = 5; |
Fernon | 31:85d3b4db5e2b | 90 | double Max = 0; |
Fernon | 31:85d3b4db5e2b | 91 | double Max2 = 0; |
Fernon | 31:85d3b4db5e2b | 92 | bool Cali = false; |
Fernon | 31:85d3b4db5e2b | 93 | |
Fernon | 31:85d3b4db5e2b | 94 | double u1; |
Fernon | 31:85d3b4db5e2b | 95 | double y1; |
Fernon | 31:85d3b4db5e2b | 96 | double y2; |
Fernon | 31:85d3b4db5e2b | 97 | double y3; |
Fernon | 31:85d3b4db5e2b | 98 | double y4; |
Fernon | 31:85d3b4db5e2b | 99 | double y5; |
Fernon | 31:85d3b4db5e2b | 100 | double y6; |
Fernon | 31:85d3b4db5e2b | 101 | double y7; |
Fernon | 31:85d3b4db5e2b | 102 | double y8; |
Fernon | 31:85d3b4db5e2b | 103 | |
Fernon | 31:85d3b4db5e2b | 104 | double u10; |
Fernon | 31:85d3b4db5e2b | 105 | double y10; |
Fernon | 31:85d3b4db5e2b | 106 | double y12; |
Fernon | 31:85d3b4db5e2b | 107 | double y13; |
Fernon | 31:85d3b4db5e2b | 108 | double y14; |
Fernon | 31:85d3b4db5e2b | 109 | double y15; |
Fernon | 31:85d3b4db5e2b | 110 | double y16; |
Fernon | 31:85d3b4db5e2b | 111 | double y17; |
Fernon | 31:85d3b4db5e2b | 112 | double y18; |
Fernon | 31:85d3b4db5e2b | 113 | |
Fernon | 31:85d3b4db5e2b | 114 | double f1_v1=0,f1_v2=0; |
Fernon | 31:85d3b4db5e2b | 115 | double f2_v1=0,f2_v2=0; |
Fernon | 31:85d3b4db5e2b | 116 | double f3_v1=0,f3_v2=0; |
Fernon | 31:85d3b4db5e2b | 117 | double f4_v1=0,f4_v2=0; |
Fernon | 31:85d3b4db5e2b | 118 | double f5_v1=0,f5_v2=0; |
Fernon | 31:85d3b4db5e2b | 119 | double f6_v1=0,f6_v2=0; |
Fernon | 31:85d3b4db5e2b | 120 | double f7_v1=0,f7_v2=0; |
Fernon | 31:85d3b4db5e2b | 121 | |
Fernon | 31:85d3b4db5e2b | 122 | double f1_v3=0,f1_v4=0; |
Fernon | 31:85d3b4db5e2b | 123 | double f2_v3=0,f2_v4=0; |
Fernon | 31:85d3b4db5e2b | 124 | double f3_v3=0,f3_v4=0; |
Fernon | 31:85d3b4db5e2b | 125 | double f4_v3=0,f4_v4=0; |
Fernon | 31:85d3b4db5e2b | 126 | double f5_v3=0,f5_v4=0; |
Fernon | 31:85d3b4db5e2b | 127 | double f6_v3=0,f6_v4=0; |
Fernon | 31:85d3b4db5e2b | 128 | double f7_v3=0,f7_v4=0; |
Fernon | 31:85d3b4db5e2b | 129 | |
Fernon | 31:85d3b4db5e2b | 130 | // Notch |
Fernon | 31:85d3b4db5e2b | 131 | const double gainNotch3=0.969922; |
Fernon | 31:85d3b4db5e2b | 132 | const double f3_a1=-1.56143694016, f3_a2=0.93984421899, f3_b0=1.00000000000, f3_b1=-1.60985807508, f3_b2=1.00000000000; |
Fernon | 31:85d3b4db5e2b | 133 | const double gainNotch4=0.975183; |
Fernon | 31:85d3b4db5e2b | 134 | const double f4_a1=-1.55188488157,f4_a2=0.96839115647,f4_b0=1.000000000,f4_b1=-1.60985807508,f4_b2=1.00000000; |
Fernon | 31:85d3b4db5e2b | 135 | const double gainNotch5=0.993678; |
Fernon | 31:85d3b4db5e2b | 136 | const double f5_a1=-1.61645491476,f5_a2=0.97057916088,f5_b0=1.000000000,f5_b1=-1.60985807508,f5_b2=1.00000000; |
Fernon | 31:85d3b4db5e2b | 137 | |
Fernon | 31:85d3b4db5e2b | 138 | // High pass |
Fernon | 31:85d3b4db5e2b | 139 | const double gainHP1=0.939472; |
Fernon | 31:85d3b4db5e2b | 140 | const double f1_a1=-0.87894202296,f1_a2=0.00000000,f1_b0=1.0000000,f1_b1=-1.00000000,f1_b2=0.000000000; |
Fernon | 31:85d3b4db5e2b | 141 | const double gainHP2=0.935820; |
Fernon | 31:85d3b4db5e2b | 142 | const double f2_a1=-1.86387364983,f2_a2=0.87941229211,f2_b0=1.0000000000,f2_b1=-2.0000000,f2_b2=1.0000000; |
Fernon | 31:85d3b4db5e2b | 143 | |
Fernon | 31:85d3b4db5e2b | 144 | // Low pass |
Fernon | 31:85d3b4db5e2b | 145 | const double gainLP6=0.000048; |
Fernon | 31:85d3b4db5e2b | 146 | const double f6_a1=-1.97326192076 , f6_a2=0.97345330126 , f6_b0=1.0000000 , f6_b1=2.0000000 , f6_b2=1.0000000; |
Fernon | 31:85d3b4db5e2b | 147 | const double gainLP7=0.000048; |
Fernon | 31:85d3b4db5e2b | 148 | const double f7_a1=-1.98030504048 , f7_a2=0.98049710408 , f7_b0=1.0000000 , f7_b1=2.0000000 , f7_b2=1.0000000; |
Fernon | 31:85d3b4db5e2b | 149 | |
Fernon | 10:e210675cbe71 | 150 | |
Fernon | 25:230bd4e1f3ef | 151 | |
Fernon | 25:230bd4e1f3ef | 152 | // Voids voor berekeningen in het hoofdprogramma |
Fernon | 2:f0e9ffc5df09 | 153 | |
Fernon | 31:85d3b4db5e2b | 154 | double biquad(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2) |
Fernon | 31:85d3b4db5e2b | 155 | { |
Fernon | 31:85d3b4db5e2b | 156 | double v = u-a1*v1-a2*v2; |
Fernon | 31:85d3b4db5e2b | 157 | double y=b0*v+b1*v1+b2*v2; |
Fernon | 31:85d3b4db5e2b | 158 | v2=v1; |
Fernon | 31:85d3b4db5e2b | 159 | v1=v; |
Fernon | 31:85d3b4db5e2b | 160 | return y; |
Fernon | 31:85d3b4db5e2b | 161 | } |
Fernon | 31:85d3b4db5e2b | 162 | |
Fernon | 31:85d3b4db5e2b | 163 | void myController() |
Fernon | 31:85d3b4db5e2b | 164 | { |
Fernon | 31:85d3b4db5e2b | 165 | // EMG 1 |
Fernon | 31:85d3b4db5e2b | 166 | u1 = EMG.read(); |
Fernon | 31:85d3b4db5e2b | 167 | // Notch |
Fernon | 31:85d3b4db5e2b | 168 | double y1 = biquad(u1,f3_v1,f3_v2,f3_a1,f3_a2,f3_b0*gainNotch3,f3_b1*gainNotch3,f3_b2*gainNotch3); |
Fernon | 31:85d3b4db5e2b | 169 | double y2 = biquad(y1,f4_v1,f4_v2,f4_a1,f4_a2,f4_b0*gainNotch4,f4_b1*gainNotch4,f4_b2*gainNotch4); |
Fernon | 31:85d3b4db5e2b | 170 | double y3 = biquad(y2,f5_v1,f5_v2,f5_a1,f5_a2,f5_b0*gainNotch5,f5_b1*gainNotch5,f5_b2*gainNotch5); |
Fernon | 31:85d3b4db5e2b | 171 | |
Fernon | 31:85d3b4db5e2b | 172 | // HP |
Fernon | 31:85d3b4db5e2b | 173 | double y4 = biquad(y3,f1_v1,f1_v2,f1_a1,f1_a2,f1_b0*gainHP1,f1_b1*gainHP1,f1_b2*gainHP1); |
Fernon | 31:85d3b4db5e2b | 174 | double y5 = biquad(y4,f2_v1,f2_v2,f2_a1,f2_a2,f2_b0*gainHP2,f2_b1*gainHP2,f2_b2*gainHP2); |
Fernon | 31:85d3b4db5e2b | 175 | |
Fernon | 31:85d3b4db5e2b | 176 | // LP |
Fernon | 31:85d3b4db5e2b | 177 | y6 = fabs(y5); |
Fernon | 31:85d3b4db5e2b | 178 | double y7 = biquad(y6,f6_v1,f6_v2,f6_a1,f6_a2,gainLP6*f6_b0,gainLP6*f6_b1,gainLP6*f6_b2); |
Fernon | 31:85d3b4db5e2b | 179 | double y8 = biquad(y7,f7_v1,f7_v2,f7_a1,f7_a2,gainLP7*f7_b0,gainLP7*f7_b1,gainLP7*f7_b2); |
Fernon | 31:85d3b4db5e2b | 180 | |
Fernon | 31:85d3b4db5e2b | 181 | // EMG 2 |
Fernon | 31:85d3b4db5e2b | 182 | u10 = EMG2.read(); |
Fernon | 31:85d3b4db5e2b | 183 | // Notch |
Fernon | 31:85d3b4db5e2b | 184 | double y10 = biquad(u10,f3_v3,f3_v4,f3_a1,f3_a2,f3_b0*gainNotch3,f3_b1*gainNotch3,f3_b2*gainNotch3); |
Fernon | 31:85d3b4db5e2b | 185 | double y12 = biquad(y10,f4_v3,f4_v4,f4_a1,f4_a2,f4_b0*gainNotch4,f4_b1*gainNotch4,f4_b2*gainNotch4); |
Fernon | 31:85d3b4db5e2b | 186 | double y13 = biquad(y12,f5_v3,f5_v4,f5_a1,f5_a2,f5_b0*gainNotch5,f5_b1*gainNotch5,f5_b2*gainNotch5); |
Fernon | 31:85d3b4db5e2b | 187 | |
Fernon | 31:85d3b4db5e2b | 188 | // HP |
Fernon | 31:85d3b4db5e2b | 189 | double y14 = biquad(y13,f1_v3,f1_v4,f1_a1,f1_a2,f1_b0*gainHP1,f1_b1*gainHP1,f1_b2*gainHP1); |
Fernon | 31:85d3b4db5e2b | 190 | double y15 = biquad(y14,f2_v3,f2_v4,f2_a1,f2_a2,f2_b0*gainHP2,f2_b1*gainHP2,f2_b2*gainHP2); |
Fernon | 31:85d3b4db5e2b | 191 | |
Fernon | 31:85d3b4db5e2b | 192 | // LP |
Fernon | 31:85d3b4db5e2b | 193 | y16 = fabs(y15); |
Fernon | 31:85d3b4db5e2b | 194 | double y17 = biquad(y16,f6_v3,f6_v4,f6_a1,f6_a2,gainLP6*f6_b0,gainLP6*f6_b1,gainLP6*f6_b2); |
Fernon | 31:85d3b4db5e2b | 195 | double y18 = biquad(y17,f7_v3,f7_v4,f7_a1,f7_a2,gainLP7*f7_b0,gainLP7*f7_b1,gainLP7*f7_b2); |
Fernon | 31:85d3b4db5e2b | 196 | |
Fernon | 31:85d3b4db5e2b | 197 | if (Cali == true) { |
Fernon | 31:85d3b4db5e2b | 198 | if (y8 >= Max) { |
Fernon | 31:85d3b4db5e2b | 199 | Max = y8; |
Fernon | 31:85d3b4db5e2b | 200 | } |
Fernon | 31:85d3b4db5e2b | 201 | if (y18 >= Max2) { |
Fernon | 31:85d3b4db5e2b | 202 | Max2 = y18; |
Fernon | 31:85d3b4db5e2b | 203 | } |
Fernon | 31:85d3b4db5e2b | 204 | } |
Fernon | 31:85d3b4db5e2b | 205 | } |
Fernon | 31:85d3b4db5e2b | 206 | |
yc238 | 14:b9c925a8176a | 207 | void MotorSet() |
Fernon | 2:f0e9ffc5df09 | 208 | { |
Fernon | 27:9cca2ad74ec0 | 209 | // Eerst motor 1 (translatie) |
Fernon | 23:c97e206cf2a7 | 210 | if (OutRange) { |
Fernon | 23:c97e206cf2a7 | 211 | Error = Goal-Rotatie; // De error die het motortje maakt ten opzichte van je Goal |
Fernon | 23:c97e206cf2a7 | 212 | Errord = (Error-Errorp)/Fs; |
Fernon | 23:c97e206cf2a7 | 213 | Errorp = Error; |
Fernon | 27:9cca2ad74ec0 | 214 | if (fabs(Error) <= 0.5) { |
Fernon | 23:c97e206cf2a7 | 215 | Errori = Errori + Error*1/Fs; |
Fernon | 23:c97e206cf2a7 | 216 | } else { |
Fernon | 23:c97e206cf2a7 | 217 | Errori = 0; |
Fernon | 23:c97e206cf2a7 | 218 | } |
Fernon | 23:c97e206cf2a7 | 219 | if (Error>=0) { |
Fernon | 23:c97e206cf2a7 | 220 | Direction=1; |
Fernon | 23:c97e206cf2a7 | 221 | } else { |
Fernon | 23:c97e206cf2a7 | 222 | Direction=0; |
Fernon | 23:c97e206cf2a7 | 223 | } |
Fernon | 23:c97e206cf2a7 | 224 | v=Kp*Error + Kd*Errord + Ki*Errori; |
Fernon | 22:2e1713475f5f | 225 | } |
yc238 | 14:b9c925a8176a | 226 | PowerMotor.write(fabs(v)); |
Fernon | 25:230bd4e1f3ef | 227 | |
Fernon | 27:9cca2ad74ec0 | 228 | // Dan motor 2 (rotatie) |
Fernon | 27:9cca2ad74ec0 | 229 | if (OutRange2) { |
Fernon | 27:9cca2ad74ec0 | 230 | Error2 = Goal2-Rotatie2; // De error die het motortje maakt ten opzichte van je Goal |
Fernon | 27:9cca2ad74ec0 | 231 | Errord2 = (Error2-Errorp2)/Fs; |
Fernon | 27:9cca2ad74ec0 | 232 | Errorp2 = Error2; |
Fernon | 27:9cca2ad74ec0 | 233 | if (fabs(Error2) <= 0.5) { |
Fernon | 27:9cca2ad74ec0 | 234 | Errori2 = Errori2 + Error2*1/Fs; |
Fernon | 27:9cca2ad74ec0 | 235 | } else { |
Fernon | 27:9cca2ad74ec0 | 236 | Errori2 = 0; |
Fernon | 27:9cca2ad74ec0 | 237 | } |
Fernon | 27:9cca2ad74ec0 | 238 | if (Error2>=0) { |
Fernon | 29:7653adbbb101 | 239 | Direction2 = 0; |
Fernon | 27:9cca2ad74ec0 | 240 | } else { |
Fernon | 29:7653adbbb101 | 241 | Direction2 = 1; |
Fernon | 27:9cca2ad74ec0 | 242 | } |
Fernon | 27:9cca2ad74ec0 | 243 | v2=Kp2*Error2 + Kd2*Errord2 + Ki2*Errori2; |
Fernon | 27:9cca2ad74ec0 | 244 | } |
Fernon | 27:9cca2ad74ec0 | 245 | PowerMotor2.write(fabs(v2)); |
Fernon | 2:f0e9ffc5df09 | 246 | } |
yc238 | 15:f7e2b20f4dca | 247 | void Send() |
yc238 | 15:f7e2b20f4dca | 248 | { |
Fernon | 22:2e1713475f5f | 249 | Pulses = Encoder.getPulses(); |
Fernon | 31:85d3b4db5e2b | 250 | Rotatie = (Pulses*twopi)/4200; |
Fernon | 29:7653adbbb101 | 251 | Pulses2 = Encoder2.getPulses(); |
Fernon | 26:5b6c577fb3c1 | 252 | Rotatie2 = (Pulses2*twopi)/4200; |
Fernon | 16:b0ec8e6a8ad4 | 253 | scope.send(); |
Fernon | 16:b0ec8e6a8ad4 | 254 | } |
Fernon | 22:2e1713475f5f | 255 | |
Fernon | 0:5a5f417fa1b2 | 256 | int main() |
Fernon | 0:5a5f417fa1b2 | 257 | { |
Fernon | 25:230bd4e1f3ef | 258 | upperlimit = n1*twopi; |
Fernon | 25:230bd4e1f3ef | 259 | turnlimit = n2*twopi; |
Fernon | 2:f0e9ffc5df09 | 260 | pc.baud(115200); |
Fernon | 2:f0e9ffc5df09 | 261 | PowerMotor.write(0); |
Fernon | 28:b7d01a55530f | 262 | PowerMotor2.write(0); |
Fernon | 31:85d3b4db5e2b | 263 | Sender.attach(Send,1/Fs); |
Fernon | 31:85d3b4db5e2b | 264 | MotorWrite.attach(MotorSet,1/Fs); |
Fernon | 31:85d3b4db5e2b | 265 | biquadTicker.attach(myController,1/Fs2); |
Fernon | 23:c97e206cf2a7 | 266 | PowerServo.period_ms(20); |
Fernon | 31:85d3b4db5e2b | 267 | |
Fernon | 31:85d3b4db5e2b | 268 | scope.set(0,Goal); |
Fernon | 31:85d3b4db5e2b | 269 | scope.set(1,Rotatie); |
Fernon | 31:85d3b4db5e2b | 270 | scope.set(2,emg_value); |
Fernon | 31:85d3b4db5e2b | 271 | scope.set(3,Goal2); |
Fernon | 31:85d3b4db5e2b | 272 | scope.set(4,Rotatie2); |
Fernon | 31:85d3b4db5e2b | 273 | scope.set(5,emg_value2); |
Fernon | 0:5a5f417fa1b2 | 274 | while (true) { |
Fernon | 17:c5eea26e171d | 275 | Encoder.reset(); |
Fernon | 29:7653adbbb101 | 276 | Encoder2.reset(); |
Fernon | 11:a9a23042fc9e | 277 | if (Button == 0) { |
Fernon | 31:85d3b4db5e2b | 278 | Cali = true; |
Fernon | 31:85d3b4db5e2b | 279 | TijdEMGCal.start(); |
Fernon | 17:c5eea26e171d | 280 | } |
Fernon | 31:85d3b4db5e2b | 281 | if (TijdEMGCal.read() >= TijdCal) { |
Fernon | 31:85d3b4db5e2b | 282 | Cali = false; |
Fernon | 31:85d3b4db5e2b | 283 | TijdEMGCal.stop(); |
Fernon | 31:85d3b4db5e2b | 284 | TijdEMGCal.reset(); |
Fernon | 31:85d3b4db5e2b | 285 | double T1 = 0.2*Max; |
Fernon | 31:85d3b4db5e2b | 286 | double T2 = 0.5*Max2; |
Fernon | 31:85d3b4db5e2b | 287 | pc.printf("Max = %f\nT1 = %f\nT2 = %f", Max, T1, T2); |
Fernon | 31:85d3b4db5e2b | 288 | wait (3); |
Fernon | 31:85d3b4db5e2b | 289 | Excecute = true; |
Fernon | 31:85d3b4db5e2b | 290 | } |
Fernon | 31:85d3b4db5e2b | 291 | while (Excecute) { |
Fernon | 25:230bd4e1f3ef | 292 | // Eerst wordt motor 1 aangestuurd |
Fernon | 25:230bd4e1f3ef | 293 | if (Rotatie >= upperlimit) { //Als hij buiten bereik is |
Fernon | 27:9cca2ad74ec0 | 294 | Goal = upperlimit - margin; |
Fernon | 23:c97e206cf2a7 | 295 | OutRange = true; |
Fernon | 22:2e1713475f5f | 296 | } |
Fernon | 25:230bd4e1f3ef | 297 | if (Rotatie <= downlimit) { //Als hij buiten bereik is |
Fernon | 27:9cca2ad74ec0 | 298 | Goal = 0 + margin; |
Fernon | 23:c97e206cf2a7 | 299 | OutRange = true; |
Fernon | 22:2e1713475f5f | 300 | } |
Fernon | 25:230bd4e1f3ef | 301 | if (Rotatie >= margin && Rotatie <= upperlimit - margin) { // Voor als hij voor het eerst weer binnen bereik is |
Fernon | 23:c97e206cf2a7 | 302 | OutRange = false; |
Fernon | 24:711c7c388e57 | 303 | } |
Fernon | 25:230bd4e1f3ef | 304 | if (Rotatie >= downlimit && Rotatie <= upperlimit && OutRange == false) { //EMG aansturing |
Fernon | 23:c97e206cf2a7 | 305 | if (emg_value >= T2 ) { |
Fernon | 22:2e1713475f5f | 306 | Direction = 1; |
Fernon | 28:b7d01a55530f | 307 | v = 0.1; |
Fernon | 22:2e1713475f5f | 308 | } |
Fernon | 28:b7d01a55530f | 309 | if (emg_value > T1 && emg_value < T2) { |
Fernon | 22:2e1713475f5f | 310 | Direction = 0; |
Fernon | 28:b7d01a55530f | 311 | v = 0.1; |
Fernon | 24:711c7c388e57 | 312 | } |
Fernon | 24:711c7c388e57 | 313 | if (emg_value <= T1) { |
Fernon | 23:c97e206cf2a7 | 314 | Direction = 0; |
Fernon | 23:c97e206cf2a7 | 315 | v = 0; |
Fernon | 23:c97e206cf2a7 | 316 | } |
Fernon | 23:c97e206cf2a7 | 317 | } |
Fernon | 24:711c7c388e57 | 318 | |
Fernon | 28:b7d01a55530f | 319 | // Vanaf hier wordt motor 2 aangestuurd |
Fernon | 28:b7d01a55530f | 320 | if (Rotatie2 >= turnlimit) { //Als hij buiten bereik is |
Fernon | 28:b7d01a55530f | 321 | Goal2 = turnlimit; |
Fernon | 28:b7d01a55530f | 322 | OutRange2 = true; |
Fernon | 28:b7d01a55530f | 323 | } |
Fernon | 28:b7d01a55530f | 324 | if (Rotatie2 <= -turnlimit) { //Als hij buiten bereik is |
Fernon | 28:b7d01a55530f | 325 | Goal2 = -turnlimit; |
Fernon | 28:b7d01a55530f | 326 | OutRange2 = true; |
Fernon | 28:b7d01a55530f | 327 | } |
Fernon | 28:b7d01a55530f | 328 | if (Rotatie2 >= -turnlimit && Rotatie2 <= turnlimit) { // Voor als hij voor het eerst weer binnen bereik is |
Fernon | 28:b7d01a55530f | 329 | OutRange2 = false; |
Fernon | 28:b7d01a55530f | 330 | } |
Fernon | 28:b7d01a55530f | 331 | if (Rotatie2 >= -turnlimit && Rotatie2 <= turnlimit && OutRange2 == false) { // EMG aansturing |
Fernon | 28:b7d01a55530f | 332 | if (emg_value2 >= T2 ) { |
Fernon | 28:b7d01a55530f | 333 | Direction2 = 1; |
Fernon | 30:37e778f27fce | 334 | v2 = 0.1; |
Fernon | 28:b7d01a55530f | 335 | } |
Fernon | 28:b7d01a55530f | 336 | if (emg_value2 > T1 && emg_value2 < T2) { |
Fernon | 28:b7d01a55530f | 337 | Direction2 = 0; |
Fernon | 30:37e778f27fce | 338 | v2 = 0.1; |
Fernon | 28:b7d01a55530f | 339 | } |
Fernon | 28:b7d01a55530f | 340 | if (emg_value2 <= T1) { |
Fernon | 28:b7d01a55530f | 341 | Direction2 = 0; |
Fernon | 28:b7d01a55530f | 342 | v2 = 0; |
Fernon | 28:b7d01a55530f | 343 | } |
Fernon | 28:b7d01a55530f | 344 | } |
Fernon | 27:9cca2ad74ec0 | 345 | if (Button2 == 0) { //Afvuren van de RBG |
Fernon | 31:85d3b4db5e2b | 346 | PowerServo.write(0.27); |
Fernon | 31:85d3b4db5e2b | 347 | wait (1); |
Fernon | 31:85d3b4db5e2b | 348 | PowerServo.write(0.04); |
Fernon | 31:85d3b4db5e2b | 349 | Fired=Fired+1; |
Fernon | 31:85d3b4db5e2b | 350 | pc.printf("Fire = %i", Fired); |
Fernon | 31:85d3b4db5e2b | 351 | if (Fired == 3) { |
Fernon | 31:85d3b4db5e2b | 352 | wait (1); |
Fernon | 31:85d3b4db5e2b | 353 | Home = true; |
Fernon | 31:85d3b4db5e2b | 354 | Excecute = false; |
Fernon | 31:85d3b4db5e2b | 355 | } |
Fernon | 27:9cca2ad74ec0 | 356 | } |
Fernon | 22:2e1713475f5f | 357 | } |
Fernon | 22:2e1713475f5f | 358 | |
Fernon | 25:230bd4e1f3ef | 359 | while (Home) { //Terugkeren naar vaste positie |
Fernon | 30:37e778f27fce | 360 | pc.printf("Home\n"); |
Fernon | 25:230bd4e1f3ef | 361 | OutRange = true; //Hiermee wordt het PID gedeelte van de motor control aangestuurd. |
Fernon | 25:230bd4e1f3ef | 362 | Goal = 0; |
Fernon | 25:230bd4e1f3ef | 363 | Goal2 = 0; |
Fernon | 30:37e778f27fce | 364 | if (fabs(Error)<=0.015 && fabs(Error2)<=0.015) { |
Fernon | 21:d0156eadcbfe | 365 | timer.start(); |
Fernon | 21:d0156eadcbfe | 366 | } else { |
Fernon | 21:d0156eadcbfe | 367 | timer.stop(); |
Fernon | 21:d0156eadcbfe | 368 | timer.reset(); |
Fernon | 16:b0ec8e6a8ad4 | 369 | } |
Fernon | 22:2e1713475f5f | 370 | if (timer.read() >= 3) { |
Fernon | 22:2e1713475f5f | 371 | Home = false; |
Fernon | 18:0f7f57228901 | 372 | Errori = 0; |
Fernon | 18:0f7f57228901 | 373 | Errord = 0; |
Fernon | 25:230bd4e1f3ef | 374 | Errorp = 0; |
Fernon | 25:230bd4e1f3ef | 375 | Errori2 = 0; |
Fernon | 25:230bd4e1f3ef | 376 | Errord2 = 0; |
Fernon | 25:230bd4e1f3ef | 377 | Errorp2 = 0; |
Fernon | 30:37e778f27fce | 378 | Fired = 0; |
Fernon | 11:a9a23042fc9e | 379 | } |
Fernon | 8:a2b725b502d8 | 380 | } |
Fernon | 0:5a5f417fa1b2 | 381 | } |
Fernon | 22:2e1713475f5f | 382 | } |