Fernon Eijkhoudt / Mbed 2 deprecated RoboBirdV1

Alles in 1

Dependencies:   Encoder HIDScope MODSERIAL QEI mbed

Fork of RoboBird3 by Fernon Eijkhoudt

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 
Hopelijk werkend met EMG en kalibratie

Who changed what in which revision?

UserRevisionLine numberNew 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 }