pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
main.cpp@43:7d0b2dc05b80, 2016-11-01 (annotated)
- Committer:
- daniQQue
- Date:
- Tue Nov 01 14:38:11 2016 +0000
- Revision:
- 43:7d0b2dc05b80
- Parent:
- 42:7164ccd2aa14
niet werkend..
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
daniQQue | 0:34c739fcc3e0 | 1 | //libraries |
daniQQue | 43:7d0b2dc05b80 | 2 | #include "mbed.h" //mbed library |
daniQQue | 43:7d0b2dc05b80 | 3 | #include "HIDScope.h" //hidscope library |
daniQQue | 43:7d0b2dc05b80 | 4 | #include "QEI.h" //library for encoder functions |
daniQQue | 43:7d0b2dc05b80 | 5 | #include "BiQuad.h" //library for filtering with BiQuad |
daniQQue | 43:7d0b2dc05b80 | 6 | #include "MODSERIAL.h" //library for connect pc with mbed |
daniQQue | 0:34c739fcc3e0 | 7 | |
daniQQue | 0:34c739fcc3e0 | 8 | //Define objects |
daniQQue | 43:7d0b2dc05b80 | 9 | |
daniQQue | 43:7d0b2dc05b80 | 10 | //EMG |
daniQQue | 43:7d0b2dc05b80 | 11 | AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++ |
daniQQue | 43:7d0b2dc05b80 | 12 | AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ |
daniQQue | 43:7d0b2dc05b80 | 13 | AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ |
daniQQue | 42:7164ccd2aa14 | 14 | |
daniQQue | 43:7d0b2dc05b80 | 15 | //Encoder |
daniQQue | 43:7d0b2dc05b80 | 16 | DigitalIn encoder1A(D13); |
daniQQue | 43:7d0b2dc05b80 | 17 | DigitalIn encoder1B(D12); |
daniQQue | 43:7d0b2dc05b80 | 18 | DigitalIn encoder2A(D11); |
daniQQue | 43:7d0b2dc05b80 | 19 | DigitalIn encoder2B(D10); |
daniQQue | 43:7d0b2dc05b80 | 20 | |
daniQQue | 43:7d0b2dc05b80 | 21 | //callibration button |
daniQQue | 43:7d0b2dc05b80 | 22 | InterruptIn button_calibration_biceps (SW3); //button to start calibration biceps |
daniQQue | 43:7d0b2dc05b80 | 23 | InterruptIn button_calibration_triceps (SW2); // button to start calibration tricps |
daniQQue | 42:7164ccd2aa14 | 24 | |
daniQQue | 43:7d0b2dc05b80 | 25 | // reset button |
daniQQue | 43:7d0b2dc05b80 | 26 | DigitalIn resetbutton(D9); |
daniQQue | 43:7d0b2dc05b80 | 27 | |
daniQQue | 43:7d0b2dc05b80 | 28 | //tickers |
daniQQue | 43:7d0b2dc05b80 | 29 | |
daniQQue | 43:7d0b2dc05b80 | 30 | Ticker sample_timer; //ticker for emg sampling |
daniQQue | 43:7d0b2dc05b80 | 31 | Ticker switch_function; //ticker for switch |
daniQQue | 43:7d0b2dc05b80 | 32 | Ticker speed_measuring; //ticker for speed measurment |
daniQQue | 43:7d0b2dc05b80 | 33 | |
daniQQue | 43:7d0b2dc05b80 | 34 | //everything for monitoring |
daniQQue | 43:7d0b2dc05b80 | 35 | HIDScope scope(5); //open 3 channels in hidscope |
daniQQue | 43:7d0b2dc05b80 | 36 | MODSERIAL pc(USBTX, USBRX); //pc connection |
daniQQue | 43:7d0b2dc05b80 | 37 | DigitalOut red(LED_RED); |
daniQQue | 43:7d0b2dc05b80 | 38 | DigitalOut green(LED_GREEN); |
daniQQue | 43:7d0b2dc05b80 | 39 | DigitalOut blue(LED_BLUE); |
daniQQue | 43:7d0b2dc05b80 | 40 | |
daniQQue | 43:7d0b2dc05b80 | 41 | //motors |
daniQQue | 43:7d0b2dc05b80 | 42 | DigitalOut direction_motor1(D4); |
daniQQue | 43:7d0b2dc05b80 | 43 | PwmOut pwm_motor1(D5); |
daniQQue | 43:7d0b2dc05b80 | 44 | DigitalOut direction_motor2(D7); |
daniQQue | 43:7d0b2dc05b80 | 45 | PwmOut pwm_motor2(D6); |
daniQQue | 0:34c739fcc3e0 | 46 | |
daniQQue | 0:34c739fcc3e0 | 47 | //define variables |
daniQQue | 42:7164ccd2aa14 | 48 | |
daniQQue | 43:7d0b2dc05b80 | 49 | //for motorcontrol |
daniQQue | 43:7d0b2dc05b80 | 50 | const int cw = 0; // motor should turn clockwise |
daniQQue | 43:7d0b2dc05b80 | 51 | const int ccw =1; // motor should turn counterclockwise |
daniQQue | 43:7d0b2dc05b80 | 52 | const float gearboxratio=131.25; // gearboxratio from encoder to motor |
daniQQue | 43:7d0b2dc05b80 | 53 | const float rev_rond=64.0; // revolutions per round of encoder |
daniQQue | 43:7d0b2dc05b80 | 54 | int onoffsignal_biceps=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation |
daniQQue | 43:7d0b2dc05b80 | 55 | int switch_signal_triceps=0; // switching between motors. |
daniQQue | 43:7d0b2dc05b80 | 56 | |
daniQQue | 43:7d0b2dc05b80 | 57 | volatile double cut_off_value_biceps_right = 0.04; //tested, normal values. Can be changed by calibration |
daniQQue | 43:7d0b2dc05b80 | 58 | volatile double cut_off_value_biceps_left = -0.04; //volatiles becaused changen in interrupt |
daniQQue | 43:7d0b2dc05b80 | 59 | volatile double cut_off_value_triceps=-0.03; |
daniQQue | 43:7d0b2dc05b80 | 60 | double signal_biceps_sum; |
daniQQue | 43:7d0b2dc05b80 | 61 | double bicepstriceps_rightarm; |
daniQQue | 40:187ef29de53d | 62 | |
daniQQue | 43:7d0b2dc05b80 | 63 | volatile double voltage_motor1=0.18; //pwm is de pulse with tussen geen ampere en wel ampere motor 1 |
daniQQue | 43:7d0b2dc05b80 | 64 | volatile double voltage_motor2=1;//pwm is de pulse with tussen geen ampere en wel ampere motor 1 |
daniQQue | 43:7d0b2dc05b80 | 65 | |
daniQQue | 43:7d0b2dc05b80 | 66 | int motorswitch= 0; //start van de teller wordt op nul gesteld |
daniQQue | 40:187ef29de53d | 67 | |
daniQQue | 43:7d0b2dc05b80 | 68 | //variables and constants for calibration |
daniQQue | 43:7d0b2dc05b80 | 69 | |
daniQQue | 43:7d0b2dc05b80 | 70 | const float percentage_max_triceps=0.3; |
daniQQue | 43:7d0b2dc05b80 | 71 | const float percentage_max_biceps =0.3; |
daniQQue | 43:7d0b2dc05b80 | 72 | double max_biceps; //calibration maximum biceps |
daniQQue | 43:7d0b2dc05b80 | 73 | double max_triceps; //calibration maximum triceps |
daniQQue | 43:7d0b2dc05b80 | 74 | |
daniQQue | 43:7d0b2dc05b80 | 75 | //variables for feedback loop, manual calibration |
daniQQue | 43:7d0b2dc05b80 | 76 | |
daniQQue | 43:7d0b2dc05b80 | 77 | volatile double current_position_motor1 = 0; // at start, the position is 0. Manual calibration |
daniQQue | 43:7d0b2dc05b80 | 78 | volatile double previous_position_motor1 = 0; // at start, the position is 0. Manual calibration |
daniQQue | 43:7d0b2dc05b80 | 79 | volatile double current_position_motor2 = 0; // at start, the position is 0. Manual calibration |
daniQQue | 43:7d0b2dc05b80 | 80 | volatile double previous_position_motor2 = 0; // at start, the position is 0. Manual calibration |
daniQQue | 43:7d0b2dc05b80 | 81 | volatile double rev_counts_motor1=0; |
daniQQue | 43:7d0b2dc05b80 | 82 | volatile double rev_counts_motor2=0; |
daniQQue | 43:7d0b2dc05b80 | 83 | volatile double counts_encoder1; |
daniQQue | 43:7d0b2dc05b80 | 84 | volatile double counts_encoder2; |
daniQQue | 43:7d0b2dc05b80 | 85 | |
daniQQue | 43:7d0b2dc05b80 | 86 | volatile bool tickerflag; //tickerflag is true or false, implicated by bool. |
daniQQue | 43:7d0b2dc05b80 | 87 | volatile double speed_motor1; // speed in rad/s |
daniQQue | 43:7d0b2dc05b80 | 88 | volatile double speed_motor2; // speed in rad/s |
daniQQue | 43:7d0b2dc05b80 | 89 | |
daniQQue | 43:7d0b2dc05b80 | 90 | |
daniQQue | 43:7d0b2dc05b80 | 91 | //speedmeasuring |
daniQQue | 43:7d0b2dc05b80 | 92 | double ticker_TS=0.001; // time step to derivate position to speed, in seconds. |
daniQQue | 43:7d0b2dc05b80 | 93 | volatile double timepassed=0; //de waarde van hoeveel tijd er verstreken is |
daniQQue | 43:7d0b2dc05b80 | 94 | |
daniQQue | 43:7d0b2dc05b80 | 95 | //resetbuttons |
daniQQue | 43:7d0b2dc05b80 | 96 | volatile double value1_resetbutton = 0; |
daniQQue | 43:7d0b2dc05b80 | 97 | volatile double value2_resetbutton = 0; |
daniQQue | 43:7d0b2dc05b80 | 98 | |
daniQQue | 43:7d0b2dc05b80 | 99 | //filter defining |
daniQQue | 43:7d0b2dc05b80 | 100 | |
daniQQue | 43:7d0b2dc05b80 | 101 | //b1 = biceps right arm |
daniQQue | 43:7d0b2dc05b80 | 102 | BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 43:7d0b2dc05b80 | 103 | BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); |
daniQQue | 43:7d0b2dc05b80 | 104 | |
daniQQue | 43:7d0b2dc05b80 | 105 | //t1= triceps right arm |
daniQQue | 43:7d0b2dc05b80 | 106 | BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 43:7d0b2dc05b80 | 107 | BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); |
daniQQue | 43:7d0b2dc05b80 | 108 | |
daniQQue | 43:7d0b2dc05b80 | 109 | //b2= biceps left arm |
daniQQue | 43:7d0b2dc05b80 | 110 | BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 43:7d0b2dc05b80 | 111 | BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); |
daniQQue | 43:7d0b2dc05b80 | 112 | |
daniQQue | 43:7d0b2dc05b80 | 113 | //after abs filtering |
daniQQue | 43:7d0b2dc05b80 | 114 | BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 43:7d0b2dc05b80 | 115 | BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 43:7d0b2dc05b80 | 116 | BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 5:688b1b5530d8 | 117 | |
daniQQue | 43:7d0b2dc05b80 | 118 | //voids |
daniQQue | 40:187ef29de53d | 119 | |
daniQQue | 43:7d0b2dc05b80 | 120 | //to make a tickerfunction for speedmeasurment |
daniQQue | 43:7d0b2dc05b80 | 121 | |
daniQQue | 43:7d0b2dc05b80 | 122 | void speed_sampling() // maakt een ticker functie aan |
daniQQue | 40:187ef29de53d | 123 | { |
daniQQue | 43:7d0b2dc05b80 | 124 | tickerflag = 1; // het enige wat deze functie doet is zorgen dat tickerflag 1 is |
daniQQue | 41:9ea3d5921f07 | 125 | } |
daniQQue | 40:187ef29de53d | 126 | |
daniQQue | 43:7d0b2dc05b80 | 127 | //void to make the switch between the motors with triceps |
daniQQue | 43:7d0b2dc05b80 | 128 | |
daniQQue | 43:7d0b2dc05b80 | 129 | void SwitchN() { |
daniQQue | 43:7d0b2dc05b80 | 130 | if(switch_signal_triceps==1) |
daniQQue | 43:7d0b2dc05b80 | 131 | { |
daniQQue | 43:7d0b2dc05b80 | 132 | motorswitch++; |
daniQQue | 42:7164ccd2aa14 | 133 | |
daniQQue | 43:7d0b2dc05b80 | 134 | if (motorswitch%2==0) |
daniQQue | 43:7d0b2dc05b80 | 135 | { pc.printf("If you contract the right arm, the robot will go right \r\n"); |
daniQQue | 43:7d0b2dc05b80 | 136 | pc.printf("If you contract biceps of the left arm, the robot will go left \r\n"); |
daniQQue | 43:7d0b2dc05b80 | 137 | pc.printf("\r\n"); |
daniQQue | 43:7d0b2dc05b80 | 138 | green=0; |
daniQQue | 43:7d0b2dc05b80 | 139 | red=1; |
daniQQue | 43:7d0b2dc05b80 | 140 | } |
daniQQue | 40:187ef29de53d | 141 | |
daniQQue | 40:187ef29de53d | 142 | else |
daniQQue | 43:7d0b2dc05b80 | 143 | {pc.printf("If you contract the biceps of right arm, the robot will go up \r\n"); |
daniQQue | 43:7d0b2dc05b80 | 144 | pc.printf("If you contract the biceps of left arm, the robot will go down \r\n"); |
daniQQue | 43:7d0b2dc05b80 | 145 | pc.printf("\r\n"); |
daniQQue | 43:7d0b2dc05b80 | 146 | green=1; |
daniQQue | 43:7d0b2dc05b80 | 147 | red=0; |
daniQQue | 43:7d0b2dc05b80 | 148 | } |
daniQQue | 43:7d0b2dc05b80 | 149 | |
daniQQue | 43:7d0b2dc05b80 | 150 | } |
daniQQue | 43:7d0b2dc05b80 | 151 | } |
daniQQue | 40:187ef29de53d | 152 | |
daniQQue | 43:7d0b2dc05b80 | 153 | //callibration |
daniQQue | 43:7d0b2dc05b80 | 154 | void calibration_biceps(){ |
daniQQue | 43:7d0b2dc05b80 | 155 | pc.printf("start of calibration biceps, contract maximal \n"); |
daniQQue | 43:7d0b2dc05b80 | 156 | red=1; |
daniQQue | 43:7d0b2dc05b80 | 157 | green=1; |
daniQQue | 43:7d0b2dc05b80 | 158 | blue=0; |
daniQQue | 43:7d0b2dc05b80 | 159 | |
daniQQue | 43:7d0b2dc05b80 | 160 | for(int n =0; n<3000;n++) //read for 2000 samples as calibration |
daniQQue | 43:7d0b2dc05b80 | 161 | { |
daniQQue | 43:7d0b2dc05b80 | 162 | double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 43:7d0b2dc05b80 | 163 | double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); |
daniQQue | 43:7d0b2dc05b80 | 164 | double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); |
daniQQue | 43:7d0b2dc05b80 | 165 | double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float |
daniQQue | 43:7d0b2dc05b80 | 166 | double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); |
daniQQue | 43:7d0b2dc05b80 | 167 | |
daniQQue | 43:7d0b2dc05b80 | 168 | if (emg_filtered_biceps_right > max_biceps) //determine what the highest reachable emg signal is |
daniQQue | 43:7d0b2dc05b80 | 169 | { |
daniQQue | 43:7d0b2dc05b80 | 170 | max_biceps = emg_filtered_biceps_right; |
daniQQue | 43:7d0b2dc05b80 | 171 | |
daniQQue | 43:7d0b2dc05b80 | 172 | } |
daniQQue | 43:7d0b2dc05b80 | 173 | wait(0.001f); //to sample at same freq; 1000Hz |
daniQQue | 43:7d0b2dc05b80 | 174 | } |
daniQQue | 43:7d0b2dc05b80 | 175 | cut_off_value_biceps_right=percentage_max_biceps*max_biceps; |
daniQQue | 43:7d0b2dc05b80 | 176 | cut_off_value_biceps_left=-cut_off_value_biceps_right; |
daniQQue | 43:7d0b2dc05b80 | 177 | //toggle lights |
daniQQue | 43:7d0b2dc05b80 | 178 | blue=!blue; |
daniQQue | 43:7d0b2dc05b80 | 179 | |
daniQQue | 43:7d0b2dc05b80 | 180 | pc.printf(" end of calibration\r\n",cut_off_value_biceps_right ); |
daniQQue | 43:7d0b2dc05b80 | 181 | pc.printf(" change of cv biceps: %f ",cut_off_value_biceps_right ); |
daniQQue | 43:7d0b2dc05b80 | 182 | |
daniQQue | 43:7d0b2dc05b80 | 183 | wait(0.5f); |
daniQQue | 43:7d0b2dc05b80 | 184 | |
daniQQue | 43:7d0b2dc05b80 | 185 | if (motorswitch%2==0) |
daniQQue | 43:7d0b2dc05b80 | 186 | {green=0; |
daniQQue | 43:7d0b2dc05b80 | 187 | red=1;} |
daniQQue | 43:7d0b2dc05b80 | 188 | |
daniQQue | 43:7d0b2dc05b80 | 189 | else {green=1; |
daniQQue | 43:7d0b2dc05b80 | 190 | red=0;} |
daniQQue | 43:7d0b2dc05b80 | 191 | |
daniQQue | 43:7d0b2dc05b80 | 192 | } |
daniQQue | 43:7d0b2dc05b80 | 193 | |
daniQQue | 43:7d0b2dc05b80 | 194 | void calibration_triceps(){ |
daniQQue | 43:7d0b2dc05b80 | 195 | red=1; |
daniQQue | 43:7d0b2dc05b80 | 196 | green=1; |
daniQQue | 43:7d0b2dc05b80 | 197 | blue=0; |
daniQQue | 43:7d0b2dc05b80 | 198 | |
daniQQue | 43:7d0b2dc05b80 | 199 | pc.printf("start of calibration triceps\r\n"); |
daniQQue | 43:7d0b2dc05b80 | 200 | |
daniQQue | 43:7d0b2dc05b80 | 201 | for(int n =0; n<3000;n++) //read for 2000 samples as calibration |
daniQQue | 43:7d0b2dc05b80 | 202 | { |
daniQQue | 43:7d0b2dc05b80 | 203 | double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 43:7d0b2dc05b80 | 204 | double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); |
daniQQue | 43:7d0b2dc05b80 | 205 | double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); |
daniQQue | 43:7d0b2dc05b80 | 206 | double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float |
daniQQue | 43:7d0b2dc05b80 | 207 | double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); |
daniQQue | 43:7d0b2dc05b80 | 208 | |
daniQQue | 43:7d0b2dc05b80 | 209 | if (emg_filtered_triceps_right > max_triceps) //determine what the highest reachable emg signal is |
daniQQue | 43:7d0b2dc05b80 | 210 | { |
daniQQue | 43:7d0b2dc05b80 | 211 | max_triceps = emg_filtered_triceps_right; |
daniQQue | 43:7d0b2dc05b80 | 212 | |
daniQQue | 43:7d0b2dc05b80 | 213 | } |
daniQQue | 43:7d0b2dc05b80 | 214 | wait(0.001f); //to sample at same freq; 1000Hz |
daniQQue | 43:7d0b2dc05b80 | 215 | } |
daniQQue | 43:7d0b2dc05b80 | 216 | cut_off_value_triceps=-percentage_max_triceps*max_triceps; |
daniQQue | 43:7d0b2dc05b80 | 217 | pc.printf(" end of calibration\r\n"); |
daniQQue | 43:7d0b2dc05b80 | 218 | pc.printf(" change of cv triceps: %f ",cut_off_value_triceps ); |
daniQQue | 43:7d0b2dc05b80 | 219 | blue=!blue; |
daniQQue | 43:7d0b2dc05b80 | 220 | wait(0.5f); |
daniQQue | 43:7d0b2dc05b80 | 221 | if (motorswitch%2==0) |
daniQQue | 43:7d0b2dc05b80 | 222 | {green=0; |
daniQQue | 43:7d0b2dc05b80 | 223 | red=1;} |
daniQQue | 43:7d0b2dc05b80 | 224 | |
daniQQue | 43:7d0b2dc05b80 | 225 | else {green=1; |
daniQQue | 43:7d0b2dc05b80 | 226 | red=0;} |
daniQQue | 43:7d0b2dc05b80 | 227 | |
daniQQue | 43:7d0b2dc05b80 | 228 | } |
daniQQue | 43:7d0b2dc05b80 | 229 | |
daniQQue | 43:7d0b2dc05b80 | 230 | |
daniQQue | 43:7d0b2dc05b80 | 231 | //sampling emg with filters as defined before |
daniQQue | 43:7d0b2dc05b80 | 232 | void filter(){ |
daniQQue | 43:7d0b2dc05b80 | 233 | //biceps right arm read+filtering |
daniQQue | 43:7d0b2dc05b80 | 234 | double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 43:7d0b2dc05b80 | 235 | double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); |
daniQQue | 43:7d0b2dc05b80 | 236 | double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); |
daniQQue | 43:7d0b2dc05b80 | 237 | double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float |
daniQQue | 43:7d0b2dc05b80 | 238 | double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); |
daniQQue | 43:7d0b2dc05b80 | 239 | |
daniQQue | 43:7d0b2dc05b80 | 240 | //triceps right arm read+filtering |
daniQQue | 43:7d0b2dc05b80 | 241 | double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 43:7d0b2dc05b80 | 242 | double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); |
daniQQue | 43:7d0b2dc05b80 | 243 | double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); |
daniQQue | 43:7d0b2dc05b80 | 244 | double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float |
daniQQue | 43:7d0b2dc05b80 | 245 | double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); |
daniQQue | 43:7d0b2dc05b80 | 246 | |
daniQQue | 43:7d0b2dc05b80 | 247 | //biceps left arm read+filtering |
daniQQue | 43:7d0b2dc05b80 | 248 | double emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes |
daniQQue | 43:7d0b2dc05b80 | 249 | double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); |
daniQQue | 43:7d0b2dc05b80 | 250 | double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); |
daniQQue | 43:7d0b2dc05b80 | 251 | double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float |
daniQQue | 43:7d0b2dc05b80 | 252 | double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); |
daniQQue | 43:7d0b2dc05b80 | 253 | |
daniQQue | 43:7d0b2dc05b80 | 254 | //signal substraction of filter biceps and triceps. right Biceps + left biceps - |
daniQQue | 43:7d0b2dc05b80 | 255 | signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left; |
daniQQue | 43:7d0b2dc05b80 | 256 | bicepstriceps_rightarm= emg_filtered_biceps_right-emg_filtered_triceps_right; |
daniQQue | 43:7d0b2dc05b80 | 257 | |
daniQQue | 43:7d0b2dc05b80 | 258 | //creating of on/off signal with the created on/off signals, with if statement for right arm! |
daniQQue | 43:7d0b2dc05b80 | 259 | if (signal_biceps_sum>cut_off_value_biceps_right) |
daniQQue | 43:7d0b2dc05b80 | 260 | {onoffsignal_biceps=1;} |
daniQQue | 43:7d0b2dc05b80 | 261 | |
daniQQue | 43:7d0b2dc05b80 | 262 | else if (signal_biceps_sum<cut_off_value_biceps_left) |
daniQQue | 43:7d0b2dc05b80 | 263 | { |
daniQQue | 43:7d0b2dc05b80 | 264 | onoffsignal_biceps=-1; |
daniQQue | 43:7d0b2dc05b80 | 265 | } |
daniQQue | 43:7d0b2dc05b80 | 266 | |
daniQQue | 43:7d0b2dc05b80 | 267 | else |
daniQQue | 43:7d0b2dc05b80 | 268 | {onoffsignal_biceps=0;} |
daniQQue | 43:7d0b2dc05b80 | 269 | |
daniQQue | 43:7d0b2dc05b80 | 270 | //creating on/off signal for switch (left arm) |
daniQQue | 43:7d0b2dc05b80 | 271 | |
daniQQue | 43:7d0b2dc05b80 | 272 | if (bicepstriceps_rightarm<cut_off_value_triceps) |
daniQQue | 43:7d0b2dc05b80 | 273 | { |
daniQQue | 43:7d0b2dc05b80 | 274 | switch_signal_triceps=1; |
daniQQue | 43:7d0b2dc05b80 | 275 | } |
daniQQue | 43:7d0b2dc05b80 | 276 | |
daniQQue | 43:7d0b2dc05b80 | 277 | else |
daniQQue | 43:7d0b2dc05b80 | 278 | { |
daniQQue | 43:7d0b2dc05b80 | 279 | switch_signal_triceps=0; |
daniQQue | 43:7d0b2dc05b80 | 280 | } |
daniQQue | 43:7d0b2dc05b80 | 281 | |
daniQQue | 43:7d0b2dc05b80 | 282 | //send signals to scope |
daniQQue | 43:7d0b2dc05b80 | 283 | scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 |
daniQQue | 43:7d0b2dc05b80 | 284 | scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1 |
daniQQue | 43:7d0b2dc05b80 | 285 | scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2 |
daniQQue | 43:7d0b2dc05b80 | 286 | |
daniQQue | 43:7d0b2dc05b80 | 287 | |
daniQQue | 43:7d0b2dc05b80 | 288 | scope.send(); //send all the signals to the scope |
daniQQue | 43:7d0b2dc05b80 | 289 | } |
daniQQue | 0:34c739fcc3e0 | 290 | |
daniQQue | 0:34c739fcc3e0 | 291 | //program |
daniQQue | 0:34c739fcc3e0 | 292 | |
daniQQue | 0:34c739fcc3e0 | 293 | int main() |
daniQQue | 0:34c739fcc3e0 | 294 | { |
daniQQue | 43:7d0b2dc05b80 | 295 | pc.baud(115200); //connect with pc with baudrate 115200 |
daniQQue | 43:7d0b2dc05b80 | 296 | QEI Encoder2(D12,D13, NC, rev_rond,QEI::X4_ENCODING); // maakt een encoder aan! D12/D13 ingangen, rev_rond zijn aantal pulsen per revolutie! Bovenaan in te stellen. |
daniQQue | 43:7d0b2dc05b80 | 297 | QEI Encoder1(D10,D11, NC, rev_rond,QEI::X4_ENCODING); |
daniQQue | 40:187ef29de53d | 298 | |
daniQQue | 43:7d0b2dc05b80 | 299 | //attach voids to tickers and interrupts |
daniQQue | 43:7d0b2dc05b80 | 300 | speed_measuring.attach(&speed_sampling,ticker_TS); //sampling function, for speed measurement |
daniQQue | 43:7d0b2dc05b80 | 301 | sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds |
daniQQue | 43:7d0b2dc05b80 | 302 | switch_function.attach(&SwitchN,1.0); //switch is every second available |
daniQQue | 43:7d0b2dc05b80 | 303 | button_calibration_biceps.fall (&calibration_biceps); //to call calibration biceps, stop everything else |
daniQQue | 43:7d0b2dc05b80 | 304 | button_calibration_triceps.fall(&calibration_triceps); //to call calibration triceps, stop everything else |
daniQQue | 43:7d0b2dc05b80 | 305 | |
daniQQue | 43:7d0b2dc05b80 | 306 | //print which motor will be controlled by text and light. Red: up/down=motor 2. Green: left/right=motor 1. |
daniQQue | 43:7d0b2dc05b80 | 307 | if (motorswitch%2==0) |
daniQQue | 43:7d0b2dc05b80 | 308 | { pc.printf("If you contract the right arm, the robot will go right \r\n"); |
daniQQue | 43:7d0b2dc05b80 | 309 | pc.printf("If you contract biceps of the left arm, the robot will go left \r\n"); |
daniQQue | 43:7d0b2dc05b80 | 310 | pc.printf("\r\n"); |
daniQQue | 43:7d0b2dc05b80 | 311 | green=0; |
daniQQue | 43:7d0b2dc05b80 | 312 | red=1; |
daniQQue | 43:7d0b2dc05b80 | 313 | blue=1; |
daniQQue | 43:7d0b2dc05b80 | 314 | } //if loop closed |
daniQQue | 42:7164ccd2aa14 | 315 | |
daniQQue | 42:7164ccd2aa14 | 316 | else |
daniQQue | 43:7d0b2dc05b80 | 317 | {pc.printf("If you contract the biceps of right arm, the robot will go up \r\n"); |
daniQQue | 43:7d0b2dc05b80 | 318 | pc.printf("If you contract the biceps of left arm, the robot will go down \r\n"); |
daniQQue | 43:7d0b2dc05b80 | 319 | pc.printf("\r\n"); |
daniQQue | 43:7d0b2dc05b80 | 320 | green=1; |
daniQQue | 43:7d0b2dc05b80 | 321 | red=0; |
daniQQue | 43:7d0b2dc05b80 | 322 | blue=1; |
daniQQue | 43:7d0b2dc05b80 | 323 | } //else loop closed |
daniQQue | 43:7d0b2dc05b80 | 324 | |
daniQQue | 43:7d0b2dc05b80 | 325 | |
daniQQue | 0:34c739fcc3e0 | 326 | //endless loop |
daniQQue | 0:34c739fcc3e0 | 327 | |
daniQQue | 40:187ef29de53d | 328 | while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt |
daniQQue | 43:7d0b2dc05b80 | 329 | |
daniQQue | 43:7d0b2dc05b80 | 330 | //encoder and velocity measurement |
daniQQue | 43:7d0b2dc05b80 | 331 | if (tickerflag ==1) |
daniQQue | 43:7d0b2dc05b80 | 332 | { |
daniQQue | 43:7d0b2dc05b80 | 333 | //position change, 'memory function' |
daniQQue | 43:7d0b2dc05b80 | 334 | previous_position_motor1 = current_position_motor1; // zorgt er voor dat de huidige positie wordt gedefineerd als de vorige positie is |
daniQQue | 43:7d0b2dc05b80 | 335 | current_position_motor1 = rev_counts_motor1; // zorgt dat de huidige positie wordt gedefineerd als het huidige aantal rondejs dat gedraaid is |
daniQQue | 43:7d0b2dc05b80 | 336 | previous_position_motor2 = current_position_motor2; // zelfde maar dan voor motor2 |
daniQQue | 43:7d0b2dc05b80 | 337 | current_position_motor2 = rev_counts_motor2; |
daniQQue | 43:7d0b2dc05b80 | 338 | |
daniQQue | 43:7d0b2dc05b80 | 339 | //speed calculation |
daniQQue | 43:7d0b2dc05b80 | 340 | speed_motor1=((current_position_motor1 - previous_position_motor1)*6.28318530718) / ticker_TS; |
daniQQue | 43:7d0b2dc05b80 | 341 | speed_motor2 = ((current_position_motor2 - previous_position_motor2)*6.28318530718) / ticker_TS; |
daniQQue | 43:7d0b2dc05b80 | 342 | |
daniQQue | 43:7d0b2dc05b80 | 343 | tickerflag = 0; // reset de tickerflag weer op 0 zodat het loopje niet wordt doorlopen tot de volgende tick zo kan de tijd tussen het lopen van ieder loopje gecontroleerd worden |
daniQQue | 43:7d0b2dc05b80 | 344 | } //if tickerflag==1 closed |
daniQQue | 43:7d0b2dc05b80 | 345 | |
daniQQue | 43:7d0b2dc05b80 | 346 | //control and monitor motor with EMG signal, with build in restrictions. |
daniQQue | 43:7d0b2dc05b80 | 347 | |
daniQQue | 43:7d0b2dc05b80 | 348 | //left biceps contracted: |
daniQQue | 43:7d0b2dc05b80 | 349 | if (onoffsignal_biceps==-1) //left biceps contracted |
daniQQue | 43:7d0b2dc05b80 | 350 | { //open if loop for left biceps |
daniQQue | 8:cd0cb71b69f2 | 351 | |
daniQQue | 43:7d0b2dc05b80 | 352 | if (motorswitch%2==0) //-3.4 is limitationpoint, when motor turns clockwise |
daniQQue | 43:7d0b2dc05b80 | 353 | { |
daniQQue | 43:7d0b2dc05b80 | 354 | direction_motor1 = cw; |
daniQQue | 43:7d0b2dc05b80 | 355 | pwm_motor1 = voltage_motor1; |
daniQQue | 43:7d0b2dc05b80 | 356 | counts_encoder1 = Encoder1.getPulses(); //tellen van de pulsen in |
daniQQue | 43:7d0b2dc05b80 | 357 | rev_counts_motor1=counts_encoder1/(gearboxratio*rev_rond); |
daniQQue | 43:7d0b2dc05b80 | 358 | value1_resetbutton = 0; |
daniQQue | 43:7d0b2dc05b80 | 359 | } //if loop closed |
daniQQue | 43:7d0b2dc05b80 | 360 | |
daniQQue | 43:7d0b2dc05b80 | 361 | else if (motorswitch%2!=0 && rev_counts_motor2<2.0) //2.0 is limitation for motor 2 when clockwise |
daniQQue | 43:7d0b2dc05b80 | 362 | { |
daniQQue | 43:7d0b2dc05b80 | 363 | direction_motor2 = cw; |
daniQQue | 43:7d0b2dc05b80 | 364 | pwm_motor2 = voltage_motor2; |
daniQQue | 43:7d0b2dc05b80 | 365 | counts_encoder2 = Encoder2.getPulses(); //tellen van de pulsen in |
daniQQue | 43:7d0b2dc05b80 | 366 | rev_counts_motor2=counts_encoder2/(gearboxratio*rev_rond); //weergeven van het aantal rondjes |
daniQQue | 43:7d0b2dc05b80 | 367 | value2_resetbutton = 0; |
daniQQue | 43:7d0b2dc05b80 | 368 | } //else if loop closed |
daniQQue | 43:7d0b2dc05b80 | 369 | |
daniQQue | 43:7d0b2dc05b80 | 370 | //speed control motor 1 |
daniQQue | 43:7d0b2dc05b80 | 371 | if (fabs(speed_motor1) > 3.0){ // zorgt dat als de absolute van de snelheid van motor 1 boven de target snelheid zit ( in dit geval 3.0 rad/s) dat er in dit loopje gelopen wordt |
daniQQue | 43:7d0b2dc05b80 | 372 | voltage_motor1 = voltage_motor1-0.005;} // zorgt er voor dat de pwm verlaagd word hierdoor word de puls lengte kleiner en zal de motor langzamer gaan draaien. |
daniQQue | 43:7d0b2dc05b80 | 373 | |
daniQQue | 43:7d0b2dc05b80 | 374 | else if (fabs(speed_motor1) < 3.0 && speed_motor1 != 0) |
daniQQue | 43:7d0b2dc05b80 | 375 | { voltage_motor1 = voltage_motor1+0.005; } |
daniQQue | 43:7d0b2dc05b80 | 376 | |
daniQQue | 43:7d0b2dc05b80 | 377 | //speed control motor 2 |
daniQQue | 43:7d0b2dc05b80 | 378 | if (fabs(speed_motor2) > 5.0) |
daniQQue | 43:7d0b2dc05b80 | 379 | { voltage_motor2 = voltage_motor2-0.005; } |
daniQQue | 43:7d0b2dc05b80 | 380 | |
daniQQue | 43:7d0b2dc05b80 | 381 | else if (fabs(speed_motor2) < 5.0 && speed_motor2 != 0) |
daniQQue | 43:7d0b2dc05b80 | 382 | { voltage_motor2 = voltage_motor2+0.005; } |
daniQQue | 43:7d0b2dc05b80 | 383 | |
daniQQue | 43:7d0b2dc05b80 | 384 | } //if left biceps is contracted closed |
daniQQue | 43:7d0b2dc05b80 | 385 | |
daniQQue | 43:7d0b2dc05b80 | 386 | |
daniQQue | 43:7d0b2dc05b80 | 387 | //right biceps contract (else if case) |
daniQQue | 43:7d0b2dc05b80 | 388 | else if (onoffsignal_biceps==1) //right biceps contracted |
daniQQue | 43:7d0b2dc05b80 | 389 | { |
daniQQue | 43:7d0b2dc05b80 | 390 | if (motorswitch%2==0) //limitation of motor turning right |
daniQQue | 43:7d0b2dc05b80 | 391 | { |
daniQQue | 43:7d0b2dc05b80 | 392 | direction_motor1 = ccw; //turning right |
daniQQue | 43:7d0b2dc05b80 | 393 | pwm_motor1 = voltage_motor1; |
daniQQue | 43:7d0b2dc05b80 | 394 | counts_encoder1 = Encoder1.getPulses(); //tellen van de pulsen in |
daniQQue | 43:7d0b2dc05b80 | 395 | rev_counts_motor1=counts_encoder1/(gearboxratio*rev_rond); //weergeven van het aantal rondjes |
daniQQue | 43:7d0b2dc05b80 | 396 | value1_resetbutton = 0; |
daniQQue | 43:7d0b2dc05b80 | 397 | } //if loop; motor turning right closed |
daniQQue | 43:7d0b2dc05b80 | 398 | |
daniQQue | 43:7d0b2dc05b80 | 399 | else if (motorswitch%2!=0 && rev_counts_motor2>-2.0) //limitation of motor turning down |
daniQQue | 43:7d0b2dc05b80 | 400 | { |
daniQQue | 43:7d0b2dc05b80 | 401 | direction_motor2 = ccw; |
daniQQue | 43:7d0b2dc05b80 | 402 | pwm_motor2 = voltage_motor2; |
daniQQue | 43:7d0b2dc05b80 | 403 | counts_encoder2 = Encoder2.getPulses(); |
daniQQue | 43:7d0b2dc05b80 | 404 | rev_counts_motor2=counts_encoder2/(gearboxratio*rev_rond); //weergeven van het aantal rondjes |
daniQQue | 43:7d0b2dc05b80 | 405 | value2_resetbutton = 0; |
daniQQue | 43:7d0b2dc05b80 | 406 | } //if loop closed |
daniQQue | 43:7d0b2dc05b80 | 407 | |
daniQQue | 43:7d0b2dc05b80 | 408 | //speed control motor 1 |
daniQQue | 43:7d0b2dc05b80 | 409 | if (fabs(speed_motor1) > 3.0){ // zorgt dat als de absolute van de snelheid van motor 1 boven de target snelheid zit ( in dit geval 3.0 rad/s) dat er in dit loopje gelopen wordt |
daniQQue | 43:7d0b2dc05b80 | 410 | voltage_motor1 = voltage_motor1-0.005;} // zorgt er voor dat de pwm verlaagd word hierdoor word de puls lengte kleiner en zal de motor langzamer gaan draaien. |
daniQQue | 43:7d0b2dc05b80 | 411 | |
daniQQue | 43:7d0b2dc05b80 | 412 | else if (fabs(speed_motor1) < 3.0 && speed_motor1 != 0) |
daniQQue | 43:7d0b2dc05b80 | 413 | { voltage_motor1 = voltage_motor1+0.005; } |
daniQQue | 43:7d0b2dc05b80 | 414 | |
daniQQue | 43:7d0b2dc05b80 | 415 | //speed control motor 2 |
daniQQue | 43:7d0b2dc05b80 | 416 | if (fabs(speed_motor2) > 5.0) |
daniQQue | 43:7d0b2dc05b80 | 417 | { voltage_motor2 = voltage_motor2-0.005; } |
daniQQue | 40:187ef29de53d | 418 | |
daniQQue | 43:7d0b2dc05b80 | 419 | else if (fabs(speed_motor2) < 5.0 && speed_motor2 != 0) |
daniQQue | 43:7d0b2dc05b80 | 420 | { voltage_motor2 = voltage_motor2+0.005; } |
daniQQue | 43:7d0b2dc05b80 | 421 | |
daniQQue | 43:7d0b2dc05b80 | 422 | } //else if loop closed; right biceps contracted |
daniQQue | 43:7d0b2dc05b80 | 423 | |
daniQQue | 43:7d0b2dc05b80 | 424 | else{ //no signal of both biceps! |
daniQQue | 43:7d0b2dc05b80 | 425 | //encoders because even when signal off, motor can turn for a while. |
daniQQue | 43:7d0b2dc05b80 | 426 | |
daniQQue | 43:7d0b2dc05b80 | 427 | counts_encoder1 = Encoder1.getPulses(); |
daniQQue | 43:7d0b2dc05b80 | 428 | rev_counts_motor1=counts_encoder1/(gearboxratio*rev_rond); |
daniQQue | 43:7d0b2dc05b80 | 429 | counts_encoder2 = Encoder2.getPulses(); |
daniQQue | 43:7d0b2dc05b80 | 430 | rev_counts_motor2=counts_encoder2/(gearboxratio*rev_rond); |
daniQQue | 40:187ef29de53d | 431 | pwm_motor2=0; |
daniQQue | 40:187ef29de53d | 432 | pwm_motor1=0; |
daniQQue | 43:7d0b2dc05b80 | 433 | } |
daniQQue | 43:7d0b2dc05b80 | 434 | |
daniQQue | 43:7d0b2dc05b80 | 435 | // all lopes are closed, except while (true)! |
daniQQue | 43:7d0b2dc05b80 | 436 | //back to beginposition by button ! |
daniQQue | 43:7d0b2dc05b80 | 437 | |
daniQQue | 43:7d0b2dc05b80 | 438 | // motor 1 |
daniQQue | 43:7d0b2dc05b80 | 439 | while(resetbutton==0 && rev_counts_motor1<-0.1 && value1_resetbutton >= 0){ |
daniQQue | 43:7d0b2dc05b80 | 440 | direction_motor1 = ccw; |
daniQQue | 43:7d0b2dc05b80 | 441 | pwm_motor1 = 0.1; |
daniQQue | 43:7d0b2dc05b80 | 442 | |
daniQQue | 43:7d0b2dc05b80 | 443 | counts_encoder1 = Encoder1.getPulses(); |
daniQQue | 43:7d0b2dc05b80 | 444 | rev_counts_motor1=counts_encoder1/(gearboxratio*rev_rond); |
daniQQue | 43:7d0b2dc05b80 | 445 | value1_resetbutton = 1; |
daniQQue | 43:7d0b2dc05b80 | 446 | } //while loop closed |
daniQQue | 43:7d0b2dc05b80 | 447 | |
daniQQue | 43:7d0b2dc05b80 | 448 | while (resetbutton==0 && rev_counts_motor1>0.1 && value1_resetbutton <=0){ // werkt het zelfde als de vorige loop maar dan met tegengestelde richting. |
daniQQue | 43:7d0b2dc05b80 | 449 | |
daniQQue | 43:7d0b2dc05b80 | 450 | direction_motor1 = cw; |
daniQQue | 43:7d0b2dc05b80 | 451 | pwm_motor1 = 0.1; |
daniQQue | 43:7d0b2dc05b80 | 452 | |
daniQQue | 43:7d0b2dc05b80 | 453 | counts_encoder1 = Encoder1.getPulses(); |
daniQQue | 43:7d0b2dc05b80 | 454 | rev_counts_motor1=counts_encoder1/(gearboxratio*rev_rond); |
daniQQue | 43:7d0b2dc05b80 | 455 | |
daniQQue | 43:7d0b2dc05b80 | 456 | value1_resetbutton = -1; |
daniQQue | 43:7d0b2dc05b80 | 457 | } //while loop closed |
daniQQue | 43:7d0b2dc05b80 | 458 | |
daniQQue | 43:7d0b2dc05b80 | 459 | //motor 2 |
daniQQue | 43:7d0b2dc05b80 | 460 | while(resetbutton==0 && rev_counts_motor2<-0.1 && value2_resetbutton >= 0){ // werkt het zelfde maar dan voor motor2 |
daniQQue | 43:7d0b2dc05b80 | 461 | |
daniQQue | 43:7d0b2dc05b80 | 462 | direction_motor2 = cw; |
daniQQue | 43:7d0b2dc05b80 | 463 | pwm_motor2 = 0.1; |
daniQQue | 43:7d0b2dc05b80 | 464 | pwm_motor1 = 0; |
daniQQue | 43:7d0b2dc05b80 | 465 | |
daniQQue | 43:7d0b2dc05b80 | 466 | counts_encoder2 = Encoder2.getPulses(); |
daniQQue | 43:7d0b2dc05b80 | 467 | rev_counts_motor2=counts_encoder2/(gearboxratio*rev_rond); |
daniQQue | 43:7d0b2dc05b80 | 468 | value2_resetbutton = 1; |
daniQQue | 43:7d0b2dc05b80 | 469 | } //while loop closed |
daniQQue | 43:7d0b2dc05b80 | 470 | |
daniQQue | 43:7d0b2dc05b80 | 471 | while (resetbutton==0 && rev_counts_motor2>0.1 && value2_resetbutton <=0){ |
daniQQue | 43:7d0b2dc05b80 | 472 | |
daniQQue | 43:7d0b2dc05b80 | 473 | direction_motor2 = ccw; |
daniQQue | 43:7d0b2dc05b80 | 474 | pwm_motor2 = 0.1; |
daniQQue | 43:7d0b2dc05b80 | 475 | pwm_motor1=0; |
daniQQue | 43:7d0b2dc05b80 | 476 | |
daniQQue | 43:7d0b2dc05b80 | 477 | counts_encoder2 = Encoder2.getPulses(); |
daniQQue | 43:7d0b2dc05b80 | 478 | rev_counts_motor2=counts_encoder2/(gearboxratio*rev_rond); |
daniQQue | 43:7d0b2dc05b80 | 479 | |
daniQQue | 43:7d0b2dc05b80 | 480 | value2_resetbutton = -1; |
daniQQue | 43:7d0b2dc05b80 | 481 | }//while loop closed |
daniQQue | 43:7d0b2dc05b80 | 482 | pc.printf("rev count motor 1 is %f \r\n",rev_counts_motor1); |
daniQQue | 43:7d0b2dc05b80 | 483 | pc.printf("speed motor 1: %f\r\n", speed_motor2); |
daniQQue | 43:7d0b2dc05b80 | 484 | }//while true closed |
daniQQue | 0:34c739fcc3e0 | 485 | |
daniQQue | 43:7d0b2dc05b80 | 486 | }//int main closed |