pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
main.cpp@57:c546edf67c5c, 2016-11-04 (annotated)
- Committer:
- daniQQue
- Date:
- Fri Nov 04 15:12:52 2016 +0000
- Revision:
- 57:c546edf67c5c
- Parent:
- 56:a38412383477
- Child:
- 58:c91723359f62
kallibratie, motors werken, pid controler
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
daniQQue | 57:c546edf67c5c | 1 | //======================================================================================================================================================= |
daniQQue | 0:34c739fcc3e0 | 2 | //libraries |
daniQQue | 49:818a0e90ed9c | 3 | #include "mbed.h" //mbed revision 113 |
daniQQue | 49:818a0e90ed9c | 4 | #include "HIDScope.h" //Hidscope by Tom Lankhorst |
daniQQue | 49:818a0e90ed9c | 5 | #include "BiQuad.h" //BiQuad by Tom Lankhorst |
daniQQue | 49:818a0e90ed9c | 6 | #include "MODSERIAL.h" //Modserial |
sivuu | 50:2c03357de7cc | 7 | #include "QEI.h" //QEI library for the encoders |
daniQQue | 0:34c739fcc3e0 | 8 | |
daniQQue | 46:4a8889f9dc9f | 9 | |
daniQQue | 57:c546edf67c5c | 10 | //======================================================================================================================================================= |
daniQQue | 0:34c739fcc3e0 | 11 | //Define objects |
daniQQue | 49:818a0e90ed9c | 12 | |
daniQQue | 49:818a0e90ed9c | 13 | //EMG |
sivuu | 50:2c03357de7cc | 14 | AnalogIn emg_biceps_right_in (A0); //analog in to get EMG biceps (r) in to c++ |
daniQQue | 40:187ef29de53d | 15 | AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ |
daniQQue | 40:187ef29de53d | 16 | AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ |
daniQQue | 49:818a0e90ed9c | 17 | |
daniQQue | 49:818a0e90ed9c | 18 | //Tickers |
daniQQue | 49:818a0e90ed9c | 19 | Ticker sample_timer; //ticker for EMG signal sampling, analog becomes digital |
daniQQue | 49:818a0e90ed9c | 20 | Ticker ticker_switch; //ticker for switch, every second it is possible to switch |
sivuu | 50:2c03357de7cc | 21 | Ticker ticker_referenceangle; //ticker for the reference angle |
sivuu | 50:2c03357de7cc | 22 | Ticker ticker_controllerm1; //ticker for the controller (PID) of motor 1 |
daniQQue | 57:c546edf67c5c | 23 | Ticker ticker_encoder; //ticker for encoderfunction motor 1 |
daniQQue | 57:c546edf67c5c | 24 | Ticker ticker_calibration_biceps; //ticker for calibration biceps |
daniQQue | 57:c546edf67c5c | 25 | Ticker ticker_calibration_triceps; //ticker for calibation triceps |
FloorC | 55:d742332ced11 | 26 | |
FloorC | 55:d742332ced11 | 27 | //Timer |
FloorC | 55:d742332ced11 | 28 | Timer timer; |
daniQQue | 49:818a0e90ed9c | 29 | |
daniQQue | 49:818a0e90ed9c | 30 | //Monitoring |
daniQQue | 46:4a8889f9dc9f | 31 | HIDScope scope(5); //open 5 channels in hidscope |
daniQQue | 46:4a8889f9dc9f | 32 | MODSERIAL pc(USBTX, USBRX); //pc connection |
daniQQue | 49:818a0e90ed9c | 33 | DigitalOut red(LED_RED); //LED on K64F board, 1 is out; 0 is on |
daniQQue | 49:818a0e90ed9c | 34 | DigitalOut green(LED_GREEN); //LED on K64f board, 1 is out; o is on |
daniQQue | 57:c546edf67c5c | 35 | DigitalOut blue(LED_BLUE); //LED on K64f board, 1 is out; o is on |
daniQQue | 57:c546edf67c5c | 36 | |
daniQQue | 57:c546edf67c5c | 37 | //buttons |
daniQQue | 57:c546edf67c5c | 38 | DigitalIn button_calibration_biceps (SW3); //button to start calibration biceps |
daniQQue | 57:c546edf67c5c | 39 | DigitalIn button_calibration_triceps (SW2); // button to start calibration triceps |
daniQQue | 40:187ef29de53d | 40 | |
daniQQue | 40:187ef29de53d | 41 | //motors |
sivuu | 50:2c03357de7cc | 42 | DigitalOut richting_motor1(D7); //motor 1 connected to motor 1 at k64f board; for turningtable |
daniQQue | 47:ddaa59d48aca | 43 | PwmOut pwm_motor1(D6); |
sivuu | 50:2c03357de7cc | 44 | DigitalOut richting_motor2(D4); //motor 2 connected to motor 2 at k64f board; for linear actuator |
daniQQue | 47:ddaa59d48aca | 45 | PwmOut pwm_motor2(D5); |
daniQQue | 0:34c739fcc3e0 | 46 | |
sivuu | 50:2c03357de7cc | 47 | //encoders |
sivuu | 50:2c03357de7cc | 48 | DigitalIn encoder1A(D13); |
sivuu | 50:2c03357de7cc | 49 | DigitalIn encoder1B(D12); |
sivuu | 50:2c03357de7cc | 50 | |
sivuu | 50:2c03357de7cc | 51 | //controller |
sivuu | 50:2c03357de7cc | 52 | BiQuad PID_controller; |
sivuu | 50:2c03357de7cc | 53 | |
daniQQue | 57:c546edf67c5c | 54 | //======================================================================================================================================================= |
daniQQue | 0:34c739fcc3e0 | 55 | //define variables |
daniQQue | 47:ddaa59d48aca | 56 | |
sivuu | 50:2c03357de7cc | 57 | //thresholds |
sivuu | 50:2c03357de7cc | 58 | double treshold_biceps_right = 0.04; //common values that work. |
sivuu | 52:0135deb3b07f | 59 | double treshold_biceps_left = -0.04; // tested on multiple persons |
sivuu | 52:0135deb3b07f | 60 | double treshold_triceps = -0.04; //triceps and left biceps is specified negative, thus negative treshold |
daniQQue | 49:818a0e90ed9c | 61 | |
daniQQue | 57:c546edf67c5c | 62 | |
daniQQue | 57:c546edf67c5c | 63 | //calibration variables |
daniQQue | 57:c546edf67c5c | 64 | const float percentage_max_triceps=0.25; //percentage from max to calculate new treshold |
daniQQue | 57:c546edf67c5c | 65 | const float percentage_max_biceps =0.3; //percentage from max to calculate new treshold |
daniQQue | 57:c546edf67c5c | 66 | double max_biceps; //calibration maximum biceps |
daniQQue | 57:c546edf67c5c | 67 | double max_triceps; //calibration maximum triceps |
daniQQue | 57:c546edf67c5c | 68 | |
daniQQue | 49:818a0e90ed9c | 69 | //on/off and switch signals |
daniQQue | 57:c546edf67c5c | 70 | int switch_signal = 0; //start of counter, switch made by even and odd numbers |
daniQQue | 57:c546edf67c5c | 71 | int onoffsignal_biceps; //on/off signal created by the bicepssignal. (-1: left biceps contract, 0: nothing contracted, 1: right biceps contracted) |
daniQQue | 45:08bddea67bd8 | 72 | int switch_signal_triceps; |
daniQQue | 46:4a8889f9dc9f | 73 | |
daniQQue | 49:818a0e90ed9c | 74 | //motorvariables |
daniQQue | 49:818a0e90ed9c | 75 | float speedmotor1=0.18; //speed of motor 1 is 0.18pwm at start |
daniQQue | 49:818a0e90ed9c | 76 | float speedmotor2=1.0; //speed of motor 2 is 1.0 pwm at start |
daniQQue | 46:4a8889f9dc9f | 77 | |
daniQQue | 49:818a0e90ed9c | 78 | int cw=0; //clockwise direction |
daniQQue | 49:818a0e90ed9c | 79 | int ccw=1; //counterclockwise direction |
sivuu | 50:2c03357de7cc | 80 | |
sivuu | 50:2c03357de7cc | 81 | //encoder |
daniQQue | 57:c546edf67c5c | 82 | int counts_encoder1; //variable to count the pulses given by the encoder, 1 indicates motor 1. |
daniQQue | 57:c546edf67c5c | 83 | float rev_counts_motor1; //Calculated revolutions |
daniQQue | 57:c546edf67c5c | 84 | float rev_counts_motor1_rad; //calculated revolutions in rad! |
daniQQue | 57:c546edf67c5c | 85 | const float gearboxratio=131.25; // gearboxratio from encoder to motor |
daniQQue | 57:c546edf67c5c | 86 | const float rev_rond=64.0; // number of revolutions per rotation |
daniQQue | 57:c546edf67c5c | 87 | |
daniQQue | 57:c546edf67c5c | 88 | QEI Encoder1(D13,D12,NC,rev_rond,QEI::X4_ENCODING); //To set the Encoder. |
sivuu | 50:2c03357de7cc | 89 | |
sivuu | 50:2c03357de7cc | 90 | //reference |
daniQQue | 57:c546edf67c5c | 91 | volatile float d_ref = 0; |
daniQQue | 57:c546edf67c5c | 92 | const float w_ref = 1.5; |
daniQQue | 57:c546edf67c5c | 93 | volatile double t_start; |
daniQQue | 57:c546edf67c5c | 94 | volatile double w_var; |
daniQQue | 57:c546edf67c5c | 95 | const double Ts = 0.001; //Time for diverse tickers. It is comparable to a frequency of 1000Hz. |
sivuu | 50:2c03357de7cc | 96 | |
sivuu | 50:2c03357de7cc | 97 | //controller |
daniQQue | 57:c546edf67c5c | 98 | const double Kp = 0.3823; |
daniQQue | 57:c546edf67c5c | 99 | const double Ki = 0.1279; |
daniQQue | 57:c546edf67c5c | 100 | const double Kd = 0.2519; |
daniQQue | 57:c546edf67c5c | 101 | const double N = 100; |
daniQQue | 57:c546edf67c5c | 102 | volatile double error1; |
daniQQue | 57:c546edf67c5c | 103 | volatile double controlOutput; |
daniQQue | 57:c546edf67c5c | 104 | bool start_motor = true; |
daniQQue | 57:c546edf67c5c | 105 | volatile double starttime; |
daniQQue | 57:c546edf67c5c | 106 | |
daniQQue | 57:c546edf67c5c | 107 | //======================================================================================================================================================= |
daniQQue | 44:c79e5944ac91 | 108 | //filter coefficients |
daniQQue | 40:187ef29de53d | 109 | |
daniQQue | 40:187ef29de53d | 110 | //b1 = biceps right arm |
daniQQue | 57:c546edf67c5c | 111 | BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of 20 Hz |
daniQQue | 57:c546edf67c5c | 112 | BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of 49-51 Hz |
daniQQue | 40:187ef29de53d | 113 | |
daniQQue | 40:187ef29de53d | 114 | //t1= triceps right arm |
daniQQue | 57:c546edf67c5c | 115 | BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of 20 Hz |
daniQQue | 57:c546edf67c5c | 116 | BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of 49-51 Hz |
daniQQue | 5:688b1b5530d8 | 117 | |
daniQQue | 40:187ef29de53d | 118 | //b2= biceps left arm |
daniQQue | 57:c546edf67c5c | 119 | BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of 20 Hz |
daniQQue | 57:c546edf67c5c | 120 | BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of 49-51 Hz |
daniQQue | 40:187ef29de53d | 121 | |
daniQQue | 40:187ef29de53d | 122 | //after abs filtering |
daniQQue | 57:c546edf67c5c | 123 | BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of 2 Hz |
daniQQue | 57:c546edf67c5c | 124 | BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of 2 Hz |
daniQQue | 57:c546edf67c5c | 125 | BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of 2 Hz |
daniQQue | 10:7255b59224cc | 126 | |
daniQQue | 57:c546edf67c5c | 127 | //======================================================================================================================================================= |
daniQQue | 45:08bddea67bd8 | 128 | //voids |
daniQQue | 57:c546edf67c5c | 129 | //======================================================================================================================================================= |
daniQQue | 45:08bddea67bd8 | 130 | |
daniQQue | 40:187ef29de53d | 131 | //function teller |
daniQQue | 49:818a0e90ed9c | 132 | void switch_function() { // The switch function. Makes it possible to switch between the motors. It simply adds one at switch_signal. |
daniQQue | 45:08bddea67bd8 | 133 | if(switch_signal_triceps==1) |
daniQQue | 40:187ef29de53d | 134 | { |
daniQQue | 45:08bddea67bd8 | 135 | switch_signal++; |
daniQQue | 49:818a0e90ed9c | 136 | |
daniQQue | 49:818a0e90ed9c | 137 | // To monitor what is happening: we will show the text in putty and change led color from red to green or vice versa. |
daniQQue | 49:818a0e90ed9c | 138 | |
daniQQue | 40:187ef29de53d | 139 | green=!green; |
daniQQue | 40:187ef29de53d | 140 | red=!red; |
daniQQue | 47:ddaa59d48aca | 141 | |
daniQQue | 45:08bddea67bd8 | 142 | if (switch_signal%2==0) |
daniQQue | 49:818a0e90ed9c | 143 | {pc.printf("If you contract the biceps, the robot will go right \r\n"); |
daniQQue | 47:ddaa59d48aca | 144 | pc.printf("If you contract the triceps, the robot will go left \r\n"); |
daniQQue | 47:ddaa59d48aca | 145 | pc.printf("\r\n"); |
daniQQue | 47:ddaa59d48aca | 146 | } |
daniQQue | 47:ddaa59d48aca | 147 | |
daniQQue | 47:ddaa59d48aca | 148 | |
daniQQue | 47:ddaa59d48aca | 149 | else |
daniQQue | 40:187ef29de53d | 150 | {pc.printf("If you contract the biceps, the robot will go up \r\n"); |
daniQQue | 40:187ef29de53d | 151 | pc.printf("If you contract the triceps, the robot will go down \r\n"); |
daniQQue | 47:ddaa59d48aca | 152 | pc.printf("\r\n"); |
daniQQue | 40:187ef29de53d | 153 | } |
daniQQue | 47:ddaa59d48aca | 154 | |
daniQQue | 40:187ef29de53d | 155 | } |
daniQQue | 40:187ef29de53d | 156 | } |
daniQQue | 49:818a0e90ed9c | 157 | |
daniQQue | 57:c546edf67c5c | 158 | //======================================================================================================================================================= |
daniQQue | 49:818a0e90ed9c | 159 | //functions which are called in ticker to sample the analog signal and make the on/off and switch signal. |
daniQQue | 40:187ef29de53d | 160 | |
daniQQue | 57:c546edf67c5c | 161 | //Filter void :// funciton which is called in ticker to sample the analog signal and make the on/off and switch signal. |
daniQQue | 0:34c739fcc3e0 | 162 | void filter(){ |
daniQQue | 40:187ef29de53d | 163 | //biceps right arm read+filtering |
daniQQue | 49:818a0e90ed9c | 164 | double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 49:818a0e90ed9c | 165 | double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); //high pass filter, to remove offset |
daniQQue | 49:818a0e90ed9c | 166 | double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); //notch filter, to remove noise |
daniQQue | 49:818a0e90ed9c | 167 | double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //rectify the signal, fabs because float |
daniQQue | 49:818a0e90ed9c | 168 | double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //low pass filter to envelope the signal |
daniQQue | 40:187ef29de53d | 169 | |
daniQQue | 40:187ef29de53d | 170 | //triceps right arm read+filtering |
daniQQue | 49:818a0e90ed9c | 171 | double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 49:818a0e90ed9c | 172 | double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); //high pass filter, to remove offset |
daniQQue | 49:818a0e90ed9c | 173 | double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); //notch filter, to remove noise |
daniQQue | 49:818a0e90ed9c | 174 | double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //rectify the signal, fabs because float |
daniQQue | 49:818a0e90ed9c | 175 | double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //low pass filter to envelope the signal |
daniQQue | 7:42d0e38196f1 | 176 | |
daniQQue | 40:187ef29de53d | 177 | //biceps left arm read+filtering |
daniQQue | 49:818a0e90ed9c | 178 | double emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes |
daniQQue | 49:818a0e90ed9c | 179 | double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); //high pass filter, to remove offset |
daniQQue | 49:818a0e90ed9c | 180 | double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); //notch filter, to remove noise |
daniQQue | 49:818a0e90ed9c | 181 | double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //rectify the signal, fabs because float |
daniQQue | 49:818a0e90ed9c | 182 | double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); //low pass filter to envelope the signal |
daniQQue | 40:187ef29de53d | 183 | |
daniQQue | 40:187ef29de53d | 184 | //creating of on/off signal with the created on/off signals, with if statement for right arm! |
daniQQue | 44:c79e5944ac91 | 185 | //signal substraction of filter biceps and triceps. right Biceps + left biceps - |
daniQQue | 44:c79e5944ac91 | 186 | double signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left; |
daniQQue | 44:c79e5944ac91 | 187 | double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right; |
daniQQue | 45:08bddea67bd8 | 188 | |
daniQQue | 44:c79e5944ac91 | 189 | //creating of on/off signal with the created on/off signals, with if statement for right arm! |
daniQQue | 49:818a0e90ed9c | 190 | if (signal_biceps_sum>treshold_biceps_right) |
daniQQue | 49:818a0e90ed9c | 191 | {onoffsignal_biceps=1;} |
daniQQue | 7:42d0e38196f1 | 192 | |
daniQQue | 49:818a0e90ed9c | 193 | else if (signal_biceps_sum<treshold_biceps_left) |
daniQQue | 49:818a0e90ed9c | 194 | { onoffsignal_biceps=-1; } |
daniQQue | 40:187ef29de53d | 195 | |
daniQQue | 49:818a0e90ed9c | 196 | else |
daniQQue | 49:818a0e90ed9c | 197 | {onoffsignal_biceps=0;} |
daniQQue | 7:42d0e38196f1 | 198 | |
daniQQue | 40:187ef29de53d | 199 | //creating on/off signal for switch (left arm) |
daniQQue | 40:187ef29de53d | 200 | |
daniQQue | 49:818a0e90ed9c | 201 | if (bicepstriceps_rightarm<treshold_triceps) |
daniQQue | 49:818a0e90ed9c | 202 | { switch_signal_triceps=1; } |
daniQQue | 40:187ef29de53d | 203 | |
daniQQue | 40:187ef29de53d | 204 | else |
daniQQue | 49:818a0e90ed9c | 205 | { switch_signal_triceps=0; } |
daniQQue | 49:818a0e90ed9c | 206 | |
daniQQue | 49:818a0e90ed9c | 207 | //send signals to scope to monitor the EMG signals |
daniQQue | 49:818a0e90ed9c | 208 | scope.set(0, emg_filtered_biceps_right); //set emg signal of right biceps to scope in channel 0 |
daniQQue | 49:818a0e90ed9c | 209 | scope.set(1, emg_filtered_triceps_right); // set emg signal of right triceps to scope in channel 1 |
daniQQue | 49:818a0e90ed9c | 210 | scope.set(2, emg_filtered_biceps_left); // set emg signal of left biceps to scope in channel 2 |
daniQQue | 49:818a0e90ed9c | 211 | scope.set(3, onoffsignal_biceps); // set on/off signal for the motors to scope in channel 3 |
daniQQue | 49:818a0e90ed9c | 212 | scope.set(4, switch_signal_triceps); // set the switch signal to scope in channel 4 |
daniQQue | 40:187ef29de53d | 213 | |
daniQQue | 57:c546edf67c5c | 214 | scope.send(); //send all the signals to the scope |
daniQQue | 0:34c739fcc3e0 | 215 | } |
daniQQue | 57:c546edf67c5c | 216 | //======================================================================================================================================================= |
daniQQue | 57:c546edf67c5c | 217 | |
daniQQue | 57:c546edf67c5c | 218 | //reference void makes the reference that the controllor should follow. There is only a controller for motor 1. |
sivuu | 50:2c03357de7cc | 219 | void reference(){ |
daniQQue | 57:c546edf67c5c | 220 | if (start_motor == true){ |
FloorC | 55:d742332ced11 | 221 | timer.start(); |
sivuu | 50:2c03357de7cc | 222 | } |
FloorC | 55:d742332ced11 | 223 | if (onoffsignal_biceps==-1 && switch_signal%2==0){ //switch even |
FloorC | 55:d742332ced11 | 224 | t_start = timer.read_ms(); |
daniQQue | 57:c546edf67c5c | 225 | start_motor = false; //It means that motor 2 is running and therefore the PID controllor should not be working. Therefore the bool is set on false. |
FloorC | 55:d742332ced11 | 226 | |
FloorC | 55:d742332ced11 | 227 | if (t_start < 1.0){ |
FloorC | 55:d742332ced11 | 228 | w_var = t_start*1.5; |
FloorC | 55:d742332ced11 | 229 | } |
FloorC | 55:d742332ced11 | 230 | |
FloorC | 55:d742332ced11 | 231 | else { |
FloorC | 55:d742332ced11 | 232 | w_var = 1.5; |
FloorC | 55:d742332ced11 | 233 | } |
FloorC | 55:d742332ced11 | 234 | |
FloorC | 55:d742332ced11 | 235 | d_ref = d_ref + w_var * Ts; |
FloorC | 55:d742332ced11 | 236 | |
FloorC | 55:d742332ced11 | 237 | } |
FloorC | 55:d742332ced11 | 238 | if (d_ref > 12){ |
FloorC | 55:d742332ced11 | 239 | d_ref = 12; |
FloorC | 55:d742332ced11 | 240 | start_motor = true; |
sivuu | 50:2c03357de7cc | 241 | //d_ref_const_cw = 1; |
FloorC | 55:d742332ced11 | 242 | } |
sivuu | 50:2c03357de7cc | 243 | else{ |
sivuu | 50:2c03357de7cc | 244 | d_ref = d_ref; |
sivuu | 50:2c03357de7cc | 245 | } |
sivuu | 50:2c03357de7cc | 246 | |
sivuu | 52:0135deb3b07f | 247 | if (onoffsignal_biceps==1 && switch_signal%2==0){ //switch even //left biceps contracted{ |
FloorC | 55:d742332ced11 | 248 | t_start = timer.read_ms(); |
FloorC | 55:d742332ced11 | 249 | start_motor = false; |
FloorC | 55:d742332ced11 | 250 | |
FloorC | 55:d742332ced11 | 251 | if (t_start < 1.0){ |
FloorC | 55:d742332ced11 | 252 | w_var = t_start*1.5; |
FloorC | 55:d742332ced11 | 253 | } |
FloorC | 55:d742332ced11 | 254 | else { |
FloorC | 55:d742332ced11 | 255 | w_var = 1.5; |
FloorC | 55:d742332ced11 | 256 | } |
FloorC | 55:d742332ced11 | 257 | d_ref = d_ref - w_var * Ts; |
sivuu | 50:2c03357de7cc | 258 | |
sivuu | 50:2c03357de7cc | 259 | } |
FloorC | 55:d742332ced11 | 260 | if (d_ref < -12){ |
FloorC | 55:d742332ced11 | 261 | d_ref = -12; |
FloorC | 55:d742332ced11 | 262 | start_motor = true; |
FloorC | 55:d742332ced11 | 263 | } |
sivuu | 50:2c03357de7cc | 264 | else{ |
sivuu | 50:2c03357de7cc | 265 | d_ref = d_ref; |
sivuu | 50:2c03357de7cc | 266 | } |
sivuu | 50:2c03357de7cc | 267 | |
sivuu | 50:2c03357de7cc | 268 | } |
daniQQue | 57:c546edf67c5c | 269 | //======================================================================================================================================================= |
daniQQue | 57:c546edf67c5c | 270 | //This void calculates the error and makes the control output. |
sivuu | 50:2c03357de7cc | 271 | void m1_controller(){ |
sivuu | 50:2c03357de7cc | 272 | error1 = d_ref-rev_counts_motor1_rad; |
sivuu | 51:b344a92b6a5f | 273 | controlOutput = PID_controller.step(error1); |
sivuu | 50:2c03357de7cc | 274 | } |
daniQQue | 57:c546edf67c5c | 275 | //======================================================================================================================================================= |
sivuu | 50:2c03357de7cc | 276 | |
daniQQue | 57:c546edf67c5c | 277 | //This void calculated the number of rotations that the motor has done in rad. It is put in a void because with the ticker, this ensures that it is updated continuously. |
FloorC | 55:d742332ced11 | 278 | void encoders(){ |
FloorC | 55:d742332ced11 | 279 | counts_encoder1 = Encoder1.getPulses(); |
FloorC | 55:d742332ced11 | 280 | rev_counts_motor1 = (float)counts_encoder1/(gearboxratio*rev_rond); |
FloorC | 55:d742332ced11 | 281 | rev_counts_motor1_rad = rev_counts_motor1*6.28318530718; |
FloorC | 55:d742332ced11 | 282 | |
FloorC | 55:d742332ced11 | 283 | } |
FloorC | 55:d742332ced11 | 284 | |
daniQQue | 57:c546edf67c5c | 285 | //======================================================================================================================================================= |
daniQQue | 57:c546edf67c5c | 286 | |
daniQQue | 57:c546edf67c5c | 287 | //The calibration of the Biceps threshold is started by a button. |
daniQQue | 57:c546edf67c5c | 288 | //It determines the maximum reachable EMG signal and takes a percentage of this to determine the new threshold. |
daniQQue | 57:c546edf67c5c | 289 | void calibration_biceps(){ |
daniQQue | 57:c546edf67c5c | 290 | if (button_calibration_biceps==0){ //only runs when button is pressed |
daniQQue | 57:c546edf67c5c | 291 | |
daniQQue | 57:c546edf67c5c | 292 | //detach tickers of other voids that control the switched and motors. To avoid unwanted moving and switching of the motors. |
daniQQue | 57:c546edf67c5c | 293 | ticker_switch.detach(); |
daniQQue | 57:c546edf67c5c | 294 | sample_timer.detach(); |
daniQQue | 57:c546edf67c5c | 295 | |
daniQQue | 57:c546edf67c5c | 296 | //let the user know what is happening, blue led on: calibration is going. |
daniQQue | 57:c546edf67c5c | 297 | pc.printf("start of calibration biceps, contract maximal \r\n"); |
daniQQue | 57:c546edf67c5c | 298 | pc.printf("\r\n"); |
daniQQue | 57:c546edf67c5c | 299 | red=1; |
daniQQue | 57:c546edf67c5c | 300 | green=1; |
daniQQue | 57:c546edf67c5c | 301 | blue=0; |
daniQQue | 57:c546edf67c5c | 302 | |
daniQQue | 57:c546edf67c5c | 303 | //start callibration of biceps |
daniQQue | 57:c546edf67c5c | 304 | for(int n =0; n<1500;n++) //read for 1500 samples as calibration |
daniQQue | 57:c546edf67c5c | 305 | { |
daniQQue | 57:c546edf67c5c | 306 | //biceps right arm read+filtering |
daniQQue | 57:c546edf67c5c | 307 | double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 57:c546edf67c5c | 308 | double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); //high pass filter, to remove offset |
daniQQue | 57:c546edf67c5c | 309 | double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); //notch filter, to remove noise |
daniQQue | 57:c546edf67c5c | 310 | double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //rectify the signal, fabs because float |
daniQQue | 57:c546edf67c5c | 311 | double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //low pass filter to envelope the signal |
daniQQue | 57:c546edf67c5c | 312 | |
daniQQue | 57:c546edf67c5c | 313 | //triceps right arm read+filtering |
daniQQue | 57:c546edf67c5c | 314 | double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 57:c546edf67c5c | 315 | double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); //high pass filter, to remove offset |
daniQQue | 57:c546edf67c5c | 316 | double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); //notch filter, to remove noise |
daniQQue | 57:c546edf67c5c | 317 | double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //rectify the signal, fabs because float |
daniQQue | 57:c546edf67c5c | 318 | double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //low pass filter to envelope the signal |
daniQQue | 57:c546edf67c5c | 319 | |
daniQQue | 57:c546edf67c5c | 320 | //biceps is +, triceps is - |
daniQQue | 57:c546edf67c5c | 321 | double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right; |
daniQQue | 57:c546edf67c5c | 322 | |
daniQQue | 57:c546edf67c5c | 323 | if (bicepstriceps_rightarm > max_biceps) //determine what the highest reachable emg signal is |
daniQQue | 57:c546edf67c5c | 324 | { |
daniQQue | 57:c546edf67c5c | 325 | max_biceps = bicepstriceps_rightarm; |
daniQQue | 57:c546edf67c5c | 326 | |
daniQQue | 57:c546edf67c5c | 327 | } |
daniQQue | 57:c546edf67c5c | 328 | wait(0.001f); //to sample at same freq; 1000Hz |
daniQQue | 57:c546edf67c5c | 329 | } |
daniQQue | 57:c546edf67c5c | 330 | treshold_biceps_right=percentage_max_biceps*max_biceps; //determine new treshold, right biceps is + |
daniQQue | 57:c546edf67c5c | 331 | treshold_biceps_left=-treshold_biceps_right; //determine new treshold, right biceps is - |
daniQQue | 57:c546edf67c5c | 332 | |
daniQQue | 57:c546edf67c5c | 333 | //toggle lights to see the calibration is done. Also show in putty that the calibration is done. |
daniQQue | 57:c546edf67c5c | 334 | blue=!blue; |
daniQQue | 57:c546edf67c5c | 335 | |
daniQQue | 57:c546edf67c5c | 336 | pc.printf(" end of calibration\r\n",treshold_biceps_right ); |
daniQQue | 57:c546edf67c5c | 337 | pc.printf(" change of cv biceps: %f ",treshold_biceps_right ); |
daniQQue | 57:c546edf67c5c | 338 | |
daniQQue | 57:c546edf67c5c | 339 | wait(0.2f); |
daniQQue | 57:c546edf67c5c | 340 | |
daniQQue | 57:c546edf67c5c | 341 | //remind the person of what motor will go on an which direction |
daniQQue | 57:c546edf67c5c | 342 | if (switch_signal%2==0) |
daniQQue | 57:c546edf67c5c | 343 | {green=0; |
daniQQue | 57:c546edf67c5c | 344 | red=1;} |
daniQQue | 57:c546edf67c5c | 345 | |
daniQQue | 57:c546edf67c5c | 346 | else {green=1; |
daniQQue | 57:c546edf67c5c | 347 | red=0;} |
daniQQue | 57:c546edf67c5c | 348 | } |
daniQQue | 57:c546edf67c5c | 349 | //reattach the functions to the tickers that were detached. |
daniQQue | 57:c546edf67c5c | 350 | ticker_switch.attach(&switch_function,1.0); |
daniQQue | 57:c546edf67c5c | 351 | sample_timer.attach(&filter, 0.001); |
daniQQue | 57:c546edf67c5c | 352 | } |
daniQQue | 57:c546edf67c5c | 353 | //======================================================================================================================================================= |
daniQQue | 57:c546edf67c5c | 354 | |
daniQQue | 57:c546edf67c5c | 355 | //The calibration of the Triceps threshold is started by a button. |
daniQQue | 57:c546edf67c5c | 356 | //It determines the maximum reachable EMG signal and takes a percentage of this to determine the new threshold. |
daniQQue | 57:c546edf67c5c | 357 | void calibration_triceps(){ |
daniQQue | 57:c546edf67c5c | 358 | if(button_calibration_triceps==0){ //only runs when button is pressed |
daniQQue | 57:c546edf67c5c | 359 | |
daniQQue | 57:c546edf67c5c | 360 | //detach tickers of other voids that control the switched and motors. To avoid unwanted moving and switching of the motors. |
daniQQue | 57:c546edf67c5c | 361 | ticker_switch.detach(); |
daniQQue | 57:c546edf67c5c | 362 | sample_timer.detach(); |
daniQQue | 57:c546edf67c5c | 363 | |
daniQQue | 57:c546edf67c5c | 364 | //toggel LEDS and let the user know that callibration of triceps is starting. |
daniQQue | 57:c546edf67c5c | 365 | red=1; |
daniQQue | 57:c546edf67c5c | 366 | green=1; |
daniQQue | 57:c546edf67c5c | 367 | blue=0; |
daniQQue | 57:c546edf67c5c | 368 | |
daniQQue | 57:c546edf67c5c | 369 | pc.printf("start of calibration triceps\r\n"); |
daniQQue | 57:c546edf67c5c | 370 | pc.printf("\r\n"); |
daniQQue | 57:c546edf67c5c | 371 | |
daniQQue | 57:c546edf67c5c | 372 | //start calibration of triceps |
daniQQue | 57:c546edf67c5c | 373 | for(int n =0; n<1500;n++) //read for 2000 samples as calibration |
daniQQue | 57:c546edf67c5c | 374 | { |
daniQQue | 57:c546edf67c5c | 375 | //biceps right arm read+filtering |
daniQQue | 57:c546edf67c5c | 376 | double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 57:c546edf67c5c | 377 | double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); //high pass filter, to remove offset |
daniQQue | 57:c546edf67c5c | 378 | double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); //notch filter, to remove noise |
daniQQue | 57:c546edf67c5c | 379 | double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //rectify the signal, fabs because float |
daniQQue | 57:c546edf67c5c | 380 | double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //low pass filter to envelope the signal |
daniQQue | 57:c546edf67c5c | 381 | |
daniQQue | 57:c546edf67c5c | 382 | //triceps right arm read+filtering |
daniQQue | 57:c546edf67c5c | 383 | double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 57:c546edf67c5c | 384 | double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); //high pass filter, to remove offset |
daniQQue | 57:c546edf67c5c | 385 | double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); //notch filter, to remove noise |
daniQQue | 57:c546edf67c5c | 386 | double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //rectify the signal, fabs because float |
daniQQue | 57:c546edf67c5c | 387 | double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //low pass filter to envelope the signal |
daniQQue | 57:c546edf67c5c | 388 | |
daniQQue | 57:c546edf67c5c | 389 | //biceps is +, triceps is - |
daniQQue | 57:c546edf67c5c | 390 | double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right; |
daniQQue | 57:c546edf67c5c | 391 | |
daniQQue | 57:c546edf67c5c | 392 | if (bicepstriceps_rightarm < max_triceps) //determine what the lowest reachable emg of triceps (max in negative part) signal is |
daniQQue | 57:c546edf67c5c | 393 | { |
daniQQue | 57:c546edf67c5c | 394 | max_triceps = bicepstriceps_rightarm; |
daniQQue | 57:c546edf67c5c | 395 | |
daniQQue | 57:c546edf67c5c | 396 | } |
daniQQue | 57:c546edf67c5c | 397 | wait(0.001f); //to sample at same freq; 1000Hz |
daniQQue | 57:c546edf67c5c | 398 | } |
daniQQue | 57:c546edf67c5c | 399 | treshold_triceps=percentage_max_triceps*max_triceps; //calculate the new treshold. This is a negative number due to the sum! |
daniQQue | 57:c546edf67c5c | 400 | |
daniQQue | 57:c546edf67c5c | 401 | //Let the user know that the calibration is done. |
daniQQue | 57:c546edf67c5c | 402 | pc.printf(" end of calibration\r\n"); |
daniQQue | 57:c546edf67c5c | 403 | pc.printf(" change of cv triceps: %f ",treshold_triceps ); |
daniQQue | 57:c546edf67c5c | 404 | blue=!blue; |
daniQQue | 57:c546edf67c5c | 405 | wait(0.2f); |
daniQQue | 57:c546edf67c5c | 406 | if (switch_signal%2==0) |
daniQQue | 57:c546edf67c5c | 407 | {green=0; |
daniQQue | 57:c546edf67c5c | 408 | red=1;} |
daniQQue | 57:c546edf67c5c | 409 | |
daniQQue | 57:c546edf67c5c | 410 | else {green=1; |
daniQQue | 57:c546edf67c5c | 411 | red=0;} |
daniQQue | 57:c546edf67c5c | 412 | } |
daniQQue | 57:c546edf67c5c | 413 | |
daniQQue | 57:c546edf67c5c | 414 | //reattach the functions to the tickers that were detached. |
daniQQue | 57:c546edf67c5c | 415 | sample_timer.attach(&filter, 0.001); |
daniQQue | 57:c546edf67c5c | 416 | ticker_switch.attach(&switch_function,1.0); |
daniQQue | 57:c546edf67c5c | 417 | } |
daniQQue | 57:c546edf67c5c | 418 | //======================================================================================================================================================= |
daniQQue | 57:c546edf67c5c | 419 | |
daniQQue | 57:c546edf67c5c | 420 | //======================================================================================================================================================= |
daniQQue | 0:34c739fcc3e0 | 421 | //program |
daniQQue | 57:c546edf67c5c | 422 | //======================================================================================================================================================= |
daniQQue | 0:34c739fcc3e0 | 423 | int main() |
daniQQue | 0:34c739fcc3e0 | 424 | { |
daniQQue | 40:187ef29de53d | 425 | |
daniQQue | 49:818a0e90ed9c | 426 | pc.baud(115200); //connect with pc with baudrate 115200 |
daniQQue | 49:818a0e90ed9c | 427 | green=1; //led is off (1), at beginning |
daniQQue | 49:818a0e90ed9c | 428 | red=0; //led is on (0), at beginning |
daniQQue | 49:818a0e90ed9c | 429 | |
daniQQue | 49:818a0e90ed9c | 430 | //attach tickers to functions |
daniQQue | 57:c546edf67c5c | 431 | sample_timer.attach(&filter, Ts); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds |
daniQQue | 57:c546edf67c5c | 432 | ticker_switch.attach(&switch_function,1.0); //it is possible to switch only once in a second, this ensures that the switch is not reacting on one signal multiple times. |
sivuu | 50:2c03357de7cc | 433 | ticker_referenceangle.attach(&reference, Ts); |
sivuu | 50:2c03357de7cc | 434 | ticker_controllerm1.attach(&m1_controller, Ts); |
FloorC | 55:d742332ced11 | 435 | ticker_encoder.attach(&encoders, Ts); |
daniQQue | 57:c546edf67c5c | 436 | ticker_calibration_biceps.attach (&calibration_biceps,2.0); //to call calibration biceps, stop EMG sampling and switch |
daniQQue | 57:c546edf67c5c | 437 | ticker_calibration_triceps.attach(&calibration_triceps,2.0); //to call calibration triceps, stop EMG sampling and switch |
sivuu | 50:2c03357de7cc | 438 | |
sivuu | 50:2c03357de7cc | 439 | //PID controller |
sivuu | 50:2c03357de7cc | 440 | PID_controller.PIDF(Kp,Ki,Kd,N,Ts); |
daniQQue | 44:c79e5944ac91 | 441 | |
sivuu | 51:b344a92b6a5f | 442 | //Encoder |
FloorC | 55:d742332ced11 | 443 | //QEI Encoder1(D13,D12, NC, rev_rond,QEI::X4_ENCODING); |
sivuu | 51:b344a92b6a5f | 444 | |
daniQQue | 49:818a0e90ed9c | 445 | //Show the user what the starting motor will be and what will happen |
daniQQue | 47:ddaa59d48aca | 446 | pc.printf("We will start the demonstration\r\n"); |
daniQQue | 49:818a0e90ed9c | 447 | pc.printf("\r\n\r\n\r\n"); |
daniQQue | 49:818a0e90ed9c | 448 | |
daniQQue | 47:ddaa59d48aca | 449 | if (switch_signal%2==0) |
daniQQue | 47:ddaa59d48aca | 450 | {pc.printf("If you contract the biceps, the robot will go right \r\n"); |
daniQQue | 47:ddaa59d48aca | 451 | pc.printf("If you contract the triceps, the robot will go left \r\n"); |
daniQQue | 47:ddaa59d48aca | 452 | pc.printf("\r\n"); |
daniQQue | 47:ddaa59d48aca | 453 | } |
daniQQue | 47:ddaa59d48aca | 454 | |
daniQQue | 47:ddaa59d48aca | 455 | |
daniQQue | 47:ddaa59d48aca | 456 | else |
daniQQue | 45:08bddea67bd8 | 457 | {pc.printf("If you contract the biceps, the robot will go up \r\n"); |
daniQQue | 45:08bddea67bd8 | 458 | pc.printf("If you contract the triceps, the robot will go down \r\n"); |
daniQQue | 47:ddaa59d48aca | 459 | pc.printf("\r\n"); |
daniQQue | 45:08bddea67bd8 | 460 | } |
daniQQue | 45:08bddea67bd8 | 461 | |
daniQQue | 57:c546edf67c5c | 462 | //======================================================================================================================================================= |
daniQQue | 0:34c739fcc3e0 | 463 | //endless loop |
daniQQue | 0:34c739fcc3e0 | 464 | |
daniQQue | 40:187ef29de53d | 465 | |
daniQQue | 49:818a0e90ed9c | 466 | while (true) { // neverending loop |
daniQQue | 8:cd0cb71b69f2 | 467 | |
FloorC | 56:a38412383477 | 468 | if (onoffsignal_biceps==-1){ //left biceps contracted |
FloorC | 56:a38412383477 | 469 | |
FloorC | 56:a38412383477 | 470 | if (switch_signal%2==0){ //switch even |
FloorC | 56:a38412383477 | 471 | |
sivuu | 51:b344a92b6a5f | 472 | speedmotor1=controlOutput; |
daniQQue | 57:c546edf67c5c | 473 | |
sivuu | 51:b344a92b6a5f | 474 | if (speedmotor1<0){ |
daniQQue | 57:c546edf67c5c | 475 | richting_motor1 = cw; // motor 1, right |
sivuu | 51:b344a92b6a5f | 476 | } |
sivuu | 51:b344a92b6a5f | 477 | else { |
daniQQue | 57:c546edf67c5c | 478 | richting_motor1 = ccw; //motor 1, left |
sivuu | 51:b344a92b6a5f | 479 | } |
daniQQue | 57:c546edf67c5c | 480 | pwm_motor1 = fabs(speedmotor1); //speed of motor 1 |
daniQQue | 57:c546edf67c5c | 481 | |
daniQQue | 40:187ef29de53d | 482 | } |
sivuu | 51:b344a92b6a5f | 483 | |
daniQQue | 40:187ef29de53d | 484 | |
daniQQue | 49:818a0e90ed9c | 485 | else //switch odd |
daniQQue | 40:187ef29de53d | 486 | { |
daniQQue | 49:818a0e90ed9c | 487 | richting_motor2 = ccw; //motor 2, up |
daniQQue | 49:818a0e90ed9c | 488 | pwm_motor2 = speedmotor2;//speed of motor 2 |
daniQQue | 40:187ef29de53d | 489 | |
daniQQue | 40:187ef29de53d | 490 | } |
daniQQue | 40:187ef29de53d | 491 | |
daniQQue | 8:cd0cb71b69f2 | 492 | } |
sivuu | 52:0135deb3b07f | 493 | else if (onoffsignal_biceps==1) //right biceps contracted |
daniQQue | 40:187ef29de53d | 494 | { |
daniQQue | 49:818a0e90ed9c | 495 | if (switch_signal%2==0) //switch signal even |
daniQQue | 40:187ef29de53d | 496 | { |
sivuu | 51:b344a92b6a5f | 497 | speedmotor1=controlOutput; |
daniQQue | 57:c546edf67c5c | 498 | |
sivuu | 51:b344a92b6a5f | 499 | if (speedmotor1<0){ |
daniQQue | 57:c546edf67c5c | 500 | richting_motor1 = cw; //motor 1, right |
sivuu | 51:b344a92b6a5f | 501 | } |
sivuu | 51:b344a92b6a5f | 502 | else { |
daniQQue | 57:c546edf67c5c | 503 | richting_motor1 = ccw; //motor 1, left |
sivuu | 51:b344a92b6a5f | 504 | } |
sivuu | 51:b344a92b6a5f | 505 | pwm_motor1 = fabs(speedmotor1); //speed of motor 1 |
daniQQue | 57:c546edf67c5c | 506 | |
daniQQue | 40:187ef29de53d | 507 | } |
daniQQue | 57:c546edf67c5c | 508 | else //switch signal odd |
daniQQue | 40:187ef29de53d | 509 | { |
daniQQue | 57:c546edf67c5c | 510 | richting_motor2 = cw; //motor 2, down |
daniQQue | 49:818a0e90ed9c | 511 | pwm_motor2 = speedmotor2; //speed motor 2 |
daniQQue | 40:187ef29de53d | 512 | |
daniQQue | 40:187ef29de53d | 513 | } |
daniQQue | 40:187ef29de53d | 514 | } |
daniQQue | 49:818a0e90ed9c | 515 | else{ |
daniQQue | 57:c546edf67c5c | 516 | //no contraction of biceps, thus no motoraction. |
daniQQue | 40:187ef29de53d | 517 | pwm_motor2=0; |
daniQQue | 40:187ef29de53d | 518 | pwm_motor1=0; |
FloorC | 55:d742332ced11 | 519 | start_motor = true; |
FloorC | 56:a38412383477 | 520 | |
FloorC | 56:a38412383477 | 521 | |
daniQQue | 40:187ef29de53d | 522 | } |
daniQQue | 40:187ef29de53d | 523 | |
daniQQue | 49:818a0e90ed9c | 524 | }//while true closed |
daniQQue | 0:34c739fcc3e0 | 525 | |
daniQQue | 49:818a0e90ed9c | 526 | } //int main closed |
daniQQue | 49:818a0e90ed9c | 527 | |
daniQQue | 57:c546edf67c5c | 528 | //======================================================================================================================================================= |