pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
main.cpp
- Committer:
- sivuu
- Date:
- 2016-11-03
- Revision:
- 53:6b91f69fa2dc
- Parent:
- 52:0135deb3b07f
- Child:
- 54:fb72c58a7150
File content as of revision 53:6b91f69fa2dc:
//===================================================================================== //libraries #include "mbed.h" //mbed revision 113 #include "HIDScope.h" //Hidscope by Tom Lankhorst #include "BiQuad.h" //BiQuad by Tom Lankhorst #include "MODSERIAL.h" //Modserial #include "QEI.h" //QEI library for the encoders //===================================================================================== //Define objects //EMG AnalogIn emg_biceps_right_in (A0); //analog in to get EMG biceps (r) in to c++ AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ //Tickers Ticker sample_timer; //ticker for EMG signal sampling, analog becomes digital Ticker ticker_switch; //ticker for switch, every second it is possible to switch Ticker ticker_referenceangle; //ticker for the reference angle Ticker ticker_controllerm1; //ticker for the controller (PID) of motor 1 //Monitoring HIDScope scope(5); //open 5 channels in hidscope MODSERIAL pc(USBTX, USBRX); //pc connection DigitalOut red(LED_RED); //LED on K64F board, 1 is out; 0 is on DigitalOut green(LED_GREEN); //LED on K64f board, 1 is out; o is on //motors DigitalOut richting_motor1(D7); //motor 1 connected to motor 1 at k64f board; for turningtable PwmOut pwm_motor1(D6); DigitalOut richting_motor2(D4); //motor 2 connected to motor 2 at k64f board; for linear actuator PwmOut pwm_motor2(D5); //encoders DigitalIn encoder1A(D13); DigitalIn encoder1B(D12); DigitalIn encoder2A(D11); DigitalIn encoder2B(D10); //controller BiQuad PID_controller; //===================================================================================== //define variables //thresholds double treshold_biceps_right = 0.04; //common values that work. double treshold_biceps_left = -0.04; // tested on multiple persons double treshold_triceps = -0.04; //triceps and left biceps is specified negative, thus negative treshold //on/off and switch signals int switch_signal = 0; //start of counter, switch made by even and odd numbers int onoffsignal_biceps; int switch_signal_triceps; //motorvariables float speedmotor1=0.18; //speed of motor 1 is 0.18pwm at start float speedmotor2=1.0; //speed of motor 2 is 1.0 pwm at start int cw=0; //clockwise direction int ccw=1; //counterclockwise direction //encoder int counts_encoder1; //int counts_encoder2; float rev_counts_motor1; float rev_counts_motor1_rad; const float gearboxratio=131.25; // gearboxratio van encoder naar motor const float rev_rond=64.0; // aantal revoluties per omgang van de encoder //reference volatile float d_ref = 0; const float w_ref = 3; const double Ts = 0.001; //controller const double Kp = 0.3823; const double Ki = 0.1279; const double Kd = 0.2519; const double N = 100; volatile double error1; volatile double controlOutput; //======================================= //filter coefficients //b1 = biceps right arm 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? 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? //t1= triceps right arm 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? 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? //b2= biceps left arm 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? 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? //after abs filtering 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? 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? 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? //====================================================================== //voids //====================================================================== //function teller void switch_function() { // The switch function. Makes it possible to switch between the motors. It simply adds one at switch_signal. if(switch_signal_triceps==1) { switch_signal++; // To monitor what is happening: we will show the text in putty and change led color from red to green or vice versa. green=!green; red=!red; if (switch_signal%2==0) {pc.printf("If you contract the biceps, the robot will go right \r\n"); pc.printf("If you contract the triceps, the robot will go left \r\n"); pc.printf("\r\n"); } else {pc.printf("If you contract the biceps, the robot will go up \r\n"); pc.printf("If you contract the triceps, the robot will go down \r\n"); pc.printf("\r\n"); } } } //====================================================================== //functions which are called in ticker to sample the analog signal and make the on/off and switch signal. void filter(){ //biceps right arm read+filtering double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); //high pass filter, to remove offset double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); //notch filter, to remove noise double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //rectify the signal, fabs because float double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //low pass filter to envelope the signal //triceps right arm read+filtering double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); //high pass filter, to remove offset double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); //notch filter, to remove noise double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //rectify the signal, fabs because float double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //low pass filter to envelope the signal //biceps left arm read+filtering double emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); //high pass filter, to remove offset double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); //notch filter, to remove noise double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //rectify the signal, fabs because float double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); //low pass filter to envelope the signal //creating of on/off signal with the created on/off signals, with if statement for right arm! //signal substraction of filter biceps and triceps. right Biceps + left biceps - double signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left; double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right; //creating of on/off signal with the created on/off signals, with if statement for right arm! if (signal_biceps_sum>treshold_biceps_right) {onoffsignal_biceps=1;} else if (signal_biceps_sum<treshold_biceps_left) { onoffsignal_biceps=-1; } else {onoffsignal_biceps=0;} //creating on/off signal for switch (left arm) if (bicepstriceps_rightarm<treshold_triceps) { switch_signal_triceps=1; } else { switch_signal_triceps=0; } //send signals to scope to monitor the EMG signals scope.set(0, emg_filtered_biceps_right); //set emg signal of right biceps to scope in channel 0 scope.set(1, emg_filtered_triceps_right); // set emg signal of right triceps to scope in channel 1 scope.set(2, emg_filtered_biceps_left); // set emg signal of left biceps to scope in channel 2 scope.set(3, onoffsignal_biceps); // set on/off signal for the motors to scope in channel 3 scope.set(4, switch_signal_triceps); // set the switch signal to scope in channel 4 scope.send(); //send all the signals to the scope } void reference(){ if (onoffsignal_biceps==-1 && switch_signal%2==0){ //switch even //right biceps contracted{ d_ref = d_ref + w_ref * Ts; } if (d_ref > 10 ){ d_ref = 10; //d_ref_const_cw = 1; } else{ d_ref = d_ref; } if (onoffsignal_biceps==1 && switch_signal%2==0){ //switch even //left biceps contracted{ d_ref = d_ref - w_ref * Ts; } if (d_ref < -10){ d_ref = -10; } else{ d_ref = d_ref; } } void m1_controller(){ error1 = d_ref-rev_counts_motor1_rad; controlOutput = PID_controller.step(error1); } //====================================================================== //program //====================================================================== int main() { pc.baud(115200); //connect with pc with baudrate 115200 green=1; //led is off (1), at beginning red=0; //led is on (0), at beginning //attach tickers to functions sample_timer.attach(&filter, Ts); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds ticker_switch.attach(&switch_function,1.0); ticker_referenceangle.attach(&reference, Ts); ticker_controllerm1.attach(&m1_controller, Ts); //PID controller PID_controller.PIDF(Kp,Ki,Kd,N,Ts); //Encoder QEI Encoder1(D13,D12, NC, rev_rond,QEI::X4_ENCODING); //Show the user what the starting motor will be and what will happen pc.printf("We will start the demonstration\r\n"); pc.printf("\r\n\r\n\r\n"); if (switch_signal%2==0) {pc.printf("If you contract the biceps, the robot will go right \r\n"); pc.printf("If you contract the triceps, the robot will go left \r\n"); pc.printf("\r\n"); } else {pc.printf("If you contract the biceps, the robot will go up \r\n"); pc.printf("If you contract the triceps, the robot will go down \r\n"); pc.printf("\r\n"); } //============================================================================================== //endless loop while (true) { // neverending loop counts_encoder1 = Encoder1.getPulses(); rev_counts_motor1=(float)counts_encoder1/(gearboxratio*rev_rond); rev_counts_motor1_rad=rev_counts_motor1*6.28318530718; pc.printf("%f \r\n", d_ref); pc.printf("%f ", rev_counts_motor1_rad); if (onoffsignal_biceps==-1) //left biceps contracted { if (switch_signal%2==0) //switch even { speedmotor1=controlOutput; //richting_motor1 = ccw; //motor 1, left //pwm_motor1 = speedmotor1; //speed of motor 1 if (speedmotor1<0){ richting_motor1 = cw; } else { richting_motor1 = ccw; } pwm_motor1 = fabs(speedmotor1); //speed of motor 1 // pc.printf("%f\r\n", pwm_motor1.read()); } else //switch odd { richting_motor2 = ccw; //motor 2, up pwm_motor2 = speedmotor2;//speed of motor 2 } } else if (onoffsignal_biceps==1) //right biceps contracted { if (switch_signal%2==0) //switch signal even { speedmotor1=controlOutput; //richting_motor1 = ccw; //motor 1, left //pwm_motor1 = speedmotor1; //speed of motor 1 if (speedmotor1<0){ richting_motor1 = cw; } else { richting_motor1 = ccw; } pwm_motor1 = fabs(speedmotor1); //speed of motor 1 // pc.printf("%f\r\n", pwm_motor1.read()); } else //switch signal odd { richting_motor2 = cw; //motor 2. down pwm_motor2 = speedmotor2; //speed motor 2 } } else{ //no contraction of biceps pwm_motor2=0; pwm_motor1=0; } }//while true closed } //int main closed //=============================================================================================1