Floris Hoek / Mbed 2 deprecated template_biorobotics_Group_18

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@24:e87e4fcf6226, 2019-10-31 (annotated)

Committer:
paulstuiver
Date:
Thu Oct 31 18:53:30 2019 +0000
Revision:
24:e87e4fcf6226
Parent:
23:ff73ee119244
Child:
25:45c131af2dba
Demo mode and END_GAME not working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Floris_Hoek 23:ff73ee119244 1 // Operating mode might not go to next state when SW2 is pressed
Floris_Hoek 12:f4331640e3ad 2
RobertoO 0:67c50348f842 3 #include "mbed.h"
Floris_Hoek 8:7dab565a208e 4 #include "HIDScope.h"
Floris_Hoek 8:7dab565a208e 5 #include "BiQuad.h"
RobertoO 1:b862262a9d14 6 #include "MODSERIAL.h"
paulstuiver 2:75b2f713161c 7 #include "FastPWM.h"
paulstuiver 5:2ae500da8fe1 8 #include "QEI.h"
Floris_Hoek 12:f4331640e3ad 9
Floris_Hoek 23:ff73ee119244 10 #include <cmath> // Included to use different math operations
paulstuiver 2:75b2f713161c 11
Floris_Hoek 23:ff73ee119244 12 #include "Servo.h" // Included to control the servo motor
Floris_Hoek 8:7dab565a208e 13
Floris_Hoek 23:ff73ee119244 14 Servo myservo(D13); // To control the servo motor
Floris_Hoek 23:ff73ee119244 15 DigitalIn but3(SW2); // To go to the next state or to choose one of two game modes when in state START_GAME
Floris_Hoek 23:ff73ee119244 16 DigitalIn but4(SW3); // To choose one of two game modes when in state START_GAME or to move the gripper
Floris_Hoek 9:e8cc37a94fec 17
paulstuiver 24:e87e4fcf6226 18 AnalogIn S0(A0);
paulstuiver 24:e87e4fcf6226 19 AnalogIn S1(A1);
paulstuiver 24:e87e4fcf6226 20 AnalogIn S2(A2);
paulstuiver 24:e87e4fcf6226 21 AnalogIn S3(A3);
paulstuiver 24:e87e4fcf6226 22
paulstuiver 24:e87e4fcf6226 23 DigitalOut motor1Direction(D7);
paulstuiver 24:e87e4fcf6226 24 FastPWM motor1Velocity(D6);
paulstuiver 24:e87e4fcf6226 25 DigitalOut motor2Direction(D4);
paulstuiver 24:e87e4fcf6226 26 FastPWM motor2Velocity(D5);
paulstuiver 24:e87e4fcf6226 27
paulstuiver 24:e87e4fcf6226 28 // Encoders 1 and 2 respectively
paulstuiver 24:e87e4fcf6226 29 QEI Encoder1(D8,D9,NC,8400);
paulstuiver 24:e87e4fcf6226 30 QEI Encoder2(D11,D10,NC,8400);
Floris_Hoek 9:e8cc37a94fec 31
Floris_Hoek 23:ff73ee119244 32 Ticker measurecontrol; // Ticker function for the measurements
Floris_Hoek 18:4a6be1893d7f 33
Floris_Hoek 18:4a6be1893d7f 34 // Make arrays for the different variables for the motors
paulstuiver 24:e87e4fcf6226 35 //AnalogIn Shields[4] = {S0, S1, S2, S3};
paulstuiver 24:e87e4fcf6226 36 //DigitalOut MotorDirections[2] = {MD0, MD1};
paulstuiver 24:e87e4fcf6226 37 //FastPWM MotorVelocities[2] = {MV0, MV1};
paulstuiver 24:e87e4fcf6226 38 //QEI Encoders[2] = {E0, E1};
Floris_Hoek 18:4a6be1893d7f 39
Floris_Hoek 22:cce4dc5738af 40 Serial pc(USBTX, USBRX);
Floris_Hoek 8:7dab565a208e 41
Floris_Hoek 23:ff73ee119244 42 double PI = 3.14159265358;//97932384626433832795028841971693993;
Floris_Hoek 23:ff73ee119244 43 volatile double timeinterval = 0.001f; // Time interval of the Ticker function
Floris_Hoek 23:ff73ee119244 44 volatile double frequency = 17000.0; // Set motorfrequency
Floris_Hoek 23:ff73ee119244 45 double period_signal = 1.0/frequency; // Convert to period of the signal
Floris_Hoek 23:ff73ee119244 46
Floris_Hoek 23:ff73ee119244 47 double yendeffector = 10.6159;
Floris_Hoek 23:ff73ee119244 48 double xendeffector = 0;
Floris_Hoek 23:ff73ee119244 49 int ingedrukt = 0;
Floris_Hoek 23:ff73ee119244 50 int state_int;
paulstuiver 24:e87e4fcf6226 51 int previous_state_int;
Floris_Hoek 9:e8cc37a94fec 52 // Define the different states in which the robot can be
Floris_Hoek 23:ff73ee119244 53 enum States {MOTORS_OFF, EMG_CALIBRATION, START_GAME,
Floris_Hoek 23:ff73ee119244 54 DEMO_MODE, OPERATING_MODE, END_GAME
Floris_Hoek 22:cce4dc5738af 55 };
Floris_Hoek 19:b3e224e0cb85 56
Floris_Hoek 9:e8cc37a94fec 57 // Default state is the state in which the motors are turned off
Floris_Hoek 9:e8cc37a94fec 58 States MyState = MOTORS_OFF;
paulstuiver 5:2ae500da8fe1 59
Floris_Hoek 23:ff73ee119244 60
Floris_Hoek 14:1343966a79e8 61 // Initialise the functions
Floris_Hoek 9:e8cc37a94fec 62
Floris_Hoek 14:1343966a79e8 63 void motorsoff();
Floris_Hoek 14:1343966a79e8 64
Floris_Hoek 23:ff73ee119244 65 void measure_data(double &f_y0, double &f_y1, double &f_y2, double &f_y3);
Floris_Hoek 14:1343966a79e8 66
Floris_Hoek 18:4a6be1893d7f 67 void det_max(double y, double &max_y);
Floris_Hoek 14:1343966a79e8 68
Floris_Hoek 14:1343966a79e8 69 void emgcalibration();
Floris_Hoek 14:1343966a79e8 70
Floris_Hoek 22:cce4dc5738af 71 void nothing()
Floris_Hoek 22:cce4dc5738af 72 {
Floris_Hoek 14:1343966a79e8 73 // Do nothing
Floris_Hoek 14:1343966a79e8 74 }
Floris_Hoek 14:1343966a79e8 75
Floris_Hoek 23:ff73ee119244 76 void startgame() ;
Floris_Hoek 18:4a6be1893d7f 77
Floris_Hoek 23:ff73ee119244 78 void demo_mode();
Floris_Hoek 18:4a6be1893d7f 79
Floris_Hoek 18:4a6be1893d7f 80 void operating_mode();
Floris_Hoek 18:4a6be1893d7f 81
Floris_Hoek 14:1343966a79e8 82 void New_State();
Floris_Hoek 14:1343966a79e8 83
Floris_Hoek 19:b3e224e0cb85 84 void Set_State();
Floris_Hoek 19:b3e224e0cb85 85
Floris_Hoek 23:ff73ee119244 86 double PID_controller1(double error1);
Floris_Hoek 23:ff73ee119244 87
Floris_Hoek 23:ff73ee119244 88 double PID_controller2(double error2);
Floris_Hoek 23:ff73ee119244 89
Floris_Hoek 23:ff73ee119244 90 void getmeasuredposition(double & measuredposition1, double & measuredposition2);
Floris_Hoek 23:ff73ee119244 91
Floris_Hoek 23:ff73ee119244 92 void getreferenceposition(double & referenceposition1, double & referenceposition2);
Floris_Hoek 23:ff73ee119244 93
Floris_Hoek 23:ff73ee119244 94 void sendtomotor(double motorvalue1, double motorvalue2);
Floris_Hoek 23:ff73ee119244 95
Floris_Hoek 23:ff73ee119244 96 void measureandcontrol();
Floris_Hoek 14:1343966a79e8 97
Floris_Hoek 14:1343966a79e8 98
Floris_Hoek 23:ff73ee119244 99
Floris_Hoek 14:1343966a79e8 100 int main()
Floris_Hoek 14:1343966a79e8 101 {
Floris_Hoek 22:cce4dc5738af 102 pc.baud(115200);
Floris_Hoek 23:ff73ee119244 103 pc.printf("Starting...\r\n\r\n");
Floris_Hoek 22:cce4dc5738af 104
paulstuiver 24:e87e4fcf6226 105 motor1Velocity.period(period_signal); // Set the period of the PWMfunction
paulstuiver 24:e87e4fcf6226 106 motor2Velocity.period(period_signal); // Set the period of the PWMfunction
Floris_Hoek 22:cce4dc5738af 107
paulstuiver 24:e87e4fcf6226 108 previous_state_int = (int)MyState; // Save previous state to compare with current state and possibly execute New_State()
Floris_Hoek 22:cce4dc5738af 109 // in the while loop
Floris_Hoek 22:cce4dc5738af 110
Floris_Hoek 14:1343966a79e8 111 New_State(); // Execute the functions belonging to the current state
Floris_Hoek 22:cce4dc5738af 112
Floris_Hoek 23:ff73ee119244 113 while(true) {
Floris_Hoek 14:1343966a79e8 114 if ( (previous_state_int - (int)MyState) != 0 ) { // If current state is not previous state execute New_State()
Floris_Hoek 14:1343966a79e8 115 New_State();
Floris_Hoek 14:1343966a79e8 116 }
Floris_Hoek 14:1343966a79e8 117 }
Floris_Hoek 23:ff73ee119244 118 }
Floris_Hoek 23:ff73ee119244 119
Floris_Hoek 23:ff73ee119244 120
Floris_Hoek 23:ff73ee119244 121
Floris_Hoek 23:ff73ee119244 122 double PID_controller1(double error1)
Floris_Hoek 23:ff73ee119244 123 {
Floris_Hoek 23:ff73ee119244 124 // Define errors for motor 1 and 2
Floris_Hoek 23:ff73ee119244 125 static double error_integral1 = 0;
Floris_Hoek 23:ff73ee119244 126 static double error_prev1 = error1;
Floris_Hoek 23:ff73ee119244 127
Floris_Hoek 23:ff73ee119244 128 // Low-pass filter
Floris_Hoek 23:ff73ee119244 129 static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
Floris_Hoek 23:ff73ee119244 130
Floris_Hoek 23:ff73ee119244 131 // PID variables: we assume them to be the same for both motors
paulstuiver 24:e87e4fcf6226 132 double Kp = 63;
Floris_Hoek 23:ff73ee119244 133 double Ki = 3.64;
Floris_Hoek 23:ff73ee119244 134 double Kd = 5;
Floris_Hoek 23:ff73ee119244 135
Floris_Hoek 23:ff73ee119244 136 //Proportional part:
Floris_Hoek 23:ff73ee119244 137 double u_k1 = Kp * error1;
Floris_Hoek 23:ff73ee119244 138
Floris_Hoek 23:ff73ee119244 139 // Integreal part
Floris_Hoek 23:ff73ee119244 140 error_integral1 = error_integral1 + error1 * timeinterval;
Floris_Hoek 23:ff73ee119244 141 double u_i1 = Ki*error_integral1;
Floris_Hoek 23:ff73ee119244 142
Floris_Hoek 23:ff73ee119244 143 // Derivate part
Floris_Hoek 23:ff73ee119244 144 double error_derivative1 = (error1 - error_prev1)/timeinterval;
Floris_Hoek 23:ff73ee119244 145 double filtered_error_derivative1 = LowPassFilter.step(error_derivative1);
Floris_Hoek 23:ff73ee119244 146 double u_d1 = Kd * filtered_error_derivative1;
Floris_Hoek 23:ff73ee119244 147 error_prev1 = error1;
Floris_Hoek 23:ff73ee119244 148
Floris_Hoek 23:ff73ee119244 149 //sum all parts and return it
Floris_Hoek 23:ff73ee119244 150 return u_k1 + u_i1 + u_d1;
Floris_Hoek 23:ff73ee119244 151 }
Floris_Hoek 23:ff73ee119244 152
Floris_Hoek 23:ff73ee119244 153
Floris_Hoek 23:ff73ee119244 154 double PID_controller2(double error2)
Floris_Hoek 23:ff73ee119244 155 {
Floris_Hoek 23:ff73ee119244 156 // Define errors for motor 1 and 2
Floris_Hoek 23:ff73ee119244 157 static double error_integral2 = 0;
Floris_Hoek 23:ff73ee119244 158 static double error_prev2 = error2;
Floris_Hoek 23:ff73ee119244 159
Floris_Hoek 23:ff73ee119244 160 // Low-pass filter
Floris_Hoek 23:ff73ee119244 161 static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
Floris_Hoek 23:ff73ee119244 162
Floris_Hoek 23:ff73ee119244 163 // PID variables: we assume them to be the same for both motors
paulstuiver 24:e87e4fcf6226 164 double Kp = 63;
Floris_Hoek 23:ff73ee119244 165 double Ki = 3.64;
Floris_Hoek 23:ff73ee119244 166 double Kd = 5;
Floris_Hoek 23:ff73ee119244 167
Floris_Hoek 23:ff73ee119244 168 //Proportional part:
Floris_Hoek 23:ff73ee119244 169 double u_k2 = Kp * error2;
Floris_Hoek 23:ff73ee119244 170
Floris_Hoek 23:ff73ee119244 171 // Integreal part
Floris_Hoek 23:ff73ee119244 172 error_integral2 = error_integral2 + error2 * timeinterval;
Floris_Hoek 23:ff73ee119244 173 double u_i2 = Ki*error_integral2;
Floris_Hoek 23:ff73ee119244 174
Floris_Hoek 23:ff73ee119244 175 // Derivate part
Floris_Hoek 23:ff73ee119244 176 double error_derivative2 = (error2 - error_prev2)/timeinterval;
Floris_Hoek 23:ff73ee119244 177 double filtered_error_derivative2 = LowPassFilter.step(error_derivative2);
Floris_Hoek 23:ff73ee119244 178 double u_d2 = Kd * filtered_error_derivative2;
Floris_Hoek 23:ff73ee119244 179 error_prev2 = error2;
Floris_Hoek 23:ff73ee119244 180
Floris_Hoek 23:ff73ee119244 181 //sum all parts and return it
Floris_Hoek 23:ff73ee119244 182 return u_k2 + u_i2 + u_d2;
Floris_Hoek 23:ff73ee119244 183 }
Floris_Hoek 23:ff73ee119244 184
Floris_Hoek 22:cce4dc5738af 185
Floris_Hoek 23:ff73ee119244 186 //get the measured position
Floris_Hoek 23:ff73ee119244 187 void getmeasuredposition(double & measuredposition1, double & measuredposition2)
Floris_Hoek 23:ff73ee119244 188 {
Floris_Hoek 23:ff73ee119244 189 // Obtain the counts of motors 1 and 2 from the encoder
Floris_Hoek 23:ff73ee119244 190 int countsmotor1;
Floris_Hoek 23:ff73ee119244 191 int countsmotor2;
paulstuiver 24:e87e4fcf6226 192 countsmotor1 = Encoder1.getPulses();
paulstuiver 24:e87e4fcf6226 193 countsmotor2 = Encoder2.getPulses();
Floris_Hoek 23:ff73ee119244 194
Floris_Hoek 23:ff73ee119244 195 // Obtain the measured position for motor 1 and 2
Floris_Hoek 23:ff73ee119244 196 measuredposition1 = ((double)countsmotor1) / 8400.0f * 2.0f;
Floris_Hoek 23:ff73ee119244 197 measuredposition2 = ((double)countsmotor2) / 8400.0f * 2.0f;
Floris_Hoek 23:ff73ee119244 198 }
Floris_Hoek 23:ff73ee119244 199
Floris_Hoek 23:ff73ee119244 200
Floris_Hoek 23:ff73ee119244 201 //get the reference of the
Floris_Hoek 23:ff73ee119244 202 void getreferenceposition(double & referenceposition1, double & referenceposition2)
Floris_Hoek 23:ff73ee119244 203 {
Floris_Hoek 23:ff73ee119244 204 //Measurements of the arm
Floris_Hoek 23:ff73ee119244 205 double L0=1.95;
Floris_Hoek 23:ff73ee119244 206 double L1=15;
Floris_Hoek 23:ff73ee119244 207 double L2=20;
Floris_Hoek 23:ff73ee119244 208
Floris_Hoek 23:ff73ee119244 209 //Inverse kinematics: given the end position, what are the desired motor angles of 1 and 2
Floris_Hoek 23:ff73ee119244 210 double desiredmotorangle1, desiredmotorangle2;
Floris_Hoek 23:ff73ee119244 211 desiredmotorangle1 = (atan2(yendeffector,(L0+xendeffector))*180.0/PI + acos((pow(L1,2)+pow(L0+xendeffector,2)+pow(yendeffector,2)-pow(L2,2))/(2*L1*sqrt(pow(L0+xendeffector,2)+pow(yendeffector,2))))*180.0/PI)-180.0;
Floris_Hoek 23:ff73ee119244 212 desiredmotorangle2 = (atan2(yendeffector,(L0-xendeffector))*180.0/PI + acos((pow(L1,2)+pow(L0-xendeffector,2)+pow(yendeffector,2)-pow(L2,2))/(2*L1*sqrt(pow(L0-xendeffector,2)+pow(yendeffector,2))))*180.0/PI)-180.0;
Floris_Hoek 23:ff73ee119244 213
Floris_Hoek 23:ff73ee119244 214 //Convert motor angles to counts
Floris_Hoek 23:ff73ee119244 215 double desiredmotorrounds1;
Floris_Hoek 23:ff73ee119244 216 double desiredmotorrounds2;
Floris_Hoek 23:ff73ee119244 217 desiredmotorrounds1 = (desiredmotorangle1)/360.0;
Floris_Hoek 23:ff73ee119244 218 desiredmotorrounds2 = (desiredmotorangle2)/360.0;
Floris_Hoek 23:ff73ee119244 219
Floris_Hoek 23:ff73ee119244 220 //Assign this to new variables because otherwise it doesn't work
Floris_Hoek 23:ff73ee119244 221 referenceposition1 = desiredmotorrounds1;
Floris_Hoek 23:ff73ee119244 222 referenceposition2 = desiredmotorrounds2;
Floris_Hoek 14:1343966a79e8 223 }
Floris_Hoek 23:ff73ee119244 224
Floris_Hoek 23:ff73ee119244 225
Floris_Hoek 23:ff73ee119244 226 //send value to motor
Floris_Hoek 23:ff73ee119244 227 // IT WAS "void sendtomotor(float & motorvalue1, float & motorvalue2)" BUT I REMOVED THE REFERENCE, BECAUSE I THOUGHT IT WAS NOT NEEDED
Floris_Hoek 23:ff73ee119244 228 void sendtomotor(double motorvalue1, double motorvalue2)
Floris_Hoek 23:ff73ee119244 229 {
Floris_Hoek 23:ff73ee119244 230 // Define the absolute motor values
Floris_Hoek 23:ff73ee119244 231 double absolutemotorvalue1;
Floris_Hoek 23:ff73ee119244 232 double absolutemotorvalue2;
Floris_Hoek 23:ff73ee119244 233 absolutemotorvalue1 = fabs(motorvalue1);
Floris_Hoek 23:ff73ee119244 234 absolutemotorvalue2 = fabs(motorvalue2);
Floris_Hoek 23:ff73ee119244 235
Floris_Hoek 23:ff73ee119244 236 // If absolutemotorvalueocity is greater than 1, reduce to 1, otherwise remain absolutemotorvalue
Floris_Hoek 23:ff73ee119244 237 absolutemotorvalue1 = absolutemotorvalue1 > 1.0f ? 1.0f : absolutemotorvalue1;
Floris_Hoek 23:ff73ee119244 238 absolutemotorvalue2 = absolutemotorvalue2 > 1.0f ? 1.0f : absolutemotorvalue2;
Floris_Hoek 23:ff73ee119244 239
Floris_Hoek 23:ff73ee119244 240 // Send the absolutemotorvalue to the motors
paulstuiver 24:e87e4fcf6226 241 motor1Velocity = absolutemotorvalue1;
paulstuiver 24:e87e4fcf6226 242 motor2Velocity = absolutemotorvalue2;
Floris_Hoek 23:ff73ee119244 243
Floris_Hoek 23:ff73ee119244 244 // Determine the motor direction. Boolean output: true gives counterclockwise direction, false gives clockwise direction
paulstuiver 24:e87e4fcf6226 245 motor1Direction = (motorvalue1 > 0.0f);
paulstuiver 24:e87e4fcf6226 246 motor2Direction = (motorvalue2 > 0.0f);
Floris_Hoek 23:ff73ee119244 247 }
Floris_Hoek 23:ff73ee119244 248
Floris_Hoek 23:ff73ee119244 249 // function to call reference absolutemotorvalueocity, measured absolutemotorvalueocity and controls motor with feedback
Floris_Hoek 23:ff73ee119244 250 void measureandcontrol()
Floris_Hoek 23:ff73ee119244 251 {
Floris_Hoek 23:ff73ee119244 252 // Get the reference positions of motor 1 and 2
Floris_Hoek 23:ff73ee119244 253 double reference1, reference2;
Floris_Hoek 23:ff73ee119244 254 getreferenceposition(reference1, reference2);
Floris_Hoek 23:ff73ee119244 255
Floris_Hoek 23:ff73ee119244 256 // Get the measured positions of motor 1 and 2
Floris_Hoek 23:ff73ee119244 257 double measured1, measured2;
Floris_Hoek 23:ff73ee119244 258 getmeasuredposition(measured1, measured2);
Floris_Hoek 23:ff73ee119244 259
Floris_Hoek 23:ff73ee119244 260 // Calculate the motor values
Floris_Hoek 23:ff73ee119244 261 double motorvalue1, motorvalue2;
Floris_Hoek 23:ff73ee119244 262 motorvalue1 = PID_controller1(reference1 - measured1);
Floris_Hoek 23:ff73ee119244 263 motorvalue2 = PID_controller2(reference2 - measured2);
Floris_Hoek 23:ff73ee119244 264 sendtomotor(motorvalue1, motorvalue2);
Floris_Hoek 23:ff73ee119244 265 }
Floris_Hoek 23:ff73ee119244 266
Floris_Hoek 9:e8cc37a94fec 267
Floris_Hoek 22:cce4dc5738af 268 void motorsoff()
Floris_Hoek 22:cce4dc5738af 269 {
Floris_Hoek 23:ff73ee119244 270 // Function to turn the motors off. First state that the robot has. Robot will stay in this state untill button SW2 is pressed.
Floris_Hoek 12:f4331640e3ad 271 // Robot will not return to this state anymore unless the user sets it back to this state with the keyboard input.
Floris_Hoek 23:ff73ee119244 272 sendtomotor(0.0,0.0); // Set motor velocity to 0
Floris_Hoek 23:ff73ee119244 273
Floris_Hoek 23:ff73ee119244 274 state_int = 10;
Floris_Hoek 22:cce4dc5738af 275
Floris_Hoek 12:f4331640e3ad 276 bool whileloop_boolean = true; // Boolean for the while loop
Floris_Hoek 22:cce4dc5738af 277
Floris_Hoek 12:f4331640e3ad 278 while (whileloop_boolean) {
Floris_Hoek 23:ff73ee119244 279 if (but3.read() == 0) { // If button SW2 is pressed:
Floris_Hoek 23:ff73ee119244 280 MyState = (States)((int)MyState+1); // set MyState to EMG_CALIBRATION and exit the while loop
Floris_Hoek 23:ff73ee119244 281 whileloop_boolean = false; // by making whileloop_boolean equal to false
Floris_Hoek 23:ff73ee119244 282 wait(0.5f);
Floris_Hoek 9:e8cc37a94fec 283 }
Floris_Hoek 9:e8cc37a94fec 284 }
Floris_Hoek 9:e8cc37a94fec 285 }
Floris_Hoek 12:f4331640e3ad 286
Floris_Hoek 22:cce4dc5738af 287 void measure_data(double &f_y0, double &f_y1, double &f_y2, double &f_y3)
Floris_Hoek 22:cce4dc5738af 288 {
Floris_Hoek 18:4a6be1893d7f 289 // High pass
Floris_Hoek 18:4a6be1893d7f 290 double hb0 = 0.9169; // Coefficients from the following formula:
Floris_Hoek 18:4a6be1893d7f 291 double hb1 = -1.8338; //
Floris_Hoek 18:4a6be1893d7f 292 double hb2 = 0.9169; // b0 + b1 z^-1 + b2 z^-2
Floris_Hoek 18:4a6be1893d7f 293 double ha0 = 1.0; // H(z) = ----------------------
Floris_Hoek 18:4a6be1893d7f 294 double ha1 = -1.8268; // a0 + a1 z^-1 + a2 z^-2
Floris_Hoek 18:4a6be1893d7f 295 double ha2 = 0.8407; //
Floris_Hoek 22:cce4dc5738af 296
Floris_Hoek 18:4a6be1893d7f 297 // Low pass
Floris_Hoek 18:4a6be1893d7f 298 double lb0 = 0.000083621; // Coefficients from the following formula:
Floris_Hoek 18:4a6be1893d7f 299 double lb1 = 0.0006724; //
Floris_Hoek 18:4a6be1893d7f 300 double lb2 = 0.000083621; // b0 + b1 z^-1 + b2 z^-2
Floris_Hoek 18:4a6be1893d7f 301 double la0 = 1.0; // H(z) = ----------------------
Floris_Hoek 18:4a6be1893d7f 302 double la1 = -1.9740; // a0 + a1 z^-1 + a2 z^-2
Floris_Hoek 18:4a6be1893d7f 303 double la2 = 0.9743; //
Floris_Hoek 22:cce4dc5738af 304
Floris_Hoek 23:ff73ee119244 305 static double max_y0 = 0.001;
Floris_Hoek 23:ff73ee119244 306 static double max_y1 = 0.001;
Floris_Hoek 23:ff73ee119244 307 static double max_y2 = 0.001;
Floris_Hoek 23:ff73ee119244 308 static double max_y3 = 0.001;
Floris_Hoek 22:cce4dc5738af 309
Floris_Hoek 18:4a6be1893d7f 310 static BiQuad hFilter0(hb0,hb1,hb2,ha0,ha1,ha2); // Create 4 equal filters used for the different EMG signals
Floris_Hoek 18:4a6be1893d7f 311 static BiQuad hFilter1(hb0,hb1,hb2,ha0,ha1,ha2);
Floris_Hoek 18:4a6be1893d7f 312 static BiQuad hFilter2(hb0,hb1,hb2,ha0,ha1,ha2);
Floris_Hoek 18:4a6be1893d7f 313 static BiQuad hFilter3(hb0,hb1,hb2,ha0,ha1,ha2);
Floris_Hoek 22:cce4dc5738af 314
Floris_Hoek 18:4a6be1893d7f 315 static BiQuad lFilter0(lb0,lb1,lb2,la0,la1,la2); // Create 4 equal filters used for the different EMG signals
Floris_Hoek 18:4a6be1893d7f 316 static BiQuad lFilter1(lb0,lb1,lb2,la0,la1,la2);
Floris_Hoek 18:4a6be1893d7f 317 static BiQuad lFilter2(lb0,lb1,lb2,la0,la1,la2);
Floris_Hoek 18:4a6be1893d7f 318 static BiQuad lFilter3(lb0,lb1,lb2,la0,la1,la2);
Floris_Hoek 22:cce4dc5738af 319
paulstuiver 24:e87e4fcf6226 320 f_y0 = hFilter0.step(S0); // Apply filters on the different EMG signals
paulstuiver 24:e87e4fcf6226 321 f_y1 = hFilter1.step(S1);
paulstuiver 24:e87e4fcf6226 322 f_y2 = hFilter2.step(S2);
paulstuiver 24:e87e4fcf6226 323 f_y3 = hFilter3.step(S3);
Floris_Hoek 22:cce4dc5738af 324
Floris_Hoek 19:b3e224e0cb85 325 f_y0 = abs(f_y0);
Floris_Hoek 19:b3e224e0cb85 326 f_y1 = abs(f_y1);
Floris_Hoek 19:b3e224e0cb85 327 f_y2 = abs(f_y2);
Floris_Hoek 19:b3e224e0cb85 328 f_y3 = abs(f_y3);
Floris_Hoek 22:cce4dc5738af 329
Floris_Hoek 18:4a6be1893d7f 330 f_y0 = lFilter0.step(f_y0);
Floris_Hoek 18:4a6be1893d7f 331 f_y1 = lFilter1.step(f_y1);
Floris_Hoek 18:4a6be1893d7f 332 f_y2 = lFilter2.step(f_y2);
Floris_Hoek 18:4a6be1893d7f 333 f_y3 = lFilter3.step(f_y3);
Floris_Hoek 18:4a6be1893d7f 334
Floris_Hoek 18:4a6be1893d7f 335
Floris_Hoek 15:5f9450964075 336 if (MyState == EMG_CALIBRATION) {
Floris_Hoek 22:cce4dc5738af 337
Floris_Hoek 18:4a6be1893d7f 338 det_max(f_y0, max_y0); // Determine the maximum RMS value of the EMG signals during the EMG_CALIBRATION state
Floris_Hoek 18:4a6be1893d7f 339 det_max(f_y1, max_y1);
Floris_Hoek 18:4a6be1893d7f 340 det_max(f_y2, max_y2);
Floris_Hoek 18:4a6be1893d7f 341 det_max(f_y3, max_y3);
Floris_Hoek 22:cce4dc5738af 342
Floris_Hoek 23:ff73ee119244 343 } else if ((int)MyState > 3) {
Floris_Hoek 18:4a6be1893d7f 344 f_y0 = f_y0/max_y0; // Normalise the RMS value by dividing by the maximum RMS value
Floris_Hoek 23:ff73ee119244 345 f_y1 = f_y1/max_y1; // This is done during the states with a value higher than 3, as this is when you start the operating mode
Floris_Hoek 18:4a6be1893d7f 346 f_y2 = f_y2/max_y2;
Floris_Hoek 18:4a6be1893d7f 347 f_y3 = f_y3/max_y3;
Floris_Hoek 14:1343966a79e8 348 }
Floris_Hoek 22:cce4dc5738af 349
Floris_Hoek 10:8c38a1a5b522 350 }
Floris_Hoek 12:f4331640e3ad 351
Floris_Hoek 22:cce4dc5738af 352 void det_max(double y, double &max_y)
Floris_Hoek 22:cce4dc5738af 353 {
Floris_Hoek 18:4a6be1893d7f 354 max_y = max_y < y ? y : max_y; // if max_rms is smaller than rms, set rms as new max_rms, otherwise keep max_rms
Floris_Hoek 14:1343966a79e8 355 }
Floris_Hoek 12:f4331640e3ad 356
Floris_Hoek 22:cce4dc5738af 357 void emgcalibration()
Floris_Hoek 22:cce4dc5738af 358 {
Floris_Hoek 18:4a6be1893d7f 359 double y0, y1, y2, y3; // RMS values of the different EMG signals
Floris_Hoek 14:1343966a79e8 360
Floris_Hoek 18:4a6be1893d7f 361 measure_data(y0, y1, y2, y3); // Calculate RMS values
Floris_Hoek 22:cce4dc5738af 362
paulstuiver 24:e87e4fcf6226 363 double duration = 15.0; // Duration of the emgcalibration function, in this case 10 seconds
Floris_Hoek 14:1343966a79e8 364 int rounds = (duration / timeinterval); // Determine the amount of times this function has to run to run for the duration time
Floris_Hoek 14:1343966a79e8 365 // rounds is an integer so the value of duration / timeinterval is floored
Floris_Hoek 22:cce4dc5738af 366
Floris_Hoek 14:1343966a79e8 367 static int counter = 0; // Counter which keeps track of the amount of times the function has executed
Floris_Hoek 14:1343966a79e8 368 if (counter >= rounds) {
paulstuiver 24:e87e4fcf6226 369 MyState = START_GAME; // If counter is larger than rounds, change MyState to the next state
paulstuiver 24:e87e4fcf6226 370 measurecontrol.detach();
Floris_Hoek 22:cce4dc5738af 371 } else {
Floris_Hoek 14:1343966a79e8 372 counter++; // Else increase counter by 1
Floris_Hoek 14:1343966a79e8 373 }
Floris_Hoek 22:cce4dc5738af 374
Floris_Hoek 14:1343966a79e8 375 }
Floris_Hoek 12:f4331640e3ad 376
Floris_Hoek 22:cce4dc5738af 377 void startgame()
Floris_Hoek 22:cce4dc5738af 378 {
Floris_Hoek 18:4a6be1893d7f 379 pc.printf("Please choose which game you would like to start:\r\n");
Floris_Hoek 18:4a6be1893d7f 380
Floris_Hoek 23:ff73ee119244 381 pc.printf("- Press button SW2 to start the demo mode\r\n Demo mode is a mode in which the different movements of the robot are shown.\r\n");
Floris_Hoek 23:ff73ee119244 382 pc.printf(" It will move in straight lines to show that the robot meets the requirements.\r\n");
Floris_Hoek 18:4a6be1893d7f 383 pc.printf(" It will also show how it is able to grab and lift objects which are on the board.\r\n\r\n");
Floris_Hoek 18:4a6be1893d7f 384
Floris_Hoek 23:ff73ee119244 385 pc.printf("- Press button SW3 to start the operating mode\r\n The operating mode is a mode in which you can control the robot by flexing the muscles to which the electrodes are attached.\r\n");
Floris_Hoek 18:4a6be1893d7f 386 pc.printf(" You will be able to move the arm and use the gripper to try and grab and lift objects from the board to the container.\r\n\r\n");
Floris_Hoek 18:4a6be1893d7f 387
Floris_Hoek 22:cce4dc5738af 388 while (MyState == START_GAME) {
Floris_Hoek 23:ff73ee119244 389
Floris_Hoek 23:ff73ee119244 390 if (but3.read() == 0) {
Floris_Hoek 23:ff73ee119244 391 MyState = (States)((int)MyState+1);
Floris_Hoek 23:ff73ee119244 392 wait(0.5f);
Floris_Hoek 23:ff73ee119244 393 } else if (but4.read() == 0) {
Floris_Hoek 23:ff73ee119244 394 MyState = (States)((int)MyState+2);
Floris_Hoek 23:ff73ee119244 395 wait(0.5f);
Floris_Hoek 22:cce4dc5738af 396 }
Floris_Hoek 23:ff73ee119244 397
Floris_Hoek 22:cce4dc5738af 398 }
Floris_Hoek 18:4a6be1893d7f 399 }
Floris_Hoek 18:4a6be1893d7f 400
Floris_Hoek 23:ff73ee119244 401
Floris_Hoek 23:ff73ee119244 402 void demo_mode()
Floris_Hoek 23:ff73ee119244 403 {
Floris_Hoek 23:ff73ee119244 404
Floris_Hoek 23:ff73ee119244 405 state_int = 10;
Floris_Hoek 23:ff73ee119244 406
Floris_Hoek 23:ff73ee119244 407 // 5 pre determined positions of the end effector to show it can move in straight lines
Floris_Hoek 23:ff73ee119244 408 xendeffector=-5;
Floris_Hoek 23:ff73ee119244 409 yendeffector=10.6159;
Floris_Hoek 23:ff73ee119244 410 wait(0.5);
Floris_Hoek 23:ff73ee119244 411
Floris_Hoek 23:ff73ee119244 412 xendeffector=10;
Floris_Hoek 23:ff73ee119244 413 yendeffector=25.6159;
Floris_Hoek 23:ff73ee119244 414 wait(0.5);
Floris_Hoek 22:cce4dc5738af 415
Floris_Hoek 23:ff73ee119244 416 xendeffector=-14;
Floris_Hoek 23:ff73ee119244 417 yendeffector=21.6159;
Floris_Hoek 23:ff73ee119244 418 wait(0.5);
Floris_Hoek 23:ff73ee119244 419
Floris_Hoek 23:ff73ee119244 420 xendeffector=10;
Floris_Hoek 23:ff73ee119244 421 yendeffector=11.6159;
Floris_Hoek 23:ff73ee119244 422 wait(0.5);
Floris_Hoek 23:ff73ee119244 423
Floris_Hoek 23:ff73ee119244 424 // Last position is the start position
Floris_Hoek 23:ff73ee119244 425 xendeffector=0;
Floris_Hoek 23:ff73ee119244 426 yendeffector=10.6159;
Floris_Hoek 23:ff73ee119244 427 wait(0.5);
Floris_Hoek 23:ff73ee119244 428
Floris_Hoek 23:ff73ee119244 429 MyState = START_GAME; // Go back to START_GAME mode
Floris_Hoek 18:4a6be1893d7f 430 }
Floris_Hoek 23:ff73ee119244 431
Floris_Hoek 18:4a6be1893d7f 432
Floris_Hoek 22:cce4dc5738af 433 void operating_mode()
Floris_Hoek 22:cce4dc5738af 434 {
Floris_Hoek 22:cce4dc5738af 435 double y0,y1,y2,y3;
Floris_Hoek 22:cce4dc5738af 436 measure_data(y0,y1,y2,y3);
paulstuiver 24:e87e4fcf6226 437
paulstuiver 24:e87e4fcf6226 438 y0 = 0;
paulstuiver 24:e87e4fcf6226 439 y1 = 0;
paulstuiver 24:e87e4fcf6226 440
Floris_Hoek 23:ff73ee119244 441 double threshold = 0.3; // When the analysed signal is above this threshold, the position of the end effector is changed
paulstuiver 24:e87e4fcf6226 442 double dr = 0.01; // The change in position with each step
Floris_Hoek 23:ff73ee119244 443
Floris_Hoek 23:ff73ee119244 444 if(y0 > threshold && xendeffector < 16) {
Floris_Hoek 23:ff73ee119244 445 xendeffector=xendeffector+dr;
Floris_Hoek 23:ff73ee119244 446 }
Floris_Hoek 23:ff73ee119244 447 else if(y1 > threshold && xendeffector > -16) {
Floris_Hoek 23:ff73ee119244 448 xendeffector=xendeffector-dr;
Floris_Hoek 23:ff73ee119244 449 }
Floris_Hoek 23:ff73ee119244 450 if(y2 > threshold && yendeffector < 28) {
Floris_Hoek 23:ff73ee119244 451 yendeffector=yendeffector+dr;
Floris_Hoek 23:ff73ee119244 452 }
Floris_Hoek 23:ff73ee119244 453 else if(y3 > threshold && yendeffector > 8) {
Floris_Hoek 23:ff73ee119244 454 yendeffector=yendeffector-dr;
Floris_Hoek 22:cce4dc5738af 455 }
Floris_Hoek 22:cce4dc5738af 456
Floris_Hoek 23:ff73ee119244 457 //servo besturing
Floris_Hoek 23:ff73ee119244 458
Floris_Hoek 23:ff73ee119244 459 if(but4.read() == 0 && ingedrukt == 0) {
Floris_Hoek 23:ff73ee119244 460 for(int i=0; i<100; i++) {
Floris_Hoek 23:ff73ee119244 461 myservo = i/100.0;
Floris_Hoek 23:ff73ee119244 462 }
Floris_Hoek 23:ff73ee119244 463 ingedrukt = 1;
Floris_Hoek 23:ff73ee119244 464 } else if(but4.read() == 0 && ingedrukt == 1) {
Floris_Hoek 23:ff73ee119244 465 for(int i=100; i>0; i--) {
Floris_Hoek 23:ff73ee119244 466 myservo = i/100.0;
Floris_Hoek 23:ff73ee119244 467 }
paulstuiver 24:e87e4fcf6226 468
Floris_Hoek 23:ff73ee119244 469 ingedrukt = 0;
Floris_Hoek 23:ff73ee119244 470 }
paulstuiver 24:e87e4fcf6226 471
Floris_Hoek 23:ff73ee119244 472 if (but3.read() == 0) {
paulstuiver 24:e87e4fcf6226 473 pc.printf("The game has ended, will move the end effector to (0,0), put the motors off and will now return to the state START_GAME");
paulstuiver 24:e87e4fcf6226 474 MyState = END_GAME;
paulstuiver 24:e87e4fcf6226 475 xendeffector=0.0;
paulstuiver 24:e87e4fcf6226 476 yendeffector=10.6159;
Floris_Hoek 23:ff73ee119244 477 }
Floris_Hoek 23:ff73ee119244 478 measureandcontrol();
Floris_Hoek 23:ff73ee119244 479 }
Floris_Hoek 23:ff73ee119244 480
Floris_Hoek 23:ff73ee119244 481 void endgame()
Floris_Hoek 23:ff73ee119244 482 {
paulstuiver 24:e87e4fcf6226 483 wait(1);
paulstuiver 24:e87e4fcf6226 484 measurecontrol.detach();
Floris_Hoek 23:ff73ee119244 485 MyState = START_GAME;
Floris_Hoek 18:4a6be1893d7f 486 }
Floris_Hoek 18:4a6be1893d7f 487
Floris_Hoek 22:cce4dc5738af 488 void New_State()
Floris_Hoek 22:cce4dc5738af 489 {
paulstuiver 24:e87e4fcf6226 490 previous_state_int = (int)MyState; // Change previous state to current state
paulstuiver 24:e87e4fcf6226 491
Floris_Hoek 22:cce4dc5738af 492 switch (MyState) {
Floris_Hoek 9:e8cc37a94fec 493 case MOTORS_OFF :
Floris_Hoek 22:cce4dc5738af 494 pc.printf("\r\nState: Motors turned off\r\n");
Floris_Hoek 9:e8cc37a94fec 495 motorsoff();
Floris_Hoek 9:e8cc37a94fec 496 break;
Floris_Hoek 22:cce4dc5738af 497
Floris_Hoek 9:e8cc37a94fec 498 case EMG_CALIBRATION :
Floris_Hoek 22:cce4dc5738af 499 pc.printf("\r\nState: EMG Calibration\r\n");
Floris_Hoek 22:cce4dc5738af 500 pc.printf("Emg calibration mode will run for 20 seconds. Try to flex the muscles to which the electrodes are attached as hard as possible during this time.\r\n");
Floris_Hoek 14:1343966a79e8 501 measurecontrol.attach(emgcalibration,timeinterval);
Floris_Hoek 9:e8cc37a94fec 502 break;
Floris_Hoek 22:cce4dc5738af 503
Floris_Hoek 9:e8cc37a94fec 504 case START_GAME :
Floris_Hoek 22:cce4dc5738af 505 pc.printf("\r\nState: Start game\r\n");
Floris_Hoek 18:4a6be1893d7f 506 startgame();
Floris_Hoek 9:e8cc37a94fec 507 break;
Floris_Hoek 22:cce4dc5738af 508
Floris_Hoek 9:e8cc37a94fec 509 case DEMO_MODE :
Floris_Hoek 22:cce4dc5738af 510 pc.printf("\r\nState: Demo mode\r\n");
Floris_Hoek 23:ff73ee119244 511 measurecontrol.attach(measureandcontrol,timeinterval);
Floris_Hoek 23:ff73ee119244 512 demo_mode();
paulstuiver 24:e87e4fcf6226 513 measurecontrol.detach();
Floris_Hoek 9:e8cc37a94fec 514 break;
Floris_Hoek 22:cce4dc5738af 515
Floris_Hoek 18:4a6be1893d7f 516 case OPERATING_MODE :
Floris_Hoek 22:cce4dc5738af 517 pc.printf("\r\nState: Operating mode\r\n");
Floris_Hoek 18:4a6be1893d7f 518 measurecontrol.attach(operating_mode,timeinterval);
Floris_Hoek 9:e8cc37a94fec 519 break;
Floris_Hoek 22:cce4dc5738af 520
Floris_Hoek 9:e8cc37a94fec 521 case END_GAME :
Floris_Hoek 22:cce4dc5738af 522 pc.printf("\r\nState: End of the game\r\n");
Floris_Hoek 23:ff73ee119244 523 endgame();
Floris_Hoek 9:e8cc37a94fec 524 break;
Floris_Hoek 22:cce4dc5738af 525
Floris_Hoek 9:e8cc37a94fec 526 default :
Floris_Hoek 22:cce4dc5738af 527 pc.printf("\r\nDefault state: Motors are turned off\r\n");
paulstuiver 24:e87e4fcf6226 528
Floris_Hoek 23:ff73ee119244 529 sendtomotor(0.0,0.0);
Floris_Hoek 9:e8cc37a94fec 530 break;
Floris_Hoek 9:e8cc37a94fec 531 }
Floris_Hoek 9:e8cc37a94fec 532 }
Floris_Hoek 9:e8cc37a94fec 533
Floris_Hoek 22:cce4dc5738af 534 void Set_State()
Floris_Hoek 22:cce4dc5738af 535 {
Floris_Hoek 23:ff73ee119244 536 xendeffector=0.0;
Floris_Hoek 23:ff73ee119244 537 yendeffector=10.6159;
Floris_Hoek 23:ff73ee119244 538 wait(0.3f);
Floris_Hoek 23:ff73ee119244 539 sendtomotor(0.0,0.0); // Stop the motors
paulstuiver 24:e87e4fcf6226 540 // Stop the ticker function from running
Floris_Hoek 19:b3e224e0cb85 541
Floris_Hoek 23:ff73ee119244 542 pc.printf("\r\nPress number: | To go to state:");
Floris_Hoek 23:ff73ee119244 543 pc.printf("\r\n (0) | MOTORS_OFF: Set motorspeed just in case to 0 and wait till button SW2 is pressed");
Floris_Hoek 23:ff73ee119244 544 pc.printf("\r\n (1) | EMG_CALIBRATION: Calibrate the maximum of the emg signals and normalise the emg signals with these maxima");
Floris_Hoek 23:ff73ee119244 545 pc.printf("\r\n (2) | START_GAME: Determine by keyboard input if you want to go to the demo or operating mode");
Floris_Hoek 23:ff73ee119244 546 pc.printf("\r\n (3) | DEMO_MODE: The demo mode will show the different motions that the robot can make");
Floris_Hoek 23:ff73ee119244 547 pc.printf("\r\n (4) | OPERATING_MODE: Move the arms and gripper of the arm by flexing your muscles");
Floris_Hoek 23:ff73ee119244 548 pc.printf("\r\n (5) | END_GAME: End effector returns to (0,0) and the motors are turned off, returns to START_GAME mode afterwards");
Floris_Hoek 22:cce4dc5738af 549
Floris_Hoek 23:ff73ee119244 550 wait(0.5f);
Floris_Hoek 22:cce4dc5738af 551
Floris_Hoek 23:ff73ee119244 552 char a = '0';
Floris_Hoek 23:ff73ee119244 553 char b = '5';
Floris_Hoek 23:ff73ee119244 554 bool boolean = true;
Floris_Hoek 22:cce4dc5738af 555
Floris_Hoek 23:ff73ee119244 556 while (boolean) {
Floris_Hoek 23:ff73ee119244 557 char c = pc.getc();
Floris_Hoek 22:cce4dc5738af 558
Floris_Hoek 23:ff73ee119244 559 if (c >= a && c <= b) {
Floris_Hoek 23:ff73ee119244 560 MyState = (States)(c-'0');
Floris_Hoek 23:ff73ee119244 561 boolean = false;
Floris_Hoek 22:cce4dc5738af 562
Floris_Hoek 23:ff73ee119244 563 } else {
Floris_Hoek 23:ff73ee119244 564 pc.printf("\r\nPlease enter a number between 0 and 5\r\n");
Floris_Hoek 19:b3e224e0cb85 565 }
Floris_Hoek 19:b3e224e0cb85 566 }
Floris_Hoek 19:b3e224e0cb85 567 }