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@23:ff73ee119244, 2019-10-31 (annotated)

Committer:
Floris_Hoek
Date:
Thu Oct 31 09:48:53 2019 +0000
Revision:
23:ff73ee119244
Parent:
22:cce4dc5738af
Child:
24:e87e4fcf6226
final V1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Floris_Hoek 23:ff73ee119244 1 // Ticker function.attach(nothing,1000) good solution??????
Floris_Hoek 23:ff73ee119244 2 // Operating mode might not go to next state when SW2 is pressed
Floris_Hoek 12:f4331640e3ad 3
RobertoO 0:67c50348f842 4 #include "mbed.h"
Floris_Hoek 8:7dab565a208e 5 #include "HIDScope.h"
Floris_Hoek 8:7dab565a208e 6 #include "BiQuad.h"
RobertoO 1:b862262a9d14 7 #include "MODSERIAL.h"
paulstuiver 2:75b2f713161c 8 #include "FastPWM.h"
paulstuiver 5:2ae500da8fe1 9 #include "QEI.h"
Floris_Hoek 12:f4331640e3ad 10
Floris_Hoek 23:ff73ee119244 11 #include <cmath> // Included to use different math operations
paulstuiver 2:75b2f713161c 12
Floris_Hoek 23:ff73ee119244 13 #include "Servo.h" // Included to control the servo motor
Floris_Hoek 8:7dab565a208e 14
Floris_Hoek 23:ff73ee119244 15 Servo myservo(D13); // To control the servo motor
Floris_Hoek 23:ff73ee119244 16 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 17 DigitalIn but4(SW3); // To choose one of two game modes when in state START_GAME or to move the gripper
Floris_Hoek 9:e8cc37a94fec 18
Floris_Hoek 22:cce4dc5738af 19 AnalogIn S0(A0), S1(A1), S2(A2),S3(A3); // Input EMG Shield 0,1,2,3
Floris_Hoek 22:cce4dc5738af 20 DigitalOut MD0(D7), MD1(D4); // MotorDirection of motors 0,1,2
Floris_Hoek 23:ff73ee119244 21 FastPWM MV0(D6), MV1(D5); // MotorVelocities of motors 0,1,2
Floris_Hoek 23:ff73ee119244 22 QEI E0(D8,D9,NC,8400), E1(D11,D10,NC,8400); // Encoders of motors 0,1,2
Floris_Hoek 9:e8cc37a94fec 23
Floris_Hoek 23:ff73ee119244 24 Ticker measurecontrol; // Ticker function for the measurements
Floris_Hoek 18:4a6be1893d7f 25
Floris_Hoek 18:4a6be1893d7f 26 // Make arrays for the different variables for the motors
Floris_Hoek 18:4a6be1893d7f 27 AnalogIn Shields[4] = {S0, S1, S2, S3};
Floris_Hoek 22:cce4dc5738af 28 DigitalOut MotorDirections[2] = {MD0, MD1};
Floris_Hoek 23:ff73ee119244 29 FastPWM MotorVelocities[2] = {MV0, MV1};
Floris_Hoek 22:cce4dc5738af 30 QEI Encoders[2] = {E0, E1};
Floris_Hoek 18:4a6be1893d7f 31
Floris_Hoek 22:cce4dc5738af 32 Serial pc(USBTX, USBRX);
Floris_Hoek 8:7dab565a208e 33
Floris_Hoek 23:ff73ee119244 34 double PI = 3.14159265358;//97932384626433832795028841971693993;
Floris_Hoek 23:ff73ee119244 35 volatile double timeinterval = 0.001f; // Time interval of the Ticker function
Floris_Hoek 23:ff73ee119244 36 volatile double frequency = 17000.0; // Set motorfrequency
Floris_Hoek 23:ff73ee119244 37 double period_signal = 1.0/frequency; // Convert to period of the signal
Floris_Hoek 23:ff73ee119244 38
Floris_Hoek 23:ff73ee119244 39 double yendeffector = 10.6159;
Floris_Hoek 23:ff73ee119244 40 double xendeffector = 0;
Floris_Hoek 23:ff73ee119244 41 int ingedrukt = 0;
Floris_Hoek 23:ff73ee119244 42 int state_int;
Floris_Hoek 9:e8cc37a94fec 43
Floris_Hoek 9:e8cc37a94fec 44 // Define the different states in which the robot can be
Floris_Hoek 23:ff73ee119244 45 enum States {MOTORS_OFF, EMG_CALIBRATION, START_GAME,
Floris_Hoek 23:ff73ee119244 46 DEMO_MODE, OPERATING_MODE, END_GAME
Floris_Hoek 22:cce4dc5738af 47 };
Floris_Hoek 19:b3e224e0cb85 48
Floris_Hoek 9:e8cc37a94fec 49 // Default state is the state in which the motors are turned off
Floris_Hoek 9:e8cc37a94fec 50 States MyState = MOTORS_OFF;
paulstuiver 5:2ae500da8fe1 51
Floris_Hoek 23:ff73ee119244 52
Floris_Hoek 14:1343966a79e8 53 // Initialise the functions
Floris_Hoek 9:e8cc37a94fec 54
Floris_Hoek 14:1343966a79e8 55 void motorsoff();
Floris_Hoek 14:1343966a79e8 56
Floris_Hoek 23:ff73ee119244 57 void measure_data(double &f_y0, double &f_y1, double &f_y2, double &f_y3);
Floris_Hoek 14:1343966a79e8 58
Floris_Hoek 18:4a6be1893d7f 59 void det_max(double y, double &max_y);
Floris_Hoek 14:1343966a79e8 60
Floris_Hoek 14:1343966a79e8 61 void emgcalibration();
Floris_Hoek 14:1343966a79e8 62
Floris_Hoek 22:cce4dc5738af 63 void nothing()
Floris_Hoek 22:cce4dc5738af 64 {
Floris_Hoek 14:1343966a79e8 65 // Do nothing
Floris_Hoek 14:1343966a79e8 66 }
Floris_Hoek 14:1343966a79e8 67
Floris_Hoek 23:ff73ee119244 68 void startgame() ;
Floris_Hoek 18:4a6be1893d7f 69
Floris_Hoek 23:ff73ee119244 70 void demo_mode();
Floris_Hoek 18:4a6be1893d7f 71
Floris_Hoek 18:4a6be1893d7f 72 void operating_mode();
Floris_Hoek 18:4a6be1893d7f 73
Floris_Hoek 14:1343966a79e8 74 void New_State();
Floris_Hoek 14:1343966a79e8 75
Floris_Hoek 19:b3e224e0cb85 76 void Set_State();
Floris_Hoek 19:b3e224e0cb85 77
Floris_Hoek 23:ff73ee119244 78 double PID_controller1(double error1);
Floris_Hoek 23:ff73ee119244 79
Floris_Hoek 23:ff73ee119244 80 double PID_controller2(double error2);
Floris_Hoek 23:ff73ee119244 81
Floris_Hoek 23:ff73ee119244 82 void getmeasuredposition(double & measuredposition1, double & measuredposition2);
Floris_Hoek 23:ff73ee119244 83
Floris_Hoek 23:ff73ee119244 84 void getreferenceposition(double & referenceposition1, double & referenceposition2);
Floris_Hoek 23:ff73ee119244 85
Floris_Hoek 23:ff73ee119244 86 void sendtomotor(double motorvalue1, double motorvalue2);
Floris_Hoek 23:ff73ee119244 87
Floris_Hoek 23:ff73ee119244 88 void measureandcontrol();
Floris_Hoek 14:1343966a79e8 89
Floris_Hoek 14:1343966a79e8 90
Floris_Hoek 23:ff73ee119244 91
Floris_Hoek 14:1343966a79e8 92 int main()
Floris_Hoek 14:1343966a79e8 93 {
Floris_Hoek 22:cce4dc5738af 94 pc.baud(115200);
Floris_Hoek 23:ff73ee119244 95 pc.printf("Starting...\r\n\r\n");
Floris_Hoek 22:cce4dc5738af 96
Floris_Hoek 23:ff73ee119244 97 for (int i = 0; i < 2; i++) {
Floris_Hoek 18:4a6be1893d7f 98 MotorVelocities[i].period(period_signal); // Set the period of the PWMfunction
Floris_Hoek 18:4a6be1893d7f 99 }
Floris_Hoek 22:cce4dc5738af 100
Floris_Hoek 23:ff73ee119244 101 measurecontrol.attach(nothing, timeinterval); // Ticker function to measure motor input and control the motors
Floris_Hoek 22:cce4dc5738af 102
Floris_Hoek 14:1343966a79e8 103 int previous_state_int = (int)MyState; // Save previous state to compare with current state and possibly execute New_State()
Floris_Hoek 22:cce4dc5738af 104 // in the while loop
Floris_Hoek 22:cce4dc5738af 105
Floris_Hoek 14:1343966a79e8 106 New_State(); // Execute the functions belonging to the current state
Floris_Hoek 22:cce4dc5738af 107
Floris_Hoek 23:ff73ee119244 108 while(true) {
Floris_Hoek 14:1343966a79e8 109 if ( (previous_state_int - (int)MyState) != 0 ) { // If current state is not previous state execute New_State()
Floris_Hoek 14:1343966a79e8 110 New_State();
Floris_Hoek 14:1343966a79e8 111 }
Floris_Hoek 23:ff73ee119244 112
Floris_Hoek 23:ff73ee119244 113 previous_state_int = (int)MyState-state_int; // Change previous state to current state
Floris_Hoek 23:ff73ee119244 114 state_int = 0;
Floris_Hoek 14:1343966a79e8 115 }
Floris_Hoek 23:ff73ee119244 116 }
Floris_Hoek 23:ff73ee119244 117
Floris_Hoek 23:ff73ee119244 118
Floris_Hoek 23:ff73ee119244 119
Floris_Hoek 23:ff73ee119244 120 double PID_controller1(double error1)
Floris_Hoek 23:ff73ee119244 121 {
Floris_Hoek 23:ff73ee119244 122 // Define errors for motor 1 and 2
Floris_Hoek 23:ff73ee119244 123 static double error_integral1 = 0;
Floris_Hoek 23:ff73ee119244 124 static double error_prev1 = error1;
Floris_Hoek 23:ff73ee119244 125
Floris_Hoek 23:ff73ee119244 126 // Low-pass filter
Floris_Hoek 23:ff73ee119244 127 static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
Floris_Hoek 23:ff73ee119244 128
Floris_Hoek 23:ff73ee119244 129 // PID variables: we assume them to be the same for both motors
Floris_Hoek 23:ff73ee119244 130 double Kp = 65;
Floris_Hoek 23:ff73ee119244 131 double Ki = 3.64;
Floris_Hoek 23:ff73ee119244 132 double Kd = 5;
Floris_Hoek 23:ff73ee119244 133
Floris_Hoek 23:ff73ee119244 134 //Proportional part:
Floris_Hoek 23:ff73ee119244 135 double u_k1 = Kp * error1;
Floris_Hoek 23:ff73ee119244 136
Floris_Hoek 23:ff73ee119244 137 // Integreal part
Floris_Hoek 23:ff73ee119244 138 error_integral1 = error_integral1 + error1 * timeinterval;
Floris_Hoek 23:ff73ee119244 139 double u_i1 = Ki*error_integral1;
Floris_Hoek 23:ff73ee119244 140
Floris_Hoek 23:ff73ee119244 141 // Derivate part
Floris_Hoek 23:ff73ee119244 142 double error_derivative1 = (error1 - error_prev1)/timeinterval;
Floris_Hoek 23:ff73ee119244 143 double filtered_error_derivative1 = LowPassFilter.step(error_derivative1);
Floris_Hoek 23:ff73ee119244 144 double u_d1 = Kd * filtered_error_derivative1;
Floris_Hoek 23:ff73ee119244 145 error_prev1 = error1;
Floris_Hoek 23:ff73ee119244 146
Floris_Hoek 23:ff73ee119244 147 //sum all parts and return it
Floris_Hoek 23:ff73ee119244 148 return u_k1 + u_i1 + u_d1;
Floris_Hoek 23:ff73ee119244 149 }
Floris_Hoek 23:ff73ee119244 150
Floris_Hoek 23:ff73ee119244 151
Floris_Hoek 23:ff73ee119244 152 double PID_controller2(double error2)
Floris_Hoek 23:ff73ee119244 153 {
Floris_Hoek 23:ff73ee119244 154 // Define errors for motor 1 and 2
Floris_Hoek 23:ff73ee119244 155 static double error_integral2 = 0;
Floris_Hoek 23:ff73ee119244 156 static double error_prev2 = error2;
Floris_Hoek 23:ff73ee119244 157
Floris_Hoek 23:ff73ee119244 158 // Low-pass filter
Floris_Hoek 23:ff73ee119244 159 static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
Floris_Hoek 23:ff73ee119244 160
Floris_Hoek 23:ff73ee119244 161 // PID variables: we assume them to be the same for both motors
Floris_Hoek 23:ff73ee119244 162 double Kp = 65;
Floris_Hoek 23:ff73ee119244 163 double Ki = 3.64;
Floris_Hoek 23:ff73ee119244 164 double Kd = 5;
Floris_Hoek 23:ff73ee119244 165
Floris_Hoek 23:ff73ee119244 166 //Proportional part:
Floris_Hoek 23:ff73ee119244 167 double u_k2 = Kp * error2;
Floris_Hoek 23:ff73ee119244 168
Floris_Hoek 23:ff73ee119244 169 // Integreal part
Floris_Hoek 23:ff73ee119244 170 error_integral2 = error_integral2 + error2 * timeinterval;
Floris_Hoek 23:ff73ee119244 171 double u_i2 = Ki*error_integral2;
Floris_Hoek 23:ff73ee119244 172
Floris_Hoek 23:ff73ee119244 173 // Derivate part
Floris_Hoek 23:ff73ee119244 174 double error_derivative2 = (error2 - error_prev2)/timeinterval;
Floris_Hoek 23:ff73ee119244 175 double filtered_error_derivative2 = LowPassFilter.step(error_derivative2);
Floris_Hoek 23:ff73ee119244 176 double u_d2 = Kd * filtered_error_derivative2;
Floris_Hoek 23:ff73ee119244 177 error_prev2 = error2;
Floris_Hoek 23:ff73ee119244 178
Floris_Hoek 23:ff73ee119244 179 //sum all parts and return it
Floris_Hoek 23:ff73ee119244 180 return u_k2 + u_i2 + u_d2;
Floris_Hoek 23:ff73ee119244 181 }
Floris_Hoek 23:ff73ee119244 182
Floris_Hoek 22:cce4dc5738af 183
Floris_Hoek 23:ff73ee119244 184 //get the measured position
Floris_Hoek 23:ff73ee119244 185 void getmeasuredposition(double & measuredposition1, double & measuredposition2)
Floris_Hoek 23:ff73ee119244 186 {
Floris_Hoek 23:ff73ee119244 187 // Obtain the counts of motors 1 and 2 from the encoder
Floris_Hoek 23:ff73ee119244 188 int countsmotor1;
Floris_Hoek 23:ff73ee119244 189 int countsmotor2;
Floris_Hoek 23:ff73ee119244 190 countsmotor1 = Encoders[0].getPulses();
Floris_Hoek 23:ff73ee119244 191 countsmotor2 = Encoders[1].getPulses();
Floris_Hoek 23:ff73ee119244 192
Floris_Hoek 23:ff73ee119244 193 // Obtain the measured position for motor 1 and 2
Floris_Hoek 23:ff73ee119244 194 measuredposition1 = ((double)countsmotor1) / 8400.0f * 2.0f;
Floris_Hoek 23:ff73ee119244 195 measuredposition2 = ((double)countsmotor2) / 8400.0f * 2.0f;
Floris_Hoek 23:ff73ee119244 196 }
Floris_Hoek 23:ff73ee119244 197
Floris_Hoek 23:ff73ee119244 198
Floris_Hoek 23:ff73ee119244 199 //get the reference of the
Floris_Hoek 23:ff73ee119244 200 void getreferenceposition(double & referenceposition1, double & referenceposition2)
Floris_Hoek 23:ff73ee119244 201 {
Floris_Hoek 23:ff73ee119244 202 //Measurements of the arm
Floris_Hoek 23:ff73ee119244 203 double L0=1.95;
Floris_Hoek 23:ff73ee119244 204 double L1=15;
Floris_Hoek 23:ff73ee119244 205 double L2=20;
Floris_Hoek 23:ff73ee119244 206
Floris_Hoek 23:ff73ee119244 207 //Inverse kinematics: given the end position, what are the desired motor angles of 1 and 2
Floris_Hoek 23:ff73ee119244 208 double desiredmotorangle1, desiredmotorangle2;
Floris_Hoek 23:ff73ee119244 209 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 210 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 211
Floris_Hoek 23:ff73ee119244 212 //Convert motor angles to counts
Floris_Hoek 23:ff73ee119244 213 double desiredmotorrounds1;
Floris_Hoek 23:ff73ee119244 214 double desiredmotorrounds2;
Floris_Hoek 23:ff73ee119244 215 desiredmotorrounds1 = (desiredmotorangle1)/360.0;
Floris_Hoek 23:ff73ee119244 216 desiredmotorrounds2 = (desiredmotorangle2)/360.0;
Floris_Hoek 23:ff73ee119244 217
Floris_Hoek 23:ff73ee119244 218 //Assign this to new variables because otherwise it doesn't work
Floris_Hoek 23:ff73ee119244 219 referenceposition1 = desiredmotorrounds1;
Floris_Hoek 23:ff73ee119244 220 referenceposition2 = desiredmotorrounds2;
Floris_Hoek 14:1343966a79e8 221 }
Floris_Hoek 23:ff73ee119244 222
Floris_Hoek 23:ff73ee119244 223
Floris_Hoek 23:ff73ee119244 224 //send value to motor
Floris_Hoek 23:ff73ee119244 225 // IT WAS "void sendtomotor(float & motorvalue1, float & motorvalue2)" BUT I REMOVED THE REFERENCE, BECAUSE I THOUGHT IT WAS NOT NEEDED
Floris_Hoek 23:ff73ee119244 226 void sendtomotor(double motorvalue1, double motorvalue2)
Floris_Hoek 23:ff73ee119244 227 {
Floris_Hoek 23:ff73ee119244 228 // Define the absolute motor values
Floris_Hoek 23:ff73ee119244 229 double absolutemotorvalue1;
Floris_Hoek 23:ff73ee119244 230 double absolutemotorvalue2;
Floris_Hoek 23:ff73ee119244 231 absolutemotorvalue1 = fabs(motorvalue1);
Floris_Hoek 23:ff73ee119244 232 absolutemotorvalue2 = fabs(motorvalue2);
Floris_Hoek 23:ff73ee119244 233
Floris_Hoek 23:ff73ee119244 234 // If absolutemotorvalueocity is greater than 1, reduce to 1, otherwise remain absolutemotorvalue
Floris_Hoek 23:ff73ee119244 235 absolutemotorvalue1 = absolutemotorvalue1 > 1.0f ? 1.0f : absolutemotorvalue1;
Floris_Hoek 23:ff73ee119244 236 absolutemotorvalue2 = absolutemotorvalue2 > 1.0f ? 1.0f : absolutemotorvalue2;
Floris_Hoek 23:ff73ee119244 237
Floris_Hoek 23:ff73ee119244 238 // Send the absolutemotorvalue to the motors
Floris_Hoek 23:ff73ee119244 239 MotorVelocities[0] = absolutemotorvalue1;
Floris_Hoek 23:ff73ee119244 240 MotorVelocities[1] = absolutemotorvalue2;
Floris_Hoek 23:ff73ee119244 241
Floris_Hoek 23:ff73ee119244 242 // Determine the motor direction. Boolean output: true gives counterclockwise direction, false gives clockwise direction
Floris_Hoek 23:ff73ee119244 243 MotorDirections[0] = (motorvalue1 > 0.0f);
Floris_Hoek 23:ff73ee119244 244 MotorDirections[1] = (motorvalue2 > 0.0f);
Floris_Hoek 23:ff73ee119244 245 }
Floris_Hoek 23:ff73ee119244 246
Floris_Hoek 23:ff73ee119244 247 // function to call reference absolutemotorvalueocity, measured absolutemotorvalueocity and controls motor with feedback
Floris_Hoek 23:ff73ee119244 248 void measureandcontrol()
Floris_Hoek 23:ff73ee119244 249 {
Floris_Hoek 23:ff73ee119244 250 // Get the reference positions of motor 1 and 2
Floris_Hoek 23:ff73ee119244 251 double reference1, reference2;
Floris_Hoek 23:ff73ee119244 252 getreferenceposition(reference1, reference2);
Floris_Hoek 23:ff73ee119244 253
Floris_Hoek 23:ff73ee119244 254 // Get the measured positions of motor 1 and 2
Floris_Hoek 23:ff73ee119244 255 double measured1, measured2;
Floris_Hoek 23:ff73ee119244 256 getmeasuredposition(measured1, measured2);
Floris_Hoek 23:ff73ee119244 257
Floris_Hoek 23:ff73ee119244 258 // Calculate the motor values
Floris_Hoek 23:ff73ee119244 259 double motorvalue1, motorvalue2;
Floris_Hoek 23:ff73ee119244 260 motorvalue1 = PID_controller1(reference1 - measured1);
Floris_Hoek 23:ff73ee119244 261 motorvalue2 = PID_controller2(reference2 - measured2);
Floris_Hoek 23:ff73ee119244 262 sendtomotor(motorvalue1, motorvalue2);
Floris_Hoek 23:ff73ee119244 263 }
Floris_Hoek 23:ff73ee119244 264
Floris_Hoek 9:e8cc37a94fec 265
Floris_Hoek 22:cce4dc5738af 266 void motorsoff()
Floris_Hoek 22:cce4dc5738af 267 {
Floris_Hoek 23:ff73ee119244 268 // 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 269 // 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 270 sendtomotor(0.0,0.0); // Set motor velocity to 0
Floris_Hoek 23:ff73ee119244 271
Floris_Hoek 23:ff73ee119244 272 state_int = 10;
Floris_Hoek 22:cce4dc5738af 273
Floris_Hoek 12:f4331640e3ad 274 bool whileloop_boolean = true; // Boolean for the while loop
Floris_Hoek 22:cce4dc5738af 275
Floris_Hoek 12:f4331640e3ad 276 while (whileloop_boolean) {
Floris_Hoek 23:ff73ee119244 277 if (but3.read() == 0) { // If button SW2 is pressed:
Floris_Hoek 23:ff73ee119244 278 MyState = (States)((int)MyState+1); // set MyState to EMG_CALIBRATION and exit the while loop
Floris_Hoek 23:ff73ee119244 279 whileloop_boolean = false; // by making whileloop_boolean equal to false
Floris_Hoek 23:ff73ee119244 280 wait(0.5f);
Floris_Hoek 9:e8cc37a94fec 281 }
Floris_Hoek 9:e8cc37a94fec 282 }
Floris_Hoek 9:e8cc37a94fec 283 }
Floris_Hoek 12:f4331640e3ad 284
Floris_Hoek 22:cce4dc5738af 285 void measure_data(double &f_y0, double &f_y1, double &f_y2, double &f_y3)
Floris_Hoek 22:cce4dc5738af 286 {
Floris_Hoek 18:4a6be1893d7f 287 // High pass
Floris_Hoek 18:4a6be1893d7f 288 double hb0 = 0.9169; // Coefficients from the following formula:
Floris_Hoek 18:4a6be1893d7f 289 double hb1 = -1.8338; //
Floris_Hoek 18:4a6be1893d7f 290 double hb2 = 0.9169; // b0 + b1 z^-1 + b2 z^-2
Floris_Hoek 18:4a6be1893d7f 291 double ha0 = 1.0; // H(z) = ----------------------
Floris_Hoek 18:4a6be1893d7f 292 double ha1 = -1.8268; // a0 + a1 z^-1 + a2 z^-2
Floris_Hoek 18:4a6be1893d7f 293 double ha2 = 0.8407; //
Floris_Hoek 22:cce4dc5738af 294
Floris_Hoek 18:4a6be1893d7f 295 // Low pass
Floris_Hoek 18:4a6be1893d7f 296 double lb0 = 0.000083621; // Coefficients from the following formula:
Floris_Hoek 18:4a6be1893d7f 297 double lb1 = 0.0006724; //
Floris_Hoek 18:4a6be1893d7f 298 double lb2 = 0.000083621; // b0 + b1 z^-1 + b2 z^-2
Floris_Hoek 18:4a6be1893d7f 299 double la0 = 1.0; // H(z) = ----------------------
Floris_Hoek 18:4a6be1893d7f 300 double la1 = -1.9740; // a0 + a1 z^-1 + a2 z^-2
Floris_Hoek 18:4a6be1893d7f 301 double la2 = 0.9743; //
Floris_Hoek 22:cce4dc5738af 302
Floris_Hoek 23:ff73ee119244 303 static double max_y0 = 0.001;
Floris_Hoek 23:ff73ee119244 304 static double max_y1 = 0.001;
Floris_Hoek 23:ff73ee119244 305 static double max_y2 = 0.001;
Floris_Hoek 23:ff73ee119244 306 static double max_y3 = 0.001;
Floris_Hoek 22:cce4dc5738af 307
Floris_Hoek 18:4a6be1893d7f 308 static BiQuad hFilter0(hb0,hb1,hb2,ha0,ha1,ha2); // Create 4 equal filters used for the different EMG signals
Floris_Hoek 18:4a6be1893d7f 309 static BiQuad hFilter1(hb0,hb1,hb2,ha0,ha1,ha2);
Floris_Hoek 18:4a6be1893d7f 310 static BiQuad hFilter2(hb0,hb1,hb2,ha0,ha1,ha2);
Floris_Hoek 18:4a6be1893d7f 311 static BiQuad hFilter3(hb0,hb1,hb2,ha0,ha1,ha2);
Floris_Hoek 22:cce4dc5738af 312
Floris_Hoek 18:4a6be1893d7f 313 static BiQuad lFilter0(lb0,lb1,lb2,la0,la1,la2); // Create 4 equal filters used for the different EMG signals
Floris_Hoek 18:4a6be1893d7f 314 static BiQuad lFilter1(lb0,lb1,lb2,la0,la1,la2);
Floris_Hoek 18:4a6be1893d7f 315 static BiQuad lFilter2(lb0,lb1,lb2,la0,la1,la2);
Floris_Hoek 18:4a6be1893d7f 316 static BiQuad lFilter3(lb0,lb1,lb2,la0,la1,la2);
Floris_Hoek 22:cce4dc5738af 317
Floris_Hoek 23:ff73ee119244 318 f_y0 = hFilter0.step(Shields[0]); // Apply filters on the different EMG signals
Floris_Hoek 23:ff73ee119244 319 f_y1 = hFilter1.step(Shields[1]);
Floris_Hoek 23:ff73ee119244 320 f_y2 = hFilter2.step(Shields[2]);
Floris_Hoek 23:ff73ee119244 321 f_y3 = hFilter3.step(Shields[3]);
Floris_Hoek 22:cce4dc5738af 322
Floris_Hoek 19:b3e224e0cb85 323 f_y0 = abs(f_y0);
Floris_Hoek 19:b3e224e0cb85 324 f_y1 = abs(f_y1);
Floris_Hoek 19:b3e224e0cb85 325 f_y2 = abs(f_y2);
Floris_Hoek 19:b3e224e0cb85 326 f_y3 = abs(f_y3);
Floris_Hoek 22:cce4dc5738af 327
Floris_Hoek 18:4a6be1893d7f 328 f_y0 = lFilter0.step(f_y0);
Floris_Hoek 18:4a6be1893d7f 329 f_y1 = lFilter1.step(f_y1);
Floris_Hoek 18:4a6be1893d7f 330 f_y2 = lFilter2.step(f_y2);
Floris_Hoek 18:4a6be1893d7f 331 f_y3 = lFilter3.step(f_y3);
Floris_Hoek 18:4a6be1893d7f 332
Floris_Hoek 18:4a6be1893d7f 333
Floris_Hoek 15:5f9450964075 334 if (MyState == EMG_CALIBRATION) {
Floris_Hoek 22:cce4dc5738af 335
Floris_Hoek 18:4a6be1893d7f 336 det_max(f_y0, max_y0); // Determine the maximum RMS value of the EMG signals during the EMG_CALIBRATION state
Floris_Hoek 18:4a6be1893d7f 337 det_max(f_y1, max_y1);
Floris_Hoek 18:4a6be1893d7f 338 det_max(f_y2, max_y2);
Floris_Hoek 18:4a6be1893d7f 339 det_max(f_y3, max_y3);
Floris_Hoek 22:cce4dc5738af 340
Floris_Hoek 23:ff73ee119244 341 } else if ((int)MyState > 3) {
Floris_Hoek 18:4a6be1893d7f 342 f_y0 = f_y0/max_y0; // Normalise the RMS value by dividing by the maximum RMS value
Floris_Hoek 23:ff73ee119244 343 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 344 f_y2 = f_y2/max_y2;
Floris_Hoek 18:4a6be1893d7f 345 f_y3 = f_y3/max_y3;
Floris_Hoek 14:1343966a79e8 346 }
Floris_Hoek 22:cce4dc5738af 347
Floris_Hoek 10:8c38a1a5b522 348 }
Floris_Hoek 12:f4331640e3ad 349
Floris_Hoek 22:cce4dc5738af 350 void det_max(double y, double &max_y)
Floris_Hoek 22:cce4dc5738af 351 {
Floris_Hoek 18:4a6be1893d7f 352 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 353 }
Floris_Hoek 12:f4331640e3ad 354
Floris_Hoek 22:cce4dc5738af 355 void emgcalibration()
Floris_Hoek 22:cce4dc5738af 356 {
Floris_Hoek 18:4a6be1893d7f 357 double y0, y1, y2, y3; // RMS values of the different EMG signals
Floris_Hoek 14:1343966a79e8 358
Floris_Hoek 18:4a6be1893d7f 359 measure_data(y0, y1, y2, y3); // Calculate RMS values
Floris_Hoek 22:cce4dc5738af 360
Floris_Hoek 19:b3e224e0cb85 361 double duration = 20.0; // Duration of the emgcalibration function, in this case 10 seconds
Floris_Hoek 14:1343966a79e8 362 int rounds = (duration / timeinterval); // Determine the amount of times this function has to run to run for the duration time
Floris_Hoek 14:1343966a79e8 363 // rounds is an integer so the value of duration / timeinterval is floored
Floris_Hoek 22:cce4dc5738af 364
Floris_Hoek 14:1343966a79e8 365 static int counter = 0; // Counter which keeps track of the amount of times the function has executed
Floris_Hoek 14:1343966a79e8 366 if (counter >= rounds) {
Floris_Hoek 23:ff73ee119244 367 MyState = (States)((int)MyState+1); // If counter is larger than rounds, change MyState to the next state
Floris_Hoek 23:ff73ee119244 368 measurecontrol.attach(nothing,10000);
Floris_Hoek 22:cce4dc5738af 369 } else {
Floris_Hoek 14:1343966a79e8 370 counter++; // Else increase counter by 1
Floris_Hoek 14:1343966a79e8 371 }
Floris_Hoek 22:cce4dc5738af 372
Floris_Hoek 14:1343966a79e8 373 }
Floris_Hoek 12:f4331640e3ad 374
Floris_Hoek 22:cce4dc5738af 375 void startgame()
Floris_Hoek 22:cce4dc5738af 376 {
Floris_Hoek 18:4a6be1893d7f 377 pc.printf("Please choose which game you would like to start:\r\n");
Floris_Hoek 18:4a6be1893d7f 378
Floris_Hoek 23:ff73ee119244 379 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 380 pc.printf(" It will move in straight lines to show that the robot meets the requirements.\r\n");
Floris_Hoek 18:4a6be1893d7f 381 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 382
Floris_Hoek 23:ff73ee119244 383 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 384 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 385
Floris_Hoek 22:cce4dc5738af 386 while (MyState == START_GAME) {
Floris_Hoek 23:ff73ee119244 387
Floris_Hoek 23:ff73ee119244 388 if (but3.read() == 0) {
Floris_Hoek 23:ff73ee119244 389 MyState = (States)((int)MyState+1);
Floris_Hoek 23:ff73ee119244 390 wait(0.5f);
Floris_Hoek 23:ff73ee119244 391 } else if (but4.read() == 0) {
Floris_Hoek 23:ff73ee119244 392 MyState = (States)((int)MyState+2);
Floris_Hoek 23:ff73ee119244 393 wait(0.5f);
Floris_Hoek 22:cce4dc5738af 394 }
Floris_Hoek 23:ff73ee119244 395
Floris_Hoek 22:cce4dc5738af 396 }
Floris_Hoek 18:4a6be1893d7f 397 }
Floris_Hoek 18:4a6be1893d7f 398
Floris_Hoek 23:ff73ee119244 399
Floris_Hoek 23:ff73ee119244 400 void demo_mode()
Floris_Hoek 23:ff73ee119244 401 {
Floris_Hoek 23:ff73ee119244 402
Floris_Hoek 23:ff73ee119244 403 state_int = 10;
Floris_Hoek 23:ff73ee119244 404
Floris_Hoek 23:ff73ee119244 405 // 5 pre determined positions of the end effector to show it can move in straight lines
Floris_Hoek 23:ff73ee119244 406 xendeffector=-5;
Floris_Hoek 23:ff73ee119244 407 yendeffector=10.6159;
Floris_Hoek 23:ff73ee119244 408 wait(0.5);
Floris_Hoek 23:ff73ee119244 409
Floris_Hoek 23:ff73ee119244 410 xendeffector=10;
Floris_Hoek 23:ff73ee119244 411 yendeffector=25.6159;
Floris_Hoek 23:ff73ee119244 412 wait(0.5);
Floris_Hoek 22:cce4dc5738af 413
Floris_Hoek 23:ff73ee119244 414 xendeffector=-14;
Floris_Hoek 23:ff73ee119244 415 yendeffector=21.6159;
Floris_Hoek 23:ff73ee119244 416 wait(0.5);
Floris_Hoek 23:ff73ee119244 417
Floris_Hoek 23:ff73ee119244 418 xendeffector=10;
Floris_Hoek 23:ff73ee119244 419 yendeffector=11.6159;
Floris_Hoek 23:ff73ee119244 420 wait(0.5);
Floris_Hoek 23:ff73ee119244 421
Floris_Hoek 23:ff73ee119244 422 // Last position is the start position
Floris_Hoek 23:ff73ee119244 423 xendeffector=0;
Floris_Hoek 23:ff73ee119244 424 yendeffector=10.6159;
Floris_Hoek 23:ff73ee119244 425 wait(0.5);
Floris_Hoek 23:ff73ee119244 426
Floris_Hoek 23:ff73ee119244 427 MyState = START_GAME; // Go back to START_GAME mode
Floris_Hoek 18:4a6be1893d7f 428 }
Floris_Hoek 23:ff73ee119244 429
Floris_Hoek 18:4a6be1893d7f 430
Floris_Hoek 22:cce4dc5738af 431 void operating_mode()
Floris_Hoek 22:cce4dc5738af 432 {
Floris_Hoek 22:cce4dc5738af 433 double y0,y1,y2,y3;
Floris_Hoek 22:cce4dc5738af 434 measure_data(y0,y1,y2,y3);
Floris_Hoek 22:cce4dc5738af 435
Floris_Hoek 23:ff73ee119244 436 double threshold = 0.3; // When the analysed signal is above this threshold, the position of the end effector is changed
Floris_Hoek 23:ff73ee119244 437 double dr = 0.1; // The change in position with each step
Floris_Hoek 23:ff73ee119244 438
Floris_Hoek 23:ff73ee119244 439 if(y0 > threshold && xendeffector < 16) {
Floris_Hoek 23:ff73ee119244 440 xendeffector=xendeffector+dr;
Floris_Hoek 23:ff73ee119244 441 }
Floris_Hoek 23:ff73ee119244 442 else if(y1 > threshold && xendeffector > -16) {
Floris_Hoek 23:ff73ee119244 443 xendeffector=xendeffector-dr;
Floris_Hoek 23:ff73ee119244 444 }
Floris_Hoek 23:ff73ee119244 445 if(y2 > threshold && yendeffector < 28) {
Floris_Hoek 23:ff73ee119244 446 yendeffector=yendeffector+dr;
Floris_Hoek 23:ff73ee119244 447 }
Floris_Hoek 23:ff73ee119244 448 else if(y3 > threshold && yendeffector > 8) {
Floris_Hoek 23:ff73ee119244 449 yendeffector=yendeffector-dr;
Floris_Hoek 22:cce4dc5738af 450 }
Floris_Hoek 22:cce4dc5738af 451
Floris_Hoek 23:ff73ee119244 452 //servo besturing
Floris_Hoek 23:ff73ee119244 453
Floris_Hoek 23:ff73ee119244 454 if(but4.read() == 0 && ingedrukt == 0) {
Floris_Hoek 23:ff73ee119244 455 for(int i=0; i<100; i++) {
Floris_Hoek 23:ff73ee119244 456 myservo = i/100.0;
Floris_Hoek 23:ff73ee119244 457
Floris_Hoek 23:ff73ee119244 458 wait(0.01);
Floris_Hoek 23:ff73ee119244 459 }
Floris_Hoek 23:ff73ee119244 460 ingedrukt = 1;
Floris_Hoek 23:ff73ee119244 461 } else if(but4.read() == 0 && ingedrukt == 1) {
Floris_Hoek 23:ff73ee119244 462 for(int i=100; i>0; i--) {
Floris_Hoek 23:ff73ee119244 463 myservo = i/100.0;
Floris_Hoek 23:ff73ee119244 464
Floris_Hoek 23:ff73ee119244 465 wait(0.01);
Floris_Hoek 23:ff73ee119244 466 }
Floris_Hoek 23:ff73ee119244 467 ingedrukt = 0;
Floris_Hoek 23:ff73ee119244 468 }
Floris_Hoek 23:ff73ee119244 469 if (but3.read() == 0) {
Floris_Hoek 23:ff73ee119244 470 MyState = (States)((int)MyState+1);
Floris_Hoek 23:ff73ee119244 471 wait(0.5f);
Floris_Hoek 23:ff73ee119244 472 }
Floris_Hoek 23:ff73ee119244 473 measureandcontrol();
Floris_Hoek 23:ff73ee119244 474 }
Floris_Hoek 23:ff73ee119244 475
Floris_Hoek 23:ff73ee119244 476 void endgame()
Floris_Hoek 23:ff73ee119244 477 {
Floris_Hoek 23:ff73ee119244 478 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");
Floris_Hoek 23:ff73ee119244 479 xendeffector=0.0;
Floris_Hoek 23:ff73ee119244 480 yendeffector=10.6159;
Floris_Hoek 23:ff73ee119244 481 wait(0.3f);
Floris_Hoek 23:ff73ee119244 482 sendtomotor(0.0f,0.0f);
Floris_Hoek 23:ff73ee119244 483 wait(0.1f);
Floris_Hoek 23:ff73ee119244 484 measurecontrol.attach(nothing,10000);
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 {
Floris_Hoek 22:cce4dc5738af 490 switch (MyState) {
Floris_Hoek 9:e8cc37a94fec 491 case MOTORS_OFF :
Floris_Hoek 22:cce4dc5738af 492 pc.printf("\r\nState: Motors turned off\r\n");
Floris_Hoek 9:e8cc37a94fec 493 motorsoff();
Floris_Hoek 9:e8cc37a94fec 494 break;
Floris_Hoek 22:cce4dc5738af 495
Floris_Hoek 9:e8cc37a94fec 496 case EMG_CALIBRATION :
Floris_Hoek 22:cce4dc5738af 497 pc.printf("\r\nState: EMG Calibration\r\n");
Floris_Hoek 22:cce4dc5738af 498 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 499 measurecontrol.attach(emgcalibration,timeinterval);
Floris_Hoek 9:e8cc37a94fec 500 break;
Floris_Hoek 22:cce4dc5738af 501
Floris_Hoek 9:e8cc37a94fec 502 case START_GAME :
Floris_Hoek 22:cce4dc5738af 503 pc.printf("\r\nState: Start game\r\n");
Floris_Hoek 18:4a6be1893d7f 504 startgame();
Floris_Hoek 9:e8cc37a94fec 505 break;
Floris_Hoek 22:cce4dc5738af 506
Floris_Hoek 9:e8cc37a94fec 507 case DEMO_MODE :
Floris_Hoek 22:cce4dc5738af 508 pc.printf("\r\nState: Demo mode\r\n");
Floris_Hoek 23:ff73ee119244 509 measurecontrol.attach(measureandcontrol,timeinterval);
Floris_Hoek 23:ff73ee119244 510 demo_mode();
Floris_Hoek 9:e8cc37a94fec 511 break;
Floris_Hoek 22:cce4dc5738af 512
Floris_Hoek 18:4a6be1893d7f 513 case OPERATING_MODE :
Floris_Hoek 22:cce4dc5738af 514 pc.printf("\r\nState: Operating mode\r\n");
Floris_Hoek 18:4a6be1893d7f 515 measurecontrol.attach(operating_mode,timeinterval);
Floris_Hoek 9:e8cc37a94fec 516 break;
Floris_Hoek 22:cce4dc5738af 517
Floris_Hoek 9:e8cc37a94fec 518 case END_GAME :
Floris_Hoek 22:cce4dc5738af 519 pc.printf("\r\nState: End of the game\r\n");
Floris_Hoek 23:ff73ee119244 520 endgame();
Floris_Hoek 9:e8cc37a94fec 521 break;
Floris_Hoek 22:cce4dc5738af 522
Floris_Hoek 9:e8cc37a94fec 523 default :
Floris_Hoek 22:cce4dc5738af 524 pc.printf("\r\nDefault state: Motors are turned off\r\n");
Floris_Hoek 22:cce4dc5738af 525 measurecontrol.attach(nothing,10000);
Floris_Hoek 23:ff73ee119244 526 sendtomotor(0.0,0.0);
Floris_Hoek 9:e8cc37a94fec 527 break;
Floris_Hoek 9:e8cc37a94fec 528 }
Floris_Hoek 9:e8cc37a94fec 529 }
Floris_Hoek 9:e8cc37a94fec 530
Floris_Hoek 22:cce4dc5738af 531 void Set_State()
Floris_Hoek 22:cce4dc5738af 532 {
Floris_Hoek 23:ff73ee119244 533 xendeffector=0.0;
Floris_Hoek 23:ff73ee119244 534 yendeffector=10.6159;
Floris_Hoek 23:ff73ee119244 535 wait(0.3f);
Floris_Hoek 23:ff73ee119244 536 sendtomotor(0.0,0.0); // Stop the motors
Floris_Hoek 23:ff73ee119244 537 measurecontrol.attach(nothing,10000); // Stop the ticker function from running
Floris_Hoek 19:b3e224e0cb85 538
Floris_Hoek 23:ff73ee119244 539 pc.printf("\r\nPress number: | To go to state:");
Floris_Hoek 23:ff73ee119244 540 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 541 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 542 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 543 pc.printf("\r\n (3) | DEMO_MODE: The demo mode will show the different motions that the robot can make");
Floris_Hoek 23:ff73ee119244 544 pc.printf("\r\n (4) | OPERATING_MODE: Move the arms and gripper of the arm by flexing your muscles");
Floris_Hoek 23:ff73ee119244 545 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 546
Floris_Hoek 23:ff73ee119244 547 wait(0.5f);
Floris_Hoek 22:cce4dc5738af 548
Floris_Hoek 23:ff73ee119244 549 char a = '0';
Floris_Hoek 23:ff73ee119244 550 char b = '5';
Floris_Hoek 23:ff73ee119244 551 bool boolean = true;
Floris_Hoek 22:cce4dc5738af 552
Floris_Hoek 23:ff73ee119244 553 while (boolean) {
Floris_Hoek 23:ff73ee119244 554 char c = pc.getc();
Floris_Hoek 22:cce4dc5738af 555
Floris_Hoek 23:ff73ee119244 556 if (c >= a && c <= b) {
Floris_Hoek 23:ff73ee119244 557 MyState = (States)(c-'0');
Floris_Hoek 23:ff73ee119244 558 boolean = false;
Floris_Hoek 22:cce4dc5738af 559
Floris_Hoek 23:ff73ee119244 560 } else {
Floris_Hoek 23:ff73ee119244 561 pc.printf("\r\nPlease enter a number between 0 and 5\r\n");
Floris_Hoek 19:b3e224e0cb85 562 }
Floris_Hoek 19:b3e224e0cb85 563 }
Floris_Hoek 19:b3e224e0cb85 564 }