Timo de Vries / Mbed 2 deprecated Burgerboy3000code

This is the final code

Dependencies:   HIDScope MODSERIAL QEI mbed

Fork of WearealltogetherEMGboi by Timo de Vries

main.cpp@28:d265c64d2bca, 2016-11-01 (annotated)

Committer:
Frostworks
Date:
Tue Nov 01 09:18:30 2016 +0000
Revision:
28:d265c64d2bca
Parent:
27:16327d1337cf
Child:
29:b6d7bcb26f47
wouter boyyy

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
Frostworks 21:2b55d53e11f6 3 #include "MODSERIAL.h"
Frostworks 23:fdde3e4b9e69 4 #include "QEI.h"
Frostworks 23:fdde3e4b9e69 5
Frostworks 23:fdde3e4b9e69 6 DigitalOut led_g(LED_GREEN);
Frostworks 23:fdde3e4b9e69 7 DigitalOut led_b(LED_BLUE);
Frostworks 23:fdde3e4b9e69 8 DigitalOut led_r(LED_RED);
Frostworks 23:fdde3e4b9e69 9
Frostworks 23:fdde3e4b9e69 10 DigitalOut M1_Rotate(D2); // voltage only base rotation
Frostworks 23:fdde3e4b9e69 11 PwmOut M1_Speed(D3); // voltage only base rotation
Frostworks 23:fdde3e4b9e69 12
Frostworks 23:fdde3e4b9e69 13 MODSERIAL pc(USBTX, USBRX);
Frostworks 23:fdde3e4b9e69 14
Frostworks 23:fdde3e4b9e69 15 //QEI wheel(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding=X2_ENCODING)
Frostworks 23:fdde3e4b9e69 16 QEI motor2(D10,D11,NC,8400,QEI::X4_ENCODING);
Frostworks 23:fdde3e4b9e69 17 QEI motor3(D12,D13,NC,8400,QEI::X4_ENCODING);
Frostworks 23:fdde3e4b9e69 18
Frostworks 23:fdde3e4b9e69 19 DigitalOut M2_Rotate(D4); // encoder side pot 2 translation
Frostworks 23:fdde3e4b9e69 20 PwmOut M2_Speed(D5); // encoder side pot 2 translation
Frostworks 23:fdde3e4b9e69 21
Frostworks 23:fdde3e4b9e69 22 DigitalOut M3_Rotate(D7); // encoder side pot 1 spatel rotation
Frostworks 23:fdde3e4b9e69 23 PwmOut M3_Speed(D6); // encoder side pot 1 spatel rotation
Frostworks 23:fdde3e4b9e69 24
Frostworks 23:fdde3e4b9e69 25 DigitalIn links(SW3);
Frostworks 23:fdde3e4b9e69 26 DigitalIn rechts(SW2);
Frostworks 23:fdde3e4b9e69 27
Frostworks 23:fdde3e4b9e69 28 AnalogIn pot1(A4); // pot 1 motor 1
Frostworks 23:fdde3e4b9e69 29 AnalogIn pot2(A3); // pot 2 motor 3
vsluiter 0:32bb76391d89 30
vsluiter 4:8b298dfada81 31 //Define objects
tomlankhorst 19:2bf824669684 32 AnalogIn emg0( A0 );
tomlankhorst 19:2bf824669684 33 AnalogIn emg1( A1 );
Frostworks 23:fdde3e4b9e69 34 DigitalIn buttonCalibrate(D9);
Frostworks 23:fdde3e4b9e69 35
Frostworks 23:fdde3e4b9e69 36 bool draairechts;
Frostworks 23:fdde3e4b9e69 37 bool draailinks;
Frostworks 23:fdde3e4b9e69 38 bool turn = 0;
Frostworks 23:fdde3e4b9e69 39 float waiter = 0.1;
Frostworks 23:fdde3e4b9e69 40 float translation = 0;
Frostworks 23:fdde3e4b9e69 41 float degrees3 = 0;
Frostworks 23:fdde3e4b9e69 42
Frostworks 23:fdde3e4b9e69 43 float Puls_degree = (8400/360);
Frostworks 23:fdde3e4b9e69 44 float wheel1 = 16;
Frostworks 23:fdde3e4b9e69 45 float wheel2 = 31;
Frostworks 23:fdde3e4b9e69 46 float wheel3 = 41;
Frostworks 23:fdde3e4b9e69 47 float overbrenging = ((wheel2/wheel1)*(wheel3/wheel1));
Frostworks 23:fdde3e4b9e69 48 float pi = 3.14159265359;
Frostworks 21:2b55d53e11f6 49
Frostworks 21:2b55d53e11f6 50 volatile float x;
Frostworks 21:2b55d53e11f6 51 volatile float x_prev =0;
Frostworks 21:2b55d53e11f6 52 volatile float b; // filtered 'output' of ReadAnalogInAndFilter
Frostworks 21:2b55d53e11f6 53
Frostworks 22:ad85b8acf8b5 54 bool calibrate = false;
Frostworks 22:ad85b8acf8b5 55 double threshold_Left = 0;
Frostworks 22:ad85b8acf8b5 56 double threshold_Right= 0;
tomlankhorst 14:f83354387756 57 Ticker sample_timer;
Frostworks 23:fdde3e4b9e69 58 Ticker sample_timer2;
Frostworks 27:16327d1337cf 59 Ticker printinfo;
tomlankhorst 19:2bf824669684 60 HIDScope scope( 2 );
tomlankhorst 18:21d8e7a81cf5 61 DigitalOut led(LED1);
Frostworks 21:2b55d53e11f6 62 const double a1 = -1.6475;
Frostworks 21:2b55d53e11f6 63 const double a2 = 0.7009;
Frostworks 21:2b55d53e11f6 64 const double b0 = 0.8371;
Frostworks 21:2b55d53e11f6 65 const double b1 = -1.6742;
Frostworks 21:2b55d53e11f6 66 const double b2 = 0.8371;
Frostworks 21:2b55d53e11f6 67 const double c1 = -1.9645;
Frostworks 21:2b55d53e11f6 68 const double c2 = 0.9651;
Frostworks 21:2b55d53e11f6 69 const double d0 = 0.0001551;
Frostworks 21:2b55d53e11f6 70 const double d1 = 0.0003103;
Frostworks 21:2b55d53e11f6 71 const double d2 = 0.0001551;
Frostworks 21:2b55d53e11f6 72 double v1_high = 0;
Frostworks 21:2b55d53e11f6 73 double v2_high = 0;
Frostworks 21:2b55d53e11f6 74 double v1_low = 0;
Frostworks 21:2b55d53e11f6 75 double v2_low = 0;
Frostworks 22:ad85b8acf8b5 76 double highpassFilterLeft = 0;
Frostworks 22:ad85b8acf8b5 77 double lowpassFilterLeft = 0;
Frostworks 22:ad85b8acf8b5 78 double highpassFilterRight = 0;
Frostworks 22:ad85b8acf8b5 79 double lowpassFilterRight = 0;
vsluiter 2:e314bb3b2d99 80
Frostworks 26:c640851fa1e7 81 //setpoints
Frostworks 27:16327d1337cf 82 const double Setpoint_Translation = -200;
Frostworks 27:16327d1337cf 83 const double Setpoint_Back = 0;
Frostworks 27:16327d1337cf 84 const double Setpoint_Rotation = pi;
Frostworks 26:c640851fa1e7 85 double M3_ControlSpeed = 0;
Frostworks 26:c640851fa1e7 86 double M2_ControlSpeed = 0;
Frostworks 27:16327d1337cf 87 double SetpointError_Translation = 0;
Frostworks 27:16327d1337cf 88 double SetpointError_Rotation = 0;
Frostworks 24:bdd74b91abbb 89
Frostworks 28:d265c64d2bca 90 //booleans for control
Frostworks 28:d265c64d2bca 91 bool booltranslate = false;
Frostworks 28:d265c64d2bca 92 bool boolrotate = false;
Frostworks 26:c640851fa1e7 93 //copied from slides
Frostworks 26:c640851fa1e7 94 //Arm PID
Frostworks 26:c640851fa1e7 95 const double Ts = 0.001953125; //Ts=1/fs (sample frequency)
Frostworks 28:d265c64d2bca 96 const double Translation_Kp = 6.9, Translation_Ki = 0.8, Translation_Kd = 0.4;
Frostworks 26:c640851fa1e7 97 double Translation_error = 0;
Frostworks 26:c640851fa1e7 98 double Translation_e_prev = 0;
Frostworks 24:bdd74b91abbb 99
Frostworks 26:c640851fa1e7 100 //Spatel PID
Frostworks 28:d265c64d2bca 101 const double Rotation_Kp = 0.0499, Rotation_Ki = 0.0429 , Rotation_Kd = 0.0429;
Frostworks 26:c640851fa1e7 102 double Rotation_error = 0;
Frostworks 26:c640851fa1e7 103 double Rotation_e_prev = 0;
Frostworks 26:c640851fa1e7 104
Frostworks 26:c640851fa1e7 105 double pid_control(double error, const double kp, const double ki, const double kd, double &e_int, double &e_prev)
Frostworks 24:bdd74b91abbb 106 {
Frostworks 26:c640851fa1e7 107 double e_der = (error - e_prev) / Ts;
Frostworks 26:c640851fa1e7 108 e_prev = error;
Frostworks 26:c640851fa1e7 109 e_int = e_int + (Ts * error);
Frostworks 26:c640851fa1e7 110
Frostworks 26:c640851fa1e7 111 return kp*error + ki + e_int + kd + e_der;
Frostworks 24:bdd74b91abbb 112 }
Frostworks 24:bdd74b91abbb 113
Frostworks 21:2b55d53e11f6 114 double biquad1(double u, double&v1, double&v2, const double a1, const double a2, const double b0,
Frostworks 21:2b55d53e11f6 115 const double b1, const double b2)
Frostworks 21:2b55d53e11f6 116 {
Frostworks 21:2b55d53e11f6 117 double v = u - a1*v1 - a2*v2;
Frostworks 21:2b55d53e11f6 118 double y = b0*v + b1*v1 + b2*v2;
Frostworks 21:2b55d53e11f6 119 v2 = v1;
Frostworks 21:2b55d53e11f6 120 v1 = v;
Frostworks 21:2b55d53e11f6 121 return y;
Frostworks 21:2b55d53e11f6 122 }
Frostworks 24:bdd74b91abbb 123
tomlankhorst 14:f83354387756 124 /** Sample function
tomlankhorst 14:f83354387756 125 * this function samples the emg and sends it to HIDScope
tomlankhorst 14:f83354387756 126 **/
Frostworks 21:2b55d53e11f6 127
Frostworks 22:ad85b8acf8b5 128 void filterSampleLeft()
Frostworks 21:2b55d53e11f6 129 {
Frostworks 22:ad85b8acf8b5 130 highpassFilterLeft = fabs(biquad1(emg0.read(), v1_high, v2_high, a1, a2, b0, b1, b2));
Frostworks 22:ad85b8acf8b5 131 lowpassFilterLeft = biquad1(highpassFilterLeft, v1_low, v2_low, c1, c2, d0, d1, d2);
Frostworks 22:ad85b8acf8b5 132 scope.set(0, lowpassFilterLeft );
Frostworks 21:2b55d53e11f6 133 scope.send();
Frostworks 22:ad85b8acf8b5 134 //pc.printf("%f \n \r ", lowpassFilter);
Frostworks 21:2b55d53e11f6 135 }
Frostworks 22:ad85b8acf8b5 136 void filterSampleRight()
Frostworks 22:ad85b8acf8b5 137 {
Frostworks 22:ad85b8acf8b5 138 highpassFilterRight = fabs(biquad1(emg1.read(), v1_high, v2_high, a1, a2, b0, b1, b2));
Frostworks 22:ad85b8acf8b5 139 lowpassFilterRight = biquad1(highpassFilterRight, v1_low, v2_low, c1, c2, d0, d1, d2);
Frostworks 22:ad85b8acf8b5 140 scope.set(1, lowpassFilterRight );
Frostworks 22:ad85b8acf8b5 141 scope.send();
Frostworks 22:ad85b8acf8b5 142 //pc.printf("%f \n \r ", lowpassFilter);
Frostworks 22:ad85b8acf8b5 143 }
Frostworks 24:bdd74b91abbb 144
tomlankhorst 14:f83354387756 145 void sample()
vsluiter 2:e314bb3b2d99 146 {
Frostworks 24:bdd74b91abbb 147 // Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope'
tomlankhorst 19:2bf824669684 148 scope.set(0, emg0.read() );
tomlankhorst 19:2bf824669684 149 scope.set(1, emg1.read() );
Frostworks 21:2b55d53e11f6 150 /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
tomlankhorst 19:2bf824669684 151 * Ensure that enough channels are available (HIDScope scope( 2 ))
tomlankhorst 20:97059009a491 152 * Finally, send all channels to the PC at once */
Frostworks 21:2b55d53e11f6 153
Frostworks 21:2b55d53e11f6 154 x = emg0; // Capture data scope.set(0, x); // store data in first element of scope memory
Frostworks 21:2b55d53e11f6 155 b = (x_prev + x)/2.0; // averaging filter
Frostworks 21:2b55d53e11f6 156 x_prev = x; // Prepare for next round
Frostworks 21:2b55d53e11f6 157
vsluiter 11:ce72ec658a95 158 scope.send();
Frostworks 24:bdd74b91abbb 159 // To indicate that the function is working, the LED is toggled
tomlankhorst 18:21d8e7a81cf5 160 led = !led;
Frostworks 21:2b55d53e11f6 161 pc.printf("%f, %f \n \r ", x, b);
vsluiter 2:e314bb3b2d99 162 }
Frostworks 24:bdd74b91abbb 163
Frostworks 23:fdde3e4b9e69 164 void GetDirections()
Frostworks 23:fdde3e4b9e69 165 {
Frostworks 23:fdde3e4b9e69 166 pc.baud(115200);
Frostworks 23:fdde3e4b9e69 167 if ((rechts == 0) && (links == 0) && (turn == 0)) {
Frostworks 23:fdde3e4b9e69 168 draailinks = 0;
Frostworks 23:fdde3e4b9e69 169 draairechts = 0;
Frostworks 23:fdde3e4b9e69 170 turn = 1;
Frostworks 23:fdde3e4b9e69 171 pc.printf("begin de actie \n \r ");
Frostworks 23:fdde3e4b9e69 172 wait(waiter);
vsluiter 0:32bb76391d89 173
Frostworks 23:fdde3e4b9e69 174 } else if ((rechts == 0) && (links == 0) && (turn == 1)) {
Frostworks 23:fdde3e4b9e69 175 draailinks = 0;
Frostworks 23:fdde3e4b9e69 176 draairechts = 0;
Frostworks 23:fdde3e4b9e69 177 turn = 0;
Frostworks 23:fdde3e4b9e69 178 pc.printf("breek de actie af \n \r ");
Frostworks 23:fdde3e4b9e69 179 wait(waiter);
Frostworks 23:fdde3e4b9e69 180 } else if ((rechts == 1) && (links == 1)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 181
Frostworks 23:fdde3e4b9e69 182 } else if ((rechts == 1) && (draailinks == 0)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 183 /* if the right button is pressed and the motor isn't rotating to the left,
Frostworks 23:fdde3e4b9e69 184 then start rotating to the right etc*/
Frostworks 23:fdde3e4b9e69 185 draairechts = !draairechts;
Frostworks 23:fdde3e4b9e69 186 pc.printf("draai naar rechts \n \r ");
Frostworks 23:fdde3e4b9e69 187 wait(waiter);
Frostworks 23:fdde3e4b9e69 188 } else if ((rechts == 1) && (draailinks == 1)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 189 draailinks = 0;
Frostworks 23:fdde3e4b9e69 190 draairechts = !draairechts;
Frostworks 23:fdde3e4b9e69 191 pc.printf("draai naar rechts na links \n \r ");
Frostworks 23:fdde3e4b9e69 192 wait(waiter);
Frostworks 23:fdde3e4b9e69 193 } else if ((links == 1) && (draairechts == 0)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 194 draailinks = !draailinks;
Frostworks 23:fdde3e4b9e69 195 pc.printf("draai naar links \n \r ");
Frostworks 23:fdde3e4b9e69 196 wait(waiter);
Frostworks 23:fdde3e4b9e69 197 } else if ((links == 1) && (draairechts == 1) && (turn == 0)) {
Frostworks 23:fdde3e4b9e69 198 draairechts = 0;
Frostworks 23:fdde3e4b9e69 199 draailinks = !draailinks;
Frostworks 23:fdde3e4b9e69 200 pc.printf("draai naar links na rechts \n \r ");
Frostworks 23:fdde3e4b9e69 201 wait(waiter);
Frostworks 23:fdde3e4b9e69 202 }
Frostworks 23:fdde3e4b9e69 203 wait(2*waiter);
Frostworks 23:fdde3e4b9e69 204 }
Frostworks 23:fdde3e4b9e69 205
Frostworks 23:fdde3e4b9e69 206 float GetPositionM2()
Frostworks 23:fdde3e4b9e69 207 {
Frostworks 23:fdde3e4b9e69 208 float pulses2 = motor2.getPulses();
Frostworks 23:fdde3e4b9e69 209 float degrees2 = (pulses2/Puls_degree);
Frostworks 23:fdde3e4b9e69 210 float radians2 = (degrees2/360)*2*pi;
Frostworks 23:fdde3e4b9e69 211 float translation = ((radians2/overbrenging)*32.25);
Frostworks 23:fdde3e4b9e69 212
Frostworks 23:fdde3e4b9e69 213 return translation;
Frostworks 23:fdde3e4b9e69 214 }
Frostworks 23:fdde3e4b9e69 215 float GetRotationM3()
Frostworks 23:fdde3e4b9e69 216 {
Frostworks 23:fdde3e4b9e69 217 float pulses3 = motor3.getPulses();
Frostworks 23:fdde3e4b9e69 218 float degrees3 = (pulses3/Puls_degree);
Frostworks 23:fdde3e4b9e69 219 float radians3 = (degrees3/360)*2*pi;
Frostworks 23:fdde3e4b9e69 220
Frostworks 27:16327d1337cf 221 return radians3;
Frostworks 27:16327d1337cf 222 }
Frostworks 27:16327d1337cf 223 void motorRotation(double setpoint)
Frostworks 27:16327d1337cf 224 {
Frostworks 27:16327d1337cf 225 double theta_rotation = GetRotationM3();
Frostworks 27:16327d1337cf 226 SetpointError_Rotation = setpoint - theta_rotation;
Frostworks 27:16327d1337cf 227
Frostworks 27:16327d1337cf 228 //set direction
Frostworks 27:16327d1337cf 229 if (SetpointError_Rotation > 0) {
Frostworks 27:16327d1337cf 230 M3_Rotate = 0;
Frostworks 27:16327d1337cf 231 } else {
Frostworks 27:16327d1337cf 232 M3_Rotate = 1;
Frostworks 27:16327d1337cf 233
Frostworks 27:16327d1337cf 234 }
Frostworks 27:16327d1337cf 235 M3_ControlSpeed = Ts * fabs( pid_control(SetpointError_Rotation, Rotation_Kp, Rotation_Ki, Rotation_Kd, Rotation_error, Rotation_e_prev));
Frostworks 28:d265c64d2bca 236 if (fabs(SetpointError_Rotation) < fabs(Setpoint_Rotation*0.05)) {
Frostworks 27:16327d1337cf 237 M3_ControlSpeed = 0;
Frostworks 27:16327d1337cf 238 }
Frostworks 28:d265c64d2bca 239 if (theta_rotation > (Setpoint_Rotation*0.9))
Frostworks 28:d265c64d2bca 240 boolrotate = true;
Frostworks 28:d265c64d2bca 241 if ((theta_rotation < (Setpoint_Rotation*0.07) ) && (M3_Speed == 0))
Frostworks 28:d265c64d2bca 242 boolrotate = false;
Frostworks 28:d265c64d2bca 243 M3_Speed = M3_ControlSpeed;
Frostworks 27:16327d1337cf 244 }
Frostworks 27:16327d1337cf 245 void motorTranslation(double setpoint)
Frostworks 27:16327d1337cf 246 {
Frostworks 27:16327d1337cf 247 double theta_translation = GetPositionM2();
Frostworks 27:16327d1337cf 248 SetpointError_Translation = setpoint - theta_translation;
Frostworks 27:16327d1337cf 249
Frostworks 27:16327d1337cf 250 //set direction
Frostworks 27:16327d1337cf 251 if (SetpointError_Translation < 0) {
Frostworks 27:16327d1337cf 252 M2_Rotate = 0;
Frostworks 27:16327d1337cf 253 } else {
Frostworks 27:16327d1337cf 254 M2_Rotate = 1;
Frostworks 27:16327d1337cf 255 }
Frostworks 27:16327d1337cf 256 M2_ControlSpeed = Ts * fabs( pid_control(SetpointError_Translation, Translation_Kp, Translation_Ki, Translation_Kd, Translation_error, Translation_e_prev));
Frostworks 28:d265c64d2bca 257 if (fabs(SetpointError_Translation) < fabs(Setpoint_Translation*0.05)) {
Frostworks 27:16327d1337cf 258 M2_ControlSpeed = 0;
Frostworks 28:d265c64d2bca 259
Frostworks 27:16327d1337cf 260 }
Frostworks 28:d265c64d2bca 261 if ((theta_translation < Setpoint_Translation*0.95) && (M2_ControlSpeed == 0))
Frostworks 28:d265c64d2bca 262 booltranslate = true;
Frostworks 28:d265c64d2bca 263 if ((theta_translation > Setpoint_Translation*0.05) && (M2_ControlSpeed == 0))
Frostworks 28:d265c64d2bca 264 booltranslate = false;
Frostworks 27:16327d1337cf 265 M2_Speed = M2_ControlSpeed;
Frostworks 28:d265c64d2bca 266
Frostworks 23:fdde3e4b9e69 267 }
Frostworks 23:fdde3e4b9e69 268 void GoBack()
Frostworks 23:fdde3e4b9e69 269 {
Frostworks 28:d265c64d2bca 270 motorTranslation(Setpoint_Back);
Frostworks 28:d265c64d2bca 271 if (booltranslate == false) {
Frostworks 28:d265c64d2bca 272 motorRotation(Setpoint_Back);
Frostworks 28:d265c64d2bca 273 }
Frostworks 28:d265c64d2bca 274 if (boolrotate == false) {
Frostworks 28:d265c64d2bca 275 turn = 0;
Frostworks 28:d265c64d2bca 276 }
Frostworks 27:16327d1337cf 277 led_r = 1;
Frostworks 27:16327d1337cf 278 led_b = 0;
Frostworks 28:d265c64d2bca 279
Frostworks 27:16327d1337cf 280 /* while (GetPositionM2() < 0) {
Frostworks 27:16327d1337cf 281 M3_Speed = 0;
Frostworks 27:16327d1337cf 282 M2_Speed = 1;
Frostworks 27:16327d1337cf 283 M2_Rotate = 1;
Frostworks 27:16327d1337cf 284 pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
Frostworks 27:16327d1337cf 285 led_r = 0;
Frostworks 27:16327d1337cf 286 }
Frostworks 27:16327d1337cf 287 M2_Speed = 0;
Frostworks 23:fdde3e4b9e69 288
Frostworks 23:fdde3e4b9e69 289
Frostworks 27:16327d1337cf 290 while (GetRotationM3() > 0) {
Frostworks 27:16327d1337cf 291 M3_Rotate = 1;
Frostworks 27:16327d1337cf 292 M3_Speed = 0.2;
Frostworks 27:16327d1337cf 293 led_r = 1;
Frostworks 27:16327d1337cf 294 led_b = 0;
Frostworks 27:16327d1337cf 295 pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
Frostworks 23:fdde3e4b9e69 296
Frostworks 27:16327d1337cf 297 }
Frostworks 27:16327d1337cf 298 M3_Speed = 0;
Frostworks 23:fdde3e4b9e69 299
Frostworks 27:16327d1337cf 300 turn = 0; */
Frostworks 24:bdd74b91abbb 301 }
Frostworks 23:fdde3e4b9e69 302
Frostworks 23:fdde3e4b9e69 303 void Burgerflip()
Frostworks 23:fdde3e4b9e69 304 {
Frostworks 27:16327d1337cf 305 led_r = 0;
Frostworks 27:16327d1337cf 306 led_b = 1;
Frostworks 27:16327d1337cf 307 motorTranslation(Setpoint_Translation);
Frostworks 28:d265c64d2bca 308 if (booltranslate == true) {
Frostworks 28:d265c64d2bca 309 motorRotation(Setpoint_Rotation);
Frostworks 28:d265c64d2bca 310 }
Frostworks 27:16327d1337cf 311 /*
Frostworks 25:6dcf79346c40 312 pc.printf("get position %f, get rotation %f \n \r", GetPositionM2(), GetRotationM3());
Frostworks 25:6dcf79346c40 313 if (GetPositionM2()< afstand) {
Frostworks 23:fdde3e4b9e69 314 M3_Speed = 0.2;
Frostworks 25:6dcf79346c40 315 M3_Rotate = 0;
Frostworks 23:fdde3e4b9e69 316 M2_Speed = 0;
Frostworks 25:6dcf79346c40 317 } else if (GetPositionM2() > afstand) {
Frostworks 23:fdde3e4b9e69 318 M2_Speed = 1;
Frostworks 25:6dcf79346c40 319 M2_Rotate = 0;
Frostworks 23:fdde3e4b9e69 320
Frostworks 23:fdde3e4b9e69 321 }
Frostworks 26:c640851fa1e7 322 if (GetRotationM3() > setpoint_Rotation) {
Frostworks 23:fdde3e4b9e69 323 GoBack();
Frostworks 23:fdde3e4b9e69 324 }
Frostworks 27:16327d1337cf 325 */
Frostworks 27:16327d1337cf 326 }
Frostworks 28:d265c64d2bca 327 void BurgerflipActie()
Frostworks 28:d265c64d2bca 328 {
Frostworks 28:d265c64d2bca 329 Burgerflip();
Frostworks 28:d265c64d2bca 330 if (boolrotate == true) {
Frostworks 28:d265c64d2bca 331 GoBack();
Frostworks 28:d265c64d2bca 332 }
Frostworks 28:d265c64d2bca 333 }
Frostworks 27:16327d1337cf 334 void print()
Frostworks 27:16327d1337cf 335 {
Frostworks 27:16327d1337cf 336 pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
Frostworks 23:fdde3e4b9e69 337 }
vsluiter 0:32bb76391d89 338 int main()
Frostworks 21:2b55d53e11f6 339 {
Frostworks 24:bdd74b91abbb 340 //Leds
Frostworks 23:fdde3e4b9e69 341 led_g = 1;
Frostworks 23:fdde3e4b9e69 342 led_b = 1;
Frostworks 23:fdde3e4b9e69 343 led_r = 1;
Frostworks 23:fdde3e4b9e69 344
tomlankhorst 14:f83354387756 345 /**Attach the 'sample' function to the timer 'sample_timer'.
tomlankhorst 19:2bf824669684 346 * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
vsluiter 4:8b298dfada81 347 */
Frostworks 22:ad85b8acf8b5 348 //sample_timer.attach(&sample, 0.001953125);
Frostworks 26:c640851fa1e7 349 sample_timer2.attach(&filterSampleLeft, Ts); //512 Hz
Frostworks 26:c640851fa1e7 350 sample_timer.attach(&filterSampleRight, Ts);
Frostworks 27:16327d1337cf 351 //printinfo.attach(&print, Ts);
Frostworks 21:2b55d53e11f6 352 pc.baud(115200);
Frostworks 22:ad85b8acf8b5 353 pc.printf("please push the button to calibrate \n \r");
Frostworks 22:ad85b8acf8b5 354 while (1) {
Frostworks 22:ad85b8acf8b5 355 if (buttonCalibrate == 0) {
Frostworks 22:ad85b8acf8b5 356 calibrate = true;
Frostworks 22:ad85b8acf8b5 357 threshold_Left = lowpassFilterLeft*0.7;
Frostworks 22:ad85b8acf8b5 358 threshold_Right = lowpassFilterRight*0.7;
Frostworks 24:bdd74b91abbb 359
Frostworks 21:2b55d53e11f6 360 }
Frostworks 22:ad85b8acf8b5 361 if (calibrate == true) {
Frostworks 25:6dcf79346c40 362 //pc.printf("calibration complete, left = %f, right = %f \n \r", threshold_Left, threshold_Right);
Frostworks 27:16327d1337cf 363 pc.printf("rotation is %f error = %f en translation = %f en de error %f \n \r", GetRotationM3(), SetpointError_Rotation, GetPositionM2(), SetpointError_Translation);
Frostworks 23:fdde3e4b9e69 364 GetDirections();
Frostworks 23:fdde3e4b9e69 365 if (draairechts == true) {
Frostworks 23:fdde3e4b9e69 366 M1_Speed = 0.2;
Frostworks 23:fdde3e4b9e69 367 M1_Rotate = 0;
Frostworks 23:fdde3e4b9e69 368 } else if (draailinks == true) {
Frostworks 23:fdde3e4b9e69 369 M1_Speed = 0.2;
Frostworks 23:fdde3e4b9e69 370 M1_Rotate = 1;
Frostworks 23:fdde3e4b9e69 371 } else if (turn == 1) {
Frostworks 23:fdde3e4b9e69 372 /*M2_Speed = 0.5;
Frostworks 23:fdde3e4b9e69 373 M2_Rotate = 1;
Frostworks 23:fdde3e4b9e69 374 M3_Speed = 0.5;
Frostworks 23:fdde3e4b9e69 375 M3_Rotate = 1;*/
Frostworks 28:d265c64d2bca 376 BurgerflipActie();
Frostworks 23:fdde3e4b9e69 377 } else if (turn == 0) {
Frostworks 23:fdde3e4b9e69 378 M2_Speed = 0;
Frostworks 23:fdde3e4b9e69 379 M3_Speed = 0;
Frostworks 23:fdde3e4b9e69 380 }
Frostworks 23:fdde3e4b9e69 381 if ((draailinks == false) && (draairechts == false)) {
Frostworks 23:fdde3e4b9e69 382 M1_Speed = 0;
Frostworks 23:fdde3e4b9e69 383 }
Frostworks 25:6dcf79346c40 384 //pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
Frostworks 23:fdde3e4b9e69 385 /* pulses = 8400 */
Frostworks 22:ad85b8acf8b5 386 /*empty loop, sample() is executed periodically*/
Frostworks 22:ad85b8acf8b5 387 }
Frostworks 22:ad85b8acf8b5 388 }
vsluiter 0:32bb76391d89 389 }