Timo de Vries / Mbed 2 deprecated WearealltogetherEMGboi

emg zooi er op

Dependencies:   HIDScope MODSERIAL QEI mbed

Fork of Wearealltogheter_goed by Timo de Vries

main.cpp@29:b6d7bcb26f47, 2016-11-01 (annotated)

Committer:
Frostworks
Date:
Tue Nov 01 14:05:14 2016 +0000
Revision:
29:b6d7bcb26f47
Parent:
28:d265c64d2bca 
Voor het implementeren van emg;

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;
Frostworks 29:b6d7bcb26f47 60 Ticker checkSetpointTranslation;
Frostworks 29:b6d7bcb26f47 61 Ticker checkSetpointRotation;
tomlankhorst 19:2bf824669684 62 HIDScope scope( 2 );
tomlankhorst 18:21d8e7a81cf5 63 DigitalOut led(LED1);
Frostworks 21:2b55d53e11f6 64 const double a1 = -1.6475;
Frostworks 21:2b55d53e11f6 65 const double a2 = 0.7009;
Frostworks 21:2b55d53e11f6 66 const double b0 = 0.8371;
Frostworks 21:2b55d53e11f6 67 const double b1 = -1.6742;
Frostworks 21:2b55d53e11f6 68 const double b2 = 0.8371;
Frostworks 21:2b55d53e11f6 69 const double c1 = -1.9645;
Frostworks 21:2b55d53e11f6 70 const double c2 = 0.9651;
Frostworks 21:2b55d53e11f6 71 const double d0 = 0.0001551;
Frostworks 21:2b55d53e11f6 72 const double d1 = 0.0003103;
Frostworks 21:2b55d53e11f6 73 const double d2 = 0.0001551;
Frostworks 21:2b55d53e11f6 74 double v1_high = 0;
Frostworks 21:2b55d53e11f6 75 double v2_high = 0;
Frostworks 21:2b55d53e11f6 76 double v1_low = 0;
Frostworks 21:2b55d53e11f6 77 double v2_low = 0;
Frostworks 22:ad85b8acf8b5 78 double highpassFilterLeft = 0;
Frostworks 22:ad85b8acf8b5 79 double lowpassFilterLeft = 0;
Frostworks 22:ad85b8acf8b5 80 double highpassFilterRight = 0;
Frostworks 22:ad85b8acf8b5 81 double lowpassFilterRight = 0;
vsluiter 2:e314bb3b2d99 82
Frostworks 26:c640851fa1e7 83 //setpoints
Frostworks 29:b6d7bcb26f47 84 volatile float setpointRotation;
Frostworks 29:b6d7bcb26f47 85 volatile float setpointTranslation;
Frostworks 27:16327d1337cf 86 const double Setpoint_Translation = -200;
Frostworks 27:16327d1337cf 87 const double Setpoint_Back = 0;
Frostworks 27:16327d1337cf 88 const double Setpoint_Rotation = pi;
Frostworks 26:c640851fa1e7 89 double M3_ControlSpeed = 0;
Frostworks 26:c640851fa1e7 90 double M2_ControlSpeed = 0;
Frostworks 27:16327d1337cf 91 double SetpointError_Translation = 0;
Frostworks 27:16327d1337cf 92 double SetpointError_Rotation = 0;
Frostworks 29:b6d7bcb26f47 93 double theta_translation;
Frostworks 29:b6d7bcb26f47 94 double theta_rotation;
Frostworks 28:d265c64d2bca 95 //booleans for control
Frostworks 28:d265c64d2bca 96 bool booltranslate = false;
Frostworks 28:d265c64d2bca 97 bool boolrotate = false;
Frostworks 26:c640851fa1e7 98 //copied from slides
Frostworks 26:c640851fa1e7 99 //Arm PID
Frostworks 26:c640851fa1e7 100 const double Ts = 0.001953125; //Ts=1/fs (sample frequency)
Frostworks 28:d265c64d2bca 101 const double Translation_Kp = 6.9, Translation_Ki = 0.8, Translation_Kd = 0.4;
Frostworks 26:c640851fa1e7 102 double Translation_error = 0;
Frostworks 26:c640851fa1e7 103 double Translation_e_prev = 0;
Frostworks 24:bdd74b91abbb 104
Frostworks 26:c640851fa1e7 105 //Spatel PID
Frostworks 28:d265c64d2bca 106 const double Rotation_Kp = 0.0499, Rotation_Ki = 0.0429 , Rotation_Kd = 0.0429;
Frostworks 26:c640851fa1e7 107 double Rotation_error = 0;
Frostworks 26:c640851fa1e7 108 double Rotation_e_prev = 0;
Frostworks 26:c640851fa1e7 109
Frostworks 26:c640851fa1e7 110 double pid_control(double error, const double kp, const double ki, const double kd, double &e_int, double &e_prev)
Frostworks 24:bdd74b91abbb 111 {
Frostworks 26:c640851fa1e7 112 double e_der = (error - e_prev) / Ts;
Frostworks 26:c640851fa1e7 113 e_prev = error;
Frostworks 26:c640851fa1e7 114 e_int = e_int + (Ts * error);
Frostworks 26:c640851fa1e7 115
Frostworks 26:c640851fa1e7 116 return kp*error + ki + e_int + kd + e_der;
Frostworks 24:bdd74b91abbb 117 }
Frostworks 24:bdd74b91abbb 118
Frostworks 21:2b55d53e11f6 119 double biquad1(double u, double&v1, double&v2, const double a1, const double a2, const double b0,
Frostworks 21:2b55d53e11f6 120 const double b1, const double b2)
Frostworks 21:2b55d53e11f6 121 {
Frostworks 21:2b55d53e11f6 122 double v = u - a1*v1 - a2*v2;
Frostworks 21:2b55d53e11f6 123 double y = b0*v + b1*v1 + b2*v2;
Frostworks 21:2b55d53e11f6 124 v2 = v1;
Frostworks 21:2b55d53e11f6 125 v1 = v;
Frostworks 21:2b55d53e11f6 126 return y;
Frostworks 21:2b55d53e11f6 127 }
Frostworks 24:bdd74b91abbb 128
tomlankhorst 14:f83354387756 129 /** Sample function
tomlankhorst 14:f83354387756 130 * this function samples the emg and sends it to HIDScope
tomlankhorst 14:f83354387756 131 **/
Frostworks 21:2b55d53e11f6 132
Frostworks 22:ad85b8acf8b5 133 void filterSampleLeft()
Frostworks 21:2b55d53e11f6 134 {
Frostworks 22:ad85b8acf8b5 135 highpassFilterLeft = fabs(biquad1(emg0.read(), v1_high, v2_high, a1, a2, b0, b1, b2));
Frostworks 22:ad85b8acf8b5 136 lowpassFilterLeft = biquad1(highpassFilterLeft, v1_low, v2_low, c1, c2, d0, d1, d2);
Frostworks 22:ad85b8acf8b5 137 scope.set(0, lowpassFilterLeft );
Frostworks 21:2b55d53e11f6 138 scope.send();
Frostworks 22:ad85b8acf8b5 139 //pc.printf("%f \n \r ", lowpassFilter);
Frostworks 21:2b55d53e11f6 140 }
Frostworks 22:ad85b8acf8b5 141 void filterSampleRight()
Frostworks 22:ad85b8acf8b5 142 {
Frostworks 22:ad85b8acf8b5 143 highpassFilterRight = fabs(biquad1(emg1.read(), v1_high, v2_high, a1, a2, b0, b1, b2));
Frostworks 22:ad85b8acf8b5 144 lowpassFilterRight = biquad1(highpassFilterRight, v1_low, v2_low, c1, c2, d0, d1, d2);
Frostworks 22:ad85b8acf8b5 145 scope.set(1, lowpassFilterRight );
Frostworks 22:ad85b8acf8b5 146 scope.send();
Frostworks 22:ad85b8acf8b5 147 //pc.printf("%f \n \r ", lowpassFilter);
Frostworks 22:ad85b8acf8b5 148 }
Frostworks 24:bdd74b91abbb 149
tomlankhorst 14:f83354387756 150 void sample()
vsluiter 2:e314bb3b2d99 151 {
Frostworks 24:bdd74b91abbb 152 // 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 153 scope.set(0, emg0.read() );
tomlankhorst 19:2bf824669684 154 scope.set(1, emg1.read() );
Frostworks 21:2b55d53e11f6 155 /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
tomlankhorst 19:2bf824669684 156 * Ensure that enough channels are available (HIDScope scope( 2 ))
tomlankhorst 20:97059009a491 157 * Finally, send all channels to the PC at once */
Frostworks 21:2b55d53e11f6 158
Frostworks 21:2b55d53e11f6 159 x = emg0; // Capture data scope.set(0, x); // store data in first element of scope memory
Frostworks 21:2b55d53e11f6 160 b = (x_prev + x)/2.0; // averaging filter
Frostworks 21:2b55d53e11f6 161 x_prev = x; // Prepare for next round
Frostworks 21:2b55d53e11f6 162
vsluiter 11:ce72ec658a95 163 scope.send();
Frostworks 24:bdd74b91abbb 164 // To indicate that the function is working, the LED is toggled
tomlankhorst 18:21d8e7a81cf5 165 led = !led;
Frostworks 21:2b55d53e11f6 166 pc.printf("%f, %f \n \r ", x, b);
vsluiter 2:e314bb3b2d99 167 }
Frostworks 24:bdd74b91abbb 168
Frostworks 23:fdde3e4b9e69 169 void GetDirections()
Frostworks 23:fdde3e4b9e69 170 {
Frostworks 23:fdde3e4b9e69 171 pc.baud(115200);
Frostworks 23:fdde3e4b9e69 172 if ((rechts == 0) && (links == 0) && (turn == 0)) {
Frostworks 23:fdde3e4b9e69 173 draailinks = 0;
Frostworks 23:fdde3e4b9e69 174 draairechts = 0;
Frostworks 23:fdde3e4b9e69 175 turn = 1;
Frostworks 23:fdde3e4b9e69 176 pc.printf("begin de actie \n \r ");
Frostworks 23:fdde3e4b9e69 177 wait(waiter);
vsluiter 0:32bb76391d89 178
Frostworks 23:fdde3e4b9e69 179 } else if ((rechts == 0) && (links == 0) && (turn == 1)) {
Frostworks 23:fdde3e4b9e69 180 draailinks = 0;
Frostworks 23:fdde3e4b9e69 181 draairechts = 0;
Frostworks 23:fdde3e4b9e69 182 turn = 0;
Frostworks 23:fdde3e4b9e69 183 pc.printf("breek de actie af \n \r ");
Frostworks 23:fdde3e4b9e69 184 wait(waiter);
Frostworks 23:fdde3e4b9e69 185 } else if ((rechts == 1) && (links == 1)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 186
Frostworks 23:fdde3e4b9e69 187 } else if ((rechts == 1) && (draailinks == 0)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 188 /* if the right button is pressed and the motor isn't rotating to the left,
Frostworks 23:fdde3e4b9e69 189 then start rotating to the right etc*/
Frostworks 23:fdde3e4b9e69 190 draairechts = !draairechts;
Frostworks 23:fdde3e4b9e69 191 pc.printf("draai naar rechts \n \r ");
Frostworks 23:fdde3e4b9e69 192 wait(waiter);
Frostworks 23:fdde3e4b9e69 193 } else if ((rechts == 1) && (draailinks == 1)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 194 draailinks = 0;
Frostworks 23:fdde3e4b9e69 195 draairechts = !draairechts;
Frostworks 23:fdde3e4b9e69 196 pc.printf("draai naar rechts na links \n \r ");
Frostworks 23:fdde3e4b9e69 197 wait(waiter);
Frostworks 23:fdde3e4b9e69 198 } else if ((links == 1) && (draairechts == 0)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 199 draailinks = !draailinks;
Frostworks 23:fdde3e4b9e69 200 pc.printf("draai naar links \n \r ");
Frostworks 23:fdde3e4b9e69 201 wait(waiter);
Frostworks 23:fdde3e4b9e69 202 } else if ((links == 1) && (draairechts == 1) && (turn == 0)) {
Frostworks 23:fdde3e4b9e69 203 draairechts = 0;
Frostworks 23:fdde3e4b9e69 204 draailinks = !draailinks;
Frostworks 23:fdde3e4b9e69 205 pc.printf("draai naar links na rechts \n \r ");
Frostworks 23:fdde3e4b9e69 206 wait(waiter);
Frostworks 23:fdde3e4b9e69 207 }
Frostworks 23:fdde3e4b9e69 208 wait(2*waiter);
Frostworks 23:fdde3e4b9e69 209 }
Frostworks 23:fdde3e4b9e69 210
Frostworks 23:fdde3e4b9e69 211 float GetPositionM2()
Frostworks 23:fdde3e4b9e69 212 {
Frostworks 23:fdde3e4b9e69 213 float pulses2 = motor2.getPulses();
Frostworks 23:fdde3e4b9e69 214 float degrees2 = (pulses2/Puls_degree);
Frostworks 23:fdde3e4b9e69 215 float radians2 = (degrees2/360)*2*pi;
Frostworks 23:fdde3e4b9e69 216 float translation = ((radians2/overbrenging)*32.25);
Frostworks 23:fdde3e4b9e69 217
Frostworks 23:fdde3e4b9e69 218 return translation;
Frostworks 23:fdde3e4b9e69 219 }
Frostworks 23:fdde3e4b9e69 220 float GetRotationM3()
Frostworks 23:fdde3e4b9e69 221 {
Frostworks 23:fdde3e4b9e69 222 float pulses3 = motor3.getPulses();
Frostworks 23:fdde3e4b9e69 223 float degrees3 = (pulses3/Puls_degree);
Frostworks 23:fdde3e4b9e69 224 float radians3 = (degrees3/360)*2*pi;
Frostworks 23:fdde3e4b9e69 225
Frostworks 27:16327d1337cf 226 return radians3;
Frostworks 27:16327d1337cf 227 }
Frostworks 29:b6d7bcb26f47 228 void CheckErrorRotation(){
Frostworks 29:b6d7bcb26f47 229 theta_rotation = GetRotationM3();
Frostworks 29:b6d7bcb26f47 230 SetpointError_Rotation = setpointRotation -theta_rotation;
Frostworks 29:b6d7bcb26f47 231 }
Frostworks 29:b6d7bcb26f47 232 void CheckErrorTranslation(){
Frostworks 29:b6d7bcb26f47 233 theta_translation = GetPositionM2();
Frostworks 29:b6d7bcb26f47 234 SetpointError_Translation = setpointTranslation -theta_translation;
Frostworks 29:b6d7bcb26f47 235 }
Frostworks 29:b6d7bcb26f47 236 void motorRotation()
Frostworks 27:16327d1337cf 237 {
Frostworks 29:b6d7bcb26f47 238 printf("setpoint = %f \n\r", setpointRotation);
Frostworks 27:16327d1337cf 239 //set direction
Frostworks 27:16327d1337cf 240 if (SetpointError_Rotation > 0) {
Frostworks 27:16327d1337cf 241 M3_Rotate = 0;
Frostworks 27:16327d1337cf 242 } else {
Frostworks 27:16327d1337cf 243 M3_Rotate = 1;
Frostworks 27:16327d1337cf 244
Frostworks 27:16327d1337cf 245 }
Frostworks 27:16327d1337cf 246 M3_ControlSpeed = Ts * fabs( pid_control(SetpointError_Rotation, Rotation_Kp, Rotation_Ki, Rotation_Kd, Rotation_error, Rotation_e_prev));
Frostworks 28:d265c64d2bca 247 if (fabs(SetpointError_Rotation) < fabs(Setpoint_Rotation*0.05)) {
Frostworks 27:16327d1337cf 248 M3_ControlSpeed = 0;
Frostworks 27:16327d1337cf 249 }
Frostworks 28:d265c64d2bca 250 if (theta_rotation > (Setpoint_Rotation*0.9))
Frostworks 28:d265c64d2bca 251 boolrotate = true;
Frostworks 28:d265c64d2bca 252 if ((theta_rotation < (Setpoint_Rotation*0.07) ) && (M3_Speed == 0))
Frostworks 28:d265c64d2bca 253 boolrotate = false;
Frostworks 28:d265c64d2bca 254 M3_Speed = M3_ControlSpeed;
Frostworks 27:16327d1337cf 255 }
Frostworks 29:b6d7bcb26f47 256 void motorTranslation()
Frostworks 27:16327d1337cf 257 {
Frostworks 29:b6d7bcb26f47 258 theta_translation = GetPositionM2();
Frostworks 29:b6d7bcb26f47 259 SetpointError_Translation = setpointTranslation - theta_translation;
Frostworks 27:16327d1337cf 260
Frostworks 27:16327d1337cf 261 //set direction
Frostworks 27:16327d1337cf 262 if (SetpointError_Translation < 0) {
Frostworks 27:16327d1337cf 263 M2_Rotate = 0;
Frostworks 27:16327d1337cf 264 } else {
Frostworks 27:16327d1337cf 265 M2_Rotate = 1;
Frostworks 27:16327d1337cf 266 }
Frostworks 27:16327d1337cf 267 M2_ControlSpeed = Ts * fabs( pid_control(SetpointError_Translation, Translation_Kp, Translation_Ki, Translation_Kd, Translation_error, Translation_e_prev));
Frostworks 28:d265c64d2bca 268 if (fabs(SetpointError_Translation) < fabs(Setpoint_Translation*0.05)) {
Frostworks 27:16327d1337cf 269 M2_ControlSpeed = 0;
Frostworks 28:d265c64d2bca 270
Frostworks 27:16327d1337cf 271 }
Frostworks 28:d265c64d2bca 272 if ((theta_translation < Setpoint_Translation*0.95) && (M2_ControlSpeed == 0))
Frostworks 28:d265c64d2bca 273 booltranslate = true;
Frostworks 28:d265c64d2bca 274 if ((theta_translation > Setpoint_Translation*0.05) && (M2_ControlSpeed == 0))
Frostworks 28:d265c64d2bca 275 booltranslate = false;
Frostworks 27:16327d1337cf 276 M2_Speed = M2_ControlSpeed;
Frostworks 28:d265c64d2bca 277
Frostworks 23:fdde3e4b9e69 278 }
Frostworks 23:fdde3e4b9e69 279 void GoBack()
Frostworks 23:fdde3e4b9e69 280 {
Frostworks 29:b6d7bcb26f47 281 setpointTranslation = Setpoint_Back;
Frostworks 29:b6d7bcb26f47 282 motorTranslation();
Frostworks 28:d265c64d2bca 283 if (booltranslate == false) {
Frostworks 29:b6d7bcb26f47 284 setpointRotation = Setpoint_Back;
Frostworks 29:b6d7bcb26f47 285 motorRotation();
Frostworks 28:d265c64d2bca 286 }
Frostworks 28:d265c64d2bca 287 if (boolrotate == false) {
Frostworks 28:d265c64d2bca 288 turn = 0;
Frostworks 28:d265c64d2bca 289 }
Frostworks 27:16327d1337cf 290 led_r = 1;
Frostworks 27:16327d1337cf 291 led_b = 0;
Frostworks 24:bdd74b91abbb 292 }
Frostworks 23:fdde3e4b9e69 293
Frostworks 23:fdde3e4b9e69 294 void Burgerflip()
Frostworks 23:fdde3e4b9e69 295 {
Frostworks 27:16327d1337cf 296 led_r = 0;
Frostworks 27:16327d1337cf 297 led_b = 1;
Frostworks 29:b6d7bcb26f47 298 setpointTranslation = Setpoint_Translation;
Frostworks 29:b6d7bcb26f47 299 motorTranslation();
Frostworks 28:d265c64d2bca 300 if (booltranslate == true) {
Frostworks 29:b6d7bcb26f47 301 setpointRotation = Setpoint_Rotation;
Frostworks 29:b6d7bcb26f47 302 motorRotation();
Frostworks 28:d265c64d2bca 303 }
Frostworks 27:16327d1337cf 304 }
Frostworks 28:d265c64d2bca 305 void BurgerflipActie()
Frostworks 28:d265c64d2bca 306 {
Frostworks 28:d265c64d2bca 307 Burgerflip();
Frostworks 28:d265c64d2bca 308 if (boolrotate == true) {
Frostworks 28:d265c64d2bca 309 GoBack();
Frostworks 28:d265c64d2bca 310 }
Frostworks 28:d265c64d2bca 311 }
Frostworks 27:16327d1337cf 312 void print()
Frostworks 27:16327d1337cf 313 {
Frostworks 27:16327d1337cf 314 pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
Frostworks 23:fdde3e4b9e69 315 }
vsluiter 0:32bb76391d89 316 int main()
Frostworks 21:2b55d53e11f6 317 {
Frostworks 24:bdd74b91abbb 318 //Leds
Frostworks 23:fdde3e4b9e69 319 led_g = 1;
Frostworks 23:fdde3e4b9e69 320 led_b = 1;
Frostworks 23:fdde3e4b9e69 321 led_r = 1;
Frostworks 23:fdde3e4b9e69 322
tomlankhorst 14:f83354387756 323 /**Attach the 'sample' function to the timer 'sample_timer'.
tomlankhorst 19:2bf824669684 324 * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
vsluiter 4:8b298dfada81 325 */
Frostworks 22:ad85b8acf8b5 326 //sample_timer.attach(&sample, 0.001953125);
Frostworks 26:c640851fa1e7 327 sample_timer2.attach(&filterSampleLeft, Ts); //512 Hz
Frostworks 26:c640851fa1e7 328 sample_timer.attach(&filterSampleRight, Ts);
Frostworks 29:b6d7bcb26f47 329 checkSetpointTranslation.attach(&CheckErrorTranslation,Ts);
Frostworks 29:b6d7bcb26f47 330 checkSetpointRotation.attach(&CheckErrorRotation,Ts);
Frostworks 27:16327d1337cf 331 //printinfo.attach(&print, Ts);
Frostworks 21:2b55d53e11f6 332 pc.baud(115200);
Frostworks 22:ad85b8acf8b5 333 pc.printf("please push the button to calibrate \n \r");
Frostworks 22:ad85b8acf8b5 334 while (1) {
Frostworks 22:ad85b8acf8b5 335 if (buttonCalibrate == 0) {
Frostworks 22:ad85b8acf8b5 336 calibrate = true;
Frostworks 22:ad85b8acf8b5 337 threshold_Left = lowpassFilterLeft*0.7;
Frostworks 22:ad85b8acf8b5 338 threshold_Right = lowpassFilterRight*0.7;
Frostworks 21:2b55d53e11f6 339 }
Frostworks 22:ad85b8acf8b5 340 if (calibrate == true) {
Frostworks 29:b6d7bcb26f47 341
Frostworks 29:b6d7bcb26f47 342 pc.printf("calibration complete, left = %f, right = %f \n \r", threshold_Left, threshold_Right);
Frostworks 29:b6d7bcb26f47 343 //pc.printf("rotation is %f, setpoint %f, error = %f en translation = %f en de error %f \n \r", GetRotationM3(), Setpoint_Back, SetpointError_Rotation, GetPositionM2(), SetpointError_Translation);
Frostworks 23:fdde3e4b9e69 344 GetDirections();
Frostworks 23:fdde3e4b9e69 345 if (draairechts == true) {
Frostworks 23:fdde3e4b9e69 346 M1_Speed = 0.2;
Frostworks 23:fdde3e4b9e69 347 M1_Rotate = 0;
Frostworks 23:fdde3e4b9e69 348 } else if (draailinks == true) {
Frostworks 23:fdde3e4b9e69 349 M1_Speed = 0.2;
Frostworks 23:fdde3e4b9e69 350 M1_Rotate = 1;
Frostworks 23:fdde3e4b9e69 351 } else if (turn == 1) {
Frostworks 28:d265c64d2bca 352 BurgerflipActie();
Frostworks 23:fdde3e4b9e69 353 } else if (turn == 0) {
Frostworks 23:fdde3e4b9e69 354 M2_Speed = 0;
Frostworks 23:fdde3e4b9e69 355 M3_Speed = 0;
Frostworks 23:fdde3e4b9e69 356 }
Frostworks 23:fdde3e4b9e69 357 if ((draailinks == false) && (draairechts == false)) {
Frostworks 23:fdde3e4b9e69 358 M1_Speed = 0;
Frostworks 23:fdde3e4b9e69 359 }
Frostworks 22:ad85b8acf8b5 360 }
Frostworks 22:ad85b8acf8b5 361 }
vsluiter 0:32bb76391d89 362 }