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@26:c640851fa1e7, 2016-10-28 (annotated)

Committer:
Frostworks
Date:
Fri Oct 28 08:29:18 2016 +0000
Revision:
26:c640851fa1e7
Parent:
25:6dcf79346c40
Child:
27:16327d1337cf
voor het testen van de controllers

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;
tomlankhorst 19:2bf824669684 59 HIDScope scope( 2 );
tomlankhorst 18:21d8e7a81cf5 60 DigitalOut led(LED1);
Frostworks 21:2b55d53e11f6 61 const double a1 = -1.6475;
Frostworks 21:2b55d53e11f6 62 const double a2 = 0.7009;
Frostworks 21:2b55d53e11f6 63 const double b0 = 0.8371;
Frostworks 21:2b55d53e11f6 64 const double b1 = -1.6742;
Frostworks 21:2b55d53e11f6 65 const double b2 = 0.8371;
Frostworks 21:2b55d53e11f6 66 const double c1 = -1.9645;
Frostworks 21:2b55d53e11f6 67 const double c2 = 0.9651;
Frostworks 21:2b55d53e11f6 68 const double d0 = 0.0001551;
Frostworks 21:2b55d53e11f6 69 const double d1 = 0.0003103;
Frostworks 21:2b55d53e11f6 70 const double d2 = 0.0001551;
Frostworks 21:2b55d53e11f6 71 double v1_high = 0;
Frostworks 21:2b55d53e11f6 72 double v2_high = 0;
Frostworks 21:2b55d53e11f6 73 double v1_low = 0;
Frostworks 21:2b55d53e11f6 74 double v2_low = 0;
Frostworks 22:ad85b8acf8b5 75 double highpassFilterLeft = 0;
Frostworks 22:ad85b8acf8b5 76 double lowpassFilterLeft = 0;
Frostworks 22:ad85b8acf8b5 77 double highpassFilterRight = 0;
Frostworks 22:ad85b8acf8b5 78 double lowpassFilterRight = 0;
vsluiter 2:e314bb3b2d99 79
Frostworks 26:c640851fa1e7 80 //setpoints
Frostworks 26:c640851fa1e7 81 const double setpoint_Translation = -200;
Frostworks 26:c640851fa1e7 82 const double setpoint_Back = 0;
Frostworks 26:c640851fa1e7 83 const double setpoint_Rotation = 135;
Frostworks 26:c640851fa1e7 84 double M3_ControlSpeed = 0;
Frostworks 26:c640851fa1e7 85 double M2_ControlSpeed = 0;
Frostworks 26:c640851fa1e7 86 double setpointError_Translation;
Frostworks 26:c640851fa1e7 87 double setpointError_Rotation;
Frostworks 24:bdd74b91abbb 88
Frostworks 26:c640851fa1e7 89 //copied from slides
Frostworks 26:c640851fa1e7 90 //Arm PID
Frostworks 26:c640851fa1e7 91 const double Ts = 0.001953125; //Ts=1/fs (sample frequency)
Frostworks 26:c640851fa1e7 92 const double Translation_Kp = 6.9240, Translation_Ki = 0.8160, Translation_Kd = 0.4080;
Frostworks 26:c640851fa1e7 93 double Translation_error = 0;
Frostworks 26:c640851fa1e7 94 double Translation_e_prev = 0;
Frostworks 24:bdd74b91abbb 95
Frostworks 26:c640851fa1e7 96 //Spatel PID
Frostworks 26:c640851fa1e7 97 const double Rotation_Kp = , Rotation_Ki = , Rotation_Kd = ;
Frostworks 26:c640851fa1e7 98 double Rotation_error = 0;
Frostworks 26:c640851fa1e7 99 double Rotation_e_prev = 0;
Frostworks 26:c640851fa1e7 100
Frostworks 26:c640851fa1e7 101 double pid_control(double error, const double kp, const double ki, const double kd, double &e_int, double &e_prev)
Frostworks 24:bdd74b91abbb 102 {
Frostworks 26:c640851fa1e7 103 double e_der = (error - e_prev) / Ts;
Frostworks 26:c640851fa1e7 104 e_prev = error;
Frostworks 26:c640851fa1e7 105 e_int = e_int + (Ts * error);
Frostworks 26:c640851fa1e7 106
Frostworks 26:c640851fa1e7 107 return kp*error + ki + e_int + kd + e_der;
Frostworks 24:bdd74b91abbb 108 }
Frostworks 24:bdd74b91abbb 109
Frostworks 21:2b55d53e11f6 110 double biquad1(double u, double&v1, double&v2, const double a1, const double a2, const double b0,
Frostworks 21:2b55d53e11f6 111 const double b1, const double b2)
Frostworks 21:2b55d53e11f6 112 {
Frostworks 21:2b55d53e11f6 113 double v = u - a1*v1 - a2*v2;
Frostworks 21:2b55d53e11f6 114 double y = b0*v + b1*v1 + b2*v2;
Frostworks 21:2b55d53e11f6 115 v2 = v1;
Frostworks 21:2b55d53e11f6 116 v1 = v;
Frostworks 21:2b55d53e11f6 117 return y;
Frostworks 21:2b55d53e11f6 118 }
Frostworks 24:bdd74b91abbb 119
tomlankhorst 14:f83354387756 120 /** Sample function
tomlankhorst 14:f83354387756 121 * this function samples the emg and sends it to HIDScope
tomlankhorst 14:f83354387756 122 **/
Frostworks 26:c640851fa1e7 123 void motorRotation(double setpoint)
Frostworks 26:c640851fa1e7 124 {
Frostworks 26:c640851fa1e7 125 theta = GetRotationM3();
Frostworks 26:c640851fa1e7 126 setpointError_Rotation = setpoint - theta;
Frostworks 21:2b55d53e11f6 127
Frostworks 26:c640851fa1e7 128 //set direction
Frostworks 26:c640851fa1e7 129 if (setpointError_Rotation >0) {
Frostworks 26:c640851fa1e7 130 M3_Rotate = 0;
Frostworks 26:c640851fa1e7 131 } else {
Frostworks 26:c640851fa1e7 132 M3_Rotate = 1;
Frostworks 26:c640851fa1e7 133 }
Frostworks 26:c640851fa1e7 134 M3_ControlSpeed = (Ts * fabs( pid_control(SetpointError_Rotation, Rotation_Kp, Rotation_Ki, Rotation_Kd, Rotation_error, Rotation_e_prev));
Frostworks 26:c640851fa1e7 135 if (M3_ControlSpeed < 0.02) {
Frostworks 26:c640851fa1e7 136 M3_ControlSpeed = 0;
Frostworks 26:c640851fa1e7 137 }
Frostworks 26:c640851fa1e7 138 M3_Speed = M3_ControlSpeed;
Frostworks 26:c640851fa1e7 139
Frostworks 26:c640851fa1e7 140 }
Frostworks 22:ad85b8acf8b5 141 void filterSampleLeft()
Frostworks 21:2b55d53e11f6 142 {
Frostworks 22:ad85b8acf8b5 143 highpassFilterLeft = fabs(biquad1(emg0.read(), v1_high, v2_high, a1, a2, b0, b1, b2));
Frostworks 22:ad85b8acf8b5 144 lowpassFilterLeft = biquad1(highpassFilterLeft, v1_low, v2_low, c1, c2, d0, d1, d2);
Frostworks 22:ad85b8acf8b5 145 scope.set(0, lowpassFilterLeft );
Frostworks 21:2b55d53e11f6 146 scope.send();
Frostworks 22:ad85b8acf8b5 147 //pc.printf("%f \n \r ", lowpassFilter);
Frostworks 21:2b55d53e11f6 148 }
Frostworks 22:ad85b8acf8b5 149 void filterSampleRight()
Frostworks 22:ad85b8acf8b5 150 {
Frostworks 22:ad85b8acf8b5 151 highpassFilterRight = fabs(biquad1(emg1.read(), v1_high, v2_high, a1, a2, b0, b1, b2));
Frostworks 22:ad85b8acf8b5 152 lowpassFilterRight = biquad1(highpassFilterRight, v1_low, v2_low, c1, c2, d0, d1, d2);
Frostworks 22:ad85b8acf8b5 153 scope.set(1, lowpassFilterRight );
Frostworks 22:ad85b8acf8b5 154 scope.send();
Frostworks 22:ad85b8acf8b5 155 //pc.printf("%f \n \r ", lowpassFilter);
Frostworks 22:ad85b8acf8b5 156 }
Frostworks 24:bdd74b91abbb 157
tomlankhorst 14:f83354387756 158 void sample()
vsluiter 2:e314bb3b2d99 159 {
Frostworks 24:bdd74b91abbb 160 // 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 161 scope.set(0, emg0.read() );
tomlankhorst 19:2bf824669684 162 scope.set(1, emg1.read() );
Frostworks 21:2b55d53e11f6 163 /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
tomlankhorst 19:2bf824669684 164 * Ensure that enough channels are available (HIDScope scope( 2 ))
tomlankhorst 20:97059009a491 165 * Finally, send all channels to the PC at once */
Frostworks 21:2b55d53e11f6 166
Frostworks 21:2b55d53e11f6 167 x = emg0; // Capture data scope.set(0, x); // store data in first element of scope memory
Frostworks 21:2b55d53e11f6 168 b = (x_prev + x)/2.0; // averaging filter
Frostworks 21:2b55d53e11f6 169 x_prev = x; // Prepare for next round
Frostworks 21:2b55d53e11f6 170
vsluiter 11:ce72ec658a95 171 scope.send();
Frostworks 24:bdd74b91abbb 172 // To indicate that the function is working, the LED is toggled
tomlankhorst 18:21d8e7a81cf5 173 led = !led;
Frostworks 21:2b55d53e11f6 174 pc.printf("%f, %f \n \r ", x, b);
vsluiter 2:e314bb3b2d99 175 }
Frostworks 24:bdd74b91abbb 176
Frostworks 23:fdde3e4b9e69 177 void GetDirections()
Frostworks 23:fdde3e4b9e69 178 {
Frostworks 23:fdde3e4b9e69 179 pc.baud(115200);
Frostworks 23:fdde3e4b9e69 180 if ((rechts == 0) && (links == 0) && (turn == 0)) {
Frostworks 23:fdde3e4b9e69 181 draailinks = 0;
Frostworks 23:fdde3e4b9e69 182 draairechts = 0;
Frostworks 23:fdde3e4b9e69 183 turn = 1;
Frostworks 23:fdde3e4b9e69 184 pc.printf("begin de actie \n \r ");
Frostworks 23:fdde3e4b9e69 185 wait(waiter);
vsluiter 0:32bb76391d89 186
Frostworks 23:fdde3e4b9e69 187 } else if ((rechts == 0) && (links == 0) && (turn == 1)) {
Frostworks 23:fdde3e4b9e69 188 draailinks = 0;
Frostworks 23:fdde3e4b9e69 189 draairechts = 0;
Frostworks 23:fdde3e4b9e69 190 turn = 0;
Frostworks 23:fdde3e4b9e69 191 pc.printf("breek de actie af \n \r ");
Frostworks 23:fdde3e4b9e69 192 wait(waiter);
Frostworks 23:fdde3e4b9e69 193 } else if ((rechts == 1) && (links == 1)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 194
Frostworks 23:fdde3e4b9e69 195 } else if ((rechts == 1) && (draailinks == 0)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 196 /* if the right button is pressed and the motor isn't rotating to the left,
Frostworks 23:fdde3e4b9e69 197 then start rotating to the right etc*/
Frostworks 23:fdde3e4b9e69 198 draairechts = !draairechts;
Frostworks 23:fdde3e4b9e69 199 pc.printf("draai naar rechts \n \r ");
Frostworks 23:fdde3e4b9e69 200 wait(waiter);
Frostworks 23:fdde3e4b9e69 201 } else if ((rechts == 1) && (draailinks == 1)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 202 draailinks = 0;
Frostworks 23:fdde3e4b9e69 203 draairechts = !draairechts;
Frostworks 23:fdde3e4b9e69 204 pc.printf("draai naar rechts na links \n \r ");
Frostworks 23:fdde3e4b9e69 205 wait(waiter);
Frostworks 23:fdde3e4b9e69 206 } else if ((links == 1) && (draairechts == 0)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 207 draailinks = !draailinks;
Frostworks 23:fdde3e4b9e69 208 pc.printf("draai naar links \n \r ");
Frostworks 23:fdde3e4b9e69 209 wait(waiter);
Frostworks 23:fdde3e4b9e69 210 } else if ((links == 1) && (draairechts == 1) && (turn == 0)) {
Frostworks 23:fdde3e4b9e69 211 draairechts = 0;
Frostworks 23:fdde3e4b9e69 212 draailinks = !draailinks;
Frostworks 23:fdde3e4b9e69 213 pc.printf("draai naar links na rechts \n \r ");
Frostworks 23:fdde3e4b9e69 214 wait(waiter);
Frostworks 23:fdde3e4b9e69 215 }
Frostworks 23:fdde3e4b9e69 216 wait(2*waiter);
Frostworks 23:fdde3e4b9e69 217 }
Frostworks 23:fdde3e4b9e69 218
Frostworks 23:fdde3e4b9e69 219 float GetPositionM2()
Frostworks 23:fdde3e4b9e69 220 {
Frostworks 23:fdde3e4b9e69 221 float pulses2 = motor2.getPulses();
Frostworks 23:fdde3e4b9e69 222 float degrees2 = (pulses2/Puls_degree);
Frostworks 23:fdde3e4b9e69 223 float radians2 = (degrees2/360)*2*pi;
Frostworks 23:fdde3e4b9e69 224 float translation = ((radians2/overbrenging)*32.25);
Frostworks 23:fdde3e4b9e69 225
Frostworks 23:fdde3e4b9e69 226 return translation;
Frostworks 23:fdde3e4b9e69 227 }
Frostworks 23:fdde3e4b9e69 228 float GetRotationM3()
Frostworks 23:fdde3e4b9e69 229 {
Frostworks 23:fdde3e4b9e69 230 float pulses3 = motor3.getPulses();
Frostworks 23:fdde3e4b9e69 231 float degrees3 = (pulses3/Puls_degree);
Frostworks 23:fdde3e4b9e69 232 float radians3 = (degrees3/360)*2*pi;
Frostworks 23:fdde3e4b9e69 233
Frostworks 23:fdde3e4b9e69 234 return degrees3;
Frostworks 23:fdde3e4b9e69 235 }
Frostworks 23:fdde3e4b9e69 236 void GoBack()
Frostworks 23:fdde3e4b9e69 237 {
Frostworks 25:6dcf79346c40 238 while (GetPositionM2() < 0) {
Frostworks 23:fdde3e4b9e69 239 M3_Speed = 0;
Frostworks 23:fdde3e4b9e69 240 M2_Speed = 1;
Frostworks 25:6dcf79346c40 241 M2_Rotate = 1;
Frostworks 23:fdde3e4b9e69 242 pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
Frostworks 23:fdde3e4b9e69 243 led_r = 0;
Frostworks 23:fdde3e4b9e69 244 }
Frostworks 23:fdde3e4b9e69 245 M2_Speed = 0;
Frostworks 23:fdde3e4b9e69 246
Frostworks 23:fdde3e4b9e69 247
Frostworks 23:fdde3e4b9e69 248 while (GetRotationM3() > 0) {
Frostworks 23:fdde3e4b9e69 249 M3_Rotate = 1;
Frostworks 23:fdde3e4b9e69 250 M3_Speed = 0.2;
Frostworks 23:fdde3e4b9e69 251 led_r = 1;
Frostworks 23:fdde3e4b9e69 252 led_b = 0;
Frostworks 23:fdde3e4b9e69 253 pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
Frostworks 23:fdde3e4b9e69 254
Frostworks 23:fdde3e4b9e69 255 }
Frostworks 23:fdde3e4b9e69 256 M3_Speed = 0;
Frostworks 23:fdde3e4b9e69 257
Frostworks 23:fdde3e4b9e69 258 turn = 0;
Frostworks 24:bdd74b91abbb 259 }
Frostworks 23:fdde3e4b9e69 260
Frostworks 23:fdde3e4b9e69 261 void Burgerflip()
Frostworks 23:fdde3e4b9e69 262 {
Frostworks 25:6dcf79346c40 263 pc.printf("get position %f, get rotation %f \n \r", GetPositionM2(), GetRotationM3());
Frostworks 25:6dcf79346c40 264 if (GetPositionM2()< afstand) {
Frostworks 23:fdde3e4b9e69 265 M3_Speed = 0.2;
Frostworks 25:6dcf79346c40 266 M3_Rotate = 0;
Frostworks 23:fdde3e4b9e69 267 M2_Speed = 0;
Frostworks 25:6dcf79346c40 268 } else if (GetPositionM2() > afstand) {
Frostworks 23:fdde3e4b9e69 269 M2_Speed = 1;
Frostworks 25:6dcf79346c40 270 M2_Rotate = 0;
Frostworks 23:fdde3e4b9e69 271
Frostworks 23:fdde3e4b9e69 272 }
Frostworks 26:c640851fa1e7 273 if (GetRotationM3() > setpoint_Rotation) {
Frostworks 23:fdde3e4b9e69 274 GoBack();
Frostworks 23:fdde3e4b9e69 275 }
Frostworks 23:fdde3e4b9e69 276 }
vsluiter 0:32bb76391d89 277 int main()
Frostworks 21:2b55d53e11f6 278 {
Frostworks 24:bdd74b91abbb 279 //Leds
Frostworks 23:fdde3e4b9e69 280 led_g = 1;
Frostworks 23:fdde3e4b9e69 281 led_b = 1;
Frostworks 23:fdde3e4b9e69 282 led_r = 1;
Frostworks 23:fdde3e4b9e69 283
tomlankhorst 14:f83354387756 284 /**Attach the 'sample' function to the timer 'sample_timer'.
tomlankhorst 19:2bf824669684 285 * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
vsluiter 4:8b298dfada81 286 */
Frostworks 22:ad85b8acf8b5 287 //sample_timer.attach(&sample, 0.001953125);
Frostworks 26:c640851fa1e7 288 sample_timer2.attach(&filterSampleLeft, Ts); //512 Hz
Frostworks 26:c640851fa1e7 289 sample_timer.attach(&filterSampleRight, Ts);
Frostworks 21:2b55d53e11f6 290 pc.baud(115200);
Frostworks 22:ad85b8acf8b5 291 pc.printf("please push the button to calibrate \n \r");
Frostworks 22:ad85b8acf8b5 292 while (1) {
Frostworks 22:ad85b8acf8b5 293 if (buttonCalibrate == 0) {
Frostworks 22:ad85b8acf8b5 294 calibrate = true;
Frostworks 22:ad85b8acf8b5 295 threshold_Left = lowpassFilterLeft*0.7;
Frostworks 22:ad85b8acf8b5 296 threshold_Right = lowpassFilterRight*0.7;
Frostworks 24:bdd74b91abbb 297
Frostworks 21:2b55d53e11f6 298 }
Frostworks 22:ad85b8acf8b5 299 if (calibrate == true) {
Frostworks 25:6dcf79346c40 300 //pc.printf("calibration complete, left = %f, right = %f \n \r", threshold_Left, threshold_Right);
Frostworks 23:fdde3e4b9e69 301 GetDirections();
Frostworks 23:fdde3e4b9e69 302 if (draairechts == true) {
Frostworks 23:fdde3e4b9e69 303 M1_Speed = 0.2;
Frostworks 23:fdde3e4b9e69 304 M1_Rotate = 0;
Frostworks 23:fdde3e4b9e69 305 } else if (draailinks == true) {
Frostworks 23:fdde3e4b9e69 306 M1_Speed = 0.2;
Frostworks 23:fdde3e4b9e69 307 M1_Rotate = 1;
Frostworks 23:fdde3e4b9e69 308 } else if (turn == 1) {
Frostworks 23:fdde3e4b9e69 309 /*M2_Speed = 0.5;
Frostworks 23:fdde3e4b9e69 310 M2_Rotate = 1;
Frostworks 23:fdde3e4b9e69 311 M3_Speed = 0.5;
Frostworks 23:fdde3e4b9e69 312 M3_Rotate = 1;*/
Frostworks 23:fdde3e4b9e69 313 Burgerflip();
Frostworks 23:fdde3e4b9e69 314 } else if (turn == 0) {
Frostworks 23:fdde3e4b9e69 315 M2_Speed = 0;
Frostworks 23:fdde3e4b9e69 316 M3_Speed = 0;
Frostworks 23:fdde3e4b9e69 317 }
Frostworks 23:fdde3e4b9e69 318 if ((draailinks == false) && (draairechts == false)) {
Frostworks 23:fdde3e4b9e69 319 M1_Speed = 0;
Frostworks 23:fdde3e4b9e69 320 }
Frostworks 25:6dcf79346c40 321 //pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
Frostworks 23:fdde3e4b9e69 322 /* pulses = 8400 */
Frostworks 22:ad85b8acf8b5 323 /*empty loop, sample() is executed periodically*/
Frostworks 22:ad85b8acf8b5 324 }
Frostworks 22:ad85b8acf8b5 325 }
vsluiter 0:32bb76391d89 326 }