goede versie met arm omgedraaid
Dependencies: HIDScope MODSERIAL QEI mbed
Fork of Wearealltogheternietgoed by
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
wouter boyyy
Who changed what in which revision?
User | Revision | Line number | New 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 | } |