File content as of revision 24:bdd74b91abbb:

#include "mbed.h"
#include "HIDScope.h"
#include "MODSERIAL.h"
#include "QEI.h"
#include "PID.h"
#include "BiQuad.h"

DigitalOut led_g(LED_GREEN);
DigitalOut led_b(LED_BLUE);
DigitalOut led_r(LED_RED);
/*
#define RATEM2 0.001f // transmission during translation
#define RATEM3 1 // transmission during rotation
#define Kc 0.30
#define Ti 0.00
#define Td 0.00

PID M3_Rotation_Controller(KC, Ti, Td, RATEM3);
PID M2_Translation_Controller(KC, Ti, Td, RATEM2);
*/

DigitalOut M1_Rotate(D2); // voltage only base rotation
PwmOut M1_Speed(D3);      // voltage only base rotation

MODSERIAL pc(USBTX, USBRX);

//QEI wheel(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding=X2_ENCODING)
QEI motor2(D10,D11,NC,8400,QEI::X4_ENCODING);
QEI motor3(D12,D13,NC,8400,QEI::X4_ENCODING);

DigitalOut M2_Rotate(D4);   // encoder side pot 2 translation
PwmOut M2_Speed(D5);        // encoder side pot 2 translation

DigitalOut M3_Rotate(D7);   // encoder side pot 1 spatel rotation
PwmOut M3_Speed(D6);        // encoder side pot 1 spatel rotation

DigitalIn links(SW3);
DigitalIn rechts(SW2);

AnalogIn pot1(A4); // pot 1 motor 1
AnalogIn pot2(A3); // pot 2 motor 3

//Define objects
AnalogIn    emg0( A0 );
AnalogIn    emg1( A1 );
DigitalIn   buttonCalibrate(D9);

bool draairechts;
bool draailinks;
bool turn = 0;
float waiter = 0.1;
float afstand = -200;
float translation = 0;
float degrees3 = 0;

float Puls_degree = (8400/360);
float wheel1 = 16;
float wheel2 = 31;
float wheel3 = 41;
float overbrenging = ((wheel2/wheel1)*(wheel3/wheel1));
float pi = 3.14159265359;

volatile float x;
volatile float x_prev =0;
volatile float b; // filtered 'output' of ReadAnalogInAndFilter

bool calibrate = false;
double threshold_Left = 0;
double threshold_Right= 0;
Ticker      sample_timer;
Ticker      sample_timer2;
HIDScope    scope( 2 );
DigitalOut  led(LED1);
const double a1 = -1.6475;
const double a2 = 0.7009;
const double b0 = 0.8371;
const double b1 = -1.6742;
const double b2 = 0.8371;
const double c1 = -1.9645;
const double c2 = 0.9651;
const double d0 = 0.0001551;
const double d1 = 0.0003103;
const double d2 = 0.0001551;
double v1_high = 0;
double v2_high = 0;
double v1_low = 0;
double v2_low = 0;
double highpassFilterLeft = 0;
double lowpassFilterLeft = 0;
double highpassFilterRight = 0;
double lowpassFilterRight = 0;

/*/ copied from slides
const double Ts = 0.01;
const double Kp = 1.0, Ki = 0.5, Kd = 0.1;
const double N = 25; // N = 1/Tf

BiQuad pidf;
// AnalogIn reference( A0 );
Ticker controllerTicker;

void controller()
{
    double ctrlOutputTranslation = pidf.step(GetTranslationM2());
    double ctrlOutputRotation = pidf.step( GetRotationM3());
    //double ctrlOutput = pidf.step( reference.read() );
}
 end copy*/

double biquad1(double u, double&v1, double&v2, const double a1, const double a2, const double b0,
               const double b1, const double b2)
{
    double v = u - a1*v1 - a2*v2;
    double y = b0*v + b1*v1 + b2*v2;
    v2 = v1;
    v1 = v;
    return y;
}

/** Sample function
 * this function samples the emg and sends it to HIDScope
 **/

void filterSampleLeft()
{
    highpassFilterLeft = fabs(biquad1(emg0.read(), v1_high, v2_high, a1, a2, b0, b1, b2));
    lowpassFilterLeft = biquad1(highpassFilterLeft, v1_low, v2_low, c1, c2, d0, d1, d2);
    scope.set(0, lowpassFilterLeft );
    scope.send();
    //pc.printf("%f \n \r ", lowpassFilter);
}
void filterSampleRight()
{
    highpassFilterRight = fabs(biquad1(emg1.read(), v1_high, v2_high, a1, a2, b0, b1, b2));
    lowpassFilterRight = biquad1(highpassFilterRight, v1_low, v2_low, c1, c2, d0, d1, d2);
    scope.set(1, lowpassFilterRight );
    scope.send();
    //pc.printf("%f \n \r ", lowpassFilter);
}

void sample()
{
    // Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope'
    scope.set(0, emg0.read() );
    scope.set(1, emg1.read() );
    /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
    *  Ensure that enough channels are available (HIDScope scope( 2 ))
    *  Finally, send all channels to the PC at once */

    x = emg0;   // Capture data        scope.set(0, x);   // store data in first element of scope memory
    b = (x_prev + x)/2.0;   // averaging filter
    x_prev = x; // Prepare for next round

    scope.send();
    // To indicate that the function is working, the LED is toggled
    led = !led;
    pc.printf("%f, %f \n \r ", x, b);
}

void GetDirections()
{
    pc.baud(115200);
    if ((rechts == 0) && (links == 0) && (turn == 0)) {
        draailinks = 0;
        draairechts = 0;
        turn = 1;
        pc.printf("begin de actie \n \r ");
        wait(waiter);

    } else if ((rechts == 0) && (links == 0) && (turn == 1)) {
        draailinks = 0;
        draairechts = 0;
        turn = 0;
        pc.printf("breek de actie af \n \r ");
        wait(waiter);
    } else if ((rechts == 1) && (links == 1)&& (turn == 0)) {

    } else if ((rechts == 1) && (draailinks == 0)&& (turn == 0)) {
        /* if the right button is pressed and the motor isn't rotating to the left,
        then start rotating to the right etc*/
        draairechts = !draairechts;
        pc.printf("draai naar rechts \n \r ");
        wait(waiter);
    } else if ((rechts == 1) && (draailinks == 1)&& (turn == 0)) {
        draailinks = 0;
        draairechts = !draairechts;
        pc.printf("draai naar rechts na links \n \r ");
        wait(waiter);
    } else if ((links == 1) && (draairechts == 0)&& (turn == 0)) {
        draailinks = !draailinks;
        pc.printf("draai naar links \n \r ");
        wait(waiter);
    } else if ((links == 1) && (draairechts == 1) && (turn == 0)) {
        draairechts = 0;
        draailinks = !draailinks;
        pc.printf("draai naar links na rechts \n \r ");
        wait(waiter);
    }
    wait(2*waiter);
}

float GetPositionM2()
{
    float pulses2 = motor2.getPulses();
    float degrees2 = (pulses2/Puls_degree);
    float radians2 = (degrees2/360)*2*pi;
    float translation = ((radians2/overbrenging)*32.25);

    return translation;
}
float GetRotationM3()
{
    float pulses3 = motor3.getPulses();
    float degrees3 = (pulses3/Puls_degree);
    float radians3 = (degrees3/360)*2*pi;

    return degrees3;
}
void GoBack()
{
    while (GetPositionM2() > 0) {
        M3_Speed = 0;
        M2_Speed = 1;
        M2_Rotate = 0;
        pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
        led_r = 0;
    }
    M2_Speed = 0;


    while (GetRotationM3() > 0) {
        M3_Rotate = 1;
        M3_Speed = 0.2;
        led_r = 1;
        led_b = 0;
        pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());

    }
    M3_Speed = 0;

    turn = 0;
}

void Burgerflip()
{
    if (GetPositionM2() > afstand) {
        M3_Speed = 0.2;
        M3_Rotate = 1;
        M2_Speed = 0;
    } else if (GetPositionM2() < afstand) {
        M2_Speed = 1;
        M2_Rotate = 1;

    }
    if (GetRotationM3() > 150) {
        GoBack();
    }
}
int main()
{
    //Leds
    led_g = 1;
    led_b = 1;
    led_r = 1;

    /*
        //PID
        pidf.PIDF( Kp, Ki, Kd, N, Ts );
        controllerTicker.attach( &controller, Ts );
    */
    /**Attach the 'sample' function to the timer 'sample_timer'.
    * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
    */
    //sample_timer.attach(&sample, 0.001953125);
    sample_timer2.attach(&filterSampleLeft, 0.001953125);        //512 Hz
    sample_timer.attach(&filterSampleRight, 0.001953125);
    pc.baud(115200);
    pc.printf("please push the button to calibrate \n \r");
    while (1) {
        if (buttonCalibrate == 0) {
            calibrate = true;
            threshold_Left = lowpassFilterLeft*0.7;
            threshold_Right = lowpassFilterRight*0.7;

        }
        if (calibrate == true) {
            pc.printf("calibration complete, left = %f, right = %f \n \r", threshold_Left, threshold_Right);
            GetDirections();
            if (draairechts == true) {
                M1_Speed = 0.2;
                M1_Rotate = 0;
            } else if (draailinks == true) {
                M1_Speed = 0.2;
                M1_Rotate = 1;
            } else if (turn == 1) {
                /*M2_Speed = 0.5;
                M2_Rotate = 1;
                M3_Speed = 0.5;
                M3_Rotate = 1;*/
                Burgerflip();
            } else if (turn == 0) {
                M2_Speed = 0;
                M3_Speed = 0;
            }
            if ((draailinks == false) && (draairechts == false)) {
                M1_Speed = 0;
            }
            pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
            /* pulses = 8400 */
            /*empty loop, sample() is executed periodically*/
        }
    }
}