Script of MBR Group 20. Control of robot by EMG and/or potmeters
Dependencies: Encoder HIDScope MODSERIAL biquadFilter mbed
Fork of Script_Group_20 by
main.cpp@21:9307dc9be4f7, 2017-11-03 (annotated)
- Committer:
- Gerber
- Date:
- Fri Nov 03 03:14:33 2017 +0000
- Revision:
- 21:9307dc9be4f7
- Parent:
- 20:14edaecd7413
- Child:
- 22:02a9b5914cc7
Stapgrootte aanpassen?
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Miriam | 0:d5fb29bc0847 | 1 | //libaries |
Miriam | 0:d5fb29bc0847 | 2 | #include "mbed.h" |
Miriam | 0:d5fb29bc0847 | 3 | #include "BiQuad.h" |
Miriam | 0:d5fb29bc0847 | 4 | #include "HIDScope.h" |
Miriam | 0:d5fb29bc0847 | 5 | #include "encoder.h" |
Miriam | 0:d5fb29bc0847 | 6 | #include "MODSERIAL.h" |
Miriam | 0:d5fb29bc0847 | 7 | |
paulineoonk | 15:1cfe58aea10d | 8 | //State Machine en calibratie |
paulineoonk | 15:1cfe58aea10d | 9 | enum States {Cal1, Cal2, CalEMG, SelectDevice, EMG, Rest, Demo}; |
paulineoonk | 15:1cfe58aea10d | 10 | States State; |
paulineoonk | 15:1cfe58aea10d | 11 | int Counter; |
paulineoonk | 14:a861ba49107c | 12 | bool Position_controller_on; |
paulineoonk | 15:1cfe58aea10d | 13 | double looptime = 0.002f; |
paulineoonk | 15:1cfe58aea10d | 14 | double value; |
paulineoonk | 15:1cfe58aea10d | 15 | double home1; |
Gerber | 18:1e4f697a92cb | 16 | DigitalIn button (D1); |
paulineoonk | 15:1cfe58aea10d | 17 | |
paulineoonk | 15:1cfe58aea10d | 18 | //Encoder/motor |
paulineoonk | 15:1cfe58aea10d | 19 | double Huidigepositie1; |
paulineoonk | 15:1cfe58aea10d | 20 | double Huidigepositie2; |
paulineoonk | 15:1cfe58aea10d | 21 | double motorValue1; |
paulineoonk | 15:1cfe58aea10d | 22 | double motorValue2; |
paulineoonk | 14:a861ba49107c | 23 | |
paulineoonk | 3:36e706d6b3d2 | 24 | //globalvariables Motor |
paulineoonk | 3:36e706d6b3d2 | 25 | Ticker Treecko; //We make a awesome ticker for our control system |
paulineoonk | 8:c4ec359af35d | 26 | Ticker printer; |
paulineoonk | 16:2f89d6e25782 | 27 | PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed |
paulineoonk | 16:2f89d6e25782 | 28 | PwmOut M2E(D5); |
paulineoonk | 16:2f89d6e25782 | 29 | DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control |
paulineoonk | 16:2f89d6e25782 | 30 | Encoder motor1(D13,D12,true); |
paulineoonk | 16:2f89d6e25782 | 31 | Encoder motor2(D9,D8,true); |
paulineoonk | 16:2f89d6e25782 | 32 | DigitalOut M2D(D4); |
Miriam | 0:d5fb29bc0847 | 33 | |
paulineoonk | 16:2f89d6e25782 | 34 | //DEMO |
paulineoonk | 16:2f89d6e25782 | 35 | AnalogIn potMeter2(A1); |
paulineoonk | 16:2f89d6e25782 | 36 | AnalogIn potMeter1(A2); |
paulineoonk | 16:2f89d6e25782 | 37 | |
paulineoonk | 3:36e706d6b3d2 | 38 | MODSERIAL pc(USBTX,USBRX); |
paulineoonk | 3:36e706d6b3d2 | 39 | |
paulineoonk | 16:2f89d6e25782 | 40 | double PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde) |
Gerber | 20:14edaecd7413 | 41 | const double Ts = 0.002f; // tickettijd/ sample time |
paulineoonk | 16:2f89d6e25782 | 42 | double e_prev = 0; |
paulineoonk | 16:2f89d6e25782 | 43 | double e_int = 0; |
paulineoonk | 16:2f89d6e25782 | 44 | double e_prev2 = 0; |
paulineoonk | 16:2f89d6e25782 | 45 | double e_int2 = 0; |
paulineoonk | 16:2f89d6e25782 | 46 | |
paulineoonk | 6:e0e5da2c068f | 47 | double tijdstap = 0.002; |
paulineoonk | 8:c4ec359af35d | 48 | volatile double LBF; |
paulineoonk | 8:c4ec359af35d | 49 | volatile double RBF; |
paulineoonk | 8:c4ec359af35d | 50 | volatile double LTF; |
paulineoonk | 8:c4ec359af35d | 51 | volatile double RTF; |
Miriam | 0:d5fb29bc0847 | 52 | |
paulineoonk | 7:05c71a859d27 | 53 | //buttons en leds voor calibration |
paulineoonk | 7:05c71a859d27 | 54 | DigitalIn button1(PTA4); |
paulineoonk | 9:285499f48cdd | 55 | |
Gerber | 18:1e4f697a92cb | 56 | DigitalOut led(D2); |
paulineoonk | 8:c4ec359af35d | 57 | |
paulineoonk | 10:518a8617c86e | 58 | //MVC for calibration |
paulineoonk | 10:518a8617c86e | 59 | double MVCLB = 0; double MVCRB = 0; double MVCLT = 0; double MVCRT = 0; |
paulineoonk | 10:518a8617c86e | 60 | //MEAN for calibration - rest |
paulineoonk | 10:518a8617c86e | 61 | double RESTMEANLB = 0; double RESTMEANRB =0; double RESTMEANLT = 0; double RESTMEANRT = 0; |
paulineoonk | 9:285499f48cdd | 62 | |
paulineoonk | 10:518a8617c86e | 63 | double emgMEANSUBLB;double emgMEANSUBRB ;double emgMEANSUBLT ;double emgMEANSUBRT ; |
paulineoonk | 10:518a8617c86e | 64 | double emgSUMLB;double emgSUMRB;double emgSUMLT;double emgSUMRT; |
paulineoonk | 10:518a8617c86e | 65 | |
paulineoonk | 8:c4ec359af35d | 66 | |
paulineoonk | 7:05c71a859d27 | 67 | bool caldone = false; |
paulineoonk | 8:c4ec359af35d | 68 | int CalibrationSample = 1000; //How long will we calibrate? Timersampletime*Calibrationsample |
paulineoonk | 8:c4ec359af35d | 69 | |
paulineoonk | 9:285499f48cdd | 70 | int Timescalibration = 0; |
paulineoonk | 10:518a8617c86e | 71 | int TimescalibrationREST = 0; |
paulineoonk | 10:518a8617c86e | 72 | |
Miriam | 0:d5fb29bc0847 | 73 | |
paulineoonk | 9:285499f48cdd | 74 | // Biquad filters voor Left Bicep (LB) |
paulineoonk | 9:285499f48cdd | 75 | // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter |
paulineoonk | 9:285499f48cdd | 76 | BiQuad N1LB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 77 | BiQuadChain NFLB; |
paulineoonk | 9:285499f48cdd | 78 | BiQuad HP1LB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 79 | BiQuad HP2LB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 80 | BiQuadChain HPFLB; |
paulineoonk | 9:285499f48cdd | 81 | BiQuad LP1LB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 82 | BiQuad LP2LB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 83 | BiQuadChain LPFLB; |
paulineoonk | 9:285499f48cdd | 84 | |
paulineoonk | 9:285499f48cdd | 85 | // Biquad filters voor Right Bicep (RB) |
Miriam | 0:d5fb29bc0847 | 86 | // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter |
paulineoonk | 9:285499f48cdd | 87 | BiQuad N1RB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 88 | BiQuadChain NFRB; |
paulineoonk | 9:285499f48cdd | 89 | BiQuad HP1RB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 90 | BiQuad HP2RB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 91 | BiQuadChain HPFRB; |
paulineoonk | 9:285499f48cdd | 92 | BiQuad LP1RB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 93 | BiQuad LP2RB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 94 | BiQuadChain LPFRB; |
paulineoonk | 9:285499f48cdd | 95 | |
paulineoonk | 9:285499f48cdd | 96 | // Biquad filters voor Left Tricep (LT) |
paulineoonk | 9:285499f48cdd | 97 | // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter |
paulineoonk | 9:285499f48cdd | 98 | BiQuad N1LT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 99 | BiQuadChain NFLT; |
paulineoonk | 9:285499f48cdd | 100 | BiQuad HP1LT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 101 | BiQuad HP2LT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 102 | BiQuadChain HPFLT; |
paulineoonk | 9:285499f48cdd | 103 | BiQuad LP1LT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 104 | BiQuad LP2LT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 105 | BiQuadChain LPFLT; |
paulineoonk | 9:285499f48cdd | 106 | |
paulineoonk | 9:285499f48cdd | 107 | // Biquad filters voor Left Tricep (RT) |
paulineoonk | 9:285499f48cdd | 108 | // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter |
paulineoonk | 9:285499f48cdd | 109 | BiQuad N1RT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 110 | BiQuadChain NFRT; |
paulineoonk | 9:285499f48cdd | 111 | BiQuad HP1RT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 112 | BiQuad HP2RT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 113 | BiQuadChain HPFRT; |
paulineoonk | 9:285499f48cdd | 114 | BiQuad LP1RT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 115 | BiQuad LP2RT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 116 | BiQuadChain LPFRT; |
paulineoonk | 9:285499f48cdd | 117 | |
paulineoonk | 15:1cfe58aea10d | 118 | Timer LooptimeEMG; //moetuiteindelijk weg |
paulineoonk | 6:e0e5da2c068f | 119 | |
paulineoonk | 7:05c71a859d27 | 120 | //filters |
paulineoonk | 8:c4ec359af35d | 121 | double emgNotchLB; |
paulineoonk | 8:c4ec359af35d | 122 | double emgHPLB; |
paulineoonk | 8:c4ec359af35d | 123 | double emgAbsHPLB; |
paulineoonk | 8:c4ec359af35d | 124 | double emgLPLB; |
paulineoonk | 8:c4ec359af35d | 125 | |
paulineoonk | 8:c4ec359af35d | 126 | double emgNotchRB; |
paulineoonk | 8:c4ec359af35d | 127 | double emgHPRB; |
paulineoonk | 8:c4ec359af35d | 128 | double emgAbsHPRB; |
paulineoonk | 8:c4ec359af35d | 129 | double emgLPRB; |
paulineoonk | 7:05c71a859d27 | 130 | |
paulineoonk | 8:c4ec359af35d | 131 | double emgNotchLT; |
paulineoonk | 8:c4ec359af35d | 132 | double emgHPLT; |
paulineoonk | 8:c4ec359af35d | 133 | double emgAbsHPLT; |
paulineoonk | 8:c4ec359af35d | 134 | double emgLPLT; |
paulineoonk | 7:05c71a859d27 | 135 | |
paulineoonk | 8:c4ec359af35d | 136 | double emgNotchRT; |
paulineoonk | 8:c4ec359af35d | 137 | double emgHPRT; |
paulineoonk | 8:c4ec359af35d | 138 | double emgAbsHPRT; |
paulineoonk | 8:c4ec359af35d | 139 | double emgLPRT; |
Miriam | 0:d5fb29bc0847 | 140 | |
paulineoonk | 3:36e706d6b3d2 | 141 | double f = 500; // frequency |
paulineoonk | 3:36e706d6b3d2 | 142 | double dt = 1/f; // sample frequency |
paulineoonk | 8:c4ec359af35d | 143 | |
paulineoonk | 8:c4ec359af35d | 144 | AnalogIn emgLB(A0); // EMG lezen |
paulineoonk | 8:c4ec359af35d | 145 | AnalogIn emgRB(A1); |
paulineoonk | 8:c4ec359af35d | 146 | AnalogIn emgLT(A2); |
paulineoonk | 8:c4ec359af35d | 147 | AnalogIn emgRT(A3); |
Miriam | 0:d5fb29bc0847 | 148 | |
paulineoonk | 16:2f89d6e25782 | 149 | //double MVCLB = 0.3; |
paulineoonk | 16:2f89d6e25782 | 150 | //double MVCRB = 0.3; |
paulineoonk | 16:2f89d6e25782 | 151 | //double MVCLT = 0.3; |
paulineoonk | 16:2f89d6e25782 | 152 | //double MVCRT = 0.3; |
paulineoonk | 8:c4ec359af35d | 153 | |
paulineoonk | 11:b46a4c48c08f | 154 | // variabelen changePosition |
paulineoonk | 11:b46a4c48c08f | 155 | int goalx, goaly; |
paulineoonk | 11:b46a4c48c08f | 156 | |
Gerber | 18:1e4f697a92cb | 157 | // variables RKI |
Gerber | 18:1e4f697a92cb | 158 | double pi = 3.14159265359; |
Gerber | 18:1e4f697a92cb | 159 | double q1 = (pi/2); //Reference position hoek 1 in radiance |
Gerber | 18:1e4f697a92cb | 160 | double q2 = -(pi/2); //Reference position hoek 2 in radiance |
Gerber | 18:1e4f697a92cb | 161 | const double L1 = 0.30; //Length arm 1 in mm |
Gerber | 18:1e4f697a92cb | 162 | const double L2 = 0.38; //Length arm 2 in mm |
Gerber | 18:1e4f697a92cb | 163 | double B1 = 1; //Friction constant motor 1 |
Gerber | 18:1e4f697a92cb | 164 | double B2 = 1; //Friction constant motor 2 |
Gerber | 18:1e4f697a92cb | 165 | double K = 1; //Spring constant movement from end-effector position to setpoint position |
Gerber | 18:1e4f697a92cb | 166 | double Tijd = 1; //Timestep value |
Gerber | 18:1e4f697a92cb | 167 | double Rsx = 0.38; //Reference x-component of the setpoint radius |
Gerber | 18:1e4f697a92cb | 168 | double Rsy = 0.30; //Reference y-component of the setpoint radius |
Gerber | 18:1e4f697a92cb | 169 | double refP = 0; //Reference position motor 1 |
Gerber | 18:1e4f697a92cb | 170 | double refP2 = 0.5*pi; //Reference position motor 2 |
Gerber | 18:1e4f697a92cb | 171 | double Rex = cos(q1)*L1 - sin(q2)*L2; //The x-component of the end-effector radius |
Gerber | 18:1e4f697a92cb | 172 | double Rey = sin(q1)*L1 + cos(q2)*L2; //The y-component of the end-effector radius |
Gerber | 18:1e4f697a92cb | 173 | double R1x = 0; //The x-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 174 | double R1y = 0; //The y-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 175 | double R2x = cos(q1)*L1; //The x-component of the joint 2 radius |
Gerber | 18:1e4f697a92cb | 176 | double R2y = sin(q1)*L1; //The y-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 177 | double Fx = 0; |
Gerber | 18:1e4f697a92cb | 178 | double Fy = 0; |
Gerber | 18:1e4f697a92cb | 179 | double Tor1 = 0; |
Gerber | 18:1e4f697a92cb | 180 | double Tor2 = 0; |
Gerber | 18:1e4f697a92cb | 181 | double w1= 0; |
Gerber | 18:1e4f697a92cb | 182 | double w2= 0; |
Gerber | 18:1e4f697a92cb | 183 | |
paulineoonk | 8:c4ec359af35d | 184 | void Filteren() |
Miriam | 0:d5fb29bc0847 | 185 | { |
paulineoonk | 15:1cfe58aea10d | 186 | // LooptimeEMG.reset(); |
paulineoonk | 15:1cfe58aea10d | 187 | // LooptimeEMG.start(); |
paulineoonk | 8:c4ec359af35d | 188 | |
paulineoonk | 8:c4ec359af35d | 189 | //EMG 1 |
paulineoonk | 8:c4ec359af35d | 190 | |
paulineoonk | 10:518a8617c86e | 191 | emgNotchLB = NFLB.step(emgLB.read() ); // Notch filter |
paulineoonk | 10:518a8617c86e | 192 | emgHPLB = HPFLB.step(emgNotchLB); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 193 | emgAbsHPLB = abs(emgHPLB); // Take absolute value |
paulineoonk | 10:518a8617c86e | 194 | emgLPLB = LPFLB.step(emgAbsHPLB); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 195 | emgMEANSUBLB = emgLPLB - RESTMEANLB; //substract the restmean value |
paulineoonk | 10:518a8617c86e | 196 | LBF = emgLPLB/MVCLB; // Scale to maximum signal: useful for motor. LBF should now be between 0-1. |
paulineoonk | 9:285499f48cdd | 197 | |
paulineoonk | 10:518a8617c86e | 198 | emgNotchRB = NFRB.step(emgRB.read()); // Notch filter |
paulineoonk | 10:518a8617c86e | 199 | emgHPRB = HPFRB.step(emgNotchRB); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 200 | emgAbsHPRB = abs(emgHPRB); // Take absolute value |
paulineoonk | 10:518a8617c86e | 201 | emgLPRB = LPFRB.step(emgAbsHPRB); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 202 | emgMEANSUBLB = emgLPLB - RESTMEANLB; |
paulineoonk | 9:285499f48cdd | 203 | RBF = emgLPRB/MVCRB; // Scale to maximum signal: useful for motor |
paulineoonk | 8:c4ec359af35d | 204 | |
paulineoonk | 10:518a8617c86e | 205 | emgNotchLT = NFLT.step(emgLT.read() ); // Notch filter |
paulineoonk | 10:518a8617c86e | 206 | emgHPLT = HPFLT.step(emgNotchLT); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 207 | emgAbsHPLT = abs(emgHPLT); // Take absolute value |
paulineoonk | 10:518a8617c86e | 208 | emgLPLT = LPFLT.step(emgAbsHPLT); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 209 | emgMEANSUBLT = emgLPLT - RESTMEANLT; //substract the restmean value |
paulineoonk | 9:285499f48cdd | 210 | LTF = emgLPLT/MVCLT; // Scale to maximum signal: useful for motor |
paulineoonk | 8:c4ec359af35d | 211 | |
paulineoonk | 10:518a8617c86e | 212 | emgNotchRT = NFRT.step(emgRT.read() ); // Notch filter |
paulineoonk | 10:518a8617c86e | 213 | emgHPRT = HPFRT.step(emgNotchRT); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 214 | emgAbsHPRT = abs(emgHPRT); // Take absolute value |
paulineoonk | 10:518a8617c86e | 215 | emgLPRT = LPFRT.step(emgAbsHPRT); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 216 | emgMEANSUBRT = emgLPRT - RESTMEANRT; //substract the restmean value |
paulineoonk | 9:285499f48cdd | 217 | RTF = emgLPRT/MVCRT; // Scale to maximum signal: useful for motor |
paulineoonk | 8:c4ec359af35d | 218 | |
paulineoonk | 8:c4ec359af35d | 219 | //if (emgFiltered >1) |
paulineoonk | 8:c4ec359af35d | 220 | //{ |
paulineoonk | 8:c4ec359af35d | 221 | // emgFiltered=1.00; |
paulineoonk | 8:c4ec359af35d | 222 | //} |
paulineoonk | 8:c4ec359af35d | 223 | //pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, loop = %f \r\n, emgreadRB = %f , emgFiltered = %f, maxi = %f \r\n, emgreadLT = %f , emgFiltered = %f, maxi = %f \r\n, emgreadRT = %f , emgFiltered = %f, maxi = %f \r\n",emgLB.read(), LBF, maxiLB,looptime.read(),emgRB.read(), RBF, maxiRB,emgLT.read(), LTF, maxiLT, emgRT.read(), RTF, maxiRT); |
paulineoonk | 6:e0e5da2c068f | 224 | //int maxwaarde = 4096; // = 64x64 |
paulineoonk | 6:e0e5da2c068f | 225 | //double refP = emgFiltered*maxwaarde; |
paulineoonk | 6:e0e5da2c068f | 226 | //return refP; // value between 0 and 4096 |
paulineoonk | 9:285499f48cdd | 227 | |
Miriam | 0:d5fb29bc0847 | 228 | } |
paulineoonk | 9:285499f48cdd | 229 | |
paulineoonk | 10:518a8617c86e | 230 | void CalibrationEMG() |
paulineoonk | 7:05c71a859d27 | 231 | { |
Gerber | 20:14edaecd7413 | 232 | pc.printf("Timescalibration = %i \r\n",Timescalibration); |
paulineoonk | 7:05c71a859d27 | 233 | Timescalibration++; |
paulineoonk | 9:285499f48cdd | 234 | |
paulineoonk | 10:518a8617c86e | 235 | if(Timescalibration<2000) |
paulineoonk | 9:285499f48cdd | 236 | { |
Gerber | 20:14edaecd7413 | 237 | pc.printf("calibratie rust EMG \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 238 | led = 1; |
Gerber | 20:14edaecd7413 | 239 | // wait(0.2); |
Gerber | 20:14edaecd7413 | 240 | //led = 0; |
paulineoonk | 10:518a8617c86e | 241 | |
paulineoonk | 10:518a8617c86e | 242 | emgNotchLB = NFLB.step(emgLB.read() ); |
paulineoonk | 10:518a8617c86e | 243 | emgHPLB = HPFLB.step(emgNotchLB); |
paulineoonk | 10:518a8617c86e | 244 | emgAbsHPLB = abs(emgHPLB); |
paulineoonk | 10:518a8617c86e | 245 | emgLPLB = LPFLB.step(emgAbsHPLB); |
paulineoonk | 10:518a8617c86e | 246 | emgSUMLB += emgLPLB; //SUM all rest values LB |
paulineoonk | 10:518a8617c86e | 247 | |
paulineoonk | 11:b46a4c48c08f | 248 | emgNotchRB = NFRB.step(emgRB.read()); |
paulineoonk | 10:518a8617c86e | 249 | emgHPRB = HPFRB.step(emgNotchRB); |
paulineoonk | 10:518a8617c86e | 250 | emgAbsHPRB = abs(emgHPRB); |
paulineoonk | 10:518a8617c86e | 251 | emgLPRB = LPFRB.step(emgAbsHPRB); |
paulineoonk | 10:518a8617c86e | 252 | emgSUMRB += emgLPRB; //SUM all rest values RB |
paulineoonk | 10:518a8617c86e | 253 | |
paulineoonk | 10:518a8617c86e | 254 | emgNotchLT = NFLT.step(emgLT.read() ); |
paulineoonk | 10:518a8617c86e | 255 | emgHPLT = HPFLT.step(emgNotchLT); |
paulineoonk | 10:518a8617c86e | 256 | emgAbsHPLT = abs(emgHPLT); |
paulineoonk | 10:518a8617c86e | 257 | emgLPLT = LPFLT.step(emgAbsHPLT); |
paulineoonk | 10:518a8617c86e | 258 | emgSUMLT += emgLPLT; //SUM all rest values LT |
paulineoonk | 10:518a8617c86e | 259 | |
paulineoonk | 10:518a8617c86e | 260 | emgNotchRT = NFRT.step(emgRT.read() ); |
paulineoonk | 10:518a8617c86e | 261 | emgHPRT = HPFRT.step(emgNotchRT); |
paulineoonk | 10:518a8617c86e | 262 | emgAbsHPRT = abs(emgHPRT); |
paulineoonk | 10:518a8617c86e | 263 | emgLPRT = LPFRT.step(emgAbsHPRT); |
paulineoonk | 10:518a8617c86e | 264 | emgSUMRT += emgLPRT; //SUM all rest values RT |
paulineoonk | 10:518a8617c86e | 265 | } |
paulineoonk | 10:518a8617c86e | 266 | if(Timescalibration==1999) |
paulineoonk | 10:518a8617c86e | 267 | { |
Gerber | 20:14edaecd7413 | 268 | /*led = 1; |
charloverwijk | 17:dbdbd1edc260 | 269 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 270 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 271 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 272 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 273 | wait(0.2); |
Gerber | 20:14edaecd7413 | 274 | */ |
charloverwijk | 17:dbdbd1edc260 | 275 | led = 0; |
paulineoonk | 10:518a8617c86e | 276 | RESTMEANLB = emgSUMLB/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 277 | RESTMEANRB = emgSUMRB/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 278 | RESTMEANRT = emgSUMRT/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 279 | RESTMEANLT = emgSUMLT/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 280 | } |
Gerber | 21:9307dc9be4f7 | 281 | if(Timescalibration>2000 && Timescalibration<3000) |
paulineoonk | 10:518a8617c86e | 282 | { |
Gerber | 20:14edaecd7413 | 283 | pc.printf("maximum linker biceps \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 284 | led = 1; |
Gerber | 20:14edaecd7413 | 285 | /*wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 286 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 287 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 288 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 289 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 290 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 291 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 292 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 293 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 294 | led = 0; |
Gerber | 20:14edaecd7413 | 295 | */ |
paulineoonk | 10:518a8617c86e | 296 | emgNotchLB = NFLB.step(emgLB.read() ); |
paulineoonk | 10:518a8617c86e | 297 | emgHPLB = HPFLB.step(emgNotchLB); |
paulineoonk | 10:518a8617c86e | 298 | emgAbsHPLB = abs(emgHPLB); |
paulineoonk | 10:518a8617c86e | 299 | emgLPLB = LPFLB.step(emgAbsHPLB); |
paulineoonk | 9:285499f48cdd | 300 | double emgfinalLB = emgLPLB; |
paulineoonk | 9:285499f48cdd | 301 | if (emgfinalLB > MVCLB) |
paulineoonk | 9:285499f48cdd | 302 | { //determine what the highest reachable emg signal is |
paulineoonk | 9:285499f48cdd | 303 | MVCLB = emgfinalLB; |
paulineoonk | 9:285499f48cdd | 304 | } |
paulineoonk | 9:285499f48cdd | 305 | } |
paulineoonk | 9:285499f48cdd | 306 | |
Gerber | 21:9307dc9be4f7 | 307 | if(Timescalibration>3000 && Timescalibration<4000) |
paulineoonk | 9:285499f48cdd | 308 | { |
Gerber | 20:14edaecd7413 | 309 | pc.printf(" maximum rechter biceps \r\n"); |
Gerber | 20:14edaecd7413 | 310 | /*led = 1; |
charloverwijk | 17:dbdbd1edc260 | 311 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 312 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 313 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 314 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 315 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 316 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 317 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 318 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 319 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 320 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 321 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 322 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 323 | wait(0.2); |
Gerber | 20:14edaecd7413 | 324 | */ |
charloverwijk | 17:dbdbd1edc260 | 325 | led = 0; |
paulineoonk | 10:518a8617c86e | 326 | emgNotchRB = NFRB.step(emgRB.read()); |
paulineoonk | 10:518a8617c86e | 327 | emgHPRB = HPFRB.step(emgNotchRB); |
paulineoonk | 10:518a8617c86e | 328 | emgAbsHPRB = abs(emgHPRB); |
paulineoonk | 10:518a8617c86e | 329 | emgLPRB = LPFRB.step(emgAbsHPRB); |
paulineoonk | 9:285499f48cdd | 330 | double emgfinalRB = emgLPRB; |
paulineoonk | 9:285499f48cdd | 331 | if (emgfinalRB > MVCRB) |
paulineoonk | 7:05c71a859d27 | 332 | { //determine what the highest reachable emg signal is |
paulineoonk | 9:285499f48cdd | 333 | MVCRB = emgfinalRB; |
paulineoonk | 9:285499f48cdd | 334 | } |
paulineoonk | 9:285499f48cdd | 335 | } |
paulineoonk | 9:285499f48cdd | 336 | |
Gerber | 21:9307dc9be4f7 | 337 | if(Timescalibration>4000 && Timescalibration<5000) |
paulineoonk | 9:285499f48cdd | 338 | { |
Gerber | 20:14edaecd7413 | 339 | pc.printf("maximum linker triceps \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 340 | led = 1; |
Gerber | 20:14edaecd7413 | 341 | /*wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 342 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 343 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 344 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 345 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 346 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 347 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 348 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 349 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 350 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 351 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 352 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 353 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 354 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 355 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 356 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 357 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 358 | led = 0; |
Gerber | 20:14edaecd7413 | 359 | */ |
paulineoonk | 10:518a8617c86e | 360 | emgNotchLT = NFLT.step(emgLT.read() ); |
paulineoonk | 10:518a8617c86e | 361 | emgHPLT = HPFLT.step(emgNotchLT); |
paulineoonk | 10:518a8617c86e | 362 | emgAbsHPLT = abs(emgHPLT); |
paulineoonk | 10:518a8617c86e | 363 | emgLPLT = LPFLT.step(emgAbsHPLT); |
paulineoonk | 9:285499f48cdd | 364 | double emgfinalLT = emgLPLT; |
paulineoonk | 9:285499f48cdd | 365 | if (emgfinalLT > MVCLT) |
paulineoonk | 9:285499f48cdd | 366 | { //determine what the highest reachable emg signal is |
paulineoonk | 9:285499f48cdd | 367 | MVCLT = emgfinalLT; |
paulineoonk | 7:05c71a859d27 | 368 | } |
paulineoonk | 9:285499f48cdd | 369 | } |
paulineoonk | 9:285499f48cdd | 370 | |
Gerber | 21:9307dc9be4f7 | 371 | if(Timescalibration>5000 && Timescalibration<6000) |
paulineoonk | 9:285499f48cdd | 372 | { |
Gerber | 20:14edaecd7413 | 373 | pc.printf("maximum rechter triceps"); |
paulineoonk | 10:518a8617c86e | 374 | emgNotchRT = NFRT.step(emgRT.read() ); |
paulineoonk | 10:518a8617c86e | 375 | emgHPRT = HPFRT.step(emgNotchRT); |
paulineoonk | 10:518a8617c86e | 376 | emgAbsHPRT = abs(emgHPRT); |
paulineoonk | 10:518a8617c86e | 377 | emgLPRT = LPFRT.step(emgAbsHPRT); |
paulineoonk | 9:285499f48cdd | 378 | double emgfinalRT = emgLPRT; |
paulineoonk | 9:285499f48cdd | 379 | if (emgfinalRT > MVCRT) |
paulineoonk | 9:285499f48cdd | 380 | { //determine what the highest reachable emg signal is |
paulineoonk | 9:285499f48cdd | 381 | MVCRT = emgfinalRT; |
paulineoonk | 9:285499f48cdd | 382 | } |
paulineoonk | 9:285499f48cdd | 383 | } |
paulineoonk | 9:285499f48cdd | 384 | |
Gerber | 21:9307dc9be4f7 | 385 | if(Timescalibration>6000) |
paulineoonk | 7:05c71a859d27 | 386 | { |
Gerber | 20:14edaecd7413 | 387 | pc.printf("calibratie afgelopen"); |
Gerber | 20:14edaecd7413 | 388 | State = SelectDevice; |
paulineoonk | 7:05c71a859d27 | 389 | } |
paulineoonk | 9:285499f48cdd | 390 | // pc.printf("maxi waarde = %f emgfinal = %f \r\n",maxi,emgfinal); |
paulineoonk | 9:285499f48cdd | 391 | //} |
paulineoonk | 7:05c71a859d27 | 392 | //PAS ALS DEZE TRUE IS, MOET DE MOTOR PAS BEWEGEN!!! |
paulineoonk | 7:05c71a859d27 | 393 | //return maxi; |
paulineoonk | 7:05c71a859d27 | 394 | } |
paulineoonk | 16:2f89d6e25782 | 395 | |
Gerber | 18:1e4f697a92cb | 396 | void RKI() |
Gerber | 18:1e4f697a92cb | 397 | { |
Gerber | 18:1e4f697a92cb | 398 | Rex = cos(q1)*L1 - sin(q2)*L2; |
Gerber | 18:1e4f697a92cb | 399 | Rey = sin(q1)*L1 + cos(q2)*L2; |
Gerber | 18:1e4f697a92cb | 400 | R2x = cos(q1)*L1; |
Gerber | 18:1e4f697a92cb | 401 | R2y = sin(q1)*L1; |
Gerber | 18:1e4f697a92cb | 402 | Fx = (Rsx-Rex)*K; |
Gerber | 18:1e4f697a92cb | 403 | Fy = (Rsy-Rey)*K; |
Gerber | 18:1e4f697a92cb | 404 | Tor1 = (Rex-R1x)*Fy + (R1y-Rey)*Fx; |
Gerber | 18:1e4f697a92cb | 405 | Tor2 = (Rex-R2x)*Fy + (R2y-Rey)*Fx; |
Gerber | 18:1e4f697a92cb | 406 | w1 = Tor1/B1; |
Gerber | 18:1e4f697a92cb | 407 | w2 = Tor2/B2; |
Gerber | 18:1e4f697a92cb | 408 | q1 = q1 + w1*Tijd; |
Gerber | 18:1e4f697a92cb | 409 | q2 = q2 + w2*Tijd; |
Gerber | 18:1e4f697a92cb | 410 | |
Gerber | 18:1e4f697a92cb | 411 | int maxwaarde = 4096; // = 64x64 |
Gerber | 18:1e4f697a92cb | 412 | refP = (((0.5*pi) - q1)/(2*pi))*maxwaarde; |
Gerber | 18:1e4f697a92cb | 413 | refP2 = (((-pi) + q1 - q2)/(2*pi))*maxwaarde; //Get reference positions was eerst 0.5*pi |
Gerber | 18:1e4f697a92cb | 414 | } |
Gerber | 18:1e4f697a92cb | 415 | |
Gerber | 21:9307dc9be4f7 | 416 | void changePosition () // DIT MOET NOG HEEL ERG GETUNED WORDEN !!! |
Gerber | 21:9307dc9be4f7 | 417 | { |
Gerber | 21:9307dc9be4f7 | 418 | if (RBF>0.5) { |
Gerber | 21:9307dc9be4f7 | 419 | //goalx++; // hoe veel verder gaat hij? 1 cm? 10 cm? |
Gerber | 21:9307dc9be4f7 | 420 | Rsx += 0.001; |
Gerber | 21:9307dc9be4f7 | 421 | } |
Gerber | 21:9307dc9be4f7 | 422 | else if (RTF>0.5) { |
Gerber | 21:9307dc9be4f7 | 423 | //goalx--; |
Gerber | 21:9307dc9be4f7 | 424 | Rsx -= 0.001; |
Gerber | 21:9307dc9be4f7 | 425 | } |
Gerber | 21:9307dc9be4f7 | 426 | else {} |
Gerber | 21:9307dc9be4f7 | 427 | if (LBF>0.5) { |
Gerber | 21:9307dc9be4f7 | 428 | //goaly++; |
Gerber | 21:9307dc9be4f7 | 429 | Rsy +=0.001; |
Gerber | 21:9307dc9be4f7 | 430 | } |
Gerber | 21:9307dc9be4f7 | 431 | else if (LTF>0.5) { |
Gerber | 21:9307dc9be4f7 | 432 | //goaly--; |
Gerber | 21:9307dc9be4f7 | 433 | Rsy -= 0.001; |
Gerber | 21:9307dc9be4f7 | 434 | } |
Gerber | 21:9307dc9be4f7 | 435 | else {} |
Gerber | 21:9307dc9be4f7 | 436 | pc.printf("goalx = %f, goaly = %f\r\n",Rsx, Rsy); |
Gerber | 21:9307dc9be4f7 | 437 | } |
Gerber | 21:9307dc9be4f7 | 438 | |
Gerber | 18:1e4f697a92cb | 439 | void SetpointRobot() |
Gerber | 18:1e4f697a92cb | 440 | { |
Gerber | 18:1e4f697a92cb | 441 | double Potmeterwaarde2 = potMeter2.read(); |
Gerber | 18:1e4f697a92cb | 442 | double Potmeterwaarde1 = potMeter1.read(); |
Gerber | 18:1e4f697a92cb | 443 | |
Gerber | 18:1e4f697a92cb | 444 | if (Potmeterwaarde2>0.6) { |
Gerber | 18:1e4f697a92cb | 445 | Rsx += 0.001; //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat |
Gerber | 18:1e4f697a92cb | 446 | } |
Gerber | 18:1e4f697a92cb | 447 | else if (Potmeterwaarde2<0.4) { |
Gerber | 18:1e4f697a92cb | 448 | Rsx -= 0.001; //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4 staat |
Gerber | 18:1e4f697a92cb | 449 | } |
Gerber | 18:1e4f697a92cb | 450 | else { //de x-waarde van de setpoint verandert niet |
Gerber | 18:1e4f697a92cb | 451 | } |
Gerber | 18:1e4f697a92cb | 452 | |
Gerber | 18:1e4f697a92cb | 453 | if (Potmeterwaarde1>0.6) { //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat |
Gerber | 18:1e4f697a92cb | 454 | Rsy += 0.001; |
Gerber | 18:1e4f697a92cb | 455 | } |
Gerber | 18:1e4f697a92cb | 456 | else if (Potmeterwaarde1<0.4) { //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4 |
Gerber | 18:1e4f697a92cb | 457 | Rsy -= 0.001; |
Gerber | 18:1e4f697a92cb | 458 | } |
Gerber | 18:1e4f697a92cb | 459 | else { //de y-waarde van de setpoint verandert niet |
Gerber | 18:1e4f697a92cb | 460 | } |
Gerber | 18:1e4f697a92cb | 461 | } |
Gerber | 18:1e4f697a92cb | 462 | |
paulineoonk | 16:2f89d6e25782 | 463 | double GetReferencePosition() |
paulineoonk | 16:2f89d6e25782 | 464 | { |
paulineoonk | 16:2f89d6e25782 | 465 | double Potmeterwaarde = potMeter2.read(); //naam moet universeel worden |
paulineoonk | 16:2f89d6e25782 | 466 | int maxwaarde = 4096; // = 64x64 |
paulineoonk | 16:2f89d6e25782 | 467 | double refP = Potmeterwaarde*maxwaarde; |
paulineoonk | 16:2f89d6e25782 | 468 | return refP; // value between 0 and 4096 |
paulineoonk | 16:2f89d6e25782 | 469 | } |
paulineoonk | 16:2f89d6e25782 | 470 | |
paulineoonk | 16:2f89d6e25782 | 471 | double GetReferencePosition2() |
paulineoonk | 16:2f89d6e25782 | 472 | { |
paulineoonk | 16:2f89d6e25782 | 473 | double potmeterwaarde2 = potMeter1.read(); |
paulineoonk | 16:2f89d6e25782 | 474 | int maxwaarde2 = 4096; // = 64x64 |
paulineoonk | 16:2f89d6e25782 | 475 | double refP2 = potmeterwaarde2*maxwaarde2; |
paulineoonk | 16:2f89d6e25782 | 476 | return refP2; // value between 0 and 4096 |
paulineoonk | 16:2f89d6e25782 | 477 | } |
Gerber | 18:1e4f697a92cb | 478 | |
Gerber | 19:591572f4e4b5 | 479 | double FeedBackControl(double error, double &e_prev, double &e_int) // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking) |
paulineoonk | 16:2f89d6e25782 | 480 | { |
Gerber | 19:591572f4e4b5 | 481 | double kp = 0.0015; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 482 | double Proportional= kp*error; |
paulineoonk | 16:2f89d6e25782 | 483 | |
Gerber | 19:591572f4e4b5 | 484 | double kd = 0.000008; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 485 | double VelocityError = (error - e_prev)/Ts; |
Gerber | 19:591572f4e4b5 | 486 | double Derivative = kd*VelocityError; |
paulineoonk | 16:2f89d6e25782 | 487 | e_prev = error; |
paulineoonk | 16:2f89d6e25782 | 488 | |
Gerber | 19:591572f4e4b5 | 489 | double ki = 0.0001; // kind of scaled. |
paulineoonk | 16:2f89d6e25782 | 490 | e_int = e_int+Ts*error; |
Gerber | 19:591572f4e4b5 | 491 | double Integrator = ki*e_int; |
paulineoonk | 16:2f89d6e25782 | 492 | |
Gerber | 18:1e4f697a92cb | 493 | |
Gerber | 19:591572f4e4b5 | 494 | double motorValue = Proportional + Integrator + Derivative; |
paulineoonk | 16:2f89d6e25782 | 495 | return motorValue; |
paulineoonk | 16:2f89d6e25782 | 496 | } |
paulineoonk | 16:2f89d6e25782 | 497 | |
Gerber | 19:591572f4e4b5 | 498 | double FeedBackControl2(double error2, double &e_prev2, double &e_int2) // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking) |
paulineoonk | 16:2f89d6e25782 | 499 | { |
Gerber | 19:591572f4e4b5 | 500 | double kp2 = 0.002; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 501 | double Proportional2= kp2*error2; |
paulineoonk | 16:2f89d6e25782 | 502 | |
Gerber | 19:591572f4e4b5 | 503 | double kd2 = 0.000008; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 504 | double VelocityError2 = (error2 - e_prev2)/Ts; |
Gerber | 19:591572f4e4b5 | 505 | double Derivative2 = kd2*VelocityError2; |
paulineoonk | 16:2f89d6e25782 | 506 | e_prev2 = error2; |
paulineoonk | 16:2f89d6e25782 | 507 | |
Gerber | 19:591572f4e4b5 | 508 | double ki2 = 0.00005; // kind of scaled. |
paulineoonk | 16:2f89d6e25782 | 509 | e_int2 = e_int2+Ts*error2; |
Gerber | 19:591572f4e4b5 | 510 | double Integrator2 = ki2*e_int2; |
Gerber | 18:1e4f697a92cb | 511 | |
paulineoonk | 16:2f89d6e25782 | 512 | |
Gerber | 19:591572f4e4b5 | 513 | double motorValue2 = Proportional2 + Integrator2 + Derivative2; |
paulineoonk | 16:2f89d6e25782 | 514 | return motorValue2; |
Gerber | 18:1e4f697a92cb | 515 | |
paulineoonk | 16:2f89d6e25782 | 516 | } |
paulineoonk | 16:2f89d6e25782 | 517 | |
paulineoonk | 16:2f89d6e25782 | 518 | void SetMotor1(double motorValue) |
paulineoonk | 16:2f89d6e25782 | 519 | { |
paulineoonk | 16:2f89d6e25782 | 520 | if (motorValue >= 0) { |
paulineoonk | 16:2f89d6e25782 | 521 | M1D = 0; |
paulineoonk | 16:2f89d6e25782 | 522 | } |
paulineoonk | 16:2f89d6e25782 | 523 | else { |
paulineoonk | 16:2f89d6e25782 | 524 | M1D = 1; |
paulineoonk | 16:2f89d6e25782 | 525 | } |
paulineoonk | 16:2f89d6e25782 | 526 | |
paulineoonk | 16:2f89d6e25782 | 527 | if (fabs(motorValue) > 1) { |
paulineoonk | 16:2f89d6e25782 | 528 | M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) |
paulineoonk | 16:2f89d6e25782 | 529 | } |
paulineoonk | 16:2f89d6e25782 | 530 | else { |
paulineoonk | 16:2f89d6e25782 | 531 | M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 |
paulineoonk | 16:2f89d6e25782 | 532 | } |
paulineoonk | 16:2f89d6e25782 | 533 | } |
paulineoonk | 16:2f89d6e25782 | 534 | |
paulineoonk | 16:2f89d6e25782 | 535 | void SetMotor2(double motorValue2) |
paulineoonk | 16:2f89d6e25782 | 536 | { |
paulineoonk | 16:2f89d6e25782 | 537 | if (motorValue2 >= 0) { |
Gerber | 18:1e4f697a92cb | 538 | M2D = 1; |
paulineoonk | 16:2f89d6e25782 | 539 | } |
paulineoonk | 16:2f89d6e25782 | 540 | else { |
Gerber | 18:1e4f697a92cb | 541 | M2D = 0; |
paulineoonk | 16:2f89d6e25782 | 542 | } |
paulineoonk | 16:2f89d6e25782 | 543 | |
paulineoonk | 16:2f89d6e25782 | 544 | if (fabs(motorValue2) > 1) { |
paulineoonk | 16:2f89d6e25782 | 545 | M2E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) |
paulineoonk | 16:2f89d6e25782 | 546 | } |
paulineoonk | 16:2f89d6e25782 | 547 | else { |
paulineoonk | 16:2f89d6e25782 | 548 | M2E = fabs(motorValue2); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 |
paulineoonk | 16:2f89d6e25782 | 549 | } |
paulineoonk | 16:2f89d6e25782 | 550 | } |
paulineoonk | 16:2f89d6e25782 | 551 | |
paulineoonk | 16:2f89d6e25782 | 552 | void MeasureAndControl(void) |
paulineoonk | 16:2f89d6e25782 | 553 | { |
Gerber | 21:9307dc9be4f7 | 554 | //SetpointRobot(); |
Gerber | 21:9307dc9be4f7 | 555 | changePosition(); |
Gerber | 18:1e4f697a92cb | 556 | // RKI aanroepen |
Gerber | 18:1e4f697a92cb | 557 | RKI(); |
paulineoonk | 16:2f89d6e25782 | 558 | // hier the control of the 1st control system |
Gerber | 18:1e4f697a92cb | 559 | //double refP = GetReferencePosition(); //KOMT UIT RKI |
paulineoonk | 16:2f89d6e25782 | 560 | double Huidigepositie = motor1.getPosition(); |
paulineoonk | 16:2f89d6e25782 | 561 | double error = (refP - Huidigepositie);// make an error |
paulineoonk | 16:2f89d6e25782 | 562 | double motorValue = FeedBackControl(error, e_prev, e_int); |
paulineoonk | 16:2f89d6e25782 | 563 | SetMotor1(motorValue); |
paulineoonk | 16:2f89d6e25782 | 564 | // hier the control of the 2nd control system |
Gerber | 18:1e4f697a92cb | 565 | //double refP2 = GetReferencePosition2(); |
paulineoonk | 16:2f89d6e25782 | 566 | double Huidigepositie2 = motor2.getPosition(); |
paulineoonk | 16:2f89d6e25782 | 567 | double error2 = (refP2 - Huidigepositie2);// make an error |
paulineoonk | 16:2f89d6e25782 | 568 | double motorValue2 = FeedBackControl2(error2, e_prev2, e_int2); |
paulineoonk | 16:2f89d6e25782 | 569 | SetMotor2(motorValue2); |
Gerber | 20:14edaecd7413 | 570 | pc.printf("refP = %f, huidigepos = %f, motorvalue = %f, refP2 = %f, huidigepos2 = %f, motorvalue2 = %f \r\n", refP, Huidigepositie, motorValue, refP2, Huidigepositie2, Huidigepositie2); |
paulineoonk | 16:2f89d6e25782 | 571 | } |
paulineoonk | 16:2f89d6e25782 | 572 | |
Gerber | 21:9307dc9be4f7 | 573 | /*void changePosition () // DIT MOET NOG HEEL ERG GETUNED WORDEN !!! |
paulineoonk | 11:b46a4c48c08f | 574 | { |
paulineoonk | 11:b46a4c48c08f | 575 | if (RBF>0.3) { |
paulineoonk | 11:b46a4c48c08f | 576 | goalx++; // hoe veel verder gaat hij? 1 cm? 10 cm? |
paulineoonk | 11:b46a4c48c08f | 577 | } |
paulineoonk | 11:b46a4c48c08f | 578 | if (RTF>0.3) { |
paulineoonk | 11:b46a4c48c08f | 579 | goalx--; |
paulineoonk | 11:b46a4c48c08f | 580 | } |
paulineoonk | 11:b46a4c48c08f | 581 | if (LBF>0.3) { |
paulineoonk | 11:b46a4c48c08f | 582 | goaly++; |
paulineoonk | 11:b46a4c48c08f | 583 | } |
paulineoonk | 11:b46a4c48c08f | 584 | if (LTF>0.3) { |
paulineoonk | 11:b46a4c48c08f | 585 | goaly--; |
paulineoonk | 11:b46a4c48c08f | 586 | } |
paulineoonk | 12:65b8d29bdd5d | 587 | pc.printf("goalx = %i, goaly = %i\r\n",goalx, goaly); |
paulineoonk | 11:b46a4c48c08f | 588 | } |
Gerber | 21:9307dc9be4f7 | 589 | */ |
paulineoonk | 14:a861ba49107c | 590 | void Loop_funtion() |
paulineoonk | 14:a861ba49107c | 591 | { |
Gerber | 20:14edaecd7413 | 592 | pc.printf("state machine begint \r\n"); |
paulineoonk | 14:a861ba49107c | 593 | switch(State){ |
paulineoonk | 14:a861ba49107c | 594 | case Cal1: //Calibration motor 1 |
Gerber | 20:14edaecd7413 | 595 | pc.printf("cal1 \r\n"); |
Gerber | 19:591572f4e4b5 | 596 | State=Cal2; |
paulineoonk | 14:a861ba49107c | 597 | // naar achteren bewegen( als voorbeeld Arvid), daarna deze waarde opslaan als offset. Dan bewegen naar home middels PID en verschil encodervalue uiterste stand en home1. |
Gerber | 19:591572f4e4b5 | 598 | /* motorValue1 = 0.1f; motorValue2=0; |
paulineoonk | 16:2f89d6e25782 | 599 | M2E = fabs(motorValue2); |
paulineoonk | 16:2f89d6e25782 | 600 | M1E = fabs(motorValue1); |
Gerber | 19:591572f4e4b5 | 601 | |
paulineoonk | 14:a861ba49107c | 602 | if (Huidigepositie1== 0) |
paulineoonk | 14:a861ba49107c | 603 | { |
paulineoonk | 16:2f89d6e25782 | 604 | SetMotor1(value); //value is waarde encoder voor loodrechte hoeken,. |
Gerber | 19:591572f4e4b5 | 605 | //if (fabs(Huidigepositie1<0.01) { |
paulineoonk | 15:1cfe58aea10d | 606 | State=Cal2; |
Gerber | 19:591572f4e4b5 | 607 | //} |
paulineoonk | 14:a861ba49107c | 608 | } |
paulineoonk | 14:a861ba49107c | 609 | else { |
paulineoonk | 14:a861ba49107c | 610 | SetMotor1(0); |
paulineoonk | 15:1cfe58aea10d | 611 | Loop_funtion(); |
Gerber | 19:591572f4e4b5 | 612 | }*/ |
paulineoonk | 14:a861ba49107c | 613 | break; |
paulineoonk | 14:a861ba49107c | 614 | |
paulineoonk | 14:a861ba49107c | 615 | case Cal2: //Calibration motor 2 |
Gerber | 20:14edaecd7413 | 616 | State = CalEMG; |
Gerber | 19:591572f4e4b5 | 617 | /* if (Huidigepositie2== 0) |
paulineoonk | 14:a861ba49107c | 618 | { |
paulineoonk | 15:1cfe58aea10d | 619 | if (Huidigepositie2<0.01){ |
paulineoonk | 15:1cfe58aea10d | 620 | State=CalEMG; |
paulineoonk | 14:a861ba49107c | 621 | } |
paulineoonk | 14:a861ba49107c | 622 | else { |
paulineoonk | 14:a861ba49107c | 623 | SetMotor2(0); |
paulineoonk | 15:1cfe58aea10d | 624 | Loop_funtion(); |
Gerber | 19:591572f4e4b5 | 625 | } */ |
paulineoonk | 14:a861ba49107c | 626 | break; |
paulineoonk | 14:a861ba49107c | 627 | case CalEMG: // Calibration EMG |
paulineoonk | 15:1cfe58aea10d | 628 | CalibrationEMG(); //calculates average EMGFiltered at rest and measures max signal EMGFiltered. |
paulineoonk | 14:a861ba49107c | 629 | break; |
paulineoonk | 14:a861ba49107c | 630 | case SelectDevice: //Looks at the difference between current position and home. Select aansturen EMG or buttons |
paulineoonk | 15:1cfe58aea10d | 631 | if (button==1) { |
paulineoonk | 15:1cfe58aea10d | 632 | State=EMG; |
paulineoonk | 14:a861ba49107c | 633 | } |
paulineoonk | 15:1cfe58aea10d | 634 | if (button==0) { |
paulineoonk | 15:1cfe58aea10d | 635 | State=Demo; |
paulineoonk | 14:a861ba49107c | 636 | } |
paulineoonk | 14:a861ba49107c | 637 | break; |
paulineoonk | 14:a861ba49107c | 638 | case EMG: //Aansturen met EMG |
Gerber | 20:14edaecd7413 | 639 | pc.printf("EMG begint met aansturen \r\n"); |
paulineoonk | 14:a861ba49107c | 640 | Filteren(); |
Gerber | 21:9307dc9be4f7 | 641 | //changePosition(); |
paulineoonk | 16:2f89d6e25782 | 642 | //RKI --> output refP van motor |
paulineoonk | 16:2f89d6e25782 | 643 | MeasureAndControl(); |
paulineoonk | 14:a861ba49107c | 644 | break; |
paulineoonk | 15:1cfe58aea10d | 645 | case Demo: // Aansturen met toetsenbord |
paulineoonk | 14:a861ba49107c | 646 | break; |
paulineoonk | 15:1cfe58aea10d | 647 | } |
paulineoonk | 14:a861ba49107c | 648 | } |
Miriam | 0:d5fb29bc0847 | 649 | |
paulineoonk | 15:1cfe58aea10d | 650 | /*void Tickerfunctie() |
paulineoonk | 8:c4ec359af35d | 651 | { |
paulineoonk | 13:3351f4374885 | 652 | //if(caldone == false) |
paulineoonk | 13:3351f4374885 | 653 | //{ |
paulineoonk | 12:65b8d29bdd5d | 654 | pc.printf("emgreadRB = %f , emgFiltered = %f, maxi = %f meanrest = %f\r\n",emgRB.read(), RBF, MVCRB, RESTMEANLB); |
paulineoonk | 11:b46a4c48c08f | 655 | pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, meanrest = %f emgSUMLB %f ,Timescalibration %i\r\n",emgLB.read(), LBF, MVCLB,RESTMEANRB,emgSUMLB, Timescalibration); |
paulineoonk | 10:518a8617c86e | 656 | pc.printf("emgreadRT = %f , emgFilteredRT = %f, maxiRT = %f meanrest = %f \r\n",emgRT.read(), RTF, MVCRT,RESTMEANRT); |
paulineoonk | 10:518a8617c86e | 657 | pc.printf("emgreadLT = %f , emgFilteredLT = %f, maxiLT = %f meanrest = %f \r\n",emgLT.read(), LTF, MVCLT,RESTMEANLT); |
paulineoonk | 13:3351f4374885 | 658 | //} |
paulineoonk | 8:c4ec359af35d | 659 | } |
paulineoonk | 15:1cfe58aea10d | 660 | */ |
Gerber | 19:591572f4e4b5 | 661 | int main()//deze moet ooit nog weg --> pas op voor errors |
Miriam | 0:d5fb29bc0847 | 662 | { |
paulineoonk | 7:05c71a859d27 | 663 | //voor EMG filteren |
paulineoonk | 10:518a8617c86e | 664 | //Left Bicep |
paulineoonk | 9:285499f48cdd | 665 | NFLB.add( &N1LB ); |
paulineoonk | 10:518a8617c86e | 666 | HPFLB.add( &HP1LB ).add( &HP2LB ); |
paulineoonk | 9:285499f48cdd | 667 | LPFLB.add( &LP1LB ).add( &LP2LB ); |
paulineoonk | 9:285499f48cdd | 668 | |
paulineoonk | 10:518a8617c86e | 669 | //Right Bicep |
paulineoonk | 10:518a8617c86e | 670 | NFRB.add( &N1RB ); |
paulineoonk | 10:518a8617c86e | 671 | HPFRB.add( &HP1RB ).add( &HP2RB ); |
paulineoonk | 10:518a8617c86e | 672 | LPFRB.add( &LP1RB ).add( &LP2RB ); |
paulineoonk | 9:285499f48cdd | 673 | |
paulineoonk | 10:518a8617c86e | 674 | //Left Tricep |
paulineoonk | 10:518a8617c86e | 675 | NFLT.add( &N1LT ); |
paulineoonk | 10:518a8617c86e | 676 | HPFLT.add( &HP1LT ).add( &HP2LT ); |
paulineoonk | 10:518a8617c86e | 677 | LPFLT.add( &LP1LT ).add( &LP2LT ); |
paulineoonk | 10:518a8617c86e | 678 | |
paulineoonk | 10:518a8617c86e | 679 | //Right Tricep |
paulineoonk | 10:518a8617c86e | 680 | NFRT.add( &N1RT ); |
paulineoonk | 10:518a8617c86e | 681 | HPFRT.add( &HP1RT ).add( &HP2RT ); |
paulineoonk | 10:518a8617c86e | 682 | LPFRT.add( &LP1RT ).add( &LP2RT ); |
paulineoonk | 3:36e706d6b3d2 | 683 | |
paulineoonk | 7:05c71a859d27 | 684 | //voor serial |
paulineoonk | 7:05c71a859d27 | 685 | pc.baud(115200); |
Gerber | 20:14edaecd7413 | 686 | pc.printf("begint met programma \r\n"); |
paulineoonk | 7:05c71a859d27 | 687 | |
paulineoonk | 7:05c71a859d27 | 688 | //motor |
Gerber | 20:14edaecd7413 | 689 | M1E.period(PwmPeriod); //set PWMposition at 5000hz |
paulineoonk | 7:05c71a859d27 | 690 | //Ticker |
paulineoonk | 15:1cfe58aea10d | 691 | //Treecko.attach(MeasureAndControl, tijdstap); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende |
paulineoonk | 3:36e706d6b3d2 | 692 | //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd. |
paulineoonk | 15:1cfe58aea10d | 693 | // printer.attach(Tickerfunctie,0.4); |
paulineoonk | 14:a861ba49107c | 694 | |
paulineoonk | 14:a861ba49107c | 695 | //State Machine |
paulineoonk | 14:a861ba49107c | 696 | State = Cal1; |
paulineoonk | 14:a861ba49107c | 697 | Position_controller_on = false; |
Gerber | 20:14edaecd7413 | 698 | Treecko.attach(&Loop_funtion, Ts); |
paulineoonk | 3:36e706d6b3d2 | 699 | while(true) |
paulineoonk | 16:2f89d6e25782 | 700 | { } |
paulineoonk | 3:36e706d6b3d2 | 701 | |
paulineoonk | 16:2f89d6e25782 | 702 | //is deze wel nodig? |
paulineoonk | 16:2f89d6e25782 | 703 | } |