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@34:87b96cc11c97, 2017-11-07 (annotated)
- Committer:
- Gerber
- Date:
- Tue Nov 07 21:55:29 2017 +0000
- Revision:
- 34:87b96cc11c97
- Parent:
- 33:4e5aca9f73e6
.
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 | |
Gerber | 28:19cccdd68b5b | 8 | // Variables |
Gerber | 27:2d9f172c66ad | 9 | //State Machine and calibration |
Gerber | 27:2d9f172c66ad | 10 | enum States {CalEMG, SelectDevice, EMG, Rest, Demonstration}; |
paulineoonk | 15:1cfe58aea10d | 11 | States State; |
Gerber | 18:1e4f697a92cb | 12 | DigitalIn button (D1); |
paulineoonk | 15:1cfe58aea10d | 13 | |
Gerber | 28:19cccdd68b5b | 14 | //Buttons en leds voor calibration |
Gerber | 28:19cccdd68b5b | 15 | DigitalIn button1(PTA4); |
Gerber | 28:19cccdd68b5b | 16 | DigitalOut led(D2); |
Gerber | 28:19cccdd68b5b | 17 | |
Gerber | 28:19cccdd68b5b | 18 | //MVC for calibration |
Gerber | 28:19cccdd68b5b | 19 | double MVCLB = 0; double MVCRB = 0; double MVCLT = 0; double MVCRT = 0; |
Gerber | 28:19cccdd68b5b | 20 | //MEAN for calibration - rest |
Gerber | 28:19cccdd68b5b | 21 | double RESTMEANLB = 0; double RESTMEANRB =0; double RESTMEANLT = 0; double RESTMEANRT = 0; |
Gerber | 28:19cccdd68b5b | 22 | double emgMEANSUBLB; double emgMEANSUBRB; double emgMEANSUBLT; double emgMEANSUBRT; |
Gerber | 28:19cccdd68b5b | 23 | double emgSUMLB; double emgSUMRB; double emgSUMLT; double emgSUMRT; |
Gerber | 28:19cccdd68b5b | 24 | |
Gerber | 28:19cccdd68b5b | 25 | bool caldone = false; |
Gerber | 28:19cccdd68b5b | 26 | int CalibrationSample = 1000; //How long will we calibrate? Timersampletime*Calibrationsample |
Gerber | 28:19cccdd68b5b | 27 | |
Gerber | 28:19cccdd68b5b | 28 | int Timescalibration = 0; |
Gerber | 28:19cccdd68b5b | 29 | int TimescalibrationREST = 0; |
Gerber | 28:19cccdd68b5b | 30 | |
Gerber | 28:19cccdd68b5b | 31 | //Encoder and motor |
paulineoonk | 15:1cfe58aea10d | 32 | double Huidigepositie1; |
paulineoonk | 15:1cfe58aea10d | 33 | double Huidigepositie2; |
paulineoonk | 15:1cfe58aea10d | 34 | double motorValue1; |
paulineoonk | 15:1cfe58aea10d | 35 | double motorValue2; |
Gerber | 27:2d9f172c66ad | 36 | Ticker Treecko; //We make an awesome ticker for our control system |
paulineoonk | 16:2f89d6e25782 | 37 | PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed |
paulineoonk | 16:2f89d6e25782 | 38 | PwmOut M2E(D5); |
paulineoonk | 16:2f89d6e25782 | 39 | DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control |
paulineoonk | 16:2f89d6e25782 | 40 | Encoder motor1(D13,D12,true); |
paulineoonk | 16:2f89d6e25782 | 41 | Encoder motor2(D9,D8,true); |
paulineoonk | 16:2f89d6e25782 | 42 | DigitalOut M2D(D4); |
Gerber | 28:19cccdd68b5b | 43 | double PwmPeriod = 1.0/5000.0; |
Miriam | 0:d5fb29bc0847 | 44 | |
Gerber | 27:2d9f172c66ad | 45 | //Demonstration |
paulineoonk | 16:2f89d6e25782 | 46 | AnalogIn potMeter2(A1); |
paulineoonk | 16:2f89d6e25782 | 47 | AnalogIn potMeter1(A2); |
paulineoonk | 16:2f89d6e25782 | 48 | |
paulineoonk | 3:36e706d6b3d2 | 49 | MODSERIAL pc(USBTX,USBRX); |
paulineoonk | 3:36e706d6b3d2 | 50 | |
Gerber | 28:19cccdd68b5b | 51 | //PID |
Gerber | 32:30a36362f23d | 52 | const double Ts = 0.002f; // tickertime/ sample time |
paulineoonk | 16:2f89d6e25782 | 53 | double e_prev = 0; |
paulineoonk | 16:2f89d6e25782 | 54 | double e_int = 0; |
paulineoonk | 16:2f89d6e25782 | 55 | double e_prev2 = 0; |
paulineoonk | 16:2f89d6e25782 | 56 | double e_int2 = 0; |
paulineoonk | 16:2f89d6e25782 | 57 | |
Gerber | 28:19cccdd68b5b | 58 | // EMG and Filters |
Gerber | 27:2d9f172c66ad | 59 | // Biquad filters voor Left Biceps (LB): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 60 | BiQuad N1LB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 61 | BiQuadChain NFLB; |
paulineoonk | 9:285499f48cdd | 62 | BiQuad HP1LB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 63 | BiQuad HP2LB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 64 | BiQuadChain HPFLB; |
paulineoonk | 9:285499f48cdd | 65 | BiQuad LP1LB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 66 | BiQuad LP2LB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 67 | BiQuadChain LPFLB; |
paulineoonk | 9:285499f48cdd | 68 | |
Gerber | 27:2d9f172c66ad | 69 | // Biquad filters voor Right Biceps (RB): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 70 | BiQuad N1RB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 71 | BiQuadChain NFRB; |
paulineoonk | 9:285499f48cdd | 72 | BiQuad HP1RB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 73 | BiQuad HP2RB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 74 | BiQuadChain HPFRB; |
paulineoonk | 9:285499f48cdd | 75 | BiQuad LP1RB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 76 | BiQuad LP2RB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 77 | BiQuadChain LPFRB; |
paulineoonk | 9:285499f48cdd | 78 | |
Gerber | 27:2d9f172c66ad | 79 | // Biquad filters voor Left Triceps (LT): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 80 | BiQuad N1LT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 81 | BiQuadChain NFLT; |
paulineoonk | 9:285499f48cdd | 82 | BiQuad HP1LT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 83 | BiQuad HP2LT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 84 | BiQuadChain HPFLT; |
paulineoonk | 9:285499f48cdd | 85 | BiQuad LP1LT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 86 | BiQuad LP2LT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 87 | BiQuadChain LPFLT; |
paulineoonk | 9:285499f48cdd | 88 | |
Gerber | 27:2d9f172c66ad | 89 | // Biquad filters for Right Triceps (RT): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 90 | BiQuad N1RT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 91 | BiQuadChain NFRT; |
paulineoonk | 9:285499f48cdd | 92 | BiQuad HP1RT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 93 | BiQuad HP2RT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 94 | BiQuadChain HPFRT; |
paulineoonk | 9:285499f48cdd | 95 | BiQuad LP1RT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 96 | BiQuad LP2RT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 97 | BiQuadChain LPFRT; |
paulineoonk | 9:285499f48cdd | 98 | |
paulineoonk | 8:c4ec359af35d | 99 | double emgNotchLB; |
paulineoonk | 8:c4ec359af35d | 100 | double emgHPLB; |
paulineoonk | 8:c4ec359af35d | 101 | double emgAbsHPLB; |
paulineoonk | 8:c4ec359af35d | 102 | double emgLPLB; |
paulineoonk | 8:c4ec359af35d | 103 | |
paulineoonk | 8:c4ec359af35d | 104 | double emgNotchRB; |
paulineoonk | 8:c4ec359af35d | 105 | double emgHPRB; |
paulineoonk | 8:c4ec359af35d | 106 | double emgAbsHPRB; |
paulineoonk | 8:c4ec359af35d | 107 | double emgLPRB; |
paulineoonk | 7:05c71a859d27 | 108 | |
paulineoonk | 8:c4ec359af35d | 109 | double emgNotchLT; |
paulineoonk | 8:c4ec359af35d | 110 | double emgHPLT; |
paulineoonk | 8:c4ec359af35d | 111 | double emgAbsHPLT; |
paulineoonk | 8:c4ec359af35d | 112 | double emgLPLT; |
paulineoonk | 7:05c71a859d27 | 113 | |
paulineoonk | 8:c4ec359af35d | 114 | double emgNotchRT; |
paulineoonk | 8:c4ec359af35d | 115 | double emgHPRT; |
paulineoonk | 8:c4ec359af35d | 116 | double emgAbsHPRT; |
paulineoonk | 8:c4ec359af35d | 117 | double emgLPRT; |
Miriam | 0:d5fb29bc0847 | 118 | |
Gerber | 28:19cccdd68b5b | 119 | AnalogIn emgLB(A0); // read EMG |
paulineoonk | 8:c4ec359af35d | 120 | AnalogIn emgRB(A1); |
paulineoonk | 8:c4ec359af35d | 121 | AnalogIn emgLT(A2); |
paulineoonk | 8:c4ec359af35d | 122 | AnalogIn emgRT(A3); |
Miriam | 0:d5fb29bc0847 | 123 | |
Gerber | 28:19cccdd68b5b | 124 | volatile double LBF; |
Gerber | 28:19cccdd68b5b | 125 | volatile double RBF; |
Gerber | 28:19cccdd68b5b | 126 | volatile double LTF; |
Gerber | 28:19cccdd68b5b | 127 | volatile double RTF; |
Gerber | 28:19cccdd68b5b | 128 | |
Gerber | 28:19cccdd68b5b | 129 | // RKI |
Gerber | 18:1e4f697a92cb | 130 | double pi = 3.14159265359; |
Gerber | 28:19cccdd68b5b | 131 | double q1 = (pi/2); //Reference position angle 1 in radiance |
Gerber | 28:19cccdd68b5b | 132 | double q2 = -(pi/2); //Reference position angle 2 in radiance |
Gerber | 28:19cccdd68b5b | 133 | const double L1 = 0.30; //Length arm 1 in mm |
Gerber | 28:19cccdd68b5b | 134 | const double L2 = 0.38; //Length arm 2 in mm |
Gerber | 28:19cccdd68b5b | 135 | double B1 = 1; //Friction constant motor 1 |
Gerber | 28:19cccdd68b5b | 136 | double B2 = 1; //Friction constant motor 2 |
Gerber | 28:19cccdd68b5b | 137 | double K = 1; //Spring constant movement from end-effector position to setpoint position |
Gerber | 28:19cccdd68b5b | 138 | double Tijd = 1; //Timestep value |
Gerber | 28:19cccdd68b5b | 139 | double Rsx = 0.38; //Reference x-component of the setpoint radius |
Gerber | 28:19cccdd68b5b | 140 | double Rsy = 0.30; //Reference y-component of the setpoint radius |
Gerber | 28:19cccdd68b5b | 141 | double refP = 0; //Reference position motor 1 |
Gerber | 28:19cccdd68b5b | 142 | double refP2 = 0; //Reference position motor 2 |
Gerber | 18:1e4f697a92cb | 143 | double Rex = cos(q1)*L1 - sin(q2)*L2; //The x-component of the end-effector radius |
Gerber | 18:1e4f697a92cb | 144 | double Rey = sin(q1)*L1 + cos(q2)*L2; //The y-component of the end-effector radius |
Gerber | 18:1e4f697a92cb | 145 | double R1x = 0; //The x-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 146 | double R1y = 0; //The y-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 147 | double R2x = cos(q1)*L1; //The x-component of the joint 2 radius |
Gerber | 27:2d9f172c66ad | 148 | double R2y = sin(q1)*L1; //The y-component of the joint 2 radius |
Gerber | 18:1e4f697a92cb | 149 | double Fx = 0; |
Gerber | 18:1e4f697a92cb | 150 | double Fy = 0; |
Gerber | 18:1e4f697a92cb | 151 | double Tor1 = 0; |
Gerber | 18:1e4f697a92cb | 152 | double Tor2 = 0; |
Gerber | 18:1e4f697a92cb | 153 | double w1= 0; |
Gerber | 18:1e4f697a92cb | 154 | double w2= 0; |
Gerber | 18:1e4f697a92cb | 155 | |
Gerber | 28:19cccdd68b5b | 156 | // Functions |
paulineoonk | 8:c4ec359af35d | 157 | void Filteren() |
Gerber | 27:2d9f172c66ad | 158 | { |
Gerber | 28:19cccdd68b5b | 159 | emgNotchLB = NFLB.step(emgLB.read() ); // Notch filter |
paulineoonk | 10:518a8617c86e | 160 | emgHPLB = HPFLB.step(emgNotchLB); // High-pass filter: also normalises around 0. |
Gerber | 28:19cccdd68b5b | 161 | emgAbsHPLB = abs(emgHPLB); // Take absolute value |
Gerber | 28:19cccdd68b5b | 162 | emgLPLB = LPFLB.step(emgAbsHPLB); // Low-pass filter: creates envelope |
Gerber | 28:19cccdd68b5b | 163 | emgMEANSUBLB = emgLPLB - RESTMEANLB; // Substract the restmean value |
Gerber | 28:19cccdd68b5b | 164 | LBF = emgLPLB/MVCLB; // Scale to maximum signal: useful for motor. LBF should now be between 0-1. |
paulineoonk | 9:285499f48cdd | 165 | |
Gerber | 28:19cccdd68b5b | 166 | emgNotchRB = NFRB.step(emgRB.read()); |
Gerber | 28:19cccdd68b5b | 167 | emgHPRB = HPFRB.step(emgNotchRB); |
Gerber | 28:19cccdd68b5b | 168 | emgAbsHPRB = abs(emgHPRB); |
Gerber | 28:19cccdd68b5b | 169 | emgLPRB = LPFRB.step(emgAbsHPRB); |
paulineoonk | 10:518a8617c86e | 170 | emgMEANSUBLB = emgLPLB - RESTMEANLB; |
Gerber | 28:19cccdd68b5b | 171 | RBF = emgLPRB/MVCRB; |
paulineoonk | 8:c4ec359af35d | 172 | |
Gerber | 28:19cccdd68b5b | 173 | emgNotchLT = NFLT.step(emgLT.read() ); |
Gerber | 28:19cccdd68b5b | 174 | emgHPLT = HPFLT.step(emgNotchLT); |
Gerber | 28:19cccdd68b5b | 175 | emgAbsHPLT = abs(emgHPLT); |
Gerber | 28:19cccdd68b5b | 176 | emgLPLT = LPFLT.step(emgAbsHPLT); |
Gerber | 28:19cccdd68b5b | 177 | emgMEANSUBLT = emgLPLT - RESTMEANLT; |
Gerber | 28:19cccdd68b5b | 178 | LTF = emgLPLT/MVCLT; |
paulineoonk | 8:c4ec359af35d | 179 | |
Gerber | 28:19cccdd68b5b | 180 | emgNotchRT = NFRT.step(emgRT.read() ); |
Gerber | 28:19cccdd68b5b | 181 | emgHPRT = HPFRT.step(emgNotchRT); |
Gerber | 28:19cccdd68b5b | 182 | emgAbsHPRT = abs(emgHPRT); |
Gerber | 28:19cccdd68b5b | 183 | emgLPRT = LPFRT.step(emgAbsHPRT); |
Gerber | 28:19cccdd68b5b | 184 | emgMEANSUBRT = emgLPRT - RESTMEANRT; |
Gerber | 28:19cccdd68b5b | 185 | RTF = emgLPRT/MVCRT; |
Miriam | 0:d5fb29bc0847 | 186 | } |
paulineoonk | 9:285499f48cdd | 187 | |
paulineoonk | 10:518a8617c86e | 188 | void CalibrationEMG() |
paulineoonk | 7:05c71a859d27 | 189 | { |
Gerber | 20:14edaecd7413 | 190 | pc.printf("Timescalibration = %i \r\n",Timescalibration); |
paulineoonk | 7:05c71a859d27 | 191 | Timescalibration++; |
paulineoonk | 9:285499f48cdd | 192 | |
paulineoonk | 10:518a8617c86e | 193 | if(Timescalibration<2000) |
paulineoonk | 9:285499f48cdd | 194 | { |
Gerber | 30:b76c27e4730c | 195 | pc.printf("calibration rest EMG, 12 seconds \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 196 | led = 1; |
paulineoonk | 10:518a8617c86e | 197 | |
Gerber | 27:2d9f172c66ad | 198 | emgNotchLB = NFLB.step(emgLB.read() ); |
Gerber | 27:2d9f172c66ad | 199 | emgHPLB = HPFLB.step(emgNotchLB); |
Gerber | 27:2d9f172c66ad | 200 | emgAbsHPLB = abs(emgHPLB); |
Gerber | 27:2d9f172c66ad | 201 | emgLPLB = LPFLB.step(emgAbsHPLB); |
Gerber | 27:2d9f172c66ad | 202 | emgSUMLB += emgLPLB; //SUM all rest values LB |
paulineoonk | 10:518a8617c86e | 203 | |
Gerber | 27:2d9f172c66ad | 204 | emgNotchRB = NFRB.step(emgRB.read()); |
Gerber | 27:2d9f172c66ad | 205 | emgHPRB = HPFRB.step(emgNotchRB); |
Gerber | 27:2d9f172c66ad | 206 | emgAbsHPRB = abs(emgHPRB); |
Gerber | 27:2d9f172c66ad | 207 | emgLPRB = LPFRB.step(emgAbsHPRB); |
Gerber | 27:2d9f172c66ad | 208 | emgSUMRB += emgLPRB; //SUM all rest values RB |
paulineoonk | 10:518a8617c86e | 209 | |
Gerber | 27:2d9f172c66ad | 210 | emgNotchLT = NFLT.step(emgLT.read() ); |
Gerber | 27:2d9f172c66ad | 211 | emgHPLT = HPFLT.step(emgNotchLT); |
Gerber | 27:2d9f172c66ad | 212 | emgAbsHPLT = abs(emgHPLT); |
Gerber | 27:2d9f172c66ad | 213 | emgLPLT = LPFLT.step(emgAbsHPLT); |
Gerber | 27:2d9f172c66ad | 214 | emgSUMLT += emgLPLT; //SUM all rest values LT |
paulineoonk | 10:518a8617c86e | 215 | |
Gerber | 27:2d9f172c66ad | 216 | emgNotchRT = NFRT.step(emgRT.read() ); |
Gerber | 27:2d9f172c66ad | 217 | emgHPRT = HPFRT.step(emgNotchRT); |
Gerber | 27:2d9f172c66ad | 218 | emgAbsHPRT = abs(emgHPRT); |
Gerber | 27:2d9f172c66ad | 219 | emgLPRT = LPFRT.step(emgAbsHPRT); |
Gerber | 27:2d9f172c66ad | 220 | emgSUMRT += emgLPRT; //SUM all rest values RT |
paulineoonk | 10:518a8617c86e | 221 | } |
paulineoonk | 10:518a8617c86e | 222 | if(Timescalibration==1999) |
paulineoonk | 10:518a8617c86e | 223 | { |
charloverwijk | 17:dbdbd1edc260 | 224 | led = 0; |
paulineoonk | 10:518a8617c86e | 225 | RESTMEANLB = emgSUMLB/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 226 | RESTMEANRB = emgSUMRB/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 227 | RESTMEANRT = emgSUMRT/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 228 | RESTMEANLT = emgSUMLT/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 229 | } |
Gerber | 26:bfb1ae203c11 | 230 | if(Timescalibration>2000 && Timescalibration<3000) |
paulineoonk | 10:518a8617c86e | 231 | { |
Gerber | 30:b76c27e4730c | 232 | pc.printf("maximum left biceps, 6 seconds \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 233 | led = 1; |
Gerber | 27:2d9f172c66ad | 234 | emgNotchLB = NFLB.step(emgLB.read() ); |
Gerber | 27:2d9f172c66ad | 235 | emgHPLB = HPFLB.step(emgNotchLB); |
Gerber | 27:2d9f172c66ad | 236 | emgAbsHPLB = abs(emgHPLB); |
Gerber | 27:2d9f172c66ad | 237 | emgLPLB = LPFLB.step(emgAbsHPLB); |
Gerber | 27:2d9f172c66ad | 238 | double emgfinalLB = emgLPLB; |
Gerber | 27:2d9f172c66ad | 239 | if (emgfinalLB > MVCLB) |
Gerber | 27:2d9f172c66ad | 240 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 241 | MVCLB = emgfinalLB; |
Gerber | 27:2d9f172c66ad | 242 | } |
paulineoonk | 9:285499f48cdd | 243 | } |
paulineoonk | 9:285499f48cdd | 244 | |
Gerber | 26:bfb1ae203c11 | 245 | if(Timescalibration>3000 && Timescalibration<4000) |
paulineoonk | 9:285499f48cdd | 246 | { |
Gerber | 30:b76c27e4730c | 247 | pc.printf(" maximum right biceps, 6 seconds \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 248 | led = 0; |
Gerber | 27:2d9f172c66ad | 249 | emgNotchRB = NFRB.step(emgRB.read()); |
Gerber | 27:2d9f172c66ad | 250 | emgHPRB = HPFRB.step(emgNotchRB); |
Gerber | 27:2d9f172c66ad | 251 | emgAbsHPRB = abs(emgHPRB); |
Gerber | 27:2d9f172c66ad | 252 | emgLPRB = LPFRB.step(emgAbsHPRB); |
Gerber | 27:2d9f172c66ad | 253 | double emgfinalRB = emgLPRB; |
Gerber | 27:2d9f172c66ad | 254 | if (emgfinalRB > MVCRB) |
Gerber | 27:2d9f172c66ad | 255 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 256 | MVCRB = emgfinalRB; |
Gerber | 27:2d9f172c66ad | 257 | } |
paulineoonk | 9:285499f48cdd | 258 | } |
paulineoonk | 9:285499f48cdd | 259 | |
Gerber | 26:bfb1ae203c11 | 260 | if(Timescalibration>4000 && Timescalibration<5000) |
paulineoonk | 9:285499f48cdd | 261 | { |
Gerber | 30:b76c27e4730c | 262 | pc.printf("maximum left triceps, 6 seconds \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 263 | led = 1; |
Gerber | 27:2d9f172c66ad | 264 | emgNotchLT = NFLT.step(emgLT.read() ); |
Gerber | 27:2d9f172c66ad | 265 | emgHPLT = HPFLT.step(emgNotchLT); |
Gerber | 27:2d9f172c66ad | 266 | emgAbsHPLT = abs(emgHPLT); |
Gerber | 27:2d9f172c66ad | 267 | emgLPLT = LPFLT.step(emgAbsHPLT); |
Gerber | 27:2d9f172c66ad | 268 | double emgfinalLT = emgLPLT; |
Gerber | 27:2d9f172c66ad | 269 | if (emgfinalLT > MVCLT) |
Gerber | 27:2d9f172c66ad | 270 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 271 | MVCLT = emgfinalLT; |
Gerber | 27:2d9f172c66ad | 272 | } |
paulineoonk | 9:285499f48cdd | 273 | } |
paulineoonk | 9:285499f48cdd | 274 | |
Gerber | 26:bfb1ae203c11 | 275 | if(Timescalibration>5000 && Timescalibration<6000) |
paulineoonk | 9:285499f48cdd | 276 | { |
Gerber | 30:b76c27e4730c | 277 | pc.printf("maximum right triceps, 6 seconds \r\n"); |
Gerber | 27:2d9f172c66ad | 278 | emgNotchRT = NFRT.step(emgRT.read() ); |
Gerber | 27:2d9f172c66ad | 279 | emgHPRT = HPFRT.step(emgNotchRT); |
Gerber | 27:2d9f172c66ad | 280 | emgAbsHPRT = abs(emgHPRT); |
Gerber | 27:2d9f172c66ad | 281 | emgLPRT = LPFRT.step(emgAbsHPRT); |
Gerber | 27:2d9f172c66ad | 282 | double emgfinalRT = emgLPRT; |
Gerber | 27:2d9f172c66ad | 283 | if (emgfinalRT > MVCRT) |
Gerber | 27:2d9f172c66ad | 284 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 285 | MVCRT = emgfinalRT; |
Gerber | 27:2d9f172c66ad | 286 | } |
paulineoonk | 9:285499f48cdd | 287 | } |
paulineoonk | 9:285499f48cdd | 288 | |
Gerber | 26:bfb1ae203c11 | 289 | if(Timescalibration>6000) |
paulineoonk | 7:05c71a859d27 | 290 | { |
Gerber | 28:19cccdd68b5b | 291 | pc.printf("calibration finished"); |
Gerber | 20:14edaecd7413 | 292 | State = SelectDevice; |
paulineoonk | 7:05c71a859d27 | 293 | } |
paulineoonk | 7:05c71a859d27 | 294 | } |
paulineoonk | 16:2f89d6e25782 | 295 | |
Gerber | 18:1e4f697a92cb | 296 | void RKI() |
Gerber | 18:1e4f697a92cb | 297 | { |
Gerber | 18:1e4f697a92cb | 298 | Rex = cos(q1)*L1 - sin(q2)*L2; |
Gerber | 18:1e4f697a92cb | 299 | Rey = sin(q1)*L1 + cos(q2)*L2; |
Gerber | 18:1e4f697a92cb | 300 | R2x = cos(q1)*L1; |
Gerber | 18:1e4f697a92cb | 301 | R2y = sin(q1)*L1; |
Gerber | 18:1e4f697a92cb | 302 | Fx = (Rsx-Rex)*K; |
Gerber | 18:1e4f697a92cb | 303 | Fy = (Rsy-Rey)*K; |
Gerber | 18:1e4f697a92cb | 304 | Tor1 = (Rex-R1x)*Fy + (R1y-Rey)*Fx; |
Gerber | 18:1e4f697a92cb | 305 | Tor2 = (Rex-R2x)*Fy + (R2y-Rey)*Fx; |
Gerber | 18:1e4f697a92cb | 306 | w1 = Tor1/B1; |
Gerber | 18:1e4f697a92cb | 307 | w2 = Tor2/B2; |
Gerber | 18:1e4f697a92cb | 308 | q1 = q1 + w1*Tijd; |
Gerber | 18:1e4f697a92cb | 309 | q2 = q2 + w2*Tijd; |
Gerber | 18:1e4f697a92cb | 310 | |
Gerber | 31:a636a8f590a6 | 311 | refP = (((0.5*pi) - q1)/(2*pi)); |
Gerber | 31:a636a8f590a6 | 312 | refP2 = (( q1 + q2)/(2*pi)); //Get reference positions |
Gerber | 18:1e4f697a92cb | 313 | } |
Gerber | 18:1e4f697a92cb | 314 | |
Gerber | 32:30a36362f23d | 315 | void SetpointRobot() // Get position from Potmeters |
Gerber | 18:1e4f697a92cb | 316 | { |
Gerber | 18:1e4f697a92cb | 317 | double Potmeterwaarde2 = potMeter2.read(); |
Gerber | 18:1e4f697a92cb | 318 | double Potmeterwaarde1 = potMeter1.read(); |
Gerber | 18:1e4f697a92cb | 319 | |
Gerber | 18:1e4f697a92cb | 320 | if (Potmeterwaarde2>0.6) { |
Gerber | 28:19cccdd68b5b | 321 | Rsx += 0.001; //increases 1 mm when potmetervalue above 0.6 |
Gerber | 18:1e4f697a92cb | 322 | } |
Gerber | 18:1e4f697a92cb | 323 | else if (Potmeterwaarde2<0.4) { |
Gerber | 28:19cccdd68b5b | 324 | Rsx -= 0.001; //decreases 1 mm when potmetervalue below 0.4 |
Gerber | 18:1e4f697a92cb | 325 | } |
Gerber | 28:19cccdd68b5b | 326 | else { //x value of setpoint doesn't change |
Gerber | 27:2d9f172c66ad | 327 | } |
Gerber | 18:1e4f697a92cb | 328 | |
Gerber | 28:19cccdd68b5b | 329 | if (Potmeterwaarde1>0.6) { //increases 1 mm when potmetervalue above 0.6 |
Gerber | 18:1e4f697a92cb | 330 | Rsy += 0.001; |
Gerber | 18:1e4f697a92cb | 331 | } |
Gerber | 28:19cccdd68b5b | 332 | else if (Potmeterwaarde1<0.4) { //decreases 1 mm when potmetervalue below 0.4 |
Gerber | 18:1e4f697a92cb | 333 | Rsy -= 0.001; |
Gerber | 18:1e4f697a92cb | 334 | } |
Gerber | 28:19cccdd68b5b | 335 | else { //y value of setpoint doesn't change |
Gerber | 27:2d9f172c66ad | 336 | } |
Gerber | 18:1e4f697a92cb | 337 | } |
Gerber | 29:69cc48b3feaa | 338 | |
Gerber | 32:30a36362f23d | 339 | void changePosition () // Get position from EMG signals |
Gerber | 29:69cc48b3feaa | 340 | { |
Gerber | 29:69cc48b3feaa | 341 | if (RBF>0.5) { |
Gerber | 32:30a36362f23d | 342 | Rsx +=0.001; // increases 1 mm |
Gerber | 29:69cc48b3feaa | 343 | } |
Gerber | 29:69cc48b3feaa | 344 | else {} |
Gerber | 29:69cc48b3feaa | 345 | if (RTF>0.5) { |
Gerber | 29:69cc48b3feaa | 346 | Rsx -=0.001; |
Gerber | 29:69cc48b3feaa | 347 | } |
Gerber | 29:69cc48b3feaa | 348 | else {} |
Gerber | 29:69cc48b3feaa | 349 | if (LBF>0.5) { |
Gerber | 29:69cc48b3feaa | 350 | Rsy +=0.001; |
Gerber | 29:69cc48b3feaa | 351 | } |
Gerber | 29:69cc48b3feaa | 352 | else {} |
Gerber | 29:69cc48b3feaa | 353 | if (LTF>0.5) { |
Gerber | 29:69cc48b3feaa | 354 | Rsy -=0.001; |
Gerber | 29:69cc48b3feaa | 355 | } |
Gerber | 29:69cc48b3feaa | 356 | else {} |
Gerber | 29:69cc48b3feaa | 357 | } |
Gerber | 29:69cc48b3feaa | 358 | |
Gerber | 32:30a36362f23d | 359 | double FeedBackControl(double error, double &e_prev, double &e_int) // PID controller motor 1 |
Gerber | 33:4e5aca9f73e6 | 360 | // The values are not correctly tuned. |
paulineoonk | 16:2f89d6e25782 | 361 | { |
Gerber | 33:4e5aca9f73e6 | 362 | double kp = 3.36; // kind of scaled. |
Gerber | 32:30a36362f23d | 363 | double Proportional= kp*error; |
paulineoonk | 16:2f89d6e25782 | 364 | |
Gerber | 33:4e5aca9f73e6 | 365 | double kd = 3.36; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 366 | double VelocityError = (error - e_prev)/Ts; |
Gerber | 19:591572f4e4b5 | 367 | double Derivative = kd*VelocityError; |
paulineoonk | 16:2f89d6e25782 | 368 | e_prev = error; |
paulineoonk | 16:2f89d6e25782 | 369 | |
Gerber | 33:4e5aca9f73e6 | 370 | double ki = 4.2; // kind of scaled. |
paulineoonk | 16:2f89d6e25782 | 371 | e_int = e_int+Ts*error; |
Gerber | 19:591572f4e4b5 | 372 | double Integrator = ki*e_int; |
paulineoonk | 16:2f89d6e25782 | 373 | |
Gerber | 31:a636a8f590a6 | 374 | double motorValue = (Proportional + Integrator + Derivative)/4200; |
paulineoonk | 16:2f89d6e25782 | 375 | return motorValue; |
paulineoonk | 16:2f89d6e25782 | 376 | } |
paulineoonk | 16:2f89d6e25782 | 377 | |
Gerber | 32:30a36362f23d | 378 | double FeedBackControl2(double error2, double &e_prev2, double &e_int2) // PID controller motor 2 |
Gerber | 33:4e5aca9f73e6 | 379 | // The values are not correctly tuned. |
paulineoonk | 16:2f89d6e25782 | 380 | { |
Gerber | 33:4e5aca9f73e6 | 381 | double kp2 = 3.36 // kind of scaled. |
Gerber | 19:591572f4e4b5 | 382 | double Proportional2= kp2*error2; |
paulineoonk | 16:2f89d6e25782 | 383 | |
Gerber | 33:4e5aca9f73e6 | 384 | double kd2 = 3.36; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 385 | double VelocityError2 = (error2 - e_prev2)/Ts; |
Gerber | 19:591572f4e4b5 | 386 | double Derivative2 = kd2*VelocityError2; |
paulineoonk | 16:2f89d6e25782 | 387 | e_prev2 = error2; |
paulineoonk | 16:2f89d6e25782 | 388 | |
Gerber | 33:4e5aca9f73e6 | 389 | double ki2 = 2.1; // kind of scaled. |
paulineoonk | 16:2f89d6e25782 | 390 | e_int2 = e_int2+Ts*error2; |
Gerber | 19:591572f4e4b5 | 391 | double Integrator2 = ki2*e_int2; |
Gerber | 18:1e4f697a92cb | 392 | |
Gerber | 19:591572f4e4b5 | 393 | double motorValue2 = Proportional2 + Integrator2 + Derivative2; |
paulineoonk | 16:2f89d6e25782 | 394 | return motorValue2; |
paulineoonk | 16:2f89d6e25782 | 395 | } |
paulineoonk | 16:2f89d6e25782 | 396 | |
paulineoonk | 16:2f89d6e25782 | 397 | void SetMotor1(double motorValue) |
paulineoonk | 16:2f89d6e25782 | 398 | { |
paulineoonk | 16:2f89d6e25782 | 399 | if (motorValue >= 0) { |
paulineoonk | 16:2f89d6e25782 | 400 | M1D = 0; |
paulineoonk | 16:2f89d6e25782 | 401 | } |
paulineoonk | 16:2f89d6e25782 | 402 | else { |
paulineoonk | 16:2f89d6e25782 | 403 | M1D = 1; |
paulineoonk | 16:2f89d6e25782 | 404 | } |
paulineoonk | 16:2f89d6e25782 | 405 | if (fabs(motorValue) > 1) { |
Gerber | 28:19cccdd68b5b | 406 | M1E = 1; //velocity downscaled to 8.4 rad/s (= maximum velocity, value = 1) |
paulineoonk | 16:2f89d6e25782 | 407 | } |
paulineoonk | 16:2f89d6e25782 | 408 | else { |
Gerber | 28:19cccdd68b5b | 409 | M1E = fabs(motorValue); //absolute velocity determined, motor is "off" at value of 0 |
paulineoonk | 16:2f89d6e25782 | 410 | } |
paulineoonk | 16:2f89d6e25782 | 411 | } |
paulineoonk | 16:2f89d6e25782 | 412 | |
paulineoonk | 16:2f89d6e25782 | 413 | void SetMotor2(double motorValue2) |
paulineoonk | 16:2f89d6e25782 | 414 | { |
paulineoonk | 16:2f89d6e25782 | 415 | if (motorValue2 >= 0) { |
Gerber | 18:1e4f697a92cb | 416 | M2D = 1; |
paulineoonk | 16:2f89d6e25782 | 417 | } |
paulineoonk | 16:2f89d6e25782 | 418 | else { |
Gerber | 18:1e4f697a92cb | 419 | M2D = 0; |
paulineoonk | 16:2f89d6e25782 | 420 | } |
paulineoonk | 16:2f89d6e25782 | 421 | if (fabs(motorValue2) > 1) { |
Gerber | 28:19cccdd68b5b | 422 | M2E = 1; //velocity downscaled to 8.4 rad/s (= maximum velocity, value = 1) |
paulineoonk | 16:2f89d6e25782 | 423 | } |
paulineoonk | 16:2f89d6e25782 | 424 | else { |
Gerber | 28:19cccdd68b5b | 425 | M2E = fabs(motorValue2); //absolute velocity determined, motor is "off" at value of 0 |
paulineoonk | 16:2f89d6e25782 | 426 | } |
paulineoonk | 16:2f89d6e25782 | 427 | } |
paulineoonk | 16:2f89d6e25782 | 428 | |
paulineoonk | 16:2f89d6e25782 | 429 | void MeasureAndControl(void) |
paulineoonk | 16:2f89d6e25782 | 430 | { |
Gerber | 18:1e4f697a92cb | 431 | RKI(); |
Gerber | 27:2d9f172c66ad | 432 | // control of 1st motor |
Gerber | 31:a636a8f590a6 | 433 | double Huidigepositie = motor1.getPosition()/4200; |
paulineoonk | 16:2f89d6e25782 | 434 | double error = (refP - Huidigepositie);// make an error |
paulineoonk | 16:2f89d6e25782 | 435 | double motorValue = FeedBackControl(error, e_prev, e_int); |
paulineoonk | 16:2f89d6e25782 | 436 | SetMotor1(motorValue); |
Gerber | 27:2d9f172c66ad | 437 | // control of 2nd motor |
Gerber | 31:a636a8f590a6 | 438 | double Huidigepositie2 = motor2.getPosition()/4200; |
paulineoonk | 16:2f89d6e25782 | 439 | double error2 = (refP2 - Huidigepositie2);// make an error |
paulineoonk | 16:2f89d6e25782 | 440 | double motorValue2 = FeedBackControl2(error2, e_prev2, e_int2); |
paulineoonk | 16:2f89d6e25782 | 441 | SetMotor2(motorValue2); |
paulineoonk | 16:2f89d6e25782 | 442 | } |
paulineoonk | 7:05c71a859d27 | 443 | |
paulineoonk | 14:a861ba49107c | 444 | void Loop_funtion() |
paulineoonk | 14:a861ba49107c | 445 | { |
Gerber | 20:14edaecd7413 | 446 | pc.printf("state machine begint \r\n"); |
Gerber | 27:2d9f172c66ad | 447 | switch(State) |
Gerber | 27:2d9f172c66ad | 448 | { |
paulineoonk | 14:a861ba49107c | 449 | case CalEMG: // Calibration EMG |
paulineoonk | 15:1cfe58aea10d | 450 | CalibrationEMG(); //calculates average EMGFiltered at rest and measures max signal EMGFiltered. |
paulineoonk | 14:a861ba49107c | 451 | break; |
Gerber | 32:30a36362f23d | 452 | case SelectDevice: //Looks at the difference between current position and home. Select aansturen EMG or buttons |
Gerber | 24:847321a23e60 | 453 | State = EMG; |
Gerber | 27:2d9f172c66ad | 454 | if (button==1) { |
paulineoonk | 15:1cfe58aea10d | 455 | State=EMG; |
paulineoonk | 14:a861ba49107c | 456 | } |
Gerber | 32:30a36362f23d | 457 | else { // button==0 |
Gerber | 26:bfb1ae203c11 | 458 | State=Demonstration; |
Gerber | 27:2d9f172c66ad | 459 | } |
paulineoonk | 14:a861ba49107c | 460 | break; |
Gerber | 27:2d9f172c66ad | 461 | case EMG: //Control by EMG |
paulineoonk | 14:a861ba49107c | 462 | Filteren(); |
paulineoonk | 14:a861ba49107c | 463 | changePosition(); |
paulineoonk | 16:2f89d6e25782 | 464 | MeasureAndControl(); |
Gerber | 31:a636a8f590a6 | 465 | if (button==0) { |
Gerber | 31:a636a8f590a6 | 466 | State=Rest; |
Gerber | 31:a636a8f590a6 | 467 | } |
Gerber | 31:a636a8f590a6 | 468 | else {} |
paulineoonk | 14:a861ba49107c | 469 | break; |
Gerber | 27:2d9f172c66ad | 470 | case Rest: // When it is not your turn, the robot shouldn't react on muscle contractions. |
Gerber | 32:30a36362f23d | 471 | refP=refP; |
Gerber | 32:30a36362f23d | 472 | refP2=refP2; |
Gerber | 32:30a36362f23d | 473 | double Huidigepositie = motor1.getPosition()/4200; |
Gerber | 32:30a36362f23d | 474 | double error = (refP - Huidigepositie);// make an error |
Gerber | 32:30a36362f23d | 475 | double motorValue = FeedBackControl(error, e_prev, e_int); |
Gerber | 32:30a36362f23d | 476 | SetMotor1(motorValue); |
Gerber | 32:30a36362f23d | 477 | // control of 2nd motor |
Gerber | 32:30a36362f23d | 478 | double Huidigepositie2 = motor2.getPosition()/4200; |
Gerber | 32:30a36362f23d | 479 | double error2 = (refP2 - Huidigepositie2);// make an error |
Gerber | 32:30a36362f23d | 480 | double motorValue2 = FeedBackControl2(error2, e_prev2, e_int2); |
Gerber | 32:30a36362f23d | 481 | SetMotor2(motorValue2); |
Gerber | 32:30a36362f23d | 482 | |
Gerber | 31:a636a8f590a6 | 483 | if ( button==1) { |
Gerber | 31:a636a8f590a6 | 484 | State=EMG; |
Gerber | 31:a636a8f590a6 | 485 | } |
Gerber | 31:a636a8f590a6 | 486 | else {} |
Gerber | 31:a636a8f590a6 | 487 | break; |
Gerber | 32:30a36362f23d | 488 | case Demonstration: // Control with Potmeters |
Gerber | 28:19cccdd68b5b | 489 | SetpointRobot(); |
Gerber | 28:19cccdd68b5b | 490 | MeasureAndControl(); |
paulineoonk | 14:a861ba49107c | 491 | break; |
paulineoonk | 15:1cfe58aea10d | 492 | } |
paulineoonk | 14:a861ba49107c | 493 | } |
Miriam | 0:d5fb29bc0847 | 494 | |
Gerber | 31:a636a8f590a6 | 495 | int main() |
Miriam | 0:d5fb29bc0847 | 496 | { |
Gerber | 32:30a36362f23d | 497 | //for filtering EMG |
Gerber | 31:a636a8f590a6 | 498 | //Left Biceps |
paulineoonk | 9:285499f48cdd | 499 | NFLB.add( &N1LB ); |
paulineoonk | 10:518a8617c86e | 500 | HPFLB.add( &HP1LB ).add( &HP2LB ); |
paulineoonk | 9:285499f48cdd | 501 | LPFLB.add( &LP1LB ).add( &LP2LB ); |
paulineoonk | 9:285499f48cdd | 502 | |
Gerber | 31:a636a8f590a6 | 503 | //Right Biceps |
paulineoonk | 10:518a8617c86e | 504 | NFRB.add( &N1RB ); |
paulineoonk | 10:518a8617c86e | 505 | HPFRB.add( &HP1RB ).add( &HP2RB ); |
paulineoonk | 10:518a8617c86e | 506 | LPFRB.add( &LP1RB ).add( &LP2RB ); |
paulineoonk | 9:285499f48cdd | 507 | |
Gerber | 31:a636a8f590a6 | 508 | //Left Triceps |
paulineoonk | 10:518a8617c86e | 509 | NFLT.add( &N1LT ); |
paulineoonk | 10:518a8617c86e | 510 | HPFLT.add( &HP1LT ).add( &HP2LT ); |
paulineoonk | 10:518a8617c86e | 511 | LPFLT.add( &LP1LT ).add( &LP2LT ); |
paulineoonk | 10:518a8617c86e | 512 | |
Gerber | 31:a636a8f590a6 | 513 | //Right Triceps |
paulineoonk | 10:518a8617c86e | 514 | NFRT.add( &N1RT ); |
paulineoonk | 10:518a8617c86e | 515 | HPFRT.add( &HP1RT ).add( &HP2RT ); |
paulineoonk | 10:518a8617c86e | 516 | LPFRT.add( &LP1RT ).add( &LP2RT ); |
paulineoonk | 3:36e706d6b3d2 | 517 | |
Gerber | 31:a636a8f590a6 | 518 | // serial |
paulineoonk | 7:05c71a859d27 | 519 | pc.baud(115200); |
paulineoonk | 7:05c71a859d27 | 520 | |
paulineoonk | 7:05c71a859d27 | 521 | //motor |
Gerber | 31:a636a8f590a6 | 522 | M1E.period(PwmPeriod); //set PWMposition at 5000hz |
Gerber | 31:a636a8f590a6 | 523 | |
paulineoonk | 14:a861ba49107c | 524 | //State Machine |
Gerber | 24:847321a23e60 | 525 | State = CalEMG; |
Gerber | 20:14edaecd7413 | 526 | Treecko.attach(&Loop_funtion, Ts); |
paulineoonk | 3:36e706d6b3d2 | 527 | while(true) |
Gerber | 31:a636a8f590a6 | 528 | {} |
Gerber | 31:a636a8f590a6 | 529 | |
Gerber | 34:87b96cc11c97 | 530 | } |