Gerhard Berman / Mbed 2 deprecated EMG_prog_forwardkin_feedback

EMG added to main IK program. No errors, not yet tested

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of prog_forwardkin_feedback_copy3 by Gerhard Berman

main.cpp@22:c679f753a8bd, 2016-10-26 (annotated)

Committer:
GerhardBerman
Date:
Wed Oct 26 09:03:39 2016 +0000
Revision:
22:c679f753a8bd
Parent:
21:dd51d78c0732
Child:
23:3a4d5e19c20d
Original version ReferencePosition. y=0 is at motor axis height, table surface is at y=-TowerHeight

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GerhardBerman 0:43160ef59f9f 1 #include "mbed.h"
GerhardBerman 0:43160ef59f9f 2 #include <math.h>
GerhardBerman 0:43160ef59f9f 3 #include "MODSERIAL.h"
GerhardBerman 0:43160ef59f9f 4 #include "QEI.h"
GerhardBerman 0:43160ef59f9f 5 #include "HIDScope.h"
GerhardBerman 0:43160ef59f9f 6 #include "BiQuad.h"
GerhardBerman 0:43160ef59f9f 7
GerhardBerman 17:91d20d362e72 8 /*
GerhardBerman 17:91d20d362e72 9 THINGS TO CONSIDER
GerhardBerman 17:91d20d362e72 10 - Line 234, 239: motor action of motor 1 is inverted because it is mounted
GerhardBerman 17:91d20d362e72 11 opposite to motor 2 in the tower. Check if the clockwise directions of the
GerhardBerman 17:91d20d362e72 12 motors correspond to the positive q1, q2-directions (both counterclockwise)
GerhardBerman 17:91d20d362e72 13 in the original IK-sketch.
GerhardBerman 17:91d20d362e72 14 - Line 244,257: motor values have been scaled down for safety at first test, restore
GerhardBerman 17:91d20d362e72 15 after testing to get proper action.
GerhardBerman 19:cba54636bd62 16 - Set angle and length boundaries!!
GerhardBerman 17:91d20d362e72 17 - Set robot constants (lengths etc.)
GerhardBerman 18:d2cfd07ae88a 18 - Set EMGgain and thresholds
GerhardBerman 19:cba54636bd62 19 - Add tower height to ReferencePosition_y and Position_y
GerhardBerman 22:c679f753a8bd 20 - Add (lower) boundaries to TotalErrors
GerhardBerman 22:c679f753a8bd 21 - MotorGain could change due to arm weight!!
GerhardBerman 22:c679f753a8bd 22 - Arms should be placed manually into reference position.
GerhardBerman 17:91d20d362e72 23 */
GerhardBerman 17:91d20d362e72 24
GerhardBerman 0:43160ef59f9f 25 //set pins
GerhardBerman 0:43160ef59f9f 26 DigitalIn encoder1A (D13); //Channel A van Encoder 1
GerhardBerman 0:43160ef59f9f 27 DigitalIn encoder1B (D12); //Channel B van Encoder 1
GerhardBerman 14:725a608b6709 28 DigitalIn encoder2A (D11); //Channel A van Encoder 2, kan niet op D15
GerhardBerman 14:725a608b6709 29 DigitalIn encoder2B (D10); //Channel B van Encoder 2, kan niet op D14
GerhardBerman 14:725a608b6709 30 //DigitalOut led1 (D11);
GerhardBerman 14:725a608b6709 31 //DigitalOut led2 (D10);
GerhardBerman 19:cba54636bd62 32 //AnalogIn potMeter1(A2);
GerhardBerman 19:cba54636bd62 33 //AnalogIn potMeter2(A1);
GerhardBerman 0:43160ef59f9f 34 DigitalOut motor1DirectionPin(D7);
GerhardBerman 0:43160ef59f9f 35 PwmOut motor1MagnitudePin(D6);
GerhardBerman 7:2f74dfd1d411 36 DigitalOut motor2DirectionPin(D4);
GerhardBerman 7:2f74dfd1d411 37 PwmOut motor2MagnitudePin(D5);
GerhardBerman 9:e4c34f5665a0 38 DigitalIn button1(D3);
GerhardBerman 7:2f74dfd1d411 39 DigitalIn button2(D9);
GerhardBerman 0:43160ef59f9f 40
GerhardBerman 7:2f74dfd1d411 41 //library settings
GerhardBerman 0:43160ef59f9f 42 Serial pc(USBTX,USBRX);
GerhardBerman 3:8caef4872b0c 43 Ticker MeasureTicker, BiQuadTicker; //, TimeTracker; // sampleT;
GerhardBerman 12:05e5964b69a4 44 //HIDScope scope(4);
GerhardBerman 0:43160ef59f9f 45
GerhardBerman 18:d2cfd07ae88a 46 //set constant or variable values
GerhardBerman 18:d2cfd07ae88a 47 float EMGgain = 1.0;
GerhardBerman 7:2f74dfd1d411 48 double DerivativeCounts;
GerhardBerman 7:2f74dfd1d411 49 float x0 = 1.0;
GerhardBerman 7:2f74dfd1d411 50 float L0 = 1.0;
GerhardBerman 7:2f74dfd1d411 51 float L1 = 1.0;
GerhardBerman 18:d2cfd07ae88a 52 float L2 = 1.0;
GerhardBerman 7:2f74dfd1d411 53 float dx;
GerhardBerman 7:2f74dfd1d411 54 float dy;
GerhardBerman 19:cba54636bd62 55 float dy_stampdown = 2.0; //0.05; //5 cm movement downward to stamp
11i 21:dd51d78c0732 56 float MotorGain = 8.4; // rad/s for PWM, is max motor speed (motor value of 1)
GerhardBerman 4:19e376d31380 57 float t_sample = 0.01; //seconds
GerhardBerman 19:cba54636bd62 58 //float referenceVelocity = 0;
GerhardBerman 19:cba54636bd62 59 //float bqcDerivativeCounts = 0;
GerhardBerman 3:8caef4872b0c 60 const float PI = 3.141592653589793;
GerhardBerman 3:8caef4872b0c 61 const int cw = 0; //values for cw and ccw are inverted!! cw=0 and ccw=1
GerhardBerman 3:8caef4872b0c 62 const int ccw = 1;
GerhardBerman 19:cba54636bd62 63 const float maxStampDistance = 1.5;
GerhardBerman 0:43160ef59f9f 64
GerhardBerman 19:cba54636bd62 65 //set initial conditions
GerhardBerman 19:cba54636bd62 66 float biceps_l = 0;
GerhardBerman 19:cba54636bd62 67 float biceps_r = 0;
GerhardBerman 19:cba54636bd62 68
GerhardBerman 19:cba54636bd62 69 float ReferencePosition_x = L2;
GerhardBerman 19:cba54636bd62 70 float ReferencePosition_y = L1;
GerhardBerman 19:cba54636bd62 71 float ReferencePosition_xnew = 0;
GerhardBerman 19:cba54636bd62 72 float ReferencePosition_ynew = 0;
GerhardBerman 19:cba54636bd62 73 float Position_x = 0.0;
GerhardBerman 19:cba54636bd62 74 float Position_y = 0.0;
GerhardBerman 19:cba54636bd62 75 float q1 = 0;
GerhardBerman 19:cba54636bd62 76 float q2 = 0;
GerhardBerman 19:cba54636bd62 77 float q1_ref = 0;
GerhardBerman 19:cba54636bd62 78 float q2_ref = 0;
GerhardBerman 19:cba54636bd62 79 float q1start = 0;
GerhardBerman 19:cba54636bd62 80 float q2start = PI/2;
GerhardBerman 19:cba54636bd62 81
GerhardBerman 19:cba54636bd62 82 float q1_refOutNew = 0;
GerhardBerman 19:cba54636bd62 83 float q1_refOutMin = 0; //WRONG values
GerhardBerman 19:cba54636bd62 84 float q1_refOutMax = PI; //WRONG values
GerhardBerman 19:cba54636bd62 85 float q2_refOutNew = 0;
GerhardBerman 19:cba54636bd62 86 float q2_refOutMin = 0; //WRONG values
GerhardBerman 19:cba54636bd62 87 float q2_refOutMax = PI; //WRONG values
GerhardBerman 19:cba54636bd62 88
GerhardBerman 19:cba54636bd62 89 float q1_error_prev = 0;
GerhardBerman 19:cba54636bd62 90 float q2_error_prev = 0;
GerhardBerman 19:cba54636bd62 91 float q1IntError = 0;
GerhardBerman 19:cba54636bd62 92 float q2IntError = 0;
11i 21:dd51d78c0732 93 float TotalError1= 0;
11i 21:dd51d78c0732 94 float TotalError2= 0;
11i 21:dd51d78c0732 95 float TotalErrorMin= 0;
GerhardBerman 19:cba54636bd62 96
GerhardBerman 19:cba54636bd62 97 float motorValue1 = 0.0;
GerhardBerman 19:cba54636bd62 98 float motorValue2 = 0.0;
GerhardBerman 19:cba54636bd62 99 int counts1 = 0;
GerhardBerman 19:cba54636bd62 100 int counts2 = 0;
GerhardBerman 19:cba54636bd62 101 int counts1Prev = 0;
GerhardBerman 19:cba54636bd62 102 int counts2Prev = 0;
GerhardBerman 19:cba54636bd62 103
GerhardBerman 0:43160ef59f9f 104 //set BiQuad
GerhardBerman 0:43160ef59f9f 105 BiQuadChain bqc;
GerhardBerman 0:43160ef59f9f 106 BiQuad bq1(0.0186, 0.0743, 0.1114, 0.0743, 0.0186); //get numbers from butter filter MATLAB
GerhardBerman 0:43160ef59f9f 107 BiQuad bq2(1.0000, -1.5704, 1.2756, -0.4844, 0.0762);
GerhardBerman 0:43160ef59f9f 108
GerhardBerman 0:43160ef59f9f 109 //set go-Ticker settings
GerhardBerman 3:8caef4872b0c 110 volatile bool MeasureTicker_go=false, BiQuadTicker_go=false, FeedbackTicker_go=false, TimeTracker_go=false; // sampleT_go=false;
GerhardBerman 3:8caef4872b0c 111 void MeasureTicker_act(){MeasureTicker_go=true;}; // Activates go-flags
GerhardBerman 3:8caef4872b0c 112 void BiQuadTicker_act(){BiQuadTicker_go=true;};
GerhardBerman 3:8caef4872b0c 113 void FeedbackTicker_act(){FeedbackTicker_go=true;};
GerhardBerman 3:8caef4872b0c 114 void TimeTracker_act(){TimeTracker_go=true;};
GerhardBerman 3:8caef4872b0c 115 //void sampleT_act(){sampleT_go=true;};
GerhardBerman 3:8caef4872b0c 116
GerhardBerman 3:8caef4872b0c 117 //define encoder counts and degrees
GerhardBerman 7:2f74dfd1d411 118 QEI Encoder1(D12, D13, NC, 32); // turns on encoder
GerhardBerman 15:9061cf7db23e 119 QEI Encoder2(D10, D11, NC, 32); // turns on encoder
GerhardBerman 14:725a608b6709 120
GerhardBerman 4:19e376d31380 121 const int counts_per_revolution = 4200; //counts per motor axis revolution
GerhardBerman 4:19e376d31380 122 const int inverse_gear_ratio = 131;
GerhardBerman 4:19e376d31380 123 const float resolution = counts_per_revolution/(2*PI/inverse_gear_ratio); //87567.0496892 counts per radian, encoder axis
GerhardBerman 3:8caef4872b0c 124
GerhardBerman 19:cba54636bd62 125 void GetReferenceKinematics1(float &q1Out, float &q2Out, float &q1_refOut, float &q2_refOut){
GerhardBerman 7:2f74dfd1d411 126
GerhardBerman 19:cba54636bd62 127 //get joint positions q feedback from encoder
GerhardBerman 19:cba54636bd62 128 float Encoder1Position = counts1/resolution; //angular position in radians, encoder axis
GerhardBerman 9:e4c34f5665a0 129 float Encoder2Position = counts2/resolution;
GerhardBerman 19:cba54636bd62 130
GerhardBerman 19:cba54636bd62 131 q1Out = q1start + Encoder1Position*inverse_gear_ratio; //angular position in radians, motor axis
GerhardBerman 19:cba54636bd62 132 q2Out = q2start + Encoder2Position*inverse_gear_ratio;
GerhardBerman 7:2f74dfd1d411 133
GerhardBerman 19:cba54636bd62 134 /*
GerhardBerman 19:cba54636bd62 135 //get end effector position feedback with Brockett
GerhardBerman 18:d2cfd07ae88a 136 float Position_x = ((L2 + x0)*(cos(q1)*cos(q2) - sin(q1)*sin(q2)) - L0*sin(q1) + (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1) - cos(q1)*(L1*sin(q1) + L1*cos(q1)*sin(q2) - L1*cos(q2)*sin(q1)) - sin(q1)*(L1*cos(q1)*cos(q2) - L1*cos(q1) + L1*sin(q1)*sin(q2))); //calculate end effector x-position from motor angles with Brockett, rx
GerhardBerman 18:d2cfd07ae88a 137 float Position_y = (L0 - (L2 + x0)*(cos(q1)*sin(q2) + cos(q2)*sin(q1)) - L0*cos(q1) - cos(q1)*(L1*cos(q1)*cos(q2) - L1*cos(q1) + L1*sin(q1)*sin(q2)) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1) + sin(q1)*(L1*sin(q1) + L1*cos(q1)*sin(q2) - L1*cos(q2)*sin(q1))); //calculate end effector y-position from motor angles with Brockett, ry
GerhardBerman 19:cba54636bd62 138 */
GerhardBerman 19:cba54636bd62 139 //get end effector position feedback with trigonometry
GerhardBerman 19:cba54636bd62 140 Position_x = (L1*sin(q1) + L2*sin(q1+q2));
GerhardBerman 19:cba54636bd62 141 Position_y = (L1*cos(q1) + L2*cos(q1+q2));
GerhardBerman 19:cba54636bd62 142 //float PositionVector = sqrt(pow(Position_x,2)+pow(Position_y,2));
GerhardBerman 9:e4c34f5665a0 143
GerhardBerman 7:2f74dfd1d411 144 //get velocity vector v = (Pe*- Pe) = [0; dx; dy] from EMG
GerhardBerman 19:cba54636bd62 145 biceps_l = !button1.read() * EMGgain; //emg0.read(); //velocity or reference position change, EMG with a gain
GerhardBerman 19:cba54636bd62 146 biceps_r = !button2.read() * EMGgain; //emg1.read();
GerhardBerman 18:d2cfd07ae88a 147 if (biceps_l > 0 && biceps_r > 0){
GerhardBerman 8:935abf8ecc27 148 //both arms activated: stamp moves down
GerhardBerman 15:9061cf7db23e 149 //led1 = 1;
GerhardBerman 15:9061cf7db23e 150 //led2 = 1;
GerhardBerman 19:cba54636bd62 151 ReferencePosition_xnew = ReferencePosition_x;
GerhardBerman 19:cba54636bd62 152 ReferencePosition_ynew = ReferencePosition_y - dy_stampdown; //into stamping vertical position ~the stamp down action
GerhardBerman 18:d2cfd07ae88a 153
GerhardBerman 18:d2cfd07ae88a 154 /*
GerhardBerman 18:d2cfd07ae88a 155 wait(1); //lift stamp after stamping
GerhardBerman 18:d2cfd07ae88a 156 ReferencePosition_y = ReferencePosition_y - dy_stampdown;
GerhardBerman 18:d2cfd07ae88a 157 PositionError_y = ReferencePosition_y - Position_y; //Position error in dx,dy
GerhardBerman 18:d2cfd07ae88a 158 dy = PositionError_y;
GerhardBerman 12:05e5964b69a4 159 q1_dotOut = dy*(((x0 + L1*cos(q1))*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)) - (x0*(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + L0*L0 + x0*x0 + 2*L0*L1*sin(q1) + 2*L1*x0*cos(q1) + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1))) - dx*(((L0 + L1*sin(q1))*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)) - (L0*(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + L0*L0 + x0*x0 + 2*L0*L1*sin(q1) + 2*L1*x0*cos(q1) + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)));
GerhardBerman 12:05e5964b69a4 160 q2_dotOut = dy*((x0*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(L1*L1*pow(cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*pow(L1,2)*x0*cos(q1)*sin(q1)) - ((x0 + L1*cos(q1))*(pow(L0,2) + pow(x0,2) + 1))/(pow(L1*cos(q1),2)) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*pow(L1,2)*x0*cos(q1)*sin(q1)) - dx*((L0*(L0*L0+L1*sin(q1)*L0+x0*x0+L1*cos(q1)*x0+1))/(pow(L1*cos(q1),2)+pow(L1*sin(q1),2)+pow(L1*x0*sin(q1),2)+pow(L0*L1*cos(q1),2)-2*L0*L1*L1*x0*cos(q1)*sin(q1))-((L0 + L1*sin(q1))*(L0*L0 + x0*x0 + 1))/(pow(L1*cos(q1),2)+pow(L1*sin(q1),2)+pow(L1*x0*sin(q1),2)+pow(L0*L1*cos(q1),2)-2*L0*L1*L1*x0*cos(q1)*sin(q1)));
GerhardBerman 18:d2cfd07ae88a 161 */
GerhardBerman 18:d2cfd07ae88a 162 }
GerhardBerman 18:d2cfd07ae88a 163 else if (biceps_l > 0 && biceps_r <= 0){
GerhardBerman 18:d2cfd07ae88a 164 //arm 1 activated, move left
GerhardBerman 18:d2cfd07ae88a 165 //led1 = 1;
GerhardBerman 18:d2cfd07ae88a 166 //led2 = 0;
GerhardBerman 19:cba54636bd62 167 ReferencePosition_xnew = ReferencePosition_x - 0.2; //biceps_l;
GerhardBerman 19:cba54636bd62 168 ReferencePosition_ynew = ReferencePosition_y;
GerhardBerman 12:05e5964b69a4 169 /*
GerhardBerman 18:d2cfd07ae88a 170 PositionError_x = ReferencePosition_x - Position_x; //Position error in dx,dy
GerhardBerman 18:d2cfd07ae88a 171 PositionError_y = ReferencePosition_y - Position_y; //Position error in dx,dy
GerhardBerman 18:d2cfd07ae88a 172
GerhardBerman 18:d2cfd07ae88a 173 dx = PositionError_x;
GerhardBerman 18:d2cfd07ae88a 174 dy = PositionError_y;
GerhardBerman 12:05e5964b69a4 175 q1_dotOut = dy*(((x0 + L1*cos(q1))*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)) - (x0*(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + L0*L0 + x0*x0 + 2*L0*L1*sin(q1) + 2*L1*x0*cos(q1) + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1))) - dx*(((L0 + L1*sin(q1))*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)) - (L0*(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + L0*L0 + x0*x0 + 2*L0*L1*sin(q1) + 2*L1*x0*cos(q1) + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)));
GerhardBerman 12:05e5964b69a4 176 q2_dotOut = dy*((x0*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(L1*L1*pow(cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*pow(L1,2)*x0*cos(q1)*sin(q1)) - ((x0 + L1*cos(q1))*(pow(L0,2) + pow(x0,2) + 1))/(pow(L1*cos(q1),2)) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*pow(L1,2)*x0*cos(q1)*sin(q1)) - dx*((L0*(L0*L0+L1*sin(q1)*L0+x0*x0+L1*cos(q1)*x0+1))/(pow(L1*cos(q1),2)+pow(L1*sin(q1),2)+pow(L1*x0*sin(q1),2)+pow(L0*L1*cos(q1),2)-2*L0*L1*L1*x0*cos(q1)*sin(q1))-((L0 + L1*sin(q1))*(L0*L0 + x0*x0 + 1))/(pow(L1*cos(q1),2)+pow(L1*sin(q1),2)+pow(L1*x0*sin(q1),2)+pow(L0*L1*cos(q1),2)-2*L0*L1*L1*x0*cos(q1)*sin(q1)));
GerhardBerman 12:05e5964b69a4 177 */
GerhardBerman 8:935abf8ecc27 178 }
GerhardBerman 18:d2cfd07ae88a 179 else if (biceps_l <= 0 && biceps_r > 0){
GerhardBerman 18:d2cfd07ae88a 180 //arm 1 activated, move right
GerhardBerman 18:d2cfd07ae88a 181 //led1 = 0;
GerhardBerman 18:d2cfd07ae88a 182 //led2 = 1;
GerhardBerman 19:cba54636bd62 183 ReferencePosition_xnew = ReferencePosition_x + 0.2; //biceps_r;
GerhardBerman 19:cba54636bd62 184 ReferencePosition_ynew = ReferencePosition_y;
GerhardBerman 18:d2cfd07ae88a 185 /*PositionError_x = ReferencePosition_x - Position_x; //Position error in dx,dy
GerhardBerman 18:d2cfd07ae88a 186 PositionError_y = ReferencePosition_y - Position_y; //Position error in dx,dy
GerhardBerman 18:d2cfd07ae88a 187
GerhardBerman 18:d2cfd07ae88a 188 dx = PositionError_x;
GerhardBerman 18:d2cfd07ae88a 189 dy = PositionError_y;
GerhardBerman 12:05e5964b69a4 190 q1_dotOut = dy*(((x0 + L1*cos(q1))*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)) - (x0*(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + L0*L0 + x0*x0 + 2*L0*L1*sin(q1) + 2*L1*x0*cos(q1) + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1))) - dx*(((L0 + L1*sin(q1))*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)) - (L0*(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + L0*L0 + x0*x0 + 2*L0*L1*sin(q1) + 2*L1*x0*cos(q1) + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)));
GerhardBerman 12:05e5964b69a4 191 q2_dotOut = dy*((x0*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(L1*L1*pow(cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*pow(L1,2)*x0*cos(q1)*sin(q1)) - ((x0 + L1*cos(q1))*(pow(L0,2) + pow(x0,2) + 1))/(pow(L1*cos(q1),2)) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*pow(L1,2)*x0*cos(q1)*sin(q1)) - dx*((L0*(L0*L0+L1*sin(q1)*L0+x0*x0+L1*cos(q1)*x0+1))/(pow(L1*cos(q1),2)+pow(L1*sin(q1),2)+pow(L1*x0*sin(q1),2)+pow(L0*L1*cos(q1),2)-2*L0*L1*L1*x0*cos(q1)*sin(q1))-((L0 + L1*sin(q1))*(L0*L0 + x0*x0 + 1))/(pow(L1*cos(q1),2)+pow(L1*sin(q1),2)+pow(L1*x0*sin(q1),2)+pow(L0*L1*cos(q1),2)-2*L0*L1*L1*x0*cos(q1)*sin(q1)));
GerhardBerman 18:d2cfd07ae88a 192 */
GerhardBerman 8:935abf8ecc27 193 }
GerhardBerman 8:935abf8ecc27 194 else{
GerhardBerman 15:9061cf7db23e 195 //led1 = 0;
GerhardBerman 15:9061cf7db23e 196 //led2 = 0;
GerhardBerman 19:cba54636bd62 197 ReferencePosition_xnew = ReferencePosition_x;
GerhardBerman 19:cba54636bd62 198 ReferencePosition_ynew = ReferencePosition_y;
GerhardBerman 19:cba54636bd62 199 }
GerhardBerman 19:cba54636bd62 200
GerhardBerman 19:cba54636bd62 201 float ReferenceVector = sqrt(pow(ReferencePosition_x,2)+pow(ReferencePosition_y,2));
GerhardBerman 19:cba54636bd62 202
GerhardBerman 19:cba54636bd62 203 //check position boundaries
GerhardBerman 19:cba54636bd62 204 if (ReferenceVector > maxStampDistance){
GerhardBerman 18:d2cfd07ae88a 205 ReferencePosition_x = ReferencePosition_x;
GerhardBerman 18:d2cfd07ae88a 206 ReferencePosition_y = ReferencePosition_y;
GerhardBerman 8:935abf8ecc27 207 }
GerhardBerman 19:cba54636bd62 208 else if (ReferencePosition_ynew < 0){
GerhardBerman 19:cba54636bd62 209 ReferencePosition_y = 0; //could also be little negative value to get more pressure on table
GerhardBerman 19:cba54636bd62 210 }
GerhardBerman 19:cba54636bd62 211 else {
GerhardBerman 19:cba54636bd62 212 ReferencePosition_x = ReferencePosition_xnew;
GerhardBerman 19:cba54636bd62 213 ReferencePosition_y = ReferencePosition_ynew;
11i 20:201175fa8a2a 214 }
GerhardBerman 19:cba54636bd62 215
GerhardBerman 19:cba54636bd62 216 //calculate reference joint angles for the new reference position
GerhardBerman 19:cba54636bd62 217 float alpha = atan(ReferencePosition_y/ReferencePosition_x);
GerhardBerman 19:cba54636bd62 218 float beta = acos((L2*L2-L1*L1-pow(ReferenceVector,2))/(-2*L1*ReferenceVector));
GerhardBerman 19:cba54636bd62 219 q1_refOutNew = PI/2 - (alpha+beta);
GerhardBerman 19:cba54636bd62 220 q2_refOutNew = PI - asin(ReferenceVector*sin(beta)/L2);
GerhardBerman 19:cba54636bd62 221
GerhardBerman 19:cba54636bd62 222 //check angle boundaries
GerhardBerman 19:cba54636bd62 223 if (q1_refOutNew > q1_refOutMin && q1_refOutMax < q1_refOutMax){
GerhardBerman 19:cba54636bd62 224 q1_refOut = q1_refOutNew;
GerhardBerman 19:cba54636bd62 225 }
GerhardBerman 19:cba54636bd62 226 else {
GerhardBerman 19:cba54636bd62 227 q1_refOut = q1_refOut;
GerhardBerman 19:cba54636bd62 228 }
GerhardBerman 19:cba54636bd62 229 if (q2_refOutNew > q2_refOutMin && q2_refOutMax < q2_refOutMax){
GerhardBerman 19:cba54636bd62 230 q2_refOut = q2_refOutNew;
GerhardBerman 19:cba54636bd62 231 }
GerhardBerman 19:cba54636bd62 232 else {
GerhardBerman 19:cba54636bd62 233 q2_refOut = q2_refOut;
GerhardBerman 19:cba54636bd62 234 }
GerhardBerman 18:d2cfd07ae88a 235
GerhardBerman 12:05e5964b69a4 236
GerhardBerman 7:2f74dfd1d411 237 //update joint angles
GerhardBerman 18:d2cfd07ae88a 238 //q1Out = q1Out + q1_dotOut; //in radians
GerhardBerman 18:d2cfd07ae88a 239 //q2Out = q2Out + q2_dotOut;
GerhardBerman 12:05e5964b69a4 240
GerhardBerman 12:05e5964b69a4 241 pc.baud(115200);
GerhardBerman 19:cba54636bd62 242 pc.printf("biceps_l: %f \r\n", biceps_l);
GerhardBerman 19:cba54636bd62 243 pc.printf("biceps_r: %f \r\n", biceps_r);
GerhardBerman 19:cba54636bd62 244 pc.printf("Position_x: %f m\r\n", Position_x);
GerhardBerman 19:cba54636bd62 245 pc.printf("q1Out: %f rad \r\n", q1Out);
GerhardBerman 19:cba54636bd62 246 pc.printf("Reference_x: %f m \r\n", ReferencePosition_x);
GerhardBerman 19:cba54636bd62 247 pc.printf("q1refOut: %f rad\r\n", q1_refOut);
GerhardBerman 19:cba54636bd62 248 pc.printf("Position_y: %f m\r\n", Position_y);
GerhardBerman 19:cba54636bd62 249 pc.printf("q2Out: %f rad \r\n", q2Out);
GerhardBerman 19:cba54636bd62 250 pc.printf("Reference_y: %f m \r\n", ReferencePosition_y);
GerhardBerman 19:cba54636bd62 251 pc.printf("q2refOut: %f rad\r\n", q2_refOut);
GerhardBerman 19:cba54636bd62 252 pc.printf("alpha: %f rad \r\n", alpha);
GerhardBerman 19:cba54636bd62 253 pc.printf("beta: %f rad\r\n", beta);
GerhardBerman 18:d2cfd07ae88a 254
GerhardBerman 19:cba54636bd62 255
GerhardBerman 18:d2cfd07ae88a 256 /*
GerhardBerman 12:05e5964b69a4 257 pc.printf("dx: %f \r\n", dx);
GerhardBerman 12:05e5964b69a4 258 pc.printf("dy: %f \r\n", dy);
GerhardBerman 12:05e5964b69a4 259 pc.printf("q1: %f \r\n", q1Out);
GerhardBerman 12:05e5964b69a4 260 pc.printf("q1_dot: %f \r\n", q1_dotOut);
GerhardBerman 12:05e5964b69a4 261 pc.printf("q2: %f \r\n", q2Out);
GerhardBerman 12:05e5964b69a4 262 pc.printf("q2_dot: %f \r\n", q2_dotOut);
GerhardBerman 12:05e5964b69a4 263
GerhardBerman 14:725a608b6709 264 pc.printf("Counts1: %f \r\n", counts1);
GerhardBerman 14:725a608b6709 265 pc.printf("Encoder1: %f \r\n", Encoder1Position);
GerhardBerman 18:d2cfd07ae88a 266 pc.printf("Motor1: %f \r\n", q1Out);
GerhardBerman 14:725a608b6709 267 pc.printf("Counts2: %f \r\n", counts2);
GerhardBerman 14:725a608b6709 268 pc.printf("Encoder2: %f \r\n", Encoder2Position);
GerhardBerman 18:d2cfd07ae88a 269 pc.printf("Motor2: %f \r\n", q2Out);
GerhardBerman 18:d2cfd07ae88a 270 */
GerhardBerman 7:2f74dfd1d411 271 }
GerhardBerman 18:d2cfd07ae88a 272
GerhardBerman 7:2f74dfd1d411 273
GerhardBerman 19:cba54636bd62 274 void FeedForwardControl1(float q1_ref, float q2_ref, float q1, float q2, float &motorValue1Out, float &motorValue2Out){
GerhardBerman 7:2f74dfd1d411 275 //float Encoder1Position = counts1/resolution; //position in radians, encoder axis
GerhardBerman 7:2f74dfd1d411 276 //float Position1 = Encoder1Position*inverse_gear_ratio; //position in radians, motor axis
GerhardBerman 7:2f74dfd1d411 277
GerhardBerman 7:2f74dfd1d411 278 // linear feedback control
GerhardBerman 19:cba54636bd62 279 float q1_error = q1_ref - q1; //referencePosition1 - Position1; // proportional angular error in radians
GerhardBerman 19:cba54636bd62 280 float q2_error = q2_ref - q2; //referencePosition1 - Position1; // proportional angular error in radians
GerhardBerman 7:2f74dfd1d411 281 float Kp = 1; //potMeter2.read();
GerhardBerman 7:2f74dfd1d411 282
GerhardBerman 19:cba54636bd62 283 float q1IntError = q1IntError + q1_error*t_sample; // integrated error in radians
GerhardBerman 19:cba54636bd62 284 float q2IntError = q2IntError + q2_error*t_sample; // integrated error in radians
GerhardBerman 7:2f74dfd1d411 285 //float maxKi = 0.2;
GerhardBerman 7:2f74dfd1d411 286 float Ki = 0.1; //potMeter2.read();
GerhardBerman 7:2f74dfd1d411 287
GerhardBerman 19:cba54636bd62 288 float q1DerivativeError = (q1_error_prev + q1_error)/t_sample; // derivative of error in radians
GerhardBerman 19:cba54636bd62 289 float q2DerivativeError = (q2_error_prev + q2_error)/t_sample; // derivative of error in radians
GerhardBerman 7:2f74dfd1d411 290 //float maxKd = 0.2;
GerhardBerman 7:2f74dfd1d411 291 float Kd = 0.0; //potMeter2.read();
GerhardBerman 7:2f74dfd1d411 292
GerhardBerman 7:2f74dfd1d411 293 //scope.set(0,referencePosition1);
GerhardBerman 7:2f74dfd1d411 294 //scope.set(1,Position1);
GerhardBerman 7:2f74dfd1d411 295 //scope.set(2,Ki);
GerhardBerman 7:2f74dfd1d411 296 //scope.send();
GerhardBerman 7:2f74dfd1d411 297
11i 21:dd51d78c0732 298 TotalError1 = q1_error * Kp + q1IntError * Ki + q1DerivativeError * Kd; //total controller output = motor input
11i 21:dd51d78c0732 299 TotalError2 = q2_error * Kp + q2IntError * Ki + q2DerivativeError * Kd; //total controller output = motor input
11i 21:dd51d78c0732 300
11i 21:dd51d78c0732 301 if (TotalError1 < TotalErrorMin) {
11i 21:dd51d78c0732 302 TotalError1=0;
11i 21:dd51d78c0732 303 }
11i 21:dd51d78c0732 304 else {
11i 21:dd51d78c0732 305 TotalError1=TotalError1;
11i 21:dd51d78c0732 306 }
11i 21:dd51d78c0732 307 if (TotalError2 < TotalErrorMin) {
11i 21:dd51d78c0732 308 TotalError2=0;
11i 21:dd51d78c0732 309 }
11i 21:dd51d78c0732 310 else {
11i 21:dd51d78c0732 311 TotalError2=TotalError2;
11i 21:dd51d78c0732 312 }
11i 21:dd51d78c0732 313
11i 21:dd51d78c0732 314 motorValue1Out = TotalError1/MotorGain;
11i 21:dd51d78c0732 315 motorValue2Out = TotalError2/MotorGain;
11i 21:dd51d78c0732 316
GerhardBerman 7:2f74dfd1d411 317 //pc.printf("Motor Axis Position: %f rad \r\n", Position1);
GerhardBerman 7:2f74dfd1d411 318 //pc.printf("Counts encoder1: %i rad \r\n", counts1);
GerhardBerman 7:2f74dfd1d411 319 //pc.printf("Kp: %f \r\n", Kp);
GerhardBerman 7:2f74dfd1d411 320 //pc.printf("MotorValue: %f \r\n", motorValue1);
GerhardBerman 7:2f74dfd1d411 321
GerhardBerman 19:cba54636bd62 322 pc.printf("error1: %f \r\n", q1_error);
GerhardBerman 19:cba54636bd62 323 pc.printf("IntError1: %f \r\n", q1IntError);
GerhardBerman 19:cba54636bd62 324 pc.printf("DerError1: %f \r\n", q1DerivativeError);
GerhardBerman 19:cba54636bd62 325 pc.printf("error2: %f \r\n", q2_error);
GerhardBerman 19:cba54636bd62 326 pc.printf("IntError2: %f \r\n", q2IntError);
GerhardBerman 19:cba54636bd62 327 pc.printf("DerError2: %f \r\n", q2DerivativeError);
GerhardBerman 12:05e5964b69a4 328
GerhardBerman 19:cba54636bd62 329 q1_error_prev = q1_error;
GerhardBerman 19:cba54636bd62 330 q2_error_prev = q2_error;
GerhardBerman 18:d2cfd07ae88a 331 //float biceps_l = !button1.read();
GerhardBerman 18:d2cfd07ae88a 332 //float biceps_r = !button2.read();
GerhardBerman 11:773b3532d50f 333
GerhardBerman 12:05e5964b69a4 334 /*
GerhardBerman 12:05e5964b69a4 335 scope.set(0,q1);
GerhardBerman 12:05e5964b69a4 336 scope.set(1,q2);
GerhardBerman 18:d2cfd07ae88a 337 scope.set(2,biceps_l);
GerhardBerman 18:d2cfd07ae88a 338 scope.set(3,biceps_r);
GerhardBerman 11:773b3532d50f 339 scope.send();
11i 20:201175fa8a2a 340 */
GerhardBerman 3:8caef4872b0c 341 }
GerhardBerman 3:8caef4872b0c 342
GerhardBerman 9:e4c34f5665a0 343 void SetMotor1(float motorValue1, float motorValue2)
GerhardBerman 3:8caef4872b0c 344 {
GerhardBerman 3:8caef4872b0c 345 // Given -1<=motorValue<=1, this sets the PWM and direction
GerhardBerman 3:8caef4872b0c 346 // bits for motor 1. Positive value makes motor rotating
GerhardBerman 3:8caef4872b0c 347 // clockwise. motorValues outside range are truncated to
GerhardBerman 3:8caef4872b0c 348 // within range
GerhardBerman 9:e4c34f5665a0 349 //control motor 1
GerhardBerman 15:9061cf7db23e 350 if (motorValue1 >=0) //clockwise rotation
GerhardBerman 19:cba54636bd62 351 {motor1DirectionPin=cw; //inverted due to opposite (to other motor) build-up in tower
GerhardBerman 9:e4c34f5665a0 352 //led1=1;
GerhardBerman 9:e4c34f5665a0 353 //led2=0;
GerhardBerman 3:8caef4872b0c 354 }
GerhardBerman 15:9061cf7db23e 355 else //counterclockwise rotation
GerhardBerman 19:cba54636bd62 356 {motor1DirectionPin=ccw; //inverted due to opposite (to other motor) build-up in tower
GerhardBerman 9:e4c34f5665a0 357 //led1=0;
GerhardBerman 9:e4c34f5665a0 358 //led2=1;
GerhardBerman 3:8caef4872b0c 359 }
11i 21:dd51d78c0732 360 if (fabs(motorValue1)>1) motor1MagnitudePin = 1;
11i 21:dd51d78c0732 361 else motor1MagnitudePin = fabs(motorValue1); //fabs(motorValue1);
GerhardBerman 9:e4c34f5665a0 362 //control motor 2
GerhardBerman 15:9061cf7db23e 363 if (motorValue2 >=0) //clockwise rotation
GerhardBerman 14:725a608b6709 364 {motor2DirectionPin=ccw; //action is cw, due to faulty motor2DirectionPin (inverted)
GerhardBerman 10:45473f650198 365 //led1=1;
GerhardBerman 10:45473f650198 366 //led2=0;
GerhardBerman 7:2f74dfd1d411 367 }
GerhardBerman 15:9061cf7db23e 368 else //counterclockwise rotation
GerhardBerman 15:9061cf7db23e 369 {motor2DirectionPin=cw; //action is ccw, due to faulty motor2DirectionPin (inverted)
GerhardBerman 10:45473f650198 370 //led1=0;
GerhardBerman 10:45473f650198 371 //led2=1;
GerhardBerman 7:2f74dfd1d411 372 }
11i 21:dd51d78c0732 373 if (fabs(motorValue2)>1) motor2MagnitudePin = 1;
11i 21:dd51d78c0732 374 else motor2MagnitudePin = fabs(motorValue2); //fabs(motorValue1);
GerhardBerman 19:cba54636bd62 375 float ReadMagn1 = motor1MagnitudePin.read();
GerhardBerman 19:cba54636bd62 376 float ReadMagn2 = motor2MagnitudePin.read();
GerhardBerman 19:cba54636bd62 377 pc.printf("motor1Magnitude: %f \r\n", ReadMagn1);
GerhardBerman 19:cba54636bd62 378 pc.printf("motor2Magnitude: %f \r\n", ReadMagn2);
GerhardBerman 3:8caef4872b0c 379 }
GerhardBerman 3:8caef4872b0c 380
GerhardBerman 3:8caef4872b0c 381 void MeasureAndControl()
GerhardBerman 3:8caef4872b0c 382 {
GerhardBerman 9:e4c34f5665a0 383 // This function measures the EMG of both arms, calculates via IK what
GerhardBerman 9:e4c34f5665a0 384 // the joint speeds should be, and controls the motor with
GerhardBerman 9:e4c34f5665a0 385 // a Feedforward controller. This is called from a Ticker.
GerhardBerman 19:cba54636bd62 386 GetReferenceKinematics1(q1, q2, q1_ref, q2_ref);
GerhardBerman 19:cba54636bd62 387 FeedForwardControl1( q1_ref, q2_ref, q1, q2, motorValue1, motorValue2);
GerhardBerman 9:e4c34f5665a0 388 SetMotor1(motorValue1, motorValue2);
GerhardBerman 3:8caef4872b0c 389 }
GerhardBerman 3:8caef4872b0c 390
GerhardBerman 3:8caef4872b0c 391 void TimeTrackerF(){
GerhardBerman 3:8caef4872b0c 392 //wait(1);
GerhardBerman 3:8caef4872b0c 393 //float Potmeter1 = potMeter1.read();
GerhardBerman 7:2f74dfd1d411 394 //float referencePosition1 = GetReferencePosition();
GerhardBerman 7:2f74dfd1d411 395 //pc.printf("TTReference Position: %d rad \r\n", referencePosition1);
GerhardBerman 3:8caef4872b0c 396 //pc.printf("TTPotmeter1, for refpos: %f \r\n", Potmeter1);
GerhardBerman 3:8caef4872b0c 397 //pc.printf("TTPotmeter2, Kp: %f \r\n", Potmeter2);
GerhardBerman 7:2f74dfd1d411 398 //pc.printf("TTCounts: %i \r\n", counts1);
GerhardBerman 3:8caef4872b0c 399 }
GerhardBerman 7:2f74dfd1d411 400
GerhardBerman 3:8caef4872b0c 401 /*
GerhardBerman 3:8caef4872b0c 402 void BiQuadFilter(){ //this function creates a BiQuad filter for the DerivativeCounts
GerhardBerman 3:8caef4872b0c 403 //double in=DerivativeCounts();
GerhardBerman 3:8caef4872b0c 404 bqcDerivativeCounts=bqc.step(DerivativeCounts);
GerhardBerman 3:8caef4872b0c 405 //return(bqcDerivativeCounts);
GerhardBerman 3:8caef4872b0c 406 }
GerhardBerman 9:e4c34f5665a0 407 */
GerhardBerman 6:3c4f3f2ce54f 408
GerhardBerman 0:43160ef59f9f 409 int main()
GerhardBerman 0:43160ef59f9f 410 {
GerhardBerman 0:43160ef59f9f 411 //Initialize
GerhardBerman 15:9061cf7db23e 412 //int led1val = led1.read();
GerhardBerman 15:9061cf7db23e 413 //int led2val = led2.read();
GerhardBerman 9:e4c34f5665a0 414 pc.baud(115200);
GerhardBerman 12:05e5964b69a4 415 pc.printf("Test putty IK");
GerhardBerman 18:d2cfd07ae88a 416 MeasureTicker.attach(&MeasureTicker_act, 0.1f);
GerhardBerman 10:45473f650198 417 bqc.add(&bq1).add(&bq2);
GerhardBerman 10:45473f650198 418
GerhardBerman 0:43160ef59f9f 419 while(1)
GerhardBerman 0:43160ef59f9f 420 {
GerhardBerman 3:8caef4872b0c 421 if (MeasureTicker_go){
GerhardBerman 3:8caef4872b0c 422 MeasureTicker_go=false;
GerhardBerman 3:8caef4872b0c 423 MeasureAndControl();
GerhardBerman 15:9061cf7db23e 424 counts1 = Encoder1.getPulses(); // gives position of encoder
GerhardBerman 15:9061cf7db23e 425 counts2 = Encoder2.getPulses(); // gives position of encoder
GerhardBerman 18:d2cfd07ae88a 426 pc.printf("counts1: %i \r\n", counts1);
GerhardBerman 18:d2cfd07ae88a 427 pc.printf("counts2: %i \r\n", counts2);
GerhardBerman 3:8caef4872b0c 428 }
GerhardBerman 10:45473f650198 429 /*
GerhardBerman 3:8caef4872b0c 430 if (BiQuadTicker_go){
GerhardBerman 3:8caef4872b0c 431 BiQuadTicker_go=false;
GerhardBerman 3:8caef4872b0c 432 BiQuadFilter();
GerhardBerman 3:8caef4872b0c 433 }
GerhardBerman 10:45473f650198 434 */
GerhardBerman 0:43160ef59f9f 435 }
GerhardBerman 0:43160ef59f9f 436 }