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

Revisions of main.cpp

Revision Date Message Actions
37:4d75c2432d71 2016-11-02 Sample Frequency changed to 500 Hz, right arm EMG is correct, left arm EMG is too small File  Diff  Annotate
36:a700f64ba747 2016-11-02 EMG added to main IK program, no errors, not yet tested File  Diff  Annotate
35:a21c1cab8086 2016-11-01 PID Filter implemented. Motors working, but initial TotalError is not zero -> spontaneous iniitial action. PID parameters are not yet perfect. File  Diff  Annotate
34:96bcbddc7d2d 2016-11-01 Motors working slowly, moving slowly to correct reference angles! File  Diff  Annotate
33:b09608fa69e9 2016-11-01 Motors working well, no oscillation! The resetting of vertical position is not working now (in green) File  Diff  Annotate
32:3b00eafcf168 2016-11-01 ErrorSwitch removed again, not tested File  Diff  Annotate
31:880ebd2e8145 2016-10-28 ErrorSwitch loop is introduced, not yet tested File  Diff  Annotate
30:676ecd59467a 2016-10-28 Added MotorSpeedGain to make motors faster. Angles are not ending up at reference angles File  Diff  Annotate
29:caf3dd699617 2016-10-28 Motors are moving, but too slow (maybe due to TotalError divided by MotorGain) File  Diff  Annotate
28:6d8c6fe79394 2016-10-27 Compensated for StampHeight File  Diff  Annotate
27:456e8a47f815 2016-10-26 refOut and DerivativeError are fixed. File  Diff  Annotate
26:bb7e14f59ddd 2016-10-26 Error fixes File  Diff  Annotate
25:596255732b65 2016-10-26 Added conversion for PID output from radians to radians/sec to prevent dimension problem in motorValue. This conversion is not yet active (written in green). File  Diff  Annotate
24:393da1cc1fa8 2016-10-26 Error fixed File  Diff  Annotate
23:3a4d5e19c20d 2016-10-26 New ReferencePosition version: y=0 is now at table height. File  Diff  Annotate
22:c679f753a8bd 2016-10-26 Original version ReferencePosition. y=0 is at motor axis height, table surface is at y=-TowerHeight File  Diff  Annotate
21:dd51d78c0732 2016-10-25 Added Minimum total error and motorvalue scaled with motorgain (rad/s). No errors, not yet tested File  Diff  Annotate
20:201175fa8a2a 2016-10-25 Forward kinematics, with boundaries, without erros, not yet tested; File  Diff  Annotate
19:cba54636bd62 2016-10-25 Working, but boundaries not yet tested File  Diff  Annotate
18:d2cfd07ae88a 2016-10-24 All working, but Position_x and Position_y don't start at value 0, which causes spontaneous motor action. File  Diff  Annotate
17:91d20d362e72 2016-10-21 Added things to consider before use in robot File  Diff  Annotate
16:9b7651fdf5a0 2016-10-20 All working, motorValues scaled down to 1/10 for first testing. File  Diff  Annotate
15:9061cf7db23e 2016-10-20 All working! File  Diff  Annotate
14:725a608b6709 2016-10-20 Encoder pins switched, cw/ccw problem changed. Not yet tested File  Diff  Annotate
13:934af23bf416 2016-10-20 Working with Putty, no spontaneous motor action. Encoder 2 is NOT WORKING File  Diff  Annotate
12:05e5964b69a4 2016-10-20 Working with Putty, no spontaneous motor action! File  Diff  Annotate
11:773b3532d50f 2016-10-19 Working, includes HIDScope, motor and LED action! File  Diff  Annotate
10:45473f650198 2016-10-19 NO errors, not yet tested at board File  Diff  Annotate
9:e4c34f5665a0 2016-10-19 Double functions (one for motor 1, one for motor 2) replaced by single. No errors, no reaction on board File  Diff  Annotate
8:935abf8ecc27 2016-10-19 Improved if-else loops for both biceps signals File  Diff  Annotate
7:2f74dfd1d411 2016-10-19 First trial for Inverse kinematics Feedforward implementation. No errors, not yet tested with board. File  Diff  Annotate
6:3c4f3f2ce54f 2016-10-17 PI Controller working with HIDScope. File  Diff  Annotate
5:37e230689418 2016-10-17 PI Controller working with HIDScope File  Diff  Annotate
4:19e376d31380 2016-10-17 PI-Controller working! File  Diff  Annotate
3:8caef4872b0c 2016-10-17 All working for feedback regulation File  Diff  Annotate
2:94b5e00288a5 2016-10-14 Green parts deleted File  Diff  Annotate
1:ace33633653b 2016-10-14 One ticker, does compile, but no action in PuTTY or motor File  Diff  Annotate
0:43160ef59f9f 2016-10-14 3 different tickers for P-controller, gives errors 'Variables undefined' File  Diff  Annotate