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

Changes

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