Gerhard Berman / Mbed 2 deprecated prog_BioRobotics_Group9_StampRobot

Final version of BioRobotics program for Stamp Robot of Group 9, Biomedical Engineering at University of Twente. Script has been cleaned from any unused stuff, comments are unified in style.

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of prog_forwardkin_feedback_copy3 by Gerhard Berman

Revisions of main.cpp

Revision Date Message Actions
48:73a5f7f62aec 2016-11-07 Some comments changed. File  Diff  Annotate
47:13b4a318a3d0 2016-11-07 Some comments changed. File  Diff  Annotate
46:4af2f01da9f3 2016-11-05 Last bits of unused code removed. comments moved more to left to make code fit into a report. File  Diff  Annotate
45:0f91abd76b93 2016-11-05 Final version as used in demo. Script has been cleaned from any unused stuff, comments have been restyled File  Diff  Annotate
44:43f200e04903 2016-11-05 Final version as used in demo, script is fully cleaned up. File  Diff  Annotate
43:2b2e0bff0b39 2016-11-05 FINAL VERSION used for demonstration File  Diff  Annotate
42:a080925eabf8 2016-11-04 EMG threshold control version! File  Diff  Annotate
41:68b170829965 2016-11-03 ROBOT WORKING GOOD, only a little slow movements ;) File  Diff  Annotate
40:9ecaab27acde 2016-11-03 Robot working good, not perfectly tracking reference positions! File  Diff  Annotate
39:cc7754330c26 2016-11-03 Robot working, but slow and not reaching reference positions. File  Diff  Annotate
38:e58bab07275e 2016-11-03 Added minimal RefPosition boundary File  Diff  Annotate
37:1360978f49ba 2016-11-03 Check for encoder counts and angles, rest disabled File  Diff  Annotate
36:72f0913c5460 2016-11-03 Working version, angles are not correct. Can be used to simplify to button 1 - motor 1, button 2 - motor 2. 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