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

Changes

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