Version for EMG Threshold finding
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of prog_BioRobotics_Group9_StampRobot by
main.cpp@35:a21c1cab8086, 2016-11-01 (annotated)
- Committer:
- GerhardBerman
- Date:
- Tue Nov 01 15:47:40 2016 +0000
- Revision:
- 35:a21c1cab8086
- Parent:
- 34:96bcbddc7d2d
PID Filter implemented. Motors working, but initial TotalError is not zero -> spontaneous iniitial action. PID parameters are not yet perfect.
Who changed what in which revision?
User | Revision | Line number | New 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 | 23:3a4d5e19c20d | 19 | - Add tower height to ReferencePosition_y and Position_y AND inverse kinematics calculation! |
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 | 33:b09608fa69e9 | 41 | DigitalOut ledgrn(LED_GREEN); |
GerhardBerman | 33:b09608fa69e9 | 42 | DigitalOut ledred(LED_RED); |
GerhardBerman | 33:b09608fa69e9 | 43 | DigitalOut ledblue(LED_BLUE); |
GerhardBerman | 33:b09608fa69e9 | 44 | |
GerhardBerman | 7:2f74dfd1d411 | 45 | //library settings |
GerhardBerman | 0:43160ef59f9f | 46 | Serial pc(USBTX,USBRX); |
GerhardBerman | 3:8caef4872b0c | 47 | Ticker MeasureTicker, BiQuadTicker; //, TimeTracker; // sampleT; |
GerhardBerman | 33:b09608fa69e9 | 48 | //HIDScope scope(6); |
GerhardBerman | 0:43160ef59f9f | 49 | |
GerhardBerman | 26:bb7e14f59ddd | 50 | //initial values |
GerhardBerman | 7:2f74dfd1d411 | 51 | float dx; |
GerhardBerman | 7:2f74dfd1d411 | 52 | float dy; |
GerhardBerman | 23:3a4d5e19c20d | 53 | double DerivativeCounts; |
GerhardBerman | 19:cba54636bd62 | 54 | //float referenceVelocity = 0; |
GerhardBerman | 19:cba54636bd62 | 55 | //float bqcDerivativeCounts = 0; |
GerhardBerman | 3:8caef4872b0c | 56 | const float PI = 3.141592653589793; |
GerhardBerman | 3:8caef4872b0c | 57 | const int cw = 0; //values for cw and ccw are inverted!! cw=0 and ccw=1 |
GerhardBerman | 3:8caef4872b0c | 58 | const int ccw = 1; |
GerhardBerman | 0:43160ef59f9f | 59 | |
GerhardBerman | 35:a21c1cab8086 | 60 | //set lengths and constants (VALUES HAVE TO BE CHANGED) |
GerhardBerman | 26:bb7e14f59ddd | 61 | float x0 = 1.0; |
GerhardBerman | 26:bb7e14f59ddd | 62 | float L0 = 1.0; |
GerhardBerman | 26:bb7e14f59ddd | 63 | float L1 = 1.0; |
GerhardBerman | 26:bb7e14f59ddd | 64 | float L2 = 1.0; |
GerhardBerman | 34:96bcbddc7d2d | 65 | float TowerHeight = 0.4; //height of motor axes above table surface! |
GerhardBerman | 34:96bcbddc7d2d | 66 | float StampHeight = 0.1; // height of end effector |
GerhardBerman | 34:96bcbddc7d2d | 67 | float y_stampup = 0.1; //height stamp while not stamping: 10cm above table surface |
GerhardBerman | 34:96bcbddc7d2d | 68 | float y_stampdown = 0.0; //height stamp while stamping: at table surface |
GerhardBerman | 34:96bcbddc7d2d | 69 | |
GerhardBerman | 19:cba54636bd62 | 70 | //set initial conditions |
GerhardBerman | 19:cba54636bd62 | 71 | float biceps_l = 0; |
GerhardBerman | 19:cba54636bd62 | 72 | float biceps_r = 0; |
GerhardBerman | 19:cba54636bd62 | 73 | float ReferencePosition_x = L2; |
GerhardBerman | 28:6d8c6fe79394 | 74 | float ReferencePosition_y = L1 + TowerHeight - StampHeight; |
GerhardBerman | 19:cba54636bd62 | 75 | float ReferencePosition_xnew = 0; |
GerhardBerman | 19:cba54636bd62 | 76 | float ReferencePosition_ynew = 0; |
GerhardBerman | 19:cba54636bd62 | 77 | float Position_x = 0.0; |
GerhardBerman | 19:cba54636bd62 | 78 | float Position_y = 0.0; |
GerhardBerman | 19:cba54636bd62 | 79 | float q1 = 0; |
GerhardBerman | 19:cba54636bd62 | 80 | float q2 = 0; |
GerhardBerman | 19:cba54636bd62 | 81 | float q1_ref = 0; |
GerhardBerman | 19:cba54636bd62 | 82 | float q2_ref = 0; |
GerhardBerman | 19:cba54636bd62 | 83 | float q1start = 0; |
GerhardBerman | 19:cba54636bd62 | 84 | float q2start = PI/2; |
GerhardBerman | 19:cba54636bd62 | 85 | |
GerhardBerman | 19:cba54636bd62 | 86 | float q1_error_prev = 0; |
GerhardBerman | 19:cba54636bd62 | 87 | float q2_error_prev = 0; |
GerhardBerman | 25:596255732b65 | 88 | float DerTotalError1 = 0; |
GerhardBerman | 25:596255732b65 | 89 | float DerTotalError2 = 0; |
GerhardBerman | 19:cba54636bd62 | 90 | float q1IntError = 0; |
GerhardBerman | 19:cba54636bd62 | 91 | float q2IntError = 0; |
GerhardBerman | 29:caf3dd699617 | 92 | float TotalError1_prev = 0; |
GerhardBerman | 29:caf3dd699617 | 93 | float TotalError2_prev = 0; |
GerhardBerman | 19:cba54636bd62 | 94 | |
GerhardBerman | 19:cba54636bd62 | 95 | float motorValue1 = 0.0; |
GerhardBerman | 19:cba54636bd62 | 96 | float motorValue2 = 0.0; |
GerhardBerman | 19:cba54636bd62 | 97 | int counts1 = 0; |
GerhardBerman | 19:cba54636bd62 | 98 | int counts2 = 0; |
GerhardBerman | 19:cba54636bd62 | 99 | int counts1Prev = 0; |
GerhardBerman | 19:cba54636bd62 | 100 | int counts2Prev = 0; |
GerhardBerman | 26:bb7e14f59ddd | 101 | |
GerhardBerman | 26:bb7e14f59ddd | 102 | |
GerhardBerman | 26:bb7e14f59ddd | 103 | //set constant or variable values (VALUES HAVE TO BE EDITED) |
GerhardBerman | 26:bb7e14f59ddd | 104 | float EMGgain = 1.0; |
GerhardBerman | 26:bb7e14f59ddd | 105 | float dy_stampdown = 2.0; //0.05; //5 cm movement downward to stamp |
GerhardBerman | 26:bb7e14f59ddd | 106 | float MotorGain = 8.4; // rad/s for PWM, is max motor speed (motor value of 1) |
GerhardBerman | 34:96bcbddc7d2d | 107 | float t_sample = 0.1; //seconds |
GerhardBerman | 34:96bcbddc7d2d | 108 | const float maxStampDistance = 2.0; |
GerhardBerman | 35:a21c1cab8086 | 109 | float Kp = 3; //potMeter2.read(); |
GerhardBerman | 35:a21c1cab8086 | 110 | float Ki = 0.2*Kp; //0.01*Kp; //potMeter2.read(); |
GerhardBerman | 35:a21c1cab8086 | 111 | float Kd = 0.05; //0.1;(unstable!) //0.05; //0.02; //0.04*Kp; //potMeter2.read(); |
GerhardBerman | 35:a21c1cab8086 | 112 | float N = 100; //N=1/Tf, Higher N is faster derivative action but more sensitive to noise. |
GerhardBerman | 26:bb7e14f59ddd | 113 | |
GerhardBerman | 26:bb7e14f59ddd | 114 | float q1_refOutNew = 0; |
GerhardBerman | 34:96bcbddc7d2d | 115 | float q1_refOutMin = -100; //WRONG values |
GerhardBerman | 34:96bcbddc7d2d | 116 | float q1_refOutMax = 100; //WRONG values |
GerhardBerman | 26:bb7e14f59ddd | 117 | float q2_refOutNew = 0; |
GerhardBerman | 34:96bcbddc7d2d | 118 | float q2_refOutMin = -100; //WRONG values |
GerhardBerman | 34:96bcbddc7d2d | 119 | float q2_refOutMax = 100; //WRONG values |
GerhardBerman | 26:bb7e14f59ddd | 120 | float TotalError1= 0; |
GerhardBerman | 26:bb7e14f59ddd | 121 | float TotalError2= 0; |
GerhardBerman | 26:bb7e14f59ddd | 122 | float TotalErrorMin= 0; |
GerhardBerman | 19:cba54636bd62 | 123 | |
GerhardBerman | 0:43160ef59f9f | 124 | //set BiQuad |
GerhardBerman | 0:43160ef59f9f | 125 | BiQuadChain bqc; |
GerhardBerman | 0:43160ef59f9f | 126 | BiQuad bq1(0.0186, 0.0743, 0.1114, 0.0743, 0.0186); //get numbers from butter filter MATLAB |
GerhardBerman | 0:43160ef59f9f | 127 | BiQuad bq2(1.0000, -1.5704, 1.2756, -0.4844, 0.0762); |
GerhardBerman | 35:a21c1cab8086 | 128 | BiQuad pidf; //for lowpass filtering of PID controller |
GerhardBerman | 0:43160ef59f9f | 129 | |
GerhardBerman | 0:43160ef59f9f | 130 | //set go-Ticker settings |
GerhardBerman | 3:8caef4872b0c | 131 | volatile bool MeasureTicker_go=false, BiQuadTicker_go=false, FeedbackTicker_go=false, TimeTracker_go=false; // sampleT_go=false; |
GerhardBerman | 3:8caef4872b0c | 132 | void MeasureTicker_act(){MeasureTicker_go=true;}; // Activates go-flags |
GerhardBerman | 3:8caef4872b0c | 133 | void BiQuadTicker_act(){BiQuadTicker_go=true;}; |
GerhardBerman | 3:8caef4872b0c | 134 | void FeedbackTicker_act(){FeedbackTicker_go=true;}; |
GerhardBerman | 3:8caef4872b0c | 135 | void TimeTracker_act(){TimeTracker_go=true;}; |
GerhardBerman | 3:8caef4872b0c | 136 | //void sampleT_act(){sampleT_go=true;}; |
GerhardBerman | 3:8caef4872b0c | 137 | |
GerhardBerman | 3:8caef4872b0c | 138 | //define encoder counts and degrees |
GerhardBerman | 7:2f74dfd1d411 | 139 | QEI Encoder1(D12, D13, NC, 32); // turns on encoder |
GerhardBerman | 15:9061cf7db23e | 140 | QEI Encoder2(D10, D11, NC, 32); // turns on encoder |
GerhardBerman | 14:725a608b6709 | 141 | |
GerhardBerman | 4:19e376d31380 | 142 | const int counts_per_revolution = 4200; //counts per motor axis revolution |
GerhardBerman | 4:19e376d31380 | 143 | const int inverse_gear_ratio = 131; |
GerhardBerman | 4:19e376d31380 | 144 | const float resolution = counts_per_revolution/(2*PI/inverse_gear_ratio); //87567.0496892 counts per radian, encoder axis |
GerhardBerman | 3:8caef4872b0c | 145 | |
GerhardBerman | 19:cba54636bd62 | 146 | void GetReferenceKinematics1(float &q1Out, float &q2Out, float &q1_refOut, float &q2_refOut){ |
GerhardBerman | 7:2f74dfd1d411 | 147 | |
GerhardBerman | 19:cba54636bd62 | 148 | //get joint positions q feedback from encoder |
GerhardBerman | 19:cba54636bd62 | 149 | float Encoder1Position = counts1/resolution; //angular position in radians, encoder axis |
GerhardBerman | 9:e4c34f5665a0 | 150 | float Encoder2Position = counts2/resolution; |
GerhardBerman | 19:cba54636bd62 | 151 | |
GerhardBerman | 19:cba54636bd62 | 152 | q1Out = q1start + Encoder1Position*inverse_gear_ratio; //angular position in radians, motor axis |
GerhardBerman | 19:cba54636bd62 | 153 | q2Out = q2start + Encoder2Position*inverse_gear_ratio; |
GerhardBerman | 7:2f74dfd1d411 | 154 | |
GerhardBerman | 19:cba54636bd62 | 155 | /* |
GerhardBerman | 19:cba54636bd62 | 156 | //get end effector position feedback with Brockett |
GerhardBerman | 18:d2cfd07ae88a | 157 | 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 | 158 | 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 | 159 | */ |
GerhardBerman | 19:cba54636bd62 | 160 | //get end effector position feedback with trigonometry |
GerhardBerman | 19:cba54636bd62 | 161 | Position_x = (L1*sin(q1) + L2*sin(q1+q2)); |
GerhardBerman | 28:6d8c6fe79394 | 162 | Position_y = (L1*cos(q1) + L2*cos(q1+q2)) + TowerHeight - StampHeight; |
GerhardBerman | 19:cba54636bd62 | 163 | //float PositionVector = sqrt(pow(Position_x,2)+pow(Position_y,2)); |
GerhardBerman | 29:caf3dd699617 | 164 | |
GerhardBerman | 33:b09608fa69e9 | 165 | /* |
GerhardBerman | 29:caf3dd699617 | 166 | if (Position_y < (0.5*TowerHeight)){ |
GerhardBerman | 29:caf3dd699617 | 167 | wait(1.0); |
GerhardBerman | 29:caf3dd699617 | 168 | ReferencePosition_ynew = L1 + TowerHeight - StampHeight; //Reset vertical position after stamping |
GerhardBerman | 29:caf3dd699617 | 169 | } |
GerhardBerman | 29:caf3dd699617 | 170 | else{ |
GerhardBerman | 33:b09608fa69e9 | 171 | */ |
GerhardBerman | 7:2f74dfd1d411 | 172 | //get velocity vector v = (Pe*- Pe) = [0; dx; dy] from EMG |
GerhardBerman | 19:cba54636bd62 | 173 | biceps_l = !button1.read() * EMGgain; //emg0.read(); //velocity or reference position change, EMG with a gain |
GerhardBerman | 19:cba54636bd62 | 174 | biceps_r = !button2.read() * EMGgain; //emg1.read(); |
GerhardBerman | 18:d2cfd07ae88a | 175 | if (biceps_l > 0 && biceps_r > 0){ |
GerhardBerman | 8:935abf8ecc27 | 176 | //both arms activated: stamp moves down |
GerhardBerman | 15:9061cf7db23e | 177 | //led1 = 1; |
GerhardBerman | 15:9061cf7db23e | 178 | //led2 = 1; |
GerhardBerman | 19:cba54636bd62 | 179 | ReferencePosition_xnew = ReferencePosition_x; |
GerhardBerman | 34:96bcbddc7d2d | 180 | ReferencePosition_ynew = y_stampdown; //ReferencePosition_y - dy_stampdown; //into stamping vertical position ~the stamp down action |
GerhardBerman | 18:d2cfd07ae88a | 181 | |
GerhardBerman | 18:d2cfd07ae88a | 182 | } |
GerhardBerman | 18:d2cfd07ae88a | 183 | else if (biceps_l > 0 && biceps_r <= 0){ |
GerhardBerman | 18:d2cfd07ae88a | 184 | //arm 1 activated, move left |
GerhardBerman | 18:d2cfd07ae88a | 185 | //led1 = 1; |
GerhardBerman | 18:d2cfd07ae88a | 186 | //led2 = 0; |
GerhardBerman | 19:cba54636bd62 | 187 | ReferencePosition_xnew = ReferencePosition_x - 0.2; //biceps_l; |
GerhardBerman | 34:96bcbddc7d2d | 188 | ReferencePosition_ynew = y_stampup; //ReferencePosition_y; |
GerhardBerman | 12:05e5964b69a4 | 189 | /* |
GerhardBerman | 18:d2cfd07ae88a | 190 | PositionError_x = ReferencePosition_x - Position_x; //Position error in dx,dy |
GerhardBerman | 18:d2cfd07ae88a | 191 | PositionError_y = ReferencePosition_y - Position_y; //Position error in dx,dy |
GerhardBerman | 18:d2cfd07ae88a | 192 | |
GerhardBerman | 18:d2cfd07ae88a | 193 | dx = PositionError_x; |
GerhardBerman | 18:d2cfd07ae88a | 194 | dy = PositionError_y; |
GerhardBerman | 12:05e5964b69a4 | 195 | 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 | 196 | 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 | 197 | */ |
GerhardBerman | 8:935abf8ecc27 | 198 | } |
GerhardBerman | 18:d2cfd07ae88a | 199 | else if (biceps_l <= 0 && biceps_r > 0){ |
GerhardBerman | 18:d2cfd07ae88a | 200 | //arm 1 activated, move right |
GerhardBerman | 18:d2cfd07ae88a | 201 | //led1 = 0; |
GerhardBerman | 18:d2cfd07ae88a | 202 | //led2 = 1; |
GerhardBerman | 19:cba54636bd62 | 203 | ReferencePosition_xnew = ReferencePosition_x + 0.2; //biceps_r; |
GerhardBerman | 34:96bcbddc7d2d | 204 | ReferencePosition_ynew = y_stampup; //ReferencePosition_y; |
GerhardBerman | 18:d2cfd07ae88a | 205 | /*PositionError_x = ReferencePosition_x - Position_x; //Position error in dx,dy |
GerhardBerman | 18:d2cfd07ae88a | 206 | PositionError_y = ReferencePosition_y - Position_y; //Position error in dx,dy |
GerhardBerman | 18:d2cfd07ae88a | 207 | |
GerhardBerman | 18:d2cfd07ae88a | 208 | dx = PositionError_x; |
GerhardBerman | 18:d2cfd07ae88a | 209 | dy = PositionError_y; |
GerhardBerman | 12:05e5964b69a4 | 210 | 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 | 211 | 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 | 212 | */ |
GerhardBerman | 8:935abf8ecc27 | 213 | } |
GerhardBerman | 8:935abf8ecc27 | 214 | else{ |
GerhardBerman | 15:9061cf7db23e | 215 | //led1 = 0; |
GerhardBerman | 15:9061cf7db23e | 216 | //led2 = 0; |
GerhardBerman | 19:cba54636bd62 | 217 | ReferencePosition_xnew = ReferencePosition_x; |
GerhardBerman | 35:a21c1cab8086 | 218 | ReferencePosition_ynew = y_stampup; //ReferencePosition_y; |
GerhardBerman | 19:cba54636bd62 | 219 | } |
GerhardBerman | 33:b09608fa69e9 | 220 | // } |
GerhardBerman | 19:cba54636bd62 | 221 | |
GerhardBerman | 28:6d8c6fe79394 | 222 | float PointPositionArm2_x = ReferencePosition_x; |
GerhardBerman | 28:6d8c6fe79394 | 223 | float PointPositionArm2_y = ReferencePosition_y - TowerHeight + StampHeight; |
GerhardBerman | 28:6d8c6fe79394 | 224 | float PointVectorArm2 = sqrt(pow(PointPositionArm2_x,2)+pow(PointPositionArm2_y,2)); |
GerhardBerman | 19:cba54636bd62 | 225 | |
GerhardBerman | 19:cba54636bd62 | 226 | //check position boundaries |
GerhardBerman | 28:6d8c6fe79394 | 227 | if (PointVectorArm2 > maxStampDistance){ |
GerhardBerman | 34:96bcbddc7d2d | 228 | ReferencePosition_x = ReferencePosition_x - 0.1; |
GerhardBerman | 34:96bcbddc7d2d | 229 | ReferencePosition_y = y_stampup; |
GerhardBerman | 34:96bcbddc7d2d | 230 | pc.printf("Target too far! \r\n"); |
GerhardBerman | 19:cba54636bd62 | 231 | } |
GerhardBerman | 19:cba54636bd62 | 232 | else { |
GerhardBerman | 19:cba54636bd62 | 233 | ReferencePosition_x = ReferencePosition_xnew; |
GerhardBerman | 19:cba54636bd62 | 234 | ReferencePosition_y = ReferencePosition_ynew; |
11i | 20:201175fa8a2a | 235 | } |
GerhardBerman | 19:cba54636bd62 | 236 | |
GerhardBerman | 19:cba54636bd62 | 237 | //calculate reference joint angles for the new reference position |
GerhardBerman | 28:6d8c6fe79394 | 238 | float alpha = atan(PointPositionArm2_y/PointPositionArm2_x); |
GerhardBerman | 28:6d8c6fe79394 | 239 | float beta = acos((L2*L2-L1*L1-pow(PointVectorArm2,2))/(-2*L1*PointVectorArm2)); |
GerhardBerman | 19:cba54636bd62 | 240 | q1_refOutNew = PI/2 - (alpha+beta); |
GerhardBerman | 28:6d8c6fe79394 | 241 | q2_refOutNew = PI - asin(PointVectorArm2*sin(beta)/L2); |
GerhardBerman | 19:cba54636bd62 | 242 | |
GerhardBerman | 19:cba54636bd62 | 243 | //check angle boundaries |
GerhardBerman | 27:456e8a47f815 | 244 | if (q1_refOutNew > q1_refOutMin && q1_refOutNew < q1_refOutMax){ |
GerhardBerman | 19:cba54636bd62 | 245 | q1_refOut = q1_refOutNew; |
GerhardBerman | 19:cba54636bd62 | 246 | } |
GerhardBerman | 19:cba54636bd62 | 247 | else { |
GerhardBerman | 19:cba54636bd62 | 248 | q1_refOut = q1_refOut; |
GerhardBerman | 19:cba54636bd62 | 249 | } |
GerhardBerman | 27:456e8a47f815 | 250 | if (q2_refOutNew > q2_refOutMin && q2_refOutNew < q2_refOutMax){ |
GerhardBerman | 19:cba54636bd62 | 251 | q2_refOut = q2_refOutNew; |
GerhardBerman | 19:cba54636bd62 | 252 | } |
GerhardBerman | 19:cba54636bd62 | 253 | else { |
GerhardBerman | 19:cba54636bd62 | 254 | q2_refOut = q2_refOut; |
GerhardBerman | 19:cba54636bd62 | 255 | } |
GerhardBerman | 18:d2cfd07ae88a | 256 | |
GerhardBerman | 7:2f74dfd1d411 | 257 | //update joint angles |
GerhardBerman | 18:d2cfd07ae88a | 258 | //q1Out = q1Out + q1_dotOut; //in radians |
GerhardBerman | 18:d2cfd07ae88a | 259 | //q2Out = q2Out + q2_dotOut; |
GerhardBerman | 12:05e5964b69a4 | 260 | |
GerhardBerman | 34:96bcbddc7d2d | 261 | pc.baud(115200); |
GerhardBerman | 34:96bcbddc7d2d | 262 | pc.printf("refX: %f ",ReferencePosition_xnew); |
GerhardBerman | 34:96bcbddc7d2d | 263 | pc.printf("refY: %f ",ReferencePosition_ynew); |
GerhardBerman | 34:96bcbddc7d2d | 264 | pc.printf("q1: %f ", q1Out); |
GerhardBerman | 34:96bcbddc7d2d | 265 | pc.printf("q1ref: %f ", q1_refOut); |
GerhardBerman | 34:96bcbddc7d2d | 266 | pc.printf("q2: %f ", q2Out); |
GerhardBerman | 34:96bcbddc7d2d | 267 | pc.printf("q2ref: %f ", q2_refOut); |
GerhardBerman | 19:cba54636bd62 | 268 | |
GerhardBerman | 18:d2cfd07ae88a | 269 | /* |
GerhardBerman | 12:05e5964b69a4 | 270 | pc.printf("dx: %f \r\n", dx); |
GerhardBerman | 12:05e5964b69a4 | 271 | pc.printf("dy: %f \r\n", dy); |
GerhardBerman | 12:05e5964b69a4 | 272 | pc.printf("q1: %f \r\n", q1Out); |
GerhardBerman | 12:05e5964b69a4 | 273 | pc.printf("q1_dot: %f \r\n", q1_dotOut); |
GerhardBerman | 12:05e5964b69a4 | 274 | pc.printf("q2: %f \r\n", q2Out); |
GerhardBerman | 12:05e5964b69a4 | 275 | pc.printf("q2_dot: %f \r\n", q2_dotOut); |
GerhardBerman | 12:05e5964b69a4 | 276 | |
GerhardBerman | 14:725a608b6709 | 277 | pc.printf("Counts1: %f \r\n", counts1); |
GerhardBerman | 14:725a608b6709 | 278 | pc.printf("Encoder1: %f \r\n", Encoder1Position); |
GerhardBerman | 18:d2cfd07ae88a | 279 | pc.printf("Motor1: %f \r\n", q1Out); |
GerhardBerman | 14:725a608b6709 | 280 | pc.printf("Counts2: %f \r\n", counts2); |
GerhardBerman | 14:725a608b6709 | 281 | pc.printf("Encoder2: %f \r\n", Encoder2Position); |
GerhardBerman | 18:d2cfd07ae88a | 282 | pc.printf("Motor2: %f \r\n", q2Out); |
GerhardBerman | 18:d2cfd07ae88a | 283 | */ |
GerhardBerman | 29:caf3dd699617 | 284 | |
GerhardBerman | 7:2f74dfd1d411 | 285 | } |
GerhardBerman | 18:d2cfd07ae88a | 286 | |
GerhardBerman | 7:2f74dfd1d411 | 287 | |
GerhardBerman | 24:393da1cc1fa8 | 288 | void FeedbackControl1(float q1_ref, float q2_ref, float q1, float q2, float &motorValue1Out, float &motorValue2Out){ |
GerhardBerman | 7:2f74dfd1d411 | 289 | |
GerhardBerman | 7:2f74dfd1d411 | 290 | // linear feedback control |
GerhardBerman | 19:cba54636bd62 | 291 | float q1_error = q1_ref - q1; //referencePosition1 - Position1; // proportional angular error in radians |
GerhardBerman | 19:cba54636bd62 | 292 | float q2_error = q2_ref - q2; //referencePosition1 - Position1; // proportional angular error in radians |
GerhardBerman | 35:a21c1cab8086 | 293 | |
GerhardBerman | 35:a21c1cab8086 | 294 | float TotalError1 = pidf.step(q1_error); |
GerhardBerman | 35:a21c1cab8086 | 295 | float TotalError2 = pidf.step(q2_error); |
GerhardBerman | 35:a21c1cab8086 | 296 | |
GerhardBerman | 19:cba54636bd62 | 297 | float q1IntError = q1IntError + q1_error*t_sample; // integrated error in radians |
GerhardBerman | 19:cba54636bd62 | 298 | float q2IntError = q2IntError + q2_error*t_sample; // integrated error in radians |
GerhardBerman | 7:2f74dfd1d411 | 299 | //float maxKi = 0.2; |
GerhardBerman | 7:2f74dfd1d411 | 300 | |
GerhardBerman | 27:456e8a47f815 | 301 | float q1DerivativeError = (q1_error - q1_error_prev)/t_sample; // derivative of error in radians |
GerhardBerman | 19:cba54636bd62 | 302 | float q2DerivativeError = (q2_error_prev + q2_error)/t_sample; // derivative of error in radians |
GerhardBerman | 7:2f74dfd1d411 | 303 | //float maxKd = 0.2; |
GerhardBerman | 7:2f74dfd1d411 | 304 | |
GerhardBerman | 7:2f74dfd1d411 | 305 | //scope.set(0,referencePosition1); |
GerhardBerman | 7:2f74dfd1d411 | 306 | //scope.set(1,Position1); |
GerhardBerman | 7:2f74dfd1d411 | 307 | //scope.set(2,Ki); |
GerhardBerman | 7:2f74dfd1d411 | 308 | //scope.send(); |
GerhardBerman | 7:2f74dfd1d411 | 309 | |
GerhardBerman | 23:3a4d5e19c20d | 310 | TotalError1 = q1_error * Kp + q1IntError * Ki + q1DerivativeError * Kd; //total controller output in radians = motor input |
GerhardBerman | 23:3a4d5e19c20d | 311 | TotalError2 = q2_error * Kp + q2IntError * Ki + q2DerivativeError * Kd; //total controller output in radians = motor input |
11i | 21:dd51d78c0732 | 312 | |
GerhardBerman | 33:b09608fa69e9 | 313 | /* |
GerhardBerman | 25:596255732b65 | 314 | DerTotalError1 = (TotalError1 - TotalError1_prev)/t_sample; |
GerhardBerman | 25:596255732b65 | 315 | DerTotalError1 = (TotalError1 - TotalError1_prev)/t_sample; |
GerhardBerman | 25:596255732b65 | 316 | motorValue1Out = DerTotalError1/MotorGain; |
GerhardBerman | 25:596255732b65 | 317 | motorValue2Out = DerTotalError2/MotorGain; |
GerhardBerman | 25:596255732b65 | 318 | */ |
GerhardBerman | 25:596255732b65 | 319 | |
11i | 21:dd51d78c0732 | 320 | motorValue1Out = TotalError1/MotorGain; |
11i | 21:dd51d78c0732 | 321 | motorValue2Out = TotalError2/MotorGain; |
11i | 21:dd51d78c0732 | 322 | |
GerhardBerman | 33:b09608fa69e9 | 323 | /* |
GerhardBerman | 29:caf3dd699617 | 324 | scope.set(0,q1_ref); |
GerhardBerman | 29:caf3dd699617 | 325 | scope.set(1,q1); |
GerhardBerman | 29:caf3dd699617 | 326 | scope.set(2,q2_ref); |
GerhardBerman | 29:caf3dd699617 | 327 | scope.set(3,q2); |
GerhardBerman | 29:caf3dd699617 | 328 | scope.set(4,motorValue1Out); |
GerhardBerman | 29:caf3dd699617 | 329 | scope.set(5,motorValue2Out); |
GerhardBerman | 29:caf3dd699617 | 330 | scope.send(); |
GerhardBerman | 33:b09608fa69e9 | 331 | */ |
GerhardBerman | 33:b09608fa69e9 | 332 | /* |
GerhardBerman | 33:b09608fa69e9 | 333 | pc.printf("E1: %f ", q1_error); |
GerhardBerman | 33:b09608fa69e9 | 334 | pc.printf("IE1: %f ", q1IntError); |
GerhardBerman | 33:b09608fa69e9 | 335 | pc.printf("DE1: %f ", q2DerivativeError); |
GerhardBerman | 33:b09608fa69e9 | 336 | pc.printf("E2: %f ", q2_error); |
GerhardBerman | 33:b09608fa69e9 | 337 | pc.printf("IE2: %f ", q2IntError); |
GerhardBerman | 33:b09608fa69e9 | 338 | pc.printf("DE2: %f ", q2DerivativeError); |
GerhardBerman | 34:96bcbddc7d2d | 339 | */ |
GerhardBerman | 33:b09608fa69e9 | 340 | pc.printf("TE1: %f ", TotalError1); |
GerhardBerman | 33:b09608fa69e9 | 341 | pc.printf("TE2: %f ", TotalError2); |
GerhardBerman | 33:b09608fa69e9 | 342 | pc.printf("M1: %f ", motorValue1Out); |
GerhardBerman | 33:b09608fa69e9 | 343 | pc.printf("M2: %f \r\n", motorValue2Out); |
GerhardBerman | 34:96bcbddc7d2d | 344 | |
GerhardBerman | 19:cba54636bd62 | 345 | q1_error_prev = q1_error; |
GerhardBerman | 19:cba54636bd62 | 346 | q2_error_prev = q2_error; |
GerhardBerman | 25:596255732b65 | 347 | TotalError1_prev = TotalError1; |
GerhardBerman | 33:b09608fa69e9 | 348 | TotalError2_prev = TotalError2; |
GerhardBerman | 3:8caef4872b0c | 349 | } |
GerhardBerman | 3:8caef4872b0c | 350 | |
GerhardBerman | 9:e4c34f5665a0 | 351 | void SetMotor1(float motorValue1, float motorValue2) |
GerhardBerman | 3:8caef4872b0c | 352 | { |
GerhardBerman | 3:8caef4872b0c | 353 | // Given -1<=motorValue<=1, this sets the PWM and direction |
GerhardBerman | 3:8caef4872b0c | 354 | // bits for motor 1. Positive value makes motor rotating |
GerhardBerman | 3:8caef4872b0c | 355 | // clockwise. motorValues outside range are truncated to |
GerhardBerman | 3:8caef4872b0c | 356 | // within range |
GerhardBerman | 9:e4c34f5665a0 | 357 | //control motor 1 |
GerhardBerman | 15:9061cf7db23e | 358 | if (motorValue1 >=0) //clockwise rotation |
GerhardBerman | 19:cba54636bd62 | 359 | {motor1DirectionPin=cw; //inverted due to opposite (to other motor) build-up in tower |
GerhardBerman | 9:e4c34f5665a0 | 360 | //led1=1; |
GerhardBerman | 9:e4c34f5665a0 | 361 | //led2=0; |
GerhardBerman | 3:8caef4872b0c | 362 | } |
GerhardBerman | 15:9061cf7db23e | 363 | else //counterclockwise rotation |
GerhardBerman | 19:cba54636bd62 | 364 | {motor1DirectionPin=ccw; //inverted due to opposite (to other motor) build-up in tower |
GerhardBerman | 9:e4c34f5665a0 | 365 | //led1=0; |
GerhardBerman | 9:e4c34f5665a0 | 366 | //led2=1; |
GerhardBerman | 3:8caef4872b0c | 367 | } |
GerhardBerman | 29:caf3dd699617 | 368 | if (fabs(motorValue1)>1){ |
GerhardBerman | 29:caf3dd699617 | 369 | motor1MagnitudePin = 1; |
GerhardBerman | 29:caf3dd699617 | 370 | } |
GerhardBerman | 29:caf3dd699617 | 371 | else{ |
GerhardBerman | 29:caf3dd699617 | 372 | motor1MagnitudePin = fabs(motorValue1); //fabs(motorValue1); |
GerhardBerman | 29:caf3dd699617 | 373 | } |
GerhardBerman | 29:caf3dd699617 | 374 | |
GerhardBerman | 9:e4c34f5665a0 | 375 | //control motor 2 |
GerhardBerman | 15:9061cf7db23e | 376 | if (motorValue2 >=0) //clockwise rotation |
GerhardBerman | 14:725a608b6709 | 377 | {motor2DirectionPin=ccw; //action is cw, due to faulty motor2DirectionPin (inverted) |
GerhardBerman | 10:45473f650198 | 378 | //led1=1; |
GerhardBerman | 10:45473f650198 | 379 | //led2=0; |
GerhardBerman | 7:2f74dfd1d411 | 380 | } |
GerhardBerman | 15:9061cf7db23e | 381 | else //counterclockwise rotation |
GerhardBerman | 15:9061cf7db23e | 382 | {motor2DirectionPin=cw; //action is ccw, due to faulty motor2DirectionPin (inverted) |
GerhardBerman | 10:45473f650198 | 383 | //led1=0; |
GerhardBerman | 10:45473f650198 | 384 | //led2=1; |
GerhardBerman | 7:2f74dfd1d411 | 385 | } |
GerhardBerman | 29:caf3dd699617 | 386 | if (fabs(motorValue2)>1){ |
GerhardBerman | 29:caf3dd699617 | 387 | motor2MagnitudePin = 1; |
GerhardBerman | 29:caf3dd699617 | 388 | } |
GerhardBerman | 29:caf3dd699617 | 389 | else{ |
GerhardBerman | 29:caf3dd699617 | 390 | motor2MagnitudePin = fabs(motorValue2); |
GerhardBerman | 29:caf3dd699617 | 391 | } |
GerhardBerman | 19:cba54636bd62 | 392 | float ReadMagn1 = motor1MagnitudePin.read(); |
GerhardBerman | 19:cba54636bd62 | 393 | float ReadMagn2 = motor2MagnitudePin.read(); |
GerhardBerman | 33:b09608fa69e9 | 394 | //pc.printf("motor1Magnitude: %f \r\n", ReadMagn1); |
GerhardBerman | 33:b09608fa69e9 | 395 | //pc.printf("motor2Magnitude: %f \r\n", ReadMagn2); |
GerhardBerman | 3:8caef4872b0c | 396 | } |
GerhardBerman | 3:8caef4872b0c | 397 | |
GerhardBerman | 3:8caef4872b0c | 398 | void MeasureAndControl() |
GerhardBerman | 3:8caef4872b0c | 399 | { |
GerhardBerman | 9:e4c34f5665a0 | 400 | // This function measures the EMG of both arms, calculates via IK what |
GerhardBerman | 24:393da1cc1fa8 | 401 | // the joint positions should be, and controls the motor with |
GerhardBerman | 24:393da1cc1fa8 | 402 | // a Feedback controller. This is called from a Ticker. |
GerhardBerman | 19:cba54636bd62 | 403 | GetReferenceKinematics1(q1, q2, q1_ref, q2_ref); |
GerhardBerman | 24:393da1cc1fa8 | 404 | FeedbackControl1( q1_ref, q2_ref, q1, q2, motorValue1, motorValue2); |
GerhardBerman | 9:e4c34f5665a0 | 405 | SetMotor1(motorValue1, motorValue2); |
GerhardBerman | 3:8caef4872b0c | 406 | } |
GerhardBerman | 3:8caef4872b0c | 407 | |
GerhardBerman | 3:8caef4872b0c | 408 | void TimeTrackerF(){ |
GerhardBerman | 3:8caef4872b0c | 409 | //wait(1); |
GerhardBerman | 3:8caef4872b0c | 410 | //float Potmeter1 = potMeter1.read(); |
GerhardBerman | 7:2f74dfd1d411 | 411 | //float referencePosition1 = GetReferencePosition(); |
GerhardBerman | 7:2f74dfd1d411 | 412 | //pc.printf("TTReference Position: %d rad \r\n", referencePosition1); |
GerhardBerman | 3:8caef4872b0c | 413 | //pc.printf("TTPotmeter1, for refpos: %f \r\n", Potmeter1); |
GerhardBerman | 3:8caef4872b0c | 414 | //pc.printf("TTPotmeter2, Kp: %f \r\n", Potmeter2); |
GerhardBerman | 7:2f74dfd1d411 | 415 | //pc.printf("TTCounts: %i \r\n", counts1); |
GerhardBerman | 3:8caef4872b0c | 416 | } |
GerhardBerman | 7:2f74dfd1d411 | 417 | |
GerhardBerman | 3:8caef4872b0c | 418 | /* |
GerhardBerman | 3:8caef4872b0c | 419 | void BiQuadFilter(){ //this function creates a BiQuad filter for the DerivativeCounts |
GerhardBerman | 3:8caef4872b0c | 420 | //double in=DerivativeCounts(); |
GerhardBerman | 3:8caef4872b0c | 421 | bqcDerivativeCounts=bqc.step(DerivativeCounts); |
GerhardBerman | 3:8caef4872b0c | 422 | //return(bqcDerivativeCounts); |
GerhardBerman | 3:8caef4872b0c | 423 | } |
GerhardBerman | 9:e4c34f5665a0 | 424 | */ |
GerhardBerman | 6:3c4f3f2ce54f | 425 | |
GerhardBerman | 0:43160ef59f9f | 426 | int main() |
GerhardBerman | 0:43160ef59f9f | 427 | { |
GerhardBerman | 0:43160ef59f9f | 428 | //Initialize |
GerhardBerman | 15:9061cf7db23e | 429 | //int led1val = led1.read(); |
GerhardBerman | 15:9061cf7db23e | 430 | //int led2val = led2.read(); |
GerhardBerman | 34:96bcbddc7d2d | 431 | pc.baud(115200); |
GerhardBerman | 34:96bcbddc7d2d | 432 | pc.printf("Test putty IK"); |
GerhardBerman | 34:96bcbddc7d2d | 433 | MeasureTicker.attach(&MeasureTicker_act, 0.1f); |
GerhardBerman | 35:a21c1cab8086 | 434 | bqc.add(&bq1).add(&bq2); //set BiQuad chain |
GerhardBerman | 35:a21c1cab8086 | 435 | pidf.PIDF( Kp, Ki, Kd, N, t_sample ); //set PID filter |
GerhardBerman | 0:43160ef59f9f | 436 | while(1) |
GerhardBerman | 0:43160ef59f9f | 437 | { |
GerhardBerman | 3:8caef4872b0c | 438 | if (MeasureTicker_go){ |
GerhardBerman | 3:8caef4872b0c | 439 | MeasureTicker_go=false; |
GerhardBerman | 33:b09608fa69e9 | 440 | ledgrn = 1; |
GerhardBerman | 33:b09608fa69e9 | 441 | ledblue = 0; |
GerhardBerman | 3:8caef4872b0c | 442 | MeasureAndControl(); |
GerhardBerman | 15:9061cf7db23e | 443 | counts1 = Encoder1.getPulses(); // gives position of encoder |
GerhardBerman | 15:9061cf7db23e | 444 | counts2 = Encoder2.getPulses(); // gives position of encoder |
GerhardBerman | 33:b09608fa69e9 | 445 | //pc.printf("counts1: %i ", counts1); |
GerhardBerman | 33:b09608fa69e9 | 446 | //pc.printf("counts2: %i \r\n", counts2); |
GerhardBerman | 33:b09608fa69e9 | 447 | ledblue = 1; |
GerhardBerman | 33:b09608fa69e9 | 448 | ledgrn = 0; |
GerhardBerman | 3:8caef4872b0c | 449 | } |
GerhardBerman | 10:45473f650198 | 450 | /* |
GerhardBerman | 3:8caef4872b0c | 451 | if (BiQuadTicker_go){ |
GerhardBerman | 3:8caef4872b0c | 452 | BiQuadTicker_go=false; |
GerhardBerman | 3:8caef4872b0c | 453 | BiQuadFilter(); |
GerhardBerman | 3:8caef4872b0c | 454 | } |
GerhardBerman | 10:45473f650198 | 455 | */ |
GerhardBerman | 0:43160ef59f9f | 456 | } |
GerhardBerman | 0:43160ef59f9f | 457 | } |