Gerhard Berman / Mbed 2 deprecated prog_forwardkin_feedback_copy3

New reference frame: y=0 is now at table height.

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of prog_forwardkin_feedback_copy by Elfi Hofmeijer

main.cpp@44:43f200e04903, 2016-11-05 (annotated)

Committer:
GerhardBerman
Date:
Sat Nov 05 16:00:26 2016 +0000
Revision:
44:43f200e04903
Parent:
43:2b2e0bff0b39 
Final version as used in demo, script is fully cleaned up.

Who changed what in which revision?

UserRevisionLine numberNew 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 44:43f200e04903 10 - 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 44:43f200e04903 14 - Arms should be placed manually into reference position before resetting board.
GerhardBerman 17:91d20d362e72 15 */
GerhardBerman 17:91d20d362e72 16
GerhardBerman 0:43160ef59f9f 17 //set pins
GerhardBerman 44:43f200e04903 18 DigitalIn encoder1A (D13); //Channel A from Encoder 1
GerhardBerman 44:43f200e04903 19 DigitalIn encoder1B (D12); //Channel B from Encoder 1
GerhardBerman 44:43f200e04903 20 DigitalIn encoder2A (D11); //Channel A from Encoder 2
GerhardBerman 44:43f200e04903 21 DigitalIn encoder2B (D10); //Channel B from Encoder 2
GerhardBerman 44:43f200e04903 22 AnalogIn emg0( A0 );
GerhardBerman 44:43f200e04903 23 AnalogIn emg1( A1 );
GerhardBerman 44:43f200e04903 24 DigitalIn button1(D3);
GerhardBerman 44:43f200e04903 25 DigitalIn button2(D9);
GerhardBerman 44:43f200e04903 26
GerhardBerman 0:43160ef59f9f 27 DigitalOut motor1DirectionPin(D7);
GerhardBerman 0:43160ef59f9f 28 PwmOut motor1MagnitudePin(D6);
GerhardBerman 7:2f74dfd1d411 29 DigitalOut motor2DirectionPin(D4);
GerhardBerman 7:2f74dfd1d411 30 PwmOut motor2MagnitudePin(D5);
GerhardBerman 41:68b170829965 31 DigitalOut ledGrn(LED_GREEN);
GerhardBerman 41:68b170829965 32 DigitalOut ledRed(LED_RED);
GerhardBerman 41:68b170829965 33 DigitalOut ledBlue(LED_BLUE);
GerhardBerman 33:b09608fa69e9 34
GerhardBerman 7:2f74dfd1d411 35 //library settings
GerhardBerman 0:43160ef59f9f 36 Serial pc(USBTX,USBRX);
GerhardBerman 41:68b170829965 37 HIDScope scope(6);
GerhardBerman 0:43160ef59f9f 38
GerhardBerman 44:43f200e04903 39 //go-Ticker settings
GerhardBerman 44:43f200e04903 40 Ticker MeasureTicker;
GerhardBerman 44:43f200e04903 41 volatile bool MeasureTicker_go=false;
GerhardBerman 44:43f200e04903 42 void MeasureTicker_act(){MeasureTicker_go=true;}; // Activates go-flag
GerhardBerman 44:43f200e04903 43
GerhardBerman 44:43f200e04903 44 //constant values
GerhardBerman 3:8caef4872b0c 45 const float PI = 3.141592653589793;
GerhardBerman 44:43f200e04903 46 const int cw = 0; //values for cw and ccw are inverted! cw=0 and ccw=1
GerhardBerman 3:8caef4872b0c 47 const int ccw = 1;
GerhardBerman 44:43f200e04903 48 double threshold_l=0.09; //left arm EMG threshold
GerhardBerman 44:43f200e04903 49 double threshold_r = 0.08; //right arm EMG threshold
GerhardBerman 44:43f200e04903 50 float EMGgain = 1.0;
GerhardBerman 0:43160ef59f9f 51
GerhardBerman 44:43f200e04903 52 //set lengths
GerhardBerman 44:43f200e04903 53 //float L0 = 0.232; //height of motor axes above table surface
GerhardBerman 44:43f200e04903 54 float L1 = 0.45; //length of proximal arm
GerhardBerman 44:43f200e04903 55 float L2 = 0.35; //length of distal arm
GerhardBerman 44:43f200e04903 56 float TowerHeight = 0.232; //height of motor axes above table surface
GerhardBerman 44:43f200e04903 57 float StampHeight = 0.056; // height of end effector
GerhardBerman 44:43f200e04903 58 float y_stampup = 0.1; //height stamp while not stamping: 10cm above table surface
GerhardBerman 44:43f200e04903 59 float y_stampdown = -0.04; //height stamp while stamping: at table surface
GerhardBerman 34:96bcbddc7d2d 60
GerhardBerman 44:43f200e04903 61 //float dy_stampdown = 2.0; //0.05; //5 cm movement downward to stamp
GerhardBerman 44:43f200e04903 62 float MotorGain = 8.4; // rad/s for PWM, is max motor speed
GerhardBerman 44:43f200e04903 63 float MotorMaxSpeed = 0.1; //define a maximum PWM speed for the motor
GerhardBerman 44:43f200e04903 64 float t_sample = 0.002; //seconds
GerhardBerman 44:43f200e04903 65 const float maxStampDistance = 0.7;
GerhardBerman 44:43f200e04903 66 const float minStampDistance = 0.3;
GerhardBerman 44:43f200e04903 67 float Kp = 4.0; //proportional controller constant
GerhardBerman 44:43f200e04903 68 float Ki = 0.04; //integrative controller constant
GerhardBerman 44:43f200e04903 69 float Kd = 0.02; //derivative controller constant
GerhardBerman 44:43f200e04903 70 float N = 25; //PIDF filter constant
GerhardBerman 44:43f200e04903 71 //(Higher N is faster derivative action but more sensitive to noise)
GerhardBerman 44:43f200e04903 72
GerhardBerman 44:43f200e04903 73 //set initial conditions for inputs and positions
GerhardBerman 44:43f200e04903 74 float biceps_l = 0, biceps_r = 0;
GerhardBerman 44:43f200e04903 75 double envelopeL = 0, envelopeR = 0;
GerhardBerman 44:43f200e04903 76 int T=0; //EMG 'switch' variable
GerhardBerman 44:43f200e04903 77 float ReferencePosition_x = 0.35; //starting position for x reference position
GerhardBerman 44:43f200e04903 78 float ReferencePosition_y = L1 + TowerHeight - StampHeight; //starting position for y reference position
GerhardBerman 44:43f200e04903 79 float ReferencePosition_xnew = 0.35;
GerhardBerman 39:cc7754330c26 80 float ReferencePosition_ynew = L1 + TowerHeight - StampHeight;
GerhardBerman 19:cba54636bd62 81 float Position_x = 0.0;
GerhardBerman 19:cba54636bd62 82 float Position_y = 0.0;
GerhardBerman 44:43f200e04903 83
GerhardBerman 44:43f200e04903 84 //set initial conditions for angles, errors and motor values
GerhardBerman 44:43f200e04903 85 float q1 = 0,q2 = PI/2;
GerhardBerman 44:43f200e04903 86 float q1_ref = 0, q2_ref = 0;
GerhardBerman 44:43f200e04903 87 float q1start = 0;
GerhardBerman 39:cc7754330c26 88 float q12start = PI/2;
GerhardBerman 44:43f200e04903 89 float q1Encoder = 0, q12Encoder = 0;
GerhardBerman 39:cc7754330c26 90 float q12Out = 0;
GerhardBerman 19:cba54636bd62 91
GerhardBerman 44:43f200e04903 92 float q1_error_prev = 0, q2_error_prev = 0;
GerhardBerman 44:43f200e04903 93 float DerTotalError1 = 0, DerTotalError2 = 0;
GerhardBerman 44:43f200e04903 94 float q1IntError = 0, q2IntError = 0;
GerhardBerman 44:43f200e04903 95 float TotalError1_prev = 0, TotalError2_prev = 0;
GerhardBerman 44:43f200e04903 96 float TotalError1= 0, TotalError2= 0;
GerhardBerman 44:43f200e04903 97 //float TotalErrorMin= 0;
GerhardBerman 26:bb7e14f59ddd 98
GerhardBerman 44:43f200e04903 99 float motorValue1 = 0.0, motorValue2 = 0.0;
GerhardBerman 44:43f200e04903 100 int counts1 = 0, counts2 = 0;
GerhardBerman 44:43f200e04903 101 int counts1Prev = 0, counts2Prev = 0;
GerhardBerman 26:bb7e14f59ddd 102
GerhardBerman 44:43f200e04903 103 //set reference angle boundaries
GerhardBerman 44:43f200e04903 104 float q1_refOutNew = 0, q2_refOutNew = 0;
GerhardBerman 44:43f200e04903 105 float q1_refOutMin = 0; //Physical min angle 0.00 radians
GerhardBerman 44:43f200e04903 106 float q1_refOutMax = 1.37; //Physical max angle 1.47 radians - 0.1 rad
GerhardBerman 44:43f200e04903 107 float q2_refOutMin = 0.91; //Physical min angle 0.81 radians + 0.1 rad
GerhardBerman 44:43f200e04903 108 float q2_refOutMax = 2.07; //Physical max angle 2.17 radians - 0.1 rad
GerhardBerman 0:43160ef59f9f 109
GerhardBerman 44:43f200e04903 110 //set BiQuad filters/filter chains
GerhardBerman 44:43f200e04903 111
GerhardBerman 44:43f200e04903 112 BiQuad pidf; //PID Filter
GerhardBerman 40:9ecaab27acde 113
GerhardBerman 44:43f200e04903 114 BiQuadChain bcq1R; //Right EMG filter chain 1: notch filter+highpass
GerhardBerman 44:43f200e04903 115 BiQuadChain bcq2R; //Right EMG filter chain 2: lowpass
GerhardBerman 44:43f200e04903 116 BiQuad bq1R(9.9110e-01,-1.6036e+00,9.9110e-01,-1.6036e+00,9.8221e-01); // Notch filter wo=50; bw=wo/35
GerhardBerman 44:43f200e04903 117 BiQuad bq2R(9.1497e-01,-1.8299e+00,9.1497e-01,-1.8227e+00,8.3718e-01); // High pass Butterworth filter 2nd order, Fc=10;
GerhardBerman 44:43f200e04903 118 BiQuad bq3R(1.3487e-03,2.6974e-03,1.3487e-03,-1.8935e+00,8.9886e-01); // Low pass Butterworth filter 2nd order, Fc = 8;
GerhardBerman 41:68b170829965 119
GerhardBerman 44:43f200e04903 120 BiQuadChain bcq1L; //Left EMG filter chain 1: notch filter+highpass
GerhardBerman 44:43f200e04903 121 BiQuadChain bcq2L; //Left EMG filter chain 2: lowpass
GerhardBerman 44:43f200e04903 122 BiQuad bq1L(9.9110e-01,-1.6036e+00,9.9110e-01,-1.6036e+00,9.8221e-01); // Notch filter wo=50; bw=wo/35
GerhardBerman 44:43f200e04903 123 BiQuad bq2L(9.1497e-01,-1.8299e+00,9.1497e-01,-1.8227e+00,8.3718e-01); // High pass Butterworth filter 2nd order, Fc=10;
GerhardBerman 44:43f200e04903 124 BiQuad bq3L(1.3487e-03,2.6974e-03,1.3487e-03,-1.8935e+00,8.9886e-01); // Low pass Butterworth filter 2nd order, Fc = 8;
GerhardBerman 44:43f200e04903 125 // In the following: R is used for right arm EMG, L is used for left arm EMG
GerhardBerman 3:8caef4872b0c 126
GerhardBerman 3:8caef4872b0c 127 //define encoder counts and degrees
GerhardBerman 44:43f200e04903 128 QEI Encoder1(D12, D13, NC, 32); // turns on encoder
GerhardBerman 44:43f200e04903 129 QEI Encoder2(D10, D11, NC, 32); // turns on encoder
GerhardBerman 44:43f200e04903 130 const int counts_per_revolution = 4200; //counts per motor axis revolution
GerhardBerman 44:43f200e04903 131 const int inverse_gear_ratio = 131;
GerhardBerman 44:43f200e04903 132 const float resolution = counts_per_revolution/(2*PI/inverse_gear_ratio); //87567.0496892 counts per radian, encoder axis
GerhardBerman 14:725a608b6709 133
GerhardBerman 44:43f200e04903 134 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 44:43f200e04903 135 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 3:8caef4872b0c 136
GerhardBerman 41:68b170829965 137 void FilteredSample(int &Tout, double &envelopeLout, double &envelopeRout)
GerhardBerman 41:68b170829965 138 {
GerhardBerman 44:43f200e04903 139 //This function reads EMG, filters it and generates a T-switch value which specifies the movement of the robot
GerhardBerman 44:43f200e04903 140
GerhardBerman 41:68b170829965 141 double inLout = emg0.read();
GerhardBerman 41:68b170829965 142 double inRout = emg1.read();
GerhardBerman 41:68b170829965 143
GerhardBerman 41:68b170829965 144 double outRfilter1 = bcq1R.step(inRout);
GerhardBerman 41:68b170829965 145 double outRrect= fabs(outRfilter1);
GerhardBerman 41:68b170829965 146 envelopeRout = bcq2R.step(outRrect);
GerhardBerman 41:68b170829965 147
GerhardBerman 41:68b170829965 148 double outLfilter1 = bcq1L.step(inLout);
GerhardBerman 41:68b170829965 149 double outLrect = fabs(outLfilter1);
GerhardBerman 41:68b170829965 150 envelopeLout = bcq2L.step(outLrect);
GerhardBerman 41:68b170829965 151
GerhardBerman 41:68b170829965 152 double biceps_l = (double) envelopeLout * EMGgain; //emg0.read(); //velocity or reference position change, EMG with a gain
GerhardBerman 41:68b170829965 153 double biceps_r = (double) envelopeRout * EMGgain; //emg1.read();
GerhardBerman 41:68b170829965 154 if (biceps_l > threshold_l && biceps_r > threshold_r){
GerhardBerman 41:68b170829965 155 //both arms activated: stamp moves down
GerhardBerman 41:68b170829965 156 Tout = -2;
GerhardBerman 41:68b170829965 157 }
GerhardBerman 41:68b170829965 158 else if (biceps_l > threshold_l && biceps_r <= threshold_r){
GerhardBerman 41:68b170829965 159 //arm 1 activated, move left
GerhardBerman 41:68b170829965 160 Tout = -1;
GerhardBerman 41:68b170829965 161 }
GerhardBerman 41:68b170829965 162 else if (biceps_l <= threshold_l && biceps_r > threshold_r){
GerhardBerman 41:68b170829965 163 //arm 1 activated, move right
GerhardBerman 41:68b170829965 164 Tout = 1;
GerhardBerman 41:68b170829965 165 }
GerhardBerman 41:68b170829965 166 else{
GerhardBerman 41:68b170829965 167 //wait(0.2);
GerhardBerman 41:68b170829965 168 Tout = 0;
GerhardBerman 44:43f200e04903 169 }
GerhardBerman 41:68b170829965 170 }
GerhardBerman 41:68b170829965 171
GerhardBerman 44:43f200e04903 172 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 44:43f200e04903 173 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 44:43f200e04903 174
GerhardBerman 44:43f200e04903 175 void GetReferenceKinematics1(float &q1Out, float &q2Out, float &q1_refOut, float &q2_refOut)
GerhardBerman 44:43f200e04903 176 {
GerhardBerman 44:43f200e04903 177 //This function reads current position from encoder, calculates reference position from T-switch value,
GerhardBerman 44:43f200e04903 178 //converts reference position to reference angles and checks boundaries
GerhardBerman 7:2f74dfd1d411 179
GerhardBerman 19:cba54636bd62 180 //get joint positions q feedback from encoder
GerhardBerman 44:43f200e04903 181 float Encoder1Position = counts1/resolution; //angular position of encoder in radians
GerhardBerman 44:43f200e04903 182 float Encoder2Position = -1*counts2/resolution; //NEGATIVE due to opposite build up in tower
GerhardBerman 39:cc7754330c26 183
GerhardBerman 39:cc7754330c26 184 q1Encoder = Encoder1Position*inverse_gear_ratio;
GerhardBerman 39:cc7754330c26 185 q12Encoder = Encoder2Position*inverse_gear_ratio;
GerhardBerman 44:43f200e04903 186 q1Out = q1start + q1Encoder; //angular position of motor axis in radians
GerhardBerman 44:43f200e04903 187 q12Out = q12start + q12Encoder; //encoder 2 gives sum of q1 and q2!
GerhardBerman 39:cc7754330c26 188 q2Out = q12Out - q1Out;
GerhardBerman 44:43f200e04903 189 //float q1deg = q1Out*360/2/PI; //angle in degrees
GerhardBerman 44:43f200e04903 190 //float q2deg = q2Out*360/2/PI; //angle in degrees
GerhardBerman 7:2f74dfd1d411 191
GerhardBerman 44:43f200e04903 192 //get end effector position with trigonometry
GerhardBerman 19:cba54636bd62 193 Position_x = (L1*sin(q1) + L2*sin(q1+q2));
GerhardBerman 28:6d8c6fe79394 194 Position_y = (L1*cos(q1) + L2*cos(q1+q2)) + TowerHeight - StampHeight;
GerhardBerman 29:caf3dd699617 195
GerhardBerman 44:43f200e04903 196 //get reference position from EMG based T-switch values
GerhardBerman 41:68b170829965 197 if (T == -2){
GerhardBerman 44:43f200e04903 198 //both EMGs active: stamp moves down
GerhardBerman 19:cba54636bd62 199 ReferencePosition_xnew = ReferencePosition_x;
GerhardBerman 44:43f200e04903 200 ReferencePosition_ynew = ReferencePosition_y - 0.015;
GerhardBerman 18:d2cfd07ae88a 201 }
GerhardBerman 41:68b170829965 202 else if (T==-1){
GerhardBerman 44:43f200e04903 203 //left EMG active, move stamp left
GerhardBerman 44:43f200e04903 204 ReferencePosition_xnew = ReferencePosition_x - 0.0009;
GerhardBerman 44:43f200e04903 205 ReferencePosition_ynew = y_stampup;
GerhardBerman 8:935abf8ecc27 206 }
GerhardBerman 41:68b170829965 207 else if (T==1){
GerhardBerman 44:43f200e04903 208 //right EMG active, move stamp right
GerhardBerman 44:43f200e04903 209 ReferencePosition_xnew = ReferencePosition_x + 0.0009;
GerhardBerman 44:43f200e04903 210 ReferencePosition_ynew = y_stampup;
GerhardBerman 44:43f200e04903 211 }
GerhardBerman 44:43f200e04903 212 else{ //T==0
GerhardBerman 44:43f200e04903 213 //no EMG active, no x-movement, y-position restored to non-stamping position
GerhardBerman 44:43f200e04903 214 ReferencePosition_ynew = y_stampup;
GerhardBerman 8:935abf8ecc27 215 }
GerhardBerman 19:cba54636bd62 216
GerhardBerman 44:43f200e04903 217 //check reference position boundaries
GerhardBerman 39:cc7754330c26 218 if (ReferencePosition_xnew > maxStampDistance){
GerhardBerman 44:43f200e04903 219 //target too far to be reached
GerhardBerman 44:43f200e04903 220 ReferencePosition_x = maxStampDistance;
GerhardBerman 39:cc7754330c26 221 ReferencePosition_y = y_stampup;
GerhardBerman 44:43f200e04903 222 //pc.printf("Target too far! \r\n");
GerhardBerman 39:cc7754330c26 223 }
GerhardBerman 39:cc7754330c26 224 else if (ReferencePosition_xnew < minStampDistance){
GerhardBerman 44:43f200e04903 225 //target too close
GerhardBerman 44:43f200e04903 226 ReferencePosition_x = minStampDistance;
GerhardBerman 39:cc7754330c26 227 ReferencePosition_y = y_stampup;
GerhardBerman 44:43f200e04903 228 //pc.printf("Target too close! \r\n");
GerhardBerman 39:cc7754330c26 229 }
GerhardBerman 41:68b170829965 230 else if (ReferencePosition_ynew < y_stampdown){
GerhardBerman 44:43f200e04903 231 //target under table surface
GerhardBerman 44:43f200e04903 232 ReferencePosition_x = ReferencePosition_xnew;
GerhardBerman 41:68b170829965 233 ReferencePosition_y = y_stampdown;
GerhardBerman 44:43f200e04903 234 //pc.printf("Target too low! \r\n");
GerhardBerman 41:68b170829965 235 }
GerhardBerman 39:cc7754330c26 236 else {
GerhardBerman 44:43f200e04903 237 //target within reach
GerhardBerman 39:cc7754330c26 238 ReferencePosition_x = ReferencePosition_xnew;
GerhardBerman 39:cc7754330c26 239 ReferencePosition_y = ReferencePosition_ynew;
GerhardBerman 39:cc7754330c26 240 }
GerhardBerman 39:cc7754330c26 241
GerhardBerman 44:43f200e04903 242 //calculate reference joint angles for the new reference position
GerhardBerman 28:6d8c6fe79394 243 float PointPositionArm2_x = ReferencePosition_x;
GerhardBerman 28:6d8c6fe79394 244 float PointPositionArm2_y = ReferencePosition_y - TowerHeight + StampHeight;
GerhardBerman 28:6d8c6fe79394 245 float PointVectorArm2 = sqrt(pow(PointPositionArm2_x,2)+pow(PointPositionArm2_y,2));
GerhardBerman 19:cba54636bd62 246
GerhardBerman 28:6d8c6fe79394 247 float alpha = atan(PointPositionArm2_y/PointPositionArm2_x);
GerhardBerman 28:6d8c6fe79394 248 float beta = acos((L2*L2-L1*L1-pow(PointVectorArm2,2))/(-2*L1*PointVectorArm2));
GerhardBerman 19:cba54636bd62 249 q1_refOutNew = PI/2 - (alpha+beta);
GerhardBerman 28:6d8c6fe79394 250 q2_refOutNew = PI - asin(PointVectorArm2*sin(beta)/L2);
GerhardBerman 19:cba54636bd62 251
GerhardBerman 44:43f200e04903 252 //check reference angle boundaries
GerhardBerman 39:cc7754330c26 253 if (q1_refOutNew < q1_refOutMin){
GerhardBerman 44:43f200e04903 254 //new q1_ref too small
GerhardBerman 39:cc7754330c26 255 q1_refOut = q1_refOutMin;
GerhardBerman 44:43f200e04903 256 //pc.printf("\r\n Under q1 angle boundaries\r\n");
GerhardBerman 39:cc7754330c26 257 }
GerhardBerman 39:cc7754330c26 258 else if (q1_refOutNew > q1_refOutMax){
GerhardBerman 44:43f200e04903 259 //new q1_ref too large
GerhardBerman 39:cc7754330c26 260 q1_refOut = q1_refOutMax;
GerhardBerman 44:43f200e04903 261 //pc.printf("\r\n Above q1 angle boundaries\r\n");
GerhardBerman 19:cba54636bd62 262 }
GerhardBerman 19:cba54636bd62 263 else {
GerhardBerman 44:43f200e04903 264 //new q1_ref within reach
GerhardBerman 39:cc7754330c26 265 q1_refOut = q1_refOutNew;
GerhardBerman 19:cba54636bd62 266 }
GerhardBerman 39:cc7754330c26 267
GerhardBerman 39:cc7754330c26 268 if (q2_refOutNew < q2_refOutMin){
GerhardBerman 44:43f200e04903 269 //new q2_ref too small
GerhardBerman 39:cc7754330c26 270 q2_refOut = q2_refOutMin;
GerhardBerman 39:cc7754330c26 271 pc.printf("\r\n Under q2 angle boundaries");
GerhardBerman 39:cc7754330c26 272 }
GerhardBerman 39:cc7754330c26 273 else if (q2_refOutNew > q2_refOutMax){
GerhardBerman 44:43f200e04903 274 //new q2_ref too large
GerhardBerman 39:cc7754330c26 275 q2_refOut = q2_refOutMax;
GerhardBerman 39:cc7754330c26 276 pc.printf("\r\n Above q2 angle boundaries");
GerhardBerman 19:cba54636bd62 277 }
GerhardBerman 19:cba54636bd62 278 else {
GerhardBerman 44:43f200e04903 279 //new q2_ref within reach
GerhardBerman 39:cc7754330c26 280 q2_refOut = q2_refOutNew;
GerhardBerman 39:cc7754330c26 281 }
GerhardBerman 41:68b170829965 282
GerhardBerman 41:68b170829965 283 scope.set(0, ReferencePosition_xnew);
GerhardBerman 41:68b170829965 284 scope.set(1, ReferencePosition_ynew);
GerhardBerman 41:68b170829965 285 scope.set(2, envelopeL);
GerhardBerman 41:68b170829965 286 scope.set(3, envelopeR);
GerhardBerman 41:68b170829965 287 scope.set(4, T);
GerhardBerman 41:68b170829965 288 scope.send();
GerhardBerman 44:43f200e04903 289 }
GerhardBerman 44:43f200e04903 290
GerhardBerman 44:43f200e04903 291 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 44:43f200e04903 292 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 44:43f200e04903 293
GerhardBerman 44:43f200e04903 294 void FeedbackControl1(float q1_ref, float q2_ref, float q1, float q2, float &motorValue1Out, float &motorValue2Out)
GerhardBerman 44:43f200e04903 295 {
GerhardBerman 44:43f200e04903 296 //This function calculates the error between angles and refernce angles, and provides motor values via a PIDF controller
GerhardBerman 12:05e5964b69a4 297
GerhardBerman 44:43f200e04903 298 //calculate error values
GerhardBerman 44:43f200e04903 299 float q1_error = q1_ref - q1; // proportional angular error in radians
GerhardBerman 44:43f200e04903 300 float q2_error = q2_ref - q2; // proportional angular error in radians
GerhardBerman 29:caf3dd699617 301
GerhardBerman 44:43f200e04903 302 //PIDF total error output
GerhardBerman 40:9ecaab27acde 303 float TotalError1 = pidf.step(q1_error);
GerhardBerman 40:9ecaab27acde 304 float TotalError2 = pidf.step(q2_error);
GerhardBerman 40:9ecaab27acde 305
GerhardBerman 44:43f200e04903 306 //calculate motor values from the total errors
GerhardBerman 44:43f200e04903 307 motorValue1Out = TotalError1/MotorGain;
11i 21:dd51d78c0732 308 motorValue2Out = TotalError2/MotorGain;
11i 21:dd51d78c0732 309
GerhardBerman 44:43f200e04903 310 //prepare for next ticker cycle
GerhardBerman 19:cba54636bd62 311 q1_error_prev = q1_error;
GerhardBerman 19:cba54636bd62 312 q2_error_prev = q2_error;
GerhardBerman 25:596255732b65 313 TotalError1_prev = TotalError1;
GerhardBerman 33:b09608fa69e9 314 TotalError2_prev = TotalError2;
GerhardBerman 3:8caef4872b0c 315 }
GerhardBerman 3:8caef4872b0c 316
GerhardBerman 44:43f200e04903 317 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 44:43f200e04903 318 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 44:43f200e04903 319
GerhardBerman 9:e4c34f5665a0 320 void SetMotor1(float motorValue1, float motorValue2)
GerhardBerman 3:8caef4872b0c 321 {
GerhardBerman 44:43f200e04903 322 //This function sets the PWM and direction bits for the motors.
GerhardBerman 44:43f200e04903 323 //motorValues outside range are truncated to within range.
GerhardBerman 44:43f200e04903 324
GerhardBerman 9:e4c34f5665a0 325 //control motor 1
GerhardBerman 44:43f200e04903 326 if (motorValue1 >=0){
GerhardBerman 44:43f200e04903 327 //clockwise rotation
GerhardBerman 44:43f200e04903 328 motor1DirectionPin=cw;
GerhardBerman 3:8caef4872b0c 329 }
GerhardBerman 44:43f200e04903 330 else{
GerhardBerman 44:43f200e04903 331 //counterclockwise rotation
GerhardBerman 44:43f200e04903 332 motor1DirectionPin=ccw;
GerhardBerman 3:8caef4872b0c 333 }
GerhardBerman 39:cc7754330c26 334 if (fabs(motorValue1)>MotorMaxSpeed){
GerhardBerman 44:43f200e04903 335 motor1MagnitudePin = MotorMaxSpeed; //motor values truncated
GerhardBerman 29:caf3dd699617 336 }
GerhardBerman 29:caf3dd699617 337 else{
GerhardBerman 44:43f200e04903 338 motor1MagnitudePin = fabs(motorValue1);
GerhardBerman 29:caf3dd699617 339 }
GerhardBerman 29:caf3dd699617 340
GerhardBerman 9:e4c34f5665a0 341 //control motor 2
GerhardBerman 44:43f200e04903 342 if (motorValue2 >=0){
GerhardBerman 44:43f200e04903 343 //counterclockwise rotation due to inverse buildup in tower
GerhardBerman 44:43f200e04903 344 motor2DirectionPin=cw; //action is ccw, due to faulty motor2DirectionPin (inverted)
GerhardBerman 7:2f74dfd1d411 345 }
GerhardBerman 44:43f200e04903 346 else{
GerhardBerman 44:43f200e04903 347 //clockwise rotation due to inverse buildup in tower
GerhardBerman 44:43f200e04903 348 motor2DirectionPin=ccw; //action is cw, due to faulty motor2DirectionPin (inverted)
GerhardBerman 10:45473f650198 349 //led1=0;
GerhardBerman 10:45473f650198 350 //led2=1;
GerhardBerman 7:2f74dfd1d411 351 }
GerhardBerman 39:cc7754330c26 352 if (fabs(motorValue2)>MotorMaxSpeed){
GerhardBerman 39:cc7754330c26 353 motor2MagnitudePin = MotorMaxSpeed;
GerhardBerman 29:caf3dd699617 354 }
GerhardBerman 29:caf3dd699617 355 else{
GerhardBerman 29:caf3dd699617 356 motor2MagnitudePin = fabs(motorValue2);
GerhardBerman 29:caf3dd699617 357 }
GerhardBerman 3:8caef4872b0c 358 }
GerhardBerman 3:8caef4872b0c 359
GerhardBerman 44:43f200e04903 360 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 44:43f200e04903 361 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 44:43f200e04903 362
GerhardBerman 3:8caef4872b0c 363 void MeasureAndControl()
GerhardBerman 3:8caef4872b0c 364 {
GerhardBerman 44:43f200e04903 365 // This function measures the EMG of both arms, calculates via inverse kinematics
GerhardBerman 44:43f200e04903 366 // what the joint reference positions should be, and controls the motor with
GerhardBerman 44:43f200e04903 367 // a Feedback controller. This is called from a Ticker.
GerhardBerman 41:68b170829965 368 FilteredSample(T, envelopeL, envelopeR);
GerhardBerman 19:cba54636bd62 369 GetReferenceKinematics1(q1, q2, q1_ref, q2_ref);
GerhardBerman 24:393da1cc1fa8 370 FeedbackControl1( q1_ref, q2_ref, q1, q2, motorValue1, motorValue2);
GerhardBerman 9:e4c34f5665a0 371 SetMotor1(motorValue1, motorValue2);
GerhardBerman 3:8caef4872b0c 372 }
GerhardBerman 3:8caef4872b0c 373
GerhardBerman 44:43f200e04903 374 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 44:43f200e04903 375 //--------------------------------------------------------------------------------------------------------------------------
GerhardBerman 6:3c4f3f2ce54f 376
GerhardBerman 0:43160ef59f9f 377 int main()
GerhardBerman 0:43160ef59f9f 378 {
GerhardBerman 44:43f200e04903 379 //pc.baud(115200);
GerhardBerman 44:43f200e04903 380 //pc.printf("Test putty IK");
GerhardBerman 44:43f200e04903 381 ledRed=1;
GerhardBerman 44:43f200e04903 382 ledBlue=1;
GerhardBerman 44:43f200e04903 383 ledRed=0;
GerhardBerman 41:68b170829965 384
GerhardBerman 44:43f200e04903 385 bcq1R.add(&bq1R).add(&bq2R); //set BiQuad chains
GerhardBerman 44:43f200e04903 386 bcq2R.add(&bq3R);
GerhardBerman 44:43f200e04903 387 bcq1L.add(&bq1L).add(&bq2L);
GerhardBerman 44:43f200e04903 388 bcq2L.add(&bq3L);
GerhardBerman 44:43f200e04903 389 pidf.PIDF( Kp, Ki, Kd, N, t_sample ); //set PID filter
GerhardBerman 44:43f200e04903 390
GerhardBerman 44:43f200e04903 391 //start up encoders
GerhardBerman 44:43f200e04903 392 counts1 = Encoder1.getPulses(); //gives position of encoder in counts
GerhardBerman 44:43f200e04903 393 counts2 = Encoder2.getPulses(); //gives position of encoder in counts
GerhardBerman 44:43f200e04903 394 wait(20.0); //time to sart up HIDScope and EMG
GerhardBerman 44:43f200e04903 395 MeasureTicker.attach(&MeasureTicker_act, 0.002); //initialize MeasureTicker, 500 Hz
GerhardBerman 44:43f200e04903 396
GerhardBerman 0:43160ef59f9f 397 while(1)
GerhardBerman 0:43160ef59f9f 398 {
GerhardBerman 3:8caef4872b0c 399 if (MeasureTicker_go){
GerhardBerman 3:8caef4872b0c 400 MeasureTicker_go=false;
GerhardBerman 41:68b170829965 401 ledGrn = 1;
GerhardBerman 41:68b170829965 402 ledBlue = 0;
GerhardBerman 44:43f200e04903 403 MeasureAndControl(); //execute whole MeasureAndControl function
GerhardBerman 44:43f200e04903 404 counts1 = Encoder1.getPulses(); //get encoder counts again
GerhardBerman 44:43f200e04903 405 counts2 = Encoder2.getPulses(); //get encoder counts again
GerhardBerman 41:68b170829965 406 ledBlue = 1;
GerhardBerman 41:68b170829965 407 ledGrn = 0;
GerhardBerman 3:8caef4872b0c 408 }
GerhardBerman 0:43160ef59f9f 409 }
GerhardBerman 0:43160ef59f9f 410 }