Jasper Gerth / Mbed 2 deprecated includeair

The final program for the #include AIR robot

Dependencies:   Biquad HIDScope QEI angleandposition controlandadjust mbed

Fork of includeair by BioRobotics

main.cpp@27:31cb8fbd976d, 2015-10-26 (annotated)

Committer:
Gerth
Date:
Mon Oct 26 14:17:38 2015 +0000
Revision:
27:31cb8fbd976d
Parent:
26:c935e39cce8a
Child:
28:71a90073e482
working with pid;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gerth 0:dd66fff537d7 1 #include "mbed.h"
Gerth 1:917c07a4f3ec 2 #include "QEI.h"
Gerth 1:917c07a4f3ec 3 #include "HIDScope.h"
Gerth 1:917c07a4f3ec 4 #include "Biquad.h"
Gerth 1:917c07a4f3ec 5 #include "controlandadjust.h"
Gerth 16:63320b8f79c2 6 #include "angleandposition.h"
Gerth 1:917c07a4f3ec 7
Gerth 20:c5fb2ff5d457 8 ///////////////////////////////////////////////info out
Gerth 20:c5fb2ff5d457 9 HIDScope scope(6);// number of hidscope channels
Gerth 25:21dcd3f9eac2 10 const double scope_frequency=500; //HIDscope frequency
Gerth 25:21dcd3f9eac2 11 Timer checktimer;
Gerth 25:21dcd3f9eac2 12 volatile double checktimervalue=0;
Gerth 20:c5fb2ff5d457 13
Gerth 20:c5fb2ff5d457 14 Serial pc(USBTX,USBRX);// serial connection to pc
Gerth 1:917c07a4f3ec 15
Gerth 16:63320b8f79c2 16 DigitalOut ledred(LED_RED);
Gerth 16:63320b8f79c2 17 DigitalOut ledgreen(LED_GREEN);
Gerth 16:63320b8f79c2 18 DigitalOut ledblue(LED_BLUE);
Gerth 14:4c4f45a1dd23 19
Gerth 20:c5fb2ff5d457 20 Ticker scope_ticker;
Gerth 20:c5fb2ff5d457 21 /////////////////////////////////////////////ENCODERS
Gerth 9:4ee354663560 22 const float cpr_sensor=32;
Gerth 20:c5fb2ff5d457 23 const float cpr_shaft=cpr_sensor*131;//counts per rotation of the sensor
Gerth 20:c5fb2ff5d457 24
Gerth 20:c5fb2ff5d457 25 QEI encoder1(D13,D12,NC,cpr_sensor);/// encoders on motors X2 encoding
Gerth 9:4ee354663560 26 QEI encoder2(D10,D11,NC,cpr_sensor);
Gerth 20:c5fb2ff5d457 27
Gerth 9:4ee354663560 28 const double PIE=3.14159265359;
Gerth 20:c5fb2ff5d457 29 const float counttorad=((2*PIE)/cpr_shaft);// counts per rotation of the shaft
Gerth 1:917c07a4f3ec 30
Gerth 24:dd75c961ae88 31
Gerth 6:37c94a5e205f 32 /////////////////////////////////CALIBRATION (MODE)
Gerth 20:c5fb2ff5d457 33 const double radpersec_calibrate=0.1*PIE;// speed of arms when in calibration mode
Gerth 20:c5fb2ff5d457 34 int modecounter=1;//counter in which mode the robot is
Gerth 20:c5fb2ff5d457 35 const double readbuttoncalibrate_frequency=10;//frequency at which the buttons are read when in calibration mode
Gerth 20:c5fb2ff5d457 36 const double ledblink_frequency=4;//frequency at which the green led and leds on top blink when in resp button or calibration mode
Gerth 6:37c94a5e205f 37
Gerth 20:c5fb2ff5d457 38 DigitalIn changemodebutton(PTA4);// button to change mode (sw3)
Gerth 7:7fbb2c028778 39 Ticker readbuttoncalibrate_ticker;
Gerth 14:4c4f45a1dd23 40 Ticker ledblink_ticker;
Gerth 14:4c4f45a1dd23 41
Gerth 20:c5fb2ff5d457 42 DigitalIn buttonR(D2);//rigth button on biorobotics shield
Gerth 20:c5fb2ff5d457 43 DigitalIn buttonL(D3);//left button on biorobotics shield
Gerth 8:54a7da09ccad 44
Gerth 27:31cb8fbd976d 45 /////////////////READSIGNAL
Gerth 27:31cb8fbd976d 46 const double readsignal_frequency=25;//frequency at wich the filtered emg signal is sampled to be 0 or 1
Gerth 27:31cb8fbd976d 47 Ticker readsignal_ticker;
Gerth 27:31cb8fbd976d 48
Gerth 27:31cb8fbd976d 49
Gerth 27:31cb8fbd976d 50 DigitalOut led1(PTC12);// rigth led on biorobotics shield
Gerth 27:31cb8fbd976d 51 DigitalOut led2(D9);//left led on biorobotics shield
Gerth 27:31cb8fbd976d 52
Gerth 1:917c07a4f3ec 53 //////////////////////////////////CONTROLLER
Gerth 25:21dcd3f9eac2 54 const double control_frequency=250;// frequency at which the controller is called
Gerth 1:917c07a4f3ec 55 //controller constants
Gerth 27:31cb8fbd976d 56 float Kp=2;
Gerth 27:31cb8fbd976d 57 float Ki=0.5;
Gerth 27:31cb8fbd976d 58 float Kd=0.5;
Gerth 27:31cb8fbd976d 59 float factor_taup=1.5;
Gerth 27:31cb8fbd976d 60 float tau_p=1.0/(factor_taup*control_frequency);
Gerth 27:31cb8fbd976d 61 controlandadjust mycontroller(2,control_frequency); // make a controller, value in brackets is errorband in degrees and controller frequency
Gerth 20:c5fb2ff5d457 62
Gerth 1:917c07a4f3ec 63 Ticker control_ticker;
Gerth 20:c5fb2ff5d457 64
Gerth 27:31cb8fbd976d 65 const double Ts_control=1.0/control_frequency;
Gerth 27:31cb8fbd976d 66
Gerth 26:c935e39cce8a 67 float error1=0,//controller error storage variables
Gerth 26:c935e39cce8a 68 error2=0;
Gerth 1:917c07a4f3ec 69
Gerth 1:917c07a4f3ec 70 InterruptIn valuechangebutton(PTC6);//button to change controller constants
Gerth 1:917c07a4f3ec 71
Gerth 1:917c07a4f3ec 72 //safetyandthreshold
Gerth 3:48438eea184e 73 AnalogIn safety_pot(A3);//pot 2, used for the safety cutoff value for the pwm
Gerth 3:48438eea184e 74 AnalogIn threshold_pot(A2);//pot1, used to adjust threshold if signal differs per person
Gerth 1:917c07a4f3ec 75
Gerth 1:917c07a4f3ec 76 Ticker safetyandthreshold_ticker; // ticker to read potmeters
Gerth 3:48438eea184e 77 const double safetyandthreshold_frequency=1; // frequency for the ticker
Gerth 3:48438eea184e 78
Gerth 4:bf7765b0f612 79 float threshold_value=1;//initial threshold value
Gerth 1:917c07a4f3ec 80
Gerth 1:917c07a4f3ec 81 ////////////////////////////////FILTER
Gerth 20:c5fb2ff5d457 82 const double filter_frequency=500;
Gerth 20:c5fb2ff5d457 83 #include "filtervalues.h"// call the values for the biquads
Gerth 20:c5fb2ff5d457 84
Gerth 1:917c07a4f3ec 85 Ticker filter_ticker;
Gerth 1:917c07a4f3ec 86
Gerth 20:c5fb2ff5d457 87 Biquad myfilter1;// make filter for signal 1
Gerth 20:c5fb2ff5d457 88 Biquad myfilter2;//make filter for signal 2
Gerth 1:917c07a4f3ec 89
Gerth 20:c5fb2ff5d457 90 AnalogIn emg1_input(A0);//input for first emg signal
Gerth 20:c5fb2ff5d457 91 AnalogIn emg2_input(A1);//input for second emg signal
Gerth 20:c5fb2ff5d457 92
Gerth 20:c5fb2ff5d457 93 volatile double filteredsignal1=0;//the first filtered emg signal
Gerth 20:c5fb2ff5d457 94 volatile double filteredsignal2=0;//the second filtered emg signal
Gerth 5:8ac5d0651e4d 95 float filter_extragain=1;
Gerth 1:917c07a4f3ec 96
Gerth 4:bf7765b0f612 97
Gerth 4:bf7765b0f612 98 //////////////////////////////// POSITION AND ANGLE SHIZZLE
Gerth 20:c5fb2ff5d457 99 const float safetymarginfield=0.075; //adjustable, tweak for maximum but safe range
Gerth 24:dd75c961ae88 100 const float mm_per_sec_emg=0.1;// move the pod 100 mm per sec if muscle is flexed
Gerth 26:c935e39cce8a 101 const float y_start=0.145;//starting y position of the pod
Gerth 20:c5fb2ff5d457 102 const float y_punch=0.473;// position to where there is punched
Gerth 21:6954cc25f2a7 103 const float timetoshoot=0.25;// time it can take to shoot
Gerth 27:31cb8fbd976d 104 const float timetogoback=0.25;// time it can take to go back after shooting
Gerth 20:c5fb2ff5d457 105
Gerth 4:bf7765b0f612 106 float desired_position=0;
Gerth 20:c5fb2ff5d457 107 float desired_angle1=0;
Gerth 20:c5fb2ff5d457 108 float desired_angle2=0;
Gerth 19:6f22b5687587 109
Gerth 20:c5fb2ff5d457 110 const float fieldwidth=0.473;
Gerth 20:c5fb2ff5d457 111 const float maxdisplacement=((fieldwidth/2)-safetymarginfield); //so the pod doesn't hit the edges of the playfield
Gerth 3:48438eea184e 112
Gerth 20:c5fb2ff5d457 113 angleandposition anglepos;// initiate the angle and position calculation library
Gerth 20:c5fb2ff5d457 114
Gerth 23:1c4a18799464 115 const float radtodeg=(180/PIE);
Gerth 23:1c4a18799464 116
Gerth 19:6f22b5687587 117
Gerth 18:1c3254a32fd1 118
Gerth 1:917c07a4f3ec 119 //////////////////////GO FLAGS AND ACTIVATION FUNCTIONS
Gerth 1:917c07a4f3ec 120 volatile bool scopedata_go=false,
Gerth 1:917c07a4f3ec 121 control_go=false,
Gerth 1:917c07a4f3ec 122 filter_go=false,
Gerth 3:48438eea184e 123 safetyandthreshold_go=false,
Gerth 6:37c94a5e205f 124 readsignal_go=false,
Gerth 8:54a7da09ccad 125 switchedmode=true,
Gerth 14:4c4f45a1dd23 126 readbuttoncalibrate_go=false,
Gerth 14:4c4f45a1dd23 127 ledblink_go=false;
Gerth 1:917c07a4f3ec 128
Gerth 1:917c07a4f3ec 129 void scopedata_activate()
Gerth 1:917c07a4f3ec 130 {
Gerth 1:917c07a4f3ec 131 scopedata_go=true;
Gerth 1:917c07a4f3ec 132 }
Gerth 1:917c07a4f3ec 133 void control_activate()
Gerth 1:917c07a4f3ec 134 {
Gerth 1:917c07a4f3ec 135 control_go=true;
Gerth 1:917c07a4f3ec 136 }
Gerth 1:917c07a4f3ec 137 void filter_activate()
Gerth 1:917c07a4f3ec 138 {
Gerth 1:917c07a4f3ec 139 filter_go=true;
Gerth 1:917c07a4f3ec 140 }
Gerth 1:917c07a4f3ec 141 void safetyandthreshold_activate()
Gerth 1:917c07a4f3ec 142 {
Gerth 1:917c07a4f3ec 143 safetyandthreshold_go=true;
Gerth 1:917c07a4f3ec 144 }
Gerth 3:48438eea184e 145 void readsignal_activate()
Gerth 3:48438eea184e 146 {
Gerth 3:48438eea184e 147 readsignal_go=true;
Gerth 3:48438eea184e 148 }
Gerth 7:7fbb2c028778 149 void readbuttoncalibrate_activate()
Gerth 7:7fbb2c028778 150 {
Gerth 7:7fbb2c028778 151 readbuttoncalibrate_go=true;
Gerth 7:7fbb2c028778 152 }
Gerth 14:4c4f45a1dd23 153 void ledblink_activate()
Gerth 14:4c4f45a1dd23 154 {
Gerth 14:4c4f45a1dd23 155 ledblink_go=true;
Gerth 14:4c4f45a1dd23 156 }
Gerth 1:917c07a4f3ec 157
Gerth 1:917c07a4f3ec 158 ////////////////////////FUNCTIONS
Gerth 1:917c07a4f3ec 159 //gather data and send to scope
Gerth 1:917c07a4f3ec 160 void scopedata()
Gerth 1:917c07a4f3ec 161 {
Gerth 17:72d3522165ac 162 scope.set(0,desired_position);
Gerth 23:1c4a18799464 163 scope.set(1,desired_angle1*radtodeg);
Gerth 23:1c4a18799464 164 scope.set(2,desired_angle2*radtodeg);
Gerth 23:1c4a18799464 165 scope.set(3,error1*radtodeg);
Gerth 23:1c4a18799464 166 scope.set(4,error2*radtodeg);
Gerth 27:31cb8fbd976d 167 scope.set(5,mycontroller.motor1pwm());
Gerth 3:48438eea184e 168 scope.send();
Gerth 4:bf7765b0f612 169 }
Gerth 1:917c07a4f3ec 170 //read potmeters and adjust the safetyfactor and threshold
Gerth 1:917c07a4f3ec 171 void safetyandthreshold()
Gerth 1:917c07a4f3ec 172 {
Gerth 3:48438eea184e 173 mycontroller.cutoff((ceil (10*safety_pot.read()) )/10); // adjust the safetyfactor value between 0 and 1 rounded to 1 decimal
Gerth 3:48438eea184e 174 threshold_value=((ceil (10*threshold_pot.read()) )/10); // adjust the threshold value between 0 and 1 rounded to 1 decimal
Gerth 1:917c07a4f3ec 175 }
Gerth 1:917c07a4f3ec 176 /////filter
Gerth 1:917c07a4f3ec 177 void filtereverything()
Gerth 1:917c07a4f3ec 178 {
Gerth 1:917c07a4f3ec 179 //pass1 so f1
Gerth 2:c7707856d137 180 double pass1_emg1 = myfilter1.filter(emg1_input.read(), v1_f1_emg1 , v2_f1_emg1 , a1_f1 , a2_f1 , b0_f1 , b1_f1 , b2_f1);
Gerth 2:c7707856d137 181 double pass1_emg2 = myfilter2.filter(emg2_input.read(), v1_f1_emg2 , v2_f1_emg2 , a1_f1 , a2_f1 , b0_f1 , b1_f1 , b2_f1);
Gerth 1:917c07a4f3ec 182
Gerth 1:917c07a4f3ec 183 //pass2 so f2
Gerth 2:c7707856d137 184 double pass2_emg1 = myfilter1.filter(pass1_emg1, v1_f2_emg1 , v2_f2_emg1 , a1_f2 , a2_f2 , b0_f2 , b1_f2 , b2_f2);
Gerth 2:c7707856d137 185 double pass2_emg2 = myfilter2.filter(pass1_emg2, v1_f2_emg2 , v2_f2_emg2 , a1_f2 , a2_f2 , b0_f2 , b1_f2 , b2_f2);
Gerth 1:917c07a4f3ec 186
Gerth 1:917c07a4f3ec 187 //pass3 so f3
Gerth 2:c7707856d137 188 double pass3_emg1 = myfilter1.filter(pass2_emg1, v1_f3_emg1 , v2_f3_emg1 , a1_f3 , a2_f3 , b0_f3 , b1_f3 , b2_f3);
Gerth 2:c7707856d137 189 double pass3_emg2 = myfilter2.filter(pass2_emg2, v1_f3_emg2 , v2_f3_emg2 , a1_f3 , a2_f3 , b0_f3 , b1_f3 , b2_f3);
Gerth 1:917c07a4f3ec 190
Gerth 1:917c07a4f3ec 191 //pass4 so f4
Gerth 2:c7707856d137 192 double pass4_emg1 = myfilter1.filter(pass3_emg1, v1_f4_emg1 , v2_f4_emg1 , a1_f4 , a2_f4 , b0_f4 , b1_f4 , b2_f4);
Gerth 2:c7707856d137 193 double pass4_emg2 = myfilter2.filter(pass3_emg2, v1_f4_emg2 , v2_f4_emg2 , a1_f4 , a2_f4 , b0_f4 , b1_f4 , b2_f4);
Gerth 1:917c07a4f3ec 194
Gerth 1:917c07a4f3ec 195 //pass5 so f5
Gerth 2:c7707856d137 196 double pass5_emg1 = myfilter1.filter(pass4_emg1, v1_f5_emg1 , v2_f5_emg1 , a1_f5 , a2_f5 , b0_f5 , b1_f5 , b2_f5);
Gerth 2:c7707856d137 197 double pass5_emg2 = myfilter2.filter(pass4_emg2, v1_f5_emg2 , v2_f5_emg2 , a1_f5 , a2_f5 , b0_f5 , b1_f5 , b2_f5);
Gerth 1:917c07a4f3ec 198
Gerth 1:917c07a4f3ec 199 ///// take absolute value
Gerth 2:c7707856d137 200 double pass5_emg1_abs=(fabs(pass5_emg1));
Gerth 2:c7707856d137 201 double pass5_emg2_abs=(fabs(pass5_emg2));
Gerth 1:917c07a4f3ec 202
Gerth 1:917c07a4f3ec 203 //pass6 so f6
Gerth 2:c7707856d137 204 double pass6_emg1 = myfilter1.filter(pass5_emg1_abs, v1_f6_emg1 , v2_f6_emg1 , a1_f6 , a2_f6 , b0_f6 , b1_f6 , b2_f6);
Gerth 2:c7707856d137 205 double pass6_emg2 = myfilter2.filter(pass5_emg2_abs, v1_f6_emg2 , v2_f6_emg2 , a1_f6 , a2_f6 , b0_f6 , b1_f6 , b2_f6);
Gerth 1:917c07a4f3ec 206
Gerth 1:917c07a4f3ec 207
Gerth 1:917c07a4f3ec 208 //pass7 so f7
Gerth 2:c7707856d137 209 double pass7_emg1 = myfilter1.filter(pass6_emg1, v1_f7_emg1 , v2_f7_emg1 , a1_f7 , a2_f7 , b0_f7 , b1_f7 , b2_f7);
Gerth 2:c7707856d137 210 double pass7_emg2 = myfilter2.filter(pass6_emg2, v1_f7_emg2 , v2_f7_emg2 , a1_f7 , a2_f7 , b0_f7 , b1_f7 , b2_f7);
Gerth 1:917c07a4f3ec 211
Gerth 2:c7707856d137 212 filteredsignal1=(pass7_emg1*9e11*filter_extragain);
Gerth 2:c7707856d137 213 filteredsignal2=(pass7_emg2*9e11*filter_extragain);
Gerth 1:917c07a4f3ec 214 }
Gerth 1:917c07a4f3ec 215
Gerth 1:917c07a4f3ec 216 //adjust controller values when sw2 is pressed
Gerth 1:917c07a4f3ec 217 void valuechange()
Gerth 1:917c07a4f3ec 218 {
Gerth 3:48438eea184e 219 mycontroller.STOP();
Gerth 5:8ac5d0651e4d 220 pc.printf("KP is now %f, enter new value\n",Kp);
Gerth 1:917c07a4f3ec 221 pc.scanf("%f", &Kp);
Gerth 1:917c07a4f3ec 222
Gerth 1:917c07a4f3ec 223 pc.printf("KI is now %f, enter new value\n",Ki);
Gerth 1:917c07a4f3ec 224 pc.scanf("%f", &Ki);
Gerth 1:917c07a4f3ec 225
Gerth 1:917c07a4f3ec 226 pc.printf("KD is now %f, enter new value\n",Kd);
Gerth 5:8ac5d0651e4d 227 pc.scanf("%f", &Kd);
Gerth 27:31cb8fbd976d 228
Gerth 27:31cb8fbd976d 229 pc.printf("Factor of tau_p=1.0/(factor*controlfrequency) is now %f, enter new value\n",factor_taup);
Gerth 27:31cb8fbd976d 230 pc.scanf("%f", &factor_taup);
Gerth 3:48438eea184e 231
Gerth 3:48438eea184e 232 pc.printf("Extra gain is now %f, enter new value\n",filter_extragain);
Gerth 5:8ac5d0651e4d 233 pc.scanf("%f", &filter_extragain);
Gerth 1:917c07a4f3ec 234 }
Gerth 11:c10651055871 235
Gerth 20:c5fb2ff5d457 236 // shoot the pod forward
Gerth 19:6f22b5687587 237 void shoot()
Gerth 14:4c4f45a1dd23 238 {
Gerth 19:6f22b5687587 239 ledgreen=1;
Gerth 19:6f22b5687587 240 float time=0;
Gerth 19:6f22b5687587 241 float stepsize=(y_punch-y_start)/(timetoshoot*control_frequency);
Gerth 20:c5fb2ff5d457 242 float y_during_punch=y_start;// set initial y position to start position
Gerth 11:c10651055871 243
Gerth 19:6f22b5687587 244 Timer shoottimer;
Gerth 19:6f22b5687587 245 shoottimer.reset();
Gerth 19:6f22b5687587 246 shoottimer.start();
Gerth 23:1c4a18799464 247 //forward
Gerth 19:6f22b5687587 248 while (time<=timetoshoot) {
Gerth 19:6f22b5687587 249 ledblue=!ledblue;
Gerth 25:21dcd3f9eac2 250
Gerth 20:c5fb2ff5d457 251 y_during_punch+=stepsize; // add stepsize to y position
Gerth 20:c5fb2ff5d457 252 if (y_during_punch>=y_punch) {//to check if y position is not bigger than y_punch for safety
Gerth 19:6f22b5687587 253 y_during_punch=y_punch;
Gerth 19:6f22b5687587 254 } else {
Gerth 19:6f22b5687587 255 y_during_punch=y_during_punch;
Gerth 19:6f22b5687587 256 }
Gerth 19:6f22b5687587 257
Gerth 20:c5fb2ff5d457 258 desired_angle1=anglepos.positiontoangle1(desired_position,y_during_punch);// calculate desired angles
Gerth 20:c5fb2ff5d457 259 desired_angle2=anglepos.positiontoangle2(desired_position,y_during_punch);
Gerth 19:6f22b5687587 260
Gerth 25:21dcd3f9eac2 261 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 25:21dcd3f9eac2 262 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 19:6f22b5687587 263
Gerth 27:31cb8fbd976d 264 mycontroller.PID(error1,error2,Kp,Ki,Kd);;// send errors to controller
Gerth 20:c5fb2ff5d457 265 scopedata();//send data to hidscope WARING lower freqyency than normal
Gerth 19:6f22b5687587 266
Gerth 20:c5fb2ff5d457 267 time+=(Ts_control);// add time it should take to calculated time
Gerth 20:c5fb2ff5d457 268 wait(time-shoottimer.read());// IMPORTANT wait until the loop has taken the time it should need, if this is not done the loop wil go to fast and the motors can't keep up
Gerth 11:c10651055871 269 }
Gerth 23:1c4a18799464 270 //back
Gerth 23:1c4a18799464 271 time=0;
Gerth 23:1c4a18799464 272 shoottimer.reset();
Gerth 26:c935e39cce8a 273 stepsize=(y_punch-y_start)/(timetogoback*control_frequency);
Gerth 26:c935e39cce8a 274 while (time<=timetogoback) {
Gerth 23:1c4a18799464 275 ledblue=!ledblue;
Gerth 25:21dcd3f9eac2 276
Gerth 23:1c4a18799464 277 y_during_punch-=stepsize; // add stepsize to y position
Gerth 23:1c4a18799464 278 if (y_during_punch<=y_start) {//to check if y position is not smaller than y_start for safety
Gerth 23:1c4a18799464 279 y_during_punch=y_start;
Gerth 23:1c4a18799464 280 } else {
Gerth 23:1c4a18799464 281 y_during_punch=y_during_punch;
Gerth 23:1c4a18799464 282 }
Gerth 23:1c4a18799464 283
Gerth 23:1c4a18799464 284 desired_angle1=anglepos.positiontoangle1(desired_position,y_during_punch);// calculate desired angles
Gerth 23:1c4a18799464 285 desired_angle2=anglepos.positiontoangle2(desired_position,y_during_punch);
Gerth 23:1c4a18799464 286
Gerth 25:21dcd3f9eac2 287 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 25:21dcd3f9eac2 288 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 23:1c4a18799464 289
Gerth 27:31cb8fbd976d 290 mycontroller.PID(error1,error2,Kp,Ki,Kd);;// send errors to controller
Gerth 23:1c4a18799464 291 scopedata();//send data to hidscope WARING lower freqyency than normal
Gerth 23:1c4a18799464 292
Gerth 23:1c4a18799464 293 time+=(Ts_control);// add time it should take to calculated time
Gerth 23:1c4a18799464 294 wait(time-shoottimer.read());// IMPORTANT wait until the loop has taken the time it should need, if this is not done the loop wil go to fast and the motors can't keep up
Gerth 25:21dcd3f9eac2 295 }
Gerth 19:6f22b5687587 296 shoottimer.stop();
Gerth 16:63320b8f79c2 297 ledblue=1;
Gerth 19:6f22b5687587 298 ledgreen=0;
Gerth 11:c10651055871 299 }
Gerth 11:c10651055871 300
Gerth 16:63320b8f79c2 301 ////////////////////////////////////////////////////READ EMG AND MOVE DESIRED POSITION
Gerth 3:48438eea184e 302 void readsignal()
Gerth 3:48438eea184e 303 {
Gerth 11:c10651055871 304 //check if pod has to shoot
Gerth 4:bf7765b0f612 305 if (filteredsignal1>=threshold_value && filteredsignal2>=threshold_value) {
Gerth 4:bf7765b0f612 306 led1=led2=1;
Gerth 11:c10651055871 307 shoot();
Gerth 14:4c4f45a1dd23 308 // check if pod has to move to the right
Gerth 4:bf7765b0f612 309 } else if (filteredsignal1>=threshold_value && filteredsignal2<=threshold_value) {
Gerth 4:bf7765b0f612 310 led1=1;
Gerth 4:bf7765b0f612 311 led2=0;
Gerth 16:63320b8f79c2 312 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 11:c10651055871 313 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 11:c10651055871 314 desired_position=maxdisplacement;
Gerth 11:c10651055871 315 } else {
Gerth 11:c10651055871 316 desired_position=desired_position;
Gerth 11:c10651055871 317 }
Gerth 14:4c4f45a1dd23 318 // check if pod has to move to the left
Gerth 4:bf7765b0f612 319 } else if (filteredsignal1<=threshold_value && filteredsignal2>=threshold_value) {
Gerth 4:bf7765b0f612 320 led1=0;
Gerth 4:bf7765b0f612 321 led2=1;
Gerth 16:63320b8f79c2 322 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 11:c10651055871 323 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 14:4c4f45a1dd23 324 desired_position=(-1*maxdisplacement);
Gerth 11:c10651055871 325 } else {
Gerth 11:c10651055871 326 desired_position=desired_position;
Gerth 11:c10651055871 327 }
Gerth 3:48438eea184e 328 } else {
Gerth 4:bf7765b0f612 329 led1=led2=0;
Gerth 3:48438eea184e 330 }
Gerth 16:63320b8f79c2 331 }
Gerth 16:63320b8f79c2 332 ///////////////////////////////////////////////READ BUTTON AND MOVE DESIRED POSITION
Gerth 17:72d3522165ac 333 void readsignalbutton()
Gerth 16:63320b8f79c2 334 {
Gerth 19:6f22b5687587 335 //write value of button to variable
Gerth 17:72d3522165ac 336 int buttonr=buttonR.read();
Gerth 17:72d3522165ac 337 int buttonl=buttonL.read();
Gerth 16:63320b8f79c2 338 //check if pod has to shoot
Gerth 17:72d3522165ac 339 if (buttonr==0 && buttonl==0) {
Gerth 16:63320b8f79c2 340 led1=led2=1;
Gerth 16:63320b8f79c2 341 shoot();
Gerth 16:63320b8f79c2 342 // check if pod has to move to the right
Gerth 17:72d3522165ac 343 } else if (buttonr==0 && buttonl==1) {
Gerth 16:63320b8f79c2 344 led1=1;
Gerth 16:63320b8f79c2 345 led2=0;
Gerth 16:63320b8f79c2 346 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 17:72d3522165ac 347 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 348 desired_position=maxdisplacement;
Gerth 16:63320b8f79c2 349 } else {
Gerth 16:63320b8f79c2 350 desired_position=desired_position;
Gerth 16:63320b8f79c2 351 }
Gerth 17:72d3522165ac 352 // check if pod has to move to the left
Gerth 17:72d3522165ac 353 } else if (buttonr==1 && buttonl==0) {
Gerth 16:63320b8f79c2 354 led1=0;
Gerth 16:63320b8f79c2 355 led2=1;
Gerth 16:63320b8f79c2 356 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 17:72d3522165ac 357 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 358 desired_position=(-1*maxdisplacement);
Gerth 16:63320b8f79c2 359 } else {
Gerth 16:63320b8f79c2 360 desired_position=desired_position;
Gerth 16:63320b8f79c2 361 }
Gerth 16:63320b8f79c2 362 } else {
Gerth 16:63320b8f79c2 363 led1=led2=0;
Gerth 16:63320b8f79c2 364 }
Gerth 3:48438eea184e 365 }
Gerth 3:48438eea184e 366
Gerth 25:21dcd3f9eac2 367 void changemode()//this makes the counter higher to switch between modes
Gerth 6:37c94a5e205f 368 {
Gerth 10:9e96d14d7034 369 mycontroller.STOP();
Gerth 6:37c94a5e205f 370 switchedmode=true;
Gerth 6:37c94a5e205f 371 modecounter++;
Gerth 15:17de575b7385 372 if (modecounter==4) {
Gerth 6:37c94a5e205f 373 modecounter=0;
Gerth 6:37c94a5e205f 374 } else {
Gerth 6:37c94a5e205f 375 modecounter=modecounter;
Gerth 6:37c94a5e205f 376 }
Gerth 20:c5fb2ff5d457 377 wait(1);// needed because else it is checked too fast if the button is pressed and modes change too fast
Gerth 25:21dcd3f9eac2 378 // tried it with interruptin but dinn't work
Gerth 6:37c94a5e205f 379 }
Gerth 0:dd66fff537d7 380
Gerth 16:63320b8f79c2 381 ///////////////////////////////////////////////////MAIN
Gerth 7:7fbb2c028778 382
Gerth 0:dd66fff537d7 383 int main()
Gerth 0:dd66fff537d7 384 {
Gerth 1:917c07a4f3ec 385 //tickers
Gerth 1:917c07a4f3ec 386 safetyandthreshold_ticker.attach(&safetyandthreshold_activate,1.0/safetyandthreshold_frequency);
Gerth 1:917c07a4f3ec 387 filter_ticker.attach(&filter_activate,1.0/filter_frequency);
Gerth 1:917c07a4f3ec 388 control_ticker.attach(&control_activate,1.0/control_frequency);
Gerth 1:917c07a4f3ec 389 scope_ticker.attach(&scopedata_activate,1.0/scope_frequency);
Gerth 3:48438eea184e 390 readsignal_ticker.attach(&readsignal_activate, 1.0/readsignal_frequency);
Gerth 7:7fbb2c028778 391 readbuttoncalibrate_ticker.attach(&readbuttoncalibrate_activate, 1.0/readbuttoncalibrate_frequency);
Gerth 14:4c4f45a1dd23 392 ledblink_ticker.attach(&ledblink_activate, 1.0/ledblink_frequency);
Gerth 14:4c4f45a1dd23 393
Gerth 20:c5fb2ff5d457 394 pc.baud(115200);//set baudrate to 115200
Gerth 1:917c07a4f3ec 395 while(1) {
Gerth 27:31cb8fbd976d 396 valuechangebutton.fall(&valuechange);// used to change controller variables and the gain for the filter
Gerth 25:21dcd3f9eac2 397 checktimer.reset();
Gerth 26:c935e39cce8a 398 checktimer.start();
Gerth 20:c5fb2ff5d457 399 if (changemodebutton==0) {// check if the change mode button is pressed
Gerth 6:37c94a5e205f 400 changemode();
Gerth 1:917c07a4f3ec 401 }
Gerth 20:c5fb2ff5d457 402 if (scopedata_go==true) {//send scopedata
Gerth 26:c935e39cce8a 403 //TIME THIS LOOP TAKES 0.000008 SEC (PEAKS AT 0.000015)
Gerth 9:4ee354663560 404 scopedata();
Gerth 26:c935e39cce8a 405 scopedata_go=false;
Gerth 9:4ee354663560 406 }
Gerth 20:c5fb2ff5d457 407 if (safetyandthreshold_go==true) {// check the potmeters
Gerth 26:c935e39cce8a 408 //TIME THIS LOOP TAKES: 0.000032 SEC
Gerth 9:4ee354663560 409 safetyandthreshold();
Gerth 9:4ee354663560 410 safetyandthreshold_go=false;
Gerth 26:c935e39cce8a 411 }
Gerth 7:7fbb2c028778 412 ///////////////////////////////////////////NORMAL RUNNING MODE
Gerth 7:7fbb2c028778 413 if(modecounter==0) {
Gerth 6:37c94a5e205f 414 if (switchedmode==true) {
Gerth 20:c5fb2ff5d457 415 encoder1.reset();// reset encoders so they are at 0 degrees
Gerth 6:37c94a5e205f 416 encoder2.reset();
Gerth 6:37c94a5e205f 417 pc.printf("Program running\n");//
Gerth 16:63320b8f79c2 418 ledgreen=0;
Gerth 16:63320b8f79c2 419 led1=led2=ledred=ledblue=1;
Gerth 6:37c94a5e205f 420 switchedmode=false;
Gerth 6:37c94a5e205f 421 }
Gerth 20:c5fb2ff5d457 422 if (filter_go==true) {// filter the emg signal
Gerth 26:c935e39cce8a 423 // TIME THIS LOOP TAKES: 0.000173 SEC
Gerth 6:37c94a5e205f 424 filtereverything();
Gerth 26:c935e39cce8a 425 filter_go=false;
Gerth 6:37c94a5e205f 426 }
Gerth 20:c5fb2ff5d457 427 if (readsignal_go==true) {// check if signal is 0 or 1 and adjust wanted position
Gerth 26:c935e39cce8a 428 // TIME THIS LOOP TAKES: 0.000005 SEC
Gerth 17:72d3522165ac 429 readsignal();
Gerth 17:72d3522165ac 430 readsignal_go=false;
Gerth 26:c935e39cce8a 431 }
Gerth 20:c5fb2ff5d457 432 if (control_go==true) {// calculate angles from positions and send error to controller
Gerth 26:c935e39cce8a 433 //TIME THIS LOOP TAKES: 0.000223 SEC
Gerth 26:c935e39cce8a 434
Gerth 20:c5fb2ff5d457 435 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 436 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 16:63320b8f79c2 437
Gerth 20:c5fb2ff5d457 438 float error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 20:c5fb2ff5d457 439 float error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 26:c935e39cce8a 440 mycontroller.PI(error1,error2,Kp,Ki);
Gerth 6:37c94a5e205f 441 control_go=false;
Gerth 26:c935e39cce8a 442 }
Gerth 20:c5fb2ff5d457 443 valuechangebutton.fall(&valuechange);// used to change controller variables and the gain for the filter
Gerth 1:917c07a4f3ec 444 }
Gerth 7:7fbb2c028778 445 ////////////////////////////////////////////////////CALIBRATE RIGHT ARM
Gerth 6:37c94a5e205f 446 if (modecounter==1) {
Gerth 6:37c94a5e205f 447 if(switchedmode==true) {
Gerth 6:37c94a5e205f 448 pc.printf("Calibration mode! Use buttons to move rigth arm to 0 degrees\n");
Gerth 16:63320b8f79c2 449 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 450 ledgreen=ledblue=1;
Gerth 6:37c94a5e205f 451 switchedmode=false;
Gerth 14:4c4f45a1dd23 452 }
Gerth 14:4c4f45a1dd23 453 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 454 led1=!led1;// blink rigth led on biorobotics shield (because rigth arm is being calibrated)
Gerth 16:63320b8f79c2 455 ledblink_go=false;
Gerth 6:37c94a5e205f 456 }
Gerth 20:c5fb2ff5d457 457 if (readbuttoncalibrate_go==true) {//check wich button is pressed and adjust wanted angle of rigth arm
Gerth 9:4ee354663560 458 if (buttonR.read()==0 && buttonL.read()==1) {
Gerth 20:c5fb2ff5d457 459 desired_angle1 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 460 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 461 }
Gerth 9:4ee354663560 462 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 463 desired_angle1 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 464 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 465 }
Gerth 9:4ee354663560 466 }
Gerth 25:21dcd3f9eac2 467 if (control_go==true) {// calculate errors and send them to controllers
Gerth 25:21dcd3f9eac2 468 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 25:21dcd3f9eac2 469 error2=0;
Gerth 26:c935e39cce8a 470 mycontroller.PI(error1,error2,Kp,Ki);
Gerth 20:c5fb2ff5d457 471 control_go=false;
Gerth 20:c5fb2ff5d457 472 }
Gerth 8:54a7da09ccad 473 }
Gerth 8:54a7da09ccad 474 ////////////////////////////////////////////CALIBRATE LEFT ARM
Gerth 8:54a7da09ccad 475 if (modecounter==2) {
Gerth 8:54a7da09ccad 476 if(switchedmode==true) {
Gerth 8:54a7da09ccad 477 pc.printf("Calibration mode! Use buttons to move left arm to 0 degrees\n");
Gerth 16:63320b8f79c2 478 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 479 ledgreen=ledblue=1;
Gerth 8:54a7da09ccad 480 switchedmode=false;
Gerth 8:54a7da09ccad 481 }
Gerth 14:4c4f45a1dd23 482 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 483 led2=!led2;// blink left led on biorobotics shield (because left arm is being calibrated)
Gerth 16:63320b8f79c2 484 ledblink_go=false;
Gerth 14:4c4f45a1dd23 485 }
Gerth 25:21dcd3f9eac2 486 if (readbuttoncalibrate_go==true) {//
Gerth 20:c5fb2ff5d457 487 if (buttonR.read()==0 && buttonL.read()==1) {//check wich button is pressed and adjust wanted angle of left arm
Gerth 20:c5fb2ff5d457 488 desired_angle2 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 489 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 490 }
Gerth 8:54a7da09ccad 491 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 492 desired_angle2 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 493 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 494 }
Gerth 6:37c94a5e205f 495 }
Gerth 25:21dcd3f9eac2 496 if (control_go==true) {// calculate errors and send to controller
Gerth 25:21dcd3f9eac2 497 error1=0;
Gerth 25:21dcd3f9eac2 498 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 26:c935e39cce8a 499 mycontroller.PI(error1,error2,Kp,Ki);
Gerth 20:c5fb2ff5d457 500 control_go=false;
Gerth 20:c5fb2ff5d457 501 }
Gerth 3:48438eea184e 502 }
Gerth 16:63320b8f79c2 503 ///////////////////////////////BUTTONCONTROLMODE
Gerth 15:17de575b7385 504 if (modecounter==3) {
Gerth 16:63320b8f79c2 505 if (switchedmode==true) {
Gerth 19:6f22b5687587 506 pc.printf("Buttonmode, you can use the buttons to control the robot\n");
Gerth 16:63320b8f79c2 507 led1=led2=0;
Gerth 25:21dcd3f9eac2 508 ledred=ledblue=1;
Gerth 21:6954cc25f2a7 509 encoder1.reset();// reset encoders so they are at 0 degrees
Gerth 21:6954cc25f2a7 510 encoder2.reset();
Gerth 16:63320b8f79c2 511 switchedmode=false;
Gerth 16:63320b8f79c2 512 }
Gerth 16:63320b8f79c2 513 if (ledblink_go==true) {
Gerth 15:17de575b7385 514 ledgreen=!ledgreen;
Gerth 16:63320b8f79c2 515 ledblink_go=false;
Gerth 15:17de575b7385 516 }
Gerth 20:c5fb2ff5d457 517 if (readsignal_go==true) {// read buttons and adjus wanted position
Gerth 17:72d3522165ac 518 readsignalbutton();
Gerth 17:72d3522165ac 519 readsignal_go=false;
Gerth 17:72d3522165ac 520 }
Gerth 20:c5fb2ff5d457 521 if (control_go==true) {// calculate wanted angles from position, errors and send to controller
Gerth 20:c5fb2ff5d457 522 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 523 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 17:72d3522165ac 524
Gerth 25:21dcd3f9eac2 525 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 25:21dcd3f9eac2 526 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 27:31cb8fbd976d 527 mycontroller.PID(error1,error2,Kp,Ki,Kd);
Gerth 17:72d3522165ac 528 control_go=false;
Gerth 16:63320b8f79c2 529 }
Gerth 16:63320b8f79c2 530 }
Gerth 25:21dcd3f9eac2 531 checktimervalue=checktimer.read();
Gerth 25:21dcd3f9eac2 532 checktimer.stop();
Gerth 0:dd66fff537d7 533 }
Gerth 8:54a7da09ccad 534 }