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@16:63320b8f79c2, 2015-10-19 (annotated)

Committer:
Gerth
Date:
Mon Oct 19 13:26:14 2015 +0000
Revision:
16:63320b8f79c2
Parent:
15:17de575b7385
Child:
17:72d3522165ac
added buttoncontrolmode, but desiredpositoin moves too much per second;

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 1:917c07a4f3ec 8 //info out
Gerth 10:9e96d14d7034 9 HIDScope scope(6);
Gerth 1:917c07a4f3ec 10 Ticker scope_ticker;
Gerth 3:48438eea184e 11 const double scope_frequency=500;
Gerth 1:917c07a4f3ec 12 Serial pc(USBTX,USBRX);
Gerth 1:917c07a4f3ec 13
Gerth 16:63320b8f79c2 14 DigitalOut ledred(LED_RED);
Gerth 16:63320b8f79c2 15 DigitalOut ledgreen(LED_GREEN);
Gerth 16:63320b8f79c2 16 DigitalOut ledblue(LED_BLUE);
Gerth 14:4c4f45a1dd23 17
Gerth 1:917c07a4f3ec 18 ////////////////ENCODERS
Gerth 9:4ee354663560 19 const float cpr_sensor=32;
Gerth 9:4ee354663560 20 const float cpr_shaft=cpr_sensor*131;
Gerth 9:4ee354663560 21 QEI encoder1(D12,D13,NC,cpr_sensor);/// maybe use Encoder in stead of QEI, because Encoder had setposition
Gerth 9:4ee354663560 22 QEI encoder2(D10,D11,NC,cpr_sensor);
Gerth 9:4ee354663560 23 const double PIE=3.14159265359;
Gerth 9:4ee354663560 24 const float counttorad=((2*PIE)/cpr_shaft);
Gerth 1:917c07a4f3ec 25
Gerth 6:37c94a5e205f 26 /////////////////////////////////CALIBRATION (MODE)
Gerth 8:54a7da09ccad 27 int modecounter=1;
Gerth 6:37c94a5e205f 28 DigitalIn changemodebutton(PTA4);
Gerth 6:37c94a5e205f 29
Gerth 7:7fbb2c028778 30 Ticker readbuttoncalibrate_ticker;
Gerth 7:7fbb2c028778 31 const double readbuttoncalibrate_frequency=10;
Gerth 7:7fbb2c028778 32
Gerth 14:4c4f45a1dd23 33 Ticker ledblink_ticker;
Gerth 14:4c4f45a1dd23 34 const double ledblink_frequency=4;
Gerth 14:4c4f45a1dd23 35
Gerth 9:4ee354663560 36 const double radpersec_calibrate=0.1*PIE;
Gerth 8:54a7da09ccad 37
Gerth 8:54a7da09ccad 38 DigitalIn buttonR(D2);
Gerth 8:54a7da09ccad 39 DigitalIn buttonL(D3);
Gerth 8:54a7da09ccad 40
Gerth 14:4c4f45a1dd23 41
Gerth 14:4c4f45a1dd23 42
Gerth 1:917c07a4f3ec 43 //////////////////////////////////CONTROLLER
Gerth 1:917c07a4f3ec 44 controlandadjust mycontroller; // make a controller
Gerth 1:917c07a4f3ec 45 //controller constants
Gerth 1:917c07a4f3ec 46 float Kp=0.5;
Gerth 9:4ee354663560 47 float Ki=0.01;
Gerth 1:917c07a4f3ec 48 float Kd=0.001;
Gerth 1:917c07a4f3ec 49 Ticker control_ticker;
Gerth 9:4ee354663560 50 const double control_frequency=25;
Gerth 7:7fbb2c028778 51 const double Ts_control=1.0/control_frequency;
Gerth 1:917c07a4f3ec 52
Gerth 7:7fbb2c028778 53 float error1_int=0;// storage variables for the errors
Gerth 7:7fbb2c028778 54 float error2_int=0;
Gerth 7:7fbb2c028778 55 float error1_prev=0;
Gerth 7:7fbb2c028778 56 float error2_prev=0;
Gerth 1:917c07a4f3ec 57
Gerth 1:917c07a4f3ec 58 InterruptIn valuechangebutton(PTC6);//button to change controller constants
Gerth 1:917c07a4f3ec 59
Gerth 1:917c07a4f3ec 60 //safetyandthreshold
Gerth 3:48438eea184e 61 AnalogIn safety_pot(A3);//pot 2, used for the safety cutoff value for the pwm
Gerth 3:48438eea184e 62 AnalogIn threshold_pot(A2);//pot1, used to adjust threshold if signal differs per person
Gerth 1:917c07a4f3ec 63
Gerth 1:917c07a4f3ec 64 Ticker safetyandthreshold_ticker; // ticker to read potmeters
Gerth 3:48438eea184e 65 const double safetyandthreshold_frequency=1; // frequency for the ticker
Gerth 3:48438eea184e 66
Gerth 4:bf7765b0f612 67 float threshold_value=1;//initial threshold value
Gerth 1:917c07a4f3ec 68
Gerth 1:917c07a4f3ec 69 ////////////////////////////////FILTER
Gerth 1:917c07a4f3ec 70 #include "filtervalues.h"
Gerth 1:917c07a4f3ec 71 Ticker filter_ticker;
Gerth 3:48438eea184e 72 const double filter_frequency=500;
Gerth 1:917c07a4f3ec 73 Biquad myfilter1;
Gerth 1:917c07a4f3ec 74 Biquad myfilter2;
Gerth 1:917c07a4f3ec 75
Gerth 1:917c07a4f3ec 76 AnalogIn emg1_input(A0);
Gerth 1:917c07a4f3ec 77 AnalogIn emg2_input(A1);
Gerth 1:917c07a4f3ec 78
Gerth 1:917c07a4f3ec 79 double filteredsignal1=0;
Gerth 1:917c07a4f3ec 80 double filteredsignal2=0;
Gerth 5:8ac5d0651e4d 81 float filter_extragain=1;
Gerth 1:917c07a4f3ec 82
Gerth 3:48438eea184e 83 /////////////////READSIGNAL
Gerth 3:48438eea184e 84 Ticker readsignal_ticker;
Gerth 3:48438eea184e 85 const double readsignal_frequency=25;
Gerth 3:48438eea184e 86
Gerth 11:c10651055871 87 DigitalOut led1(PTC12);
Gerth 4:bf7765b0f612 88 DigitalOut led2(D9);
Gerth 4:bf7765b0f612 89
Gerth 4:bf7765b0f612 90 //////////////////////////////// POSITION AND ANGLE SHIZZLE
Gerth 4:bf7765b0f612 91 float desired_position=0;
Gerth 4:bf7765b0f612 92 float desired_angle[]= {0,0};
Gerth 16:63320b8f79c2 93 float mm_per_sec_emg=0.1;// move the pod 50 mm per sec if muscle is flexed
Gerth 11:c10651055871 94 float fieldwidth=473;
Gerth 11:c10651055871 95 float safetymarginfield=75; //adjustable, tweak for maximum but safe range
Gerth 11:c10651055871 96 float maxdisplacement=((fieldwidth/2)-safetymarginfield); //so the pod doesn't hit the edges of the playfield
Gerth 11:c10651055871 97 float rad_per_sec_emg=0.25*PIE;// THIS ONE IS NOT NESSECARY FOR ACTUAL PROGRAM
Gerth 3:48438eea184e 98
Gerth 16:63320b8f79c2 99 angleandposition anglepos;
Gerth 16:63320b8f79c2 100 float y_start=255;
Gerth 16:63320b8f79c2 101 float y_punch=473;
Gerth 1:917c07a4f3ec 102 //////////////////////GO FLAGS AND ACTIVATION FUNCTIONS
Gerth 1:917c07a4f3ec 103 volatile bool scopedata_go=false,
Gerth 1:917c07a4f3ec 104 control_go=false,
Gerth 1:917c07a4f3ec 105 filter_go=false,
Gerth 3:48438eea184e 106 safetyandthreshold_go=false,
Gerth 6:37c94a5e205f 107 readsignal_go=false,
Gerth 8:54a7da09ccad 108 switchedmode=true,
Gerth 14:4c4f45a1dd23 109 readbuttoncalibrate_go=false,
Gerth 14:4c4f45a1dd23 110 ledblink_go=false;
Gerth 1:917c07a4f3ec 111
Gerth 1:917c07a4f3ec 112 void scopedata_activate()
Gerth 1:917c07a4f3ec 113 {
Gerth 1:917c07a4f3ec 114 scopedata_go=true;
Gerth 1:917c07a4f3ec 115 }
Gerth 1:917c07a4f3ec 116 void control_activate()
Gerth 1:917c07a4f3ec 117 {
Gerth 1:917c07a4f3ec 118 control_go=true;
Gerth 1:917c07a4f3ec 119 }
Gerth 1:917c07a4f3ec 120 void filter_activate()
Gerth 1:917c07a4f3ec 121 {
Gerth 1:917c07a4f3ec 122 filter_go=true;
Gerth 1:917c07a4f3ec 123 }
Gerth 1:917c07a4f3ec 124 void safetyandthreshold_activate()
Gerth 1:917c07a4f3ec 125 {
Gerth 1:917c07a4f3ec 126 safetyandthreshold_go=true;
Gerth 1:917c07a4f3ec 127 }
Gerth 3:48438eea184e 128 void readsignal_activate()
Gerth 3:48438eea184e 129 {
Gerth 3:48438eea184e 130 readsignal_go=true;
Gerth 3:48438eea184e 131 }
Gerth 7:7fbb2c028778 132 void readbuttoncalibrate_activate()
Gerth 7:7fbb2c028778 133 {
Gerth 7:7fbb2c028778 134 readbuttoncalibrate_go=true;
Gerth 7:7fbb2c028778 135 }
Gerth 14:4c4f45a1dd23 136 void ledblink_activate()
Gerth 14:4c4f45a1dd23 137 {
Gerth 14:4c4f45a1dd23 138 ledblink_go=true;
Gerth 14:4c4f45a1dd23 139 }
Gerth 1:917c07a4f3ec 140
Gerth 1:917c07a4f3ec 141 ////////////////////////FUNCTIONS
Gerth 1:917c07a4f3ec 142 //gather data and send to scope
Gerth 1:917c07a4f3ec 143 void scopedata()
Gerth 1:917c07a4f3ec 144 {
Gerth 10:9e96d14d7034 145 scope.set(0,desired_angle[0]);
Gerth 10:9e96d14d7034 146 scope.set(1,counttorad*encoder1.getPulses());
Gerth 10:9e96d14d7034 147 scope.set(2,mycontroller.motor1pwm());
Gerth 10:9e96d14d7034 148 scope.set(3,desired_angle[1]);
Gerth 10:9e96d14d7034 149 scope.set(4,counttorad*encoder2.getPulses());
Gerth 16:63320b8f79c2 150 scope.set(5,desired_position);
Gerth 3:48438eea184e 151 scope.send();
Gerth 4:bf7765b0f612 152 }
Gerth 1:917c07a4f3ec 153 //read potmeters and adjust the safetyfactor and threshold
Gerth 1:917c07a4f3ec 154 void safetyandthreshold()
Gerth 1:917c07a4f3ec 155 {
Gerth 3:48438eea184e 156 mycontroller.cutoff((ceil (10*safety_pot.read()) )/10); // adjust the safetyfactor value between 0 and 1 rounded to 1 decimal
Gerth 3:48438eea184e 157 threshold_value=((ceil (10*threshold_pot.read()) )/10); // adjust the threshold value between 0 and 1 rounded to 1 decimal
Gerth 1:917c07a4f3ec 158 }
Gerth 1:917c07a4f3ec 159 /////filter
Gerth 1:917c07a4f3ec 160 void filtereverything()
Gerth 1:917c07a4f3ec 161 {
Gerth 1:917c07a4f3ec 162 //filter_timer.reset();
Gerth 1:917c07a4f3ec 163 // filter_timer.start();
Gerth 1:917c07a4f3ec 164 //pass1 so f1
Gerth 2:c7707856d137 165 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 166 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 167
Gerth 1:917c07a4f3ec 168 //pass2 so f2
Gerth 2:c7707856d137 169 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 170 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 171
Gerth 1:917c07a4f3ec 172 //pass3 so f3
Gerth 2:c7707856d137 173 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 174 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 175
Gerth 1:917c07a4f3ec 176 //pass4 so f4
Gerth 2:c7707856d137 177 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 178 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 179
Gerth 1:917c07a4f3ec 180 //pass5 so f5
Gerth 2:c7707856d137 181 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 182 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 183
Gerth 1:917c07a4f3ec 184 ///// take absolute value
Gerth 2:c7707856d137 185 double pass5_emg1_abs=(fabs(pass5_emg1));
Gerth 2:c7707856d137 186 double pass5_emg2_abs=(fabs(pass5_emg2));
Gerth 1:917c07a4f3ec 187
Gerth 1:917c07a4f3ec 188 //pass6 so f6
Gerth 2:c7707856d137 189 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 190 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 191
Gerth 1:917c07a4f3ec 192
Gerth 1:917c07a4f3ec 193 //pass7 so f7
Gerth 2:c7707856d137 194 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 195 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 196
Gerth 2:c7707856d137 197 filteredsignal1=(pass7_emg1*9e11*filter_extragain);
Gerth 2:c7707856d137 198 filteredsignal2=(pass7_emg2*9e11*filter_extragain);
Gerth 1:917c07a4f3ec 199
Gerth 1:917c07a4f3ec 200 //filter_timer.stop();
Gerth 1:917c07a4f3ec 201 }
Gerth 1:917c07a4f3ec 202
Gerth 7:7fbb2c028778 203
Gerth 1:917c07a4f3ec 204
Gerth 1:917c07a4f3ec 205 //adjust controller values when sw2 is pressed
Gerth 1:917c07a4f3ec 206 void valuechange()
Gerth 1:917c07a4f3ec 207 {
Gerth 3:48438eea184e 208 mycontroller.STOP();
Gerth 5:8ac5d0651e4d 209 pc.printf("KP is now %f, enter new value\n",Kp);
Gerth 1:917c07a4f3ec 210 pc.scanf("%f", &Kp);
Gerth 1:917c07a4f3ec 211
Gerth 1:917c07a4f3ec 212 pc.printf("KI is now %f, enter new value\n",Ki);
Gerth 1:917c07a4f3ec 213 pc.scanf("%f", &Ki);
Gerth 1:917c07a4f3ec 214
Gerth 1:917c07a4f3ec 215 pc.printf("KD is now %f, enter new value\n",Kd);
Gerth 5:8ac5d0651e4d 216 pc.scanf("%f", &Kd);
Gerth 3:48438eea184e 217
Gerth 3:48438eea184e 218 pc.printf("Extra gain is now %f, enter new value\n",filter_extragain);
Gerth 5:8ac5d0651e4d 219 pc.scanf("%f", &filter_extragain);
Gerth 1:917c07a4f3ec 220 }
Gerth 11:c10651055871 221
Gerth 11:c10651055871 222
Gerth 11:c10651055871 223
Gerth 11:c10651055871 224 const float schiethoek=0.35*PIE;
Gerth 11:c10651055871 225 const float schiettijd=0.5;
Gerth 11:c10651055871 226 void shoot() // THIS NEEDS ADJUSTMEND
Gerth 14:4c4f45a1dd23 227 {
Gerth 11:c10651055871 228 pc.printf("SHOOT\n");
Gerth 11:c10651055871 229 //hoeken groter maken
Gerth 11:c10651055871 230 desired_angle[0]-=schiethoek;
Gerth 11:c10651055871 231 desired_angle[1]+=schiethoek;
Gerth 11:c10651055871 232
Gerth 11:c10651055871 233 Timer schiettimer;
Gerth 11:c10651055871 234 schiettimer.reset();
Gerth 11:c10651055871 235 schiettimer.start();
Gerth 11:c10651055871 236 float pass=0;
Gerth 11:c10651055871 237 while(schiettimer.read()<=schiettijd) {
Gerth 11:c10651055871 238 // errors berekenen en naar de controller passen
Gerth 14:4c4f45a1dd23 239 float error1=(desired_angle[0]-counttorad*encoder1.getPulses());
Gerth 14:4c4f45a1dd23 240 float error2=(desired_angle[1]-counttorad*encoder2.getPulses());
Gerth 11:c10651055871 241 mycontroller.PI(error1, error2, Kp, Ki, Ts_control, error1_int, error2_int);
Gerth 11:c10651055871 242 scopedata();
Gerth 11:c10651055871 243 wait (Ts_control-(schiettimer.read()-Ts_control*pass)); // even wachten anders wordt de while loop te snel doorlopen en gaan de motoren wak
Gerth 14:4c4f45a1dd23 244 ledblue=!ledblue;
Gerth 11:c10651055871 245 pass++;
Gerth 11:c10651055871 246 }
Gerth 11:c10651055871 247 schiettimer.stop();
Gerth 16:63320b8f79c2 248 ledblue=1;
Gerth 11:c10651055871 249 //terug na schieten
Gerth 11:c10651055871 250 desired_angle[0]+=schiethoek;
Gerth 11:c10651055871 251 desired_angle[1]-=schiethoek;
Gerth 11:c10651055871 252 }
Gerth 11:c10651055871 253
Gerth 16:63320b8f79c2 254 ////////////////////////////////////////////////////READ EMG AND MOVE DESIRED POSITION
Gerth 3:48438eea184e 255 void readsignal()
Gerth 3:48438eea184e 256 {
Gerth 11:c10651055871 257 //check if pod has to shoot
Gerth 4:bf7765b0f612 258 if (filteredsignal1>=threshold_value && filteredsignal2>=threshold_value) {
Gerth 4:bf7765b0f612 259 led1=led2=1;
Gerth 11:c10651055871 260 shoot();
Gerth 14:4c4f45a1dd23 261 // check if pod has to move to the right
Gerth 4:bf7765b0f612 262 } else if (filteredsignal1>=threshold_value && filteredsignal2<=threshold_value) {
Gerth 4:bf7765b0f612 263 led1=1;
Gerth 4:bf7765b0f612 264 led2=0;
Gerth 16:63320b8f79c2 265 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 11:c10651055871 266 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 11:c10651055871 267 desired_position=maxdisplacement;
Gerth 11:c10651055871 268 } else {
Gerth 11:c10651055871 269 desired_position=desired_position;
Gerth 11:c10651055871 270 }
Gerth 14:4c4f45a1dd23 271 // check if pod has to move to the left
Gerth 4:bf7765b0f612 272 } else if (filteredsignal1<=threshold_value && filteredsignal2>=threshold_value) {
Gerth 4:bf7765b0f612 273 led1=0;
Gerth 4:bf7765b0f612 274 led2=1;
Gerth 16:63320b8f79c2 275 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 11:c10651055871 276 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 14:4c4f45a1dd23 277 desired_position=(-1*maxdisplacement);
Gerth 11:c10651055871 278 } else {
Gerth 11:c10651055871 279 desired_position=desired_position;
Gerth 11:c10651055871 280 }
Gerth 3:48438eea184e 281 } else {
Gerth 4:bf7765b0f612 282 led1=led2=0;
Gerth 3:48438eea184e 283 }
Gerth 16:63320b8f79c2 284 }
Gerth 16:63320b8f79c2 285 ///////////////////////////////////////////////READ BUTTON AND MOVE DESIRED POSITION
Gerth 16:63320b8f79c2 286 void readbutton()
Gerth 16:63320b8f79c2 287 {
Gerth 16:63320b8f79c2 288 volatile bool go=true;
Gerth 16:63320b8f79c2 289 //check if pod has to shoot
Gerth 16:63320b8f79c2 290 if (buttonR.read()==0 && buttonL.read()==0 &&go==true) {
Gerth 16:63320b8f79c2 291 led1=led2=1;
Gerth 16:63320b8f79c2 292 shoot();
Gerth 16:63320b8f79c2 293 // check if pod has to move to the right
Gerth 16:63320b8f79c2 294 go=false;
Gerth 16:63320b8f79c2 295 } else if (buttonR.read()==0 && buttonL.read()==1 && go==true ) {
Gerth 16:63320b8f79c2 296 led1=1;
Gerth 16:63320b8f79c2 297 led2=0;
Gerth 16:63320b8f79c2 298 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 16:63320b8f79c2 299 if (desired_position>=maxdisplacement && go==true) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 300 desired_position=maxdisplacement;
Gerth 16:63320b8f79c2 301 go=false;
Gerth 16:63320b8f79c2 302 } else {
Gerth 16:63320b8f79c2 303 desired_position=desired_position;
Gerth 16:63320b8f79c2 304 go=false;
Gerth 16:63320b8f79c2 305 }
Gerth 16:63320b8f79c2 306 go=false;
Gerth 16:63320b8f79c2 307 } else if (buttonR.read()==1 && buttonL.read()==0&&go==true) {
Gerth 16:63320b8f79c2 308 led1=0;
Gerth 16:63320b8f79c2 309 led2=1;
Gerth 16:63320b8f79c2 310 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 16:63320b8f79c2 311 if (desired_position<=(-1*maxdisplacement) && go==true) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 312 desired_position=(-1*maxdisplacement);
Gerth 16:63320b8f79c2 313 go=false;
Gerth 16:63320b8f79c2 314 } else {
Gerth 16:63320b8f79c2 315 desired_position=desired_position;
Gerth 16:63320b8f79c2 316 go=false;
Gerth 16:63320b8f79c2 317 }
Gerth 16:63320b8f79c2 318 go=false;
Gerth 16:63320b8f79c2 319 } else {
Gerth 16:63320b8f79c2 320 led1=led2=0;
Gerth 16:63320b8f79c2 321 }
Gerth 3:48438eea184e 322 }
Gerth 3:48438eea184e 323
Gerth 6:37c94a5e205f 324 void changemode()
Gerth 6:37c94a5e205f 325 {
Gerth 10:9e96d14d7034 326 mycontroller.STOP();
Gerth 6:37c94a5e205f 327 switchedmode=true;
Gerth 6:37c94a5e205f 328 modecounter++;
Gerth 15:17de575b7385 329 if (modecounter==4) {
Gerth 6:37c94a5e205f 330 modecounter=0;
Gerth 6:37c94a5e205f 331 } else {
Gerth 6:37c94a5e205f 332 modecounter=modecounter;
Gerth 6:37c94a5e205f 333 }
Gerth 6:37c94a5e205f 334 wait(1);
Gerth 6:37c94a5e205f 335 }
Gerth 0:dd66fff537d7 336
Gerth 16:63320b8f79c2 337 ///////////////////////////////////////////////////MAIN
Gerth 7:7fbb2c028778 338
Gerth 0:dd66fff537d7 339 int main()
Gerth 0:dd66fff537d7 340 {
Gerth 1:917c07a4f3ec 341 //tickers
Gerth 1:917c07a4f3ec 342 safetyandthreshold_ticker.attach(&safetyandthreshold_activate,1.0/safetyandthreshold_frequency);
Gerth 1:917c07a4f3ec 343 filter_ticker.attach(&filter_activate,1.0/filter_frequency);
Gerth 1:917c07a4f3ec 344 control_ticker.attach(&control_activate,1.0/control_frequency);
Gerth 1:917c07a4f3ec 345 scope_ticker.attach(&scopedata_activate,1.0/scope_frequency);
Gerth 3:48438eea184e 346 readsignal_ticker.attach(&readsignal_activate, 1.0/readsignal_frequency);
Gerth 7:7fbb2c028778 347 readbuttoncalibrate_ticker.attach(&readbuttoncalibrate_activate, 1.0/readbuttoncalibrate_frequency);
Gerth 14:4c4f45a1dd23 348 ledblink_ticker.attach(&ledblink_activate, 1.0/ledblink_frequency);
Gerth 14:4c4f45a1dd23 349
Gerth 1:917c07a4f3ec 350 while(1) {
Gerth 6:37c94a5e205f 351 if (changemodebutton==0) {
Gerth 6:37c94a5e205f 352 changemode();
Gerth 1:917c07a4f3ec 353 }
Gerth 9:4ee354663560 354 if (scopedata_go==true) {
Gerth 9:4ee354663560 355 scopedata();
Gerth 9:4ee354663560 356 scopedata_go=false;
Gerth 9:4ee354663560 357 }
Gerth 9:4ee354663560 358 if (safetyandthreshold_go==true) {
Gerth 9:4ee354663560 359 safetyandthreshold();
Gerth 9:4ee354663560 360 safetyandthreshold_go=false;
Gerth 9:4ee354663560 361 }
Gerth 7:7fbb2c028778 362 ///////////////////////////////////////////NORMAL RUNNING MODE
Gerth 7:7fbb2c028778 363 if(modecounter==0) {
Gerth 6:37c94a5e205f 364 if (switchedmode==true) {
Gerth 6:37c94a5e205f 365 encoder1.reset();
Gerth 6:37c94a5e205f 366 encoder2.reset();
Gerth 6:37c94a5e205f 367 pc.printf("Program running\n");//
Gerth 16:63320b8f79c2 368 ledgreen=0;
Gerth 16:63320b8f79c2 369 led1=led2=ledred=ledblue=1;
Gerth 6:37c94a5e205f 370 switchedmode=false;
Gerth 6:37c94a5e205f 371 }
Gerth 9:4ee354663560 372
Gerth 6:37c94a5e205f 373 if (filter_go==true) {
Gerth 6:37c94a5e205f 374 filtereverything();
Gerth 6:37c94a5e205f 375 filter_go=false;
Gerth 6:37c94a5e205f 376 }
Gerth 6:37c94a5e205f 377 if (control_go==true) {
Gerth 16:63320b8f79c2 378 desired_angle[0]=anglepos.positiontoangle1(desired_position,y_start);
Gerth 16:63320b8f79c2 379 desired_angle[1]=anglepos.positiontoangle2(desired_position,y_start);
Gerth 16:63320b8f79c2 380
Gerth 11:c10651055871 381 float error1=(desired_angle[0]-counttorad*encoder1.getPulses());
Gerth 11:c10651055871 382 float error2=(desired_angle[1]-counttorad*encoder2.getPulses());
Gerth 7:7fbb2c028778 383 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);
Gerth 6:37c94a5e205f 384 control_go=false;
Gerth 6:37c94a5e205f 385 }
Gerth 6:37c94a5e205f 386 if (readsignal_go==true) {
Gerth 6:37c94a5e205f 387 readsignal();
Gerth 6:37c94a5e205f 388 readsignal_go=false;
Gerth 6:37c94a5e205f 389 }
Gerth 6:37c94a5e205f 390 valuechangebutton.fall(&valuechange);
Gerth 1:917c07a4f3ec 391 }
Gerth 7:7fbb2c028778 392 ////////////////////////////////////////////////////CALIBRATE RIGHT ARM
Gerth 6:37c94a5e205f 393 if (modecounter==1) {
Gerth 6:37c94a5e205f 394 if(switchedmode==true) {
Gerth 6:37c94a5e205f 395 pc.printf("Calibration mode! Use buttons to move rigth arm to 0 degrees\n");
Gerth 16:63320b8f79c2 396 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 397 ledgreen=ledblue=1;
Gerth 6:37c94a5e205f 398 switchedmode=false;
Gerth 14:4c4f45a1dd23 399 }
Gerth 14:4c4f45a1dd23 400 if (ledblink_go==true) {
Gerth 14:4c4f45a1dd23 401 led1=!led1;
Gerth 16:63320b8f79c2 402 ledblink_go=false;
Gerth 6:37c94a5e205f 403 }
Gerth 7:7fbb2c028778 404 if (control_go==true) {
Gerth 11:c10651055871 405 float error1=(desired_angle[0]-counttorad*encoder1.getPulses());
Gerth 9:4ee354663560 406 float error2=0;// this is the error you want to use
Gerth 7:7fbb2c028778 407 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);
Gerth 7:7fbb2c028778 408 control_go=false;
Gerth 7:7fbb2c028778 409 }
Gerth 9:4ee354663560 410 if (readbuttoncalibrate_go==true) {
Gerth 9:4ee354663560 411 if (buttonR.read()==0 && buttonL.read()==1) {
Gerth 9:4ee354663560 412 desired_angle[0] += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 413 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 414 }
Gerth 9:4ee354663560 415 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 9:4ee354663560 416 desired_angle[0] -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 417 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 418 }
Gerth 9:4ee354663560 419 }
Gerth 8:54a7da09ccad 420 }
Gerth 8:54a7da09ccad 421 ////////////////////////////////////////////CALIBRATE LEFT ARM
Gerth 8:54a7da09ccad 422 if (modecounter==2) {
Gerth 8:54a7da09ccad 423 if(switchedmode==true) {
Gerth 8:54a7da09ccad 424 pc.printf("Calibration mode! Use buttons to move left arm to 0 degrees\n");
Gerth 16:63320b8f79c2 425 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 426 ledgreen=ledblue=1;
Gerth 8:54a7da09ccad 427 switchedmode=false;
Gerth 8:54a7da09ccad 428 }
Gerth 14:4c4f45a1dd23 429 if (ledblink_go==true) {
Gerth 14:4c4f45a1dd23 430 led2=!led2;
Gerth 16:63320b8f79c2 431 ledblink_go=false;
Gerth 14:4c4f45a1dd23 432 }
Gerth 8:54a7da09ccad 433 if (control_go==true) {
Gerth 8:54a7da09ccad 434 float error1=0;
Gerth 8:54a7da09ccad 435 float error2=(desired_angle[1]-counttorad*encoder2.getPulses());// this is the error you want to use
Gerth 8:54a7da09ccad 436 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);
Gerth 8:54a7da09ccad 437 control_go=false;
Gerth 8:54a7da09ccad 438 }
Gerth 8:54a7da09ccad 439 if (readbuttoncalibrate_go==true) {
Gerth 8:54a7da09ccad 440 if (buttonR.read()==0 && buttonL.read()==1) {
Gerth 8:54a7da09ccad 441 desired_angle[1] += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 442 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 443 }
Gerth 8:54a7da09ccad 444 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 8:54a7da09ccad 445 desired_angle[1] -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 446 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 447 }
Gerth 6:37c94a5e205f 448 }
Gerth 3:48438eea184e 449 }
Gerth 16:63320b8f79c2 450 ///////////////////////////////BUTTONCONTROLMODE
Gerth 15:17de575b7385 451 if (modecounter==3) {
Gerth 16:63320b8f79c2 452 if (switchedmode==true) {
Gerth 16:63320b8f79c2 453 led1=led2=0;
Gerth 16:63320b8f79c2 454 ledred=ledblue=1;
Gerth 16:63320b8f79c2 455 switchedmode=false;
Gerth 16:63320b8f79c2 456 }
Gerth 16:63320b8f79c2 457 if (ledblink_go==true) {
Gerth 15:17de575b7385 458 ledgreen=!ledgreen;
Gerth 16:63320b8f79c2 459 ledblink_go=false;
Gerth 15:17de575b7385 460 }
Gerth 16:63320b8f79c2 461 if (readsignal_go==true) {
Gerth 16:63320b8f79c2 462 readbutton();
Gerth 16:63320b8f79c2 463 readsignal_go==false;
Gerth 16:63320b8f79c2 464 }
Gerth 16:63320b8f79c2 465 }
Gerth 15:17de575b7385 466
Gerth 0:dd66fff537d7 467 }
Gerth 8:54a7da09ccad 468 }