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@2:c7707856d137, 2015-10-13 (annotated)

Committer:
Gerth
Date:
Tue Oct 13 12:41:12 2015 +0000
Revision:
2:c7707856d137
Parent:
1:917c07a4f3ec
Child:
3:48438eea184e
Added option to adjust the gain of the filtered signal via Serial, called with sw2

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 1:917c07a4f3ec 6
Gerth 1:917c07a4f3ec 7 //info out
Gerth 1:917c07a4f3ec 8 HIDScope scope(4);
Gerth 1:917c07a4f3ec 9 Ticker scope_ticker;
Gerth 1:917c07a4f3ec 10 const float scope_frequency=500;
Gerth 1:917c07a4f3ec 11 Serial pc(USBTX,USBRX);
Gerth 1:917c07a4f3ec 12
Gerth 1:917c07a4f3ec 13 ////////////////ENCODERS
Gerth 1:917c07a4f3ec 14 QEI encoder1(D12,D13,NC,32);
Gerth 1:917c07a4f3ec 15 QEI encoder2(D10,D11,NC,32);
Gerth 1:917c07a4f3ec 16
Gerth 1:917c07a4f3ec 17 //////////////////////////////////CONTROLLER
Gerth 1:917c07a4f3ec 18 controlandadjust mycontroller; // make a controller
Gerth 1:917c07a4f3ec 19 //controller constants
Gerth 1:917c07a4f3ec 20 float Kp=0.5;
Gerth 1:917c07a4f3ec 21 float Ki=0.01;
Gerth 1:917c07a4f3ec 22 float Kd=0.001;
Gerth 1:917c07a4f3ec 23 Ticker control_ticker;
Gerth 1:917c07a4f3ec 24 const float control_frequency=25;
Gerth 1:917c07a4f3ec 25
Gerth 1:917c07a4f3ec 26 double error1_int=0;// storage variables for the errors
Gerth 1:917c07a4f3ec 27 double error2_int=0;
Gerth 1:917c07a4f3ec 28 double error1_prev=0;
Gerth 1:917c07a4f3ec 29 double error2_prev=0;
Gerth 1:917c07a4f3ec 30
Gerth 1:917c07a4f3ec 31 InterruptIn valuechangebutton(PTC6);//button to change controller constants
Gerth 1:917c07a4f3ec 32
Gerth 1:917c07a4f3ec 33 //safetyandthreshold
Gerth 1:917c07a4f3ec 34 AnalogIn safety(A3);//pot 2, used for the safety cutoff value for the pwm
Gerth 1:917c07a4f3ec 35 AnalogIn threshold(A2);//pot1, used to adjust threshold if signal differs per person
Gerth 1:917c07a4f3ec 36
Gerth 1:917c07a4f3ec 37 Ticker safetyandthreshold_ticker; // ticker to read potmeters
Gerth 1:917c07a4f3ec 38 const float safetyandthreshold_frequency=1; // frequency for the ticker
Gerth 1:917c07a4f3ec 39
Gerth 1:917c07a4f3ec 40 ////////////////////////////////FILTER
Gerth 1:917c07a4f3ec 41 #include "filtervalues.h"
Gerth 1:917c07a4f3ec 42 Ticker filter_ticker;
Gerth 1:917c07a4f3ec 43 const float filter_frequency=500;
Gerth 1:917c07a4f3ec 44 Biquad myfilter1;
Gerth 1:917c07a4f3ec 45 Biquad myfilter2;
Gerth 1:917c07a4f3ec 46
Gerth 1:917c07a4f3ec 47 AnalogIn emg1_input(A0);
Gerth 1:917c07a4f3ec 48 AnalogIn emg2_input(A1);
Gerth 1:917c07a4f3ec 49
Gerth 1:917c07a4f3ec 50 double filteredsignal1=0;
Gerth 1:917c07a4f3ec 51 double filteredsignal2=0;
Gerth 2:c7707856d137 52 double filter_extragain=1;
Gerth 1:917c07a4f3ec 53
Gerth 1:917c07a4f3ec 54 //////////////////////GO FLAGS AND ACTIVATION FUNCTIONS
Gerth 1:917c07a4f3ec 55 volatile bool scopedata_go=false,
Gerth 1:917c07a4f3ec 56 control_go=false,
Gerth 1:917c07a4f3ec 57 filter_go=false,
Gerth 1:917c07a4f3ec 58 safetyandthreshold_go=false;
Gerth 1:917c07a4f3ec 59
Gerth 1:917c07a4f3ec 60 void scopedata_activate()
Gerth 1:917c07a4f3ec 61 {
Gerth 1:917c07a4f3ec 62 scopedata_go=true;
Gerth 1:917c07a4f3ec 63 }
Gerth 1:917c07a4f3ec 64 void control_activate()
Gerth 1:917c07a4f3ec 65 {
Gerth 1:917c07a4f3ec 66 control_go=true;
Gerth 1:917c07a4f3ec 67 }
Gerth 1:917c07a4f3ec 68 void filter_activate()
Gerth 1:917c07a4f3ec 69 {
Gerth 1:917c07a4f3ec 70 filter_go=true;
Gerth 1:917c07a4f3ec 71 }
Gerth 1:917c07a4f3ec 72 void safetyandthreshold_activate()
Gerth 1:917c07a4f3ec 73 {
Gerth 1:917c07a4f3ec 74 safetyandthreshold_go=true;
Gerth 1:917c07a4f3ec 75 }
Gerth 0:dd66fff537d7 76
Gerth 1:917c07a4f3ec 77
Gerth 1:917c07a4f3ec 78 ////////////////////////FUNCTIONS
Gerth 1:917c07a4f3ec 79 //gather data and send to scope
Gerth 1:917c07a4f3ec 80 void scopedata()
Gerth 1:917c07a4f3ec 81 {
Gerth 1:917c07a4f3ec 82 scope.set(0,encoder1.getPulses());
Gerth 1:917c07a4f3ec 83 scope.set(1,encoder2.getPulses());
Gerth 1:917c07a4f3ec 84 }
Gerth 1:917c07a4f3ec 85 //read potmeters and adjust the safetyfactor and threshold
Gerth 1:917c07a4f3ec 86 void safetyandthreshold()
Gerth 1:917c07a4f3ec 87 {
Gerth 1:917c07a4f3ec 88 mycontroller.cutoff((ceil (10*safety.read()) )/10); // adjust the safetyfactor rounded to 1 decimal
Gerth 1:917c07a4f3ec 89 ///////////////////////NEED AN IDEA FOR THE THRESHOLD!!!!!!!!!!!!!!!!!!!!
Gerth 1:917c07a4f3ec 90 }
Gerth 1:917c07a4f3ec 91 /////filter
Gerth 1:917c07a4f3ec 92 void filtereverything()
Gerth 1:917c07a4f3ec 93 {
Gerth 1:917c07a4f3ec 94 //filter_timer.reset();
Gerth 1:917c07a4f3ec 95 // filter_timer.start();
Gerth 1:917c07a4f3ec 96 //pass1 so f1
Gerth 2:c7707856d137 97 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 98 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 99
Gerth 1:917c07a4f3ec 100 //pass2 so f2
Gerth 2:c7707856d137 101 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 102 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 103
Gerth 1:917c07a4f3ec 104 //pass3 so f3
Gerth 2:c7707856d137 105 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 106 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 107
Gerth 1:917c07a4f3ec 108 //pass4 so f4
Gerth 2:c7707856d137 109 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 110 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 111
Gerth 1:917c07a4f3ec 112 //pass5 so f5
Gerth 2:c7707856d137 113 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 114 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 115
Gerth 1:917c07a4f3ec 116 ///// take absolute value
Gerth 2:c7707856d137 117 double pass5_emg1_abs=(fabs(pass5_emg1));
Gerth 2:c7707856d137 118 double pass5_emg2_abs=(fabs(pass5_emg2));
Gerth 1:917c07a4f3ec 119
Gerth 1:917c07a4f3ec 120 //pass6 so f6
Gerth 2:c7707856d137 121 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 122 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 123
Gerth 1:917c07a4f3ec 124
Gerth 1:917c07a4f3ec 125 //pass7 so f7
Gerth 2:c7707856d137 126 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 127 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 128
Gerth 2:c7707856d137 129 filteredsignal1=(pass7_emg1*9e11*filter_extragain);
Gerth 2:c7707856d137 130 filteredsignal2=(pass7_emg2*9e11*filter_extragain);
Gerth 1:917c07a4f3ec 131
Gerth 1:917c07a4f3ec 132 //filter_timer.stop();
Gerth 1:917c07a4f3ec 133 }
Gerth 1:917c07a4f3ec 134
Gerth 1:917c07a4f3ec 135 void control(){
Gerth 1:917c07a4f3ec 136 ///call desired controller here
Gerth 1:917c07a4f3ec 137 }
Gerth 1:917c07a4f3ec 138
Gerth 1:917c07a4f3ec 139 //adjust controller values when sw2 is pressed
Gerth 1:917c07a4f3ec 140 void valuechange()
Gerth 1:917c07a4f3ec 141 {
Gerth 2:c7707856d137 142 pc.printf("Extra gain is now %f, enter new value\n",filter_extragain);
Gerth 2:c7707856d137 143 pc.scanf("%f",&filter_extragain);
Gerth 2:c7707856d137 144
Gerth 2:c7707856d137 145 /*mycontroller.STOP();
Gerth 1:917c07a4f3ec 146 pc.printf("KP is now %f, enter new value\n",Kp);
Gerth 1:917c07a4f3ec 147 pc.scanf("%f", &Kp);
Gerth 1:917c07a4f3ec 148
Gerth 1:917c07a4f3ec 149 pc.printf("KI is now %f, enter new value\n",Ki);
Gerth 1:917c07a4f3ec 150 pc.scanf("%f", &Ki);
Gerth 1:917c07a4f3ec 151
Gerth 1:917c07a4f3ec 152 pc.printf("KD is now %f, enter new value\n",Kd);
Gerth 2:c7707856d137 153 pc.scanf("%f", &Kd);*/
Gerth 1:917c07a4f3ec 154 }
Gerth 0:dd66fff537d7 155
Gerth 0:dd66fff537d7 156 int main()
Gerth 0:dd66fff537d7 157 {
Gerth 1:917c07a4f3ec 158 //tickers
Gerth 1:917c07a4f3ec 159 safetyandthreshold_ticker.attach(&safetyandthreshold_activate,1.0/safetyandthreshold_frequency);
Gerth 1:917c07a4f3ec 160 filter_ticker.attach(&filter_activate,1.0/filter_frequency);
Gerth 1:917c07a4f3ec 161 control_ticker.attach(&control_activate,1.0/control_frequency);
Gerth 1:917c07a4f3ec 162 scope_ticker.attach(&scopedata_activate,1.0/scope_frequency);
Gerth 1:917c07a4f3ec 163
Gerth 1:917c07a4f3ec 164 while(1) {
Gerth 1:917c07a4f3ec 165 if (scopedata_go==true) {
Gerth 1:917c07a4f3ec 166 scopedata();
Gerth 1:917c07a4f3ec 167 scopedata_go=false;
Gerth 1:917c07a4f3ec 168 }
Gerth 1:917c07a4f3ec 169 if (filter_go==true) {
Gerth 1:917c07a4f3ec 170 filtereverything();
Gerth 1:917c07a4f3ec 171 filter_go=false;
Gerth 1:917c07a4f3ec 172 }
Gerth 1:917c07a4f3ec 173 if (safetyandthreshold_go==true) {
Gerth 1:917c07a4f3ec 174 safetyandthreshold();
Gerth 1:917c07a4f3ec 175 safetyandthreshold_go=false;
Gerth 1:917c07a4f3ec 176 }
Gerth 1:917c07a4f3ec 177 if (control_go==true) {
Gerth 1:917c07a4f3ec 178 control();
Gerth 1:917c07a4f3ec 179 control_go=false;
Gerth 1:917c07a4f3ec 180 }
Gerth 2:c7707856d137 181 valuechangebutton.fall(&valuechange);
Gerth 0:dd66fff537d7 182 }
Gerth 0:dd66fff537d7 183 }