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@44:fd7b3ace6c19, 2015-11-02 (annotated)

Committer:
Gerth
Date:
Mon Nov 02 12:24:45 2015 +0000
Revision:
44:fd7b3ace6c19
Parent:
43:a5f47a1f11d2
Child:
45:653370fa8b67
maked going to demo mode optional

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 35:0141a1fe8138 10 Ticker scope_ticker;//ticker for the scope
Gerth 41:e9fd0670f70c 11 const double scope_frequency=200; //HIDscope frequency
Gerth 35:0141a1fe8138 12
Gerth 35:0141a1fe8138 13 Timer checktimer;// timer to check how much time it takes to run the control loop, to see if the frequencies are not too high
Gerth 35:0141a1fe8138 14 volatile double checktimervalue=0; // make a variable to store the time the loop has taken
Gerth 20:c5fb2ff5d457 15
Gerth 20:c5fb2ff5d457 16 Serial pc(USBTX,USBRX);// serial connection to pc
Gerth 1:917c07a4f3ec 17
Gerth 35:0141a1fe8138 18 DigitalOut ledred(LED_RED);// leds on the k64f board
Gerth 16:63320b8f79c2 19 DigitalOut ledgreen(LED_GREEN);
Gerth 16:63320b8f79c2 20 DigitalOut ledblue(LED_BLUE);
Gerth 14:4c4f45a1dd23 21
Gerth 35:0141a1fe8138 22
Gerth 20:c5fb2ff5d457 23 /////////////////////////////////////////////ENCODERS
Gerth 41:e9fd0670f70c 24 const double cpr_sensor=32; //counts per rotation of the sensor
Gerth 41:e9fd0670f70c 25 const double cpr_shaft=cpr_sensor*131;//counts per rotation of the outputshaft
Gerth 20:c5fb2ff5d457 26
Gerth 20:c5fb2ff5d457 27 QEI encoder1(D13,D12,NC,cpr_sensor);/// encoders on motors X2 encoding
Gerth 35:0141a1fe8138 28 QEI encoder2(D10,D11,NC,cpr_sensor);// first is pin a, pin b and the second is pin b, pin a so the encoders give positive rotation when the pod is moved forward
Gerth 20:c5fb2ff5d457 29
Gerth 35:0141a1fe8138 30 const double PIE=3.14159265359; // pi, for calculations
Gerth 39:ebcf0a60f58b 31 const double counttorad=((2*PIE)/cpr_shaft);// to convert counts to rotation in rad
Gerth 1:917c07a4f3ec 32
Gerth 24:dd75c961ae88 33
Gerth 6:37c94a5e205f 34 /////////////////////////////////CALIBRATION (MODE)
Gerth 20:c5fb2ff5d457 35 const double radpersec_calibrate=0.1*PIE;// speed of arms when in calibration mode
Gerth 20:c5fb2ff5d457 36 int modecounter=1;//counter in which mode the robot is
Gerth 35:0141a1fe8138 37 const double readbuttoncalibrate_frequency=50;//frequency at which the buttons are read when in calibration mode
Gerth 20:c5fb2ff5d457 38 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 39
Gerth 44:fd7b3ace6c19 40 InterruptIn changemodebutton(PTA4);// button to change mode (sw3)
Gerth 35:0141a1fe8138 41 Ticker readbuttoncalibrate_ticker;//ticker for reading out the buttons when calibrating
Gerth 35:0141a1fe8138 42 Ticker ledblink_ticker;// ticker for blinking the leds
Gerth 14:4c4f45a1dd23 43
Gerth 20:c5fb2ff5d457 44 DigitalIn buttonR(D2);//rigth button on biorobotics shield
Gerth 20:c5fb2ff5d457 45 DigitalIn buttonL(D3);//left button on biorobotics shield
Gerth 8:54a7da09ccad 46
Gerth 27:31cb8fbd976d 47 /////////////////READSIGNAL
Gerth 28:71a90073e482 48 const double readsignal_frequency=100;//frequency at wich the filtered emg signal is sampled to be 0 or 1
Gerth 35:0141a1fe8138 49 Ticker readsignal_ticker; // ticker for reading the signal of the emg
Gerth 27:31cb8fbd976d 50
Gerth 27:31cb8fbd976d 51
Gerth 27:31cb8fbd976d 52 DigitalOut led1(PTC12);// rigth led on biorobotics shield
Gerth 27:31cb8fbd976d 53 DigitalOut led2(D9);//left led on biorobotics shield
Gerth 27:31cb8fbd976d 54
Gerth 1:917c07a4f3ec 55 //////////////////////////////////CONTROLLER
Gerth 25:21dcd3f9eac2 56 const double control_frequency=250;// frequency at which the controller is called
Gerth 1:917c07a4f3ec 57 //controller constants
Gerth 31:8646e853979f 58 float Kp_shoot=6;
Gerth 31:8646e853979f 59 float Ki_shoot=2;
Gerth 31:8646e853979f 60 float Kd_shoot=0.5;
Gerth 31:8646e853979f 61 float Kp_move=2;
Gerth 31:8646e853979f 62 float Ki_move=1.25;
Gerth 31:8646e853979f 63 float Kd_move=0.05;
Gerth 31:8646e853979f 64
Gerth 27:31cb8fbd976d 65 controlandadjust mycontroller(2,control_frequency); // make a controller, value in brackets is errorband in degrees and controller frequency
Gerth 20:c5fb2ff5d457 66
Gerth 35:0141a1fe8138 67 Ticker control_ticker;//ticker for the controller
Gerth 35:0141a1fe8138 68 const double Ts_control=1.0/control_frequency;//sample time of the controller
Gerth 27:31cb8fbd976d 69
Gerth 39:ebcf0a60f58b 70 double error1=0,//controller error storage variables
Gerth 41:e9fd0670f70c 71 error2=0;
Gerth 1:917c07a4f3ec 72
Gerth 41:e9fd0670f70c 73 InterruptIn valuechangebutton(PTC6);//button to change filter gains per arm via Serial
Gerth 1:917c07a4f3ec 74
Gerth 1:917c07a4f3ec 75 //safetyandthreshold
Gerth 3:48438eea184e 76 AnalogIn safety_pot(A3);//pot 2, used for the safety cutoff value for the pwm
Gerth 3:48438eea184e 77 AnalogIn threshold_pot(A2);//pot1, used to adjust threshold if signal differs per person
Gerth 1:917c07a4f3ec 78
Gerth 1:917c07a4f3ec 79 Ticker safetyandthreshold_ticker; // ticker to read potmeters
Gerth 3:48438eea184e 80 const double safetyandthreshold_frequency=1; // frequency for the ticker
Gerth 3:48438eea184e 81
Gerth 39:ebcf0a60f58b 82 double threshold_value=1;//initial threshold value
Gerth 1:917c07a4f3ec 83
Gerth 1:917c07a4f3ec 84 ////////////////////////////////FILTER
Gerth 35:0141a1fe8138 85 const double filter_frequency=500; // frequency at which the emg signal is filtered
Gerth 35:0141a1fe8138 86 #include "filtervalues.h"// call the values for the biquads these are in a separate file to keep this code readable
Gerth 20:c5fb2ff5d457 87
Gerth 35:0141a1fe8138 88 Ticker filter_ticker;//Ticker for the filter
Gerth 1:917c07a4f3ec 89
Gerth 20:c5fb2ff5d457 90 Biquad myfilter1;// make filter for signal 1
Gerth 20:c5fb2ff5d457 91 Biquad myfilter2;//make filter for signal 2
Gerth 1:917c07a4f3ec 92
Gerth 20:c5fb2ff5d457 93 AnalogIn emg1_input(A0);//input for first emg signal
Gerth 20:c5fb2ff5d457 94 AnalogIn emg2_input(A1);//input for second emg signal
Gerth 20:c5fb2ff5d457 95
Gerth 20:c5fb2ff5d457 96 volatile double filteredsignal1=0;//the first filtered emg signal
Gerth 20:c5fb2ff5d457 97 volatile double filteredsignal2=0;//the second filtered emg signal
Gerth 39:ebcf0a60f58b 98 double filter_extragain1=1,filter_extragain2=1; // this is a factor to increase the gain per arm, adustable via serial
Gerth 1:917c07a4f3ec 99
Gerth 4:bf7765b0f612 100
Gerth 41:e9fd0670f70c 101 //////////////////////////////// POSITION AND ANGLE
Gerth 40:8b25c0531340 102 const double safetymarginfield=0.05; //adjustable, tweak for maximum but safe range
Gerth 34:bc2d64e86cb9 103 const double mm_per_sec_emg=0.1;// move the pod 100 mm per sec if muscle is flexed
Gerth 40:8b25c0531340 104 const double y_start=0.225;//starting y position of the pod
Gerth 34:bc2d64e86cb9 105 const double y_punch=0.473;// position to where there is punched
Gerth 34:bc2d64e86cb9 106 const double timetoshoot=0.35;// time it can take to shoot
Gerth 34:bc2d64e86cb9 107 const double timetogoback=1;// time it can take to go back after shooting
Gerth 20:c5fb2ff5d457 108
Gerth 35:0141a1fe8138 109 volatile double desired_position=0;//desired x position
Gerth 35:0141a1fe8138 110 double desired_angle1=0; //desired angle of arm 1 (calculated with anglepos)
Gerth 35:0141a1fe8138 111 double desired_angle2=0; // desired anvle of arm 2 (calculated with anglepos)
Gerth 19:6f22b5687587 112
Gerth 41:e9fd0670f70c 113 const double fieldwidth=0.473; // width of the field
Gerth 41:e9fd0670f70c 114 const double maxdisplacement=((fieldwidth/2)-safetymarginfield); //so the pod doesn't hit the edges of the playfield
Gerth 3:48438eea184e 115
Gerth 20:c5fb2ff5d457 116 angleandposition anglepos;// initiate the angle and position calculation library
Gerth 20:c5fb2ff5d457 117
Gerth 39:ebcf0a60f58b 118 const double radtodeg=(180/PIE); // to convert radians to degrees
Gerth 38:df0b0abea598 119
Gerth 41:e9fd0670f70c 120
Gerth 41:e9fd0670f70c 121 /////////////////////////////////////////////////////////DEMO MODE
Gerth 42:386fc2fcfb22 122 const double demo_safety=0.05;// safety factor to stay off the edges
Gerth 42:386fc2fcfb22 123 const double demo_x_edge_rigth=(fieldwidth/2)-demo_safety;// rigth edge of the field
Gerth 42:386fc2fcfb22 124 const double demo_x_edge_left=-((fieldwidth/2)-demo_safety);// left edge of te field
Gerth 43:a5f47a1f11d2 125 const double demo_goal_edge_rigth=0.1+demo_safety;// x edges of goal
Gerth 43:a5f47a1f11d2 126 const double demo_goal_edge_left=-(0.1+demo_safety);
Gerth 43:a5f47a1f11d2 127 const double demo_y_goal=0.1+demo_safety;// y position in front of goal
Gerth 44:fd7b3ace6c19 128 const double demo_y_back=0.05+demo_safety;//back edge of the field
Gerth 41:e9fd0670f70c 129 const double demo_y_front=y_punch;
Gerth 41:e9fd0670f70c 130
Gerth 44:fd7b3ace6c19 131 int demo_go=0;
Gerth 44:fd7b3ace6c19 132
Gerth 44:fd7b3ace6c19 133
Gerth 41:e9fd0670f70c 134
Gerth 1:917c07a4f3ec 135 //////////////////////GO FLAGS AND ACTIVATION FUNCTIONS
Gerth 1:917c07a4f3ec 136 volatile bool scopedata_go=false,
Gerth 1:917c07a4f3ec 137 control_go=false,
Gerth 1:917c07a4f3ec 138 filter_go=false,
Gerth 3:48438eea184e 139 safetyandthreshold_go=false,
Gerth 6:37c94a5e205f 140 readsignal_go=false,
Gerth 8:54a7da09ccad 141 switchedmode=true,
Gerth 14:4c4f45a1dd23 142 readbuttoncalibrate_go=false,
Gerth 41:e9fd0670f70c 143 ledblink_go=false,
Gerth 41:e9fd0670f70c 144 demo_next_step_go=false;
Gerth 1:917c07a4f3ec 145
Gerth 1:917c07a4f3ec 146 void scopedata_activate()
Gerth 1:917c07a4f3ec 147 {
Gerth 1:917c07a4f3ec 148 scopedata_go=true;
Gerth 1:917c07a4f3ec 149 }
Gerth 1:917c07a4f3ec 150 void control_activate()
Gerth 1:917c07a4f3ec 151 {
Gerth 1:917c07a4f3ec 152 control_go=true;
Gerth 1:917c07a4f3ec 153 }
Gerth 1:917c07a4f3ec 154 void filter_activate()
Gerth 1:917c07a4f3ec 155 {
Gerth 1:917c07a4f3ec 156 filter_go=true;
Gerth 1:917c07a4f3ec 157 }
Gerth 1:917c07a4f3ec 158 void safetyandthreshold_activate()
Gerth 1:917c07a4f3ec 159 {
Gerth 1:917c07a4f3ec 160 safetyandthreshold_go=true;
Gerth 1:917c07a4f3ec 161 }
Gerth 3:48438eea184e 162 void readsignal_activate()
Gerth 3:48438eea184e 163 {
Gerth 3:48438eea184e 164 readsignal_go=true;
Gerth 3:48438eea184e 165 }
Gerth 7:7fbb2c028778 166 void readbuttoncalibrate_activate()
Gerth 7:7fbb2c028778 167 {
Gerth 7:7fbb2c028778 168 readbuttoncalibrate_go=true;
Gerth 7:7fbb2c028778 169 }
Gerth 14:4c4f45a1dd23 170 void ledblink_activate()
Gerth 14:4c4f45a1dd23 171 {
Gerth 14:4c4f45a1dd23 172 ledblink_go=true;
Gerth 14:4c4f45a1dd23 173 }
Gerth 41:e9fd0670f70c 174 void demo_next_step_activate()
Gerth 41:e9fd0670f70c 175 {
Gerth 41:e9fd0670f70c 176 demo_next_step_go=true;
Gerth 41:e9fd0670f70c 177 }
Gerth 1:917c07a4f3ec 178
Gerth 1:917c07a4f3ec 179 ////////////////////////FUNCTIONS
Gerth 1:917c07a4f3ec 180 //gather data and send to scope
Gerth 32:c940f6b6a6a0 181 void scopedata(double wanted_y)
Gerth 1:917c07a4f3ec 182 {
Gerth 35:0141a1fe8138 183 scope.set(0,desired_position); // desired x position
Gerth 35:0141a1fe8138 184 scope.set(1,wanted_y); // desired y position
Gerth 35:0141a1fe8138 185 scope.set(2,filteredsignal1); // filterded emg signal rigth arm
Gerth 35:0141a1fe8138 186 scope.set(3,filteredsignal2); // filtered emg signal left arm
Gerth 35:0141a1fe8138 187 scope.set(4,threshold_value); // threshold value
Gerth 35:0141a1fe8138 188 scope.set(5,mycontroller.motor1pwm()); //pwm signal send to motor 1
Gerth 35:0141a1fe8138 189 scope.send(); // send info to HIDScope server
Gerth 4:bf7765b0f612 190 }
Gerth 1:917c07a4f3ec 191 //read potmeters and adjust the safetyfactor and threshold
Gerth 1:917c07a4f3ec 192 void safetyandthreshold()
Gerth 1:917c07a4f3ec 193 {
Gerth 3:48438eea184e 194 mycontroller.cutoff((ceil (10*safety_pot.read()) )/10); // adjust the safetyfactor value between 0 and 1 rounded to 1 decimal
Gerth 28:71a90073e482 195 threshold_value=((ceil (100*threshold_pot.read()) )/100); // adjust the threshold value between 0 and 1 rounded to 2 decimals
Gerth 1:917c07a4f3ec 196 }
Gerth 1:917c07a4f3ec 197 /////filter
Gerth 28:71a90073e482 198 void filtereverything(bool makeempty)
Gerth 1:917c07a4f3ec 199 {
Gerth 1:917c07a4f3ec 200 //pass1 so f1
Gerth 2:c7707856d137 201 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 202 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 203
Gerth 1:917c07a4f3ec 204 //pass2 so f2
Gerth 2:c7707856d137 205 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 206 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 207
Gerth 1:917c07a4f3ec 208 //pass3 so f3
Gerth 2:c7707856d137 209 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 210 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 211
Gerth 1:917c07a4f3ec 212 //pass4 so f4
Gerth 2:c7707856d137 213 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 214 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 215
Gerth 1:917c07a4f3ec 216 //pass5 so f5
Gerth 2:c7707856d137 217 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 218 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 219
Gerth 1:917c07a4f3ec 220 ///// take absolute value
Gerth 2:c7707856d137 221 double pass5_emg1_abs=(fabs(pass5_emg1));
Gerth 2:c7707856d137 222 double pass5_emg2_abs=(fabs(pass5_emg2));
Gerth 1:917c07a4f3ec 223
Gerth 1:917c07a4f3ec 224 //pass6 so f6
Gerth 2:c7707856d137 225 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 226 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 227
Gerth 1:917c07a4f3ec 228
Gerth 1:917c07a4f3ec 229 //pass7 so f7
Gerth 2:c7707856d137 230 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 231 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 232
Gerth 35:0141a1fe8138 233 filteredsignal1=(pass7_emg1*9e11*filter_extragain1);//this is needed to make the signal ~1 when flexed
Gerth 35:0141a1fe8138 234 filteredsignal2=(pass7_emg2*9e11*filter_extragain2);// filter_extragain is adjusted via serial
Gerth 30:cd4d9754a357 235
Gerth 35:0141a1fe8138 236 if (makeempty==true) {//this is needed so the filtered value is not high after shooting basically it resets the filter
Gerth 28:71a90073e482 237 pass1_emg1 = pass1_emg2 =pass2_emg1 =pass2_emg2 =pass3_emg1 = pass3_emg2 =pass4_emg1 =pass4_emg2 =pass5_emg1 =pass5_emg2 =0;
Gerth 28:71a90073e482 238 pass5_emg1_abs=pass5_emg2_abs=pass6_emg1 =pass6_emg2 =pass7_emg1=pass7_emg2 =filteredsignal1=filteredsignal2=0;
Gerth 28:71a90073e482 239 v1_f1_emg1=v1_f1_emg2=v1_f2_emg1=v1_f2_emg2=v1_f3_emg1=v1_f3_emg2=v1_f4_emg1=v1_f4_emg2=v1_f5_emg1=0;
Gerth 28:71a90073e482 240 v1_f5_emg2=v1_f6_emg1=v1_f6_emg2=v1_f7_emg1=v1_f7_emg2=0;
Gerth 28:71a90073e482 241 }
Gerth 28:71a90073e482 242
Gerth 1:917c07a4f3ec 243 }
Gerth 1:917c07a4f3ec 244 //adjust controller values when sw2 is pressed
Gerth 1:917c07a4f3ec 245 void valuechange()
Gerth 1:917c07a4f3ec 246 {
Gerth 35:0141a1fe8138 247 mycontroller.STOP(); // stop motors
Gerth 41:e9fd0670f70c 248 pc.printf("Extra gain for rigth arm is now %f, enter new value\n",filter_extragain1); // print extra gain for rigth arm
Gerth 35:0141a1fe8138 249 pc.scanf("%f", &filter_extragain1); //read the input from serial and write to filter_extragain1
Gerth 41:e9fd0670f70c 250
Gerth 35:0141a1fe8138 251 pc.printf("Extra gain for left arm is now %f, enter new value\n",filter_extragain2); // print extra gain for left arm
Gerth 35:0141a1fe8138 252 pc.scanf("%f", &filter_extragain2);//read the input from serial and write to filter_extragain2
Gerth 44:fd7b3ace6c19 253
Gerth 44:fd7b3ace6c19 254 pc.printf("Do you want to enter demo mode after button control mode 1/0?");
Gerth 44:fd7b3ace6c19 255 pc.scanf("%i", &demo_go);//read the input from serial and write to filter_extragain2
Gerth 44:fd7b3ace6c19 256
Gerth 1:917c07a4f3ec 257 }
Gerth 11:c10651055871 258
Gerth 20:c5fb2ff5d457 259 // shoot the pod forward
Gerth 19:6f22b5687587 260 void shoot()
Gerth 14:4c4f45a1dd23 261 {
Gerth 41:e9fd0670f70c 262 ledgreen=1;
Gerth 32:c940f6b6a6a0 263 double time=0;
Gerth 35:0141a1fe8138 264 double stepsize=(0.5*PIE)/(timetoshoot*control_frequency); //calculate stepsize
Gerth 35:0141a1fe8138 265 double profile_angle=0;// used for the profilie
Gerth 35:0141a1fe8138 266 double x_punch=anglepos.angletoposition(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses());// calculate actual x positon from the encoder angles
Gerth 35:0141a1fe8138 267 double y_during_punch=y_start;//set initial y value to baseline
Gerth 35:0141a1fe8138 268 Timer shoottimer; // make a timer
Gerth 19:6f22b5687587 269 shoottimer.reset();
Gerth 19:6f22b5687587 270 shoottimer.start();
Gerth 23:1c4a18799464 271 //forward
Gerth 19:6f22b5687587 272 while (time<=timetoshoot) {
Gerth 35:0141a1fe8138 273 ledblue=!ledblue; // blink blue led (very fast, so not noticable blinking)
Gerth 25:21dcd3f9eac2 274
Gerth 32:c940f6b6a6a0 275 profile_angle+=stepsize; // add stepsize to angle
Gerth 33:1c7b498ded25 276
Gerth 32:c940f6b6a6a0 277 y_during_punch=(y_punch-y_start)*(1-cos(profile_angle))+y_start; // calculate y position for shooting
Gerth 33:1c7b498ded25 278
Gerth 20:c5fb2ff5d457 279 if (y_during_punch>=y_punch) {//to check if y position is not bigger than y_punch for safety
Gerth 19:6f22b5687587 280 y_during_punch=y_punch;
Gerth 19:6f22b5687587 281 } else {
Gerth 19:6f22b5687587 282 y_during_punch=y_during_punch;
Gerth 33:1c7b498ded25 283 }
Gerth 19:6f22b5687587 284
Gerth 29:cd47a5a772db 285 desired_angle1=anglepos.positiontoangle1(x_punch,y_during_punch);// calculate desired angles
Gerth 29:cd47a5a772db 286 desired_angle2=anglepos.positiontoangle2(x_punch,y_during_punch);
Gerth 19:6f22b5687587 287
Gerth 25:21dcd3f9eac2 288 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 25:21dcd3f9eac2 289 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 19:6f22b5687587 290
Gerth 31:8646e853979f 291 mycontroller.PID(error1,error2,Kp_shoot,Ki_shoot,Kd_shoot);;// send errors to controller
Gerth 31:8646e853979f 292 scopedata(y_during_punch);//send data to hidscope WARING lower freqyency than normal
Gerth 19:6f22b5687587 293
Gerth 20:c5fb2ff5d457 294 time+=(Ts_control);// add time it should take to calculated time
Gerth 28:71a90073e482 295 filtereverything(true);//set al filter variables to 0
Gerth 41:e9fd0670f70c 296
Gerth 35:0141a1fe8138 297 wait(time-shoottimer.read());// IMPORTANT wait until the loop has taken the time it should need,
Gerth 41:e9fd0670f70c 298 // if this is not done the loop wil go to fast and the motors can't keep up
Gerth 41:e9fd0670f70c 299 // this is because the control loop takes far less time than Ts_control
Gerth 11:c10651055871 300 }
Gerth 23:1c4a18799464 301 //back
Gerth 35:0141a1fe8138 302 time=0; // reset time
Gerth 35:0141a1fe8138 303 shoottimer.reset();//reset timer
Gerth 35:0141a1fe8138 304 stepsize=(PIE)/(timetogoback*control_frequency);//calculate stepsize
Gerth 35:0141a1fe8138 305 profile_angle=0;//reset angle for the displacement profile
Gerth 35:0141a1fe8138 306 desired_position=0;// set desired x position to 0, so the robot is in the middle in front of the goal after shooting
Gerth 26:c935e39cce8a 307 while (time<=timetogoback) {
Gerth 35:0141a1fe8138 308 ledblue=!ledblue;// blink blue led
Gerth 25:21dcd3f9eac2 309
Gerth 32:c940f6b6a6a0 310 profile_angle+=stepsize; // add stepsize to y position
Gerth 33:1c7b498ded25 311 y_during_punch=0.5*(y_punch-y_start)*(1+cos(profile_angle))+y_start; // calculate y position for shooting
Gerth 23:1c4a18799464 312 if (y_during_punch<=y_start) {//to check if y position is not smaller than y_start for safety
Gerth 23:1c4a18799464 313 y_during_punch=y_start;
Gerth 23:1c4a18799464 314 } else {
Gerth 23:1c4a18799464 315 y_during_punch=y_during_punch;
Gerth 23:1c4a18799464 316 }
Gerth 23:1c4a18799464 317
Gerth 34:bc2d64e86cb9 318 desired_angle1=anglepos.positiontoangle1(desired_position,y_during_punch);// calculate desired angles
Gerth 34:bc2d64e86cb9 319 desired_angle2=anglepos.positiontoangle2(desired_position,y_during_punch);
Gerth 41:e9fd0670f70c 320
Gerth 23:1c4a18799464 321
Gerth 25:21dcd3f9eac2 322 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 25:21dcd3f9eac2 323 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 23:1c4a18799464 324
Gerth 31:8646e853979f 325 mycontroller.PID(error1,error2,Kp_shoot,Ki_shoot,Kd_shoot);;// send errors to controller
Gerth 31:8646e853979f 326 scopedata(y_during_punch);//send data to hidscope WARING lower freqyency than normal
Gerth 23:1c4a18799464 327
Gerth 23:1c4a18799464 328 time+=(Ts_control);// add time it should take to calculated time
Gerth 35:0141a1fe8138 329 filtereverything(false);//start filtering the signal (lower frewquency than normal)
Gerth 23:1c4a18799464 330 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 331 }
Gerth 19:6f22b5687587 332 shoottimer.stop();
Gerth 35:0141a1fe8138 333 ledblue=1; // blue led off
Gerth 35:0141a1fe8138 334 ledgreen=0; // green led on
Gerth 11:c10651055871 335 }
Gerth 11:c10651055871 336
Gerth 16:63320b8f79c2 337 ////////////////////////////////////////////////////READ EMG AND MOVE DESIRED POSITION
Gerth 3:48438eea184e 338 void readsignal()
Gerth 3:48438eea184e 339 {
Gerth 11:c10651055871 340 //check if pod has to shoot
Gerth 4:bf7765b0f612 341 if (filteredsignal1>=threshold_value && filteredsignal2>=threshold_value) {
Gerth 35:0141a1fe8138 342 led1=led2=1; // ligth up both leds
Gerth 11:c10651055871 343 shoot();
Gerth 14:4c4f45a1dd23 344 // check if pod has to move to the right
Gerth 4:bf7765b0f612 345 } else if (filteredsignal1>=threshold_value && filteredsignal2<=threshold_value) {
Gerth 35:0141a1fe8138 346 led1=1;// ligth up rigth led
Gerth 4:bf7765b0f612 347 led2=0;
Gerth 16:63320b8f79c2 348 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 11:c10651055871 349 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 11:c10651055871 350 desired_position=maxdisplacement;
Gerth 11:c10651055871 351 } else {
Gerth 11:c10651055871 352 desired_position=desired_position;
Gerth 11:c10651055871 353 }
Gerth 14:4c4f45a1dd23 354 // check if pod has to move to the left
Gerth 4:bf7765b0f612 355 } else if (filteredsignal1<=threshold_value && filteredsignal2>=threshold_value) {
Gerth 35:0141a1fe8138 356 led1=0; // ligth up left led
Gerth 4:bf7765b0f612 357 led2=1;
Gerth 16:63320b8f79c2 358 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 11:c10651055871 359 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 14:4c4f45a1dd23 360 desired_position=(-1*maxdisplacement);
Gerth 11:c10651055871 361 } else {
Gerth 11:c10651055871 362 desired_position=desired_position;
Gerth 11:c10651055871 363 }
Gerth 3:48438eea184e 364 } else {
Gerth 4:bf7765b0f612 365 led1=led2=0;
Gerth 3:48438eea184e 366 }
Gerth 16:63320b8f79c2 367 }
Gerth 28:71a90073e482 368
Gerth 16:63320b8f79c2 369 ///////////////////////////////////////////////READ BUTTON AND MOVE DESIRED POSITION
Gerth 35:0141a1fe8138 370 void readsignalbutton() // same as above, only with buttons as input
Gerth 16:63320b8f79c2 371 {
Gerth 19:6f22b5687587 372 //write value of button to variable
Gerth 17:72d3522165ac 373 int buttonr=buttonR.read();
Gerth 17:72d3522165ac 374 int buttonl=buttonL.read();
Gerth 16:63320b8f79c2 375 //check if pod has to shoot
Gerth 17:72d3522165ac 376 if (buttonr==0 && buttonl==0) {
Gerth 16:63320b8f79c2 377 led1=led2=1;
Gerth 16:63320b8f79c2 378 shoot();
Gerth 16:63320b8f79c2 379 // check if pod has to move to the right
Gerth 17:72d3522165ac 380 } else if (buttonr==0 && buttonl==1) {
Gerth 16:63320b8f79c2 381 led1=1;
Gerth 16:63320b8f79c2 382 led2=0;
Gerth 16:63320b8f79c2 383 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 17:72d3522165ac 384 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 385 desired_position=maxdisplacement;
Gerth 16:63320b8f79c2 386 } else {
Gerth 16:63320b8f79c2 387 desired_position=desired_position;
Gerth 16:63320b8f79c2 388 }
Gerth 17:72d3522165ac 389 // check if pod has to move to the left
Gerth 17:72d3522165ac 390 } else if (buttonr==1 && buttonl==0) {
Gerth 16:63320b8f79c2 391 led1=0;
Gerth 16:63320b8f79c2 392 led2=1;
Gerth 16:63320b8f79c2 393 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 17:72d3522165ac 394 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 395 desired_position=(-1*maxdisplacement);
Gerth 16:63320b8f79c2 396 } else {
Gerth 16:63320b8f79c2 397 desired_position=desired_position;
Gerth 16:63320b8f79c2 398 }
Gerth 16:63320b8f79c2 399 } else {
Gerth 16:63320b8f79c2 400 led1=led2=0;
Gerth 16:63320b8f79c2 401 }
Gerth 3:48438eea184e 402 }
Gerth 3:48438eea184e 403
Gerth 28:71a90073e482 404 void changemode() //this makes the counter higher to switch between modes
Gerth 6:37c94a5e205f 405 {
Gerth 35:0141a1fe8138 406 mycontroller.STOP(); // stop the controller
Gerth 35:0141a1fe8138 407 switchedmode=true; // set switchedmode to true so in the main loop some statements are executed
Gerth 35:0141a1fe8138 408 modecounter++; // increase counter
Gerth 41:e9fd0670f70c 409 if (modecounter==6) { // reset counter if counter=6
Gerth 6:37c94a5e205f 410 modecounter=0;
Gerth 6:37c94a5e205f 411 } else {
Gerth 6:37c94a5e205f 412 modecounter=modecounter;
Gerth 6:37c94a5e205f 413 }
Gerth 6:37c94a5e205f 414 }
Gerth 0:dd66fff537d7 415
Gerth 43:a5f47a1f11d2 416 void gotopos(double desired_x_pos, double desired_y_pos, double time_to_pos)
Gerth 42:386fc2fcfb22 417 {
Gerth 43:a5f47a1f11d2 418 double timepos=0;
Gerth 43:a5f47a1f11d2 419 Timer postimer;
Gerth 43:a5f47a1f11d2 420 double pos_x_start=anglepos.angletoposition(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses());
Gerth 43:a5f47a1f11d2 421 double pos_y_start=anglepos.angletoposition_y(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses());
Gerth 43:a5f47a1f11d2 422
Gerth 43:a5f47a1f11d2 423 double pos_stepsize_x=(pos_x_start-desired_x_pos)/(time_to_pos*control_frequency);
Gerth 43:a5f47a1f11d2 424 double pos_stepsize_y=(pos_y_start-desired_y_pos)/(time_to_pos*control_frequency);
Gerth 42:386fc2fcfb22 425
Gerth 43:a5f47a1f11d2 426 double pos_x_moving=pos_x_start;
Gerth 43:a5f47a1f11d2 427 double pos_y_moving=pos_y_start;
Gerth 43:a5f47a1f11d2 428 postimer.start();
Gerth 43:a5f47a1f11d2 429 while(timepos<=time_to_pos) {
Gerth 44:fd7b3ace6c19 430 changemodebutton.rise(&changemode);// interruptin for next mode
Gerth 43:a5f47a1f11d2 431 pos_x_moving-=pos_stepsize_x;
Gerth 43:a5f47a1f11d2 432 pos_y_moving-=pos_stepsize_y;
Gerth 42:386fc2fcfb22 433
Gerth 43:a5f47a1f11d2 434 desired_angle1=anglepos.positiontoangle1(pos_x_moving,pos_y_moving);// calculate desired angles
Gerth 43:a5f47a1f11d2 435 desired_angle2=anglepos.positiontoangle2( pos_x_moving,pos_y_moving);
Gerth 42:386fc2fcfb22 436
Gerth 42:386fc2fcfb22 437 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 42:386fc2fcfb22 438 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 42:386fc2fcfb22 439
Gerth 42:386fc2fcfb22 440 mycontroller.PID(error1,error2,Kp_shoot,Ki_shoot,Kd_shoot);;// send errors to controller
Gerth 42:386fc2fcfb22 441
Gerth 43:a5f47a1f11d2 442 timepos+=(Ts_control);// add time it should take to calculated time
Gerth 42:386fc2fcfb22 443
Gerth 43:a5f47a1f11d2 444 wait(timepos-postimer.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 42:386fc2fcfb22 445
Gerth 42:386fc2fcfb22 446 }
Gerth 42:386fc2fcfb22 447 }
Gerth 41:e9fd0670f70c 448
Gerth 16:63320b8f79c2 449 ///////////////////////////////////////////////////MAIN
Gerth 7:7fbb2c028778 450
Gerth 0:dd66fff537d7 451 int main()
Gerth 0:dd66fff537d7 452 {
Gerth 35:0141a1fe8138 453 //initiate tickers
Gerth 1:917c07a4f3ec 454 safetyandthreshold_ticker.attach(&safetyandthreshold_activate,1.0/safetyandthreshold_frequency);
Gerth 1:917c07a4f3ec 455 filter_ticker.attach(&filter_activate,1.0/filter_frequency);
Gerth 1:917c07a4f3ec 456 control_ticker.attach(&control_activate,1.0/control_frequency);
Gerth 1:917c07a4f3ec 457 scope_ticker.attach(&scopedata_activate,1.0/scope_frequency);
Gerth 3:48438eea184e 458 readsignal_ticker.attach(&readsignal_activate, 1.0/readsignal_frequency);
Gerth 7:7fbb2c028778 459 readbuttoncalibrate_ticker.attach(&readbuttoncalibrate_activate, 1.0/readbuttoncalibrate_frequency);
Gerth 14:4c4f45a1dd23 460 ledblink_ticker.attach(&ledblink_activate, 1.0/ledblink_frequency);
Gerth 14:4c4f45a1dd23 461
Gerth 20:c5fb2ff5d457 462 pc.baud(115200);//set baudrate to 115200
Gerth 41:e9fd0670f70c 463
Gerth 35:0141a1fe8138 464 while(1) {// while (1) so continious loop
Gerth 35:0141a1fe8138 465 valuechangebutton.fall(&valuechange);// used to change the filter gains
Gerth 44:fd7b3ace6c19 466 changemodebutton.rise(&changemode);// interruptin for next mode
Gerth 35:0141a1fe8138 467 checktimer.reset();// reset the timer to check the time it takes to run the entire control loop
Gerth 26:c935e39cce8a 468 checktimer.start();
Gerth 44:fd7b3ace6c19 469
Gerth 20:c5fb2ff5d457 470 if (scopedata_go==true) {//send scopedata
Gerth 38:df0b0abea598 471 //TIME THIS LOOP TAKES: 0.000008 SEC (PEAKS AT 0.000015)
Gerth 35:0141a1fe8138 472 scopedata(y_start);// call scopedata, use baseline as desired y position
Gerth 26:c935e39cce8a 473 scopedata_go=false;
Gerth 9:4ee354663560 474 }
Gerth 20:c5fb2ff5d457 475 if (safetyandthreshold_go==true) {// check the potmeters
Gerth 26:c935e39cce8a 476 //TIME THIS LOOP TAKES: 0.000032 SEC
Gerth 35:0141a1fe8138 477 safetyandthreshold(); // read out the potmeters on top of the biorobotics board
Gerth 9:4ee354663560 478 safetyandthreshold_go=false;
Gerth 26:c935e39cce8a 479 }
Gerth 7:7fbb2c028778 480 ///////////////////////////////////////////NORMAL RUNNING MODE
Gerth 7:7fbb2c028778 481 if(modecounter==0) {
Gerth 6:37c94a5e205f 482 if (switchedmode==true) {
Gerth 35:0141a1fe8138 483 pc.printf("Program running\n");// print to serial
Gerth 44:fd7b3ace6c19 484 led1=led2=ledgreen=0;// green led on leds on top off
Gerth 44:fd7b3ace6c19 485 ledred=ledblue=1;//rest off
Gerth 43:a5f47a1f11d2 486 gotopos(0,demo_y_goal,1);
Gerth 42:386fc2fcfb22 487 desired_position=0;
Gerth 6:37c94a5e205f 488 switchedmode=false;
Gerth 6:37c94a5e205f 489 }
Gerth 20:c5fb2ff5d457 490 if (filter_go==true) {// filter the emg signal
Gerth 26:c935e39cce8a 491 // TIME THIS LOOP TAKES: 0.000173 SEC
Gerth 41:e9fd0670f70c 492 filtereverything(false);
Gerth 26:c935e39cce8a 493 filter_go=false;
Gerth 6:37c94a5e205f 494 }
Gerth 20:c5fb2ff5d457 495 if (readsignal_go==true) {// check if signal is 0 or 1 and adjust wanted position
Gerth 26:c935e39cce8a 496 // TIME THIS LOOP TAKES: 0.000005 SEC
Gerth 17:72d3522165ac 497 readsignal();
Gerth 17:72d3522165ac 498 readsignal_go=false;
Gerth 26:c935e39cce8a 499 }
Gerth 20:c5fb2ff5d457 500 if (control_go==true) {// calculate angles from positions and send error to controller
Gerth 26:c935e39cce8a 501 //TIME THIS LOOP TAKES: 0.000223 SEC
Gerth 26:c935e39cce8a 502
Gerth 20:c5fb2ff5d457 503 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 504 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 16:63320b8f79c2 505
Gerth 39:ebcf0a60f58b 506 double error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 39:ebcf0a60f58b 507 double error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 508 mycontroller.PID(error1,error2,Kp_move,Ki_move,Kd_move);
Gerth 6:37c94a5e205f 509 control_go=false;
Gerth 26:c935e39cce8a 510 }
Gerth 1:917c07a4f3ec 511 }
Gerth 7:7fbb2c028778 512 ////////////////////////////////////////////////////CALIBRATE RIGHT ARM
Gerth 6:37c94a5e205f 513 if (modecounter==1) {
Gerth 6:37c94a5e205f 514 if(switchedmode==true) {
Gerth 6:37c94a5e205f 515 pc.printf("Calibration mode! Use buttons to move rigth arm to 0 degrees\n");
Gerth 16:63320b8f79c2 516 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 517 ledgreen=ledblue=1;
Gerth 6:37c94a5e205f 518 switchedmode=false;
Gerth 14:4c4f45a1dd23 519 }
Gerth 14:4c4f45a1dd23 520 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 521 led1=!led1;// blink rigth led on biorobotics shield (because rigth arm is being calibrated)
Gerth 16:63320b8f79c2 522 ledblink_go=false;
Gerth 6:37c94a5e205f 523 }
Gerth 20:c5fb2ff5d457 524 if (readbuttoncalibrate_go==true) {//check wich button is pressed and adjust wanted angle of rigth arm
Gerth 9:4ee354663560 525 if (buttonR.read()==0 && buttonL.read()==1) {
Gerth 20:c5fb2ff5d457 526 desired_angle1 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 527 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 528 }
Gerth 9:4ee354663560 529 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 530 desired_angle1 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 531 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 532 }
Gerth 9:4ee354663560 533 }
Gerth 25:21dcd3f9eac2 534 if (control_go==true) {// calculate errors and send them to controllers
Gerth 25:21dcd3f9eac2 535 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 35:0141a1fe8138 536 error2=0;// only adjust rigth arm
Gerth 31:8646e853979f 537 mycontroller.PI(error1,error2,Kp_move,Ki_move);
Gerth 20:c5fb2ff5d457 538 control_go=false;
Gerth 20:c5fb2ff5d457 539 }
Gerth 8:54a7da09ccad 540 }
Gerth 8:54a7da09ccad 541 ////////////////////////////////////////////CALIBRATE LEFT ARM
Gerth 8:54a7da09ccad 542 if (modecounter==2) {
Gerth 8:54a7da09ccad 543 if(switchedmode==true) {
Gerth 8:54a7da09ccad 544 pc.printf("Calibration mode! Use buttons to move left arm to 0 degrees\n");
Gerth 16:63320b8f79c2 545 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 546 ledgreen=ledblue=1;
Gerth 8:54a7da09ccad 547 switchedmode=false;
Gerth 8:54a7da09ccad 548 }
Gerth 14:4c4f45a1dd23 549 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 550 led2=!led2;// blink left led on biorobotics shield (because left arm is being calibrated)
Gerth 16:63320b8f79c2 551 ledblink_go=false;
Gerth 14:4c4f45a1dd23 552 }
Gerth 25:21dcd3f9eac2 553 if (readbuttoncalibrate_go==true) {//
Gerth 20:c5fb2ff5d457 554 if (buttonR.read()==0 && buttonL.read()==1) {//check wich button is pressed and adjust wanted angle of left arm
Gerth 20:c5fb2ff5d457 555 desired_angle2 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 556 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 557 }
Gerth 8:54a7da09ccad 558 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 559 desired_angle2 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 560 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 561 }
Gerth 6:37c94a5e205f 562 }
Gerth 25:21dcd3f9eac2 563 if (control_go==true) {// calculate errors and send to controller
Gerth 35:0141a1fe8138 564 error1=0; // only adjus left arm
Gerth 25:21dcd3f9eac2 565 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 566 mycontroller.PI(error1,error2,Kp_move,Ki_move);
Gerth 20:c5fb2ff5d457 567 control_go=false;
Gerth 20:c5fb2ff5d457 568 }
Gerth 3:48438eea184e 569 }
Gerth 16:63320b8f79c2 570 ///////////////////////////////BUTTONCONTROLMODE
Gerth 15:17de575b7385 571 if (modecounter==3) {
Gerth 16:63320b8f79c2 572 if (switchedmode==true) {
Gerth 19:6f22b5687587 573 pc.printf("Buttonmode, you can use the buttons to control the robot\n");
Gerth 16:63320b8f79c2 574 led1=led2=0;
Gerth 25:21dcd3f9eac2 575 ledred=ledblue=1;
Gerth 21:6954cc25f2a7 576 encoder1.reset();// reset encoders so they are at 0 degrees
Gerth 21:6954cc25f2a7 577 encoder2.reset();
Gerth 36:3856509519cf 578 desired_position=0;//set desired position to the middle of the field, where the pod actually is.
Gerth 16:63320b8f79c2 579 switchedmode=false;
Gerth 16:63320b8f79c2 580 }
Gerth 16:63320b8f79c2 581 if (ledblink_go==true) {
Gerth 35:0141a1fe8138 582 ledgreen=!ledgreen; // blink green led
Gerth 16:63320b8f79c2 583 ledblink_go=false;
Gerth 15:17de575b7385 584 }
Gerth 35:0141a1fe8138 585 if (readsignal_go==true) {// read buttons and adjust wanted position
Gerth 17:72d3522165ac 586 readsignalbutton();
Gerth 17:72d3522165ac 587 readsignal_go=false;
Gerth 17:72d3522165ac 588 }
Gerth 20:c5fb2ff5d457 589 if (control_go==true) {// calculate wanted angles from position, errors and send to controller
Gerth 20:c5fb2ff5d457 590 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 591 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 17:72d3522165ac 592
Gerth 25:21dcd3f9eac2 593 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 25:21dcd3f9eac2 594 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 595 mycontroller.PID(error1,error2,Kp_move,Ki_move,Kd_move);
Gerth 17:72d3522165ac 596 control_go=false;
Gerth 16:63320b8f79c2 597 }
Gerth 16:63320b8f79c2 598 }
Gerth 41:e9fd0670f70c 599 ///////////////////////////////////DEMO MODE
Gerth 44:fd7b3ace6c19 600 if (modecounter==4 && demo_go==1) {
Gerth 41:e9fd0670f70c 601 if (switchedmode==true) {
Gerth 41:e9fd0670f70c 602 pc.printf("Demo mode, the pod moves around the field\n");
Gerth 44:fd7b3ace6c19 603 led1=led2=ledred=ledblue=ledgreen=0; // rgb on leds on top off
Gerth 43:a5f47a1f11d2 604 gotopos(0,demo_y_goal,1); // go to goal @x=0
Gerth 41:e9fd0670f70c 605 switchedmode=false;
Gerth 41:e9fd0670f70c 606 }
Gerth 44:fd7b3ace6c19 607 gotopos(demo_goal_edge_left,demo_y_goal,0.5);// in front of goal to left edge of goal
Gerth 44:fd7b3ace6c19 608 gotopos(demo_goal_edge_left,demo_y_back,0.25); // to back along left egde of goal
Gerth 44:fd7b3ace6c19 609 gotopos(demo_x_edge_left,demo_y_back,0.5); //to left edge along back
Gerth 44:fd7b3ace6c19 610 gotopos(demo_x_edge_left,demo_y_front,2);//from back to front along left edge
Gerth 44:fd7b3ace6c19 611 gotopos(demo_x_edge_rigth,demo_y_front,2);// from left to rigth along front edge
Gerth 44:fd7b3ace6c19 612 gotopos(demo_x_edge_rigth,demo_y_back,2);// from front to back along rigth edge
Gerth 44:fd7b3ace6c19 613 gotopos(demo_goal_edge_rigth,demo_y_back,0.5);//from rigth edge to rigth edge of goal along back
Gerth 44:fd7b3ace6c19 614 gotopos(demo_goal_edge_rigth,demo_y_goal,0.25); // from back to in front of goal along rigth edge goal
Gerth 44:fd7b3ace6c19 615 gotopos(0,demo_y_goal,0.5); // from rigth edge goal to middle in front of goal
Gerth 44:fd7b3ace6c19 616 demo_go=0;
Gerth 41:e9fd0670f70c 617 }
Gerth 35:0141a1fe8138 618 //////////////////////////////////EMG GAIN AND THRESHOLD CALIBRATION MODE
Gerth 41:e9fd0670f70c 619 if(modecounter==5) {
Gerth 33:1c7b498ded25 620 if (switchedmode==true) {
Gerth 41:e9fd0670f70c 621 pc.printf("Calibrate the EMG signals and threshold\n");
Gerth 44:fd7b3ace6c19 622 ledblue=ledgreen=1;
Gerth 44:fd7b3ace6c19 623 led1=led2=ledred=0;
Gerth 33:1c7b498ded25 624 switchedmode=false;
Gerth 33:1c7b498ded25 625 }
Gerth 33:1c7b498ded25 626 if(ledblink_go==true) {
Gerth 33:1c7b498ded25 627 ledgreen=!ledgreen;
Gerth 33:1c7b498ded25 628 ledred=!ledred;
Gerth 33:1c7b498ded25 629 ledblink_go=false;
Gerth 33:1c7b498ded25 630 }
Gerth 41:e9fd0670f70c 631 if (filter_go==true) {// filter the emg signal
Gerth 33:1c7b498ded25 632 // TIME THIS LOOP TAKES: 0.000173 SEC
Gerth 33:1c7b498ded25 633 filtereverything(false);
Gerth 33:1c7b498ded25 634 filter_go=false;
Gerth 33:1c7b498ded25 635 }
Gerth 33:1c7b498ded25 636 }
Gerth 35:0141a1fe8138 637 checktimervalue=checktimer.read(); // write the time it has taken to a variable, so this variable can be displayed using hidschope.
Gerth 41:e9fd0670f70c 638 // if chectimer.read() is used in scopedata, the value is probably ~0
Gerth 41:e9fd0670f70c 639 //because scopedata is called as one of the first functoins
Gerth 25:21dcd3f9eac2 640 checktimer.stop();
Gerth 0:dd66fff537d7 641 }
Gerth 8:54a7da09ccad 642 }