richting is nog niet ingesteld, kan aan setpoint liggen
Dependencies: Encoder HIDScope MODSERIAL- mbed-dsp mbed
PROJECT_main.cpp@0:99cbc87af37c, 2014-10-31 (annotated)
- Committer:
- Hooglugt
- Date:
- Fri Oct 31 10:31:02 2014 +0000
- Revision:
- 0:99cbc87af37c
- Child:
- 1:d44a866de64f
uiteindelijk script, nog wat dingen aanpassen zie .txt
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Hooglugt | 0:99cbc87af37c | 1 | #include "mbed.h" |
Hooglugt | 0:99cbc87af37c | 2 | #include "MODSERIAL.h" |
Hooglugt | 0:99cbc87af37c | 3 | #include "HIDScope.h" |
Hooglugt | 0:99cbc87af37c | 4 | #include "arm_math.h" |
Hooglugt | 0:99cbc87af37c | 5 | #include "encoder.h" |
Hooglugt | 0:99cbc87af37c | 6 | |
Hooglugt | 0:99cbc87af37c | 7 | #define TSAMP 0.001 // sample freq encoder motor |
Hooglugt | 0:99cbc87af37c | 8 | #define TIMEB4NEXTCHOICE 1 // sec keuzelampje blijft aan |
Hooglugt | 0:99cbc87af37c | 9 | #define TIMEBETWEENBLINK 200 // sec voor volgende blink |
Hooglugt | 0:99cbc87af37c | 10 | #define TSAMP_EMG 0.002 //sample frequency emg |
Hooglugt | 0:99cbc87af37c | 11 | #define KALIBRATIONTIME 1000 // 10 sec voor bepalen van maximale biceps/triceps waarde |
Hooglugt | 0:99cbc87af37c | 12 | |
Hooglugt | 0:99cbc87af37c | 13 | //Define objects |
Hooglugt | 0:99cbc87af37c | 14 | AnalogIn emg0(PTB1); //Analog input biceps |
Hooglugt | 0:99cbc87af37c | 15 | AnalogIn emg1(PTB2); //Analog input triceps |
Hooglugt | 0:99cbc87af37c | 16 | |
Hooglugt | 0:99cbc87af37c | 17 | Ticker log_timer; //sample emg |
Hooglugt | 0:99cbc87af37c | 18 | Ticker blink; //ledjes aan/uit |
Hooglugt | 0:99cbc87af37c | 19 | Ticker looptimer; //motor regelaar |
Hooglugt | 0:99cbc87af37c | 20 | |
Hooglugt | 0:99cbc87af37c | 21 | MODSERIAL pc(USBTX,USBRX); |
Hooglugt | 0:99cbc87af37c | 22 | |
Hooglugt | 0:99cbc87af37c | 23 | arm_biquad_casd_df1_inst_f32 bihighpass; |
Hooglugt | 0:99cbc87af37c | 24 | float bihighpass_const[] = {0.8751821104711265, -1.750364220942253, 0.8751821104711265, 1.7347238224240125 , -0.7660046194604936}; //highpass, Fc: 15 Hz, Fsample: 500Hz, Q = 0.7071 |
Hooglugt | 0:99cbc87af37c | 25 | float bihighpass_states[4]; |
Hooglugt | 0:99cbc87af37c | 26 | |
Hooglugt | 0:99cbc87af37c | 27 | arm_biquad_casd_df1_inst_f32 binotch; |
Hooglugt | 0:99cbc87af37c | 28 | float binotch_const[] = {0.9714498065192796, -1.5718388053127037, 0.9714498065192796, 1.5718388053127037 , -0.9428996130385592}; //notch, Fc: 50 Hz, Fsample: 500Hz, Q = 10 |
Hooglugt | 0:99cbc87af37c | 29 | float binotch_states[4]; |
Hooglugt | 0:99cbc87af37c | 30 | |
Hooglugt | 0:99cbc87af37c | 31 | arm_biquad_casd_df1_inst_f32 trihighpass; |
Hooglugt | 0:99cbc87af37c | 32 | float trihighpass_const[] = {0.8751821104711265, -1.750364220942253, 0.8751821104711265, 1.7347238224240125 , -0.7660046194604936}; //highpass, Fc: 15 Hz, Fsample: 500Hz, Q = 0.7071 |
Hooglugt | 0:99cbc87af37c | 33 | float trihighpass_states[4]; |
Hooglugt | 0:99cbc87af37c | 34 | |
Hooglugt | 0:99cbc87af37c | 35 | arm_biquad_casd_df1_inst_f32 trinotch; |
Hooglugt | 0:99cbc87af37c | 36 | float trinotch_const[] = {0.9714498065192796, -1.5718388053127037, 0.9714498065192796, 1.5718388053127037 , -0.9428996130385592}; //notch, Fc: 50 Hz, Fsample: 500Hz, Q = 10 |
Hooglugt | 0:99cbc87af37c | 37 | float trinotch_states[4]; |
Hooglugt | 0:99cbc87af37c | 38 | |
Hooglugt | 0:99cbc87af37c | 39 | float bi_result = 0; |
Hooglugt | 0:99cbc87af37c | 40 | float tri_result = 0; |
Hooglugt | 0:99cbc87af37c | 41 | |
Hooglugt | 0:99cbc87af37c | 42 | float bi_max = 0; |
Hooglugt | 0:99cbc87af37c | 43 | float tri_max = 0; |
Hooglugt | 0:99cbc87af37c | 44 | |
Hooglugt | 0:99cbc87af37c | 45 | // variables for biceps MAF |
Hooglugt | 0:99cbc87af37c | 46 | float y0 = 0; |
Hooglugt | 0:99cbc87af37c | 47 | float y1 = 0; |
Hooglugt | 0:99cbc87af37c | 48 | float y2 = 0; |
Hooglugt | 0:99cbc87af37c | 49 | float y3 = 0; |
Hooglugt | 0:99cbc87af37c | 50 | float y4 = 0; |
Hooglugt | 0:99cbc87af37c | 51 | float y5 = 0; |
Hooglugt | 0:99cbc87af37c | 52 | float y6 = 0; |
Hooglugt | 0:99cbc87af37c | 53 | float y7 = 0; |
Hooglugt | 0:99cbc87af37c | 54 | float y8 = 0; |
Hooglugt | 0:99cbc87af37c | 55 | float y9 = 0; |
Hooglugt | 0:99cbc87af37c | 56 | |
Hooglugt | 0:99cbc87af37c | 57 | // variables for triceps MAF |
Hooglugt | 0:99cbc87af37c | 58 | float x0 = 0; |
Hooglugt | 0:99cbc87af37c | 59 | float x1 = 0; |
Hooglugt | 0:99cbc87af37c | 60 | float x2 = 0; |
Hooglugt | 0:99cbc87af37c | 61 | float x3 = 0; |
Hooglugt | 0:99cbc87af37c | 62 | float x4 = 0; |
Hooglugt | 0:99cbc87af37c | 63 | float x5 = 0; |
Hooglugt | 0:99cbc87af37c | 64 | float x6 = 0; |
Hooglugt | 0:99cbc87af37c | 65 | float x7 = 0; |
Hooglugt | 0:99cbc87af37c | 66 | float x8 = 0; |
Hooglugt | 0:99cbc87af37c | 67 | float x9 = 0; |
Hooglugt | 0:99cbc87af37c | 68 | |
Hooglugt | 0:99cbc87af37c | 69 | //LED interface |
Hooglugt | 0:99cbc87af37c | 70 | DigitalOut dir1(PTA1); |
Hooglugt | 0:99cbc87af37c | 71 | DigitalOut dir2(PTA2); |
Hooglugt | 0:99cbc87af37c | 72 | DigitalOut dir3(PTD4); |
Hooglugt | 0:99cbc87af37c | 73 | DigitalOut for1(PTA12); |
Hooglugt | 0:99cbc87af37c | 74 | DigitalOut for2(PTA13); |
Hooglugt | 0:99cbc87af37c | 75 | DigitalOut for3(PTD1); |
Hooglugt | 0:99cbc87af37c | 76 | |
Hooglugt | 0:99cbc87af37c | 77 | uint8_t direction = 0; |
Hooglugt | 0:99cbc87af37c | 78 | uint8_t force = 0; |
Hooglugt | 0:99cbc87af37c | 79 | |
Hooglugt | 0:99cbc87af37c | 80 | //motorcontrol objects |
Hooglugt | 0:99cbc87af37c | 81 | |
Hooglugt | 0:99cbc87af37c | 82 | //motor 1, voltage pins op M2 |
Hooglugt | 0:99cbc87af37c | 83 | Encoder motor1(PTD3, PTD5); |
Hooglugt | 0:99cbc87af37c | 84 | DigitalOut motor1dir(PTC9); |
Hooglugt | 0:99cbc87af37c | 85 | PwmOut pwm_motor1(PTC8); |
Hooglugt | 0:99cbc87af37c | 86 | |
Hooglugt | 0:99cbc87af37c | 87 | //motor 2, voltage pins op M1 |
Hooglugt | 0:99cbc87af37c | 88 | Encoder motor2(PTD2,PTD0); |
Hooglugt | 0:99cbc87af37c | 89 | DigitalOut motor2dir(PTA4); |
Hooglugt | 0:99cbc87af37c | 90 | PwmOut pwm_motor2(PTA5); |
Hooglugt | 0:99cbc87af37c | 91 | |
Hooglugt | 0:99cbc87af37c | 92 | float integral = 0; |
Hooglugt | 0:99cbc87af37c | 93 | float batjeset = 0; //een if statement wordt "true" wanneer batje voor een bepaalde tijd de juiste hoek heeft behouden |
Hooglugt | 0:99cbc87af37c | 94 | float balhit = 0; //balhit wordt 1 wanneer arm een bepaalde hoek heeft afgelegd |
Hooglugt | 0:99cbc87af37c | 95 | float controlerror = 0; |
Hooglugt | 0:99cbc87af37c | 96 | float pwm = 0; |
Hooglugt | 0:99cbc87af37c | 97 | |
Hooglugt | 0:99cbc87af37c | 98 | float omrekenfactor1 = 0.0028035714; // 6.28/(32*70) |
Hooglugt | 0:99cbc87af37c | 99 | float omrekenfactor2 = 0.0015213178; // 6.28/(24*172); |
Hooglugt | 0:99cbc87af37c | 100 | |
Hooglugt | 0:99cbc87af37c | 101 | float setpoint1 = 8; // te behalen speed van motor1 (37D) |
Hooglugt | 0:99cbc87af37c | 102 | float setpoint2 = 3.14; // te behalen hoek van motor2 (25D) |
Hooglugt | 0:99cbc87af37c | 103 | |
Hooglugt | 0:99cbc87af37c | 104 | //float setpoint1 = 0; eigenlijk moeten deze waarden later in de if-statement bij motorcontrol bepaald worden |
Hooglugt | 0:99cbc87af37c | 105 | //float setpoint2 = 0; |
Hooglugt | 0:99cbc87af37c | 106 | |
Hooglugt | 0:99cbc87af37c | 107 | float Kp1 = 1.10; //DEZE KP1 EN KP1 ZIJN NOG NIET DEFINITIEF |
Hooglugt | 0:99cbc87af37c | 108 | float Ki1 = 0.20; //Kp en Ki van motor1, voor de slag |
Hooglugt | 0:99cbc87af37c | 109 | |
Hooglugt | 0:99cbc87af37c | 110 | float Kp2 = 0.30; //Kp en Ki van motor2, voor in het positie brengen en voor de return |
Hooglugt | 0:99cbc87af37c | 111 | float Ki2 = 0.20; |
Hooglugt | 0:99cbc87af37c | 112 | |
Hooglugt | 0:99cbc87af37c | 113 | float Kp3 = 0.09; //Kp en Ki van motor1, voor de return |
Hooglugt | 0:99cbc87af37c | 114 | float Ki3 = 0.05; |
Hooglugt | 0:99cbc87af37c | 115 | |
Hooglugt | 0:99cbc87af37c | 116 | volatile bool looptimerflag; //voor motorcontrol TSAMP |
Hooglugt | 0:99cbc87af37c | 117 | |
Hooglugt | 0:99cbc87af37c | 118 | //functies |
Hooglugt | 0:99cbc87af37c | 119 | |
Hooglugt | 0:99cbc87af37c | 120 | void setlooptimerflag(void) |
Hooglugt | 0:99cbc87af37c | 121 | { |
Hooglugt | 0:99cbc87af37c | 122 | looptimerflag = true; |
Hooglugt | 0:99cbc87af37c | 123 | |
Hooglugt | 0:99cbc87af37c | 124 | } |
Hooglugt | 0:99cbc87af37c | 125 | |
Hooglugt | 0:99cbc87af37c | 126 | void keep_in_range(float * in, float min, float max) |
Hooglugt | 0:99cbc87af37c | 127 | { |
Hooglugt | 0:99cbc87af37c | 128 | *in > min ? *in < max? : *in = max: *in = max; |
Hooglugt | 0:99cbc87af37c | 129 | } |
Hooglugt | 0:99cbc87af37c | 130 | |
Hooglugt | 0:99cbc87af37c | 131 | void looper() |
Hooglugt | 0:99cbc87af37c | 132 | { |
Hooglugt | 0:99cbc87af37c | 133 | //put raw emg value of biceps and triceps in emg_biceps and emg_triceps, respectively |
Hooglugt | 0:99cbc87af37c | 134 | float emg_biceps; //Float voor EMG-waarde biceps |
Hooglugt | 0:99cbc87af37c | 135 | float emg_triceps; //Float voor EMG-waarde triceps |
Hooglugt | 0:99cbc87af37c | 136 | |
Hooglugt | 0:99cbc87af37c | 137 | emg_biceps = emg0.read(); // read float value (0..1 = 0..3.3V) biceps |
Hooglugt | 0:99cbc87af37c | 138 | emg_triceps = emg1.read(); // read float value (0..1 = 0..3.3V) triceps |
Hooglugt | 0:99cbc87af37c | 139 | |
Hooglugt | 0:99cbc87af37c | 140 | //process emg biceps |
Hooglugt | 0:99cbc87af37c | 141 | arm_biquad_cascade_df1_f32(&bihighpass, &emg_biceps, &emg_biceps, 1 ); |
Hooglugt | 0:99cbc87af37c | 142 | arm_biquad_cascade_df1_f32(&binotch, &emg_biceps, &emg_biceps, 1 ); |
Hooglugt | 0:99cbc87af37c | 143 | y0 = fabs(emg_biceps); |
Hooglugt | 0:99cbc87af37c | 144 | bi_result = (y0*0.1 +y1*0.1 + y2*0.1 + y3*0.1 + y4*0.1 + y5*0.1 + y6*0.1 + y7*0.1 + y8*0.1 + y9*0.1); |
Hooglugt | 0:99cbc87af37c | 145 | y9=y8; |
Hooglugt | 0:99cbc87af37c | 146 | y8=y7; |
Hooglugt | 0:99cbc87af37c | 147 | y7=y6; |
Hooglugt | 0:99cbc87af37c | 148 | y6=y5; |
Hooglugt | 0:99cbc87af37c | 149 | y5=y4; |
Hooglugt | 0:99cbc87af37c | 150 | y4=y3; |
Hooglugt | 0:99cbc87af37c | 151 | y3=y2; |
Hooglugt | 0:99cbc87af37c | 152 | y2=y1; |
Hooglugt | 0:99cbc87af37c | 153 | y1=y0; |
Hooglugt | 0:99cbc87af37c | 154 | |
Hooglugt | 0:99cbc87af37c | 155 | //process emg triceps |
Hooglugt | 0:99cbc87af37c | 156 | arm_biquad_cascade_df1_f32(&trihighpass, &emg_triceps, &emg_triceps, 1 ); |
Hooglugt | 0:99cbc87af37c | 157 | arm_biquad_cascade_df1_f32(&trinotch, &emg_triceps, &emg_triceps, 1 ); |
Hooglugt | 0:99cbc87af37c | 158 | x0 = fabs(emg_triceps); |
Hooglugt | 0:99cbc87af37c | 159 | tri_result = (x0*0.1 +x1*0.1 + x2*0.1 + x3*0.1 + x4*0.1 + x5*0.1 + x6*0.1 + x7*0.1 + x8*0.1 + x9*0.1); |
Hooglugt | 0:99cbc87af37c | 160 | x9=x8; |
Hooglugt | 0:99cbc87af37c | 161 | x8=x7; |
Hooglugt | 0:99cbc87af37c | 162 | x7=x6; |
Hooglugt | 0:99cbc87af37c | 163 | x6=x5; |
Hooglugt | 0:99cbc87af37c | 164 | x5=x4; |
Hooglugt | 0:99cbc87af37c | 165 | x4=x3; |
Hooglugt | 0:99cbc87af37c | 166 | x3=x2; |
Hooglugt | 0:99cbc87af37c | 167 | x2=x1; |
Hooglugt | 0:99cbc87af37c | 168 | x1=x0; |
Hooglugt | 0:99cbc87af37c | 169 | } |
Hooglugt | 0:99cbc87af37c | 170 | |
Hooglugt | 0:99cbc87af37c | 171 | void kalbi() //blinking three lights, first row - 2nd row unlit |
Hooglugt | 0:99cbc87af37c | 172 | { |
Hooglugt | 0:99cbc87af37c | 173 | if(dir1==0) { |
Hooglugt | 0:99cbc87af37c | 174 | dir1 = dir2 = dir3 = 1; |
Hooglugt | 0:99cbc87af37c | 175 | } else { |
Hooglugt | 0:99cbc87af37c | 176 | dir1 = dir2 = dir3 = 0; |
Hooglugt | 0:99cbc87af37c | 177 | } |
Hooglugt | 0:99cbc87af37c | 178 | } |
Hooglugt | 0:99cbc87af37c | 179 | |
Hooglugt | 0:99cbc87af37c | 180 | void kaltri() //blinking three lights, 2nd row - first row lit |
Hooglugt | 0:99cbc87af37c | 181 | { |
Hooglugt | 0:99cbc87af37c | 182 | if(for1==0) { |
Hooglugt | 0:99cbc87af37c | 183 | for1 = for2 = for3 = 1; |
Hooglugt | 0:99cbc87af37c | 184 | } else { |
Hooglugt | 0:99cbc87af37c | 185 | for1 = for2 = for3 = 0; |
Hooglugt | 0:99cbc87af37c | 186 | } |
Hooglugt | 0:99cbc87af37c | 187 | } |
Hooglugt | 0:99cbc87af37c | 188 | |
Hooglugt | 0:99cbc87af37c | 189 | void okay() //blinking the two lights you have chosen (misschien is hier een betere manier van coderen voor :P) |
Hooglugt | 0:99cbc87af37c | 190 | { |
Hooglugt | 0:99cbc87af37c | 191 | if(direction == 1 && force == 1) { // links zwak |
Hooglugt | 0:99cbc87af37c | 192 | if(for1 == 0 && dir1 == 0) { |
Hooglugt | 0:99cbc87af37c | 193 | for1 = dir1 = 1; |
Hooglugt | 0:99cbc87af37c | 194 | } else { |
Hooglugt | 0:99cbc87af37c | 195 | for1 = dir1 = 0; |
Hooglugt | 0:99cbc87af37c | 196 | } |
Hooglugt | 0:99cbc87af37c | 197 | } |
Hooglugt | 0:99cbc87af37c | 198 | if(direction == 1 && force == 2) { // links normaal |
Hooglugt | 0:99cbc87af37c | 199 | if(for2 == 0 && dir1 == 0) { |
Hooglugt | 0:99cbc87af37c | 200 | for2 = dir1 = 1; |
Hooglugt | 0:99cbc87af37c | 201 | } else { |
Hooglugt | 0:99cbc87af37c | 202 | for2 = dir1 = 0; |
Hooglugt | 0:99cbc87af37c | 203 | } |
Hooglugt | 0:99cbc87af37c | 204 | } |
Hooglugt | 0:99cbc87af37c | 205 | if(direction == 1 && force == 3) { // links sterk |
Hooglugt | 0:99cbc87af37c | 206 | if(for3 == 0 && dir1 == 0) { |
Hooglugt | 0:99cbc87af37c | 207 | for3 = dir1 = 1; |
Hooglugt | 0:99cbc87af37c | 208 | } else { |
Hooglugt | 0:99cbc87af37c | 209 | for3 = dir1 = 0; |
Hooglugt | 0:99cbc87af37c | 210 | } |
Hooglugt | 0:99cbc87af37c | 211 | } |
Hooglugt | 0:99cbc87af37c | 212 | if(direction == 2 && force == 1) { // mid zwak |
Hooglugt | 0:99cbc87af37c | 213 | if(for1 == 0 && dir2 == 0) { |
Hooglugt | 0:99cbc87af37c | 214 | for1 = dir2 = 1; |
Hooglugt | 0:99cbc87af37c | 215 | } else { |
Hooglugt | 0:99cbc87af37c | 216 | for1 = dir2 = 0; |
Hooglugt | 0:99cbc87af37c | 217 | } |
Hooglugt | 0:99cbc87af37c | 218 | } |
Hooglugt | 0:99cbc87af37c | 219 | if(direction == 2 && force == 2) { // mid normaal |
Hooglugt | 0:99cbc87af37c | 220 | if(for2 == 0 && dir2 == 0) { |
Hooglugt | 0:99cbc87af37c | 221 | for2 = dir2 = 1; |
Hooglugt | 0:99cbc87af37c | 222 | } else { |
Hooglugt | 0:99cbc87af37c | 223 | for2 = dir2 = 0; |
Hooglugt | 0:99cbc87af37c | 224 | } |
Hooglugt | 0:99cbc87af37c | 225 | } |
Hooglugt | 0:99cbc87af37c | 226 | if(direction == 2 && force == 3) { // mid sterk |
Hooglugt | 0:99cbc87af37c | 227 | if(for3 == 0 && dir2 == 0) { |
Hooglugt | 0:99cbc87af37c | 228 | for3 = dir2 = 1; |
Hooglugt | 0:99cbc87af37c | 229 | } else { |
Hooglugt | 0:99cbc87af37c | 230 | for3 = dir2 = 0; |
Hooglugt | 0:99cbc87af37c | 231 | } |
Hooglugt | 0:99cbc87af37c | 232 | } |
Hooglugt | 0:99cbc87af37c | 233 | if(direction == 3 && force == 1) { // rechts zwak |
Hooglugt | 0:99cbc87af37c | 234 | if(for1 == 0 && dir3 == 0) { |
Hooglugt | 0:99cbc87af37c | 235 | for1 = dir3 = 1; |
Hooglugt | 0:99cbc87af37c | 236 | } else { |
Hooglugt | 0:99cbc87af37c | 237 | for1 = dir3 = 0; |
Hooglugt | 0:99cbc87af37c | 238 | } |
Hooglugt | 0:99cbc87af37c | 239 | } |
Hooglugt | 0:99cbc87af37c | 240 | if(direction == 3 && force == 2) { // rechts normaal |
Hooglugt | 0:99cbc87af37c | 241 | if(for2 == 0 && dir3 == 0) { |
Hooglugt | 0:99cbc87af37c | 242 | for2 = dir3 = 1; |
Hooglugt | 0:99cbc87af37c | 243 | } else { |
Hooglugt | 0:99cbc87af37c | 244 | for2 = dir3 = 0; |
Hooglugt | 0:99cbc87af37c | 245 | } |
Hooglugt | 0:99cbc87af37c | 246 | } |
Hooglugt | 0:99cbc87af37c | 247 | if(direction == 3 && force == 3) { // rechts sterk |
Hooglugt | 0:99cbc87af37c | 248 | if(for3 == 0 && dir3 == 0) { |
Hooglugt | 0:99cbc87af37c | 249 | for3 = dir3 = 1; |
Hooglugt | 0:99cbc87af37c | 250 | } else { |
Hooglugt | 0:99cbc87af37c | 251 | for3 = dir3 = 0; |
Hooglugt | 0:99cbc87af37c | 252 | } |
Hooglugt | 0:99cbc87af37c | 253 | } |
Hooglugt | 0:99cbc87af37c | 254 | } |
Hooglugt | 0:99cbc87af37c | 255 | |
Hooglugt | 0:99cbc87af37c | 256 | int main() |
Hooglugt | 0:99cbc87af37c | 257 | { |
Hooglugt | 0:99cbc87af37c | 258 | pc.baud(115200); //baudrate instellen |
Hooglugt | 0:99cbc87af37c | 259 | log_timer.attach(looper, TSAMP_EMG); //EMG, Fsample 500 Hz |
Hooglugt | 0:99cbc87af37c | 260 | looptimer.attach(setlooptimerflag,TSAMP); |
Hooglugt | 0:99cbc87af37c | 261 | pwm_motor1.period_us(100); //10kHz PWM frequency |
Hooglugt | 0:99cbc87af37c | 262 | pwm_motor2.period_us(100); //10kHz PWM frequency |
Hooglugt | 0:99cbc87af37c | 263 | |
Hooglugt | 0:99cbc87af37c | 264 | //set up filters |
Hooglugt | 0:99cbc87af37c | 265 | arm_biquad_cascade_df1_init_f32(&binotch, 1, binotch_const, binotch_states); |
Hooglugt | 0:99cbc87af37c | 266 | arm_biquad_cascade_df1_init_f32(&bihighpass, 1, bihighpass_const, bihighpass_states); |
Hooglugt | 0:99cbc87af37c | 267 | |
Hooglugt | 0:99cbc87af37c | 268 | arm_biquad_cascade_df1_init_f32(&trinotch, 1, trinotch_const, trinotch_states); |
Hooglugt | 0:99cbc87af37c | 269 | arm_biquad_cascade_df1_init_f32(&trihighpass, 1, trihighpass_const, trihighpass_states); |
Hooglugt | 0:99cbc87af37c | 270 | |
Hooglugt | 0:99cbc87af37c | 271 | //kalibratie |
Hooglugt | 0:99cbc87af37c | 272 | |
Hooglugt | 0:99cbc87af37c | 273 | //motorarm naar nul-positie |
Hooglugt | 0:99cbc87af37c | 274 | blink.attach(kalbi, 0.2); |
Hooglugt | 0:99cbc87af37c | 275 | blink.attach(kaltri, 0.2); |
Hooglugt | 0:99cbc87af37c | 276 | |
Hooglugt | 0:99cbc87af37c | 277 | //calibration motor 2 |
Hooglugt | 0:99cbc87af37c | 278 | pwm_motor2.write(0.6); //lage PWM |
Hooglugt | 0:99cbc87af37c | 279 | motor2dir = 1; |
Hooglugt | 0:99cbc87af37c | 280 | wait(1); // anders wordt de while(1) meteen onderbroken |
Hooglugt | 0:99cbc87af37c | 281 | while(1) { |
Hooglugt | 0:99cbc87af37c | 282 | if(motor2.getSpeed()*omrekenfactor2 > -0.70 && motor2.getSpeed()*omrekenfactor2 < 0.70) { // ik weet niet of het rechtsom of linksom zal gaan en misschien is de speed bij de gekozen pwm wel binnen dit bereik |
Hooglugt | 0:99cbc87af37c | 283 | pwm_motor2.write(0); |
Hooglugt | 0:99cbc87af37c | 284 | motor2.setPosition(0); |
Hooglugt | 0:99cbc87af37c | 285 | goto motor1cal; |
Hooglugt | 0:99cbc87af37c | 286 | } |
Hooglugt | 0:99cbc87af37c | 287 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 288 | } |
Hooglugt | 0:99cbc87af37c | 289 | motor1cal: |
Hooglugt | 0:99cbc87af37c | 290 | //calibration motor 1 |
Hooglugt | 0:99cbc87af37c | 291 | pwm_motor1.write(0.55); //lage PWM |
Hooglugt | 0:99cbc87af37c | 292 | motor1dir = 1; |
Hooglugt | 0:99cbc87af37c | 293 | wait(1); // anders wordt de while(1) meteen onderbroken |
Hooglugt | 0:99cbc87af37c | 294 | while(1) { |
Hooglugt | 0:99cbc87af37c | 295 | if(motor1.getSpeed()*omrekenfactor1 > -0.20 && motor1.getSpeed()*omrekenfactor1 < 0.20) { // ik weet niet of het rechtsom of linksom zal gaan en misschien is de speed bij de gekozen pwm wel binnen dit bereik |
Hooglugt | 0:99cbc87af37c | 296 | pwm_motor1.write(0); |
Hooglugt | 0:99cbc87af37c | 297 | motor1.setPosition(0); |
Hooglugt | 0:99cbc87af37c | 298 | goto emgcal; |
Hooglugt | 0:99cbc87af37c | 299 | } |
Hooglugt | 0:99cbc87af37c | 300 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 301 | } |
Hooglugt | 0:99cbc87af37c | 302 | emgcal: |
Hooglugt | 0:99cbc87af37c | 303 | blink.detach(); |
Hooglugt | 0:99cbc87af37c | 304 | dir1 = dir2 = dir3 = 1; |
Hooglugt | 0:99cbc87af37c | 305 | for1 = for2 = for3 = 1; |
Hooglugt | 0:99cbc87af37c | 306 | pc.printf("kalmoarm "); |
Hooglugt | 0:99cbc87af37c | 307 | wait (1); |
Hooglugt | 0:99cbc87af37c | 308 | for1 = for2 = for3 = 0; |
Hooglugt | 0:99cbc87af37c | 309 | |
Hooglugt | 0:99cbc87af37c | 310 | //biceps kalibratie |
Hooglugt | 0:99cbc87af37c | 311 | blink.attach(kalbi, 0.2); |
Hooglugt | 0:99cbc87af37c | 312 | for (int kaltime = 0; kaltime<KALIBRATIONTIME; kaltime++) { |
Hooglugt | 0:99cbc87af37c | 313 | if (bi_max < bi_result) { |
Hooglugt | 0:99cbc87af37c | 314 | bi_max = bi_result; |
Hooglugt | 0:99cbc87af37c | 315 | } |
Hooglugt | 0:99cbc87af37c | 316 | wait (0.01); |
Hooglugt | 0:99cbc87af37c | 317 | |
Hooglugt | 0:99cbc87af37c | 318 | blink.detach(); |
Hooglugt | 0:99cbc87af37c | 319 | dir1 = dir2 = dir3 = 1; |
Hooglugt | 0:99cbc87af37c | 320 | pc.printf("kalbi "); |
Hooglugt | 0:99cbc87af37c | 321 | wait (1); |
Hooglugt | 0:99cbc87af37c | 322 | |
Hooglugt | 0:99cbc87af37c | 323 | //triceps kalibratie |
Hooglugt | 0:99cbc87af37c | 324 | blink.attach(kaltri, 0.2); |
Hooglugt | 0:99cbc87af37c | 325 | for (int kaltime = 0; kaltime<KALIBRATIONTIME; kaltime++) { |
Hooglugt | 0:99cbc87af37c | 326 | if (tri_max < tri_result) { |
Hooglugt | 0:99cbc87af37c | 327 | tri_max = tri_result; |
Hooglugt | 0:99cbc87af37c | 328 | } |
Hooglugt | 0:99cbc87af37c | 329 | wait (0.01); |
Hooglugt | 0:99cbc87af37c | 330 | } |
Hooglugt | 0:99cbc87af37c | 331 | blink.detach(); |
Hooglugt | 0:99cbc87af37c | 332 | for1 = for2 = for3 = 1; |
Hooglugt | 0:99cbc87af37c | 333 | pc.printf("kaltri "); |
Hooglugt | 0:99cbc87af37c | 334 | wait (1); |
Hooglugt | 0:99cbc87af37c | 335 | for1 = for2 = for3 = 0; |
Hooglugt | 0:99cbc87af37c | 336 | } |
Hooglugt | 0:99cbc87af37c | 337 | |
Hooglugt | 0:99cbc87af37c | 338 | directionchoice: |
Hooglugt | 0:99cbc87af37c | 339 | log_timer.attach(looper, TSAMP_EMG); |
Hooglugt | 0:99cbc87af37c | 340 | |
Hooglugt | 0:99cbc87af37c | 341 | while(1) { //Loop keuze DIRECTION |
Hooglugt | 0:99cbc87af37c | 342 | for(int i=1; i<4; i++) { |
Hooglugt | 0:99cbc87af37c | 343 | if(i==1) { //red |
Hooglugt | 0:99cbc87af37c | 344 | dir1=1; |
Hooglugt | 0:99cbc87af37c | 345 | dir2=0; |
Hooglugt | 0:99cbc87af37c | 346 | dir3=0; |
Hooglugt | 0:99cbc87af37c | 347 | for (int lag=0; lag<TIMEBETWEENBLINK; lag++) { |
Hooglugt | 0:99cbc87af37c | 348 | if(bi_result>0.8*bi_max) { |
Hooglugt | 0:99cbc87af37c | 349 | direction = 1; |
Hooglugt | 0:99cbc87af37c | 350 | pc.printf("links "); |
Hooglugt | 0:99cbc87af37c | 351 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 352 | goto forcechoice; // goes to second while(1) for the deciding the force |
Hooglugt | 0:99cbc87af37c | 353 | } else { |
Hooglugt | 0:99cbc87af37c | 354 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 355 | } |
Hooglugt | 0:99cbc87af37c | 356 | } |
Hooglugt | 0:99cbc87af37c | 357 | } |
Hooglugt | 0:99cbc87af37c | 358 | if(i==2) { //green |
Hooglugt | 0:99cbc87af37c | 359 | dir1 =0; |
Hooglugt | 0:99cbc87af37c | 360 | dir2 =1; |
Hooglugt | 0:99cbc87af37c | 361 | dir3 =0; |
Hooglugt | 0:99cbc87af37c | 362 | for (int lag=0; lag<TIMEBETWEENBLINK; lag++) { |
Hooglugt | 0:99cbc87af37c | 363 | if(bi_result>0.8*bi_max) { |
Hooglugt | 0:99cbc87af37c | 364 | direction = 2; |
Hooglugt | 0:99cbc87af37c | 365 | pc.printf("mid "); |
Hooglugt | 0:99cbc87af37c | 366 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 367 | goto forcechoice; |
Hooglugt | 0:99cbc87af37c | 368 | } else { |
Hooglugt | 0:99cbc87af37c | 369 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 370 | } |
Hooglugt | 0:99cbc87af37c | 371 | } |
Hooglugt | 0:99cbc87af37c | 372 | } |
Hooglugt | 0:99cbc87af37c | 373 | if(i==3) { //blue |
Hooglugt | 0:99cbc87af37c | 374 | dir1 =0; |
Hooglugt | 0:99cbc87af37c | 375 | dir2 =0; |
Hooglugt | 0:99cbc87af37c | 376 | dir3 =1; |
Hooglugt | 0:99cbc87af37c | 377 | for (int lag=0; lag<TIMEBETWEENBLINK; lag++) { |
Hooglugt | 0:99cbc87af37c | 378 | if(bi_result>0.8*bi_max) { |
Hooglugt | 0:99cbc87af37c | 379 | direction = 3; |
Hooglugt | 0:99cbc87af37c | 380 | pc.printf("rechts "); |
Hooglugt | 0:99cbc87af37c | 381 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 382 | goto forcechoice; |
Hooglugt | 0:99cbc87af37c | 383 | } else { |
Hooglugt | 0:99cbc87af37c | 384 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 385 | } |
Hooglugt | 0:99cbc87af37c | 386 | } |
Hooglugt | 0:99cbc87af37c | 387 | } |
Hooglugt | 0:99cbc87af37c | 388 | } |
Hooglugt | 0:99cbc87af37c | 389 | } |
Hooglugt | 0:99cbc87af37c | 390 | forcechoice: |
Hooglugt | 0:99cbc87af37c | 391 | while(1) { //Loop keuze FORCE |
Hooglugt | 0:99cbc87af37c | 392 | for(int j=1; j<4; j++) { |
Hooglugt | 0:99cbc87af37c | 393 | if(j==1) { //red |
Hooglugt | 0:99cbc87af37c | 394 | for1=1; |
Hooglugt | 0:99cbc87af37c | 395 | for2=0; |
Hooglugt | 0:99cbc87af37c | 396 | for3=0; |
Hooglugt | 0:99cbc87af37c | 397 | for (int lag=0; lag<TIMEBETWEENBLINK; lag++) { |
Hooglugt | 0:99cbc87af37c | 398 | if(tri_result>0.8*tri_max) { |
Hooglugt | 0:99cbc87af37c | 399 | for1 = for2 = for3 = 0; |
Hooglugt | 0:99cbc87af37c | 400 | pc.printf("reset "); |
Hooglugt | 0:99cbc87af37c | 401 | goto directionchoice; |
Hooglugt | 0:99cbc87af37c | 402 | } else { |
Hooglugt | 0:99cbc87af37c | 403 | if(bi_result>0.8*bi_max) { |
Hooglugt | 0:99cbc87af37c | 404 | force = 1; |
Hooglugt | 0:99cbc87af37c | 405 | pc.printf("zwak "); |
Hooglugt | 0:99cbc87af37c | 406 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 407 | goto choicesmade; |
Hooglugt | 0:99cbc87af37c | 408 | } else { |
Hooglugt | 0:99cbc87af37c | 409 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 410 | } |
Hooglugt | 0:99cbc87af37c | 411 | } |
Hooglugt | 0:99cbc87af37c | 412 | } |
Hooglugt | 0:99cbc87af37c | 413 | } |
Hooglugt | 0:99cbc87af37c | 414 | if(j==2) { //green |
Hooglugt | 0:99cbc87af37c | 415 | for1=0; |
Hooglugt | 0:99cbc87af37c | 416 | for2=1; |
Hooglugt | 0:99cbc87af37c | 417 | for3=0; |
Hooglugt | 0:99cbc87af37c | 418 | for (int lag=0; lag<TIMEBETWEENBLINK; lag++) { |
Hooglugt | 0:99cbc87af37c | 419 | if(tri_result>0.8*tri_max) { |
Hooglugt | 0:99cbc87af37c | 420 | for1 = for2 = for3 = 0; |
Hooglugt | 0:99cbc87af37c | 421 | pc.printf("reset "); |
Hooglugt | 0:99cbc87af37c | 422 | goto directionchoice; |
Hooglugt | 0:99cbc87af37c | 423 | } else { |
Hooglugt | 0:99cbc87af37c | 424 | if(bi_result>0.8*bi_max) { |
Hooglugt | 0:99cbc87af37c | 425 | force = 2; |
Hooglugt | 0:99cbc87af37c | 426 | pc.printf("normaal "); |
Hooglugt | 0:99cbc87af37c | 427 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 428 | goto choicesmade; |
Hooglugt | 0:99cbc87af37c | 429 | } else { |
Hooglugt | 0:99cbc87af37c | 430 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 431 | } |
Hooglugt | 0:99cbc87af37c | 432 | } |
Hooglugt | 0:99cbc87af37c | 433 | } |
Hooglugt | 0:99cbc87af37c | 434 | } |
Hooglugt | 0:99cbc87af37c | 435 | if(j==3) { //blue |
Hooglugt | 0:99cbc87af37c | 436 | for1=0; |
Hooglugt | 0:99cbc87af37c | 437 | for2=0; |
Hooglugt | 0:99cbc87af37c | 438 | for3=1; |
Hooglugt | 0:99cbc87af37c | 439 | for (int lag=0; lag<TIMEBETWEENBLINK; lag++) { |
Hooglugt | 0:99cbc87af37c | 440 | if(tri_result>0.8*tri_max) { |
Hooglugt | 0:99cbc87af37c | 441 | for1 = for2 = for3 = 0; |
Hooglugt | 0:99cbc87af37c | 442 | pc.printf("reset "); |
Hooglugt | 0:99cbc87af37c | 443 | goto directionchoice; |
Hooglugt | 0:99cbc87af37c | 444 | } else { |
Hooglugt | 0:99cbc87af37c | 445 | if(bi_result>0.8*bi_max) { |
Hooglugt | 0:99cbc87af37c | 446 | force = 3; |
Hooglugt | 0:99cbc87af37c | 447 | pc.printf("sterk "); |
Hooglugt | 0:99cbc87af37c | 448 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 449 | goto choicesmade; |
Hooglugt | 0:99cbc87af37c | 450 | } else { |
Hooglugt | 0:99cbc87af37c | 451 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 452 | } |
Hooglugt | 0:99cbc87af37c | 453 | } |
Hooglugt | 0:99cbc87af37c | 454 | } |
Hooglugt | 0:99cbc87af37c | 455 | } |
Hooglugt | 0:99cbc87af37c | 456 | } |
Hooglugt | 0:99cbc87af37c | 457 | } |
Hooglugt | 0:99cbc87af37c | 458 | |
Hooglugt | 0:99cbc87af37c | 459 | choicesmade: |
Hooglugt | 0:99cbc87af37c | 460 | blink.attach(okay, 0.2); |
Hooglugt | 0:99cbc87af37c | 461 | while(1) { |
Hooglugt | 0:99cbc87af37c | 462 | if(tri_result>0.8*tri_max) { |
Hooglugt | 0:99cbc87af37c | 463 | blink.detach(); |
Hooglugt | 0:99cbc87af37c | 464 | pc.printf("reset "); |
Hooglugt | 0:99cbc87af37c | 465 | wait(1); // 1 sec wait, anders reset je meteen ook de biceps keuze |
Hooglugt | 0:99cbc87af37c | 466 | goto forcechoice; |
Hooglugt | 0:99cbc87af37c | 467 | } else { |
Hooglugt | 0:99cbc87af37c | 468 | if(bi_result>0.8*bi_max && (dir1==1||dir2==1||dir3==1)) { |
Hooglugt | 0:99cbc87af37c | 469 | blink.detach(); |
Hooglugt | 0:99cbc87af37c | 470 | log_timer.detach(); |
Hooglugt | 0:99cbc87af37c | 471 | goto motorcontrol; |
Hooglugt | 0:99cbc87af37c | 472 | } else { |
Hooglugt | 0:99cbc87af37c | 473 | wait(0.01); // not sure of de wait noodzakelijk is (nu toegevoegd zodat het niet teveel strain levert op bordje) |
Hooglugt | 0:99cbc87af37c | 474 | } |
Hooglugt | 0:99cbc87af37c | 475 | } |
Hooglugt | 0:99cbc87af37c | 476 | } |
Hooglugt | 0:99cbc87af37c | 477 | |
Hooglugt | 0:99cbc87af37c | 478 | motorcontrol: |
Hooglugt | 0:99cbc87af37c | 479 | |
Hooglugt | 0:99cbc87af37c | 480 | /* Vanaf hier komt de aansturing van de motor */ |
Hooglugt | 0:99cbc87af37c | 481 | |
Hooglugt | 0:99cbc87af37c | 482 | if(direction == 1 && force == 1) { // links zwak |
Hooglugt | 0:99cbc87af37c | 483 | pc.printf("links zwak "); |
Hooglugt | 0:99cbc87af37c | 484 | // hier komt setpoint motor 1, setpoint motor2 |
Hooglugt | 0:99cbc87af37c | 485 | } |
Hooglugt | 0:99cbc87af37c | 486 | if(direction == 1 && force == 2) { // links normaal |
Hooglugt | 0:99cbc87af37c | 487 | pc.printf("links normaal "); |
Hooglugt | 0:99cbc87af37c | 488 | } |
Hooglugt | 0:99cbc87af37c | 489 | if(direction == 1 && force == 3) { // links sterk |
Hooglugt | 0:99cbc87af37c | 490 | pc.printf("links sterk "); |
Hooglugt | 0:99cbc87af37c | 491 | } |
Hooglugt | 0:99cbc87af37c | 492 | if(direction == 2 && force == 1) { // mid zwak |
Hooglugt | 0:99cbc87af37c | 493 | pc.printf("mid zwak "); |
Hooglugt | 0:99cbc87af37c | 494 | } |
Hooglugt | 0:99cbc87af37c | 495 | if(direction == 2 && force == 2) { // mid normaal |
Hooglugt | 0:99cbc87af37c | 496 | pc.printf("mid normaal "); |
Hooglugt | 0:99cbc87af37c | 497 | } |
Hooglugt | 0:99cbc87af37c | 498 | if(direction == 2 && force == 3) { // mid sterk |
Hooglugt | 0:99cbc87af37c | 499 | pc.printf("mid sterk "); |
Hooglugt | 0:99cbc87af37c | 500 | } |
Hooglugt | 0:99cbc87af37c | 501 | if(direction == 3 && force == 1) { // rechts zwak |
Hooglugt | 0:99cbc87af37c | 502 | pc.printf("rechts zwak "); |
Hooglugt | 0:99cbc87af37c | 503 | } |
Hooglugt | 0:99cbc87af37c | 504 | if(direction == 3 && force == 2) { // rechts normaal |
Hooglugt | 0:99cbc87af37c | 505 | pc.printf("rechts normaal "); |
Hooglugt | 0:99cbc87af37c | 506 | } |
Hooglugt | 0:99cbc87af37c | 507 | if(direction == 3 && force == 3) { // rechts sterk |
Hooglugt | 0:99cbc87af37c | 508 | pc.printf("rechts sterk "); |
Hooglugt | 0:99cbc87af37c | 509 | } |
Hooglugt | 0:99cbc87af37c | 510 | |
Hooglugt | 0:99cbc87af37c | 511 | while(1) { // loop voor het goed plaatsen van motor2 (batje hoek) |
Hooglugt | 0:99cbc87af37c | 512 | while(!looptimerflag); |
Hooglugt | 0:99cbc87af37c | 513 | looptimerflag = false; //clear flag |
Hooglugt | 0:99cbc87af37c | 514 | |
Hooglugt | 0:99cbc87af37c | 515 | //regelaar motor2, bepaalt positie |
Hooglugt | 0:99cbc87af37c | 516 | controlerror = setpoint2 - motor2.getPosition()*omrekenfactor2; |
Hooglugt | 0:99cbc87af37c | 517 | integral = integral + controlerror*TSAMP; |
Hooglugt | 0:99cbc87af37c | 518 | pwm = Kp2*controlerror + Ki2*integral; |
Hooglugt | 0:99cbc87af37c | 519 | |
Hooglugt | 0:99cbc87af37c | 520 | keep_in_range(&pwm, -1,1); |
Hooglugt | 0:99cbc87af37c | 521 | pwm_motor2.write(abs(pwm)); |
Hooglugt | 0:99cbc87af37c | 522 | if(pwm > 0) { |
Hooglugt | 0:99cbc87af37c | 523 | motor2dir = 1; |
Hooglugt | 0:99cbc87af37c | 524 | } else { |
Hooglugt | 0:99cbc87af37c | 525 | motor2dir = 0; |
Hooglugt | 0:99cbc87af37c | 526 | } |
Hooglugt | 0:99cbc87af37c | 527 | |
Hooglugt | 0:99cbc87af37c | 528 | //controleert of batje positie heeft bepaald |
Hooglugt | 0:99cbc87af37c | 529 | if(batjeset < 200) { // dit is nog te bepalen, op dit moment als binnen marge van 1% voor 2 seconde, dan naar volgende motorcontrol |
Hooglugt | 0:99cbc87af37c | 530 | if (motor2.getPosition()*omrekenfactor2 > setpoint2*1.01 || motor2.getPosition()*omrekenfactor2 < setpoint2*0.99) { |
Hooglugt | 0:99cbc87af37c | 531 | batjeset = 0; |
Hooglugt | 0:99cbc87af37c | 532 | } else { |
Hooglugt | 0:99cbc87af37c | 533 | batjeset++; |
Hooglugt | 0:99cbc87af37c | 534 | } |
Hooglugt | 0:99cbc87af37c | 535 | } else { |
Hooglugt | 0:99cbc87af37c | 536 | pwm_motor2.write(0); |
Hooglugt | 0:99cbc87af37c | 537 | batjeset = integral = 0; |
Hooglugt | 0:99cbc87af37c | 538 | wait(1); |
Hooglugt | 0:99cbc87af37c | 539 | goto motor1control; |
Hooglugt | 0:99cbc87af37c | 540 | } |
Hooglugt | 0:99cbc87af37c | 541 | } |
Hooglugt | 0:99cbc87af37c | 542 | |
Hooglugt | 0:99cbc87af37c | 543 | motor1control: |
Hooglugt | 0:99cbc87af37c | 544 | while(1) { // loop voor het slaan mbv motor1 (batje snelheid) |
Hooglugt | 0:99cbc87af37c | 545 | while(!looptimerflag); |
Hooglugt | 0:99cbc87af37c | 546 | looptimerflag = false; //clear flag |
Hooglugt | 0:99cbc87af37c | 547 | |
Hooglugt | 0:99cbc87af37c | 548 | if (balhit == 0) { //regelaar motor1, bepaalt snelheid |
Hooglugt | 0:99cbc87af37c | 549 | controlerror = setpoint1 - motor1.getSpeed()*omrekenfactor1; |
Hooglugt | 0:99cbc87af37c | 550 | integral = integral + controlerror*TSAMP; |
Hooglugt | 0:99cbc87af37c | 551 | pwm = Kp1*controlerror + Ki1*integral; |
Hooglugt | 0:99cbc87af37c | 552 | } else { //regelaar motor1, bepaalt positie |
Hooglugt | 0:99cbc87af37c | 553 | pwm_motor1.write(0); |
Hooglugt | 0:99cbc87af37c | 554 | balhit = integral = 0; |
Hooglugt | 0:99cbc87af37c | 555 | wait(1); // wait voordat arm weer naar beginpositie terugkeert |
Hooglugt | 0:99cbc87af37c | 556 | goto resetpositionmotor1; |
Hooglugt | 0:99cbc87af37c | 557 | } |
Hooglugt | 0:99cbc87af37c | 558 | |
Hooglugt | 0:99cbc87af37c | 559 | keep_in_range(&pwm, -1,1); |
Hooglugt | 0:99cbc87af37c | 560 | pwm_motor1.write(abs(pwm)); |
Hooglugt | 0:99cbc87af37c | 561 | |
Hooglugt | 0:99cbc87af37c | 562 | if(pwm > 0) { |
Hooglugt | 0:99cbc87af37c | 563 | motor1dir = 1; |
Hooglugt | 0:99cbc87af37c | 564 | } else { |
Hooglugt | 0:99cbc87af37c | 565 | motor1dir = 0; |
Hooglugt | 0:99cbc87af37c | 566 | } |
Hooglugt | 0:99cbc87af37c | 567 | |
Hooglugt | 0:99cbc87af37c | 568 | //controleert of batje balletje heeft bereikt |
Hooglugt | 0:99cbc87af37c | 569 | //if (motor1.getSpeed()*omrekenfactor1 >= 7.5 && motor1.getPosition()*omrekenfactor1 > 1.03 && motor1.getPosition()*omrekenfactor1 < 1.07) { vrij specifieke if-statement ter controle |
Hooglugt | 0:99cbc87af37c | 570 | if (motor1.getPosition()*omrekenfactor1 > 1.10) { |
Hooglugt | 0:99cbc87af37c | 571 | balhit = 1; |
Hooglugt | 0:99cbc87af37c | 572 | } |
Hooglugt | 0:99cbc87af37c | 573 | } |
Hooglugt | 0:99cbc87af37c | 574 | |
Hooglugt | 0:99cbc87af37c | 575 | resetpositionmotor1: |
Hooglugt | 0:99cbc87af37c | 576 | while(1) { // slagarm wordt weer in oorspronkelijke positie geplaatst |
Hooglugt | 0:99cbc87af37c | 577 | while(!looptimerflag); |
Hooglugt | 0:99cbc87af37c | 578 | looptimerflag = false; //clear flag |
Hooglugt | 0:99cbc87af37c | 579 | |
Hooglugt | 0:99cbc87af37c | 580 | //regelaar motor1, bepaalt positie |
Hooglugt | 0:99cbc87af37c | 581 | controlerror = -1*motor1.getPosition()*omrekenfactor1; |
Hooglugt | 0:99cbc87af37c | 582 | integral = integral + controlerror*TSAMP; |
Hooglugt | 0:99cbc87af37c | 583 | pwm = Kp3*controlerror + Ki3*integral; |
Hooglugt | 0:99cbc87af37c | 584 | |
Hooglugt | 0:99cbc87af37c | 585 | keep_in_range(&pwm, -1,1); |
Hooglugt | 0:99cbc87af37c | 586 | if(pwm > 0) { |
Hooglugt | 0:99cbc87af37c | 587 | motor1dir = 1; |
Hooglugt | 0:99cbc87af37c | 588 | } else { |
Hooglugt | 0:99cbc87af37c | 589 | motor1dir = 0; //1 = rechtsom, 0 = linksom |
Hooglugt | 0:99cbc87af37c | 590 | } |
Hooglugt | 0:99cbc87af37c | 591 | |
Hooglugt | 0:99cbc87af37c | 592 | pwm_motor1.write(abs(pwm)); |
Hooglugt | 0:99cbc87af37c | 593 | |
Hooglugt | 0:99cbc87af37c | 594 | //controleert of arm terug in positie is |
Hooglugt | 0:99cbc87af37c | 595 | if(batjeset < 200) { |
Hooglugt | 0:99cbc87af37c | 596 | if (motor1.getPosition()*omrekenfactor1 > 0.03 || motor1.getPosition()*omrekenfactor1 < -0.03) { |
Hooglugt | 0:99cbc87af37c | 597 | batjeset = 0; |
Hooglugt | 0:99cbc87af37c | 598 | } else { |
Hooglugt | 0:99cbc87af37c | 599 | batjeset++; |
Hooglugt | 0:99cbc87af37c | 600 | } |
Hooglugt | 0:99cbc87af37c | 601 | } else { |
Hooglugt | 0:99cbc87af37c | 602 | pwm_motor1.write(0); |
Hooglugt | 0:99cbc87af37c | 603 | batjeset = integral = 0; |
Hooglugt | 0:99cbc87af37c | 604 | wait(1); |
Hooglugt | 0:99cbc87af37c | 605 | goto resetpositionmotor2; |
Hooglugt | 0:99cbc87af37c | 606 | } |
Hooglugt | 0:99cbc87af37c | 607 | } |
Hooglugt | 0:99cbc87af37c | 608 | |
Hooglugt | 0:99cbc87af37c | 609 | resetpositionmotor2: |
Hooglugt | 0:99cbc87af37c | 610 | while(1) { // loop voor het goed plaatsen van motor2 (batje hoek) |
Hooglugt | 0:99cbc87af37c | 611 | while(!looptimerflag); |
Hooglugt | 0:99cbc87af37c | 612 | looptimerflag = false; //clear flag |
Hooglugt | 0:99cbc87af37c | 613 | |
Hooglugt | 0:99cbc87af37c | 614 | //regelaar motor2, bepaalt positie |
Hooglugt | 0:99cbc87af37c | 615 | controlerror = -1*motor2.getPosition()*omrekenfactor2; |
Hooglugt | 0:99cbc87af37c | 616 | integral = integral + controlerror*TSAMP; |
Hooglugt | 0:99cbc87af37c | 617 | pwm = Kp2*controlerror + Ki2*integral; |
Hooglugt | 0:99cbc87af37c | 618 | |
Hooglugt | 0:99cbc87af37c | 619 | keep_in_range(&pwm, -1,1); |
Hooglugt | 0:99cbc87af37c | 620 | |
Hooglugt | 0:99cbc87af37c | 621 | if(pwm > 0) { |
Hooglugt | 0:99cbc87af37c | 622 | motor2dir = 1; |
Hooglugt | 0:99cbc87af37c | 623 | } else { |
Hooglugt | 0:99cbc87af37c | 624 | motor2dir = 0; |
Hooglugt | 0:99cbc87af37c | 625 | } |
Hooglugt | 0:99cbc87af37c | 626 | |
Hooglugt | 0:99cbc87af37c | 627 | pwm_motor2.write(abs(pwm)); |
Hooglugt | 0:99cbc87af37c | 628 | |
Hooglugt | 0:99cbc87af37c | 629 | //controleert of batje positie heeft bepaald |
Hooglugt | 0:99cbc87af37c | 630 | if(batjeset < 200) { // dit is nog te bepalen, op dit moment als binnen marge van 1% voor 2 seconde, dan naar volgende motorcontrol |
Hooglugt | 0:99cbc87af37c | 631 | if (motor2.getPosition()*omrekenfactor2 > 0.03 || motor2.getPosition()*omrekenfactor2 < -0.03) { |
Hooglugt | 0:99cbc87af37c | 632 | batjeset = 0; |
Hooglugt | 0:99cbc87af37c | 633 | } else { |
Hooglugt | 0:99cbc87af37c | 634 | batjeset++; |
Hooglugt | 0:99cbc87af37c | 635 | } |
Hooglugt | 0:99cbc87af37c | 636 | } else { |
Hooglugt | 0:99cbc87af37c | 637 | pwm_motor2.write(0); |
Hooglugt | 0:99cbc87af37c | 638 | batjeset = integral = 0; |
Hooglugt | 0:99cbc87af37c | 639 | wait(1); |
Hooglugt | 0:99cbc87af37c | 640 | direction = force = 0; |
Hooglugt | 0:99cbc87af37c | 641 | goto directionchoice; |
Hooglugt | 0:99cbc87af37c | 642 | } |
Hooglugt | 0:99cbc87af37c | 643 | } |
Hooglugt | 0:99cbc87af37c | 644 | } // end main |