Aukie Hooglugt / Mbed 2 deprecated PROJECT_FINAL_VERSLAG

verslag

Dependencies:   Encoder HIDScope MODSERIAL- mbed-dsp mbed

Fork of PROJECT_FINAL by Aukie Hooglugt

PROJECT_main.cpp@6:14051758db6f, 2014-11-03 (annotated)

Committer:
Hooglugt
Date:
Mon Nov 03 13:05:31 2014 +0000
Revision:
6:14051758db6f
Parent:
5:e5ca53305b87
Child:
7:ca1ade91bd14
PID regelaar van gemaakt en 4 PID's (12 K-waarden)

Who changed what in which revision?

UserRevisionLine numberNew 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 1:d44a866de64f 9 #define TIMEBETWEENBLINK 100 // 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 1:d44a866de64f 12 #define FACTOR 0.6 //factor*max_waarde = threshold emg
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 1:d44a866de64f 18 Ticker blink; //ledjes aan/uit
Hooglugt 1:d44a866de64f 19 Ticker blink2; //extra tikker zodat kalbi en kaltri tegelijkertijd aankunnen
Hooglugt 0:99cbc87af37c 20 Ticker looptimer; //motor regelaar
Hooglugt 0:99cbc87af37c 21
Hooglugt 0:99cbc87af37c 22 MODSERIAL pc(USBTX,USBRX);
Hooglugt 0:99cbc87af37c 23
Hooglugt 0:99cbc87af37c 24 arm_biquad_casd_df1_inst_f32 bihighpass;
Hooglugt 0:99cbc87af37c 25 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 26 float bihighpass_states[4];
Hooglugt 0:99cbc87af37c 27
Hooglugt 0:99cbc87af37c 28 arm_biquad_casd_df1_inst_f32 binotch;
Hooglugt 0:99cbc87af37c 29 float binotch_const[] = {0.9714498065192796, -1.5718388053127037, 0.9714498065192796, 1.5718388053127037 , -0.9428996130385592}; //notch, Fc: 50 Hz, Fsample: 500Hz, Q = 10
Hooglugt 0:99cbc87af37c 30 float binotch_states[4];
Hooglugt 0:99cbc87af37c 31
Hooglugt 0:99cbc87af37c 32 arm_biquad_casd_df1_inst_f32 trihighpass;
Hooglugt 0:99cbc87af37c 33 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 34 float trihighpass_states[4];
Hooglugt 0:99cbc87af37c 35
Hooglugt 0:99cbc87af37c 36 arm_biquad_casd_df1_inst_f32 trinotch;
Hooglugt 0:99cbc87af37c 37 float trinotch_const[] = {0.9714498065192796, -1.5718388053127037, 0.9714498065192796, 1.5718388053127037 , -0.9428996130385592}; //notch, Fc: 50 Hz, Fsample: 500Hz, Q = 10
Hooglugt 0:99cbc87af37c 38 float trinotch_states[4];
Hooglugt 0:99cbc87af37c 39
Hooglugt 0:99cbc87af37c 40 float bi_result = 0;
Hooglugt 0:99cbc87af37c 41 float tri_result = 0;
Hooglugt 0:99cbc87af37c 42
Hooglugt 0:99cbc87af37c 43 float bi_max = 0;
Hooglugt 0:99cbc87af37c 44 float tri_max = 0;
Hooglugt 0:99cbc87af37c 45
Hooglugt 0:99cbc87af37c 46 // variables for biceps MAF
Hooglugt 0:99cbc87af37c 47 float y0 = 0;
Hooglugt 0:99cbc87af37c 48 float y1 = 0;
Hooglugt 0:99cbc87af37c 49 float y2 = 0;
Hooglugt 0:99cbc87af37c 50 float y3 = 0;
Hooglugt 0:99cbc87af37c 51 float y4 = 0;
Hooglugt 0:99cbc87af37c 52 float y5 = 0;
Hooglugt 0:99cbc87af37c 53 float y6 = 0;
Hooglugt 0:99cbc87af37c 54 float y7 = 0;
Hooglugt 0:99cbc87af37c 55 float y8 = 0;
Hooglugt 0:99cbc87af37c 56 float y9 = 0;
Hooglugt 0:99cbc87af37c 57
Hooglugt 0:99cbc87af37c 58 // variables for triceps MAF
Hooglugt 0:99cbc87af37c 59 float x0 = 0;
Hooglugt 0:99cbc87af37c 60 float x1 = 0;
Hooglugt 0:99cbc87af37c 61 float x2 = 0;
Hooglugt 0:99cbc87af37c 62 float x3 = 0;
Hooglugt 0:99cbc87af37c 63 float x4 = 0;
Hooglugt 0:99cbc87af37c 64 float x5 = 0;
Hooglugt 0:99cbc87af37c 65 float x6 = 0;
Hooglugt 0:99cbc87af37c 66 float x7 = 0;
Hooglugt 0:99cbc87af37c 67 float x8 = 0;
Hooglugt 0:99cbc87af37c 68 float x9 = 0;
Hooglugt 0:99cbc87af37c 69
Hooglugt 0:99cbc87af37c 70 //LED interface
Hooglugt 0:99cbc87af37c 71 DigitalOut dir1(PTA1);
Hooglugt 0:99cbc87af37c 72 DigitalOut dir2(PTA2);
Hooglugt 0:99cbc87af37c 73 DigitalOut dir3(PTD4);
Hooglugt 0:99cbc87af37c 74 DigitalOut for1(PTA12);
Hooglugt 0:99cbc87af37c 75 DigitalOut for2(PTA13);
Hooglugt 0:99cbc87af37c 76 DigitalOut for3(PTD1);
Hooglugt 0:99cbc87af37c 77
Hooglugt 0:99cbc87af37c 78 uint8_t direction = 0;
Hooglugt 0:99cbc87af37c 79 uint8_t force = 0;
Hooglugt 0:99cbc87af37c 80
Hooglugt 0:99cbc87af37c 81 //motorcontrol objects
Hooglugt 0:99cbc87af37c 82
Hooglugt 0:99cbc87af37c 83 //motor 1, voltage pins op M2
Hooglugt 0:99cbc87af37c 84 Encoder motor1(PTD3, PTD5);
Hooglugt 0:99cbc87af37c 85 DigitalOut motor1dir(PTC9);
Hooglugt 0:99cbc87af37c 86 PwmOut pwm_motor1(PTC8);
Hooglugt 0:99cbc87af37c 87
Hooglugt 0:99cbc87af37c 88 //motor 2, voltage pins op M1
Hooglugt 0:99cbc87af37c 89 Encoder motor2(PTD2,PTD0);
Hooglugt 0:99cbc87af37c 90 DigitalOut motor2dir(PTA4);
Hooglugt 0:99cbc87af37c 91 PwmOut pwm_motor2(PTA5);
Hooglugt 0:99cbc87af37c 92
Hooglugt 0:99cbc87af37c 93 float integral = 0;
Hooglugt 4:697d5a806cc4 94 float batjeset = 0; //een if statement wordt "true" wanneer batje voor een bepaalde tijd de juiste hoek heeft behouden
Hooglugt 4:697d5a806cc4 95 float balhit = 0; //balhit wordt 1 wanneer arm een bepaalde hoek heeft afgelegd
Hooglugt 0:99cbc87af37c 96 float controlerror = 0;
Hooglugt 6:14051758db6f 97 float previouserror = 0;
Hooglugt 0:99cbc87af37c 98 float pwm = 0;
Hooglugt 0:99cbc87af37c 99
Hooglugt 0:99cbc87af37c 100 float omrekenfactor1 = 0.0028035714; // 6.28/(32*70)
Hooglugt 1:d44a866de64f 101 float omrekenfactor2 = 0.0015213178; // 6.28/(24*172);
Hooglugt 0:99cbc87af37c 102
Hooglugt 1:d44a866de64f 103 float setpoint1 = 0; //te behalen speed van motor1 (37D)
Hooglugt 1:d44a866de64f 104 float setpoint2 = 0; //te behalen hoek van motor2 (25D)
Hooglugt 0:99cbc87af37c 105
Hooglugt 0:99cbc87af37c 106 float Kp1 = 1.10; //DEZE KP1 EN KP1 ZIJN NOG NIET DEFINITIEF
Hooglugt 0:99cbc87af37c 107 float Ki1 = 0.20; //Kp en Ki van motor1, voor de slag
Hooglugt 6:14051758db6f 108 float Kd1 = 0.0;
Hooglugt 6:14051758db6f 109
Hooglugt 6:14051758db6f 110 float Kp3 = 0.09; //Kp en Ki van motor1, voor de return
Hooglugt 6:14051758db6f 111 float Ki3 = 0.05;
Hooglugt 6:14051758db6f 112 float Kd3 = 0.0;
Hooglugt 0:99cbc87af37c 113
Hooglugt 0:99cbc87af37c 114 float Kp2 = 0.30; //Kp en Ki van motor2, voor in het positie brengen en voor de return
Hooglugt 0:99cbc87af37c 115 float Ki2 = 0.20;
Hooglugt 6:14051758db6f 116 float Kd2 = 0.0;
Hooglugt 0:99cbc87af37c 117
Hooglugt 6:14051758db6f 118 float Kp4 = 0.30; //Kp en Ki van motor2, voor de return
Hooglugt 6:14051758db6f 119 float Ki4 = 0.20;
Hooglugt 6:14051758db6f 120 float Kd4 = 0.0;
Hooglugt 0:99cbc87af37c 121
Hooglugt 0:99cbc87af37c 122 volatile bool looptimerflag; //voor motorcontrol TSAMP
Hooglugt 0:99cbc87af37c 123
Hooglugt 0:99cbc87af37c 124 //functies
Hooglugt 0:99cbc87af37c 125
Hooglugt 0:99cbc87af37c 126 void setlooptimerflag(void)
Hooglugt 0:99cbc87af37c 127 {
Hooglugt 0:99cbc87af37c 128 looptimerflag = true;
Hooglugt 0:99cbc87af37c 129
Hooglugt 0:99cbc87af37c 130 }
Hooglugt 0:99cbc87af37c 131
Hooglugt 0:99cbc87af37c 132 void keep_in_range(float * in, float min, float max)
Hooglugt 0:99cbc87af37c 133 {
Hooglugt 0:99cbc87af37c 134 *in > min ? *in < max? : *in = max: *in = max;
Hooglugt 0:99cbc87af37c 135 }
Hooglugt 0:99cbc87af37c 136
Hooglugt 0:99cbc87af37c 137 void looper()
Hooglugt 0:99cbc87af37c 138 {
Hooglugt 0:99cbc87af37c 139 //put raw emg value of biceps and triceps in emg_biceps and emg_triceps, respectively
Hooglugt 0:99cbc87af37c 140 float emg_biceps; //Float voor EMG-waarde biceps
Hooglugt 0:99cbc87af37c 141 float emg_triceps; //Float voor EMG-waarde triceps
Hooglugt 0:99cbc87af37c 142
Hooglugt 0:99cbc87af37c 143 emg_biceps = emg0.read(); // read float value (0..1 = 0..3.3V) biceps
Hooglugt 0:99cbc87af37c 144 emg_triceps = emg1.read(); // read float value (0..1 = 0..3.3V) triceps
Hooglugt 0:99cbc87af37c 145
Hooglugt 0:99cbc87af37c 146 //process emg biceps
Hooglugt 0:99cbc87af37c 147 arm_biquad_cascade_df1_f32(&bihighpass, &emg_biceps, &emg_biceps, 1 );
Hooglugt 0:99cbc87af37c 148 arm_biquad_cascade_df1_f32(&binotch, &emg_biceps, &emg_biceps, 1 );
Hooglugt 0:99cbc87af37c 149 y0 = fabs(emg_biceps);
Hooglugt 0:99cbc87af37c 150 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 151 y9=y8;
Hooglugt 0:99cbc87af37c 152 y8=y7;
Hooglugt 0:99cbc87af37c 153 y7=y6;
Hooglugt 0:99cbc87af37c 154 y6=y5;
Hooglugt 0:99cbc87af37c 155 y5=y4;
Hooglugt 0:99cbc87af37c 156 y4=y3;
Hooglugt 0:99cbc87af37c 157 y3=y2;
Hooglugt 0:99cbc87af37c 158 y2=y1;
Hooglugt 0:99cbc87af37c 159 y1=y0;
Hooglugt 0:99cbc87af37c 160
Hooglugt 0:99cbc87af37c 161 //process emg triceps
Hooglugt 0:99cbc87af37c 162 arm_biquad_cascade_df1_f32(&trihighpass, &emg_triceps, &emg_triceps, 1 );
Hooglugt 0:99cbc87af37c 163 arm_biquad_cascade_df1_f32(&trinotch, &emg_triceps, &emg_triceps, 1 );
Hooglugt 0:99cbc87af37c 164 x0 = fabs(emg_triceps);
Hooglugt 0:99cbc87af37c 165 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 166 x9=x8;
Hooglugt 0:99cbc87af37c 167 x8=x7;
Hooglugt 0:99cbc87af37c 168 x7=x6;
Hooglugt 0:99cbc87af37c 169 x6=x5;
Hooglugt 0:99cbc87af37c 170 x5=x4;
Hooglugt 0:99cbc87af37c 171 x4=x3;
Hooglugt 0:99cbc87af37c 172 x3=x2;
Hooglugt 0:99cbc87af37c 173 x2=x1;
Hooglugt 0:99cbc87af37c 174 x1=x0;
Hooglugt 0:99cbc87af37c 175 }
Hooglugt 0:99cbc87af37c 176
Hooglugt 0:99cbc87af37c 177 void kalbi() //blinking three lights, first row - 2nd row unlit
Hooglugt 0:99cbc87af37c 178 {
Hooglugt 0:99cbc87af37c 179 if(dir1==0) {
Hooglugt 0:99cbc87af37c 180 dir1 = dir2 = dir3 = 1;
Hooglugt 0:99cbc87af37c 181 } else {
Hooglugt 0:99cbc87af37c 182 dir1 = dir2 = dir3 = 0;
Hooglugt 0:99cbc87af37c 183 }
Hooglugt 0:99cbc87af37c 184 }
Hooglugt 0:99cbc87af37c 185
Hooglugt 0:99cbc87af37c 186 void kaltri() //blinking three lights, 2nd row - first row lit
Hooglugt 0:99cbc87af37c 187 {
Hooglugt 0:99cbc87af37c 188 if(for1==0) {
Hooglugt 0:99cbc87af37c 189 for1 = for2 = for3 = 1;
Hooglugt 0:99cbc87af37c 190 } else {
Hooglugt 0:99cbc87af37c 191 for1 = for2 = for3 = 0;
Hooglugt 0:99cbc87af37c 192 }
Hooglugt 0:99cbc87af37c 193 }
Hooglugt 0:99cbc87af37c 194
Hooglugt 0:99cbc87af37c 195 void okay() //blinking the two lights you have chosen (misschien is hier een betere manier van coderen voor :P)
Hooglugt 0:99cbc87af37c 196 {
Hooglugt 0:99cbc87af37c 197 if(direction == 1 && force == 1) { // links zwak
Hooglugt 0:99cbc87af37c 198 if(for1 == 0 && dir1 == 0) {
Hooglugt 0:99cbc87af37c 199 for1 = dir1 = 1;
Hooglugt 0:99cbc87af37c 200 } else {
Hooglugt 0:99cbc87af37c 201 for1 = dir1 = 0;
Hooglugt 0:99cbc87af37c 202 }
Hooglugt 0:99cbc87af37c 203 }
Hooglugt 0:99cbc87af37c 204 if(direction == 1 && force == 2) { // links normaal
Hooglugt 0:99cbc87af37c 205 if(for2 == 0 && dir1 == 0) {
Hooglugt 0:99cbc87af37c 206 for2 = dir1 = 1;
Hooglugt 0:99cbc87af37c 207 } else {
Hooglugt 0:99cbc87af37c 208 for2 = dir1 = 0;
Hooglugt 0:99cbc87af37c 209 }
Hooglugt 0:99cbc87af37c 210 }
Hooglugt 0:99cbc87af37c 211 if(direction == 1 && force == 3) { // links sterk
Hooglugt 0:99cbc87af37c 212 if(for3 == 0 && dir1 == 0) {
Hooglugt 0:99cbc87af37c 213 for3 = dir1 = 1;
Hooglugt 0:99cbc87af37c 214 } else {
Hooglugt 0:99cbc87af37c 215 for3 = dir1 = 0;
Hooglugt 0:99cbc87af37c 216 }
Hooglugt 0:99cbc87af37c 217 }
Hooglugt 0:99cbc87af37c 218 if(direction == 2 && force == 1) { // mid zwak
Hooglugt 0:99cbc87af37c 219 if(for1 == 0 && dir2 == 0) {
Hooglugt 0:99cbc87af37c 220 for1 = dir2 = 1;
Hooglugt 0:99cbc87af37c 221 } else {
Hooglugt 0:99cbc87af37c 222 for1 = dir2 = 0;
Hooglugt 0:99cbc87af37c 223 }
Hooglugt 0:99cbc87af37c 224 }
Hooglugt 0:99cbc87af37c 225 if(direction == 2 && force == 2) { // mid normaal
Hooglugt 0:99cbc87af37c 226 if(for2 == 0 && dir2 == 0) {
Hooglugt 0:99cbc87af37c 227 for2 = dir2 = 1;
Hooglugt 0:99cbc87af37c 228 } else {
Hooglugt 0:99cbc87af37c 229 for2 = dir2 = 0;
Hooglugt 0:99cbc87af37c 230 }
Hooglugt 0:99cbc87af37c 231 }
Hooglugt 0:99cbc87af37c 232 if(direction == 2 && force == 3) { // mid sterk
Hooglugt 0:99cbc87af37c 233 if(for3 == 0 && dir2 == 0) {
Hooglugt 0:99cbc87af37c 234 for3 = dir2 = 1;
Hooglugt 0:99cbc87af37c 235 } else {
Hooglugt 0:99cbc87af37c 236 for3 = dir2 = 0;
Hooglugt 0:99cbc87af37c 237 }
Hooglugt 0:99cbc87af37c 238 }
Hooglugt 0:99cbc87af37c 239 if(direction == 3 && force == 1) { // rechts zwak
Hooglugt 0:99cbc87af37c 240 if(for1 == 0 && dir3 == 0) {
Hooglugt 0:99cbc87af37c 241 for1 = dir3 = 1;
Hooglugt 0:99cbc87af37c 242 } else {
Hooglugt 0:99cbc87af37c 243 for1 = dir3 = 0;
Hooglugt 0:99cbc87af37c 244 }
Hooglugt 0:99cbc87af37c 245 }
Hooglugt 0:99cbc87af37c 246 if(direction == 3 && force == 2) { // rechts normaal
Hooglugt 0:99cbc87af37c 247 if(for2 == 0 && dir3 == 0) {
Hooglugt 0:99cbc87af37c 248 for2 = dir3 = 1;
Hooglugt 0:99cbc87af37c 249 } else {
Hooglugt 0:99cbc87af37c 250 for2 = dir3 = 0;
Hooglugt 0:99cbc87af37c 251 }
Hooglugt 0:99cbc87af37c 252 }
Hooglugt 0:99cbc87af37c 253 if(direction == 3 && force == 3) { // rechts sterk
Hooglugt 0:99cbc87af37c 254 if(for3 == 0 && dir3 == 0) {
Hooglugt 0:99cbc87af37c 255 for3 = dir3 = 1;
Hooglugt 0:99cbc87af37c 256 } else {
Hooglugt 0:99cbc87af37c 257 for3 = dir3 = 0;
Hooglugt 0:99cbc87af37c 258 }
Hooglugt 0:99cbc87af37c 259 }
Hooglugt 0:99cbc87af37c 260 }
Hooglugt 0:99cbc87af37c 261
Hooglugt 0:99cbc87af37c 262 int main()
Hooglugt 0:99cbc87af37c 263 {
Hooglugt 0:99cbc87af37c 264 pc.baud(115200); //baudrate instellen
Hooglugt 0:99cbc87af37c 265 log_timer.attach(looper, TSAMP_EMG); //EMG, Fsample 500 Hz
Hooglugt 0:99cbc87af37c 266 looptimer.attach(setlooptimerflag,TSAMP);
Hooglugt 0:99cbc87af37c 267 pwm_motor1.period_us(100); //10kHz PWM frequency
Hooglugt 0:99cbc87af37c 268 pwm_motor2.period_us(100); //10kHz PWM frequency
Hooglugt 0:99cbc87af37c 269
Hooglugt 0:99cbc87af37c 270 //set up filters
Hooglugt 0:99cbc87af37c 271 arm_biquad_cascade_df1_init_f32(&binotch, 1, binotch_const, binotch_states);
Hooglugt 0:99cbc87af37c 272 arm_biquad_cascade_df1_init_f32(&bihighpass, 1, bihighpass_const, bihighpass_states);
Hooglugt 0:99cbc87af37c 273
Hooglugt 0:99cbc87af37c 274 arm_biquad_cascade_df1_init_f32(&trinotch, 1, trinotch_const, trinotch_states);
Hooglugt 0:99cbc87af37c 275 arm_biquad_cascade_df1_init_f32(&trihighpass, 1, trihighpass_const, trihighpass_states);
Hooglugt 0:99cbc87af37c 276
Hooglugt 0:99cbc87af37c 277 //kalibratie
Hooglugt 0:99cbc87af37c 278
Hooglugt 0:99cbc87af37c 279 //motorarm naar nul-positie
Hooglugt 0:99cbc87af37c 280 blink.attach(kalbi, 0.2);
Hooglugt 1:d44a866de64f 281 blink2.attach(kaltri, 0.2);
Hooglugt 0:99cbc87af37c 282
Hooglugt 0:99cbc87af37c 283 //calibration motor 2
Hooglugt 0:99cbc87af37c 284 pwm_motor2.write(0.6); //lage PWM
Hooglugt 5:e5ca53305b87 285 motor2dir = 0; //rechtsom
Hooglugt 0:99cbc87af37c 286 wait(1); // anders wordt de while(1) meteen onderbroken
Hooglugt 4:697d5a806cc4 287 while(1) {
Hooglugt 5:e5ca53305b87 288 if(motor2.getSpeed()*omrekenfactor2 > -0.70 && motor2.getSpeed()*omrekenfactor2 < 0.70) { // motor2.getSpeed()*omrekenfactor2 > -0.70), 0.70 is nog aan te passen
Hooglugt 0:99cbc87af37c 289 pwm_motor2.write(0);
Hooglugt 4:697d5a806cc4 290 motor2.setPosition(0);
Hooglugt 4:697d5a806cc4 291 goto motor1cal;
Hooglugt 0:99cbc87af37c 292 }
Hooglugt 0:99cbc87af37c 293 wait(0.01);
Hooglugt 0:99cbc87af37c 294 }
Hooglugt 4:697d5a806cc4 295 motor1cal:
Hooglugt 0:99cbc87af37c 296 //calibration motor 1
Hooglugt 0:99cbc87af37c 297 pwm_motor1.write(0.55); //lage PWM
Hooglugt 5:e5ca53305b87 298 motor1dir = 1; //linksom
Hooglugt 0:99cbc87af37c 299 wait(1); // anders wordt de while(1) meteen onderbroken
Hooglugt 4:697d5a806cc4 300 while(1) {
Hooglugt 5:e5ca53305b87 301 if(motor1.getSpeed()*omrekenfactor1 > -0.20 && motor1.getSpeed()*omrekenfactor1 < 0.20) { // motor1.getSpeed()*omrekenfactor1 < 0.20, 0.20 is nog aan te passen
Hooglugt 0:99cbc87af37c 302 pwm_motor1.write(0);
Hooglugt 4:697d5a806cc4 303 motor1.setPosition(0);
Hooglugt 4:697d5a806cc4 304 goto emgcal;
Hooglugt 0:99cbc87af37c 305 }
Hooglugt 0:99cbc87af37c 306 wait(0.01);
Hooglugt 0:99cbc87af37c 307 }
Hooglugt 4:697d5a806cc4 308 emgcal:
Hooglugt 0:99cbc87af37c 309 blink.detach();
Hooglugt 1:d44a866de64f 310 blink2.detach();
Hooglugt 0:99cbc87af37c 311 dir1 = dir2 = dir3 = 1;
Hooglugt 4:697d5a806cc4 312 for1 = for2 = for3 = 1;
Hooglugt 4:697d5a806cc4 313 pc.printf("kalmoarm ");
Hooglugt 0:99cbc87af37c 314 wait (1);
Hooglugt 0:99cbc87af37c 315 for1 = for2 = for3 = 0;
Hooglugt 0:99cbc87af37c 316
Hooglugt 0:99cbc87af37c 317 //biceps kalibratie
Hooglugt 0:99cbc87af37c 318 blink.attach(kalbi, 0.2);
Hooglugt 0:99cbc87af37c 319 for (int kaltime = 0; kaltime<KALIBRATIONTIME; kaltime++) {
Hooglugt 0:99cbc87af37c 320 if (bi_max < bi_result) {
Hooglugt 0:99cbc87af37c 321 bi_max = bi_result;
Hooglugt 0:99cbc87af37c 322 }
Hooglugt 0:99cbc87af37c 323 wait (0.01);
Hooglugt 1:d44a866de64f 324 }
Hooglugt 1:d44a866de64f 325 blink.detach();
Hooglugt 1:d44a866de64f 326 dir1 = dir2 = dir3 = 1;
Hooglugt 4:697d5a806cc4 327 pc.printf("kalbi ");
Hooglugt 1:d44a866de64f 328 wait (1);
Hooglugt 0:99cbc87af37c 329
Hooglugt 1:d44a866de64f 330 //triceps kalibratie
Hooglugt 1:d44a866de64f 331 blink.attach(kaltri, 0.2);
Hooglugt 1:d44a866de64f 332 for (int kaltime = 0; kaltime<KALIBRATIONTIME; kaltime++) {
Hooglugt 1:d44a866de64f 333 if (tri_max < tri_result) {
Hooglugt 1:d44a866de64f 334 tri_max = tri_result;
Hooglugt 0:99cbc87af37c 335 }
Hooglugt 1:d44a866de64f 336 wait (0.01);
Hooglugt 0:99cbc87af37c 337 }
Hooglugt 1:d44a866de64f 338 blink.detach();
Hooglugt 1:d44a866de64f 339 for1 = for2 = for3 = 1;
Hooglugt 4:697d5a806cc4 340 pc.printf("kaltri ");
Hooglugt 1:d44a866de64f 341 wait (1);
Hooglugt 1:d44a866de64f 342 for1 = for2 = for3 = 0;
Hooglugt 0:99cbc87af37c 343
Hooglugt 4:697d5a806cc4 344 directionchoice:
Hooglugt 1:d44a866de64f 345 log_timer.attach(looper, TSAMP_EMG);
Hooglugt 0:99cbc87af37c 346
Hooglugt 4:697d5a806cc4 347 while(1) { //Loop keuze DIRECTION
Hooglugt 0:99cbc87af37c 348 for(int i=1; i<4; i++) {
Hooglugt 0:99cbc87af37c 349 if(i==1) { //red
Hooglugt 0:99cbc87af37c 350 dir1=1;
Hooglugt 0:99cbc87af37c 351 dir2=0;
Hooglugt 0:99cbc87af37c 352 dir3=0;
Hooglugt 0:99cbc87af37c 353 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 354 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 355 direction = 1;
Hooglugt 4:697d5a806cc4 356 pc.printf("links ");
Hooglugt 0:99cbc87af37c 357 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 358 goto forcechoice; // goes to second while(1) for the deciding the force
Hooglugt 0:99cbc87af37c 359 } else {
Hooglugt 0:99cbc87af37c 360 wait(0.01);
Hooglugt 0:99cbc87af37c 361 }
Hooglugt 0:99cbc87af37c 362 }
Hooglugt 0:99cbc87af37c 363 }
Hooglugt 0:99cbc87af37c 364 if(i==2) { //green
Hooglugt 0:99cbc87af37c 365 dir1 =0;
Hooglugt 0:99cbc87af37c 366 dir2 =1;
Hooglugt 0:99cbc87af37c 367 dir3 =0;
Hooglugt 0:99cbc87af37c 368 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 369 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 370 direction = 2;
Hooglugt 4:697d5a806cc4 371 pc.printf("mid ");
Hooglugt 0:99cbc87af37c 372 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 373 goto forcechoice;
Hooglugt 0:99cbc87af37c 374 } else {
Hooglugt 0:99cbc87af37c 375 wait(0.01);
Hooglugt 0:99cbc87af37c 376 }
Hooglugt 0:99cbc87af37c 377 }
Hooglugt 0:99cbc87af37c 378 }
Hooglugt 0:99cbc87af37c 379 if(i==3) { //blue
Hooglugt 0:99cbc87af37c 380 dir1 =0;
Hooglugt 0:99cbc87af37c 381 dir2 =0;
Hooglugt 0:99cbc87af37c 382 dir3 =1;
Hooglugt 0:99cbc87af37c 383 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 384 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 385 direction = 3;
Hooglugt 4:697d5a806cc4 386 pc.printf("rechts ");
Hooglugt 0:99cbc87af37c 387 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 388 goto forcechoice;
Hooglugt 0:99cbc87af37c 389 } else {
Hooglugt 0:99cbc87af37c 390 wait(0.01);
Hooglugt 0:99cbc87af37c 391 }
Hooglugt 0:99cbc87af37c 392 }
Hooglugt 0:99cbc87af37c 393 }
Hooglugt 0:99cbc87af37c 394 }
Hooglugt 0:99cbc87af37c 395 }
Hooglugt 4:697d5a806cc4 396 forcechoice:
Hooglugt 4:697d5a806cc4 397 while(1) { //Loop keuze FORCE
Hooglugt 0:99cbc87af37c 398 for(int j=1; j<4; j++) {
Hooglugt 0:99cbc87af37c 399 if(j==1) { //red
Hooglugt 0:99cbc87af37c 400 for1=1;
Hooglugt 0:99cbc87af37c 401 for2=0;
Hooglugt 0:99cbc87af37c 402 for3=0;
Hooglugt 0:99cbc87af37c 403 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 404 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 405 for1 = for2 = for3 = 0;
Hooglugt 4:697d5a806cc4 406 pc.printf("reset ");
Hooglugt 0:99cbc87af37c 407 goto directionchoice;
Hooglugt 0:99cbc87af37c 408 } else {
Hooglugt 1:d44a866de64f 409 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 410 force = 1;
Hooglugt 4:697d5a806cc4 411 pc.printf("zwak ");
Hooglugt 0:99cbc87af37c 412 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 413 goto choicesmade;
Hooglugt 0:99cbc87af37c 414 } else {
Hooglugt 0:99cbc87af37c 415 wait(0.01);
Hooglugt 0:99cbc87af37c 416 }
Hooglugt 0:99cbc87af37c 417 }
Hooglugt 0:99cbc87af37c 418 }
Hooglugt 0:99cbc87af37c 419 }
Hooglugt 0:99cbc87af37c 420 if(j==2) { //green
Hooglugt 0:99cbc87af37c 421 for1=0;
Hooglugt 0:99cbc87af37c 422 for2=1;
Hooglugt 0:99cbc87af37c 423 for3=0;
Hooglugt 0:99cbc87af37c 424 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 425 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 426 for1 = for2 = for3 = 0;
Hooglugt 4:697d5a806cc4 427 pc.printf("reset ");
Hooglugt 0:99cbc87af37c 428 goto directionchoice;
Hooglugt 0:99cbc87af37c 429 } else {
Hooglugt 1:d44a866de64f 430 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 431 force = 2;
Hooglugt 4:697d5a806cc4 432 pc.printf("normaal ");
Hooglugt 0:99cbc87af37c 433 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 434 goto choicesmade;
Hooglugt 0:99cbc87af37c 435 } else {
Hooglugt 0:99cbc87af37c 436 wait(0.01);
Hooglugt 0:99cbc87af37c 437 }
Hooglugt 0:99cbc87af37c 438 }
Hooglugt 0:99cbc87af37c 439 }
Hooglugt 0:99cbc87af37c 440 }
Hooglugt 0:99cbc87af37c 441 if(j==3) { //blue
Hooglugt 0:99cbc87af37c 442 for1=0;
Hooglugt 0:99cbc87af37c 443 for2=0;
Hooglugt 0:99cbc87af37c 444 for3=1;
Hooglugt 0:99cbc87af37c 445 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 446 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 447 for1 = for2 = for3 = 0;
Hooglugt 4:697d5a806cc4 448 pc.printf("reset ");
Hooglugt 0:99cbc87af37c 449 goto directionchoice;
Hooglugt 0:99cbc87af37c 450 } else {
Hooglugt 1:d44a866de64f 451 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 452 force = 3;
Hooglugt 4:697d5a806cc4 453 pc.printf("sterk ");
Hooglugt 0:99cbc87af37c 454 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 455 goto choicesmade;
Hooglugt 0:99cbc87af37c 456 } else {
Hooglugt 0:99cbc87af37c 457 wait(0.01);
Hooglugt 0:99cbc87af37c 458 }
Hooglugt 0:99cbc87af37c 459 }
Hooglugt 0:99cbc87af37c 460 }
Hooglugt 0:99cbc87af37c 461 }
Hooglugt 0:99cbc87af37c 462 }
Hooglugt 0:99cbc87af37c 463 }
Hooglugt 0:99cbc87af37c 464
Hooglugt 0:99cbc87af37c 465 choicesmade:
Hooglugt 0:99cbc87af37c 466 blink.attach(okay, 0.2);
Hooglugt 4:697d5a806cc4 467 while(1) {
Hooglugt 4:697d5a806cc4 468 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 469 blink.detach();
Hooglugt 4:697d5a806cc4 470 pc.printf("reset ");
Hooglugt 1:d44a866de64f 471 switch (direction) {
Hooglugt 1:d44a866de64f 472 case 1:
Hooglugt 1:d44a866de64f 473 dir1 = 1;
Hooglugt 1:d44a866de64f 474 for1 = 1;
Hooglugt 1:d44a866de64f 475 for2 = for3 = 0;
Hooglugt 1:d44a866de64f 476 break;
Hooglugt 1:d44a866de64f 477 case 2:
Hooglugt 1:d44a866de64f 478 dir2 = 1;
Hooglugt 1:d44a866de64f 479 for1 = 1;
Hooglugt 1:d44a866de64f 480 for2 = for3 = 0;
Hooglugt 1:d44a866de64f 481 break;
Hooglugt 1:d44a866de64f 482 case 3:
Hooglugt 1:d44a866de64f 483 dir3 = 1;
Hooglugt 1:d44a866de64f 484 for1 = 1;
Hooglugt 1:d44a866de64f 485 for2 = for3 = 0;
Hooglugt 1:d44a866de64f 486 break;
Hooglugt 1:d44a866de64f 487 }
Hooglugt 4:697d5a806cc4 488
Hooglugt 4:697d5a806cc4 489 wait(1); // 1 sec wait, anders reset je meteen ook de biceps keuze
Hooglugt 4:697d5a806cc4 490 goto forcechoice;
Hooglugt 0:99cbc87af37c 491 } else {
Hooglugt 1:d44a866de64f 492 if(bi_result>FACTOR*bi_max && (dir1==1||dir2==1||dir3==1)) {
Hooglugt 4:697d5a806cc4 493 blink.detach();
Hooglugt 4:697d5a806cc4 494 log_timer.detach();
Hooglugt 4:697d5a806cc4 495 goto motorcontrol;
Hooglugt 0:99cbc87af37c 496 } else {
Hooglugt 0:99cbc87af37c 497 wait(0.01); // not sure of de wait noodzakelijk is (nu toegevoegd zodat het niet teveel strain levert op bordje)
Hooglugt 0:99cbc87af37c 498 }
Hooglugt 0:99cbc87af37c 499 }
Hooglugt 0:99cbc87af37c 500 }
Hooglugt 4:697d5a806cc4 501
Hooglugt 4:697d5a806cc4 502 motorcontrol:
Hooglugt 4:697d5a806cc4 503
Hooglugt 0:99cbc87af37c 504 /* Vanaf hier komt de aansturing van de motor */
Hooglugt 0:99cbc87af37c 505
Hooglugt 1:d44a866de64f 506 switch (direction) {
Hooglugt 1:d44a866de64f 507 case 1:
Hooglugt 5:e5ca53305b87 508 setpoint2 = -1*0.436332313+0.197222205; //25 graden + 11,3 graden, slag naar linkerdoel
Hooglugt 1:d44a866de64f 509 break;
Hooglugt 1:d44a866de64f 510 case 2:
Hooglugt 5:e5ca53305b87 511 setpoint2 = -1*0.436332313; //25 graden vanaf nul-punt (precies midden)
Hooglugt 1:d44a866de64f 512 break;
Hooglugt 1:d44a866de64f 513 case 3:
Hooglugt 5:e5ca53305b87 514 setpoint2 = -1*0.436332313-0.197222205; // 25 graden - 11,3 graden, slag naar rechterdoel
Hooglugt 1:d44a866de64f 515 break;
Hooglugt 0:99cbc87af37c 516 }
Hooglugt 1:d44a866de64f 517
Hooglugt 1:d44a866de64f 518 switch (force) {
Hooglugt 1:d44a866de64f 519 case 1:
Hooglugt 5:e5ca53305b87 520 setpoint1 = 6.8;
Hooglugt 1:d44a866de64f 521 break;
Hooglugt 1:d44a866de64f 522 case 2:
Hooglugt 5:e5ca53305b87 523 setpoint1 = 7.4;
Hooglugt 1:d44a866de64f 524 break;
Hooglugt 1:d44a866de64f 525 case 3:
Hooglugt 5:e5ca53305b87 526 setpoint1 = 8.0;
Hooglugt 1:d44a866de64f 527 break;
Hooglugt 0:99cbc87af37c 528 }
Hooglugt 0:99cbc87af37c 529
Hooglugt 4:697d5a806cc4 530 while(1) { // loop voor het goed plaatsen van motor2 (batje hoek)
Hooglugt 0:99cbc87af37c 531 while(!looptimerflag);
Hooglugt 0:99cbc87af37c 532 looptimerflag = false; //clear flag
Hooglugt 0:99cbc87af37c 533
Hooglugt 0:99cbc87af37c 534 //regelaar motor2, bepaalt positie
Hooglugt 0:99cbc87af37c 535 controlerror = setpoint2 - motor2.getPosition()*omrekenfactor2;
Hooglugt 0:99cbc87af37c 536 integral = integral + controlerror*TSAMP;
Hooglugt 6:14051758db6f 537 derivative = (controlerror - previouserror)/TSAMP;
Hooglugt 6:14051758db6f 538 pwm = Kp2*controlerror + Ki2*integral + Kd2*derivative;
Hooglugt 6:14051758db6f 539 previouserror = controlerror;
Hooglugt 0:99cbc87af37c 540
Hooglugt 0:99cbc87af37c 541 keep_in_range(&pwm, -1,1);
Hooglugt 0:99cbc87af37c 542 pwm_motor2.write(abs(pwm));
Hooglugt 0:99cbc87af37c 543 if(pwm > 0) {
Hooglugt 0:99cbc87af37c 544 motor2dir = 1;
Hooglugt 0:99cbc87af37c 545 } else {
Hooglugt 0:99cbc87af37c 546 motor2dir = 0;
Hooglugt 0:99cbc87af37c 547 }
Hooglugt 0:99cbc87af37c 548
Hooglugt 4:697d5a806cc4 549 //controleert of batje positie heeft bepaald
Hooglugt 4:697d5a806cc4 550 if(batjeset < 200) { // dit is nog te bepalen, op dit moment als binnen marge van 1% voor 2 seconde, dan naar volgende motorcontrol
Hooglugt 4:697d5a806cc4 551 if (motor2.getPosition()*omrekenfactor2 > setpoint2*1.01 || motor2.getPosition()*omrekenfactor2 < setpoint2*0.99) {
Hooglugt 4:697d5a806cc4 552 batjeset = 0;
Hooglugt 4:697d5a806cc4 553 } else {
Hooglugt 4:697d5a806cc4 554 batjeset++;
Hooglugt 4:697d5a806cc4 555 }
Hooglugt 0:99cbc87af37c 556 } else {
Hooglugt 4:697d5a806cc4 557 pwm_motor2.write(0);
Hooglugt 6:14051758db6f 558 batjeset = integral = derivative = previouserror = 0;
Hooglugt 4:697d5a806cc4 559 wait(1);
Hooglugt 4:697d5a806cc4 560 goto motor1control;
Hooglugt 0:99cbc87af37c 561 }
Hooglugt 0:99cbc87af37c 562 }
Hooglugt 4:697d5a806cc4 563
Hooglugt 4:697d5a806cc4 564 motor1control:
Hooglugt 4:697d5a806cc4 565 while(1) { // loop voor het slaan mbv motor1 (batje snelheid)
Hooglugt 0:99cbc87af37c 566 while(!looptimerflag);
Hooglugt 0:99cbc87af37c 567 looptimerflag = false; //clear flag
Hooglugt 0:99cbc87af37c 568
Hooglugt 4:697d5a806cc4 569 if (balhit == 0) { //regelaar motor1, bepaalt snelheid
Hooglugt 4:697d5a806cc4 570 controlerror = setpoint1 - motor1.getSpeed()*omrekenfactor1;
Hooglugt 4:697d5a806cc4 571 integral = integral + controlerror*TSAMP;
Hooglugt 6:14051758db6f 572 derivative = (controlerror - previouserror)/TSAMP;
Hooglugt 6:14051758db6f 573 pwm = Kp1*controlerror + Ki1*integral + Kd1*derivative;
Hooglugt 6:14051758db6f 574 previouserror = controlerror;
Hooglugt 4:697d5a806cc4 575 } else { //regelaar motor1, bepaalt positie
Hooglugt 4:697d5a806cc4 576 pwm_motor1.write(0);
Hooglugt 6:14051758db6f 577 balhit = integral = derivative = previouserror = 0;
Hooglugt 4:697d5a806cc4 578 wait(1); // wait voordat arm weer naar beginpositie terugkeert
Hooglugt 4:697d5a806cc4 579 goto resetpositionmotor1;
Hooglugt 4:697d5a806cc4 580 }
Hooglugt 4:697d5a806cc4 581
Hooglugt 0:99cbc87af37c 582 keep_in_range(&pwm, -1,1);
Hooglugt 0:99cbc87af37c 583 pwm_motor1.write(abs(pwm));
Hooglugt 0:99cbc87af37c 584
Hooglugt 0:99cbc87af37c 585 if(pwm > 0) {
Hooglugt 0:99cbc87af37c 586 motor1dir = 1;
Hooglugt 0:99cbc87af37c 587 } else {
Hooglugt 0:99cbc87af37c 588 motor1dir = 0;
Hooglugt 0:99cbc87af37c 589 }
Hooglugt 0:99cbc87af37c 590
Hooglugt 0:99cbc87af37c 591 //controleert of batje balletje heeft bereikt
Hooglugt 0:99cbc87af37c 592 //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 593 if (motor1.getPosition()*omrekenfactor1 > 1.10) {
Hooglugt 0:99cbc87af37c 594 balhit = 1;
Hooglugt 0:99cbc87af37c 595 }
Hooglugt 0:99cbc87af37c 596 }
Hooglugt 4:697d5a806cc4 597
Hooglugt 4:697d5a806cc4 598 resetpositionmotor1:
Hooglugt 4:697d5a806cc4 599 while(1) { // slagarm wordt weer in oorspronkelijke positie geplaatst
Hooglugt 0:99cbc87af37c 600 while(!looptimerflag);
Hooglugt 0:99cbc87af37c 601 looptimerflag = false; //clear flag
Hooglugt 0:99cbc87af37c 602
Hooglugt 0:99cbc87af37c 603 //regelaar motor1, bepaalt positie
Hooglugt 0:99cbc87af37c 604 controlerror = -1*motor1.getPosition()*omrekenfactor1;
Hooglugt 0:99cbc87af37c 605 integral = integral + controlerror*TSAMP;
Hooglugt 6:14051758db6f 606 derivative = (controlerror - previouserror)/TSAMP;
Hooglugt 6:14051758db6f 607 pwm = Kp3*controlerror + Ki3*integral + Kd3*derivative;
Hooglugt 6:14051758db6f 608 previouserror = controlerror;
Hooglugt 0:99cbc87af37c 609
Hooglugt 0:99cbc87af37c 610 keep_in_range(&pwm, -1,1);
Hooglugt 1:d44a866de64f 611 if(pwm > 0) {
Hooglugt 0:99cbc87af37c 612 motor1dir = 1;
Hooglugt 0:99cbc87af37c 613 } else {
Hooglugt 0:99cbc87af37c 614 motor1dir = 0; //1 = rechtsom, 0 = linksom
Hooglugt 0:99cbc87af37c 615 }
Hooglugt 0:99cbc87af37c 616
Hooglugt 0:99cbc87af37c 617 pwm_motor1.write(abs(pwm));
Hooglugt 0:99cbc87af37c 618
Hooglugt 0:99cbc87af37c 619 //controleert of arm terug in positie is
Hooglugt 4:697d5a806cc4 620 if(batjeset < 200) {
Hooglugt 4:697d5a806cc4 621 if (motor1.getPosition()*omrekenfactor1 > 0.03 || motor1.getPosition()*omrekenfactor1 < -0.03) {
Hooglugt 4:697d5a806cc4 622 batjeset = 0;
Hooglugt 4:697d5a806cc4 623 } else {
Hooglugt 4:697d5a806cc4 624 batjeset++;
Hooglugt 4:697d5a806cc4 625 }
Hooglugt 0:99cbc87af37c 626 } else {
Hooglugt 4:697d5a806cc4 627 pwm_motor1.write(0);
Hooglugt 6:14051758db6f 628 batjeset = integral = derivative = previouserror = 0;
Hooglugt 4:697d5a806cc4 629 wait(1);
Hooglugt 4:697d5a806cc4 630 goto resetpositionmotor2;
Hooglugt 0:99cbc87af37c 631 }
Hooglugt 0:99cbc87af37c 632 }
Hooglugt 4:697d5a806cc4 633
Hooglugt 4:697d5a806cc4 634 resetpositionmotor2:
Hooglugt 4:697d5a806cc4 635 while(1) { // loop voor het goed plaatsen van motor2 (batje hoek)
Hooglugt 0:99cbc87af37c 636 while(!looptimerflag);
Hooglugt 0:99cbc87af37c 637 looptimerflag = false; //clear flag
Hooglugt 0:99cbc87af37c 638
Hooglugt 0:99cbc87af37c 639 //regelaar motor2, bepaalt positie
Hooglugt 0:99cbc87af37c 640 controlerror = -1*motor2.getPosition()*omrekenfactor2;
Hooglugt 0:99cbc87af37c 641 integral = integral + controlerror*TSAMP;
Hooglugt 6:14051758db6f 642 derivative = (controlerror - previouserror)/TSAMP;
Hooglugt 6:14051758db6f 643 pwm = Kp4*controlerror + Ki4*integral + Kd4*derivative;
Hooglugt 6:14051758db6f 644 previouserror = controlerror;
Hooglugt 0:99cbc87af37c 645
Hooglugt 0:99cbc87af37c 646 keep_in_range(&pwm, -1,1);
Hooglugt 0:99cbc87af37c 647
Hooglugt 0:99cbc87af37c 648 if(pwm > 0) {
Hooglugt 0:99cbc87af37c 649 motor2dir = 1;
Hooglugt 0:99cbc87af37c 650 } else {
Hooglugt 0:99cbc87af37c 651 motor2dir = 0;
Hooglugt 0:99cbc87af37c 652 }
Hooglugt 0:99cbc87af37c 653
Hooglugt 0:99cbc87af37c 654 pwm_motor2.write(abs(pwm));
Hooglugt 0:99cbc87af37c 655
Hooglugt 0:99cbc87af37c 656 //controleert of batje positie heeft bepaald
Hooglugt 4:697d5a806cc4 657 if(batjeset < 200) { // dit is nog te bepalen, op dit moment als binnen marge van 1% voor 2 seconde, dan naar volgende motorcontrol
Hooglugt 4:697d5a806cc4 658 if (motor2.getPosition()*omrekenfactor2 > 0.03 || motor2.getPosition()*omrekenfactor2 < -0.03) {
Hooglugt 4:697d5a806cc4 659 batjeset = 0;
Hooglugt 4:697d5a806cc4 660 } else {
Hooglugt 4:697d5a806cc4 661 batjeset++;
Hooglugt 4:697d5a806cc4 662 }
Hooglugt 0:99cbc87af37c 663 } else {
Hooglugt 4:697d5a806cc4 664 pwm_motor2.write(0);
Hooglugt 6:14051758db6f 665 batjeset = integral = derivative = previouserror = 0;
Hooglugt 4:697d5a806cc4 666 wait(1);
Hooglugt 4:697d5a806cc4 667 direction = force = 0;
Hooglugt 4:697d5a806cc4 668 goto directionchoice;
Hooglugt 4:697d5a806cc4 669 }
Hooglugt 0:99cbc87af37c 670 }
Hooglugt 0:99cbc87af37c 671 } // end main