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@10:6bf3e25f020a, 2014-11-03 (annotated)

Committer:
Hooglugt
Date:
Mon Nov 03 21:31:40 2014 +0000
Revision:
10:6bf3e25f020a
Parent:
9:0bc7f83b761e
Child:
11:b517e73a98ab
regelaar functioneert, af en toe schiet motor1 door naar pwm1

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 7:ca1ade91bd14 11 #define KALIBRATIONTIME 500 // 10 sec voor bepalen van maximale biceps/triceps waarde
Hooglugt 1:d44a866de64f 12 #define FACTOR 0.6 //factor*max_waarde = threshold emg
Hooglugt 7:ca1ade91bd14 13
Hooglugt 0:99cbc87af37c 14 //Define objects
Hooglugt 7:ca1ade91bd14 15
Hooglugt 10:6bf3e25f020a 16 HIDScope scope(4);
Hooglugt 7:ca1ade91bd14 17
Hooglugt 0:99cbc87af37c 18 AnalogIn emg0(PTB1); //Analog input biceps
Hooglugt 0:99cbc87af37c 19 AnalogIn emg1(PTB2); //Analog input triceps
Hooglugt 0:99cbc87af37c 20
Hooglugt 0:99cbc87af37c 21 Ticker log_timer; //sample emg
Hooglugt 1:d44a866de64f 22 Ticker blink; //ledjes aan/uit
Hooglugt 1:d44a866de64f 23 Ticker blink2; //extra tikker zodat kalbi en kaltri tegelijkertijd aankunnen
Hooglugt 0:99cbc87af37c 24 Ticker looptimer; //motor regelaar
Hooglugt 0:99cbc87af37c 25
Hooglugt 0:99cbc87af37c 26 MODSERIAL pc(USBTX,USBRX);
Hooglugt 0:99cbc87af37c 27
Hooglugt 0:99cbc87af37c 28 arm_biquad_casd_df1_inst_f32 bihighpass;
Hooglugt 0:99cbc87af37c 29 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 30 float bihighpass_states[4];
Hooglugt 0:99cbc87af37c 31
Hooglugt 0:99cbc87af37c 32 arm_biquad_casd_df1_inst_f32 binotch;
Hooglugt 0:99cbc87af37c 33 float binotch_const[] = {0.9714498065192796, -1.5718388053127037, 0.9714498065192796, 1.5718388053127037 , -0.9428996130385592}; //notch, Fc: 50 Hz, Fsample: 500Hz, Q = 10
Hooglugt 0:99cbc87af37c 34 float binotch_states[4];
Hooglugt 0:99cbc87af37c 35
Hooglugt 0:99cbc87af37c 36 arm_biquad_casd_df1_inst_f32 trihighpass;
Hooglugt 0:99cbc87af37c 37 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 38 float trihighpass_states[4];
Hooglugt 0:99cbc87af37c 39
Hooglugt 0:99cbc87af37c 40 arm_biquad_casd_df1_inst_f32 trinotch;
Hooglugt 0:99cbc87af37c 41 float trinotch_const[] = {0.9714498065192796, -1.5718388053127037, 0.9714498065192796, 1.5718388053127037 , -0.9428996130385592}; //notch, Fc: 50 Hz, Fsample: 500Hz, Q = 10
Hooglugt 0:99cbc87af37c 42 float trinotch_states[4];
Hooglugt 0:99cbc87af37c 43
Hooglugt 0:99cbc87af37c 44 float bi_result = 0;
Hooglugt 0:99cbc87af37c 45 float tri_result = 0;
Hooglugt 0:99cbc87af37c 46
Hooglugt 0:99cbc87af37c 47 float bi_max = 0;
Hooglugt 0:99cbc87af37c 48 float tri_max = 0;
Hooglugt 0:99cbc87af37c 49
Hooglugt 0:99cbc87af37c 50 // variables for biceps MAF
Hooglugt 0:99cbc87af37c 51 float y0 = 0;
Hooglugt 0:99cbc87af37c 52 float y1 = 0;
Hooglugt 0:99cbc87af37c 53 float y2 = 0;
Hooglugt 0:99cbc87af37c 54 float y3 = 0;
Hooglugt 0:99cbc87af37c 55 float y4 = 0;
Hooglugt 0:99cbc87af37c 56 float y5 = 0;
Hooglugt 0:99cbc87af37c 57 float y6 = 0;
Hooglugt 0:99cbc87af37c 58 float y7 = 0;
Hooglugt 0:99cbc87af37c 59 float y8 = 0;
Hooglugt 0:99cbc87af37c 60 float y9 = 0;
Hooglugt 0:99cbc87af37c 61
Hooglugt 0:99cbc87af37c 62 // variables for triceps MAF
Hooglugt 0:99cbc87af37c 63 float x0 = 0;
Hooglugt 0:99cbc87af37c 64 float x1 = 0;
Hooglugt 0:99cbc87af37c 65 float x2 = 0;
Hooglugt 0:99cbc87af37c 66 float x3 = 0;
Hooglugt 0:99cbc87af37c 67 float x4 = 0;
Hooglugt 0:99cbc87af37c 68 float x5 = 0;
Hooglugt 0:99cbc87af37c 69 float x6 = 0;
Hooglugt 0:99cbc87af37c 70 float x7 = 0;
Hooglugt 0:99cbc87af37c 71 float x8 = 0;
Hooglugt 0:99cbc87af37c 72 float x9 = 0;
Hooglugt 0:99cbc87af37c 73
Hooglugt 0:99cbc87af37c 74 //LED interface
Hooglugt 0:99cbc87af37c 75 DigitalOut dir1(PTA1);
Hooglugt 0:99cbc87af37c 76 DigitalOut dir2(PTA2);
Hooglugt 0:99cbc87af37c 77 DigitalOut dir3(PTD4);
Hooglugt 0:99cbc87af37c 78 DigitalOut for1(PTA12);
Hooglugt 0:99cbc87af37c 79 DigitalOut for2(PTA13);
Hooglugt 0:99cbc87af37c 80 DigitalOut for3(PTD1);
Hooglugt 0:99cbc87af37c 81
Hooglugt 0:99cbc87af37c 82 uint8_t direction = 0;
Hooglugt 0:99cbc87af37c 83 uint8_t force = 0;
Hooglugt 0:99cbc87af37c 84
Hooglugt 0:99cbc87af37c 85 //motorcontrol objects
Hooglugt 0:99cbc87af37c 86
Hooglugt 0:99cbc87af37c 87 //motor 1, voltage pins op M2
Hooglugt 0:99cbc87af37c 88 Encoder motor1(PTD3, PTD5);
Hooglugt 0:99cbc87af37c 89 DigitalOut motor1dir(PTC9);
Hooglugt 0:99cbc87af37c 90 PwmOut pwm_motor1(PTC8);
Hooglugt 0:99cbc87af37c 91
Hooglugt 0:99cbc87af37c 92 //motor 2, voltage pins op M1
Hooglugt 0:99cbc87af37c 93 Encoder motor2(PTD2,PTD0);
Hooglugt 0:99cbc87af37c 94 DigitalOut motor2dir(PTA4);
Hooglugt 0:99cbc87af37c 95 PwmOut pwm_motor2(PTA5);
Hooglugt 0:99cbc87af37c 96
Hooglugt 0:99cbc87af37c 97 float integral = 0;
Hooglugt 7:ca1ade91bd14 98 float derivative = 0;
Hooglugt 4:697d5a806cc4 99 float batjeset = 0; //een if statement wordt "true" wanneer batje voor een bepaalde tijd de juiste hoek heeft behouden
Hooglugt 4:697d5a806cc4 100 float balhit = 0; //balhit wordt 1 wanneer arm een bepaalde hoek heeft afgelegd
Hooglugt 7:ca1ade91bd14 101 float kalibratie = 0;
Hooglugt 0:99cbc87af37c 102 float controlerror = 0;
Hooglugt 6:14051758db6f 103 float previouserror = 0;
Hooglugt 0:99cbc87af37c 104 float pwm = 0;
Hooglugt 0:99cbc87af37c 105
Hooglugt 8:75980dc35763 106 float pwm1 =0;
Hooglugt 8:75980dc35763 107 float integral1 = 0;
Hooglugt 8:75980dc35763 108 float derivative1 = 0;
Hooglugt 8:75980dc35763 109 float controlerror1 = 0;
Hooglugt 8:75980dc35763 110 float previouserror1 = 0;
Hooglugt 8:75980dc35763 111
Hooglugt 8:75980dc35763 112 int state = 1;
Hooglugt 9:0bc7f83b761e 113 int count = 0;
Hooglugt 9:0bc7f83b761e 114 float angle = 0;
Hooglugt 8:75980dc35763 115
Hooglugt 0:99cbc87af37c 116 float omrekenfactor1 = 0.0028035714; // 6.28/(32*70)
Hooglugt 8:75980dc35763 117 float omrekenfactor2 = 0.0015213178; // 6.28/(24*172);
Hooglugt 0:99cbc87af37c 118
Hooglugt 1:d44a866de64f 119 float setpoint1 = 0; //te behalen speed van motor1 (37D)
Hooglugt 1:d44a866de64f 120 float setpoint2 = 0; //te behalen hoek van motor2 (25D)
Hooglugt 0:99cbc87af37c 121
Hooglugt 9:0bc7f83b761e 122 float Kp1 = 12.0; //DEZE KP1 EN KP1 ZIJN NOG NIET DEFINITIEF
Hooglugt 9:0bc7f83b761e 123 float Ki1 = 0.0; //Kp en Ki van motor1, voor de slag
Hooglugt 6:14051758db6f 124 float Kd1 = 0.0;
Hooglugt 6:14051758db6f 125
Hooglugt 9:0bc7f83b761e 126 float Kp2 = 8.0; //Kp en Ki van motor2, voor in het positie brengen en voor de return
Hooglugt 9:0bc7f83b761e 127 float Ki2 = 0.0; //0.30 en 0.20
Hooglugt 9:0bc7f83b761e 128 float Kd2 = 0.0;
Hooglugt 0:99cbc87af37c 129
Hooglugt 0:99cbc87af37c 130 volatile bool looptimerflag; //voor motorcontrol TSAMP
Hooglugt 0:99cbc87af37c 131
Hooglugt 0:99cbc87af37c 132 //functies
Hooglugt 0:99cbc87af37c 133
Hooglugt 0:99cbc87af37c 134 void setlooptimerflag(void)
Hooglugt 0:99cbc87af37c 135 {
Hooglugt 0:99cbc87af37c 136 looptimerflag = true;
Hooglugt 10:6bf3e25f020a 137 }
Hooglugt 10:6bf3e25f020a 138
Hooglugt 10:6bf3e25f020a 139 Ticker hid;
Hooglugt 10:6bf3e25f020a 140
Hooglugt 10:6bf3e25f020a 141 void hidscope(void){
Hooglugt 7:ca1ade91bd14 142 scope.set(0, motor2.getPosition()*omrekenfactor2);
Hooglugt 10:6bf3e25f020a 143 scope.set(1, setpoint2);
Hooglugt 10:6bf3e25f020a 144 scope.set(2, motor1.getPosition()*omrekenfactor1);
Hooglugt 10:6bf3e25f020a 145 scope.set(3, setpoint1);
Hooglugt 10:6bf3e25f020a 146 scope.send();
Hooglugt 0:99cbc87af37c 147 }
Hooglugt 0:99cbc87af37c 148
Hooglugt 0:99cbc87af37c 149 void keep_in_range(float * in, float min, float max)
Hooglugt 0:99cbc87af37c 150 {
Hooglugt 0:99cbc87af37c 151 *in > min ? *in < max? : *in = max: *in = max;
Hooglugt 0:99cbc87af37c 152 }
Hooglugt 0:99cbc87af37c 153
Hooglugt 0:99cbc87af37c 154 void looper()
Hooglugt 0:99cbc87af37c 155 {
Hooglugt 0:99cbc87af37c 156 //put raw emg value of biceps and triceps in emg_biceps and emg_triceps, respectively
Hooglugt 0:99cbc87af37c 157 float emg_biceps; //Float voor EMG-waarde biceps
Hooglugt 0:99cbc87af37c 158 float emg_triceps; //Float voor EMG-waarde triceps
Hooglugt 0:99cbc87af37c 159
Hooglugt 0:99cbc87af37c 160 emg_biceps = emg0.read(); // read float value (0..1 = 0..3.3V) biceps
Hooglugt 0:99cbc87af37c 161 emg_triceps = emg1.read(); // read float value (0..1 = 0..3.3V) triceps
Hooglugt 0:99cbc87af37c 162
Hooglugt 0:99cbc87af37c 163 //process emg biceps
Hooglugt 0:99cbc87af37c 164 arm_biquad_cascade_df1_f32(&bihighpass, &emg_biceps, &emg_biceps, 1 );
Hooglugt 0:99cbc87af37c 165 arm_biquad_cascade_df1_f32(&binotch, &emg_biceps, &emg_biceps, 1 );
Hooglugt 0:99cbc87af37c 166 y0 = fabs(emg_biceps);
Hooglugt 0:99cbc87af37c 167 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 168 y9=y8;
Hooglugt 0:99cbc87af37c 169 y8=y7;
Hooglugt 0:99cbc87af37c 170 y7=y6;
Hooglugt 0:99cbc87af37c 171 y6=y5;
Hooglugt 0:99cbc87af37c 172 y5=y4;
Hooglugt 0:99cbc87af37c 173 y4=y3;
Hooglugt 0:99cbc87af37c 174 y3=y2;
Hooglugt 0:99cbc87af37c 175 y2=y1;
Hooglugt 0:99cbc87af37c 176 y1=y0;
Hooglugt 0:99cbc87af37c 177
Hooglugt 0:99cbc87af37c 178 //process emg triceps
Hooglugt 0:99cbc87af37c 179 arm_biquad_cascade_df1_f32(&trihighpass, &emg_triceps, &emg_triceps, 1 );
Hooglugt 0:99cbc87af37c 180 arm_biquad_cascade_df1_f32(&trinotch, &emg_triceps, &emg_triceps, 1 );
Hooglugt 0:99cbc87af37c 181 x0 = fabs(emg_triceps);
Hooglugt 0:99cbc87af37c 182 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 183 x9=x8;
Hooglugt 0:99cbc87af37c 184 x8=x7;
Hooglugt 0:99cbc87af37c 185 x7=x6;
Hooglugt 0:99cbc87af37c 186 x6=x5;
Hooglugt 0:99cbc87af37c 187 x5=x4;
Hooglugt 0:99cbc87af37c 188 x4=x3;
Hooglugt 0:99cbc87af37c 189 x3=x2;
Hooglugt 0:99cbc87af37c 190 x2=x1;
Hooglugt 0:99cbc87af37c 191 x1=x0;
Hooglugt 0:99cbc87af37c 192 }
Hooglugt 0:99cbc87af37c 193
Hooglugt 0:99cbc87af37c 194 void kalbi() //blinking three lights, first row - 2nd row unlit
Hooglugt 0:99cbc87af37c 195 {
Hooglugt 0:99cbc87af37c 196 if(dir1==0) {
Hooglugt 0:99cbc87af37c 197 dir1 = dir2 = dir3 = 1;
Hooglugt 0:99cbc87af37c 198 } else {
Hooglugt 0:99cbc87af37c 199 dir1 = dir2 = dir3 = 0;
Hooglugt 0:99cbc87af37c 200 }
Hooglugt 0:99cbc87af37c 201 }
Hooglugt 0:99cbc87af37c 202
Hooglugt 0:99cbc87af37c 203 void kaltri() //blinking three lights, 2nd row - first row lit
Hooglugt 0:99cbc87af37c 204 {
Hooglugt 0:99cbc87af37c 205 if(for1==0) {
Hooglugt 0:99cbc87af37c 206 for1 = for2 = for3 = 1;
Hooglugt 0:99cbc87af37c 207 } else {
Hooglugt 0:99cbc87af37c 208 for1 = for2 = for3 = 0;
Hooglugt 0:99cbc87af37c 209 }
Hooglugt 0:99cbc87af37c 210 }
Hooglugt 0:99cbc87af37c 211
Hooglugt 0:99cbc87af37c 212 void okay() //blinking the two lights you have chosen (misschien is hier een betere manier van coderen voor :P)
Hooglugt 0:99cbc87af37c 213 {
Hooglugt 0:99cbc87af37c 214 if(direction == 1 && force == 1) { // links zwak
Hooglugt 0:99cbc87af37c 215 if(for1 == 0 && dir1 == 0) {
Hooglugt 0:99cbc87af37c 216 for1 = dir1 = 1;
Hooglugt 0:99cbc87af37c 217 } else {
Hooglugt 0:99cbc87af37c 218 for1 = dir1 = 0;
Hooglugt 0:99cbc87af37c 219 }
Hooglugt 0:99cbc87af37c 220 }
Hooglugt 0:99cbc87af37c 221 if(direction == 1 && force == 2) { // links normaal
Hooglugt 0:99cbc87af37c 222 if(for2 == 0 && dir1 == 0) {
Hooglugt 0:99cbc87af37c 223 for2 = dir1 = 1;
Hooglugt 0:99cbc87af37c 224 } else {
Hooglugt 0:99cbc87af37c 225 for2 = dir1 = 0;
Hooglugt 0:99cbc87af37c 226 }
Hooglugt 0:99cbc87af37c 227 }
Hooglugt 0:99cbc87af37c 228 if(direction == 1 && force == 3) { // links sterk
Hooglugt 0:99cbc87af37c 229 if(for3 == 0 && dir1 == 0) {
Hooglugt 0:99cbc87af37c 230 for3 = dir1 = 1;
Hooglugt 0:99cbc87af37c 231 } else {
Hooglugt 0:99cbc87af37c 232 for3 = dir1 = 0;
Hooglugt 0:99cbc87af37c 233 }
Hooglugt 0:99cbc87af37c 234 }
Hooglugt 0:99cbc87af37c 235 if(direction == 2 && force == 1) { // mid zwak
Hooglugt 0:99cbc87af37c 236 if(for1 == 0 && dir2 == 0) {
Hooglugt 0:99cbc87af37c 237 for1 = dir2 = 1;
Hooglugt 0:99cbc87af37c 238 } else {
Hooglugt 0:99cbc87af37c 239 for1 = dir2 = 0;
Hooglugt 0:99cbc87af37c 240 }
Hooglugt 0:99cbc87af37c 241 }
Hooglugt 0:99cbc87af37c 242 if(direction == 2 && force == 2) { // mid normaal
Hooglugt 0:99cbc87af37c 243 if(for2 == 0 && dir2 == 0) {
Hooglugt 0:99cbc87af37c 244 for2 = dir2 = 1;
Hooglugt 0:99cbc87af37c 245 } else {
Hooglugt 0:99cbc87af37c 246 for2 = dir2 = 0;
Hooglugt 0:99cbc87af37c 247 }
Hooglugt 0:99cbc87af37c 248 }
Hooglugt 0:99cbc87af37c 249 if(direction == 2 && force == 3) { // mid sterk
Hooglugt 0:99cbc87af37c 250 if(for3 == 0 && dir2 == 0) {
Hooglugt 0:99cbc87af37c 251 for3 = dir2 = 1;
Hooglugt 0:99cbc87af37c 252 } else {
Hooglugt 0:99cbc87af37c 253 for3 = dir2 = 0;
Hooglugt 0:99cbc87af37c 254 }
Hooglugt 0:99cbc87af37c 255 }
Hooglugt 0:99cbc87af37c 256 if(direction == 3 && force == 1) { // rechts zwak
Hooglugt 0:99cbc87af37c 257 if(for1 == 0 && dir3 == 0) {
Hooglugt 0:99cbc87af37c 258 for1 = dir3 = 1;
Hooglugt 0:99cbc87af37c 259 } else {
Hooglugt 0:99cbc87af37c 260 for1 = dir3 = 0;
Hooglugt 0:99cbc87af37c 261 }
Hooglugt 0:99cbc87af37c 262 }
Hooglugt 0:99cbc87af37c 263 if(direction == 3 && force == 2) { // rechts normaal
Hooglugt 0:99cbc87af37c 264 if(for2 == 0 && dir3 == 0) {
Hooglugt 0:99cbc87af37c 265 for2 = dir3 = 1;
Hooglugt 0:99cbc87af37c 266 } else {
Hooglugt 0:99cbc87af37c 267 for2 = dir3 = 0;
Hooglugt 0:99cbc87af37c 268 }
Hooglugt 0:99cbc87af37c 269 }
Hooglugt 0:99cbc87af37c 270 if(direction == 3 && force == 3) { // rechts sterk
Hooglugt 0:99cbc87af37c 271 if(for3 == 0 && dir3 == 0) {
Hooglugt 0:99cbc87af37c 272 for3 = dir3 = 1;
Hooglugt 0:99cbc87af37c 273 } else {
Hooglugt 0:99cbc87af37c 274 for3 = dir3 = 0;
Hooglugt 0:99cbc87af37c 275 }
Hooglugt 0:99cbc87af37c 276 }
Hooglugt 0:99cbc87af37c 277 }
Hooglugt 0:99cbc87af37c 278
Hooglugt 0:99cbc87af37c 279 int main()
Hooglugt 0:99cbc87af37c 280 {
Hooglugt 10:6bf3e25f020a 281 hid.attach(hidscope, 0.01);
Hooglugt 0:99cbc87af37c 282 pc.baud(115200); //baudrate instellen
Hooglugt 0:99cbc87af37c 283 log_timer.attach(looper, TSAMP_EMG); //EMG, Fsample 500 Hz
Hooglugt 0:99cbc87af37c 284 looptimer.attach(setlooptimerflag,TSAMP);
Hooglugt 0:99cbc87af37c 285 pwm_motor1.period_us(100); //10kHz PWM frequency
Hooglugt 0:99cbc87af37c 286 pwm_motor2.period_us(100); //10kHz PWM frequency
Hooglugt 0:99cbc87af37c 287
Hooglugt 0:99cbc87af37c 288 //set up filters
Hooglugt 0:99cbc87af37c 289 arm_biquad_cascade_df1_init_f32(&binotch, 1, binotch_const, binotch_states);
Hooglugt 0:99cbc87af37c 290 arm_biquad_cascade_df1_init_f32(&bihighpass, 1, bihighpass_const, bihighpass_states);
Hooglugt 0:99cbc87af37c 291
Hooglugt 0:99cbc87af37c 292 arm_biquad_cascade_df1_init_f32(&trinotch, 1, trinotch_const, trinotch_states);
Hooglugt 0:99cbc87af37c 293 arm_biquad_cascade_df1_init_f32(&trihighpass, 1, trihighpass_const, trihighpass_states);
Hooglugt 0:99cbc87af37c 294
Hooglugt 0:99cbc87af37c 295 //kalibratie
Hooglugt 0:99cbc87af37c 296
Hooglugt 0:99cbc87af37c 297 //motorarm naar nul-positie
Hooglugt 0:99cbc87af37c 298 blink.attach(kalbi, 0.2);
Hooglugt 1:d44a866de64f 299 blink2.attach(kaltri, 0.2);
Hooglugt 0:99cbc87af37c 300
Hooglugt 0:99cbc87af37c 301 //calibration motor 2
Hooglugt 7:ca1ade91bd14 302 pwm_motor2.write(0.65); //lage PWM
Hooglugt 5:e5ca53305b87 303 motor2dir = 0; //rechtsom
Hooglugt 0:99cbc87af37c 304 wait(1); // anders wordt de while(1) meteen onderbroken
Hooglugt 4:697d5a806cc4 305 while(1) {
Hooglugt 5:e5ca53305b87 306 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 307 pwm_motor2.write(0);
Hooglugt 4:697d5a806cc4 308 motor2.setPosition(0);
Hooglugt 4:697d5a806cc4 309 goto motor1cal;
Hooglugt 0:99cbc87af37c 310 }
Hooglugt 0:99cbc87af37c 311 wait(0.01);
Hooglugt 0:99cbc87af37c 312 }
Hooglugt 4:697d5a806cc4 313 motor1cal:
Hooglugt 0:99cbc87af37c 314 //calibration motor 1
Hooglugt 7:ca1ade91bd14 315 pwm_motor1.write(0.65); //lage PWM
Hooglugt 7:ca1ade91bd14 316 motor1dir = 0; //linksom
Hooglugt 0:99cbc87af37c 317 wait(1); // anders wordt de while(1) meteen onderbroken
Hooglugt 4:697d5a806cc4 318 while(1) {
Hooglugt 8:75980dc35763 319 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 320 pwm_motor1.write(0);
Hooglugt 4:697d5a806cc4 321 motor1.setPosition(0);
Hooglugt 4:697d5a806cc4 322 goto emgcal;
Hooglugt 0:99cbc87af37c 323 }
Hooglugt 0:99cbc87af37c 324 wait(0.01);
Hooglugt 0:99cbc87af37c 325 }
Hooglugt 4:697d5a806cc4 326 emgcal:
Hooglugt 0:99cbc87af37c 327 blink.detach();
Hooglugt 1:d44a866de64f 328 blink2.detach();
Hooglugt 0:99cbc87af37c 329 dir1 = dir2 = dir3 = 1;
Hooglugt 4:697d5a806cc4 330 for1 = for2 = for3 = 1;
Hooglugt 4:697d5a806cc4 331 pc.printf("kalmoarm ");
Hooglugt 0:99cbc87af37c 332 wait (1);
Hooglugt 0:99cbc87af37c 333 for1 = for2 = for3 = 0;
Hooglugt 0:99cbc87af37c 334
Hooglugt 8:75980dc35763 335 if(kalibratie==0) {
Hooglugt 8:75980dc35763 336 //biceps kalibratie
Hooglugt 8:75980dc35763 337 blink.attach(kalbi, 0.2);
Hooglugt 8:75980dc35763 338 for (int kaltime = 0; kaltime<KALIBRATIONTIME; kaltime++) {
Hooglugt 8:75980dc35763 339 if (bi_max < bi_result) {
Hooglugt 8:75980dc35763 340 bi_max = bi_result;
Hooglugt 8:75980dc35763 341 }
Hooglugt 8:75980dc35763 342 wait (0.01);
Hooglugt 0:99cbc87af37c 343 }
Hooglugt 8:75980dc35763 344 blink.detach();
Hooglugt 8:75980dc35763 345 dir1 = dir2 = dir3 = 1;
Hooglugt 8:75980dc35763 346 pc.printf("kalbi ");
Hooglugt 8:75980dc35763 347 wait (1);
Hooglugt 0:99cbc87af37c 348
Hooglugt 8:75980dc35763 349 //triceps kalibratie
Hooglugt 8:75980dc35763 350 blink.attach(kaltri, 0.2);
Hooglugt 8:75980dc35763 351 for (int kaltime = 0; kaltime<KALIBRATIONTIME; kaltime++) {
Hooglugt 8:75980dc35763 352 if (tri_max < tri_result) {
Hooglugt 8:75980dc35763 353 tri_max = tri_result;
Hooglugt 8:75980dc35763 354 }
Hooglugt 8:75980dc35763 355 wait (0.01);
Hooglugt 0:99cbc87af37c 356 }
Hooglugt 8:75980dc35763 357 blink.detach();
Hooglugt 8:75980dc35763 358 for1 = for2 = for3 = 1;
Hooglugt 8:75980dc35763 359 pc.printf("kaltri ");
Hooglugt 8:75980dc35763 360 wait (1);
Hooglugt 8:75980dc35763 361 for1 = for2 = for3 = 0;
Hooglugt 8:75980dc35763 362 kalibratie = 1;
Hooglugt 0:99cbc87af37c 363 }
Hooglugt 0:99cbc87af37c 364
Hooglugt 4:697d5a806cc4 365 directionchoice:
Hooglugt 1:d44a866de64f 366 log_timer.attach(looper, TSAMP_EMG);
Hooglugt 9:0bc7f83b761e 367 direction = 1;
Hooglugt 9:0bc7f83b761e 368 force = 1;
Hooglugt 9:0bc7f83b761e 369 goto motorcontrol;
Hooglugt 0:99cbc87af37c 370
Hooglugt 4:697d5a806cc4 371 while(1) { //Loop keuze DIRECTION
Hooglugt 0:99cbc87af37c 372 for(int i=1; i<4; i++) {
Hooglugt 0:99cbc87af37c 373 if(i==1) { //red
Hooglugt 0:99cbc87af37c 374 dir1=1;
Hooglugt 0:99cbc87af37c 375 dir2=0;
Hooglugt 0:99cbc87af37c 376 dir3=0;
Hooglugt 0:99cbc87af37c 377 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 378 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 379 direction = 1;
Hooglugt 4:697d5a806cc4 380 pc.printf("links ");
Hooglugt 0:99cbc87af37c 381 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 382 goto forcechoice; // goes to second while(1) for the deciding the force
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 if(i==2) { //green
Hooglugt 0:99cbc87af37c 389 dir1 =0;
Hooglugt 0:99cbc87af37c 390 dir2 =1;
Hooglugt 0:99cbc87af37c 391 dir3 =0;
Hooglugt 0:99cbc87af37c 392 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 393 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 394 direction = 2;
Hooglugt 4:697d5a806cc4 395 pc.printf("mid ");
Hooglugt 0:99cbc87af37c 396 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 397 goto forcechoice;
Hooglugt 0:99cbc87af37c 398 } else {
Hooglugt 0:99cbc87af37c 399 wait(0.01);
Hooglugt 0:99cbc87af37c 400 }
Hooglugt 0:99cbc87af37c 401 }
Hooglugt 0:99cbc87af37c 402 }
Hooglugt 0:99cbc87af37c 403 if(i==3) { //blue
Hooglugt 0:99cbc87af37c 404 dir1 =0;
Hooglugt 0:99cbc87af37c 405 dir2 =0;
Hooglugt 0:99cbc87af37c 406 dir3 =1;
Hooglugt 0:99cbc87af37c 407 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 408 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 409 direction = 3;
Hooglugt 4:697d5a806cc4 410 pc.printf("rechts ");
Hooglugt 0:99cbc87af37c 411 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 412 goto forcechoice;
Hooglugt 0:99cbc87af37c 413 } else {
Hooglugt 0:99cbc87af37c 414 wait(0.01);
Hooglugt 0:99cbc87af37c 415 }
Hooglugt 0:99cbc87af37c 416 }
Hooglugt 0:99cbc87af37c 417 }
Hooglugt 0:99cbc87af37c 418 }
Hooglugt 0:99cbc87af37c 419 }
Hooglugt 4:697d5a806cc4 420 forcechoice:
Hooglugt 4:697d5a806cc4 421 while(1) { //Loop keuze FORCE
Hooglugt 0:99cbc87af37c 422 for(int j=1; j<4; j++) {
Hooglugt 0:99cbc87af37c 423 if(j==1) { //red
Hooglugt 0:99cbc87af37c 424 for1=1;
Hooglugt 0:99cbc87af37c 425 for2=0;
Hooglugt 0:99cbc87af37c 426 for3=0;
Hooglugt 0:99cbc87af37c 427 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 428 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 429 for1 = for2 = for3 = 0;
Hooglugt 4:697d5a806cc4 430 pc.printf("reset ");
Hooglugt 0:99cbc87af37c 431 goto directionchoice;
Hooglugt 0:99cbc87af37c 432 } else {
Hooglugt 1:d44a866de64f 433 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 434 force = 1;
Hooglugt 4:697d5a806cc4 435 pc.printf("zwak ");
Hooglugt 0:99cbc87af37c 436 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 437 goto choicesmade;
Hooglugt 0:99cbc87af37c 438 } else {
Hooglugt 0:99cbc87af37c 439 wait(0.01);
Hooglugt 0:99cbc87af37c 440 }
Hooglugt 0:99cbc87af37c 441 }
Hooglugt 0:99cbc87af37c 442 }
Hooglugt 0:99cbc87af37c 443 }
Hooglugt 0:99cbc87af37c 444 if(j==2) { //green
Hooglugt 0:99cbc87af37c 445 for1=0;
Hooglugt 0:99cbc87af37c 446 for2=1;
Hooglugt 0:99cbc87af37c 447 for3=0;
Hooglugt 0:99cbc87af37c 448 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 449 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 450 for1 = for2 = for3 = 0;
Hooglugt 4:697d5a806cc4 451 pc.printf("reset ");
Hooglugt 0:99cbc87af37c 452 goto directionchoice;
Hooglugt 0:99cbc87af37c 453 } else {
Hooglugt 1:d44a866de64f 454 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 455 force = 2;
Hooglugt 4:697d5a806cc4 456 pc.printf("normaal ");
Hooglugt 0:99cbc87af37c 457 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 458 goto choicesmade;
Hooglugt 0:99cbc87af37c 459 } else {
Hooglugt 0:99cbc87af37c 460 wait(0.01);
Hooglugt 0:99cbc87af37c 461 }
Hooglugt 0:99cbc87af37c 462 }
Hooglugt 0:99cbc87af37c 463 }
Hooglugt 0:99cbc87af37c 464 }
Hooglugt 0:99cbc87af37c 465 if(j==3) { //blue
Hooglugt 0:99cbc87af37c 466 for1=0;
Hooglugt 0:99cbc87af37c 467 for2=0;
Hooglugt 0:99cbc87af37c 468 for3=1;
Hooglugt 0:99cbc87af37c 469 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 470 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 471 for1 = for2 = for3 = 0;
Hooglugt 4:697d5a806cc4 472 pc.printf("reset ");
Hooglugt 0:99cbc87af37c 473 goto directionchoice;
Hooglugt 0:99cbc87af37c 474 } else {
Hooglugt 1:d44a866de64f 475 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 476 force = 3;
Hooglugt 4:697d5a806cc4 477 pc.printf("sterk ");
Hooglugt 0:99cbc87af37c 478 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 479 goto choicesmade;
Hooglugt 0:99cbc87af37c 480 } else {
Hooglugt 0:99cbc87af37c 481 wait(0.01);
Hooglugt 0:99cbc87af37c 482 }
Hooglugt 0:99cbc87af37c 483 }
Hooglugt 0:99cbc87af37c 484 }
Hooglugt 0:99cbc87af37c 485 }
Hooglugt 0:99cbc87af37c 486 }
Hooglugt 0:99cbc87af37c 487 }
Hooglugt 0:99cbc87af37c 488
Hooglugt 0:99cbc87af37c 489 choicesmade:
Hooglugt 0:99cbc87af37c 490 blink.attach(okay, 0.2);
Hooglugt 4:697d5a806cc4 491 while(1) {
Hooglugt 4:697d5a806cc4 492 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 493 blink.detach();
Hooglugt 4:697d5a806cc4 494 pc.printf("reset ");
Hooglugt 1:d44a866de64f 495 switch (direction) {
Hooglugt 1:d44a866de64f 496 case 1:
Hooglugt 1:d44a866de64f 497 dir1 = 1;
Hooglugt 1:d44a866de64f 498 for1 = 1;
Hooglugt 1:d44a866de64f 499 for2 = for3 = 0;
Hooglugt 1:d44a866de64f 500 break;
Hooglugt 1:d44a866de64f 501 case 2:
Hooglugt 1:d44a866de64f 502 dir2 = 1;
Hooglugt 1:d44a866de64f 503 for1 = 1;
Hooglugt 1:d44a866de64f 504 for2 = for3 = 0;
Hooglugt 1:d44a866de64f 505 break;
Hooglugt 1:d44a866de64f 506 case 3:
Hooglugt 1:d44a866de64f 507 dir3 = 1;
Hooglugt 1:d44a866de64f 508 for1 = 1;
Hooglugt 1:d44a866de64f 509 for2 = for3 = 0;
Hooglugt 1:d44a866de64f 510 break;
Hooglugt 1:d44a866de64f 511 }
Hooglugt 4:697d5a806cc4 512
Hooglugt 4:697d5a806cc4 513 wait(1); // 1 sec wait, anders reset je meteen ook de biceps keuze
Hooglugt 4:697d5a806cc4 514 goto forcechoice;
Hooglugt 0:99cbc87af37c 515 } else {
Hooglugt 1:d44a866de64f 516 if(bi_result>FACTOR*bi_max && (dir1==1||dir2==1||dir3==1)) {
Hooglugt 4:697d5a806cc4 517 blink.detach();
Hooglugt 4:697d5a806cc4 518 log_timer.detach();
Hooglugt 4:697d5a806cc4 519 goto motorcontrol;
Hooglugt 0:99cbc87af37c 520 } else {
Hooglugt 0:99cbc87af37c 521 wait(0.01); // not sure of de wait noodzakelijk is (nu toegevoegd zodat het niet teveel strain levert op bordje)
Hooglugt 0:99cbc87af37c 522 }
Hooglugt 0:99cbc87af37c 523 }
Hooglugt 0:99cbc87af37c 524 }
Hooglugt 4:697d5a806cc4 525
Hooglugt 4:697d5a806cc4 526 motorcontrol:
Hooglugt 4:697d5a806cc4 527
Hooglugt 0:99cbc87af37c 528 /* Vanaf hier komt de aansturing van de motor */
Hooglugt 0:99cbc87af37c 529
Hooglugt 8:75980dc35763 530
Hooglugt 8:75980dc35763 531 // FORMAT_CODE_START
Hooglugt 8:75980dc35763 532 setpoint1=0;
Hooglugt 8:75980dc35763 533 setpoint2=0;
Hooglugt 8:75980dc35763 534 integral1 = integral = 0;
Hooglugt 8:75980dc35763 535 previouserror1 = previouserror = 0;
Hooglugt 10:6bf3e25f020a 536
Hooglugt 10:6bf3e25f020a 537
Hooglugt 8:75980dc35763 538 while(1) { // loop voor het goed plaatsen van motor2 (batje hoek)
Hooglugt 8:75980dc35763 539 while(!looptimerflag)
Hooglugt 9:0bc7f83b761e 540 {}
Hooglugt 9:0bc7f83b761e 541 looptimerflag = false; //clear flag
Hooglugt 1:d44a866de64f 542
Hooglugt 8:75980dc35763 543 switch(state) {
Hooglugt 8:75980dc35763 544 case 1:
Hooglugt 8:75980dc35763 545 setpoint1=0;
Hooglugt 9:0bc7f83b761e 546 setpoint2 += 0.4*TSAMP;
Hooglugt 9:0bc7f83b761e 547 switch (direction) {
Hooglugt 9:0bc7f83b761e 548 case 1:
Hooglugt 9:0bc7f83b761e 549 angle = 0.436332313+0.197222205; //(0.436332313+0.197222205); //25 graden + 11,3 graden, slag naar linkerdoel
Hooglugt 9:0bc7f83b761e 550 break;
Hooglugt 9:0bc7f83b761e 551 case 2:
Hooglugt 9:0bc7f83b761e 552 angle = 0.436332313;
Hooglugt 9:0bc7f83b761e 553 break;
Hooglugt 9:0bc7f83b761e 554 case 3:
Hooglugt 9:0bc7f83b761e 555 angle = 0.436332313-0.197222205;
Hooglugt 9:0bc7f83b761e 556 break;
Hooglugt 9:0bc7f83b761e 557 }
Hooglugt 9:0bc7f83b761e 558 if(setpoint2>angle) { //abs(motor2.getPosition()*omrekenfactor2-setpoint2)<0.1
Hooglugt 10:6bf3e25f020a 559 setpoint2 = angle;
Hooglugt 10:6bf3e25f020a 560 count = 0;
Hooglugt 10:6bf3e25f020a 561 state=2;
Hooglugt 9:0bc7f83b761e 562 }
Hooglugt 10:6bf3e25f020a 563 /*if(abs(setpoint2-motor2.getPosition()*omrekenfactor2) < 0.02) {
Hooglugt 9:0bc7f83b761e 564 state = 2;
Hooglugt 10:6bf3e25f020a 565 }*/
Hooglugt 8:75980dc35763 566 break;
Hooglugt 9:0bc7f83b761e 567
Hooglugt 8:75980dc35763 568 case 2:
Hooglugt 9:0bc7f83b761e 569 setpoint1 = 0;
Hooglugt 9:0bc7f83b761e 570 count++;
Hooglugt 9:0bc7f83b761e 571 if(count>1000) {
Hooglugt 9:0bc7f83b761e 572 count = 0;
Hooglugt 9:0bc7f83b761e 573 state = 3;
Hooglugt 9:0bc7f83b761e 574 }
Hooglugt 10:6bf3e25f020a 575 break;
Hooglugt 9:0bc7f83b761e 576 case 3:
Hooglugt 8:75980dc35763 577 switch (force) {
Hooglugt 8:75980dc35763 578 case 1:
Hooglugt 10:6bf3e25f020a 579 setpoint1 += 2.5*TSAMP; //6.8*TSAMP;
Hooglugt 8:75980dc35763 580 break;
Hooglugt 8:75980dc35763 581 case 2:
Hooglugt 9:0bc7f83b761e 582 setpoint1 += 0.4*TSAMP; //7.4*TSAMP;
Hooglugt 8:75980dc35763 583 break;
Hooglugt 8:75980dc35763 584 case 3:
Hooglugt 9:0bc7f83b761e 585 setpoint1 += 0.4*TSAMP; //8.0*TSAMP;
Hooglugt 8:75980dc35763 586 break;
Hooglugt 8:75980dc35763 587 }
Hooglugt 10:6bf3e25f020a 588 if(fabs(motor1.getPosition()*omrekenfactor1)>2.36) {
Hooglugt 9:0bc7f83b761e 589 state = 4;
Hooglugt 9:0bc7f83b761e 590 }
Hooglugt 9:0bc7f83b761e 591 break;
Hooglugt 9:0bc7f83b761e 592 case 4:
Hooglugt 9:0bc7f83b761e 593 setpoint2 -= 0.25*TSAMP;
Hooglugt 10:6bf3e25f020a 594 if(setpoint2 < 0.001) { //(abs(setpoint2 - motor2.getPosition()*omrekenfactor2) < 0.1) - op 0 draait hij mogelijk in de arm
Hooglugt 9:0bc7f83b761e 595 state = 5;
Hooglugt 9:0bc7f83b761e 596 }
Hooglugt 8:75980dc35763 597 break;
Hooglugt 9:0bc7f83b761e 598 case 5:
Hooglugt 10:6bf3e25f020a 599 setpoint1 -= 0.5*TSAMP;
Hooglugt 9:0bc7f83b761e 600 if(setpoint1 < 0) {
Hooglugt 9:0bc7f83b761e 601 state = 6;
Hooglugt 9:0bc7f83b761e 602 }
Hooglugt 8:75980dc35763 603 break;
Hooglugt 9:0bc7f83b761e 604 case 6:
Hooglugt 9:0bc7f83b761e 605 setpoint1 = 0;
Hooglugt 8:75980dc35763 606 count++;
Hooglugt 9:0bc7f83b761e 607 if(count>3000) {
Hooglugt 8:75980dc35763 608 count = 0;
Hooglugt 8:75980dc35763 609 state = 1;
Hooglugt 8:75980dc35763 610 goto directionchoice;
Hooglugt 9:0bc7f83b761e 611 }
Hooglugt 8:75980dc35763 612 break;
Hooglugt 8:75980dc35763 613 }
Hooglugt 8:75980dc35763 614
Hooglugt 8:75980dc35763 615 //motor regeling
Hooglugt 8:75980dc35763 616
Hooglugt 8:75980dc35763 617 //regelaar motor1, bepaalt positie
Hooglugt 8:75980dc35763 618 controlerror1 = setpoint1 - motor1.getPosition()*omrekenfactor1;
Hooglugt 8:75980dc35763 619 integral1 = integral1 + controlerror1*TSAMP;
Hooglugt 8:75980dc35763 620 derivative1 = (controlerror1 - previouserror1)/TSAMP;
Hooglugt 8:75980dc35763 621 pwm1 = Kp1*controlerror1 + Ki1*integral1 + Kd1*derivative1;
Hooglugt 8:75980dc35763 622 previouserror1 = controlerror1;
Hooglugt 8:75980dc35763 623
Hooglugt 8:75980dc35763 624 keep_in_range(&pwm1, -1,1);
Hooglugt 10:6bf3e25f020a 625 pwm_motor1.write(fabs(pwm1));
Hooglugt 8:75980dc35763 626 if(pwm1 > 0) {
Hooglugt 8:75980dc35763 627 motor1dir = 1;
Hooglugt 8:75980dc35763 628 } else {
Hooglugt 8:75980dc35763 629 motor1dir = 0;
Hooglugt 8:75980dc35763 630 }
Hooglugt 8:75980dc35763 631
Hooglugt 0:99cbc87af37c 632
Hooglugt 0:99cbc87af37c 633 //regelaar motor2, bepaalt positie
Hooglugt 0:99cbc87af37c 634 controlerror = setpoint2 - motor2.getPosition()*omrekenfactor2;
Hooglugt 0:99cbc87af37c 635 integral = integral + controlerror*TSAMP;
Hooglugt 6:14051758db6f 636 derivative = (controlerror - previouserror)/TSAMP;
Hooglugt 6:14051758db6f 637 pwm = Kp2*controlerror + Ki2*integral + Kd2*derivative;
Hooglugt 8:75980dc35763 638 previouserror = controlerror;
Hooglugt 0:99cbc87af37c 639
Hooglugt 8:75980dc35763 640 keep_in_range(&pwm, -1,1);
Hooglugt 10:6bf3e25f020a 641 pwm_motor2.write(fabs(pwm));
Hooglugt 0:99cbc87af37c 642 if(pwm > 0) {
Hooglugt 0:99cbc87af37c 643 motor2dir = 1;
Hooglugt 0:99cbc87af37c 644 } else {
Hooglugt 0:99cbc87af37c 645 motor2dir = 0;
Hooglugt 0:99cbc87af37c 646 }
Hooglugt 0:99cbc87af37c 647
Hooglugt 8:75980dc35763 648 /*
Hooglugt 8:75980dc35763 649 //controleert of batje positie heeft bepaald
Hooglugt 8:75980dc35763 650 if(batjeset < 200) { // dit is nog te bepalen, op dit moment als binnen marge van 1% voor 2 seconde, dan naar volgende motorcontrol
Hooglugt 8:75980dc35763 651 if (motor2.getPosition()*omrekenfactor2 > setpoint2*1.05 || motor2.getPosition()*omrekenfactor2 < setpoint2*0.95) {
Hooglugt 8:75980dc35763 652 batjeset = 0;
Hooglugt 8:75980dc35763 653 } else {
Hooglugt 8:75980dc35763 654 batjeset++;
Hooglugt 8:75980dc35763 655 }
Hooglugt 8:75980dc35763 656 } else {
Hooglugt 8:75980dc35763 657 pwm_motor2.write(0);
Hooglugt 8:75980dc35763 658 batjeset = integral = derivative = previouserror = 0;
Hooglugt 8:75980dc35763 659 wait(1);
Hooglugt 8:75980dc35763 660 //goto motor1control;
Hooglugt 8:75980dc35763 661 }
Hooglugt 8:75980dc35763 662 */
Hooglugt 8:75980dc35763 663 }
Hooglugt 8:75980dc35763 664 /*
Hooglugt 8:75980dc35763 665 motor1control:
Hooglugt 8:75980dc35763 666 while(1) { // loop voor het slaan mbv motor1 (batje snelheid)
Hooglugt 8:75980dc35763 667 while(!looptimerflag);
Hooglugt 8:75980dc35763 668 looptimerflag = false; //clear flag
Hooglugt 7:ca1ade91bd14 669
Hooglugt 8:75980dc35763 670 if (balhit == 0) { //regelaar motor1, bepaalt snelheid
Hooglugt 8:75980dc35763 671 controlerror = setpoint1 - motor1.getSpeed()*omrekenfactor1;
Hooglugt 8:75980dc35763 672 integral = integral + controlerror*TSAMP;
Hooglugt 8:75980dc35763 673 derivative = (controlerror - previouserror)/TSAMP;
Hooglugt 8:75980dc35763 674 pwm = Kp1*controlerror + Ki1*integral + Kd1*derivative;
Hooglugt 8:75980dc35763 675 previouserror = controlerror;
Hooglugt 8:75980dc35763 676 } else { //regelaar motor1, bepaalt positie
Hooglugt 8:75980dc35763 677 balhit = integral = derivative = previouserror = 0;
Hooglugt 8:75980dc35763 678 goto resetpositionmotor1;
Hooglugt 4:697d5a806cc4 679 }
Hooglugt 8:75980dc35763 680
Hooglugt 8:75980dc35763 681 keep_in_range(&pwm, -1,1);
Hooglugt 8:75980dc35763 682 pwm_motor1.write(abs(pwm));
Hooglugt 8:75980dc35763 683
Hooglugt 8:75980dc35763 684 if(pwm > 0) {
Hooglugt 8:75980dc35763 685 motor1dir = 1;
Hooglugt 8:75980dc35763 686 } else {
Hooglugt 8:75980dc35763 687 motor1dir = 0;
Hooglugt 8:75980dc35763 688 }
Hooglugt 4:697d5a806cc4 689
Hooglugt 8:75980dc35763 690 //controleert of batje balletje heeft bereikt
Hooglugt 8:75980dc35763 691 //if (motor1.getSpeed()*omrekenfactor1 >= 7.5 && motor1.getPosition()*omrekenfactor1 > 1.03 && motor1.getPosition()*omrekenfactor1 < 1.07) { vrij specifieke if-statement ter controle
Hooglugt 8:75980dc35763 692 if (motor1.getPosition()*omrekenfactor1 > 1.60) {
Hooglugt 8:75980dc35763 693 balhit = 1;
Hooglugt 8:75980dc35763 694 }
Hooglugt 8:75980dc35763 695 }
Hooglugt 8:75980dc35763 696 // FORMAT_CODE_END
Hooglugt 0:99cbc87af37c 697
Hooglugt 8:75980dc35763 698 resetpositionmotor1:
Hooglugt 8:75980dc35763 699 while(1) { // slagarm wordt weer in oorspronkelijke positie geplaatst
Hooglugt 8:75980dc35763 700 while(!looptimerflag);
Hooglugt 8:75980dc35763 701 looptimerflag = false; //clear flag
Hooglugt 8:75980dc35763 702
Hooglugt 8:75980dc35763 703 //regelaar motor1, bepaalt positie
Hooglugt 8:75980dc35763 704 controlerror = -1*motor1.getPosition()*omrekenfactor1;
Hooglugt 4:697d5a806cc4 705 integral = integral + controlerror*TSAMP;
Hooglugt 6:14051758db6f 706 derivative = (controlerror - previouserror)/TSAMP;
Hooglugt 8:75980dc35763 707 pwm = Kp3*controlerror + Ki3*integral + Kd3*derivative;
Hooglugt 8:75980dc35763 708 previouserror = controlerror;
Hooglugt 8:75980dc35763 709
Hooglugt 8:75980dc35763 710 keep_in_range(&pwm, -1,1);
Hooglugt 8:75980dc35763 711 if(pwm > 0) {
Hooglugt 8:75980dc35763 712 motor1dir = 1;
Hooglugt 8:75980dc35763 713 } else {
Hooglugt 8:75980dc35763 714 motor1dir = 0; //1 = rechtsom, 0 = linksom
Hooglugt 8:75980dc35763 715 }
Hooglugt 8:75980dc35763 716
Hooglugt 8:75980dc35763 717 pwm_motor1.write(abs(pwm));
Hooglugt 4:697d5a806cc4 718
Hooglugt 8:75980dc35763 719 //controleert of arm terug in positie is
Hooglugt 8:75980dc35763 720 if(batjeset < 200) {
Hooglugt 8:75980dc35763 721 if (motor1.getPosition()*omrekenfactor1 > 0.1 || motor1.getPosition()*omrekenfactor1 < -0.1) {
Hooglugt 8:75980dc35763 722 batjeset = 0;
Hooglugt 8:75980dc35763 723 } else {
Hooglugt 8:75980dc35763 724 batjeset++;
Hooglugt 8:75980dc35763 725 }
Hooglugt 8:75980dc35763 726 } else {
Hooglugt 8:75980dc35763 727 pwm_motor1.write(0);
Hooglugt 8:75980dc35763 728 batjeset = integral = derivative = previouserror = 0;
Hooglugt 8:75980dc35763 729 wait(1);
Hooglugt 8:75980dc35763 730 goto resetpositionmotor2;
Hooglugt 8:75980dc35763 731 }
Hooglugt 0:99cbc87af37c 732 }
Hooglugt 0:99cbc87af37c 733
Hooglugt 8:75980dc35763 734 resetpositionmotor2:
Hooglugt 8:75980dc35763 735 while(1) { // loop voor het goed plaatsen van motor2 (batje hoek)
Hooglugt 8:75980dc35763 736 while(!looptimerflag);
Hooglugt 8:75980dc35763 737 looptimerflag = false; //clear flag
Hooglugt 0:99cbc87af37c 738
Hooglugt 8:75980dc35763 739 //regelaar motor2, bepaalt positie
Hooglugt 8:75980dc35763 740 controlerror = -1*motor2.getPosition()*omrekenfactor2;
Hooglugt 8:75980dc35763 741 integral = integral + controlerror*TSAMP;
Hooglugt 8:75980dc35763 742 derivative = (controlerror - previouserror)/TSAMP;
Hooglugt 8:75980dc35763 743 pwm = Kp4*controlerror + Ki4*integral + Kd4*derivative;
Hooglugt 8:75980dc35763 744 previouserror = controlerror;
Hooglugt 0:99cbc87af37c 745
Hooglugt 8:75980dc35763 746 keep_in_range(&pwm, -1,1);
Hooglugt 0:99cbc87af37c 747
Hooglugt 8:75980dc35763 748 if(pwm > 0) {
Hooglugt 8:75980dc35763 749 motor2dir = 1;
Hooglugt 4:697d5a806cc4 750 } else {
Hooglugt 8:75980dc35763 751 motor2dir = 0;
Hooglugt 4:697d5a806cc4 752 }
Hooglugt 4:697d5a806cc4 753
Hooglugt 8:75980dc35763 754 pwm_motor2.write(abs(pwm));
Hooglugt 0:99cbc87af37c 755
Hooglugt 8:75980dc35763 756 //controleert of batje positie heeft bepaald
Hooglugt 8:75980dc35763 757 if(batjeset < 200) { // dit is nog te bepalen, op dit moment als binnen marge van 1% voor 2 seconde, dan naar volgende motorcontrol
Hooglugt 8:75980dc35763 758 if (motor2.getPosition()*omrekenfactor2 > 0.1 || motor2.getPosition()*omrekenfactor2 < -0.1) {
Hooglugt 8:75980dc35763 759 batjeset = 0;
Hooglugt 8:75980dc35763 760 } else {
Hooglugt 8:75980dc35763 761 batjeset++;
Hooglugt 8:75980dc35763 762 }
Hooglugt 4:697d5a806cc4 763 } else {
Hooglugt 8:75980dc35763 764 pwm_motor2.write(0);
Hooglugt 8:75980dc35763 765 batjeset = integral = derivative = previouserror = 0;
Hooglugt 8:75980dc35763 766 wait(1);
Hooglugt 8:75980dc35763 767 direction = force = 0;
Hooglugt 8:75980dc35763 768 goto motor1cal;
Hooglugt 4:697d5a806cc4 769 }
Hooglugt 8:75980dc35763 770 }*/
Hooglugt 0:99cbc87af37c 771 } // end main