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@26:8d91c4c54bb6, 2014-11-04 (annotated)

Committer:
Hooglugt
Date:
Tue Nov 04 11:30:05 2014 +0000
Revision:
26:8d91c4c54bb6
Parent:
25:1ec0da9b26a5
Child:
27:e33c352d6bb2
volledige script!

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 16:a0a39512bd47 16 HIDScope scope(6);
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 26:8d91c4c54bb6 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 18:5467bcc5cbf5 122 float Kp1 = 2.0; //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 22:77d7065cc431 126 float Kp2 = 0.0; //Kp en Ki van motor2, voor in het positie brengen en voor de return
Hooglugt 20:5007ddcd03ef 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 11:b517e73a98ab 142
Hooglugt 10:6bf3e25f020a 143 scope.send();
Hooglugt 0:99cbc87af37c 144 }
Hooglugt 0:99cbc87af37c 145
Hooglugt 0:99cbc87af37c 146 void keep_in_range(float * in, float min, float max)
Hooglugt 0:99cbc87af37c 147 {
Hooglugt 0:99cbc87af37c 148 *in > min ? *in < max? : *in = max: *in = max;
Hooglugt 0:99cbc87af37c 149 }
Hooglugt 0:99cbc87af37c 150
Hooglugt 0:99cbc87af37c 151 void looper()
Hooglugt 0:99cbc87af37c 152 {
Hooglugt 0:99cbc87af37c 153 //put raw emg value of biceps and triceps in emg_biceps and emg_triceps, respectively
Hooglugt 0:99cbc87af37c 154 float emg_biceps; //Float voor EMG-waarde biceps
Hooglugt 0:99cbc87af37c 155 float emg_triceps; //Float voor EMG-waarde triceps
Hooglugt 0:99cbc87af37c 156
Hooglugt 0:99cbc87af37c 157 emg_biceps = emg0.read(); // read float value (0..1 = 0..3.3V) biceps
Hooglugt 0:99cbc87af37c 158 emg_triceps = emg1.read(); // read float value (0..1 = 0..3.3V) triceps
Hooglugt 0:99cbc87af37c 159
Hooglugt 0:99cbc87af37c 160 //process emg biceps
Hooglugt 0:99cbc87af37c 161 arm_biquad_cascade_df1_f32(&bihighpass, &emg_biceps, &emg_biceps, 1 );
Hooglugt 0:99cbc87af37c 162 arm_biquad_cascade_df1_f32(&binotch, &emg_biceps, &emg_biceps, 1 );
Hooglugt 0:99cbc87af37c 163 y0 = fabs(emg_biceps);
Hooglugt 0:99cbc87af37c 164 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 165 y9=y8;
Hooglugt 0:99cbc87af37c 166 y8=y7;
Hooglugt 0:99cbc87af37c 167 y7=y6;
Hooglugt 0:99cbc87af37c 168 y6=y5;
Hooglugt 0:99cbc87af37c 169 y5=y4;
Hooglugt 0:99cbc87af37c 170 y4=y3;
Hooglugt 0:99cbc87af37c 171 y3=y2;
Hooglugt 0:99cbc87af37c 172 y2=y1;
Hooglugt 0:99cbc87af37c 173 y1=y0;
Hooglugt 0:99cbc87af37c 174
Hooglugt 0:99cbc87af37c 175 //process emg triceps
Hooglugt 0:99cbc87af37c 176 arm_biquad_cascade_df1_f32(&trihighpass, &emg_triceps, &emg_triceps, 1 );
Hooglugt 0:99cbc87af37c 177 arm_biquad_cascade_df1_f32(&trinotch, &emg_triceps, &emg_triceps, 1 );
Hooglugt 0:99cbc87af37c 178 x0 = fabs(emg_triceps);
Hooglugt 0:99cbc87af37c 179 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 180 x9=x8;
Hooglugt 0:99cbc87af37c 181 x8=x7;
Hooglugt 0:99cbc87af37c 182 x7=x6;
Hooglugt 0:99cbc87af37c 183 x6=x5;
Hooglugt 0:99cbc87af37c 184 x5=x4;
Hooglugt 0:99cbc87af37c 185 x4=x3;
Hooglugt 0:99cbc87af37c 186 x3=x2;
Hooglugt 0:99cbc87af37c 187 x2=x1;
Hooglugt 0:99cbc87af37c 188 x1=x0;
Hooglugt 0:99cbc87af37c 189 }
Hooglugt 0:99cbc87af37c 190
Hooglugt 0:99cbc87af37c 191 void kalbi() //blinking three lights, first row - 2nd row unlit
Hooglugt 0:99cbc87af37c 192 {
Hooglugt 0:99cbc87af37c 193 if(dir1==0) {
Hooglugt 0:99cbc87af37c 194 dir1 = dir2 = dir3 = 1;
Hooglugt 0:99cbc87af37c 195 } else {
Hooglugt 0:99cbc87af37c 196 dir1 = dir2 = dir3 = 0;
Hooglugt 0:99cbc87af37c 197 }
Hooglugt 0:99cbc87af37c 198 }
Hooglugt 0:99cbc87af37c 199
Hooglugt 0:99cbc87af37c 200 void kaltri() //blinking three lights, 2nd row - first row lit
Hooglugt 0:99cbc87af37c 201 {
Hooglugt 0:99cbc87af37c 202 if(for1==0) {
Hooglugt 0:99cbc87af37c 203 for1 = for2 = for3 = 1;
Hooglugt 0:99cbc87af37c 204 } else {
Hooglugt 0:99cbc87af37c 205 for1 = for2 = for3 = 0;
Hooglugt 0:99cbc87af37c 206 }
Hooglugt 0:99cbc87af37c 207 }
Hooglugt 0:99cbc87af37c 208
Hooglugt 0:99cbc87af37c 209 void okay() //blinking the two lights you have chosen (misschien is hier een betere manier van coderen voor :P)
Hooglugt 0:99cbc87af37c 210 {
Hooglugt 0:99cbc87af37c 211 if(direction == 1 && force == 1) { // links zwak
Hooglugt 0:99cbc87af37c 212 if(for1 == 0 && dir1 == 0) {
Hooglugt 0:99cbc87af37c 213 for1 = dir1 = 1;
Hooglugt 0:99cbc87af37c 214 } else {
Hooglugt 0:99cbc87af37c 215 for1 = dir1 = 0;
Hooglugt 0:99cbc87af37c 216 }
Hooglugt 0:99cbc87af37c 217 }
Hooglugt 0:99cbc87af37c 218 if(direction == 1 && force == 2) { // links normaal
Hooglugt 0:99cbc87af37c 219 if(for2 == 0 && dir1 == 0) {
Hooglugt 0:99cbc87af37c 220 for2 = dir1 = 1;
Hooglugt 0:99cbc87af37c 221 } else {
Hooglugt 0:99cbc87af37c 222 for2 = dir1 = 0;
Hooglugt 0:99cbc87af37c 223 }
Hooglugt 0:99cbc87af37c 224 }
Hooglugt 0:99cbc87af37c 225 if(direction == 1 && force == 3) { // links sterk
Hooglugt 0:99cbc87af37c 226 if(for3 == 0 && dir1 == 0) {
Hooglugt 0:99cbc87af37c 227 for3 = dir1 = 1;
Hooglugt 0:99cbc87af37c 228 } else {
Hooglugt 0:99cbc87af37c 229 for3 = dir1 = 0;
Hooglugt 0:99cbc87af37c 230 }
Hooglugt 0:99cbc87af37c 231 }
Hooglugt 0:99cbc87af37c 232 if(direction == 2 && force == 1) { // mid zwak
Hooglugt 0:99cbc87af37c 233 if(for1 == 0 && dir2 == 0) {
Hooglugt 0:99cbc87af37c 234 for1 = dir2 = 1;
Hooglugt 0:99cbc87af37c 235 } else {
Hooglugt 0:99cbc87af37c 236 for1 = dir2 = 0;
Hooglugt 0:99cbc87af37c 237 }
Hooglugt 0:99cbc87af37c 238 }
Hooglugt 0:99cbc87af37c 239 if(direction == 2 && force == 2) { // mid normaal
Hooglugt 0:99cbc87af37c 240 if(for2 == 0 && dir2 == 0) {
Hooglugt 0:99cbc87af37c 241 for2 = dir2 = 1;
Hooglugt 0:99cbc87af37c 242 } else {
Hooglugt 0:99cbc87af37c 243 for2 = dir2 = 0;
Hooglugt 0:99cbc87af37c 244 }
Hooglugt 0:99cbc87af37c 245 }
Hooglugt 0:99cbc87af37c 246 if(direction == 2 && force == 3) { // mid sterk
Hooglugt 0:99cbc87af37c 247 if(for3 == 0 && dir2 == 0) {
Hooglugt 0:99cbc87af37c 248 for3 = dir2 = 1;
Hooglugt 0:99cbc87af37c 249 } else {
Hooglugt 0:99cbc87af37c 250 for3 = dir2 = 0;
Hooglugt 0:99cbc87af37c 251 }
Hooglugt 0:99cbc87af37c 252 }
Hooglugt 0:99cbc87af37c 253 if(direction == 3 && force == 1) { // rechts zwak
Hooglugt 0:99cbc87af37c 254 if(for1 == 0 && dir3 == 0) {
Hooglugt 0:99cbc87af37c 255 for1 = dir3 = 1;
Hooglugt 0:99cbc87af37c 256 } else {
Hooglugt 0:99cbc87af37c 257 for1 = dir3 = 0;
Hooglugt 0:99cbc87af37c 258 }
Hooglugt 0:99cbc87af37c 259 }
Hooglugt 0:99cbc87af37c 260 if(direction == 3 && force == 2) { // rechts normaal
Hooglugt 0:99cbc87af37c 261 if(for2 == 0 && dir3 == 0) {
Hooglugt 0:99cbc87af37c 262 for2 = dir3 = 1;
Hooglugt 0:99cbc87af37c 263 } else {
Hooglugt 0:99cbc87af37c 264 for2 = dir3 = 0;
Hooglugt 0:99cbc87af37c 265 }
Hooglugt 0:99cbc87af37c 266 }
Hooglugt 0:99cbc87af37c 267 if(direction == 3 && force == 3) { // rechts sterk
Hooglugt 0:99cbc87af37c 268 if(for3 == 0 && dir3 == 0) {
Hooglugt 0:99cbc87af37c 269 for3 = dir3 = 1;
Hooglugt 0:99cbc87af37c 270 } else {
Hooglugt 0:99cbc87af37c 271 for3 = dir3 = 0;
Hooglugt 0:99cbc87af37c 272 }
Hooglugt 0:99cbc87af37c 273 }
Hooglugt 0:99cbc87af37c 274 }
Hooglugt 0:99cbc87af37c 275
Hooglugt 0:99cbc87af37c 276 int main()
Hooglugt 0:99cbc87af37c 277 {
Hooglugt 11:b517e73a98ab 278 hid.attach(hidscope, 0.01);
Hooglugt 0:99cbc87af37c 279 pc.baud(115200); //baudrate instellen
Hooglugt 0:99cbc87af37c 280 log_timer.attach(looper, TSAMP_EMG); //EMG, Fsample 500 Hz
Hooglugt 0:99cbc87af37c 281 looptimer.attach(setlooptimerflag,TSAMP);
Hooglugt 0:99cbc87af37c 282 pwm_motor1.period_us(100); //10kHz PWM frequency
Hooglugt 0:99cbc87af37c 283 pwm_motor2.period_us(100); //10kHz PWM frequency
Hooglugt 0:99cbc87af37c 284
Hooglugt 0:99cbc87af37c 285 //set up filters
Hooglugt 0:99cbc87af37c 286 arm_biquad_cascade_df1_init_f32(&binotch, 1, binotch_const, binotch_states);
Hooglugt 0:99cbc87af37c 287 arm_biquad_cascade_df1_init_f32(&bihighpass, 1, bihighpass_const, bihighpass_states);
Hooglugt 0:99cbc87af37c 288
Hooglugt 0:99cbc87af37c 289 arm_biquad_cascade_df1_init_f32(&trinotch, 1, trinotch_const, trinotch_states);
Hooglugt 0:99cbc87af37c 290 arm_biquad_cascade_df1_init_f32(&trihighpass, 1, trihighpass_const, trihighpass_states);
Hooglugt 0:99cbc87af37c 291
Hooglugt 0:99cbc87af37c 292 //kalibratie
Hooglugt 0:99cbc87af37c 293
Hooglugt 18:5467bcc5cbf5 294 motor2cal:
Hooglugt 18:5467bcc5cbf5 295
Hooglugt 0:99cbc87af37c 296 //motorarm naar nul-positie
Hooglugt 20:5007ddcd03ef 297 blink.attach(kalbi, 0.4);
Hooglugt 1:d44a866de64f 298 blink2.attach(kaltri, 0.2);
Hooglugt 0:99cbc87af37c 299
Hooglugt 0:99cbc87af37c 300 //calibration motor 2
Hooglugt 7:ca1ade91bd14 301 pwm_motor2.write(0.65); //lage PWM
Hooglugt 5:e5ca53305b87 302 motor2dir = 0; //rechtsom
Hooglugt 0:99cbc87af37c 303 wait(1); // anders wordt de while(1) meteen onderbroken
Hooglugt 4:697d5a806cc4 304 while(1) {
Hooglugt 5:e5ca53305b87 305 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 306 pwm_motor2.write(0);
Hooglugt 4:697d5a806cc4 307 motor2.setPosition(0);
Hooglugt 4:697d5a806cc4 308 goto motor1cal;
Hooglugt 0:99cbc87af37c 309 }
Hooglugt 0:99cbc87af37c 310 wait(0.01);
Hooglugt 0:99cbc87af37c 311 }
Hooglugt 4:697d5a806cc4 312 motor1cal:
Hooglugt 0:99cbc87af37c 313 //calibration motor 1
Hooglugt 7:ca1ade91bd14 314 pwm_motor1.write(0.65); //lage PWM
Hooglugt 7:ca1ade91bd14 315 motor1dir = 0; //linksom
Hooglugt 0:99cbc87af37c 316 wait(1); // anders wordt de while(1) meteen onderbroken
Hooglugt 4:697d5a806cc4 317 while(1) {
Hooglugt 8:75980dc35763 318 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 319 pwm_motor1.write(0);
Hooglugt 4:697d5a806cc4 320 motor1.setPosition(0);
Hooglugt 4:697d5a806cc4 321 goto emgcal;
Hooglugt 0:99cbc87af37c 322 }
Hooglugt 0:99cbc87af37c 323 wait(0.01);
Hooglugt 0:99cbc87af37c 324 }
Hooglugt 4:697d5a806cc4 325 emgcal:
Hooglugt 0:99cbc87af37c 326 blink.detach();
Hooglugt 1:d44a866de64f 327 blink2.detach();
Hooglugt 0:99cbc87af37c 328 dir1 = dir2 = dir3 = 1;
Hooglugt 4:697d5a806cc4 329 for1 = for2 = for3 = 1;
Hooglugt 4:697d5a806cc4 330 pc.printf("kalmoarm ");
Hooglugt 0:99cbc87af37c 331 wait (1);
Hooglugt 0:99cbc87af37c 332 for1 = for2 = for3 = 0;
Hooglugt 0:99cbc87af37c 333
Hooglugt 8:75980dc35763 334 if(kalibratie==0) {
Hooglugt 8:75980dc35763 335 //biceps kalibratie
Hooglugt 8:75980dc35763 336 blink.attach(kalbi, 0.2);
Hooglugt 8:75980dc35763 337 for (int kaltime = 0; kaltime<KALIBRATIONTIME; kaltime++) {
Hooglugt 8:75980dc35763 338 if (bi_max < bi_result) {
Hooglugt 8:75980dc35763 339 bi_max = bi_result;
Hooglugt 8:75980dc35763 340 }
Hooglugt 8:75980dc35763 341 wait (0.01);
Hooglugt 0:99cbc87af37c 342 }
Hooglugt 8:75980dc35763 343 blink.detach();
Hooglugt 8:75980dc35763 344 dir1 = dir2 = dir3 = 1;
Hooglugt 8:75980dc35763 345 pc.printf("kalbi ");
Hooglugt 8:75980dc35763 346 wait (1);
Hooglugt 0:99cbc87af37c 347
Hooglugt 8:75980dc35763 348 //triceps kalibratie
Hooglugt 8:75980dc35763 349 blink.attach(kaltri, 0.2);
Hooglugt 8:75980dc35763 350 for (int kaltime = 0; kaltime<KALIBRATIONTIME; kaltime++) {
Hooglugt 8:75980dc35763 351 if (tri_max < tri_result) {
Hooglugt 8:75980dc35763 352 tri_max = tri_result;
Hooglugt 8:75980dc35763 353 }
Hooglugt 8:75980dc35763 354 wait (0.01);
Hooglugt 0:99cbc87af37c 355 }
Hooglugt 8:75980dc35763 356 blink.detach();
Hooglugt 8:75980dc35763 357 for1 = for2 = for3 = 1;
Hooglugt 8:75980dc35763 358 pc.printf("kaltri ");
Hooglugt 8:75980dc35763 359 wait (1);
Hooglugt 8:75980dc35763 360 for1 = for2 = for3 = 0;
Hooglugt 8:75980dc35763 361 kalibratie = 1;
Hooglugt 0:99cbc87af37c 362 }
Hooglugt 0:99cbc87af37c 363
Hooglugt 4:697d5a806cc4 364 directionchoice:
Hooglugt 1:d44a866de64f 365 log_timer.attach(looper, TSAMP_EMG);
Hooglugt 0:99cbc87af37c 366
Hooglugt 4:697d5a806cc4 367 while(1) { //Loop keuze DIRECTION
Hooglugt 0:99cbc87af37c 368 for(int i=1; i<4; i++) {
Hooglugt 0:99cbc87af37c 369 if(i==1) { //red
Hooglugt 0:99cbc87af37c 370 dir1=1;
Hooglugt 0:99cbc87af37c 371 dir2=0;
Hooglugt 0:99cbc87af37c 372 dir3=0;
Hooglugt 0:99cbc87af37c 373 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 374 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 375 direction = 1;
Hooglugt 4:697d5a806cc4 376 pc.printf("links ");
Hooglugt 0:99cbc87af37c 377 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 378 goto forcechoice; // goes to second while(1) for the deciding the force
Hooglugt 0:99cbc87af37c 379 } else {
Hooglugt 0:99cbc87af37c 380 wait(0.01);
Hooglugt 0:99cbc87af37c 381 }
Hooglugt 0:99cbc87af37c 382 }
Hooglugt 0:99cbc87af37c 383 }
Hooglugt 0:99cbc87af37c 384 if(i==2) { //green
Hooglugt 0:99cbc87af37c 385 dir1 =0;
Hooglugt 0:99cbc87af37c 386 dir2 =1;
Hooglugt 0:99cbc87af37c 387 dir3 =0;
Hooglugt 0:99cbc87af37c 388 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 389 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 390 direction = 2;
Hooglugt 4:697d5a806cc4 391 pc.printf("mid ");
Hooglugt 0:99cbc87af37c 392 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 393 goto forcechoice;
Hooglugt 0:99cbc87af37c 394 } else {
Hooglugt 0:99cbc87af37c 395 wait(0.01);
Hooglugt 0:99cbc87af37c 396 }
Hooglugt 0:99cbc87af37c 397 }
Hooglugt 0:99cbc87af37c 398 }
Hooglugt 0:99cbc87af37c 399 if(i==3) { //blue
Hooglugt 0:99cbc87af37c 400 dir1 =0;
Hooglugt 0:99cbc87af37c 401 dir2 =0;
Hooglugt 0:99cbc87af37c 402 dir3 =1;
Hooglugt 0:99cbc87af37c 403 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 404 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 405 direction = 3;
Hooglugt 4:697d5a806cc4 406 pc.printf("rechts ");
Hooglugt 0:99cbc87af37c 407 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 408 goto forcechoice;
Hooglugt 0:99cbc87af37c 409 } else {
Hooglugt 0:99cbc87af37c 410 wait(0.01);
Hooglugt 0:99cbc87af37c 411 }
Hooglugt 0:99cbc87af37c 412 }
Hooglugt 0:99cbc87af37c 413 }
Hooglugt 0:99cbc87af37c 414 }
Hooglugt 0:99cbc87af37c 415 }
Hooglugt 4:697d5a806cc4 416 forcechoice:
Hooglugt 4:697d5a806cc4 417 while(1) { //Loop keuze FORCE
Hooglugt 0:99cbc87af37c 418 for(int j=1; j<4; j++) {
Hooglugt 0:99cbc87af37c 419 if(j==1) { //red
Hooglugt 0:99cbc87af37c 420 for1=1;
Hooglugt 0:99cbc87af37c 421 for2=0;
Hooglugt 0:99cbc87af37c 422 for3=0;
Hooglugt 0:99cbc87af37c 423 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 424 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 425 for1 = for2 = for3 = 0;
Hooglugt 4:697d5a806cc4 426 pc.printf("reset ");
Hooglugt 0:99cbc87af37c 427 goto directionchoice;
Hooglugt 0:99cbc87af37c 428 } else {
Hooglugt 1:d44a866de64f 429 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 430 force = 1;
Hooglugt 4:697d5a806cc4 431 pc.printf("zwak ");
Hooglugt 0:99cbc87af37c 432 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 433 goto choicesmade;
Hooglugt 0:99cbc87af37c 434 } else {
Hooglugt 0:99cbc87af37c 435 wait(0.01);
Hooglugt 0:99cbc87af37c 436 }
Hooglugt 0:99cbc87af37c 437 }
Hooglugt 0:99cbc87af37c 438 }
Hooglugt 0:99cbc87af37c 439 }
Hooglugt 0:99cbc87af37c 440 if(j==2) { //green
Hooglugt 0:99cbc87af37c 441 for1=0;
Hooglugt 0:99cbc87af37c 442 for2=1;
Hooglugt 0:99cbc87af37c 443 for3=0;
Hooglugt 0:99cbc87af37c 444 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 445 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 446 for1 = for2 = for3 = 0;
Hooglugt 4:697d5a806cc4 447 pc.printf("reset ");
Hooglugt 0:99cbc87af37c 448 goto directionchoice;
Hooglugt 0:99cbc87af37c 449 } else {
Hooglugt 1:d44a866de64f 450 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 451 force = 2;
Hooglugt 4:697d5a806cc4 452 pc.printf("normaal ");
Hooglugt 0:99cbc87af37c 453 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 454 goto choicesmade;
Hooglugt 0:99cbc87af37c 455 } else {
Hooglugt 0:99cbc87af37c 456 wait(0.01);
Hooglugt 0:99cbc87af37c 457 }
Hooglugt 0:99cbc87af37c 458 }
Hooglugt 0:99cbc87af37c 459 }
Hooglugt 0:99cbc87af37c 460 }
Hooglugt 0:99cbc87af37c 461 if(j==3) { //blue
Hooglugt 0:99cbc87af37c 462 for1=0;
Hooglugt 0:99cbc87af37c 463 for2=0;
Hooglugt 0:99cbc87af37c 464 for3=1;
Hooglugt 0:99cbc87af37c 465 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 1:d44a866de64f 466 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 467 for1 = for2 = for3 = 0;
Hooglugt 4:697d5a806cc4 468 pc.printf("reset ");
Hooglugt 0:99cbc87af37c 469 goto directionchoice;
Hooglugt 0:99cbc87af37c 470 } else {
Hooglugt 1:d44a866de64f 471 if(bi_result>FACTOR*bi_max) {
Hooglugt 0:99cbc87af37c 472 force = 3;
Hooglugt 4:697d5a806cc4 473 pc.printf("sterk ");
Hooglugt 0:99cbc87af37c 474 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 0:99cbc87af37c 475 goto choicesmade;
Hooglugt 0:99cbc87af37c 476 } else {
Hooglugt 0:99cbc87af37c 477 wait(0.01);
Hooglugt 0:99cbc87af37c 478 }
Hooglugt 0:99cbc87af37c 479 }
Hooglugt 0:99cbc87af37c 480 }
Hooglugt 0:99cbc87af37c 481 }
Hooglugt 0:99cbc87af37c 482 }
Hooglugt 0:99cbc87af37c 483 }
Hooglugt 0:99cbc87af37c 484
Hooglugt 0:99cbc87af37c 485 choicesmade:
Hooglugt 0:99cbc87af37c 486 blink.attach(okay, 0.2);
Hooglugt 4:697d5a806cc4 487 while(1) {
Hooglugt 4:697d5a806cc4 488 if(tri_result>FACTOR*tri_max) {
Hooglugt 0:99cbc87af37c 489 blink.detach();
Hooglugt 4:697d5a806cc4 490 pc.printf("reset ");
Hooglugt 1:d44a866de64f 491 switch (direction) {
Hooglugt 1:d44a866de64f 492 case 1:
Hooglugt 1:d44a866de64f 493 dir1 = 1;
Hooglugt 1:d44a866de64f 494 for1 = 1;
Hooglugt 1:d44a866de64f 495 for2 = for3 = 0;
Hooglugt 1:d44a866de64f 496 break;
Hooglugt 1:d44a866de64f 497 case 2:
Hooglugt 1:d44a866de64f 498 dir2 = 1;
Hooglugt 1:d44a866de64f 499 for1 = 1;
Hooglugt 1:d44a866de64f 500 for2 = for3 = 0;
Hooglugt 1:d44a866de64f 501 break;
Hooglugt 1:d44a866de64f 502 case 3:
Hooglugt 1:d44a866de64f 503 dir3 = 1;
Hooglugt 1:d44a866de64f 504 for1 = 1;
Hooglugt 1:d44a866de64f 505 for2 = for3 = 0;
Hooglugt 1:d44a866de64f 506 break;
Hooglugt 1:d44a866de64f 507 }
Hooglugt 4:697d5a806cc4 508
Hooglugt 4:697d5a806cc4 509 wait(1); // 1 sec wait, anders reset je meteen ook de biceps keuze
Hooglugt 4:697d5a806cc4 510 goto forcechoice;
Hooglugt 0:99cbc87af37c 511 } else {
Hooglugt 1:d44a866de64f 512 if(bi_result>FACTOR*bi_max && (dir1==1||dir2==1||dir3==1)) {
Hooglugt 4:697d5a806cc4 513 blink.detach();
Hooglugt 4:697d5a806cc4 514 log_timer.detach();
Hooglugt 4:697d5a806cc4 515 goto motorcontrol;
Hooglugt 0:99cbc87af37c 516 } else {
Hooglugt 0:99cbc87af37c 517 wait(0.01); // not sure of de wait noodzakelijk is (nu toegevoegd zodat het niet teveel strain levert op bordje)
Hooglugt 0:99cbc87af37c 518 }
Hooglugt 0:99cbc87af37c 519 }
Hooglugt 0:99cbc87af37c 520 }
Hooglugt 4:697d5a806cc4 521
Hooglugt 4:697d5a806cc4 522 motorcontrol:
Hooglugt 4:697d5a806cc4 523
Hooglugt 0:99cbc87af37c 524 /* Vanaf hier komt de aansturing van de motor */
Hooglugt 0:99cbc87af37c 525
Hooglugt 8:75980dc35763 526 setpoint1=0;
Hooglugt 8:75980dc35763 527 setpoint2=0;
Hooglugt 8:75980dc35763 528 integral1 = integral = 0;
Hooglugt 8:75980dc35763 529 previouserror1 = previouserror = 0;
Hooglugt 11:b517e73a98ab 530
Hooglugt 11:b517e73a98ab 531
Hooglugt 8:75980dc35763 532 while(1) { // loop voor het goed plaatsen van motor2 (batje hoek)
Hooglugt 11:b517e73a98ab 533 while(!looptimerflag);
Hooglugt 9:0bc7f83b761e 534 looptimerflag = false; //clear flag
Hooglugt 11:b517e73a98ab 535
Hooglugt 11:b517e73a98ab 536 scope.set(0, motor2.getPosition()*omrekenfactor2);
Hooglugt 11:b517e73a98ab 537 scope.set(1, setpoint2);
Hooglugt 11:b517e73a98ab 538 scope.set(2, motor1.getPosition()*omrekenfactor1);
Hooglugt 11:b517e73a98ab 539 scope.set(3, setpoint1);
Hooglugt 11:b517e73a98ab 540 scope.set(4, state);
Hooglugt 1:d44a866de64f 541
Hooglugt 11:b517e73a98ab 542 switch(state) {
Hooglugt 25:1ec0da9b26a5 543 case 1:
Hooglugt 11:b517e73a98ab 544 switch (direction) {
Hooglugt 11:b517e73a98ab 545 case 1:
Hooglugt 22:77d7065cc431 546 pwm_motor2.write(0.8);
Hooglugt 22:77d7065cc431 547 motor2dir = 1;
Hooglugt 22:77d7065cc431 548 count++;
Hooglugt 25:1ec0da9b26a5 549 if (count>170) {
Hooglugt 22:77d7065cc431 550 state=2;
Hooglugt 22:77d7065cc431 551 count = 0;
Hooglugt 22:77d7065cc431 552 pwm_motor2.write(0);
Hooglugt 22:77d7065cc431 553 }
Hooglugt 11:b517e73a98ab 554 break;
Hooglugt 25:1ec0da9b26a5 555
Hooglugt 11:b517e73a98ab 556 case 2:
Hooglugt 22:77d7065cc431 557 pwm_motor2.write(0.8);
Hooglugt 22:77d7065cc431 558 motor2dir = 1;
Hooglugt 22:77d7065cc431 559 count++;
Hooglugt 22:77d7065cc431 560 if (count>100) {
Hooglugt 22:77d7065cc431 561 state=2;
Hooglugt 22:77d7065cc431 562 count = 0;
Hooglugt 22:77d7065cc431 563 pwm_motor2.write(0);
Hooglugt 22:77d7065cc431 564 }
Hooglugt 11:b517e73a98ab 565 break;
Hooglugt 11:b517e73a98ab 566 case 3:
Hooglugt 23:913bf8a6f7d8 567 pwm_motor2.write(0.8);
Hooglugt 23:913bf8a6f7d8 568 motor2dir = 1;
Hooglugt 23:913bf8a6f7d8 569 count++;
Hooglugt 23:913bf8a6f7d8 570 if (count>50) {
Hooglugt 23:913bf8a6f7d8 571 state=2;
Hooglugt 23:913bf8a6f7d8 572 count = 0;
Hooglugt 23:913bf8a6f7d8 573 pwm_motor2.write(0);
Hooglugt 23:913bf8a6f7d8 574 }
Hooglugt 19:fe284ddaa88a 575 break;
Hooglugt 23:913bf8a6f7d8 576 }
Hooglugt 17:7641d7934b91 577 case 2: {
Hooglugt 11:b517e73a98ab 578 count++;
Hooglugt 11:b517e73a98ab 579 if(count>1000) {
Hooglugt 11:b517e73a98ab 580 count = 0;
Hooglugt 11:b517e73a98ab 581 state = 3;
Hooglugt 11:b517e73a98ab 582 }
Hooglugt 11:b517e73a98ab 583 break;
Hooglugt 9:0bc7f83b761e 584 }
Hooglugt 11:b517e73a98ab 585 case 3: {
Hooglugt 11:b517e73a98ab 586 switch (force) {
Hooglugt 11:b517e73a98ab 587 case 1:
Hooglugt 25:1ec0da9b26a5 588 pwm_motor1.write(1);
Hooglugt 25:1ec0da9b26a5 589 motor1dir = 1;
Hooglugt 11:b517e73a98ab 590 break;
Hooglugt 11:b517e73a98ab 591 case 2:
Hooglugt 25:1ec0da9b26a5 592 pwm_motor1.write(1); //net niet haalbaar
Hooglugt 25:1ec0da9b26a5 593 motor1dir = 1;
Hooglugt 11:b517e73a98ab 594 break;
Hooglugt 11:b517e73a98ab 595 case 3:
Hooglugt 25:1ec0da9b26a5 596 pwm_motor1.write(1); //niet haalbaar
Hooglugt 25:1ec0da9b26a5 597 motor1dir = 1;
Hooglugt 11:b517e73a98ab 598 break;
Hooglugt 11:b517e73a98ab 599 }
Hooglugt 25:1ec0da9b26a5 600 if(fabs(motor1.getPosition()*omrekenfactor1)>7.0) {
Hooglugt 25:1ec0da9b26a5 601 pwm_motor1.write(0);
Hooglugt 11:b517e73a98ab 602 state = 4;
Hooglugt 11:b517e73a98ab 603 }
Hooglugt 11:b517e73a98ab 604 break;
Hooglugt 8:75980dc35763 605 }
Hooglugt 11:b517e73a98ab 606 case 4: {
Hooglugt 11:b517e73a98ab 607 count++;
Hooglugt 25:1ec0da9b26a5 608 if(count>4000) {
Hooglugt 11:b517e73a98ab 609 count = 0;
Hooglugt 11:b517e73a98ab 610 state = 1;
Hooglugt 18:5467bcc5cbf5 611 goto motor2cal;
Hooglugt 11:b517e73a98ab 612 }
Hooglugt 11:b517e73a98ab 613 break;
Hooglugt 24:1b812b393264 614 }
Hooglugt 11:b517e73a98ab 615 }
Hooglugt 25:1ec0da9b26a5 616 }
Hooglugt 11:b517e73a98ab 617 } // end main