kappa
Dependencies: Encoder HIDScope MODSERIAL- mbed-dsp mbed
Fork of PROJECT_incl_regelaar by
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?
User | Revision | Line number | New contents of line |
---|---|---|---|
Hooglugt | 0:99cbc87af37c | 1 | #include "mbed.h" |
Hooglugt | 0:99cbc87af37c | 2 | #include "MODSERIAL.h" |
Hooglugt | 0:99cbc87af37c | 3 | #include "HIDScope.h" |
Hooglugt | 0:99cbc87af37c | 4 | #include "arm_math.h" |
Hooglugt | 0:99cbc87af37c | 5 | #include "encoder.h" |
Hooglugt | 0:99cbc87af37c | 6 | |
Hooglugt | 0:99cbc87af37c | 7 | #define TSAMP 0.001 // sample freq encoder motor |
Hooglugt | 0:99cbc87af37c | 8 | #define TIMEB4NEXTCHOICE 1 // sec keuzelampje blijft aan |
Hooglugt | 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 |