kappa
Dependencies: Encoder HIDScope MODSERIAL- mbed-dsp mbed
Fork of PROJECT_incl_regelaar2 by
PROJECT_main.cpp@28:1e3fe7204529, 2014-11-04 (annotated)
- Committer:
- Hooglugt
- Date:
- Tue Nov 04 11:36:05 2014 +0000
- Revision:
- 28:1e3fe7204529
- Parent:
- 27:e33c352d6bb2
final script, printfs eruit gehaald (pc (usbetc)) zit er nog in
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 | 0:99cbc87af37c | 16 | AnalogIn emg0(PTB1); //Analog input biceps |
Hooglugt | 0:99cbc87af37c | 17 | AnalogIn emg1(PTB2); //Analog input triceps |
Hooglugt | 0:99cbc87af37c | 18 | |
Hooglugt | 0:99cbc87af37c | 19 | Ticker log_timer; //sample emg |
Hooglugt | 1:d44a866de64f | 20 | Ticker blink; //ledjes aan/uit |
Hooglugt | 1:d44a866de64f | 21 | Ticker blink2; //extra tikker zodat kalbi en kaltri tegelijkertijd aankunnen |
Hooglugt | 0:99cbc87af37c | 22 | Ticker looptimer; //motor regelaar |
Hooglugt | 0:99cbc87af37c | 23 | |
Hooglugt | 0:99cbc87af37c | 24 | MODSERIAL pc(USBTX,USBRX); |
Hooglugt | 0:99cbc87af37c | 25 | |
Hooglugt | 0:99cbc87af37c | 26 | arm_biquad_casd_df1_inst_f32 bihighpass; |
Hooglugt | 0:99cbc87af37c | 27 | 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 | 28 | float bihighpass_states[4]; |
Hooglugt | 0:99cbc87af37c | 29 | |
Hooglugt | 0:99cbc87af37c | 30 | arm_biquad_casd_df1_inst_f32 binotch; |
Hooglugt | 0:99cbc87af37c | 31 | float binotch_const[] = {0.9714498065192796, -1.5718388053127037, 0.9714498065192796, 1.5718388053127037 , -0.9428996130385592}; //notch, Fc: 50 Hz, Fsample: 500Hz, Q = 10 |
Hooglugt | 0:99cbc87af37c | 32 | float binotch_states[4]; |
Hooglugt | 0:99cbc87af37c | 33 | |
Hooglugt | 0:99cbc87af37c | 34 | arm_biquad_casd_df1_inst_f32 trihighpass; |
Hooglugt | 0:99cbc87af37c | 35 | 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 | 36 | float trihighpass_states[4]; |
Hooglugt | 0:99cbc87af37c | 37 | |
Hooglugt | 0:99cbc87af37c | 38 | arm_biquad_casd_df1_inst_f32 trinotch; |
Hooglugt | 0:99cbc87af37c | 39 | float trinotch_const[] = {0.9714498065192796, -1.5718388053127037, 0.9714498065192796, 1.5718388053127037 , -0.9428996130385592}; //notch, Fc: 50 Hz, Fsample: 500Hz, Q = 10 |
Hooglugt | 0:99cbc87af37c | 40 | float trinotch_states[4]; |
Hooglugt | 0:99cbc87af37c | 41 | |
Hooglugt | 0:99cbc87af37c | 42 | float bi_result = 0; |
Hooglugt | 0:99cbc87af37c | 43 | float tri_result = 0; |
Hooglugt | 0:99cbc87af37c | 44 | |
Hooglugt | 0:99cbc87af37c | 45 | float bi_max = 0; |
Hooglugt | 0:99cbc87af37c | 46 | float tri_max = 0; |
Hooglugt | 0:99cbc87af37c | 47 | |
Hooglugt | 0:99cbc87af37c | 48 | // variables for biceps MAF |
Hooglugt | 0:99cbc87af37c | 49 | float y0 = 0; |
Hooglugt | 0:99cbc87af37c | 50 | float y1 = 0; |
Hooglugt | 0:99cbc87af37c | 51 | float y2 = 0; |
Hooglugt | 0:99cbc87af37c | 52 | float y3 = 0; |
Hooglugt | 0:99cbc87af37c | 53 | float y4 = 0; |
Hooglugt | 0:99cbc87af37c | 54 | float y5 = 0; |
Hooglugt | 0:99cbc87af37c | 55 | float y6 = 0; |
Hooglugt | 0:99cbc87af37c | 56 | float y7 = 0; |
Hooglugt | 0:99cbc87af37c | 57 | float y8 = 0; |
Hooglugt | 0:99cbc87af37c | 58 | float y9 = 0; |
Hooglugt | 0:99cbc87af37c | 59 | |
Hooglugt | 0:99cbc87af37c | 60 | // variables for triceps MAF |
Hooglugt | 0:99cbc87af37c | 61 | float x0 = 0; |
Hooglugt | 0:99cbc87af37c | 62 | float x1 = 0; |
Hooglugt | 0:99cbc87af37c | 63 | float x2 = 0; |
Hooglugt | 0:99cbc87af37c | 64 | float x3 = 0; |
Hooglugt | 0:99cbc87af37c | 65 | float x4 = 0; |
Hooglugt | 0:99cbc87af37c | 66 | float x5 = 0; |
Hooglugt | 0:99cbc87af37c | 67 | float x6 = 0; |
Hooglugt | 0:99cbc87af37c | 68 | float x7 = 0; |
Hooglugt | 0:99cbc87af37c | 69 | float x8 = 0; |
Hooglugt | 0:99cbc87af37c | 70 | float x9 = 0; |
Hooglugt | 0:99cbc87af37c | 71 | |
Hooglugt | 0:99cbc87af37c | 72 | //LED interface |
Hooglugt | 0:99cbc87af37c | 73 | DigitalOut dir1(PTA1); |
Hooglugt | 0:99cbc87af37c | 74 | DigitalOut dir2(PTA2); |
Hooglugt | 0:99cbc87af37c | 75 | DigitalOut dir3(PTD4); |
Hooglugt | 0:99cbc87af37c | 76 | DigitalOut for1(PTA12); |
Hooglugt | 0:99cbc87af37c | 77 | DigitalOut for2(PTA13); |
Hooglugt | 0:99cbc87af37c | 78 | DigitalOut for3(PTD1); |
Hooglugt | 0:99cbc87af37c | 79 | |
Hooglugt | 0:99cbc87af37c | 80 | uint8_t direction = 0; |
Hooglugt | 0:99cbc87af37c | 81 | uint8_t force = 0; |
Hooglugt | 0:99cbc87af37c | 82 | |
Hooglugt | 0:99cbc87af37c | 83 | //motorcontrol objects |
Hooglugt | 0:99cbc87af37c | 84 | |
Hooglugt | 0:99cbc87af37c | 85 | //motor 1, voltage pins op M2 |
Hooglugt | 0:99cbc87af37c | 86 | Encoder motor1(PTD3, PTD5); |
Hooglugt | 0:99cbc87af37c | 87 | DigitalOut motor1dir(PTC9); |
Hooglugt | 0:99cbc87af37c | 88 | PwmOut pwm_motor1(PTC8); |
Hooglugt | 0:99cbc87af37c | 89 | |
Hooglugt | 0:99cbc87af37c | 90 | //motor 2, voltage pins op M1 |
Hooglugt | 0:99cbc87af37c | 91 | Encoder motor2(PTD2,PTD0); |
Hooglugt | 0:99cbc87af37c | 92 | DigitalOut motor2dir(PTA4); |
Hooglugt | 0:99cbc87af37c | 93 | PwmOut pwm_motor2(PTA5); |
Hooglugt | 0:99cbc87af37c | 94 | |
Hooglugt | 0:99cbc87af37c | 95 | float integral = 0; |
Hooglugt | 7:ca1ade91bd14 | 96 | float derivative = 0; |
Hooglugt | 4:697d5a806cc4 | 97 | float batjeset = 0; //een if statement wordt "true" wanneer batje voor een bepaalde tijd de juiste hoek heeft behouden |
Hooglugt | 4:697d5a806cc4 | 98 | float balhit = 0; //balhit wordt 1 wanneer arm een bepaalde hoek heeft afgelegd |
Hooglugt | 26:8d91c4c54bb6 | 99 | float kalibratie = 0; |
Hooglugt | 0:99cbc87af37c | 100 | float controlerror = 0; |
Hooglugt | 6:14051758db6f | 101 | float previouserror = 0; |
Hooglugt | 0:99cbc87af37c | 102 | float pwm = 0; |
Hooglugt | 0:99cbc87af37c | 103 | |
Hooglugt | 8:75980dc35763 | 104 | float pwm1 =0; |
Hooglugt | 8:75980dc35763 | 105 | float integral1 = 0; |
Hooglugt | 8:75980dc35763 | 106 | float derivative1 = 0; |
Hooglugt | 8:75980dc35763 | 107 | float controlerror1 = 0; |
Hooglugt | 8:75980dc35763 | 108 | float previouserror1 = 0; |
Hooglugt | 8:75980dc35763 | 109 | |
Hooglugt | 8:75980dc35763 | 110 | int state = 1; |
Hooglugt | 9:0bc7f83b761e | 111 | int count = 0; |
Hooglugt | 9:0bc7f83b761e | 112 | float angle = 0; |
Hooglugt | 8:75980dc35763 | 113 | |
Hooglugt | 0:99cbc87af37c | 114 | float omrekenfactor1 = 0.0028035714; // 6.28/(32*70) |
Hooglugt | 8:75980dc35763 | 115 | float omrekenfactor2 = 0.0015213178; // 6.28/(24*172); |
Hooglugt | 0:99cbc87af37c | 116 | |
Hooglugt | 1:d44a866de64f | 117 | float setpoint1 = 0; //te behalen speed van motor1 (37D) |
Hooglugt | 1:d44a866de64f | 118 | float setpoint2 = 0; //te behalen hoek van motor2 (25D) |
Hooglugt | 0:99cbc87af37c | 119 | |
Hooglugt | 18:5467bcc5cbf5 | 120 | float Kp1 = 2.0; //DEZE KP1 EN KP1 ZIJN NOG NIET DEFINITIEF |
Hooglugt | 9:0bc7f83b761e | 121 | float Ki1 = 0.0; //Kp en Ki van motor1, voor de slag |
Hooglugt | 6:14051758db6f | 122 | float Kd1 = 0.0; |
Hooglugt | 6:14051758db6f | 123 | |
Hooglugt | 22:77d7065cc431 | 124 | float Kp2 = 0.0; //Kp en Ki van motor2, voor in het positie brengen en voor de return |
Hooglugt | 20:5007ddcd03ef | 125 | float Ki2 = 0.0; //0.30 en 0.20 |
Hooglugt | 9:0bc7f83b761e | 126 | float Kd2 = 0.0; |
Hooglugt | 0:99cbc87af37c | 127 | |
Hooglugt | 0:99cbc87af37c | 128 | volatile bool looptimerflag; //voor motorcontrol TSAMP |
Hooglugt | 0:99cbc87af37c | 129 | |
Hooglugt | 0:99cbc87af37c | 130 | //functies |
Hooglugt | 0:99cbc87af37c | 131 | |
Hooglugt | 0:99cbc87af37c | 132 | void setlooptimerflag(void) |
Hooglugt | 0:99cbc87af37c | 133 | { |
Hooglugt | 0:99cbc87af37c | 134 | looptimerflag = true; |
Hooglugt | 10:6bf3e25f020a | 135 | } |
Hooglugt | 10:6bf3e25f020a | 136 | |
Hooglugt | 0:99cbc87af37c | 137 | void keep_in_range(float * in, float min, float max) |
Hooglugt | 0:99cbc87af37c | 138 | { |
Hooglugt | 0:99cbc87af37c | 139 | *in > min ? *in < max? : *in = max: *in = max; |
Hooglugt | 0:99cbc87af37c | 140 | } |
Hooglugt | 0:99cbc87af37c | 141 | |
Hooglugt | 0:99cbc87af37c | 142 | void looper() |
Hooglugt | 0:99cbc87af37c | 143 | { |
Hooglugt | 0:99cbc87af37c | 144 | //put raw emg value of biceps and triceps in emg_biceps and emg_triceps, respectively |
Hooglugt | 0:99cbc87af37c | 145 | float emg_biceps; //Float voor EMG-waarde biceps |
Hooglugt | 0:99cbc87af37c | 146 | float emg_triceps; //Float voor EMG-waarde triceps |
Hooglugt | 0:99cbc87af37c | 147 | |
Hooglugt | 0:99cbc87af37c | 148 | emg_biceps = emg0.read(); // read float value (0..1 = 0..3.3V) biceps |
Hooglugt | 0:99cbc87af37c | 149 | emg_triceps = emg1.read(); // read float value (0..1 = 0..3.3V) triceps |
Hooglugt | 0:99cbc87af37c | 150 | |
Hooglugt | 0:99cbc87af37c | 151 | //process emg biceps |
Hooglugt | 0:99cbc87af37c | 152 | arm_biquad_cascade_df1_f32(&bihighpass, &emg_biceps, &emg_biceps, 1 ); |
Hooglugt | 0:99cbc87af37c | 153 | arm_biquad_cascade_df1_f32(&binotch, &emg_biceps, &emg_biceps, 1 ); |
Hooglugt | 0:99cbc87af37c | 154 | y0 = fabs(emg_biceps); |
Hooglugt | 0:99cbc87af37c | 155 | 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 | 156 | y9=y8; |
Hooglugt | 0:99cbc87af37c | 157 | y8=y7; |
Hooglugt | 0:99cbc87af37c | 158 | y7=y6; |
Hooglugt | 0:99cbc87af37c | 159 | y6=y5; |
Hooglugt | 0:99cbc87af37c | 160 | y5=y4; |
Hooglugt | 0:99cbc87af37c | 161 | y4=y3; |
Hooglugt | 0:99cbc87af37c | 162 | y3=y2; |
Hooglugt | 0:99cbc87af37c | 163 | y2=y1; |
Hooglugt | 0:99cbc87af37c | 164 | y1=y0; |
Hooglugt | 0:99cbc87af37c | 165 | |
Hooglugt | 0:99cbc87af37c | 166 | //process emg triceps |
Hooglugt | 0:99cbc87af37c | 167 | arm_biquad_cascade_df1_f32(&trihighpass, &emg_triceps, &emg_triceps, 1 ); |
Hooglugt | 0:99cbc87af37c | 168 | arm_biquad_cascade_df1_f32(&trinotch, &emg_triceps, &emg_triceps, 1 ); |
Hooglugt | 0:99cbc87af37c | 169 | x0 = fabs(emg_triceps); |
Hooglugt | 0:99cbc87af37c | 170 | 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 | 171 | x9=x8; |
Hooglugt | 0:99cbc87af37c | 172 | x8=x7; |
Hooglugt | 0:99cbc87af37c | 173 | x7=x6; |
Hooglugt | 0:99cbc87af37c | 174 | x6=x5; |
Hooglugt | 0:99cbc87af37c | 175 | x5=x4; |
Hooglugt | 0:99cbc87af37c | 176 | x4=x3; |
Hooglugt | 0:99cbc87af37c | 177 | x3=x2; |
Hooglugt | 0:99cbc87af37c | 178 | x2=x1; |
Hooglugt | 0:99cbc87af37c | 179 | x1=x0; |
Hooglugt | 0:99cbc87af37c | 180 | } |
Hooglugt | 0:99cbc87af37c | 181 | |
Hooglugt | 0:99cbc87af37c | 182 | void kalbi() //blinking three lights, first row - 2nd row unlit |
Hooglugt | 0:99cbc87af37c | 183 | { |
Hooglugt | 0:99cbc87af37c | 184 | if(dir1==0) { |
Hooglugt | 0:99cbc87af37c | 185 | dir1 = dir2 = dir3 = 1; |
Hooglugt | 0:99cbc87af37c | 186 | } else { |
Hooglugt | 0:99cbc87af37c | 187 | dir1 = dir2 = dir3 = 0; |
Hooglugt | 0:99cbc87af37c | 188 | } |
Hooglugt | 0:99cbc87af37c | 189 | } |
Hooglugt | 0:99cbc87af37c | 190 | |
Hooglugt | 0:99cbc87af37c | 191 | void kaltri() //blinking three lights, 2nd row - first row lit |
Hooglugt | 0:99cbc87af37c | 192 | { |
Hooglugt | 0:99cbc87af37c | 193 | if(for1==0) { |
Hooglugt | 0:99cbc87af37c | 194 | for1 = for2 = for3 = 1; |
Hooglugt | 0:99cbc87af37c | 195 | } else { |
Hooglugt | 0:99cbc87af37c | 196 | for1 = for2 = for3 = 0; |
Hooglugt | 0:99cbc87af37c | 197 | } |
Hooglugt | 0:99cbc87af37c | 198 | } |
Hooglugt | 0:99cbc87af37c | 199 | |
Hooglugt | 0:99cbc87af37c | 200 | void okay() //blinking the two lights you have chosen (misschien is hier een betere manier van coderen voor :P) |
Hooglugt | 0:99cbc87af37c | 201 | { |
Hooglugt | 0:99cbc87af37c | 202 | if(direction == 1 && force == 1) { // links zwak |
Hooglugt | 0:99cbc87af37c | 203 | if(for1 == 0 && dir1 == 0) { |
Hooglugt | 0:99cbc87af37c | 204 | for1 = dir1 = 1; |
Hooglugt | 0:99cbc87af37c | 205 | } else { |
Hooglugt | 0:99cbc87af37c | 206 | for1 = dir1 = 0; |
Hooglugt | 0:99cbc87af37c | 207 | } |
Hooglugt | 0:99cbc87af37c | 208 | } |
Hooglugt | 0:99cbc87af37c | 209 | if(direction == 1 && force == 2) { // links normaal |
Hooglugt | 0:99cbc87af37c | 210 | if(for2 == 0 && dir1 == 0) { |
Hooglugt | 0:99cbc87af37c | 211 | for2 = dir1 = 1; |
Hooglugt | 0:99cbc87af37c | 212 | } else { |
Hooglugt | 0:99cbc87af37c | 213 | for2 = dir1 = 0; |
Hooglugt | 0:99cbc87af37c | 214 | } |
Hooglugt | 0:99cbc87af37c | 215 | } |
Hooglugt | 0:99cbc87af37c | 216 | if(direction == 1 && force == 3) { // links sterk |
Hooglugt | 0:99cbc87af37c | 217 | if(for3 == 0 && dir1 == 0) { |
Hooglugt | 0:99cbc87af37c | 218 | for3 = dir1 = 1; |
Hooglugt | 0:99cbc87af37c | 219 | } else { |
Hooglugt | 0:99cbc87af37c | 220 | for3 = dir1 = 0; |
Hooglugt | 0:99cbc87af37c | 221 | } |
Hooglugt | 0:99cbc87af37c | 222 | } |
Hooglugt | 0:99cbc87af37c | 223 | if(direction == 2 && force == 1) { // mid zwak |
Hooglugt | 0:99cbc87af37c | 224 | if(for1 == 0 && dir2 == 0) { |
Hooglugt | 0:99cbc87af37c | 225 | for1 = dir2 = 1; |
Hooglugt | 0:99cbc87af37c | 226 | } else { |
Hooglugt | 0:99cbc87af37c | 227 | for1 = dir2 = 0; |
Hooglugt | 0:99cbc87af37c | 228 | } |
Hooglugt | 0:99cbc87af37c | 229 | } |
Hooglugt | 0:99cbc87af37c | 230 | if(direction == 2 && force == 2) { // mid normaal |
Hooglugt | 0:99cbc87af37c | 231 | if(for2 == 0 && dir2 == 0) { |
Hooglugt | 0:99cbc87af37c | 232 | for2 = dir2 = 1; |
Hooglugt | 0:99cbc87af37c | 233 | } else { |
Hooglugt | 0:99cbc87af37c | 234 | for2 = dir2 = 0; |
Hooglugt | 0:99cbc87af37c | 235 | } |
Hooglugt | 0:99cbc87af37c | 236 | } |
Hooglugt | 0:99cbc87af37c | 237 | if(direction == 2 && force == 3) { // mid sterk |
Hooglugt | 0:99cbc87af37c | 238 | if(for3 == 0 && dir2 == 0) { |
Hooglugt | 0:99cbc87af37c | 239 | for3 = dir2 = 1; |
Hooglugt | 0:99cbc87af37c | 240 | } else { |
Hooglugt | 0:99cbc87af37c | 241 | for3 = dir2 = 0; |
Hooglugt | 0:99cbc87af37c | 242 | } |
Hooglugt | 0:99cbc87af37c | 243 | } |
Hooglugt | 0:99cbc87af37c | 244 | if(direction == 3 && force == 1) { // rechts zwak |
Hooglugt | 0:99cbc87af37c | 245 | if(for1 == 0 && dir3 == 0) { |
Hooglugt | 0:99cbc87af37c | 246 | for1 = dir3 = 1; |
Hooglugt | 0:99cbc87af37c | 247 | } else { |
Hooglugt | 0:99cbc87af37c | 248 | for1 = dir3 = 0; |
Hooglugt | 0:99cbc87af37c | 249 | } |
Hooglugt | 0:99cbc87af37c | 250 | } |
Hooglugt | 0:99cbc87af37c | 251 | if(direction == 3 && force == 2) { // rechts normaal |
Hooglugt | 0:99cbc87af37c | 252 | if(for2 == 0 && dir3 == 0) { |
Hooglugt | 0:99cbc87af37c | 253 | for2 = dir3 = 1; |
Hooglugt | 0:99cbc87af37c | 254 | } else { |
Hooglugt | 0:99cbc87af37c | 255 | for2 = dir3 = 0; |
Hooglugt | 0:99cbc87af37c | 256 | } |
Hooglugt | 0:99cbc87af37c | 257 | } |
Hooglugt | 0:99cbc87af37c | 258 | if(direction == 3 && force == 3) { // rechts sterk |
Hooglugt | 0:99cbc87af37c | 259 | if(for3 == 0 && dir3 == 0) { |
Hooglugt | 0:99cbc87af37c | 260 | for3 = dir3 = 1; |
Hooglugt | 0:99cbc87af37c | 261 | } else { |
Hooglugt | 0:99cbc87af37c | 262 | for3 = dir3 = 0; |
Hooglugt | 0:99cbc87af37c | 263 | } |
Hooglugt | 0:99cbc87af37c | 264 | } |
Hooglugt | 0:99cbc87af37c | 265 | } |
Hooglugt | 0:99cbc87af37c | 266 | |
Hooglugt | 0:99cbc87af37c | 267 | int main() |
Hooglugt | 0:99cbc87af37c | 268 | { |
Hooglugt | 0:99cbc87af37c | 269 | pc.baud(115200); //baudrate instellen |
Hooglugt | 0:99cbc87af37c | 270 | log_timer.attach(looper, TSAMP_EMG); //EMG, Fsample 500 Hz |
Hooglugt | 0:99cbc87af37c | 271 | looptimer.attach(setlooptimerflag,TSAMP); |
Hooglugt | 0:99cbc87af37c | 272 | pwm_motor1.period_us(100); //10kHz PWM frequency |
Hooglugt | 0:99cbc87af37c | 273 | pwm_motor2.period_us(100); //10kHz PWM frequency |
Hooglugt | 0:99cbc87af37c | 274 | |
Hooglugt | 0:99cbc87af37c | 275 | //set up filters |
Hooglugt | 0:99cbc87af37c | 276 | arm_biquad_cascade_df1_init_f32(&binotch, 1, binotch_const, binotch_states); |
Hooglugt | 0:99cbc87af37c | 277 | arm_biquad_cascade_df1_init_f32(&bihighpass, 1, bihighpass_const, bihighpass_states); |
Hooglugt | 0:99cbc87af37c | 278 | |
Hooglugt | 0:99cbc87af37c | 279 | arm_biquad_cascade_df1_init_f32(&trinotch, 1, trinotch_const, trinotch_states); |
Hooglugt | 0:99cbc87af37c | 280 | arm_biquad_cascade_df1_init_f32(&trihighpass, 1, trihighpass_const, trihighpass_states); |
Hooglugt | 0:99cbc87af37c | 281 | |
Hooglugt | 0:99cbc87af37c | 282 | //kalibratie |
Hooglugt | 0:99cbc87af37c | 283 | |
Hooglugt | 18:5467bcc5cbf5 | 284 | motor2cal: |
Hooglugt | 18:5467bcc5cbf5 | 285 | |
Hooglugt | 0:99cbc87af37c | 286 | //motorarm naar nul-positie |
Hooglugt | 20:5007ddcd03ef | 287 | blink.attach(kalbi, 0.4); |
Hooglugt | 1:d44a866de64f | 288 | blink2.attach(kaltri, 0.2); |
Hooglugt | 0:99cbc87af37c | 289 | |
Hooglugt | 0:99cbc87af37c | 290 | //calibration motor 2 |
Hooglugt | 7:ca1ade91bd14 | 291 | pwm_motor2.write(0.65); //lage PWM |
Hooglugt | 5:e5ca53305b87 | 292 | motor2dir = 0; //rechtsom |
Hooglugt | 0:99cbc87af37c | 293 | wait(1); // anders wordt de while(1) meteen onderbroken |
Hooglugt | 4:697d5a806cc4 | 294 | while(1) { |
Hooglugt | 5:e5ca53305b87 | 295 | 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 | 296 | pwm_motor2.write(0); |
Hooglugt | 4:697d5a806cc4 | 297 | motor2.setPosition(0); |
Hooglugt | 4:697d5a806cc4 | 298 | goto motor1cal; |
Hooglugt | 0:99cbc87af37c | 299 | } |
Hooglugt | 0:99cbc87af37c | 300 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 301 | } |
Hooglugt | 4:697d5a806cc4 | 302 | motor1cal: |
Hooglugt | 0:99cbc87af37c | 303 | //calibration motor 1 |
Hooglugt | 7:ca1ade91bd14 | 304 | pwm_motor1.write(0.65); //lage PWM |
Hooglugt | 7:ca1ade91bd14 | 305 | motor1dir = 0; //linksom |
Hooglugt | 0:99cbc87af37c | 306 | wait(1); // anders wordt de while(1) meteen onderbroken |
Hooglugt | 4:697d5a806cc4 | 307 | while(1) { |
Hooglugt | 8:75980dc35763 | 308 | 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 | 309 | pwm_motor1.write(0); |
Hooglugt | 4:697d5a806cc4 | 310 | motor1.setPosition(0); |
Hooglugt | 4:697d5a806cc4 | 311 | goto emgcal; |
Hooglugt | 0:99cbc87af37c | 312 | } |
Hooglugt | 0:99cbc87af37c | 313 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 314 | } |
Hooglugt | 4:697d5a806cc4 | 315 | emgcal: |
Hooglugt | 0:99cbc87af37c | 316 | blink.detach(); |
Hooglugt | 1:d44a866de64f | 317 | blink2.detach(); |
Hooglugt | 0:99cbc87af37c | 318 | dir1 = dir2 = dir3 = 1; |
Hooglugt | 4:697d5a806cc4 | 319 | for1 = for2 = for3 = 1; |
Hooglugt | 0:99cbc87af37c | 320 | wait (1); |
Hooglugt | 0:99cbc87af37c | 321 | for1 = for2 = for3 = 0; |
Hooglugt | 0:99cbc87af37c | 322 | |
Hooglugt | 8:75980dc35763 | 323 | if(kalibratie==0) { |
Hooglugt | 8:75980dc35763 | 324 | //biceps kalibratie |
Hooglugt | 8:75980dc35763 | 325 | blink.attach(kalbi, 0.2); |
Hooglugt | 8:75980dc35763 | 326 | for (int kaltime = 0; kaltime<KALIBRATIONTIME; kaltime++) { |
Hooglugt | 8:75980dc35763 | 327 | if (bi_max < bi_result) { |
Hooglugt | 8:75980dc35763 | 328 | bi_max = bi_result; |
Hooglugt | 8:75980dc35763 | 329 | } |
Hooglugt | 8:75980dc35763 | 330 | wait (0.01); |
Hooglugt | 0:99cbc87af37c | 331 | } |
Hooglugt | 8:75980dc35763 | 332 | blink.detach(); |
Hooglugt | 8:75980dc35763 | 333 | dir1 = dir2 = dir3 = 1; |
Hooglugt | 8:75980dc35763 | 334 | wait (1); |
Hooglugt | 0:99cbc87af37c | 335 | |
Hooglugt | 8:75980dc35763 | 336 | //triceps kalibratie |
Hooglugt | 8:75980dc35763 | 337 | blink.attach(kaltri, 0.2); |
Hooglugt | 8:75980dc35763 | 338 | for (int kaltime = 0; kaltime<KALIBRATIONTIME; kaltime++) { |
Hooglugt | 8:75980dc35763 | 339 | if (tri_max < tri_result) { |
Hooglugt | 8:75980dc35763 | 340 | tri_max = tri_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 | for1 = for2 = for3 = 1; |
Hooglugt | 8:75980dc35763 | 346 | wait (1); |
Hooglugt | 8:75980dc35763 | 347 | for1 = for2 = for3 = 0; |
Hooglugt | 8:75980dc35763 | 348 | kalibratie = 1; |
Hooglugt | 0:99cbc87af37c | 349 | } |
Hooglugt | 0:99cbc87af37c | 350 | |
Hooglugt | 4:697d5a806cc4 | 351 | directionchoice: |
Hooglugt | 1:d44a866de64f | 352 | log_timer.attach(looper, TSAMP_EMG); |
Hooglugt | 0:99cbc87af37c | 353 | |
Hooglugt | 4:697d5a806cc4 | 354 | while(1) { //Loop keuze DIRECTION |
Hooglugt | 0:99cbc87af37c | 355 | for(int i=1; i<4; i++) { |
Hooglugt | 0:99cbc87af37c | 356 | if(i==1) { //red |
Hooglugt | 0:99cbc87af37c | 357 | dir1=1; |
Hooglugt | 0:99cbc87af37c | 358 | dir2=0; |
Hooglugt | 0:99cbc87af37c | 359 | dir3=0; |
Hooglugt | 0:99cbc87af37c | 360 | for (int lag=0; lag<TIMEBETWEENBLINK; lag++) { |
Hooglugt | 1:d44a866de64f | 361 | if(bi_result>FACTOR*bi_max) { |
Hooglugt | 0:99cbc87af37c | 362 | direction = 1; |
Hooglugt | 0:99cbc87af37c | 363 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 364 | goto forcechoice; // goes to second while(1) for the deciding the force |
Hooglugt | 0:99cbc87af37c | 365 | } else { |
Hooglugt | 0:99cbc87af37c | 366 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 367 | } |
Hooglugt | 0:99cbc87af37c | 368 | } |
Hooglugt | 0:99cbc87af37c | 369 | } |
Hooglugt | 0:99cbc87af37c | 370 | if(i==2) { //green |
Hooglugt | 0:99cbc87af37c | 371 | dir1 =0; |
Hooglugt | 0:99cbc87af37c | 372 | dir2 =1; |
Hooglugt | 0:99cbc87af37c | 373 | dir3 =0; |
Hooglugt | 0:99cbc87af37c | 374 | for (int lag=0; lag<TIMEBETWEENBLINK; lag++) { |
Hooglugt | 1:d44a866de64f | 375 | if(bi_result>FACTOR*bi_max) { |
Hooglugt | 0:99cbc87af37c | 376 | direction = 2; |
Hooglugt | 0:99cbc87af37c | 377 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 378 | goto forcechoice; |
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==3) { //blue |
Hooglugt | 0:99cbc87af37c | 385 | dir1 =0; |
Hooglugt | 0:99cbc87af37c | 386 | dir2 =0; |
Hooglugt | 0:99cbc87af37c | 387 | dir3 =1; |
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 = 3; |
Hooglugt | 0:99cbc87af37c | 391 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 392 | goto forcechoice; |
Hooglugt | 0:99cbc87af37c | 393 | } else { |
Hooglugt | 0:99cbc87af37c | 394 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 395 | } |
Hooglugt | 0:99cbc87af37c | 396 | } |
Hooglugt | 0:99cbc87af37c | 397 | } |
Hooglugt | 0:99cbc87af37c | 398 | } |
Hooglugt | 0:99cbc87af37c | 399 | } |
Hooglugt | 4:697d5a806cc4 | 400 | forcechoice: |
Hooglugt | 4:697d5a806cc4 | 401 | while(1) { //Loop keuze FORCE |
Hooglugt | 0:99cbc87af37c | 402 | for(int j=1; j<4; j++) { |
Hooglugt | 0:99cbc87af37c | 403 | if(j==1) { //red |
Hooglugt | 0:99cbc87af37c | 404 | for1=1; |
Hooglugt | 0:99cbc87af37c | 405 | for2=0; |
Hooglugt | 0:99cbc87af37c | 406 | for3=0; |
Hooglugt | 0:99cbc87af37c | 407 | for (int lag=0; lag<TIMEBETWEENBLINK; lag++) { |
Hooglugt | 1:d44a866de64f | 408 | if(tri_result>FACTOR*tri_max) { |
Hooglugt | 0:99cbc87af37c | 409 | for1 = for2 = for3 = 0; |
Hooglugt | 0:99cbc87af37c | 410 | goto directionchoice; |
Hooglugt | 0:99cbc87af37c | 411 | } else { |
Hooglugt | 1:d44a866de64f | 412 | if(bi_result>FACTOR*bi_max) { |
Hooglugt | 0:99cbc87af37c | 413 | force = 1; |
Hooglugt | 0:99cbc87af37c | 414 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 415 | goto choicesmade; |
Hooglugt | 0:99cbc87af37c | 416 | } else { |
Hooglugt | 0:99cbc87af37c | 417 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 418 | } |
Hooglugt | 0:99cbc87af37c | 419 | } |
Hooglugt | 0:99cbc87af37c | 420 | } |
Hooglugt | 0:99cbc87af37c | 421 | } |
Hooglugt | 0:99cbc87af37c | 422 | if(j==2) { //green |
Hooglugt | 0:99cbc87af37c | 423 | for1=0; |
Hooglugt | 0:99cbc87af37c | 424 | for2=1; |
Hooglugt | 0:99cbc87af37c | 425 | for3=0; |
Hooglugt | 0:99cbc87af37c | 426 | for (int lag=0; lag<TIMEBETWEENBLINK; lag++) { |
Hooglugt | 1:d44a866de64f | 427 | if(tri_result>FACTOR*tri_max) { |
Hooglugt | 0:99cbc87af37c | 428 | for1 = for2 = for3 = 0; |
Hooglugt | 0:99cbc87af37c | 429 | goto directionchoice; |
Hooglugt | 0:99cbc87af37c | 430 | } else { |
Hooglugt | 1:d44a866de64f | 431 | if(bi_result>FACTOR*bi_max) { |
Hooglugt | 0:99cbc87af37c | 432 | force = 2; |
Hooglugt | 0:99cbc87af37c | 433 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 434 | goto choicesmade; |
Hooglugt | 0:99cbc87af37c | 435 | } else { |
Hooglugt | 0:99cbc87af37c | 436 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 437 | } |
Hooglugt | 0:99cbc87af37c | 438 | } |
Hooglugt | 0:99cbc87af37c | 439 | } |
Hooglugt | 0:99cbc87af37c | 440 | } |
Hooglugt | 0:99cbc87af37c | 441 | if(j==3) { //blue |
Hooglugt | 0:99cbc87af37c | 442 | for1=0; |
Hooglugt | 0:99cbc87af37c | 443 | for2=0; |
Hooglugt | 0:99cbc87af37c | 444 | for3=1; |
Hooglugt | 0:99cbc87af37c | 445 | for (int lag=0; lag<TIMEBETWEENBLINK; lag++) { |
Hooglugt | 1:d44a866de64f | 446 | if(tri_result>FACTOR*tri_max) { |
Hooglugt | 0:99cbc87af37c | 447 | for1 = for2 = for3 = 0; |
Hooglugt | 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 = 3; |
Hooglugt | 0:99cbc87af37c | 452 | wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie |
Hooglugt | 0:99cbc87af37c | 453 | goto choicesmade; |
Hooglugt | 0:99cbc87af37c | 454 | } else { |
Hooglugt | 0:99cbc87af37c | 455 | wait(0.01); |
Hooglugt | 0:99cbc87af37c | 456 | } |
Hooglugt | 0:99cbc87af37c | 457 | } |
Hooglugt | 0:99cbc87af37c | 458 | } |
Hooglugt | 0:99cbc87af37c | 459 | } |
Hooglugt | 0:99cbc87af37c | 460 | } |
Hooglugt | 0:99cbc87af37c | 461 | } |
Hooglugt | 0:99cbc87af37c | 462 | |
Hooglugt | 0:99cbc87af37c | 463 | choicesmade: |
Hooglugt | 0:99cbc87af37c | 464 | blink.attach(okay, 0.2); |
Hooglugt | 4:697d5a806cc4 | 465 | while(1) { |
Hooglugt | 4:697d5a806cc4 | 466 | if(tri_result>FACTOR*tri_max) { |
Hooglugt | 0:99cbc87af37c | 467 | blink.detach(); |
Hooglugt | 1:d44a866de64f | 468 | switch (direction) { |
Hooglugt | 1:d44a866de64f | 469 | case 1: |
Hooglugt | 1:d44a866de64f | 470 | dir1 = 1; |
Hooglugt | 1:d44a866de64f | 471 | for1 = 1; |
Hooglugt | 1:d44a866de64f | 472 | for2 = for3 = 0; |
Hooglugt | 1:d44a866de64f | 473 | break; |
Hooglugt | 1:d44a866de64f | 474 | case 2: |
Hooglugt | 1:d44a866de64f | 475 | dir2 = 1; |
Hooglugt | 1:d44a866de64f | 476 | for1 = 1; |
Hooglugt | 1:d44a866de64f | 477 | for2 = for3 = 0; |
Hooglugt | 1:d44a866de64f | 478 | break; |
Hooglugt | 1:d44a866de64f | 479 | case 3: |
Hooglugt | 1:d44a866de64f | 480 | dir3 = 1; |
Hooglugt | 1:d44a866de64f | 481 | for1 = 1; |
Hooglugt | 1:d44a866de64f | 482 | for2 = for3 = 0; |
Hooglugt | 1:d44a866de64f | 483 | break; |
Hooglugt | 1:d44a866de64f | 484 | } |
Hooglugt | 4:697d5a806cc4 | 485 | |
Hooglugt | 4:697d5a806cc4 | 486 | wait(1); // 1 sec wait, anders reset je meteen ook de biceps keuze |
Hooglugt | 4:697d5a806cc4 | 487 | goto forcechoice; |
Hooglugt | 0:99cbc87af37c | 488 | } else { |
Hooglugt | 1:d44a866de64f | 489 | if(bi_result>FACTOR*bi_max && (dir1==1||dir2==1||dir3==1)) { |
Hooglugt | 4:697d5a806cc4 | 490 | blink.detach(); |
Hooglugt | 4:697d5a806cc4 | 491 | log_timer.detach(); |
Hooglugt | 4:697d5a806cc4 | 492 | goto motorcontrol; |
Hooglugt | 0:99cbc87af37c | 493 | } else { |
Hooglugt | 0:99cbc87af37c | 494 | wait(0.01); // not sure of de wait noodzakelijk is (nu toegevoegd zodat het niet teveel strain levert op bordje) |
Hooglugt | 0:99cbc87af37c | 495 | } |
Hooglugt | 0:99cbc87af37c | 496 | } |
Hooglugt | 0:99cbc87af37c | 497 | } |
Hooglugt | 4:697d5a806cc4 | 498 | |
Hooglugt | 4:697d5a806cc4 | 499 | motorcontrol: |
Hooglugt | 4:697d5a806cc4 | 500 | |
Hooglugt | 0:99cbc87af37c | 501 | /* Vanaf hier komt de aansturing van de motor */ |
Hooglugt | 0:99cbc87af37c | 502 | |
Hooglugt | 8:75980dc35763 | 503 | setpoint1=0; |
Hooglugt | 8:75980dc35763 | 504 | setpoint2=0; |
Hooglugt | 8:75980dc35763 | 505 | integral1 = integral = 0; |
Hooglugt | 8:75980dc35763 | 506 | previouserror1 = previouserror = 0; |
Hooglugt | 11:b517e73a98ab | 507 | |
Hooglugt | 11:b517e73a98ab | 508 | |
Hooglugt | 8:75980dc35763 | 509 | while(1) { // loop voor het goed plaatsen van motor2 (batje hoek) |
Hooglugt | 11:b517e73a98ab | 510 | while(!looptimerflag); |
Hooglugt | 9:0bc7f83b761e | 511 | looptimerflag = false; //clear flag |
Hooglugt | 11:b517e73a98ab | 512 | |
Hooglugt | 11:b517e73a98ab | 513 | switch(state) { |
Hooglugt | 25:1ec0da9b26a5 | 514 | case 1: |
Hooglugt | 11:b517e73a98ab | 515 | switch (direction) { |
Hooglugt | 11:b517e73a98ab | 516 | case 1: |
Hooglugt | 22:77d7065cc431 | 517 | pwm_motor2.write(0.8); |
Hooglugt | 22:77d7065cc431 | 518 | motor2dir = 1; |
Hooglugt | 22:77d7065cc431 | 519 | count++; |
Hooglugt | 25:1ec0da9b26a5 | 520 | if (count>170) { |
Hooglugt | 22:77d7065cc431 | 521 | state=2; |
Hooglugt | 22:77d7065cc431 | 522 | count = 0; |
Hooglugt | 22:77d7065cc431 | 523 | pwm_motor2.write(0); |
Hooglugt | 22:77d7065cc431 | 524 | } |
Hooglugt | 11:b517e73a98ab | 525 | break; |
Hooglugt | 25:1ec0da9b26a5 | 526 | |
Hooglugt | 11:b517e73a98ab | 527 | case 2: |
Hooglugt | 22:77d7065cc431 | 528 | pwm_motor2.write(0.8); |
Hooglugt | 22:77d7065cc431 | 529 | motor2dir = 1; |
Hooglugt | 22:77d7065cc431 | 530 | count++; |
Hooglugt | 22:77d7065cc431 | 531 | if (count>100) { |
Hooglugt | 22:77d7065cc431 | 532 | state=2; |
Hooglugt | 22:77d7065cc431 | 533 | count = 0; |
Hooglugt | 22:77d7065cc431 | 534 | pwm_motor2.write(0); |
Hooglugt | 22:77d7065cc431 | 535 | } |
Hooglugt | 11:b517e73a98ab | 536 | break; |
Hooglugt | 11:b517e73a98ab | 537 | case 3: |
Hooglugt | 23:913bf8a6f7d8 | 538 | pwm_motor2.write(0.8); |
Hooglugt | 23:913bf8a6f7d8 | 539 | motor2dir = 1; |
Hooglugt | 23:913bf8a6f7d8 | 540 | count++; |
Hooglugt | 23:913bf8a6f7d8 | 541 | if (count>50) { |
Hooglugt | 23:913bf8a6f7d8 | 542 | state=2; |
Hooglugt | 23:913bf8a6f7d8 | 543 | count = 0; |
Hooglugt | 23:913bf8a6f7d8 | 544 | pwm_motor2.write(0); |
Hooglugt | 23:913bf8a6f7d8 | 545 | } |
Hooglugt | 19:fe284ddaa88a | 546 | break; |
Hooglugt | 23:913bf8a6f7d8 | 547 | } |
Hooglugt | 17:7641d7934b91 | 548 | case 2: { |
Hooglugt | 11:b517e73a98ab | 549 | count++; |
Hooglugt | 11:b517e73a98ab | 550 | if(count>1000) { |
Hooglugt | 11:b517e73a98ab | 551 | count = 0; |
Hooglugt | 11:b517e73a98ab | 552 | state = 3; |
Hooglugt | 11:b517e73a98ab | 553 | } |
Hooglugt | 11:b517e73a98ab | 554 | break; |
Hooglugt | 9:0bc7f83b761e | 555 | } |
Hooglugt | 11:b517e73a98ab | 556 | case 3: { |
Hooglugt | 11:b517e73a98ab | 557 | switch (force) { |
Hooglugt | 11:b517e73a98ab | 558 | case 1: |
Hooglugt | 25:1ec0da9b26a5 | 559 | pwm_motor1.write(1); |
Hooglugt | 25:1ec0da9b26a5 | 560 | motor1dir = 1; |
Hooglugt | 11:b517e73a98ab | 561 | break; |
Hooglugt | 11:b517e73a98ab | 562 | case 2: |
Hooglugt | 25:1ec0da9b26a5 | 563 | pwm_motor1.write(1); //net niet haalbaar |
Hooglugt | 25:1ec0da9b26a5 | 564 | motor1dir = 1; |
Hooglugt | 11:b517e73a98ab | 565 | break; |
Hooglugt | 11:b517e73a98ab | 566 | case 3: |
Hooglugt | 25:1ec0da9b26a5 | 567 | pwm_motor1.write(1); //niet haalbaar |
Hooglugt | 25:1ec0da9b26a5 | 568 | motor1dir = 1; |
Hooglugt | 11:b517e73a98ab | 569 | break; |
Hooglugt | 11:b517e73a98ab | 570 | } |
Hooglugt | 25:1ec0da9b26a5 | 571 | if(fabs(motor1.getPosition()*omrekenfactor1)>7.0) { |
Hooglugt | 25:1ec0da9b26a5 | 572 | pwm_motor1.write(0); |
Hooglugt | 11:b517e73a98ab | 573 | state = 4; |
Hooglugt | 11:b517e73a98ab | 574 | } |
Hooglugt | 11:b517e73a98ab | 575 | break; |
Hooglugt | 8:75980dc35763 | 576 | } |
Hooglugt | 11:b517e73a98ab | 577 | case 4: { |
Hooglugt | 11:b517e73a98ab | 578 | count++; |
Hooglugt | 25:1ec0da9b26a5 | 579 | if(count>4000) { |
Hooglugt | 11:b517e73a98ab | 580 | count = 0; |
Hooglugt | 11:b517e73a98ab | 581 | state = 1; |
Hooglugt | 18:5467bcc5cbf5 | 582 | goto motor2cal; |
Hooglugt | 11:b517e73a98ab | 583 | } |
Hooglugt | 11:b517e73a98ab | 584 | break; |
Hooglugt | 24:1b812b393264 | 585 | } |
Hooglugt | 11:b517e73a98ab | 586 | } |
Hooglugt | 25:1ec0da9b26a5 | 587 | } |
Hooglugt | 11:b517e73a98ab | 588 | } // end main |