repurposed void update_encoder copy
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of EMG_controlled_Inv_Kin_PID_Control by
main.cpp@3:9f0c4e8e21db, 2016-11-01 (annotated)
- Committer:
- JeffreyBrimm
- Date:
- Tue Nov 01 09:53:08 2016 +0000
- Revision:
- 3:9f0c4e8e21db
- Parent:
- 2:6523e21391e5
removed obsolete code in void update_encoder. Now only prints variables.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
willem_hoitzing | 0:e03285f8a410 | 1 | #include "stdio.h" |
willem_hoitzing | 0:e03285f8a410 | 2 | #include "math.h" |
willem_hoitzing | 0:e03285f8a410 | 3 | #include "mbed.h" |
willem_hoitzing | 0:e03285f8a410 | 4 | #include "QEI.h" |
willem_hoitzing | 0:e03285f8a410 | 5 | #include "MODSERIAL.h" |
willem_hoitzing | 0:e03285f8a410 | 6 | #include "BiQuad.h" |
willem_hoitzing | 0:e03285f8a410 | 7 | #include "HIDScope.h" |
willem_hoitzing | 0:e03285f8a410 | 8 | |
willem_hoitzing | 0:e03285f8a410 | 9 | MODSERIAL pc(USBTX, USBRX); |
willem_hoitzing | 0:e03285f8a410 | 10 | QEI wheel_M1 (D13, D12, NC, 32); |
willem_hoitzing | 0:e03285f8a410 | 11 | QEI wheel_M2 (D10, D11, NC, 32); |
willem_hoitzing | 0:e03285f8a410 | 12 | PwmOut pwm_M1 (D6); |
willem_hoitzing | 0:e03285f8a410 | 13 | PwmOut pwm_M2 (D5); |
willem_hoitzing | 0:e03285f8a410 | 14 | DigitalOut dir_M1 (D7); |
willem_hoitzing | 0:e03285f8a410 | 15 | DigitalOut dir_M2 (D4); |
willem_hoitzing | 0:e03285f8a410 | 16 | |
willem_hoitzing | 0:e03285f8a410 | 17 | Ticker emgticker; |
willem_hoitzing | 0:e03285f8a410 | 18 | AnalogIn emgB(A0); |
willem_hoitzing | 0:e03285f8a410 | 19 | AnalogIn emgT(A1); |
willem_hoitzing | 0:e03285f8a410 | 20 | AnalogIn emgS(A2); |
willem_hoitzing | 1:078e96685ed3 | 21 | HIDScope scope(4); |
willem_hoitzing | 0:e03285f8a410 | 22 | |
willem_hoitzing | 0:e03285f8a410 | 23 | DigitalOut ledg (LED_GREEN); |
willem_hoitzing | 0:e03285f8a410 | 24 | DigitalOut ledr (LED_RED); |
willem_hoitzing | 0:e03285f8a410 | 25 | DigitalOut ledb (LED_BLUE); |
willem_hoitzing | 0:e03285f8a410 | 26 | InterruptIn knop_biceps(SW2); |
willem_hoitzing | 0:e03285f8a410 | 27 | InterruptIn knop_triceps(SW3); |
willem_hoitzing | 0:e03285f8a410 | 28 | InterruptIn knop_switch(D9); |
willem_hoitzing | 1:078e96685ed3 | 29 | InterruptIn knop_calibrate(PTC12); |
willem_hoitzing | 0:e03285f8a410 | 30 | BiQuadChain filter1b; |
willem_hoitzing | 0:e03285f8a410 | 31 | BiQuadChain filter2b; |
willem_hoitzing | 0:e03285f8a410 | 32 | BiQuadChain filter1t; |
willem_hoitzing | 0:e03285f8a410 | 33 | BiQuadChain filter2t; |
willem_hoitzing | 0:e03285f8a410 | 34 | BiQuadChain filter1s; |
willem_hoitzing | 0:e03285f8a410 | 35 | BiQuadChain filter2s; |
willem_hoitzing | 0:e03285f8a410 | 36 | |
willem_hoitzing | 0:e03285f8a410 | 37 | BiQuad bq1b(8.5977e-01, -1.7195e+00, 8.5977e-01, -1.7347e+00, 7.6601e-01); // Notch + HP |
willem_hoitzing | 0:e03285f8a410 | 38 | BiQuad bq2b(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.5933e+00, 9.8217e-01); // Notch + HP |
willem_hoitzing | 0:e03285f8a410 | 39 | BiQuad bq3b(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.6143e+00 , 9.8260e-01); // Notch + HP |
willem_hoitzing | 0:e03285f8a410 | 40 | BiQuad bq4b(3.4604e-04, 6.9208e-04, 3.4604e-04, -1.9467e+00, 9.4808e-01); // LP |
willem_hoitzing | 0:e03285f8a410 | 41 | |
willem_hoitzing | 0:e03285f8a410 | 42 | BiQuad bq1t(8.5977e-01, -1.7195e+00, 8.5977e-01, -1.7347e+00, 7.6601e-01); // Notch + HP |
willem_hoitzing | 0:e03285f8a410 | 43 | BiQuad bq2t(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.5933e+00, 9.8217e-01); // Notch + HP |
willem_hoitzing | 0:e03285f8a410 | 44 | BiQuad bq3t(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.6143e+00 , 9.8260e-01); // Notch + HP |
willem_hoitzing | 0:e03285f8a410 | 45 | BiQuad bq4t(3.4604e-04, 6.9208e-04, 3.4604e-04, -1.9467e+00, 9.4808e-01); // LP |
willem_hoitzing | 0:e03285f8a410 | 46 | |
willem_hoitzing | 0:e03285f8a410 | 47 | BiQuad bq1s(8.5977e-01, -1.7195e+00, 8.5977e-01, -1.7347e+00, 7.6601e-01); // Notch + HP |
willem_hoitzing | 0:e03285f8a410 | 48 | BiQuad bq2s(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.5933e+00, 9.8217e-01); // Notch + HP |
willem_hoitzing | 0:e03285f8a410 | 49 | BiQuad bq3s(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.6143e+00 , 9.8260e-01); // Notch + HP |
willem_hoitzing | 0:e03285f8a410 | 50 | BiQuad bq4s(3.4604e-04, 6.9208e-04, 3.4604e-04, -1.9467e+00, 9.4808e-01); // LP |
willem_hoitzing | 0:e03285f8a410 | 51 | |
willem_hoitzing | 1:078e96685ed3 | 52 | volatile double bEMG_max = 0; |
willem_hoitzing | 1:078e96685ed3 | 53 | volatile double tEMG_max = 0; |
willem_hoitzing | 1:078e96685ed3 | 54 | volatile double sEMG_max = 0; |
willem_hoitzing | 1:078e96685ed3 | 55 | const double percentage_threshold_biceps = 0.09/0.171536; // 0.171536 is max aanspanning |
willem_hoitzing | 1:078e96685ed3 | 56 | const double percentage_threshold_triceps = 0.07/0.203654; // 0.203654 is max aanspanning |
willem_hoitzing | 1:078e96685ed3 | 57 | const double percentage_threshold_switch = 0.09/0.171536; // gekopieerd van andere biceps |
willem_hoitzing | 1:078e96685ed3 | 58 | volatile double threshold_biceps = 0; |
willem_hoitzing | 1:078e96685ed3 | 59 | volatile double threshold_triceps = 0; |
willem_hoitzing | 1:078e96685ed3 | 60 | volatile double threshold_switch = 0; |
willem_hoitzing | 1:078e96685ed3 | 61 | volatile bool calibrate_biceps = false; |
willem_hoitzing | 1:078e96685ed3 | 62 | volatile bool calibrate_triceps = false; |
willem_hoitzing | 1:078e96685ed3 | 63 | volatile bool calibrate_switch = false; |
willem_hoitzing | 1:078e96685ed3 | 64 | volatile bool calibration_finished = false; |
willem_hoitzing | 0:e03285f8a410 | 65 | |
willem_hoitzing | 2:6523e21391e5 | 66 | const double pi = 3.14159265359; |
willem_hoitzing | 2:6523e21391e5 | 67 | |
willem_hoitzing | 1:078e96685ed3 | 68 | volatile double q1 = 0; |
willem_hoitzing | 1:078e96685ed3 | 69 | volatile double q2 = 0; |
willem_hoitzing | 1:078e96685ed3 | 70 | const double l1 = 0.3626; |
willem_hoitzing | 2:6523e21391e5 | 71 | const double l2 = (0.420-0.065); // middelpunt swiffer |
willem_hoitzing | 1:078e96685ed3 | 72 | volatile double q1_v; |
willem_hoitzing | 1:078e96685ed3 | 73 | volatile double q2_v; |
willem_hoitzing | 1:078e96685ed3 | 74 | volatile double q1_ref = 0; |
willem_hoitzing | 1:078e96685ed3 | 75 | volatile double q2_ref = 0; |
willem_hoitzing | 1:078e96685ed3 | 76 | volatile double q1_ref_prev = 0; |
willem_hoitzing | 1:078e96685ed3 | 77 | volatile double q2_ref_prev = 0; |
willem_hoitzing | 1:078e96685ed3 | 78 | volatile double q1_error = 0; |
willem_hoitzing | 1:078e96685ed3 | 79 | volatile double q2_error = 0; |
willem_hoitzing | 1:078e96685ed3 | 80 | volatile double q1_error_prev = 0; |
willem_hoitzing | 1:078e96685ed3 | 81 | volatile double q2_error_prev = 0; |
willem_hoitzing | 1:078e96685ed3 | 82 | volatile double q1DerivativeError = 0; |
willem_hoitzing | 1:078e96685ed3 | 83 | volatile double q2DerivativeError = 0; |
willem_hoitzing | 1:078e96685ed3 | 84 | volatile double q1IntError = 0; |
willem_hoitzing | 1:078e96685ed3 | 85 | volatile double q2IntError = 0; |
willem_hoitzing | 1:078e96685ed3 | 86 | volatile double q1_total_error= 0; |
willem_hoitzing | 1:078e96685ed3 | 87 | volatile double q2_total_error= 0; |
willem_hoitzing | 1:078e96685ed3 | 88 | double ctrlOutput_M1 = 0; |
willem_hoitzing | 1:078e96685ed3 | 89 | double ctrlOutput_M2 = 0; |
willem_hoitzing | 1:078e96685ed3 | 90 | volatile double vx; |
willem_hoitzing | 1:078e96685ed3 | 91 | volatile double vy; |
willem_hoitzing | 0:e03285f8a410 | 92 | volatile bool translatie_richting = true; //true is verticaal, false is horizontaal |
willem_hoitzing | 0:e03285f8a410 | 93 | |
willem_hoitzing | 1:078e96685ed3 | 94 | const double TS = 0.02; |
willem_hoitzing | 1:078e96685ed3 | 95 | const double MotorGain_M1 = 4.3; // bij pwm = 1 draait (losse) motor met 4.3 rad/s -> gemeten |
willem_hoitzing | 1:078e96685ed3 | 96 | const double MotorGain_M2 = 4.7; // gemeten |
willem_hoitzing | 0:e03285f8a410 | 97 | |
willem_hoitzing | 0:e03285f8a410 | 98 | Ticker update_encoder_ticker; |
willem_hoitzing | 0:e03285f8a410 | 99 | volatile bool go_flag_update_encoder = false; |
willem_hoitzing | 0:e03285f8a410 | 100 | void flag_update_encoder() |
willem_hoitzing | 0:e03285f8a410 | 101 | { |
willem_hoitzing | 0:e03285f8a410 | 102 | go_flag_update_encoder = true; |
willem_hoitzing | 0:e03285f8a410 | 103 | } |
willem_hoitzing | 0:e03285f8a410 | 104 | |
willem_hoitzing | 0:e03285f8a410 | 105 | void update_encoder() |
willem_hoitzing | 0:e03285f8a410 | 106 | { |
willem_hoitzing | 0:e03285f8a410 | 107 | pc.printf("vx = %f \tvy = %f \tq1_r = %f \tq2_r = %f \tq1 = %f \tq2 = %f \tpwm_M1 = %f \tpwm_M2 = %f\n\r",vx,vy,q1_ref,q2_ref,q1,q2,pwm_M1.read(),pwm_M2.read()); |
willem_hoitzing | 1:078e96685ed3 | 108 | } |
willem_hoitzing | 1:078e96685ed3 | 109 | |
willem_hoitzing | 1:078e96685ed3 | 110 | Ticker end_calibration_biceps_ticker; |
willem_hoitzing | 1:078e96685ed3 | 111 | void end_calibration_biceps() |
willem_hoitzing | 1:078e96685ed3 | 112 | { |
willem_hoitzing | 1:078e96685ed3 | 113 | ledr = 1; |
willem_hoitzing | 1:078e96685ed3 | 114 | calibrate_biceps = false; |
willem_hoitzing | 1:078e96685ed3 | 115 | end_calibration_biceps_ticker.detach(); |
willem_hoitzing | 1:078e96685ed3 | 116 | } |
willem_hoitzing | 1:078e96685ed3 | 117 | |
willem_hoitzing | 1:078e96685ed3 | 118 | Ticker end_calibration_triceps_ticker; |
willem_hoitzing | 1:078e96685ed3 | 119 | void end_calibration_triceps() |
willem_hoitzing | 1:078e96685ed3 | 120 | { |
willem_hoitzing | 1:078e96685ed3 | 121 | ledg = 1; |
willem_hoitzing | 1:078e96685ed3 | 122 | calibrate_triceps = false; |
willem_hoitzing | 1:078e96685ed3 | 123 | end_calibration_triceps_ticker.detach(); |
willem_hoitzing | 1:078e96685ed3 | 124 | } |
willem_hoitzing | 1:078e96685ed3 | 125 | |
willem_hoitzing | 1:078e96685ed3 | 126 | Ticker end_calibration_switch_ticker; |
willem_hoitzing | 1:078e96685ed3 | 127 | void end_calibration_switch() |
willem_hoitzing | 1:078e96685ed3 | 128 | { |
willem_hoitzing | 1:078e96685ed3 | 129 | ledb = 1; |
willem_hoitzing | 1:078e96685ed3 | 130 | calibrate_switch = false; |
willem_hoitzing | 1:078e96685ed3 | 131 | end_calibration_switch_ticker.detach(); |
willem_hoitzing | 1:078e96685ed3 | 132 | calibration_finished = true; |
willem_hoitzing | 0:e03285f8a410 | 133 | } |
willem_hoitzing | 0:e03285f8a410 | 134 | |
willem_hoitzing | 1:078e96685ed3 | 135 | volatile int n = 0; |
willem_hoitzing | 1:078e96685ed3 | 136 | void start_calibration() |
willem_hoitzing | 1:078e96685ed3 | 137 | { |
willem_hoitzing | 1:078e96685ed3 | 138 | calibration_finished = false; |
willem_hoitzing | 1:078e96685ed3 | 139 | n++; |
willem_hoitzing | 1:078e96685ed3 | 140 | if (n == 1) { |
willem_hoitzing | 1:078e96685ed3 | 141 | ledr = 0; |
willem_hoitzing | 1:078e96685ed3 | 142 | bEMG_max = 0; |
willem_hoitzing | 1:078e96685ed3 | 143 | calibrate_biceps = true; |
willem_hoitzing | 1:078e96685ed3 | 144 | end_calibration_biceps_ticker.attach(&end_calibration_biceps, 10); |
willem_hoitzing | 1:078e96685ed3 | 145 | } |
willem_hoitzing | 1:078e96685ed3 | 146 | if (n == 2) { |
willem_hoitzing | 1:078e96685ed3 | 147 | ledg = 0; |
willem_hoitzing | 1:078e96685ed3 | 148 | tEMG_max = 0; |
willem_hoitzing | 1:078e96685ed3 | 149 | calibrate_triceps = true; |
willem_hoitzing | 1:078e96685ed3 | 150 | end_calibration_triceps_ticker.attach(&end_calibration_triceps, 10); |
willem_hoitzing | 1:078e96685ed3 | 151 | } |
willem_hoitzing | 1:078e96685ed3 | 152 | if (n == 3) { |
willem_hoitzing | 1:078e96685ed3 | 153 | ledb = 0; |
willem_hoitzing | 1:078e96685ed3 | 154 | sEMG_max = 0; |
willem_hoitzing | 1:078e96685ed3 | 155 | calibrate_switch = true; |
willem_hoitzing | 1:078e96685ed3 | 156 | end_calibration_switch_ticker.attach(&end_calibration_switch, 10); |
willem_hoitzing | 1:078e96685ed3 | 157 | n = 0; |
willem_hoitzing | 1:078e96685ed3 | 158 | } |
willem_hoitzing | 1:078e96685ed3 | 159 | } |
willem_hoitzing | 1:078e96685ed3 | 160 | |
willem_hoitzing | 1:078e96685ed3 | 161 | |
willem_hoitzing | 0:e03285f8a410 | 162 | Ticker PIDcontrol; |
willem_hoitzing | 0:e03285f8a410 | 163 | volatile bool go_flag_controller = false; |
willem_hoitzing | 0:e03285f8a410 | 164 | |
willem_hoitzing | 0:e03285f8a410 | 165 | void flag_controller() |
willem_hoitzing | 0:e03285f8a410 | 166 | { |
willem_hoitzing | 0:e03285f8a410 | 167 | go_flag_controller = true; |
willem_hoitzing | 0:e03285f8a410 | 168 | } |
willem_hoitzing | 0:e03285f8a410 | 169 | |
willem_hoitzing | 0:e03285f8a410 | 170 | volatile bool active_PID_ticker = false; |
willem_hoitzing | 0:e03285f8a410 | 171 | |
willem_hoitzing | 0:e03285f8a410 | 172 | void begin_hoeken() |
willem_hoitzing | 0:e03285f8a410 | 173 | { |
willem_hoitzing | 0:e03285f8a410 | 174 | wait(1); |
willem_hoitzing | 0:e03285f8a410 | 175 | q1_ref = wheel_M1.getPulses()/(1334.355/2); |
willem_hoitzing | 0:e03285f8a410 | 176 | q2_ref = wheel_M2.getPulses()/(1334.355/2); |
willem_hoitzing | 0:e03285f8a410 | 177 | active_PID_ticker = true; |
willem_hoitzing | 0:e03285f8a410 | 178 | } |
willem_hoitzing | 0:e03285f8a410 | 179 | |
willem_hoitzing | 0:e03285f8a410 | 180 | void initialize() |
willem_hoitzing | 0:e03285f8a410 | 181 | { |
willem_hoitzing | 0:e03285f8a410 | 182 | dir_M1 = 0; //ccw |
willem_hoitzing | 0:e03285f8a410 | 183 | dir_M2 = 1; //cw |
willem_hoitzing | 2:6523e21391e5 | 184 | while ( (q1 < 20*2*pi/360) || (q2 > -45*2*pi/360) ) { |
willem_hoitzing | 0:e03285f8a410 | 185 | q1 = wheel_M1.getPulses()/(1334.355/2); |
willem_hoitzing | 2:6523e21391e5 | 186 | q2 = wheel_M2.getPulses()/(1334.355/2); |
willem_hoitzing | 2:6523e21391e5 | 187 | if (q1 < 20*2*pi/360) { |
willem_hoitzing | 2:6523e21391e5 | 188 | pwm_M1 = 0.05; |
willem_hoitzing | 2:6523e21391e5 | 189 | } else { |
willem_hoitzing | 2:6523e21391e5 | 190 | pwm_M1 = 0; |
willem_hoitzing | 2:6523e21391e5 | 191 | } |
willem_hoitzing | 2:6523e21391e5 | 192 | if (q2 > -45*2*pi/360) { |
willem_hoitzing | 2:6523e21391e5 | 193 | pwm_M2 = 0.06; |
willem_hoitzing | 2:6523e21391e5 | 194 | } else { |
willem_hoitzing | 2:6523e21391e5 | 195 | pwm_M2 = 0; |
willem_hoitzing | 2:6523e21391e5 | 196 | } |
willem_hoitzing | 0:e03285f8a410 | 197 | wait(0.005f); |
willem_hoitzing | 0:e03285f8a410 | 198 | } |
willem_hoitzing | 0:e03285f8a410 | 199 | pwm_M1 = 0; |
willem_hoitzing | 0:e03285f8a410 | 200 | pwm_M2 = 0; |
willem_hoitzing | 0:e03285f8a410 | 201 | begin_hoeken(); |
willem_hoitzing | 0:e03285f8a410 | 202 | } |
willem_hoitzing | 0:e03285f8a410 | 203 | |
willem_hoitzing | 0:e03285f8a410 | 204 | void biceps() |
willem_hoitzing | 0:e03285f8a410 | 205 | { |
willem_hoitzing | 1:078e96685ed3 | 206 | q1_ref_prev = 0; |
willem_hoitzing | 1:078e96685ed3 | 207 | q2_ref_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 208 | q1IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 209 | q2IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 210 | q1_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 211 | q2_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 212 | if (translatie_richting == true) { // verticaal / up |
willem_hoitzing | 0:e03285f8a410 | 213 | vx = 0; |
willem_hoitzing | 0:e03285f8a410 | 214 | vy = 0.1; |
willem_hoitzing | 0:e03285f8a410 | 215 | } else { // horizontaal / right |
willem_hoitzing | 0:e03285f8a410 | 216 | vx = 0.1; |
willem_hoitzing | 0:e03285f8a410 | 217 | vy = 0; |
willem_hoitzing | 0:e03285f8a410 | 218 | } |
willem_hoitzing | 0:e03285f8a410 | 219 | } |
willem_hoitzing | 0:e03285f8a410 | 220 | |
willem_hoitzing | 0:e03285f8a410 | 221 | void triceps() |
willem_hoitzing | 0:e03285f8a410 | 222 | { |
willem_hoitzing | 1:078e96685ed3 | 223 | q1_ref_prev = 0; |
willem_hoitzing | 1:078e96685ed3 | 224 | q2_ref_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 225 | q1IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 226 | q2IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 227 | q1_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 228 | q2_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 229 | if (translatie_richting == true) { // verticaal / down |
willem_hoitzing | 0:e03285f8a410 | 230 | vx = 0; |
willem_hoitzing | 0:e03285f8a410 | 231 | vy = -0.1; |
willem_hoitzing | 0:e03285f8a410 | 232 | } else { // horizontaal / left |
willem_hoitzing | 0:e03285f8a410 | 233 | vx = -0.1; |
willem_hoitzing | 0:e03285f8a410 | 234 | vy = 0; |
willem_hoitzing | 0:e03285f8a410 | 235 | } |
willem_hoitzing | 0:e03285f8a410 | 236 | |
willem_hoitzing | 0:e03285f8a410 | 237 | } |
willem_hoitzing | 0:e03285f8a410 | 238 | |
willem_hoitzing | 0:e03285f8a410 | 239 | void switcher() |
willem_hoitzing | 0:e03285f8a410 | 240 | { |
willem_hoitzing | 0:e03285f8a410 | 241 | if ( (vx == 0) && (vy == 0) && (translatie_richting == true) ) { |
willem_hoitzing | 0:e03285f8a410 | 242 | translatie_richting = false; |
willem_hoitzing | 0:e03285f8a410 | 243 | } else if ( (vx == 0) && (vy == 0) && (translatie_richting == false) ) { |
willem_hoitzing | 0:e03285f8a410 | 244 | translatie_richting = true; |
willem_hoitzing | 0:e03285f8a410 | 245 | } else { |
willem_hoitzing | 0:e03285f8a410 | 246 | vx = 0; |
willem_hoitzing | 0:e03285f8a410 | 247 | vy = 0; |
willem_hoitzing | 1:078e96685ed3 | 248 | q1_ref = q1; |
willem_hoitzing | 1:078e96685ed3 | 249 | q2_ref = q2; |
willem_hoitzing | 1:078e96685ed3 | 250 | q1_error = 0; |
willem_hoitzing | 1:078e96685ed3 | 251 | q2_error = 0; |
willem_hoitzing | 0:e03285f8a410 | 252 | q1IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 253 | q2IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 254 | q1_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 255 | q2_error_prev = 0; |
willem_hoitzing | 1:078e96685ed3 | 256 | q1_total_error = 0; |
willem_hoitzing | 1:078e96685ed3 | 257 | q2_total_error = 0; |
willem_hoitzing | 0:e03285f8a410 | 258 | } |
willem_hoitzing | 0:e03285f8a410 | 259 | |
willem_hoitzing | 0:e03285f8a410 | 260 | if (translatie_richting == 1) { |
willem_hoitzing | 0:e03285f8a410 | 261 | ledr = 1; // blauw - verticaal |
willem_hoitzing | 0:e03285f8a410 | 262 | ledg = 1; |
willem_hoitzing | 0:e03285f8a410 | 263 | ledb = 0; |
willem_hoitzing | 0:e03285f8a410 | 264 | } else { |
willem_hoitzing | 0:e03285f8a410 | 265 | ledr = 0; // rood - horizontaal |
willem_hoitzing | 0:e03285f8a410 | 266 | ledg = 1; |
willem_hoitzing | 0:e03285f8a410 | 267 | ledb = 1; |
willem_hoitzing | 0:e03285f8a410 | 268 | } |
willem_hoitzing | 0:e03285f8a410 | 269 | } |
willem_hoitzing | 0:e03285f8a410 | 270 | |
willem_hoitzing | 0:e03285f8a410 | 271 | Ticker switch_activate_ticker; |
willem_hoitzing | 0:e03285f8a410 | 272 | volatile bool switch_active = true; |
willem_hoitzing | 0:e03285f8a410 | 273 | void switch_activate() |
willem_hoitzing | 0:e03285f8a410 | 274 | { |
willem_hoitzing | 0:e03285f8a410 | 275 | switch_active = true; |
willem_hoitzing | 0:e03285f8a410 | 276 | } |
willem_hoitzing | 0:e03285f8a410 | 277 | |
willem_hoitzing | 0:e03285f8a410 | 278 | volatile bool go_flag_emgsample = false; |
willem_hoitzing | 0:e03285f8a410 | 279 | void flag_emgsample() |
willem_hoitzing | 0:e03285f8a410 | 280 | { |
willem_hoitzing | 0:e03285f8a410 | 281 | go_flag_emgsample = true; |
willem_hoitzing | 0:e03285f8a410 | 282 | } |
willem_hoitzing | 0:e03285f8a410 | 283 | |
willem_hoitzing | 0:e03285f8a410 | 284 | void emgsample() |
willem_hoitzing | 0:e03285f8a410 | 285 | { |
willem_hoitzing | 1:078e96685ed3 | 286 | double bEMG_raw = emgB.read(); |
willem_hoitzing | 1:078e96685ed3 | 287 | double bEMG_HPfilt = filter1b.step( bEMG_raw ); |
willem_hoitzing | 1:078e96685ed3 | 288 | double bEMG_rect = abs(bEMG_HPfilt); |
willem_hoitzing | 1:078e96685ed3 | 289 | double bEMG_filt = filter2b.step(bEMG_rect); |
willem_hoitzing | 1:078e96685ed3 | 290 | |
willem_hoitzing | 1:078e96685ed3 | 291 | double tEMG_raw = emgT.read(); |
willem_hoitzing | 1:078e96685ed3 | 292 | double tEMG_HPfilt = filter1t.step( tEMG_raw ); |
willem_hoitzing | 1:078e96685ed3 | 293 | double tEMG_rect = abs(tEMG_HPfilt); |
willem_hoitzing | 1:078e96685ed3 | 294 | double tEMG_filt = filter2t.step(tEMG_rect); |
willem_hoitzing | 1:078e96685ed3 | 295 | |
willem_hoitzing | 1:078e96685ed3 | 296 | double sEMG_raw = emgS.read(); |
willem_hoitzing | 1:078e96685ed3 | 297 | double sEMG_HPfilt = filter1s.step( sEMG_raw ); |
willem_hoitzing | 1:078e96685ed3 | 298 | double sEMG_rect = abs(sEMG_HPfilt); |
willem_hoitzing | 1:078e96685ed3 | 299 | double sEMG_filt = filter2s.step(sEMG_rect); |
willem_hoitzing | 0:e03285f8a410 | 300 | |
willem_hoitzing | 1:078e96685ed3 | 301 | if ((bEMG_filt > bEMG_max) && (calibrate_biceps == true) ) { |
willem_hoitzing | 1:078e96685ed3 | 302 | bEMG_max = bEMG_filt; |
willem_hoitzing | 1:078e96685ed3 | 303 | threshold_biceps = bEMG_max*percentage_threshold_biceps; |
willem_hoitzing | 1:078e96685ed3 | 304 | } |
willem_hoitzing | 0:e03285f8a410 | 305 | |
willem_hoitzing | 1:078e96685ed3 | 306 | if ((tEMG_filt > tEMG_max) && (calibrate_triceps == true) ) { |
willem_hoitzing | 1:078e96685ed3 | 307 | tEMG_max = tEMG_filt; |
willem_hoitzing | 1:078e96685ed3 | 308 | threshold_triceps = tEMG_max*percentage_threshold_triceps; |
willem_hoitzing | 1:078e96685ed3 | 309 | } |
willem_hoitzing | 0:e03285f8a410 | 310 | |
willem_hoitzing | 1:078e96685ed3 | 311 | if ((sEMG_filt > sEMG_max) && (calibrate_switch == true) ) { |
willem_hoitzing | 1:078e96685ed3 | 312 | sEMG_max = sEMG_filt; |
willem_hoitzing | 1:078e96685ed3 | 313 | threshold_switch = sEMG_max*percentage_threshold_switch; |
willem_hoitzing | 1:078e96685ed3 | 314 | } |
willem_hoitzing | 1:078e96685ed3 | 315 | |
willem_hoitzing | 0:e03285f8a410 | 316 | scope.set(0, bEMG_filt); |
willem_hoitzing | 0:e03285f8a410 | 317 | scope.set(1, tEMG_filt); |
willem_hoitzing | 1:078e96685ed3 | 318 | scope.set(2, threshold_biceps); |
willem_hoitzing | 1:078e96685ed3 | 319 | scope.set(3, threshold_triceps); |
willem_hoitzing | 0:e03285f8a410 | 320 | scope.send(); |
willem_hoitzing | 0:e03285f8a410 | 321 | |
willem_hoitzing | 1:078e96685ed3 | 322 | // motor aansturing, pas uitvoeren wanneer kalibratie klaar is |
willem_hoitzing | 1:078e96685ed3 | 323 | if ( calibration_finished == true ) { |
willem_hoitzing | 1:078e96685ed3 | 324 | if (sEMG_filt > threshold_switch) { |
willem_hoitzing | 1:078e96685ed3 | 325 | if (switch_active == true) { |
willem_hoitzing | 1:078e96685ed3 | 326 | switcher(); |
willem_hoitzing | 1:078e96685ed3 | 327 | switch_active = false; |
willem_hoitzing | 1:078e96685ed3 | 328 | switch_activate_ticker.attach(&switch_activate, 0.5f); |
willem_hoitzing | 1:078e96685ed3 | 329 | } |
willem_hoitzing | 1:078e96685ed3 | 330 | } else if (tEMG_filt > threshold_triceps) { |
willem_hoitzing | 1:078e96685ed3 | 331 | triceps(); |
willem_hoitzing | 1:078e96685ed3 | 332 | } else if (bEMG_filt > threshold_biceps) { |
willem_hoitzing | 1:078e96685ed3 | 333 | biceps(); |
willem_hoitzing | 0:e03285f8a410 | 334 | } |
willem_hoitzing | 0:e03285f8a410 | 335 | } |
willem_hoitzing | 0:e03285f8a410 | 336 | } |
willem_hoitzing | 0:e03285f8a410 | 337 | |
willem_hoitzing | 0:e03285f8a410 | 338 | Ticker update_ref_ticker; |
willem_hoitzing | 1:078e96685ed3 | 339 | volatile double J_1; |
willem_hoitzing | 1:078e96685ed3 | 340 | volatile double J_2; |
willem_hoitzing | 1:078e96685ed3 | 341 | volatile double J_3; |
willem_hoitzing | 1:078e96685ed3 | 342 | volatile double J_4; |
willem_hoitzing | 0:e03285f8a410 | 343 | volatile bool go_flag_update_ref = false; |
willem_hoitzing | 0:e03285f8a410 | 344 | void flag_update_ref() |
willem_hoitzing | 0:e03285f8a410 | 345 | { |
willem_hoitzing | 0:e03285f8a410 | 346 | go_flag_update_ref = true; |
willem_hoitzing | 0:e03285f8a410 | 347 | } |
willem_hoitzing | 0:e03285f8a410 | 348 | |
willem_hoitzing | 0:e03285f8a410 | 349 | void update_ref() |
willem_hoitzing | 0:e03285f8a410 | 350 | { |
willem_hoitzing | 0:e03285f8a410 | 351 | q1 = wheel_M1.getPulses() / (1334.355/2); // rad |
willem_hoitzing | 0:e03285f8a410 | 352 | q2 = wheel_M2.getPulses() / (1334.355/2); |
willem_hoitzing | 0:e03285f8a410 | 353 | |
willem_hoitzing | 0:e03285f8a410 | 354 | J_1 = -(l2*sin(q1 + q2))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); |
willem_hoitzing | 0:e03285f8a410 | 355 | J_2 = (l2*cos(q1 + q2))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); |
willem_hoitzing | 0:e03285f8a410 | 356 | J_3 = (l2*sin(q1 + q2) + l1*sin(q1))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); |
willem_hoitzing | 0:e03285f8a410 | 357 | J_4 = -(l2*cos(q1 + q2) + l1*cos(q1))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); |
willem_hoitzing | 0:e03285f8a410 | 358 | |
willem_hoitzing | 0:e03285f8a410 | 359 | q1_v = J_1 * vx + J_2 * vy; |
willem_hoitzing | 0:e03285f8a410 | 360 | q2_v = J_3 * vx + J_4 * vy; |
willem_hoitzing | 0:e03285f8a410 | 361 | |
willem_hoitzing | 2:6523e21391e5 | 362 | if ( (q1 > (135*2*pi/360)) && (q1_v > 0 ) ) { // WAARDES VINDEN 0.8726 (50 graden) |
willem_hoitzing | 0:e03285f8a410 | 363 | q1_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 364 | q2_v = 0; |
willem_hoitzing | 1:078e96685ed3 | 365 | q1_ref = q1; |
willem_hoitzing | 1:078e96685ed3 | 366 | q2_ref = q2; |
willem_hoitzing | 1:078e96685ed3 | 367 | q1IntError = 0; |
willem_hoitzing | 1:078e96685ed3 | 368 | q2IntError = 0; |
willem_hoitzing | 1:078e96685ed3 | 369 | q1_error_prev = 0; |
willem_hoitzing | 1:078e96685ed3 | 370 | q2_error_prev = 0; |
willem_hoitzing | 2:6523e21391e5 | 371 | } else if ( (q1 < -(135*2*pi/360)) && (q1_v < 0) ) { |
willem_hoitzing | 0:e03285f8a410 | 372 | q1_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 373 | q2_v = 0; |
willem_hoitzing | 1:078e96685ed3 | 374 | q1_ref = q1; |
willem_hoitzing | 1:078e96685ed3 | 375 | q2_ref = q2; |
willem_hoitzing | 1:078e96685ed3 | 376 | q1IntError = 0; |
willem_hoitzing | 1:078e96685ed3 | 377 | q2IntError = 0; |
willem_hoitzing | 1:078e96685ed3 | 378 | q1_error_prev = 0; |
willem_hoitzing | 1:078e96685ed3 | 379 | q2_error_prev = 0; |
willem_hoitzing | 2:6523e21391e5 | 380 | } else if ( (q2 < (-2.6*2*pi/360)) && (q2_v < 0) ) { // WAARDES VINDEN -2.4434 (-140 graden) --> werkelijke max -2.672452 |
willem_hoitzing | 0:e03285f8a410 | 381 | q1_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 382 | q2_v = 0; |
willem_hoitzing | 1:078e96685ed3 | 383 | q1_ref = q1; |
willem_hoitzing | 1:078e96685ed3 | 384 | q2_ref = q2; |
willem_hoitzing | 1:078e96685ed3 | 385 | q1IntError = 0; |
willem_hoitzing | 1:078e96685ed3 | 386 | q2IntError = 0; |
willem_hoitzing | 1:078e96685ed3 | 387 | q1_error_prev = 0; |
willem_hoitzing | 1:078e96685ed3 | 388 | q2_error_prev = 0; |
willem_hoitzing | 2:6523e21391e5 | 389 | } else if ( (q2 >= 0) && (q2_v > 0) ) { |
willem_hoitzing | 0:e03285f8a410 | 390 | q1_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 391 | q2_v = 0; |
willem_hoitzing | 1:078e96685ed3 | 392 | q1_ref = q1; |
willem_hoitzing | 1:078e96685ed3 | 393 | q2_ref = q2; |
willem_hoitzing | 1:078e96685ed3 | 394 | q1IntError = 0; |
willem_hoitzing | 1:078e96685ed3 | 395 | q2IntError = 0; |
willem_hoitzing | 1:078e96685ed3 | 396 | q1_error_prev = 0; |
willem_hoitzing | 1:078e96685ed3 | 397 | q2_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 398 | } |
JeffreyBrimm | 3:9f0c4e8e21db | 399 | |
willem_hoitzing | 0:e03285f8a410 | 400 | |
willem_hoitzing | 1:078e96685ed3 | 401 | q1_ref_prev = q1_ref; |
willem_hoitzing | 1:078e96685ed3 | 402 | q2_ref_prev = q2_ref; |
willem_hoitzing | 1:078e96685ed3 | 403 | |
willem_hoitzing | 1:078e96685ed3 | 404 | q1_ref = q1_ref_prev + q1_v*TS; |
willem_hoitzing | 1:078e96685ed3 | 405 | q2_ref = q2_ref_prev + q2_v*TS; |
willem_hoitzing | 0:e03285f8a410 | 406 | } |
willem_hoitzing | 0:e03285f8a410 | 407 | |
willem_hoitzing | 1:078e96685ed3 | 408 | void PID(double q1,double q1_ref,double q2,double q2_ref,double TS,double &ctrlOutput_M1, double &ctrlOutput_M2) |
willem_hoitzing | 0:e03285f8a410 | 409 | { |
willem_hoitzing | 0:e03285f8a410 | 410 | // linear feedback control |
willem_hoitzing | 0:e03285f8a410 | 411 | q1_error = q1_ref - q1; //referencePosition1 - Position1; // proportional angular error in radians |
willem_hoitzing | 0:e03285f8a410 | 412 | q2_error = q2_ref - q2; //referencePosition1 - Position1; // proportional angular error in radians |
willem_hoitzing | 1:078e96685ed3 | 413 | double Kp = 10; |
willem_hoitzing | 0:e03285f8a410 | 414 | |
willem_hoitzing | 0:e03285f8a410 | 415 | q1IntError = q1IntError + q1_error*TS; // integrated error in radians |
willem_hoitzing | 0:e03285f8a410 | 416 | q2IntError = q2IntError + q2_error*TS; // integrated error in radians |
willem_hoitzing | 1:078e96685ed3 | 417 | double Ki = 1; |
willem_hoitzing | 0:e03285f8a410 | 418 | |
willem_hoitzing | 0:e03285f8a410 | 419 | q1DerivativeError = (q1_error - q1_error_prev)/TS; // derivative of error in radians |
willem_hoitzing | 0:e03285f8a410 | 420 | q2DerivativeError = (q2_error - q2_error_prev)/TS; // derivative of error in radians |
willem_hoitzing | 1:078e96685ed3 | 421 | double Kd = 0; |
willem_hoitzing | 0:e03285f8a410 | 422 | |
willem_hoitzing | 1:078e96685ed3 | 423 | q1_total_error = (q1_error * Kp) + (q1IntError * Ki) + (q1DerivativeError * Kd); //total controller output = motor input |
willem_hoitzing | 1:078e96685ed3 | 424 | q2_total_error = (q2_error * Kp) + (q2IntError * Ki) + (q2DerivativeError * Kd); //total controller output = motor input |
willem_hoitzing | 0:e03285f8a410 | 425 | |
willem_hoitzing | 1:078e96685ed3 | 426 | ctrlOutput_M1 = q1_total_error/MotorGain_M1; |
willem_hoitzing | 1:078e96685ed3 | 427 | ctrlOutput_M2 = q2_total_error/MotorGain_M2; |
willem_hoitzing | 0:e03285f8a410 | 428 | |
willem_hoitzing | 0:e03285f8a410 | 429 | q1_error_prev = q1_error; |
willem_hoitzing | 0:e03285f8a410 | 430 | q2_error_prev = q2_error; |
willem_hoitzing | 0:e03285f8a410 | 431 | } |
willem_hoitzing | 0:e03285f8a410 | 432 | |
willem_hoitzing | 0:e03285f8a410 | 433 | void Controller() |
willem_hoitzing | 0:e03285f8a410 | 434 | { |
willem_hoitzing | 0:e03285f8a410 | 435 | PID(q1,q1_ref,q2,q2_ref,TS,ctrlOutput_M1,ctrlOutput_M2); |
willem_hoitzing | 0:e03285f8a410 | 436 | |
willem_hoitzing | 0:e03285f8a410 | 437 | if (ctrlOutput_M1 < 0) { |
willem_hoitzing | 0:e03285f8a410 | 438 | dir_M1 = 1; |
willem_hoitzing | 0:e03285f8a410 | 439 | } else { |
willem_hoitzing | 0:e03285f8a410 | 440 | dir_M1 = 0; |
willem_hoitzing | 0:e03285f8a410 | 441 | } |
willem_hoitzing | 0:e03285f8a410 | 442 | pwm_M1 = abs(ctrlOutput_M1); |
willem_hoitzing | 0:e03285f8a410 | 443 | if (pwm_M1 <= 0) { |
willem_hoitzing | 0:e03285f8a410 | 444 | pwm_M1 = 0; |
willem_hoitzing | 0:e03285f8a410 | 445 | } else { |
willem_hoitzing | 0:e03285f8a410 | 446 | pwm_M1 = pwm_M1 + 0.05; |
willem_hoitzing | 0:e03285f8a410 | 447 | } |
willem_hoitzing | 0:e03285f8a410 | 448 | |
willem_hoitzing | 0:e03285f8a410 | 449 | if (ctrlOutput_M2 < 0) { |
willem_hoitzing | 0:e03285f8a410 | 450 | dir_M2 = 1; |
willem_hoitzing | 0:e03285f8a410 | 451 | } else { |
willem_hoitzing | 0:e03285f8a410 | 452 | dir_M2 = 0; |
willem_hoitzing | 0:e03285f8a410 | 453 | } |
willem_hoitzing | 0:e03285f8a410 | 454 | pwm_M2 = abs(ctrlOutput_M2); |
willem_hoitzing | 0:e03285f8a410 | 455 | if (pwm_M2 <= 0) { |
willem_hoitzing | 0:e03285f8a410 | 456 | pwm_M2 = 0; |
willem_hoitzing | 0:e03285f8a410 | 457 | } else { |
willem_hoitzing | 0:e03285f8a410 | 458 | pwm_M2 = pwm_M2 + 0.05; |
willem_hoitzing | 0:e03285f8a410 | 459 | } |
willem_hoitzing | 0:e03285f8a410 | 460 | } |
willem_hoitzing | 0:e03285f8a410 | 461 | |
willem_hoitzing | 0:e03285f8a410 | 462 | int main() |
willem_hoitzing | 0:e03285f8a410 | 463 | { |
willem_hoitzing | 0:e03285f8a410 | 464 | ledr = 1; |
willem_hoitzing | 0:e03285f8a410 | 465 | ledg = 1; |
willem_hoitzing | 1:078e96685ed3 | 466 | ledb = 1; |
willem_hoitzing | 0:e03285f8a410 | 467 | pc.baud(115200); |
willem_hoitzing | 0:e03285f8a410 | 468 | wheel_M1.reset(); |
willem_hoitzing | 0:e03285f8a410 | 469 | wheel_M2.reset(); |
willem_hoitzing | 0:e03285f8a410 | 470 | filter1b.add(&bq1b).add(&bq2b).add(&bq3b); |
willem_hoitzing | 0:e03285f8a410 | 471 | filter2b.add(&bq4b); |
willem_hoitzing | 0:e03285f8a410 | 472 | filter1t.add(&bq1t).add(&bq2t).add(&bq3t); |
willem_hoitzing | 0:e03285f8a410 | 473 | filter2t.add(&bq4t); |
willem_hoitzing | 0:e03285f8a410 | 474 | filter1s.add(&bq1s).add(&bq2s).add(&bq3s); |
willem_hoitzing | 0:e03285f8a410 | 475 | filter2s.add(&bq4s); |
willem_hoitzing | 0:e03285f8a410 | 476 | knop_biceps.rise(&biceps); |
willem_hoitzing | 0:e03285f8a410 | 477 | knop_triceps.rise(&triceps); |
willem_hoitzing | 0:e03285f8a410 | 478 | knop_switch.rise(&switcher); |
willem_hoitzing | 1:078e96685ed3 | 479 | knop_calibrate.rise(&start_calibration); |
willem_hoitzing | 1:078e96685ed3 | 480 | |
willem_hoitzing | 1:078e96685ed3 | 481 | // initialize -> beginposities |
willem_hoitzing | 1:078e96685ed3 | 482 | initialize(); |
willem_hoitzing | 0:e03285f8a410 | 483 | |
willem_hoitzing | 0:e03285f8a410 | 484 | // flag functions/tickers |
willem_hoitzing | 0:e03285f8a410 | 485 | emgticker.attach(&emgsample, 0.002f); // 500 Hz --> moet kloppen met frequentie gebruikt voor filter coefficienten |
willem_hoitzing | 0:e03285f8a410 | 486 | update_encoder_ticker.attach(&flag_update_encoder, TS); |
willem_hoitzing | 0:e03285f8a410 | 487 | update_ref_ticker.attach(&flag_update_ref, TS); |
willem_hoitzing | 0:e03285f8a410 | 488 | |
willem_hoitzing | 0:e03285f8a410 | 489 | if (active_PID_ticker == true) { |
willem_hoitzing | 0:e03285f8a410 | 490 | PIDcontrol.attach(&flag_controller, TS); |
willem_hoitzing | 0:e03285f8a410 | 491 | } |
willem_hoitzing | 0:e03285f8a410 | 492 | |
willem_hoitzing | 0:e03285f8a410 | 493 | while(1) { |
willem_hoitzing | 0:e03285f8a410 | 494 | // sample EMG |
willem_hoitzing | 0:e03285f8a410 | 495 | if (go_flag_emgsample == true) { |
willem_hoitzing | 0:e03285f8a410 | 496 | go_flag_emgsample = false; |
willem_hoitzing | 0:e03285f8a410 | 497 | emgsample(); |
willem_hoitzing | 0:e03285f8a410 | 498 | } |
JeffreyBrimm | 3:9f0c4e8e21db | 499 | // print variables v, q, qref, pwm |
willem_hoitzing | 0:e03285f8a410 | 500 | if (go_flag_update_encoder == true) { |
willem_hoitzing | 0:e03285f8a410 | 501 | go_flag_update_encoder = false; |
willem_hoitzing | 0:e03285f8a410 | 502 | update_encoder(); |
willem_hoitzing | 0:e03285f8a410 | 503 | } |
willem_hoitzing | 0:e03285f8a410 | 504 | // update joint positions/velocities |
willem_hoitzing | 0:e03285f8a410 | 505 | if (go_flag_update_ref == true) { |
willem_hoitzing | 0:e03285f8a410 | 506 | go_flag_update_ref = false; |
willem_hoitzing | 0:e03285f8a410 | 507 | update_ref(); |
willem_hoitzing | 0:e03285f8a410 | 508 | } |
willem_hoitzing | 0:e03285f8a410 | 509 | // controller M1+M2 |
willem_hoitzing | 0:e03285f8a410 | 510 | if (go_flag_controller == true) { |
willem_hoitzing | 0:e03285f8a410 | 511 | go_flag_controller = false; |
willem_hoitzing | 0:e03285f8a410 | 512 | Controller(); |
willem_hoitzing | 0:e03285f8a410 | 513 | } |
willem_hoitzing | 0:e03285f8a410 | 514 | } |
willem_hoitzing | 0:e03285f8a410 | 515 | } |