Diff: main.cpp

Revision:

0:e03285f8a410

Child:

1:078e96685ed3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 28 10:36:03 2016 +0000
@@ -0,0 +1,394 @@
+#include "stdio.h"
+#include "math.h"
+#include "mbed.h"
+#include "QEI.h"
+#include "MODSERIAL.h"
+#include "BiQuad.h"
+#include "HIDScope.h"
+
+MODSERIAL pc(USBTX, USBRX);
+QEI wheel_M1 (D13, D12, NC, 32);
+QEI wheel_M2 (D10, D11, NC, 32);
+PwmOut pwm_M1 (D6);
+PwmOut pwm_M2 (D5);
+DigitalOut dir_M1 (D7);
+DigitalOut dir_M2 (D4);
+
+Ticker emgticker;
+AnalogIn emgB(A0);
+AnalogIn emgT(A1);
+AnalogIn emgS(A2);
+HIDScope scope(3);
+
+DigitalOut ledg (LED_GREEN);
+DigitalOut ledr (LED_RED);
+DigitalOut ledb (LED_BLUE);
+InterruptIn knop_biceps(SW2);
+InterruptIn knop_triceps(SW3);
+InterruptIn knop_switch(D9);
+
+BiQuadChain filter1b;
+BiQuadChain filter2b;
+BiQuadChain filter1t;
+BiQuadChain filter2t;
+BiQuadChain filter1s;
+BiQuadChain filter2s;
+
+BiQuad bq1b(8.5977e-01, -1.7195e+00, 8.5977e-01, -1.7347e+00,  7.6601e-01);   // Notch + HP
+BiQuad bq2b(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.5933e+00,  9.8217e-01);   // Notch + HP
+BiQuad bq3b(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.6143e+00 , 9.8260e-01);   // Notch + HP
+BiQuad bq4b(3.4604e-04,  6.9208e-04, 3.4604e-04, -1.9467e+00,  9.4808e-01);   // LP
+
+BiQuad bq1t(8.5977e-01, -1.7195e+00, 8.5977e-01, -1.7347e+00,  7.6601e-01);   // Notch + HP
+BiQuad bq2t(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.5933e+00,  9.8217e-01);   // Notch + HP
+BiQuad bq3t(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.6143e+00 , 9.8260e-01);   // Notch + HP
+BiQuad bq4t(3.4604e-04,  6.9208e-04, 3.4604e-04, -1.9467e+00,  9.4808e-01);   // LP
+
+BiQuad bq1s(8.5977e-01, -1.7195e+00, 8.5977e-01, -1.7347e+00,  7.6601e-01);   // Notch + HP
+BiQuad bq2s(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.5933e+00,  9.8217e-01);   // Notch + HP
+BiQuad bq3s(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.6143e+00 , 9.8260e-01);   // Notch + HP
+BiQuad bq4s(3.4604e-04,  6.9208e-04, 3.4604e-04, -1.9467e+00,  9.4808e-01);   // LP
+
+const float threshold_biceps = 0.07;
+const float threshold_triceps = 0.07;
+const float threshold_switch = 0.05;
+
+volatile float q1 = 0;
+volatile float q2 = 0;
+volatile float q1_begin;
+volatile float q2_begin;
+const float l1 = 0.3626;
+const float l2 = 0.420;
+volatile float q1_v;
+volatile float q2_v;
+volatile float q1_ref = 0;
+volatile float q2_ref = 0;
+volatile float q1_error = 0;
+volatile float q2_error = 0;
+volatile float q1_error_prev = 0;
+volatile float q2_error_prev = 0;
+volatile float q1DerivativeError = 0;
+volatile float q2DerivativeError = 0;
+volatile float q1IntError = 0;
+volatile float q2IntError = 0;
+volatile float TotalError1= 0;
+volatile float TotalError2= 0;
+float ctrlOutput_M1 = 0;
+float ctrlOutput_M2 = 0;
+volatile float vx;
+volatile float vy;
+volatile bool translatie_richting = true;  //true is verticaal, false is horizontaal
+
+const float TS = 0.02;
+const float MotorGain_M1 = 4.3;         // bij pwm = 1 draait (losse) motor met 4.3 rad/s -> gemeten
+const float MotorGain_M2 = 4.7;         // gemeten
+
+Ticker update_encoder_ticker;
+volatile bool go_flag_update_encoder = false;
+void flag_update_encoder()
+{
+    go_flag_update_encoder = true;
+}
+
+void update_encoder()
+{
+    //q1 = wheel_M1.getPulses()/(1334.355/2);
+    //q2 = wheel_M2.getPulses()/(1334.355/2);
+    //pc.printf("q1 = %f \tq1_ref = %f \tq2 = %f \tq2_ref = %f \ttotalerr1 = %f \ttotalerr2 = %f\n\r",q1, q1_ref,q2,q2_ref,TotalError1,TotalError2);
+    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());
+    //pc.printf("q1_err = %0.9f \tq2_err = %0.9f \tq1IntErr = %0.9f \tq2IntErr = %0.9f \tTotErr1 = %0.9f \tTotErr2 = %0.9f\n\r",q1_error,q2_error,q1IntError,q2IntError,TotalError1,TotalError2);
+}
+
+Ticker PIDcontrol;
+volatile bool go_flag_controller = false;
+
+void flag_controller()
+{
+    go_flag_controller = true;
+}
+
+volatile bool active_PID_ticker = false;
+
+void begin_hoeken()
+{
+    wait(1);
+    q1_ref = wheel_M1.getPulses()/(1334.355/2);
+    q2_ref = wheel_M2.getPulses()/(1334.355/2);
+    active_PID_ticker = true;
+}
+
+void initialize()
+{
+    dir_M1 = 0; //ccw
+    dir_M2 = 1; //cw
+    while (q1 < 20*2*3.1415/360) {
+        q1 = wheel_M1.getPulses()/(1334.355/2);
+        pwm_M1 = 0.05;
+        wait(0.005f);
+    }
+    pwm_M1 = 0;
+
+    while (q2 > -45*2*3.1415/360) {
+        q2 = wheel_M2.getPulses()/(1334.355/2);
+        pwm_M2 = 0.05;
+        wait(0.005f);
+    }
+    pwm_M2 = 0;
+    ledg = !ledg;
+    begin_hoeken();
+}
+
+void biceps()
+{
+    q1IntError = 0;
+    q2IntError = 0;
+    q1_error_prev = 0;
+    q2_error_prev = 0;
+    if (translatie_richting == true) {      // verticaal / up
+        vx = 0;
+        vy = 0.1;
+    } else {                        // horizontaal / right
+        vx = 0.1;
+        vy = 0;
+    }
+}
+
+void triceps()
+{
+    q1IntError = 0;
+    q2IntError = 0;
+    q1_error_prev = 0;
+    q2_error_prev = 0;
+    if (translatie_richting == true) {      // verticaal / down
+        vx = 0;
+        vy = -0.1;
+    } else {                        // horizontaal / left
+        vx = -0.1;
+        vy = 0;
+    }
+
+}
+
+void switcher()
+{
+    if ( (vx == 0) && (vy == 0) && (translatie_richting == true) ) {
+        translatie_richting = false;
+    } else if ( (vx == 0) && (vy == 0) && (translatie_richting == false) ) {
+        translatie_richting = true;
+    } else {
+        vx = 0;
+        vy = 0;
+        q1IntError = 0;
+        q2IntError = 0;
+        q1_error_prev = 0;
+        q2_error_prev = 0;
+    }
+
+    if (translatie_richting == 1) {
+        ledr = 1;                   // blauw - verticaal
+        ledg = 1;
+        ledb = 0;
+    } else {
+        ledr = 0;                   // rood - horizontaal
+        ledg = 1;
+        ledb = 1;
+    }
+}
+
+Ticker switch_activate_ticker;
+volatile bool switch_active = true;
+void switch_activate()
+{
+    switch_active = true;
+}
+
+volatile bool go_flag_emgsample = false;
+void flag_emgsample()
+{
+    go_flag_emgsample = true;
+}
+
+void emgsample()
+{
+    float bEMG_raw = emgB.read();
+    float bEMG_HPfilt = filter1b.step( bEMG_raw );
+    float bEMG_rect = abs(bEMG_HPfilt);
+    float bEMG_filt = filter2b.step(bEMG_rect);
+    
+    float tEMG_raw = emgT.read();
+    float tEMG_HPfilt = filter1t.step( tEMG_raw );
+    float tEMG_rect = abs(tEMG_HPfilt);
+    float tEMG_filt = filter2t.step(tEMG_rect);
+    
+    float sEMG_raw = emgS.read();
+    float sEMG_HPfilt = filter1s.step( sEMG_raw );
+    float sEMG_rect = abs(sEMG_HPfilt);
+    float sEMG_filt = filter2s.step(sEMG_rect);
+    
+    scope.set(0, bEMG_filt);
+    scope.set(1, tEMG_filt);
+    scope.set(2, sEMG_filt);
+    scope.send();
+    
+    // motor aansturing
+    if (sEMG_filt > threshold_switch) {
+        if (switch_active == true) {
+        switcher();
+        switch_active = false;
+        switch_activate_ticker.attach(&switch_activate, 0.5f);
+        }
+    } else if (tEMG_filt > threshold_triceps) {
+        triceps();
+    } else if (bEMG_filt > threshold_biceps) {
+        biceps();
+    }
+}
+
+Ticker update_ref_ticker;
+volatile float J_1;
+volatile float J_2;
+volatile float J_3;
+volatile float J_4;
+volatile bool go_flag_update_ref = false;
+void flag_update_ref()
+{
+    go_flag_update_ref = true;
+}
+
+void update_ref()
+{
+    q1 = wheel_M1.getPulses() / (1334.355/2);     // rad
+    q2 = wheel_M2.getPulses() / (1334.355/2);
+
+    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)));
+    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)));
+    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)));
+    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)));
+
+    q1_v = J_1 * vx + J_2 * vy;
+    q2_v = J_3 * vx + J_4 * vy;
+
+    if ( (q1 > (90*2*3.1415/360)) && (q1_v > 0 ) ) {                // WAARDES VINDEN 0.8726 (50 graden)
+        q1_v = 0;
+        q2_v = 0;
+    } else if ( (q1 < -(90*2*3.1415/360)) && (q1_v < 0) ) {
+        q1_v = 0;
+        q2_v = 0;
+    } else if ( (q2 < (-140*2*3.1415/360)) && (q2_v < 0) ) {        // WAARDES VINDEN -2.4434 (-140 graden) --> werkelijke max -2.672452
+        q1_v = 0;
+        q2_v = 0;
+    } else if ( (q2 > 0) && (q2_v > 0) ) {
+        q1_v = 0;
+        q2_v = 0;
+    }
+
+    q1_ref = q1 + q1_v*TS;
+    q2_ref = q2 + q2_v*TS;
+}
+
+void PID(float q1,float q1_ref,float q2,float q2_ref,float TS,float &ctrlOutput_M1, float &ctrlOutput_M2)
+{
+    // linear feedback control
+    q1_error = q1_ref - q1; //referencePosition1 - Position1;             // proportional angular error in radians
+    q2_error = q2_ref - q2; //referencePosition1 - Position1;             // proportional angular error in radians
+    float Kp = 10;
+
+    q1IntError = q1IntError + q1_error*TS;             // integrated error in radians
+    q2IntError = q2IntError + q2_error*TS;             // integrated error in radians
+    float Ki = 1;
+
+    q1DerivativeError = (q1_error - q1_error_prev)/TS;  // derivative of error in radians
+    q2DerivativeError = (q2_error - q2_error_prev)/TS;  // derivative of error in radians
+    float Kd = 0;
+
+    TotalError1 = (q1_error * Kp) + (q1IntError * Ki) + (q1DerivativeError * Kd);         //total controller output = motor input
+    TotalError2 = (q2_error * Kp) + (q2IntError * Ki) + (q2DerivativeError * Kd);         //total controller output = motor input
+
+    ctrlOutput_M1 = TotalError1/MotorGain_M1;
+    ctrlOutput_M2 = TotalError2/MotorGain_M2;
+
+    q1_error_prev = q1_error;
+    q2_error_prev = q2_error;
+}
+
+void Controller()
+{
+    PID(q1,q1_ref,q2,q2_ref,TS,ctrlOutput_M1,ctrlOutput_M2);
+
+    if (ctrlOutput_M1 < 0) {
+        dir_M1 = 1;
+    } else {
+        dir_M1 = 0;
+    }
+    pwm_M1 = abs(ctrlOutput_M1);
+    if (pwm_M1 <= 0) {
+        pwm_M1 = 0;
+    } else {
+        pwm_M1 = pwm_M1 + 0.05;
+    }
+
+    if (ctrlOutput_M2 < 0) {
+        dir_M2 = 1;
+    } else {
+        dir_M2 = 0;
+    }
+    pwm_M2 = abs(ctrlOutput_M2);
+    if (pwm_M2 <= 0) {
+        pwm_M2 = 0;
+    } else {
+        pwm_M2 = pwm_M2 + 0.05;
+    }
+}
+
+int main()
+{
+    ledr = 1;
+    ledg = 1;
+    ledb = 0;
+    pc.baud(115200);
+    wheel_M1.reset();
+    wheel_M2.reset();
+    filter1b.add(&bq1b).add(&bq2b).add(&bq3b);
+    filter2b.add(&bq4b);
+    filter1t.add(&bq1t).add(&bq2t).add(&bq3t);
+    filter2t.add(&bq4t);
+    filter1s.add(&bq1s).add(&bq2s).add(&bq3s);
+    filter2s.add(&bq4s);
+    knop_biceps.rise(&biceps);
+    knop_triceps.rise(&triceps);
+    knop_switch.rise(&switcher);
+
+    // flag functions/tickers
+    emgticker.attach(&emgsample, 0.002f); // 500 Hz --> moet kloppen met frequentie gebruikt voor filter coefficienten
+    update_encoder_ticker.attach(&flag_update_encoder, TS);
+    update_ref_ticker.attach(&flag_update_ref, TS);
+    // initialize -> beginposities
+    initialize();
+
+    if (active_PID_ticker == true) {
+        PIDcontrol.attach(&flag_controller, TS);
+    }
+
+    while(1) {
+        // sample EMG
+        if (go_flag_emgsample == true) {
+            go_flag_emgsample = false;
+            emgsample();
+        }
+        // update encoder
+        if (go_flag_update_encoder == true) {
+            go_flag_update_encoder = false;
+            update_encoder();
+        }
+        // update joint positions/velocities
+        if (go_flag_update_ref == true) {
+            go_flag_update_ref = false;
+            update_ref();
+        }
+        // controller M1+M2
+        if (go_flag_controller == true) {
+            go_flag_controller = false;
+            Controller();
+        }
+    }
+}
\ No newline at end of file