repurposed void update_encoder copy
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of EMG_controlled_Inv_Kin_PID_Control by
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