repurposed void update_encoder copy
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of EMG_controlled_Inv_Kin_PID_Control by
main.cpp@0:e03285f8a410, 2016-10-28 (annotated)
- Committer:
- willem_hoitzing
- Date:
- Fri Oct 28 10:36:03 2016 +0000
- Revision:
- 0:e03285f8a410
- Child:
- 1:078e96685ed3
InvKin+PID sloom, enigszins rechte lijnen; ; EMG control + knopjes om te simuleren; WERKT
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 | 0:e03285f8a410 | 21 | HIDScope scope(3); |
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 | 0:e03285f8a410 | 29 | |
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 | 0:e03285f8a410 | 52 | const float threshold_biceps = 0.07; |
willem_hoitzing | 0:e03285f8a410 | 53 | const float threshold_triceps = 0.07; |
willem_hoitzing | 0:e03285f8a410 | 54 | const float threshold_switch = 0.05; |
willem_hoitzing | 0:e03285f8a410 | 55 | |
willem_hoitzing | 0:e03285f8a410 | 56 | volatile float q1 = 0; |
willem_hoitzing | 0:e03285f8a410 | 57 | volatile float q2 = 0; |
willem_hoitzing | 0:e03285f8a410 | 58 | volatile float q1_begin; |
willem_hoitzing | 0:e03285f8a410 | 59 | volatile float q2_begin; |
willem_hoitzing | 0:e03285f8a410 | 60 | const float l1 = 0.3626; |
willem_hoitzing | 0:e03285f8a410 | 61 | const float l2 = 0.420; |
willem_hoitzing | 0:e03285f8a410 | 62 | volatile float q1_v; |
willem_hoitzing | 0:e03285f8a410 | 63 | volatile float q2_v; |
willem_hoitzing | 0:e03285f8a410 | 64 | volatile float q1_ref = 0; |
willem_hoitzing | 0:e03285f8a410 | 65 | volatile float q2_ref = 0; |
willem_hoitzing | 0:e03285f8a410 | 66 | volatile float q1_error = 0; |
willem_hoitzing | 0:e03285f8a410 | 67 | volatile float q2_error = 0; |
willem_hoitzing | 0:e03285f8a410 | 68 | volatile float q1_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 69 | volatile float q2_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 70 | volatile float q1DerivativeError = 0; |
willem_hoitzing | 0:e03285f8a410 | 71 | volatile float q2DerivativeError = 0; |
willem_hoitzing | 0:e03285f8a410 | 72 | volatile float q1IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 73 | volatile float q2IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 74 | volatile float TotalError1= 0; |
willem_hoitzing | 0:e03285f8a410 | 75 | volatile float TotalError2= 0; |
willem_hoitzing | 0:e03285f8a410 | 76 | float ctrlOutput_M1 = 0; |
willem_hoitzing | 0:e03285f8a410 | 77 | float ctrlOutput_M2 = 0; |
willem_hoitzing | 0:e03285f8a410 | 78 | volatile float vx; |
willem_hoitzing | 0:e03285f8a410 | 79 | volatile float vy; |
willem_hoitzing | 0:e03285f8a410 | 80 | volatile bool translatie_richting = true; //true is verticaal, false is horizontaal |
willem_hoitzing | 0:e03285f8a410 | 81 | |
willem_hoitzing | 0:e03285f8a410 | 82 | const float TS = 0.02; |
willem_hoitzing | 0:e03285f8a410 | 83 | const float MotorGain_M1 = 4.3; // bij pwm = 1 draait (losse) motor met 4.3 rad/s -> gemeten |
willem_hoitzing | 0:e03285f8a410 | 84 | const float MotorGain_M2 = 4.7; // gemeten |
willem_hoitzing | 0:e03285f8a410 | 85 | |
willem_hoitzing | 0:e03285f8a410 | 86 | Ticker update_encoder_ticker; |
willem_hoitzing | 0:e03285f8a410 | 87 | volatile bool go_flag_update_encoder = false; |
willem_hoitzing | 0:e03285f8a410 | 88 | void flag_update_encoder() |
willem_hoitzing | 0:e03285f8a410 | 89 | { |
willem_hoitzing | 0:e03285f8a410 | 90 | go_flag_update_encoder = true; |
willem_hoitzing | 0:e03285f8a410 | 91 | } |
willem_hoitzing | 0:e03285f8a410 | 92 | |
willem_hoitzing | 0:e03285f8a410 | 93 | void update_encoder() |
willem_hoitzing | 0:e03285f8a410 | 94 | { |
willem_hoitzing | 0:e03285f8a410 | 95 | //q1 = wheel_M1.getPulses()/(1334.355/2); |
willem_hoitzing | 0:e03285f8a410 | 96 | //q2 = wheel_M2.getPulses()/(1334.355/2); |
willem_hoitzing | 0:e03285f8a410 | 97 | //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); |
willem_hoitzing | 0:e03285f8a410 | 98 | 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 | 0:e03285f8a410 | 99 | //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); |
willem_hoitzing | 0:e03285f8a410 | 100 | } |
willem_hoitzing | 0:e03285f8a410 | 101 | |
willem_hoitzing | 0:e03285f8a410 | 102 | Ticker PIDcontrol; |
willem_hoitzing | 0:e03285f8a410 | 103 | volatile bool go_flag_controller = false; |
willem_hoitzing | 0:e03285f8a410 | 104 | |
willem_hoitzing | 0:e03285f8a410 | 105 | void flag_controller() |
willem_hoitzing | 0:e03285f8a410 | 106 | { |
willem_hoitzing | 0:e03285f8a410 | 107 | go_flag_controller = true; |
willem_hoitzing | 0:e03285f8a410 | 108 | } |
willem_hoitzing | 0:e03285f8a410 | 109 | |
willem_hoitzing | 0:e03285f8a410 | 110 | volatile bool active_PID_ticker = false; |
willem_hoitzing | 0:e03285f8a410 | 111 | |
willem_hoitzing | 0:e03285f8a410 | 112 | void begin_hoeken() |
willem_hoitzing | 0:e03285f8a410 | 113 | { |
willem_hoitzing | 0:e03285f8a410 | 114 | wait(1); |
willem_hoitzing | 0:e03285f8a410 | 115 | q1_ref = wheel_M1.getPulses()/(1334.355/2); |
willem_hoitzing | 0:e03285f8a410 | 116 | q2_ref = wheel_M2.getPulses()/(1334.355/2); |
willem_hoitzing | 0:e03285f8a410 | 117 | active_PID_ticker = true; |
willem_hoitzing | 0:e03285f8a410 | 118 | } |
willem_hoitzing | 0:e03285f8a410 | 119 | |
willem_hoitzing | 0:e03285f8a410 | 120 | void initialize() |
willem_hoitzing | 0:e03285f8a410 | 121 | { |
willem_hoitzing | 0:e03285f8a410 | 122 | dir_M1 = 0; //ccw |
willem_hoitzing | 0:e03285f8a410 | 123 | dir_M2 = 1; //cw |
willem_hoitzing | 0:e03285f8a410 | 124 | while (q1 < 20*2*3.1415/360) { |
willem_hoitzing | 0:e03285f8a410 | 125 | q1 = wheel_M1.getPulses()/(1334.355/2); |
willem_hoitzing | 0:e03285f8a410 | 126 | pwm_M1 = 0.05; |
willem_hoitzing | 0:e03285f8a410 | 127 | wait(0.005f); |
willem_hoitzing | 0:e03285f8a410 | 128 | } |
willem_hoitzing | 0:e03285f8a410 | 129 | pwm_M1 = 0; |
willem_hoitzing | 0:e03285f8a410 | 130 | |
willem_hoitzing | 0:e03285f8a410 | 131 | while (q2 > -45*2*3.1415/360) { |
willem_hoitzing | 0:e03285f8a410 | 132 | q2 = wheel_M2.getPulses()/(1334.355/2); |
willem_hoitzing | 0:e03285f8a410 | 133 | pwm_M2 = 0.05; |
willem_hoitzing | 0:e03285f8a410 | 134 | wait(0.005f); |
willem_hoitzing | 0:e03285f8a410 | 135 | } |
willem_hoitzing | 0:e03285f8a410 | 136 | pwm_M2 = 0; |
willem_hoitzing | 0:e03285f8a410 | 137 | ledg = !ledg; |
willem_hoitzing | 0:e03285f8a410 | 138 | begin_hoeken(); |
willem_hoitzing | 0:e03285f8a410 | 139 | } |
willem_hoitzing | 0:e03285f8a410 | 140 | |
willem_hoitzing | 0:e03285f8a410 | 141 | void biceps() |
willem_hoitzing | 0:e03285f8a410 | 142 | { |
willem_hoitzing | 0:e03285f8a410 | 143 | q1IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 144 | q2IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 145 | q1_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 146 | q2_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 147 | if (translatie_richting == true) { // verticaal / up |
willem_hoitzing | 0:e03285f8a410 | 148 | vx = 0; |
willem_hoitzing | 0:e03285f8a410 | 149 | vy = 0.1; |
willem_hoitzing | 0:e03285f8a410 | 150 | } else { // horizontaal / right |
willem_hoitzing | 0:e03285f8a410 | 151 | vx = 0.1; |
willem_hoitzing | 0:e03285f8a410 | 152 | vy = 0; |
willem_hoitzing | 0:e03285f8a410 | 153 | } |
willem_hoitzing | 0:e03285f8a410 | 154 | } |
willem_hoitzing | 0:e03285f8a410 | 155 | |
willem_hoitzing | 0:e03285f8a410 | 156 | void triceps() |
willem_hoitzing | 0:e03285f8a410 | 157 | { |
willem_hoitzing | 0:e03285f8a410 | 158 | q1IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 159 | q2IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 160 | q1_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 161 | q2_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 162 | if (translatie_richting == true) { // verticaal / down |
willem_hoitzing | 0:e03285f8a410 | 163 | vx = 0; |
willem_hoitzing | 0:e03285f8a410 | 164 | vy = -0.1; |
willem_hoitzing | 0:e03285f8a410 | 165 | } else { // horizontaal / left |
willem_hoitzing | 0:e03285f8a410 | 166 | vx = -0.1; |
willem_hoitzing | 0:e03285f8a410 | 167 | vy = 0; |
willem_hoitzing | 0:e03285f8a410 | 168 | } |
willem_hoitzing | 0:e03285f8a410 | 169 | |
willem_hoitzing | 0:e03285f8a410 | 170 | } |
willem_hoitzing | 0:e03285f8a410 | 171 | |
willem_hoitzing | 0:e03285f8a410 | 172 | void switcher() |
willem_hoitzing | 0:e03285f8a410 | 173 | { |
willem_hoitzing | 0:e03285f8a410 | 174 | if ( (vx == 0) && (vy == 0) && (translatie_richting == true) ) { |
willem_hoitzing | 0:e03285f8a410 | 175 | translatie_richting = false; |
willem_hoitzing | 0:e03285f8a410 | 176 | } else if ( (vx == 0) && (vy == 0) && (translatie_richting == false) ) { |
willem_hoitzing | 0:e03285f8a410 | 177 | translatie_richting = true; |
willem_hoitzing | 0:e03285f8a410 | 178 | } else { |
willem_hoitzing | 0:e03285f8a410 | 179 | vx = 0; |
willem_hoitzing | 0:e03285f8a410 | 180 | vy = 0; |
willem_hoitzing | 0:e03285f8a410 | 181 | q1IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 182 | q2IntError = 0; |
willem_hoitzing | 0:e03285f8a410 | 183 | q1_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 184 | q2_error_prev = 0; |
willem_hoitzing | 0:e03285f8a410 | 185 | } |
willem_hoitzing | 0:e03285f8a410 | 186 | |
willem_hoitzing | 0:e03285f8a410 | 187 | if (translatie_richting == 1) { |
willem_hoitzing | 0:e03285f8a410 | 188 | ledr = 1; // blauw - verticaal |
willem_hoitzing | 0:e03285f8a410 | 189 | ledg = 1; |
willem_hoitzing | 0:e03285f8a410 | 190 | ledb = 0; |
willem_hoitzing | 0:e03285f8a410 | 191 | } else { |
willem_hoitzing | 0:e03285f8a410 | 192 | ledr = 0; // rood - horizontaal |
willem_hoitzing | 0:e03285f8a410 | 193 | ledg = 1; |
willem_hoitzing | 0:e03285f8a410 | 194 | ledb = 1; |
willem_hoitzing | 0:e03285f8a410 | 195 | } |
willem_hoitzing | 0:e03285f8a410 | 196 | } |
willem_hoitzing | 0:e03285f8a410 | 197 | |
willem_hoitzing | 0:e03285f8a410 | 198 | Ticker switch_activate_ticker; |
willem_hoitzing | 0:e03285f8a410 | 199 | volatile bool switch_active = true; |
willem_hoitzing | 0:e03285f8a410 | 200 | void switch_activate() |
willem_hoitzing | 0:e03285f8a410 | 201 | { |
willem_hoitzing | 0:e03285f8a410 | 202 | switch_active = true; |
willem_hoitzing | 0:e03285f8a410 | 203 | } |
willem_hoitzing | 0:e03285f8a410 | 204 | |
willem_hoitzing | 0:e03285f8a410 | 205 | volatile bool go_flag_emgsample = false; |
willem_hoitzing | 0:e03285f8a410 | 206 | void flag_emgsample() |
willem_hoitzing | 0:e03285f8a410 | 207 | { |
willem_hoitzing | 0:e03285f8a410 | 208 | go_flag_emgsample = true; |
willem_hoitzing | 0:e03285f8a410 | 209 | } |
willem_hoitzing | 0:e03285f8a410 | 210 | |
willem_hoitzing | 0:e03285f8a410 | 211 | void emgsample() |
willem_hoitzing | 0:e03285f8a410 | 212 | { |
willem_hoitzing | 0:e03285f8a410 | 213 | float bEMG_raw = emgB.read(); |
willem_hoitzing | 0:e03285f8a410 | 214 | float bEMG_HPfilt = filter1b.step( bEMG_raw ); |
willem_hoitzing | 0:e03285f8a410 | 215 | float bEMG_rect = abs(bEMG_HPfilt); |
willem_hoitzing | 0:e03285f8a410 | 216 | float bEMG_filt = filter2b.step(bEMG_rect); |
willem_hoitzing | 0:e03285f8a410 | 217 | |
willem_hoitzing | 0:e03285f8a410 | 218 | float tEMG_raw = emgT.read(); |
willem_hoitzing | 0:e03285f8a410 | 219 | float tEMG_HPfilt = filter1t.step( tEMG_raw ); |
willem_hoitzing | 0:e03285f8a410 | 220 | float tEMG_rect = abs(tEMG_HPfilt); |
willem_hoitzing | 0:e03285f8a410 | 221 | float tEMG_filt = filter2t.step(tEMG_rect); |
willem_hoitzing | 0:e03285f8a410 | 222 | |
willem_hoitzing | 0:e03285f8a410 | 223 | float sEMG_raw = emgS.read(); |
willem_hoitzing | 0:e03285f8a410 | 224 | float sEMG_HPfilt = filter1s.step( sEMG_raw ); |
willem_hoitzing | 0:e03285f8a410 | 225 | float sEMG_rect = abs(sEMG_HPfilt); |
willem_hoitzing | 0:e03285f8a410 | 226 | float sEMG_filt = filter2s.step(sEMG_rect); |
willem_hoitzing | 0:e03285f8a410 | 227 | |
willem_hoitzing | 0:e03285f8a410 | 228 | scope.set(0, bEMG_filt); |
willem_hoitzing | 0:e03285f8a410 | 229 | scope.set(1, tEMG_filt); |
willem_hoitzing | 0:e03285f8a410 | 230 | scope.set(2, sEMG_filt); |
willem_hoitzing | 0:e03285f8a410 | 231 | scope.send(); |
willem_hoitzing | 0:e03285f8a410 | 232 | |
willem_hoitzing | 0:e03285f8a410 | 233 | // motor aansturing |
willem_hoitzing | 0:e03285f8a410 | 234 | if (sEMG_filt > threshold_switch) { |
willem_hoitzing | 0:e03285f8a410 | 235 | if (switch_active == true) { |
willem_hoitzing | 0:e03285f8a410 | 236 | switcher(); |
willem_hoitzing | 0:e03285f8a410 | 237 | switch_active = false; |
willem_hoitzing | 0:e03285f8a410 | 238 | switch_activate_ticker.attach(&switch_activate, 0.5f); |
willem_hoitzing | 0:e03285f8a410 | 239 | } |
willem_hoitzing | 0:e03285f8a410 | 240 | } else if (tEMG_filt > threshold_triceps) { |
willem_hoitzing | 0:e03285f8a410 | 241 | triceps(); |
willem_hoitzing | 0:e03285f8a410 | 242 | } else if (bEMG_filt > threshold_biceps) { |
willem_hoitzing | 0:e03285f8a410 | 243 | biceps(); |
willem_hoitzing | 0:e03285f8a410 | 244 | } |
willem_hoitzing | 0:e03285f8a410 | 245 | } |
willem_hoitzing | 0:e03285f8a410 | 246 | |
willem_hoitzing | 0:e03285f8a410 | 247 | Ticker update_ref_ticker; |
willem_hoitzing | 0:e03285f8a410 | 248 | volatile float J_1; |
willem_hoitzing | 0:e03285f8a410 | 249 | volatile float J_2; |
willem_hoitzing | 0:e03285f8a410 | 250 | volatile float J_3; |
willem_hoitzing | 0:e03285f8a410 | 251 | volatile float J_4; |
willem_hoitzing | 0:e03285f8a410 | 252 | volatile bool go_flag_update_ref = false; |
willem_hoitzing | 0:e03285f8a410 | 253 | void flag_update_ref() |
willem_hoitzing | 0:e03285f8a410 | 254 | { |
willem_hoitzing | 0:e03285f8a410 | 255 | go_flag_update_ref = true; |
willem_hoitzing | 0:e03285f8a410 | 256 | } |
willem_hoitzing | 0:e03285f8a410 | 257 | |
willem_hoitzing | 0:e03285f8a410 | 258 | void update_ref() |
willem_hoitzing | 0:e03285f8a410 | 259 | { |
willem_hoitzing | 0:e03285f8a410 | 260 | q1 = wheel_M1.getPulses() / (1334.355/2); // rad |
willem_hoitzing | 0:e03285f8a410 | 261 | q2 = wheel_M2.getPulses() / (1334.355/2); |
willem_hoitzing | 0:e03285f8a410 | 262 | |
willem_hoitzing | 0:e03285f8a410 | 263 | 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 | 264 | 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 | 265 | 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 | 266 | 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 | 267 | |
willem_hoitzing | 0:e03285f8a410 | 268 | q1_v = J_1 * vx + J_2 * vy; |
willem_hoitzing | 0:e03285f8a410 | 269 | q2_v = J_3 * vx + J_4 * vy; |
willem_hoitzing | 0:e03285f8a410 | 270 | |
willem_hoitzing | 0:e03285f8a410 | 271 | if ( (q1 > (90*2*3.1415/360)) && (q1_v > 0 ) ) { // WAARDES VINDEN 0.8726 (50 graden) |
willem_hoitzing | 0:e03285f8a410 | 272 | q1_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 273 | q2_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 274 | } else if ( (q1 < -(90*2*3.1415/360)) && (q1_v < 0) ) { |
willem_hoitzing | 0:e03285f8a410 | 275 | q1_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 276 | q2_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 277 | } else if ( (q2 < (-140*2*3.1415/360)) && (q2_v < 0) ) { // WAARDES VINDEN -2.4434 (-140 graden) --> werkelijke max -2.672452 |
willem_hoitzing | 0:e03285f8a410 | 278 | q1_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 279 | q2_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 280 | } else if ( (q2 > 0) && (q2_v > 0) ) { |
willem_hoitzing | 0:e03285f8a410 | 281 | q1_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 282 | q2_v = 0; |
willem_hoitzing | 0:e03285f8a410 | 283 | } |
willem_hoitzing | 0:e03285f8a410 | 284 | |
willem_hoitzing | 0:e03285f8a410 | 285 | q1_ref = q1 + q1_v*TS; |
willem_hoitzing | 0:e03285f8a410 | 286 | q2_ref = q2 + q2_v*TS; |
willem_hoitzing | 0:e03285f8a410 | 287 | } |
willem_hoitzing | 0:e03285f8a410 | 288 | |
willem_hoitzing | 0:e03285f8a410 | 289 | void PID(float q1,float q1_ref,float q2,float q2_ref,float TS,float &ctrlOutput_M1, float &ctrlOutput_M2) |
willem_hoitzing | 0:e03285f8a410 | 290 | { |
willem_hoitzing | 0:e03285f8a410 | 291 | // linear feedback control |
willem_hoitzing | 0:e03285f8a410 | 292 | q1_error = q1_ref - q1; //referencePosition1 - Position1; // proportional angular error in radians |
willem_hoitzing | 0:e03285f8a410 | 293 | q2_error = q2_ref - q2; //referencePosition1 - Position1; // proportional angular error in radians |
willem_hoitzing | 0:e03285f8a410 | 294 | float Kp = 10; |
willem_hoitzing | 0:e03285f8a410 | 295 | |
willem_hoitzing | 0:e03285f8a410 | 296 | q1IntError = q1IntError + q1_error*TS; // integrated error in radians |
willem_hoitzing | 0:e03285f8a410 | 297 | q2IntError = q2IntError + q2_error*TS; // integrated error in radians |
willem_hoitzing | 0:e03285f8a410 | 298 | float Ki = 1; |
willem_hoitzing | 0:e03285f8a410 | 299 | |
willem_hoitzing | 0:e03285f8a410 | 300 | q1DerivativeError = (q1_error - q1_error_prev)/TS; // derivative of error in radians |
willem_hoitzing | 0:e03285f8a410 | 301 | q2DerivativeError = (q2_error - q2_error_prev)/TS; // derivative of error in radians |
willem_hoitzing | 0:e03285f8a410 | 302 | float Kd = 0; |
willem_hoitzing | 0:e03285f8a410 | 303 | |
willem_hoitzing | 0:e03285f8a410 | 304 | TotalError1 = (q1_error * Kp) + (q1IntError * Ki) + (q1DerivativeError * Kd); //total controller output = motor input |
willem_hoitzing | 0:e03285f8a410 | 305 | TotalError2 = (q2_error * Kp) + (q2IntError * Ki) + (q2DerivativeError * Kd); //total controller output = motor input |
willem_hoitzing | 0:e03285f8a410 | 306 | |
willem_hoitzing | 0:e03285f8a410 | 307 | ctrlOutput_M1 = TotalError1/MotorGain_M1; |
willem_hoitzing | 0:e03285f8a410 | 308 | ctrlOutput_M2 = TotalError2/MotorGain_M2; |
willem_hoitzing | 0:e03285f8a410 | 309 | |
willem_hoitzing | 0:e03285f8a410 | 310 | q1_error_prev = q1_error; |
willem_hoitzing | 0:e03285f8a410 | 311 | q2_error_prev = q2_error; |
willem_hoitzing | 0:e03285f8a410 | 312 | } |
willem_hoitzing | 0:e03285f8a410 | 313 | |
willem_hoitzing | 0:e03285f8a410 | 314 | void Controller() |
willem_hoitzing | 0:e03285f8a410 | 315 | { |
willem_hoitzing | 0:e03285f8a410 | 316 | PID(q1,q1_ref,q2,q2_ref,TS,ctrlOutput_M1,ctrlOutput_M2); |
willem_hoitzing | 0:e03285f8a410 | 317 | |
willem_hoitzing | 0:e03285f8a410 | 318 | if (ctrlOutput_M1 < 0) { |
willem_hoitzing | 0:e03285f8a410 | 319 | dir_M1 = 1; |
willem_hoitzing | 0:e03285f8a410 | 320 | } else { |
willem_hoitzing | 0:e03285f8a410 | 321 | dir_M1 = 0; |
willem_hoitzing | 0:e03285f8a410 | 322 | } |
willem_hoitzing | 0:e03285f8a410 | 323 | pwm_M1 = abs(ctrlOutput_M1); |
willem_hoitzing | 0:e03285f8a410 | 324 | if (pwm_M1 <= 0) { |
willem_hoitzing | 0:e03285f8a410 | 325 | pwm_M1 = 0; |
willem_hoitzing | 0:e03285f8a410 | 326 | } else { |
willem_hoitzing | 0:e03285f8a410 | 327 | pwm_M1 = pwm_M1 + 0.05; |
willem_hoitzing | 0:e03285f8a410 | 328 | } |
willem_hoitzing | 0:e03285f8a410 | 329 | |
willem_hoitzing | 0:e03285f8a410 | 330 | if (ctrlOutput_M2 < 0) { |
willem_hoitzing | 0:e03285f8a410 | 331 | dir_M2 = 1; |
willem_hoitzing | 0:e03285f8a410 | 332 | } else { |
willem_hoitzing | 0:e03285f8a410 | 333 | dir_M2 = 0; |
willem_hoitzing | 0:e03285f8a410 | 334 | } |
willem_hoitzing | 0:e03285f8a410 | 335 | pwm_M2 = abs(ctrlOutput_M2); |
willem_hoitzing | 0:e03285f8a410 | 336 | if (pwm_M2 <= 0) { |
willem_hoitzing | 0:e03285f8a410 | 337 | pwm_M2 = 0; |
willem_hoitzing | 0:e03285f8a410 | 338 | } else { |
willem_hoitzing | 0:e03285f8a410 | 339 | pwm_M2 = pwm_M2 + 0.05; |
willem_hoitzing | 0:e03285f8a410 | 340 | } |
willem_hoitzing | 0:e03285f8a410 | 341 | } |
willem_hoitzing | 0:e03285f8a410 | 342 | |
willem_hoitzing | 0:e03285f8a410 | 343 | int main() |
willem_hoitzing | 0:e03285f8a410 | 344 | { |
willem_hoitzing | 0:e03285f8a410 | 345 | ledr = 1; |
willem_hoitzing | 0:e03285f8a410 | 346 | ledg = 1; |
willem_hoitzing | 0:e03285f8a410 | 347 | ledb = 0; |
willem_hoitzing | 0:e03285f8a410 | 348 | pc.baud(115200); |
willem_hoitzing | 0:e03285f8a410 | 349 | wheel_M1.reset(); |
willem_hoitzing | 0:e03285f8a410 | 350 | wheel_M2.reset(); |
willem_hoitzing | 0:e03285f8a410 | 351 | filter1b.add(&bq1b).add(&bq2b).add(&bq3b); |
willem_hoitzing | 0:e03285f8a410 | 352 | filter2b.add(&bq4b); |
willem_hoitzing | 0:e03285f8a410 | 353 | filter1t.add(&bq1t).add(&bq2t).add(&bq3t); |
willem_hoitzing | 0:e03285f8a410 | 354 | filter2t.add(&bq4t); |
willem_hoitzing | 0:e03285f8a410 | 355 | filter1s.add(&bq1s).add(&bq2s).add(&bq3s); |
willem_hoitzing | 0:e03285f8a410 | 356 | filter2s.add(&bq4s); |
willem_hoitzing | 0:e03285f8a410 | 357 | knop_biceps.rise(&biceps); |
willem_hoitzing | 0:e03285f8a410 | 358 | knop_triceps.rise(&triceps); |
willem_hoitzing | 0:e03285f8a410 | 359 | knop_switch.rise(&switcher); |
willem_hoitzing | 0:e03285f8a410 | 360 | |
willem_hoitzing | 0:e03285f8a410 | 361 | // flag functions/tickers |
willem_hoitzing | 0:e03285f8a410 | 362 | emgticker.attach(&emgsample, 0.002f); // 500 Hz --> moet kloppen met frequentie gebruikt voor filter coefficienten |
willem_hoitzing | 0:e03285f8a410 | 363 | update_encoder_ticker.attach(&flag_update_encoder, TS); |
willem_hoitzing | 0:e03285f8a410 | 364 | update_ref_ticker.attach(&flag_update_ref, TS); |
willem_hoitzing | 0:e03285f8a410 | 365 | // initialize -> beginposities |
willem_hoitzing | 0:e03285f8a410 | 366 | initialize(); |
willem_hoitzing | 0:e03285f8a410 | 367 | |
willem_hoitzing | 0:e03285f8a410 | 368 | if (active_PID_ticker == true) { |
willem_hoitzing | 0:e03285f8a410 | 369 | PIDcontrol.attach(&flag_controller, TS); |
willem_hoitzing | 0:e03285f8a410 | 370 | } |
willem_hoitzing | 0:e03285f8a410 | 371 | |
willem_hoitzing | 0:e03285f8a410 | 372 | while(1) { |
willem_hoitzing | 0:e03285f8a410 | 373 | // sample EMG |
willem_hoitzing | 0:e03285f8a410 | 374 | if (go_flag_emgsample == true) { |
willem_hoitzing | 0:e03285f8a410 | 375 | go_flag_emgsample = false; |
willem_hoitzing | 0:e03285f8a410 | 376 | emgsample(); |
willem_hoitzing | 0:e03285f8a410 | 377 | } |
willem_hoitzing | 0:e03285f8a410 | 378 | // update encoder |
willem_hoitzing | 0:e03285f8a410 | 379 | if (go_flag_update_encoder == true) { |
willem_hoitzing | 0:e03285f8a410 | 380 | go_flag_update_encoder = false; |
willem_hoitzing | 0:e03285f8a410 | 381 | update_encoder(); |
willem_hoitzing | 0:e03285f8a410 | 382 | } |
willem_hoitzing | 0:e03285f8a410 | 383 | // update joint positions/velocities |
willem_hoitzing | 0:e03285f8a410 | 384 | if (go_flag_update_ref == true) { |
willem_hoitzing | 0:e03285f8a410 | 385 | go_flag_update_ref = false; |
willem_hoitzing | 0:e03285f8a410 | 386 | update_ref(); |
willem_hoitzing | 0:e03285f8a410 | 387 | } |
willem_hoitzing | 0:e03285f8a410 | 388 | // controller M1+M2 |
willem_hoitzing | 0:e03285f8a410 | 389 | if (go_flag_controller == true) { |
willem_hoitzing | 0:e03285f8a410 | 390 | go_flag_controller = false; |
willem_hoitzing | 0:e03285f8a410 | 391 | Controller(); |
willem_hoitzing | 0:e03285f8a410 | 392 | } |
willem_hoitzing | 0:e03285f8a410 | 393 | } |
willem_hoitzing | 0:e03285f8a410 | 394 | } |