File content as of revision 1:9e871647a074:

#include "mbed.h"
#include "math.h"
#include "encoder.h"
#include "QEI.h"
#include "BiQuad.h"

bool Move_done=false;



Serial          pc(USBTX, USBRX);

//Defining all in- and outputs
//EMG input
AnalogIn        emgBR( A0 );    //Right Biceps
AnalogIn        emgBL( A1 );    //Left Biceps

//Output motor 1 and reading Encoder motor 1
DigitalOut      motor1DirectionPin(D4);
PwmOut          motor1MagnitudePin(D5);
QEI             Encoder1(D12,D13,NC,32);


//Output motor 2 and reading Encoder motor 2
DigitalOut      motor2DirectionPin(D7);
PwmOut          motor2MagnitudePin(D6);
QEI             Encoder2(D10,D11,NC,32);

//LED output, needed for feedback
DigitalOut      led_R(LED_RED);
DigitalOut      led_G(LED_GREEN);
DigitalOut      led_B(LED_BLUE);

//Setting Tickers for sampling EMG and determing if the threshold is met
Ticker          sample_timer;
Ticker          threshold_timer;

InterruptIn     button(SW2); // Wordt uiteindelijk vervangen door EMG

Timer           t;
double          speedfactor1; // = 0.01; snelheid in, zonder potmeter gebruik            <- waarom is dit zo?
double          speedfactor2;
// Getting the counts from the Encoder
int             counts1 = Encoder1.getPulses();
int             counts2 = Encoder2.getPulses();

// Defining variables delta (the difference between position and desired position)      <- Is dit zo?
int             delta1;
int             delta2; 

/* Defining all the different BiQuad filters, which contain a Notch filter,
High-pass filter and Low-pass filter. The Notch filter cancels all frequencies
between 49 and 51 Hz, the High-pass filter cancels all frequencies below 20 Hz
and the Low-pass filter cancels out all frequencies below 4 Hz */

/* Defining all the normalized values of b and a in the Notch filter for the
creation of the Notch BiQuad */

// Initial input value for X                                                            
int Xin=0;  
int Xin_new;                                                                           
double huidigetijdX;

// Feedback system for counting values of X
void ledtX(){
    t.reset();
    Xin++;
    pc.printf("Xin is %i\n",Xin);
    led_G=0;
    led_R=1;
    wait(0.2);
    led_G=1;
    led_R=0;
    wait(0.5);
}  

// Couting system for values of X
int tellerX(){
    if (Move_done == true) {
        t.reset();
        led_G=1; 
        led_B=1;
        led_R=0;
        while(true){
        button.fall(ledtX);                           
        t.start();
        huidigetijdX=t.read();
        if (huidigetijdX>2){
            led_R=1;                //Go to the next program (counting values for Y)
            Xin_new = Xin;
            Xin = 0;
                      
            return Xin_new;
            }
            
            }
            
    } 
    return 0; 
}  

// Initial values needed for Y (see comments at X function) 
int Yin=0;
int Yin_new;
double huidigetijdY;

//Feedback system for couting values of Y
void ledtY(){
    t.reset();
    Yin++;
    pc.printf("Yin is %i\n",Yin);
    led_G=0;
    led_B=1;
    wait(0.2);
    led_G=1;
    led_B=0;
    wait(0.5);
}  

// Couting system for values of Y
int tellerY(){
    if (Move_done == true) {
    t.reset();
    led_G=1;
    led_B=0; 
    led_R=1;
    while(true){
    button.fall(ledtY);      
    t.start();
    huidigetijdY=t.read();
    if (huidigetijdY>2){
        led_B=1; 
        Yin_new = Yin;
        Yin = 0;
                
        Move_done = false;
        return Yin_new;
        
        }
    }
    }
    return 0;      // ga door naar het volgende programma 
}




/*---------------------------------------------------------------------------------
// Initial input value for X                                                            
int Xin=0;                                                                              //<- Hoe zit het met deze als we de robot daadwerkelijk gebruiken
double huidigetijdX;

// Feedback system for counting values of X
void ledtX(){
    t.reset();
    Xin++;
    pc.printf("Xin is %i\n",Xin);
    led_G=0;
    led_R=1;
    wait(0.2);
    led_G=1;
    led_R=0;
    wait(0.5);
}  


// Couting system for values of X
int tellerX(){
    t.reset();
    led_G=1; 
    led_B=1;
    led_R=0;
        while(true){
    button.fall(ledtX);          //This has to be replaced by EMG   
    t.start();
    huidigetijdX=t.read();
    if (huidigetijdX>2){
        led_R=1;                //Go to the next program (couting values for Y)
        return 0;
        }
    }  
}  

// Initial values needed for Y (see comments at X function) 
int Yin=0;
double huidigetijdY;

//Feedback system for couting values of Y
void ledtY(){
    t.reset();
    Yin++;
    pc.printf("Yin is %i\n",Yin);
    led_G=0;
    led_B=1;
    wait(0.2);
    led_G=1;
    led_B=0;
    wait(0.5);
}  

// Couting system for values of Y
int tellerY(){
    t.reset();
    led_G=1;
    led_B=0; 
    led_R=1;
    while(true){
    button.fall(ledtY);         //See comments at X   
    
    t.start();
    huidigetijdY=t.read();
    if (huidigetijdY>2){
        led_B=1; 
          
        //button.fall(0);   // Wat is deze?
        return 0;      // ga door naar het volgende programma 
        }
    }
}
*/

// Declaring all variables needed for calculating rope lengths, 
double Pox = 0;
double Poy = 0;
double Pbx = 0;
double Pby = 887;
double Prx = 768;
double Pry = 443;
double Pex=121;
double Pey=308;
double diamtrklosje=20;
double pi=3.14159265359;
double omtrekklosje=diamtrklosje*pi;
double Lou;
double Lbu;
double Lru;
double dLod;
double dLbd;
double dLrd;

// Declaring variables needed for calculating motor counts
double roto;
double rotb;
double rotr;
double rotzo;
double rotzb;
double rotzr;
double counto;
double countb;
double countr;
double countzo;
double countzb;
double countzr;

double hcounto;
double dcounto;
double hcountb;
double dcountb;
double hcountr;
double dcountr;

// Declaring variables neeeded for calculating motor movements to get to a certain point        <- klopt dit?
double Psx;
double Psy;
double Vex;
double Vey;
double Kz=0.7; // nadersnelheid instellen
double modVe;
double Vmax=20;
double Pstx;
double Psty;
double T=0.02;//seconds



//Deel om motor(en) aan te sturen--------------------------------------------

/*double Accelaration(){
    if (countso < statedsverander)
        { speedfactor = 0.01;
        speedfactor = speedfactor + 0.01;
        }
  }*/  
    

void calcdelta1() {    
    delta1 = (dcounto - Encoder1.getPulses());
    }

void calcdelta2() {    
    delta2 = (dcountb - Encoder2.getPulses());              //  <------- de reden dat de delta negatief is (jitse)
    }

double referenceVelocity1; 
double motorValue1; 

double referenceVelocity2; 
double motorValue2; 

Ticker controlmotor1; // één ticker van maken?
Ticker calculatedelta1; 
Ticker printdata1;     //aparte ticker om print pc aan te kunnen spreken zonder get te worden van hoeveelheid geprinte waardes

Ticker controlmotor2; // één ticker van maken?
Ticker calculatedelta2; 
Ticker printdata2;     //aparte ticker om print pc aan te kunnen spreken zonder get te worden van hoeveelheid geprinte waardes

double GetReferenceVelocity1()
{
    // Returns reference velocity in rad/s. Positive value means clockwise rotation.
    double maxVelocity1=Vex*25+Vey*25; // max 8.4 in rad/s of course!       
    referenceVelocity1 = (-1)*speedfactor1 * maxVelocity1;  
                
    if (dcounto < (10))
        {   speedfactor1 = 0.01;
            if (dcounto > (-10))
                { printf("kleiner111111111");
                speedfactor1=0;
                }
        }
        else if (dcounto > (-10))
        {   speedfactor1 = -0.01;
             if (dcounto < (10))
                { printf("groter");
                speedfactor1=0;
                }
        }
        else 
        {   speedfactor1 = 0;
        pc.printf("speedfactor nul;");
        }
        
    return referenceVelocity1;
}         

double GetReferenceVelocity2()
{
    // Returns reference velocity in rad/s. Positive value means clockwise rotation.
    double maxVelocity2=Vex*25+Vey*25; // max 8.4 in rad/s of course!       
    referenceVelocity2 = (-1)*speedfactor2 * maxVelocity2;  
                
    if (Encoder2.getPulses() < (dcountb+10))
        {   speedfactor2 = -0.01;
            if (Encoder2.getPulses() > (dcountb-10))
                { //printf("kleiner22222222222");
                speedfactor2=0;
                }
        }
        else if (Encoder2.getPulses() > (dcountb-10))
        {   speedfactor2 = 0.01;
             if (Encoder2.getPulses() < (dcountb+10))
                { //printf("groter");
                speedfactor2=0;
                }
        }
        else 
        {   speedfactor2 = 0;
        //pc.printf("speedfactor nul;");
        }
        
    return referenceVelocity2;
} 

void SetMotor1(double motorValue1)
{
    // Given -1<=motorValue<=1, this sets the PWM and direction bits for motor 1. Positive value makes 
    // motor rotating clockwise. motorValues outside range are truncated to within range
    if (motorValue1 >=0) motor1DirectionPin=1;
        else motor1DirectionPin=0;
    if (fabs(motorValue1)>1) motor1MagnitudePin = 1;
        else motor1MagnitudePin = fabs(motorValue1);
      
}

void SetMotor2(double motorValue2)
{
    // Given -1<=motorValue<=1, this sets the PWM and direction bits for motor 1. Positive value makes 
    // motor rotating clockwise. motorValues outside range are truncated to within range
    if (motorValue2 >=0) motor2DirectionPin=1;
        else motor2DirectionPin=0;
    if (fabs(motorValue2)>1) motor2MagnitudePin = 1;
        else motor2MagnitudePin = fabs(motorValue2);
      
}

double FeedForwardControl1(double referenceVelocity1)
{
    // very simple linear feed-forward control
    const double MotorGain=8.4; // unit: (rad/s) / PWM, max 8.4
    double motorValue1 = referenceVelocity1 / MotorGain;
    return motorValue1;  
}

double FeedForwardControl2(double referenceVelocity2)
{
    // very simple linear feed-forward control
    const double MotorGain=8.4; // unit: (rad/s) / PWM, max 8.4
    double motorValue2 = referenceVelocity2 / MotorGain;
    return motorValue2;  
}
        
void MeasureAndControl1()
{
    // This function measures the potmeter position, extracts a reference velocity from it, 
    // and controls the motor with a simple FeedForward controller. Call this from a Ticker.
    double referenceVelocity1 = GetReferenceVelocity1();
    double motorValue1 = FeedForwardControl1(referenceVelocity1);
    SetMotor1(motorValue1);
}

void MeasureAndControl2()
{
    // This function measures the potmeter position, extracts a reference velocity from it, 
    // and controls the motor with a simple FeedForward controller. Call this from a Ticker.
    double referenceVelocity2 = GetReferenceVelocity2();
    double motorValue2 = FeedForwardControl2(referenceVelocity2);
    SetMotor2(motorValue2);
}

void readdata1()
    {   //pc.printf("CurrentState = %i \r\n",Encoder.getCurrentState());
        //pc.printf("Pulses_M1 = %i \r\n",Encoder1.getPulses());
        //pc.printf("Revolutions = %i \r\n",Encoder.getRevolutions());
        //pc.printf("Delta_M1 = %i \r\n",delta1);
    }
    
void readdata2()
    {   //pc.printf("CurrentState = %i \r\n",Encoder.getCurrentState());
        //pc.printf("Pulses_M2 = %i \r\n",Encoder2.getPulses());
        //pc.printf("Revolutions = %i \r\n",Encoder.getRevolutions());
        //pc.printf("Delta_M2 = %i \r\n",delta2);
    }

// einde deel motor------------------------------------------------------------------------------------

Ticker loop;

/*Calculates ropelengths that are needed to get to new positions, based on the 
set coordinates and the position of the poles */
double touwlengtes(){
    Lou=sqrt(pow((Pstx-Pox),2)+pow((Psty-Poy),2));     
    Lbu=sqrt(pow((Pstx-Pbx),2)+pow((Psty-Pby),2));
    Lru=sqrt(pow((Pstx-Prx),2)+pow((Psty-Pry),2));
    return 0;
}

/* Calculates rotations (and associated counts) of the motor to get to the 
desired new position*/
double turns(){
    
    roto=Lou/omtrekklosje; 
    rotb=Lbu/omtrekklosje; 
    rotr=Lru/omtrekklosje; 
    counto=roto*4200; 
    dcounto=counto-hcounto;
    pc.printf("dcounto = %f \n\r",dcounto);
    countb=rotb*4200;
    dcountb=countb-hcountb;
    pc.printf("dcountb = %f \n\r",dcountb);
    countr=rotr*4200;
    dcountr=countr-hcountr;

    return 0;
}

// Waar komen Pstx en Psty vandaan en waar staan ze voor?   En is dit maar voor een paal?  
double Pst(){
    Pstx=Pex+Vex*T;
    Psty=Pey+Vey*T;
    touwlengtes();
    Pex=Pstx;                  
    Pey=Psty;
    pc.printf("een stappie verder\n\r x=%.2f\n\r y=%.2f\n\r",Pstx,Psty);
    //pc.printf("met lengtes:\n\r Lo=%.2f Lb=%.2f Lr=%.2f\n\r",Lou,Lbu,Lru);
    turns();
    //pc.printf("rotatie per motor:\n\r o=%.2f b=%.2f r=%.2f\n\r",roto,rotb,rotr); 
    pc.printf("counts per motor:\n\r o=%.2f b=%.2f r=%.2f\n\r",counto,countb,countr);
    /*float R;
    R=Vex/Vey;                  // met dit stukje kan je zien dat de verhouding tussen Vex en Vey constant is en de end efector dus een rechte lijn maakt
    pc.printf("\n\r R=%f",R);*/
    return 0;
} 

//Calculating desired end position based on the EMG input                       <- Waarom maar voor een paal?
double Ps(){
    if (Move_done==true);
    Psx=(Xin_new)*30+121;
    Psy=(Yin_new)*30+308;     
    pc.printf("x=%.2f \n\r y=%.2f \n\r",Psx,Psy);
    hcounto=4200*((sqrt(pow((Pex-Pox),2)+pow((Pey-Poy),2)))/omtrekklosje);
    hcountb=4200*((sqrt(pow((Pex-Pbx),2)+pow((Pey-Pby),2)))/omtrekklosje);
    hcountr=4200*((sqrt(pow((Pex-Prx),2)+pow((Pey-Pry),2)))/omtrekklosje);
    return 0;
}

// Rekent dit de snelheid uit waarmee de motoren bewegen?
void Ve(){
    Vex=Kz*(Psx-Pex);
    Vey=Kz*(Psy-Pey);
    modVe=sqrt(pow(Vex,2)+pow(Vey,2));
    if(modVe>Vmax){
        Vex=(Vex/modVe)*Vmax;
        Vey=(Vey/modVe)*Vmax;
    }
    Pst();
    //pc.printf("Vex=%.2f \r\n Vey=%.2f \r\n",Vex,Vey);
    if((abs(Vex)<0.01f)&&(abs(Vey)<0.01f)){
        Move_done=true;
        loop.detach();
        }
}

// Calculating the desired position, so that the motors can go here
int calculator(){
    Ps();
    loop.attach(&Ve,0.02);
    return 0;
}

// Function which makes it possible to lower the end-effector to pick up a piece
void zakker(){
    while(1){
        wait(1);
    if(Move_done==true){    //misschien moet je hier als voorwaarden een delta is 1 zetten                               // hierdoor wacht dit programma totdat de beweging klaar is  
    dLod=sqrt(pow(Lou,2)+pow(397.85,2))-Lou;    //dit is wat je motoren moeten doen om te zakken
    dLbd=sqrt(pow(Lbu,2)+pow(397.85,2))-Lbu;
    dLrd=sqrt(pow(Lru,2)+pow(397.85,2))-Lru;
    rotzo=dLod/omtrekklosje;
    rotzb=dLbd/omtrekklosje;
    rotzr=dLrd/omtrekklosje;
    countzo=rotzo*4200;
    countzb=rotzb*4200;
    countzr=rotzr*4200;
    
    //pc.printf("o=%.2fb=%.2fr=%.2f",countzo,countzb,countzr);       // hier moet komen te staan hoe het zakken gaat
    }
    }
}

int main()
{
    pc.baud(115200);
    //getbqChain();
    while(true){
      //  sample_timer.attach(&EMG_sample, 0.002);
        //wait(2.5f);
        
        tellerX();
        tellerY();
        calculator();
        controlmotor1.attach(&MeasureAndControl1, 0.01);
        calculatedelta1.attach(&calcdelta1, 0.01);
        printdata1.attach(&readdata1, 0.5); 
       // controlmotor2.attach(&MeasureAndControl2, 0.01);
        //calculatedelta2.attach(&calcdelta2, 0.01);
        //printdata2.attach(&readdata2, 0.5); 
        //zakker();
        wait(5.0f);
        }
    return 0;
}