File content as of revision 14:df5822cd0198:

#include "mbed.h"
#include "math.h"
//#include "encoder.h"
#include "QEI.h"
#include "BiQuad.h"
#include "MODSERIAL.h"
 
MODSERIAL       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);

//Output motor 3 and reading Encoder motor 3
DigitalOut      motor3DirectionPin(D8);
PwmOut          motor3MagnitudePin(D9);
QEI             Encoder3(D2,D3,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_timerR;
Ticker          threshold_timerL;
 
Timer           t_thresholdR;
Timer           t_thresholdL;
 
float          currentTimeTR;
float          currentTimeTL;
 
InterruptIn     button(SW2); // Wordt uiteindelijk vervangen door EMG
InterruptIn     button2(SW3);
 
Timer           t;
float          speedfactor; // = 0.01; snelheid in, zonder potmeter gebruik            <- waarom is dit zo?
 
// Defining variables delta (the difference between position and desired position)      <- Is dit zo?
int             delta1;
int             delta2; 
int             delta3;

// Boolean needed to know if new input coordinates have to be given 
bool            Move_done = false;
bool            Input_done = true;
 
/* 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. The filters are
declared four times, so that they can be used for sampling of right and left
biceps, during measurements and calibration. */
 
/* Defining all the normalized values of b and a in the Notch filter for the
creation of the Notch BiQuad */
 
BiQuad          bqNotch1( 0.9876, -1.5981, 0.9876, -1.5981, 0.9752 );
BiQuad          bqNotch2( 0.9876, -1.5981, 0.9876, -1.5981, 0.9752 );
 
BiQuad          bqNotchTR( 0.9876, -1.5981, 0.9876, -1.5981, 0.9752 );
BiQuad          bqNotchTL( 0.9876, -1.5981, 0.9876, -1.5981, 0.9752 );
 
/* Defining all the normalized values of b and a in the High-pass filter for the
creation of the High-pass BiQuad */
 
BiQuad          bqHigh1( 0.8371, -1.6742, 0.8371, -1.6475, 0.7009 );
BiQuad          bqHigh2( 0.8371, -1.6742, 0.8371, -1.6475, 0.7009 );
 
BiQuad          bqHighTR( 0.8371, -1.6742, 0.8371, -1.6475, 0.7009 );
BiQuad          bqHighTL( 0.8371, -1.6742, 0.8371, -1.6475, 0.7009 );
 
/* Defining all the normalized values of b and a in the Low-pass filter for the
creation of the Low-pass BiQuad */
 
BiQuad          bqLow1( 6.0985e-4, 0.0012, 6.0985e-4, -1.9289, 0.9314 );
BiQuad          bqLow2( 6.0985e-4, 0.0012, 6.0985e-4, -1.9289, 0.9314 );
 
BiQuad          bqLowTR( 6.0985e-4, 0.0012, 6.0985e-4, -1.9289, 0.9314 );
BiQuad          bqLowTL( 6.0985e-4, 0.0012, 6.0985e-4, -1.9289, 0.9314 );
 
// Creating a variable needed for the creation of the BiQuadChain
BiQuadChain     bqChain1;
BiQuadChain     bqChain2;
 
BiQuadChain     bqChainTR;
BiQuadChain     bqChainTL;
 
//Declaring all floats needed in the filtering process
float          emgBRfiltered;   //Right biceps Notch+High pass filter
float          emgBRrectified;  //Right biceps rectified
float          emgBRcomplete;   //Right biceps low-pass filter, filtering complete
 
float          emgBLfiltered;   //Left biceps Notch+High pass filter
float          emgBLrectified;  //Left biceps rectified
float          emgBLcomplete;   //Left biceps low-pass filter, filtering complete

// Declaring all variables needed for getting the Threshold value 
float          numsamples = 500;
float          emgBRsum = 0;
float          emgBRmeanMVC;
float          thresholdBR;
 
float          emgBLsum = 0;
float          emgBLmeanMVC;
float          thresholdBL;
 
/* Function to sample the EMG of the Right Biceps and get a Threshold value 
from it, which can be used throughout the process */
 
void Threshold_samplingBR() {
    t_thresholdR.start();
    currentTimeTR = t_thresholdR.read();
    
    
    if (currentTimeTR <= 1) {
           
        emgBRfiltered = bqChainTR.step( emgBR.read() );   //Notch+High-pass
        emgBRrectified = fabs(emgBRfiltered);            //Rectification
        emgBRcomplete = bqLowTR.step(emgBRrectified);     //Low-pass
    
        emgBRsum = emgBRsum + emgBRcomplete;
        }
    emgBRmeanMVC = emgBRsum/numsamples; 
    thresholdBR = emgBRmeanMVC * 0.20;

       
    //pc.printf("ThresholdBR = %f \n", thresholdBR);
}
/* Function to sample the EMG of the Left Biceps and get a Threshold value 
from it, which can be used throughout the process */

void Threshold_samplingBL() {
    t_thresholdL.start();  
    currentTimeTL = t_thresholdL.read();
    
    if (currentTimeTL <= 1) {
            
        emgBLfiltered = bqChain2.step( emgBL.read() );    //Notch+High-pass
        emgBLrectified = fabs( emgBLfiltered );           //Rectification
        emgBLcomplete = bqLow2.step( emgBLrectified );    //Low-pass
        
        emgBLsum = emgBLsum + emgBLcomplete;
        }
        
    emgBLmeanMVC = emgBLsum/numsamples;
    thresholdBL = emgBLmeanMVC * 0.20;
    
    
}
 
// EMG sampling and filtering

void EMG_sample()
{

    //Filtering steps for the Right Biceps EMG
    emgBRfiltered = bqChain1.step( emgBR.read() );   //Notch+High-pass
    emgBRrectified = fabs(emgBRfiltered);            //Rectification
    emgBRcomplete = bqLow1.step(emgBRrectified);     //Low-pass
      
    //Filtering steps for the Left Biceps EMG
    emgBLfiltered = bqChain2.step( emgBL.read() );    //Notch+High-pass
    emgBLrectified = fabs( emgBLfiltered );           //Rectification
    emgBLcomplete = bqLow2.step( emgBLrectified );    //Low-pass
 
}
// Function to make the BiQuadChain for the Notch and High pass filter for all three filters    
void getbqChain()
{
    bqChain1.add(&bqNotch1).add(&bqHigh1);                 //Making the BiQuadChain
    bqChain2.add(&bqNotch2).add(&bqHigh2);
    
    bqChainTR.add(&bqNotchTR).add(&bqHighTR);
    bqChainTL.add(&bqNotchTR).add(&bqHighTL);
}
 
// Initial input value for couting the X-values                                                           
int Xin=0   ;  
int Xin_new;                                                                           
float 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);    
        /*if (emgBRcomplete > thresholdBR) {
        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;
float 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);  
    /*if (emgBRcomplete > thresholdBR) {
        ledtY();
        }*/
    t.start();
    huidigetijdY=t.read();
    if (huidigetijdY>2){
        led_B=1; 
        Yin_new = Yin;
        Yin = 0;
        Input_done = true;        
        Move_done = false;
        return Yin_new;
        
        }
    }
    }
    return 0;      // ga door naar het volgende programma 
}
 
// Declaring all variables needed for calculating rope lengths, 
float          Pox = 0;
float          Poy = 0;
float          Pbx = 0;
float          Pby = 887;
float          Prx = 768;
float          Pry = 443;
float          Pex=91;
float          Pey=278;
float          diamtrklosje=20;
float          pi=3.14159265359;
float          omtrekklosje=diamtrklosje*pi;
float          Lou;
float          Lbu;
float          Lru;
float          dLod;
float          dLbd;
float          dLrd;
 
// Declaring variables needed for calculating motor counts
float          roto;
float          rotb;
float          rotr;
float          rotzo;
float          rotzb;
float          rotzr;
float          counto;
float          countb;
float          countr;
float          countzo;
float          countzb;
float          countzr;
int reference_o;
int position_o;
int error_o;
int reference_b;
int position_b;
int error_b;
int reference_r;
int position_r;
int error_r;

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

float          kpo = 21;
float          kpb = 21;
float          kpr = 21;
 
float          speedfactor1;
float          speedfactor2;
float          speedfactor3;
 
 
//Deel om motor(en) aan te sturen-------------------------------------------- 
float          motorValue1; 
float          motorValue2;
float          motorValue3; 

Ticker          controlmotor1; // één ticker van maken?
Ticker          controlmotor2; // één ticker van maken?
Ticker          controlmotor3; // één ticker van maken?

float P1(int erroro, float kpo) {
 return erroro*kpo;
 }

void MotorController1()
{
             reference_o = (int) (counto-hcounto);
             position_o = Encoder1.getPulses();
    
             error_o = reference_o - position_o;
    
    //pc.printf("Position_o = %i          reference_o=%i              Error_o=%i\n\r" ,position_o,reference_o,error_o);
    
    if (-20<error_o && error_o<20){
        motorValue1 = 0;
        }
    else {
    motorValue1 = P1(error_o, kpo)/4200;
    }    
    
    
    
    if (motorValue1 >=0) motor1DirectionPin=0;
        else motor1DirectionPin=1;
    if (fabs(motorValue1)>1) motor1MagnitudePin = 1;
        else motor1MagnitudePin = fabs(motorValue1);
    }
      


float P2(int error_b, float kpb) {
 return error_b*kpb;
 }

void MotorController2()
{
    
     reference_b = (int) (-(countb-hcountb));
     position_b = Encoder2.getPulses();

     error_b = reference_b - position_b;
    
    //pc.printf("Position_b = %i         reference_b=%i         Error_b=%i      " ,position_b,reference_b,error_b);
        
    if (-20<error_b && error_b<20){
        motorValue2 = 0;
        }
    else {
    motorValue2 = P2(error_b, kpb)/4200;
    }    
        
    
    if (motorValue2 <=0) motor2DirectionPin=0;
        else motor2DirectionPin=1;
    if (fabs(motorValue2)>1) motor2MagnitudePin = 1;
        else motor2MagnitudePin = fabs(motorValue2);
    }
    


float P3(int error_r, float kpr) {
 return error_r*kpr;
 }

void MotorController3()
{
     reference_r = (int) (-(countr-hcountr));
     position_r = Encoder3.getPulses();
        
     error_r = reference_r - position_r;
    
    pc.printf("%i; %i; %i\n\r" ,position_b,reference_b,error_b);
    
    
    if (-20<error_r && error_r<20){
        motorValue3 = 0;
        
        }
    else {
    motorValue3 = P3(error_r, kpr)/4200;
    }    
            
    if (motorValue3 <=0) motor3DirectionPin=0;
        else motor3DirectionPin=1;
    if (fabs(motorValue3)>1) motor3MagnitudePin = 1;
        else motor3MagnitudePin = fabs(motorValue3);
        }
        


// 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 */
float 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*/
float turns(){
    
    roto=Lou/omtrekklosje; 
    rotb=Lbu/omtrekklosje; 
    rotr=Lru/omtrekklosje; 
    counto=roto*4200; 
    dcounto=counto-hcounto;
    //pc.printf("counto = %f \n\r", counto);
    //pc.printf("hcounto = %f \n\r", 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?  
float Pst(){
    Pstx=Pex+Vex*T;                                // ASDJFASDKGJKASGJASDGJLSDAGHJGDJKJHFGHJUIK<KTBYNUMI<OIUNYBTVRTBYNUMI<UMNYBTVfadhsgfjhghagfryestrjsghdbf
    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?
float Ps(){
    Psx=(Xin_new)*30+91;
    Psy=(Yin_new)*30+278;     
 //   pc.printf("x=%.2f \n\r y=%.2f \n\r",Psx,Psy);
    return 0;
}
 
// Rekent dit de snelheid uit waarmee de motoren bewegen?
void Ve(){
    Vex=(Psx-Pex);
    Vey=(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((fabs(Vex)<0.01f)&&(fabs(Vey)<0.01f)){
        Move_done=true;
        loop.detach();
        }
}
 
// Calculating the desired position, so that the motors can go here
int calculator(){
    Ps();
    if (Move_done == false) {
    loop.attach(&Ve,0.02);
    }
    return 0;
}
 
// Function which makes it possible to lower the end-effector to pick up a piece
void zakker(){                                  
    dLod=sqrt(pow(Lou,2)+pow((277.85),2))-Lou;    //dit is wat je motoren moeten doen om te zakken
    dLbd=sqrt(pow(Lbu,2)+pow((277.85),2))-Lbu;    // dat laatste getal moet nog aangepast worden
    dLrd=sqrt(pow(Lru,2)+pow((277.85),2))-Lru;
    rotzo=dLod/omtrekklosje;
    rotzb=dLbd/omtrekklosje;
    rotzr=dLrd/omtrekklosje;
    countzo=rotzo*4200;
    countzb=rotzb*4200;
    countzr=rotzr*4200;
    counto=countzo+hcounto+reference_o; //+ gemaakt van een min
    countb=-(reference_b-countzb-hcountb);//(countzb)+hcountb+reference_b;
    countr=-(reference_r-countzr-hcountr);//(countzr)+hcountr+reference_r;
    
    pc.printf("dLod=%.2f         dLbd=%.2f       dLrd=%.2f\n\r",dLod,dLbd,dLrd);
    //pc.printf("hcounto=%.2f         hcountb=%.2f       hcountr=%.2f\n\r",hcounto,hcountb,hcountr);
    pc.printf("o=%.2f  b=%.2f  countzr=%.2f",countzo,countzb,countzr);       // hier moet komen te staan hoe het zakken gaat
    pc.printf("Position_r = %i;reference_r=%i              Error_r=%i\n\r" ,position_o,reference_o,error_o);
    }


void tiller(){
    int stijg_o = -12487;       //eerst hcounto minus 12487?
    int stijg_b = -8148;
    int stijg_r = -7386;
    double lou_t = sqrt(91.0*91.0+278.0*278.0); //sqrt(pow(91,2)+pow(278,2));         // (Pex - Pox)^2 + (Pey - Poy)^2
    double lou_b = sqrt(91.0*91.0+(278.0-887.0)*(278.0-887.0)); //sqrt(pow((91),2)+pow((278-887),2));
    double lou_r = sqrt((91.0-768.0)*(91.0-768.0)+(278.0-443.0)*(278.0-443.0)); //sqrt(pow((91-768),2)+pow((278-443),2));
    int roto_t = lou_t/omtrekklosje;
    int roto_b = lou_b/omtrekklosje;
    int roto_r = lou_r/omtrekklosje;  
    
    counto = stijg_o + roto_t*4200;
    countb = stijg_b + roto_b*4200;
    countr = stijg_r + roto_r*4200;
    pc.printf("Tiller");
    controlmotor1.attach(&MotorController1, 0.01);
    controlmotor2.attach(&MotorController2, 0.01);
    controlmotor3.attach(&MotorController3, 0.01);
    pc.printf("Tiller done");
    }
   
void zakken_threshold() {
    if (Move_done == true) {
    if (emgBLcomplete > thresholdBL) {
        zakker();
        }
        }
        }    

void setcurrentposition(){ 
    if(Input_done==true){
        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);
        pc.printf("ik reset hcounts");
        Input_done=false;
        }
    }
    
int main()
{
    pc.baud(115200);
    wait(1.0f);
    tiller();
    getbqChain();
    threshold_timerR.attach(&Threshold_samplingBR, 0.002);
    threshold_timerL.attach(&Threshold_samplingBL, 0.002);
    setcurrentposition();
    while(true){
        sample_timer.attach(&EMG_sample, 0.002);
        //button2.fall(zakker);
        zakken_threshold();
        wait(2.5f); // om te zorgen dat je niet direct na de calibratie input moet geven en om te zorgen dat de zakker de tijd heeft voor nieuwe input vragen
        
        tellerX();
        tellerY();
        calculator();
        controlmotor1.attach(&MotorController1, 0.01);
        controlmotor2.attach(&MotorController2, 0.01);
        controlmotor3.attach(&MotorController3, 0.01);
        wait(4.0f); // om te zorgen dat je niet meteen tijdens t zakken nieuwe input moet geven
        }

}