Joost Herijgers / Mbed 2 deprecated Code_MotorEMG_

EMG and motor script together, Not fully working yet,.

Dependencies:   Encoder MODSERIAL QEI biquadFilter mbed

Fork of Code_MotorEMG by Joost Herijgers

main.cpp@15:46acc9b5decf, 2017-11-01 (annotated)

Committer:
Joost38H
Date:
Wed Nov 01 12:20:14 2017 +0000
Revision:
15:46acc9b5decf
Parent:
14:291f9a29bd74
Child:
16:d75bf6d7d60e
random error schaling van 0.01 om motorvalue minder te krijgen, nog steeds tests met alleen motor ??n;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Joost38H 0:eb16ed402ffa 1 #include "mbed.h"
Joost38H 0:eb16ed402ffa 2 #include "math.h"
Joost38H 10:952377fbbbfe 3 //#include "encoder.h"
Joost38H 0:eb16ed402ffa 4 #include "QEI.h"
Joost38H 0:eb16ed402ffa 5 #include "BiQuad.h"
Joost38H 5:81d3b53087c0 6
Joost38H 0:eb16ed402ffa 7 Serial pc(USBTX, USBRX);
Joost38H 5:81d3b53087c0 8
Joost38H 0:eb16ed402ffa 9 //Defining all in- and outputs
Joost38H 0:eb16ed402ffa 10 //EMG input
Joost38H 0:eb16ed402ffa 11 AnalogIn emgBR( A0 ); //Right Biceps
Joost38H 0:eb16ed402ffa 12 AnalogIn emgBL( A1 ); //Left Biceps
Joost38H 5:81d3b53087c0 13
Joost38H 0:eb16ed402ffa 14 //Output motor 1 and reading Encoder motor 1
Joost38H 0:eb16ed402ffa 15 DigitalOut motor1DirectionPin(D4);
Joost38H 0:eb16ed402ffa 16 PwmOut motor1MagnitudePin(D5);
Joost38H 0:eb16ed402ffa 17 QEI Encoder1(D12,D13,NC,32);
Joost38H 5:81d3b53087c0 18
Joost38H 0:eb16ed402ffa 19 //Output motor 2 and reading Encoder motor 2
Joost38H 0:eb16ed402ffa 20 DigitalOut motor2DirectionPin(D7);
Joost38H 0:eb16ed402ffa 21 PwmOut motor2MagnitudePin(D6);
Joost38H 0:eb16ed402ffa 22 QEI Encoder2(D10,D11,NC,32);
Joost38H 0:eb16ed402ffa 23
Joost38H 5:81d3b53087c0 24 //Output motor 3 and reading Encoder motor 3
Joost38H 5:81d3b53087c0 25 DigitalOut motor3DirectionPin(D8);
Joost38H 5:81d3b53087c0 26 PwmOut motor3MagnitudePin(D9);
Joost38H 5:81d3b53087c0 27 QEI Encoder3(D2,D3,NC,32);
Joost38H 5:81d3b53087c0 28
Joost38H 0:eb16ed402ffa 29 //LED output, needed for feedback
Joost38H 0:eb16ed402ffa 30 DigitalOut led_R(LED_RED);
Joost38H 0:eb16ed402ffa 31 DigitalOut led_G(LED_GREEN);
Joost38H 0:eb16ed402ffa 32 DigitalOut led_B(LED_BLUE);
Joost38H 5:81d3b53087c0 33
Joost38H 1:6aac013b0ba3 34 //Setting Tickers for sampling EMG and determing if the threshold is met
Joost38H 5:81d3b53087c0 35 Ticker sample_timer;
Joost38H 5:81d3b53087c0 36 Ticker threshold_timerR;
Joost38H 5:81d3b53087c0 37 Ticker threshold_timerL;
Joost38H 5:81d3b53087c0 38
Joost38H 5:81d3b53087c0 39 Timer t_thresholdR;
Joost38H 5:81d3b53087c0 40 Timer t_thresholdL;
Joost38H 5:81d3b53087c0 41
Joost38H 10:952377fbbbfe 42 float currentTimeTR;
Joost38H 10:952377fbbbfe 43 float currentTimeTL;
Joost38H 5:81d3b53087c0 44
Joost38H 0:eb16ed402ffa 45 InterruptIn button(SW2); // Wordt uiteindelijk vervangen door EMG
Joost38H 5:81d3b53087c0 46
Joost38H 0:eb16ed402ffa 47 Timer t;
Joost38H 10:952377fbbbfe 48 float speedfactor; // = 0.01; snelheid in, zonder potmeter gebruik <- waarom is dit zo?
Joost38H 5:81d3b53087c0 49
Joost38H 0:eb16ed402ffa 50 // Defining variables delta (the difference between position and desired position) <- Is dit zo?
Joost38H 0:eb16ed402ffa 51 int delta1;
Joost38H 0:eb16ed402ffa 52 int delta2;
Joost38H 5:81d3b53087c0 53 int delta3;
Joost38H 0:eb16ed402ffa 54
Joost38H 5:81d3b53087c0 55 // Boolean needed to know if new input coordinates have to be given
Joost38H 5:81d3b53087c0 56 bool Move_done = false;
Joost38H 14:291f9a29bd74 57 bool Input_done = true;
Joost38H 5:81d3b53087c0 58
Joost38H 1:6aac013b0ba3 59 /* Defining all the different BiQuad filters, which contain a Notch filter,
Joost38H 1:6aac013b0ba3 60 High-pass filter and Low-pass filter. The Notch filter cancels all frequencies
Joost38H 1:6aac013b0ba3 61 between 49 and 51 Hz, the High-pass filter cancels all frequencies below 20 Hz
Joost38H 5:81d3b53087c0 62 and the Low-pass filter cancels out all frequencies below 4 Hz. The filters are
Joost38H 5:81d3b53087c0 63 declared four times, so that they can be used for sampling of right and left
Joost38H 5:81d3b53087c0 64 biceps, during measurements and calibration. */
Joost38H 5:81d3b53087c0 65
Joost38H 1:6aac013b0ba3 66 /* Defining all the normalized values of b and a in the Notch filter for the
Joost38H 1:6aac013b0ba3 67 creation of the Notch BiQuad */
Joost38H 5:81d3b53087c0 68
Joost38H 5:81d3b53087c0 69 BiQuad bqNotch1( 0.9876, -1.5981, 0.9876, -1.5981, 0.9752 );
Joost38H 5:81d3b53087c0 70 BiQuad bqNotch2( 0.9876, -1.5981, 0.9876, -1.5981, 0.9752 );
Joost38H 5:81d3b53087c0 71
Joost38H 5:81d3b53087c0 72 BiQuad bqNotchTR( 0.9876, -1.5981, 0.9876, -1.5981, 0.9752 );
Joost38H 5:81d3b53087c0 73 BiQuad bqNotchTL( 0.9876, -1.5981, 0.9876, -1.5981, 0.9752 );
Joost38H 5:81d3b53087c0 74
Joost38H 1:6aac013b0ba3 75 /* Defining all the normalized values of b and a in the High-pass filter for the
Joost38H 1:6aac013b0ba3 76 creation of the High-pass BiQuad */
Joost38H 5:81d3b53087c0 77
Joost38H 5:81d3b53087c0 78 BiQuad bqHigh1( 0.8371, -1.6742, 0.8371, -1.6475, 0.7009 );
Joost38H 5:81d3b53087c0 79 BiQuad bqHigh2( 0.8371, -1.6742, 0.8371, -1.6475, 0.7009 );
Joost38H 5:81d3b53087c0 80
Joost38H 5:81d3b53087c0 81 BiQuad bqHighTR( 0.8371, -1.6742, 0.8371, -1.6475, 0.7009 );
Joost38H 5:81d3b53087c0 82 BiQuad bqHighTL( 0.8371, -1.6742, 0.8371, -1.6475, 0.7009 );
Joost38H 5:81d3b53087c0 83
Joost38H 1:6aac013b0ba3 84 /* Defining all the normalized values of b and a in the Low-pass filter for the
Joost38H 1:6aac013b0ba3 85 creation of the Low-pass BiQuad */
Joost38H 5:81d3b53087c0 86
Joost38H 5:81d3b53087c0 87 BiQuad bqLow1( 6.0985e-4, 0.0012, 6.0985e-4, -1.9289, 0.9314 );
Joost38H 5:81d3b53087c0 88 BiQuad bqLow2( 6.0985e-4, 0.0012, 6.0985e-4, -1.9289, 0.9314 );
Joost38H 5:81d3b53087c0 89
Joost38H 5:81d3b53087c0 90 BiQuad bqLowTR( 6.0985e-4, 0.0012, 6.0985e-4, -1.9289, 0.9314 );
Joost38H 5:81d3b53087c0 91 BiQuad bqLowTL( 6.0985e-4, 0.0012, 6.0985e-4, -1.9289, 0.9314 );
Joost38H 5:81d3b53087c0 92
Joost38H 1:6aac013b0ba3 93 // Creating a variable needed for the creation of the BiQuadChain
Joost38H 5:81d3b53087c0 94 BiQuadChain bqChain1;
Joost38H 5:81d3b53087c0 95 BiQuadChain bqChain2;
Joost38H 5:81d3b53087c0 96
Joost38H 5:81d3b53087c0 97 BiQuadChain bqChainTR;
Joost38H 5:81d3b53087c0 98 BiQuadChain bqChainTL;
Joost38H 5:81d3b53087c0 99
Joost38H 10:952377fbbbfe 100 //Declaring all floats needed in the filtering process
Joost38H 10:952377fbbbfe 101 float emgBRfiltered; //Right biceps Notch+High pass filter
Joost38H 10:952377fbbbfe 102 float emgBRrectified; //Right biceps rectified
Joost38H 10:952377fbbbfe 103 float emgBRcomplete; //Right biceps low-pass filter, filtering complete
Joost38H 5:81d3b53087c0 104
Joost38H 10:952377fbbbfe 105 float emgBLfiltered; //Left biceps Notch+High pass filter
Joost38H 10:952377fbbbfe 106 float emgBLrectified; //Left biceps rectified
Joost38H 10:952377fbbbfe 107 float emgBLcomplete; //Left biceps low-pass filter, filtering complete
Joost38H 1:6aac013b0ba3 108
Joost38H 5:81d3b53087c0 109 // Declaring all variables needed for getting the Threshold value
Joost38H 10:952377fbbbfe 110 float numsamples = 500;
Joost38H 10:952377fbbbfe 111 float emgBRsum = 0;
Joost38H 10:952377fbbbfe 112 float emgBRmeanMVC;
Joost38H 10:952377fbbbfe 113 float thresholdBR;
Joost38H 5:81d3b53087c0 114
Joost38H 10:952377fbbbfe 115 float emgBLsum = 0;
Joost38H 10:952377fbbbfe 116 float emgBLmeanMVC;
Joost38H 10:952377fbbbfe 117 float thresholdBL;
Joost38H 5:81d3b53087c0 118
Joost38H 5:81d3b53087c0 119 /* Function to sample the EMG of the Right Biceps and get a Threshold value
Joost38H 5:81d3b53087c0 120 from it, which can be used throughout the process */
Joost38H 5:81d3b53087c0 121
Joost38H 4:fddab1c875a9 122 void Threshold_samplingBR() {
Joost38H 4:fddab1c875a9 123 t_thresholdR.start();
Joost38H 4:fddab1c875a9 124 currentTimeTR = t_thresholdR.read();
Joost38H 4:fddab1c875a9 125
Joost38H 4:fddab1c875a9 126 if (currentTimeTR <= 1) {
Joost38H 4:fddab1c875a9 127
Joost38H 4:fddab1c875a9 128 emgBRfiltered = bqChainTR.step( emgBR.read() ); //Notch+High-pass
Joost38H 4:fddab1c875a9 129 emgBRrectified = fabs(emgBRfiltered); //Rectification
Joost38H 4:fddab1c875a9 130 emgBRcomplete = bqLowTR.step(emgBRrectified); //Low-pass
Joost38H 4:fddab1c875a9 131
Joost38H 4:fddab1c875a9 132 emgBRsum = emgBRsum + emgBRcomplete;
Joost38H 4:fddab1c875a9 133 }
Joost38H 4:fddab1c875a9 134 emgBRmeanMVC = emgBRsum/numsamples;
Joost38H 4:fddab1c875a9 135 thresholdBR = emgBRmeanMVC * 0.20;
Joost38H 5:81d3b53087c0 136
Joost38H 4:fddab1c875a9 137 //pc.printf("ThresholdBR = %f \n", thresholdBR);
Joost38H 4:fddab1c875a9 138 }
Joost38H 5:81d3b53087c0 139 /* Function to sample the EMG of the Left Biceps and get a Threshold value
Joost38H 5:81d3b53087c0 140 from it, which can be used throughout the process */
Joost38H 5:81d3b53087c0 141
Joost38H 4:fddab1c875a9 142 void Threshold_samplingBL() {
Joost38H 4:fddab1c875a9 143 t_thresholdL.start();
Joost38H 4:fddab1c875a9 144 currentTimeTL = t_thresholdL.read();
Joost38H 4:fddab1c875a9 145
Joost38H 4:fddab1c875a9 146 if (currentTimeTL <= 1) {
Joost38H 4:fddab1c875a9 147
Joost38H 4:fddab1c875a9 148 emgBLfiltered = bqChain2.step( emgBL.read() ); //Notch+High-pass
Joost38H 4:fddab1c875a9 149 emgBLrectified = fabs( emgBLfiltered ); //Rectification
Joost38H 4:fddab1c875a9 150 emgBLcomplete = bqLow2.step( emgBLrectified ); //Low-pass
Joost38H 4:fddab1c875a9 151
Joost38H 4:fddab1c875a9 152 emgBLsum = emgBLsum + emgBLcomplete;
Joost38H 4:fddab1c875a9 153 }
Joost38H 4:fddab1c875a9 154
Joost38H 4:fddab1c875a9 155 emgBLmeanMVC = emgBLsum/numsamples;
Joost38H 4:fddab1c875a9 156 thresholdBL = emgBLmeanMVC * 0.20;
Joost38H 5:81d3b53087c0 157
Joost38H 4:fddab1c875a9 158 }
Joost38H 5:81d3b53087c0 159
Joost38H 5:81d3b53087c0 160 // EMG sampling and filtering
Joost38H 4:fddab1c875a9 161
Joost38H 1:6aac013b0ba3 162 void EMG_sample()
Joost38H 1:6aac013b0ba3 163 {
Joost38H 1:6aac013b0ba3 164 //Filtering steps for the Right Biceps EMG
Joost38H 1:6aac013b0ba3 165 emgBRfiltered = bqChain1.step( emgBR.read() ); //Notch+High-pass
Joost38H 1:6aac013b0ba3 166 emgBRrectified = fabs(emgBRfiltered); //Rectification
Joost38H 1:6aac013b0ba3 167 emgBRcomplete = bqLow1.step(emgBRrectified); //Low-pass
Joost38H 5:81d3b53087c0 168
Joost38H 1:6aac013b0ba3 169 //Filtering steps for the Left Biceps EMG
Joost38H 1:6aac013b0ba3 170 emgBLfiltered = bqChain2.step( emgBL.read() ); //Notch+High-pass
Joost38H 1:6aac013b0ba3 171 emgBLrectified = fabs( emgBLfiltered ); //Rectification
Joost38H 1:6aac013b0ba3 172 emgBLcomplete = bqLow2.step( emgBLrectified ); //Low-pass
Joost38H 5:81d3b53087c0 173
Joost38H 1:6aac013b0ba3 174 }
Joost38H 5:81d3b53087c0 175 // Function to make the BiQuadChain for the Notch and High pass filter for all three filters
Joost38H 1:6aac013b0ba3 176 void getbqChain()
Joost38H 1:6aac013b0ba3 177 {
Joost38H 5:81d3b53087c0 178 bqChain1.add(&bqNotch1).add(&bqHigh1); //Making the BiQuadChain
Joost38H 1:6aac013b0ba3 179 bqChain2.add(&bqNotch2).add(&bqHigh2);
Joost38H 5:81d3b53087c0 180
Joost38H 5:81d3b53087c0 181 bqChainTR.add(&bqNotchTR).add(&bqHighTR);
Joost38H 5:81d3b53087c0 182 bqChainTL.add(&bqNotchTR).add(&bqHighTL);
Joost38H 1:6aac013b0ba3 183 }
Joost38H 5:81d3b53087c0 184
Joost38H 5:81d3b53087c0 185 // Initial input value for couting the X-values
Joost38H 3:59b504840b95 186 int Xin=0;
Joost38H 5:81d3b53087c0 187 int Xin_new;
Joost38H 10:952377fbbbfe 188 float huidigetijdX;
Joost38H 5:81d3b53087c0 189
Joost38H 5:81d3b53087c0 190 // Feedback system for counting values of X
Joost38H 5:81d3b53087c0 191 void ledtX(){
Joost38H 5:81d3b53087c0 192 t.reset();
Joost38H 5:81d3b53087c0 193 Xin++;
Joost38H 5:81d3b53087c0 194 pc.printf("Xin is %i\n",Xin);
Joost38H 5:81d3b53087c0 195 led_G=0;
Joost38H 5:81d3b53087c0 196 led_R=1;
Joost38H 5:81d3b53087c0 197 wait(0.2);
Joost38H 5:81d3b53087c0 198 led_G=1;
Joost38H 5:81d3b53087c0 199 led_R=0;
Joost38H 5:81d3b53087c0 200 wait(0.5);
Joost38H 5:81d3b53087c0 201 }
Joost38H 5:81d3b53087c0 202
Joost38H 5:81d3b53087c0 203 // Couting system for values of X
Joost38H 5:81d3b53087c0 204 int tellerX(){
Joost38H 5:81d3b53087c0 205 if (Move_done == true) {
Joost38H 5:81d3b53087c0 206 t.reset();
Joost38H 5:81d3b53087c0 207 led_G=1;
Joost38H 5:81d3b53087c0 208 led_B=1;
Joost38H 5:81d3b53087c0 209 led_R=0;
Joost38H 5:81d3b53087c0 210 while(true){
Joost38H 6:2674fe30b610 211 button.fall(ledtX);
Joost38H 6:2674fe30b610 212 /*if (emgBRcomplete > thresholdBR) {
Joost38H 5:81d3b53087c0 213 ledtX();
Joost38H 6:2674fe30b610 214 } */
Joost38H 5:81d3b53087c0 215 t.start();
Joost38H 5:81d3b53087c0 216 huidigetijdX=t.read();
Joost38H 5:81d3b53087c0 217 if (huidigetijdX>2){
Joost38H 5:81d3b53087c0 218 led_R=1; //Go to the next program (counting values for Y)
Joost38H 5:81d3b53087c0 219 Xin_new = Xin;
Joost38H 5:81d3b53087c0 220 Xin = 0;
Joost38H 5:81d3b53087c0 221
Joost38H 5:81d3b53087c0 222 return Xin_new;
Joost38H 5:81d3b53087c0 223 }
Joost38H 5:81d3b53087c0 224
Joost38H 5:81d3b53087c0 225 }
Joost38H 5:81d3b53087c0 226
Joost38H 5:81d3b53087c0 227 }
Joost38H 5:81d3b53087c0 228 return 0;
Joost38H 5:81d3b53087c0 229 }
Joost38H 5:81d3b53087c0 230
Joost38H 5:81d3b53087c0 231 // Initial values needed for Y (see comments at X function)
Joost38H 5:81d3b53087c0 232 int Yin=0;
Joost38H 5:81d3b53087c0 233 int Yin_new;
Joost38H 10:952377fbbbfe 234 float huidigetijdY;
Joost38H 5:81d3b53087c0 235
Joost38H 5:81d3b53087c0 236 //Feedback system for couting values of Y
Joost38H 5:81d3b53087c0 237 void ledtY(){
Joost38H 5:81d3b53087c0 238 t.reset();
Joost38H 5:81d3b53087c0 239 Yin++;
Joost38H 5:81d3b53087c0 240 pc.printf("Yin is %i\n",Yin);
Joost38H 5:81d3b53087c0 241 led_G=0;
Joost38H 5:81d3b53087c0 242 led_B=1;
Joost38H 5:81d3b53087c0 243 wait(0.2);
Joost38H 5:81d3b53087c0 244 led_G=1;
Joost38H 5:81d3b53087c0 245 led_B=0;
Joost38H 5:81d3b53087c0 246 wait(0.5);
Joost38H 5:81d3b53087c0 247 }
Joost38H 5:81d3b53087c0 248
Joost38H 5:81d3b53087c0 249 // Couting system for values of Y
Joost38H 5:81d3b53087c0 250 int tellerY(){
Joost38H 5:81d3b53087c0 251 if (Move_done == true) {
Joost38H 5:81d3b53087c0 252 t.reset();
Joost38H 5:81d3b53087c0 253 led_G=1;
Joost38H 5:81d3b53087c0 254 led_B=0;
Joost38H 5:81d3b53087c0 255 led_R=1;
Joost38H 5:81d3b53087c0 256 while(true){
Joost38H 6:2674fe30b610 257 button.fall(ledtY);
Joost38H 6:2674fe30b610 258 /*if (emgBRcomplete > thresholdBR) {
Joost38H 5:81d3b53087c0 259 ledtY();
Joost38H 6:2674fe30b610 260 }*/
Joost38H 5:81d3b53087c0 261 t.start();
Joost38H 5:81d3b53087c0 262 huidigetijdY=t.read();
Joost38H 5:81d3b53087c0 263 if (huidigetijdY>2){
Joost38H 5:81d3b53087c0 264 led_B=1;
Joost38H 5:81d3b53087c0 265 Yin_new = Yin;
Joost38H 5:81d3b53087c0 266 Yin = 0;
Joost38H 14:291f9a29bd74 267 Input_done = true;
Joost38H 5:81d3b53087c0 268 Move_done = false;
Joost38H 5:81d3b53087c0 269 return Yin_new;
Joost38H 5:81d3b53087c0 270
Joost38H 5:81d3b53087c0 271 }
Joost38H 5:81d3b53087c0 272 }
Joost38H 5:81d3b53087c0 273 }
Joost38H 5:81d3b53087c0 274 return 0; // ga door naar het volgende programma
Joost38H 5:81d3b53087c0 275 }
Joost38H 5:81d3b53087c0 276
Joost38H 0:eb16ed402ffa 277 // Declaring all variables needed for calculating rope lengths,
Joost38H 10:952377fbbbfe 278 float Pox = 0;
Joost38H 10:952377fbbbfe 279 float Poy = 0;
Joost38H 10:952377fbbbfe 280 float Pbx = 0;
Joost38H 10:952377fbbbfe 281 float Pby = 887;
Joost38H 10:952377fbbbfe 282 float Prx = 768;
Joost38H 10:952377fbbbfe 283 float Pry = 443;
Joost38H 10:952377fbbbfe 284 float Pex=91;
Joost38H 10:952377fbbbfe 285 float Pey=278;
Joost38H 10:952377fbbbfe 286 float diamtrklosje=20;
Joost38H 10:952377fbbbfe 287 float pi=3.14159265359;
Joost38H 10:952377fbbbfe 288 float omtrekklosje=diamtrklosje*pi;
Joost38H 10:952377fbbbfe 289 float Lou;
Joost38H 10:952377fbbbfe 290 float Lbu;
Joost38H 10:952377fbbbfe 291 float Lru;
Joost38H 10:952377fbbbfe 292 float dLod;
Joost38H 10:952377fbbbfe 293 float dLbd;
Joost38H 10:952377fbbbfe 294 float dLrd;
Joost38H 5:81d3b53087c0 295
Joost38H 0:eb16ed402ffa 296 // Declaring variables needed for calculating motor counts
Joost38H 10:952377fbbbfe 297 float roto;
Joost38H 10:952377fbbbfe 298 float rotb;
Joost38H 10:952377fbbbfe 299 float rotr;
Joost38H 10:952377fbbbfe 300 float rotzo;
Joost38H 10:952377fbbbfe 301 float rotzb;
Joost38H 10:952377fbbbfe 302 float rotzr;
Joost38H 10:952377fbbbfe 303 float counto;
Joost38H 10:952377fbbbfe 304 float countb;
Joost38H 10:952377fbbbfe 305 float countr;
Joost38H 10:952377fbbbfe 306 float countzo;
Joost38H 10:952377fbbbfe 307 float countzb;
Joost38H 10:952377fbbbfe 308 float countzr;
Joost38H 12:ea9afe159eb1 309
Joost38H 10:952377fbbbfe 310 float hcounto;
Joost38H 10:952377fbbbfe 311 float dcounto;
Joost38H 10:952377fbbbfe 312 float hcountb;
Joost38H 10:952377fbbbfe 313 float dcountb;
Joost38H 10:952377fbbbfe 314 float hcountr;
Joost38H 10:952377fbbbfe 315 float dcountr;
Joost38H 5:81d3b53087c0 316
Joost38H 0:eb16ed402ffa 317 // Declaring variables neeeded for calculating motor movements to get to a certain point <- klopt dit?
Joost38H 10:952377fbbbfe 318 float Psx;
Joost38H 10:952377fbbbfe 319 float Psy;
Joost38H 10:952377fbbbfe 320 float Vex;
Joost38H 10:952377fbbbfe 321 float Vey;
Joost38H 10:952377fbbbfe 322 float Kz=0.7; // nadersnelheid instellen
Joost38H 10:952377fbbbfe 323 float modVe;
Joost38H 10:952377fbbbfe 324 float Vmax=20;
Joost38H 10:952377fbbbfe 325 float Pstx;
Joost38H 10:952377fbbbfe 326 float Psty;
Joost38H 10:952377fbbbfe 327 float T=0.02;//seconds
Joost38H 8:f5065cd04213 328
Joost38H 10:952377fbbbfe 329 float kpo = 0.1;
Joost38H 10:952377fbbbfe 330 float kpb = 0.1;
Joost38H 10:952377fbbbfe 331 float kpr = 0.1;
Joost38H 5:81d3b53087c0 332
Joost38H 10:952377fbbbfe 333 float speedfactor1;
Joost38H 10:952377fbbbfe 334 float speedfactor2;
Joost38H 10:952377fbbbfe 335 float speedfactor3;
Joost38H 5:81d3b53087c0 336
Joost38H 5:81d3b53087c0 337
Joost38H 10:952377fbbbfe 338 //Deel om motor(en) aan te sturen--------------------------------------------
Joost38H 10:952377fbbbfe 339 float referenceVelocity1;
Joost38H 10:952377fbbbfe 340 float motorValue1;
Joost38H 5:81d3b53087c0 341
Joost38H 10:952377fbbbfe 342 float referenceVelocity2;
Joost38H 10:952377fbbbfe 343 float motorValue2;
Joost38H 0:eb16ed402ffa 344
Joost38H 10:952377fbbbfe 345 float referenceVelocity3;
Joost38H 10:952377fbbbfe 346 float motorValue3;
Joost38H 5:81d3b53087c0 347
Joost38H 5:81d3b53087c0 348 Ticker controlmotor1; // één ticker van maken?
Joost38H 5:81d3b53087c0 349 Ticker controlmotor2; // één ticker van maken?
Joost38H 5:81d3b53087c0 350 Ticker controlmotor3; // één ticker van maken?
Joost38H 8:f5065cd04213 351
Joost38H 8:f5065cd04213 352
Joost38H 13:3ad20c09b5b4 353 float P1(int erroro, float kpo) {
Joost38H 8:f5065cd04213 354 return erroro*kpo;
Joost38H 8:f5065cd04213 355 }
Joost38H 8:f5065cd04213 356
Joost38H 8:f5065cd04213 357 void MotorController1()
Joost38H 8:f5065cd04213 358 {
Joost38H 12:ea9afe159eb1 359 int reference_o = (int) (counto-hcounto);
Joost38H 10:952377fbbbfe 360 int position_o = Encoder1.getPulses();
Joost38H 10:952377fbbbfe 361
Joost38H 12:ea9afe159eb1 362 int error_o = reference_o - position_o;
Joost38H 10:952377fbbbfe 363
Joost38H 14:291f9a29bd74 364 pc.printf("Position_o = %i reference_o=%i Error_o=%i\n\r" ,position_o,reference_o,error_o);
Joost38H 9:3874b23bb233 365
Joost38H 12:ea9afe159eb1 366 if (-100<error_o && error_o<100){
Joost38H 10:952377fbbbfe 367 motorValue1 = 0;
Joost38H 10:952377fbbbfe 368 }
Joost38H 10:952377fbbbfe 369 else {
Joost38H 15:46acc9b5decf 370 motorValue1 = 0.01*P1(error_o, kpo);
Joost38H 10:952377fbbbfe 371 }
Joost38H 10:952377fbbbfe 372
Joost38H 9:3874b23bb233 373 if (motorValue1 >=0) motor1DirectionPin=0;
Joost38H 9:3874b23bb233 374 else motor1DirectionPin=1;
Joost38H 8:f5065cd04213 375 if (fabs(motorValue1)>1) motor1MagnitudePin = 1;
Joost38H 8:f5065cd04213 376 else motor1MagnitudePin = fabs(motorValue1);
Joost38H 8:f5065cd04213 377 }
Joost38H 8:f5065cd04213 378
Joost38H 10:952377fbbbfe 379
Joost38H 8:f5065cd04213 380
Joost38H 13:3ad20c09b5b4 381 float P2(int error_b, float kpb) {
Joost38H 13:3ad20c09b5b4 382 return error_b*kpb;
Joost38H 8:f5065cd04213 383 }
Joost38H 0:eb16ed402ffa 384
Joost38H 8:f5065cd04213 385 void MotorController2()
Joost38H 8:f5065cd04213 386 {
Joost38H 9:3874b23bb233 387
Joost38H 11:f23fe69ba3ef 388 int reference_b = (int) (countb-hcountb);
Joost38H 10:952377fbbbfe 389 int position_b = Encoder2.getPulses();
Joost38H 9:3874b23bb233 390
Joost38H 13:3ad20c09b5b4 391 int error_b = reference_b - position_b;
Joost38H 10:952377fbbbfe 392
Joost38H 14:291f9a29bd74 393 //pc.printf("Position_b = %i reference_b=%i Error_b=%i " ,position_b,reference_b,error_b);
Joost38H 14:291f9a29bd74 394
Joost38H 13:3ad20c09b5b4 395 if (-100<error_b && error_b<100){
Joost38H 10:952377fbbbfe 396 motorValue2 = 0;
Joost38H 10:952377fbbbfe 397 }
Joost38H 10:952377fbbbfe 398 else {
Joost38H 13:3ad20c09b5b4 399 motorValue2 = 0.1*P2(error_b, kpb);
Joost38H 10:952377fbbbfe 400 }
Joost38H 10:952377fbbbfe 401
Joost38H 9:3874b23bb233 402
Joost38H 8:f5065cd04213 403 if (motorValue2 >=0) motor2DirectionPin=1;
Joost38H 8:f5065cd04213 404 else motor2DirectionPin=0;
Joost38H 8:f5065cd04213 405 if (fabs(motorValue2)>1) motor2MagnitudePin = 1;
Joost38H 8:f5065cd04213 406 else motor2MagnitudePin = fabs(motorValue2);
Joost38H 8:f5065cd04213 407 }
Joost38H 8:f5065cd04213 408
Joost38H 10:952377fbbbfe 409
Joost38H 8:f5065cd04213 410
Joost38H 13:3ad20c09b5b4 411 float P3(int error_r, float kpr) {
Joost38H 13:3ad20c09b5b4 412 return error_r*kpr;
Joost38H 8:f5065cd04213 413 }
Joost38H 8:f5065cd04213 414
Joost38H 9:3874b23bb233 415 void MotorController3()
Joost38H 9:3874b23bb233 416 {
Joost38H 11:f23fe69ba3ef 417 int reference_r = (int) (countr-hcountr);
Joost38H 10:952377fbbbfe 418 int position_r = Encoder3.getPulses();
Joost38H 10:952377fbbbfe 419
Joost38H 13:3ad20c09b5b4 420 int error_r = reference_r - position_r;
Joost38H 10:952377fbbbfe 421
Joost38H 14:291f9a29bd74 422 //pc.printf("Position_r = %i reference_r=%i Error_r=%i\n\r" ,position_r,reference_r,error_r);
Joost38H 10:952377fbbbfe 423
Joost38H 9:3874b23bb233 424
Joost38H 13:3ad20c09b5b4 425 if (-100<error_r && error_r<100){
Joost38H 10:952377fbbbfe 426 motorValue3 = 0;
Joost38H 10:952377fbbbfe 427
Joost38H 10:952377fbbbfe 428 }
Joost38H 10:952377fbbbfe 429 else {
Joost38H 13:3ad20c09b5b4 430 motorValue3 = 0.1*P3(error_r, kpr);
Joost38H 10:952377fbbbfe 431 }
Joost38H 10:952377fbbbfe 432
Joost38H 8:f5065cd04213 433 if (motorValue3 >=0) motor3DirectionPin=1;
Joost38H 8:f5065cd04213 434 else motor3DirectionPin=0;
Joost38H 8:f5065cd04213 435 if (fabs(motorValue3)>1) motor3MagnitudePin = 1;
Joost38H 8:f5065cd04213 436 else motor3MagnitudePin = fabs(motorValue3);
Joost38H 8:f5065cd04213 437 }
Joost38H 8:f5065cd04213 438
Joost38H 5:81d3b53087c0 439
Joost38H 0:eb16ed402ffa 440
Joost38H 0:eb16ed402ffa 441 // einde deel motor------------------------------------------------------------------------------------
Joost38H 5:81d3b53087c0 442
Joost38H 0:eb16ed402ffa 443 Ticker loop;
Joost38H 5:81d3b53087c0 444
Joost38H 0:eb16ed402ffa 445 /*Calculates ropelengths that are needed to get to new positions, based on the
Joost38H 0:eb16ed402ffa 446 set coordinates and the position of the poles */
Joost38H 10:952377fbbbfe 447 float touwlengtes(){
Joost38H 0:eb16ed402ffa 448 Lou=sqrt(pow((Pstx-Pox),2)+pow((Psty-Poy),2));
Joost38H 0:eb16ed402ffa 449 Lbu=sqrt(pow((Pstx-Pbx),2)+pow((Psty-Pby),2));
Joost38H 0:eb16ed402ffa 450 Lru=sqrt(pow((Pstx-Prx),2)+pow((Psty-Pry),2));
Joost38H 0:eb16ed402ffa 451 return 0;
Joost38H 0:eb16ed402ffa 452 }
Joost38H 5:81d3b53087c0 453
Joost38H 0:eb16ed402ffa 454 /* Calculates rotations (and associated counts) of the motor to get to the
Joost38H 0:eb16ed402ffa 455 desired new position*/
Joost38H 10:952377fbbbfe 456 float turns(){
Joost38H 0:eb16ed402ffa 457
Joost38H 0:eb16ed402ffa 458 roto=Lou/omtrekklosje;
Joost38H 0:eb16ed402ffa 459 rotb=Lbu/omtrekklosje;
Joost38H 0:eb16ed402ffa 460 rotr=Lru/omtrekklosje;
Joost38H 0:eb16ed402ffa 461 counto=roto*4200;
Joost38H 5:81d3b53087c0 462 dcounto=counto-hcounto;
Joost38H 11:f23fe69ba3ef 463 //pc.printf("counto = %f \n\r", counto);
Joost38H 8:f5065cd04213 464 //pc.printf("hcounto = %f \n\r", hcounto);
Joost38H 8:f5065cd04213 465 //pc.printf("dcounto = %f \n\r",dcounto);
Joost38H 0:eb16ed402ffa 466 countb=rotb*4200;
Joost38H 5:81d3b53087c0 467 dcountb=countb-hcountb;
Joost38H 8:f5065cd04213 468 //pc.printf("dcountb = %f \n\r",dcountb);
Joost38H 0:eb16ed402ffa 469 countr=rotr*4200;
Joost38H 5:81d3b53087c0 470 dcountr=countr-hcountr;
Joost38H 5:81d3b53087c0 471
Joost38H 0:eb16ed402ffa 472 return 0;
Joost38H 0:eb16ed402ffa 473 }
Joost38H 5:81d3b53087c0 474
Joost38H 0:eb16ed402ffa 475 // Waar komen Pstx en Psty vandaan en waar staan ze voor? En is dit maar voor een paal?
Joost38H 10:952377fbbbfe 476 float Pst(){
Joost38H 0:eb16ed402ffa 477 Pstx=Pex+Vex*T;
Joost38H 0:eb16ed402ffa 478 Psty=Pey+Vey*T;
Joost38H 0:eb16ed402ffa 479 touwlengtes();
Joost38H 0:eb16ed402ffa 480 Pex=Pstx;
Joost38H 0:eb16ed402ffa 481 Pey=Psty;
Joost38H 11:f23fe69ba3ef 482 //pc.printf("een stappie verder\n\r x=%.2f\n\r y=%.2f\n\r",Pstx,Psty);
Joost38H 0:eb16ed402ffa 483 //pc.printf("met lengtes:\n\r Lo=%.2f Lb=%.2f Lr=%.2f\n\r",Lou,Lbu,Lru);
Joost38H 0:eb16ed402ffa 484 turns();
Joost38H 0:eb16ed402ffa 485 //pc.printf("rotatie per motor:\n\r o=%.2f b=%.2f r=%.2f\n\r",roto,rotb,rotr);
Joost38H 11:f23fe69ba3ef 486 //pc.printf("counts per motor:\n\r o=%.2f b=%.2f r=%.2f\n\r",counto,countb,countr);
Joost38H 0:eb16ed402ffa 487 /*float R;
Joost38H 0:eb16ed402ffa 488 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
Joost38H 0:eb16ed402ffa 489 pc.printf("\n\r R=%f",R);*/
Joost38H 0:eb16ed402ffa 490 return 0;
Joost38H 0:eb16ed402ffa 491 }
Joost38H 5:81d3b53087c0 492
Joost38H 0:eb16ed402ffa 493 //Calculating desired end position based on the EMG input <- Waarom maar voor een paal?
Joost38H 10:952377fbbbfe 494 float Ps(){
Joost38H 7:ca880e05bb04 495 Psx=(Xin_new)*30+91;
Joost38H 7:ca880e05bb04 496 Psy=(Yin_new)*30+278;
Joost38H 5:81d3b53087c0 497 pc.printf("x=%.2f \n\r y=%.2f \n\r",Psx,Psy);
Joost38H 0:eb16ed402ffa 498 return 0;
Joost38H 0:eb16ed402ffa 499 }
Joost38H 5:81d3b53087c0 500
Joost38H 0:eb16ed402ffa 501 // Rekent dit de snelheid uit waarmee de motoren bewegen?
Joost38H 0:eb16ed402ffa 502 void Ve(){
Joost38H 10:952377fbbbfe 503 Vex=0.2*(Psx-Pex);
Joost38H 10:952377fbbbfe 504 Vey=0.2*(Psy-Pey);
Joost38H 10:952377fbbbfe 505 /* modVe=sqrt(pow(Vex,2)+pow(Vey,2));
Joost38H 0:eb16ed402ffa 506 if(modVe>Vmax){
Joost38H 0:eb16ed402ffa 507 Vex=(Vex/modVe)*Vmax;
Joost38H 0:eb16ed402ffa 508 Vey=(Vey/modVe)*Vmax;
Joost38H 10:952377fbbbfe 509 }*/
Joost38H 0:eb16ed402ffa 510 Pst();
Joost38H 6:2674fe30b610 511 pc.printf("Vex=%.2f \r\n Vey=%.2f \r\n",Vex,Vey);
Joost38H 6:2674fe30b610 512 if((fabs(Vex)<0.01f)&&(fabs(Vey)<0.01f)){
Joost38H 3:59b504840b95 513 Move_done=true;
Joost38H 0:eb16ed402ffa 514 loop.detach();
Joost38H 0:eb16ed402ffa 515 }
Joost38H 0:eb16ed402ffa 516 }
Joost38H 5:81d3b53087c0 517
Joost38H 0:eb16ed402ffa 518 // Calculating the desired position, so that the motors can go here
Joost38H 0:eb16ed402ffa 519 int calculator(){
Joost38H 0:eb16ed402ffa 520 Ps();
Joost38H 10:952377fbbbfe 521 if (Move_done == false) {
Joost38H 0:eb16ed402ffa 522 loop.attach(&Ve,0.02);
Joost38H 10:952377fbbbfe 523 }
Joost38H 0:eb16ed402ffa 524 return 0;
Joost38H 0:eb16ed402ffa 525 }
Joost38H 5:81d3b53087c0 526
Joost38H 0:eb16ed402ffa 527 // Function which makes it possible to lower the end-effector to pick up a piece
Joost38H 0:eb16ed402ffa 528 void zakker(){
Joost38H 0:eb16ed402ffa 529 while(1){
Joost38H 0:eb16ed402ffa 530 wait(1);
Joost38H 3:59b504840b95 531 if(Move_done==true){ //misschien moet je hier als voorwaarden een delta is 1 zetten // hierdoor wacht dit programma totdat de beweging klaar is
Joost38H 0:eb16ed402ffa 532 dLod=sqrt(pow(Lou,2)+pow(397.85,2))-Lou; //dit is wat je motoren moeten doen om te zakken
Joost38H 0:eb16ed402ffa 533 dLbd=sqrt(pow(Lbu,2)+pow(397.85,2))-Lbu;
Joost38H 0:eb16ed402ffa 534 dLrd=sqrt(pow(Lru,2)+pow(397.85,2))-Lru;
Joost38H 0:eb16ed402ffa 535 rotzo=dLod/omtrekklosje;
Joost38H 0:eb16ed402ffa 536 rotzb=dLbd/omtrekklosje;
Joost38H 0:eb16ed402ffa 537 rotzr=dLrd/omtrekklosje;
Joost38H 0:eb16ed402ffa 538 countzo=rotzo*4200;
Joost38H 0:eb16ed402ffa 539 countzb=rotzb*4200;
Joost38H 0:eb16ed402ffa 540 countzr=rotzr*4200;
Joost38H 0:eb16ed402ffa 541
Joost38H 5:81d3b53087c0 542 //pc.printf("o=%.2fb=%.2fr=%.2f",countzo,countzb,countzr); // hier moet komen te staan hoe het zakken gaat
Joost38H 0:eb16ed402ffa 543 }
Joost38H 0:eb16ed402ffa 544 }
Joost38H 0:eb16ed402ffa 545 }
Joost38H 7:ca880e05bb04 546
Joost38H 7:ca880e05bb04 547 void tiller(){
Joost38H 7:ca880e05bb04 548 dcountb = -8148;
Joost38H 7:ca880e05bb04 549 dcounto = -12487;
Joost38H 7:ca880e05bb04 550 dcountr = -7386;
Joost38H 7:ca880e05bb04 551 pc.printf("Tiller");
Joost38H 7:ca880e05bb04 552 Vex = 20;
Joost38H 7:ca880e05bb04 553 Vey = 20;
Joost38H 8:f5065cd04213 554 controlmotor1.attach(&MotorController1, 0.01);
Joost38H 8:f5065cd04213 555 controlmotor2.attach(&MotorController2, 0.01);
Joost38H 8:f5065cd04213 556 controlmotor3.attach(&MotorController3, 0.01);
Joost38H 7:ca880e05bb04 557 }
Joost38H 7:ca880e05bb04 558
Joost38H 7:ca880e05bb04 559
Joost38H 6:2674fe30b610 560 void setcurrentposition(){
Joost38H 14:291f9a29bd74 561 if(Input_done==true){
Joost38H 14:291f9a29bd74 562 hcounto=4200*((sqrt(pow((Pex-Pox),2)+pow((Pey-Poy),2)))/omtrekklosje);
Joost38H 14:291f9a29bd74 563 hcountb=4200*((sqrt(pow((Pex-Pbx),2)+pow((Pey-Pby),2)))/omtrekklosje);
Joost38H 14:291f9a29bd74 564 hcountr=4200*((sqrt(pow((Pex-Prx),2)+pow((Pey-Pry),2)))/omtrekklosje);
Joost38H 14:291f9a29bd74 565 pc.printf("ik reset hcounts");
Joost38H 15:46acc9b5decf 566 Input_done=false;
Joost38H 14:291f9a29bd74 567 }
Joost38H 6:2674fe30b610 568 }
Joost38H 7:ca880e05bb04 569
Joost38H 0:eb16ed402ffa 570 int main()
Joost38H 0:eb16ed402ffa 571 {
Joost38H 0:eb16ed402ffa 572 pc.baud(115200);
Joost38H 8:f5065cd04213 573 wait(1.0f);
Joost38H 8:f5065cd04213 574 //tiller();
Joost38H 1:6aac013b0ba3 575 getbqChain();
Joost38H 4:fddab1c875a9 576 threshold_timerR.attach(&Threshold_samplingBR, 0.002);
Joost38H 4:fddab1c875a9 577 threshold_timerL.attach(&Threshold_samplingBL, 0.002);
Joost38H 2:2c4ee76dc830 578 while(true){
Joost38H 2:2c4ee76dc830 579 sample_timer.attach(&EMG_sample, 0.002);
Joost38H 2:2c4ee76dc830 580 wait(2.5f);
Joost38H 2:2c4ee76dc830 581 tellerX();
Joost38H 2:2c4ee76dc830 582 tellerY();
Joost38H 6:2674fe30b610 583 setcurrentposition();
Joost38H 2:2c4ee76dc830 584 calculator();
Joost38H 8:f5065cd04213 585 controlmotor1.attach(&MotorController1, 0.01);
Joost38H 8:f5065cd04213 586 controlmotor2.attach(&MotorController2, 0.01);
Joost38H 8:f5065cd04213 587 controlmotor3.attach(&MotorController3, 0.01);
Joost38H 2:2c4ee76dc830 588 //zakker();
Joost38H 5:81d3b53087c0 589 wait(5.0f);
Joost38H 2:2c4ee76dc830 590 }
Joost38H 5:81d3b53087c0 591
Joost38H 5:81d3b53087c0 592 }
Joost38H 5:81d3b53087c0 593