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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@23:767911637f3a, 2019-10-08 (annotated)

Committer:
JornD
Date:
Tue Oct 08 13:45:30 2019 +0000
Revision:
23:767911637f3a
Parent:
17:16d29ed4ab00
Child:
24:d0ca537913c2
Started implementation of globalvariables.cpp and EMG processing;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JornD 8:ccd58f78b5cb 1 //Libraries
JordanO 10:ad2da21a102c 2 #include "mbed.h"
JordanO 10:ad2da21a102c 3 #include "FastPWM.h"
JordanO 10:ad2da21a102c 4 #include "HIDScope.h"
JordanO 10:ad2da21a102c 5 #include "MODSERIAL.h"
JordanO 10:ad2da21a102c 6 #include "QEI.h"
JornD 15:95034d92bc76 7
JornD 15:95034d92bc76 8 //Homebrew libraries
JornD 15:95034d92bc76 9 #include "header.h"
JornD 15:95034d92bc76 10 //#include "controller.cpp"
JornD 23:767911637f3a 11 #include "globalvariables.cpp"
JornD 15:95034d92bc76 12
JornD 8:ccd58f78b5cb 13
JordanO 10:ad2da21a102c 14 //Objects
JordanO 10:ad2da21a102c 15 //LED
JordanO 10:ad2da21a102c 16 DigitalOut ledb(LED_BLUE); // ledb=true & ledb=1 is led off!!
JordanO 10:ad2da21a102c 17 DigitalOut ledg(LED_GREEN);
JordanO 10:ad2da21a102c 18 DigitalOut ledr(LED_RED);
JordanO 10:ad2da21a102c 19 //Motors
JordanO 10:ad2da21a102c 20
JordanO 10:ad2da21a102c 21 //Sensors
JordanO 14:1a695fc45fc6 22 //QEI Encoder1(D12,D13,NC,64,QEI::X2_ENCODING);
JordanO 14:1a695fc45fc6 23 //QEI Encoder2(D14,D15,NC,64,QEI::X2_ENCODING);
JordanO 14:1a695fc45fc6 24 //QEI Encoder3(D16,D17,NC,64,QEI::X2_ENCODING);
JordanO 10:ad2da21a102c 25
JordanO 10:ad2da21a102c 26 //Buttons
JordanO 11:32deb48774f7 27 InterruptIn button1(SW2); //button on the side of the reset button
JordanO 11:32deb48774f7 28 InterruptIn button2(SW3); //button on the side opposite of the reset button
JordanO 11:32deb48774f7 29
JordanO 11:32deb48774f7 30 //PC
JornD 15:95034d92bc76 31 Serial pc(USBTX,USBRX);
JornD 8:ccd58f78b5cb 32
JordanO 10:ad2da21a102c 33 //Variables
JordanO 10:ad2da21a102c 34 enum States {MovementIdle, CalibrationIdle, Demo, Startup, CalibrationPhysical, CalibrationEMG, Move, TiltCup, FailState};
JordanO 10:ad2da21a102c 35 States CurrentState;
JordanO 10:ad2da21a102c 36
JornD 23:767911637f3a 37 extern double X;
JornD 23:767911637f3a 38
JordanO 10:ad2da21a102c 39 volatile char ledcolor; //r is red, b is blue, g is green, t is bluegreen, p is purple
JordanO 13:f90e31c6af2b 40 volatile int errorCode;
JordanO 10:ad2da21a102c 41
JordanO 14:1a695fc45fc6 42 //Ticker Timings
JordanO 14:1a695fc45fc6 43 const float mainLoopT = 2; //Main Loopt Ticker wait
JordanO 14:1a695fc45fc6 44 const float ledFlipperT = .5; //LED Flicker wait
JordanO 14:1a695fc45fc6 45
JornD 9:cb88b16a97d5 46
JordanO 10:ad2da21a102c 47
JordanO 10:ad2da21a102c 48 //Tickers
JordanO 10:ad2da21a102c 49 Ticker Main_Ticker;
JordanO 10:ad2da21a102c 50 Ticker Tick_Blinky;//used for the blinking of the leds
JordanO 10:ad2da21a102c 51
JornD 8:ccd58f78b5cb 52 //Led FLicker
JornD 8:ccd58f78b5cb 53 void FlipLED(void)
JornD 8:ccd58f78b5cb 54 {
JordanO 13:f90e31c6af2b 55 pc.printf("FLIPLED \r\n");
JornD 8:ccd58f78b5cb 56 switch(ledcolor)
JornD 8:ccd58f78b5cb 57 {
JornD 8:ccd58f78b5cb 58 case 'r':
JordanO 13:f90e31c6af2b 59 ledr = !ledr;
JornD 8:ccd58f78b5cb 60 ledg = true;
JornD 8:ccd58f78b5cb 61 ledb = true;
JornD 8:ccd58f78b5cb 62 break;
JornD 8:ccd58f78b5cb 63 case 'b':
JornD 8:ccd58f78b5cb 64 ledr = true;
JornD 8:ccd58f78b5cb 65 ledg = true;
JordanO 13:f90e31c6af2b 66 ledb = !ledb;
JornD 8:ccd58f78b5cb 67 break;
JornD 8:ccd58f78b5cb 68 case 'g':
JornD 8:ccd58f78b5cb 69 ledr = true;
JordanO 13:f90e31c6af2b 70 ledg = !ledg;
JornD 8:ccd58f78b5cb 71 ledb = true;
JordanO 13:f90e31c6af2b 72 break;
JornD 8:ccd58f78b5cb 73 case 't':
JornD 8:ccd58f78b5cb 74 ledr = true;
JordanO 13:f90e31c6af2b 75 ledg = !ledg;
JordanO 13:f90e31c6af2b 76 ledb = !ledb;
JornD 8:ccd58f78b5cb 77 break;
JornD 8:ccd58f78b5cb 78 case 'p':
JordanO 13:f90e31c6af2b 79 ledr = !ledr;
JornD 8:ccd58f78b5cb 80 ledg = true;
JordanO 13:f90e31c6af2b 81 ledb = !ledb;
JornD 8:ccd58f78b5cb 82 break;
JordanO 13:f90e31c6af2b 83 default:
JordanO 13:f90e31c6af2b 84 errorCode = 1;
JordanO 14:1a695fc45fc6 85 CurrentState = FailState;
JornD 8:ccd58f78b5cb 86 }
JordanO 13:f90e31c6af2b 87 pc.printf("Color %c \r\n",ledcolor);
JornD 8:ccd58f78b5cb 88 }
JornD 8:ccd58f78b5cb 89
JordanO 14:1a695fc45fc6 90 // SW2 = button1 state changing
JordanO 11:32deb48774f7 91 void Run_StateChangerButton1()
JordanO 11:32deb48774f7 92 {
JordanO 11:32deb48774f7 93 switch(CurrentState)
JordanO 11:32deb48774f7 94 {
JordanO 14:1a695fc45fc6 95 case Startup: //From
JordanO 14:1a695fc45fc6 96 CurrentState = CalibrationPhysical; //To
JordanO 14:1a695fc45fc6 97 break; //Break from switch
JordanO 11:32deb48774f7 98 case CalibrationPhysical:
JordanO 11:32deb48774f7 99 CurrentState = CalibrationIdle;
JordanO 11:32deb48774f7 100 break;
JordanO 11:32deb48774f7 101 case CalibrationIdle:
JordanO 11:32deb48774f7 102 CurrentState = CalibrationEMG;
JordanO 11:32deb48774f7 103 break;
JordanO 11:32deb48774f7 104 case CalibrationEMG:
JordanO 11:32deb48774f7 105 CurrentState = MovementIdle;
JordanO 11:32deb48774f7 106 break;
JordanO 11:32deb48774f7 107 case MovementIdle:
JordanO 11:32deb48774f7 108 CurrentState = TiltCup;
JordanO 11:32deb48774f7 109 break;
JordanO 11:32deb48774f7 110 case TiltCup:
JordanO 11:32deb48774f7 111 CurrentState = MovementIdle;
JordanO 11:32deb48774f7 112 break;
JordanO 11:32deb48774f7 113 case Move:
JordanO 11:32deb48774f7 114 CurrentState = MovementIdle;
JordanO 11:32deb48774f7 115 break;
JordanO 11:32deb48774f7 116 }
JordanO 11:32deb48774f7 117 }
JordanO 14:1a695fc45fc6 118 // SW3 = button2 state changing
JornD 15:95034d92bc76 119 void Run_StateChangerButton2(void)
JordanO 12:d13ce121a781 120 {
JordanO 12:d13ce121a781 121 switch(CurrentState)
JordanO 12:d13ce121a781 122 {
JordanO 13:f90e31c6af2b 123 case CalibrationIdle:
JordanO 13:f90e31c6af2b 124 CurrentState = Demo;
JordanO 13:f90e31c6af2b 125 break;
JordanO 13:f90e31c6af2b 126 case MovementIdle:
JordanO 13:f90e31c6af2b 127 CurrentState = Move;
JordanO 13:f90e31c6af2b 128 break;
JordanO 13:f90e31c6af2b 129 case TiltCup:
JordanO 13:f90e31c6af2b 130 CurrentState = MovementIdle;
JordanO 13:f90e31c6af2b 131 break;
JordanO 12:d13ce121a781 132 }
JordanO 12:d13ce121a781 133 }
JordanO 12:d13ce121a781 134
JordanO 14:1a695fc45fc6 135
JordanO 14:1a695fc45fc6 136 //State functions
JornD 2:6d026d5655c5 137 void Run_Demo(void)
JornD 2:6d026d5655c5 138 {
JordanO 11:32deb48774f7 139 pc.printf("Starting Demo ...\r\n");
JornD 5:77929f5f1f32 140 }
JornD 2:6d026d5655c5 141
JornD 5:77929f5f1f32 142 void Run_MovementIdle(void)
JornD 5:77929f5f1f32 143 {
JordanO 11:32deb48774f7 144 pc.printf("Starting Idle ...\r\n");
JornD 5:77929f5f1f32 145 }
JornD 5:77929f5f1f32 146
JornD 5:77929f5f1f32 147 void Run_CalibrationIdle(void)
JornD 5:77929f5f1f32 148 {
JordanO 11:32deb48774f7 149 pc.printf("Starting Calibration Idle ...\r\n");
JornD 5:77929f5f1f32 150 }
JornD 5:77929f5f1f32 151
JornD 5:77929f5f1f32 152 void Run_Startup(void)
JornD 5:77929f5f1f32 153 {
JordanO 11:32deb48774f7 154 pc.printf("Starting Startup ...\r\n");
JornD 2:6d026d5655c5 155 }
JornD 2:6d026d5655c5 156
JornD 5:77929f5f1f32 157 void Run_CalibrationPhysical(void)
JornD 2:6d026d5655c5 158 {
JordanO 11:32deb48774f7 159 pc.printf("Starting Calibration Physical ... \r\n");
JordanO 13:f90e31c6af2b 160 wait(1);
JordanO 11:32deb48774f7 161 CurrentState = CalibrationIdle;
JordanO 11:32deb48774f7 162
JornD 5:77929f5f1f32 163 }
JornD 2:6d026d5655c5 164
JornD 5:77929f5f1f32 165 void Run_CalibrationEMG(void)
JornD 5:77929f5f1f32 166 {
JordanO 11:32deb48774f7 167 pc.printf("Starting Calibration EMG ... \r\n");
JornD 2:6d026d5655c5 168 }
JornD 2:6d026d5655c5 169
JornD 5:77929f5f1f32 170 void Run_Move(void)
JornD 5:77929f5f1f32 171 {
JordanO 13:f90e31c6af2b 172 pc.printf("Starting Move ... \r\n");
JornD 5:77929f5f1f32 173 }
JornD 5:77929f5f1f32 174
JornD 5:77929f5f1f32 175 void Run_TiltCup(void)
JornD 5:77929f5f1f32 176 {
JordanO 11:32deb48774f7 177 pc.printf("Starting Calibration TiltCup ... \r\n");
JornD 5:77929f5f1f32 178 }
JornD 5:77929f5f1f32 179
JornD 5:77929f5f1f32 180 void Run_FailState(void)
Rieks 6:41b02057fc2c 181 {
JordanO 14:1a695fc45fc6 182 pc.printf("Error: %i",errorCode);
JornD 5:77929f5f1f32 183 }
JornD 5:77929f5f1f32 184
JordanO 11:32deb48774f7 185
JornD 5:77929f5f1f32 186 //State Machine
JornD 2:6d026d5655c5 187 void StateMachine(void)
JornD 2:6d026d5655c5 188 {
JordanO 13:f90e31c6af2b 189 //Turn off all LEDs
JornD 2:6d026d5655c5 190 switch(CurrentState)
JornD 2:6d026d5655c5 191 {
JornD 2:6d026d5655c5 192 case Demo:
JordanO 13:f90e31c6af2b 193 ledcolor='t';
JordanO 11:32deb48774f7 194 Run_Demo();
JornD 2:6d026d5655c5 195 break;
JornD 5:77929f5f1f32 196 case MovementIdle:
JordanO 13:f90e31c6af2b 197 ledcolor='b';
JordanO 11:32deb48774f7 198 Run_MovementIdle();
JornD 5:77929f5f1f32 199 break;
JornD 5:77929f5f1f32 200 case CalibrationIdle:
JordanO 13:f90e31c6af2b 201 ledcolor='b';
JordanO 11:32deb48774f7 202 Run_CalibrationIdle();
JornD 5:77929f5f1f32 203 break;
JornD 9:cb88b16a97d5 204 case Startup:
JordanO 13:f90e31c6af2b 205 ledcolor='b';
JordanO 11:32deb48774f7 206 Run_Startup();
JornD 5:77929f5f1f32 207 break;
JornD 5:77929f5f1f32 208 case CalibrationPhysical:
Rieks 7:af0c16ae48d7 209 ledcolor='g';
JordanO 11:32deb48774f7 210 Run_CalibrationPhysical();
JornD 5:77929f5f1f32 211 break;
JornD 5:77929f5f1f32 212 case CalibrationEMG:
Rieks 7:af0c16ae48d7 213 ledcolor='g';
JordanO 11:32deb48774f7 214 Run_CalibrationEMG();
JornD 5:77929f5f1f32 215 break;
JornD 5:77929f5f1f32 216 case Move:
Rieks 7:af0c16ae48d7 217 ledcolor='p';
JordanO 11:32deb48774f7 218 Run_Move();
JornD 5:77929f5f1f32 219 break;
JornD 5:77929f5f1f32 220 case TiltCup:
Rieks 7:af0c16ae48d7 221 ledcolor='t';
JordanO 11:32deb48774f7 222 Run_TiltCup();
JornD 5:77929f5f1f32 223 break;
JornD 5:77929f5f1f32 224 case FailState:
JordanO 13:f90e31c6af2b 225 ledcolor='r';
JordanO 11:32deb48774f7 226 Run_FailState();
JornD 2:6d026d5655c5 227 break;
JordanO 12:d13ce121a781 228 default:
JordanO 14:1a695fc45fc6 229 CurrentState = FailState;
JordanO 14:1a695fc45fc6 230 errorCode = 2;
JordanO 12:d13ce121a781 231 break;
JornD 2:6d026d5655c5 232 }
JornD 2:6d026d5655c5 233 }
JornD 1:a5c1140f464a 234
JornD 5:77929f5f1f32 235 //Main Loop
JornD 8:ccd58f78b5cb 236 void mainloop()
JornD 8:ccd58f78b5cb 237 {
JornD 9:cb88b16a97d5 238 StateMachine();
JornD 8:ccd58f78b5cb 239 }
JornD 8:ccd58f78b5cb 240
JornD 1:a5c1140f464a 241 int main()
JornD 8:ccd58f78b5cb 242 {
JornD 8:ccd58f78b5cb 243 //Initialize
JordanO 13:f90e31c6af2b 244 ledr = true;
JordanO 13:f90e31c6af2b 245 //ledr.write(.4);
JordanO 13:f90e31c6af2b 246 ledg = true;
JordanO 13:f90e31c6af2b 247 //ledg.write(.4);
JordanO 13:f90e31c6af2b 248 ledb = true;
JordanO 13:f90e31c6af2b 249 //ledb.write(.4);
JordanO 11:32deb48774f7 250
JordanO 11:32deb48774f7 251 pc.baud(115200);
JornD 5:77929f5f1f32 252 CurrentState = Startup;
JornD 9:cb88b16a97d5 253
JordanO 11:32deb48774f7 254 button1.mode(PullUp);
JordanO 11:32deb48774f7 255 button1.rise(Run_StateChangerButton1);
JordanO 11:32deb48774f7 256 button2.mode(PullUp);
JordanO 12:d13ce121a781 257 button2.rise(Run_StateChangerButton2);
JordanO 12:d13ce121a781 258
JordanO 13:f90e31c6af2b 259 //Tickers
JordanO 14:1a695fc45fc6 260 Main_Ticker.attach(mainloop,mainLoopT);
JordanO 14:1a695fc45fc6 261 wait(mainLoopT);
JordanO 14:1a695fc45fc6 262 Tick_Blinky.attach(FlipLED,ledFlipperT);
JornD 16:fa8001fef71b 263
JornD 16:fa8001fef71b 264 //Placeholder function call
JornD 15:95034d92bc76 265 double PlantError = 1;
JornD 16:fa8001fef71b 266 double Ts = 1;
JornD 17:16d29ed4ab00 267 double u = ControllerPID(PlantError, Ts);
JordanO 11:32deb48774f7 268
JornD 1:a5c1140f464a 269 while(true)
JornD 1:a5c1140f464a 270 {
JornD 23:767911637f3a 271 X = 1;
JornD 23:767911637f3a 272 double Y = ProcessEMG(X);
JornD 1:a5c1140f464a 273 }
JornD 1:a5c1140f464a 274 }