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Filter werkt eindelijk, echter zijn alle kanalen hetzelfde
Dependencies: HIDScope MODSERIAL Matrix QEI biquadFilter mbed
Fork of Turning_Motor_V3 by
main.cpp@4:8f67b8327300, 2018-10-23 (annotated)
- Committer:
- ThomBMT
- Date:
- Tue Oct 23 13:08:22 2018 +0000
- Revision:
- 4:8f67b8327300
- Parent:
- 3:c8f0fc045505
- Child:
- 5:312186a0604d
Added a switchstate machine for calibrating and homing
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JurrienBos | 0:4591ba678a39 | 1 | #include "mbed.h" |
JurrienBos | 0:4591ba678a39 | 2 | #include "MODSERIAL.h" |
ThomBMT | 2:dc9766657afb | 3 | #include "HIDScope.h" |
ThomBMT | 2:dc9766657afb | 4 | #include "QEI.h" |
ThomBMT | 2:dc9766657afb | 5 | |
JurrienBos | 0:4591ba678a39 | 6 | MODSERIAL pc(USBTX, USBRX); |
JurrienBos | 0:4591ba678a39 | 7 | DigitalOut DirectionPin1(D4); |
JurrienBos | 1:4bf64d003f3a | 8 | DigitalOut DirectionPin2(D7); |
JurrienBos | 0:4591ba678a39 | 9 | PwmOut PwmPin1(D5); |
JurrienBos | 1:4bf64d003f3a | 10 | PwmOut PwmPin2(D6); |
JurrienBos | 0:4591ba678a39 | 11 | DigitalIn Knop1(D2); |
ThomBMT | 4:8f67b8327300 | 12 | DigitalIn Knop2(D3); |
JurrienBos | 0:4591ba678a39 | 13 | AnalogIn pot1 (A5); |
JurrienBos | 1:4bf64d003f3a | 14 | AnalogIn pot2 (A4); |
ThomBMT | 2:dc9766657afb | 15 | AnalogIn emg0( A0 ); |
ThomBMT | 2:dc9766657afb | 16 | AnalogIn emg1( A1 ); |
ThomBMT | 2:dc9766657afb | 17 | AnalogIn emg2( A2 ); |
ThomBMT | 2:dc9766657afb | 18 | AnalogIn emg3( A3 ); |
JurrienBos | 0:4591ba678a39 | 19 | |
ThomBMT | 4:8f67b8327300 | 20 | Ticker StateTicker; |
ThomBMT | 3:c8f0fc045505 | 21 | Ticker EncodingTicker; |
ThomBMT | 2:dc9766657afb | 22 | Ticker printTicker; |
ThomBMT | 2:dc9766657afb | 23 | Ticker EMG_Read_Ticker; |
ThomBMT | 2:dc9766657afb | 24 | Ticker sample_timer; |
ThomBMT | 2:dc9766657afb | 25 | HIDScope scope( 4 ); |
JurrienBos | 0:4591ba678a39 | 26 | |
ThomBMT | 3:c8f0fc045505 | 27 | volatile float Bicep_Right = 0.0; |
ThomBMT | 3:c8f0fc045505 | 28 | volatile float Bicep_Left = 0.0; |
ThomBMT | 3:c8f0fc045505 | 29 | volatile float Tricep_Right = 0.0; |
ThomBMT | 3:c8f0fc045505 | 30 | volatile float Tricep_Left = 0.0; |
ThomBMT | 3:c8f0fc045505 | 31 | volatile const float maxVelocity = 8.4; // in rad/s |
ThomBMT | 4:8f67b8327300 | 32 | volatile const double pi = 3.14159265358979; |
ThomBMT | 3:c8f0fc045505 | 33 | volatile float referenceVelocity1 = 0.5; //dit is de gecentreerde waarde en dus de nulstand |
ThomBMT | 3:c8f0fc045505 | 34 | volatile float referenceVelocity2 = 0.5; |
ThomBMT | 2:dc9766657afb | 35 | |
ThomBMT | 4:8f67b8327300 | 36 | enum states{Calibration, Homing, Function}; |
ThomBMT | 4:8f67b8327300 | 37 | |
ThomBMT | 4:8f67b8327300 | 38 | volatile states Active_State = Calibration; |
ThomBMT | 4:8f67b8327300 | 39 | |
ThomBMT | 2:dc9766657afb | 40 | volatile int counts1; |
ThomBMT | 2:dc9766657afb | 41 | volatile int counts2; |
ThomBMT | 4:8f67b8327300 | 42 | |
ThomBMT | 3:c8f0fc045505 | 43 | void Encoding() |
ThomBMT | 3:c8f0fc045505 | 44 | { |
ThomBMT | 4:8f67b8327300 | 45 | |
ThomBMT | 4:8f67b8327300 | 46 | QEI Encoder1(D12,D13,NC,64); |
ThomBMT | 3:c8f0fc045505 | 47 | QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING); |
ThomBMT | 3:c8f0fc045505 | 48 | counts1 = Encoder1.getPulses(); |
ThomBMT | 3:c8f0fc045505 | 49 | counts2 = Encoder2.getPulses(); |
ThomBMT | 3:c8f0fc045505 | 50 | |
ThomBMT | 4:8f67b8327300 | 51 | float rad_m1 = ((2*pi)/32.0)* (float)counts1; |
ThomBMT | 4:8f67b8327300 | 52 | float rad_m2 = ((2*pi)/32.0)* (float)counts2; |
ThomBMT | 4:8f67b8327300 | 53 | |
ThomBMT | 4:8f67b8327300 | 54 | // pc.printf("%f & %f ....\n",rad_m1, rad_m2); |
ThomBMT | 3:c8f0fc045505 | 55 | } |
ThomBMT | 2:dc9766657afb | 56 | |
ThomBMT | 2:dc9766657afb | 57 | void EMG_Read() |
ThomBMT | 2:dc9766657afb | 58 | { |
ThomBMT | 3:c8f0fc045505 | 59 | Bicep_Right = emg0.read(); |
ThomBMT | 3:c8f0fc045505 | 60 | Bicep_Left = emg1.read(); |
ThomBMT | 3:c8f0fc045505 | 61 | Tricep_Right = emg2.read(); |
ThomBMT | 3:c8f0fc045505 | 62 | Tricep_Left = emg3.read(); |
ThomBMT | 2:dc9766657afb | 63 | } |
ThomBMT | 2:dc9766657afb | 64 | |
ThomBMT | 2:dc9766657afb | 65 | void sample() |
ThomBMT | 2:dc9766657afb | 66 | { |
ThomBMT | 2:dc9766657afb | 67 | |
ThomBMT | 2:dc9766657afb | 68 | scope.set(0, emg0.read() ); |
ThomBMT | 2:dc9766657afb | 69 | scope.set(1, emg1.read() ); |
ThomBMT | 2:dc9766657afb | 70 | scope.set(2, emg2.read() ); |
ThomBMT | 2:dc9766657afb | 71 | scope.set(3, emg3.read() ); |
ThomBMT | 2:dc9766657afb | 72 | |
ThomBMT | 2:dc9766657afb | 73 | scope.send(); |
ThomBMT | 2:dc9766657afb | 74 | } |
ThomBMT | 2:dc9766657afb | 75 | |
JurrienBos | 1:4bf64d003f3a | 76 | |
JurrienBos | 1:4bf64d003f3a | 77 | void velocity1() |
JurrienBos | 0:4591ba678a39 | 78 | { |
ThomBMT | 3:c8f0fc045505 | 79 | if (pot1.read()>0.5f) |
JurrienBos | 0:4591ba678a39 | 80 | { |
JurrienBos | 0:4591ba678a39 | 81 | // Clockwise rotation |
JurrienBos | 1:4bf64d003f3a | 82 | referenceVelocity1 = (pot1.read()-0.5f) * 2.0f; |
JurrienBos | 0:4591ba678a39 | 83 | } |
JurrienBos | 0:4591ba678a39 | 84 | |
JurrienBos | 1:4bf64d003f3a | 85 | else if (pot1.read() == 0.5f || !Knop1 == (pot1.read()<0.5f)) |
JurrienBos | 0:4591ba678a39 | 86 | { |
JurrienBos | 1:4bf64d003f3a | 87 | referenceVelocity1 = pot1.read() * 0.0f; |
JurrienBos | 0:4591ba678a39 | 88 | } |
JurrienBos | 0:4591ba678a39 | 89 | |
JurrienBos | 0:4591ba678a39 | 90 | else if (pot1.read() < 0.5f) |
JurrienBos | 0:4591ba678a39 | 91 | { |
JurrienBos | 0:4591ba678a39 | 92 | // Counterclockwise rotation |
JurrienBos | 1:4bf64d003f3a | 93 | referenceVelocity1 = 2.0f * (pot1.read()-0.5f) ; |
JurrienBos | 0:4591ba678a39 | 94 | } |
JurrienBos | 0:4591ba678a39 | 95 | } |
JurrienBos | 0:4591ba678a39 | 96 | |
JurrienBos | 1:4bf64d003f3a | 97 | void velocity2() |
JurrienBos | 1:4bf64d003f3a | 98 | { |
JurrienBos | 1:4bf64d003f3a | 99 | if (pot2.read()>0.5f) |
JurrienBos | 1:4bf64d003f3a | 100 | { |
JurrienBos | 1:4bf64d003f3a | 101 | // Clockwise rotation |
JurrienBos | 1:4bf64d003f3a | 102 | referenceVelocity2 = (pot2.read()-0.5f) * 2.0f; |
JurrienBos | 1:4bf64d003f3a | 103 | } |
JurrienBos | 1:4bf64d003f3a | 104 | |
JurrienBos | 1:4bf64d003f3a | 105 | else if (pot2.read() == 0.5f) |
JurrienBos | 1:4bf64d003f3a | 106 | { |
JurrienBos | 1:4bf64d003f3a | 107 | referenceVelocity2 = pot2.read() * 0.0f; |
JurrienBos | 1:4bf64d003f3a | 108 | } |
JurrienBos | 1:4bf64d003f3a | 109 | |
JurrienBos | 1:4bf64d003f3a | 110 | else if (pot2.read() < 0.5f) |
JurrienBos | 1:4bf64d003f3a | 111 | { |
JurrienBos | 1:4bf64d003f3a | 112 | // Counterclockwise rotation |
JurrienBos | 1:4bf64d003f3a | 113 | referenceVelocity2 = 2.0f * (pot2.read()-0.5f) ; |
JurrienBos | 1:4bf64d003f3a | 114 | } |
JurrienBos | 1:4bf64d003f3a | 115 | } |
JurrienBos | 1:4bf64d003f3a | 116 | |
JurrienBos | 1:4bf64d003f3a | 117 | void motor1() |
JurrienBos | 0:4591ba678a39 | 118 | { |
JurrienBos | 1:4bf64d003f3a | 119 | float u = referenceVelocity1; |
JurrienBos | 0:4591ba678a39 | 120 | DirectionPin1 = u < 0.0f; |
JurrienBos | 0:4591ba678a39 | 121 | PwmPin1 = fabs(u); |
JurrienBos | 0:4591ba678a39 | 122 | } |
JurrienBos | 0:4591ba678a39 | 123 | |
JurrienBos | 1:4bf64d003f3a | 124 | void motor2() |
JurrienBos | 1:4bf64d003f3a | 125 | { |
JurrienBos | 1:4bf64d003f3a | 126 | float u = referenceVelocity2; |
JurrienBos | 1:4bf64d003f3a | 127 | DirectionPin2 = u > 0.0f; |
JurrienBos | 1:4bf64d003f3a | 128 | PwmPin2 = fabs(u); |
JurrienBos | 1:4bf64d003f3a | 129 | } |
JurrienBos | 0:4591ba678a39 | 130 | |
ThomBMT | 2:dc9766657afb | 131 | void Printing() |
ThomBMT | 2:dc9766657afb | 132 | { |
ThomBMT | 2:dc9766657afb | 133 | float v1 = fabs(referenceVelocity1) * maxVelocity; |
ThomBMT | 2:dc9766657afb | 134 | float v2 = fabs(referenceVelocity2) * maxVelocity; |
ThomBMT | 2:dc9766657afb | 135 | |
ThomBMT | 2:dc9766657afb | 136 | //eventueel nog counts -> rad/s |
ThomBMT | 2:dc9766657afb | 137 | |
ThomBMT | 2:dc9766657afb | 138 | //pc.printf("%f \n %f snelheid Motor1 \n %f snelheid Motor2 \n", Bicep_Right,v1,v2); |
ThomBMT | 3:c8f0fc045505 | 139 | pc.printf("%f ", counts1); |
ThomBMT | 2:dc9766657afb | 140 | } |
ThomBMT | 2:dc9766657afb | 141 | |
ThomBMT | 4:8f67b8327300 | 142 | void StateMachine() |
ThomBMT | 4:8f67b8327300 | 143 | { |
ThomBMT | 4:8f67b8327300 | 144 | switch (Active_State) |
ThomBMT | 4:8f67b8327300 | 145 | { |
ThomBMT | 4:8f67b8327300 | 146 | case Calibration: |
ThomBMT | 4:8f67b8327300 | 147 | //calibration actions |
ThomBMT | 4:8f67b8327300 | 148 | //pc.printf("Calibration State"); |
ThomBMT | 4:8f67b8327300 | 149 | if (Knop1==false) |
ThomBMT | 4:8f67b8327300 | 150 | { |
ThomBMT | 4:8f67b8327300 | 151 | pc.printf("Entering Homing state \n"); |
ThomBMT | 4:8f67b8327300 | 152 | Active_State = Homing; |
ThomBMT | 4:8f67b8327300 | 153 | } |
ThomBMT | 4:8f67b8327300 | 154 | break; |
ThomBMT | 4:8f67b8327300 | 155 | |
ThomBMT | 4:8f67b8327300 | 156 | case Homing: |
ThomBMT | 4:8f67b8327300 | 157 | // Homing actions |
ThomBMT | 4:8f67b8327300 | 158 | //pc.printf("Homing State"); |
ThomBMT | 4:8f67b8327300 | 159 | if (Knop2==false) |
ThomBMT | 4:8f67b8327300 | 160 | { |
ThomBMT | 4:8f67b8327300 | 161 | pc.printf("Entering Funtioning State \n"); |
ThomBMT | 4:8f67b8327300 | 162 | Active_State = Function; |
ThomBMT | 4:8f67b8327300 | 163 | } |
ThomBMT | 4:8f67b8327300 | 164 | break; |
ThomBMT | 4:8f67b8327300 | 165 | |
ThomBMT | 4:8f67b8327300 | 166 | case Function: |
ThomBMT | 4:8f67b8327300 | 167 | //pc.printf("Funtioning State"); |
ThomBMT | 4:8f67b8327300 | 168 | |
ThomBMT | 4:8f67b8327300 | 169 | velocity1(); |
ThomBMT | 4:8f67b8327300 | 170 | velocity2(); |
ThomBMT | 4:8f67b8327300 | 171 | motor1(); |
ThomBMT | 4:8f67b8327300 | 172 | motor2(); |
ThomBMT | 4:8f67b8327300 | 173 | break; |
ThomBMT | 4:8f67b8327300 | 174 | |
ThomBMT | 4:8f67b8327300 | 175 | default: |
ThomBMT | 4:8f67b8327300 | 176 | pc.printf("UNKNOWN COMMAND"); |
ThomBMT | 4:8f67b8327300 | 177 | } |
ThomBMT | 4:8f67b8327300 | 178 | } |
ThomBMT | 4:8f67b8327300 | 179 | |
JurrienBos | 0:4591ba678a39 | 180 | int main() |
JurrienBos | 0:4591ba678a39 | 181 | { |
JurrienBos | 0:4591ba678a39 | 182 | pc.baud(115200); |
ThomBMT | 4:8f67b8327300 | 183 | PwmPin1.period_us(30); //60 microseconds pwm period, 16.7 kHz |
ThomBMT | 2:dc9766657afb | 184 | |
ThomBMT | 3:c8f0fc045505 | 185 | EncodingTicker.attach(&Encoding, 0.002); |
ThomBMT | 2:dc9766657afb | 186 | |
ThomBMT | 2:dc9766657afb | 187 | sample_timer.attach(&sample, 0.002); |
ThomBMT | 2:dc9766657afb | 188 | EMG_Read_Ticker.attach(&EMG_Read, 0.002); |
ThomBMT | 2:dc9766657afb | 189 | |
ThomBMT | 4:8f67b8327300 | 190 | StateTicker.attach(StateMachine, 0.002); |
ThomBMT | 4:8f67b8327300 | 191 | |
ThomBMT | 4:8f67b8327300 | 192 | //printTicker.attach(&Printing, 2.0); |
ThomBMT | 2:dc9766657afb | 193 | |
JurrienBos | 0:4591ba678a39 | 194 | while(true) |
JurrienBos | 0:4591ba678a39 | 195 | { |
JurrienBos | 0:4591ba678a39 | 196 | } |
JurrienBos | 1:4bf64d003f3a | 197 | } |