Werkend met ledjes
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- joostbonekamp
- Date:
- 2019-10-15
- Revision:
- 18:dddc8d9f7638
- Parent:
- 17:615c5d8b3710
- Child:
- 19:a37cae6964ca
File content as of revision 18:dddc8d9f7638:
/* To-do: Add reference generator fully implement schmitt trigger EMG normalizing Homing Turning the magnet on/off Inverse kinematics Gravity compensation PID values General program layout */ #include "mbed.h" #include "MODSERIAL.h" #include "FastPWM.h" #include "QEI.h" #include "HIDScope.h" #include "BiQuad.h" #define PI 3.14159265 Serial pc(USBTX, USBRX); //connect to pc HIDScope scope(3); //HIDScope instance DigitalOut motor1_direction(D4); //rotation motor 1 on shield (always D6) FastPWM motor1_pwm(D5); //pwm 1 on shield (always D7) DigitalOut motor2_direction(D7); //rotation motor 2 on shield (always D4) FastPWM motor2_pwm(D6); //pwm 2 on shield (always D5) Ticker loop_ticker; //used in main() AnalogIn Pot1(A1); //pot 1 on biorobotics shield AnalogIn Pot2(A0); //pot 2 on biorobotics shield InterruptIn but1(D10); //debounced button on biorobotics shield InterruptIn but2(D9); //debounced button on biorobotics shield AnalogIn EMG1(A2); AnalogIn EMG2(A3); void check_failure(); QEI enc1 (D11, D12, NC, 8400, QEI::X4_ENCODING); //encoder 1 gebruiken QEI enc2 (D1, D2, NC, 8400, QEI::X4_ENCODING); //encoder 2 gebruiken BiQuad bq1 (0.881889334678067, -1.76377866935613, 0.8818893346780671, -1.77069673005903, 0.797707797506027); BiQuad bq2 (0.000198358203463849, 0.000396716406927699, 0.000198358203463849, -1.96262073248799, 0.963423352820821); //variables enum States {s_idle, s_cali_EMG, s_cali_enc, s_moving_magnet_off, s_moving_magnet_on, s_homing, s_failure}; States state; //using the States enum struct actuator_state { float duty_cycle1; //pwm of 1st motor float duty_cycle2; //pwm of 2nd motor int dir1; //direction of 1st motor int dir2; //direction of 2nd motor bool magnet; //state of the magnet } actuator; struct EMG_params { float max; //params of the emg, tbd during calibration float min; } EMG_values; struct PID { float P; float I; float D; float I_counter; } PID1 PID2; float dt = 0.001; int enc1_zero; //the zero position of the encoders, to be determined from the int enc2_zero; //encoder calibration int EMG1_filtered; int EMG2_filtered; int enc1_value; int enc2_value; float error1 = 0.0; float error2 = 0.0; bool state_changed = false; //used to see if the state is "starting" volatile bool but1_pressed = false; volatile bool but2_pressed = false; volatile bool failure_occurred = false; float pot_1; //used to keep track of the potentiometer values float pot_2; bool enc_has_been_calibrated; bool EMG_has_been_calibrated; bool button1_pressed; bool button2_pressed; void do_nothing() /* Idle state. Used in the beginning, before the calibration states. */ { if (button1_pressed) { state_changed = true; state = s_cali_enc; button1_pressed = false; } } void failure() /* Failure mode. This should execute when button 2 is pressed during operation. */ { if (state_changed) { pc.printf("Something went wrong!\r\n"); state_changed = false; } } void cali_EMG() /* Calibration of the EMG. Values determined during calibration should be added to the EMG_params instance. */ { if (state_changed) { pc.printf("Started EMG calibration\r\n"); state_changed = false; } } void cali_enc() /* Calibration of the encoder. The encoder should be moved to the lowest position for the linear stage and the most upright postition for the rotating stage. */ { if (state_changed) { pc.printf("Started encoder calibration\r\n"); state_changed = false; } if (button1_pressed) { enc1_zero = enc1_value; enc2_zero = enc2_value; enc_has_been_calibrated = true; button1_pressed = false; state = s_moving_magnet_off; state_changed = true; } } void moving_magnet_off() /* Moving with the magnet disabled. This is the part from the home position towards the storage of chips. */ { if (state_changed) { pc.printf("Moving without magnet\r\n"); state_changed = false; } } void moving_magnet_on() /* Moving with the magnet enabled. This is the part of the movement from the chip holder to the top of the playing board. */ { if (state_changed) { pc.printf("Moving with magnet\r\n"); state_changed = false; } return; } void homing() /* Dropping the chip and moving towards the rest position. */ { if (state_changed) { pc.printf("Started homing"); state_changed = false; } return; } void measure_signals() { float EMG1_raw; float EMG2_raw; enc1_value = enc1.getPulses(); enc2_value = enc2.getPulses(); if (enc_has_been_calibrated) { enc1_value -= enc1_zero; enc2_value -= enc2_zero; } EMG1_raw = EMG1.read(); EMG2_raw = EMG2.read(); } void sample() { /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */ float emg0_value = EMG1.read(); float emg1_value = EMG2.read(); //double filter_value = bqc.step(emg1_value); float filter_value = fabs(bq2.step(fabs(bq1.step(emg0_value - emg1_value)))); if (filter_value > EMG_values.max) { EMG_values.max = filter_value; } if (EMG_values.min > filter_value) { EMG_values.min = filter_value; } filter_value = filter_value-EMG_values.min; filter_value = filter_value/(EMG_values.max-EMG_values.min); scope.set(0, EMG1.read() ); scope.set(1, EMG2.read() ); scope.set(2, filter_value); /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) * Ensure that enough channels are available (HIDScope scope( 2 )) * Finally, send all channels to the PC at once */ scope.send(); /* To indicate that the function is working, the LED is toggled */ } void motor_controller() { float error1, error2; //P part of the controller float P_action1 = PID1.P * error1; float P_action2 = PID2.P * error2; //I part PID1.I_counter += error1; PID2.I_counter += error2; float I_action1 = PID1.I_counter * PID1.I; float I_action2 = PID2.I_counter * PID2.I; //D part float velocity_estimate_1 = (error1-last_error1)/dt; //estimate of the time derivative of the error float velocity_estimate_2 = (error2-last_error2)/dt; float D_action1 = velocity_estimate_1 * PID1.D; float D_action2 = velocity_estimate_2 * PID2.D; action1 = P_action1 + I_action1 + D_action1; action2 = P_action2 + I_action2 + D_action2; last_error1 = error1; last_error2 = error2; } void output() { motor1_direction = actuator.dir1; motor2_direction = actuator.dir2; motor1_pwm.write(actuator.duty_cycle1); motor2_pwm.write(actuator.duty_cycle2); } void state_machine() { check_failure(); //check for an error in the last loop before state machine //run current state switch (state) { case s_idle: do_nothing(); break; case s_failure: failure(); break; case s_cali_EMG: cali_EMG(); break; case s_cali_enc: cali_enc(); break; case s_moving_magnet_on: moving_magnet_on(); break; case s_moving_magnet_off: moving_magnet_off(); break; case s_homing: homing(); break; } } void main_loop() { measure_signals(); state_machine(); motor_controller(); output(); } //Helper functions, not directly called by the main_loop functions or //state machines void check_failure() { state = s_failure; state_changed = true; } void but1_interrupt() { if(but2.read()) {//both buttons are pressed failure_occurred = true; } but1_pressed = true; pc.printf("Button 1 pressed \n\r"); } void but2_interrupt() { if(but1.read()) {//both buttons are pressed failure_occurred = true; } but2_pressed = true; pc.printf("Button 2 pressed \n\r"); } int schmitt_trigger(float i) { int speed; speed = -1; //default value, this means the state should not change if (i > 0/14 && i < 2/14) {speed = 0;} if (i > 3/14 && i < 5/14) {speed = 1;} if (i > 6/14 && i < 8/14) {speed = 2;} if (i > 9/14 && i < 11/14) {speed = 3;} if (i > 12/14 && i < 14/14) {speed = 4;} return speed; } int main() { pc.baud(115200); pc.printf("Executing main()... \r\n"); state = s_idle; motor2_pwm.period(1/160000); // 1/frequency van waarop hij draait motor1_pwm.period(1/160000); // 1/frequency van waarop hij draait actuator.dir1 = 0; actuator.dir2 = 0; actuator.magnet = false; but1.fall(&but1_interrupt); but2.fall(&but2_interrupt); loop_ticker.attach(&main_loop, dt); //main loop at 1kHz pc.printf("Main_loop is running\n\r"); while (true) { wait(0.1f); } }