Maik Overmars
/
control
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Dependencies: MODSERIAL QEI mbed
Revision 0:545f4726720c, committed 2018-10-15
- Comitter:
- MaikOvermars
- Date:
- Mon Oct 15 08:23:49 2018 +0000
- Commit message:
- stuff
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Mon Oct 15 08:23:49 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Sissors/code/MODSERIAL/#da0788f0bd77
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Mon Oct 15 08:23:49 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 15 08:23:49 2018 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+#include "QEI.h"
+#include "Butterworth.h"
+
+PwmOut pwmpin(D5);
+DigitalOut directionpin(D4);
+AnalogIn potmeter(A2);
+
+AnalogIn emg0( A0 );
+AnalogIn emg1( A1 );
+
+MODSERIAL pc(USBTX, USBRX);
+QEI wheel (D13, D12, NC, 32);
+
+float angle_resolution = (360.0/32.0)*(1.0/131.0); //degrees/counts
+
+float mean(float *samples, int n) {
+ float sum = 0.0;
+ for (int i=0; i<n; i++) {
+ sum += samples[i];
+ }
+ return sum / (float)n;
+}
+
+int main()
+{
+ pc.baud(115200);
+
+ pwmpin.period_us(60);
+ int pulses = 0;
+ float angle;
+ int n = 1;
+ int i = 0;
+ float meanmuscle;
+ float u[500];
+ float dxmax = 0.1;
+
+ while (true) {
+ u[i] = emg0.read();
+
+ pulses = wheel.getPulses();
+ angle = pulses*angle_resolution;
+ if(n%500 == 0){
+ pc.printf("Angle is: %f degrees \r\n", meanmuscle);
+
+ // center signal around 0
+ u = u - mean(u);
+ // here we have to filter the signal and take absolute value
+ //
+ // now take mean of filtered signal and convert to a dx
+ y = mean(u);
+ if(y < 0.02){
+ dx = 0;
+ }
+ else if(y > 0.2){
+ dx = 1
+ }
+ else{
+ dx=(y - 0.02)/0.18*dxmax;
+ }
+ // 0.02 and 0.2 obtained from analysing filtered output
+ // use dx for inverse kinematics combined with current x to obtain
+ // desired positiion. this will be thetaref
+ meanmuscle = (mean(u,500)-0.1)*4;
+ directionpin = meanmuscle > 0.0f;
+ pwmpin = fabs(meanmuscle);
+ i=0;
+ }
+ n++;
+ i++;
+ wait(0.001);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Oct 15 08:23:49 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187 \ No newline at end of file