intergreren van de twee scriptjes (emgfilters en PID controller). kijken of de motor aan te sturen is met emg-signalen
Dependencies: Encoder HIDScope MODSERIAL biquadFilter mbed
main.cpp@2:bc01b1ce8fb6, 2017-10-23 (annotated)
- Committer:
- Miriam
- Date:
- Mon Oct 23 11:18:57 2017 +0000
- Revision:
- 2:bc01b1ce8fb6
- Parent:
- 1:99754fe781b0
probleem, gaat terug naar nul, waarschijnlijk een probleem in 1 van de vele refP.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Miriam | 0:d5fb29bc0847 | 1 | //libaries |
Miriam | 0:d5fb29bc0847 | 2 | #include "mbed.h" |
Miriam | 0:d5fb29bc0847 | 3 | #include "BiQuad.h" |
Miriam | 0:d5fb29bc0847 | 4 | #include "HIDScope.h" |
Miriam | 0:d5fb29bc0847 | 5 | #include "encoder.h" |
Miriam | 0:d5fb29bc0847 | 6 | #include "MODSERIAL.h" |
Miriam | 0:d5fb29bc0847 | 7 | |
Miriam | 0:d5fb29bc0847 | 8 | |
Miriam | 0:d5fb29bc0847 | 9 | //globale variabelen FILTERS |
Miriam | 0:d5fb29bc0847 | 10 | |
Miriam | 0:d5fb29bc0847 | 11 | //Hidscope aanmaken |
Miriam | 0:d5fb29bc0847 | 12 | HIDScope scope(2); |
Miriam | 0:d5fb29bc0847 | 13 | double maxi = 0.12; // max signal after filtering, 0.1-0.12 |
Miriam | 0:d5fb29bc0847 | 14 | |
Miriam | 0:d5fb29bc0847 | 15 | // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter |
Miriam | 0:d5fb29bc0847 | 16 | BiQuad N1( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
Miriam | 0:d5fb29bc0847 | 17 | BiQuadChain NF; |
Miriam | 0:d5fb29bc0847 | 18 | BiQuad HP1( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
Miriam | 0:d5fb29bc0847 | 19 | BiQuad HP2( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
Miriam | 0:d5fb29bc0847 | 20 | BiQuadChain HPF; |
Miriam | 0:d5fb29bc0847 | 21 | BiQuad LP1( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
Miriam | 0:d5fb29bc0847 | 22 | BiQuad LP2( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
Miriam | 0:d5fb29bc0847 | 23 | BiQuadChain LPF; |
Miriam | 0:d5fb29bc0847 | 24 | |
Miriam | 0:d5fb29bc0847 | 25 | float f = 500; // frequency |
Miriam | 0:d5fb29bc0847 | 26 | float dt = 1/f; // sample frequency |
Miriam | 0:d5fb29bc0847 | 27 | Ticker emgverwerkticker; |
Miriam | 0:d5fb29bc0847 | 28 | AnalogIn emg(A0); // EMG lezen |
Miriam | 0:d5fb29bc0847 | 29 | |
Miriam | 0:d5fb29bc0847 | 30 | // globale variabelen PID controller |
Miriam | 0:d5fb29bc0847 | 31 | |
Miriam | 0:d5fb29bc0847 | 32 | Ticker AInTicker; //We make a ticker named AIn (use for HIDScope) |
Miriam | 0:d5fb29bc0847 | 33 | |
Miriam | 0:d5fb29bc0847 | 34 | Ticker Treecko; //We make a awesome ticker for our control system |
Miriam | 0:d5fb29bc0847 | 35 | //AnalogIn potMeter2(A1); //Analoge input of potmeter 2 (will be use for te reference position) --> emgFiltered |
Miriam | 0:d5fb29bc0847 | 36 | PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed |
Miriam | 0:d5fb29bc0847 | 37 | DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control |
Miriam | 0:d5fb29bc0847 | 38 | |
Miriam | 0:d5fb29bc0847 | 39 | Encoder motor1(D13,D12,true); |
Miriam | 0:d5fb29bc0847 | 40 | MODSERIAL pc(USBTX,USBRX); |
Miriam | 0:d5fb29bc0847 | 41 | |
Miriam | 0:d5fb29bc0847 | 42 | float PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde) |
Miriam | 0:d5fb29bc0847 | 43 | const float Ts = 0.1; // tickettijd/ sample time |
Miriam | 0:d5fb29bc0847 | 44 | float e_prev = 0; |
Miriam | 0:d5fb29bc0847 | 45 | float e_int = 0; |
Miriam | 2:bc01b1ce8fb6 | 46 | float refP_prev = 0; |
Miriam | 0:d5fb29bc0847 | 47 | |
Miriam | 0:d5fb29bc0847 | 48 | //FILTERS |
Miriam | 1:99754fe781b0 | 49 | /*void emgverwerk () |
Miriam | 0:d5fb29bc0847 | 50 | { |
Miriam | 0:d5fb29bc0847 | 51 | double emgNotch = NF.step(emg.read() ); // Notch filter |
Miriam | 0:d5fb29bc0847 | 52 | double emgHP = HPF.step(emgNotch); // High-pass filter: also normalises around 0. |
Miriam | 0:d5fb29bc0847 | 53 | double emgAbsHP = abs(emgHP); // Take absolute value |
Miriam | 0:d5fb29bc0847 | 54 | double emgLP = LPF.step(emgAbsHP); // Low-pass filter: creates envelope |
Miriam | 0:d5fb29bc0847 | 55 | double emgMax = maxi; //(emgLP); // moet waarde 'schatten' voor de max, want je leest de data live. voorbeeld: 0.1, maar mogelijk 0.2 kiezen voor veiligheidsfactor. Dan gaat motor alleen maximaal op 1/2 vermogen. |
Miriam | 0:d5fb29bc0847 | 56 | double emgFiltered = emgLP/emgMax; // Scale to maximum signal: useful for motor |
Miriam | 0:d5fb29bc0847 | 57 | if (emgFiltered >1) |
Miriam | 0:d5fb29bc0847 | 58 | { |
Miriam | 0:d5fb29bc0847 | 59 | emgFiltered=1.00; |
Miriam | 0:d5fb29bc0847 | 60 | } |
Miriam | 0:d5fb29bc0847 | 61 | scope.set(0,emgFiltered); |
Miriam | 0:d5fb29bc0847 | 62 | scope.set(1,emg.read()); |
Miriam | 0:d5fb29bc0847 | 63 | scope.send(); |
Miriam | 0:d5fb29bc0847 | 64 | } |
Miriam | 1:99754fe781b0 | 65 | */ |
Miriam | 0:d5fb29bc0847 | 66 | |
Miriam | 0:d5fb29bc0847 | 67 | |
Miriam | 0:d5fb29bc0847 | 68 | // PID CONTROLLER |
Miriam | 2:bc01b1ce8fb6 | 69 | float GetReferencePosition(double emgFilt, double &refP_prev ) // anders met emg |
Miriam | 0:d5fb29bc0847 | 70 | { |
Miriam | 2:bc01b1ce8fb6 | 71 | double refP; |
Miriam | 1:99754fe781b0 | 72 | if (.45<emgFilt<.80) |
Miriam | 1:99754fe781b0 | 73 | { |
Miriam | 2:bc01b1ce8fb6 | 74 | refP= refP_prev + 0.001; |
Miriam | 1:99754fe781b0 | 75 | } |
Miriam | 1:99754fe781b0 | 76 | else if (emgFilt>=.80) |
Miriam | 1:99754fe781b0 | 77 | { |
Miriam | 2:bc01b1ce8fb6 | 78 | refP= refP_prev + 0.04; |
Miriam | 1:99754fe781b0 | 79 | } |
Miriam | 1:99754fe781b0 | 80 | else |
Miriam | 1:99754fe781b0 | 81 | { } |
Miriam | 1:99754fe781b0 | 82 | |
Miriam | 1:99754fe781b0 | 83 | int maxwaarde = 4096; // = 64x64 aantal posities die de motor kan hebben |
Miriam | 2:bc01b1ce8fb6 | 84 | refP = refP*maxwaarde; |
Miriam | 2:bc01b1ce8fb6 | 85 | return refP; // value between 0 and 4096 |
Miriam | 0:d5fb29bc0847 | 86 | } |
Miriam | 0:d5fb29bc0847 | 87 | |
Miriam | 0:d5fb29bc0847 | 88 | float FeedBackControl(float error, float &e_prev, float &e_int) // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking) |
Miriam | 0:d5fb29bc0847 | 89 | { |
Miriam | 0:d5fb29bc0847 | 90 | float kp = 0.001; // kind of scaled. |
Miriam | 0:d5fb29bc0847 | 91 | float Proportional= kp*error; |
Miriam | 0:d5fb29bc0847 | 92 | |
Miriam | 0:d5fb29bc0847 | 93 | float kd = 0.0004; // kind of scaled. |
Miriam | 0:d5fb29bc0847 | 94 | float VelocityError = (error - e_prev)/Ts; |
Miriam | 0:d5fb29bc0847 | 95 | float Derivative = kd*VelocityError; |
Miriam | 0:d5fb29bc0847 | 96 | e_prev = error; |
Miriam | 0:d5fb29bc0847 | 97 | |
Miriam | 0:d5fb29bc0847 | 98 | float ki = 0.00005; // kind of scaled. |
Miriam | 0:d5fb29bc0847 | 99 | e_int = e_int+Ts*error; |
Miriam | 0:d5fb29bc0847 | 100 | float Integrator = ki*e_int; |
Miriam | 0:d5fb29bc0847 | 101 | |
Miriam | 0:d5fb29bc0847 | 102 | |
Miriam | 0:d5fb29bc0847 | 103 | float motorValue = Proportional + Integrator + Derivative; |
Miriam | 0:d5fb29bc0847 | 104 | return motorValue; |
Miriam | 0:d5fb29bc0847 | 105 | } |
Miriam | 0:d5fb29bc0847 | 106 | |
Miriam | 0:d5fb29bc0847 | 107 | void SetMotor1(float motorValue) |
Miriam | 0:d5fb29bc0847 | 108 | { |
Miriam | 0:d5fb29bc0847 | 109 | if (motorValue >= 0) |
Miriam | 0:d5fb29bc0847 | 110 | { |
Miriam | 0:d5fb29bc0847 | 111 | M1D = 0; |
Miriam | 0:d5fb29bc0847 | 112 | } |
Miriam | 0:d5fb29bc0847 | 113 | else |
Miriam | 0:d5fb29bc0847 | 114 | { |
Miriam | 0:d5fb29bc0847 | 115 | M1D = 1; |
Miriam | 0:d5fb29bc0847 | 116 | } |
Miriam | 0:d5fb29bc0847 | 117 | |
Miriam | 0:d5fb29bc0847 | 118 | if (fabs(motorValue) > 1) |
Miriam | 0:d5fb29bc0847 | 119 | { |
Miriam | 0:d5fb29bc0847 | 120 | M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) |
Miriam | 0:d5fb29bc0847 | 121 | } |
Miriam | 0:d5fb29bc0847 | 122 | else |
Miriam | 0:d5fb29bc0847 | 123 | { |
Miriam | 0:d5fb29bc0847 | 124 | M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 |
Miriam | 0:d5fb29bc0847 | 125 | } |
Miriam | 0:d5fb29bc0847 | 126 | } |
Miriam | 0:d5fb29bc0847 | 127 | |
Miriam | 0:d5fb29bc0847 | 128 | float Encoder () |
Miriam | 0:d5fb29bc0847 | 129 | { |
Miriam | 0:d5fb29bc0847 | 130 | float Huidigepositie = motor1.getPosition (); |
Miriam | 0:d5fb29bc0847 | 131 | return Huidigepositie; // huidige positie = current position |
Miriam | 0:d5fb29bc0847 | 132 | } |
Miriam | 0:d5fb29bc0847 | 133 | |
Miriam | 0:d5fb29bc0847 | 134 | void MeasureAndControl(void) |
Miriam | 0:d5fb29bc0847 | 135 | { |
Miriam | 1:99754fe781b0 | 136 | //emgverwerken |
Miriam | 1:99754fe781b0 | 137 | double emgNotch = NF.step(emg.read() ); // Notch filter |
Miriam | 1:99754fe781b0 | 138 | double emgHP = HPF.step(emgNotch); // High-pass filter: also normalises around 0. |
Miriam | 1:99754fe781b0 | 139 | double emgAbsHP = abs(emgHP); // Take absolute value |
Miriam | 1:99754fe781b0 | 140 | double emgLP = LPF.step(emgAbsHP); // Low-pass filter: creates envelope |
Miriam | 1:99754fe781b0 | 141 | double emgMax = maxi; //(emgLP); // moet waarde 'schatten' voor de max, want je leest de data live. voorbeeld: 0.1, maar mogelijk 0.2 kiezen voor veiligheidsfactor. Dan gaat motor alleen maximaal op 1/2 vermogen. |
Miriam | 1:99754fe781b0 | 142 | double emgFiltered = emgLP/emgMax; // Scale to maximum signal: useful for motor |
Miriam | 1:99754fe781b0 | 143 | if (emgFiltered >1) |
Miriam | 1:99754fe781b0 | 144 | { |
Miriam | 1:99754fe781b0 | 145 | emgFiltered=1.00; |
Miriam | 1:99754fe781b0 | 146 | } |
Miriam | 1:99754fe781b0 | 147 | scope.set(0,emgFiltered); |
Miriam | 1:99754fe781b0 | 148 | scope.set(1,emg.read()); |
Miriam | 1:99754fe781b0 | 149 | scope.send(); |
Miriam | 1:99754fe781b0 | 150 | |
Miriam | 0:d5fb29bc0847 | 151 | // hier the control of the control system |
Miriam | 2:bc01b1ce8fb6 | 152 | float refP = GetReferencePosition(emgFiltered, refP_prev); |
Miriam | 0:d5fb29bc0847 | 153 | float Huidigepositie = Encoder(); |
Miriam | 0:d5fb29bc0847 | 154 | float error = (refP - Huidigepositie);// make an error |
Miriam | 0:d5fb29bc0847 | 155 | float motorValue = FeedBackControl(error, e_prev, e_int); |
Miriam | 0:d5fb29bc0847 | 156 | SetMotor1(motorValue); |
Miriam | 0:d5fb29bc0847 | 157 | } |
Miriam | 0:d5fb29bc0847 | 158 | |
Miriam | 0:d5fb29bc0847 | 159 | |
Miriam | 0:d5fb29bc0847 | 160 | int main() |
Miriam | 0:d5fb29bc0847 | 161 | { |
Miriam | 0:d5fb29bc0847 | 162 | NF.add( &N1 ); |
Miriam | 0:d5fb29bc0847 | 163 | HPF.add( &HP1 ).add( &HP2 ); |
Miriam | 0:d5fb29bc0847 | 164 | LPF.add( &LP1 ).add( &LP2 ); |
Miriam | 1:99754fe781b0 | 165 | //emgverwerkticker.attach(&emgverwerk, dt); |
Miriam | 0:d5fb29bc0847 | 166 | |
Miriam | 0:d5fb29bc0847 | 167 | M1E.period(PwmPeriod); |
Miriam | 1:99754fe781b0 | 168 | Treecko.attach(MeasureAndControl, dt); //Ts); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende |
Miriam | 0:d5fb29bc0847 | 169 | //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd. |
Miriam | 0:d5fb29bc0847 | 170 | |
Miriam | 0:d5fb29bc0847 | 171 | while(1) |
Miriam | 0:d5fb29bc0847 | 172 | { |
Miriam | 0:d5fb29bc0847 | 173 | wait(0.2); |
Miriam | 0:d5fb29bc0847 | 174 | pc.baud(115200); |
Miriam | 0:d5fb29bc0847 | 175 | float B = motor1.getPosition(); |
Miriam | 1:99754fe781b0 | 176 | //float Potmeterwaarde = potMeter2.read(); |
Miriam | 0:d5fb29bc0847 | 177 | //float positie = B%4096; |
Miriam | 1:99754fe781b0 | 178 | //pc.printf("pos: %d, speed %f, potmeter = %f V, \r\n",motor1.getPosition(), motor1.getSpeed(),(potMeter2.read()*3.3)); //potmeter uitlezen. tussen 0-1. voltage, dus *3.3V |
Miriam | 0:d5fb29bc0847 | 179 | } |
Miriam | 0:d5fb29bc0847 | 180 | } |