Nick van den Berg / Mbed 2 deprecated The_Claw_with_EMG_Control_PID

Cleaner version

Dependencies:   HIDScope MODSERIAL Motordriver QEI Servo mbed

Fork of The_Claw_with_EMG_Control_PID by Meike Froklage

main.cpp@14:65780d480874, 2016-11-02 (annotated)

Committer:
meikefrok
Date:
Wed Nov 02 18:56:54 2016 +0000
Revision:
14:65780d480874
Parent:
13:dd7b41766f5f
Child:
15:caf29b6f5261
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
megrootens 0:048fbd80203e 1 #include "mbed.h"
meikefrok 5:3d88f7506cd9 2 #include "MODSERIAL.h"
meikefrok 5:3d88f7506cd9 3 #define SERIAL_BAUD 115200
meikefrok 3:3a671d01bcb8 4 #include "motordriver.h"
meikefrok 5:3d88f7506cd9 5 #include "QEI.h"
meikefrok 5:3d88f7506cd9 6 #include "Servo.h"
meikefrok 10:31e4c3d71ee6 7 #include "HIDScope.h"
megrootens 0:048fbd80203e 8
meikefrok 5:3d88f7506cd9 9 //======== Serial Communication ================================================
megrootens 0:048fbd80203e 10 MODSERIAL pc(USBTX,USBRX);
megrootens 0:048fbd80203e 11
meikefrok 5:3d88f7506cd9 12 //======== Motor and QEI =======================================================
meikefrok 5:3d88f7506cd9 13 int Brakeable;
meikefrok 5:3d88f7506cd9 14 int sign;
meikefrok 5:3d88f7506cd9 15
meikefrok 5:3d88f7506cd9 16 // motor
meikefrok 5:3d88f7506cd9 17 Motor Cart(D5, D4, D4, Brakeable); // right motor
meikefrok 5:3d88f7506cd9 18 Motor Arm(D6,D7, D7, Brakeable); // left motor
meikefrok 5:3d88f7506cd9 19
meikefrok 5:3d88f7506cd9 20 // qei
meikefrok 6:23b1ed826b59 21 QEI Encoder_Cart(D10, D11, NC, 6400);
meikefrok 6:23b1ed826b59 22 QEI Encoder_Arm(D12, D13, NC, 6400);
megrootens 0:048fbd80203e 23
meikefrok 5:3d88f7506cd9 24 // servo
meikefrok 5:3d88f7506cd9 25 Servo servo(D9);
megrootens 0:048fbd80203e 26
meikefrok 10:31e4c3d71ee6 27 HIDScope scope(2); //scope has two ports for the two EMG signals
meikefrok 10:31e4c3d71ee6 28
meikefrok 5:3d88f7506cd9 29 //======== Miscellaneous =======================================================
meikefrok 5:3d88f7506cd9 30 // button
meikefrok 5:3d88f7506cd9 31 InterruptIn btn(SW2);
meikefrok 5:3d88f7506cd9 32 InterruptIn btn2(SW3);
meikefrok 5:3d88f7506cd9 33
meikefrok 5:3d88f7506cd9 34 InterruptIn btn_cart(D1);
meikefrok 5:3d88f7506cd9 35 InterruptIn btn_arm(D2);
meikefrok 5:3d88f7506cd9 36 InterruptIn btn_claw(D3);
meikefrok 5:3d88f7506cd9 37
meikefrok 5:3d88f7506cd9 38 // led
meikefrok 2:ad4b181a6422 39 DigitalOut led_r(LED_RED);
meikefrok 2:ad4b181a6422 40 DigitalOut led_g(LED_GREEN);
meikefrok 2:ad4b181a6422 41 DigitalOut led_b(LED_BLUE);
megrootens 0:048fbd80203e 42
meikefrok 5:3d88f7506cd9 43 // potmeter
meikefrok 5:3d88f7506cd9 44 AnalogIn pot_cart(A2);
meikefrok 5:3d88f7506cd9 45 AnalogIn pot_arm(A3);
megrootens 0:048fbd80203e 46
meikefrok 7:9715323b20ac 47 AnalogIn emgl(A1); // labels are attached to the olimex shields the left tricep should obviously be connected to the should with an L label on it
meikefrok 7:9715323b20ac 48 AnalogIn emgr(A0);
meikefrok 7:9715323b20ac 49
meikefrok 5:3d88f7506cd9 50 // ticker
meikefrok 8:ac4e5afbdbcd 51 Ticker tick_part; // ticker to switch parts
meikefrok 8:ac4e5afbdbcd 52 Ticker tick_part_arm;
meikefrok 10:31e4c3d71ee6 53 Ticker sampleTicker;
meikefrok 10:31e4c3d71ee6 54 Ticker measureTicker;
meikefrok 5:3d88f7506cd9 55
meikefrok 5:3d88f7506cd9 56 //======== Variables ===========================================================
megrootens 0:048fbd80203e 57 // counters
meikefrok 5:3d88f7506cd9 58 int num_turned_on_0 = 0; // count number of times red LED turned on
meikefrok 5:3d88f7506cd9 59 int num_turned_on_1 = 0; // count number of times green LED turned on
meikefrok 5:3d88f7506cd9 60 int num_turned_on_2 = 0; // count number of times blue LED turned on
meikefrok 5:3d88f7506cd9 61
meikefrok 5:3d88f7506cd9 62 int num_claw_turned_on_0 = 0; // count number of times red LED turned on
meikefrok 5:3d88f7506cd9 63 int num_claw_turned_on_1 = 0; // count number of times green LED turned on
meikefrok 5:3d88f7506cd9 64 int num_claw_turned_on_2 = 0; // count number of times blue LED turned on
megrootens 0:048fbd80203e 65
meikefrok 5:3d88f7506cd9 66 // speed
meikefrok 6:23b1ed826b59 67 double cart_speed = 0.3;
meikefrok 6:23b1ed826b59 68 double arm_speed = 0.1;
megrootens 0:048fbd80203e 69
meikefrok 5:3d88f7506cd9 70 // position
meikefrok 12:b31df384b170 71 float factor_cart = 0.05802;
meikefrok 5:3d88f7506cd9 72 float factor_arm = 0.1539;
meikefrok 5:3d88f7506cd9 73 int position_cart;
meikefrok 5:3d88f7506cd9 74 int position_arm;
meikefrok 5:3d88f7506cd9 75 float ain_cart; //Variable to store the analog input of the cart
meikefrok 5:3d88f7506cd9 76 float ain_arm; //Variable to store the analog input of the arm
megrootens 0:048fbd80203e 77
meikefrok 6:23b1ed826b59 78 int position_claw;
meikefrok 6:23b1ed826b59 79
meikefrok 6:23b1ed826b59 80
meikefrok 5:3d88f7506cd9 81 // miscellaneous
meikefrok 12:b31df384b170 82 const float kTimeToggle = 0.05f; // period with which to toggle the parts
meikefrok 5:3d88f7506cd9 83 const int LedOn = 0; // LED on if 0
meikefrok 7:9715323b20ac 84 volatile int part_id = 1; // ID of what part should move, begins with the cart
meikefrok 5:3d88f7506cd9 85 volatile int servo_id = 1; // ID to the side the servo should move, begins in center position
meikefrok 3:3a671d01bcb8 86
meikefrok 7:9715323b20ac 87 //======== Variables Filter ====================================================
meikefrok 7:9715323b20ac 88 /*coefficients of each filter
meikefrok 7:9715323b20ac 89 lno = left tricep notch filter
meikefrok 7:9715323b20ac 90 lhf = left tricep high pass filter
meikefrok 7:9715323b20ac 91 llf = left tricep lowpass filter
meikefrok 7:9715323b20ac 92 same goes for rno etc.
meikefrok 7:9715323b20ac 93 */
meikefrok 7:9715323b20ac 94 double lno_b0 = 0.9911;
meikefrok 7:9715323b20ac 95 double lno_b1 = -1.6036;
meikefrok 7:9715323b20ac 96 double lno_b2 = 0.9911;
meikefrok 7:9715323b20ac 97 double lno_a1 = -1.603;
meikefrok 7:9715323b20ac 98 double lno_a2 = 0.9822;
meikefrok 7:9715323b20ac 99
meikefrok 7:9715323b20ac 100 double rno_b0 = 0.9911;
meikefrok 7:9715323b20ac 101 double rno_b1 = -1.6036;
meikefrok 7:9715323b20ac 102 double rno_b2 = 0.9911;
meikefrok 7:9715323b20ac 103 double rno_a1 = -1.603;
meikefrok 7:9715323b20ac 104 double rno_a2 = 0.9822;
meikefrok 7:9715323b20ac 105
meikefrok 7:9715323b20ac 106 double lno2_b0 = 0.9824;
meikefrok 7:9715323b20ac 107 double lno2_b1 = -0.6071;
meikefrok 7:9715323b20ac 108 double lno2_b2 = 0.9824;
meikefrok 7:9715323b20ac 109 double lno2_a1 = -0.6071;
meikefrok 7:9715323b20ac 110 double lno2_a2 = 0.9647;
meikefrok 7:9715323b20ac 111
meikefrok 7:9715323b20ac 112 double rno2_b0 = 0.9824;
meikefrok 7:9715323b20ac 113 double rno2_b1 = -0.6071;
meikefrok 7:9715323b20ac 114 double rno2_b2 = 0.9824;
meikefrok 7:9715323b20ac 115 double rno2_a1 = -0.6071;
meikefrok 7:9715323b20ac 116 double rno2_a2 = 0.9647;
meikefrok 7:9715323b20ac 117
meikefrok 7:9715323b20ac 118 double lhf_b0 = 0.9355;
meikefrok 7:9715323b20ac 119 double lhf_b1 = -1.8711;
meikefrok 7:9715323b20ac 120 double lhf_b2 = 0.9355;
meikefrok 7:9715323b20ac 121 double lhf_a1 = -1.8669;
meikefrok 7:9715323b20ac 122 double lhf_a2 = 0.8752;
meikefrok 7:9715323b20ac 123
meikefrok 7:9715323b20ac 124 double rhf_b0 = 0.9355;
meikefrok 7:9715323b20ac 125 double rhf_b1 = -1.8711;
meikefrok 7:9715323b20ac 126 double rhf_b2 = 0.9355;
meikefrok 7:9715323b20ac 127 double rhf_a1 = -1.8669;
meikefrok 7:9715323b20ac 128 double rhf_a2 = 0.8752;
meikefrok 7:9715323b20ac 129
meikefrok 7:9715323b20ac 130
meikefrok 7:9715323b20ac 131 double llf_b0 = 8.7656e-5;
meikefrok 7:9715323b20ac 132 double llf_b1 = 1.17531e-4;
meikefrok 7:9715323b20ac 133 double llf_b2 = 8.7656e-5;
meikefrok 7:9715323b20ac 134 double llf_a1 = -1.9733;
meikefrok 7:9715323b20ac 135 double llf_a2 = 0.9737;
meikefrok 7:9715323b20ac 136
meikefrok 7:9715323b20ac 137 double rlf_b0 = 8.7656e-5;
meikefrok 7:9715323b20ac 138 double rlf_b1 = 1.17531e-4;
meikefrok 7:9715323b20ac 139 double rlf_b2 = 8.7656e-5;
meikefrok 7:9715323b20ac 140 double rlf_a1 = -1.9733;
meikefrok 7:9715323b20ac 141 double rlf_a2 = 0.9737;
meikefrok 7:9715323b20ac 142
meikefrok 7:9715323b20ac 143
meikefrok 7:9715323b20ac 144 //starting values of the biquads of the corresponding filters
meikefrok 7:9715323b20ac 145 double lno_v1 = 0, lno_v2 = 0;
meikefrok 7:9715323b20ac 146 double lno2_v1 = 0, lno2_v2 = 0;
meikefrok 7:9715323b20ac 147 double lhf_v1 = 0, lhf_v2 = 0;
meikefrok 7:9715323b20ac 148 double llf_v1 = 0, llf_v2 = 0;
meikefrok 7:9715323b20ac 149
meikefrok 7:9715323b20ac 150 double rno_v1 = 0, rno_v2 = 0;
meikefrok 7:9715323b20ac 151 double rno2_v1 = 0, rno2_v2 = 0;
meikefrok 7:9715323b20ac 152 double rhf_v1 = 0, rhf_v2 = 0;
meikefrok 7:9715323b20ac 153 double rlf_v1 = 0, rlf_v2 = 0;
meikefrok 7:9715323b20ac 154
meikefrok 7:9715323b20ac 155 /* declaration of the outputs of each biquad.
meikefrok 7:9715323b20ac 156 the output of the previous biquad is the input for the next biquad.
meikefrok 7:9715323b20ac 157 so lno_y goes into lhf_y etc.
meikefrok 7:9715323b20ac 158 */
meikefrok 7:9715323b20ac 159 double lno_y;
meikefrok 7:9715323b20ac 160 double lno2_y;
meikefrok 7:9715323b20ac 161 double lhf_y;
meikefrok 7:9715323b20ac 162 double llf_y;
meikefrok 7:9715323b20ac 163 double lrect_y;
meikefrok 7:9715323b20ac 164 double rno_y;
meikefrok 7:9715323b20ac 165 double rno2_y;
meikefrok 7:9715323b20ac 166 double rhf_y;
meikefrok 7:9715323b20ac 167 double rlf_y;
meikefrok 7:9715323b20ac 168 double rrect_y;
meikefrok 7:9715323b20ac 169
meikefrok 7:9715323b20ac 170 // set the threshold value for the filtered signal
meikefrok 7:9715323b20ac 171 //if the signal exceeds this value the motors will start to rotate
meikefrok 7:9715323b20ac 172 const double threshold_value= 0.08;
meikefrok 7:9715323b20ac 173
meikefrok 7:9715323b20ac 174
meikefrok 7:9715323b20ac 175 /* declaration of each biquad
meikefrok 7:9715323b20ac 176 The coefficients will be filled in later on in void scopeSend
meikefrok 7:9715323b20ac 177 As said before the input of each biquad is the output of the previous one
meikefrok 7:9715323b20ac 178 The input of the first biquad is the raw EMG signal and the output of the last biquad is the filtered signal.
meikefrok 7:9715323b20ac 179 This is done for both left and right so this makes two chains of 3 biquads */
meikefrok 7:9715323b20ac 180
meikefrok 7:9715323b20ac 181 double biquad_lno(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 182 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 183 {
meikefrok 7:9715323b20ac 184 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 185 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 186 v2 = v1;
meikefrok 7:9715323b20ac 187 v1 = v;
meikefrok 7:9715323b20ac 188 return y;
meikefrok 7:9715323b20ac 189 }
meikefrok 7:9715323b20ac 190
meikefrok 7:9715323b20ac 191 double biquad_lno2(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 192 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 193 {
meikefrok 7:9715323b20ac 194 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 195 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 196 v2 = v1;
meikefrok 7:9715323b20ac 197 v1 = v;
meikefrok 7:9715323b20ac 198 return y;
meikefrok 7:9715323b20ac 199 }
meikefrok 7:9715323b20ac 200
meikefrok 7:9715323b20ac 201 double biquad_lhf(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 202 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 203 {
meikefrok 7:9715323b20ac 204 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 205 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 206 v2 = v1;
meikefrok 7:9715323b20ac 207 v1 = v;
meikefrok 7:9715323b20ac 208 return y;
meikefrok 7:9715323b20ac 209 }
meikefrok 7:9715323b20ac 210
meikefrok 7:9715323b20ac 211 double biquad_llf(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 212 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 213 {
meikefrok 7:9715323b20ac 214 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 215 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 216 v2 = v1;
meikefrok 7:9715323b20ac 217 v1 = v;
meikefrok 7:9715323b20ac 218 return y;
meikefrok 7:9715323b20ac 219 }
meikefrok 7:9715323b20ac 220 double biquad_rno(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 221 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 222 {
meikefrok 7:9715323b20ac 223 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 224 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 225 v2 = v1;
meikefrok 7:9715323b20ac 226 v1 = v;
meikefrok 7:9715323b20ac 227 return y;
meikefrok 7:9715323b20ac 228 }
meikefrok 7:9715323b20ac 229
meikefrok 7:9715323b20ac 230 double biquad_rno2(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 231 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 232 {
meikefrok 7:9715323b20ac 233 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 234 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 235 v2 = v1;
meikefrok 7:9715323b20ac 236 v1 = v;
meikefrok 7:9715323b20ac 237 return y;
meikefrok 7:9715323b20ac 238 }
meikefrok 7:9715323b20ac 239
meikefrok 7:9715323b20ac 240 double biquad_rhf(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 241 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 242 {
meikefrok 7:9715323b20ac 243 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 244 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 245 v2 = v1;
meikefrok 7:9715323b20ac 246 v1 = v;
meikefrok 7:9715323b20ac 247 return y;
meikefrok 7:9715323b20ac 248 }
meikefrok 7:9715323b20ac 249
meikefrok 7:9715323b20ac 250 double biquad_rlf(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 251 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 252 {
meikefrok 7:9715323b20ac 253 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 254 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 255 v2 = v1;
meikefrok 7:9715323b20ac 256 v1 = v;
meikefrok 7:9715323b20ac 257 return y;
meikefrok 7:9715323b20ac 258 }
meikefrok 7:9715323b20ac 259
meikefrok 7:9715323b20ac 260 /* function that calculates the filtered EMG signal from the raw EMG signal.
meikefrok 7:9715323b20ac 261 So 2 chains of 3 biquads each are calculating the left and the right filtered EMG signal.
meikefrok 7:9715323b20ac 262 After this is calculated, the signals are sent to HIDscope (scope.send) to see what they look like.
meikefrok 7:9715323b20ac 263 The filtered left signal (llf_y) is shown in channel 1, the filtered right signal (rlf_y)is shown in channel 0 (scope.set)*/
meikefrok 7:9715323b20ac 264
meikefrok 7:9715323b20ac 265
meikefrok 7:9715323b20ac 266 //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
meikefrok 7:9715323b20ac 267 //======== Functions and main ==============================================================
meikefrok 7:9715323b20ac 268 /* function that calculates the filtered EMG signal from the raw EMG signal.
meikefrok 7:9715323b20ac 269 So 2 chains of 3 biquads each are calculating the left and the right filtered EMG signal.
meikefrok 7:9715323b20ac 270 After this is calculated, the signals are sent to HIDscope (scope.send) to see what they look like.
meikefrok 7:9715323b20ac 271 The filtered left signal (llf_y) is shown in channel 1, the filtered right signal (rlf_y)is shown in channel 0 (scope.set)*/
meikefrok 7:9715323b20ac 272 void scopeSend(void){
meikefrok 7:9715323b20ac 273 lno_y = biquad_lno(emgl.read(), lno_v1, lno_v2, lno_a1, lno_a2, lno_b0, lno_b1, lno_b2);
meikefrok 7:9715323b20ac 274 lno2_y = biquad_lno2(lno_y, lno2_v1, lno2_v2, lno2_a1, lno2_a2, lno2_b0, lno2_b1, lno2_b2);
meikefrok 7:9715323b20ac 275 lhf_y = biquad_lhf(lno2_y, lhf_v1, lhf_v2, lhf_a1, lhf_a2, lhf_b0, lhf_b1, lhf_b2);
meikefrok 7:9715323b20ac 276 lrect_y = fabs(lhf_y);
meikefrok 7:9715323b20ac 277 llf_y = biquad_llf(lrect_y, llf_v1, llf_v2, llf_a1, llf_a2, llf_b0, llf_b1, llf_b2)/0.2;
meikefrok 7:9715323b20ac 278 rno_y = biquad_rno(emgr.read(), rno_v1, rno_v2, rno_a1, rno_a2, rno_b0, rno_b1, rno_b2);
meikefrok 7:9715323b20ac 279 rno2_y = biquad_rno2(rno_y, rno2_v1, rno2_v2, rno2_a1, rno2_a2, rno2_b0, rno2_b1, rno2_b2);
meikefrok 7:9715323b20ac 280 rhf_y = biquad_rhf(rno2_y, rhf_v1, rhf_v2, rhf_a1, rhf_a2, rhf_b0, rhf_b1, rhf_b2);
meikefrok 7:9715323b20ac 281 rrect_y = fabs(rhf_y);
meikefrok 7:9715323b20ac 282 rlf_y = biquad_rlf(rrect_y, rlf_v1, rlf_v2, rlf_a1, rlf_a2, rlf_b0, rlf_b1, rlf_b2)/0.2;
meikefrok 10:31e4c3d71ee6 283 scope.set(1, llf_y);
meikefrok 10:31e4c3d71ee6 284 scope.set(0, rlf_y);
meikefrok 10:31e4c3d71ee6 285 scope.send();
meikefrok 7:9715323b20ac 286 }
meikefrok 7:9715323b20ac 287
meikefrok 3:3a671d01bcb8 288
meikefrok 5:3d88f7506cd9 289 //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
meikefrok 5:3d88f7506cd9 290 //======== Functions and main ==============================================================
meikefrok 10:31e4c3d71ee6 291 void Measure(){
meikefrok 10:31e4c3d71ee6 292 // encoder
meikefrok 10:31e4c3d71ee6 293 position_cart = (Encoder_Cart.getPulses()*factor_cart) ;
meikefrok 10:31e4c3d71ee6 294 ain_cart = pot_cart.read();
meikefrok 12:b31df384b170 295
meikefrok 13:dd7b41766f5f 296 // encoder
meikefrok 13:dd7b41766f5f 297 position_arm = (Encoder_Arm.getPulses()*factor_arm) ;
meikefrok 13:dd7b41766f5f 298 ain_arm = pot_arm.read();
meikefrok 13:dd7b41766f5f 299
meikefrok 13:dd7b41766f5f 300 //if (ain_arm == 0){
meikefrok 13:dd7b41766f5f 301 // Encoder_Arm.reset();
meikefrok 13:dd7b41766f5f 302 //}else {}
meikefrok 13:dd7b41766f5f 303
meikefrok 12:b31df384b170 304
meikefrok 10:31e4c3d71ee6 305
meikefrok 10:31e4c3d71ee6 306 }
meikefrok 10:31e4c3d71ee6 307
meikefrok 3:3a671d01bcb8 308
meikefrok 5:3d88f7506cd9 309 // Switch between Cart, Arm and Claw
meikefrok 7:9715323b20ac 310
meikefrok 8:ac4e5afbdbcd 311 void SwitchCart(){
meikefrok 2:ad4b181a6422 312 switch (part_id) {
meikefrok 5:3d88f7506cd9 313 //Cart
meikefrok 3:3a671d01bcb8 314 case 2: {
meikefrok 5:3d88f7506cd9 315 led_r = LedOn;
meikefrok 5:3d88f7506cd9 316 if(led_r == LedOn){
megrootens 0:048fbd80203e 317 num_turned_on_0++;
meikefrok 5:3d88f7506cd9 318
meikefrok 9:90227be52903 319 if (rlf_y > threshold_value) {
meikefrok 12:b31df384b170 320 if(position_cart <= -170){ //If the cart is at the right side, it stops
meikefrok 6:23b1ed826b59 321 Cart.stop(1)==1;
meikefrok 6:23b1ed826b59 322
meikefrok 12:b31df384b170 323 }else if(position_cart <=100){
meikefrok 12:b31df384b170 324 Cart.speed(0.2)== 0.2;
meikefrok 12:b31df384b170 325
meikefrok 12:b31df384b170 326 }else if(position_cart >= 150 && position_arm <=-45){ //If the cart is at the left side and the arm is rotated 60 degrees to the left, the cart can't move to the right.
meikefrok 6:23b1ed826b59 327 Cart.stop(1) == 1;
meikefrok 6:23b1ed826b59 328
meikefrok 12:b31df384b170 329 }else if(position_cart >= 150 && position_arm <=-35 && position_claw == -18){
meikefrok 6:23b1ed826b59 330 Cart.stop(1) == 1;
meikefrok 5:3d88f7506cd9 331
meikefrok 5:3d88f7506cd9 332 }else{
meikefrok 5:3d88f7506cd9 333 Cart.speed(cart_speed)==cart_speed;
meikefrok 5:3d88f7506cd9 334 }
meikefrok 12:b31df384b170 335
meikefrok 12:b31df384b170 336 if (llf_y > threshold_value){
meikefrok 12:b31df384b170 337 Cart.stop(1)==1;
meikefrok 12:b31df384b170 338 }
meikefrok 5:3d88f7506cd9 339
meikefrok 9:90227be52903 340 }else if (llf_y > threshold_value) {
meikefrok 12:b31df384b170 341 if(position_cart >= 150){ //If the cart is at the left side, it stops
meikefrok 6:23b1ed826b59 342 Cart.stop(1)==1;
meikefrok 6:23b1ed826b59 343
meikefrok 12:b31df384b170 344 }else if(position_cart >=100){
meikefrok 12:b31df384b170 345 Cart.speed(-0.2)== -0.2;
meikefrok 12:b31df384b170 346
meikefrok 12:b31df384b170 347 }else if(position_cart <= -170 && position_arm >=45){ //If the cart is at the left side and the arm is rotated 60 degrees to the left, the cart can't move to the right.
meikefrok 12:b31df384b170 348 Cart.stop(1) == 1;
meikefrok 12:b31df384b170 349
meikefrok 12:b31df384b170 350 }else if(position_cart <= -170 && position_arm >=35 && position_claw == 27){
meikefrok 6:23b1ed826b59 351 Cart.stop(1)==1;
meikefrok 6:23b1ed826b59 352
meikefrok 5:3d88f7506cd9 353 }else{
meikefrok 5:3d88f7506cd9 354 Cart.speed(-cart_speed)==-cart_speed;
meikefrok 5:3d88f7506cd9 355 }
meikefrok 12:b31df384b170 356
meikefrok 12:b31df384b170 357 if (rlf_y > threshold_value){
meikefrok 12:b31df384b170 358 Cart.stop(1)==1;
meikefrok 12:b31df384b170 359 }
meikefrok 5:3d88f7506cd9 360
meikefrok 5:3d88f7506cd9 361 }else {
meikefrok 12:b31df384b170 362 Cart.stop(1)==1;
meikefrok 5:3d88f7506cd9 363 }
megrootens 0:048fbd80203e 364 }
meikefrok 12:b31df384b170 365
meikefrok 12:b31df384b170 366 if(!btn && !btn2) {
meikefrok 12:b31df384b170 367 Arm.speed(0) == 0;
meikefrok 12:b31df384b170 368 if(position_cart<0){
meikefrok 12:b31df384b170 369 Cart.speed(-0.1)== -0.1;
meikefrok 12:b31df384b170 370 }else if(position_cart>0){
meikefrok 12:b31df384b170 371 Cart.speed(0.1)==0.1;
meikefrok 12:b31df384b170 372 }else{
meikefrok 12:b31df384b170 373 Cart.stop(0)==0;
meikefrok 12:b31df384b170 374 }
meikefrok 12:b31df384b170 375 }
meikefrok 12:b31df384b170 376
meikefrok 12:b31df384b170 377
meikefrok 12:b31df384b170 378
meikefrok 5:3d88f7506cd9 379 // controle LED
meikefrok 3:3a671d01bcb8 380 led_g = not LedOn;
meikefrok 5:3d88f7506cd9 381 led_b = not LedOn;
meikefrok 12:b31df384b170 382
meikefrok 5:3d88f7506cd9 383 pc.baud(115200);
meikefrok 5:3d88f7506cd9 384 pc.printf("Distance in mm: %i\n", position_cart);
meikefrok 5:3d88f7506cd9 385
megrootens 0:048fbd80203e 386 break;
megrootens 0:048fbd80203e 387 }
meikefrok 8:ac4e5afbdbcd 388 }
meikefrok 8:ac4e5afbdbcd 389 }
meikefrok 8:ac4e5afbdbcd 390
meikefrok 8:ac4e5afbdbcd 391 void SwitchArm(){
meikefrok 8:ac4e5afbdbcd 392 switch (part_id) {
meikefrok 8:ac4e5afbdbcd 393 //Cart
meikefrok 8:ac4e5afbdbcd 394 case 3: {
meikefrok 8:ac4e5afbdbcd 395 led_g = LedOn;
meikefrok 8:ac4e5afbdbcd 396 if(led_g == LedOn){
meikefrok 8:ac4e5afbdbcd 397 num_turned_on_1++;
meikefrok 13:dd7b41766f5f 398 Arm.stop(1)==1;
meikefrok 13:dd7b41766f5f 399
meikefrok 8:ac4e5afbdbcd 400
meikefrok 14:65780d480874 401 if (btn&&!btn2) {
meikefrok 13:dd7b41766f5f 402 if(position_cart > -105 && position_arm >= 95){ //If the cart is not at the end, the arm can't move any further than 45 degrees
meikefrok 8:ac4e5afbdbcd 403 Arm.stop(1)==1;
meikefrok 8:ac4e5afbdbcd 404
meikefrok 8:ac4e5afbdbcd 405 }else if(position_cart > -105 && position_arm >= 25 && position_claw == 27){
meikefrok 8:ac4e5afbdbcd 406 Arm.stop(1)==1;
meikefrok 8:ac4e5afbdbcd 407
meikefrok 14:65780d480874 408 }else if(position_cart<= -105 && position_arm>=160){ //If the cart is at the right end, the arm can't move any further than 70 degrees
meikefrok 8:ac4e5afbdbcd 409 Arm.stop(1)==1;
meikefrok 8:ac4e5afbdbcd 410
meikefrok 8:ac4e5afbdbcd 411 }else{
meikefrok 8:ac4e5afbdbcd 412 Arm.speed(arm_speed)==arm_speed;
meikefrok 8:ac4e5afbdbcd 413 }
meikefrok 13:dd7b41766f5f 414
meikefrok 13:dd7b41766f5f 415 if (llf_y > threshold_value){
meikefrok 13:dd7b41766f5f 416 Cart.stop(1)==1;
meikefrok 13:dd7b41766f5f 417 }
meikefrok 8:ac4e5afbdbcd 418
meikefrok 14:65780d480874 419 }else if (!btn&&btn2) {
meikefrok 13:dd7b41766f5f 420 if(position_cart < 105 && position_arm <= -95){ //If the cart is not at the end, the arm can't move any further than 45 degrees
meikefrok 8:ac4e5afbdbcd 421 Arm.stop(1)==1;
meikefrok 8:ac4e5afbdbcd 422
meikefrok 8:ac4e5afbdbcd 423 }else if(position_cart < 105 && position_arm <= -25 && position_claw == -18){
meikefrok 8:ac4e5afbdbcd 424 Arm.stop(1)==1;
meikefrok 8:ac4e5afbdbcd 425
meikefrok 14:65780d480874 426 }else if(position_cart>=105 && position_arm<=-160){ //If the cart is at the left end, the arm can't move any further than 70 degrees
meikefrok 8:ac4e5afbdbcd 427 Arm.stop(1)==1;
meikefrok 8:ac4e5afbdbcd 428
meikefrok 8:ac4e5afbdbcd 429 }else{
meikefrok 8:ac4e5afbdbcd 430 Arm.speed(-arm_speed)==-arm_speed;
meikefrok 8:ac4e5afbdbcd 431 }
meikefrok 13:dd7b41766f5f 432
meikefrok 13:dd7b41766f5f 433 if (rlf_y > threshold_value){
meikefrok 13:dd7b41766f5f 434 Cart.stop(1)==1;
meikefrok 13:dd7b41766f5f 435 }
meikefrok 8:ac4e5afbdbcd 436
meikefrok 8:ac4e5afbdbcd 437 }else {
meikefrok 13:dd7b41766f5f 438 Arm.stop(1)==1;
meikefrok 13:dd7b41766f5f 439 }
meikefrok 13:dd7b41766f5f 440
meikefrok 13:dd7b41766f5f 441 if(!btn&&!btn2){
meikefrok 13:dd7b41766f5f 442 Cart.speed(0) == 0;
meikefrok 8:ac4e5afbdbcd 443 if(position_arm>0){
meikefrok 8:ac4e5afbdbcd 444 Arm.speed(-0.1)== -0.1;
meikefrok 8:ac4e5afbdbcd 445 }else if(position_arm<0){
meikefrok 8:ac4e5afbdbcd 446 Arm.speed(0.1)==0.1;
meikefrok 8:ac4e5afbdbcd 447 }else{
meikefrok 8:ac4e5afbdbcd 448 Arm.stop(0)==0;
meikefrok 8:ac4e5afbdbcd 449 }
meikefrok 13:dd7b41766f5f 450 }
meikefrok 8:ac4e5afbdbcd 451 }
meikefrok 8:ac4e5afbdbcd 452 // controle LED
meikefrok 8:ac4e5afbdbcd 453 led_r = not LedOn;
meikefrok 8:ac4e5afbdbcd 454 led_b = not LedOn;
meikefrok 8:ac4e5afbdbcd 455
meikefrok 13:dd7b41766f5f 456 pc.baud(115200);
meikefrok 13:dd7b41766f5f 457 pc.printf("Degrees: %i\n", position_arm);
meikefrok 13:dd7b41766f5f 458
meikefrok 8:ac4e5afbdbcd 459 break;
megrootens 0:048fbd80203e 460 }
meikefrok 8:ac4e5afbdbcd 461 }
meikefrok 8:ac4e5afbdbcd 462 }
meikefrok 8:ac4e5afbdbcd 463
megrootens 0:048fbd80203e 464
megrootens 0:048fbd80203e 465
meikefrok 5:3d88f7506cd9 466 // Switch the part
meikefrok 2:ad4b181a6422 467 void SetValue2() {
meikefrok 3:3a671d01bcb8 468 part_id = 2;
meikefrok 6:23b1ed826b59 469 }
meikefrok 2:ad4b181a6422 470
meikefrok 2:ad4b181a6422 471 void SetValue3() {
meikefrok 3:3a671d01bcb8 472 part_id = 3;
meikefrok 6:23b1ed826b59 473 }
meikefrok 2:ad4b181a6422 474
meikefrok 2:ad4b181a6422 475
meikefrok 2:ad4b181a6422 476 void SetValue4() {
meikefrok 3:3a671d01bcb8 477 part_id = 4;
megrootens 0:048fbd80203e 478 }
megrootens 0:048fbd80203e 479
meikefrok 2:ad4b181a6422 480
meikefrok 5:3d88f7506cd9 481 // Main
megrootens 0:048fbd80203e 482 int main()
megrootens 0:048fbd80203e 483 {
meikefrok 3:3a671d01bcb8 484 led_r = not LedOn;
meikefrok 3:3a671d01bcb8 485 led_g = not LedOn;
meikefrok 3:3a671d01bcb8 486 led_b = not LedOn;
megrootens 0:048fbd80203e 487
meikefrok 8:ac4e5afbdbcd 488 tick_part.attach(&SwitchCart,kTimeToggle);
meikefrok 8:ac4e5afbdbcd 489 tick_part_arm.attach(&SwitchArm,kTimeToggle);
meikefrok 7:9715323b20ac 490 sampleTicker.attach(scopeSend,0.01);
meikefrok 11:97f824629da5 491 measureTicker.attach(Measure, 0.005);
meikefrok 5:3d88f7506cd9 492
meikefrok 3:3a671d01bcb8 493 btn_cart.fall(&SetValue2);
meikefrok 3:3a671d01bcb8 494 btn_arm.fall(&SetValue3);
meikefrok 3:3a671d01bcb8 495 btn_claw.fall(&SetValue4);
meikefrok 2:ad4b181a6422 496
meikefrok 12:b31df384b170 497 if(part_id == 4){
meikefrok 12:b31df384b170 498 Cart.stop(1)==1;
meikefrok 12:b31df384b170 499 }
meikefrok 12:b31df384b170 500
megrootens 0:048fbd80203e 501 while (true);
meikefrok 12:b31df384b170 502
megrootens 0:048fbd80203e 503 }
meikefrok 2:ad4b181a6422 504
meikefrok 2:ad4b181a6422 505
meikefrok 2:ad4b181a6422 506