Ramon Waninge
/
Bioroboticsmerge
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Dependencies: MODSERIAL biquadFilter mbed
Fork of
Kinematics
by 
Eva Krolis
Diff: main.cpp
- Revision:
- 25:1123d100d964
- Parent:
- 24:e166f8119dbb
- Child:
- 26:efd04dec7710
--- a/main.cpp Thu Nov 01 08:46:57 2018 +0000
+++ b/main.cpp Thu Nov 01 10:35:52 2018 +0000
@@ -5,6 +5,7 @@
#include "MODSERIAL.h"
#include "BiQuad.h"
#include <algorithm>
+//#include "FastPWM.h"
#define PI 3.14159265
//Inputs and outputs
@@ -17,37 +18,39 @@
DigitalOut redled(LED_RED); //Red led
//Constants
-const double ll = 230; //Length of the lower arm
-const double lu = 198; //Length of the upper arm
-const double lb = 50; //Length of the part between the upper arms
-const double le = 79; //Length of the end-effector beam
-const double xbase = 450-lb; //Length between the motors
+const float ll = 230; //Length of the lower arm
+const float lu = 198; //Length of the upper arm
+const float lb = 50; //Length of the part between the upper arms
+const float le = 79; //Length of the end-effector beam
+const float xbase = 450-lb; //Length between the motors
const int Length = 10000; //Length of the array for the calibration
const int Parts = 50; //Mean average filter over 50 values
//parameters for kinematics
-double theta1 = PI*0.49; //Angle of the left motor
-double theta4 = PI*0.49; //Angle of the right motor
-double thetaflip = 0; //Angle of the flipping motor
-double prefx; //Desired x velocity
-double prefy; //Desired y velocity "
-double deltat = 0.01; //Time step (dependent on sample frequency)
+float theta1 = PI*0.49; //Angle of the left motor
+float theta4 = PI*0.49; //Angle of the right motor
+float thetaflip = 0; //Angle of the flipping motor
+float prefx; //Desired x velocity
+float prefy; //Desired y velocity "
+float deltat = 0.01;
+float iJ[2][2];
+//Time step (dependent on sample frequency)
//Kinematics parameters for x
-double xendsum;
-double xendsqrt1;
-double xendsqrt2;
-double xend;
-double jacobiana;
-double jacobianc;
+float xendsum;
+float xendsqrt1;
+float xendsqrt2;
+float xend;
+float jacobiana;
+float jacobianc;
//Kinematics parameters for y
-double yendsum;
-double yendsqrt1;
-double yendsqrt2;
-double yend;
-double jacobianb;
-double jacobiand;
+float yendsum;
+float yendsqrt1;
+float yendsqrt2;
+float yend;
+float jacobianb;
+float jacobiand;
//Parameters for the first EMG signal
float EMG0; //float for EMG input
@@ -89,6 +92,7 @@
Ticker EMGCalibration1_timer; //Timer for the calibration of the EMG
Ticker FindMax1_timer; //Timer for finding the max muscle
Ticker SwitchState_timer; //Timer to switch from the Calibration to the working mode
+Timer local_timer;
//Bool for movement
bool xMove = false; //Bool for the x-movement
@@ -119,10 +123,10 @@
EMG0Average = (float)Sum0/Parts; //Divide the sum by 50
if (EMG0Average > Threshold0) { //If the value is higher than the threshold value
- redled = 0; //Turn the LED on
+ //redled = 0; //Turn the LED on
xMove = true; //Set movement to true
} else {
- redled = 1; //Otherwise turn the LED off
+ //redled = 1; //Otherwise turn the LED off
xMove = false; //Otherwise set movement to false
}
}
@@ -224,16 +228,28 @@
}
//Function to switch a state
-void SwitchState()
+/*void SwitchState()
{
SwitchStateBool = true; //Set the bool for the start of a state to true
SwitchState_timer.detach(); //Use this function once
-}
+}*/
+void FK(float &xend_, float ¥d_, float theta1_, float theta4_)
+{
+ float xendsum_ = lb + xbase +ll*(cos(theta1_) - cos(theta4_));
+ float xendsqrt1_ = 2*sqrt(-xbase*xbase/4 + lu*lu + ll*(xbase*(cos(theta1_)+cos(theta4_))/2) -ll*(1+ cos(theta1_+theta4_)))*(-sin(theta1_)+sin(theta4_));
+ float xendsqrt2_ = sqrt(pow((-xbase/ll+cos(theta1_)+cos(theta4_)),2)+ pow(sin(theta1_) - sin(theta4_),2));
+ xend_ = (xendsum_ + xendsqrt1_/xendsqrt2_)/2;
+ //hieronder rekenen we yendeffector door;
+ float yendsum_ = -le + ll/2*(sin(theta1_)+sin(theta4_));
+ float yendsqrt1_ = (-xbase/ll + cos(theta1_)+cos(theta4_))*sqrt(-xbase*xbase/4 + lu*lu + ll/2*(xbase*(cos(theta1_)+cos(theta4_))- ll*(1+cos(theta1_+theta4_))));
+ float yendsqrt2_ = sqrt(pow((-xbase/ll + cos(theta1_)+ cos(theta4_)),2)+ pow((sin(theta1_)-sin(theta4_)),2));
+ yend_ = (yendsum_ + yendsqrt1_/yendsqrt2_);
+}
//dit wordt aangeroepen in de tickerfunctie
-void inverse(double prex, double prey)
+void inverse(float prex, float prey)
{
/*
qn = qn-1 + (jacobian^-1)*dPref/dt *deltaT
@@ -243,143 +259,165 @@
*/ //achtergrondinfo hierboven...
//
- theta1 += (prefx*jacobiana+jacobianb*prey)*deltat; //theta 1 is zichzelf plus wat hier staat (is kinematics)
- theta4 += (prefx*jacobianc+jacobiand*prey)*deltat;//" "
+ theta1 += (prefx*(iJ[0][0])+iJ[0][1]*prey)*deltat; //theta 1 is zichzelf plus wat hier staat (is kinematics)
+ theta4 += (prefx*iJ[1][0]+iJ[1][1]*prey)*deltat;//" "
//Hier worden xend en yend doorgerekend, die formules kan je overslaan
- xendsum = lb + xbase +ll*(cos(theta1) - cos(theta4));
- xendsqrt1 = 2*sqrt(-xbase*xbase/4 + lu*lu + ll*(xbase*(cos(theta1)+cos(theta4))/2) -ll*(1+ cos(theta1+theta4)))*(-sin(theta1)+sin(theta4));
- xendsqrt2 = sqrt(pow((-xbase/ll+cos(theta1)+cos(theta4)),2)+ pow(sin(theta1) - sin(theta4),2));
- xend = (xendsum + xendsqrt1/xendsqrt2)/2;
- //hieronder rekenen we yendeffector door;
- yendsum = -le + ll/2*(sin(theta1)+sin(theta4));
- yendsqrt1 = (-xbase/ll + cos(theta1)+cos(theta4))*sqrt(-xbase*xbase/4 + lu*lu + ll/2*(xbase*(cos(theta1)+cos(theta4))- ll*(1+cos(theta1+theta4))));
- yendsqrt2 = sqrt(pow((-xbase/ll + cos(theta1)+ cos(theta4)),2)+ pow((sin(theta1)-sin(theta4)),2));
- yend = (yendsum + yendsqrt1/yendsqrt2);
+
+ FK(xend,yend,theta1,theta4);
}
+
+
+
//deze onderstaande tickerfunctie wordt aangeroepen
void kinematics()
{
//Hieronder rekenen we eerst de aparte dingen van de jacobiaan uit. (sla maar over)
+ float xend1,xend2,xend3,yend1,yend2,yend3;
+ const float dq = 0.0001;
+ FK(xend1,yend1,theta1,theta4);
+ FK(xend2,yend2,theta1+dq,theta4);
+ FK(xend3,yend3,theta1,theta4+dq);
+
+ float a,b,c,d;
+ a = xend2-xend1;
+ b = xend3-xend1;
+ c = yend2-yend1;
+ d = yend3-yend1;
+
+ float Q = 1/(a*d-b*c)/dq;
+
+
+ iJ[0][0] = d*Q;
+ iJ[0][1]= -c*Q;
+ iJ[1][0] = -b*Q;
+ iJ[1][1] = a*Q;
+ /*
jacobiana = (500*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. +
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. +
((-xbase + ll*(cos(theta1) + cos(0.002 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.002 + theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
(ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + (ll*(sin(theta1) + sin(0.002 + theta4)))/2.))/
- (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) +
+ (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) +
((-xbase + ll*(cos(0.002 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.002 + theta1) + cos(theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
(ll*sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + (ll*(sin(0.002 + theta1) + sin(theta4)))/2.)*
(ll*(-cos(theta1) + cos(theta4)) + ll*(cos(theta1) - cos(0.002 + theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
- (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
+ (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
(sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(0.002 + theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(theta1) + sin(0.002 + theta4)))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) +
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) +
125000*(ll*(cos(0.002 + theta1) - cos(theta4)) + ll*(-cos(theta1) + cos(theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
- (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
+ (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
(sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(0.002 + theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(0.002 + theta1) + sin(theta4)))/
sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2)))*
(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. +
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. +
((-xbase + ll*(cos(theta1) + cos(0.002 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.002 + theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
(ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + (ll*(sin(theta1) + sin(0.002 + theta4)))/2.));
jacobianb = (-250*(ll*(-cos(theta1) + cos(theta4)) + ll*(cos(theta1) - cos(0.002 + theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
- (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
+ (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
(sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(0.002 + theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(theta1) + sin(0.002 + theta4)))/
sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))))/
- (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) +
+ (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) +
((-xbase + ll*(cos(0.002 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.002 + theta1) + cos(theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
(ll*sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + (ll*(sin(0.002 + theta1) + sin(theta4)))/2.)*
(ll*(-cos(theta1) + cos(theta4)) + ll*(cos(theta1) - cos(0.002 + theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
- (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
+ (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
(sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(0.002 + theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(theta1) + sin(0.002 + theta4)))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) +
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) +
125000*(ll*(cos(0.002 + theta1) - cos(theta4)) + ll*(-cos(theta1) + cos(theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
- (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
+ (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
(sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(0.002 + theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(0.002 + theta1) + sin(theta4)))/
sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2)))*
(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. +
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. +
((-xbase + ll*(cos(theta1) + cos(0.002 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.002 + theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
(ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + (ll*(sin(theta1) + sin(0.002 + theta4)))/2.));
jacobianc = (-500*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) +
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) +
((-xbase + ll*(cos(0.002 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.002 + theta1) + cos(theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
(ll*sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + (ll*(sin(0.002 + theta1) + sin(theta4)))/2.))/
- (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) +
+ (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) +
((-xbase + ll*(cos(0.002 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.002 + theta1) + cos(theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
(ll*sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + (ll*(sin(0.002 + theta1) + sin(theta4)))/2.)*
(ll*(-cos(theta1) + cos(theta4)) + ll*(cos(theta1) - cos(0.002 + theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
- (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
+ (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
(sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(0.002 + theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(theta1) + sin(0.002 + theta4)))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) +
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) +
125000*(ll*(cos(0.002 + theta1) - cos(theta4)) + ll*(-cos(theta1) + cos(theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
- (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
+ (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
(sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(0.002 + theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(0.002 + theta1) + sin(theta4)))/
sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2)))*
(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. +
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. +
((-xbase + ll*(cos(theta1) + cos(0.002 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.002 + theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
(ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + (ll*(sin(theta1) + sin(0.002 + theta4)))/2.));
jacobiand = (250*(ll*(cos(0.002 + theta1) - cos(theta4)) + ll*(-cos(theta1) + cos(theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
- (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
+ (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
(sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(0.002 + theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(0.002 + theta1) + sin(theta4)))/
sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))))/
- (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) +
+ (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) +
((-xbase + ll*(cos(0.002 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.002 + theta1) + cos(theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
(ll*sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + (ll*(sin(0.002 + theta1) + sin(theta4)))/2.)*
(ll*(-cos(theta1) + cos(theta4)) + ll*(cos(theta1) - cos(0.002 + theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
- (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
+ (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
(sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(0.002 + theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(theta1) + sin(0.002 + theta4)))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) +
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) +
125000*(ll*(cos(0.002 + theta1) - cos(theta4)) + ll*(-cos(theta1) + cos(theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
- (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
+ (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) +
(sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(0.002 + theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(0.002 + theta1) + sin(theta4)))/
sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2)))*
(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. +
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. +
((-xbase + ll*(cos(theta1) + cos(0.002 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.002 + theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
(ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + (ll*(sin(theta1) + sin(0.002 + theta4)))/2.));
//vanaf hier weer door met lezen!
- prefx = 1*xMove; //sw3, dit is belangrijk! prefx staat voor P_(reference) en het is de snelheid van de endeffector als
- // de button ingedrukt wordt (als emg = boven treshold) is de prefx 1 (da's de rode 1)
- prefy = 1*yMove; //sw2,
+ */
+ prefx = 1*xMove; //sw3, dit is belangrijk! prefx staat voor P_(reference) en het is de snelheid van de endeffector als
+ // de button ingedrukt wordt (als emg = boven treshold) is de prefx 1 (da's de rode 1)
+ prefy = 1*yMove; //sw2,
inverse(prefx, prefy);
}
void printvalue()
{
- pc.printf("X-value: %f \t Y-value: %f \n\r",xend, yend); // in teraterm zijn de bovenste twee waardes hoeken, de onderste twee zijn de x en y coordinaat
+ pc.printf("X-value: %f \t Y-value: %f \n\r \t theta 1 = %f \t theta4 = %f",xend, yend,theta1,theta4); // in teraterm zijn de bovenste twee waardes hoeken, de onderste twee zijn de x en y coordinaat
}
//State Machine
void StateMachine()
{
+ redled = 1;
switch(CurrentState) { //Determine in which state you are
- case Calibration: //Calibration mode
+ case Calibration:
+ //Calibration mode
if(StateBool) { //If you go into this state
pc.printf("You can start calibrating. \n\r"); //Print that you are in this state
StateBool = false; //Set the bool for the start of a state to false
- EMGCalibration0_timer.attach(&CalibrateEMG0,0.005); //Start EMG calibration every 0.005 seconds
- EMGCalibration1_timer.attach(&CalibrateEMG1,0.005); //Start EMG calibration every 0.005 seconds
FindMax0_timer.attach(&FindMax0,15); //Find the maximum value after 15 seconds
FindMax1_timer.attach(&FindMax1,15); //Find the maximum value after 15 seconds
- SwitchState_timer.attach(&SwitchState,20); //Switch to the next state after 16 seconds
+ //SwitchState_timer.attach(&SwitchState,20); //Switch to the next state after 16 seconds
+ local_timer.reset();
+ local_timer.start();
blueled = 0;
}
- if (SwitchStateBool) { //If the bool is changed
+ CalibrateEMG0();
+ CalibrateEMG1(); //Start EMG calibration every 0.005 seconds
+
+ if (local_timer.read() > 20) { //If the bool is changed
CurrentState = WorkingMode; //Change the state to the working mode
StateBool = true; //Set the start of a state bool to true
- SwitchStateBool = false; //Set the switch bool to false
+ //SwitchStateBool = false; //Set the switch bool to false
}
break;
@@ -387,21 +425,30 @@
if (StateBool) { //If you start to go in this state
pc.printf("You are know in the working mode. \r\n"); //Print in which mode you are
StateBool = false; //Set the start of state bool to true
- EMGCalibration0_timer.detach(); //Detach the the calibration
- EMGCalibration1_timer.detach(); //Detach the calibration
- ReadUseEMG0_timer.attach(&ReadUseEMG0, 0.005); //Start the use of EMG
- ReadUseEMG1_timer.attach(&ReadUseEMG1,0.005); //Start the use of EMG
- kin.attach(kinematics, 0.008); // roep de ticker aan (
- simulateval.attach(printvalue, 0.1);
+ //EMGCalibration0_timer.detach(); //Detach the the calibration
+ //EMGCalibration1_timer.detach(); //Detach the calibration
+ //ReadUseEMG0_timer.attach(&ReadUseEMG0, 0.005); //Start the use of EMG
+ //ReadUseEMG1_timer.attach(&ReadUseEMG1,0.005); //Start the use of EMG
+ //kin.attach(kinematics, 0.005); // roep de ticker aan (
+ //simulateval.attach(printvalue, 0.1);
}
- blueled = 1; //Set the blue led off
+ blueled = 1;
+
+ ReadUseEMG0();
+ ReadUseEMG1();
+ kinematics();
+
+ //motorcontroller
+ //Set the blue led off
//pc.printf("First EMG: %f, Second EMG: %f \n\r",EMG0Average,EMG1Average);
break;
}
+ redled = 0;
}
int main()
{
+ Ticker hoofdticker;
//Initial conditions
theta1 = PI*0.49; //Angle of the left motor
theta4 = PI*0.49;
@@ -412,9 +459,10 @@
filter0.add(&Notch50_0).add(&High0); //Make filter chain for the first EMG
filter1.add(&Notch50_1).add(&High1); //Make filter chain for the second EMG
button.rise(StopProgram); //If the button is pressed, stop program
-
+ hoofdticker.attach(&StateMachine,0.002);
while(true) {
-
- StateMachine(); //Start the state machine
+ printvalue();
+ wait(0.75);
+ //Start the state machine
}
}
\ No newline at end of file