Remco Dasselaar / Mbed 2 deprecated TotalControlEmg2

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   HIDScope MODSERIAL QEI TextLCD mbed

Fork of TotalControlEmg2 by Remco Dasselaar

main.cpp@50:16314b798754, 2015-10-28 (annotated)

Committer:
RemcoDas
Date:
Wed Oct 28 09:28:48 2015 +0000
Revision:
50:16314b798754
Parent:
49:b571c822c3f9
Child:
51:dcbfdf3b9468
Final, schoongeveegd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RemcoDas 33:b4757132437e 1 //--------------------Include files and libraries-------
Bartvaart 0:557b1ff83a8a 2 #include "mbed.h"
RemcoDas 24:ddd69385b55f 3 #include "QEI.h"
RemcoDas 24:ddd69385b55f 4 #include "MODSERIAL.h"
RemcoDas 24:ddd69385b55f 5 #include "TextLCD.h"
Bartvaart 7:040591b3f019 6 #include "HIDScope.h"
Bartvaart 5:b400209df739 7 #include "Filterdesigns.h"
Bartvaart 17:cfe44346645c 8 #include "Kalibratie.h"
Bartvaart 18:eec0880fcded 9 #include "Mode.h"
RemcoDas 24:ddd69385b55f 10 //--------------------Classes------------------------
RemcoDas 33:b4757132437e 11 InterruptIn btnSet(PTC6); // Kalibration button
RemcoDas 46:ed8ada80ba17 12 InterruptIn emgSet(PTA4); // EMG on/off button
RemcoDas 24:ddd69385b55f 13 MODSERIAL pc(USBTX, USBRX); // Modserial voor Putty
RemcoDas 33:b4757132437e 14 TextLCD lcd(PTC5, PTC7, PTC0, PTC9, PTC8, PTC1); // LCD screen on inner row of K64F, rs, e, d4-d7
RemcoDas 24:ddd69385b55f 15 PwmOut servo(D3); // PwmOut servo
RemcoDas 33:b4757132437e 16 AnalogIn emgL(A0), emgR(A1); // Analog input of EMG, left and right
RemcoDas 33:b4757132437e 17 AnalogIn potL(A2), potR(A3); // Potential meter left and right
RemcoDas 44:97f5622db2c4 18 AnalogIn ksLeft(A5), ksRight(A4); // Killswitch left and right
RemcoDas 39:f0f9b3432f43 19 HIDScope scope(2); // Hidscope, amount of scopes
RemcoDas 43:929cab5358ee 20 Ticker EMGticker, tickerControl, tickerLcd; // Ticker for EMG, regulator and break
RemcoDas 33:b4757132437e 21 // QEI Encoder(port 1, port 2, ,counts/rev
RemcoDas 25:c97d079e07f3 22 QEI enc1 (D13, D12, NC, 64), enc2 (D11, D10, NC, 64);
RemcoDas 33:b4757132437e 23 // Motor1 met PWM power control and direction
RemcoDas 24:ddd69385b55f 24 PwmOut pwmM1(D6);
RemcoDas 24:ddd69385b55f 25 DigitalOut dirM1(D7);
RemcoDas 33:b4757132437e 26 // Motor2 met PWM power control and direction
RemcoDas 24:ddd69385b55f 27 PwmOut pwmM2(D5);
RemcoDas 24:ddd69385b55f 28 DigitalOut dirM2(D4);
RemcoDas 44:97f5622db2c4 29 enum spelfase {CALIBRATE_EMG, CALIBRATE_AIM, CALIBRATE_BEAM, AIM, BREAK, FIRE}; // Program states, ACKNOWLEDGEMENT switch: BMT groep 4 2014
RemcoDas 41:91c8c39d7a33 30 uint8_t state = CALIBRATE_EMG; // first state program
RemcoDas 33:b4757132437e 31 enum aimFase {OFF, CW, CCW}; // Aim motor possible states
RemcoDas 33:b4757132437e 32 uint8_t aimState = OFF; // first state aim motor
RemcoDas 25:c97d079e07f3 33 //-------------------------------Variables---------------------------------------------------------------------
RemcoDas 43:929cab5358ee 34 int maxCounts = 13000; // max richt motor counts Aim motor
RemcoDas 33:b4757132437e 35 int breakPerc = 0;
RemcoDas 47:959ef2792024 36 volatile int modeL = 1, modeR = 1;
RemcoDas 46:ed8ada80ba17 37 const double servoBreak = 0.00165, servoFree = 0.002; // Range servo,between servoL en servoR (= pulsewidth pwm servo)
RemcoDas 43:929cab5358ee 38 const double tControl = 0.05, tLcd = 2; // ticker time (sec)
RemcoDas 43:929cab5358ee 39 const double Fs = 200; //Sample frequency Hz
RemcoDas 43:929cab5358ee 40 double t = 1/ Fs; // time EMGticker
RemcoDas 27:f62e450bb411 41 double thresholdlowL= 0, thresholdmidL = 0, thresholdhighL= 0;
RemcoDas 27:f62e450bb411 42 double thresholdlowR= 0, thresholdmidR = 0, thresholdhighR= 0;
RemcoDas 33:b4757132437e 43 double yL = 0, yR = 0; // y values EMG left and right
RemcoDas 33:b4757132437e 44 volatile bool L = false, R = false; // Booleans for checking if mode. has been 1?
RemcoDas 33:b4757132437e 45 volatile bool btn = false; // Button is pressed?
RemcoDas 46:ed8ada80ba17 46 volatile bool controlFlag = false, btnFlag = false, emgFlag = false, lcdFlag = false, runEmg = true; // Go flags
RemcoDas 46:ed8ada80ba17 47 bool boolBrake = false;
RemcoDas 24:ddd69385b55f 48 //----------------------------Functions-----------------------------------------------------------------------
RemcoDas 33:b4757132437e 49 void PRINT(const char* text){
RemcoDas 25:c97d079e07f3 50 lcd.cls(); // clear LCD scherm
RemcoDas 33:b4757132437e 51 lcd.printf(text); // print text op lcd
RemcoDas 25:c97d079e07f3 52 }
RichardRoos 34:60391fb72629 53 void EMGkalibratieL(){ // Determine thresholds left
RichardRoos 34:60391fb72629 54 PRINT("EMG LEFT relax muscle");
RichardRoos 34:60391fb72629 55 double ymin = KalibratieMin(emgL, true); // Minimum value left EMG, boolean indicates left
RemcoDas 27:f62e450bb411 56 wait(1);
RichardRoos 34:60391fb72629 57 PRINT("EMG LEFT flex muscle"); // LCD
RichardRoos 34:60391fb72629 58 double ymax = KalibratieMax(emgL, true); // Maxium value left EMG, boolean indicates left
RichardRoos 34:60391fb72629 59 PRINT("EMG LEFT well done!"); // LCD
RemcoDas 27:f62e450bb411 60
RemcoDas 50:16314b798754 61 if((ymax-ymin) < 0.05 || !runEmg){ // No EMG connected or button pushed
RemcoDas 27:f62e450bb411 62 ymin = 10;
RemcoDas 27:f62e450bb411 63 ymax = 10;
RemcoDas 27:f62e450bb411 64 }
RemcoDas 33:b4757132437e 65 thresholdlowL = 4 * ymin; // Lowest threshold
RemcoDas 33:b4757132437e 66 thresholdmidL = 0.5 * ymax; // Midi threshold
RemcoDas 33:b4757132437e 67 thresholdhighL = 0.8 * ymax; // Highest threshold
RemcoDas 27:f62e450bb411 68
RemcoDas 33:b4757132437e 69 pc.printf("ymaxL = %f en yminL = %f \r\n",ymax, ymin);
RemcoDas 27:f62e450bb411 70 }
RemcoDas 33:b4757132437e 71 void EMGkalibratieR(){ // Determine thresholds right EMG, same as left
RichardRoos 34:60391fb72629 72 PRINT("EMG RIGHT relax muscle");
RemcoDas 30:8ae855348d22 73 double ymin = KalibratieMin(emgR, false);
Bartvaart 19:6c0245063b96 74 wait(1);
RemcoDas 41:91c8c39d7a33 75 PRINT("EMG RIGHT flex muscle");
RemcoDas 30:8ae855348d22 76 double ymax = KalibratieMax(emgR, false);
RemcoDas 41:91c8c39d7a33 77 PRINT("EMG LEFT well done!");
RemcoDas 27:f62e450bb411 78
RemcoDas 50:16314b798754 79 if((ymax-ymin) < 0.05|| !runEmg){
RemcoDas 27:f62e450bb411 80 ymin = 10;
RemcoDas 27:f62e450bb411 81 ymax = 10;
RemcoDas 29:9610df479f89 82 }
RemcoDas 33:b4757132437e 83 thresholdlowR = 4 * ymin;
RemcoDas 33:b4757132437e 84 thresholdmidR = 0.5 * ymax;
RemcoDas 27:f62e450bb411 85 thresholdhighR = 0.8 * ymax;
Bartvaart 22:c1811e60bfce 86
RemcoDas 33:b4757132437e 87 pc.printf("ymaxR = %f en yminR = %f \r\n",ymax, ymin); // terminal
RemcoDas 24:ddd69385b55f 88 }
RemcoDas 27:f62e450bb411 89 int EMGfilter(AnalogIn& emg, bool side){
RemcoDas 33:b4757132437e 90 double u = emg.read(); // read emg signal (left or right EMG)
RemcoDas 27:f62e450bb411 91 int mode = 1;
RemcoDas 30:8ae855348d22 92 if(side){
RemcoDas 33:b4757132437e 93 double y = FilterdesignsLeft(u); // filter signal left EMG
RemcoDas 47:959ef2792024 94 mode = Mode(modeL, y, thresholdlowL, thresholdmidL, thresholdhighL); // Determine mode with thresholds (1, 2, 3)
RemcoDas 27:f62e450bb411 95 }
RemcoDas 30:8ae855348d22 96 else {
RemcoDas 33:b4757132437e 97 double y = FilterdesignsRight(u);
RemcoDas 47:959ef2792024 98 mode = Mode(modeR, y, thresholdlowR, thresholdmidR, thresholdhighR); // right EMG
RemcoDas 27:f62e450bb411 99 }
RemcoDas 25:c97d079e07f3 100 return mode;
RemcoDas 26:d9855716ced7 101 }
RemcoDas 33:b4757132437e 102 int PotReader(AnalogIn& pot){ // read potentialmeter and determine its mode (1 = default, 2, 3)
RemcoDas 26:d9855716ced7 103 double volt = pot.read();
RemcoDas 41:91c8c39d7a33 104 int mode = 1;
RemcoDas 26:d9855716ced7 105 if(volt > 0.8){
RemcoDas 26:d9855716ced7 106 mode = 3;
RemcoDas 26:d9855716ced7 107 }
RemcoDas 26:d9855716ced7 108 else if(volt>0.35 && volt<0.65){
RemcoDas 26:d9855716ced7 109 mode = 2;
RemcoDas 26:d9855716ced7 110 }
RemcoDas 26:d9855716ced7 111 return mode;
RemcoDas 26:d9855716ced7 112 }
RemcoDas 33:b4757132437e 113 int defMode(AnalogIn& emg, AnalogIn& pot, bool side){ // Determine mode both from EMG and Potentialmeter, ONE of them must be ONE!
RemcoDas 27:f62e450bb411 114 int emgMode = EMGfilter(emg, side);
RemcoDas 26:d9855716ced7 115 int potMode = PotReader(pot);
RemcoDas 26:d9855716ced7 116 int mode = 1;
RemcoDas 33:b4757132437e 117 if(!(emgMode==1) != !(potMode==1)){ // emgMode = 1 XOR potMode = 1
RemcoDas 33:b4757132437e 118 if(emgMode > potMode){ // maximum of emg and pot
RemcoDas 26:d9855716ced7 119 mode = emgMode;
RemcoDas 26:d9855716ced7 120 }
RemcoDas 26:d9855716ced7 121 else{
RemcoDas 26:d9855716ced7 122 mode = potMode;
RemcoDas 26:d9855716ced7 123 }
RemcoDas 48:07e3cf7dc819 124 }
RemcoDas 26:d9855716ced7 125 return mode;
RemcoDas 26:d9855716ced7 126 }
RemcoDas 33:b4757132437e 127 void setEmgFlag(){ // Goflag EMG
RemcoDas 25:c97d079e07f3 128 emgFlag = true;
RichardRoos 34:60391fb72629 129 }
RichardRoos 34:60391fb72629 130 void setLcdFlag(){ // Goflag EMG
RichardRoos 34:60391fb72629 131 lcdFlag = true;
RichardRoos 34:60391fb72629 132 }
RemcoDas 24:ddd69385b55f 133 void btnSetAction(){ // Set knop K64F
RemcoDas 24:ddd69385b55f 134 btn = true; // GoFlag setknop
RemcoDas 46:ed8ada80ba17 135 }
RemcoDas 46:ed8ada80ba17 136 void emgOnOff(){ // Set knop K64F, push
RemcoDas 46:ed8ada80ba17 137 runEmg = !runEmg; // switch enable emg
RemcoDas 50:16314b798754 138 pc.printf("EMG is enabled: %i\r\n", runEmg);
RemcoDas 26:d9855716ced7 139 }
RemcoDas 33:b4757132437e 140 void setControlFlag(){ // Go flag setButton
RemcoDas 33:b4757132437e 141 controlFlag = true;
RemcoDas 24:ddd69385b55f 142 }
RemcoDas 44:97f5622db2c4 143 void checkSide(AnalogIn& ks, int dir){
RemcoDas 45:520d86583ff6 144 if((dirM2.read() == dir) && (pwmM2.read()>0)){ // direction motor clashes with killswitch and motor is on
RemcoDas 44:97f5622db2c4 145 if(ks.read()>0.8){
RemcoDas 39:f0f9b3432f43 146 pwmM2.write(0); // Aim motor freeze
RemcoDas 39:f0f9b3432f43 147 pc.printf("BOEM! CRASH! KASTUK!\r\n"); // Terminal
RemcoDas 39:f0f9b3432f43 148 PRINT("BOEM! CRASH!"); // LCD
RemcoDas 39:f0f9b3432f43 149 }
RemcoDas 44:97f5622db2c4 150 }
RemcoDas 46:ed8ada80ba17 151 }
RemcoDas 45:520d86583ff6 152 void checkAim(){ // check if killswitch clashes with direction motor
RemcoDas 44:97f5622db2c4 153 checkSide(ksLeft, 1);
RemcoDas 44:97f5622db2c4 154 checkSide(ksRight, 0);
RemcoDas 24:ddd69385b55f 155 }
RemcoDas 33:b4757132437e 156 void motorAim(int dir){ // Rotate Aim motor with given direction
RemcoDas 33:b4757132437e 157 dirM2.write(dir);
RemcoDas 44:97f5622db2c4 158 pwmM2.write(0.2);
RemcoDas 24:ddd69385b55f 159 }
RemcoDas 33:b4757132437e 160 bool controlAim(){ // Function to control aim motor with modes
RemcoDas 33:b4757132437e 161 bool both = false; // boolean if both modes are 3
RemcoDas 47:959ef2792024 162 modeL = defMode(emgL, potL, true); // determine mode left
RemcoDas 47:959ef2792024 163 modeR = defMode(emgR, potR, false); // determine mode right
RemcoDas 27:f62e450bb411 164
RemcoDas 27:f62e450bb411 165 scope.set(0, modeL);
RemcoDas 27:f62e450bb411 166 scope.set(1, modeR);
RemcoDas 33:b4757132437e 167 scope.send(); //send values to HIDScope
RemcoDas 27:f62e450bb411 168
RemcoDas 33:b4757132437e 169 if(modeR < 2 && !R){ // control if mode has been 1
RemcoDas 27:f62e450bb411 170 R = true;
RemcoDas 27:f62e450bb411 171 }
RemcoDas 28:e6d2fe0e593e 172 if(modeL < 2 && !L){
RemcoDas 28:e6d2fe0e593e 173 L = true;
RemcoDas 24:ddd69385b55f 174 }
RemcoDas 28:e6d2fe0e593e 175
RemcoDas 50:16314b798754 176 if((modeL>2 && L) && (modeR >2 && R)) { // mode L and mode R both 3, and both has been 1
RemcoDas 26:d9855716ced7 177 both = true; // Return true
RemcoDas 33:b4757132437e 178 pwmM2.write(0); // Aim motor freeze
RemcoDas 33:b4757132437e 179 aimState = OFF; // next state
RemcoDas 28:e6d2fe0e593e 180 }
RemcoDas 45:520d86583ff6 181 else if((modeR == 2)) { // modeR ==2
RemcoDas 45:520d86583ff6 182 if(aimState != CCW){
RemcoDas 43:929cab5358ee 183 aimState = CCW; // Rotate CCW
RichardRoos 34:60391fb72629 184 pc.printf("Rotate -, CCW\r\n");
RemcoDas 44:97f5622db2c4 185 PRINT("Rotate CCW");
RemcoDas 45:520d86583ff6 186 motorAim(0);
RemcoDas 28:e6d2fe0e593e 187 }
RemcoDas 24:ddd69385b55f 188 }
RemcoDas 45:520d86583ff6 189 else if((modeL == 2)) { // modeL == 2
RemcoDas 45:520d86583ff6 190 if(aimState != CW){
RemcoDas 43:929cab5358ee 191 aimState = CW; // Rotate CW
RichardRoos 34:60391fb72629 192 pc.printf("Rotate +, CW\r\n");
RemcoDas 44:97f5622db2c4 193 PRINT("Rotate CW");
RemcoDas 28:e6d2fe0e593e 194 motorAim(1);
RemcoDas 28:e6d2fe0e593e 195 }
RemcoDas 45:520d86583ff6 196 }
RemcoDas 45:520d86583ff6 197 // modeR AND CCW OR modeL and CW
RemcoDas 45:520d86583ff6 198 else if((modeR == 1 && aimState == CCW) || (modeL == 1 && aimState == CW)) { // R=1 en CW
RemcoDas 45:520d86583ff6 199 pwmM2.write(0); // Aim motor freeze
RemcoDas 45:520d86583ff6 200 aimState = OFF;
RemcoDas 45:520d86583ff6 201 pc.printf("Freeze\r\n");
RemcoDas 45:520d86583ff6 202 PRINT("Freeze");
RemcoDas 45:520d86583ff6 203 }
RemcoDas 24:ddd69385b55f 204 return both;
RemcoDas 24:ddd69385b55f 205 }
RemcoDas 43:929cab5358ee 206 int main(){
RemcoDas 24:ddd69385b55f 207 btnSet.mode(PullUp); // Button mode
RemcoDas 46:ed8ada80ba17 208 btnSet.rise(&btnSetAction); // Connect button to function
RemcoDas 46:ed8ada80ba17 209 emgSet.mode(PullUp); // Button mode
RemcoDas 49:b571c822c3f9 210 emgSet.rise(&emgOnOff); // Connect button to function
RemcoDas 43:929cab5358ee 211 tickerControl.attach(&setControlFlag,tControl); // ticker control motor
RemcoDas 26:d9855716ced7 212 EMGticker.attach(&setEmgFlag, t); // ticker EMG, 500H
RichardRoos 34:60391fb72629 213 tickerLcd.attach(&setLcdFlag,tLcd); // ticker lcd
RemcoDas 25:c97d079e07f3 214
RemcoDas 33:b4757132437e 215 pc.printf("\n\n\n\n\n"); // Terminal
RichardRoos 34:60391fb72629 216 pc.printf("---NEW GAME---\r\n");
RemcoDas 33:b4757132437e 217 PRINT("--- NEW GAME ---"); // LCD
RemcoDas 33:b4757132437e 218 while(1){ // Run program
RemcoDas 24:ddd69385b55f 219 switch(state){
RichardRoos 34:60391fb72629 220 case CALIBRATE_EMG: {
RichardRoos 34:60391fb72629 221 EMGkalibratieL(); // calibrate left EMG, determine thresholds
RichardRoos 34:60391fb72629 222 EMGkalibratieR(); // calibrate right EMG, determine thresholds
RichardRoos 34:60391fb72629 223 state = CALIBRATE_AIM; // Next state
RemcoDas 24:ddd69385b55f 224 break;
RemcoDas 24:ddd69385b55f 225 }
RichardRoos 34:60391fb72629 226 case CALIBRATE_AIM: {
RemcoDas 33:b4757132437e 227 pwmM2.period(1/100000); // period motor 2
RemcoDas 33:b4757132437e 228 printf("Position is kalibrating\r\n"); // terminal
RichardRoos 37:090ba5b1e655 229 PRINT("Wait a moment, please"); // LCD
RemcoDas 33:b4757132437e 230 dirM2.write(0); // direction aim motor
RemcoDas 49:b571c822c3f9 231 pwmM2.write(0.2); // percentage motor power
RemcoDas 49:b571c822c3f9 232 bool calibrated = false;
RemcoDas 38:08c8fd55a3bb 233 while(state==CALIBRATE_AIM){
RemcoDas 43:929cab5358ee 234 if(controlFlag){
RemcoDas 38:08c8fd55a3bb 235 controlFlag = false;
RemcoDas 39:f0f9b3432f43 236 if(!calibrated){ // Not calibrated
RemcoDas 49:b571c822c3f9 237 if((ksRight.read()>0.8)){ // Killswitch?
RemcoDas 39:f0f9b3432f43 238 pwmM2.write(0); // Aim motor freeze
RemcoDas 39:f0f9b3432f43 239 enc2.reset(); // Reset encoder
RemcoDas 39:f0f9b3432f43 240 PRINT("Aim calibrated"); // LCD
RemcoDas 39:f0f9b3432f43 241 pc.printf("Aim calibrated\r\n");// Terminal
RemcoDas 44:97f5622db2c4 242 calibrated = true;
RemcoDas 44:97f5622db2c4 243 pc.printf("Go to midi position\r\n");
RemcoDas 39:f0f9b3432f43 244 dirM2.write(1); // direction aim motor
RemcoDas 49:b571c822c3f9 245 pwmM2.write(0.2); // percentage motor power, turn it on
RemcoDas 39:f0f9b3432f43 246 }
RemcoDas 39:f0f9b3432f43 247 }
RemcoDas 49:b571c822c3f9 248 if(calibrated) { // Calibrated
RemcoDas 43:929cab5358ee 249 checkAim(); // Check killswitches
RemcoDas 43:929cab5358ee 250 if(abs(enc2.getPulses()) > 600){ // rotate aim motor to midi position
RemcoDas 39:f0f9b3432f43 251 pwmM2.write(0); // Aim motor freeze
RemcoDas 44:97f5622db2c4 252 state = CALIBRATE_BEAM; // next state
RemcoDas 39:f0f9b3432f43 253 }
RemcoDas 39:f0f9b3432f43 254 }
RemcoDas 39:f0f9b3432f43 255 }
RemcoDas 24:ddd69385b55f 256 }
RemcoDas 49:b571c822c3f9 257 lcd.cls();
RemcoDas 24:ddd69385b55f 258 break;
RemcoDas 24:ddd69385b55f 259 }
RemcoDas 44:97f5622db2c4 260 case CALIBRATE_BEAM: {
RemcoDas 39:f0f9b3432f43 261 pc.printf("Calibrate beam motor with setknop\r\n"); // Terminal
RemcoDas 39:f0f9b3432f43 262 dirM1.write(0); // direction beam motor
RichardRoos 34:60391fb72629 263 pwmM1.period(1/100000); // period beam motor
RemcoDas 33:b4757132437e 264 servo.period(0.02); // 20ms period servo
RichardRoos 34:60391fb72629 265 btn = false; // Button is unpressed
RemcoDas 46:ed8ada80ba17 266 PRINT("Calibrate beam to 10 o'clock");
RemcoDas 44:97f5622db2c4 267 while(state==CALIBRATE_BEAM){
RemcoDas 45:520d86583ff6 268 if(controlFlag){
RemcoDas 24:ddd69385b55f 269 pc.printf(""); // lege regel printen, anders doet setknop het niet
RemcoDas 45:520d86583ff6 270 controlFlag = false;
RemcoDas 45:520d86583ff6 271 if(btn){ // If setbutton is on or one mode is 3, and has been 1
RemcoDas 43:929cab5358ee 272 enc1.reset(); // encoder 1 reset
RichardRoos 34:60391fb72629 273 PRINT("Beam calibrated");
RemcoDas 38:08c8fd55a3bb 274 pc.printf("Beam calibrated\r\n");
RemcoDas 43:929cab5358ee 275 btn = false; // button op false
RemcoDas 43:929cab5358ee 276 state = AIM; // next state
RemcoDas 45:520d86583ff6 277 }
RemcoDas 24:ddd69385b55f 278 }
RemcoDas 24:ddd69385b55f 279 }
RichardRoos 35:012b2e045579 280 lcd.cls();
RemcoDas 24:ddd69385b55f 281 break;
RemcoDas 24:ddd69385b55f 282 }
RemcoDas 24:ddd69385b55f 283 case AIM: {
RichardRoos 34:60391fb72629 284 pc.printf("Aim with EMG\r\n"); // terminal
RemcoDas 39:f0f9b3432f43 285 int i = 0; // counter for lcd
RemcoDas 39:f0f9b3432f43 286 R = false;
RemcoDas 39:f0f9b3432f43 287 L = false;
RemcoDas 46:ed8ada80ba17 288 while(state == AIM){
RemcoDas 50:16314b798754 289 if(controlFlag){ // motor control on GoFlag
RemcoDas 46:ed8ada80ba17 290 controlFlag = false;
RemcoDas 50:16314b798754 291 checkAim(); // Check position
RemcoDas 46:ed8ada80ba17 292 }
RemcoDas 50:16314b798754 293 if(emgFlag){ // Go flag EMG sampel
RemcoDas 46:ed8ada80ba17 294 emgFlag = false;
RemcoDas 46:ed8ada80ba17 295 if(controlAim()){
RemcoDas 46:ed8ada80ba17 296 pc.printf("Position chosen\r\n"); // terminal
RemcoDas 46:ed8ada80ba17 297 state = BREAK; // Next state (BREAK)
RemcoDas 46:ed8ada80ba17 298 }
RemcoDas 46:ed8ada80ba17 299 }
RemcoDas 50:16314b798754 300 if(lcdFlag){ // LCD loop to project 3 texts on lcd
RichardRoos 35:012b2e045579 301 lcdFlag = false;
RichardRoos 34:60391fb72629 302 if(i%3 == 0){
RemcoDas 44:97f5622db2c4 303 PRINT("Flex left or right half to aim");
RichardRoos 34:60391fb72629 304 }
RichardRoos 34:60391fb72629 305 else if(i%3 == 1){
RemcoDas 44:97f5622db2c4 306 PRINT("Flex both half to freeze");
RichardRoos 34:60391fb72629 307 }
RichardRoos 34:60391fb72629 308 else {
RemcoDas 44:97f5622db2c4 309 PRINT("Flex both full to continue");
RichardRoos 34:60391fb72629 310 }
RichardRoos 34:60391fb72629 311 i++;
RemcoDas 24:ddd69385b55f 312 }
RichardRoos 35:012b2e045579 313 }
RichardRoos 35:012b2e045579 314 lcd.cls();
RemcoDas 24:ddd69385b55f 315 break;
RemcoDas 24:ddd69385b55f 316 }
RemcoDas 33:b4757132437e 317 case BREAK: {
RemcoDas 44:97f5622db2c4 318 pc.printf("Set break percentage, current is: %i\r\n", breakPerc);
RemcoDas 24:ddd69385b55f 319 L = false;
RemcoDas 50:16314b798754 320 R = false;
RemcoDas 44:97f5622db2c4 321 PRINT("L := -1, R := +1 L+R = continue");
RemcoDas 50:16314b798754 322
RemcoDas 44:97f5622db2c4 323 wait(1);
RemcoDas 44:97f5622db2c4 324 while(state == BREAK){
RemcoDas 46:ed8ada80ba17 325 if(emgFlag){ // Go flag EMG sampelen
RemcoDas 44:97f5622db2c4 326
RemcoDas 26:d9855716ced7 327 emgFlag = false;
RemcoDas 47:959ef2792024 328 modeL = defMode(emgL, potL, true);
RemcoDas 47:959ef2792024 329 modeR = defMode(emgR, potR, false);
RemcoDas 43:929cab5358ee 330
RemcoDas 44:97f5622db2c4 331 if((modeL > 1) && (modeR > 1) && L && R) { // both modes > 1
RemcoDas 44:97f5622db2c4 332 state = FIRE;
RemcoDas 41:91c8c39d7a33 333 }
RemcoDas 44:97f5622db2c4 334 else if((modeL > 2 && L)|| (modeR > 2 && R)) { // left of right mode 3 = fire
RemcoDas 41:91c8c39d7a33 335 state = FIRE;
RemcoDas 41:91c8c39d7a33 336 }
RemcoDas 43:929cab5358ee 337 else {
RemcoDas 43:929cab5358ee 338 if(modeR < 2) { // modeR is 1
RemcoDas 43:929cab5358ee 339 R = true;
RemcoDas 43:929cab5358ee 340 }
RemcoDas 50:16314b798754 341 if(modeL < 2) { // modeL is 1
RemcoDas 43:929cab5358ee 342 L = true;
RemcoDas 43:929cab5358ee 343 }
RemcoDas 50:16314b798754 344 if(L && R){ // L and R has been 1
RemcoDas 43:929cab5358ee 345 if((modeL == 2) && L) { // modeL = BREAK lower with one
RemcoDas 50:16314b798754 346 if(breakPerc > 0){
RemcoDas 50:16314b798754 347 breakPerc--;
RemcoDas 43:929cab5358ee 348 }
RemcoDas 43:929cab5358ee 349 L = false;
RemcoDas 43:929cab5358ee 350 }
RemcoDas 43:929cab5358ee 351 else if((modeR == 2) && R) { // modeR = Break +1
RemcoDas 50:16314b798754 352 if(breakPerc < 3){
RemcoDas 50:16314b798754 353 breakPerc ++;
RemcoDas 43:929cab5358ee 354 }
RemcoDas 43:929cab5358ee 355 R = false;
RemcoDas 43:929cab5358ee 356 }
RemcoDas 50:16314b798754 357 if(modeL > 1 || modeR > 1){ // Print BREAK scale if one of both modes > 1
RemcoDas 50:16314b798754 358 pc.printf("Current breaking scale: %i \r\n", breakPerc);
RemcoDas 43:929cab5358ee 359 }
RemcoDas 43:929cab5358ee 360 }
RemcoDas 46:ed8ada80ba17 361 }
RemcoDas 50:16314b798754 362 if(lcdFlag){ // every 2 seconds update lcd
RemcoDas 46:ed8ada80ba17 363 lcdFlag = false;
RemcoDas 46:ed8ada80ba17 364 lcd.cls();
RemcoDas 50:16314b798754 365 lcd.printf("Break scale 0 - 4: %i", breakPerc);
RemcoDas 26:d9855716ced7 366 }
RemcoDas 24:ddd69385b55f 367 }
RemcoDas 24:ddd69385b55f 368 }
RemcoDas 50:16314b798754 369 lcd.cls();
RemcoDas 50:16314b798754 370 lcd.printf("Break fixed on: %i", breakPerc); // lcd
RemcoDas 44:97f5622db2c4 371 pc.printf("Break fixed\r\n"); // terminal
RemcoDas 33:b4757132437e 372 L = false; // modeL must be one for another action can take place
RemcoDas 50:16314b798754 373 R = false; // modeR ""
RemcoDas 24:ddd69385b55f 374 break;
RemcoDas 24:ddd69385b55f 375 }
RemcoDas 24:ddd69385b55f 376 case FIRE: {
RemcoDas 43:929cab5358ee 377 pc.printf("Shooting\r\n"); // terminal
RemcoDas 43:929cab5358ee 378 PRINT("FIRING"); // lcd
RemcoDas 47:959ef2792024 379 pwmM1.write(0.3); // beam motor on
RemcoDas 50:16314b798754 380 bool breaking = false;
RemcoDas 50:16314b798754 381 int countBreak = 0;
RemcoDas 50:16314b798754 382 if(breakPerc > 0){
RemcoDas 46:ed8ada80ba17 383 servo.pulsewidth(servoBreak); // Servo to break position
RemcoDas 46:ed8ada80ba17 384 breaking = true; // boolean breaking?
RemcoDas 50:16314b798754 385 countBreak = 2100*breakPerc/4; // Amount of counts where must be breaked
RemcoDas 50:16314b798754 386 }
RemcoDas 40:35c7c60d7262 387 while(state == FIRE){ // while in FIRE state
RemcoDas 43:929cab5358ee 388 if(controlFlag){ // BREAK goFlag half rotation beam = breaking
RemcoDas 41:91c8c39d7a33 389 controlFlag = false; // GoFlag
RemcoDas 46:ed8ada80ba17 390 int counts = abs(enc1.getPulses())+250; // counts encoder beam, +250 is to correct 10 to 12 o'clock // encoder is 0 on 100 counts before 12 o'clock
RemcoDas 50:16314b798754 391 if(breaking){
RemcoDas 50:16314b798754 392 if((counts+countBreak)%4200 < 100){ // calculate with remainder, half revolution
RemcoDas 43:929cab5358ee 393 servo.pulsewidth(servoFree); // Servo to free position
RemcoDas 40:35c7c60d7262 394 breaking = false;
RemcoDas 40:35c7c60d7262 395 }
RemcoDas 24:ddd69385b55f 396 }
RemcoDas 50:16314b798754 397 if(!breaking){
RemcoDas 50:16314b798754 398 if((counts-100)%4200 < 100){ // rotated 1 rev?
RemcoDas 41:91c8c39d7a33 399 pwmM1.write(0); // motor beam off
RemcoDas 41:91c8c39d7a33 400 pc.printf("Beam on startposition\r\n"); // terminal
RemcoDas 41:91c8c39d7a33 401 state = AIM; // Next stage
RemcoDas 40:35c7c60d7262 402 }
RemcoDas 24:ddd69385b55f 403 }
RemcoDas 24:ddd69385b55f 404 }
RichardRoos 36:549d1ce7b96b 405 }
RichardRoos 36:549d1ce7b96b 406 lcd.cls();
RemcoDas 24:ddd69385b55f 407 break;
RemcoDas 24:ddd69385b55f 408 }
Bartvaart 19:6c0245063b96 409 }
Bartvaart 17:cfe44346645c 410 }
RemcoDas 24:ddd69385b55f 411 }