Script 15-10-2019
Dependencies: Servoaansturing mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@7:1d57463393c6, 2019-10-11 (annotated)
- Committer:
- Renate
- Date:
- Fri Oct 11 12:31:34 2019 +0000
- Revision:
- 7:1d57463393c6
- Parent:
- 6:64146e16e10c
- Child:
- 8:c7d3b67346db
Basis voor finite state machine
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
RobertoO | 0:67c50348f842 | 1 | #include "mbed.h" |
Rosalie | 3:6ee0b20c23b0 | 2 | #include "HIDScope.h" |
Rosalie | 3:6ee0b20c23b0 | 3 | #include "QEI.h" |
RobertoO | 1:b862262a9d14 | 4 | #include "MODSERIAL.h" |
Rosalie | 3:6ee0b20c23b0 | 5 | #include "BiQuad.h" |
Rosalie | 3:6ee0b20c23b0 | 6 | #include "FastPWM.h" |
WiesjeRoskamp | 2:aee655d11b6d | 7 | #include <math.h> |
Rosalie | 5:9f1260408ef2 | 8 | #include "Servo.h" |
RobertoO | 0:67c50348f842 | 9 | |
Rosalie | 3:6ee0b20c23b0 | 10 | //definieer objecten |
WiesjeRoskamp | 2:aee655d11b6d | 11 | Serial pc(USBTX, USBRX); |
Rosalie | 3:6ee0b20c23b0 | 12 | |
Rosalie | 5:9f1260408ef2 | 13 | //Servo myservo(D8); |
Rosalie | 5:9f1260408ef2 | 14 | |
Rosalie | 3:6ee0b20c23b0 | 15 | Ticker myControllerTicker1; |
Rosalie | 3:6ee0b20c23b0 | 16 | Ticker myControllerTicker2; |
Rosalie | 3:6ee0b20c23b0 | 17 | |
Rosalie | 4:6742476fadcf | 18 | AnalogIn potMeter1(A1); |
Rosalie | 4:6742476fadcf | 19 | AnalogIn potMeter2(A0); |
Rosalie | 3:6ee0b20c23b0 | 20 | |
Rosalie | 4:6742476fadcf | 21 | PwmOut motor1(D6); |
Rosalie | 4:6742476fadcf | 22 | PwmOut motor2(D5); |
Rosalie | 3:6ee0b20c23b0 | 23 | |
Rosalie | 4:6742476fadcf | 24 | DigitalOut motor1_dir(D7); |
Rosalie | 4:6742476fadcf | 25 | DigitalOut motor2_dir(D4); |
Rosalie | 3:6ee0b20c23b0 | 26 | |
Rosalie | 5:9f1260408ef2 | 27 | |
Rosalie | 4:6742476fadcf | 28 | InterruptIn button1(D1); |
Rosalie | 4:6742476fadcf | 29 | InterruptIn button2(D2); |
WiesjeRoskamp | 2:aee655d11b6d | 30 | |
Rosalie | 3:6ee0b20c23b0 | 31 | //richting wisselen van motor 1 |
Rosalie | 3:6ee0b20c23b0 | 32 | void direction1(void) |
Rosalie | 3:6ee0b20c23b0 | 33 | { |
Rosalie | 3:6ee0b20c23b0 | 34 | motor1_dir=!motor1_dir; |
Rosalie | 3:6ee0b20c23b0 | 35 | } |
Rosalie | 3:6ee0b20c23b0 | 36 | |
Rosalie | 3:6ee0b20c23b0 | 37 | //richting wisselen van motor 2 |
Rosalie | 3:6ee0b20c23b0 | 38 | void direction2(void) |
Rosalie | 3:6ee0b20c23b0 | 39 | { |
Rosalie | 3:6ee0b20c23b0 | 40 | motor2_dir=!motor2_dir; |
Rosalie | 3:6ee0b20c23b0 | 41 | } |
Rosalie | 3:6ee0b20c23b0 | 42 | |
Rosalie | 3:6ee0b20c23b0 | 43 | |
Rosalie | 3:6ee0b20c23b0 | 44 | //snelheid motor 1 aansturen |
Rosalie | 3:6ee0b20c23b0 | 45 | void motor1Controller( ) |
WiesjeRoskamp | 2:aee655d11b6d | 46 | { |
Rosalie | 3:6ee0b20c23b0 | 47 | // Determine reference (desired) fan speed |
Rosalie | 3:6ee0b20c23b0 | 48 | double y1_des = potMeter1.read(); |
Rosalie | 3:6ee0b20c23b0 | 49 | // Controller (calculate motor torque/pwm) |
Rosalie | 3:6ee0b20c23b0 | 50 | if( y1_des > 1 ) y1_des = 1; // y1_des must be <= 1 |
Rosalie | 3:6ee0b20c23b0 | 51 | if( y1_des < 0 ) y1_des = 0; // y1_des must be >= 0 |
Rosalie | 3:6ee0b20c23b0 | 52 | double power1 = pow(y1_des, 2.0); // Inverse relation between input and output |
Rosalie | 3:6ee0b20c23b0 | 53 | // Send to motor |
Rosalie | 3:6ee0b20c23b0 | 54 | motor1.write( power1 ); |
Rosalie | 3:6ee0b20c23b0 | 55 | pc.printf("power1: %.2f\t",power1); |
Rosalie | 3:6ee0b20c23b0 | 56 | } |
Rosalie | 3:6ee0b20c23b0 | 57 | |
Rosalie | 3:6ee0b20c23b0 | 58 | //snelheid motor 2 aansturen |
Rosalie | 3:6ee0b20c23b0 | 59 | void motor2Controller( ) |
Rosalie | 3:6ee0b20c23b0 | 60 | { |
Rosalie | 3:6ee0b20c23b0 | 61 | // Determine reference (desired) fan speed |
Rosalie | 3:6ee0b20c23b0 | 62 | double y2_des = potMeter2.read(); |
Rosalie | 3:6ee0b20c23b0 | 63 | // Controller (calculate motor torque/pwm) |
Rosalie | 3:6ee0b20c23b0 | 64 | if( y2_des > 1 ) y2_des = 1; // y2_des must be <= 1 |
Rosalie | 3:6ee0b20c23b0 | 65 | if( y2_des < 0 ) y2_des = 0; // y2_des must be >= 0 |
Rosalie | 3:6ee0b20c23b0 | 66 | double power2 = pow(y2_des, 2.0); // Inverse relation between input and output |
Rosalie | 3:6ee0b20c23b0 | 67 | // Send to motor |
Rosalie | 3:6ee0b20c23b0 | 68 | motor2.write( power2 ); |
Rosalie | 3:6ee0b20c23b0 | 69 | pc.printf("power2: %.2f\n\r",power2); |
Rosalie | 3:6ee0b20c23b0 | 70 | } |
Rosalie | 3:6ee0b20c23b0 | 71 | |
Renate | 6:64146e16e10c | 72 | // Finite state machine programming (calibration servo motor?) |
Renate | 7:1d57463393c6 | 73 | enum states {Motors_off, Calib_motor, Calib_EMG, Homing, Operation_mode, Failure_mode}; |
Renate | 6:64146e16e10c | 74 | |
Renate | 6:64146e16e10c | 75 | states currentState = Motors_off; |
Renate | 6:64146e16e10c | 76 | bool stateChanged = true; // Make sure the initialization of first state is executed |
Renate | 6:64146e16e10c | 77 | |
Renate | 6:64146e16e10c | 78 | |
Renate | 6:64146e16e10c | 79 | void ProcessStateMachine(void) |
Renate | 6:64146e16e10c | 80 | { |
Renate | 6:64146e16e10c | 81 | switch (currentState) |
Renate | 6:64146e16e10c | 82 | { |
Renate | 6:64146e16e10c | 83 | case Motors_off: |
Renate | 6:64146e16e10c | 84 | |
Renate | 6:64146e16e10c | 85 | if (stateChanged) |
Renate | 6:64146e16e10c | 86 | { |
Renate | 6:64146e16e10c | 87 | // functie toevoegen waarbij motoren uitgaan |
Renate | 6:64146e16e10c | 88 | stateChanged = false; |
Renate | 6:64146e16e10c | 89 | pc.printf("Motors off\n"); |
Renate | 6:64146e16e10c | 90 | } |
Renate | 7:1d57463393c6 | 91 | if // (Power_button_pressed()) nog een button toevoegen voordat dit kan |
Renate | 6:64146e16e10c | 92 | { |
Renate | 6:64146e16e10c | 93 | currentState = Calib_motor; |
Renate | 6:64146e16e10c | 94 | stateChanged = true; |
Renate | 6:64146e16e10c | 95 | pc.printf("Moving to Calib_motor state\n"); |
Renate | 6:64146e16e10c | 96 | } |
Renate | 7:1d57463393c6 | 97 | if // (Emergency_button_pressed()) nog een button toevoegen voordat dit kan |
Renate | 7:1d57463393c6 | 98 | { |
Renate | 7:1d57463393c6 | 99 | currentState = Failure_mode; |
Renate | 7:1d57463393c6 | 100 | stateChanged = true; |
Renate | 7:1d57463393c6 | 101 | pc.printf("Moving to failure_mode\n"); |
Renate | 7:1d57463393c6 | 102 | } |
Renate | 7:1d57463393c6 | 103 | |
Renate | 6:64146e16e10c | 104 | break; |
Renate | 6:64146e16e10c | 105 | |
Renate | 6:64146e16e10c | 106 | case Calib_motor: |
Renate | 6:64146e16e10c | 107 | |
Renate | 6:64146e16e10c | 108 | if (stateChanged) |
Renate | 6:64146e16e10c | 109 | { |
Renate | 6:64146e16e10c | 110 | // Hier wordt een kalibratie uitgevoerd, waarbij de motorhoeken worden bepaald |
Renate | 6:64146e16e10c | 111 | currentState = Calib_EMG; |
Renate | 6:64146e16e10c | 112 | stateChanged = true; |
Renate | 6:64146e16e10c | 113 | pc.printf("Moving to Calib_EMG state\n"); |
Renate | 7:1d57463393c6 | 114 | } |
Renate | 7:1d57463393c6 | 115 | if // (Emergency_button_pressed()) nog een button toevoegen voordat dit kan |
Renate | 7:1d57463393c6 | 116 | { |
Renate | 7:1d57463393c6 | 117 | currentState = Failure_mode; |
Renate | 7:1d57463393c6 | 118 | stateChanged = true; |
Renate | 7:1d57463393c6 | 119 | pc.printf("Moving to failure_mode\n"); |
Renate | 7:1d57463393c6 | 120 | } |
Renate | 7:1d57463393c6 | 121 | |
Renate | 6:64146e16e10c | 122 | break; |
Renate | 6:64146e16e10c | 123 | |
Renate | 6:64146e16e10c | 124 | case Calib_EMG: |
Renate | 6:64146e16e10c | 125 | |
Renate | 6:64146e16e10c | 126 | if (stateChanged) |
Renate | 6:64146e16e10c | 127 | { |
Renate | 6:64146e16e10c | 128 | // Hierbij wordt een een kalibratie uitgevoerd, waarbij de maximale EMG-amplitude waarde wordt bepaald |
Renate | 6:64146e16e10c | 129 | currentState = Homing; |
Renate | 6:64146e16e10c | 130 | stateChanged = true; |
Renate | 6:64146e16e10c | 131 | pc.printf("Moving to Homing state\n"); |
Renate | 6:64146e16e10c | 132 | } |
Renate | 7:1d57463393c6 | 133 | if // (Emergency_button_pressed()) nog een button toevoegen voordat dit kan |
Renate | 7:1d57463393c6 | 134 | { |
Renate | 7:1d57463393c6 | 135 | currentState = Failure_mode; |
Renate | 7:1d57463393c6 | 136 | stateChanged = true; |
Renate | 7:1d57463393c6 | 137 | pc.printf("Moving to failure_mode\n"); |
Renate | 7:1d57463393c6 | 138 | } |
Renate | 7:1d57463393c6 | 139 | |
Renate | 6:64146e16e10c | 140 | break; |
Renate | 6:64146e16e10c | 141 | |
Renate | 6:64146e16e10c | 142 | case Homing: |
Renate | 6:64146e16e10c | 143 | |
Renate | 6:64146e16e10c | 144 | if (stateChanged) |
Renate | 6:64146e16e10c | 145 | { |
Renate | 7:1d57463393c6 | 146 | // Ervoor zorgen dat de motoren zo bewegen dat de robotarm |
Renate | 7:1d57463393c6 | 147 | // (inclusief de end-effector) in de juiste home positie wordt gezet |
Renate | 7:1d57463393c6 | 148 | currentState = Operation_mode; |
Renate | 7:1d57463393c6 | 149 | stateChanged = true; |
Renate | 7:1d57463393c6 | 150 | pc.printf("Moving to operation mode\n"); |
Renate | 7:1d57463393c6 | 151 | } |
Renate | 7:1d57463393c6 | 152 | if // (Emergency_button_pressed()) nog een button toevoegen voordat dit kan |
Renate | 7:1d57463393c6 | 153 | { |
Renate | 7:1d57463393c6 | 154 | currentState = Failure_mode; |
Renate | 6:64146e16e10c | 155 | stateChanged = true; |
Renate | 7:1d57463393c6 | 156 | pc.printf("Moving to failure_mode\n"); |
Renate | 7:1d57463393c6 | 157 | } |
Renate | 7:1d57463393c6 | 158 | break; |
Renate | 7:1d57463393c6 | 159 | |
Renate | 7:1d57463393c6 | 160 | case Operation_mode: |
Renate | 7:1d57463393c6 | 161 | |
Renate | 7:1d57463393c6 | 162 | if (stateChanged) |
Renate | 7:1d57463393c6 | 163 | { |
Renate | 7:1d57463393c6 | 164 | // Hier moet een functie worden aangeroepen die ervoor zorgt dat |
Renate | 7:1d57463393c6 | 165 | // aan de hand van EMG-signalen de motoren kunnen worden aangestuurd, |
Renate | 7:1d57463393c6 | 166 | // zodat de robotarm kan bewegen |
Renate | 7:1d57463393c6 | 167 | |
Renate | 7:1d57463393c6 | 168 | if // (Power_button_pressed()) |
Renate | 7:1d57463393c6 | 169 | { |
Renate | 7:1d57463393c6 | 170 | currentState = Motors_off; |
Renate | 7:1d57463393c6 | 171 | stateChanged = true; |
Renate | 7:1d57463393c6 | 172 | } |
Renate | 7:1d57463393c6 | 173 | if // (Emergency_button_pressed()) nog een button toevoegen voordat dit kan |
Renate | 7:1d57463393c6 | 174 | { |
Renate | 7:1d57463393c6 | 175 | currentState = Failure_mode; |
Renate | 7:1d57463393c6 | 176 | stateChanged = true; |
Renate | 7:1d57463393c6 | 177 | pc.printf("Moving to failure_mode\n"); |
Renate | 7:1d57463393c6 | 178 | } |
Renate | 7:1d57463393c6 | 179 | else |
Renate | 7:1d57463393c6 | 180 | { |
Renate | 7:1d57463393c6 | 181 | currentState = Homing; |
Renate | 7:1d57463393c6 | 182 | stateChanged = true; |
Renate | 7:1d57463393c6 | 183 | } |
Renate | 7:1d57463393c6 | 184 | break; |
Renate | 7:1d57463393c6 | 185 | |
Renate | 7:1d57463393c6 | 186 | case Failure_mode: |
Renate | 7:1d57463393c6 | 187 | |
Renate | 7:1d57463393c6 | 188 | if (stateChanged) |
Renate | 7:1d57463393c6 | 189 | { |
Renate | 7:1d57463393c6 | 190 | pc.printf("Ik ga exploderen!!!"); |
Renate | 7:1d57463393c6 | 191 | // Alles moet uitgaan (evt. een rood LEDje laten branden), moet |
Renate | 7:1d57463393c6 | 192 | // opnieuw worden opgestart. Mogelijk kan dit door de ticker de |
Renate | 7:1d57463393c6 | 193 | // detachen |
Renate | 6:64146e16e10c | 194 | } |
Renate | 6:64146e16e10c | 195 | break; |
Renate | 6:64146e16e10c | 196 | |
Renate | 7:1d57463393c6 | 197 | default: |
Renate | 7:1d57463393c6 | 198 | // Zelfde functie als die eerder is toegepast om motoren uit te schakelen -> safety! |
Renate | 7:1d57463393c6 | 199 | pc.printf("Unknown or uninplemented state reached!\n"); |
Renate | 7:1d57463393c6 | 200 | } |
Rosalie | 3:6ee0b20c23b0 | 201 | |
Rosalie | 3:6ee0b20c23b0 | 202 | int main() |
Rosalie | 3:6ee0b20c23b0 | 203 | { |
Rosalie | 5:9f1260408ef2 | 204 | // for(float p=0; p<1.0; p += 0.1) |
Rosalie | 5:9f1260408ef2 | 205 | // { |
Rosalie | 5:9f1260408ef2 | 206 | // myservo == p; |
Rosalie | 5:9f1260408ef2 | 207 | // wait(0.2); |
Rosalie | 5:9f1260408ef2 | 208 | // } |
Rosalie | 3:6ee0b20c23b0 | 209 | myControllerTicker1.attach(motor1Controller, 0.1 ); // Every 1/10 second |
Rosalie | 3:6ee0b20c23b0 | 210 | myControllerTicker2.attach(motor2Controller, 0.1 ); // Every 1/10 second |
Rosalie | 3:6ee0b20c23b0 | 211 | |
Rosalie | 3:6ee0b20c23b0 | 212 | button1.mode(PullUp); |
Rosalie | 3:6ee0b20c23b0 | 213 | button1.rise(direction1); |
Rosalie | 3:6ee0b20c23b0 | 214 | button2.mode(PullUp); |
Rosalie | 3:6ee0b20c23b0 | 215 | button2.rise(direction2); |
Rosalie | 3:6ee0b20c23b0 | 216 | |
Rosalie | 3:6ee0b20c23b0 | 217 | |
Rosalie | 3:6ee0b20c23b0 | 218 | while( true ) { /* do nothing */ } |
Rosalie | 3:6ee0b20c23b0 | 219 | return 0; |
WiesjeRoskamp | 2:aee655d11b6d | 220 | } |
WiesjeRoskamp | 2:aee655d11b6d | 221 | |
WiesjeRoskamp | 2:aee655d11b6d | 222 | |
WiesjeRoskamp | 2:aee655d11b6d | 223 | |
RobertoO | 0:67c50348f842 | 224 |