Script 15-10-2019
Dependencies: Servoaansturing mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@6:64146e16e10c, 2019-10-11 (annotated)
- Committer:
- Renate
- Date:
- Fri Oct 11 10:48:24 2019 +0000
- Revision:
- 6:64146e16e10c
- Parent:
- 5:9f1260408ef2
- Child:
- 7:1d57463393c6
Versie met knoppen (half)
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 | 6:64146e16e10c | 73 | enum states {Motors_off, Calib_motor, Calib_EMG, Homing, No_mov_before_pick_up, Servo_horizontal, Position_1, Slide, Lift, No_mov_before_drop_off, Position_drop_off, Servo_tilt_down, Position_2}; |
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 | 6:64146e16e10c | 91 | if // (Motor_calib_button_pressed()) nog een extra 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 | 6:64146e16e10c | 97 | break; |
Renate | 6:64146e16e10c | 98 | |
Renate | 6:64146e16e10c | 99 | case Calib_motor: |
Renate | 6:64146e16e10c | 100 | |
Renate | 6:64146e16e10c | 101 | if (stateChanged) |
Renate | 6:64146e16e10c | 102 | { |
Renate | 6:64146e16e10c | 103 | // Hier wordt een kalibratie uitgevoerd, waarbij de motorhoeken worden bepaald |
Renate | 6:64146e16e10c | 104 | currentState = Calib_EMG; |
Renate | 6:64146e16e10c | 105 | stateChanged = true; |
Renate | 6:64146e16e10c | 106 | pc.printf("Moving to Calib_EMG state\n"); |
Renate | 6:64146e16e10c | 107 | } |
Renate | 6:64146e16e10c | 108 | break; |
Renate | 6:64146e16e10c | 109 | |
Renate | 6:64146e16e10c | 110 | case Calib_EMG: |
Renate | 6:64146e16e10c | 111 | |
Renate | 6:64146e16e10c | 112 | if (stateChanged) |
Renate | 6:64146e16e10c | 113 | { |
Renate | 6:64146e16e10c | 114 | // Hierbij wordt een een kalibratie uitgevoerd, waarbij de maximale EMG-amplitude waarde wordt bepaald |
Renate | 6:64146e16e10c | 115 | currentState = Homing; |
Renate | 6:64146e16e10c | 116 | stateChanged = true; |
Renate | 6:64146e16e10c | 117 | pc.printf("Moving to Homing state\n"); |
Renate | 6:64146e16e10c | 118 | } |
Renate | 6:64146e16e10c | 119 | break; |
Renate | 6:64146e16e10c | 120 | |
Renate | 6:64146e16e10c | 121 | case Homing: |
Renate | 6:64146e16e10c | 122 | |
Renate | 6:64146e16e10c | 123 | if (stateChanged) |
Renate | 6:64146e16e10c | 124 | { |
Renate | 6:64146e16e10c | 125 | // Ervoor zorgen dat de motoren zo bewegen dat de robotarm in de juiste home positie wordt gezet |
Renate | 6:64146e16e10c | 126 | currentState = No_mov_before_pick_up; |
Renate | 6:64146e16e10c | 127 | stateChanged = true; |
Renate | 6:64146e16e10c | 128 | pc.printf("Moving to no movement before pick up state \n"); |
Renate | 6:64146e16e10c | 129 | } |
Renate | 6:64146e16e10c | 130 | break; |
Renate | 6:64146e16e10c | 131 | |
Renate | 6:64146e16e10c | 132 | case No_mov_before_pick_up: // De robot arm beweegt niet, soort ruststand na de homing |
Renate | 6:64146e16e10c | 133 | |
Renate | 6:64146e16e10c | 134 | if (stateChanged) |
Renate | 6:64146e16e10c | 135 | { |
Renate | 6:64146e16e10c | 136 | if (// eis om naar positie 1 te gaan) |
Renate | 6:64146e16e10c | 137 | { |
Renate | 6:64146e16e10c | 138 | currentState = Position_1 |
Renate | 6:64146e16e10c | 139 | stateChanged = true; |
Renate | 6:64146e16e10c | 140 | pc.printf("Moving to position_1 state\n"); |
Renate | 6:64146e16e10c | 141 | } |
Renate | 6:64146e16e10c | 142 | |
Renate | 6:64146e16e10c | 143 | if (// eis om naar positie 2 te gaan) |
Renate | 6:64146e16e10c | 144 | { |
Renate | 6:64146e16e10c | 145 | currentState = Position_2; |
Renate | 6:64146e16e10c | 146 | stateChanged = true; |
Renate | 6:64146e16e10c | 147 | pc.printf("Moving to position_2 state\n"); |
Renate | 6:64146e16e10c | 148 | } |
Renate | 6:64146e16e10c | 149 | |
Renate | 6:64146e16e10c | 150 | if (// eis om naar drop off positie te gaan, als het eraf glijden mislukt is) |
Renate | 6:64146e16e10c | 151 | { |
Renate | 6:64146e16e10c | 152 | currentState = Position_drop_off; |
Renate | 6:64146e16e10c | 153 | stateChanged = true; |
Renate | 6:64146e16e10c | 154 | pc.printf("Moving to position_drop_off state\n"); |
Renate | 6:64146e16e10c | 155 | } |
Renate | 6:64146e16e10c | 156 | |
Renate | 6:64146e16e10c | 157 | if (// eis voor nieuwe poging om home positie juist te bereiken) |
Renate | 6:64146e16e10c | 158 | { |
Renate | 6:64146e16e10c | 159 | currentState = Homing; // Mogelijk de state Calib_motor |
Renate | 6:64146e16e10c | 160 | stateChanged = true; |
Renate | 6:64146e16e10c | 161 | pc.printf("Retry homing\n"); |
Renate | 6:64146e16e10c | 162 | } |
Renate | 6:64146e16e10c | 163 | |
Renate | 6:64146e16e10c | 164 | if (// eis om de motoren uit te zetten) |
Renate | 6:64146e16e10c | 165 | { |
Renate | 6:64146e16e10c | 166 | currentState = Motors_off |
Renate | 6:64146e16e10c | 167 | stateChanged = true; |
Renate | 6:64146e16e10c | 168 | pc.printf("Shutting down\n"); |
Renate | 6:64146e16e10c | 169 | } |
Renate | 6:64146e16e10c | 170 | } |
Renate | 6:64146e16e10c | 171 | break; |
Renate | 6:64146e16e10c | 172 | |
Renate | 6:64146e16e10c | 173 | case Position_1: |
Renate | 6:64146e16e10c | 174 | |
Renate | 6:64146e16e10c | 175 | if (stateChanged) |
Renate | 6:64146e16e10c | 176 | { |
Renate | 6:64146e16e10c | 177 | // Ervoor zorgen dat de end-effector |
Renate | 6:64146e16e10c | 178 | |
Renate | 6:64146e16e10c | 179 | |
Renate | 6:64146e16e10c | 180 | |
Renate | 6:64146e16e10c | 181 | if (stateChanged) |
Renate | 6:64146e16e10c | 182 | { |
Renate | 6:64146e16e10c | 183 | // Ervoor zorgen dat de motoren zo bewegen dat de robotarm in de juiste home positie wordt gezet |
Renate | 6:64146e16e10c | 184 | currentState = No_mov_before_pick_up; |
Renate | 6:64146e16e10c | 185 | stateChanged = true; |
Renate | 6:64146e16e10c | 186 | pc.printf("Moving to no movement before pick up state \n"); |
Renate | 6:64146e16e10c | 187 | } |
Renate | 6:64146e16e10c | 188 | break; |
Renate | 6:64146e16e10c | 189 | |
Renate | 6:64146e16e10c | 190 | |
Rosalie | 3:6ee0b20c23b0 | 191 | |
Rosalie | 3:6ee0b20c23b0 | 192 | int main() |
Rosalie | 3:6ee0b20c23b0 | 193 | { |
Rosalie | 5:9f1260408ef2 | 194 | // for(float p=0; p<1.0; p += 0.1) |
Rosalie | 5:9f1260408ef2 | 195 | // { |
Rosalie | 5:9f1260408ef2 | 196 | // myservo == p; |
Rosalie | 5:9f1260408ef2 | 197 | // wait(0.2); |
Rosalie | 5:9f1260408ef2 | 198 | // } |
Rosalie | 3:6ee0b20c23b0 | 199 | myControllerTicker1.attach(motor1Controller, 0.1 ); // Every 1/10 second |
Rosalie | 3:6ee0b20c23b0 | 200 | myControllerTicker2.attach(motor2Controller, 0.1 ); // Every 1/10 second |
Rosalie | 3:6ee0b20c23b0 | 201 | |
Rosalie | 3:6ee0b20c23b0 | 202 | button1.mode(PullUp); |
Rosalie | 3:6ee0b20c23b0 | 203 | button1.rise(direction1); |
Rosalie | 3:6ee0b20c23b0 | 204 | button2.mode(PullUp); |
Rosalie | 3:6ee0b20c23b0 | 205 | button2.rise(direction2); |
Rosalie | 3:6ee0b20c23b0 | 206 | |
Rosalie | 3:6ee0b20c23b0 | 207 | |
Rosalie | 3:6ee0b20c23b0 | 208 | while( true ) { /* do nothing */ } |
Rosalie | 3:6ee0b20c23b0 | 209 | return 0; |
WiesjeRoskamp | 2:aee655d11b6d | 210 | } |
WiesjeRoskamp | 2:aee655d11b6d | 211 | |
WiesjeRoskamp | 2:aee655d11b6d | 212 | |
WiesjeRoskamp | 2:aee655d11b6d | 213 | |
RobertoO | 0:67c50348f842 | 214 |