Script 15-10-2019
Dependencies: Servoaansturing mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@16:733a71a177e8, 2019-10-15 (annotated)
- Committer:
- Renate
- Date:
- Tue Oct 15 13:52:25 2019 +0000
- Revision:
- 16:733a71a177e8
- Parent:
- 15:ad065ab92d11
- Child:
- 17:e371bced66da
Script 15-10-2019
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 | |
Renate | 11:4bc0304978e2 | 10 | // Definieer objecten |
WiesjeRoskamp | 2:aee655d11b6d | 11 | Serial pc(USBTX, USBRX); |
Rosalie | 3:6ee0b20c23b0 | 12 | |
Renate | 14:54343b9fd708 | 13 | PwmOut motor1(D6); // Misschien moeten we hiervoor DigitalOut gebruiken, moet |
Renate | 14:54343b9fd708 | 14 | PwmOut motor2(D5); // samen kunnen gaan met de servo motor |
Renate | 15:ad065ab92d11 | 15 | |
Renate | 15:ad065ab92d11 | 16 | DigitalOut motor1_dir(D7); |
Renate | 15:ad065ab92d11 | 17 | DigitalOut motor2_dir(D4); |
Renate | 14:54343b9fd708 | 18 | |
Renate | 14:54343b9fd708 | 19 | DigitalIn Power_button_pressed(D1); // Geen InterruptIn gebruiken! |
Renate | 9:4de589636f50 | 20 | DigitalIn Emergency_button_pressed(D2); |
WiesjeRoskamp | 2:aee655d11b6d | 21 | |
Renate | 15:ad065ab92d11 | 22 | AnalogIn EMG_biceps_right_raw (A0); |
Renate | 15:ad065ab92d11 | 23 | AnalogIn EMG_biceps_left_raw (A1); |
Renate | 15:ad065ab92d11 | 24 | Analogin EMG_calf_raw (A2); |
Renate | 15:ad065ab92d11 | 25 | |
Renate | 8:c7d3b67346db | 26 | Ticker loop_ticker; |
Renate | 16:733a71a177e8 | 27 | Ticker sample_timer; |
Renate | 11:4bc0304978e2 | 28 | |
Renate | 11:4bc0304978e2 | 29 | // Emergency |
Renate | 8:c7d3b67346db | 30 | void emergency() |
Rosalie | 3:6ee0b20c23b0 | 31 | { |
Renate | 11:4bc0304978e2 | 32 | loop_ticker.detach(); |
Renate | 8:c7d3b67346db | 33 | motor1.write(0); |
Renate | 8:c7d3b67346db | 34 | motor2.write(0); |
Renate | 11:4bc0304978e2 | 35 | pc.printf("Ik ga exploderen!!!\r\n"); |
Renate | 11:4bc0304978e2 | 36 | // Alles moet uitgaan (evt. een rood LEDje laten branden), moet |
Renate | 14:54343b9fd708 | 37 | // opnieuw worden opgestart. Mogelijk kan dit door de ticker te |
Renate | 11:4bc0304978e2 | 38 | // detachen |
Renate | 8:c7d3b67346db | 39 | } |
Renate | 11:4bc0304978e2 | 40 | |
Renate | 11:4bc0304978e2 | 41 | // Motoren uitzetten |
Renate | 8:c7d3b67346db | 42 | void motors_off() |
Renate | 8:c7d3b67346db | 43 | { |
Renate | 8:c7d3b67346db | 44 | motor1.write(0); |
Renate | 8:c7d3b67346db | 45 | motor2.write(0); |
Renate | 9:4de589636f50 | 46 | pc.printf("Motoren uit functie\r\n"); |
Renate | 8:c7d3b67346db | 47 | } |
Renate | 8:c7d3b67346db | 48 | |
Renate | 14:54343b9fd708 | 49 | // Motoren aanzetten |
Renate | 15:ad065ab92d11 | 50 | void motors_on() |
Renate | 15:ad065ab92d11 | 51 | { |
Renate | 15:ad065ab92d11 | 52 | motor1.write(0.9); |
Renate | 15:ad065ab92d11 | 53 | motor1_dir.write(1); |
Renate | 15:ad065ab92d11 | 54 | motor2.write(0.1); |
Renate | 15:ad065ab92d11 | 55 | motor1_dir.write(1); |
Renate | 15:ad065ab92d11 | 56 | pc.printf("Motoren aan functie\r\n"); |
Renate | 15:ad065ab92d11 | 57 | } |
Rosalie | 3:6ee0b20c23b0 | 58 | |
Renate | 16:733a71a177e8 | 59 | // EMG inladen |
Renate | 16:733a71a177e8 | 60 | void emg_load() |
Renate | 16:733a71a177e8 | 61 | { |
Renate | 16:733a71a177e8 | 62 | EMG_biceps_right_raw.read(); |
Renate | 16:733a71a177e8 | 63 | EMG_biceps_left_raw.read(); |
Renate | 16:733a71a177e8 | 64 | EMG_calf_raw.read(); |
Renate | 16:733a71a177e8 | 65 | pc.printf("EMG data inladen\r\n"); |
Renate | 16:733a71a177e8 | 66 | } |
Renate | 16:733a71a177e8 | 67 | |
Renate | 16:733a71a177e8 | 68 | |
Renate | 16:733a71a177e8 | 69 | void emg_discrete_filter() |
Renate | 16:733a71a177e8 | 70 | { |
Renate | 16:733a71a177e8 | 71 | // De ticker functie sample_timer hier toepassen voor het discretiseren? |
Renate | 16:733a71a177e8 | 72 | // -> werkt een ticker in dit geval binnnen een void? |
Renate | 16:733a71a177e8 | 73 | // Gemaakte filter toepassen op ruwe EMG data |
Renate | 16:733a71a177e8 | 74 | } |
Renate | 16:733a71a177e8 | 75 | |
Renate | 16:733a71a177e8 | 76 | // EMG kalibreren |
Renate | 16:733a71a177e8 | 77 | void emg_calibration() |
Renate | 16:733a71a177e8 | 78 | { |
Renate | 16:733a71a177e8 | 79 | // Spieren maximaal aanspannen om het maximale potentiaal te |
Renate | 16:733a71a177e8 | 80 | // verkrijgen. Een fractie hiervan kan als drempel worden gebruikt voor |
Renate | 16:733a71a177e8 | 81 | // beweging |
Renate | 16:733a71a177e8 | 82 | } |
Renate | 16:733a71a177e8 | 83 | |
Renate | 6:64146e16e10c | 84 | // Finite state machine programming (calibration servo motor?) |
Renate | 12:93ad9781eeef | 85 | enum states {Motors_off, Calib_motor, Calib_EMG, Homing, Operation_mode}; |
Renate | 6:64146e16e10c | 86 | |
Renate | 6:64146e16e10c | 87 | states currentState = Motors_off; |
Renate | 6:64146e16e10c | 88 | bool stateChanged = true; // Make sure the initialization of first state is executed |
Renate | 6:64146e16e10c | 89 | |
Renate | 6:64146e16e10c | 90 | void ProcessStateMachine(void) |
Renate | 9:4de589636f50 | 91 | { |
Renate | 6:64146e16e10c | 92 | switch (currentState) |
Renate | 6:64146e16e10c | 93 | { |
Renate | 6:64146e16e10c | 94 | case Motors_off: |
Renate | 6:64146e16e10c | 95 | |
Renate | 9:4de589636f50 | 96 | if (stateChanged) |
Renate | 6:64146e16e10c | 97 | { |
Renate | 8:c7d3b67346db | 98 | motors_off(); // functie waarbij motoren uitgaan |
Renate | 11:4bc0304978e2 | 99 | stateChanged = false; |
Renate | 9:4de589636f50 | 100 | pc.printf("Motors off state\r\n"); |
Renate | 9:4de589636f50 | 101 | } |
Renate | 11:4bc0304978e2 | 102 | if (Power_button_pressed.read() == false) // Normaal waarde 1 bij indrukken, nu nul -> false |
Renate | 6:64146e16e10c | 103 | { |
Renate | 15:ad065ab92d11 | 104 | motors_on(); |
Renate | 9:4de589636f50 | 105 | currentState = Calib_motor; |
Renate | 11:4bc0304978e2 | 106 | stateChanged = true; |
Renate | 11:4bc0304978e2 | 107 | pc.printf("Moving to Calib_motor state\r\n"); |
Renate | 6:64146e16e10c | 108 | } |
Renate | 11:4bc0304978e2 | 109 | if (Emergency_button_pressed.read() == false) // Normaal waarde 1 bij indrukken, nu nul -> false |
Renate | 8:c7d3b67346db | 110 | { |
Renate | 10:83f3cec8dd1c | 111 | emergency(); |
Renate | 9:4de589636f50 | 112 | } |
Renate | 6:64146e16e10c | 113 | break; |
Renate | 6:64146e16e10c | 114 | |
Renate | 9:4de589636f50 | 115 | case Calib_motor: |
Renate | 9:4de589636f50 | 116 | |
Renate | 9:4de589636f50 | 117 | if (stateChanged) |
Renate | 9:4de589636f50 | 118 | { |
Renate | 9:4de589636f50 | 119 | // Hier wordt een kalibratie uitgevoerd, waarbij de motorhoeken worden bepaald |
Renate | 11:4bc0304978e2 | 120 | currentState = Calib_EMG; |
Renate | 11:4bc0304978e2 | 121 | stateChanged = true; |
Renate | 9:4de589636f50 | 122 | pc.printf("Moving to Calib_EMG state\r\n"); |
Renate | 9:4de589636f50 | 123 | } |
Renate | 11:4bc0304978e2 | 124 | if (Emergency_button_pressed.read() == false) |
Renate | 11:4bc0304978e2 | 125 | { |
Renate | 11:4bc0304978e2 | 126 | emergency(); |
Renate | 11:4bc0304978e2 | 127 | } |
Renate | 11:4bc0304978e2 | 128 | break; |
Renate | 11:4bc0304978e2 | 129 | |
Renate | 15:ad065ab92d11 | 130 | case Calib_EMG: |
Renate | 11:4bc0304978e2 | 131 | |
Renate | 14:54343b9fd708 | 132 | motors_off(); |
Renate | 11:4bc0304978e2 | 133 | if (stateChanged) |
Renate | 11:4bc0304978e2 | 134 | { |
Renate | 11:4bc0304978e2 | 135 | // Hierbij wordt een een kalibratie uitgevoerd, waarbij de maximale EMG-amplitude waarde wordt bepaald |
Renate | 16:733a71a177e8 | 136 | // -> functies aanroepen (emg_load(), emg_discrete_filter(), emg_calibration()) |
Renate | 11:4bc0304978e2 | 137 | currentState = Homing; |
Renate | 11:4bc0304978e2 | 138 | stateChanged = true; |
Renate | 11:4bc0304978e2 | 139 | pc.printf("Moving to Homing state\r\n"); |
Renate | 11:4bc0304978e2 | 140 | } |
Renate | 10:83f3cec8dd1c | 141 | if (Emergency_button_pressed.read() == false) |
Renate | 10:83f3cec8dd1c | 142 | { |
Renate | 11:4bc0304978e2 | 143 | emergency(); |
Renate | 11:4bc0304978e2 | 144 | } |
Renate | 11:4bc0304978e2 | 145 | break; |
Renate | 11:4bc0304978e2 | 146 | |
Renate | 11:4bc0304978e2 | 147 | case Homing: |
Renate | 11:4bc0304978e2 | 148 | |
Renate | 15:ad065ab92d11 | 149 | motors_on(); |
Renate | 11:4bc0304978e2 | 150 | if (stateChanged) |
Renate | 11:4bc0304978e2 | 151 | { |
Renate | 11:4bc0304978e2 | 152 | // Ervoor zorgen dat de motoren zo bewegen dat de robotarm |
Renate | 11:4bc0304978e2 | 153 | // (inclusief de end-effector) in de juiste home positie wordt gezet |
Renate | 11:4bc0304978e2 | 154 | currentState = Operation_mode; |
Renate | 11:4bc0304978e2 | 155 | stateChanged = true; |
Renate | 12:93ad9781eeef | 156 | pc.printf("Moving to operation mode \r\n"); |
Renate | 11:4bc0304978e2 | 157 | } |
Renate | 11:4bc0304978e2 | 158 | if (Emergency_button_pressed.read() == false) |
Renate | 11:4bc0304978e2 | 159 | { |
Renate | 10:83f3cec8dd1c | 160 | emergency(); |
Renate | 10:83f3cec8dd1c | 161 | } |
Renate | 11:4bc0304978e2 | 162 | break; |
Renate | 11:4bc0304978e2 | 163 | |
Renate | 14:54343b9fd708 | 164 | case Operation_mode: // Overgaan tot emergency wanneer referentie niet |
Renate | 14:54343b9fd708 | 165 | // overeenkomt met werkelijkheid |
Renate | 11:4bc0304978e2 | 166 | |
Renate | 11:4bc0304978e2 | 167 | if (stateChanged) |
Renate | 12:93ad9781eeef | 168 | |
Renate | 11:4bc0304978e2 | 169 | // Hier moet een functie worden aangeroepen die ervoor zorgt dat |
Renate | 11:4bc0304978e2 | 170 | // aan de hand van EMG-signalen de motoren kunnen worden aangestuurd, |
Renate | 11:4bc0304978e2 | 171 | // zodat de robotarm kan bewegen |
Renate | 11:4bc0304978e2 | 172 | |
Renate | 11:4bc0304978e2 | 173 | if (Power_button_pressed.read() == false) // Normaal waarde 1 bij indrukken, nu nul -> false |
Renate | 11:4bc0304978e2 | 174 | { |
Renate | 15:ad065ab92d11 | 175 | motors_off(); |
Renate | 11:4bc0304978e2 | 176 | currentState = Motors_off; |
Renate | 11:4bc0304978e2 | 177 | stateChanged = true; |
Renate | 12:93ad9781eeef | 178 | pc.printf("Terug naar de state Motors_off\r\n"); |
Renate | 11:4bc0304978e2 | 179 | } |
Renate | 11:4bc0304978e2 | 180 | if (Emergency_button_pressed.read() == false) |
Renate | 11:4bc0304978e2 | 181 | { |
Renate | 11:4bc0304978e2 | 182 | emergency(); |
Renate | 11:4bc0304978e2 | 183 | } |
Renate | 12:93ad9781eeef | 184 | // wait(5); |
Renate | 11:4bc0304978e2 | 185 | else |
Renate | 11:4bc0304978e2 | 186 | { |
Renate | 11:4bc0304978e2 | 187 | currentState = Homing; |
Renate | 11:4bc0304978e2 | 188 | stateChanged = true; |
Renate | 12:93ad9781eeef | 189 | pc.printf("Terug naar de state Homing\r\n"); |
Renate | 11:4bc0304978e2 | 190 | } |
Renate | 11:4bc0304978e2 | 191 | break; |
Renate | 9:4de589636f50 | 192 | |
Renate | 7:1d57463393c6 | 193 | default: |
Renate | 7:1d57463393c6 | 194 | // Zelfde functie als die eerder is toegepast om motoren uit te schakelen -> safety! |
Renate | 14:54343b9fd708 | 195 | motors_off(); |
Renate | 9:4de589636f50 | 196 | pc.printf("Unknown or uninplemented state reached!\r\n"); |
Renate | 8:c7d3b67346db | 197 | |
WiesjeRoskamp | 2:aee655d11b6d | 198 | } |
Renate | 11:4bc0304978e2 | 199 | } |
WiesjeRoskamp | 2:aee655d11b6d | 200 | |
Renate | 8:c7d3b67346db | 201 | int main(void) |
Renate | 8:c7d3b67346db | 202 | { |
Renate | 9:4de589636f50 | 203 | pc.printf("Opstarten\r\n"); |
Renate | 12:93ad9781eeef | 204 | loop_ticker.attach(&ProcessStateMachine, 5.0f); |
Renate | 8:c7d3b67346db | 205 | while(true) |
Renate | 11:4bc0304978e2 | 206 | { /* do nothing */} |
Renate | 8:c7d3b67346db | 207 | } |