Renate de Boer / Mbed 2 deprecated script_voor_project_copy

Script 15-10-2019

Dependencies:   Servoaansturing mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@26:7ae60739b310, 2019-10-29 (annotated)

Committer:
Renate
Date:
Tue Oct 29 12:36:03 2019 +0000
Revision:
26:7ae60739b310
Parent:
23:4572750a5c59
Child:
27:7305319c11e8
Aanpassing op script 28-10;

Who changed what in which revision?

UserRevisionLine numberNew 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"
Renate 21:456acc79726c 7 #define M_PI 3.14159265358979323846 /* pi */
WiesjeRoskamp 2:aee655d11b6d 8 #include <math.h>
Rosalie 5:9f1260408ef2 9 #include "Servo.h"
Renate 21:456acc79726c 10 #include <cmath>
RobertoO 0:67c50348f842 11
WiesjeRoskamp 2:aee655d11b6d 12 Serial pc(USBTX, USBRX);
Rosalie 3:6ee0b20c23b0 13
Renate 23:4572750a5c59 14 // TICKERS
Renate 23:4572750a5c59 15 Ticker loop_ticker;
Renate 15:ad065ab92d11 16
Renate 23:4572750a5c59 17 // BENODIGD VOOR PROCESS STATE MACHINE
Renate 23:4572750a5c59 18 enum states {Motors_off, Calib_motor, Calib_EMG, Homing, Operation_mode};
Renate 23:4572750a5c59 19 states currentState = Motors_off;
Renate 23:4572750a5c59 20 bool stateChanged = true; // Make sure the initialization of first state is executed
Renate 23:4572750a5c59 21
Renate 23:4572750a5c59 22 // INPUTS
Renate 14:54343b9fd708 23 DigitalIn Power_button_pressed(D1); // Geen InterruptIn gebruiken!
Renate 9:4de589636f50 24 DigitalIn Emergency_button_pressed(D2);
Renate 22:8585d41a670b 25 DigitalIn Motor_calib_button_pressed(SW2);
WiesjeRoskamp 2:aee655d11b6d 26
Renate 15:ad065ab92d11 27 AnalogIn EMG_biceps_right_raw (A0);
Renate 15:ad065ab92d11 28 AnalogIn EMG_biceps_left_raw (A1);
Renate 19:1fd39a2afc30 29 AnalogIn EMG_calf_raw (A2);
Renate 15:ad065ab92d11 30
Renate 23:4572750a5c59 31 QEI Encoder1(D12, D13, NC, 8400, QEI::X4_ENCODING); //Checken of die D12, D9 etc wel kloppen, 8400= gear ratio x 64
Renate 23:4572750a5c59 32 QEI Encoder2(D9, D10, NC, 8400, QEI::X4_ENCODING);
Renate 21:456acc79726c 33
Renate 23:4572750a5c59 34 // OUTPUTS
Renate 23:4572750a5c59 35 PwmOut motor1(D6); // Misschien moeten we hiervoor DigitalOut gebruiken, moet
Renate 23:4572750a5c59 36 PwmOut motor2(D5); // samen kunnen gaan met de servo motor
Renate 21:456acc79726c 37
Renate 23:4572750a5c59 38 DigitalOut motor1_dir(D7);
Renate 23:4572750a5c59 39 DigitalOut motor2_dir(D4);
Renate 23:4572750a5c59 40
Renate 23:4572750a5c59 41 // VARIABELEN VOOR ENCODER, MOTORHOEK ETC.
Renate 21:456acc79726c 42 int counts1;
Renate 21:456acc79726c 43 int counts2;
Renate 21:456acc79726c 44 const int CPR = 64; // Counts per revolution
Renate 21:456acc79726c 45 const int full_degrees = 360;
Renate 21:456acc79726c 46 const int half_degrees = 180;
Renate 21:456acc79726c 47 double theta_h_1_deg;
Renate 21:456acc79726c 48 double theta_h_2_deg;
Renate 21:456acc79726c 49 double theta_h_1_rad;
Renate 21:456acc79726c 50 double theta_h_2_rad;
Renate 21:456acc79726c 51
Renate 23:4572750a5c59 52 // DEFINITIES VOOR FILTERS
Renate 20:a6a5bdd7d118 53
Renate 21:456acc79726c 54 // BICEPS-RECHTS
Renate 21:456acc79726c 55 // Definities voor eerste BiQuadChain (High-pass en Notch)
Renate 21:456acc79726c 56 BiQuadChain bqcbr;
Renate 21:456acc79726c 57 BiQuad bqbr1(0.8006, -1.6012, 0.8006, -1.5610, 0.6414); // High-pass
Renate 21:456acc79726c 58 BiQuad bqbr2(1, -1.6180, 1, -1.6019, 0.9801); // Notch
Renate 21:456acc79726c 59 // Na het nemen van de absolute waarde moet de tweede BiQuadChain worden toegepast.
Renate 21:456acc79726c 60 // Definieer (twee Low-pass -> vierde orde verkrijgen):
Renate 21:456acc79726c 61 BiQuadChain bqcbr2;
Renate 21:456acc79726c 62 BiQuad bqbr3(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 21:456acc79726c 63 BiQuad bqbr4(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 20:a6a5bdd7d118 64
Renate 21:456acc79726c 65 // BICEPS-LINKS
Renate 21:456acc79726c 66 // Definities voor eerste BiQuadChain (High-pass en Notch)
Renate 21:456acc79726c 67 BiQuadChain bqcbl;
Renate 21:456acc79726c 68 BiQuad bqbl1(0.8006, -1.6012, 0.8006, -1.5610, 0.6414); // High-pass
Renate 21:456acc79726c 69 BiQuad bqbl2(1, -1.6180, 1, -1.6019, 0.9801); // Notch
Renate 20:a6a5bdd7d118 70 // Na het nemen van de absolute waarde moet de tweede BiQuadChain worden toegepast.
Renate 21:456acc79726c 71 // Definieer (twee Low-pass -> vierde orde verkrijgen):
Renate 21:456acc79726c 72 BiQuadChain bqcbl2;
Renate 21:456acc79726c 73 BiQuad bqbl3(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 21:456acc79726c 74 BiQuad bqbl4(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 21:456acc79726c 75
Renate 21:456acc79726c 76 // KUIT
Renate 21:456acc79726c 77 // Definities voor eerste BiQuadChain (High-pass en Notch)
Renate 21:456acc79726c 78 BiQuadChain bqck;
Renate 21:456acc79726c 79 BiQuad bqk1(0.8006, -1.6012, 0.8006, -1.5610, 0.6414); // High-pass
Renate 21:456acc79726c 80 BiQuad bqk2(1, -1.6180, 1, -1.6019, 0.9801); // Notch
Renate 21:456acc79726c 81 // Na het nemen van de absolute waarde moet de tweede BiQuadChain worden toegepast.
Renate 21:456acc79726c 82 // Definieer (twee Low-pass -> vierde orde verkrijgen):
Renate 21:456acc79726c 83 BiQuadChain bqck2;
Renate 21:456acc79726c 84 BiQuad bqk3(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 21:456acc79726c 85 BiQuad bqk4(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 20:a6a5bdd7d118 86
Renate 23:4572750a5c59 87 // VARIABELEN VOOR EMG + FILTEREN
Renate 23:4572750a5c59 88 double filtered_EMG_biceps_right;
Renate 23:4572750a5c59 89 double filtered_EMG_biceps_left;
Renate 23:4572750a5c59 90 double filtered_EMG_calf;
Renate 23:4572750a5c59 91
Renate 23:4572750a5c59 92 double filtered_EMG_biceps_right_1;
Renate 23:4572750a5c59 93 double filtered_EMG_biceps_left_1;
Renate 23:4572750a5c59 94 double filtered_EMG_calf_1;
Renate 23:4572750a5c59 95
Renate 23:4572750a5c59 96 double filtered_EMG_biceps_right_abs;
Renate 23:4572750a5c59 97 double filtered_EMG_biceps_left_abs;
Renate 23:4572750a5c59 98 double filtered_EMG_calf_abs;
Renate 23:4572750a5c59 99
Renate 23:4572750a5c59 100 double filtered_EMG_biceps_right_total;
Renate 23:4572750a5c59 101 double filtered_EMG_biceps_left_total;
Renate 23:4572750a5c59 102 double filtered_EMG_calf_total;
Renate 19:1fd39a2afc30 103
Renate 23:4572750a5c59 104 // Variabelen voor HIDScope
Renate 23:4572750a5c59 105 HIDScope scope(3);
Renate 23:4572750a5c59 106
Renate 23:4572750a5c59 107 // VARIABELEN VOOR (INITIATIE VAN) EMG KALIBRATIE LOOP
Renate 23:4572750a5c59 108 bool calib = false;
Renate 23:4572750a5c59 109 static int i_calib = 0;
Renate 21:456acc79726c 110
Renate 23:4572750a5c59 111 double mean_EMG_biceps_right;
Renate 23:4572750a5c59 112 double mean_EMG_biceps_left;
Renate 23:4572750a5c59 113 double mean_EMG_calf;
Renate 23:4572750a5c59 114
Renate 23:4572750a5c59 115 // VARIABELEN VOOR OPERATION MODE
Renate 23:4572750a5c59 116 double normalized_EMG_biceps_right;
Renate 23:4572750a5c59 117 double normalized_EMG_biceps_left;
Renate 23:4572750a5c59 118 double normalized_EMG_calf;
Renate 23:4572750a5c59 119
Renate 23:4572750a5c59 120 // VOIDS
Renate 23:4572750a5c59 121
Renate 23:4572750a5c59 122 // Noodfunctie waarbij alles uitgaat (evt. nog een rood LEDje laten branden).
Renate 23:4572750a5c59 123 // Enige optie is resetten, dan wordt het script opnieuw opgestart.
Renate 8:c7d3b67346db 124 void emergency()
Rosalie 3:6ee0b20c23b0 125 {
Renate 11:4bc0304978e2 126 loop_ticker.detach();
Renate 8:c7d3b67346db 127 motor1.write(0);
Renate 8:c7d3b67346db 128 motor2.write(0);
Renate 11:4bc0304978e2 129 pc.printf("Ik ga exploderen!!!\r\n");
Renate 8:c7d3b67346db 130 }
Renate 11:4bc0304978e2 131
Renate 11:4bc0304978e2 132 // Motoren uitzetten
Renate 8:c7d3b67346db 133 void motors_off()
Renate 8:c7d3b67346db 134 {
Renate 8:c7d3b67346db 135 motor1.write(0);
Renate 8:c7d3b67346db 136 motor2.write(0);
Renate 9:4de589636f50 137 pc.printf("Motoren uit functie\r\n");
Renate 8:c7d3b67346db 138 }
Renate 8:c7d3b67346db 139
Renate 14:54343b9fd708 140 // Motoren aanzetten
Renate 15:ad065ab92d11 141 void motors_on()
Renate 15:ad065ab92d11 142 {
Renate 15:ad065ab92d11 143 motor1.write(0.9);
Renate 15:ad065ab92d11 144 motor1_dir.write(1);
Renate 15:ad065ab92d11 145 motor2.write(0.1);
Renate 15:ad065ab92d11 146 motor1_dir.write(1);
Renate 15:ad065ab92d11 147 pc.printf("Motoren aan functie\r\n");
Renate 15:ad065ab92d11 148 }
Rosalie 3:6ee0b20c23b0 149
Renate 6:64146e16e10c 150 // Finite state machine programming (calibration servo motor?)
Renate 6:64146e16e10c 151 void ProcessStateMachine(void)
Renate 9:4de589636f50 152 {
Renate 23:4572750a5c59 153 // Berekenen van de motorhoeken (in radialen)
Renate 23:4572750a5c59 154 counts1 = Encoder1.getPulses();
Renate 23:4572750a5c59 155 counts2 = Encoder2.getPulses();
Renate 23:4572750a5c59 156 theta_h_1_deg=(counts1/(double)CPR)*(double)full_degrees;
Renate 23:4572750a5c59 157 theta_h_2_deg=(counts2/(double)CPR)*(double)full_degrees;
Renate 23:4572750a5c59 158 theta_h_1_rad=(theta_h_1_deg/half_degrees)*M_PI;
Renate 23:4572750a5c59 159 theta_h_2_rad=(theta_h_2_deg/half_degrees)*M_PI;
Renate 23:4572750a5c59 160
Renate 23:4572750a5c59 161 // Eerste deel van de filters (High-pass + Notch) over het ruwe EMG signaal
Renate 23:4572750a5c59 162 // doen. Het ruwe signaal wordt gelezen binnen een ticker en wordt daardoor 'gesampled'
Renate 23:4572750a5c59 163 filtered_EMG_biceps_right_1=bqbr1.step(EMG_biceps_right_raw.read());
Renate 23:4572750a5c59 164 filtered_EMG_biceps_left_1=bqcbl.step(EMG_biceps_left_raw.read());
Renate 23:4572750a5c59 165 filtered_EMG_calf_1=bqck.step(EMG_calf_raw.read());
Renate 23:4572750a5c59 166
Renate 23:4572750a5c59 167 // Vervolgens wordt de absolute waarde hiervan genomen
Renate 23:4572750a5c59 168 filtered_EMG_biceps_right_abs=abs(filtered_EMG_biceps_right_1);
Renate 23:4572750a5c59 169 filtered_EMG_biceps_left_abs=abs(filtered_EMG_biceps_left_1);
Renate 23:4572750a5c59 170 filtered_EMG_calf_abs=abs(filtered_EMG_calf_1);
Renate 23:4572750a5c59 171
Renate 23:4572750a5c59 172 // Tenslotte wordt het tweede deel van de filters (twee low-pass, voor 4e orde filter)
Renate 23:4572750a5c59 173 // over het signaal gedaan
Renate 23:4572750a5c59 174 filtered_EMG_biceps_right=bqcbr2.step(filtered_EMG_biceps_right_abs);
Renate 23:4572750a5c59 175 filtered_EMG_biceps_left=bqcbl2.step(filtered_EMG_biceps_left_abs);
Renate 23:4572750a5c59 176 filtered_EMG_calf=bqck2.step(filtered_EMG_calf_abs);
Renate 23:4572750a5c59 177
Renate 23:4572750a5c59 178 // De gefilterde EMG-signalen kunnen tevens visueel worden weergegeven in de HIDScope
Renate 23:4572750a5c59 179 scope.set(0, filtered_EMG_biceps_right);
Renate 23:4572750a5c59 180 scope.set(1, normalized_EMG_biceps_right);
Renate 23:4572750a5c59 181 scope.set(2, filtered_EMG_calf);
Renate 23:4572750a5c59 182 scope.send();
Renate 23:4572750a5c59 183
Renate 23:4572750a5c59 184 // Tijdens de kalibratie moet vervolgens een maximale spierspanning worden bepaald, die
Renate 23:4572750a5c59 185 // later kan worden gebruikt voor een normalisatie. De spieren worden hiertoe gedurende
Renate 23:4572750a5c59 186 // 5 seconden maximaal aangespannen. De EMG waarden worden bij elkaar opgeteld,
Renate 23:4572750a5c59 187 // waarna het gemiddelde wordt bepaald.
Renate 23:4572750a5c59 188 if (calib)
Renate 23:4572750a5c59 189 {
Renate 23:4572750a5c59 190 if (i_calib == 0)
Renate 23:4572750a5c59 191 {
Renate 23:4572750a5c59 192 filtered_EMG_biceps_right_total=0;
Renate 23:4572750a5c59 193 filtered_EMG_biceps_left_total=0;
Renate 23:4572750a5c59 194 filtered_EMG_calf_total=0;
Renate 23:4572750a5c59 195 }
Renate 23:4572750a5c59 196 if (i_calib <= 2500)
Renate 23:4572750a5c59 197 {
Renate 23:4572750a5c59 198 filtered_EMG_biceps_right_total+=filtered_EMG_biceps_right;
Renate 23:4572750a5c59 199 filtered_EMG_biceps_left_total+=filtered_EMG_biceps_left;
Renate 23:4572750a5c59 200 filtered_EMG_calf_total+=filtered_EMG_calf;
Renate 23:4572750a5c59 201 i_calib++;
Renate 23:4572750a5c59 202 }
Renate 23:4572750a5c59 203 if (i_calib > 2500)
Renate 23:4572750a5c59 204 {
Renate 23:4572750a5c59 205 mean_EMG_biceps_right=filtered_EMG_biceps_right_total/2500.0;
Renate 23:4572750a5c59 206 mean_EMG_biceps_left=filtered_EMG_biceps_left_total/2500.0;
Renate 23:4572750a5c59 207 mean_EMG_calf=filtered_EMG_calf_total/2500.0;
Renate 23:4572750a5c59 208 pc.printf("Ontspan spieren\r\n");
Renate 23:4572750a5c59 209 pc.printf("Rechterbiceps_max = %f, Linkerbiceps_max = %f, Kuit_max = %f\r\n", mean_EMG_biceps_right, mean_EMG_biceps_left, mean_EMG_calf);
Renate 23:4572750a5c59 210 calib = false;
Renate 23:4572750a5c59 211 }
Renate 23:4572750a5c59 212 }
Renate 23:4572750a5c59 213
Renate 23:4572750a5c59 214 // Genormaliseerde EMG's berekenen
Renate 23:4572750a5c59 215 normalized_EMG_biceps_right=filtered_EMG_biceps_right/mean_EMG_biceps_right;
Renate 23:4572750a5c59 216 normalized_EMG_biceps_left=filtered_EMG_biceps_left/mean_EMG_biceps_left;
Renate 23:4572750a5c59 217 normalized_EMG_calf=filtered_EMG_calf/mean_EMG_calf;
Renate 23:4572750a5c59 218
Renate 6:64146e16e10c 219 switch (currentState)
Renate 6:64146e16e10c 220 {
Renate 6:64146e16e10c 221 case Motors_off:
Renate 6:64146e16e10c 222
Renate 9:4de589636f50 223 if (stateChanged)
Renate 6:64146e16e10c 224 {
Renate 8:c7d3b67346db 225 motors_off(); // functie waarbij motoren uitgaan
Renate 11:4bc0304978e2 226 stateChanged = false;
Renate 9:4de589636f50 227 pc.printf("Motors off state\r\n");
Renate 9:4de589636f50 228 }
Renate 11:4bc0304978e2 229 if (Power_button_pressed.read() == false) // Normaal waarde 1 bij indrukken, nu nul -> false
Renate 6:64146e16e10c 230 {
Renate 15:ad065ab92d11 231 motors_on();
Renate 9:4de589636f50 232 currentState = Calib_motor;
Renate 11:4bc0304978e2 233 stateChanged = true;
Renate 11:4bc0304978e2 234 pc.printf("Moving to Calib_motor state\r\n");
Renate 6:64146e16e10c 235 }
Renate 11:4bc0304978e2 236 if (Emergency_button_pressed.read() == false) // Normaal waarde 1 bij indrukken, nu nul -> false
Renate 8:c7d3b67346db 237 {
Renate 10:83f3cec8dd1c 238 emergency();
Renate 9:4de589636f50 239 }
Renate 6:64146e16e10c 240 break;
Renate 6:64146e16e10c 241
Renate 9:4de589636f50 242 case Calib_motor:
Renate 9:4de589636f50 243
Renate 22:8585d41a670b 244 if (stateChanged && Motor_calib_button_pressed.read() == false)
Renate 9:4de589636f50 245 {
Renate 21:456acc79726c 246 theta_h_1_rad = 0;
Renate 21:456acc79726c 247 theta_h_2_rad = 0;
Renate 21:456acc79726c 248 pc.printf("Huidige hoek in radialen motor 1:%f en motor 2: %f (moet 0 zijn) \r\n", theta_h_1_rad, theta_h_2_rad);
Renate 11:4bc0304978e2 249 currentState = Calib_EMG;
Renate 11:4bc0304978e2 250 stateChanged = true;
Renate 9:4de589636f50 251 pc.printf("Moving to Calib_EMG state\r\n");
Renate 9:4de589636f50 252 }
Renate 11:4bc0304978e2 253 if (Emergency_button_pressed.read() == false)
Renate 11:4bc0304978e2 254 {
Renate 11:4bc0304978e2 255 emergency();
Renate 11:4bc0304978e2 256 }
Renate 11:4bc0304978e2 257 break;
Renate 11:4bc0304978e2 258
Renate 15:ad065ab92d11 259 case Calib_EMG:
Renate 11:4bc0304978e2 260
Renate 11:4bc0304978e2 261 if (stateChanged)
Renate 19:1fd39a2afc30 262 {
Renate 21:456acc79726c 263 motors_off();
Renate 22:8585d41a670b 264 i_calib = 0;
Renate 21:456acc79726c 265 calib = true;
Renate 21:456acc79726c 266 pc.printf("Span spieren aan\r\n");
Renate 21:456acc79726c 267 stateChanged = false;
Renate 21:456acc79726c 268 }
Renate 21:456acc79726c 269
Renate 23:4572750a5c59 270 if (i_calib > 2500)
Renate 21:456acc79726c 271 {
Renate 21:456acc79726c 272 calib = false;
Renate 19:1fd39a2afc30 273 currentState = Homing;
Renate 19:1fd39a2afc30 274 stateChanged = true;
Renate 19:1fd39a2afc30 275 pc.printf("Moving to Homing state\r\n");
Renate 19:1fd39a2afc30 276 }
Renate 21:456acc79726c 277
Renate 10:83f3cec8dd1c 278 if (Emergency_button_pressed.read() == false)
Renate 10:83f3cec8dd1c 279 {
Renate 11:4bc0304978e2 280 emergency();
Renate 11:4bc0304978e2 281 }
Renate 11:4bc0304978e2 282 break;
Renate 11:4bc0304978e2 283
Renate 23:4572750a5c59 284 case Homing: // NOG NAAR KIJKEN
Renate 11:4bc0304978e2 285
Renate 11:4bc0304978e2 286 if (stateChanged)
Renate 11:4bc0304978e2 287 {
Renate 11:4bc0304978e2 288 // Ervoor zorgen dat de motoren zo bewegen dat de robotarm
Renate 11:4bc0304978e2 289 // (inclusief de end-effector) in de juiste home positie wordt gezet
Renate 21:456acc79726c 290 motors_on();
Renate 11:4bc0304978e2 291 currentState = Operation_mode;
Renate 11:4bc0304978e2 292 stateChanged = true;
Renate 23:4572750a5c59 293 motors_off();
Renate 12:93ad9781eeef 294 pc.printf("Moving to operation mode \r\n");
Renate 11:4bc0304978e2 295 }
Renate 11:4bc0304978e2 296 if (Emergency_button_pressed.read() == false)
Renate 11:4bc0304978e2 297 {
Renate 10:83f3cec8dd1c 298 emergency();
Renate 10:83f3cec8dd1c 299 }
Renate 11:4bc0304978e2 300 break;
Renate 11:4bc0304978e2 301
Renate 14:54343b9fd708 302 case Operation_mode: // Overgaan tot emergency wanneer referentie niet
Renate 14:54343b9fd708 303 // overeenkomt met werkelijkheid
Renate 21:456acc79726c 304
Renate 23:4572750a5c59 305 // pc.printf("normalized_EMG_biceps_right= %f, mean_EMG_biceps_right = %f, filtered_EMG_biceps_right = %f\r\n", normalized_EMG_biceps_right, mean_EMG_biceps_right, filtered_EMG_biceps_right);
Renate 11:4bc0304978e2 306 if (stateChanged)
Renate 12:93ad9781eeef 307
Renate 11:4bc0304978e2 308 // Hier moet een functie worden aangeroepen die ervoor zorgt dat
Renate 11:4bc0304978e2 309 // aan de hand van EMG-signalen de motoren kunnen worden aangestuurd,
Renate 23:4572750a5c59 310 // zodat de robotarm kan bewegen
Renate 11:4bc0304978e2 311
Renate 21:456acc79726c 312 {
Renate 20:a6a5bdd7d118 313 if (normalized_EMG_biceps_right >= 0.3)
Renate 20:a6a5bdd7d118 314 {
Renate 26:7ae60739b310 315 motor1.write(0.3);
Renate 21:456acc79726c 316 motor1_dir.write(1);
Renate 26:7ae60739b310 317 motor2.write(0.3);
Renate 21:456acc79726c 318 motor2_dir.write(1);
Renate 21:456acc79726c 319 if (normalized_EMG_calf >= 0.3)
Renate 21:456acc79726c 320 {
Renate 23:4572750a5c59 321 motor1.write(0.1);
Renate 23:4572750a5c59 322 motor1_dir = !motor1_dir;
Renate 21:456acc79726c 323 }
Renate 23:4572750a5c59 324 if (normalized_EMG_biceps_left >= 0.3)
Renate 23:4572750a5c59 325 {
Renate 23:4572750a5c59 326 motor2.write(0.9);
Renate 23:4572750a5c59 327 motor2_dir.write(1);
Renate 26:7ae60739b310 328 motor1.write(0.9);
Renate 23:4572750a5c59 329 motor1_dir.write(1);
Renate 23:4572750a5c59 330 if (normalized_EMG_calf >= 0.3)
Renate 23:4572750a5c59 331 {
Renate 23:4572750a5c59 332 motor2.write(0.1);
Renate 23:4572750a5c59 333 motor2_dir = !motor2_dir;
Renate 23:4572750a5c59 334 }
Renate 23:4572750a5c59 335 }
Renate 20:a6a5bdd7d118 336 }
Renate 20:a6a5bdd7d118 337 if (normalized_EMG_biceps_right < 0.3)
Renate 20:a6a5bdd7d118 338 {
Renate 20:a6a5bdd7d118 339 motor1.write(0);
Renate 20:a6a5bdd7d118 340 motor2.write(0);
Renate 23:4572750a5c59 341 if (normalized_EMG_calf >= 0.3)
Renate 23:4572750a5c59 342 {
Renate 23:4572750a5c59 343 // motor1_dir = !motor1_dir;
Renate 23:4572750a5c59 344 // pc.printf("Richting zou om moeten draaien");
Renate 23:4572750a5c59 345 // motor2_dir = !motor2_dir;
Renate 23:4572750a5c59 346 }
Renate 23:4572750a5c59 347 if (normalized_EMG_biceps_left >= 0.3)
Renate 23:4572750a5c59 348 {
Renate 23:4572750a5c59 349 motor2.write(0.9);
Renate 23:4572750a5c59 350 motor2_dir.write(1);
Renate 26:7ae60739b310 351 motor1.write(0.9);
Renate 23:4572750a5c59 352 motor1_dir.write(1);
Renate 23:4572750a5c59 353 if (normalized_EMG_calf >= 0.3)
Renate 23:4572750a5c59 354 {
Renate 23:4572750a5c59 355 // motor1_dir = !motor1_dir;
Renate 23:4572750a5c59 356 // pc.printf("Richting zou om moeten draaien");
Renate 23:4572750a5c59 357 // motor2_dir = !motor2_dir;
Renate 23:4572750a5c59 358 }
Renate 23:4572750a5c59 359 }
Renate 20:a6a5bdd7d118 360 }
Renate 20:a6a5bdd7d118 361 if (normalized_EMG_biceps_left >= 0.3)
Renate 20:a6a5bdd7d118 362 {
Renate 20:a6a5bdd7d118 363 motor2.write(0.9);
Renate 21:456acc79726c 364 motor2_dir.write(1);
Renate 26:7ae60739b310 365 motor1.write(0.9);
Renate 21:456acc79726c 366 motor1_dir.write(1);
Renate 21:456acc79726c 367 if (normalized_EMG_calf >= 0.3)
Renate 21:456acc79726c 368 {
Renate 21:456acc79726c 369 // motor1_dir = !motor1_dir;
Renate 23:4572750a5c59 370 // pc.printf("Richting zou om moeten draaien");
Renate 21:456acc79726c 371 // motor2_dir = !motor2_dir;
Renate 21:456acc79726c 372 }
Renate 23:4572750a5c59 373 if (normalized_EMG_biceps_right >= 0.3)
Renate 23:4572750a5c59 374 {
Renate 26:7ae60739b310 375 motor1.write(0.3);
Renate 23:4572750a5c59 376 motor1_dir.write(1);
Renate 26:7ae60739b310 377 motor2.write(0.3);
Renate 23:4572750a5c59 378 motor2_dir.write(1);
Renate 23:4572750a5c59 379 if (normalized_EMG_calf >= 0.3)
Renate 23:4572750a5c59 380 {
Renate 23:4572750a5c59 381 // motor1_dir = !motor1_dir;
Renate 23:4572750a5c59 382 // pc.printf("Richting zou om moeten draaien");
Renate 23:4572750a5c59 383 // motor2_dir = !motor2_dir;
Renate 23:4572750a5c59 384 }
Renate 23:4572750a5c59 385 }
Renate 20:a6a5bdd7d118 386 }
Renate 20:a6a5bdd7d118 387 if (normalized_EMG_biceps_left < 0.3)
Renate 20:a6a5bdd7d118 388 {
Renate 20:a6a5bdd7d118 389 motor2.write(0);
Renate 20:a6a5bdd7d118 390 motor1.write(0);
Renate 23:4572750a5c59 391 if (normalized_EMG_biceps_right >= 0.3)
Renate 23:4572750a5c59 392 {
Renate 26:7ae60739b310 393 motor1.write(0.3);
Renate 23:4572750a5c59 394 motor1_dir.write(1);
Renate 26:7ae60739b310 395 motor2.write(0.3);
Renate 23:4572750a5c59 396 motor2_dir.write(1);
Renate 23:4572750a5c59 397 if (normalized_EMG_calf >= 0.3)
Renate 23:4572750a5c59 398 {
Renate 23:4572750a5c59 399 // motor1_dir = !motor1_dir;
Renate 23:4572750a5c59 400 // pc.printf("Richting zou om moeten draaien");
Renate 23:4572750a5c59 401 // motor2_dir = !motor2_dir;
Renate 23:4572750a5c59 402 }
Renate 23:4572750a5c59 403 }
Renate 23:4572750a5c59 404 }
Renate 23:4572750a5c59 405 }
Renate 23:4572750a5c59 406
Renate 21:456acc79726c 407 if (Power_button_pressed.read() == false) // Normaal waarde 1 bij indrukken, nu nul -> false
Renate 21:456acc79726c 408 {
Renate 21:456acc79726c 409 motors_off();
Renate 21:456acc79726c 410 currentState = Motors_off;
Renate 21:456acc79726c 411 stateChanged = true;
Renate 21:456acc79726c 412 pc.printf("Terug naar de state Motors_off\r\n");
Renate 21:456acc79726c 413 }
Renate 21:456acc79726c 414 if (Emergency_button_pressed.read() == false)
Renate 21:456acc79726c 415 {
Renate 21:456acc79726c 416 emergency();
Renate 21:456acc79726c 417 }
Renate 21:456acc79726c 418 // wait(25);
Renate 21:456acc79726c 419 // else
Renate 21:456acc79726c 420 // {
Renate 21:456acc79726c 421 // currentState = Homing;
Renate 21:456acc79726c 422 // stateChanged = true;
Renate 21:456acc79726c 423 // pc.printf("Terug naar de state Homing\r\n");
Renate 21:456acc79726c 424 // }
Renate 21:456acc79726c 425 break;
Renate 20:a6a5bdd7d118 426
Renate 7:1d57463393c6 427 default:
Renate 7:1d57463393c6 428 // Zelfde functie als die eerder is toegepast om motoren uit te schakelen -> safety!
Renate 14:54343b9fd708 429 motors_off();
Renate 9:4de589636f50 430 pc.printf("Unknown or uninplemented state reached!\r\n");
Renate 8:c7d3b67346db 431
WiesjeRoskamp 2:aee655d11b6d 432 }
Renate 11:4bc0304978e2 433 }
WiesjeRoskamp 2:aee655d11b6d 434
Renate 8:c7d3b67346db 435 int main(void)
Renate 8:c7d3b67346db 436 {
Renate 9:4de589636f50 437 pc.printf("Opstarten\r\n");
Renate 21:456acc79726c 438
Renate 21:456acc79726c 439 // Chain voor rechter biceps
Renate 21:456acc79726c 440 bqcbr.add(&bqbr1).add(&bqbr2);
Renate 21:456acc79726c 441 bqcbr2.add(&bqbr3).add(&bqbr4);
Renate 21:456acc79726c 442 // Chain voor linker biceps
Renate 21:456acc79726c 443 bqcbl.add(&bqbl1).add(&bqbl2);
Renate 21:456acc79726c 444 bqcbl2.add(&bqbl3).add(&bqbl4);
Renate 21:456acc79726c 445 // Chain voor kuit
Renate 21:456acc79726c 446 bqck.add(&bqk1).add(&bqk2);
Renate 21:456acc79726c 447 bqck2.add(&bqk3).add(&bqk4);
Renate 23:4572750a5c59 448
Renate 23:4572750a5c59 449 loop_ticker.attach(&ProcessStateMachine, 0.002f);
Renate 21:456acc79726c 450
Renate 8:c7d3b67346db 451 while(true)
Renate 21:456acc79726c 452 {
Renate 21:456acc79726c 453 // wait(0.2);
Renate 21:456acc79726c 454 /* do nothing */
Renate 21:456acc79726c 455 }
Renate 8:c7d3b67346db 456 }