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Dependencies:   Servoaansturing mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@31:967b455bc328, 2019-10-30 (annotated)

Committer:
Renate
Date:
Wed Oct 30 10:59:10 2019 +0000
Revision:
31:967b455bc328
Parent:
30:0a328a9a4788
Child:
32:d651c23bbb77
Script tot aan stukje omrekenen absolute theta naar motorsnelheid

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>
Renate 29:8e0a7c33e4e7 11 #include <complex>
RobertoO 0:67c50348f842 12
WiesjeRoskamp 2:aee655d11b6d 13 Serial pc(USBTX, USBRX);
Rosalie 3:6ee0b20c23b0 14
Renate 23:4572750a5c59 15 // TICKERS
Renate 23:4572750a5c59 16 Ticker loop_ticker;
Renate 15:ad065ab92d11 17
Renate 23:4572750a5c59 18 // BENODIGD VOOR PROCESS STATE MACHINE
Renate 23:4572750a5c59 19 enum states {Motors_off, Calib_motor, Calib_EMG, Homing, Operation_mode};
Renate 28:7c7508bdb21f 20 states currentState = Motors_off;
Renate 23:4572750a5c59 21 bool stateChanged = true; // Make sure the initialization of first state is executed
Renate 23:4572750a5c59 22
Renate 23:4572750a5c59 23 // INPUTS
Renate 14:54343b9fd708 24 DigitalIn Power_button_pressed(D1); // Geen InterruptIn gebruiken!
Renate 9:4de589636f50 25 DigitalIn Emergency_button_pressed(D2);
Renate 22:8585d41a670b 26 DigitalIn Motor_calib_button_pressed(SW2);
WiesjeRoskamp 2:aee655d11b6d 27
Renate 15:ad065ab92d11 28 AnalogIn EMG_biceps_right_raw (A0);
Renate 15:ad065ab92d11 29 AnalogIn EMG_biceps_left_raw (A1);
Renate 19:1fd39a2afc30 30 AnalogIn EMG_calf_raw (A2);
Renate 15:ad065ab92d11 31
Renate 23:4572750a5c59 32 QEI Encoder1(D12, D13, NC, 8400, QEI::X4_ENCODING); //Checken of die D12, D9 etc wel kloppen, 8400= gear ratio x 64
Renate 28:7c7508bdb21f 33 QEI Encoder2(D9, D10, NC, 8400, QEI::X4_ENCODING);
Renate 21:456acc79726c 34
Renate 23:4572750a5c59 35 // OUTPUTS
Renate 28:7c7508bdb21f 36 PwmOut motor1(D6); // Misschien moeten we hiervoor DigitalOut gebruiken, moet
Renate 23:4572750a5c59 37 PwmOut motor2(D5); // samen kunnen gaan met de servo motor
Renate 21:456acc79726c 38
Renate 23:4572750a5c59 39 DigitalOut motor1_dir(D7);
Renate 23:4572750a5c59 40 DigitalOut motor2_dir(D4);
Renate 23:4572750a5c59 41
Renate 23:4572750a5c59 42 // VARIABELEN VOOR ENCODER, MOTORHOEK ETC.
Renate 21:456acc79726c 43 int counts1;
Renate 21:456acc79726c 44 int counts2;
Renate 21:456acc79726c 45 const int CPR = 64; // Counts per revolution
Renate 21:456acc79726c 46 const int full_degrees = 360;
Renate 21:456acc79726c 47 const int half_degrees = 180;
Renate 21:456acc79726c 48 double theta_h_1_deg;
Renate 21:456acc79726c 49 double theta_h_2_deg;
Renate 21:456acc79726c 50 double theta_h_1_rad;
Renate 21:456acc79726c 51 double theta_h_2_rad;
Renate 21:456acc79726c 52
Renate 23:4572750a5c59 53 // DEFINITIES VOOR FILTERS
Renate 20:a6a5bdd7d118 54
Renate 21:456acc79726c 55 // BICEPS-RECHTS
Renate 28:7c7508bdb21f 56 // Definities voor eerste BiQuadChain (High-pass en Notch)
Renate 28:7c7508bdb21f 57 BiQuadChain bqcbr;
Renate 28:7c7508bdb21f 58 BiQuad bqbr1(0.8006, -1.6012, 0.8006, -1.5610, 0.6414); // High-pass
Renate 21:456acc79726c 59 BiQuad bqbr2(1, -1.6180, 1, -1.6019, 0.9801); // Notch
Renate 21:456acc79726c 60 // Na het nemen van de absolute waarde moet de tweede BiQuadChain worden toegepast.
Renate 28:7c7508bdb21f 61 // Definieer (twee Low-pass -> vierde orde verkrijgen):
Renate 21:456acc79726c 62 BiQuadChain bqcbr2;
Renate 21:456acc79726c 63 BiQuad bqbr3(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 21:456acc79726c 64 BiQuad bqbr4(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 20:a6a5bdd7d118 65
Renate 21:456acc79726c 66 // BICEPS-LINKS
Renate 28:7c7508bdb21f 67 // Definities voor eerste BiQuadChain (High-pass en Notch)
Renate 28:7c7508bdb21f 68 BiQuadChain bqcbl;
Renate 28:7c7508bdb21f 69 BiQuad bqbl1(0.8006, -1.6012, 0.8006, -1.5610, 0.6414); // High-pass
Renate 21:456acc79726c 70 BiQuad bqbl2(1, -1.6180, 1, -1.6019, 0.9801); // Notch
Renate 20:a6a5bdd7d118 71 // Na het nemen van de absolute waarde moet de tweede BiQuadChain worden toegepast.
Renate 28:7c7508bdb21f 72 // Definieer (twee Low-pass -> vierde orde verkrijgen):
Renate 21:456acc79726c 73 BiQuadChain bqcbl2;
Renate 21:456acc79726c 74 BiQuad bqbl3(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 21:456acc79726c 75 BiQuad bqbl4(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 21:456acc79726c 76
Renate 21:456acc79726c 77 // KUIT
Renate 28:7c7508bdb21f 78 // Definities voor eerste BiQuadChain (High-pass en Notch)
Renate 28:7c7508bdb21f 79 BiQuadChain bqck;
Renate 28:7c7508bdb21f 80 BiQuad bqk1(0.8006, -1.6012, 0.8006, -1.5610, 0.6414); // High-pass
Renate 21:456acc79726c 81 BiQuad bqk2(1, -1.6180, 1, -1.6019, 0.9801); // Notch
Renate 21:456acc79726c 82 // Na het nemen van de absolute waarde moet de tweede BiQuadChain worden toegepast.
Renate 28:7c7508bdb21f 83 // Definieer (twee Low-pass -> vierde orde verkrijgen):
Renate 21:456acc79726c 84 BiQuadChain bqck2;
Renate 21:456acc79726c 85 BiQuad bqk3(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 21:456acc79726c 86 BiQuad bqk4(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass
Renate 20:a6a5bdd7d118 87
Renate 28:7c7508bdb21f 88 // VARIABELEN VOOR EMG + FILTEREN
Renate 23:4572750a5c59 89 double filtered_EMG_biceps_right;
Renate 23:4572750a5c59 90 double filtered_EMG_biceps_left;
Renate 23:4572750a5c59 91 double filtered_EMG_calf;
Renate 23:4572750a5c59 92
Renate 23:4572750a5c59 93 double filtered_EMG_biceps_right_1;
Renate 23:4572750a5c59 94 double filtered_EMG_biceps_left_1;
Renate 23:4572750a5c59 95 double filtered_EMG_calf_1;
Renate 23:4572750a5c59 96
Renate 23:4572750a5c59 97 double filtered_EMG_biceps_right_abs;
Renate 23:4572750a5c59 98 double filtered_EMG_biceps_left_abs;
Renate 23:4572750a5c59 99 double filtered_EMG_calf_abs;
Renate 23:4572750a5c59 100
Renate 28:7c7508bdb21f 101 double filtered_EMG_biceps_right_total;
Renate 23:4572750a5c59 102 double filtered_EMG_biceps_left_total;
Renate 23:4572750a5c59 103 double filtered_EMG_calf_total;
Renate 19:1fd39a2afc30 104
Renate 23:4572750a5c59 105 // Variabelen voor HIDScope
Renate 23:4572750a5c59 106 HIDScope scope(3);
Renate 23:4572750a5c59 107
Renate 23:4572750a5c59 108 // VARIABELEN VOOR (INITIATIE VAN) EMG KALIBRATIE LOOP
Renate 28:7c7508bdb21f 109 bool calib = false;
Renate 23:4572750a5c59 110 static int i_calib = 0;
Renate 21:456acc79726c 111
Renate 23:4572750a5c59 112 double mean_EMG_biceps_right;
Renate 23:4572750a5c59 113 double mean_EMG_biceps_left;
Renate 23:4572750a5c59 114 double mean_EMG_calf;
Renate 23:4572750a5c59 115
Renate 29:8e0a7c33e4e7 116 // VARIABELEN VOOR OPERATION MODE (EMG)
Renate 23:4572750a5c59 117 double normalized_EMG_biceps_right;
Renate 23:4572750a5c59 118 double normalized_EMG_biceps_left;
Renate 23:4572750a5c59 119 double normalized_EMG_calf;
Renate 23:4572750a5c59 120
Renate 29:8e0a7c33e4e7 121 // VARIABELEN VOOR OPERATION MODE (RKI)
Renate 29:8e0a7c33e4e7 122 double vx; // Gelijk aan variabele die snelheid aangeeft in EMG (in x-richting)
Renate 29:8e0a7c33e4e7 123 double vy; // Gelijk aan variabele die snelheid aangeeft in EMG (in y-richting)
Renate 29:8e0a7c33e4e7 124
Renate 29:8e0a7c33e4e7 125 const double delta_t = 0.002;
Renate 29:8e0a7c33e4e7 126
Renate 30:0a328a9a4788 127 double Joint_1_position_x = 0.0;
Renate 30:0a328a9a4788 128 double Joint_2_position_x = 0.0;
Renate 30:0a328a9a4788 129
Renate 30:0a328a9a4788 130 double Joint_1_position_y = 0.0;
Renate 30:0a328a9a4788 131 double Joint_2_position_y = 0.0;
Renate 29:8e0a7c33e4e7 132
Renate 30:0a328a9a4788 133 double Joint_1_position_x_prev = 0.0;
Renate 30:0a328a9a4788 134 double Joint_2_position_x_prev = 0.0;
Renate 30:0a328a9a4788 135
Renate 30:0a328a9a4788 136 double Joint_1_position_y_prev;
Renate 30:0a328a9a4788 137 double Joint_2_position_y_prev;
Renate 30:0a328a9a4788 138
Renate 30:0a328a9a4788 139 double Joint_velocity_x[2][1] = {{0.0}, {0.0}};
Renate 30:0a328a9a4788 140 double Joint_velocity_y[2][1] = {{0.0}, {0.0}};
Renate 29:8e0a7c33e4e7 141
Renate 29:8e0a7c33e4e7 142 double q1_dot_x;
Renate 29:8e0a7c33e4e7 143 double q2_dot_x;
Renate 29:8e0a7c33e4e7 144
Renate 29:8e0a7c33e4e7 145 double q1_dot_y;
Renate 29:8e0a7c33e4e7 146 double q2_dot_y;
Renate 29:8e0a7c33e4e7 147
Renate 29:8e0a7c33e4e7 148 double q1;
Renate 29:8e0a7c33e4e7 149 double q2;
Renate 29:8e0a7c33e4e7 150
Renate 30:0a328a9a4788 151 double Motor_1_position_x = 0.0;
Renate 30:0a328a9a4788 152 double Motor_2_position_x = 0.0;
Renate 30:0a328a9a4788 153
Renate 30:0a328a9a4788 154 double Motor_1_position_y = 0.0;
Renate 30:0a328a9a4788 155 double Motor_2_position_y = 0.0;
Renate 30:0a328a9a4788 156
Renate 30:0a328a9a4788 157 // VARIABELEN VOOR OPERATION MODE (PI-CONTROLLER)
Renate 29:8e0a7c33e4e7 158
Renate 30:0a328a9a4788 159 const double Kp = 17.5;
Renate 30:0a328a9a4788 160 const double Ki = 1.02;
Renate 30:0a328a9a4788 161
Renate 31:967b455bc328 162 // Voor x-richting
Renate 31:967b455bc328 163 double theta_k_1_x = 0.0;
Renate 31:967b455bc328 164 double theta_k_2_x = 0.0;
Renate 31:967b455bc328 165
Renate 31:967b455bc328 166 double error_integral_1_x = 0.0;
Renate 31:967b455bc328 167 double error_integral_2_x = 0.0;
Renate 29:8e0a7c33e4e7 168
Renate 31:967b455bc328 169 double u_i_1_x;
Renate 31:967b455bc328 170 double u_i_2_x;
Renate 31:967b455bc328 171
Renate 31:967b455bc328 172 double theta_t_1_x;
Renate 31:967b455bc328 173 double theta_t_2_x;
Renate 31:967b455bc328 174
Renate 31:967b455bc328 175 double error_q1_x;
Renate 31:967b455bc328 176 double error_q2_x;
Renate 30:0a328a9a4788 177
Renate 31:967b455bc328 178 // Voor y-richting
Renate 31:967b455bc328 179 double theta_k_1_y = 0.0;
Renate 31:967b455bc328 180 double theta_k_2_y = 0.0;
Renate 31:967b455bc328 181
Renate 31:967b455bc328 182 double error_integral_1_y = 0.0;
Renate 31:967b455bc328 183 double error_integral_2_y = 0.0;
Renate 30:0a328a9a4788 184
Renate 31:967b455bc328 185 double u_i_1_y;
Renate 31:967b455bc328 186 double u_i_2_y;
Renate 31:967b455bc328 187
Renate 31:967b455bc328 188 double theta_t_1_y;
Renate 31:967b455bc328 189 double theta_t_2_y;
Renate 31:967b455bc328 190
Renate 31:967b455bc328 191 double error_q1_y;
Renate 31:967b455bc328 192 double error_q2_y;
Renate 31:967b455bc328 193
Renate 31:967b455bc328 194 double abs_theta_t_1_y;
Renate 31:967b455bc328 195 double abs_theta_t_2_y;
Renate 29:8e0a7c33e4e7 196
Renate 23:4572750a5c59 197 // VOIDS
Renate 23:4572750a5c59 198
Renate 23:4572750a5c59 199 // Noodfunctie waarbij alles uitgaat (evt. nog een rood LEDje laten branden).
Renate 28:7c7508bdb21f 200 // Enige optie is resetten, dan wordt het script opnieuw opgestart.
Renate 8:c7d3b67346db 201 void emergency()
Renate 28:7c7508bdb21f 202 {
Renate 28:7c7508bdb21f 203 loop_ticker.detach();
Renate 28:7c7508bdb21f 204 motor1.write(0);
Renate 28:7c7508bdb21f 205 motor2.write(0);
Renate 28:7c7508bdb21f 206 pc.printf("Ik ga exploderen!!!\r\n");
Renate 28:7c7508bdb21f 207 }
Renate 11:4bc0304978e2 208
Renate 28:7c7508bdb21f 209 // Motoren uitzetten
Renate 8:c7d3b67346db 210 void motors_off()
Renate 28:7c7508bdb21f 211 {
Renate 28:7c7508bdb21f 212 motor1.write(0);
Renate 28:7c7508bdb21f 213 motor2.write(0);
Renate 28:7c7508bdb21f 214 pc.printf("Motoren uit functie\r\n");
Renate 28:7c7508bdb21f 215 }
Renate 28:7c7508bdb21f 216
Renate 14:54343b9fd708 217 // Motoren aanzetten
Renate 15:ad065ab92d11 218 void motors_on()
Renate 28:7c7508bdb21f 219 {
Renate 31:967b455bc328 220 motor1.write(0.7);
Renate 31:967b455bc328 221 motor1_dir.write(0);
Renate 31:967b455bc328 222 motor2.write(0.3);
Renate 28:7c7508bdb21f 223 motor2_dir.write(1);
Renate 31:967b455bc328 224 // Door motor 1 een richting van 1 te geven en motor 2 een van 0, draaien
Renate 31:967b455bc328 225 // beide motoren rechtsom
Renate 28:7c7508bdb21f 226 pc.printf("Motoren aan functie\r\n");
Renate 28:7c7508bdb21f 227 }
Rosalie 3:6ee0b20c23b0 228
Renate 29:8e0a7c33e4e7 229 void Inverse_Kinematics()
Renate 29:8e0a7c33e4e7 230 {
Renate 30:0a328a9a4788 231 // Defining joint velocities based on calculations of matlab
Renate 29:8e0a7c33e4e7 232
Renate 29:8e0a7c33e4e7 233 Joint_velocity_x[0][0] = (vx*(exp(q2*sqrt(-1.0))*(-1.798599718146044E18+6.546367607647411E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*(-1.798599718146044E18-6.546367607647411E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*(1.168095770314175E18+1.321169505615574E18*sqrt(-1.0))+exp(q1*sqrt(-1.0))*exp(q2*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*3.828059683264922E18+1.168095770314175E18-1.321169505615574E18*sqrt(-1.0))*(2.0E1/1.7E1))/(cos(q1+3.141592653589793/9.0)*(6.605847528077872E17+5.840478851570874E17*sqrt(-1.0))+sin(q1+3.141592653589793/9.0)*(-5.840478851570874E17+6.605847528077872E17*sqrt(-1.0))+exp(q2*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(-3.273183803823705E17-8.992998590730221E17*sqrt(-1.0))+exp(q2*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(8.992998590730221E17-3.273183803823705E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(-3.273183803823705E17+8.992998590730221E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(6.605847528077872E17-5.840478851570874E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(8.992998590730221E17+3.273183803823705E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(-5.840478851570874E17-6.605847528077872E17*sqrt(-1.0)));
Renate 29:8e0a7c33e4e7 234 Joint_velocity_x[1][0] = (vx*(exp(q2*sqrt(-1.0))*(1.798599718146044E18-6.546367607647411E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*(1.798599718146044E18+6.546367607647411E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*(-1.168095770314175E18-1.321169505615574E18*sqrt(-1.0))+-1.168095770314175E18+1.321169505615574E18*sqrt(-1.0))*(2.0E1/1.7E1))/(cos(q1+3.141592653589793/9.0)*(6.605847528077872E17+5.840478851570874E17*sqrt(-1.0))+sin(q1+3.141592653589793/9.0)*(-5.840478851570874E17+6.605847528077872E17*sqrt(-1.0))+exp(q2*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(-3.273183803823705E17-8.992998590730221E17*sqrt(-1.0))+exp(q2*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(8.992998590730221E17-3.273183803823705E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(-3.273183803823705E17+8.992998590730221E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(6.605847528077872E17-5.840478851570874E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(8.992998590730221E17+3.273183803823705E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(-5.840478851570874E17-6.605847528077872E17*sqrt(-1.0)));
Renate 29:8e0a7c33e4e7 235
Renate 29:8e0a7c33e4e7 236 Joint_velocity_y[0][0] = (vy*(exp(q2*sqrt(-1.0))*(-3.273183803823705E17-8.992998590730221E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*(-3.273183803823705E17+8.992998590730221E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*(6.605847528077872E17-5.840478851570874E17*sqrt(-1.0))+exp(q1*sqrt(-1.0))*exp(q2*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*1.914029841632461E18+6.605847528077872E17+5.840478851570874E17*sqrt(-1.0))*(4.0E1/1.7E1))/(cos(q1+3.141592653589793/9.0)*(6.605847528077872E17+5.840478851570874E17*sqrt(-1.0))+sin(q1+3.141592653589793/9.0)*(-5.840478851570874E17+6.605847528077872E17*sqrt(-1.0))+exp(q2*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(-3.273183803823705E17-8.992998590730221E17*sqrt(-1.0))+exp(q2*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(8.992998590730221E17-3.273183803823705E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(-3.273183803823705E17+8.992998590730221E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(6.605847528077872E17-5.840478851570874E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(8.992998590730221E17+3.273183803823705E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(-5.840478851570874E17-6.605847528077872E17*sqrt(-1.0)));
Renate 29:8e0a7c33e4e7 237 Joint_velocity_y[1][0] = (vy*(exp(q2*sqrt(-1.0))*(3.273183803823705E17+8.992998590730221E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*(3.273183803823705E17-8.992998590730221E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*(-6.605847528077872E17+5.840478851570874E17*sqrt(-1.0))+-6.605847528077872E17-5.840478851570874E17*sqrt(-1.0))*(4.0E1/1.7E1))/(cos(q1+3.141592653589793/9.0)*(6.605847528077872E17+5.840478851570874E17*sqrt(-1.0))+sin(q1+3.141592653589793/9.0)*(-5.840478851570874E17+6.605847528077872E17*sqrt(-1.0))+exp(q2*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(-3.273183803823705E17-8.992998590730221E17*sqrt(-1.0))+exp(q2*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(8.992998590730221E17-3.273183803823705E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(-3.273183803823705E17+8.992998590730221E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*cos(q1+3.141592653589793/9.0)*(6.605847528077872E17-5.840478851570874E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(8.992998590730221E17+3.273183803823705E17*sqrt(-1.0))+exp(q1*2.0*sqrt(-1.0))*exp(q2*2.0*sqrt(-1.0))*sin(q1+3.141592653589793/9.0)*(-5.840478851570874E17-6.605847528077872E17*sqrt(-1.0)));
Renate 29:8e0a7c33e4e7 238
Renate 30:0a328a9a4788 239 q1_dot_x = Joint_velocity_x[0][0];
Renate 30:0a328a9a4788 240 q2_dot_x = Joint_velocity_x[1][0];
Renate 29:8e0a7c33e4e7 241
Renate 30:0a328a9a4788 242 q1_dot_y = Joint_velocity_y[0][0];
Renate 30:0a328a9a4788 243 q2_dot_y = Joint_velocity_y[1][0];
Renate 29:8e0a7c33e4e7 244
Renate 29:8e0a7c33e4e7 245 // Integratie
Renate 30:0a328a9a4788 246 Joint_1_position_x = Joint_1_position_x_prev + Joint_velocity_x[0][0]*delta_t;
Renate 30:0a328a9a4788 247 Joint_2_position_x = Joint_2_position_x_prev + Joint_velocity_x[1][0]*delta_t;
Renate 30:0a328a9a4788 248
Renate 30:0a328a9a4788 249 Joint_1_position_y = Joint_1_position_y_prev + Joint_velocity_y[0][0]*delta_t;
Renate 30:0a328a9a4788 250 Joint_2_position_y = Joint_2_position_y_prev + Joint_velocity_y[1][0]*delta_t;
Renate 29:8e0a7c33e4e7 251
Renate 30:0a328a9a4788 252 Joint_1_position_x_prev = Joint_1_position_x;
Renate 30:0a328a9a4788 253 Joint_2_position_x_prev = Joint_2_position_x;
Renate 30:0a328a9a4788 254
Renate 30:0a328a9a4788 255 Joint_1_position_y_prev = Joint_1_position_y;
Renate 30:0a328a9a4788 256 Joint_2_position_y_prev = Joint_2_position_y;
Renate 30:0a328a9a4788 257
Renate 30:0a328a9a4788 258 Motor_1_position_x = Joint_1_position_x;
Renate 30:0a328a9a4788 259 Motor_2_position_x = Joint_1_position_x + Joint_2_position_x;
Renate 29:8e0a7c33e4e7 260
Renate 30:0a328a9a4788 261 Motor_1_position_y = Joint_1_position_y;
Renate 30:0a328a9a4788 262 Motor_2_position_y = Joint_1_position_y + Joint_2_position_y;
Renate 30:0a328a9a4788 263 }
Renate 29:8e0a7c33e4e7 264
Renate 31:967b455bc328 265 // PI-CONTROLLER X-RICHTING
Renate 31:967b455bc328 266 void PI_controller_x()
Renate 31:967b455bc328 267 {
Renate 31:967b455bc328 268 // Proportional part:
Renate 31:967b455bc328 269 theta_k_1_x= Kp * error_q1_x;
Renate 31:967b455bc328 270 theta_k_2_x= Kp * error_q2_x;
Renate 31:967b455bc328 271
Renate 31:967b455bc328 272 // Integral part
Renate 31:967b455bc328 273 error_integral_1_x = error_integral_1_x + error_q1_x *delta_t;
Renate 31:967b455bc328 274 error_integral_2_x = error_integral_2_x + error_q2_x *delta_t;
Renate 31:967b455bc328 275 u_i_1_x= Ki * error_integral_1_x;
Renate 31:967b455bc328 276 u_i_2_x= Ki * error_integral_2_x;
Renate 31:967b455bc328 277
Renate 31:967b455bc328 278 // sum all parts and return it
Renate 31:967b455bc328 279 theta_t_1_x = theta_k_1_x + u_i_1_x;
Renate 31:967b455bc328 280 theta_t_2_x = theta_k_2_x + u_i_2_x;
Renate 31:967b455bc328 281 }
Renate 31:967b455bc328 282
Renate 31:967b455bc328 283 // PI-CONTROLLER Y-RICHTING
Renate 30:0a328a9a4788 284 void PI_controller_y()
Renate 30:0a328a9a4788 285 {
Renate 30:0a328a9a4788 286 // Proportional part:
Renate 31:967b455bc328 287 theta_k_1_y= Kp * error_q1_y;
Renate 31:967b455bc328 288 theta_k_2_y= Kp * error_q2_y;
Renate 30:0a328a9a4788 289
Renate 30:0a328a9a4788 290 // Integral part
Renate 31:967b455bc328 291 error_integral_1_y = error_integral_1_y + error_q1_y *delta_t;
Renate 31:967b455bc328 292 error_integral_2_y = error_integral_2_y + error_q2_y *delta_t;
Renate 31:967b455bc328 293 u_i_1_y= Ki * error_integral_1_y;
Renate 31:967b455bc328 294 u_i_2_y= Ki * error_integral_2_y;
Renate 30:0a328a9a4788 295
Renate 30:0a328a9a4788 296 // sum all parts and return it
Renate 31:967b455bc328 297 theta_t_1_y = theta_k_1_y + u_i_1_y;
Renate 31:967b455bc328 298 theta_t_2_y = theta_k_2_y + u_i_2_y;
Renate 29:8e0a7c33e4e7 299 }
Renate 29:8e0a7c33e4e7 300
Renate 31:967b455bc328 301 void Define_motor_dir()
Renate 31:967b455bc328 302 {
Renate 31:967b455bc328 303 if (theta_t_1_y >= 0 && theta_t_2_y >= 0) {
Renate 31:967b455bc328 304 motor1_dir.write(0);
Renate 31:967b455bc328 305 motor2_dir.write(1);
Renate 31:967b455bc328 306 }
Renate 31:967b455bc328 307 if (theta_t_1_y < 0 && theta_t_2_y >= 0) {
Renate 31:967b455bc328 308 motor1_dir.write(1);
Renate 31:967b455bc328 309 motor1_dir.write(1);
Renate 31:967b455bc328 310 }
Renate 31:967b455bc328 311 if (theta_t_1_y >= 0 && theta_t_2_y < 0) {
Renate 31:967b455bc328 312 motor1_dir.write(0);
Renate 31:967b455bc328 313 motor2_dir.write(0);
Renate 31:967b455bc328 314 } else {
Renate 31:967b455bc328 315 motor1_dir.write(1);
Renate 31:967b455bc328 316 motor2_dir.write(0);
Renate 31:967b455bc328 317 }
Renate 31:967b455bc328 318 }
Renate 6:64146e16e10c 319 // Finite state machine programming (calibration servo motor?)
Renate 28:7c7508bdb21f 320 void ProcessStateMachine(void)
Renate 28:7c7508bdb21f 321 {
Renate 23:4572750a5c59 322 // Berekenen van de motorhoeken (in radialen)
Renate 28:7c7508bdb21f 323 counts1 = Encoder1.getPulses();
Renate 28:7c7508bdb21f 324 counts2 = Encoder2.getPulses();
Renate 23:4572750a5c59 325 theta_h_1_deg=(counts1/(double)CPR)*(double)full_degrees;
Renate 23:4572750a5c59 326 theta_h_2_deg=(counts2/(double)CPR)*(double)full_degrees;
Renate 23:4572750a5c59 327 theta_h_1_rad=(theta_h_1_deg/half_degrees)*M_PI;
Renate 23:4572750a5c59 328 theta_h_2_rad=(theta_h_2_deg/half_degrees)*M_PI;
Renate 28:7c7508bdb21f 329
Renate 29:8e0a7c33e4e7 330 // Calculating joint angles based on motor angles (current encoder values)
Renate 29:8e0a7c33e4e7 331 q1 = theta_h_1_rad; // Relative angle joint 1 (rad)
Renate 29:8e0a7c33e4e7 332 q2 = theta_h_2_rad - theta_h_1_rad; // Relative angle joint 2 (rad)
Renate 29:8e0a7c33e4e7 333
Renate 23:4572750a5c59 334 // Eerste deel van de filters (High-pass + Notch) over het ruwe EMG signaal
Renate 28:7c7508bdb21f 335 // doen. Het ruwe signaal wordt gelezen binnen een ticker en wordt daardoor 'gesampled'
Renate 23:4572750a5c59 336 filtered_EMG_biceps_right_1=bqbr1.step(EMG_biceps_right_raw.read());
Renate 23:4572750a5c59 337 filtered_EMG_biceps_left_1=bqcbl.step(EMG_biceps_left_raw.read());
Renate 23:4572750a5c59 338 filtered_EMG_calf_1=bqck.step(EMG_calf_raw.read());
Renate 28:7c7508bdb21f 339
Renate 23:4572750a5c59 340 // Vervolgens wordt de absolute waarde hiervan genomen
Renate 23:4572750a5c59 341 filtered_EMG_biceps_right_abs=abs(filtered_EMG_biceps_right_1);
Renate 23:4572750a5c59 342 filtered_EMG_biceps_left_abs=abs(filtered_EMG_biceps_left_1);
Renate 23:4572750a5c59 343 filtered_EMG_calf_abs=abs(filtered_EMG_calf_1);
Renate 28:7c7508bdb21f 344
Renate 23:4572750a5c59 345 // Tenslotte wordt het tweede deel van de filters (twee low-pass, voor 4e orde filter)
Renate 23:4572750a5c59 346 // over het signaal gedaan
Renate 23:4572750a5c59 347 filtered_EMG_biceps_right=bqcbr2.step(filtered_EMG_biceps_right_abs);
Renate 23:4572750a5c59 348 filtered_EMG_biceps_left=bqcbl2.step(filtered_EMG_biceps_left_abs);
Renate 23:4572750a5c59 349 filtered_EMG_calf=bqck2.step(filtered_EMG_calf_abs);
Renate 28:7c7508bdb21f 350
Renate 28:7c7508bdb21f 351 // De gefilterde EMG-signalen kunnen tevens visueel worden weergegeven in de HIDScope
Renate 28:7c7508bdb21f 352 scope.set(0, normalized_EMG_biceps_right);
Renate 28:7c7508bdb21f 353 scope.set(1, normalized_EMG_biceps_left);
Renate 28:7c7508bdb21f 354 scope.set(2, normalized_EMG_calf);
Renate 23:4572750a5c59 355 scope.send();
Renate 28:7c7508bdb21f 356
Renate 28:7c7508bdb21f 357 // Tijdens de kalibratie moet vervolgens een maximale spierspanning worden bepaald, die
Renate 28:7c7508bdb21f 358 // later kan worden gebruikt voor een normalisatie. De spieren worden hiertoe gedurende
Renate 23:4572750a5c59 359 // 5 seconden maximaal aangespannen. De EMG waarden worden bij elkaar opgeteld,
Renate 28:7c7508bdb21f 360 // waarna het gemiddelde wordt bepaald.
Renate 28:7c7508bdb21f 361 if (calib) {
Renate 28:7c7508bdb21f 362 if (i_calib == 0) {
Renate 28:7c7508bdb21f 363 filtered_EMG_biceps_right_total=0;
Renate 28:7c7508bdb21f 364 filtered_EMG_biceps_left_total=0;
Renate 28:7c7508bdb21f 365 filtered_EMG_calf_total=0;
Renate 28:7c7508bdb21f 366 }
Renate 28:7c7508bdb21f 367 if (i_calib <= 2500) {
Renate 28:7c7508bdb21f 368 filtered_EMG_biceps_right_total+=filtered_EMG_biceps_right;
Renate 28:7c7508bdb21f 369 filtered_EMG_biceps_left_total+=filtered_EMG_biceps_left;
Renate 28:7c7508bdb21f 370 filtered_EMG_calf_total+=filtered_EMG_calf;
Renate 28:7c7508bdb21f 371 i_calib++;
Renate 28:7c7508bdb21f 372 }
Renate 28:7c7508bdb21f 373 if (i_calib > 2500) {
Renate 28:7c7508bdb21f 374 mean_EMG_biceps_right=filtered_EMG_biceps_right_total/2500.0;
Renate 28:7c7508bdb21f 375 mean_EMG_biceps_left=filtered_EMG_biceps_left_total/2500.0;
Renate 28:7c7508bdb21f 376 mean_EMG_calf=filtered_EMG_calf_total/2500.0;
Renate 28:7c7508bdb21f 377 pc.printf("Ontspan spieren\r\n");
Renate 28:7c7508bdb21f 378 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 28:7c7508bdb21f 379 calib = false;
Renate 28:7c7508bdb21f 380 }
Renate 28:7c7508bdb21f 381 }
Renate 28:7c7508bdb21f 382
Renate 23:4572750a5c59 383 // Genormaliseerde EMG's berekenen
Renate 23:4572750a5c59 384 normalized_EMG_biceps_right=filtered_EMG_biceps_right/mean_EMG_biceps_right;
Renate 23:4572750a5c59 385 normalized_EMG_biceps_left=filtered_EMG_biceps_left/mean_EMG_biceps_left;
Renate 23:4572750a5c59 386 normalized_EMG_calf=filtered_EMG_calf/mean_EMG_calf;
Renate 28:7c7508bdb21f 387
Renate 28:7c7508bdb21f 388 // Finite state machine
Renate 28:7c7508bdb21f 389 switch (currentState) {
Renate 6:64146e16e10c 390 case Motors_off:
Renate 28:7c7508bdb21f 391
Renate 28:7c7508bdb21f 392 if (stateChanged) {
Renate 8:c7d3b67346db 393 motors_off(); // functie waarbij motoren uitgaan
Renate 11:4bc0304978e2 394 stateChanged = false;
Renate 9:4de589636f50 395 pc.printf("Motors off state\r\n");
Renate 28:7c7508bdb21f 396 }
Renate 29:8e0a7c33e4e7 397 if (Emergency_button_pressed.read() == false) { // Normaal waarde 1 bij indrukken, nu nul -> false
Renate 29:8e0a7c33e4e7 398 emergency();
Renate 29:8e0a7c33e4e7 399 }
Renate 28:7c7508bdb21f 400 if (Power_button_pressed.read() == false) { // Normaal waarde 1 bij indrukken, nu nul -> false
Renate 9:4de589636f50 401 currentState = Calib_motor;
Renate 11:4bc0304978e2 402 stateChanged = true;
Renate 11:4bc0304978e2 403 pc.printf("Moving to Calib_motor state\r\n");
Renate 6:64146e16e10c 404 }
Renate 6:64146e16e10c 405 break;
Renate 28:7c7508bdb21f 406
Renate 9:4de589636f50 407 case Calib_motor:
Renate 28:7c7508bdb21f 408
Renate 29:8e0a7c33e4e7 409 if (stateChanged) {
Renate 29:8e0a7c33e4e7 410 pc.printf("Zet motoren handmatig in home positie\r\n");
Renate 29:8e0a7c33e4e7 411 stateChanged = false;
Renate 29:8e0a7c33e4e7 412 }
Renate 29:8e0a7c33e4e7 413
Renate 29:8e0a7c33e4e7 414 if (Emergency_button_pressed.read() == false) {
Renate 29:8e0a7c33e4e7 415 emergency();
Renate 29:8e0a7c33e4e7 416 }
Renate 29:8e0a7c33e4e7 417 if (Motor_calib_button_pressed.read() == false) {
Renate 21:456acc79726c 418 theta_h_1_rad = 0;
Renate 21:456acc79726c 419 theta_h_2_rad = 0;
Renate 21:456acc79726c 420 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 421 currentState = Calib_EMG;
Renate 11:4bc0304978e2 422 stateChanged = true;
Renate 9:4de589636f50 423 pc.printf("Moving to Calib_EMG state\r\n");
Renate 28:7c7508bdb21f 424 }
Renate 11:4bc0304978e2 425 break;
Renate 28:7c7508bdb21f 426
Renate 28:7c7508bdb21f 427 case Calib_EMG:
Renate 28:7c7508bdb21f 428
Renate 28:7c7508bdb21f 429 if (stateChanged) {
Renate 28:7c7508bdb21f 430 i_calib = 0;
Renate 28:7c7508bdb21f 431 calib = true;
Renate 28:7c7508bdb21f 432 pc.printf("Span spieren aan\r\n");
Renate 28:7c7508bdb21f 433 stateChanged = false;
Renate 28:7c7508bdb21f 434 }
Renate 28:7c7508bdb21f 435
Renate 29:8e0a7c33e4e7 436 if (Emergency_button_pressed.read() == false) {
Renate 29:8e0a7c33e4e7 437 emergency();
Renate 29:8e0a7c33e4e7 438 }
Renate 29:8e0a7c33e4e7 439
Renate 28:7c7508bdb21f 440 if (i_calib > 2500) {
Renate 28:7c7508bdb21f 441 calib = false;
Renate 28:7c7508bdb21f 442 currentState = Homing;
Renate 28:7c7508bdb21f 443 stateChanged = true;
Renate 28:7c7508bdb21f 444 pc.printf("Moving to Homing state\r\n");
Renate 28:7c7508bdb21f 445 }
Renate 28:7c7508bdb21f 446 break;
Renate 28:7c7508bdb21f 447
Renate 28:7c7508bdb21f 448 case Homing: // NOG NAAR KIJKEN
Renate 28:7c7508bdb21f 449
Renate 28:7c7508bdb21f 450 if (stateChanged) {
Renate 28:7c7508bdb21f 451 // Ervoor zorgen dat de motoren zo bewegen dat de robotarm
Renate 11:4bc0304978e2 452 // (inclusief de end-effector) in de juiste home positie wordt gezet
Renate 21:456acc79726c 453 motors_on();
Renate 28:7c7508bdb21f 454 stateChanged = false;
Renate 11:4bc0304978e2 455 }
Renate 28:7c7508bdb21f 456 if (Emergency_button_pressed.read() == false) {
Renate 10:83f3cec8dd1c 457 emergency();
Renate 28:7c7508bdb21f 458 }
Renate 29:8e0a7c33e4e7 459
Renate 29:8e0a7c33e4e7 460 // Hier moet iets van encoder counts waarde maal -1 worden gedaan om
Renate 29:8e0a7c33e4e7 461 // naar positie 0 te bewegen
Renate 29:8e0a7c33e4e7 462
Renate 29:8e0a7c33e4e7 463 if (Power_button_pressed.read() == false)
Renate 29:8e0a7c33e4e7 464 //if (theta_h_1_rad == 0.0 && theta_h_2_rad == 0.0)
Renate 29:8e0a7c33e4e7 465 // Veranderen wanneer encoders werken en motor in elkaar zit
Renate 28:7c7508bdb21f 466 {
Renate 28:7c7508bdb21f 467 currentState = Operation_mode;
Renate 28:7c7508bdb21f 468 stateChanged = true;
Renate 29:8e0a7c33e4e7 469 pc.printf("Moving to operation mode \r\n");
Renate 28:7c7508bdb21f 470 }
Renate 29:8e0a7c33e4e7 471
Renate 28:7c7508bdb21f 472 break;
Renate 28:7c7508bdb21f 473
Renate 28:7c7508bdb21f 474 case Operation_mode: // Overgaan tot emergency wanneer referentie niet
Renate 28:7c7508bdb21f 475 // overeenkomt met werkelijkheid
Renate 28:7c7508bdb21f 476
Renate 23:4572750a5c59 477 // 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 29:8e0a7c33e4e7 478 if (stateChanged) {
Renate 29:8e0a7c33e4e7 479 motors_off();
Renate 30:0a328a9a4788 480 Joint_1_position_x = 0;
Renate 30:0a328a9a4788 481 Joint_2_position_x = 0;
Renate 30:0a328a9a4788 482 Joint_1_position_y = 0;
Renate 30:0a328a9a4788 483 Joint_2_position_y = 0;
Renate 30:0a328a9a4788 484 Joint_1_position_x_prev = Joint_1_position_x;
Renate 30:0a328a9a4788 485 Joint_2_position_x_prev = Joint_2_position_x;
Renate 30:0a328a9a4788 486 Joint_1_position_y_prev = Joint_1_position_y;
Renate 30:0a328a9a4788 487 Joint_2_position_y_prev = Joint_2_position_y;
Renate 29:8e0a7c33e4e7 488 Joint_velocity_x[0][0] = 0;
Renate 29:8e0a7c33e4e7 489 Joint_velocity_x[1][0] = 0;
Renate 29:8e0a7c33e4e7 490 Joint_velocity_y[0][0] = 0;
Renate 29:8e0a7c33e4e7 491 Joint_velocity_y[1][0] = 0;
Renate 30:0a328a9a4788 492 Motor_1_position_x = 0;
Renate 30:0a328a9a4788 493 Motor_2_position_x = 0;
Renate 30:0a328a9a4788 494 Motor_1_position_y = 0;
Renate 30:0a328a9a4788 495 Motor_2_position_y = 0;
Renate 31:967b455bc328 496 theta_k_1_x = 0.0;
Renate 31:967b455bc328 497 theta_k_2_x = 0.0;
Renate 31:967b455bc328 498 error_integral_1_x = 0.0;
Renate 31:967b455bc328 499 error_integral_2_x = 0.0;
Renate 31:967b455bc328 500 theta_k_1_y = 0.0;
Renate 31:967b455bc328 501 theta_k_2_y = 0.0;
Renate 31:967b455bc328 502 error_integral_1_y = 0.0;
Renate 31:967b455bc328 503 error_integral_2_y = 0.0;
Renate 29:8e0a7c33e4e7 504 stateChanged = false;
Renate 29:8e0a7c33e4e7 505 }
Renate 29:8e0a7c33e4e7 506 // Hier moet een functie worden aangeroepen die ervoor zorgt dat
Renate 29:8e0a7c33e4e7 507 // aan de hand van EMG-signalen de motoren kunnen worden aangestuurd,
Renate 29:8e0a7c33e4e7 508 // zodat de robotarm kan bewegen
Renate 28:7c7508bdb21f 509
Renate 29:8e0a7c33e4e7 510 // if (Power_button_pressed.read() == false) { // Normaal waarde 1 bij indrukken, nu nul -> false
Renate 29:8e0a7c33e4e7 511 // motors_off();
Renate 29:8e0a7c33e4e7 512 // currentState = Motors_off;
Renate 29:8e0a7c33e4e7 513 // stateChanged = true;
Renate 29:8e0a7c33e4e7 514 // pc.printf("Terug naar de state Motors_off\r\n");
Renate 29:8e0a7c33e4e7 515 // }
Renate 29:8e0a7c33e4e7 516 if (Emergency_button_pressed.read() == false) {
Renate 29:8e0a7c33e4e7 517 emergency();
Renate 29:8e0a7c33e4e7 518 }
Renate 29:8e0a7c33e4e7 519 if (Motor_calib_button_pressed.read() == false) { // Is nu voor de homing
Renate 29:8e0a7c33e4e7 520 motors_off();
Renate 29:8e0a7c33e4e7 521 currentState = Homing;
Renate 29:8e0a7c33e4e7 522 stateChanged = true;
Renate 29:8e0a7c33e4e7 523 pc.printf("Terug naar de state Homing\r\n");
Renate 29:8e0a7c33e4e7 524 }
Renate 29:8e0a7c33e4e7 525 if (normalized_EMG_biceps_right >= 0.3) {
Renate 31:967b455bc328 526
Renate 31:967b455bc328 527 if (normalized_EMG_calf < 0.3)
Renate 31:967b455bc328 528 {
Renate 31:967b455bc328 529 vx = 0.0;
Renate 31:967b455bc328 530 vy = 0.05;
Renate 31:967b455bc328 531 }
Renate 31:967b455bc328 532 if (normalized_EMG_calf >= 0.3)
Renate 31:967b455bc328 533 {
Renate 31:967b455bc328 534 vx = 0.0;
Renate 31:967b455bc328 535 vy = -0.05;
Renate 31:967b455bc328 536 }
Renate 30:0a328a9a4788 537 Inverse_Kinematics();
Renate 30:0a328a9a4788 538 error_q1_y = Motor_1_position_y - theta_h_1_rad;
Renate 31:967b455bc328 539 error_q2_y = Motor_2_position_y - theta_h_2_rad;
Renate 30:0a328a9a4788 540 PI_controller_y();
Renate 31:967b455bc328 541 Define_motor_dir();
Renate 31:967b455bc328 542
Renate 31:967b455bc328 543 abs_theta_t_1_y = abs(theta_t_1_y);
Renate 31:967b455bc328 544 abs_theta_t_2_y = abs(theta_t_2_y);
Renate 30:0a328a9a4788 545
Renate 29:8e0a7c33e4e7 546 //if (normalized_EMG_calf >= 0.3)
Renate 29:8e0a7c33e4e7 547 //{
Renate 29:8e0a7c33e4e7 548 //motor1.write(0.1);
Renate 29:8e0a7c33e4e7 549 //motor1_dir = !motor1_dir;
Renate 29:8e0a7c33e4e7 550 //}
Renate 28:7c7508bdb21f 551
Renate 29:8e0a7c33e4e7 552 } else if (normalized_EMG_biceps_left >= 0.3) {
Renate 31:967b455bc328 553 vx = 0.05;
Renate 31:967b455bc328 554 vy = 0.0;
Renate 31:967b455bc328 555 Inverse_Kinematics();
Renate 31:967b455bc328 556 error_q1_x = Motor_1_position_x - theta_h_1_rad;
Renate 31:967b455bc328 557 error_q2_x = Motor_2_position_x - theta_h_2_rad;
Renate 31:967b455bc328 558 PI_controller_x();
Renate 31:967b455bc328 559
Renate 31:967b455bc328 560
Renate 31:967b455bc328 561
Renate 31:967b455bc328 562
Renate 31:967b455bc328 563
Renate 31:967b455bc328 564
Renate 31:967b455bc328 565 motor2.write(0.7);
Renate 31:967b455bc328 566 motor1.write(0.7);
Renate 29:8e0a7c33e4e7 567 motor1_dir.write(1);
Renate 31:967b455bc328 568 motor2_dir.write(0);
Renate 28:7c7508bdb21f 569 //if (normalized_EMG_calf >= 0.3)
Renate 28:7c7508bdb21f 570 //{
Renate 28:7c7508bdb21f 571 // motor1_dir = !motor1_dir;
Renate 28:7c7508bdb21f 572 // pc.printf("Richting zou om moeten draaien");
Renate 28:7c7508bdb21f 573 // motor2_dir = !motor2_dir;
Renate 28:7c7508bdb21f 574 //}
Renate 29:8e0a7c33e4e7 575 } else {
Renate 29:8e0a7c33e4e7 576 motor1.write(0);
Renate 29:8e0a7c33e4e7 577 motor2.write(0);
Renate 28:7c7508bdb21f 578 }
Renate 28:7c7508bdb21f 579
Renate 21:456acc79726c 580 break;
Renate 28:7c7508bdb21f 581
Renate 7:1d57463393c6 582 default:
Renate 7:1d57463393c6 583 // Zelfde functie als die eerder is toegepast om motoren uit te schakelen -> safety!
Renate 14:54343b9fd708 584 motors_off();
Renate 9:4de589636f50 585 pc.printf("Unknown or uninplemented state reached!\r\n");
Renate 28:7c7508bdb21f 586
WiesjeRoskamp 2:aee655d11b6d 587 }
Renate 11:4bc0304978e2 588 }
WiesjeRoskamp 2:aee655d11b6d 589
Renate 8:c7d3b67346db 590 int main(void)
Renate 28:7c7508bdb21f 591 {
Renate 28:7c7508bdb21f 592 pc.printf("Opstarten\r\n");
Renate 23:4572750a5c59 593
Renate 28:7c7508bdb21f 594 // Chain voor rechter biceps
Renate 28:7c7508bdb21f 595 bqcbr.add(&bqbr1).add(&bqbr2);
Renate 28:7c7508bdb21f 596 bqcbr2.add(&bqbr3).add(&bqbr4);
Renate 28:7c7508bdb21f 597 // Chain voor linker biceps
Renate 28:7c7508bdb21f 598 bqcbl.add(&bqbl1).add(&bqbl2);
Renate 28:7c7508bdb21f 599 bqcbl2.add(&bqbl3).add(&bqbl4);
Renate 28:7c7508bdb21f 600 // Chain voor kuit
Renate 28:7c7508bdb21f 601 bqck.add(&bqk1).add(&bqk2);
Renate 28:7c7508bdb21f 602 bqck2.add(&bqk3).add(&bqk4);
Renate 28:7c7508bdb21f 603
Renate 28:7c7508bdb21f 604 loop_ticker.attach(&ProcessStateMachine, 0.002f);
Renate 28:7c7508bdb21f 605
Renate 28:7c7508bdb21f 606 while(true) {
Renate 28:7c7508bdb21f 607 // wait(0.2);
Renate 28:7c7508bdb21f 608 /* do nothing */
Renate 28:7c7508bdb21f 609 }
Renate 28:7c7508bdb21f 610 }