Script 15-10-2019
Dependencies: Servoaansturing mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- Renate
- Date:
- 2019-10-30
- Revision:
- 30:0a328a9a4788
- Parent:
- 29:8e0a7c33e4e7
- Child:
- 31:967b455bc328
File content as of revision 30:0a328a9a4788:
#include "mbed.h" #include "HIDScope.h" #include "QEI.h" #include "MODSERIAL.h" #include "BiQuad.h" #include "FastPWM.h" #define M_PI 3.14159265358979323846 /* pi */ #include <math.h> #include "Servo.h" #include <cmath> #include <complex> Serial pc(USBTX, USBRX); // TICKERS Ticker loop_ticker; // BENODIGD VOOR PROCESS STATE MACHINE enum states {Motors_off, Calib_motor, Calib_EMG, Homing, Operation_mode}; states currentState = Motors_off; bool stateChanged = true; // Make sure the initialization of first state is executed // INPUTS DigitalIn Power_button_pressed(D1); // Geen InterruptIn gebruiken! DigitalIn Emergency_button_pressed(D2); DigitalIn Motor_calib_button_pressed(SW2); AnalogIn EMG_biceps_right_raw (A0); AnalogIn EMG_biceps_left_raw (A1); AnalogIn EMG_calf_raw (A2); QEI Encoder1(D12, D13, NC, 8400, QEI::X4_ENCODING); //Checken of die D12, D9 etc wel kloppen, 8400= gear ratio x 64 QEI Encoder2(D9, D10, NC, 8400, QEI::X4_ENCODING); // OUTPUTS PwmOut motor1(D6); // Misschien moeten we hiervoor DigitalOut gebruiken, moet PwmOut motor2(D5); // samen kunnen gaan met de servo motor DigitalOut motor1_dir(D7); DigitalOut motor2_dir(D4); // VARIABELEN VOOR ENCODER, MOTORHOEK ETC. int counts1; int counts2; const int CPR = 64; // Counts per revolution const int full_degrees = 360; const int half_degrees = 180; double theta_h_1_deg; double theta_h_2_deg; double theta_h_1_rad; double theta_h_2_rad; // DEFINITIES VOOR FILTERS // BICEPS-RECHTS // Definities voor eerste BiQuadChain (High-pass en Notch) BiQuadChain bqcbr; BiQuad bqbr1(0.8006, -1.6012, 0.8006, -1.5610, 0.6414); // High-pass BiQuad bqbr2(1, -1.6180, 1, -1.6019, 0.9801); // Notch // Na het nemen van de absolute waarde moet de tweede BiQuadChain worden toegepast. // Definieer (twee Low-pass -> vierde orde verkrijgen): BiQuadChain bqcbr2; BiQuad bqbr3(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass BiQuad bqbr4(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass // BICEPS-LINKS // Definities voor eerste BiQuadChain (High-pass en Notch) BiQuadChain bqcbl; BiQuad bqbl1(0.8006, -1.6012, 0.8006, -1.5610, 0.6414); // High-pass BiQuad bqbl2(1, -1.6180, 1, -1.6019, 0.9801); // Notch // Na het nemen van de absolute waarde moet de tweede BiQuadChain worden toegepast. // Definieer (twee Low-pass -> vierde orde verkrijgen): BiQuadChain bqcbl2; BiQuad bqbl3(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass BiQuad bqbl4(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass // KUIT // Definities voor eerste BiQuadChain (High-pass en Notch) BiQuadChain bqck; BiQuad bqk1(0.8006, -1.6012, 0.8006, -1.5610, 0.6414); // High-pass BiQuad bqk2(1, -1.6180, 1, -1.6019, 0.9801); // Notch // Na het nemen van de absolute waarde moet de tweede BiQuadChain worden toegepast. // Definieer (twee Low-pass -> vierde orde verkrijgen): BiQuadChain bqck2; BiQuad bqk3(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass BiQuad bqk4(1.5515e-4, 3.1030e-4, 1.5515e-4, -1.9645, 0.9651); // Low-pass // VARIABELEN VOOR EMG + FILTEREN double filtered_EMG_biceps_right; double filtered_EMG_biceps_left; double filtered_EMG_calf; double filtered_EMG_biceps_right_1; double filtered_EMG_biceps_left_1; double filtered_EMG_calf_1; double filtered_EMG_biceps_right_abs; double filtered_EMG_biceps_left_abs; double filtered_EMG_calf_abs; double filtered_EMG_biceps_right_total; double filtered_EMG_biceps_left_total; double filtered_EMG_calf_total; // Variabelen voor HIDScope HIDScope scope(3); // VARIABELEN VOOR (INITIATIE VAN) EMG KALIBRATIE LOOP bool calib = false; static int i_calib = 0; double mean_EMG_biceps_right; double mean_EMG_biceps_left; double mean_EMG_calf; // VARIABELEN VOOR OPERATION MODE (EMG) double normalized_EMG_biceps_right; double normalized_EMG_biceps_left; double normalized_EMG_calf; // VARIABELEN VOOR OPERATION MODE (RKI) double vx; // Gelijk aan variabele die snelheid aangeeft in EMG (in x-richting) double vy; // Gelijk aan variabele die snelheid aangeeft in EMG (in y-richting) const double delta_t = 0.002; double Joint_1_position_x = 0.0; double Joint_2_position_x = 0.0; double Joint_1_position_y = 0.0; double Joint_2_position_y = 0.0; double Joint_1_position_x_prev = 0.0; double Joint_2_position_x_prev = 0.0; double Joint_1_position_y_prev; double Joint_2_position_y_prev; double Joint_velocity_x[2][1] = {{0.0}, {0.0}}; double Joint_velocity_y[2][1] = {{0.0}, {0.0}}; double q1_dot_x; double q2_dot_x; double q1_dot_y; double q2_dot_y; double q1; double q2; double Motor_1_position_x = 0.0; double Motor_2_position_x = 0.0; double Motor_1_position_y = 0.0; double Motor_2_position_y = 0.0; double error_q1_y; double error_q2_y; // VARIABELEN VOOR OPERATION MODE (PI-CONTROLLER) double error_y_integral_1 = 0.0; double error_y_integral_2 = 0.0; const double Kp = 17.5; const double Ki = 1.02; double theta_k_1 = 0.0; double theta_k_2 = 0.0; double error_integral_1 = 0.0; double error_integral_2 = 0.0; double u_i_1; double u_i_2; double theta_t_1; double theta_t_2; // VOIDS // Noodfunctie waarbij alles uitgaat (evt. nog een rood LEDje laten branden). // Enige optie is resetten, dan wordt het script opnieuw opgestart. void emergency() { loop_ticker.detach(); motor1.write(0); motor2.write(0); pc.printf("Ik ga exploderen!!!\r\n"); } // Motoren uitzetten void motors_off() { motor1.write(0); motor1_dir.write(1); motor2.write(0); motor2_dir.write(1); pc.printf("Motoren uit functie\r\n"); } // Motoren aanzetten void motors_on() { motor1.write(0.9); motor1_dir.write(1); motor2.write(0.1); motor2_dir.write(1); pc.printf("Motoren aan functie\r\n"); } void Inverse_Kinematics() { // Defining joint velocities based on calculations of matlab 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))); 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))); 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))); 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))); q1_dot_x = Joint_velocity_x[0][0]; q2_dot_x = Joint_velocity_x[1][0]; q1_dot_y = Joint_velocity_y[0][0]; q2_dot_y = Joint_velocity_y[1][0]; // Integratie Joint_1_position_x = Joint_1_position_x_prev + Joint_velocity_x[0][0]*delta_t; Joint_2_position_x = Joint_2_position_x_prev + Joint_velocity_x[1][0]*delta_t; Joint_1_position_y = Joint_1_position_y_prev + Joint_velocity_y[0][0]*delta_t; Joint_2_position_y = Joint_2_position_y_prev + Joint_velocity_y[1][0]*delta_t; Joint_1_position_x_prev = Joint_1_position_x; Joint_2_position_x_prev = Joint_2_position_x; Joint_1_position_y_prev = Joint_1_position_y; Joint_2_position_y_prev = Joint_2_position_y; Motor_1_position_x = Joint_1_position_x; Motor_2_position_x = Joint_1_position_x + Joint_2_position_x; Motor_1_position_y = Joint_1_position_y; Motor_2_position_y = Joint_1_position_y + Joint_2_position_y; } // PI-controller y-richting void PI_controller_y() { // Proportional part: theta_k_1= Kp * error_q1_y; theta_k_2= Kp * error_q2_y; // Integral part error_integral_1 = error_integral_1 + error_q1_y *delta_t; error_integral_2 = error_integral_2 + error_q2_y *delta_t; u_i_1= Ki * error_integral_1; u_i_2= Ki * error_integral_2; // sum all parts and return it theta_t_1 = theta_k_1 + u_i_1; theta_t_2 = theta_k_2 + u_i_2; } // Finite state machine programming (calibration servo motor?) void ProcessStateMachine(void) { // Berekenen van de motorhoeken (in radialen) counts1 = Encoder1.getPulses(); counts2 = Encoder2.getPulses(); theta_h_1_deg=(counts1/(double)CPR)*(double)full_degrees; theta_h_2_deg=(counts2/(double)CPR)*(double)full_degrees; theta_h_1_rad=(theta_h_1_deg/half_degrees)*M_PI; theta_h_2_rad=(theta_h_2_deg/half_degrees)*M_PI; // Calculating joint angles based on motor angles (current encoder values) q1 = theta_h_1_rad; // Relative angle joint 1 (rad) q2 = theta_h_2_rad - theta_h_1_rad; // Relative angle joint 2 (rad) // Eerste deel van de filters (High-pass + Notch) over het ruwe EMG signaal // doen. Het ruwe signaal wordt gelezen binnen een ticker en wordt daardoor 'gesampled' filtered_EMG_biceps_right_1=bqbr1.step(EMG_biceps_right_raw.read()); filtered_EMG_biceps_left_1=bqcbl.step(EMG_biceps_left_raw.read()); filtered_EMG_calf_1=bqck.step(EMG_calf_raw.read()); // Vervolgens wordt de absolute waarde hiervan genomen filtered_EMG_biceps_right_abs=abs(filtered_EMG_biceps_right_1); filtered_EMG_biceps_left_abs=abs(filtered_EMG_biceps_left_1); filtered_EMG_calf_abs=abs(filtered_EMG_calf_1); // Tenslotte wordt het tweede deel van de filters (twee low-pass, voor 4e orde filter) // over het signaal gedaan filtered_EMG_biceps_right=bqcbr2.step(filtered_EMG_biceps_right_abs); filtered_EMG_biceps_left=bqcbl2.step(filtered_EMG_biceps_left_abs); filtered_EMG_calf=bqck2.step(filtered_EMG_calf_abs); // De gefilterde EMG-signalen kunnen tevens visueel worden weergegeven in de HIDScope scope.set(0, normalized_EMG_biceps_right); scope.set(1, normalized_EMG_biceps_left); scope.set(2, normalized_EMG_calf); scope.send(); // Tijdens de kalibratie moet vervolgens een maximale spierspanning worden bepaald, die // later kan worden gebruikt voor een normalisatie. De spieren worden hiertoe gedurende // 5 seconden maximaal aangespannen. De EMG waarden worden bij elkaar opgeteld, // waarna het gemiddelde wordt bepaald. if (calib) { if (i_calib == 0) { filtered_EMG_biceps_right_total=0; filtered_EMG_biceps_left_total=0; filtered_EMG_calf_total=0; } if (i_calib <= 2500) { filtered_EMG_biceps_right_total+=filtered_EMG_biceps_right; filtered_EMG_biceps_left_total+=filtered_EMG_biceps_left; filtered_EMG_calf_total+=filtered_EMG_calf; i_calib++; } if (i_calib > 2500) { mean_EMG_biceps_right=filtered_EMG_biceps_right_total/2500.0; mean_EMG_biceps_left=filtered_EMG_biceps_left_total/2500.0; mean_EMG_calf=filtered_EMG_calf_total/2500.0; pc.printf("Ontspan spieren\r\n"); pc.printf("Rechterbiceps_max = %f, Linkerbiceps_max = %f, Kuit_max = %f\r\n", mean_EMG_biceps_right, mean_EMG_biceps_left, mean_EMG_calf); calib = false; } } // Genormaliseerde EMG's berekenen normalized_EMG_biceps_right=filtered_EMG_biceps_right/mean_EMG_biceps_right; normalized_EMG_biceps_left=filtered_EMG_biceps_left/mean_EMG_biceps_left; normalized_EMG_calf=filtered_EMG_calf/mean_EMG_calf; // Finite state machine switch (currentState) { case Motors_off: if (stateChanged) { motors_off(); // functie waarbij motoren uitgaan stateChanged = false; pc.printf("Motors off state\r\n"); } if (Emergency_button_pressed.read() == false) { // Normaal waarde 1 bij indrukken, nu nul -> false emergency(); } if (Power_button_pressed.read() == false) { // Normaal waarde 1 bij indrukken, nu nul -> false currentState = Calib_motor; stateChanged = true; pc.printf("Moving to Calib_motor state\r\n"); } break; case Calib_motor: if (stateChanged) { pc.printf("Zet motoren handmatig in home positie\r\n"); stateChanged = false; } if (Emergency_button_pressed.read() == false) { emergency(); } if (Motor_calib_button_pressed.read() == false) { theta_h_1_rad = 0; theta_h_2_rad = 0; 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); currentState = Calib_EMG; stateChanged = true; pc.printf("Moving to Calib_EMG state\r\n"); } break; case Calib_EMG: if (stateChanged) { i_calib = 0; calib = true; pc.printf("Span spieren aan\r\n"); stateChanged = false; } if (Emergency_button_pressed.read() == false) { emergency(); } if (i_calib > 2500) { calib = false; currentState = Homing; stateChanged = true; pc.printf("Moving to Homing state\r\n"); } break; case Homing: // NOG NAAR KIJKEN if (stateChanged) { // Ervoor zorgen dat de motoren zo bewegen dat de robotarm // (inclusief de end-effector) in de juiste home positie wordt gezet motors_on(); stateChanged = false; } if (Emergency_button_pressed.read() == false) { emergency(); } // Hier moet iets van encoder counts waarde maal -1 worden gedaan om // naar positie 0 te bewegen if (Power_button_pressed.read() == false) //if (theta_h_1_rad == 0.0 && theta_h_2_rad == 0.0) // Veranderen wanneer encoders werken en motor in elkaar zit { currentState = Operation_mode; stateChanged = true; pc.printf("Moving to operation mode \r\n"); } break; case Operation_mode: // Overgaan tot emergency wanneer referentie niet // overeenkomt met werkelijkheid // 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); if (stateChanged) { motors_off(); Joint_1_position_x = 0; Joint_2_position_x = 0; Joint_1_position_y = 0; Joint_2_position_y = 0; Joint_1_position_x_prev = Joint_1_position_x; Joint_2_position_x_prev = Joint_2_position_x; Joint_1_position_y_prev = Joint_1_position_y; Joint_2_position_y_prev = Joint_2_position_y; Joint_velocity_x[0][0] = 0; Joint_velocity_x[1][0] = 0; Joint_velocity_y[0][0] = 0; Joint_velocity_y[1][0] = 0; Motor_1_position_x = 0; Motor_2_position_x = 0; Motor_1_position_y = 0; Motor_2_position_y = 0; error_y_integral_1 = 0; error_y_integral_2 = 0; theta_k_1 = 0.0; theta_k_2 = 0.0; error_integral_1 = 0.0; error_integral_2 = 0.0; stateChanged = false; } // Hier moet een functie worden aangeroepen die ervoor zorgt dat // aan de hand van EMG-signalen de motoren kunnen worden aangestuurd, // zodat de robotarm kan bewegen // if (Power_button_pressed.read() == false) { // Normaal waarde 1 bij indrukken, nu nul -> false // motors_off(); // currentState = Motors_off; // stateChanged = true; // pc.printf("Terug naar de state Motors_off\r\n"); // } if (Emergency_button_pressed.read() == false) { emergency(); } if (Motor_calib_button_pressed.read() == false) { // Is nu voor de homing motors_off(); currentState = Homing; stateChanged = true; pc.printf("Terug naar de state Homing\r\n"); } if (normalized_EMG_biceps_right >= 0.3) { vx = 0.0; vy = 0.2; Inverse_Kinematics(); error_q1_y = Motor_1_position_y - theta_h_1_rad; error_q2_y = Motor_2_position_y - theta_h_1_rad; PI_controller_y(); // return theta_t_1; // return theta_t_2; motor1.write(0.3); motor2.write(0.3); motor1_dir.write(0); motor2_dir.write(0); //if (normalized_EMG_calf >= 0.3) //{ //motor1.write(0.1); //motor1_dir = !motor1_dir; //} } else if (normalized_EMG_biceps_left >= 0.3) { motor2.write(0.9); motor1.write(0.9); motor1_dir.write(1); motor2_dir.write(1); //if (normalized_EMG_calf >= 0.3) //{ // motor1_dir = !motor1_dir; // pc.printf("Richting zou om moeten draaien"); // motor2_dir = !motor2_dir; //} } else { motor1.write(0); motor2.write(0); } break; default: // Zelfde functie als die eerder is toegepast om motoren uit te schakelen -> safety! motors_off(); pc.printf("Unknown or uninplemented state reached!\r\n"); } } int main(void) { pc.printf("Opstarten\r\n"); // Chain voor rechter biceps bqcbr.add(&bqbr1).add(&bqbr2); bqcbr2.add(&bqbr3).add(&bqbr4); // Chain voor linker biceps bqcbl.add(&bqbl1).add(&bqbl2); bqcbl2.add(&bqbl3).add(&bqbl4); // Chain voor kuit bqck.add(&bqk1).add(&bqk2); bqck2.add(&bqk3).add(&bqk4); loop_ticker.attach(&ProcessStateMachine, 0.002f); while(true) { // wait(0.2); /* do nothing */ } }