Rick Poppe / Mbed 2 deprecated final_control

emg threshold calibartie toegevoegd en wat namen van variabelen veranderd in betere namen

Dependencies:   FastPWM HIDScope MODSERIAL QEI biquadFilter mbed

main.cpp@1:ba63033da653, 2016-10-31 (annotated)

Committer:
RiP
Date:
Mon Oct 31 12:21:16 2016 +0000
Revision:
1:ba63033da653
Parent:
0:3c99f1705565 
calibration voor emg thresholds toegevoegd en wat variabelen betere namen gegeven

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mefix 0:3c99f1705565 1 #include "mbed.h"
mefix 0:3c99f1705565 2 #include "HIDScope.h"
mefix 0:3c99f1705565 3 #include "BiQuad.h"
mefix 0:3c99f1705565 4 #include "MODSERIAL.h"
mefix 0:3c99f1705565 5 #include "QEI.h"
mefix 0:3c99f1705565 6 #include "FastPWM.h"
mefix 0:3c99f1705565 7
mefix 0:3c99f1705565 8 // in gebruik: D(0(TX),1(RX),4(motor2dir),5(motor2pwm),6(motor1pwm),7(motor1dir),
mefix 0:3c99f1705565 9 //8(pushbutton),9(servoPWM),10(encoder),11(encoder),12(encoder),13(encoder)) A(0,1,2)(emg)
mefix 0:3c99f1705565 10
mefix 0:3c99f1705565 11 MODSERIAL pc(USBTX, USBRX);
mefix 0:3c99f1705565 12 HIDScope scope(6); // the amount of scopes to send to the pc
mefix 0:3c99f1705565 13
mefix 0:3c99f1705565 14 //Define objects
mefix 0:3c99f1705565 15
mefix 0:3c99f1705565 16 //Define the EMG inputs
mefix 0:3c99f1705565 17 AnalogIn emg1( A0 );
mefix 0:3c99f1705565 18 AnalogIn emg2( A1 );
mefix 0:3c99f1705565 19 AnalogIn emg3( A2 );
mefix 0:3c99f1705565 20
RiP 1:ba63033da653 21 //Button used to calibrate the threshold values
RiP 1:ba63033da653 22 DigitalIn button(PTC6);
RiP 1:ba63033da653 23
mefix 0:3c99f1705565 24 //Define motor outputs
mefix 0:3c99f1705565 25 DigitalOut motor1dir(D7); //direction of motor 1, attach at m1, set to 0: cw
mefix 0:3c99f1705565 26 FastPWM motor1(D6); // speed of motor 1
mefix 0:3c99f1705565 27 FastPWM motor2(D5); //speed of motor 2
mefix 0:3c99f1705565 28 DigitalOut motor2dir(D4); //direction of motor 2, attach at m2, set to 0: ccw
mefix 0:3c99f1705565 29 FastPWM servo(D9); //servo pwm
mefix 0:3c99f1705565 30
mefix 0:3c99f1705565 31 QEI Encoder1(D13,D12,NC,64,QEI::X4_ENCODING); //defining encoder
mefix 0:3c99f1705565 32 QEI Encoder2(D11,D10,NC,64,QEI::X4_ENCODING); //defining encoder
mefix 0:3c99f1705565 33
mefix 0:3c99f1705565 34 //Define the Tickers
mefix 0:3c99f1705565 35 Ticker pos_timer; // the timer which is used to print the position every second
mefix 0:3c99f1705565 36 Ticker sample_timer; // the timer which is used to decide when a sample needs to be taken
mefix 0:3c99f1705565 37 Ticker control; // Ticker for processing encoder input to motor output
mefix 0:3c99f1705565 38 Ticker servo_control; // Ticker for calling servo_control
mefix 0:3c99f1705565 39
mefix 0:3c99f1705565 40 //Initialize all variables
RiP 1:ba63033da653 41 volatile bool sample_go = false; // go flag sample()
RiP 1:ba63033da653 42 volatile bool controller_go=false; // go flag controller()
RiP 1:ba63033da653 43 volatile bool servo_go=false; // go flag servo_controller()
RiP 1:ba63033da653 44
mefix 0:3c99f1705565 45
RiP 1:ba63033da653 46 double highest_emg1; // the highest emg signal of emg input 1
RiP 1:ba63033da653 47 double highest_emg2; // the highest emg signal of emg input 2
RiP 1:ba63033da653 48 double highest_emg3; // the highest emg signal of emg input 3
RiP 1:ba63033da653 49 double threshold1; // the threshold which the first emg signal needs to surpass to do something
RiP 1:ba63033da653 50 double threshold2; // the threshold which the second emg signal needs to surpass to do something
RiP 1:ba63033da653 51 double threshold3; // the threshold which the third emg signal needs to surpass to do something
mefix 0:3c99f1705565 52 double samplefreq=0.002; // every 0.002 sec a sample will be taken this is a frequency of 500 Hz
RiP 1:ba63033da653 53 double emg11; // the first emg signal
RiP 1:ba63033da653 54 double emg21; // the second emg signal
RiP 1:ba63033da653 55 double emg31; // the third emg signal
mefix 0:3c99f1705565 56 double ref_x=0.0000; // the x reference position
mefix 0:3c99f1705565 57 double ref_y=0.0000; // the y reference position
mefix 0:3c99f1705565 58 double old_ref_x; // the old x reference
mefix 0:3c99f1705565 59 double old_ref_y; // the old y reference
mefix 0:3c99f1705565 60 double speed=0.00008; // the variable with which a speed is reached of 1cm/s
mefix 0:3c99f1705565 61 double theta=0.0; // angle of the arm
mefix 0:3c99f1705565 62 double radius=0.0; // radius of the arm
mefix 0:3c99f1705565 63
mefix 0:3c99f1705565 64 const double minRadius=0.43; // minimum radius of arm
mefix 0:3c99f1705565 65 const double maxRadius=0.62; // maximum radius of arm
mefix 0:3c99f1705565 66 const double min_y=-0.26; // minimum height which the spatula can reach
mefix 0:3c99f1705565 67 char key; // variable to place the keyboard input
mefix 0:3c99f1705565 68
mefix 0:3c99f1705565 69 double m1_pwm=0; //variable for PWM control motor 1
mefix 0:3c99f1705565 70 double m2_pwm=0; //variable for PWM control motor 2
mefix 0:3c99f1705565 71
mefix 0:3c99f1705565 72 const double m1_Kp = 35.16, m1_Ki = 108.8, m1_Kd = 2.84, m1_N = 100; // controller constants motor 1
mefix 0:3c99f1705565 73 double m1_v1 = 0, m1_v2 = 0; // Memory variables
mefix 0:3c99f1705565 74 const double m1_Ts = 0.01; // Controller sample time
mefix 0:3c99f1705565 75
mefix 0:3c99f1705565 76 const double m2_Kp = 9.974, m2_Ki = 16.49, m2_Kd = 1.341, m2_N = 100; // controller constants motor 2
mefix 0:3c99f1705565 77 double m2_v1 = 0, m2_v2 = 0; // Memory variables
mefix 0:3c99f1705565 78 const double m2_Ts = 0.01; // Controller sample time
mefix 0:3c99f1705565 79
mefix 0:3c99f1705565 80 const double pi=3.14159265359;
mefix 0:3c99f1705565 81 const double res = 64.0/(1.0/131.25*2.0*pi); // resolution on gearbox shaft per pulse
mefix 0:3c99f1705565 82 const double V_max=9.0; // maximum voltage supplied by trafo
mefix 0:3c99f1705565 83 const double pulleyRadius=0.0398/2.0; // pulley radius
mefix 0:3c99f1705565 84
mefix 0:3c99f1705565 85 double servo_pwm=0.0023; // duty cycle 1.5 ms 7.5%, min 0.5 ms 2.5%, max 2.5 ms 12.5%
mefix 0:3c99f1705565 86 const double minTheta=-43.0/180.0*pi; //minimum angle robot
mefix 0:3c99f1705565 87 const double maxTheta=-32.0/180.0*pi; // maximum angle to which the spatula can stabilise
mefix 0:3c99f1705565 88 const double diffTheta=maxTheta-minTheta; //difference between max and min angle of theta for stabilisation
mefix 0:3c99f1705565 89 const double min_servo_pwm=0.00217; // corresponds to angle of theta -32 degrees
mefix 0:3c99f1705565 90 const double max_servo_pwm=0.0023; // corresponds to angle of theta -43 degrees
mefix 0:3c99f1705565 91 const double res_servo=max_servo_pwm-min_servo_pwm; //resolution of servo pwm signal between min and max angle
mefix 0:3c99f1705565 92 const double servo_Ts=0.02;
mefix 0:3c99f1705565 93 bool z_push=false;
mefix 0:3c99f1705565 94
mefix 0:3c99f1705565 95 //Define the needed Biquad chains
mefix 0:3c99f1705565 96 BiQuadChain bqc11;
mefix 0:3c99f1705565 97 BiQuadChain bqc13;
mefix 0:3c99f1705565 98 BiQuadChain bqc21;
mefix 0:3c99f1705565 99 BiQuadChain bqc23;
mefix 0:3c99f1705565 100 BiQuadChain bqc31;
mefix 0:3c99f1705565 101 BiQuadChain bqc33;
mefix 0:3c99f1705565 102
mefix 0:3c99f1705565 103 //Define the BiQuads for the filter of the first emg signal
mefix 0:3c99f1705565 104 //Notch filter
mefix 0:3c99f1705565 105 BiQuad bq111(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589);
mefix 0:3c99f1705565 106 BiQuad bq112(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787);
mefix 0:3c99f1705565 107 BiQuad bq113(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798);
mefix 0:3c99f1705565 108 //High pass filter
mefix 0:3c99f1705565 109 //BiQuad bq121( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 ); //Old biquad values
mefix 0:3c99f1705565 110 BiQuad bq121( 0.8956, -1.7911, 0.8956, 1.0000, -1.7814, 0.7941);
mefix 0:3c99f1705565 111 BiQuad bq122( 0.9192, -1.8385, 0.9192, 1.0000, -1.8319, 0.8450);
mefix 0:3c99f1705565 112 BiQuad bq123( 0.9649, -1.9298, 0.9649, 1.0000, -1.9266, 0.9403);
mefix 0:3c99f1705565 113 //Low pass filter
mefix 0:3c99f1705565 114 BiQuad bq131( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
mefix 0:3c99f1705565 115
mefix 0:3c99f1705565 116 //Define the BiQuads for the filter of the second emg signal
mefix 0:3c99f1705565 117 //Notch filter
mefix 0:3c99f1705565 118 BiQuad bq211 = bq111;
mefix 0:3c99f1705565 119 BiQuad bq212 = bq112;
mefix 0:3c99f1705565 120 BiQuad bq213 = bq113;
mefix 0:3c99f1705565 121 //High pass filter
mefix 0:3c99f1705565 122 BiQuad bq221 = bq121;
mefix 0:3c99f1705565 123 BiQuad bq222 = bq122;
mefix 0:3c99f1705565 124 BiQuad bq223 = bq123;
mefix 0:3c99f1705565 125 //Low pass filter
mefix 0:3c99f1705565 126 BiQuad bq231 = bq131;
mefix 0:3c99f1705565 127
mefix 0:3c99f1705565 128 //Define the BiQuads for the filter of the third emg signal
mefix 0:3c99f1705565 129 //notch filter
mefix 0:3c99f1705565 130 BiQuad bq311 = bq111;
mefix 0:3c99f1705565 131 BiQuad bq312 = bq112;
mefix 0:3c99f1705565 132 BiQuad bq313 = bq113;
mefix 0:3c99f1705565 133 //High pass filter
mefix 0:3c99f1705565 134 BiQuad bq321 = bq121;
mefix 0:3c99f1705565 135 BiQuad bq323 = bq122;
mefix 0:3c99f1705565 136 BiQuad bq322 = bq123;
mefix 0:3c99f1705565 137 //low pass filter
mefix 0:3c99f1705565 138 BiQuad bq331 = bq131;
mefix 0:3c99f1705565 139
mefix 0:3c99f1705565 140 void sampleflag()
mefix 0:3c99f1705565 141 {
RiP 1:ba63033da653 142 if (sample_go==true) {
mefix 0:3c99f1705565 143 // this if statement is used to see if the code takes too long before it is called again
mefix 0:3c99f1705565 144 pc.printf("rate too high error in sampleflag\n\r");
mefix 0:3c99f1705565 145 }
mefix 0:3c99f1705565 146 //This sets the go flag for when the function sample needs to be called
RiP 1:ba63033da653 147 sample_go=true;
mefix 0:3c99f1705565 148 }
mefix 0:3c99f1705565 149
mefix 0:3c99f1705565 150 void activate_controller()
mefix 0:3c99f1705565 151 {
mefix 0:3c99f1705565 152 if (controller_go==true) {
mefix 0:3c99f1705565 153 // this if statement is used to see if the code takes too long before it is called again
mefix 0:3c99f1705565 154 pc.printf("rate too high error in activate_controller()\n\r");
mefix 0:3c99f1705565 155 }
mefix 0:3c99f1705565 156 controller_go=true; //activate go flag
mefix 0:3c99f1705565 157 }
mefix 0:3c99f1705565 158
mefix 0:3c99f1705565 159 void activate_servo_control()
mefix 0:3c99f1705565 160 {
mefix 0:3c99f1705565 161 if (servo_go==true) {
mefix 0:3c99f1705565 162 pc.printf("error servo");
mefix 0:3c99f1705565 163 }
mefix 0:3c99f1705565 164 servo_go=true; //activate go flag
mefix 0:3c99f1705565 165 }
mefix 0:3c99f1705565 166
mefix 0:3c99f1705565 167 void sample()
mefix 0:3c99f1705565 168 {
mefix 0:3c99f1705565 169 //This checks if a key is pressed and changes the variable key in the pressed key
mefix 0:3c99f1705565 170 if (pc.readable()==1) {
mefix 0:3c99f1705565 171 key=pc.getc();
mefix 0:3c99f1705565 172 }
mefix 0:3c99f1705565 173 //Read the emg signals and filter it
mefix 0:3c99f1705565 174
RiP 1:ba63033da653 175 emg11=bqc13.step(fabs(bqc11.step(emg1.read()))); //filtered signal 1
RiP 1:ba63033da653 176 emg21=bqc23.step(fabs(bqc21.step(emg2.read()))); //filtered signal 2
RiP 1:ba63033da653 177 emg31=bqc33.step(fabs(bqc31.step(emg3.read()))); //filtered signal 3
mefix 0:3c99f1705565 178
mefix 0:3c99f1705565 179 //remember what the reference was
mefix 0:3c99f1705565 180 old_ref_x=ref_x;
mefix 0:3c99f1705565 181 old_ref_y=ref_y;
mefix 0:3c99f1705565 182 //look if the emg signals go over the threshold and change the reference accordingly
RiP 1:ba63033da653 183 if (emg11>threshold1&&emg21>threshold2&&emg31>threshold3 || key=='d') {
mefix 0:3c99f1705565 184 ref_x=ref_x-speed;
mefix 0:3c99f1705565 185 ref_y=ref_y-speed;
mefix 0:3c99f1705565 186
RiP 1:ba63033da653 187 } else if (emg11>threshold1&&emg21>threshold2 || key == 'a' || key == 'z') {
mefix 0:3c99f1705565 188 ref_x=ref_x-speed;
mefix 0:3c99f1705565 189
RiP 1:ba63033da653 190 } else if (emg11>threshold1&&emg31>threshold3 || key == 's') {
mefix 0:3c99f1705565 191 ref_y=ref_y-speed;
mefix 0:3c99f1705565 192
RiP 1:ba63033da653 193 } else if (emg21>threshold2&&emg31>threshold3 || key == 'e' ) {
mefix 0:3c99f1705565 194 ref_x=ref_x+speed;
mefix 0:3c99f1705565 195 ref_y=ref_y+speed;
mefix 0:3c99f1705565 196
RiP 1:ba63033da653 197 } else if (emg21>threshold2 || key == 'q' ) {
mefix 0:3c99f1705565 198 ref_x=ref_x+speed;
mefix 0:3c99f1705565 199
RiP 1:ba63033da653 200 } else if (emg31>threshold3 || key == 'w') {
mefix 0:3c99f1705565 201 ref_y=ref_y+speed;
mefix 0:3c99f1705565 202 }
mefix 0:3c99f1705565 203
mefix 0:3c99f1705565 204 if (key != 'z' && z_push) {
mefix 0:3c99f1705565 205 ref_x=0.0;
mefix 0:3c99f1705565 206 ref_y=0.0;
mefix 0:3c99f1705565 207 Encoder1.reset();
mefix 0:3c99f1705565 208 Encoder2.reset();
mefix 0:3c99f1705565 209 z_push=false;
mefix 0:3c99f1705565 210 }
mefix 0:3c99f1705565 211
mefix 0:3c99f1705565 212 // convert the x and y reference to the theta and radius reference
mefix 0:3c99f1705565 213 theta=atan(ref_y/(ref_x+minRadius));
mefix 0:3c99f1705565 214 radius=sqrt(pow(ref_x+minRadius,2)+pow(ref_y,2));
mefix 0:3c99f1705565 215
mefix 0:3c99f1705565 216 //look if the new reference is outside the possible range and revert back to the old reference if it is outside the range
mefix 0:3c99f1705565 217 if (radius < minRadius) {
mefix 0:3c99f1705565 218 if (key != 'z') {
mefix 0:3c99f1705565 219 ref_x=old_ref_x;
mefix 0:3c99f1705565 220 ref_y=old_ref_y;
mefix 0:3c99f1705565 221 } else if (key == 'z') {
mefix 0:3c99f1705565 222 z_push=true;
mefix 0:3c99f1705565 223 }
mefix 0:3c99f1705565 224 } else if ( radius > maxRadius) {
mefix 0:3c99f1705565 225 ref_x=old_ref_x;
mefix 0:3c99f1705565 226 ref_y=old_ref_y;
mefix 0:3c99f1705565 227 } else if (ref_y<min_y) {
mefix 0:3c99f1705565 228 ref_y=old_ref_y;
mefix 0:3c99f1705565 229 }
mefix 0:3c99f1705565 230 theta=atan(ref_y/(ref_x+minRadius));
mefix 0:3c99f1705565 231 radius=sqrt(pow(ref_x+minRadius,2)+pow(ref_y,2));
mefix 0:3c99f1705565 232 }
mefix 0:3c99f1705565 233
mefix 0:3c99f1705565 234 double PID( double err, const double Kp, const double Ki, const double Kd,
mefix 0:3c99f1705565 235 const double Ts, const double N, double &v1, double &v2 ) //discrete PIDF filter
mefix 0:3c99f1705565 236 {
mefix 0:3c99f1705565 237 const double a1 =-4/(N*Ts+2),
mefix 0:3c99f1705565 238 a2=-(N*Ts-2)/(N*Ts+2),
mefix 0:3c99f1705565 239 b0=(4*Kp + 4*Kd*N + 2*Ki*Ts+2*Kp*N*Ts+Ki*N*pow(Ts,2))/(2*N*Ts+4),
mefix 0:3c99f1705565 240 b1=(Ki*N*pow(Ts,2)-4*Kp-4*Kd*N)/(N*Ts+2),
mefix 0:3c99f1705565 241 b2=(4*Kp+4*Kd*N-2*Ki*Ts-2*Kp*N*Ts+Ki*N*pow(Ts,2))/(2*N*Ts+4);
mefix 0:3c99f1705565 242
mefix 0:3c99f1705565 243 double v=err-a1*v1-a2*v2;
mefix 0:3c99f1705565 244 double u=b0*v+b1*v1+b2*v2;
mefix 0:3c99f1705565 245 v2=v1;
mefix 0:3c99f1705565 246 v1=v;
mefix 0:3c99f1705565 247 return u;
mefix 0:3c99f1705565 248 }
mefix 0:3c99f1705565 249
mefix 0:3c99f1705565 250 void controller() //function for executing controller action
mefix 0:3c99f1705565 251 {
mefix 0:3c99f1705565 252
mefix 0:3c99f1705565 253 //converting radius and theta to gearbox angle
mefix 0:3c99f1705565 254 double ref_angle1=16*theta;
mefix 0:3c99f1705565 255 double ref_angle2=(-radius+minRadius)/pulleyRadius;
mefix 0:3c99f1705565 256
mefix 0:3c99f1705565 257 double angle1 = Encoder1.getPulses()/res; //get number of pulses (counterclockwise is positive)
mefix 0:3c99f1705565 258 double angle2 = Encoder2.getPulses()/res; //get number of pulses
mefix 0:3c99f1705565 259 m1_pwm = (PID(ref_angle1-angle1,m1_Kp,m1_Ki,m1_Kd,m1_Ts,m1_N,m1_v1,m1_v2))/V_max;
mefix 0:3c99f1705565 260 //divide by voltage to get pwm duty cycle percentage)
mefix 0:3c99f1705565 261 m2_pwm = (PID(ref_angle2-angle2,m2_Kp,m2_Ki,m2_Kd,m2_Ts,m2_N,m2_v1,m2_v2))/V_max;
mefix 0:3c99f1705565 262
mefix 0:3c99f1705565 263 //limit pwm value and change motor direction when pwm becomes either negative or positive
mefix 0:3c99f1705565 264 if (m1_pwm >=0.0f && m1_pwm <=1.0f) {
mefix 0:3c99f1705565 265 motor1dir=0;
mefix 0:3c99f1705565 266 motor1.write(m1_pwm);
mefix 0:3c99f1705565 267 } else if (m1_pwm < 0.0f && m1_pwm >= -1.0f) {
mefix 0:3c99f1705565 268 motor1dir=1;
mefix 0:3c99f1705565 269 motor1.write(-m1_pwm);
mefix 0:3c99f1705565 270 }
mefix 0:3c99f1705565 271
mefix 0:3c99f1705565 272 if (m2_pwm >=0.0f && m2_pwm <=1.0f) {
mefix 0:3c99f1705565 273 motor2dir=0;
mefix 0:3c99f1705565 274 motor2.write(m2_pwm);
mefix 0:3c99f1705565 275 } else if (m2_pwm < 0.0f && m2_pwm >= -1.0f) {
mefix 0:3c99f1705565 276 motor2dir=1;
mefix 0:3c99f1705565 277 motor2.write(-m2_pwm);
mefix 0:3c99f1705565 278 }
mefix 0:3c99f1705565 279
mefix 0:3c99f1705565 280 //hidsopce to check what the code does exactly
mefix 0:3c99f1705565 281 scope.set(0,ref_angle1-angle1); //error
mefix 0:3c99f1705565 282 scope.set(1,ref_angle1);
mefix 0:3c99f1705565 283 scope.set(2,m1_pwm);
mefix 0:3c99f1705565 284 scope.set(3,ref_angle2-angle2);
mefix 0:3c99f1705565 285 scope.set(4,ref_angle2);
mefix 0:3c99f1705565 286 scope.set(5,servo_pwm);
mefix 0:3c99f1705565 287 scope.send();
mefix 0:3c99f1705565 288 }
mefix 0:3c99f1705565 289
mefix 0:3c99f1705565 290 void servo_controller()
mefix 0:3c99f1705565 291 {
mefix 0:3c99f1705565 292 if (theta < maxTheta ) {
mefix 0:3c99f1705565 293 servo_pwm=min_servo_pwm+(theta-minTheta)/diffTheta*res_servo;
mefix 0:3c99f1705565 294 } else {
mefix 0:3c99f1705565 295 servo_pwm=max_servo_pwm;
mefix 0:3c99f1705565 296 }
mefix 0:3c99f1705565 297
mefix 0:3c99f1705565 298 servo.pulsewidth(servo_pwm);
mefix 0:3c99f1705565 299
mefix 0:3c99f1705565 300 }
mefix 0:3c99f1705565 301
RiP 1:ba63033da653 302 void my_emg()
RiP 1:ba63033da653 303 {
RiP 1:ba63033da653 304 //This function is attached to a ticker so that the highest emg values are printed every second.
RiP 1:ba63033da653 305 pc.printf("highest_emg1=%.4f\thighest_emg2=%.4f\thighest_emg3=%.4f\n\r", highest_emg1, highest_emg2, highest_emg3);
RiP 1:ba63033da653 306 }
RiP 1:ba63033da653 307
mefix 0:3c99f1705565 308
mefix 0:3c99f1705565 309 void my_pos()
mefix 0:3c99f1705565 310 {
RiP 1:ba63033da653 311 //This function is attached to the same ticker as my_emg so that the reference position is printed every second instead of the highest emg values.
mefix 0:3c99f1705565 312 pc.printf("x_pos=%.4f\ty_pos=%.4f\tradius=%.4f\tangle=%.4f\n\r",ref_x,ref_y,radius,theta);
mefix 0:3c99f1705565 313 }
mefix 0:3c99f1705565 314
mefix 0:3c99f1705565 315 int main()
mefix 0:3c99f1705565 316 {
mefix 0:3c99f1705565 317 pc.printf("RESET\n\r");
mefix 0:3c99f1705565 318 pc.baud(115200);
mefix 0:3c99f1705565 319
mefix 0:3c99f1705565 320 //Attach the Biquads to the Biquad chains
mefix 0:3c99f1705565 321 bqc11.add( &bq111 ).add( &bq112 ).add( &bq113 ).add( &bq121 ).add( &bq122 ).add( &bq123 );
mefix 0:3c99f1705565 322 bqc13.add( &bq131);
mefix 0:3c99f1705565 323 bqc21.add( &bq211 ).add( &bq212 ).add( &bq213 ).add( &bq221 ).add( &bq222 ).add( &bq223 );
mefix 0:3c99f1705565 324 bqc23.add( &bq231);
mefix 0:3c99f1705565 325 bqc31.add( &bq311 ).add( &bq312 ).add( &bq313 ).add( &bq321 ).add( &bq322 ).add( &bq323 );
mefix 0:3c99f1705565 326 bqc33.add( &bq331);
mefix 0:3c99f1705565 327
RiP 1:ba63033da653 328 motor1.period(0.02f); // period of pwm signal for motor 1
RiP 1:ba63033da653 329 motor2.period(0.02f); // period of pwm signal for motor 2
RiP 1:ba63033da653 330 motor1dir=0; // setting direction to ccw
RiP 1:ba63033da653 331 motor2dir=0; // setting direction to ccw
RiP 1:ba63033da653 332
RiP 1:ba63033da653 333 pos_timer.attach(&my_emg, 1); // ticker used to print the maximum emg values every second
RiP 1:ba63033da653 334
RiP 1:ba63033da653 335 //this while loop is used to determine what the highest possible value of the emg signals are and the threshold values are 1/5 of that.
RiP 1:ba63033da653 336 //this is done so that every user can use his own threshold value.
RiP 1:ba63033da653 337 while (button==1) {
RiP 1:ba63033da653 338 emg11=bqc13.step(fabs(bqc11.step(emg1.read()))); //filtered signal 1
RiP 1:ba63033da653 339 emg21=bqc23.step(fabs(bqc21.step(emg2.read()))); //filtered signal 2
RiP 1:ba63033da653 340 emg31=bqc33.step(fabs(bqc31.step(emg3.read()))); //filtered signal 3
RiP 1:ba63033da653 341 if(emg11>highest_emg1) {
RiP 1:ba63033da653 342 highest_emg1=emg11;
RiP 1:ba63033da653 343 }
RiP 1:ba63033da653 344 if(emg21>highest_emg2) {
RiP 1:ba63033da653 345 highest_emg2=emg21;
RiP 1:ba63033da653 346 }
RiP 1:ba63033da653 347 if(emg31>highest_emg3) {
RiP 1:ba63033da653 348 highest_emg3=emg31;
RiP 1:ba63033da653 349 }
RiP 1:ba63033da653 350 threshold1=0.2*highest_emg1;
RiP 1:ba63033da653 351 threshold2=0.2*highest_emg2;
RiP 1:ba63033da653 352 threshold3=0.2*highest_emg3;
RiP 1:ba63033da653 353 }
mefix 0:3c99f1705565 354
mefix 0:3c99f1705565 355 //Attach the 'sample' function to the timer 'sample_timer'.
mefix 0:3c99f1705565 356 //this ensures that 'sample' is executed every 0.002 seconds = 500 Hz
mefix 0:3c99f1705565 357 sample_timer.attach(&sampleflag, samplefreq);
mefix 0:3c99f1705565 358
mefix 0:3c99f1705565 359 //Attach the function my_pos to the timer pos_timer.
RiP 1:ba63033da653 360 //This ensures that the reference position is printed every second.
RiP 1:ba63033da653 361 pos_timer.attach(&my_pos, 1);
mefix 0:3c99f1705565 362 control.attach(&activate_controller,m1_Ts); //Ticker for processing encoder input
mefix 0:3c99f1705565 363 servo_control.attach(&activate_servo_control,servo_Ts);
mefix 0:3c99f1705565 364
mefix 0:3c99f1705565 365 while(1) {
mefix 0:3c99f1705565 366 //Only take a sample when the go flag is true.
RiP 1:ba63033da653 367 if (sample_go==true) {
mefix 0:3c99f1705565 368 sample();
RiP 1:ba63033da653 369 sample_go = false; //change sample_go to false if sample() is finished
mefix 0:3c99f1705565 370 }
mefix 0:3c99f1705565 371 if(controller_go) { // go flag
mefix 0:3c99f1705565 372 controller();
mefix 0:3c99f1705565 373 controller_go=false;
mefix 0:3c99f1705565 374 }
mefix 0:3c99f1705565 375 if(servo_go) {
mefix 0:3c99f1705565 376 servo_controller();
mefix 0:3c99f1705565 377 servo_go=false;
mefix 0:3c99f1705565 378 }
mefix 0:3c99f1705565 379 }
mefix 0:3c99f1705565 380 }