naam van een functie veranderd
Dependencies: FastPWM HIDScope MODSERIAL QEI biquadFilter mbed
main.cpp
- Committer:
- RiP
- Date:
- 2016-11-05
- Revision:
- 4:b83460036800
- Parent:
- 3:58378b78079d
- Child:
- 5:0581d843fde2
File content as of revision 4:b83460036800:
#include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" #include "MODSERIAL.h" #include "QEI.h" #include "FastPWM.h" // In use: D(0(TX),1(RX),4(motor2dir),5(motor2pwm),6(motor1pwm),7(motor1dir), // 8(pushbutton),9(servoPWM),10(encoder),11(encoder),12(encoder),13(encoder)) A(0,1,2)(EMG) MODSERIAL pc(USBTX, USBRX); // Define the EMG inputs AnalogIn emg_in1( A0 ); AnalogIn emg_in2( A1 ); AnalogIn emg_in3( A2 ); // Define motor outputs DigitalOut motor1dir(D7); // Direction of motor 1, attach at m1, set to 0: cw DigitalOut motor2dir(D4); // Direction of motor 2, attach at m2, set to 0: ccw FastPWM motor1(D6); // Speed of motor 1 FastPWM motor2(D5); // Speed of motor 2 FastPWM servo(D9); // Servo pwm // Define servo input DigitalIn servo_button(PTC12); // Define encoder inputs QEI Encoder1(D13,D12,NC,64,QEI::X4_ENCODING); QEI Encoder2(D11,D10,NC,64,QEI::X4_ENCODING); // Define the Tickers Ticker print_timer; // Ticker for printing the position or highest EMG values Ticker sample_timer; // Ticker for when a sample needs to be taken Ticker control_timer; // Ticker for processing encoder input to motor output Ticker servo_timer; // Ticker for calling servo_control // Define the Time constants const double freq = 0.002; // EMG sample time const double m1_Ts = 0.002; // Controller sample time const double m2_Ts = 0.002; // Controller sample time const double servo_Ts = 0.02; // Servo controller sample time // Define the go flags volatile bool change_ref_go = false; // Go flag sample() volatile bool controller_go = false; // Go flag controller() volatile bool servo_go = false; // Go flag servo_controller() // Define the EMG variables double emg1; // The first EMG signal double emg2; // The second EMG signal double emg3; // The third EMG signal double highest_emg1; // The highest EMG signal of emg_in1 double highest_emg2; // The highest EMG signal of emg_in2 double highest_emg3; // The highest EMG signal of emg_in3 double threshold1; // The threshold which the first EMG signal needs to surpass to do something double threshold2; // The threshold which the second EMG signal needs to surpass to do something double threshold3; // The threshold which the third EMG signal needs to surpass to do something //Define the keyboard input char key; // Stores the last pressed key on the keyboard // Define the reference variables double ref_x = 0.0; // The x reference position double ref_y = 0.0; // The y reference position double old_ref_x; // The old x reference double old_ref_y; // The old y reference double speed = 0.00006; // The variable with which a speed is reached of 3 cm/s in x and y direction double theta = 0.0; // The angle reference of the arm double radius = 0.0; // The radius reference of the arm bool z_pushed = false; // To see if z is pressed // Define reference limits const double min_radius=0.43; // The minimum radius of arm const double max_radius=0.62; // The maximum radius of arm const double min_y=-0.26; // The minimum height which the spatula can reach // Define variables of motor 1 double m1_pwm=0; // Variable for PWM control motor 1 const double m1_Kp = 35.16, m1_Ki = 108.8, m1_Kd = 2.84, m1_N = 100; // PID values of motor 1 double m1_v1 = 0, m1_v2 = 0; // Memory variables // Define variables of motor 2 double m2_pwm=0; // Variable for PWM control motor 2 const double m2_Kp = 36.24, m2_Ki = 108.41, m2_Kd = 3.03, m2_N = 100; // PID values of motor 2 double m2_v1 = 0, m2_v2 = 0; // Memory variables // Define machine constants const double pi = 3.14159265359; const double res = 64.0 / (1.0 / 131.25 * 2.0 * pi); // Resolution on gearbox shaft per pulse const double V_max = 9.0; // Maximum voltage supplied by trafo const double pulley_radius = 0.0398/2.0; // Pulley radius // Define variables needed for controlling the servo double servo_pwm = 0.0023; // Duty cycle 1.5 ms 7.5%, min 0.5 ms 2.5%, max 2.5 ms 12.5% const double min_theta = -37.0 / 180.0 * pi; // Minimum angle robot const double max_theta = -14.0 / 180.0 * pi; // Maximum angle to which the spatula can stabilise const double diff_theta = max_theta - min_theta; // Difference between max and min angle of theta for stabilisation const double min_servo_pwm = 0.0021; // Corresponds to angle of theta -38 degrees const double max_servo_pwm = 0.0024; // Corresponds to angle of theta -24 degrees const double res_servo = max_servo_pwm - min_servo_pwm; // Resolution of servo pwm signal between min and max angle // Define the Biquad chains BiQuadChain bqc11; BiQuadChain bqc12; BiQuadChain bqc21; BiQuadChain bqc22; BiQuadChain bqc31; BiQuadChain bqc32; // Define the BiQuads for the filter of the first emg signal // Notch filter BiQuad bq111(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589); BiQuad bq112(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787); BiQuad bq113(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798); // High pass filter BiQuad bq121( 0.8956, -1.7911, 0.8956, 1.0000, -1.7814, 0.7941); BiQuad bq122( 0.9192, -1.8385, 0.9192, 1.0000, -1.8319, 0.8450); BiQuad bq123( 0.9649, -1.9298, 0.9649, 1.0000, -1.9266, 0.9403); // Low pass filter BiQuad bq131( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); // Define the BiQuads for the filter of the second emg signal // Notch filter BiQuad bq211 = bq111; BiQuad bq212 = bq112; BiQuad bq213 = bq113; // High pass filter BiQuad bq221 = bq121; BiQuad bq222 = bq122; BiQuad bq223 = bq123; // Low pass filter BiQuad bq231 = bq131; // Define the BiQuads for the filter of the third emg signal // Notch filter BiQuad bq311 = bq111; BiQuad bq312 = bq112; BiQuad bq313 = bq113; // High pass filter BiQuad bq321 = bq121; BiQuad bq323 = bq122; BiQuad bq322 = bq123; // Low pass filter BiQuad bq331 = bq131; void activate_sample() // Go flag for the function sample() { if (change_ref_go==true) { // This if statement is used to see if the code takes too long before it is called again pc.printf("rate too high error in activate_sample\n\r"); } change_ref_go=true; // Activate go flag } void activate_controller() // Go flag for the function activate_controller() { if (controller_go==true) { // This if statement is used to see if the code takes too long before it is called again pc.printf("rate too high error in activate_controller()\n\r"); } controller_go=true; // Activate go flag } void activate_servo_control() // Go flag for the function servo_controller() { if (servo_go==true) { // This if statement is used to see if the code takes too long before it is called again pc.printf("rate too high error in servo_controller()\n\r"); } servo_go=true; // Activate go flag } void change_ref() // Function for sampling of the emg signal and changing the reference position { // Change key if the keyboard is pressed if (pc.readable()==1) { key=pc.getc(); } // Read the emg signals and filter it emg1=bqc12.step(fabs(bqc11.step(emg_in1.read()))); //filtered signal 1 emg2=bqc22.step(fabs(bqc21.step(emg_in2.read()))); //filtered signal 2 emg3=bqc32.step(fabs(bqc31.step(emg_in3.read()))); //filtered signal 3 // Remember what the old reference was old_ref_x=ref_x; old_ref_y=ref_y; // Change the reference if the emg signals go over the threshold if (emg1>threshold1&&emg2>threshold2&&emg3>threshold3 || key=='d') // Negative XY direction { ref_x=ref_x-speed; ref_y=ref_y-speed; } else if (emg1>threshold1&&emg2>threshold2 || key == 'a' || key == 'z') // Negative X direction { ref_x=ref_x-speed; } else if (emg1>threshold1&&emg3>threshold3 || key == 's') // Negative Y direction { ref_y=ref_y-speed; } else if (emg2>threshold2&&emg3>threshold3 || key == 'e' ) // Positive XY direction { ref_x=ref_x+speed; ref_y=ref_y+speed; } else if (emg2>threshold2 || key == 'q' ) // Positive X direction { ref_x=ref_x+speed; } else if (emg3>threshold3 || key == 'w') // Positive Y direction { ref_y=ref_y+speed; } // Change z_pushed to true if 'z' is pressed on the keyboard if (key == 'z') { z_pushed=true; } // Reset the reference and the encoders if z is no longer pressed if (key != 'z' && z_pushed) { ref_x=0.0; ref_y=0.0; Encoder1.reset(); Encoder2.reset(); z_pushed=false; } // Convert the x and y reference to the theta and radius reference theta=atan(ref_y/(ref_x+min_radius)); radius=sqrt(pow(ref_x+min_radius,2)+pow(ref_y,2)); // If the new reference is outside the possible range then revert back to the old reference unless z is pressed if (radius < min_radius) { if (key != 'z') { ref_x=old_ref_x; ref_y=old_ref_y; } } else if ( radius > max_radius) { ref_x=old_ref_x; ref_y=old_ref_y; } else if (ref_y<min_y) { ref_y=old_ref_y; } // Calculate theta and radius again theta=atan(ref_y/(ref_x+min_radius)); radius=sqrt(pow(ref_x+min_radius,2)+pow(ref_y,2)); } double PID( double err, const double Kp, const double Ki, const double Kd, const double Ts, const double N, double &v1, double &v2 ) //discrete PIDF filter { const double a1 =-4/(N*Ts+2), a2=-(N*Ts-2)/(N*Ts+2), b0=(4*Kp + 4*Kd*N + 2*Ki*Ts+2*Kp*N*Ts+Ki*N*pow(Ts,2))/(2*N*Ts+4), b1=(Ki*N*pow(Ts,2)-4*Kp-4*Kd*N)/(N*Ts+2), b2=(4*Kp+4*Kd*N-2*Ki*Ts-2*Kp*N*Ts+Ki*N*pow(Ts,2))/(2*N*Ts+4); double v=err-a1*v1-a2*v2; double u=b0*v+b1*v1+b2*v2; v2=v1; v1=v; return u; } void controller() // Function for executing controller action { // Convert radius and theta to gearbox angles double ref_angle1=16*theta; double ref_angle2=(-radius+min_radius)/pulley_radius; // Get number of pulses of the encoders double angle1 = Encoder1.getPulses()/res; //counterclockwise is positive double angle2 = Encoder2.getPulses()/res; // Calculate the motor pwm using the function PID() and the voltage m1_pwm = (PID(ref_angle1-angle1,m1_Kp,m1_Ki,m1_Kd,m1_Ts,m1_N,m1_v1,m1_v2))/V_max; m2_pwm = (PID(ref_angle2-angle2,m2_Kp,m2_Ki,m2_Kd,m2_Ts,m2_N,m2_v1,m2_v2))/V_max; // Limit pwm value and change motor direction when pwm becomes either negative or positive if (m1_pwm >=0.0f && m1_pwm <=1.0f) { motor1dir=0; motor1.write(m1_pwm); } else if (m1_pwm < 0.0f && m1_pwm >= -1.0f) { motor1dir=1; motor1.write(-m1_pwm); } if (m2_pwm >=0.0f && m2_pwm <=1.0f) { motor2dir=0; motor2.write(m2_pwm); } else if (m2_pwm < 0.0f && m2_pwm >= -1.0f) { motor2dir=1; motor2.write(-m2_pwm); } } void servo_controller() // Function for stabilizing the spatula with the servo { // If theta is smaller than max_theta then the servo_pwm is adjusted to stabilize the spatula if (theta < max_theta ) { // servo can stabilize until maximum theta servo_pwm=min_servo_pwm+(theta-min_theta)/diff_theta*res_servo; } else { servo_pwm=max_servo_pwm; } // The spatula goes to its maximum position to flip a burger if the button is pressed if (!servo_button) { servo_pwm=0.0014; } // Send the servo_pwm to the servo servo.pulsewidth(servo_pwm); } void my_emg() // This function prints the highest emg values to putty { pc.printf("highest_emg1=%.4f\thighest_emg2=%.4f\thighest_emg3=%.4f\n\r", highest_emg1, highest_emg2, highest_emg3); } void my_pos() // This function prints the reference position to putty { pc.printf("x_pos=%.4f\ty_pos=%.4f\tradius=%.4f\tangle=%.4f\n\r",ref_x,ref_y,radius,theta/pi*180.0); } int main() { pc.printf("RESET\n\r"); // Set the baud rate pc.baud(115200); // Attach the Biquads to the Biquad chains bqc11.add( &bq111 ).add( &bq112 ).add( &bq113 ).add( &bq121 ).add( &bq122 ).add( &bq123 ); bqc12.add( &bq131); bqc21.add( &bq211 ).add( &bq212 ).add( &bq213 ).add( &bq221 ).add( &bq222 ).add( &bq223 ); bqc22.add( &bq231); bqc31.add( &bq311 ).add( &bq312 ).add( &bq313 ).add( &bq321 ).add( &bq322 ).add( &bq323 ); bqc32.add( &bq331); // Define the period of the pwm signals motor1.period(0.02f); motor2.period(0.02f); // Set the direction of the motors to ccw motor1dir=0; motor2dir=0; // Attaching the function my_emg() to the ticker print_timer print_timer.attach(&my_emg, 1); // While loop used for calibrating the emg thresholds, So that every user can use it while (servo_button==1) { emg1=bqc12.step(fabs(bqc11.step(emg_in1.read()))); //filtered signal 1 emg2=bqc22.step(fabs(bqc21.step(emg_in2.read()))); //filtered signal 2 emg3=bqc32.step(fabs(bqc31.step(emg_in3.read()))); //filtered signal 3 // Check if the new EMG signal is higher than the current highest value if(emg1>highest_emg1) { highest_emg1=emg1; } if(emg2>highest_emg2) { highest_emg2=emg2; } if(emg3>highest_emg3) { highest_emg3=emg3; } // Define the thresholds as 0.3 the highest emg value threshold1=0.30*highest_emg1; threshold2=0.30*highest_emg2; threshold3=0.30*highest_emg3; } // Attach the function sample() to the ticker sample_timer sample_timer.attach(&activate_sample, freq); // Attach the function my_pos() to the ticker print_timer. print_timer.attach(&my_pos, 1); // Attach the function activate_controller() to the ticker control_timer control_timer.attach(&activate_controller,m1_Ts); // Attach the function activate_servo_control() to the ticker servo_timer servo_timer.attach(&activate_servo_control,servo_Ts); while(1) { // Only take a sample when the go flag is true. if (change_ref_go==true) { change_ref(); change_ref_go = false; } // Only control the motor when the go flag is true if(controller_go) { controller(); controller_go=false; } // Only control the servo when the go flag is true if(servo_go) { servo_controller(); servo_go=false; } } }