Diff: main.cpp

Revision:

21:659f7c8ed328

Parent:

20:013e9c00e058

Child:

22:a658a3e7b3f4

--- a/main.cpp	Tue Oct 29 11:11:19 2013 +0000
+++ b/main.cpp	Tue Oct 29 12:17:41 2013 +0000
@@ -3,8 +3,8 @@
 #include "encoder.h"
 #define PI 3.14159265358979323
 //XenY
-//Een pwm van 0.05 is net genoeg om de heugel te bewegen. linksom bewegen is negatief voor de encoder. getposition gaat in ticks. 
-//4123 ticks is een rondje. 
+//Een pwm van 0.05 is net genoeg om de heugel te bewegen. linksom bewegen is negatief voor de encoder. getposition gaat in ticks.
+//4123 ticks is een rondje.
 //Rechts is x, links is y
 AnalogIn emgtr(PTB3);
 AnalogIn emgbr(PTB2);
@@ -23,7 +23,7 @@
 volatile bool looptimerflag;
 void setlooptimerflag(void)
 {
-looptimerflag = true;
+    looptimerflag = true;
 }
 
 volatile bool dirflagx=true;
@@ -31,8 +31,8 @@
 
 void tricheck(void)
 {
-dirflagx=true;
-dirflagy=true;
+    dirflagx=true;
+    dirflagy=true;
 }
 
 int main()
@@ -49,7 +49,7 @@
     float xtl,ytl,y1tl,x1tl,ztl,z1tl,z2tl,yabstl,yabs1tl,yabs2tl,ktl;
     float xbl,ybl,y1bl,x1bl,zbl,z1bl,z2bl,yabsbl,yabs1bl,yabs2bl,kbl;
     float zx,zy;
-    float xuit,yuit, rt; 
+    float xuit,yuit, rt;
     //float zx1, zy1, gain;
     //float pwmA, pwmB;
     int xdir, ydir, Adir, Bdir;
@@ -59,20 +59,51 @@
     float ctrlA;
     float ctrlB;
     //Startwaarden
-    x1tr=0;    y1tr=0;    z1tr=0;    z2tr=0;    yabs1tr=0;    yabs2tr=0;
-    x1br=0;    y1br=0;    z1br=0;    z2br=0;    yabs1br=0;    yabs2br=0;
-    x1tl=0;    y1tl=0;    z1tl=0;    z2tl=0;    yabs1tl=0;    yabs2tl=0;
-    x1bl=0;    y1bl=0;    z1bl=0;    z2bl=0;    yabs1bl=0;    yabs2bl=0;
-    zx=0;      zy=0;      xdir=0;    ydir=0;    xuit=0;       yuit=0;
-    kp=0.01;    ki=0.01;   kd=0.01;   rt=0.032805;
-    Bi1=0;     Bd1=0;     yuit1=0;   xuit1=0;
+    x1tr=0;
+    y1tr=0;
+    z1tr=0;
+    z2tr=0;
+    yabs1tr=0;
+    yabs2tr=0;
+    x1br=0;
+    y1br=0;
+    z1br=0;
+    z2br=0;
+    yabs1br=0;
+    yabs2br=0;
+    x1tl=0;
+    y1tl=0;
+    z1tl=0;
+    z2tl=0;
+    yabs1tl=0;
+    yabs2tl=0;
+    x1bl=0;
+    y1bl=0;
+    z1bl=0;
+    z2bl=0;
+    yabs1bl=0;
+    yabs2bl=0;
+    zx=0;
+    zy=0;
+    xdir=0;
+    ydir=0;
+    xuit=0;
+    yuit=0;
+    kp=0.1;
+    ki=0.01;
+    kd=0.01;
+    rt=0.032805;
+    Bi1=0;
+    Bd1=0;
+    yuit1=0;
+    xuit1=0;
 
     //High pass, 35Hz, 1e orde
     numh1=0.900575535279376;
     numh2=-0.900575535279376;
     //denh1=1;
     denh2=-0.801151070558751;
-    
+
     //Low pass, 5 Hz, 2e orde.
     numl1=0.241359049041961*pow(10.0,-3.0);
     numl2=0.482718098083923*pow(10.0,-3.0);
@@ -83,42 +114,63 @@
     pc.baud(115200);
 
     while(1) {
-        while(looptimerflag != true);{
+        while(looptimerflag != true);
+        {
         }
         looptimerflag = false;
 
 //EMG lezen.
-ktr=emgtr.read();
+        ktr=emgtr.read();
         xtr=(ktr-0.5)*2.0;
         ytr=xtr*numh1+x1tr*numh2-y1tr*denh2;
         yabstr=abs(ytr);
         ztr=yabstr*numl1+yabs1tr*numl2+yabs2tr*numl3-z1tr*denl2-z2tr*denl3;
-        x1tr=xtr;        y1tr=ytr;        z2tr=z1tr;        z1tr=ztr;        yabs2tr=yabs1tr;        yabs1tr=yabstr;
+        x1tr=xtr;
+        y1tr=ytr;
+        z2tr=z1tr;
+        z1tr=ztr;
+        yabs2tr=yabs1tr;
+        yabs1tr=yabstr;
 
-kbr=emgbr.read();
+        kbr=emgbr.read();
         xbr=(kbr-0.5)*2.0;
         ybr=xbr*numh1+x1br*numh2-y1br*denh2;
         yabsbr=abs(ybr);
         zbr=yabsbr*numl1+yabs1br*numl2+yabs2br*numl3-z1br*denl2-z2br*denl3;
-        x1br=xbr;        y1br=ybr;        z2br=z1br;        z1br=zbr;        yabs2br=yabs1br;        yabs1br=yabsbr;
+        x1br=xbr;
+        y1br=ybr;
+        z2br=z1br;
+        z1br=zbr;
+        yabs2br=yabs1br;
+        yabs1br=yabsbr;
 
-ktl=emgtl.read();
+        ktl=emgtl.read();
         xtl=(ktl-0.5)*2.0;
         ytl=xtl*numh1+x1tl*numh2-y1tl*denh2;
         yabstl=abs(ytl);
         ztl=yabstl*numl1+yabs1tl*numl2+yabs2tl*numl3-z1tl*denl2-z2tl*denl3;
-        x1tl=xtl;        y1tl=ytl;        z2tl=z1tl;        z1tl=ztl;        yabs2tl=yabs1tl;        yabs1tl=yabstl;
+        x1tl=xtl;
+        y1tl=ytl;
+        z2tl=z1tl;
+        z1tl=ztl;
+        yabs2tl=yabs1tl;
+        yabs1tl=yabstl;
 
-kbl=emgbl.read();
+        kbl=emgbl.read();
         xbl=(kbl-0.5)*2.0;
         ybl=xbl*numh1+x1bl*numh2-y1bl*denh2;
         yabsbl=abs(ybl);
         zbl=yabsbl*numl1+yabs1bl*numl2+yabs2bl*numl3-z1bl*denl2-z2bl*denl3;
-        x1bl=xbl;        y1bl=ybl;        z2bl=z1bl;        z1bl=zbl;        yabs2bl=yabs1bl;        yabs1bl=yabsbl;
+        x1bl=xbl;
+        y1bl=ybl;
+        z2bl=z1bl;
+        z1bl=zbl;
+        yabs2bl=yabs1bl;
+        yabs1bl=yabsbl;
 
         zx=(zbr*5.0);
         zy=(zbl*5.0);
-        
+
         //Grenzen.
         if (zx>1.0) {
             zx=0.99999;
@@ -126,71 +178,79 @@
         if (zy>1.0) {
             zy=0.99999;
         }
-        if (zx<0.20){
-        zx=0;
+        if (zx<0.20) {
+            zx=0;
         }
-        if (zy<0.20){
-        zy=0;
+        if (zy<0.20) {
+            zy=0;
         }
-        
-        //Richting omdraaien met triceps. 
+
+        //Richting omdraaien met triceps.
         if ((ztr>(zbr+0.1)) && dirflagx == true) {
             dirflagx = false;
             xdir ^= 1;
             zx=0;
             dirtimeout.attach(tricheck,1.5);
         }
-          if ((ztl>(zbl+0.1)) && dirflagy == true) {
+        if ((ztl>(zbl+0.1)) && dirflagy == true) {
             dirflagy = false;
             ydir ^= 1;
             zy=0;
             dirtimeout.attach(tricheck,1.5);
         }
-        
+
         //Motoraansturing.
-        if (ydir==1)
-        {
-        zy=-1.0*zy;
+        if (ydir==1) {
+            zy=-1.0*zy;
         }
-        if (xdir==1)
-        {
-        zx=-1.0*zx;
+        if (xdir==1) {
+            zx=-1.0*zx;
         }
-        
-        ticka=motor1.getPosition(); tickb=motor2.getPosition();
+
+        ticka=motor1.getPosition();
+        tickb=motor2.getPosition();
         vxuit=zx*1.0*pow(1.0,-2.0); // 4cm/s
         vyuit=zy*1.0*pow(1.0,-2.0); // 4cm/s
         xuit += ts*vxuit;
         yuit += ts*vyuit;
         yuit1=yuit;
-        
+
         refA=floor(4123.0*atan2(yuit,xuit)/(2.0*PI));
         refB=floor(4123.0*sqrt(xuit*xuit+yuit*yuit)/(2.0*PI*rt));
         errA=refA-ticka;
-        errB=refB-tickb;     
+        errB=refB-tickb;
+
+        if(errA<0) {
+            Adir=0;
+        } else {
+            Adir=1;
+        }
+        if(errB<0) {
+            Bdir=0;
+        } else {
+            Bdir=1;
+        }
+        //Controllers
+        Ap=errA*kp;
+        Ad=(errA-Ad1)*kd/ts;
+        Ai=(Ai1+ts*errA)*ki;
+        keep_in_range(&Ai, -0.1,0.1);
+        Ad1=Ad;
+        Ai1=Ai;
+        ctrlA=Ai+Ap+Ad;
+        for_A = ctrlA/1000.;
         
-if(errA<0){
-Adir=0;}
-else{
-Adir=1;
-}
-if(errB<0){
-Bdir=0;}
-else{
-Bdir=1;
-}
-        //Controllers
-        Ap=errA*kp;          Ad=(errA-Ad1)*kd/ts;        Ai=(Ai1+ts*errA)*ki;
-        Ad1=Ad;           Ai1=Ai;
-        ctrlA=float(Ai+Ap+Ad);
-        for_A=(ctrlA)/1000.0;
-        
-        Bp=errB*kp;          Bd=(errB-Bd1)*kd/ts;        Bi=(Bi1+ts*errB)*ki;
-        Bd1=Bd;           Bi1=Bi;
-        ctrlB=float(Bi+Bp+Bd);
-        for_B=(ctrlB)/1000.0;
-        //x en y uit emg in meters. IK naar radialen. dan radialen naar ticks.  
-        
+        errB= 1;
+        Bp=errB*kp;
+        Bd=(errB-Bd1)*kd/ts;
+        Bi=(Bi1+ts*errB)*ki;
+        keep_in_range(&Bi, -0.1,0.1);
+        Bd1=Bd;
+        Bi1=Bi;
+        ctrlB=Bi+Bp+Bd;
+        for_B= ctrlB / 1000.0;
+        //x en y uit emg in meters. IK naar radialen. dan radialen naar ticks.
+
         keep_in_range(&for_A, -1,1);
         keep_in_range(&for_B, -1,1);
 
@@ -198,7 +258,7 @@
         motordirB.write(Bdir);
         pwm_A.write(for_A);
         pwm_B.write(for_B);
-        
+
         //pc.printf("Bi: %f, Tri: %f, Richting: %d \n\r",zbl*3.0,ztl*3.0,ydir);
         pc.printf(" %i %i %i %f %f\n\r",tickb,refB,errB,ctrlB,for_B);
         //pc.printf("b %f t %f xu %f yu %f A %f B %f \n\r",zbl,ztl,xuit, yuit, pwmA,pwmB);
@@ -207,5 +267,5 @@
 
 void keep_in_range(float * in, float min, float max)
 {
-    *in > min ? *in < max? : *in = max: *in = min;
+*in > min ? *in < max? : *in = max: *in = min;
 }
\ No newline at end of file