File content as of revision 31:5c90e931dbfe:

#include "mbed.h"
#include "MODSERIAL.h"
#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.
//Rechts is x, links is y

//Inputs.
AnalogIn emgtr(PTB3);
AnalogIn emgbr(PTB2);
AnalogIn emgtl(PTB1);
AnalogIn emgbl(PTB0);
PwmOut pwm_A(PTA12);
PwmOut pwm_B(PTA5);
MODSERIAL pc(USBTX,USBRX);
DigitalOut motordirA(PTD3);
DigitalOut motordirB(PTD1);
Encoder motor1(PTD0,PTC9);
Encoder motor2(PTD5,PTC8);

//Functies en flags.
void keep_in_range(double * in, double min, double max);
void keep_in_rangeint(int * in, int min, int max);

volatile bool looptimerflag;
void setlooptimerflag(void)
{
    looptimerflag = true;
}
volatile bool dirflagx=true;
volatile bool dirflagy=true;
void tricheck(void)
{
    dirflagx=true;
    dirflagy=true;
}

volatile bool startflag=true;
volatile bool calA=true, calB=true;
volatile bool frictionflag=true;

volatile bool calflag=true;
volatile bool meetflag=true;
volatile bool patroonflag=false;

int main()
{
//Constantes en tickers.
    pwm_A.period(1.0/2500.0);
    pwm_B.period(1.0/2500.0);
    Ticker looptimer;
    Timeout dirtimeout;
    const double ts=0.004;
    looptimer.attach(setlooptimerflag,ts);
    double numh1,numh2,denh2,numl1,numl2,numl3,denl2,denl3;
    double xtr,ytr,y1tr,x1tr,ztr,z1tr,z2tr,yabstr,yabs1tr,yabs2tr,ktr;
    double xbr,ybr,y1br,x1br,zbr,z1br,z2br,yabsbr,yabs1br,yabs2br,kbr;
    double xtl,ytl,y1tl,x1tl,ztl,z1tl,z2tl,yabstl,yabs1tl,yabs2tl,ktl;
    double xbl,ybl,y1bl,x1bl,zbl,z1bl,z2bl,yabsbl,yabs1bl,yabs2bl,kbl;
    double zx,zy, xuit,yuit, rt;
    double vxuit, vyuit, Ap, Ad, Ad1, kd, kp, ki, Ai, Ai1, Bp, Bd, Bd1, Bi, Bi1;
    double for_A, for_B, ctrlA, ctrlB, kdc, kpc, kic;
    double gain, emggrens,friction;
    int xdir, ydir, Adir, Bdir;
    int ticka, tickb, refA,refB, errA, errB;
    int Aboven, Aonder, Bboven,Bonder;
//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;
    kpc=1.0*0.1545;
    kdc=0.0*2.8*pow(10.0,-3.0);
    kic=0.1*1.0;
    kp=0.1*0.1545;
    kd=0.1*2.8*pow(10.0,-3.0);
    ki=0.1*1.0;
    rt=0.032805;
    gain=4.0;
    emggrens=0.35;
    friction=0.4;
    Ai1=0;
    Ad1=0;
    Bi1=0;
    Bd1=0;
    pc.baud(115200);
    Aboven=820;
    Aonder=165;
    Bboven=10900;
    Bonder=3400;

//Filtercoëfficienten.
    //High pass, 35Hz, 1e orde, 4 ms.
    numh1=0.680011076547878;
    numh2=-0.680011076547878;
    //denh1=1;
    denh2=-0.360022153095757;

    //Low pass, 5 Hz, 2e orde, 4 ms.
    numl1=0.003621681514929;
    numl2=0.007243363029857;
    numl3=0.003621681514929;
    //denl1=1;
    denl2=-1.822694925196308;
    denl3=0.837181651256023;
    //Low pass, 2 Hz, 2e orde, 1 ms.
    //numl1=0.391302053991682*pow(10.0,-4.0);
    //numl2=0.782604107983365*pow(10.0,-4.0);
    //numl3=0.391302053991682*pow(10.0,-4.0);
    //denl1=1;
    //denl2=-1.982228929792529;
    //denl3=0.982385450614126;

//Opzetje voor calibratie
    wait(4);

    if(startflag==true);
    {
        motor1.setPosition(0);
        motor2.setPosition(1200);
        startflag=false;
    }

    while(calflag==true) {
        while(looptimerflag != true);
        looptimerflag = false;
        //515 - 3536 voor rechtsonder.
        refA=515;
        refB=3536;
        while(calB==true) {
            tickb=motor2.getPosition();
            errB=refB-tickb;
            Bp=errB*kpc;
            Bd=(errB-Bd1)*kdc/ts;
            Bi=(Bi1+ts*errB)*kic;
            Bd1=Bd;
            Bi1=Bi;
            ctrlB=(Bi+Bp+Bd);
            for_B=(ctrlB)/1000.0;
            if(ctrlB<0.0) {
                Bdir=0;
            } else {
                Bdir=1;
            }
            keep_in_range(&for_B, -1.0,1.0);
            if (frictionflag==true) {
                for_B=abs(for_B)+friction;
                keep_in_range(&for_B, 0.0,0.1);
            }
            pwm_B.write(abs(for_B));
            motordirB.write(Bdir);
            //pc.printf("B %f %i \n\r",for_B,errB);
            if(errB<10) {
                calB=false;
                pwm_B.write(0.0);
            }
        }

        while(calA==true) {
            ticka=-motor1.getPosition();  //NOTE: deze moet volgens mij gewoon weer positief zijn.
            errA=refA-ticka;
            Ap=errA*kpc;
            Ad=(errA-Ad1)*kdc/ts;
            Ai=(Ai1+ts*errA)*kic;
            Ad1=Ad;
            Ai1=Ai;
            ctrlA=(Ai+Ap+Ad);
            for_A=(ctrlA)/1000.0;
            if(ctrlA<0) { //NOTE: als ticka weer +get is, kan deze weer 0 else 1 zijn.
                Adir=1;
            } else {
                Adir=0;
            }
            keep_in_range(&for_A, -1,1);
            if (frictionflag==true) {
                for_A=abs(for_A)+friction;
                keep_in_range(&for_A, 0,0.08);
            }
            pwm_A.write(abs(for_A));
            motordirA.write(Adir);
            //pc.printf("A %f %i \n\r",for_A,errA);
            if(errA<20) {
                calA=false;
                pwm_A.write(0);
                calflag=false;
            }
        }
    }
//Einde opzetje.

//Loop.
    wait(1);
    while(meetflag==true) {
        while(looptimerflag != true);
        {
        }
        looptimerflag = false;
//EMG lezen.
        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;

        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;

        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;

        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;

//Gains om filter te compenseren.
        zx=(zbr*gain);
        zy=(zbl*gain);

//Grenzen voor emg.
        if (zx>1.0) {
            zx=0.99999;
        }
        if (zy>1.0) {
            zy=0.99999;
        }
        if (zx<emggrens) {
            zx=emggrens;
        }
        if (zy<emggrens) {
            zy=emggrens;
        }
        zx=zx-emggrens;
        zx=zx*(1.0/(1.0-emggrens));
        zy=zy-emggrens;
        zy=zy*(1.0/(1.0-emggrens));

//Richting omdraaien met triceps.
        if (ztr>0.1 && dirflagx == true) {
            dirflagx = false;
            xdir ^= 1;
            //zx=0;  //NOTE: deze weghalen kan schelen?
            dirtimeout.attach(tricheck,1.0);
        }
        if (ztl>0.1 && dirflagy == true) {
            dirflagy = false;
            ydir ^= 1;
            //zy=0;
            dirtimeout.attach(tricheck,1.0);
        }

        //Motoraansturing.
        if (ydir==0) {
            zy=-1.0*zy;
        }
        if (xdir==1) { //NOTE: moet dit geen 0 zijn?
            zx=-1.0*zx;
        }

        ticka=-1*motor1.getPosition(); //NOTE:  -1 weghalen?
        tickb=motor2.getPosition();

        //Begrenzing.
        vxuit=zx*4.0*pow(10.0,-1.0); // 4cm/s //NOTE: deze shizzle kan er misschien uit. In ieder geval de vier. En anders moet het /1000 zijn.
        vyuit=zy*4.0*pow(10.0,-2.0); // 4cm/s
        xuit += ts*vxuit;
        yuit += ts*vyuit;

        keep_in_range(&xuit,-4.5,2.75); //NOTE: Iets met de grenzen. En de richtingpins.
        keep_in_range(&yuit,-4.5,2.8); //NOTE: als bovenstaande weer klopt moeten de grenzen voor x zijn: .125 en 0.422. Voor y is dat 0.125 en 0.335.

        refA=4123.0*atan2(yuit,xuit)/(2.0*PI);
        refB=4123.0*sqrt(xuit*xuit+yuit*yuit)/(2.0*PI*rt);
        keep_in_rangeint(&refA,Aonder,Aboven);
        keep_in_rangeint(&refB,Bonder,Bboven);

        errA=refA-ticka;
        errB=refB-tickb;

        //Controllers
        Ap=errA*kp;
        Ad=(errA-Ad1)*kd/ts;
        Ai=(Ai1+ts*errA)*ki;
        //keep_in_range(&Ad,-0.1,0.1);
        //keep_in_range(&Ai,-0.1,0.1);
        Ad1=Ad;
        Ai1=Ai;
        ctrlA=(Ai+Ap+Ad);
        for_A=(ctrlA)/700.0; //NOTE: maak eens een plot van ctrlA en ctrlB. Kan leerzaam zijn voor deze gains.

        Bp=errB*kp;
        Bd=(errB-Bd1)*kd/ts;
        Bi=(Bi1+ts*errB)*ki;
        //keep_in_range(&Bd,-0.1,0.1);
        //keep_in_range(&Bi,-0.1,0.1);
        Bd1=Bd;
        Bi1=Bi;
        ctrlB=(Bi+Bp+Bd);
        for_B=(ctrlB)/7000.0;
        //x en y uit emg in meters. IK naar radialen. dan radialen naar ticks.

        if(ctrlA<0) { //NOTE: zeker gezien de vorige omdraaiingen moet deze volgens mij weer 0 else 1 zijn.
            Adir=1;
        } else {
            Adir=0;
        }
        if(ctrlB<0) {
            Bdir=0;
        } else {
            Bdir=1;
        }

        keep_in_range(&for_A, -1.0,1.0);
        keep_in_range(&for_B, -1.0,1.0);

        if (frictionflag==true) {
            for_A=abs(for_A)+friction;
            for_B=abs(for_B)+friction;

            keep_in_range(&for_A, 0,1.0); //NOTE: misschien valt hier nog wat te begrenzen, maar dan wel op ondergrens friction.
            keep_in_range(&for_B, 0,1.0);
        }
        motordirA.write(Adir);
        motordirB.write(Bdir);
        pwm_A.write(abs(for_A));
        pwm_B.write(abs(for_B));

        if(pc.txBufferGetSize(0)-pc.txBufferGetCount() > 100) {
            //pc.printf(" %f %f \n\r",zx, zy);
            //pc.printf(" %f %i %i %f %i %i\n\r",for_A,ticka,refA,for_B,tickb, refB);
            pc.printf(" %i %i %i %i %f %f \n\r", ticka,tickb,refA,refB,xuit,yuit);
            //pc.printf("A %i %i B %i %i\n\r",Adir, ticka,Bdir, tickb);
            //pc.printf(" %f %f %f %f \n\r",kbl,zy,vyuit,yuit);
            //pc.printf(" %i %i %i %f\n\r",tickb,refB,errB,for_B);
            //pc.printf(" %f %f %f %f \n\r",kbl,zy,vyuit, yuit);
            //pc.printf("A %i %i %i %i %f %f\n\r",ticka,refA,errA,ctrlA,for_A);
            //pc.printf("tr %f br %f tl %f bl %f\n\r",ztr,zbr,ztl,zbl);
            //pc.printf("%i\n",motor2.getPosition());
            //pc.printf("%f %f\n\r",for_A,for_B);
        }
    }

    while(patroonflag==true) {
        while(looptimerflag != true);
        looptimerflag = false;
        xuit=400.0;
        yuit=140.0;
        ticka=-1*motor1.getPosition();
        tickb=motor2.getPosition();
        refA=4123.0*atan2(yuit,xuit)/(2.0*PI);
        refB=4123.0*sqrt(xuit*xuit+yuit*yuit)/(2.0*PI*rt*1000.0);
        errA=refA-ticka;
        errB=refB-tickb;
        while(errA>20 && errB>20) {
            ticka=-1*motor1.getPosition();
            tickb=motor2.getPosition();
            refA=4123.0*atan2(yuit,xuit)/(2.0*PI);
            refB=4123.0*sqrt(xuit*xuit+yuit*yuit)/(2.0*PI*rt);
            errA=refA-ticka;
            errB=refB-tickb;
            //Controllers
            Ap=errA*kpc;
            Ad=(errA-Ad1)*kdc/ts;
            Ai=(Ai1+ts*errA)*kic;
            Ad1=Ad;
            Ai1=Ai;
            ctrlA=(Ai+Ap+Ad);
            for_A=(ctrlA)/1000.0;
            Bp=errB*kpc;
            Bd=(errB-Bd1)*kdc/ts;
            Bi=(Bi1+ts*errB)*kic;
            Bd1=Bd;
            Bi1=Bi;
            ctrlB=(Bi+Bp+Bd);
            for_B=(ctrlB)/1000.0;
            if(ctrlA<0) {
                Adir=0;
            } else {
                Adir=1;
            }
            if(ctrlB<0) {
                Bdir=0;
            } else {
                Bdir=1;
            }
            keep_in_range(&for_A, -1.0,1.0);
            keep_in_range(&for_B, -1.0,1.0);
            if (frictionflag==true) {
                for_A=abs(for_A)+friction;
                for_B=abs(for_B)+friction;
                keep_in_range(&for_A, 0,0.08);
                keep_in_range(&for_B, 0,0.1);
            }
            motordirA.write(Adir);
            motordirB.write(Bdir);
            pwm_A.write(abs(for_A));
            pwm_B.write(abs(for_B));
        }
        wait(1);
        xuit=400.0;
        yuit=180.0;
        while(errA>20 && errB>20) {
            ticka=-1*motor1.getPosition();
            tickb=motor2.getPosition();
            refA=4123.0*atan2(yuit,xuit)/(2.0*PI);
            refB=4123.0*sqrt(xuit*xuit+yuit*yuit)/(2.0*PI*rt*1000.0);
            //keep_in_rangeint(&refA,Aonder,Aboven);
            //keep_in_rangeint(&refB,Bonder,Bboven);
            errA=refA-ticka;
            errB=refB-tickb;
            //Controllers
            Ap=errA*kpc;
            Ad=(errA-Ad1)*kdc/ts;
            Ai=(Ai1+ts*errA)*kic;
            Ad1=Ad;
            Ai1=Ai;
            ctrlA=(Ai+Ap+Ad);
            for_A=(ctrlA)/1000.0;
            Bp=errB*kpc;
            Bd=(errB-Bd1)*kdc/ts;
            Bi=(Bi1+ts*errB)*kic;
            Bd1=Bd;
            Bi1=Bi;
            ctrlB=(Bi+Bp+Bd);
            for_B=(ctrlB)/1000.0;
            if(ctrlA<0) {
                Adir=0;
            } else {
                Adir=1;
            }
            if(ctrlB<0) {
                Bdir=0;
            } else {
                Bdir=1;
            }
            keep_in_range(&for_A, -1.0,1.0);
            keep_in_range(&for_B, -1.0,1.0);
            if (frictionflag==true) {
                for_A=abs(for_A)+friction;
                for_B=abs(for_B)+friction;
                keep_in_range(&for_A, 0,0.08);
                keep_in_range(&for_B, 0,0.1);
            }
            motordirA.write(Adir);
            motordirB.write(Bdir);
            pwm_A.write(abs(for_A));
            pwm_B.write(abs(for_B));
        }
    }

}

void keep_in_range(double * in, double min, double max)
{
*in > min ? *in < max? : *in = max: *in = min;
}
void keep_in_rangeint(int * in, int min, int max)
{
*in > min ? *in < max? : *in = max: *in = min;
}