Thijs Rakels / Mbed 2 deprecated NR_method

Chess robot with NR method

Dependencies:   QEI biquadFilter mbed HIDScope

NR_method_1.cpp@2:f68fd7b1c655, 2018-11-01 (annotated)

Committer:
Thijsjeee
Date:
Thu Nov 01 11:13:32 2018 +0000
Revision:
2:f68fd7b1c655
Parent:
1:fafea1d00d0c
Child:
3:40427c0157a0
nieuwe versie

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Thijsjeee 0:0af507ea0d83 1 #include "mbed.h"
Thijsjeee 0:0af507ea0d83 2 #include "BiQuad.h"
Thijsjeee 0:0af507ea0d83 3 #include <math.h>
Thijsjeee 0:0af507ea0d83 4 #include <stdio.h>
Thijsjeee 0:0af507ea0d83 5 #include <iostream>
Thijsjeee 0:0af507ea0d83 6 #include <stdlib.h>
Thijsjeee 0:0af507ea0d83 7 #include <ctime>
Thijsjeee 0:0af507ea0d83 8 #include <QEI.h>
Thijsjeee 1:fafea1d00d0c 9 #include "PID_controler.h"
Thijsjeee 1:fafea1d00d0c 10 //#include <MODSERIAL.h>
Thijsjeee 1:fafea1d00d0c 11
Thijsjeee 1:fafea1d00d0c 12 bool bas;
Thijsjeee 2:f68fd7b1c655 13 int waiting;
Thijsjeee 2:f68fd7b1c655 14 InterruptIn button(SW3);
Thijsjeee 1:fafea1d00d0c 15
Thijsjeee 1:fafea1d00d0c 16 Serial pc(USBTX, USBRX);
Thijsjeee 1:fafea1d00d0c 17 // emg signals input
Thijsjeee 1:fafea1d00d0c 18 AnalogIn emg1(A0);
Thijsjeee 1:fafea1d00d0c 19 AnalogIn emg2(A1);
Thijsjeee 1:fafea1d00d0c 20 InterruptIn sw2(SW2);
Thijsjeee 1:fafea1d00d0c 21 // tickers
Thijsjeee 1:fafea1d00d0c 22 Ticker sample_timer;
Thijsjeee 1:fafea1d00d0c 23
Thijsjeee 1:fafea1d00d0c 24 volatile int x1;
Thijsjeee 1:fafea1d00d0c 25 volatile int y1;
Thijsjeee 1:fafea1d00d0c 26 double emgFiltered3;
Thijsjeee 1:fafea1d00d0c 27 double emgFiltered23;
Thijsjeee 1:fafea1d00d0c 28 bool dir = true;
Thijsjeee 1:fafea1d00d0c 29 // filtering
Thijsjeee 1:fafea1d00d0c 30 //filter coeffiecents
Thijsjeee 1:fafea1d00d0c 31 // highpass
Thijsjeee 1:fafea1d00d0c 32 double b01h = 0.978030479206560;
Thijsjeee 1:fafea1d00d0c 33 double b02h = -1.95606095841312;
Thijsjeee 1:fafea1d00d0c 34 double b03h = 0.978030479206560;
Thijsjeee 1:fafea1d00d0c 35 double a01h = -1.95557824031504;
Thijsjeee 1:fafea1d00d0c 36 double a02h = 0.956543676511203;
Thijsjeee 1:fafea1d00d0c 37 // notchfilter
Thijsjeee 1:fafea1d00d0c 38 double b01n = 0.995532032687234;
Thijsjeee 1:fafea1d00d0c 39 double b02n = -1.89361445373551;
Thijsjeee 1:fafea1d00d0c 40 double b03n = 0.995532032687234;
Thijsjeee 1:fafea1d00d0c 41 double a01n = -1.89361445373551;
Thijsjeee 1:fafea1d00d0c 42 double a02n = 0.991064065374468 ;
Thijsjeee 1:fafea1d00d0c 43 //lowpass 1
Thijsjeee 1:fafea1d00d0c 44 double b01l = 8.76555487540065e-05;
Thijsjeee 1:fafea1d00d0c 45 double b02l = 0.000175311097508013;
Thijsjeee 1:fafea1d00d0c 46 double b03l = 8.76555487540065e-05;
Thijsjeee 1:fafea1d00d0c 47 double a01l = -1.97334424978130;
Thijsjeee 1:fafea1d00d0c 48 double a02l = 0.973694871976315;
Thijsjeee 1:fafea1d00d0c 49
Thijsjeee 1:fafea1d00d0c 50 BiQuadChain bqc;
Thijsjeee 1:fafea1d00d0c 51 BiQuad bq1( b01h, b02h, b03h, a01h, a02h ); //highpass
Thijsjeee 1:fafea1d00d0c 52 BiQuad bq2( b01n, b02n, b03n, a01n, a02n ); //notch
Thijsjeee 1:fafea1d00d0c 53 // than we need to rectifie
Thijsjeee 1:fafea1d00d0c 54 // and lowpass afterwards
Thijsjeee 1:fafea1d00d0c 55 BiQuadChain bqc2;
Thijsjeee 1:fafea1d00d0c 56 BiQuad bq3( b01l, b02l, b03l, a01l, a02l); //lowpass
Thijsjeee 1:fafea1d00d0c 57 // optional is doing a movingaverage after
Thijsjeee 1:fafea1d00d0c 58
Thijsjeee 1:fafea1d00d0c 59 BiQuadChain bqc3;
Thijsjeee 1:fafea1d00d0c 60 BiQuad bq4( b01h, b02h, b03h, a01h, a02h ); //highpass
Thijsjeee 1:fafea1d00d0c 61 BiQuad bq5( b01n, b02n, b03n, a01n, a02n ); //notch
Thijsjeee 1:fafea1d00d0c 62 // than we need to rectifie
Thijsjeee 1:fafea1d00d0c 63 // and lowpass afterwards
Thijsjeee 1:fafea1d00d0c 64 BiQuadChain bqc4;
Thijsjeee 1:fafea1d00d0c 65 BiQuad bq6( b01l, b02l, b03l, a01l, a02l); //lowpass
Thijsjeee 1:fafea1d00d0c 66
Thijsjeee 0:0af507ea0d83 67
Thijsjeee 0:0af507ea0d83 68 //Define in/outputs
Thijsjeee 0:0af507ea0d83 69
Thijsjeee 1:fafea1d00d0c 70 int counts = 8400;
Thijsjeee 0:0af507ea0d83 71 DigitalOut Led(LED1);
Thijsjeee 0:0af507ea0d83 72 PwmOut PMW1(D5); // Motor 1
Thijsjeee 0:0af507ea0d83 73 DigitalOut M1(D4); // direction of motor 1
Thijsjeee 0:0af507ea0d83 74 PwmOut PMW2(D6); // Motor 2
Thijsjeee 0:0af507ea0d83 75 DigitalOut M2(D7); // direction of motor 2
Thijsjeee 0:0af507ea0d83 76
Thijsjeee 0:0af507ea0d83 77 //initializing Encoders
Thijsjeee 0:0af507ea0d83 78 QEI Enc1(D13,D12, NC , counts, QEI::X4_ENCODING); //Motor 1 encoder
Thijsjeee 0:0af507ea0d83 79 QEI Enc2(D11,D10, NC , counts, QEI::X4_ENCODING); // Motor 3 encoder this checks whetehter the motor has rotated
Thijsjeee 0:0af507ea0d83 80
Thijsjeee 0:0af507ea0d83 81 double Kp = 1;
Thijsjeee 2:f68fd7b1c655 82 double Ki = 1;
Thijsjeee 1:fafea1d00d0c 83 double Kd = 0.3;
Thijsjeee 0:0af507ea0d83 84 double Ts = 0.001;
Thijsjeee 0:0af507ea0d83 85
Thijsjeee 0:0af507ea0d83 86 float counts_a;
Thijsjeee 0:0af507ea0d83 87 float counts_b;
Thijsjeee 0:0af507ea0d83 88
Thijsjeee 0:0af507ea0d83 89
Thijsjeee 0:0af507ea0d83 90 //Define Variables
Thijsjeee 0:0af507ea0d83 91
Thijsjeee 0:0af507ea0d83 92 double pi = 3.14159265359;
Thijsjeee 1:fafea1d00d0c 93 int bb;
Thijsjeee 1:fafea1d00d0c 94 int bc;
Thijsjeee 0:0af507ea0d83 95 float z;
Thijsjeee 0:0af507ea0d83 96
Thijsjeee 1:fafea1d00d0c 97 double angle_a = 0; //in rad
Thijsjeee 1:fafea1d00d0c 98 double angle_b = 0.5 * pi; //in rad
Thijsjeee 0:0af507ea0d83 99
Thijsjeee 0:0af507ea0d83 100 double X0[2][1] = {{angle_a},{angle_b}};
Thijsjeee 0:0af507ea0d83 101 double X[2][1];
Thijsjeee 0:0af507ea0d83 102 double Xold[2][1];
Thijsjeee 0:0af507ea0d83 103 double fval[2][1];
Thijsjeee 0:0af507ea0d83 104 double J[2][2];
Thijsjeee 0:0af507ea0d83 105 double err[2][1];
Thijsjeee 0:0af507ea0d83 106
Thijsjeee 0:0af507ea0d83 107 double MaxIter = 20;
Thijsjeee 0:0af507ea0d83 108 double tolX = 1e-4;
Thijsjeee 1:fafea1d00d0c 109 double A = 20;
Thijsjeee 1:fafea1d00d0c 110 double B = 30;
Thijsjeee 1:fafea1d00d0c 111 double C = 20;
Thijsjeee 1:fafea1d00d0c 112 double D = 27;
Thijsjeee 1:fafea1d00d0c 113 double E = 35;
Thijsjeee 1:fafea1d00d0c 114 double ex = -35; // current position
Thijsjeee 1:fafea1d00d0c 115 double ey = 27; // current position
Thijsjeee 1:fafea1d00d0c 116 double Cxx = -35; // Goal position
Thijsjeee 1:fafea1d00d0c 117 double Cyy = 27; // Goal position
Thijsjeee 0:0af507ea0d83 118
Thijsjeee 0:0af507ea0d83 119 Ticker position_controll;
Thijsjeee 0:0af507ea0d83 120
Thijsjeee 1:fafea1d00d0c 121 void filteren ()
Thijsjeee 1:fafea1d00d0c 122 {
Thijsjeee 1:fafea1d00d0c 123 double emgSignal1 = emg1.read();
Thijsjeee 1:fafea1d00d0c 124 double emgSignal2 = emg2.read();
Thijsjeee 1:fafea1d00d0c 125
Thijsjeee 1:fafea1d00d0c 126 double emgFiltered1 = bqc.step(emgSignal1);
Thijsjeee 1:fafea1d00d0c 127 double emgFiltered2 = fabs(emgFiltered1);
Thijsjeee 1:fafea1d00d0c 128 emgFiltered3 = bqc2.step(emgFiltered2);
Thijsjeee 1:fafea1d00d0c 129
Thijsjeee 1:fafea1d00d0c 130 double emgFiltered21 = bqc3.step(emgSignal2);
Thijsjeee 1:fafea1d00d0c 131 double emgFiltered22 = fabs(emgFiltered21);
Thijsjeee 1:fafea1d00d0c 132 emgFiltered23 = bqc4.step(emgFiltered22);
Thijsjeee 1:fafea1d00d0c 133
Thijsjeee 1:fafea1d00d0c 134 }
Thijsjeee 1:fafea1d00d0c 135
Thijsjeee 1:fafea1d00d0c 136 void Position1x(double b)
Thijsjeee 1:fafea1d00d0c 137 {
Thijsjeee 1:fafea1d00d0c 138 if (b > 0.20) {
Thijsjeee 1:fafea1d00d0c 139 Cxx =x1;
Thijsjeee 1:fafea1d00d0c 140 if (dir == true) {
Thijsjeee 1:fafea1d00d0c 141 if(x1 > -46) {
Thijsjeee 1:fafea1d00d0c 142 x1 = x1-4;
Thijsjeee 1:fafea1d00d0c 143 pc.printf(" posx is %f\n\r",Cxx);
Thijsjeee 1:fafea1d00d0c 144 //return x1;
Thijsjeee 1:fafea1d00d0c 145
Thijsjeee 1:fafea1d00d0c 146 } else if ( x1 <= -46) {
Thijsjeee 1:fafea1d00d0c 147 x1 =-14;
Thijsjeee 1:fafea1d00d0c 148 //return x1;
Thijsjeee 1:fafea1d00d0c 149 } else {
Thijsjeee 1:fafea1d00d0c 150 }
Thijsjeee 1:fafea1d00d0c 151 } else {
Thijsjeee 1:fafea1d00d0c 152 if(x1 < -14) {
Thijsjeee 1:fafea1d00d0c 153 x1 = x1+4;
Thijsjeee 1:fafea1d00d0c 154 //return x1;
Thijsjeee 1:fafea1d00d0c 155
Thijsjeee 1:fafea1d00d0c 156 } else if ( x1 >= -14) {
Thijsjeee 1:fafea1d00d0c 157 x1 = -46;
Thijsjeee 1:fafea1d00d0c 158 //return x1;
Thijsjeee 1:fafea1d00d0c 159 } else {
Thijsjeee 1:fafea1d00d0c 160 }
Thijsjeee 1:fafea1d00d0c 161 }
Thijsjeee 1:fafea1d00d0c 162
Thijsjeee 1:fafea1d00d0c 163 wait(0.5);
Thijsjeee 1:fafea1d00d0c 164 }
Thijsjeee 1:fafea1d00d0c 165 }
Thijsjeee 1:fafea1d00d0c 166
Thijsjeee 1:fafea1d00d0c 167 void Position1y(double b)
Thijsjeee 1:fafea1d00d0c 168 {
Thijsjeee 1:fafea1d00d0c 169 if (b > 0.20) {
Thijsjeee 1:fafea1d00d0c 170 Cyy=y1;
Thijsjeee 1:fafea1d00d0c 171 if(dir == true) {
Thijsjeee 1:fafea1d00d0c 172 if(y1 < 43) {
Thijsjeee 1:fafea1d00d0c 173 y1 = y1+4;
Thijsjeee 1:fafea1d00d0c 174 //return y1;
Thijsjeee 1:fafea1d00d0c 175 } else if ( y1 >= 43) {
Thijsjeee 1:fafea1d00d0c 176 y1 = 11;
Thijsjeee 1:fafea1d00d0c 177 //return y1;
Thijsjeee 1:fafea1d00d0c 178 } else {
Thijsjeee 1:fafea1d00d0c 179 }
Thijsjeee 1:fafea1d00d0c 180 } else {
Thijsjeee 1:fafea1d00d0c 181 if(y1 > 11) {
Thijsjeee 1:fafea1d00d0c 182 y1 = y1-4;
Thijsjeee 1:fafea1d00d0c 183 //return y1;
Thijsjeee 1:fafea1d00d0c 184 } else if ( y1 <= 11) {
Thijsjeee 1:fafea1d00d0c 185 y1 = 43;
Thijsjeee 1:fafea1d00d0c 186 //return y1;
Thijsjeee 1:fafea1d00d0c 187 } else {
Thijsjeee 1:fafea1d00d0c 188 }
Thijsjeee 1:fafea1d00d0c 189 }
Thijsjeee 1:fafea1d00d0c 190
Thijsjeee 1:fafea1d00d0c 191 wait(0.5);
Thijsjeee 1:fafea1d00d0c 192 }
Thijsjeee 1:fafea1d00d0c 193 }
Thijsjeee 1:fafea1d00d0c 194 void change()
Thijsjeee 1:fafea1d00d0c 195 {
Thijsjeee 1:fafea1d00d0c 196 dir = !dir;
Thijsjeee 1:fafea1d00d0c 197 }
Thijsjeee 0:0af507ea0d83 198 void NR() //Newton Rapshon Calculation
Thijsjeee 0:0af507ea0d83 199 {
Thijsjeee 0:0af507ea0d83 200 //Variables
Thijsjeee 1:fafea1d00d0c 201 double Hoa = X[0][0];
Thijsjeee 1:fafea1d00d0c 202 double Hob = X[1][0];
Thijsjeee 1:fafea1d00d0c 203
Thijsjeee 1:fafea1d00d0c 204 double meuk1 = cos(Hoa) * A - ((E + C)/E) * (cos(Hob)*D - ex) - ex;
Thijsjeee 1:fafea1d00d0c 205 double meuk2 = sin(Hoa) * A - ((E + C)/E) * (sin(Hob)*D - ey) - ey;
Thijsjeee 1:fafea1d00d0c 206
Thijsjeee 0:0af507ea0d83 207 //Define f(x)
Thijsjeee 1:fafea1d00d0c 208 fval[0][0] = pow((ex - D * cos(Hob)),2) + pow((ey - D * sin(Hob)),2) - pow((E),2);
Thijsjeee 1:fafea1d00d0c 209 fval[1][0] = pow((meuk1),2) + pow((meuk2),2) - pow((B),2);
Thijsjeee 0:0af507ea0d83 210 //Jacobian
Thijsjeee 1:fafea1d00d0c 211
Thijsjeee 1:fafea1d00d0c 212
Thijsjeee 1:fafea1d00d0c 213
Thijsjeee 1:fafea1d00d0c 214 J[0][0]= 0;
Thijsjeee 1:fafea1d00d0c 215 J[0][1]= 2 * D * sin(Hob) * (ex - D * cos(Hob)) - 2 * D * cos(Hob) * (ey - D * sin(Hob));
Thijsjeee 1:fafea1d00d0c 216 J[1][0]= - 2 * A * sin(Hoa) * meuk1 + 2 * A * cos(Hoa)* meuk2;
Thijsjeee 1:fafea1d00d0c 217 J[1][1]= 2 * ((E + C)/E) * D * sin(Hob) * meuk1 - 2 * ((E + C)/E) * D * cos(Hob) * meuk2;
Thijsjeee 0:0af507ea0d83 218 }
Thijsjeee 0:0af507ea0d83 219
Thijsjeee 1:fafea1d00d0c 220 void angle_define() //define the angle needed.
Thijsjeee 1:fafea1d00d0c 221 {
Thijsjeee 1:fafea1d00d0c 222 for(int i=1 ; i <= MaxIter; i++) {
Thijsjeee 1:fafea1d00d0c 223 NR();
Thijsjeee 0:0af507ea0d83 224
Thijsjeee 1:fafea1d00d0c 225 X[0][0] = X[0][0] - ((-J[1][1]/(J[0][1] *J[1][0]))*fval[0][0] + (1/J[1][0])* fval[0][1]);
Thijsjeee 1:fafea1d00d0c 226 X[1][0] = X[1][0] - ((1/J[0][1])*fval[0][0]);
Thijsjeee 0:0af507ea0d83 227
Thijsjeee 0:0af507ea0d83 228 err[0][0] = abs(X[0][0] - Xold[0][0]);
Thijsjeee 0:0af507ea0d83 229 err[1][0] = abs(X[1][0] - Xold[1][0]);
Thijsjeee 0:0af507ea0d83 230
Thijsjeee 0:0af507ea0d83 231 Xold[0][0] = X[0][0];
Thijsjeee 0:0af507ea0d83 232 Xold[1][0] = X[1][0];
Thijsjeee 1:fafea1d00d0c 233
Thijsjeee 0:0af507ea0d83 234 counts_a = ((X[0][0]) / (2* pi)) * 8400;
Thijsjeee 1:fafea1d00d0c 235 counts_b = ((X[1][0]) / (2* pi)) * 8400;
Thijsjeee 1:fafea1d00d0c 236
Thijsjeee 1:fafea1d00d0c 237 if(err[0][0] <= tolX) {
Thijsjeee 1:fafea1d00d0c 238 if(err[1][0] <= tolX) {
Thijsjeee 0:0af507ea0d83 239 break;
Thijsjeee 0:0af507ea0d83 240 }
Thijsjeee 1:fafea1d00d0c 241 }
Thijsjeee 1:fafea1d00d0c 242 }
Thijsjeee 0:0af507ea0d83 243 }
Thijsjeee 0:0af507ea0d83 244
Thijsjeee 0:0af507ea0d83 245 void position_define()
Thijsjeee 0:0af507ea0d83 246 {
Thijsjeee 1:fafea1d00d0c 247 if (ex >= Cxx - 0.01 && ex <= Cxx + 0.01) {
Thijsjeee 1:fafea1d00d0c 248 if (ey >= Cyy - 0.01 && ey <= Cyy + 0.01) {
Thijsjeee 1:fafea1d00d0c 249 } else {
Thijsjeee 1:fafea1d00d0c 250 if (ey > Cyy) {
Thijsjeee 1:fafea1d00d0c 251 ey = ey - 0.004;
Thijsjeee 1:fafea1d00d0c 252 }
Thijsjeee 1:fafea1d00d0c 253 if (ey < Cyy) {
Thijsjeee 1:fafea1d00d0c 254 ey = ey + 0.004;
Thijsjeee 1:fafea1d00d0c 255 }
Thijsjeee 0:0af507ea0d83 256 }
Thijsjeee 1:fafea1d00d0c 257 } else {
Thijsjeee 1:fafea1d00d0c 258 if (ex > Cxx) {
Thijsjeee 1:fafea1d00d0c 259 ex = ex - 0.004;
Thijsjeee 1:fafea1d00d0c 260 }
Thijsjeee 1:fafea1d00d0c 261 if (ex < Cxx) {
Thijsjeee 1:fafea1d00d0c 262 ex = ex + 0.004;
Thijsjeee 0:0af507ea0d83 263 }
Thijsjeee 0:0af507ea0d83 264 }
Thijsjeee 0:0af507ea0d83 265 }
Thijsjeee 0:0af507ea0d83 266
Thijsjeee 1:fafea1d00d0c 267
Thijsjeee 1:fafea1d00d0c 268
Thijsjeee 1:fafea1d00d0c 269
Thijsjeee 1:fafea1d00d0c 270
Thijsjeee 1:fafea1d00d0c 271
Thijsjeee 1:fafea1d00d0c 272
Thijsjeee 1:fafea1d00d0c 273 void position_controll_void()
Thijsjeee 0:0af507ea0d83 274 {
Thijsjeee 1:fafea1d00d0c 275 bas = true;
Thijsjeee 0:0af507ea0d83 276 }
Thijsjeee 0:0af507ea0d83 277
Thijsjeee 1:fafea1d00d0c 278
Thijsjeee 0:0af507ea0d83 279 void motor_controler()
Thijsjeee 0:0af507ea0d83 280 {
Thijsjeee 1:fafea1d00d0c 281 bb = -(Enc1.getPulses()) - 201;
Thijsjeee 1:fafea1d00d0c 282 bc = Enc2.getPulses() + 2100;
Thijsjeee 0:0af507ea0d83 283
Thijsjeee 1:fafea1d00d0c 284 if (bb >= counts_a) {
Thijsjeee 1:fafea1d00d0c 285 z = PID_controller((counts_a - bb),Kp, Ki, Kd, Ts);
Thijsjeee 0:0af507ea0d83 286 PMW1.write(abs(z));
Thijsjeee 0:0af507ea0d83 287 M1 = 1;
Thijsjeee 0:0af507ea0d83 288 }
Thijsjeee 1:fafea1d00d0c 289 if (bb <= counts_a) {
Thijsjeee 1:fafea1d00d0c 290 z = PID_controller((counts_a - bb),Kp, Ki, Kd, Ts);
Thijsjeee 1:fafea1d00d0c 291 PMW1.write(abs(z));
Thijsjeee 1:fafea1d00d0c 292 M1 = 0;
Thijsjeee 1:fafea1d00d0c 293 }
Thijsjeee 1:fafea1d00d0c 294 if (bc >= counts_b) {
Thijsjeee 0:0af507ea0d83 295 M2 = 0;
Thijsjeee 1:fafea1d00d0c 296 z = PID_controller((counts_b - bc),Kp, Ki, Kd, Ts);
Thijsjeee 0:0af507ea0d83 297 PMW2.write(abs(z));
Thijsjeee 1:fafea1d00d0c 298 }
Thijsjeee 1:fafea1d00d0c 299 if (bc <= counts_b) {
Thijsjeee 0:0af507ea0d83 300 M2 = 1;
Thijsjeee 1:fafea1d00d0c 301 z = PID_controller((counts_b - bc),Kp, Ki, Kd, Ts);
Thijsjeee 0:0af507ea0d83 302 PMW2.write(abs(z));
Thijsjeee 1:fafea1d00d0c 303 }
Thijsjeee 0:0af507ea0d83 304 }
Thijsjeee 0:0af507ea0d83 305
Thijsjeee 2:f68fd7b1c655 306
Thijsjeee 2:f68fd7b1c655 307 void change_wait()
Thijsjeee 2:f68fd7b1c655 308 {
Thijsjeee 2:f68fd7b1c655 309 waiting = waiting++;
Thijsjeee 2:f68fd7b1c655 310 }
Thijsjeee 2:f68fd7b1c655 311
Thijsjeee 2:f68fd7b1c655 312
Thijsjeee 2:f68fd7b1c655 313 void initializeren()
Thijsjeee 2:f68fd7b1c655 314 {
Thijsjeee 2:f68fd7b1c655 315 waiting = 1;
Thijsjeee 2:f68fd7b1c655 316 while(waiting <=3)
Thijsjeee 2:f68fd7b1c655 317 if (bas == true)
Thijsjeee 2:f68fd7b1c655 318 {
Thijsjeee 2:f68fd7b1c655 319 if (waiting == 1) {
Thijsjeee 2:f68fd7b1c655 320 Cxx = -20;
Thijsjeee 2:f68fd7b1c655 321 Cyy = 10;
Thijsjeee 2:f68fd7b1c655 322
Thijsjeee 2:f68fd7b1c655 323 position_define();
Thijsjeee 2:f68fd7b1c655 324 angle_define();
Thijsjeee 2:f68fd7b1c655 325 motor_controler();
Thijsjeee 2:f68fd7b1c655 326
Thijsjeee 2:f68fd7b1c655 327 }
Thijsjeee 2:f68fd7b1c655 328
Thijsjeee 2:f68fd7b1c655 329 if(waiting == 2) {
Thijsjeee 2:f68fd7b1c655 330 Cxx = -40;
Thijsjeee 2:f68fd7b1c655 331 Cyy = 10;
Thijsjeee 2:f68fd7b1c655 332 position_define();
Thijsjeee 2:f68fd7b1c655 333 angle_define();
Thijsjeee 2:f68fd7b1c655 334 motor_controler();
Thijsjeee 2:f68fd7b1c655 335 button.fall(&change_wait);
Thijsjeee 2:f68fd7b1c655 336 }
Thijsjeee 2:f68fd7b1c655 337 }
Thijsjeee 2:f68fd7b1c655 338 }
Thijsjeee 2:f68fd7b1c655 339
Thijsjeee 2:f68fd7b1c655 340
Thijsjeee 0:0af507ea0d83 341 int main()
Thijsjeee 0:0af507ea0d83 342 {
Thijsjeee 0:0af507ea0d83 343 PMW1.period_us(60);
Thijsjeee 2:f68fd7b1c655 344 button.fall(&change_wait);
Thijsjeee 2:f68fd7b1c655 345 position_controll.attach(position_controll_void,0.002);
Thijsjeee 0:0af507ea0d83 346 X[0][0] = X0[0][0];
Thijsjeee 0:0af507ea0d83 347 X[1][0] = X0[1][0];
Thijsjeee 0:0af507ea0d83 348 Xold[0][0] = X0[0][0];
Thijsjeee 0:0af507ea0d83 349 Xold[1][0] = X0[1][0];
Thijsjeee 2:f68fd7b1c655 350 //pc.baud(115200);
Thijsjeee 2:f68fd7b1c655 351 initializeren();
Thijsjeee 1:fafea1d00d0c 352 x1 = Cxx;
Thijsjeee 1:fafea1d00d0c 353 y1= Cyy;
Thijsjeee 1:fafea1d00d0c 354 bqc.add( &bq1 ).add( &bq2 );
Thijsjeee 1:fafea1d00d0c 355 bqc2.add( &bq3 );
Thijsjeee 1:fafea1d00d0c 356 bqc3.add( &bq4 ).add( &bq5 );
Thijsjeee 1:fafea1d00d0c 357 bqc4.add( &bq6 );
Thijsjeee 2:f68fd7b1c655 358
Thijsjeee 1:fafea1d00d0c 359 while(true) {
Thijsjeee 0:0af507ea0d83 360
Thijsjeee 1:fafea1d00d0c 361 if(bas == true) {
Thijsjeee 1:fafea1d00d0c 362 Led = 1;
Thijsjeee 1:fafea1d00d0c 363 filteren();
Thijsjeee 1:fafea1d00d0c 364 position_define();
Thijsjeee 1:fafea1d00d0c 365 angle_define();
Thijsjeee 1:fafea1d00d0c 366 motor_controler();
Thijsjeee 2:f68fd7b1c655 367
Thijsjeee 1:fafea1d00d0c 368 sw2.fall(change);
Thijsjeee 1:fafea1d00d0c 369 Position1x(emgFiltered3);
Thijsjeee 1:fafea1d00d0c 370 Position1y(emgFiltered23);
Thijsjeee 1:fafea1d00d0c 371 Led = 0;
Thijsjeee 1:fafea1d00d0c 372 bas= false;
Thijsjeee 1:fafea1d00d0c 373 }
Thijsjeee 0:0af507ea0d83 374 }
Thijsjeee 1:fafea1d00d0c 375
Thijsjeee 0:0af507ea0d83 376 }