Thijs Rakels / Mbed 2 deprecated NR_method

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   QEI biquadFilter mbed HIDScope

NR_method_1.cpp@7:fcb20c3ccee9, 2018-11-01 (annotated)

Committer:
Thijsjeee
Date:
Thu Nov 01 14:56:40 2018 +0000
Revision:
7:fcb20c3ccee9
Parent:
6:e492bc8fc3fb
Child:
8:364ea64ae86b
Working code, with calibration and initial values

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 6:e492bc8fc3fb 10 #include <HIDScope.h>
Thijsjeee 6:e492bc8fc3fb 11
Thijsjeee 6:e492bc8fc3fb 12
Thijsjeee 1:fafea1d00d0c 13 //#include <MODSERIAL.h>
Thijsjeee 1:fafea1d00d0c 14
Thijsjeee 5:d3031d082c22 15 // hidscope
Thijsjeee 5:d3031d082c22 16 HIDScope scope( 2 );
Thijsjeee 7:fcb20c3ccee9 17 bool startCalc;
Thijsjeee 7:fcb20c3ccee9 18 bool calpos1;
Thijsjeee 7:fcb20c3ccee9 19 bool calpos2;
Thijsjeee 1:fafea1d00d0c 20 bool bas;
Thijsjeee 2:f68fd7b1c655 21 int waiting;
Thijsjeee 7:fcb20c3ccee9 22 int count1;
Thijsjeee 7:fcb20c3ccee9 23 int count2;
Thijsjeee 7:fcb20c3ccee9 24 int count3;
Thijsjeee 7:fcb20c3ccee9 25 int count4;
Thijsjeee 2:f68fd7b1c655 26 InterruptIn button(SW3);
Thijsjeee 1:fafea1d00d0c 27
Thijsjeee 1:fafea1d00d0c 28 Serial pc(USBTX, USBRX);
Thijsjeee 1:fafea1d00d0c 29 // emg signals input
Thijsjeee 1:fafea1d00d0c 30 AnalogIn emg1(A0);
Thijsjeee 1:fafea1d00d0c 31 AnalogIn emg2(A1);
Thijsjeee 1:fafea1d00d0c 32 InterruptIn sw2(SW2);
Thijsjeee 1:fafea1d00d0c 33 // tickers
Thijsjeee 1:fafea1d00d0c 34 Ticker sample_timer;
Thijsjeee 1:fafea1d00d0c 35
Thijsjeee 1:fafea1d00d0c 36 volatile int x1;
Thijsjeee 1:fafea1d00d0c 37 volatile int y1;
Thijsjeee 1:fafea1d00d0c 38 double emgFiltered3;
Thijsjeee 1:fafea1d00d0c 39 double emgFiltered23;
Thijsjeee 1:fafea1d00d0c 40 bool dir = true;
Thijsjeee 1:fafea1d00d0c 41 // filtering
Thijsjeee 1:fafea1d00d0c 42 //filter coeffiecents
Thijsjeee 1:fafea1d00d0c 43 // highpass
Thijsjeee 6:e492bc8fc3fb 44 double b01h = 0.956543225556877;
Thijsjeee 6:e492bc8fc3fb 45 double b02h = -1.91308645111375;
Thijsjeee 6:e492bc8fc3fb 46 double b03h = 0.956543225556877;
Thijsjeee 6:e492bc8fc3fb 47 double a01h = -1.91119706742607;
Thijsjeee 6:e492bc8fc3fb 48 double a02h = 0.914975834801434;
Thijsjeee 1:fafea1d00d0c 49 // notchfilter
Thijsjeee 6:e492bc8fc3fb 50 double b01n = 0.991103635646810;
Thijsjeee 6:e492bc8fc3fb 51 double b02n = -1.60363936885013;
Thijsjeee 6:e492bc8fc3fb 52 double b03n = 0.991103635646810;
Thijsjeee 6:e492bc8fc3fb 53 double a01n = -1.60363936885013;
Thijsjeee 6:e492bc8fc3fb 54 double a02n = 0.982207271293620;
Thijsjeee 1:fafea1d00d0c 55 //lowpass 1
Thijsjeee 6:e492bc8fc3fb 56 double b01l = 0.000346041337639103;
Thijsjeee 6:e492bc8fc3fb 57 double b02l = 0.000692082675278205;
Thijsjeee 6:e492bc8fc3fb 58 double b03l = 0.000346041337639103;
Thijsjeee 6:e492bc8fc3fb 59 double a01l = -1.94669754075618;
Thijsjeee 6:e492bc8fc3fb 60 double a02l = 0.948081706106740;
Thijsjeee 1:fafea1d00d0c 61 BiQuadChain bqc;
Thijsjeee 1:fafea1d00d0c 62 BiQuad bq1( b01h, b02h, b03h, a01h, a02h ); //highpass
Thijsjeee 1:fafea1d00d0c 63 BiQuad bq2( b01n, b02n, b03n, a01n, a02n ); //notch
Thijsjeee 1:fafea1d00d0c 64 // than we need to rectifie
Thijsjeee 1:fafea1d00d0c 65 // and lowpass afterwards
Thijsjeee 1:fafea1d00d0c 66 BiQuadChain bqc2;
Thijsjeee 1:fafea1d00d0c 67 BiQuad bq3( b01l, b02l, b03l, a01l, a02l); //lowpass
Thijsjeee 1:fafea1d00d0c 68 // optional is doing a movingaverage after
Thijsjeee 1:fafea1d00d0c 69
Thijsjeee 1:fafea1d00d0c 70 BiQuadChain bqc3;
Thijsjeee 1:fafea1d00d0c 71 BiQuad bq4( b01h, b02h, b03h, a01h, a02h ); //highpass
Thijsjeee 1:fafea1d00d0c 72 BiQuad bq5( b01n, b02n, b03n, a01n, a02n ); //notch
Thijsjeee 1:fafea1d00d0c 73 // than we need to rectifie
Thijsjeee 1:fafea1d00d0c 74 // and lowpass afterwards
Thijsjeee 1:fafea1d00d0c 75 BiQuadChain bqc4;
Thijsjeee 1:fafea1d00d0c 76 BiQuad bq6( b01l, b02l, b03l, a01l, a02l); //lowpass
Thijsjeee 1:fafea1d00d0c 77
Thijsjeee 0:0af507ea0d83 78
Thijsjeee 0:0af507ea0d83 79 //Define in/outputs
Thijsjeee 0:0af507ea0d83 80
Thijsjeee 1:fafea1d00d0c 81 int counts = 8400;
Thijsjeee 0:0af507ea0d83 82 DigitalOut Led(LED1);
Thijsjeee 0:0af507ea0d83 83 PwmOut PMW1(D5); // Motor 1
Thijsjeee 0:0af507ea0d83 84 DigitalOut M1(D4); // direction of motor 1
Thijsjeee 0:0af507ea0d83 85 PwmOut PMW2(D6); // Motor 2
Thijsjeee 0:0af507ea0d83 86 DigitalOut M2(D7); // direction of motor 2
Thijsjeee 0:0af507ea0d83 87
Thijsjeee 0:0af507ea0d83 88 //initializing Encoders
Thijsjeee 0:0af507ea0d83 89 QEI Enc1(D13,D12, NC , counts, QEI::X4_ENCODING); //Motor 1 encoder
Thijsjeee 0:0af507ea0d83 90 QEI Enc2(D11,D10, NC , counts, QEI::X4_ENCODING); // Motor 3 encoder this checks whetehter the motor has rotated
Thijsjeee 0:0af507ea0d83 91
Thijsjeee 0:0af507ea0d83 92 double Kp = 1;
Thijsjeee 2:f68fd7b1c655 93 double Ki = 1;
Thijsjeee 1:fafea1d00d0c 94 double Kd = 0.3;
Thijsjeee 0:0af507ea0d83 95 double Ts = 0.001;
Thijsjeee 0:0af507ea0d83 96
Thijsjeee 0:0af507ea0d83 97 float counts_a;
Thijsjeee 0:0af507ea0d83 98 float counts_b;
Thijsjeee 0:0af507ea0d83 99
Thijsjeee 0:0af507ea0d83 100
Thijsjeee 0:0af507ea0d83 101 //Define Variables
Thijsjeee 0:0af507ea0d83 102
Thijsjeee 0:0af507ea0d83 103 double pi = 3.14159265359;
Thijsjeee 1:fafea1d00d0c 104 int bb;
Thijsjeee 1:fafea1d00d0c 105 int bc;
Thijsjeee 0:0af507ea0d83 106 float z;
Thijsjeee 6:e492bc8fc3fb 107 int i;
Thijsjeee 0:0af507ea0d83 108
Thijsjeee 1:fafea1d00d0c 109 double angle_a = 0; //in rad
Thijsjeee 1:fafea1d00d0c 110 double angle_b = 0.5 * pi; //in rad
Thijsjeee 0:0af507ea0d83 111
Thijsjeee 0:0af507ea0d83 112 double X0[2][1] = {{angle_a},{angle_b}};
Thijsjeee 0:0af507ea0d83 113 double X[2][1];
Thijsjeee 0:0af507ea0d83 114 double Xold[2][1];
Thijsjeee 0:0af507ea0d83 115 double fval[2][1];
Thijsjeee 0:0af507ea0d83 116 double J[2][2];
Thijsjeee 0:0af507ea0d83 117 double err[2][1];
Thijsjeee 0:0af507ea0d83 118
Thijsjeee 0:0af507ea0d83 119 double MaxIter = 20;
Thijsjeee 0:0af507ea0d83 120 double tolX = 1e-4;
Thijsjeee 1:fafea1d00d0c 121 double A = 20;
Thijsjeee 1:fafea1d00d0c 122 double B = 30;
Thijsjeee 1:fafea1d00d0c 123 double C = 20;
Thijsjeee 1:fafea1d00d0c 124 double D = 27;
Thijsjeee 1:fafea1d00d0c 125 double E = 35;
Thijsjeee 7:fcb20c3ccee9 126 double ex = -40; // current position
Thijsjeee 7:fcb20c3ccee9 127 double ey = -30; // current position
Thijsjeee 1:fafea1d00d0c 128 double Cxx = -35; // Goal position
Thijsjeee 1:fafea1d00d0c 129 double Cyy = 27; // Goal position
Thijsjeee 0:0af507ea0d83 130
Thijsjeee 0:0af507ea0d83 131 Ticker position_controll;
Thijsjeee 0:0af507ea0d83 132
Thijsjeee 1:fafea1d00d0c 133 void filteren ()
Thijsjeee 1:fafea1d00d0c 134 {
Thijsjeee 1:fafea1d00d0c 135 double emgSignal1 = emg1.read();
Thijsjeee 1:fafea1d00d0c 136 double emgSignal2 = emg2.read();
Thijsjeee 1:fafea1d00d0c 137
Thijsjeee 1:fafea1d00d0c 138 double emgFiltered1 = bqc.step(emgSignal1);
Thijsjeee 1:fafea1d00d0c 139 double emgFiltered2 = fabs(emgFiltered1);
Thijsjeee 1:fafea1d00d0c 140 emgFiltered3 = bqc2.step(emgFiltered2);
Thijsjeee 1:fafea1d00d0c 141
Thijsjeee 1:fafea1d00d0c 142 double emgFiltered21 = bqc3.step(emgSignal2);
Thijsjeee 1:fafea1d00d0c 143 double emgFiltered22 = fabs(emgFiltered21);
Thijsjeee 1:fafea1d00d0c 144 emgFiltered23 = bqc4.step(emgFiltered22);
Thijsjeee 1:fafea1d00d0c 145
Thijsjeee 1:fafea1d00d0c 146 }
Thijsjeee 1:fafea1d00d0c 147
Thijsjeee 1:fafea1d00d0c 148 void Position1x(double b)
Thijsjeee 1:fafea1d00d0c 149 {
Thijsjeee 1:fafea1d00d0c 150 if (b > 0.20) {
Thijsjeee 6:e492bc8fc3fb 151 i = 0;
Thijsjeee 1:fafea1d00d0c 152 Cxx =x1;
Thijsjeee 1:fafea1d00d0c 153 if (dir == true) {
Thijsjeee 1:fafea1d00d0c 154 if(x1 > -46) {
Thijsjeee 7:fcb20c3ccee9 155 x1 = x1-4.1;
Thijsjeee 1:fafea1d00d0c 156 pc.printf(" posx is %f\n\r",Cxx);
Thijsjeee 1:fafea1d00d0c 157 //return x1;
Thijsjeee 1:fafea1d00d0c 158
Thijsjeee 1:fafea1d00d0c 159 } else if ( x1 <= -46) {
Thijsjeee 1:fafea1d00d0c 160 x1 =-14;
Thijsjeee 1:fafea1d00d0c 161 //return x1;
Thijsjeee 1:fafea1d00d0c 162 } else {
Thijsjeee 1:fafea1d00d0c 163 }
Thijsjeee 1:fafea1d00d0c 164 } else {
Thijsjeee 1:fafea1d00d0c 165 if(x1 < -14) {
Thijsjeee 7:fcb20c3ccee9 166 x1 = x1+4.1;
Thijsjeee 1:fafea1d00d0c 167 //return x1;
Thijsjeee 1:fafea1d00d0c 168
Thijsjeee 1:fafea1d00d0c 169 } else if ( x1 >= -14) {
Thijsjeee 1:fafea1d00d0c 170 x1 = -46;
Thijsjeee 1:fafea1d00d0c 171 //return x1;
Thijsjeee 1:fafea1d00d0c 172 } else {
Thijsjeee 1:fafea1d00d0c 173 }
Thijsjeee 1:fafea1d00d0c 174 }
Thijsjeee 1:fafea1d00d0c 175 }
Thijsjeee 1:fafea1d00d0c 176 }
Thijsjeee 1:fafea1d00d0c 177
Thijsjeee 1:fafea1d00d0c 178 void Position1y(double b)
Thijsjeee 1:fafea1d00d0c 179 {
Thijsjeee 1:fafea1d00d0c 180 if (b > 0.20) {
Thijsjeee 6:e492bc8fc3fb 181 i = 0;
Thijsjeee 1:fafea1d00d0c 182 Cyy=y1;
Thijsjeee 1:fafea1d00d0c 183 if(dir == true) {
Thijsjeee 1:fafea1d00d0c 184 if(y1 < 43) {
Thijsjeee 7:fcb20c3ccee9 185 y1 = y1+4.1;
Thijsjeee 1:fafea1d00d0c 186 //return y1;
Thijsjeee 1:fafea1d00d0c 187 } else if ( y1 >= 43) {
Thijsjeee 1:fafea1d00d0c 188 y1 = 11;
Thijsjeee 1:fafea1d00d0c 189 //return y1;
Thijsjeee 1:fafea1d00d0c 190 } else {
Thijsjeee 1:fafea1d00d0c 191 }
Thijsjeee 1:fafea1d00d0c 192 } else {
Thijsjeee 1:fafea1d00d0c 193 if(y1 > 11) {
Thijsjeee 7:fcb20c3ccee9 194 y1 = y1-4.1;
Thijsjeee 1:fafea1d00d0c 195 //return y1;
Thijsjeee 1:fafea1d00d0c 196 } else if ( y1 <= 11) {
Thijsjeee 1:fafea1d00d0c 197 y1 = 43;
Thijsjeee 1:fafea1d00d0c 198 //return y1;
Thijsjeee 1:fafea1d00d0c 199 } else {
Thijsjeee 1:fafea1d00d0c 200 }
Thijsjeee 1:fafea1d00d0c 201 }
Thijsjeee 1:fafea1d00d0c 202 }
Thijsjeee 1:fafea1d00d0c 203 }
Thijsjeee 1:fafea1d00d0c 204 void change()
Thijsjeee 1:fafea1d00d0c 205 {
Thijsjeee 1:fafea1d00d0c 206 dir = !dir;
Thijsjeee 1:fafea1d00d0c 207 }
Thijsjeee 0:0af507ea0d83 208 void NR() //Newton Rapshon Calculation
Thijsjeee 0:0af507ea0d83 209 {
Thijsjeee 0:0af507ea0d83 210 //Variables
Thijsjeee 1:fafea1d00d0c 211 double Hoa = X[0][0];
Thijsjeee 1:fafea1d00d0c 212 double Hob = X[1][0];
Thijsjeee 1:fafea1d00d0c 213
Thijsjeee 1:fafea1d00d0c 214 double meuk1 = cos(Hoa) * A - ((E + C)/E) * (cos(Hob)*D - ex) - ex;
Thijsjeee 1:fafea1d00d0c 215 double meuk2 = sin(Hoa) * A - ((E + C)/E) * (sin(Hob)*D - ey) - ey;
Thijsjeee 1:fafea1d00d0c 216
Thijsjeee 0:0af507ea0d83 217 //Define f(x)
Thijsjeee 1:fafea1d00d0c 218 fval[0][0] = pow((ex - D * cos(Hob)),2) + pow((ey - D * sin(Hob)),2) - pow((E),2);
Thijsjeee 1:fafea1d00d0c 219 fval[1][0] = pow((meuk1),2) + pow((meuk2),2) - pow((B),2);
Thijsjeee 0:0af507ea0d83 220 //Jacobian
Thijsjeee 1:fafea1d00d0c 221
Thijsjeee 1:fafea1d00d0c 222
Thijsjeee 1:fafea1d00d0c 223
Thijsjeee 1:fafea1d00d0c 224 J[0][0]= 0;
Thijsjeee 1:fafea1d00d0c 225 J[0][1]= 2 * D * sin(Hob) * (ex - D * cos(Hob)) - 2 * D * cos(Hob) * (ey - D * sin(Hob));
Thijsjeee 1:fafea1d00d0c 226 J[1][0]= - 2 * A * sin(Hoa) * meuk1 + 2 * A * cos(Hoa)* meuk2;
Thijsjeee 1:fafea1d00d0c 227 J[1][1]= 2 * ((E + C)/E) * D * sin(Hob) * meuk1 - 2 * ((E + C)/E) * D * cos(Hob) * meuk2;
Thijsjeee 0:0af507ea0d83 228 }
Thijsjeee 0:0af507ea0d83 229
Thijsjeee 1:fafea1d00d0c 230 void angle_define() //define the angle needed.
Thijsjeee 1:fafea1d00d0c 231 {
Thijsjeee 1:fafea1d00d0c 232 for(int i=1 ; i <= MaxIter; i++) {
Thijsjeee 1:fafea1d00d0c 233 NR();
Thijsjeee 0:0af507ea0d83 234
Thijsjeee 1:fafea1d00d0c 235 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 236 X[1][0] = X[1][0] - ((1/J[0][1])*fval[0][0]);
Thijsjeee 0:0af507ea0d83 237
Thijsjeee 0:0af507ea0d83 238 err[0][0] = abs(X[0][0] - Xold[0][0]);
Thijsjeee 0:0af507ea0d83 239 err[1][0] = abs(X[1][0] - Xold[1][0]);
Thijsjeee 0:0af507ea0d83 240
Thijsjeee 0:0af507ea0d83 241 Xold[0][0] = X[0][0];
Thijsjeee 0:0af507ea0d83 242 Xold[1][0] = X[1][0];
Thijsjeee 1:fafea1d00d0c 243
Thijsjeee 0:0af507ea0d83 244 counts_a = ((X[0][0]) / (2* pi)) * 8400;
Thijsjeee 1:fafea1d00d0c 245 counts_b = ((X[1][0]) / (2* pi)) * 8400;
Thijsjeee 1:fafea1d00d0c 246
Thijsjeee 1:fafea1d00d0c 247 if(err[0][0] <= tolX) {
Thijsjeee 1:fafea1d00d0c 248 if(err[1][0] <= tolX) {
Thijsjeee 0:0af507ea0d83 249 break;
Thijsjeee 0:0af507ea0d83 250 }
Thijsjeee 1:fafea1d00d0c 251 }
Thijsjeee 1:fafea1d00d0c 252 }
Thijsjeee 0:0af507ea0d83 253 }
Thijsjeee 0:0af507ea0d83 254
Thijsjeee 0:0af507ea0d83 255 void position_define()
Thijsjeee 0:0af507ea0d83 256 {
Thijsjeee 1:fafea1d00d0c 257 if (ex >= Cxx - 0.01 && ex <= Cxx + 0.01) {
Thijsjeee 1:fafea1d00d0c 258 if (ey >= Cyy - 0.01 && ey <= Cyy + 0.01) {
Thijsjeee 1:fafea1d00d0c 259 } else {
Thijsjeee 1:fafea1d00d0c 260 if (ey > Cyy) {
Thijsjeee 1:fafea1d00d0c 261 ey = ey - 0.004;
Thijsjeee 1:fafea1d00d0c 262 }
Thijsjeee 1:fafea1d00d0c 263 if (ey < Cyy) {
Thijsjeee 1:fafea1d00d0c 264 ey = ey + 0.004;
Thijsjeee 1:fafea1d00d0c 265 }
Thijsjeee 0:0af507ea0d83 266 }
Thijsjeee 1:fafea1d00d0c 267 } else {
Thijsjeee 1:fafea1d00d0c 268 if (ex > Cxx) {
Thijsjeee 1:fafea1d00d0c 269 ex = ex - 0.004;
Thijsjeee 1:fafea1d00d0c 270 }
Thijsjeee 1:fafea1d00d0c 271 if (ex < Cxx) {
Thijsjeee 1:fafea1d00d0c 272 ex = ex + 0.004;
Thijsjeee 0:0af507ea0d83 273 }
Thijsjeee 0:0af507ea0d83 274 }
Thijsjeee 0:0af507ea0d83 275 }
Thijsjeee 0:0af507ea0d83 276
Thijsjeee 1:fafea1d00d0c 277
Thijsjeee 1:fafea1d00d0c 278
Thijsjeee 1:fafea1d00d0c 279
Thijsjeee 1:fafea1d00d0c 280
Thijsjeee 1:fafea1d00d0c 281
Thijsjeee 1:fafea1d00d0c 282
Thijsjeee 1:fafea1d00d0c 283 void position_controll_void()
Thijsjeee 0:0af507ea0d83 284 {
Thijsjeee 1:fafea1d00d0c 285 bas = true;
Thijsjeee 0:0af507ea0d83 286 }
Thijsjeee 0:0af507ea0d83 287
Thijsjeee 1:fafea1d00d0c 288
Thijsjeee 0:0af507ea0d83 289 void motor_controler()
Thijsjeee 0:0af507ea0d83 290 {
Thijsjeee 7:fcb20c3ccee9 291 bb = -(Enc1.getPulses()) - 816;
Thijsjeee 7:fcb20c3ccee9 292 bc = Enc2.getPulses() + 4316;
Thijsjeee 0:0af507ea0d83 293
Thijsjeee 1:fafea1d00d0c 294 if (bb >= counts_a) {
Thijsjeee 1:fafea1d00d0c 295 z = PID_controller((counts_a - bb),Kp, Ki, Kd, Ts);
Thijsjeee 0:0af507ea0d83 296 PMW1.write(abs(z));
Thijsjeee 0:0af507ea0d83 297 M1 = 1;
Thijsjeee 0:0af507ea0d83 298 }
Thijsjeee 1:fafea1d00d0c 299 if (bb <= counts_a) {
Thijsjeee 1:fafea1d00d0c 300 z = PID_controller((counts_a - bb),Kp, Ki, Kd, Ts);
Thijsjeee 1:fafea1d00d0c 301 PMW1.write(abs(z));
Thijsjeee 1:fafea1d00d0c 302 M1 = 0;
Thijsjeee 1:fafea1d00d0c 303 }
Thijsjeee 1:fafea1d00d0c 304 if (bc >= counts_b) {
Thijsjeee 0:0af507ea0d83 305 M2 = 0;
Thijsjeee 1:fafea1d00d0c 306 z = PID_controller((counts_b - bc),Kp, Ki, Kd, Ts);
Thijsjeee 0:0af507ea0d83 307 PMW2.write(abs(z));
Thijsjeee 1:fafea1d00d0c 308 }
Thijsjeee 1:fafea1d00d0c 309 if (bc <= counts_b) {
Thijsjeee 0:0af507ea0d83 310 M2 = 1;
Thijsjeee 1:fafea1d00d0c 311 z = PID_controller((counts_b - bc),Kp, Ki, Kd, Ts);
Thijsjeee 0:0af507ea0d83 312 PMW2.write(abs(z));
Thijsjeee 1:fafea1d00d0c 313 }
Thijsjeee 0:0af507ea0d83 314 }
Thijsjeee 0:0af507ea0d83 315
Thijsjeee 2:f68fd7b1c655 316
Thijsjeee 2:f68fd7b1c655 317 void change_wait()
Thijsjeee 2:f68fd7b1c655 318 {
Thijsjeee 2:f68fd7b1c655 319 waiting = waiting++;
Thijsjeee 2:f68fd7b1c655 320 }
Thijsjeee 2:f68fd7b1c655 321
Thijsjeee 2:f68fd7b1c655 322
Thijsjeee 2:f68fd7b1c655 323 void initializeren()
Thijsjeee 2:f68fd7b1c655 324 {
Thijsjeee 2:f68fd7b1c655 325 waiting = 1;
Thijsjeee 4:f16a18aa58bd 326 while(waiting <=2)
Thijsjeee 7:fcb20c3ccee9 327 if (bas == true) {
Thijsjeee 7:fcb20c3ccee9 328 if (waiting == 1) {
Thijsjeee 7:fcb20c3ccee9 329 Cxx = -20;
Thijsjeee 7:fcb20c3ccee9 330 Cyy = 10;
Thijsjeee 7:fcb20c3ccee9 331
Thijsjeee 7:fcb20c3ccee9 332 position_define();
Thijsjeee 7:fcb20c3ccee9 333 angle_define();
Thijsjeee 7:fcb20c3ccee9 334 motor_controler();
Thijsjeee 7:fcb20c3ccee9 335
Thijsjeee 7:fcb20c3ccee9 336 }
Thijsjeee 2:f68fd7b1c655 337
Thijsjeee 7:fcb20c3ccee9 338 if(waiting == 2) {
Thijsjeee 7:fcb20c3ccee9 339 Cxx = -45;
Thijsjeee 7:fcb20c3ccee9 340 Cyy = 10;
Thijsjeee 7:fcb20c3ccee9 341 position_define();
Thijsjeee 7:fcb20c3ccee9 342 angle_define();
Thijsjeee 7:fcb20c3ccee9 343 motor_controler();
Thijsjeee 7:fcb20c3ccee9 344 }
Thijsjeee 7:fcb20c3ccee9 345 }
Thijsjeee 7:fcb20c3ccee9 346 }
Thijsjeee 7:fcb20c3ccee9 347
Thijsjeee 7:fcb20c3ccee9 348 void setCalibration()
Thijsjeee 7:fcb20c3ccee9 349 {
Thijsjeee 7:fcb20c3ccee9 350 if (startCalc == false) {
Thijsjeee 2:f68fd7b1c655 351
Thijsjeee 7:fcb20c3ccee9 352 if (calpos1 == false) {
Thijsjeee 7:fcb20c3ccee9 353 while(abs(count2-count1) > 0) {
Thijsjeee 7:fcb20c3ccee9 354 PMW1.write(0.1f);
Thijsjeee 7:fcb20c3ccee9 355 wait(0.1);
Thijsjeee 7:fcb20c3ccee9 356 PMW1.write(0);
Thijsjeee 7:fcb20c3ccee9 357 count2 = count1;
Thijsjeee 7:fcb20c3ccee9 358 count1 = Enc1.getPulses();
Thijsjeee 7:fcb20c3ccee9 359 wait(0.1);
Thijsjeee 7:fcb20c3ccee9 360 }
Thijsjeee 7:fcb20c3ccee9 361 Enc1.reset();
Thijsjeee 7:fcb20c3ccee9 362 bb= Enc1.getPulses();
Thijsjeee 7:fcb20c3ccee9 363 calpos1 = true;
Thijsjeee 2:f68fd7b1c655 364 }
Thijsjeee 7:fcb20c3ccee9 365 if(calpos2 == false) {
Thijsjeee 7:fcb20c3ccee9 366 while(abs(count4-count3) > 0) {
Thijsjeee 7:fcb20c3ccee9 367 PMW2.write(0.1f);
Thijsjeee 7:fcb20c3ccee9 368 wait(0.1);
Thijsjeee 7:fcb20c3ccee9 369 PMW2.write(0);
Thijsjeee 7:fcb20c3ccee9 370 M1=0;
Thijsjeee 7:fcb20c3ccee9 371 PMW1.write(0.1f);
Thijsjeee 7:fcb20c3ccee9 372 wait(0.1);
Thijsjeee 7:fcb20c3ccee9 373 PMW1.write(0);
Thijsjeee 7:fcb20c3ccee9 374 count4 = count3;
Thijsjeee 7:fcb20c3ccee9 375 count3 = Enc2.getPulses();
Thijsjeee 7:fcb20c3ccee9 376 wait(0.1);
Thijsjeee 7:fcb20c3ccee9 377 }
Thijsjeee 7:fcb20c3ccee9 378 Enc2.reset();
Thijsjeee 7:fcb20c3ccee9 379 bc= Enc2.getPulses();
Thijsjeee 7:fcb20c3ccee9 380 calpos2 = true;
Thijsjeee 7:fcb20c3ccee9 381 }
Thijsjeee 2:f68fd7b1c655 382 }
Thijsjeee 2:f68fd7b1c655 383 }
Thijsjeee 2:f68fd7b1c655 384
Thijsjeee 2:f68fd7b1c655 385
Thijsjeee 0:0af507ea0d83 386 int main()
Thijsjeee 0:0af507ea0d83 387 {
Thijsjeee 3:40427c0157a0 388 Led = 1;
Thijsjeee 7:fcb20c3ccee9 389 M1 = 1;
Thijsjeee 7:fcb20c3ccee9 390 M2 = 1;
Thijsjeee 7:fcb20c3ccee9 391 startCalc = false;
Thijsjeee 7:fcb20c3ccee9 392 calpos1 = false;
Thijsjeee 7:fcb20c3ccee9 393 calpos2 = false;
Thijsjeee 7:fcb20c3ccee9 394 count2 = 10000;
Thijsjeee 7:fcb20c3ccee9 395 count4 = 10000;
Thijsjeee 7:fcb20c3ccee9 396 Led = 0;
Thijsjeee 7:fcb20c3ccee9 397 PMW1.write(0.1f);
Thijsjeee 7:fcb20c3ccee9 398 wait(0.1);
Thijsjeee 7:fcb20c3ccee9 399 PMW1.write(0);
Thijsjeee 7:fcb20c3ccee9 400 count1 = Enc1.getPulses();
Thijsjeee 7:fcb20c3ccee9 401 PMW2.write(0.1f);
Thijsjeee 7:fcb20c3ccee9 402 wait(0.1);
Thijsjeee 7:fcb20c3ccee9 403 PMW2.write(0);
Thijsjeee 7:fcb20c3ccee9 404 count3 = Enc2.getPulses();
Thijsjeee 7:fcb20c3ccee9 405
Thijsjeee 7:fcb20c3ccee9 406 setCalibration();
Thijsjeee 7:fcb20c3ccee9 407 button.fall(&change_wait);
Thijsjeee 0:0af507ea0d83 408 PMW1.period_us(60);
Thijsjeee 7:fcb20c3ccee9 409 PMW2.period_us(60);
Thijsjeee 2:f68fd7b1c655 410 position_controll.attach(position_controll_void,0.002);
Thijsjeee 0:0af507ea0d83 411 X[0][0] = X0[0][0];
Thijsjeee 0:0af507ea0d83 412 X[1][0] = X0[1][0];
Thijsjeee 0:0af507ea0d83 413 Xold[0][0] = X0[0][0];
Thijsjeee 0:0af507ea0d83 414 Xold[1][0] = X0[1][0];
Thijsjeee 2:f68fd7b1c655 415 //pc.baud(115200);
Thijsjeee 2:f68fd7b1c655 416 initializeren();
Thijsjeee 1:fafea1d00d0c 417 x1 = Cxx;
Thijsjeee 1:fafea1d00d0c 418 y1= Cyy;
Thijsjeee 1:fafea1d00d0c 419 bqc.add( &bq1 ).add( &bq2 );
Thijsjeee 1:fafea1d00d0c 420 bqc2.add( &bq3 );
Thijsjeee 1:fafea1d00d0c 421 bqc3.add( &bq4 ).add( &bq5 );
Thijsjeee 1:fafea1d00d0c 422 bqc4.add( &bq6 );
Thijsjeee 4:f16a18aa58bd 423 Cxx = -35;
Thijsjeee 4:f16a18aa58bd 424 Cyy = 27;
Thijsjeee 6:e492bc8fc3fb 425 i = 251;
Thijsjeee 1:fafea1d00d0c 426 while(true) {
Thijsjeee 0:0af507ea0d83 427
Thijsjeee 1:fafea1d00d0c 428 if(bas == true) {
Thijsjeee 1:fafea1d00d0c 429 Led = 1;
Thijsjeee 1:fafea1d00d0c 430 filteren();
Thijsjeee 1:fafea1d00d0c 431 position_define();
Thijsjeee 1:fafea1d00d0c 432 angle_define();
Thijsjeee 1:fafea1d00d0c 433 motor_controler();
Thijsjeee 7:fcb20c3ccee9 434
Thijsjeee 6:e492bc8fc3fb 435 scope.set(0, Cxx); // filtered 1
Thijsjeee 6:e492bc8fc3fb 436 scope.set(1, Cyy); //filtered signal 2
Thijsjeee 5:d3031d082c22 437 scope.send();
Thijsjeee 7:fcb20c3ccee9 438
Thijsjeee 7:fcb20c3ccee9 439 if (i <= 250) {
Thijsjeee 6:e492bc8fc3fb 440 emgFiltered3 = 0;
Thijsjeee 6:e492bc8fc3fb 441 emgFiltered23 = 0;
Thijsjeee 7:fcb20c3ccee9 442 i++;
Thijsjeee 6:e492bc8fc3fb 443 }
Thijsjeee 7:fcb20c3ccee9 444
Thijsjeee 7:fcb20c3ccee9 445
Thijsjeee 4:f16a18aa58bd 446 //sw2.fall(change);
Thijsjeee 6:e492bc8fc3fb 447 Position1x(emgFiltered3);
Thijsjeee 6:e492bc8fc3fb 448 Position1y(emgFiltered23);
Thijsjeee 7:fcb20c3ccee9 449
Thijsjeee 1:fafea1d00d0c 450 Led = 0;
Thijsjeee 1:fafea1d00d0c 451 bas= false;
Thijsjeee 1:fafea1d00d0c 452 }
Thijsjeee 0:0af507ea0d83 453 }
Thijsjeee 1:fafea1d00d0c 454
Thijsjeee 0:0af507ea0d83 455 }