Thom Kuenen
Biorobotics 2018: Project group 16
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
main.cpp@4:a682fb1f37d2, 2018-11-01 (annotated)
- Committer:
- ThomBMT
- Date:
- Thu Nov 01 23:50:06 2018 +0000
- Revision:
- 4:a682fb1f37d2
- Parent:
- 3:766e9f13d84e
Laatste versie;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| ThomBMT | 0:94cf6b327972 | 1 | #include "mbed.h" |
| ThomBMT | 1:ba14d8f4d444 | 2 | #include "MODSERIAL.h" |
| ThomBMT | 1:ba14d8f4d444 | 3 | #include "HIDScope.h" |
| ThomBMT | 1:ba14d8f4d444 | 4 | #include "QEI.h" |
| ThomBMT | 1:ba14d8f4d444 | 5 | #include "BiQuad.h" |
| ThomBMT | 0:94cf6b327972 | 6 | |
| ThomBMT | 3:766e9f13d84e | 7 | // Pin defintions: |
| ThomBMT | 3:766e9f13d84e | 8 | MODSERIAL pc(USBTX, USBRX); |
| ThomBMT | 3:766e9f13d84e | 9 | DigitalOut DirectionPin1(D4); |
| ThomBMT | 3:766e9f13d84e | 10 | DigitalOut DirectionPin2(D7); |
| ThomBMT | 3:766e9f13d84e | 11 | PwmOut PwmPin1(D5); |
| ThomBMT | 3:766e9f13d84e | 12 | PwmOut PwmPin2(D6); |
| ThomBMT | 3:766e9f13d84e | 13 | DigitalIn Knop1(D2); |
| ThomBMT | 3:766e9f13d84e | 14 | DigitalIn Knop2(D3); |
| ThomBMT | 3:766e9f13d84e | 15 | DigitalIn Knop3(PTA4); |
| ThomBMT | 3:766e9f13d84e | 16 | DigitalIn Knop4(PTC6); |
| ThomBMT | 3:766e9f13d84e | 17 | AnalogIn pot1 (A5); |
| ThomBMT | 3:766e9f13d84e | 18 | AnalogIn pot2 (A4); |
| ThomBMT | 3:766e9f13d84e | 19 | AnalogIn emg0( A0 ); |
| ThomBMT | 3:766e9f13d84e | 20 | AnalogIn emg1( A1 ); |
| ThomBMT | 3:766e9f13d84e | 21 | AnalogIn emg2( A2 ); |
| ThomBMT | 3:766e9f13d84e | 22 | AnalogIn emg3( A3 ); |
| ThomBMT | 3:766e9f13d84e | 23 | DigitalOut led_G(LED_GREEN); |
| ThomBMT | 3:766e9f13d84e | 24 | DigitalOut led_R(LED_RED); |
| ThomBMT | 3:766e9f13d84e | 25 | DigitalOut led_B(LED_BLUE); |
| ThomBMT | 1:ba14d8f4d444 | 26 | |
| ThomBMT | 3:766e9f13d84e | 27 | // Encoder functions. |
| ThomBMT | 1:ba14d8f4d444 | 28 | QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING); |
| ThomBMT | 1:ba14d8f4d444 | 29 | QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING); |
| ThomBMT | 1:ba14d8f4d444 | 30 | |
| ThomBMT | 3:766e9f13d84e | 31 | // Filter definitions: |
| ThomBMT | 3:766e9f13d84e | 32 | BiQuadChain bqc1; |
| ThomBMT | 3:766e9f13d84e | 33 | BiQuadChain bqc2; |
| ThomBMT | 3:766e9f13d84e | 34 | BiQuadChain bqc3; |
| ThomBMT | 3:766e9f13d84e | 35 | BiQuadChain bqc4; |
| ThomBMT | 3:766e9f13d84e | 36 | BiQuadChain bqc5; |
| ThomBMT | 3:766e9f13d84e | 37 | BiQuadChain bqc6; |
| ThomBMT | 3:766e9f13d84e | 38 | BiQuadChain bqc7; |
| ThomBMT | 3:766e9f13d84e | 39 | BiQuadChain bqc8; |
| ThomBMT | 1:ba14d8f4d444 | 40 | |
| ThomBMT | 3:766e9f13d84e | 41 | BiQuad BqNotch1_1( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01 ); |
| ThomBMT | 3:766e9f13d84e | 42 | BiQuad BqNotch2_1( 1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01); |
| ThomBMT | 3:766e9f13d84e | 43 | BiQuad BqNotch1_2( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01 ); |
| ThomBMT | 3:766e9f13d84e | 44 | BiQuad BqNotch2_2( 1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01); |
| ThomBMT | 3:766e9f13d84e | 45 | BiQuad BqNotch1_3( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01 ); |
| ThomBMT | 3:766e9f13d84e | 46 | BiQuad BqNotch2_3( 1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01); |
| ThomBMT | 3:766e9f13d84e | 47 | BiQuad BqNotch1_4( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01 ); |
| ThomBMT | 3:766e9f13d84e | 48 | BiQuad BqNotch2_4( 1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01); |
| ThomBMT | 3:766e9f13d84e | 49 | BiQuad BqHP1( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 ); |
| ThomBMT | 3:766e9f13d84e | 50 | BiQuad BqHP2( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 ); |
| ThomBMT | 3:766e9f13d84e | 51 | BiQuad BqHP3( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 ); |
| ThomBMT | 3:766e9f13d84e | 52 | BiQuad BqHP4( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 ); |
| ThomBMT | 1:ba14d8f4d444 | 53 | |
| ThomBMT | 3:766e9f13d84e | 54 | BiQuad BqLP1( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); |
| ThomBMT | 3:766e9f13d84e | 55 | BiQuad BqLP2( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); |
| ThomBMT | 3:766e9f13d84e | 56 | BiQuad BqLP3( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); |
| ThomBMT | 3:766e9f13d84e | 57 | BiQuad BqLP4( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); |
| ThomBMT | 3:766e9f13d84e | 58 | |
| ThomBMT | 3:766e9f13d84e | 59 | BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241); |
| ThomBMT | 1:ba14d8f4d444 | 60 | |
| ThomBMT | 3:766e9f13d84e | 61 | // Tickers for the main loop: |
| ThomBMT | 3:766e9f13d84e | 62 | Ticker StateTicker; |
| ThomBMT | 3:766e9f13d84e | 63 | Ticker printTicker; |
| ThomBMT | 1:ba14d8f4d444 | 64 | |
| ThomBMT | 3:766e9f13d84e | 65 | // Setting the HIDscope: |
| ThomBMT | 3:766e9f13d84e | 66 | HIDScope scope( 4 ); |
| ThomBMT | 1:ba14d8f4d444 | 67 | |
| ThomBMT | 3:766e9f13d84e | 68 | // All variables for EMG-processing: |
| ThomBMT | 1:ba14d8f4d444 | 69 | volatile float Bicep_Right = 0.0; |
| ThomBMT | 1:ba14d8f4d444 | 70 | volatile float Bicep_Left = 0.0; |
| ThomBMT | 1:ba14d8f4d444 | 71 | volatile float Tricep_Right = 0.0; |
| ThomBMT | 1:ba14d8f4d444 | 72 | volatile float Tricep_Left = 0.0; |
| ThomBMT | 1:ba14d8f4d444 | 73 | volatile float FilterHP_Bi_R; |
| ThomBMT | 1:ba14d8f4d444 | 74 | volatile float Filterabs_Bi_R; |
| ThomBMT | 1:ba14d8f4d444 | 75 | volatile float Filtered_Bi_R; |
| ThomBMT | 1:ba14d8f4d444 | 76 | volatile float FilterHP_Bi_L; |
| ThomBMT | 1:ba14d8f4d444 | 77 | volatile float Filterabs_Bi_L; |
| ThomBMT | 1:ba14d8f4d444 | 78 | volatile float Filtered_Bi_L; |
| ThomBMT | 1:ba14d8f4d444 | 79 | volatile float FilterHP_Tri_R; |
| ThomBMT | 1:ba14d8f4d444 | 80 | volatile float Filterabs_Tri_R; |
| ThomBMT | 1:ba14d8f4d444 | 81 | volatile float Filtered_Tri_R; |
| ThomBMT | 1:ba14d8f4d444 | 82 | volatile float FilterHP_Tri_L; |
| ThomBMT | 1:ba14d8f4d444 | 83 | volatile float Filterabs_Tri_L; |
| ThomBMT | 1:ba14d8f4d444 | 84 | volatile float Filtered_Tri_L; |
| ThomBMT | 1:ba14d8f4d444 | 85 | |
| ThomBMT | 3:766e9f13d84e | 86 | // Variables for the PID-Controller: |
| ThomBMT | 3:766e9f13d84e | 87 | volatile float error_1_integral = 0; |
| ThomBMT | 3:766e9f13d84e | 88 | volatile float error_2_integral = 0; |
| ThomBMT | 3:766e9f13d84e | 89 | volatile float error_1_prev; // initialization with this value only done once! |
| ThomBMT | 3:766e9f13d84e | 90 | volatile float error_2_prev; |
| ThomBMT | 4:a682fb1f37d2 | 91 | volatile const float Kp = 3.2; |
| ThomBMT | 4:a682fb1f37d2 | 92 | volatile const float Ki = 0.000; |
| ThomBMT | 4:a682fb1f37d2 | 93 | volatile const float Kd = 0.0; |
| ThomBMT | 4:a682fb1f37d2 | 94 | volatile const float Ts = 0.002f; // Sample time in seconds |
| ThomBMT | 3:766e9f13d84e | 95 | volatile float error_1; |
| ThomBMT | 3:766e9f13d84e | 96 | volatile float error_2; |
| ThomBMT | 4:a682fb1f37d2 | 97 | volatile float u_k_1; |
| ThomBMT | 4:a682fb1f37d2 | 98 | volatile float u_k_2; |
| ThomBMT | 4:a682fb1f37d2 | 99 | volatile float u_i_1; |
| ThomBMT | 4:a682fb1f37d2 | 100 | volatile float u_i_2; |
| ThomBMT | 4:a682fb1f37d2 | 101 | volatile float u_d_1; |
| ThomBMT | 4:a682fb1f37d2 | 102 | volatile float u_d_2; |
| ThomBMT | 3:766e9f13d84e | 103 | volatile float U_1; |
| ThomBMT | 3:766e9f13d84e | 104 | volatile float U_2; |
| ThomBMT | 1:ba14d8f4d444 | 105 | |
| ThomBMT | 3:766e9f13d84e | 106 | // Constant values used in computations and such: |
| ThomBMT | 1:ba14d8f4d444 | 107 | volatile const float pi = 3.1415926; |
| ThomBMT | 1:ba14d8f4d444 | 108 | volatile const float rad_count = 0.0007479; // 2pi/8400; |
| ThomBMT | 1:ba14d8f4d444 | 109 | volatile const float maxVelocity = 2.0f * pi; // in rad/s |
| ThomBMT | 1:ba14d8f4d444 | 110 | volatile const float r_3 = 0.035; |
| ThomBMT | 1:ba14d8f4d444 | 111 | |
| ThomBMT | 3:766e9f13d84e | 112 | // Some counting variables: |
| ThomBMT | 1:ba14d8f4d444 | 113 | volatile int i = 0; // Led blink status |
| ThomBMT | 1:ba14d8f4d444 | 114 | volatile int ii = 0; // Calibratie timer |
| ThomBMT | 1:ba14d8f4d444 | 115 | volatile int iii = 0; // Start up timer |
| ThomBMT | 1:ba14d8f4d444 | 116 | |
| ThomBMT | 3:766e9f13d84e | 117 | // Variables for computations of joint angle and velocities: |
| ThomBMT | 4:a682fb1f37d2 | 118 | volatile float q_ref1_o = 7.0f*pi/4.0f; |
| ThomBMT | 4:a682fb1f37d2 | 119 | volatile float q_ref1_n; |
| ThomBMT | 4:a682fb1f37d2 | 120 | volatile float q_ref2_o = 1.0f*pi/3.0f; |
| ThomBMT | 4:a682fb1f37d2 | 121 | volatile float q_ref2_n; |
| ThomBMT | 3:766e9f13d84e | 122 | volatile float r_1; |
| ThomBMT | 3:766e9f13d84e | 123 | volatile float r_2; |
| ThomBMT | 3:766e9f13d84e | 124 | volatile float w_1; |
| ThomBMT | 3:766e9f13d84e | 125 | volatile float w_2; |
| ThomBMT | 3:766e9f13d84e | 126 | volatile float vx; |
| ThomBMT | 3:766e9f13d84e | 127 | volatile float vy; |
| ThomBMT | 3:766e9f13d84e | 128 | volatile float rad_m1; |
| ThomBMT | 3:766e9f13d84e | 129 | volatile float rad_m2; |
| ThomBMT | 3:766e9f13d84e | 130 | volatile int counts1; |
| ThomBMT | 3:766e9f13d84e | 131 | volatile int counts2; |
| ThomBMT | 1:ba14d8f4d444 | 132 | |
| ThomBMT | 3:766e9f13d84e | 133 | // Threshold values and variables: |
| ThomBMT | 3:766e9f13d84e | 134 | volatile float Flex_Bi_R; |
| ThomBMT | 3:766e9f13d84e | 135 | volatile float Flex_Bi_L; |
| ThomBMT | 3:766e9f13d84e | 136 | volatile float Flex_Tri_R; |
| ThomBMT | 3:766e9f13d84e | 137 | volatile float Flex_Tri_L; |
| ThomBMT | 3:766e9f13d84e | 138 | volatile float Threshold_Value; |
| ThomBMT | 3:766e9f13d84e | 139 | volatile float Threshold_Bi_R; |
| ThomBMT | 3:766e9f13d84e | 140 | volatile float Threshold_Bi_L; |
| ThomBMT | 3:766e9f13d84e | 141 | volatile float Threshold_Tri_R; |
| ThomBMT | 3:766e9f13d84e | 142 | volatile float Threshold_Tri_L; |
| ThomBMT | 3:766e9f13d84e | 143 | volatile bool Checking_Bi_R = false; |
| ThomBMT | 3:766e9f13d84e | 144 | volatile bool Checking_Bi_L = false; |
| ThomBMT | 3:766e9f13d84e | 145 | volatile bool Checking_Tri_R = false; |
| ThomBMT | 3:766e9f13d84e | 146 | volatile bool Checking_Tri_L = false; |
| ThomBMT | 1:ba14d8f4d444 | 147 | |
| ThomBMT | 3:766e9f13d84e | 148 | // States for the switch-statemachine: |
| ThomBMT | 1:ba14d8f4d444 | 149 | enum states{Starting, Calibration, Homing_M1, Homing_M2, Post_Homing, Function, Safe}; |
| ThomBMT | 3:766e9f13d84e | 150 | |
| ThomBMT | 3:766e9f13d84e | 151 | // The very first state: |
| ThomBMT | 1:ba14d8f4d444 | 152 | volatile states Active_State = Starting; |
| ThomBMT | 1:ba14d8f4d444 | 153 | |
| ThomBMT | 3:766e9f13d84e | 154 | |
| ThomBMT | 1:ba14d8f4d444 | 155 | void Encoding() |
| ThomBMT | 1:ba14d8f4d444 | 156 | { |
| ThomBMT | 3:766e9f13d84e | 157 | // Encoding is necessary for the computations of the joint angles and |
| ThomBMT | 3:766e9f13d84e | 158 | // velocities of the arm given certain linear velocities. |
| ThomBMT | 1:ba14d8f4d444 | 159 | |
| ThomBMT | 1:ba14d8f4d444 | 160 | counts1 = Encoder1.getPulses(); |
| ThomBMT | 1:ba14d8f4d444 | 161 | counts2 = Encoder2.getPulses(); |
| ThomBMT | 1:ba14d8f4d444 | 162 | |
| ThomBMT | 4:a682fb1f37d2 | 163 | rad_m1 = (rad_count * (float)counts1) + (1.0f*pi/3.0f); |
| ThomBMT | 4:a682fb1f37d2 | 164 | rad_m2 = (rad_count * (float)counts2) + (7.0f*pi/4.0f); |
| ThomBMT | 1:ba14d8f4d444 | 165 | } |
| ThomBMT | 1:ba14d8f4d444 | 166 | |
| ThomBMT | 1:ba14d8f4d444 | 167 | void Filter() |
| ThomBMT | 1:ba14d8f4d444 | 168 | { |
| ThomBMT | 3:766e9f13d84e | 169 | // Our Filter function will take the raw (incomming) EMG-signal and process |
| ThomBMT | 3:766e9f13d84e | 170 | // it in such a way that we can use it to opperate our system. |
| ThomBMT | 3:766e9f13d84e | 171 | |
| ThomBMT | 1:ba14d8f4d444 | 172 | FilterHP_Bi_R = bqc1.step( emg0.read() ); |
| ThomBMT | 1:ba14d8f4d444 | 173 | Filterabs_Bi_R = fabs(FilterHP_Bi_R); |
| ThomBMT | 1:ba14d8f4d444 | 174 | Filtered_Bi_R = bqc2.step( Filterabs_Bi_R ); |
| ThomBMT | 1:ba14d8f4d444 | 175 | |
| ThomBMT | 1:ba14d8f4d444 | 176 | FilterHP_Bi_L = bqc3.step( emg1.read() ); |
| ThomBMT | 1:ba14d8f4d444 | 177 | Filterabs_Bi_L = fabs(FilterHP_Bi_L); |
| ThomBMT | 1:ba14d8f4d444 | 178 | Filtered_Bi_L = bqc4.step( Filterabs_Bi_L ); |
| ThomBMT | 1:ba14d8f4d444 | 179 | |
| ThomBMT | 1:ba14d8f4d444 | 180 | FilterHP_Tri_R = bqc5.step( emg2.read() ); |
| ThomBMT | 1:ba14d8f4d444 | 181 | Filterabs_Tri_R = fabs(FilterHP_Tri_R); |
| ThomBMT | 1:ba14d8f4d444 | 182 | Filtered_Tri_R = bqc6.step( Filterabs_Tri_R ); |
| ThomBMT | 1:ba14d8f4d444 | 183 | |
| ThomBMT | 1:ba14d8f4d444 | 184 | FilterHP_Tri_L = bqc7.step( emg3.read() ); |
| ThomBMT | 1:ba14d8f4d444 | 185 | Filterabs_Tri_L = fabs(FilterHP_Tri_L); |
| ThomBMT | 1:ba14d8f4d444 | 186 | Filtered_Tri_L = bqc8.step( Filterabs_Tri_L ); |
| ThomBMT | 1:ba14d8f4d444 | 187 | } |
| ThomBMT | 1:ba14d8f4d444 | 188 | |
| ThomBMT | 1:ba14d8f4d444 | 189 | void BlinkLed() |
| ThomBMT | 1:ba14d8f4d444 | 190 | { |
| ThomBMT | 3:766e9f13d84e | 191 | // This is a function used purely for feedback that will give insight in |
| ThomBMT | 3:766e9f13d84e | 192 | // what the system is doing without having to fully opperate it. |
| ThomBMT | 3:766e9f13d84e | 193 | |
| ThomBMT | 1:ba14d8f4d444 | 194 | if(i==1) |
| ThomBMT | 1:ba14d8f4d444 | 195 | { |
| ThomBMT | 1:ba14d8f4d444 | 196 | led_G=led_B=1; |
| ThomBMT | 1:ba14d8f4d444 | 197 | static int rr = 0; |
| ThomBMT | 1:ba14d8f4d444 | 198 | rr++; |
| ThomBMT | 1:ba14d8f4d444 | 199 | if (rr == 1) |
| ThomBMT | 1:ba14d8f4d444 | 200 | { |
| ThomBMT | 1:ba14d8f4d444 | 201 | led_R = !led_R; |
| ThomBMT | 1:ba14d8f4d444 | 202 | } |
| ThomBMT | 1:ba14d8f4d444 | 203 | else if (rr == 50) |
| ThomBMT | 1:ba14d8f4d444 | 204 | { |
| ThomBMT | 1:ba14d8f4d444 | 205 | rr = 0; |
| ThomBMT | 1:ba14d8f4d444 | 206 | } |
| ThomBMT | 1:ba14d8f4d444 | 207 | } |
| ThomBMT | 1:ba14d8f4d444 | 208 | else if(i==2) |
| ThomBMT | 1:ba14d8f4d444 | 209 | { |
| ThomBMT | 1:ba14d8f4d444 | 210 | led_R=led_B=1; |
| ThomBMT | 1:ba14d8f4d444 | 211 | |
| ThomBMT | 1:ba14d8f4d444 | 212 | static int gg = 0; |
| ThomBMT | 1:ba14d8f4d444 | 213 | gg++; |
| ThomBMT | 1:ba14d8f4d444 | 214 | if (gg == 1) |
| ThomBMT | 1:ba14d8f4d444 | 215 | { |
| ThomBMT | 1:ba14d8f4d444 | 216 | led_G = !led_G; |
| ThomBMT | 1:ba14d8f4d444 | 217 | } |
| ThomBMT | 1:ba14d8f4d444 | 218 | else if (gg == 250) |
| ThomBMT | 1:ba14d8f4d444 | 219 | { |
| ThomBMT | 1:ba14d8f4d444 | 220 | gg = 0; |
| ThomBMT | 1:ba14d8f4d444 | 221 | } |
| ThomBMT | 1:ba14d8f4d444 | 222 | } |
| ThomBMT | 1:ba14d8f4d444 | 223 | else if (i==3) |
| ThomBMT | 1:ba14d8f4d444 | 224 | { |
| ThomBMT | 1:ba14d8f4d444 | 225 | led_R=1; |
| ThomBMT | 1:ba14d8f4d444 | 226 | static int bb = 0; |
| ThomBMT | 1:ba14d8f4d444 | 227 | bb++; |
| ThomBMT | 1:ba14d8f4d444 | 228 | if (bb == 1) |
| ThomBMT | 1:ba14d8f4d444 | 229 | { |
| ThomBMT | 1:ba14d8f4d444 | 230 | led_B = !led_B; |
| ThomBMT | 1:ba14d8f4d444 | 231 | } |
| ThomBMT | 1:ba14d8f4d444 | 232 | else if (bb == 500) |
| ThomBMT | 1:ba14d8f4d444 | 233 | { |
| ThomBMT | 1:ba14d8f4d444 | 234 | bb = 0; |
| ThomBMT | 1:ba14d8f4d444 | 235 | } |
| ThomBMT | 1:ba14d8f4d444 | 236 | } |
| ThomBMT | 1:ba14d8f4d444 | 237 | else if (i==4) |
| ThomBMT | 1:ba14d8f4d444 | 238 | { |
| ThomBMT | 1:ba14d8f4d444 | 239 | led_G=1; |
| ThomBMT | 1:ba14d8f4d444 | 240 | static int rr = 0; |
| ThomBMT | 1:ba14d8f4d444 | 241 | rr++; |
| ThomBMT | 1:ba14d8f4d444 | 242 | if (rr == 1) |
| ThomBMT | 1:ba14d8f4d444 | 243 | { |
| ThomBMT | 1:ba14d8f4d444 | 244 | led_R = !led_R; |
| ThomBMT | 1:ba14d8f4d444 | 245 | led_B = !led_B; |
| ThomBMT | 1:ba14d8f4d444 | 246 | } |
| ThomBMT | 1:ba14d8f4d444 | 247 | else if (rr == 250) |
| ThomBMT | 1:ba14d8f4d444 | 248 | { |
| ThomBMT | 1:ba14d8f4d444 | 249 | rr = 0; |
| ThomBMT | 1:ba14d8f4d444 | 250 | } |
| ThomBMT | 1:ba14d8f4d444 | 251 | } |
| ThomBMT | 1:ba14d8f4d444 | 252 | else |
| ThomBMT | 1:ba14d8f4d444 | 253 | { |
| ThomBMT | 1:ba14d8f4d444 | 254 | led_R=led_G=led_B=1; |
| ThomBMT | 1:ba14d8f4d444 | 255 | } |
| ThomBMT | 1:ba14d8f4d444 | 256 | } |
| ThomBMT | 1:ba14d8f4d444 | 257 | |
| ThomBMT | 1:ba14d8f4d444 | 258 | void EMG_Read() |
| ThomBMT | 1:ba14d8f4d444 | 259 | { |
| ThomBMT | 3:766e9f13d84e | 260 | // This is only to define our first (raw) EMG-signals and give each a |
| ThomBMT | 3:766e9f13d84e | 261 | // suitable name. |
| ThomBMT | 3:766e9f13d84e | 262 | |
| ThomBMT | 1:ba14d8f4d444 | 263 | Bicep_Right = emg0.read(); |
| ThomBMT | 1:ba14d8f4d444 | 264 | Bicep_Left = emg1.read(); |
| ThomBMT | 1:ba14d8f4d444 | 265 | Tricep_Right = emg2.read(); |
| ThomBMT | 1:ba14d8f4d444 | 266 | Tricep_Left = emg3.read(); |
| ThomBMT | 1:ba14d8f4d444 | 267 | } |
| ThomBMT | 1:ba14d8f4d444 | 268 | |
| ThomBMT | 1:ba14d8f4d444 | 269 | void sample() |
| ThomBMT | 1:ba14d8f4d444 | 270 | { |
| ThomBMT | 3:766e9f13d84e | 271 | // HIDscope allows us to check our filtered EMG-signal and gives insight |
| ThomBMT | 3:766e9f13d84e | 272 | // into thresholdvalues and how well the calibration was done. |
| ThomBMT | 1:ba14d8f4d444 | 273 | |
| ThomBMT | 1:ba14d8f4d444 | 274 | scope.set(0, Filtered_Bi_R*10.0f ); |
| ThomBMT | 1:ba14d8f4d444 | 275 | scope.set(1, Filtered_Bi_L*10.0f ); |
| ThomBMT | 1:ba14d8f4d444 | 276 | scope.set(2, Filtered_Tri_R*10.0f ); |
| ThomBMT | 1:ba14d8f4d444 | 277 | scope.set(3, Filtered_Tri_L*10.0f ); |
| ThomBMT | 1:ba14d8f4d444 | 278 | |
| ThomBMT | 1:ba14d8f4d444 | 279 | scope.send(); |
| ThomBMT | 1:ba14d8f4d444 | 280 | } |
| ThomBMT | 1:ba14d8f4d444 | 281 | |
| ThomBMT | 1:ba14d8f4d444 | 282 | void Calibrating() |
| ThomBMT | 1:ba14d8f4d444 | 283 | { |
| ThomBMT | 3:766e9f13d84e | 284 | // Calibration is done to ensure that threshold values not predetermined and |
| ThomBMT | 3:766e9f13d84e | 285 | // can vary each user. This makes the system more universal. |
| ThomBMT | 3:766e9f13d84e | 286 | |
| ThomBMT | 1:ba14d8f4d444 | 287 | static float n = 0.0; |
| ThomBMT | 1:ba14d8f4d444 | 288 | static float m = 0.0; |
| ThomBMT | 1:ba14d8f4d444 | 289 | static float l = 0.0; |
| ThomBMT | 1:ba14d8f4d444 | 290 | static float k = 0.0; |
| ThomBMT | 1:ba14d8f4d444 | 291 | |
| ThomBMT | 1:ba14d8f4d444 | 292 | ii++; |
| ThomBMT | 1:ba14d8f4d444 | 293 | |
| ThomBMT | 1:ba14d8f4d444 | 294 | if (ii<=2500) |
| ThomBMT | 1:ba14d8f4d444 | 295 | { |
| ThomBMT | 1:ba14d8f4d444 | 296 | if (ii == 1) |
| ThomBMT | 1:ba14d8f4d444 | 297 | { |
| ThomBMT | 1:ba14d8f4d444 | 298 | pc.printf("Relax your muscles please. \r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 299 | i = 2; |
| ThomBMT | 1:ba14d8f4d444 | 300 | } |
| ThomBMT | 1:ba14d8f4d444 | 301 | else if (ii == 1750) |
| ThomBMT | 1:ba14d8f4d444 | 302 | { |
| ThomBMT | 1:ba14d8f4d444 | 303 | pc.printf("Flex your right bicep now please.\r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 304 | i = 3; |
| ThomBMT | 1:ba14d8f4d444 | 305 | } |
| ThomBMT | 1:ba14d8f4d444 | 306 | //chillen |
| ThomBMT | 1:ba14d8f4d444 | 307 | } |
| ThomBMT | 1:ba14d8f4d444 | 308 | else if (ii>2500 && ii<5000) // |
| ThomBMT | 1:ba14d8f4d444 | 309 | { |
| ThomBMT | 1:ba14d8f4d444 | 310 | n = n + Filtered_Bi_R; // dit wordt de variable naam na het filter |
| ThomBMT | 1:ba14d8f4d444 | 311 | i = 1; |
| ThomBMT | 1:ba14d8f4d444 | 312 | } |
| ThomBMT | 1:ba14d8f4d444 | 313 | else if (ii == 5000) |
| ThomBMT | 1:ba14d8f4d444 | 314 | { |
| ThomBMT | 1:ba14d8f4d444 | 315 | Flex_Bi_R = n / 2500.0f; |
| ThomBMT | 1:ba14d8f4d444 | 316 | pc.printf("You can relax your right bicep, thank you. \r\nYour mean flexing value was %f\r\n\r\n", Flex_Bi_R); |
| ThomBMT | 1:ba14d8f4d444 | 317 | i = 2; |
| ThomBMT | 1:ba14d8f4d444 | 318 | } |
| ThomBMT | 1:ba14d8f4d444 | 319 | else if (ii>5000 && ii<=6000) |
| ThomBMT | 1:ba14d8f4d444 | 320 | { |
| ThomBMT | 1:ba14d8f4d444 | 321 | if (ii == 5500) |
| ThomBMT | 1:ba14d8f4d444 | 322 | { |
| ThomBMT | 1:ba14d8f4d444 | 323 | pc.printf("Flex your left bicep now please. \r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 324 | i = 3; |
| ThomBMT | 1:ba14d8f4d444 | 325 | } |
| ThomBMT | 1:ba14d8f4d444 | 326 | //chillen |
| ThomBMT | 1:ba14d8f4d444 | 327 | } |
| ThomBMT | 1:ba14d8f4d444 | 328 | else if(ii>6000 && ii<8500) |
| ThomBMT | 1:ba14d8f4d444 | 329 | { |
| ThomBMT | 1:ba14d8f4d444 | 330 | m = m + Filtered_Bi_L; |
| ThomBMT | 1:ba14d8f4d444 | 331 | i = 1; |
| ThomBMT | 1:ba14d8f4d444 | 332 | } |
| ThomBMT | 1:ba14d8f4d444 | 333 | else if (ii == 8500) |
| ThomBMT | 1:ba14d8f4d444 | 334 | { |
| ThomBMT | 1:ba14d8f4d444 | 335 | Flex_Bi_L = m / 2500.0f; |
| ThomBMT | 1:ba14d8f4d444 | 336 | pc.printf("You can relax your left bicep, thank you. \r\nYour mean flexing value was %f\r\n\r\n", Flex_Bi_L); |
| ThomBMT | 1:ba14d8f4d444 | 337 | i = 2; |
| ThomBMT | 1:ba14d8f4d444 | 338 | } |
| ThomBMT | 1:ba14d8f4d444 | 339 | else if (ii>8500 && ii<=9500) |
| ThomBMT | 1:ba14d8f4d444 | 340 | { |
| ThomBMT | 1:ba14d8f4d444 | 341 | if (ii == 9000) |
| ThomBMT | 1:ba14d8f4d444 | 342 | { |
| ThomBMT | 1:ba14d8f4d444 | 343 | pc.printf("Flex your right tricep now please. \r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 344 | i = 3; |
| ThomBMT | 1:ba14d8f4d444 | 345 | } |
| ThomBMT | 1:ba14d8f4d444 | 346 | //chillen |
| ThomBMT | 1:ba14d8f4d444 | 347 | } |
| ThomBMT | 1:ba14d8f4d444 | 348 | else if (ii>9500 && ii<12000) |
| ThomBMT | 1:ba14d8f4d444 | 349 | { |
| ThomBMT | 1:ba14d8f4d444 | 350 | l = l + Filtered_Tri_R; |
| ThomBMT | 1:ba14d8f4d444 | 351 | i = 1; |
| ThomBMT | 1:ba14d8f4d444 | 352 | } |
| ThomBMT | 1:ba14d8f4d444 | 353 | else if (ii == 12000) |
| ThomBMT | 1:ba14d8f4d444 | 354 | { |
| ThomBMT | 1:ba14d8f4d444 | 355 | Flex_Tri_R = l / 2500.0f; |
| ThomBMT | 1:ba14d8f4d444 | 356 | pc.printf("You can relax your right tricep, thank you. \r\nYour mean flexing value was %f\r\n\r\n", Flex_Tri_R); |
| ThomBMT | 1:ba14d8f4d444 | 357 | i = 2; |
| ThomBMT | 1:ba14d8f4d444 | 358 | } |
| ThomBMT | 1:ba14d8f4d444 | 359 | else if (ii>12000 && ii <=13000) |
| ThomBMT | 1:ba14d8f4d444 | 360 | { |
| ThomBMT | 1:ba14d8f4d444 | 361 | if (ii == 12500) |
| ThomBMT | 1:ba14d8f4d444 | 362 | { |
| ThomBMT | 1:ba14d8f4d444 | 363 | pc.printf("Flex your left tricep now please. \r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 364 | i = 3; |
| ThomBMT | 1:ba14d8f4d444 | 365 | } |
| ThomBMT | 1:ba14d8f4d444 | 366 | //chillen |
| ThomBMT | 1:ba14d8f4d444 | 367 | } |
| ThomBMT | 1:ba14d8f4d444 | 368 | else if (ii>13000 && ii<15500) |
| ThomBMT | 1:ba14d8f4d444 | 369 | { |
| ThomBMT | 1:ba14d8f4d444 | 370 | k = k + Filtered_Tri_L; |
| ThomBMT | 1:ba14d8f4d444 | 371 | i = 1; |
| ThomBMT | 1:ba14d8f4d444 | 372 | } |
| ThomBMT | 1:ba14d8f4d444 | 373 | else if (ii == 15500) |
| ThomBMT | 1:ba14d8f4d444 | 374 | { |
| ThomBMT | 1:ba14d8f4d444 | 375 | Flex_Tri_L = k / 2500.0f; |
| ThomBMT | 1:ba14d8f4d444 | 376 | pc.printf("You can relax your left tricep, thank you. \r\nYour mean flexing value was %f\r\n\r\nThe calibration has been completed, the system is now operatable. \r\n",Flex_Tri_L); |
| ThomBMT | 1:ba14d8f4d444 | 377 | i = 2; |
| ThomBMT | 1:ba14d8f4d444 | 378 | } |
| ThomBMT | 3:766e9f13d84e | 379 | |
| ThomBMT | 3:766e9f13d84e | 380 | // Setting the Threshold: |
| ThomBMT | 4:a682fb1f37d2 | 381 | Threshold_Value = 0.85f; |
| ThomBMT | 1:ba14d8f4d444 | 382 | |
| ThomBMT | 1:ba14d8f4d444 | 383 | Threshold_Bi_R = Threshold_Value * Flex_Bi_R; |
| ThomBMT | 1:ba14d8f4d444 | 384 | Threshold_Bi_L = Threshold_Value * Flex_Bi_L; |
| ThomBMT | 1:ba14d8f4d444 | 385 | Threshold_Tri_R = Threshold_Value * Flex_Tri_R; |
| ThomBMT | 1:ba14d8f4d444 | 386 | Threshold_Tri_L = Threshold_Value * Flex_Tri_L; |
| ThomBMT | 1:ba14d8f4d444 | 387 | |
| ThomBMT | 1:ba14d8f4d444 | 388 | if (ii == 16500) |
| ThomBMT | 1:ba14d8f4d444 | 389 | { |
| ThomBMT | 1:ba14d8f4d444 | 390 | pc.printf("\r\nThreshold value right bicep = %f\r\nThreshold value left bicep = %f\r\nThreshold value right tricep = %f\r\nThreshold value left tricep = %f\r\n\r\n",Threshold_Bi_R,Threshold_Bi_L,Threshold_Tri_R,Threshold_Tri_L); |
| ThomBMT | 1:ba14d8f4d444 | 391 | } |
| ThomBMT | 1:ba14d8f4d444 | 392 | else if (ii == 20000) |
| ThomBMT | 1:ba14d8f4d444 | 393 | { |
| ThomBMT | 3:766e9f13d84e | 394 | pc.printf("\r\nAutomatic switch to Homing State for Motor 1\r\n"); |
| ThomBMT | 4:a682fb1f37d2 | 395 | Active_State = Function; |
| ThomBMT | 1:ba14d8f4d444 | 396 | i = 0; |
| ThomBMT | 1:ba14d8f4d444 | 397 | } |
| ThomBMT | 1:ba14d8f4d444 | 398 | } |
| ThomBMT | 1:ba14d8f4d444 | 399 | |
| ThomBMT | 1:ba14d8f4d444 | 400 | |
| ThomBMT | 1:ba14d8f4d444 | 401 | |
| ThomBMT | 1:ba14d8f4d444 | 402 | void Start_Up() |
| ThomBMT | 1:ba14d8f4d444 | 403 | { |
| ThomBMT | 3:766e9f13d84e | 404 | // This function is active only when the system is started up or when the |
| ThomBMT | 3:766e9f13d84e | 405 | // system has entered Sleep_Mode (iii > 40 000). |
| ThomBMT | 3:766e9f13d84e | 406 | // It is not possible to get out of this function without some opperation on |
| ThomBMT | 3:766e9f13d84e | 407 | // the Mbed. |
| ThomBMT | 3:766e9f13d84e | 408 | |
| ThomBMT | 1:ba14d8f4d444 | 409 | i++; |
| ThomBMT | 1:ba14d8f4d444 | 410 | iii++; |
| ThomBMT | 1:ba14d8f4d444 | 411 | if (iii == 1) |
| ThomBMT | 1:ba14d8f4d444 | 412 | { |
| ThomBMT | 1:ba14d8f4d444 | 413 | pc.printf("\r\n\r\nSystem is starting...\r\nWaiting for further input...\r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 414 | } |
| ThomBMT | 1:ba14d8f4d444 | 415 | |
| ThomBMT | 1:ba14d8f4d444 | 416 | else if (iii == 30000) |
| ThomBMT | 1:ba14d8f4d444 | 417 | { |
| ThomBMT | 1:ba14d8f4d444 | 418 | pc.printf("1 minute without input..\r\nReseting start-up...\r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 419 | iii = 0; |
| ThomBMT | 1:ba14d8f4d444 | 420 | } |
| ThomBMT | 1:ba14d8f4d444 | 421 | else if (iii == 40001) // sleeping state is only added for designing purposes and will most likely never be used |
| ThomBMT | 1:ba14d8f4d444 | 422 | { // when working with patients. Furthermore it cannot be reached automaticly |
| ThomBMT | 1:ba14d8f4d444 | 423 | pc.printf("Sleeping... Press button 4 to wake me up!\r\n\r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 424 | iii++; |
| ThomBMT | 1:ba14d8f4d444 | 425 | } |
| ThomBMT | 1:ba14d8f4d444 | 426 | else if (iii == 45000) |
| ThomBMT | 1:ba14d8f4d444 | 427 | { |
| ThomBMT | 1:ba14d8f4d444 | 428 | iii = 40000; |
| ThomBMT | 1:ba14d8f4d444 | 429 | } |
| ThomBMT | 1:ba14d8f4d444 | 430 | } |
| ThomBMT | 1:ba14d8f4d444 | 431 | |
| ThomBMT | 1:ba14d8f4d444 | 432 | void OFF_m1() |
| ThomBMT | 1:ba14d8f4d444 | 433 | { |
| ThomBMT | 3:766e9f13d84e | 434 | // This function ensures that Motor 1 is turned off. |
| ThomBMT | 3:766e9f13d84e | 435 | |
| ThomBMT | 1:ba14d8f4d444 | 436 | PwmPin1 = 0; |
| ThomBMT | 1:ba14d8f4d444 | 437 | } |
| ThomBMT | 1:ba14d8f4d444 | 438 | void OFF_m2() |
| ThomBMT | 1:ba14d8f4d444 | 439 | { |
| ThomBMT | 3:766e9f13d84e | 440 | // This function ensures that Motor 2 is turned off. |
| ThomBMT | 3:766e9f13d84e | 441 | |
| ThomBMT | 1:ba14d8f4d444 | 442 | PwmPin2 = 0; |
| ThomBMT | 1:ba14d8f4d444 | 443 | } |
| ThomBMT | 1:ba14d8f4d444 | 444 | |
| ThomBMT | 1:ba14d8f4d444 | 445 | void Going_Home_Motor1() |
| ThomBMT | 1:ba14d8f4d444 | 446 | { |
| ThomBMT | 3:766e9f13d84e | 447 | // This is the Homing function for Motor 1. |
| ThomBMT | 3:766e9f13d84e | 448 | |
| ThomBMT | 1:ba14d8f4d444 | 449 | if (counts1 == 0) |
| ThomBMT | 1:ba14d8f4d444 | 450 | { |
| ThomBMT | 3:766e9f13d84e | 451 | pc.printf("Switching to Homing State for Motor 2\r\n"); |
| ThomBMT | 4:a682fb1f37d2 | 452 | Active_State = Function; // Statement here instead of statemachine because of checking speed |
| ThomBMT | 1:ba14d8f4d444 | 453 | } |
| ThomBMT | 1:ba14d8f4d444 | 454 | else if (counts1 > 0) |
| ThomBMT | 1:ba14d8f4d444 | 455 | { |
| ThomBMT | 4:a682fb1f37d2 | 456 | PwmPin1 = 0.5f; |
| ThomBMT | 1:ba14d8f4d444 | 457 | DirectionPin1 = false; |
| ThomBMT | 1:ba14d8f4d444 | 458 | } |
| ThomBMT | 1:ba14d8f4d444 | 459 | else |
| ThomBMT | 1:ba14d8f4d444 | 460 | { |
| ThomBMT | 4:a682fb1f37d2 | 461 | PwmPin1 = 0.5f; |
| ThomBMT | 1:ba14d8f4d444 | 462 | DirectionPin1 = true; |
| ThomBMT | 1:ba14d8f4d444 | 463 | } |
| ThomBMT | 1:ba14d8f4d444 | 464 | } |
| ThomBMT | 1:ba14d8f4d444 | 465 | |
| ThomBMT | 1:ba14d8f4d444 | 466 | void Going_Home_Motor2() |
| ThomBMT | 1:ba14d8f4d444 | 467 | { |
| ThomBMT | 3:766e9f13d84e | 468 | // This is the Homing function for Motor 2. |
| ThomBMT | 3:766e9f13d84e | 469 | |
| ThomBMT | 1:ba14d8f4d444 | 470 | if (counts2 == 0) |
| ThomBMT | 1:ba14d8f4d444 | 471 | { |
| ThomBMT | 1:ba14d8f4d444 | 472 | // als het goed is hoeft hier niets te staan // Statement in statemachine because of the double check |
| ThomBMT | 1:ba14d8f4d444 | 473 | } |
| ThomBMT | 1:ba14d8f4d444 | 474 | else if (counts2 > 0) |
| ThomBMT | 1:ba14d8f4d444 | 475 | { |
| ThomBMT | 4:a682fb1f37d2 | 476 | PwmPin2 = 0.5f; |
| ThomBMT | 1:ba14d8f4d444 | 477 | DirectionPin2 = true; |
| ThomBMT | 1:ba14d8f4d444 | 478 | } |
| ThomBMT | 1:ba14d8f4d444 | 479 | else |
| ThomBMT | 1:ba14d8f4d444 | 480 | { |
| ThomBMT | 4:a682fb1f37d2 | 481 | PwmPin2 = 0.5f; |
| ThomBMT | 1:ba14d8f4d444 | 482 | DirectionPin2 = false; |
| ThomBMT | 1:ba14d8f4d444 | 483 | } |
| ThomBMT | 1:ba14d8f4d444 | 484 | } |
| ThomBMT | 1:ba14d8f4d444 | 485 | |
| ThomBMT | 1:ba14d8f4d444 | 486 | void Checking_EMG() |
| ThomBMT | 1:ba14d8f4d444 | 487 | { |
| ThomBMT | 3:766e9f13d84e | 488 | // This function will make the the setting of signal to movement easier. |
| ThomBMT | 1:ba14d8f4d444 | 489 | |
| ThomBMT | 1:ba14d8f4d444 | 490 | if (Filtered_Bi_R >= Threshold_Bi_R) |
| ThomBMT | 1:ba14d8f4d444 | 491 | { |
| ThomBMT | 1:ba14d8f4d444 | 492 | Checking_Bi_R = true; |
| ThomBMT | 1:ba14d8f4d444 | 493 | } |
| ThomBMT | 1:ba14d8f4d444 | 494 | if (Filtered_Bi_L >= Threshold_Bi_L) |
| ThomBMT | 1:ba14d8f4d444 | 495 | { |
| ThomBMT | 1:ba14d8f4d444 | 496 | Checking_Bi_L = true; |
| ThomBMT | 1:ba14d8f4d444 | 497 | } |
| ThomBMT | 1:ba14d8f4d444 | 498 | if (Filtered_Tri_R >= Threshold_Tri_R) |
| ThomBMT | 1:ba14d8f4d444 | 499 | { |
| ThomBMT | 1:ba14d8f4d444 | 500 | Checking_Tri_R = true; |
| ThomBMT | 1:ba14d8f4d444 | 501 | } |
| ThomBMT | 1:ba14d8f4d444 | 502 | if (Filtered_Tri_L >= Threshold_Tri_L) |
| ThomBMT | 1:ba14d8f4d444 | 503 | { |
| ThomBMT | 1:ba14d8f4d444 | 504 | Checking_Tri_L = true; |
| ThomBMT | 1:ba14d8f4d444 | 505 | } |
| ThomBMT | 1:ba14d8f4d444 | 506 | } |
| ThomBMT | 1:ba14d8f4d444 | 507 | |
| ThomBMT | 1:ba14d8f4d444 | 508 | void Setting_Movement() |
| ThomBMT | 1:ba14d8f4d444 | 509 | { |
| ThomBMT | 3:766e9f13d84e | 510 | // Here we will set the emg values to the movement of the arm. |
| ThomBMT | 1:ba14d8f4d444 | 511 | |
| ThomBMT | 1:ba14d8f4d444 | 512 | if (Checking_Bi_R && Checking_Bi_L) // sloping y = x, y > 0 |
| ThomBMT | 1:ba14d8f4d444 | 513 | { |
| ThomBMT | 4:a682fb1f37d2 | 514 | vx = 0.01f; |
| ThomBMT | 4:a682fb1f37d2 | 515 | vy = 0.01f; |
| ThomBMT | 1:ba14d8f4d444 | 516 | } |
| ThomBMT | 1:ba14d8f4d444 | 517 | else if (Checking_Bi_R && Checking_Tri_L) // sloping y = -x, y > 0 |
| ThomBMT | 1:ba14d8f4d444 | 518 | { |
| ThomBMT | 4:a682fb1f37d2 | 519 | vx = -0.01f; |
| ThomBMT | 4:a682fb1f37d2 | 520 | vy = 0.01f; |
| ThomBMT | 1:ba14d8f4d444 | 521 | } |
| ThomBMT | 1:ba14d8f4d444 | 522 | else if (Checking_Bi_L && Checking_Tri_R) // sloping y = -x, y < 0 |
| ThomBMT | 1:ba14d8f4d444 | 523 | { |
| ThomBMT | 4:a682fb1f37d2 | 524 | vx = 0.01f; |
| ThomBMT | 4:a682fb1f37d2 | 525 | vy = -0.01f; |
| ThomBMT | 1:ba14d8f4d444 | 526 | } |
| ThomBMT | 1:ba14d8f4d444 | 527 | else if (Checking_Tri_R && Checking_Tri_L) // sloping y = x, y < 0 |
| ThomBMT | 1:ba14d8f4d444 | 528 | { |
| ThomBMT | 4:a682fb1f37d2 | 529 | vx = -0.01f; |
| ThomBMT | 4:a682fb1f37d2 | 530 | vy = -0.01f; |
| ThomBMT | 1:ba14d8f4d444 | 531 | } |
| ThomBMT | 4:a682fb1f37d2 | 532 | if (Checking_Bi_R) // y > 0 |
| ThomBMT | 1:ba14d8f4d444 | 533 | { |
| ThomBMT | 1:ba14d8f4d444 | 534 | vx = 0.0f; |
| ThomBMT | 4:a682fb1f37d2 | 535 | vy = 0.01f; |
| ThomBMT | 1:ba14d8f4d444 | 536 | } |
| ThomBMT | 1:ba14d8f4d444 | 537 | else if (Checking_Bi_L) // x > 0 |
| ThomBMT | 1:ba14d8f4d444 | 538 | { |
| ThomBMT | 4:a682fb1f37d2 | 539 | vx = 0.01f; |
| ThomBMT | 1:ba14d8f4d444 | 540 | vy = 0.0f; |
| ThomBMT | 1:ba14d8f4d444 | 541 | } |
| ThomBMT | 4:a682fb1f37d2 | 542 | else if (Checking_Tri_R) // x < 0 |
| ThomBMT | 1:ba14d8f4d444 | 543 | { |
| ThomBMT | 1:ba14d8f4d444 | 544 | vx = 0.0f; |
| ThomBMT | 4:a682fb1f37d2 | 545 | vy = -0.01f; |
| ThomBMT | 1:ba14d8f4d444 | 546 | } |
| ThomBMT | 1:ba14d8f4d444 | 547 | else if (Checking_Tri_L) // y < 0 |
| ThomBMT | 1:ba14d8f4d444 | 548 | { |
| ThomBMT | 4:a682fb1f37d2 | 549 | vx = -0.01f; |
| ThomBMT | 1:ba14d8f4d444 | 550 | vy = 0.0f; |
| ThomBMT | 1:ba14d8f4d444 | 551 | } |
| ThomBMT | 1:ba14d8f4d444 | 552 | } |
| ThomBMT | 1:ba14d8f4d444 | 553 | |
| ThomBMT | 4:a682fb1f37d2 | 554 | |
| ThomBMT | 4:a682fb1f37d2 | 555 | void Inverse() |
| ThomBMT | 4:a682fb1f37d2 | 556 | { |
| ThomBMT | 4:a682fb1f37d2 | 557 | // Here we calculate the movement of each joint (Motor 1 and Motor 2) given |
| ThomBMT | 4:a682fb1f37d2 | 558 | // a certain linear velocity-input. |
| ThomBMT | 4:a682fb1f37d2 | 559 | q_ref1_n = q_ref1_o+w_1*Ts; |
| ThomBMT | 4:a682fb1f37d2 | 560 | q_ref2_n = q_ref2_o+w_2*Ts; |
| ThomBMT | 4:a682fb1f37d2 | 561 | r_1= -0.2f; |
| ThomBMT | 4:a682fb1f37d2 | 562 | r_2= -0.2f; |
| ThomBMT | 4:a682fb1f37d2 | 563 | |
| ThomBMT | 4:a682fb1f37d2 | 564 | float u = -r_2*sin(q_ref1_n)*cos(q_ref2_n)-(r_2)*cos(q_ref1_n)*sin(q_ref2_n); |
| ThomBMT | 4:a682fb1f37d2 | 565 | float z = 2.0f*(r_2*cos(q_ref1_n)*cos(q_ref2_n))-r_3; |
| ThomBMT | 4:a682fb1f37d2 | 566 | float y = r_2*cos(q_ref1_n)*cos(q_ref2_n)-r_2*sin(q_ref1_n)*sin(q_ref2_n)+2.0f*(r_1*cos(q_ref1_n))-r_3; |
| ThomBMT | 4:a682fb1f37d2 | 567 | float x = (-2.0f)*r_2*sin(q_ref1_n)*cos(q_ref2_n); |
| ThomBMT | 4:a682fb1f37d2 | 568 | float D = 1.0f/(u*z-x*y); // Determinant |
| ThomBMT | 4:a682fb1f37d2 | 569 | //printf("Determinant is %f\r\n", D); |
| ThomBMT | 4:a682fb1f37d2 | 570 | |
| ThomBMT | 4:a682fb1f37d2 | 571 | float a = D*z; // Inverse jacobian a,b,c,d vormen 2 bij 2 matrix |
| ThomBMT | 4:a682fb1f37d2 | 572 | float b = -D*x; // Inverse jacobian |
| ThomBMT | 4:a682fb1f37d2 | 573 | float c = -D*y; // Inverse jacobian |
| ThomBMT | 4:a682fb1f37d2 | 574 | float d = D*u; // Inverse jacobian |
| ThomBMT | 4:a682fb1f37d2 | 575 | |
| ThomBMT | 4:a682fb1f37d2 | 576 | float referenceVelocity1; |
| ThomBMT | 4:a682fb1f37d2 | 577 | if (pot1.read()>0.8f) |
| ThomBMT | 4:a682fb1f37d2 | 578 | { |
| ThomBMT | 4:a682fb1f37d2 | 579 | // Clockwise rotation |
| ThomBMT | 4:a682fb1f37d2 | 580 | referenceVelocity1 = 0.005f; |
| ThomBMT | 4:a682fb1f37d2 | 581 | } |
| ThomBMT | 4:a682fb1f37d2 | 582 | |
| ThomBMT | 4:a682fb1f37d2 | 583 | |
| ThomBMT | 4:a682fb1f37d2 | 584 | |
| ThomBMT | 4:a682fb1f37d2 | 585 | else if (pot1.read() < 0.2f) |
| ThomBMT | 4:a682fb1f37d2 | 586 | { |
| ThomBMT | 4:a682fb1f37d2 | 587 | // Counterclockwise rotation |
| ThomBMT | 4:a682fb1f37d2 | 588 | referenceVelocity1 = -0.005f ; |
| ThomBMT | 4:a682fb1f37d2 | 589 | } |
| ThomBMT | 4:a682fb1f37d2 | 590 | |
| ThomBMT | 4:a682fb1f37d2 | 591 | else |
| ThomBMT | 4:a682fb1f37d2 | 592 | { |
| ThomBMT | 4:a682fb1f37d2 | 593 | referenceVelocity1 = pot1.read() * 0.0f; |
| ThomBMT | 4:a682fb1f37d2 | 594 | } |
| ThomBMT | 4:a682fb1f37d2 | 595 | float referenceVelocity2; |
| ThomBMT | 4:a682fb1f37d2 | 596 | |
| ThomBMT | 4:a682fb1f37d2 | 597 | // This is where Motor 2 is opperated. |
| ThomBMT | 4:a682fb1f37d2 | 598 | |
| ThomBMT | 4:a682fb1f37d2 | 599 | if (pot2.read()>0.8f) |
| ThomBMT | 4:a682fb1f37d2 | 600 | { |
| ThomBMT | 4:a682fb1f37d2 | 601 | // Clockwise rotation |
| ThomBMT | 4:a682fb1f37d2 | 602 | referenceVelocity2 = 0.005f; |
| ThomBMT | 4:a682fb1f37d2 | 603 | } |
| ThomBMT | 4:a682fb1f37d2 | 604 | |
| ThomBMT | 4:a682fb1f37d2 | 605 | else if (pot2.read() < 0.2f) |
| ThomBMT | 4:a682fb1f37d2 | 606 | { |
| ThomBMT | 4:a682fb1f37d2 | 607 | // Counterclockwise rotation |
| ThomBMT | 4:a682fb1f37d2 | 608 | referenceVelocity2 = -0.005f ; |
| ThomBMT | 4:a682fb1f37d2 | 609 | } |
| ThomBMT | 4:a682fb1f37d2 | 610 | |
| ThomBMT | 4:a682fb1f37d2 | 611 | else |
| ThomBMT | 4:a682fb1f37d2 | 612 | { |
| ThomBMT | 4:a682fb1f37d2 | 613 | referenceVelocity2 = pot2.read() * 0.0f; |
| ThomBMT | 4:a682fb1f37d2 | 614 | } |
| ThomBMT | 4:a682fb1f37d2 | 615 | |
| ThomBMT | 4:a682fb1f37d2 | 616 | //vx = 0.0;//referenceVelocity1; // uit emg data |
| ThomBMT | 4:a682fb1f37d2 | 617 | //vy = 0.01;referenceVelocity2; // uit emg data |
| ThomBMT | 4:a682fb1f37d2 | 618 | |
| ThomBMT | 4:a682fb1f37d2 | 619 | w_1 = vx*a+vy*b; |
| ThomBMT | 4:a682fb1f37d2 | 620 | w_2 = vx*c+vy*d; |
| ThomBMT | 4:a682fb1f37d2 | 621 | |
| ThomBMT | 4:a682fb1f37d2 | 622 | |
| ThomBMT | 4:a682fb1f37d2 | 623 | q_ref1_o = q_ref1_n; |
| ThomBMT | 4:a682fb1f37d2 | 624 | q_ref2_o = q_ref2_n; |
| ThomBMT | 4:a682fb1f37d2 | 625 | } |
| ThomBMT | 4:a682fb1f37d2 | 626 | |
| ThomBMT | 4:a682fb1f37d2 | 627 | |
| ThomBMT | 4:a682fb1f37d2 | 628 | void PID_controller() |
| ThomBMT | 2:bc6043623fb7 | 629 | { |
| ThomBMT | 3:766e9f13d84e | 630 | // The PID-controller reduces the error between the reference signal |
| ThomBMT | 3:766e9f13d84e | 631 | // and the actual value. |
| ThomBMT | 3:766e9f13d84e | 632 | |
| ThomBMT | 4:a682fb1f37d2 | 633 | error_1 = q_ref1_o - rad_m2 + (w_1*Ts); |
| ThomBMT | 4:a682fb1f37d2 | 634 | error_2 = q_ref2_o - rad_m1 + (w_2*Ts); |
| ThomBMT | 2:bc6043623fb7 | 635 | |
| ThomBMT | 2:bc6043623fb7 | 636 | error_1_prev = error_1; |
| ThomBMT | 2:bc6043623fb7 | 637 | error_2_prev = error_2; |
| ThomBMT | 2:bc6043623fb7 | 638 | |
| ThomBMT | 2:bc6043623fb7 | 639 | // Proportional part: |
| ThomBMT | 4:a682fb1f37d2 | 640 | u_k_1 = Kp * error_1; |
| ThomBMT | 4:a682fb1f37d2 | 641 | u_k_2 = Kp * error_2; |
| ThomBMT | 2:bc6043623fb7 | 642 | |
| ThomBMT | 2:bc6043623fb7 | 643 | // Integral part |
| ThomBMT | 2:bc6043623fb7 | 644 | error_1_integral = error_1_integral + error_1 * Ts; |
| ThomBMT | 2:bc6043623fb7 | 645 | error_2_integral = error_2_integral + error_2 * Ts; |
| ThomBMT | 4:a682fb1f37d2 | 646 | u_i_1 = Ki * error_1_integral; |
| ThomBMT | 4:a682fb1f37d2 | 647 | u_i_2 = Ki * error_2_integral; |
| ThomBMT | 2:bc6043623fb7 | 648 | |
| ThomBMT | 2:bc6043623fb7 | 649 | // Derivative part |
| ThomBMT | 2:bc6043623fb7 | 650 | float error_1_derivative = (error_1 - error_1_prev)/Ts; |
| ThomBMT | 2:bc6043623fb7 | 651 | float error_2_derivative = (error_2 - error_2_prev)/Ts; |
| ThomBMT | 4:a682fb1f37d2 | 652 | //float filtered_error_1_derivative = LowPassFilter.step(error_1_derivative); |
| ThomBMT | 4:a682fb1f37d2 | 653 | //float filtered_error_2_derivative = LowPassFilter.step(error_2_derivative); |
| ThomBMT | 4:a682fb1f37d2 | 654 | |
| ThomBMT | 4:a682fb1f37d2 | 655 | u_d_1 = Kd * error_1_derivative; |
| ThomBMT | 4:a682fb1f37d2 | 656 | u_d_2 = Kd * error_2_derivative; |
| ThomBMT | 4:a682fb1f37d2 | 657 | |
| ThomBMT | 2:bc6043623fb7 | 658 | error_1_prev = error_1; |
| ThomBMT | 2:bc6043623fb7 | 659 | error_2_prev = error_2; |
| ThomBMT | 2:bc6043623fb7 | 660 | |
| ThomBMT | 2:bc6043623fb7 | 661 | // Sum all parts and return it |
| ThomBMT | 4:a682fb1f37d2 | 662 | U_1 = u_k_1; //+ u_i_1 + u_d_1; |
| ThomBMT | 4:a682fb1f37d2 | 663 | U_2 = u_k_2;//+ u_i_2 + u_d_2; |
| ThomBMT | 4:a682fb1f37d2 | 664 | |
| ThomBMT | 2:bc6043623fb7 | 665 | } |
| ThomBMT | 2:bc6043623fb7 | 666 | |
| ThomBMT | 2:bc6043623fb7 | 667 | void motor1() |
| ThomBMT | 4:a682fb1f37d2 | 668 | { |
| ThomBMT | 4:a682fb1f37d2 | 669 | // This is where Motor 1 is operated. |
| ThomBMT | 3:766e9f13d84e | 670 | |
| ThomBMT | 4:a682fb1f37d2 | 671 | float u = 0.4f + 0.6f* fabs(U_1); |
| ThomBMT | 2:bc6043623fb7 | 672 | PwmPin1 = fabs(u); |
| ThomBMT | 4:a682fb1f37d2 | 673 | if (U_1 >= 0) |
| ThomBMT | 4:a682fb1f37d2 | 674 | { |
| ThomBMT | 4:a682fb1f37d2 | 675 | DirectionPin1 = false; |
| ThomBMT | 4:a682fb1f37d2 | 676 | } |
| ThomBMT | 4:a682fb1f37d2 | 677 | else if (U_1 < 0) |
| ThomBMT | 4:a682fb1f37d2 | 678 | { |
| ThomBMT | 4:a682fb1f37d2 | 679 | DirectionPin1 = true; |
| ThomBMT | 4:a682fb1f37d2 | 680 | } |
| ThomBMT | 4:a682fb1f37d2 | 681 | |
| ThomBMT | 2:bc6043623fb7 | 682 | } |
| ThomBMT | 2:bc6043623fb7 | 683 | |
| ThomBMT | 2:bc6043623fb7 | 684 | void motor2() |
| ThomBMT | 4:a682fb1f37d2 | 685 | { |
| ThomBMT | 4:a682fb1f37d2 | 686 | float u = 0.4f+ 0.6f* fabs(U_2); |
| ThomBMT | 2:bc6043623fb7 | 687 | PwmPin2 = fabs(u); |
| ThomBMT | 4:a682fb1f37d2 | 688 | if (U_2 <= 0) |
| ThomBMT | 4:a682fb1f37d2 | 689 | { |
| ThomBMT | 4:a682fb1f37d2 | 690 | DirectionPin2 = false; |
| ThomBMT | 4:a682fb1f37d2 | 691 | } |
| ThomBMT | 4:a682fb1f37d2 | 692 | else if (U_2 > 0) |
| ThomBMT | 4:a682fb1f37d2 | 693 | { |
| ThomBMT | 4:a682fb1f37d2 | 694 | DirectionPin2 = true; |
| ThomBMT | 4:a682fb1f37d2 | 695 | } |
| ThomBMT | 4:a682fb1f37d2 | 696 | //DirectionPin2 = u > 0.0f; |
| ThomBMT | 4:a682fb1f37d2 | 697 | |
| ThomBMT | 2:bc6043623fb7 | 698 | } |
| ThomBMT | 2:bc6043623fb7 | 699 | |
| ThomBMT | 1:ba14d8f4d444 | 700 | void Printing() |
| ThomBMT | 1:ba14d8f4d444 | 701 | { |
| ThomBMT | 3:766e9f13d84e | 702 | // This function is merely for printing feedback from the system to our |
| ThomBMT | 3:766e9f13d84e | 703 | // screen when we wish to see or check something. |
| ThomBMT | 4:a682fb1f37d2 | 704 | |
| ThomBMT | 3:766e9f13d84e | 705 | if (Active_State == Function )//|| Active_State == Homing_M1) |
| ThomBMT | 1:ba14d8f4d444 | 706 | { |
| ThomBMT | 4:a682fb1f37d2 | 707 | pc.printf("U_K1 is %f \r\nU_K2 is %f \r\n\r\n rad_m1 is %f \r\n rad_m2 is %f \r\n\r\n Bi_R is %f \r\n Bi_L is %f \r\n\r\n counts1 is %i \r\n counts2 is %i\r\n\r\n", u_k_1, u_k_2, rad_m1, rad_m2, Filtered_Bi_R, Filtered_Bi_L, counts1, counts2); |
| ThomBMT | 4:a682fb1f37d2 | 708 | //u_k_1 + u_i_1 + u_d_1; |
| ThomBMT | 4:a682fb1f37d2 | 709 | //u_k_2 + u_i_2 + u_d_2; |
| ThomBMT | 4:a682fb1f37d2 | 710 | //pc.printf("q1 = %f [rad] \r\nq2 = %f [rad] \r\ncount1= %i\r\ncount2= %i\r\nq1dot = %f [rad/s] \r\nq2dot = %f [rad/s] \r\n\r\n", rad_m1, rad_m2,counts1, counts2, w_1, w_2); |
| ThomBMT | 4:a682fb1f37d2 | 711 | // pc.printf("U_1 = %f [error] \r\nU_2 = %f [error]\n\r\n",U_1,U_2); |
| ThomBMT | 4:a682fb1f37d2 | 712 | //pc.printf("u_k_1 = %f\r\nu_k_2 = %f\r\nu_i_1 = %f \r\nu_i_2 = %f \r\nu_d_1 = %f \r\nu_d_2 = %f\r\n\r\n",u_k_1,u_k_2,u_i_1,u_i_2,u_d_1,u_d_2); |
| ThomBMT | 1:ba14d8f4d444 | 713 | } |
| ThomBMT | 1:ba14d8f4d444 | 714 | } |
| ThomBMT | 1:ba14d8f4d444 | 715 | |
| ThomBMT | 2:bc6043623fb7 | 716 | void EMG_test() // even nalopen of dit ook kan met i++! |
| ThomBMT | 1:ba14d8f4d444 | 717 | { |
| ThomBMT | 3:766e9f13d84e | 718 | // Here we can check the opperation of the system for checking purposes. |
| ThomBMT | 3:766e9f13d84e | 719 | |
| ThomBMT | 1:ba14d8f4d444 | 720 | led_G=led_R=led_B=1; |
| ThomBMT | 1:ba14d8f4d444 | 721 | |
| ThomBMT | 1:ba14d8f4d444 | 722 | if (Filtered_Bi_R >= Threshold_Bi_R) |
| ThomBMT | 1:ba14d8f4d444 | 723 | { |
| ThomBMT | 1:ba14d8f4d444 | 724 | i = 1; |
| ThomBMT | 1:ba14d8f4d444 | 725 | //led_R = 0; // rood |
| ThomBMT | 1:ba14d8f4d444 | 726 | } |
| ThomBMT | 1:ba14d8f4d444 | 727 | if (Filtered_Bi_L >= Threshold_Bi_L) |
| ThomBMT | 1:ba14d8f4d444 | 728 | { |
| ThomBMT | 1:ba14d8f4d444 | 729 | i = 3; |
| ThomBMT | 1:ba14d8f4d444 | 730 | //led_B = 0; // blauw |
| ThomBMT | 1:ba14d8f4d444 | 731 | } |
| ThomBMT | 1:ba14d8f4d444 | 732 | if (Filtered_Tri_R >= Threshold_Tri_R) |
| ThomBMT | 1:ba14d8f4d444 | 733 | { |
| ThomBMT | 1:ba14d8f4d444 | 734 | i = 2; |
| ThomBMT | 1:ba14d8f4d444 | 735 | //led_G = 0; // groen |
| ThomBMT | 1:ba14d8f4d444 | 736 | } |
| ThomBMT | 1:ba14d8f4d444 | 737 | if (Filtered_Tri_L >= Threshold_Tri_L) |
| ThomBMT | 1:ba14d8f4d444 | 738 | { |
| ThomBMT | 1:ba14d8f4d444 | 739 | i = 4; |
| ThomBMT | 1:ba14d8f4d444 | 740 | //led_B = 0; |
| ThomBMT | 1:ba14d8f4d444 | 741 | //led_R = 0; // paars |
| ThomBMT | 1:ba14d8f4d444 | 742 | } |
| ThomBMT | 1:ba14d8f4d444 | 743 | |
| ThomBMT | 1:ba14d8f4d444 | 744 | } |
| ThomBMT | 1:ba14d8f4d444 | 745 | |
| ThomBMT | 1:ba14d8f4d444 | 746 | void StateMachine() |
| ThomBMT | 1:ba14d8f4d444 | 747 | { |
| ThomBMT | 3:766e9f13d84e | 748 | // In the Statemachine every function is integrated into the system |
| ThomBMT | 3:766e9f13d84e | 749 | // depending on the state that the system is in. This is makes the |
| ThomBMT | 3:766e9f13d84e | 750 | // integration and the opperation of the system a lot simpeler. |
| ThomBMT | 3:766e9f13d84e | 751 | |
| ThomBMT | 3:766e9f13d84e | 752 | // We have 5 main states: |
| ThomBMT | 4:a682fb1f37d2 | 753 | // |
| ThomBMT | 3:766e9f13d84e | 754 | // - Starting |
| ThomBMT | 3:766e9f13d84e | 755 | // - Start_Up |
| ThomBMT | 3:766e9f13d84e | 756 | // - Sleep_Mode |
| ThomBMT | 3:766e9f13d84e | 757 | // - Calibration |
| ThomBMT | 3:766e9f13d84e | 758 | // - Homing |
| ThomBMT | 3:766e9f13d84e | 759 | // - Homing_M1 |
| ThomBMT | 3:766e9f13d84e | 760 | // - Homing_M2 |
| ThomBMT | 3:766e9f13d84e | 761 | // - Post_Homing |
| ThomBMT | 3:766e9f13d84e | 762 | // - Function |
| ThomBMT | 3:766e9f13d84e | 763 | // - Safe |
| ThomBMT | 3:766e9f13d84e | 764 | |
| ThomBMT | 3:766e9f13d84e | 765 | // As seen above some states have substates that make the system run better |
| ThomBMT | 3:766e9f13d84e | 766 | // or give the state some unique features. These are explained within the |
| ThomBMT | 3:766e9f13d84e | 767 | // functions that are called in that state. |
| ThomBMT | 3:766e9f13d84e | 768 | |
| ThomBMT | 1:ba14d8f4d444 | 769 | switch (Active_State) |
| ThomBMT | 1:ba14d8f4d444 | 770 | { |
| ThomBMT | 1:ba14d8f4d444 | 771 | case Starting: |
| ThomBMT | 1:ba14d8f4d444 | 772 | Start_Up(); |
| ThomBMT | 1:ba14d8f4d444 | 773 | OFF_m1(); |
| ThomBMT | 1:ba14d8f4d444 | 774 | OFF_m2(); |
| ThomBMT | 1:ba14d8f4d444 | 775 | |
| ThomBMT | 1:ba14d8f4d444 | 776 | if (!Knop4 == true) |
| ThomBMT | 1:ba14d8f4d444 | 777 | { |
| ThomBMT | 1:ba14d8f4d444 | 778 | Active_State = Calibration; |
| ThomBMT | 1:ba14d8f4d444 | 779 | pc.printf("Entering Calibration State \r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 780 | } |
| ThomBMT | 1:ba14d8f4d444 | 781 | else if (!Knop3 == true) |
| ThomBMT | 1:ba14d8f4d444 | 782 | { |
| ThomBMT | 1:ba14d8f4d444 | 783 | Active_State = Homing_M1; |
| ThomBMT | 1:ba14d8f4d444 | 784 | pc.printf("Entering Homing State \r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 785 | } |
| ThomBMT | 1:ba14d8f4d444 | 786 | |
| ThomBMT | 1:ba14d8f4d444 | 787 | |
| ThomBMT | 1:ba14d8f4d444 | 788 | break; |
| ThomBMT | 1:ba14d8f4d444 | 789 | |
| ThomBMT | 1:ba14d8f4d444 | 790 | case Calibration: |
| ThomBMT | 1:ba14d8f4d444 | 791 | |
| ThomBMT | 1:ba14d8f4d444 | 792 | Filter(); |
| ThomBMT | 1:ba14d8f4d444 | 793 | Calibrating(); |
| ThomBMT | 1:ba14d8f4d444 | 794 | OFF_m1(); |
| ThomBMT | 1:ba14d8f4d444 | 795 | OFF_m2(); |
| ThomBMT | 1:ba14d8f4d444 | 796 | BlinkLed(); |
| ThomBMT | 1:ba14d8f4d444 | 797 | |
| ThomBMT | 1:ba14d8f4d444 | 798 | if (!Knop1 && !Knop2) |
| ThomBMT | 1:ba14d8f4d444 | 799 | { |
| ThomBMT | 1:ba14d8f4d444 | 800 | pc.printf("Switched to Sleeping State\r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 801 | Active_State = Starting; |
| ThomBMT | 1:ba14d8f4d444 | 802 | iii = 40001; |
| ThomBMT | 1:ba14d8f4d444 | 803 | } |
| ThomBMT | 1:ba14d8f4d444 | 804 | else if (Knop1==false) |
| ThomBMT | 1:ba14d8f4d444 | 805 | { |
| ThomBMT | 1:ba14d8f4d444 | 806 | pc.printf("Manual switch to Homing state \r\n"); |
| ThomBMT | 4:a682fb1f37d2 | 807 | Active_State = Function; |
| ThomBMT | 1:ba14d8f4d444 | 808 | } |
| ThomBMT | 1:ba14d8f4d444 | 809 | |
| ThomBMT | 1:ba14d8f4d444 | 810 | |
| ThomBMT | 1:ba14d8f4d444 | 811 | sample(); |
| ThomBMT | 2:bc6043623fb7 | 812 | EMG_Read(); |
| ThomBMT | 1:ba14d8f4d444 | 813 | break; |
| ThomBMT | 1:ba14d8f4d444 | 814 | |
| ThomBMT | 1:ba14d8f4d444 | 815 | case Homing_M1: |
| ThomBMT | 1:ba14d8f4d444 | 816 | |
| ThomBMT | 1:ba14d8f4d444 | 817 | Going_Home_Motor1(); |
| ThomBMT | 1:ba14d8f4d444 | 818 | OFF_m2(); |
| ThomBMT | 2:bc6043623fb7 | 819 | Encoding(); |
| ThomBMT | 1:ba14d8f4d444 | 820 | |
| ThomBMT | 4:a682fb1f37d2 | 821 | if (fabs(rad_m1)>(2.0f*pi/6.0f) || fabs(rad_m2)>(pi/6.0f)) // pi/4 is a safe value, can/will be editted |
| ThomBMT | 1:ba14d8f4d444 | 822 | { |
| ThomBMT | 1:ba14d8f4d444 | 823 | pc.printf("SAFE MODUS ACTIVE!\r\n RESET MANDATORY!\r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 824 | Active_State = Safe; |
| ThomBMT | 1:ba14d8f4d444 | 825 | } |
| ThomBMT | 1:ba14d8f4d444 | 826 | else if (!Knop1 && !Knop2) |
| ThomBMT | 1:ba14d8f4d444 | 827 | { |
| ThomBMT | 1:ba14d8f4d444 | 828 | pc.printf("Switched to Sleeping State\r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 829 | Active_State = Starting; |
| ThomBMT | 1:ba14d8f4d444 | 830 | iii = 40000; |
| ThomBMT | 1:ba14d8f4d444 | 831 | } |
| ThomBMT | 1:ba14d8f4d444 | 832 | else if (Knop2==false) |
| ThomBMT | 1:ba14d8f4d444 | 833 | { |
| ThomBMT | 1:ba14d8f4d444 | 834 | pc.printf("Manual switch to Funtioning State \r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 835 | Active_State = Function; |
| ThomBMT | 1:ba14d8f4d444 | 836 | } |
| ThomBMT | 1:ba14d8f4d444 | 837 | else if (Knop4==false) |
| ThomBMT | 1:ba14d8f4d444 | 838 | { |
| ThomBMT | 1:ba14d8f4d444 | 839 | Active_State = Calibration; |
| ThomBMT | 1:ba14d8f4d444 | 840 | pc.printf("Re-entering Calibration State \r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 841 | } |
| ThomBMT | 2:bc6043623fb7 | 842 | |
| ThomBMT | 1:ba14d8f4d444 | 843 | break; |
| ThomBMT | 1:ba14d8f4d444 | 844 | |
| ThomBMT | 1:ba14d8f4d444 | 845 | case Homing_M2: |
| ThomBMT | 1:ba14d8f4d444 | 846 | |
| ThomBMT | 1:ba14d8f4d444 | 847 | Going_Home_Motor2(); |
| ThomBMT | 1:ba14d8f4d444 | 848 | OFF_m1(); |
| ThomBMT | 2:bc6043623fb7 | 849 | Encoding(); |
| ThomBMT | 1:ba14d8f4d444 | 850 | |
| ThomBMT | 1:ba14d8f4d444 | 851 | if (fabs(rad_m1)>(pi/6.0f) || fabs(rad_m2)>(pi/6.0f)) // pi/4 is a safe value, can/will be editted |
| ThomBMT | 1:ba14d8f4d444 | 852 | { |
| ThomBMT | 1:ba14d8f4d444 | 853 | pc.printf("SAFE MODUS ACTIVE!\r\n RESET MANDATORY!\r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 854 | Active_State = Safe; |
| ThomBMT | 1:ba14d8f4d444 | 855 | } |
| ThomBMT | 1:ba14d8f4d444 | 856 | else if (counts2 == 0 && counts1 == 0) |
| ThomBMT | 1:ba14d8f4d444 | 857 | { |
| ThomBMT | 1:ba14d8f4d444 | 858 | Active_State = Post_Homing; |
| ThomBMT | 1:ba14d8f4d444 | 859 | } |
| ThomBMT | 1:ba14d8f4d444 | 860 | |
| ThomBMT | 1:ba14d8f4d444 | 861 | break; |
| ThomBMT | 1:ba14d8f4d444 | 862 | |
| ThomBMT | 1:ba14d8f4d444 | 863 | case Post_Homing: |
| ThomBMT | 1:ba14d8f4d444 | 864 | |
| ThomBMT | 1:ba14d8f4d444 | 865 | static int mm = 0; |
| ThomBMT | 1:ba14d8f4d444 | 866 | mm++; |
| ThomBMT | 1:ba14d8f4d444 | 867 | if (mm == 1000); |
| ThomBMT | 1:ba14d8f4d444 | 868 | { |
| ThomBMT | 1:ba14d8f4d444 | 869 | Active_State = Function; |
| ThomBMT | 1:ba14d8f4d444 | 870 | pc.printf("Homing was succesfull\r\n\r\nAutomatic switch to Funtioning state\r\n\r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 871 | mm=0; // reseting the state |
| ThomBMT | 1:ba14d8f4d444 | 872 | } |
| ThomBMT | 1:ba14d8f4d444 | 873 | |
| ThomBMT | 1:ba14d8f4d444 | 874 | OFF_m1(); |
| ThomBMT | 1:ba14d8f4d444 | 875 | OFF_m2(); |
| ThomBMT | 1:ba14d8f4d444 | 876 | break; |
| ThomBMT | 1:ba14d8f4d444 | 877 | |
| ThomBMT | 1:ba14d8f4d444 | 878 | case Function: |
| ThomBMT | 2:bc6043623fb7 | 879 | |
| ThomBMT | 2:bc6043623fb7 | 880 | EMG_test(); |
| ThomBMT | 2:bc6043623fb7 | 881 | Filter(); |
| ThomBMT | 2:bc6043623fb7 | 882 | Inverse(); |
| ThomBMT | 2:bc6043623fb7 | 883 | sample(); |
| ThomBMT | 2:bc6043623fb7 | 884 | EMG_Read(); |
| ThomBMT | 2:bc6043623fb7 | 885 | Encoding(); |
| ThomBMT | 2:bc6043623fb7 | 886 | Checking_EMG(); |
| ThomBMT | 2:bc6043623fb7 | 887 | Setting_Movement(); |
| ThomBMT | 2:bc6043623fb7 | 888 | PID_controller(); |
| ThomBMT | 2:bc6043623fb7 | 889 | motor1(); |
| ThomBMT | 2:bc6043623fb7 | 890 | motor2(); |
| ThomBMT | 1:ba14d8f4d444 | 891 | |
| ThomBMT | 4:a682fb1f37d2 | 892 | if (fabs(rad_m1)>(2.0f*pi/3.0f) || fabs(rad_m2)>(25.0f*pi/12.0f)) // pi/4 is a safe value, can/will be editted |
| ThomBMT | 1:ba14d8f4d444 | 893 | { |
| ThomBMT | 1:ba14d8f4d444 | 894 | pc.printf("SAFE MODUS ACTIVE!\r\n RESET MANDATORY!\r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 895 | Active_State = Safe; |
| ThomBMT | 1:ba14d8f4d444 | 896 | } |
| ThomBMT | 1:ba14d8f4d444 | 897 | else if (Knop4==false) |
| ThomBMT | 1:ba14d8f4d444 | 898 | { |
| ThomBMT | 1:ba14d8f4d444 | 899 | pc.printf("Re-entering Calibration State \r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 900 | Active_State = Calibration; |
| ThomBMT | 1:ba14d8f4d444 | 901 | ii=0; |
| ThomBMT | 1:ba14d8f4d444 | 902 | } |
| ThomBMT | 1:ba14d8f4d444 | 903 | else if (Knop3==false) |
| ThomBMT | 1:ba14d8f4d444 | 904 | { |
| ThomBMT | 1:ba14d8f4d444 | 905 | pc.printf("Re-entering Homing State \r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 906 | Active_State = Homing_M1; |
| ThomBMT | 1:ba14d8f4d444 | 907 | } |
| ThomBMT | 1:ba14d8f4d444 | 908 | else if (!Knop1 && !Knop2) |
| ThomBMT | 1:ba14d8f4d444 | 909 | { |
| ThomBMT | 1:ba14d8f4d444 | 910 | pc.printf("Switched to Sleeping State\r\n"); |
| ThomBMT | 1:ba14d8f4d444 | 911 | Active_State = Starting; |
| ThomBMT | 1:ba14d8f4d444 | 912 | iii = 40000; |
| ThomBMT | 1:ba14d8f4d444 | 913 | } |
| ThomBMT | 2:bc6043623fb7 | 914 | |
| ThomBMT | 1:ba14d8f4d444 | 915 | break; |
| ThomBMT | 1:ba14d8f4d444 | 916 | |
| ThomBMT | 1:ba14d8f4d444 | 917 | case Safe: |
| ThomBMT | 1:ba14d8f4d444 | 918 | |
| ThomBMT | 1:ba14d8f4d444 | 919 | OFF_m1(); |
| ThomBMT | 1:ba14d8f4d444 | 920 | OFF_m2(); |
| ThomBMT | 1:ba14d8f4d444 | 921 | |
| ThomBMT | 1:ba14d8f4d444 | 922 | break; |
| ThomBMT | 1:ba14d8f4d444 | 923 | |
| ThomBMT | 1:ba14d8f4d444 | 924 | default: |
| ThomBMT | 1:ba14d8f4d444 | 925 | pc.printf("UNKNOWN COMMAND"); |
| ThomBMT | 1:ba14d8f4d444 | 926 | } |
| ThomBMT | 1:ba14d8f4d444 | 927 | } |
| ThomBMT | 1:ba14d8f4d444 | 928 | |
| ThomBMT | 1:ba14d8f4d444 | 929 | int main() |
| ThomBMT | 1:ba14d8f4d444 | 930 | { |
| ThomBMT | 3:766e9f13d84e | 931 | // Our main loop is as empty as possible and contains only statements that |
| ThomBMT | 3:766e9f13d84e | 932 | // cannot be put elsewhere due to functioning reasons. |
| ThomBMT | 3:766e9f13d84e | 933 | // Also the "while-loop" is completely empty, which improves the running |
| ThomBMT | 3:766e9f13d84e | 934 | // speed of the system. |
| ThomBMT | 3:766e9f13d84e | 935 | |
| ThomBMT | 1:ba14d8f4d444 | 936 | pc.baud(115200); |
| ThomBMT | 1:ba14d8f4d444 | 937 | PwmPin1.period_us(30); //60 microseconds pwm period, 16.7 kHz |
| ThomBMT | 1:ba14d8f4d444 | 938 | |
| ThomBMT | 1:ba14d8f4d444 | 939 | bqc1.add( &BqNotch1_1 ).add( &BqNotch2_1 ).add( &BqHP1 ); //Oh wat lelijk... |
| ThomBMT | 1:ba14d8f4d444 | 940 | bqc2.add(&BqLP1); |
| ThomBMT | 1:ba14d8f4d444 | 941 | bqc3.add( &BqNotch1_2 ).add( &BqNotch2_2 ).add( &BqHP2 ); |
| ThomBMT | 1:ba14d8f4d444 | 942 | bqc4.add(&BqLP2); |
| ThomBMT | 1:ba14d8f4d444 | 943 | bqc5.add( &BqNotch1_3 ).add( &BqNotch2_3 ).add( &BqHP3 ); |
| ThomBMT | 1:ba14d8f4d444 | 944 | bqc6.add(&BqLP3); |
| ThomBMT | 1:ba14d8f4d444 | 945 | bqc7.add( &BqNotch1_4 ).add( &BqNotch2_4 ).add( &BqHP4 ); |
| ThomBMT | 1:ba14d8f4d444 | 946 | bqc8.add(&BqLP4); |
| ThomBMT | 1:ba14d8f4d444 | 947 | |
| ThomBMT | 1:ba14d8f4d444 | 948 | StateTicker.attach(&StateMachine, 0.002); |
| ThomBMT | 1:ba14d8f4d444 | 949 | |
| ThomBMT | 4:a682fb1f37d2 | 950 | printTicker.attach(&Printing, 0.5); |
| ThomBMT | 1:ba14d8f4d444 | 951 | |
| ThomBMT | 1:ba14d8f4d444 | 952 | while(true) |
| ThomBMT | 1:ba14d8f4d444 | 953 | { |
| ThomBMT | 1:ba14d8f4d444 | 954 | } |
| ThomBMT | 1:ba14d8f4d444 | 955 | } |