Thom Kuenen
Biorobotics 2018: Project group 16
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
main.cpp
- Committer:
- ThomBMT
- Date:
- 2018-11-01
- Revision:
- 4:a682fb1f37d2
- Parent:
- 3:766e9f13d84e
File content as of revision 4:a682fb1f37d2:
#include "mbed.h"
#include "MODSERIAL.h"
#include "HIDScope.h"
#include "QEI.h"
#include "BiQuad.h"
// Pin defintions:
MODSERIAL pc(USBTX, USBRX);
DigitalOut DirectionPin1(D4);
DigitalOut DirectionPin2(D7);
PwmOut PwmPin1(D5);
PwmOut PwmPin2(D6);
DigitalIn Knop1(D2);
DigitalIn Knop2(D3);
DigitalIn Knop3(PTA4);
DigitalIn Knop4(PTC6);
AnalogIn pot1 (A5);
AnalogIn pot2 (A4);
AnalogIn emg0( A0 );
AnalogIn emg1( A1 );
AnalogIn emg2( A2 );
AnalogIn emg3( A3 );
DigitalOut led_G(LED_GREEN);
DigitalOut led_R(LED_RED);
DigitalOut led_B(LED_BLUE);
// Encoder functions.
QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING);
QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING);
// Filter definitions:
BiQuadChain bqc1;
BiQuadChain bqc2;
BiQuadChain bqc3;
BiQuadChain bqc4;
BiQuadChain bqc5;
BiQuadChain bqc6;
BiQuadChain bqc7;
BiQuadChain bqc8;
BiQuad BqNotch1_1( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01 );
BiQuad BqNotch2_1( 1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01);
BiQuad BqNotch1_2( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01 );
BiQuad BqNotch2_2( 1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01);
BiQuad BqNotch1_3( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01 );
BiQuad BqNotch2_3( 1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01);
BiQuad BqNotch1_4( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01 );
BiQuad BqNotch2_4( 1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01);
BiQuad BqHP1( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 );
BiQuad BqHP2( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 );
BiQuad BqHP3( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 );
BiQuad BqHP4( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 );
BiQuad BqLP1( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
BiQuad BqLP2( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
BiQuad BqLP3( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
BiQuad BqLP4( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
// Tickers for the main loop:
Ticker StateTicker;
Ticker printTicker;
// Setting the HIDscope:
HIDScope scope( 4 );
// All variables for EMG-processing:
volatile float Bicep_Right = 0.0;
volatile float Bicep_Left = 0.0;
volatile float Tricep_Right = 0.0;
volatile float Tricep_Left = 0.0;
volatile float FilterHP_Bi_R;
volatile float Filterabs_Bi_R;
volatile float Filtered_Bi_R;
volatile float FilterHP_Bi_L;
volatile float Filterabs_Bi_L;
volatile float Filtered_Bi_L;
volatile float FilterHP_Tri_R;
volatile float Filterabs_Tri_R;
volatile float Filtered_Tri_R;
volatile float FilterHP_Tri_L;
volatile float Filterabs_Tri_L;
volatile float Filtered_Tri_L;
// Variables for the PID-Controller:
volatile float error_1_integral = 0;
volatile float error_2_integral = 0;
volatile float error_1_prev; // initialization with this value only done once!
volatile float error_2_prev;
volatile const float Kp = 3.2;
volatile const float Ki = 0.000;
volatile const float Kd = 0.0;
volatile const float Ts = 0.002f; // Sample time in seconds
volatile float error_1;
volatile float error_2;
volatile float u_k_1;
volatile float u_k_2;
volatile float u_i_1;
volatile float u_i_2;
volatile float u_d_1;
volatile float u_d_2;
volatile float U_1;
volatile float U_2;
// Constant values used in computations and such:
volatile const float pi = 3.1415926;
volatile const float rad_count = 0.0007479; // 2pi/8400;
volatile const float maxVelocity = 2.0f * pi; // in rad/s
volatile const float r_3 = 0.035;
// Some counting variables:
volatile int i = 0; // Led blink status
volatile int ii = 0; // Calibratie timer
volatile int iii = 0; // Start up timer
// Variables for computations of joint angle and velocities:
volatile float q_ref1_o = 7.0f*pi/4.0f;
volatile float q_ref1_n;
volatile float q_ref2_o = 1.0f*pi/3.0f;
volatile float q_ref2_n;
volatile float r_1;
volatile float r_2;
volatile float w_1;
volatile float w_2;
volatile float vx;
volatile float vy;
volatile float rad_m1;
volatile float rad_m2;
volatile int counts1;
volatile int counts2;
// Threshold values and variables:
volatile float Flex_Bi_R;
volatile float Flex_Bi_L;
volatile float Flex_Tri_R;
volatile float Flex_Tri_L;
volatile float Threshold_Value;
volatile float Threshold_Bi_R;
volatile float Threshold_Bi_L;
volatile float Threshold_Tri_R;
volatile float Threshold_Tri_L;
volatile bool Checking_Bi_R = false;
volatile bool Checking_Bi_L = false;
volatile bool Checking_Tri_R = false;
volatile bool Checking_Tri_L = false;
// States for the switch-statemachine:
enum states{Starting, Calibration, Homing_M1, Homing_M2, Post_Homing, Function, Safe};
// The very first state:
volatile states Active_State = Starting;
void Encoding()
{
// Encoding is necessary for the computations of the joint angles and
// velocities of the arm given certain linear velocities.
counts1 = Encoder1.getPulses();
counts2 = Encoder2.getPulses();
rad_m1 = (rad_count * (float)counts1) + (1.0f*pi/3.0f);
rad_m2 = (rad_count * (float)counts2) + (7.0f*pi/4.0f);
}
void Filter()
{
// Our Filter function will take the raw (incomming) EMG-signal and process
// it in such a way that we can use it to opperate our system.
FilterHP_Bi_R = bqc1.step( emg0.read() );
Filterabs_Bi_R = fabs(FilterHP_Bi_R);
Filtered_Bi_R = bqc2.step( Filterabs_Bi_R );
FilterHP_Bi_L = bqc3.step( emg1.read() );
Filterabs_Bi_L = fabs(FilterHP_Bi_L);
Filtered_Bi_L = bqc4.step( Filterabs_Bi_L );
FilterHP_Tri_R = bqc5.step( emg2.read() );
Filterabs_Tri_R = fabs(FilterHP_Tri_R);
Filtered_Tri_R = bqc6.step( Filterabs_Tri_R );
FilterHP_Tri_L = bqc7.step( emg3.read() );
Filterabs_Tri_L = fabs(FilterHP_Tri_L);
Filtered_Tri_L = bqc8.step( Filterabs_Tri_L );
}
void BlinkLed()
{
// This is a function used purely for feedback that will give insight in
// what the system is doing without having to fully opperate it.
if(i==1)
{
led_G=led_B=1;
static int rr = 0;
rr++;
if (rr == 1)
{
led_R = !led_R;
}
else if (rr == 50)
{
rr = 0;
}
}
else if(i==2)
{
led_R=led_B=1;
static int gg = 0;
gg++;
if (gg == 1)
{
led_G = !led_G;
}
else if (gg == 250)
{
gg = 0;
}
}
else if (i==3)
{
led_R=1;
static int bb = 0;
bb++;
if (bb == 1)
{
led_B = !led_B;
}
else if (bb == 500)
{
bb = 0;
}
}
else if (i==4)
{
led_G=1;
static int rr = 0;
rr++;
if (rr == 1)
{
led_R = !led_R;
led_B = !led_B;
}
else if (rr == 250)
{
rr = 0;
}
}
else
{
led_R=led_G=led_B=1;
}
}
void EMG_Read()
{
// This is only to define our first (raw) EMG-signals and give each a
// suitable name.
Bicep_Right = emg0.read();
Bicep_Left = emg1.read();
Tricep_Right = emg2.read();
Tricep_Left = emg3.read();
}
void sample()
{
// HIDscope allows us to check our filtered EMG-signal and gives insight
// into thresholdvalues and how well the calibration was done.
scope.set(0, Filtered_Bi_R*10.0f );
scope.set(1, Filtered_Bi_L*10.0f );
scope.set(2, Filtered_Tri_R*10.0f );
scope.set(3, Filtered_Tri_L*10.0f );
scope.send();
}
void Calibrating()
{
// Calibration is done to ensure that threshold values not predetermined and
// can vary each user. This makes the system more universal.
static float n = 0.0;
static float m = 0.0;
static float l = 0.0;
static float k = 0.0;
ii++;
if (ii<=2500)
{
if (ii == 1)
{
pc.printf("Relax your muscles please. \r\n");
i = 2;
}
else if (ii == 1750)
{
pc.printf("Flex your right bicep now please.\r\n");
i = 3;
}
//chillen
}
else if (ii>2500 && ii<5000) //
{
n = n + Filtered_Bi_R; // dit wordt de variable naam na het filter
i = 1;
}
else if (ii == 5000)
{
Flex_Bi_R = n / 2500.0f;
pc.printf("You can relax your right bicep, thank you. \r\nYour mean flexing value was %f\r\n\r\n", Flex_Bi_R);
i = 2;
}
else if (ii>5000 && ii<=6000)
{
if (ii == 5500)
{
pc.printf("Flex your left bicep now please. \r\n");
i = 3;
}
//chillen
}
else if(ii>6000 && ii<8500)
{
m = m + Filtered_Bi_L;
i = 1;
}
else if (ii == 8500)
{
Flex_Bi_L = m / 2500.0f;
pc.printf("You can relax your left bicep, thank you. \r\nYour mean flexing value was %f\r\n\r\n", Flex_Bi_L);
i = 2;
}
else if (ii>8500 && ii<=9500)
{
if (ii == 9000)
{
pc.printf("Flex your right tricep now please. \r\n");
i = 3;
}
//chillen
}
else if (ii>9500 && ii<12000)
{
l = l + Filtered_Tri_R;
i = 1;
}
else if (ii == 12000)
{
Flex_Tri_R = l / 2500.0f;
pc.printf("You can relax your right tricep, thank you. \r\nYour mean flexing value was %f\r\n\r\n", Flex_Tri_R);
i = 2;
}
else if (ii>12000 && ii <=13000)
{
if (ii == 12500)
{
pc.printf("Flex your left tricep now please. \r\n");
i = 3;
}
//chillen
}
else if (ii>13000 && ii<15500)
{
k = k + Filtered_Tri_L;
i = 1;
}
else if (ii == 15500)
{
Flex_Tri_L = k / 2500.0f;
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);
i = 2;
}
// Setting the Threshold:
Threshold_Value = 0.85f;
Threshold_Bi_R = Threshold_Value * Flex_Bi_R;
Threshold_Bi_L = Threshold_Value * Flex_Bi_L;
Threshold_Tri_R = Threshold_Value * Flex_Tri_R;
Threshold_Tri_L = Threshold_Value * Flex_Tri_L;
if (ii == 16500)
{
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);
}
else if (ii == 20000)
{
pc.printf("\r\nAutomatic switch to Homing State for Motor 1\r\n");
Active_State = Function;
i = 0;
}
}
void Start_Up()
{
// This function is active only when the system is started up or when the
// system has entered Sleep_Mode (iii > 40 000).
// It is not possible to get out of this function without some opperation on
// the Mbed.
i++;
iii++;
if (iii == 1)
{
pc.printf("\r\n\r\nSystem is starting...\r\nWaiting for further input...\r\n");
}
else if (iii == 30000)
{
pc.printf("1 minute without input..\r\nReseting start-up...\r\n");
iii = 0;
}
else if (iii == 40001) // sleeping state is only added for designing purposes and will most likely never be used
{ // when working with patients. Furthermore it cannot be reached automaticly
pc.printf("Sleeping... Press button 4 to wake me up!\r\n\r\n");
iii++;
}
else if (iii == 45000)
{
iii = 40000;
}
}
void OFF_m1()
{
// This function ensures that Motor 1 is turned off.
PwmPin1 = 0;
}
void OFF_m2()
{
// This function ensures that Motor 2 is turned off.
PwmPin2 = 0;
}
void Going_Home_Motor1()
{
// This is the Homing function for Motor 1.
if (counts1 == 0)
{
pc.printf("Switching to Homing State for Motor 2\r\n");
Active_State = Function; // Statement here instead of statemachine because of checking speed
}
else if (counts1 > 0)
{
PwmPin1 = 0.5f;
DirectionPin1 = false;
}
else
{
PwmPin1 = 0.5f;
DirectionPin1 = true;
}
}
void Going_Home_Motor2()
{
// This is the Homing function for Motor 2.
if (counts2 == 0)
{
// als het goed is hoeft hier niets te staan // Statement in statemachine because of the double check
}
else if (counts2 > 0)
{
PwmPin2 = 0.5f;
DirectionPin2 = true;
}
else
{
PwmPin2 = 0.5f;
DirectionPin2 = false;
}
}
void Checking_EMG()
{
// This function will make the the setting of signal to movement easier.
if (Filtered_Bi_R >= Threshold_Bi_R)
{
Checking_Bi_R = true;
}
if (Filtered_Bi_L >= Threshold_Bi_L)
{
Checking_Bi_L = true;
}
if (Filtered_Tri_R >= Threshold_Tri_R)
{
Checking_Tri_R = true;
}
if (Filtered_Tri_L >= Threshold_Tri_L)
{
Checking_Tri_L = true;
}
}
void Setting_Movement()
{
// Here we will set the emg values to the movement of the arm.
if (Checking_Bi_R && Checking_Bi_L) // sloping y = x, y > 0
{
vx = 0.01f;
vy = 0.01f;
}
else if (Checking_Bi_R && Checking_Tri_L) // sloping y = -x, y > 0
{
vx = -0.01f;
vy = 0.01f;
}
else if (Checking_Bi_L && Checking_Tri_R) // sloping y = -x, y < 0
{
vx = 0.01f;
vy = -0.01f;
}
else if (Checking_Tri_R && Checking_Tri_L) // sloping y = x, y < 0
{
vx = -0.01f;
vy = -0.01f;
}
if (Checking_Bi_R) // y > 0
{
vx = 0.0f;
vy = 0.01f;
}
else if (Checking_Bi_L) // x > 0
{
vx = 0.01f;
vy = 0.0f;
}
else if (Checking_Tri_R) // x < 0
{
vx = 0.0f;
vy = -0.01f;
}
else if (Checking_Tri_L) // y < 0
{
vx = -0.01f;
vy = 0.0f;
}
}
void Inverse()
{
// Here we calculate the movement of each joint (Motor 1 and Motor 2) given
// a certain linear velocity-input.
q_ref1_n = q_ref1_o+w_1*Ts;
q_ref2_n = q_ref2_o+w_2*Ts;
r_1= -0.2f;
r_2= -0.2f;
float u = -r_2*sin(q_ref1_n)*cos(q_ref2_n)-(r_2)*cos(q_ref1_n)*sin(q_ref2_n);
float z = 2.0f*(r_2*cos(q_ref1_n)*cos(q_ref2_n))-r_3;
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;
float x = (-2.0f)*r_2*sin(q_ref1_n)*cos(q_ref2_n);
float D = 1.0f/(u*z-x*y); // Determinant
//printf("Determinant is %f\r\n", D);
float a = D*z; // Inverse jacobian a,b,c,d vormen 2 bij 2 matrix
float b = -D*x; // Inverse jacobian
float c = -D*y; // Inverse jacobian
float d = D*u; // Inverse jacobian
float referenceVelocity1;
if (pot1.read()>0.8f)
{
// Clockwise rotation
referenceVelocity1 = 0.005f;
}
else if (pot1.read() < 0.2f)
{
// Counterclockwise rotation
referenceVelocity1 = -0.005f ;
}
else
{
referenceVelocity1 = pot1.read() * 0.0f;
}
float referenceVelocity2;
// This is where Motor 2 is opperated.
if (pot2.read()>0.8f)
{
// Clockwise rotation
referenceVelocity2 = 0.005f;
}
else if (pot2.read() < 0.2f)
{
// Counterclockwise rotation
referenceVelocity2 = -0.005f ;
}
else
{
referenceVelocity2 = pot2.read() * 0.0f;
}
//vx = 0.0;//referenceVelocity1; // uit emg data
//vy = 0.01;referenceVelocity2; // uit emg data
w_1 = vx*a+vy*b;
w_2 = vx*c+vy*d;
q_ref1_o = q_ref1_n;
q_ref2_o = q_ref2_n;
}
void PID_controller()
{
// The PID-controller reduces the error between the reference signal
// and the actual value.
error_1 = q_ref1_o - rad_m2 + (w_1*Ts);
error_2 = q_ref2_o - rad_m1 + (w_2*Ts);
error_1_prev = error_1;
error_2_prev = error_2;
// Proportional part:
u_k_1 = Kp * error_1;
u_k_2 = Kp * error_2;
// Integral part
error_1_integral = error_1_integral + error_1 * Ts;
error_2_integral = error_2_integral + error_2 * Ts;
u_i_1 = Ki * error_1_integral;
u_i_2 = Ki * error_2_integral;
// Derivative part
float error_1_derivative = (error_1 - error_1_prev)/Ts;
float error_2_derivative = (error_2 - error_2_prev)/Ts;
//float filtered_error_1_derivative = LowPassFilter.step(error_1_derivative);
//float filtered_error_2_derivative = LowPassFilter.step(error_2_derivative);
u_d_1 = Kd * error_1_derivative;
u_d_2 = Kd * error_2_derivative;
error_1_prev = error_1;
error_2_prev = error_2;
// Sum all parts and return it
U_1 = u_k_1; //+ u_i_1 + u_d_1;
U_2 = u_k_2;//+ u_i_2 + u_d_2;
}
void motor1()
{
// This is where Motor 1 is operated.
float u = 0.4f + 0.6f* fabs(U_1);
PwmPin1 = fabs(u);
if (U_1 >= 0)
{
DirectionPin1 = false;
}
else if (U_1 < 0)
{
DirectionPin1 = true;
}
}
void motor2()
{
float u = 0.4f+ 0.6f* fabs(U_2);
PwmPin2 = fabs(u);
if (U_2 <= 0)
{
DirectionPin2 = false;
}
else if (U_2 > 0)
{
DirectionPin2 = true;
}
//DirectionPin2 = u > 0.0f;
}
void Printing()
{
// This function is merely for printing feedback from the system to our
// screen when we wish to see or check something.
if (Active_State == Function )//|| Active_State == Homing_M1)
{
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);
//u_k_1 + u_i_1 + u_d_1;
//u_k_2 + u_i_2 + u_d_2;
//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);
// pc.printf("U_1 = %f [error] \r\nU_2 = %f [error]\n\r\n",U_1,U_2);
//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);
}
}
void EMG_test() // even nalopen of dit ook kan met i++!
{
// Here we can check the opperation of the system for checking purposes.
led_G=led_R=led_B=1;
if (Filtered_Bi_R >= Threshold_Bi_R)
{
i = 1;
//led_R = 0; // rood
}
if (Filtered_Bi_L >= Threshold_Bi_L)
{
i = 3;
//led_B = 0; // blauw
}
if (Filtered_Tri_R >= Threshold_Tri_R)
{
i = 2;
//led_G = 0; // groen
}
if (Filtered_Tri_L >= Threshold_Tri_L)
{
i = 4;
//led_B = 0;
//led_R = 0; // paars
}
}
void StateMachine()
{
// In the Statemachine every function is integrated into the system
// depending on the state that the system is in. This is makes the
// integration and the opperation of the system a lot simpeler.
// We have 5 main states:
//
// - Starting
// - Start_Up
// - Sleep_Mode
// - Calibration
// - Homing
// - Homing_M1
// - Homing_M2
// - Post_Homing
// - Function
// - Safe
// As seen above some states have substates that make the system run better
// or give the state some unique features. These are explained within the
// functions that are called in that state.
switch (Active_State)
{
case Starting:
Start_Up();
OFF_m1();
OFF_m2();
if (!Knop4 == true)
{
Active_State = Calibration;
pc.printf("Entering Calibration State \r\n");
}
else if (!Knop3 == true)
{
Active_State = Homing_M1;
pc.printf("Entering Homing State \r\n");
}
break;
case Calibration:
Filter();
Calibrating();
OFF_m1();
OFF_m2();
BlinkLed();
if (!Knop1 && !Knop2)
{
pc.printf("Switched to Sleeping State\r\n");
Active_State = Starting;
iii = 40001;
}
else if (Knop1==false)
{
pc.printf("Manual switch to Homing state \r\n");
Active_State = Function;
}
sample();
EMG_Read();
break;
case Homing_M1:
Going_Home_Motor1();
OFF_m2();
Encoding();
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
{
pc.printf("SAFE MODUS ACTIVE!\r\n RESET MANDATORY!\r\n");
Active_State = Safe;
}
else if (!Knop1 && !Knop2)
{
pc.printf("Switched to Sleeping State\r\n");
Active_State = Starting;
iii = 40000;
}
else if (Knop2==false)
{
pc.printf("Manual switch to Funtioning State \r\n");
Active_State = Function;
}
else if (Knop4==false)
{
Active_State = Calibration;
pc.printf("Re-entering Calibration State \r\n");
}
break;
case Homing_M2:
Going_Home_Motor2();
OFF_m1();
Encoding();
if (fabs(rad_m1)>(pi/6.0f) || fabs(rad_m2)>(pi/6.0f)) // pi/4 is a safe value, can/will be editted
{
pc.printf("SAFE MODUS ACTIVE!\r\n RESET MANDATORY!\r\n");
Active_State = Safe;
}
else if (counts2 == 0 && counts1 == 0)
{
Active_State = Post_Homing;
}
break;
case Post_Homing:
static int mm = 0;
mm++;
if (mm == 1000);
{
Active_State = Function;
pc.printf("Homing was succesfull\r\n\r\nAutomatic switch to Funtioning state\r\n\r\n");
mm=0; // reseting the state
}
OFF_m1();
OFF_m2();
break;
case Function:
EMG_test();
Filter();
Inverse();
sample();
EMG_Read();
Encoding();
Checking_EMG();
Setting_Movement();
PID_controller();
motor1();
motor2();
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
{
pc.printf("SAFE MODUS ACTIVE!\r\n RESET MANDATORY!\r\n");
Active_State = Safe;
}
else if (Knop4==false)
{
pc.printf("Re-entering Calibration State \r\n");
Active_State = Calibration;
ii=0;
}
else if (Knop3==false)
{
pc.printf("Re-entering Homing State \r\n");
Active_State = Homing_M1;
}
else if (!Knop1 && !Knop2)
{
pc.printf("Switched to Sleeping State\r\n");
Active_State = Starting;
iii = 40000;
}
break;
case Safe:
OFF_m1();
OFF_m2();
break;
default:
pc.printf("UNKNOWN COMMAND");
}
}
int main()
{
// Our main loop is as empty as possible and contains only statements that
// cannot be put elsewhere due to functioning reasons.
// Also the "while-loop" is completely empty, which improves the running
// speed of the system.
pc.baud(115200);
PwmPin1.period_us(30); //60 microseconds pwm period, 16.7 kHz
bqc1.add( &BqNotch1_1 ).add( &BqNotch2_1 ).add( &BqHP1 ); //Oh wat lelijk...
bqc2.add(&BqLP1);
bqc3.add( &BqNotch1_2 ).add( &BqNotch2_2 ).add( &BqHP2 );
bqc4.add(&BqLP2);
bqc5.add( &BqNotch1_3 ).add( &BqNotch2_3 ).add( &BqHP3 );
bqc6.add(&BqLP3);
bqc7.add( &BqNotch1_4 ).add( &BqNotch2_4 ).add( &BqHP4 );
bqc8.add(&BqLP4);
StateTicker.attach(&StateMachine, 0.002);
printTicker.attach(&Printing, 0.5);
while(true)
{
}
}