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Project of Biorobotics
Dependencies: HIDScope MODSERIAL QEI mbed biquadFilter
Fork of TutorialPES by
main.cpp@3:c8f0fc045505, 2018-10-22 (annotated)
- Committer:
- ThomBMT
- Date:
- Mon Oct 22 14:51:46 2018 +0000
- Revision:
- 3:c8f0fc045505
- Parent:
- 2:dc9766657afb
- Child:
- 4:8f67b8327300
De encoders werken nog niet en ik snap niet waarom;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JurrienBos | 0:4591ba678a39 | 1 | #include "mbed.h" |
JurrienBos | 0:4591ba678a39 | 2 | #include "MODSERIAL.h" |
ThomBMT | 2:dc9766657afb | 3 | #include "HIDScope.h" |
ThomBMT | 2:dc9766657afb | 4 | #include "QEI.h" |
ThomBMT | 2:dc9766657afb | 5 | |
JurrienBos | 0:4591ba678a39 | 6 | MODSERIAL pc(USBTX, USBRX); |
JurrienBos | 0:4591ba678a39 | 7 | DigitalOut DirectionPin1(D4); |
JurrienBos | 1:4bf64d003f3a | 8 | DigitalOut DirectionPin2(D7); |
JurrienBos | 0:4591ba678a39 | 9 | PwmOut PwmPin1(D5); |
JurrienBos | 1:4bf64d003f3a | 10 | PwmOut PwmPin2(D6); |
JurrienBos | 0:4591ba678a39 | 11 | DigitalIn Knop1(D2); |
JurrienBos | 0:4591ba678a39 | 12 | AnalogIn pot1 (A5); |
JurrienBos | 1:4bf64d003f3a | 13 | AnalogIn pot2 (A4); |
ThomBMT | 2:dc9766657afb | 14 | AnalogIn emg0( A0 ); |
ThomBMT | 2:dc9766657afb | 15 | AnalogIn emg1( A1 ); |
ThomBMT | 2:dc9766657afb | 16 | AnalogIn emg2( A2 ); |
ThomBMT | 2:dc9766657afb | 17 | AnalogIn emg3( A3 ); |
JurrienBos | 0:4591ba678a39 | 18 | |
ThomBMT | 3:c8f0fc045505 | 19 | DigitalIn a1( D10); |
ThomBMT | 3:c8f0fc045505 | 20 | DigitalIn b1( D11); |
ThomBMT | 3:c8f0fc045505 | 21 | DigitalIn a2( D12); |
ThomBMT | 3:c8f0fc045505 | 22 | DigitalIn b2( D13); |
ThomBMT | 3:c8f0fc045505 | 23 | |
ThomBMT | 3:c8f0fc045505 | 24 | |
ThomBMT | 3:c8f0fc045505 | 25 | Ticker EncodingTicker; |
ThomBMT | 2:dc9766657afb | 26 | Ticker printTicker; |
ThomBMT | 2:dc9766657afb | 27 | Ticker mycontrollerTicker1; |
ThomBMT | 2:dc9766657afb | 28 | Ticker mycontrollerTicker2; |
ThomBMT | 2:dc9766657afb | 29 | Ticker Velo1; |
ThomBMT | 2:dc9766657afb | 30 | Ticker Velo2; |
ThomBMT | 2:dc9766657afb | 31 | Ticker EMG_Read_Ticker; |
ThomBMT | 2:dc9766657afb | 32 | Ticker sample_timer; |
ThomBMT | 2:dc9766657afb | 33 | HIDScope scope( 4 ); |
JurrienBos | 0:4591ba678a39 | 34 | |
ThomBMT | 3:c8f0fc045505 | 35 | volatile float Bicep_Right = 0.0; |
ThomBMT | 3:c8f0fc045505 | 36 | volatile float Bicep_Left = 0.0; |
ThomBMT | 3:c8f0fc045505 | 37 | volatile float Tricep_Right = 0.0; |
ThomBMT | 3:c8f0fc045505 | 38 | volatile float Tricep_Left = 0.0; |
ThomBMT | 3:c8f0fc045505 | 39 | volatile const float maxVelocity = 8.4; // in rad/s |
ThomBMT | 3:c8f0fc045505 | 40 | volatile float referenceVelocity1 = 0.5; //dit is de gecentreerde waarde en dus de nulstand |
ThomBMT | 3:c8f0fc045505 | 41 | volatile float referenceVelocity2 = 0.5; |
ThomBMT | 2:dc9766657afb | 42 | |
ThomBMT | 2:dc9766657afb | 43 | volatile int counts1; |
ThomBMT | 2:dc9766657afb | 44 | volatile int counts2; |
ThomBMT | 3:c8f0fc045505 | 45 | |
ThomBMT | 3:c8f0fc045505 | 46 | void Encoding() |
ThomBMT | 3:c8f0fc045505 | 47 | { |
ThomBMT | 3:c8f0fc045505 | 48 | |
ThomBMT | 3:c8f0fc045505 | 49 | QEI Encoder1(D12,D13,NC,32); |
ThomBMT | 3:c8f0fc045505 | 50 | QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING); |
ThomBMT | 3:c8f0fc045505 | 51 | counts1 = Encoder1.getPulses(); |
ThomBMT | 3:c8f0fc045505 | 52 | counts2 = Encoder2.getPulses(); |
ThomBMT | 3:c8f0fc045505 | 53 | |
ThomBMT | 3:c8f0fc045505 | 54 | } |
ThomBMT | 2:dc9766657afb | 55 | |
ThomBMT | 2:dc9766657afb | 56 | void EMG_Read() |
ThomBMT | 2:dc9766657afb | 57 | { |
ThomBMT | 3:c8f0fc045505 | 58 | Bicep_Right = emg0.read(); |
ThomBMT | 3:c8f0fc045505 | 59 | Bicep_Left = emg1.read(); |
ThomBMT | 3:c8f0fc045505 | 60 | Tricep_Right = emg2.read(); |
ThomBMT | 3:c8f0fc045505 | 61 | Tricep_Left = emg3.read(); |
ThomBMT | 2:dc9766657afb | 62 | } |
ThomBMT | 2:dc9766657afb | 63 | |
ThomBMT | 2:dc9766657afb | 64 | void sample() |
ThomBMT | 2:dc9766657afb | 65 | { |
ThomBMT | 2:dc9766657afb | 66 | |
ThomBMT | 2:dc9766657afb | 67 | scope.set(0, emg0.read() ); |
ThomBMT | 2:dc9766657afb | 68 | scope.set(1, emg1.read() ); |
ThomBMT | 2:dc9766657afb | 69 | scope.set(2, emg2.read() ); |
ThomBMT | 2:dc9766657afb | 70 | scope.set(3, emg3.read() ); |
ThomBMT | 2:dc9766657afb | 71 | |
ThomBMT | 2:dc9766657afb | 72 | scope.send(); |
ThomBMT | 2:dc9766657afb | 73 | } |
ThomBMT | 2:dc9766657afb | 74 | |
JurrienBos | 1:4bf64d003f3a | 75 | |
JurrienBos | 1:4bf64d003f3a | 76 | void velocity1() |
JurrienBos | 0:4591ba678a39 | 77 | { |
ThomBMT | 3:c8f0fc045505 | 78 | if (pot1.read()>0.5f) |
JurrienBos | 0:4591ba678a39 | 79 | { |
JurrienBos | 0:4591ba678a39 | 80 | // Clockwise rotation |
JurrienBos | 1:4bf64d003f3a | 81 | referenceVelocity1 = (pot1.read()-0.5f) * 2.0f; |
JurrienBos | 0:4591ba678a39 | 82 | } |
JurrienBos | 0:4591ba678a39 | 83 | |
JurrienBos | 1:4bf64d003f3a | 84 | else if (pot1.read() == 0.5f || !Knop1 == (pot1.read()<0.5f)) |
JurrienBos | 0:4591ba678a39 | 85 | { |
JurrienBos | 1:4bf64d003f3a | 86 | referenceVelocity1 = pot1.read() * 0.0f; |
JurrienBos | 0:4591ba678a39 | 87 | } |
JurrienBos | 0:4591ba678a39 | 88 | |
JurrienBos | 0:4591ba678a39 | 89 | else if (pot1.read() < 0.5f) |
JurrienBos | 0:4591ba678a39 | 90 | { |
JurrienBos | 0:4591ba678a39 | 91 | // Counterclockwise rotation |
JurrienBos | 1:4bf64d003f3a | 92 | referenceVelocity1 = 2.0f * (pot1.read()-0.5f) ; |
JurrienBos | 0:4591ba678a39 | 93 | } |
JurrienBos | 0:4591ba678a39 | 94 | } |
JurrienBos | 0:4591ba678a39 | 95 | |
JurrienBos | 1:4bf64d003f3a | 96 | void velocity2() |
JurrienBos | 1:4bf64d003f3a | 97 | { |
JurrienBos | 1:4bf64d003f3a | 98 | if (pot2.read()>0.5f) |
JurrienBos | 1:4bf64d003f3a | 99 | { |
JurrienBos | 1:4bf64d003f3a | 100 | // Clockwise rotation |
JurrienBos | 1:4bf64d003f3a | 101 | referenceVelocity2 = (pot2.read()-0.5f) * 2.0f; |
JurrienBos | 1:4bf64d003f3a | 102 | } |
JurrienBos | 1:4bf64d003f3a | 103 | |
JurrienBos | 1:4bf64d003f3a | 104 | else if (pot2.read() == 0.5f) |
JurrienBos | 1:4bf64d003f3a | 105 | { |
JurrienBos | 1:4bf64d003f3a | 106 | referenceVelocity2 = pot2.read() * 0.0f; |
JurrienBos | 1:4bf64d003f3a | 107 | } |
JurrienBos | 1:4bf64d003f3a | 108 | |
JurrienBos | 1:4bf64d003f3a | 109 | else if (pot2.read() < 0.5f) |
JurrienBos | 1:4bf64d003f3a | 110 | { |
JurrienBos | 1:4bf64d003f3a | 111 | // Counterclockwise rotation |
JurrienBos | 1:4bf64d003f3a | 112 | referenceVelocity2 = 2.0f * (pot2.read()-0.5f) ; |
JurrienBos | 1:4bf64d003f3a | 113 | } |
JurrienBos | 1:4bf64d003f3a | 114 | } |
JurrienBos | 1:4bf64d003f3a | 115 | |
JurrienBos | 1:4bf64d003f3a | 116 | void motor1() |
JurrienBos | 0:4591ba678a39 | 117 | { |
JurrienBos | 1:4bf64d003f3a | 118 | float u = referenceVelocity1; |
JurrienBos | 0:4591ba678a39 | 119 | DirectionPin1 = u < 0.0f; |
JurrienBos | 0:4591ba678a39 | 120 | PwmPin1 = fabs(u); |
JurrienBos | 0:4591ba678a39 | 121 | } |
JurrienBos | 0:4591ba678a39 | 122 | |
JurrienBos | 1:4bf64d003f3a | 123 | void motor2() |
JurrienBos | 1:4bf64d003f3a | 124 | { |
JurrienBos | 1:4bf64d003f3a | 125 | float u = referenceVelocity2; |
JurrienBos | 1:4bf64d003f3a | 126 | DirectionPin2 = u > 0.0f; |
JurrienBos | 1:4bf64d003f3a | 127 | PwmPin2 = fabs(u); |
JurrienBos | 1:4bf64d003f3a | 128 | } |
JurrienBos | 0:4591ba678a39 | 129 | |
ThomBMT | 2:dc9766657afb | 130 | void Printing() |
ThomBMT | 2:dc9766657afb | 131 | { |
ThomBMT | 2:dc9766657afb | 132 | float v1 = fabs(referenceVelocity1) * maxVelocity; |
ThomBMT | 2:dc9766657afb | 133 | float v2 = fabs(referenceVelocity2) * maxVelocity; |
ThomBMT | 2:dc9766657afb | 134 | |
ThomBMT | 2:dc9766657afb | 135 | //eventueel nog counts -> rad/s |
ThomBMT | 2:dc9766657afb | 136 | |
ThomBMT | 2:dc9766657afb | 137 | //pc.printf("%f \n %f snelheid Motor1 \n %f snelheid Motor2 \n", Bicep_Right,v1,v2); |
ThomBMT | 3:c8f0fc045505 | 138 | pc.printf("%f ", counts1); |
ThomBMT | 2:dc9766657afb | 139 | |
ThomBMT | 2:dc9766657afb | 140 | |
ThomBMT | 2:dc9766657afb | 141 | } |
ThomBMT | 2:dc9766657afb | 142 | |
JurrienBos | 0:4591ba678a39 | 143 | int main() |
JurrienBos | 0:4591ba678a39 | 144 | { |
JurrienBos | 0:4591ba678a39 | 145 | pc.baud(115200); |
ThomBMT | 3:c8f0fc045505 | 146 | PwmPin1.period_us(40); //60 microseconds pwm period, 16.7 kHz |
ThomBMT | 2:dc9766657afb | 147 | |
ThomBMT | 3:c8f0fc045505 | 148 | EncodingTicker.attach(&Encoding, 0.002); |
ThomBMT | 2:dc9766657afb | 149 | |
ThomBMT | 2:dc9766657afb | 150 | sample_timer.attach(&sample, 0.002); |
ThomBMT | 2:dc9766657afb | 151 | EMG_Read_Ticker.attach(&EMG_Read, 0.002); |
ThomBMT | 2:dc9766657afb | 152 | |
JurrienBos | 1:4bf64d003f3a | 153 | mycontrollerTicker1.attach(motor1, 0.002);//500Hz |
JurrienBos | 1:4bf64d003f3a | 154 | Velo1.attach(velocity1, 0.002); |
JurrienBos | 1:4bf64d003f3a | 155 | mycontrollerTicker2.attach(motor2, 0.002); |
JurrienBos | 1:4bf64d003f3a | 156 | Velo2.attach(velocity2, 0.002); |
JurrienBos | 1:4bf64d003f3a | 157 | |
ThomBMT | 2:dc9766657afb | 158 | printTicker.attach(&Printing, 2.0); |
ThomBMT | 2:dc9766657afb | 159 | |
JurrienBos | 0:4591ba678a39 | 160 | while(true) |
JurrienBos | 0:4591ba678a39 | 161 | { |
JurrienBos | 0:4591ba678a39 | 162 | } |
JurrienBos | 1:4bf64d003f3a | 163 | } |