Thom Kuenen
Project of Biorobotics
Dependencies: HIDScope MODSERIAL QEI mbed biquadFilter
Fork of
TutorialPES
by 
Jurriën Bos
Diff: main.cpp
- Revision:
- 10:05ad15c48388
- Parent:
- 9:355dd95199c3
- Child:
- 11:d525527c0b7d
diff -r 355dd95199c3 -r 05ad15c48388 main.cpp
--- a/main.cpp Tue Oct 30 13:57:00 2018 +0000
+++ b/main.cpp Wed Oct 31 22:52:09 2018 +0000
@@ -2,6 +2,7 @@
#include "MODSERIAL.h"
#include "HIDScope.h"
#include "QEI.h"
+#include "BiQuad.h"
MODSERIAL pc(USBTX, USBRX);
DigitalOut DirectionPin1(D4);
@@ -25,19 +26,66 @@
QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING);
QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING);
+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);
+
Ticker StateTicker;
Ticker printTicker;
HIDScope scope( 4 );
-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 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;
+
+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 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;
volatile float referenceVelocity1 = 0.5; // dit is de gecentreerde waarde en dus de nulstand
volatile float referenceVelocity2 = 0.5;
@@ -46,11 +94,19 @@
volatile int ii = 0; // Calibratie timer
volatile int iii = 0; // Start up timer
+volatile float Kp = 17.5;
+volatile float Ki = 1.02;
+volatile float Kd = 23.2;
+volatile float Ts = 0.01; // Sample time in seconds
+volatile float error_1;
+volatile float error_2;
+volatile float U_1;
+volatile float U_2;
+
volatile float q_1;
volatile float q_2;
volatile float r_1;
volatile float r_2;
-volatile const float r_3 = 0.035;
volatile float w_1;
volatile float w_2;
@@ -58,19 +114,20 @@
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;
-enum states{Starting, Calibration, Homing, Function};
+enum states{Starting, Calibration, Homing_M1, Homing_M2, Post_Homing, Function, Safe};
volatile states Active_State = Starting;
volatile float vx;
volatile float vy;
-volatile int counts1 ;
-volatile int counts2 ;
+volatile int counts1;
+volatile int counts2;
volatile float rad_m1;
volatile float rad_m2;
@@ -84,43 +141,66 @@
rad_m2 = rad_count * (float)counts2;
}
+void Filter()
+{
+ 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()
{
if(i==1)
{
+ led_G=led_B=1;
static int rr = 0;
rr++;
if (rr == 1)
{
led_R = !led_R;
}
- else if (rr == 100)
+ 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 == 100)
+ 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 == 100)
+ else if (bb == 500)
{
bb = 0;
}
@@ -142,18 +222,18 @@
void sample()
{
- scope.set(0, emg0.read() );
- scope.set(1, emg1.read() );
- scope.set(2, emg2.read() );
- scope.set(3, emg3.read() );
+ 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 Inverse()
{
- q_1= rad_m1; // uit Encoder
- q_2= rad_m2+(pi/2.0f); // uit Encoder
+ q_1= rad_m1+(pi/6.0f); // uit Encoder
+ q_2= rad_m2+(pi/6.0f); // uit Encoder
r_1= -0.2f;
r_2= -0.2f;
@@ -162,27 +242,60 @@
float y = r_2*cos(q_1)*cos(q_2)-r_2*sin(q_1)*sin(q_2)+2.0f*(r_1*cos(q_1))-r_3;
float x = (-2.0f)*r_2*sin(q_1)*cos(q_2);
float D = 1.0f/(u*z-x*y); // Determinant
- printf("Determinant is %f\r\n", D);
+ //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 vx = pot1.read();//0.01f; // uit emg data
- float vy = pot2.read();//0.0f; // uit emg data
+ vx = pot1.read()/5.0f; // uit emg data
+ vy = pot2.read()/5.0f; // uit emg data
w_1 = vx*a+vy*b;
w_2 = vx*c+vy*d;
/*
- printf("%f\r\n", w_1);
- printf("%f\r\n", w_2);
- */
+ printf("%f\r\n", vx);
+ printf("%f\r\n", vy);
+ */
}
-/*
+
+void PID_controller()
+{
+ error_1 = (w_1*0.002f) - rad_m1;
+ error_2 = (w_2*0.002f) - rad_m2;
+
+ error_1_prev = error_1;
+ error_2_prev = error_2;
+
+ // Proportional part:
+ float u_k_1 = Kp * error_1;
+ float 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;
+ float u_i_1 = Ki * error_1_integral;
+ float 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);
+ float u_d_1 = Kd * filtered_error_1_derivative;
+ float u_d_2 = Kd * filtered_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 velocity1()
- {
+{
if (pot1.read()>0.5f)
{
// Clockwise rotation
@@ -199,10 +312,10 @@
// Counterclockwise rotation
referenceVelocity1 = 2.0f * (pot1.read()-0.5f) ;
}
- }
+}
void velocity2()
- {
+{
if (pot2.read()>0.5f)
{
// Clockwise rotation
@@ -219,23 +332,23 @@
// Counterclockwise rotation
referenceVelocity2 = 2.0f * (pot2.read()-0.5f) ;
}
- }
-*/
+}
+
void motor1()
- {
- float u_v1 = w_1; //referenceVelocity1
- float u = u_v1/ (2.0f * pi);
+{
+ float u_v1 = referenceVelocity1 ; //w_1
+ float u = u_v1;// (2.0f * pi);
DirectionPin1 = u < 0.0f;
PwmPin1 = fabs(u);
- }
+}
void motor2()
- {
- float u_v2 = w_2; //referenceVelocity2
- float u = u_v2/ (2.0f * pi);
+{
+ float u_v2 = referenceVelocity2 ; //w_2
+ float u = u_v2;// (2.0f * pi);
DirectionPin2 = u > 0.0f;
PwmPin2 = fabs(u);
- }
+}
void Calibrating()
{
@@ -252,78 +365,93 @@
if (ii == 0)
{
pc.printf("Relax your muscles please. \r\n");
+ i = 2;
}
else if (ii == 2250)
{
pc.printf("Flex your right bicep now please.\r\n");
+ i = 3;
}
- //chillen
+ //chillen
}
else if (ii>2500 && ii<5000) //
{
- n = n + emg0.read();// dit wordt de variable naam na het filter
+ 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 == 5750)
{
pc.printf("Flex your left bicep now please. \r\n");
+ i = 3;
}
//chillen
}
else if(ii>6000 && ii<8500)
{
- m = m + emg1.read();
+ 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 == 9250)
{
pc.printf("Flex your right tricep now please. \r\n");
+ i = 3;
}
//chillen
}
else if (ii>9500 && ii<12000)
{
- l = l + emg2.read();
+ 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 == 12750)
{
pc.printf("Flex your left tricep now please. \r\n");
+ i = 3;
}
//chillen
}
else if (ii>13000 && ii<15500)
{
- k = k + emg3.read();
+ 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;
}
+
+Threshold_Value = 0.8f;
-Threshold_Bi_R = 0.75f * Flex_Bi_R;
-Threshold_Bi_L = 0.75f * Flex_Bi_L;
-Threshold_Tri_R = 0.75f * Flex_Tri_R;
-Threshold_Tri_L = 0.75f * Flex_Tri_L;
+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)
{
@@ -332,17 +460,20 @@
else if (ii == 20000)
{
pc.printf("\r\nAutomatic switch to Homing State\r\n");
- Active_State = Homing;
+ Active_State = Homing_M1;
+ i = 0;
}
}
+
+
void Start_Up()
{
i++;
iii++;
if (iii == 1)
{
- pc.printf("System is starting...\r\nWaiting for further input...\r\n");
+ pc.printf("\r\n\r\nSystem is starting...\r\nWaiting for further input...\r\n");
}
else if (iii == 30000)
@@ -361,49 +492,48 @@
}
}
-void OFF()
+void OFF_m1()
{
- PwmPin1 = PwmPin2 = 0;
+ PwmPin1 = 0;
+}
+void OFF_m2()
+{
+ PwmPin2 = 0;
}
-void Going_Home()
+void Going_Home_Motor1()
{
- //Here we will reset the position of the arm back to the home state
-
- if (counts1 == 0) // this 0 is a filler value and can later be determined to the angle of the
- { // 0-state of the arm
- PwmPin1=0.0f;
+ if (counts1 == 0)
+ {
+ Active_State = Homing_M2;
}
else if (counts1 > 0)
- {
- DirectionPin1 = true; //uitzoeken of dit klopt, is afhankelijk welke richting opgedraaid moet worden..
- PwmPin1 = 0.6f;
- }
- else if (counts1 < 0)
- {
+ {
+ PwmPin1 = 0.8f;
DirectionPin1 = false;
- PwmPin1 = 0.6f;
}
-
- if (counts2 == 0) //Homing for M1 naar begin staat
+ else
{
- PwmPin2=0.0f;
+ PwmPin1 = 0.8f;
+ DirectionPin1 = true;
+ }
+}
+
+void Going_Home_Motor2()
+{
+ if (counts2 == 0)
+ {
+ Active_State = Post_Homing;
}
else if (counts2 > 0)
{
- DirectionPin2 = true; //uitzoeken of dit klopt, is afhankelijk welke richting opgedraaid moet worden..
- PwmPin2 = 0.6f;
+ PwmPin2 = 0.8f;
+ DirectionPin2 = true;
}
- else if (counts2 < 0)
+ else
{
+ PwmPin2 = 0.8f;
DirectionPin2 = false;
- PwmPin2 = 0.6f;
- }
-
- if (counts1 == 0 && counts2 == 0)
- {
- pc.printf("Homing is completed\r\nAutomatic switch to the Functioning State\r\n");
- Active_State = Function;
}
}
@@ -412,12 +542,98 @@
float v1 = PwmPin1 * maxVelocity;
float v2 = PwmPin2 * maxVelocity;
- if (Active_State == Function)
+ if (Active_State == Function || Active_State == Homing_M1)
{
- pc.printf("q1 = %f [rad] \r\nq2 = %f [rad] \r\nq1dot = %f [rad/s] \r\nq2dot = %f [rad/s] \r\n\r\n\r\n\r\n\r\n", rad_m1, rad_m2, v1, v2);
+ 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\r\n\r\n\r\n", rad_m1, rad_m2,counts1, counts2, v1, v2);
}
-
- pc.printf("%f %f",vx, vy);
+}
+
+void Test()
+{/*
+ if (fabs(rad_m1) == 0.01f)
+ {
+ PwmPin1 = 0.0f;
+ }
+ else if (rad_m1 < 0.01f)
+ {
+ DirectionPin1 = true;
+ PwmPin1=0.5f;
+ }
+ else if (rad_m1 > -0.01f)
+ {
+ DirectionPin1 = false;
+ PwmPin1=0.5f;
+ }
+ if (fabs(rad_m2) == 0.01f)
+ {
+ PwmPin2 = 0.0f;
+ }
+ else if (rad_m2 < 0.01f)
+ {
+ DirectionPin2 = false;
+ }*/
+
+
+
+ if (counts1 == 0)
+ {
+ PwmPin1 = 0.0f;
+ }
+ else if (counts1 > 0)
+ {
+ DirectionPin1 = true;
+ PwmPin1 = 0.4f * ((float)counts1/1000.0f);
+ }
+ else if (counts1 < 0)
+ {
+ DirectionPin1 = false;
+ PwmPin1 = 0.4f * ((float)counts1/1000.0f);
+ }
+
+ if (counts2 == 0)
+ {
+ PwmPin2 = 0.0f;
+ }
+ if (counts2 < 0)
+ {
+ DirectionPin2 = false;
+ PwmPin2 = 0.4f * ((float)counts2/1000.0f);
+ }
+ else if (counts2 > 0)
+ {
+ DirectionPin2 = true;
+ PwmPin2 = 0.4f * ((float)counts2/1000.0f);
+ }
+
+}
+
+void EMG_test()
+{
+ led_G=led_R=led_B=1;
+ /*
+ Threshold_Bi_R = 0.75f * Flex_Bi_R;
+Threshold_Bi_L = 0.75f * Flex_Bi_L;
+Threshold_Tri_R = 0.75f * Flex_Tri_R;
+Threshold_Tri_L = 0.75f * Flex_Tri_L;
+ */
+ if (Filtered_Bi_R >= Threshold_Bi_R)
+ {
+ led_R = 0;
+ }
+ if (Filtered_Bi_L >= Threshold_Bi_L)
+ {
+ led_B = 0;
+ }
+ if (Filtered_Tri_R >= Threshold_Tri_R)
+ {
+ led_G = 0;
+ }
+ if (Filtered_Tri_L >= Threshold_Tri_L)
+ {
+ led_B = 0;
+ led_R = 0;
+ }
+
}
void StateMachine()
@@ -425,9 +641,7 @@
switch (Active_State)
{
case Starting:
- OFF();
Start_Up();
- BlinkLed();
if (!Knop4 == true)
{
@@ -436,9 +650,14 @@
}
else if (!Knop3 == true)
{
- Active_State = Homing;
+ Active_State = Homing_M1;
pc.printf("Entering Homing State \r\n");
}
+ else if (fabs(rad_m1)>(3.0f *pi) || fabs(rad_m2)>(3.0f *pi)) // pi/4 is a safe value, can/will be editted
+ {
+ pc.printf("SAFE MODUS ACTIVE!\r\n RESET MANDATORY!\r\n");
+ Active_State = Safe;
+ }
break;
@@ -446,8 +665,11 @@
//calibration actions
//pc.printf("Calibration State");
+ Filter();
Calibrating();
- OFF();
+ OFF_m1();
+ OFF_m2();
+ BlinkLed();
if (!Knop1 && !Knop2)
{
@@ -458,20 +680,21 @@
else if (Knop1==false)
{
pc.printf("Manual switch to Homing state \r\n");
- Active_State = Homing;
+ Active_State = Homing_M1;
}
-
+ Inverse();
sample();
EMG_Read();
Encoding();
break;
- case Homing:
+ case Homing_M1:
//Homing actions
//pc.printf("Homing State");
- Going_Home();
+ Going_Home_Motor1();
+ OFF_m2();
if (!Knop1 && !Knop2)
{
@@ -484,18 +707,61 @@
pc.printf("Manual switch to Funtioning State \r\n");
Active_State = Function;
}
- else if (Knop3==false)
+ else if (Knop4==false)
{
Active_State = Calibration;
pc.printf("Re-entering Calibration State \r\n");
}
+ else if (fabs(rad_m1)>(3.0f *pi) || fabs(rad_m2)>(3.0f *pi)) // 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 (counts1 == 0)
+ {
+ Active_State = Homing_M2;
+ }
-
+ Inverse();
sample();
EMG_Read();
Encoding();
break;
+ case Homing_M2:
+
+ Going_Home_Motor2();
+ OFF_m1();
+
+ if (counts2 == 0 && counts1 == 0)
+ {
+ Active_State = Post_Homing;
+ }
+ else if (counts2 == 0 && counts1 == !0);
+ {
+ // dit zou niet moeten kunnen maar er gebeuren wel meer rare dingen
+ Active_State = Homing_M1;
+ }
+
+ Inverse();
+ sample();
+ EMG_Read();
+ Encoding();
+
+ 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
+ }
+ break;
+
case Function:
//pc.printf("Funtioning State");
@@ -508,7 +774,7 @@
else if (Knop3==false)
{
pc.printf("Re-entering Homing State \r\n");
- Active_State = Homing;
+ Active_State = Homing_M1;
}
else if (!Knop1 && !Knop2)
{
@@ -516,15 +782,29 @@
Active_State = Starting;
iii = 40000;
}
-
+ else if (fabs(rad_m1)>(3.0f *pi) || fabs(rad_m2)>(3.0f *pi)) // pi/4 is a safe value, can/will be editted
+ {
+ pc.printf("SAFE MODUS ACTIVE!\r\n RESET MANDATORY!\r\n");
+ Active_State = Safe;
+ }
+
+ EMG_test();
+ Filter();
+ Inverse();
sample();
EMG_Read();
Encoding();
- //velocity1();
- //velocity2();
+ velocity1();
+ velocity2();
motor1();
- motor2();
+ motor2();
+ PID_controller();
break;
+
+ case Safe:
+ OFF_m1();
+ OFF_m2();
+ break;
default:
pc.printf("UNKNOWN COMMAND");
@@ -536,9 +816,18 @@
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, 4.0);
+ printTicker.attach(&Printing, 2);
while(true)
{