Thomas Burgers
/
ZZ-TheChenneRobot
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Dependencies: Encoder HIDScope MODSERIAL QEI biquadFilter mbed
Diff: main.cpp
- Revision:
- 47:c61873a0b646
- Parent:
- 46:9279c7a725bf
- Child:
- 48:950b1f34161b
--- a/main.cpp Wed Oct 14 21:00:20 2015 +0000
+++ b/main.cpp Wed Oct 14 21:26:02 2015 +0000
@@ -37,6 +37,69 @@
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////|
+// Groep 12: The Chenne Band //
+// ___________________________
+// // \\
+// || [Table of content] ||
+// \\___________________________//
+//
+// Introduction
+
+// Libraries.................................................
+// Flow and debugging tools .................................
+// LEDS.................................................
+// Buttons..............................................
+// Potmeter.............................................
+// Flow.................................................
+// HIDscope.............................................
+// EMG.......................................................
+// EMG variables........................................
+// EMG filter...........................................
+// motors.....................................................
+// motor turn...........................................
+// motor strike.........................................
+// d-action filter......................................
+// system constants...........................................
+// functions used.............................................
+// motor function.......................................
+// EMG functions........................................
+// action controller....................................
+
+// Main
+
+// Start of code..............................................
+// calibrate..................................................
+// starting position motor..............................
+// EMG calibration......................................
+// Attach Ticker..............................................
+// Start infinite loop........................................
+// Debug buttons........................................
+// Wait for go signal...................................
+// Limit position value and convert to degrees..........
+// Get current EMG values...............................
+// Action controller....................................
+// Strike.........................................
+// Turn left......................................
+// Turn right.....................................
+// PID controller.......................................
+// PID error -> pwm motor...............................
+// pwm -> plant.........................................
+// HIDscope.............................................
+// Deactivate if reached position.......................
+
+// Functions described
+
+// Motor Functions............................................
+// EMG functions..............................................
+// Action controller functions................................
+
+//
+//
+//
+//
+//
+
+
//============================================================================================================================
// ___________________________
// // \\
@@ -420,11 +483,11 @@
looptimerflag = false;
-// ___________________________
-// // \\
-// || [Calibrate position] ||
-// \\___________________________//
-// // Keep motor position between -4200 and 4200 counts
+// __________________________________________________
+// // \\
+// || [Limit position value and convert to degrees] ||
+// \\__________________________________________________//
+// // Keep motor position between -4200 and 4200 counts
if ((motor_turn.getPulses()>4200) || (motor_turn.getPulses()<-4200)) // If value is outside -4200 and 4200 (number of counts equal to one revolution) reset to zero
{
@@ -472,7 +535,7 @@
// pc.printf("moving_average_left = %f moving_average_right = %f \n\r", moving_average_left, moving_average_right);
//
//
-// // SLAG // (No LED -> 0.55s -> red on (turns on every time a new pwm is given) -> finish)
+// // STRIKE // (No LED -> 0.55s -> red on (turns on every time a new pwm is given) -> finish)
// if (moving_average_left > Threshold_Bicep_Left_1 && moving_average_right > Threshold_Bicep_Right_1)
// {
// TICKER OFF
@@ -510,7 +573,7 @@
// debug_led_blue=off;
// debug_led_green=on; // want het kan zijn dat bovenste script half wordt uitgevoerd en dan moet het slag mechanisme wel weer terug
//
-// // DRAAI LINKS // // (blue->blue off (very short/visible?)-> red<->blue<-> red -> klaar)
+// // TURN LEFT // // (blue->blue off (very short/visible?)-> red<->blue<-> red -> klaar)
// if (moving_average_left > Threshold_Bicep_Left_2 && moving_average_right < Threshold_Bicep_Right_1)
// {
// debug_led_green=off; // Executing action
@@ -545,7 +608,7 @@
// debug_led_green=on; // not executing an action
// TICKER AAN
//
-// // DRAAI RECHTS // (blue->blue uit (heel kort/zichtbaar?)-> red<->blue<-> red -> klaar)
+// // TURN RIGHT // (blue->blue uit (heel kort/zichtbaar?)-> red<->blue<-> red -> klaar)
// if (moving_average_right > Threshold_Bicep_Right_2 && moving_average_left < Threshold_Bicep_Right_1)
// {
// TICKER UIT
@@ -647,10 +710,10 @@
scope.set(2,pwm_to_motor_turn); // HIDSCOPE channel 2 : Pwm_to_motor_turn
scope.send(); // Send channel info to HIDSCOPE
-// ___________________________
-// // \\
-// || [Deactivate?] ||
-// \\___________________________//
+// __________________________________
+// // \\
+// || [Deactivate if reached position] ||
+// \\__________________________________//
// // Check whether the motor has reached reference position and can be shut down
if(fabs(error_turn)<2) // Shut down if error is smaller than two degrees
@@ -897,4 +960,9 @@
n++;
}
-//============================================================================================================================
\ No newline at end of file
+//============================================================================================================================
+// ___________________________
+// // \\
+// || [Action Controller] ||
+// \\___________________________//
+//
\ No newline at end of file
