File content as of revision 4:34ad002cb646:

#include "mbed.h"
#include "BiQuad.h"
#include "HIDScope.h"
#include <stdio.h>   
#include <math.h>      
#include "QEI.h"


Serial pc(USBTX,USBRX);
Timer timer; 
float Ts = 0.002;
int sensor_sensitivity = 32;
int gear_ratio = 131;
float full_ratio  = gear_ratio*sensor_sensitivity*4;

QEI Encoder1(D10,D11,NC,sensor_sensitivity); //First one is B, Second one is A
QEI Encoder2(D12,D13,NC,sensor_sensitivity); //
DigitalOut led_red(LED_RED);
int counts_m1 = 0;
int counts_m2 = 0;
int counts_m1_prev = 0;
int counts_m2_prev = 0;
float deg_m1 = 0;
float deg_m2 = 0;



DigitalOut motor1_direction(D4);// draairichting motor 1 (1 is CW encoder als je daar op kijkt en CW shaft als je daar op kijkt)
PwmOut motor1_speed_control(D5);//aanstuursnelheid motor 1
PwmOut motor2_speed_control(D6);//aanstuursnelheid motor 2
DigitalOut motor2_direction(D7);// draairichting motor 2 (1 is CW encoder als je daar op kijkt en CW shaft als je daar op kijkt)

float kp1 = 2;
    float kp2 = 2;
    float ki1 = 0.5;
    float ki2 = 0.5;
    float u1 = 0;
    float u2 = 0;
    
     float ref_q1 = 0;    
     float ref_q2 = 0;
    float L0 = 0.1;
    float L1 = 0.1;
    float L2 = 0.4;
    
    float ref_v1;
    float ref_v2;
    
enum States {failure, waiting, calib_motor, homing ,calib_emg, operational, demo};
enum Operations {rest, forward, backward, up, down};

States current_state = calib_motor;
Operations movement = rest;

float max1 = 0; //initial threshold value for emg signals, changes during calibration left arm
float max2 = 0; // right arm
float threshold1;
float threshold2;
float thresholdtime = 1.0; // time waiting before switching modes

Ticker      loop_timer;
Ticker      sample_timer;
Ticker      sample_timer2;
//HIDScope    scope(5);

AnalogIn raw_emg1_input(A0);//input for first emg signal 1, for the modes
AnalogIn raw_emg2_input(A1);//input for first emg signal 2, for the strength

volatile float emg1_input;
volatile float emg2_input;

volatile float raw_filteredsignal1;//the first filtered emg signal 1
volatile float raw_filteredsignal2;//the first filtered emg signal 2

volatile float filteredsignal1;//the first filtered emg signal 1
volatile float filteredsignal2;//the first filtered emg signal 2

bool state_changed = false;

void filterall()
{
    //Highpass Biquad 5 Hz 
static BiQuad HighPass1(0.95653708,  -1.91307417, 0.95653708, -1.91118480, 0.91496354);
float high1 = HighPass1.step(emg1_input);
static BiQuad HighPass2(0.95653708,  -1.91307417, 0.95653708, -1.91118480, 0.91496354);
float high2 = HighPass2.step(emg2_input);
    // Rectify the signal(absolute value)
float abs1 = fabs(high1);
float abs2 = fabs(high2);
    //Lowpass Biquad 10 Hz
static BiQuad LowPass1(0.00362164,  0.00724327, 0.00362164, -1.82267251, 0.83715906);
float low1 = LowPass1.step(abs1);
static BiQuad LowPass2(0.00362164,  0.00724327, 0.00362164, -1.82267251, 0.83715906);
float low2 = LowPass2.step(abs2);

raw_filteredsignal1 = low1;
raw_filteredsignal2 = low2;


}

void measureall(){ // changes all variables according in sync with the rest of the code
    
    emg1_input = raw_emg1_input.read();
    emg2_input = raw_emg2_input.read();
    
    filteredsignal1 = raw_filteredsignal1;
    filteredsignal2 = raw_filteredsignal2;
    
    //Reading of motor
            
    counts_m1 = Encoder1.getPulses() - counts_m1_prev;
    counts_m2 = Encoder1.getPulses() - counts_m2_prev;
    deg_m1 = deg_m1 + counts_m1*(360/(full_ratio));
    deg_m2 = deg_m2 + counts_m2*(360/(full_ratio));
    counts_m1_prev = Encoder1.getPulses();
    counts_m2_prev = Encoder2.getPulses();    
            
            
}

void scopedata()
{
    //scope.set(0,emg1_input); // 
    //scope.set(1,emg1_input); //    
    //scope.set(2,emg1_input); //
    //scope.set(3,emg1_input);//
    //scope.set(4,filteredsignal1);
    //scope.send(); // send info to HIDScope server
}


 //////////////////// MOVEMENT STATES
void do_forward(){
    
    //twist1, 0;
    //Vector2d twistf(0,0);
    //twistf << 1, 0;
    if (filteredsignal2 > threshold2){
        double abs_sig = (filteredsignal2 - (0.5*max2))/(0.5*max2);
        
        //twist = twistf * abs_sig;
        
        }
    
    
    if( timer.read() > thresholdtime && filteredsignal1 > threshold1)
        {
            movement = backward;
            timer.reset();
            }
    }

void do_backward(){
  
    
    
     if( timer.read() > thresholdtime && filteredsignal1 > threshold1)
        {
            movement = up;
            timer.reset();
            }
    }

void do_up(){
    
    //Code for moving up
    
     if( timer.read() > thresholdtime && filteredsignal1 > threshold1)
        {
            movement = down;
            timer.reset();
            }
    }
void do_down(){
    
    //Code for moving down
    
     if( timer.read() > thresholdtime && filteredsignal1 > threshold1)
        {
            movement = rest;
            timer.reset();
        
            }
    }
void do_wait(){
    
    if ( filteredsignal2 > threshold2) {// 
        current_state = waiting;
        state_changed = true;
    }              
        if( timer.read() > thresholdtime && filteredsignal1 > threshold1)
        {
            movement = forward;
            timer.reset();
            }
    }    
///////////END MOVEMENT STATES/////////////////////////
///////////ROBOT ARM STATES ///////////////////////////

void do_state_failure(){    
     
    }
   int count1 = 0;
   int count2 = 0;  
void do_state_calib_motor(){
    if (state_changed==true) {
        state_changed = false;        
    }
    
    
 
    
    int deriv1 = deg_m1 - count1;
    int deriv2 = deg_m2 - count2;
    count1 = deg_m1;
    count2 = deg_m2;
   
    if (  timer.read() > 3 && deriv1 < 0.5 && deriv2 < 0.5) {
        motor1_speed_control = 0;
        motor2_speed_control = 0;
        current_state = homing;
        timer.reset();
        state_changed = true;
        
        deg_m1 = -45;
        deg_m2 = -70;
    }
    }
    
void do_state_homing(){
     if (state_changed==true) {
        state_changed = false;        
    }
         
    float werror1 = deg_m1 - 0;
    float werror2 = deg_m2 - 0;
    
   
   float  wu1 = kp1*werror1 + (u1 + werror1*0.002)*ki1;
    float wu2 = kp2*werror1 + (u2 + werror1*0.002)*ki2;
    
    motor1_speed_control = fabs(wu1/200);
    if(wu1 > 0){
        motor1_direction = 0;}
    if(wu1< 0){
        motor1_direction = 1;}

    motor2_speed_control = fabs(wu2/200);
    
    if(wu2 > 0){
        motor2_direction = 0;}
    if(wu2< 0){
        motor2_direction = 1;}
        

    
    }
void do_state_calib_emg(){    
    if (state_changed==true) {
        state_changed = false;        
    }
    
    if(filteredsignal1 > max1){//calibrate to a new maximum
       max1 = filteredsignal1;
       threshold1 = 0.5*max1;
       }
    if(filteredsignal2 > max2){//calibrate to a new maximum
       max2 = filteredsignal2;
       threshold2 = 0.5 * max2;
       }
       
    if (timer.read() > 10 && filteredsignal1 > threshold1 && filteredsignal2 > threshold2) {
        current_state = operational;
        timer.reset();
        state_changed = true;
    }    
}

void do_state_operational(){
     if (state_changed==true) {
        state_changed = false;        
    }
    
    switch(movement) {// a separate function for what happens in each state
    case rest:
        do_wait();
        break;
    case forward:
        do_forward();
         
        break;
    case backward:
        do_backward();
        
        break;    
    case up:
        do_up();        
        break;
    case down:
        do_down();      
        break;    
    }
    if (movement == rest && filteredsignal2 > threshold2) {
        current_state = waiting;        
        state_changed = true;
    }       
    
}

void do_state_waiting(){
    if (state_changed==true) {
        state_changed = false;        
    }   
       
    if (filteredsignal1 > threshold1 && filteredsignal2 > threshold2) {
        current_state = operational;
        state_changed = true;
    } 
}
//////////////// END ROBOT ARM STATES //////////////////////////////
 
    
void motor_controller(){
    
    
   
    
    float jacobian[4];
    float inv_jacobian[4];
    
    jacobian[0] = L1;
    jacobian[1] = L2*sin(deg_m1)+L1;
    jacobian[2] = -L0;
    jacobian[3] = -L0 - L2*cos(deg_m1);
    
    float det = 1/(jacobian[0]*jacobian[3]-jacobian[1]*jacobian[2]);
    
    inv_jacobian[0] = det*jacobian[3];
    inv_jacobian[1] = -det*jacobian[1]; 
    inv_jacobian[2] = -det*jacobian[2];
    inv_jacobian[3] = det*jacobian[0];
    
    
    //ref_v1 = jacobian[0]*twist[0]+jacobian[1]*twist[1];
    //ref_v2 = jacobian[2]*twist[0]+jacobian[3]*twist[1];
       
    //jacobian << L1, L2*sin(q1)+L1,-L0,-L0 - L2*cos(q1);
        
    //inv_jacobian = jacobian.inverse();
    //Vector2d reference_vector = inv_jacobian*twist;
    //float ref_v1 = reference_vector(0);
    //float ref_v2 = reference_vector(1);
      
     
    //ref_q1 = ref_q1 + 0.002*ref_v1;
    //ref_q2 = ref_q2 + 0.002*ref_v2;
    
    //float error1 = deg_m1 - ref_q1;
    //float error2 = deg_m2 - ref_q2;
    
   
    //u1 = kp1*error1 + (u1 + error1*0.002)*ki1;
    //u2 = kp2*error1 + (u2 + error1*0.002)*ki2;
    
    }

void loop_function() { //Main loop function
    measureall();    
    switch(current_state) {
    case failure:
        do_state_failure(); // a separate function for what happens in each state
        break;
    case calib_motor:
        do_state_calib_motor();  
        break ;
    case homing:
        do_state_homing();
        break;    
    case calib_emg:
        do_state_calib_emg();
        break;
    case operational:
        do_state_operational();
    break;
    case waiting:
        do_state_waiting();
        break;  
}
motor_controller();
// Outputs data to the computer
}


int main()
{        
   // motor1_speed_control.period_us(60); //60 microseconds PWM period, 16.7 kHz
    
    motor1_direction = 1; //set motor 1 to run counterclockwise (positive) direction for calibration
    motor1_speed_control = 0.25;//to make sure the motor will not run at too high velocity
    motor2_direction = 0; // set motor 2 to run clockwise (negative) direction
    motor2_speed_control = 0.25; 
     
    led_red = 0;    
    timer.start();
    loop_timer.attach(&loop_function, Ts);    
    sample_timer.attach(&scopedata, Ts);    
    sample_timer2.attach(&filterall, Ts);

    while (true) { 
               
    }
}