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Dependencies: HIDScope MODSERIAL QEI mbed
Fork of Burgerboy3000code by
main.cpp
- Committer:
- Frostworks
- Date:
- 2016-11-07
- Revision:
- 31:21a112643dc9
- Parent:
- 30:492595db0fc3
- Child:
- 32:952f3f30a0cd
File content as of revision 31:21a112643dc9:
#include "mbed.h" #include "HIDScope.h" #include "MODSERIAL.h" #include "QEI.h" DigitalOut led_g(LED_GREEN); DigitalOut led_b(LED_BLUE); DigitalOut led_r(LED_RED); DigitalOut M1_Rotate(D2); // voltage only base rotation PwmOut M1_Speed(D3); // voltage only base rotation MODSERIAL pc(USBTX, USBRX); //QEI wheel(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding=X2_ENCODING) QEI motor2(D10,D11,NC,8400,QEI::X4_ENCODING); QEI motor3(D12,D13,NC,8400,QEI::X4_ENCODING); DigitalOut M2_Rotate(D4); // encoder side pot 2 translation PwmOut M2_Speed(D5); // encoder side pot 2 translation DigitalOut M3_Rotate(D7); // encoder side pot 1 spatel rotation PwmOut M3_Speed(D6); // encoder side pot 1 spatel rotation bool links; bool rechts; AnalogIn pot1(A4); // pot 1 motor 1 AnalogIn pot2(A3); // pot 2 motor 3 //Define objects HIDScope scope( 2 ); AnalogIn emg0( A0 ); AnalogIn emg1( A1 ); DigitalIn buttonCalibrate(SW3); DigitalIn buttonCalibrateComplete(SW2); bool draairechts; bool draailinks; bool turn = 0; float waiter = 0.12; float translation = 0; float degrees3 = 0; float Puls_degree = (8400/360); float wheel1 = 16; float wheel2 = 31; float wheel3 = 41; float overbrenging = ((wheel2/wheel1)*(wheel3/wheel1)); float pi = 3.14159265359; volatile float x; volatile float x_prev =0; volatile float b; // filtered 'output' of ReadAnalogInAndFilter bool calibrate = false; bool calibrate_complete = false; double threshold_Left = 0; double threshold_Right= 0; Ticker sample_timer; Ticker printinfo; Ticker checkSetpointTranslation; Ticker checkSetpointRotation; DigitalOut led(LED1); const double a1 = -1.6475; const double a2 = 0.7009; const double b0 = 0.8371; const double b1 = -1.6742; const double b2 = 0.8371; const double c1 = -1.9645; const double c2 = 0.9651; const double d0 = 0.0001551; const double d1 = 0.0003103; const double d2 = 0.0001551; double v1_HR = 0; double v2_HR = 0; double v1_LR = 0; double v2_LR = 0; double v1_HL = 0; double v2_HL = 0; double v1_LL = 0; double v2_LL = 0; double highpassFilterLeft = 0; double lowpassFilterLeft = 0; double highpassFilterRight = 0; double lowpassFilterRight = 0; //setpoints volatile float setpointRotation; volatile float setpointTranslation; const double Setpoint_Translation = -200; const double Setpoint_Back = 0; const double Setpoint_Rotation = pi; double M3_ControlSpeed = 0; double M2_ControlSpeed = 0; double SetpointError_Translation = 0; double SetpointError_Rotation = 0; double theta_translation; double theta_rotation; //gemiddelde int counter = 0; double Setpoint1 = 0; double Setpoint2 = 0; double Setpoint3 = 0; double Setpoint4 = 0; double Setpoint5 = 0; double SetpointAvg = 0; //booleans for control bool booltranslate = false; bool boolrotate = false; //copied from slides //Arm PID const double Ts = 0.001953125; //Ts=1/fs (sample frequency) const double Translation_Kp = 6.9, Translation_Ki = 0.8, Translation_Kd = 0.4; double Translation_error = 0; double Translation_e_prev = 0; //Spatel PID const double Rotation_Kp = 0.23, Rotation_Ki = 0.0429 , Rotation_Kd = 2; //const double Rotation_Kp = 0.3, Rotation_Ki = 0.0429 , Rotation_Kd = 2; is best //const double Rotation_Kp = 0.10, Rotation_Ki = 0.0429 , Rotation_Kd = 2; //const double Rotation_Kp = 0.05, Rotation_Ki = 0.0429 , Rotation_Kd = 0.4; double Rotation_error = 0; double Rotation_e_prev = 0; double pid_control(double error, const double kp, const double ki, const double kd, double &e_int, double &e_prev) { double e_der = (error - e_prev) / Ts; e_prev = error; e_int = e_int + (Ts * error); return kp*error + ki + e_int + kd + e_der; } double biquad(double u, double&v1, double&v2, const double a1, const double a2, const double b0, const double b1, const double b2) { double v = u - a1*v1 - a2*v2; double y = b0*v + b1*v1 + b2*v2; v2 = v1; v1 = v; return y; } /** Sample function * this function samples the emg and sends it to HIDScope **/ void filterSample() { highpassFilterLeft = fabs(biquad(emg0.read(), v1_HL, v2_HL, a1, a2, b0, b1, b2)); lowpassFilterLeft = biquad(highpassFilterLeft, v1_LL, v2_LL, c1, c2, d0, d1, d2); //pc.printf("%f \n \r ", lowpassFilter); highpassFilterRight = fabs(biquad(emg1.read(), v1_HR, v2_HR, a1, a2, b0, b1, b2)); lowpassFilterRight = biquad(highpassFilterRight, v1_LR, v2_LR, c1, c2, d0, d1, d2); scope.set(0, lowpassFilterLeft ); scope.set(1, lowpassFilterRight ); scope.send(); //pc.printf("%f \n \r ", lowpassFilter); } /*void sample() { // Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' scope.set(0, emg0.read() ); scope.set(1, emg1.read() ); * Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) * Ensure that enough channels are available (HIDScope scope( 2 )) * Finally, send all channels to the PC at once x = emg0; // Capture data scope.set(0, x); // store data in first element of scope memory b = (x_prev + x)/2.0; // averaging filter x_prev = x; // Prepare for next round scope.send(); // To indicate that the function is working, the LED is toggled led = !led; pc.printf("%f, %f \n \r ", x, b); } \*/ float GetPositionM2() { float pulses2 = motor2.getPulses(); float degrees2 = (pulses2/Puls_degree); float radians2 = (degrees2/360)*2*pi; float translation = ((radians2/overbrenging)*32.25); return translation; } float GetRotationM3() { float pulses3 = motor3.getPulses(); float degrees3 = (pulses3/Puls_degree); float radians3 = (degrees3/360)*2*pi; return radians3; } void CheckErrorRotation() { counter++; if (counter > 50) { theta_rotation = GetRotationM3(); Setpoint5 = Setpoint4; Setpoint4 = Setpoint3; Setpoint3 = Setpoint2; Setpoint2 = Setpoint1; Setpoint1 = SetpointError_Rotation; counter = 0; } SetpointError_Rotation = setpointRotation -theta_rotation; SetpointAvg = ((SetpointError_Rotation + Setpoint1 + Setpoint2 + Setpoint3 + Setpoint4 + Setpoint5)/6); } void CheckErrorTranslation() { theta_translation = GetPositionM2(); SetpointError_Translation = setpointTranslation -theta_translation; } void motorRotation() { printf("setpoint = %f \n\r", setpointRotation); //set direction if (SetpointError_Rotation > 0) { M3_Rotate = 0; } else { M3_Rotate = 1; } double speedfactor = 1; if (setpointRotation != Setpoint_Rotation) { speedfactor = 0.3; } double tolerance = 0.1; if (setpointRotation == Setpoint_Rotation){ tolerance = 1; } M3_ControlSpeed = speedfactor * Ts * fabs( pid_control(SetpointError_Rotation, Rotation_Kp, Rotation_Ki, Rotation_Kd, Rotation_error, Rotation_e_prev)); if (fabs(SetpointAvg) < 0.1) { M3_ControlSpeed = 0; } if (theta_rotation > tolerance) boolrotate = true; if ((fabs(theta_rotation) < tolerance ) && (M3_ControlSpeed == 0)) boolrotate = false; M3_Speed = M3_ControlSpeed; } void motorTranslation() { theta_translation = GetPositionM2(); SetpointError_Translation = setpointTranslation - theta_translation; //set direction if (SetpointError_Translation < 0) { M2_Rotate = 0; } else { M2_Rotate = 1; } M2_ControlSpeed = Ts * fabs( pid_control(SetpointError_Translation, Translation_Kp, Translation_Ki, Translation_Kd, Translation_error, Translation_e_prev)); if (fabs(SetpointError_Translation) < 8) { M2_ControlSpeed = 0; } if ((theta_translation < -192) && (M2_ControlSpeed == 0)) booltranslate = true; if ((theta_translation > -8) && (M2_ControlSpeed == 0)) booltranslate = false; M2_Speed = M2_ControlSpeed; } void GoBack() { setpointTranslation = Setpoint_Back; motorTranslation(); if (booltranslate == false) { setpointRotation = Setpoint_Back; motorRotation(); } if (boolrotate == false) { turn = 0; } led_r = 1; led_b = 0; } void Burgerflip() { led_r = 0; led_b = 1; setpointTranslation = Setpoint_Translation; motorTranslation(); if (booltranslate == true) { setpointRotation = Setpoint_Rotation; motorRotation(); } } void BurgerflipActie() { Burgerflip(); if (boolrotate == true) { GoBack(); } } void print() { pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2()); } void GetDirections() { if (lowpassFilterRight < threshold_Right) rechts = 0; if (lowpassFilterRight > threshold_Right) rechts = 1; if (lowpassFilterLeft < threshold_Left) links = 0; if (lowpassFilterLeft > threshold_Left) links = 1; pc.baud(115200); if ((rechts == 1) && (links == 1) && (turn == 0)) { draailinks = 0; draairechts = 0; turn = 1; pc.printf("begin de actie \n \r "); wait(waiter); } else if ((rechts == 1) && (links == 1) && (turn == 1)) { draailinks = 0; draairechts = 0; turn = 0; pc.printf("breek de actie af \n \r "); GoBack(); wait(waiter); } else if ((rechts == 0) && (links == 0)&& (turn == 0)) { } else if ((rechts == 1) && (draailinks == 0)&& (turn == 0)) { /* if the right button is pressed and the motor isn't rotating to the left, then start rotating to the right etc*/ draairechts = !draairechts; pc.printf("draai naar rechts \n \r "); wait(waiter); } else if ((rechts == 1) && (draailinks == 1)&& (turn == 0)) { draailinks = 0; draairechts = !draairechts; pc.printf("draai naar rechts na links \n \r "); wait(waiter); } else if ((links == 1) && (draairechts == 0)&& (turn == 0)) { draailinks = !draailinks; pc.printf("draai naar links \n \r "); wait(waiter); } else if ((links == 1) && (draairechts == 1) && (turn == 0)) { draairechts = 0; draailinks = !draailinks; pc.printf("draai naar links na rechts \n \r "); wait(waiter); } wait(2*waiter); } int main() { //Leds led_g = 1; led_b = 1; led_r = 1; /**Attach the 'sample' function to the timer 'sample_timer'. * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz */ //sample_timer.attach(&sample, 0.001953125); sample_timer.attach(&filterSample, Ts); //512 Hz checkSetpointTranslation.attach(&CheckErrorTranslation,Ts); checkSetpointRotation.attach(&CheckErrorRotation,Ts); //printinfo.attach(&print, Ts); pc.baud(115200); pc.printf("please push the button to calibrate \n \r"); while (1) { if (buttonCalibrate == 0) { calibrate = true; threshold_Left = lowpassFilterLeft*0.9; threshold_Right = lowpassFilterRight*0.9; pc.printf("calibration complete, press to continue \n \r"); } if ((buttonCalibrateComplete == 0) && (calibrate == true)) { calibrate_complete = true; } if (calibrate_complete == true) { //pc.printf("calibration complete, calL = %f, L=%f CalR = %f, R = %f, boolL=%b boolR=%b \n \r", threshold_Left, lowpassFilterLeft, threshold_Right, lowpassFilterRight, links, rechts); pc.printf("rotation is %f, setpoint %f, error = %f en translation = %f en de error %f \n \r", GetRotationM3(), Setpoint_Back, SetpointError_Rotation, GetPositionM2(), SetpointError_Translation); GetDirections(); if (draairechts == true) { M1_Speed = 0.1; M1_Rotate = 1; } else if (draailinks == true) { M1_Speed = 0.1; M1_Rotate = 0; } else if (turn == 1) { BurgerflipActie(); } else if (turn == 0) { M2_Speed = 0; M3_Speed = 0; } if ((draailinks == false) && (draairechts == false)) { M1_Speed = 0; } } } }