Wouter Bos / Mbed 2 deprecated 005-motor_x-y_control

werkend x-y control

Dependencies:   Encoder HIDScope MODSERIAL mbed

main.cpp@7:84abed2f376c, 2015-10-22 (annotated)

Committer:
Zeekat
Date:
Thu Oct 22 16:24:44 2015 +0000
Revision:
7:84abed2f376c
Parent:
6:bfd24400e9d0
Child:
8:649a5f555b7b
untested. removed unused buttons. did some formatting.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Zeekat 0:a643b1b38abe 1 #include "mbed.h"
Zeekat 0:a643b1b38abe 2 #include "MODSERIAL.h"
Zeekat 0:a643b1b38abe 3 #include "encoder.h"
Zeekat 0:a643b1b38abe 4 #include "HIDScope.h"
Zeekat 1:f3910e46b831 5 #include "math.h"
Zeekat 0:a643b1b38abe 6
Zeekat 7:84abed2f376c 7 Serial pc(USBTX,USBRX); // MODSERIAL output
Zeekat 2:867a1eb33bbe 8 HIDScope scope(4); // definieerd het aantal kanalen van de scope
Zeekat 0:a643b1b38abe 9
Zeekat 0:a643b1b38abe 10 // Define Tickers and control frequencies
Zeekat 7:84abed2f376c 11 Ticker controller1, controller2, main_filter, cartesian;
Zeekat 7:84abed2f376c 12 // Go flag variables belonging to Tickers
Zeekat 1:f3910e46b831 13 volatile bool motor1_go = false, motor2_go = false, emg_go = false, cart_go = false;
Zeekat 0:a643b1b38abe 14
Zeekat 7:84abed2f376c 15 // Frequency control
Zeekat 0:a643b1b38abe 16 double controlfreq = 50 ; // controlloops frequentie (Hz)
Zeekat 0:a643b1b38abe 17 double controlstep = 1/controlfreq; // timestep derived from controlfreq
Zeekat 0:a643b1b38abe 18
Zeekat 0:a643b1b38abe 19
Zeekat 7:84abed2f376c 20 //////////////////////// IN-OUTPUT /////////////////////////////////////////////
Zeekat 0:a643b1b38abe 21 //MOTOR OUTPUTPINS
Zeekat 7:84abed2f376c 22 PwmOut motor1_aan(D6), motor2_aan(D5); // PWM signaal motor 2 (uit sheets)
Zeekat 7:84abed2f376c 23 DigitalOut motor1_rich(D7), motor2_rich(D4); // digitaal signaal voor richting
Zeekat 0:a643b1b38abe 24
Zeekat 0:a643b1b38abe 25 // ENCODER INPUTPINS
Zeekat 7:84abed2f376c 26 Encoder motor1_enc(D12,D11), motor2_enc(D10,D9); // encoder outputpins
Zeekat 0:a643b1b38abe 27
Zeekat 0:a643b1b38abe 28 // EXTRA INPUTS AND REQUIRED VARIABLES
Zeekat 7:84abed2f376c 29 //POTMETERS (used for debuggin purposes, not reliable anymore)
Zeekat 3:a73502236647 30 AnalogIn potright(A4); // define the potmeter outputpins
Zeekat 3:a73502236647 31 AnalogIn potleft(A5);
Zeekat 1:f3910e46b831 32
Zeekat 1:f3910e46b831 33 // Analoge input signalen defineren
Zeekat 7:84abed2f376c 34 AnalogIn EMG_in(A0); // EMG_in.read kan je nu gebruiken om het analoge signaal A2 uit te lezen
Zeekat 7:84abed2f376c 35 AnalogIn EMG_int(A2); // deze leest A3 uit
Zeekat 0:a643b1b38abe 36
Zeekat 0:a643b1b38abe 37 // BUTTONS
Zeekat 0:a643b1b38abe 38 // control flow
Zeekat 0:a643b1b38abe 39 DigitalIn buttonlinks(PTA4);
Zeekat 0:a643b1b38abe 40 DigitalIn buttonrechts(PTC6);
Zeekat 0:a643b1b38abe 41 // init values
Zeekat 0:a643b1b38abe 42 bool loop_start = false;
Zeekat 0:a643b1b38abe 43 bool calib_start = false;
Zeekat 0:a643b1b38abe 44
Zeekat 7:84abed2f376c 45 // axis control
Zeekat 7:84abed2f376c 46 DigitalIn switch_xy_button(D0);
Zeekat 0:a643b1b38abe 47 // init values
Zeekat 7:84abed2f376c 48 bool switch_xy = false;
Zeekat 7:84abed2f376c 49
Zeekat 7:84abed2f376c 50 // LED outputs on dev-board
Zeekat 0:a643b1b38abe 51 DigitalOut ledred(LED1);
Zeekat 0:a643b1b38abe 52 DigitalOut ledgreen(LED2);
Zeekat 0:a643b1b38abe 53 DigitalOut ledblue(LED3);
Zeekat 7:84abed2f376c 54
Zeekat 7:84abed2f376c 55
Zeekat 7:84abed2f376c 56 //////////////////////////////////////////////////////////////////////////////////////////////
Zeekat 7:84abed2f376c 57
Zeekat 7:84abed2f376c 58 // physical constants
Zeekat 7:84abed2f376c 59 const double L = 36; // lenght of arms
Zeekat 7:84abed2f376c 60 const double pi = 3.1415926535897;
Zeekat 7:84abed2f376c 61
Zeekat 7:84abed2f376c 62 // angle limitations (in radians)
Zeekat 7:84abed2f376c 63 // motor1
Zeekat 7:84abed2f376c 64 const double limlow1 = 1; // min height in rad
Zeekat 7:84abed2f376c 65 const double limhigh1 = 6.3; // max height in rad
Zeekat 7:84abed2f376c 66 // motor 2
Zeekat 7:84abed2f376c 67 const double limlow2 = -4.0; // maximum height, motor has been inverted due to transmission
Zeekat 7:84abed2f376c 68 const double limhigh2 = 2.5; // minimum height in rad
Zeekat 7:84abed2f376c 69
Zeekat 7:84abed2f376c 70 ///////////////////////////
Zeekat 7:84abed2f376c 71 // Main control loop transfer variables
Zeekat 7:84abed2f376c 72 // here all variables that transfer bewtween the primary control functions
Zeekat 7:84abed2f376c 73
Zeekat 7:84abed2f376c 74 // filter to calibration
Zeekat 7:84abed2f376c 75 double output1;
Zeekat 7:84abed2f376c 76 double output2;
Zeekat 7:84abed2f376c 77 // filter to x-y
Zeekat 7:84abed2f376c 78 double output1_amp;
Zeekat 7:84abed2f376c 79 double output2_amp;
Zeekat 7:84abed2f376c 80 // x-y to motor control
Zeekat 7:84abed2f376c 81 double phi_one;
Zeekat 7:84abed2f376c 82 double phi_two;
Zeekat 7:84abed2f376c 83
Zeekat 7:84abed2f376c 84 // define start up variables
Zeekat 7:84abed2f376c 85 double start_up_time = 2;
Zeekat 7:84abed2f376c 86 double start_loops = start_up_time*controlfreq;
Zeekat 7:84abed2f376c 87 int rc1 = 0; // counters in function to enable slow start up
Zeekat 7:84abed2f376c 88 int rc2 = 0;
Zeekat 7:84abed2f376c 89
Zeekat 0:a643b1b38abe 90
Zeekat 0:a643b1b38abe 91 // REFERENCE SIGNAL SETTINGS
Zeekat 0:a643b1b38abe 92 double input_threshold = 0.25; // the minimum value the signal must have to change the reference.
Zeekat 0:a643b1b38abe 93 // Define storage variables for reference values
Zeekat 0:a643b1b38abe 94 double c_reference1 = 0;
Zeekat 0:a643b1b38abe 95 double c_reference2 = 0;
Zeekat 7:84abed2f376c 96
Zeekat 0:a643b1b38abe 97 // Define the maximum rate of change for the reference (velocity)
Zeekat 0:a643b1b38abe 98 double Vmax = 3; // rad/sec
Zeekat 0:a643b1b38abe 99
Zeekat 7:84abed2f376c 100
Zeekat 0:a643b1b38abe 101 // CONTROLLER SETTINGS
Zeekat 0:a643b1b38abe 102 // motor 1
Zeekat 0:a643b1b38abe 103 const double m1_Kp = 5; // Proportional constant
Zeekat 0:a643b1b38abe 104 const double m1_Ki = 0.5; // integration constant
Zeekat 0:a643b1b38abe 105 const double m1_Kd = 0.4; // differentiation constant
Zeekat 0:a643b1b38abe 106 // motor 2
Zeekat 0:a643b1b38abe 107 const double m2_Kp = 2;
Zeekat 2:867a1eb33bbe 108 const double m2_Ki = 0.5;
Zeekat 0:a643b1b38abe 109 const double m2_Kd = 0.1;
Zeekat 7:84abed2f376c 110 // storage variables. these variables are used to store data between controller iterations
Zeekat 0:a643b1b38abe 111 // motor 1
Zeekat 0:a643b1b38abe 112 double m1_err_int = 0;
Zeekat 0:a643b1b38abe 113 double m1_prev_err = 0;
Zeekat 0:a643b1b38abe 114 // motor 2
Zeekat 0:a643b1b38abe 115 double m2_err_int = 0;
Zeekat 0:a643b1b38abe 116 double m2_prev_err = 0;
Zeekat 0:a643b1b38abe 117
Zeekat 3:a73502236647 118 // EMG calibration variables
Zeekat 7:84abed2f376c 119 double emg_gain1 = 7;
Zeekat 6:bfd24400e9d0 120 double emg_gain2 = 7;
Zeekat 4:c371fc59749e 121
Zeekat 7:84abed2f376c 122 double cal_time = 2.5; // amount of time calibration should take
Zeekat 7:84abed2f376c 123 double cal_samples = controlfreq*cal_time;
Zeekat 5:867fe891b990 124 double normalize_emg_value = 1; // set te desired value to calibrate the signal to
Zeekat 0:a643b1b38abe 125
Zeekat 7:84abed2f376c 126 // FILTER VARIABLES
Zeekat 7:84abed2f376c 127 // storage variables
Zeekat 0:a643b1b38abe 128 // differential action filter, same is used for both controllers
Zeekat 7:84abed2f376c 129 double m_f_v1 = 0, m_f_v2 = 0;
Zeekat 0:a643b1b38abe 130 // input filter to smooth signal
Zeekat 7:84abed2f376c 131 double r1_f_v1 = 0, r1_f_v2 = 0, r2_f_v1 = 0, r2_f_v2 = 0;
Zeekat 7:84abed2f376c 132 // Define the storage variables and filter coeficients for eight filters
Zeekat 7:84abed2f376c 133 // EMG filter 1
Zeekat 7:84abed2f376c 134 double f1_v1 = 0, f1_v2 = 0, f2_v1 = 0, f2_v2 = 0, f3_v1 = 0, f3_v2 = 0,f4_v1 = 0, f4_v2 = 0;
Zeekat 7:84abed2f376c 135 // EMG filter2
Zeekat 7:84abed2f376c 136 double f1_v1t = 0, f1_v2t = 0, f2_v1t = 0, f2_v2t = 0, f3_v1t = 0, f3_v2t = 0,f4_v1t = 0, f4_v2t = 0;
Zeekat 7:84abed2f376c 137
Zeekat 7:84abed2f376c 138 // Filter coefficients
Zeekat 7:84abed2f376c 139 // differential action filter (lowpass 5Hz at 50samples)
Zeekat 7:84abed2f376c 140 const double m_f_a1 = -1.1430, m_f_a2 = 0.4128, m_f_b0 = 0.0675, m_f_b1 = 0.1349, m_f_b2 = 0.0675;
Zeekat 7:84abed2f376c 141 // input filter (lowpass 1Hz at 50samples) (used to make the x-y angle signal as smooth as possible
Zeekat 7:84abed2f376c 142 const double r1_f_a1 = -1.6475, r1_f_a2 = 0.7009, r1_f_b0 = 0.0134, r1_f_b1 = 0.0267, r1_f_b2 = 0.0134;
Zeekat 7:84abed2f376c 143 // EMG-Filter
Zeekat 7:84abed2f376c 144 // tweede orde notch filter 50 Hz
Zeekat 7:84abed2f376c 145 // biquad 1 coefficienten
Zeekat 7:84abed2f376c 146 const double numnotch50biq1_1 = 1, numnotch50biq1_2 = -1.61816178466632, numnotch50biq1_3 = 1.00000006127058, dennotch50biq1_2 = -1.59325742941798, dennotch50biq1_3 = 0.982171881701431;
Zeekat 7:84abed2f376c 147 // biquad 2 coefficienten
Zeekat 7:84abed2f376c 148 const double numnotch50biq2_1 = 1, numnotch50biq2_2 = -1.61816171933244, numnotch50biq2_3 = 0.999999938729428, dennotch50biq2_2 = -1.61431180968071, dennotch50biq2_3 = 0.982599066293075;
Zeekat 7:84abed2f376c 149 // highpass filter 20 Hz coefficienten
Zeekat 7:84abed2f376c 150 const double numhigh20_1 = 0.837089190566345, numhigh20_2 = -1.67417838113269, numhigh20_3 = 0.837089190566345, denhigh20_2 = -1.64745998107698, denhigh20_3 = 0.700896781188403;
Zeekat 7:84abed2f376c 151 // lowpass 5 Hz coefficienten
Zeekat 7:84abed2f376c 152 const double numlow5_1 =0.000944691843840162, numlow5_2 =0.00188938368768032, numlow5_3 =0.000944691843840162, denlow5_2 =-1.91119706742607, denlow5_3 =0.914975834801434;
Zeekat 0:a643b1b38abe 153
Zeekat 0:a643b1b38abe 154 ////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 155 /////////////////// START OF SIDE FUNCTIONS ////////////////////
Zeekat 0:a643b1b38abe 156 //////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 157 // these functions are tailored to perform 1 specific function
Zeekat 0:a643b1b38abe 158
Zeekat 0:a643b1b38abe 159 // this funtion flips leds on and off accordin to input with 0 being on
Zeekat 0:a643b1b38abe 160 void LED(int red,int green,int blue)
Zeekat 0:a643b1b38abe 161 {
Zeekat 0:a643b1b38abe 162 ledred.write(red);
Zeekat 0:a643b1b38abe 163 ledgreen.write(green);
Zeekat 0:a643b1b38abe 164 ledblue.write(blue);
Zeekat 0:a643b1b38abe 165 }
Zeekat 0:a643b1b38abe 166
Zeekat 0:a643b1b38abe 167 // counts 2 radians
Zeekat 0:a643b1b38abe 168 // this function takes counts from the encoder and converts it to the amount of radians from the zero position.
Zeekat 0:a643b1b38abe 169 // It has been set up for standard 2X DECODING!!!
Zeekat 0:a643b1b38abe 170 double get_radians(double counts)
Zeekat 0:a643b1b38abe 171 {
Zeekat 0:a643b1b38abe 172 double radians = (counts/4200)*2*pi; // 2X DECODING!!!!! ((32 counts/rotation, last warning)
Zeekat 0:a643b1b38abe 173 return radians;
Zeekat 0:a643b1b38abe 174 }
Zeekat 0:a643b1b38abe 175
Zeekat 0:a643b1b38abe 176
Zeekat 0:a643b1b38abe 177 // This functions takes a 0->1 input, uses passing by reference (&c_reference)
Zeekat 0:a643b1b38abe 178 // to create a reference that moves with a variable speed. It is meant for 0->1 values
Zeekat 0:a643b1b38abe 179 double reference_f(double input, double &c_reference, double limlow, double limhigh)
Zeekat 0:a643b1b38abe 180 {
Zeekat 0:a643b1b38abe 181 double reference = c_reference + input * controlstep * Vmax ;
Zeekat 0:a643b1b38abe 182 // two if statements check if the reference exceeds the limits placed upon the arms
Zeekat 0:a643b1b38abe 183 if(reference < limlow){reference = limlow;}
Zeekat 0:a643b1b38abe 184 if(reference > limhigh){reference = limhigh;}
Zeekat 0:a643b1b38abe 185 c_reference = reference; // change the global variable to the latest location.
Zeekat 0:a643b1b38abe 186 return reference;
Zeekat 0:a643b1b38abe 187 }
Zeekat 0:a643b1b38abe 188
Zeekat 0:a643b1b38abe 189
Zeekat 0:a643b1b38abe 190 // This function takes the controller outputvalue and ensures it is between -1 and 1
Zeekat 0:a643b1b38abe 191 // this is done to limit the motor input to possible values (the motor takes 0 to 1 and the sign changes the direction).
Zeekat 0:a643b1b38abe 192 double outputlimiter (double output, double limit)
Zeekat 0:a643b1b38abe 193 {
Zeekat 0:a643b1b38abe 194 if(output> limit)
Zeekat 0:a643b1b38abe 195 {
Zeekat 0:a643b1b38abe 196 output = 1;
Zeekat 0:a643b1b38abe 197 }
Zeekat 0:a643b1b38abe 198 else if(output < limit && output > 0)
Zeekat 0:a643b1b38abe 199 {
Zeekat 0:a643b1b38abe 200 output = output;
Zeekat 0:a643b1b38abe 201 }
Zeekat 0:a643b1b38abe 202 else if(output > -limit && output < 0)
Zeekat 0:a643b1b38abe 203 {
Zeekat 0:a643b1b38abe 204 output = output;
Zeekat 0:a643b1b38abe 205 }
Zeekat 0:a643b1b38abe 206 else if(output < -limit)
Zeekat 0:a643b1b38abe 207 {
Zeekat 0:a643b1b38abe 208 (output = -1);
Zeekat 0:a643b1b38abe 209 }
Zeekat 0:a643b1b38abe 210 return output;
Zeekat 0:a643b1b38abe 211 }
Zeekat 0:a643b1b38abe 212
Zeekat 0:a643b1b38abe 213
Zeekat 0:a643b1b38abe 214 // BIQUADFILTER CODE GIVEN IN SHEETS
Zeekat 0:a643b1b38abe 215 double biquadfilter(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2)
Zeekat 0:a643b1b38abe 216 {
Zeekat 0:a643b1b38abe 217 double v = u - a1*v1 - a2*v2;
Zeekat 0:a643b1b38abe 218 double y = b0*v + b1*v1 + b2*v2;
Zeekat 0:a643b1b38abe 219 v2 = v1;
Zeekat 0:a643b1b38abe 220 v1 = v;
Zeekat 0:a643b1b38abe 221 return y;
Zeekat 0:a643b1b38abe 222 }
Zeekat 0:a643b1b38abe 223
Zeekat 1:f3910e46b831 224 // biquadfilters die bij het filteren van signaal 2 horen, copy paste, alle waardes zijn veranderd naar +t (t van two of twee)
Zeekat 5:867fe891b990 225 // (niet netjes maar werkt goed)
Zeekat 1:f3910e46b831 226 double biquadfiltert(double ut, double &v1t, double &v2t, const double a1t, const double a2t, const double b0t, const double b1t, const double b2t)
Zeekat 0:a643b1b38abe 227 {
Zeekat 1:f3910e46b831 228 double vt = ut- a1t*v1t-a2t*v2t;
Zeekat 1:f3910e46b831 229 double yt = b0t*vt+b1t*v1t+b2t*v2t;
Zeekat 1:f3910e46b831 230 v2t = v1t;
Zeekat 1:f3910e46b831 231 v1t = vt;
Zeekat 1:f3910e46b831 232 return yt;
Zeekat 0:a643b1b38abe 233 }
Zeekat 0:a643b1b38abe 234
Zeekat 0:a643b1b38abe 235 // PID Controller given in sheets
Zeekat 5:867fe891b990 236 // aangepast om zelfde filter te gebruiken en om de termen te splitsen
Zeekat 0:a643b1b38abe 237 double PID(double e, const double Kp, const double Ki, const double Kd, double Ts,double &e_int, double &e_prev)
Zeekat 0:a643b1b38abe 238 {
Zeekat 0:a643b1b38abe 239 // Proportional
Zeekat 0:a643b1b38abe 240 double P = Kp * e;
Zeekat 0:a643b1b38abe 241 // Integral
Zeekat 0:a643b1b38abe 242 e_int = e_int + Ts * e;
Zeekat 0:a643b1b38abe 243 double I = e_int * Ki;
Zeekat 0:a643b1b38abe 244 // Derivative
Zeekat 0:a643b1b38abe 245 double e_derr = (e - e_prev)/Ts;
Zeekat 0:a643b1b38abe 246 e_derr = biquadfilter(e_derr, m_f_v1, m_f_v2, m_f_a1, m_f_a2, m_f_b0, m_f_b1, m_f_b2);
Zeekat 0:a643b1b38abe 247 //
Zeekat 0:a643b1b38abe 248 e_prev = e;
Zeekat 0:a643b1b38abe 249 double D = Kd* e_derr;
Zeekat 0:a643b1b38abe 250 // PID
Zeekat 0:a643b1b38abe 251 double output = P + I + D;
Zeekat 0:a643b1b38abe 252 return output;
Zeekat 0:a643b1b38abe 253 }
Zeekat 3:a73502236647 254
Zeekat 7:84abed2f376c 255
Zeekat 7:84abed2f376c 256 // function that limits the angles that can be used as reference
Zeekat 5:867fe891b990 257 double angle_limits(double phi, double limlow, double limhigh)
Zeekat 3:a73502236647 258 {
Zeekat 5:867fe891b990 259 if(phi < limlow)
Zeekat 5:867fe891b990 260 {
Zeekat 5:867fe891b990 261 phi = limlow;
Zeekat 5:867fe891b990 262 }
Zeekat 5:867fe891b990 263 if(phi > limhigh)
Zeekat 5:867fe891b990 264 {
Zeekat 5:867fe891b990 265 phi = limhigh;
Zeekat 5:867fe891b990 266 }
Zeekat 5:867fe891b990 267 return phi;
Zeekat 5:867fe891b990 268 }
Zeekat 3:a73502236647 269
Zeekat 0:a643b1b38abe 270 /////////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 271 ////////////////// PRIMARY CONTROL FUNCTIONS ///////////////////////
Zeekat 0:a643b1b38abe 272 ///////////////////////////////////////////////////////////////////
Zeekat 1:f3910e46b831 273 // these functions are called by go-flags and are used to update main variables and send signals to motor
Zeekat 0:a643b1b38abe 274
Zeekat 5:867fe891b990 275 // function that updates the inputs
Zeekat 5:867fe891b990 276 void EMG_filter()
Zeekat 5:867fe891b990 277 {
Zeekat 5:867fe891b990 278 // filteren van EMG signaal 1 (A0) eerst notch(2 biquads), dan highpass, rectify(abs()), lowpass
Zeekat 5:867fe891b990 279 double u1 = EMG_in.read();
Zeekat 5:867fe891b990 280 double y1 = biquadfilter( u1, f1_v1, f1_v2,dennotch50biq1_2, dennotch50biq1_3,numnotch50biq1_1,numnotch50biq1_2,numnotch50biq1_3);
Zeekat 5:867fe891b990 281 double y2 = biquadfilter( y1, f2_v1, f2_v2,dennotch50biq2_2, dennotch50biq2_3,numnotch50biq2_1,numnotch50biq2_2,numnotch50biq2_3);
Zeekat 5:867fe891b990 282 double y3 = biquadfilter( y2, f3_v1, f3_v2, denhigh20_2,denhigh20_3,numhigh20_1, numhigh20_2, numhigh20_3);
Zeekat 5:867fe891b990 283 double y4 = abs(y3);
Zeekat 5:867fe891b990 284 double y5 = biquadfilter( y4, f4_v1, f4_v2, denlow5_2,denlow5_3,numlow5_1, numlow5_2, numlow5_3);
Zeekat 5:867fe891b990 285 // update global variables
Zeekat 5:867fe891b990 286 output1 = y5;
Zeekat 5:867fe891b990 287 output1_amp = y5*emg_gain1; // update global variable
Zeekat 5:867fe891b990 288
Zeekat 5:867fe891b990 289 // filteren van EMG signaal 2 (A2), zelfde proces als signaal 1
Zeekat 5:867fe891b990 290 double u1t = EMG_int.read();
Zeekat 5:867fe891b990 291 double y1t = biquadfiltert( u1t, f1_v1t, f1_v2t,dennotch50biq1_2, dennotch50biq1_3,numnotch50biq1_1,numnotch50biq1_2,numnotch50biq1_3);
Zeekat 5:867fe891b990 292 double y2t = biquadfiltert( y1t, f2_v1t, f2_v2t,dennotch50biq2_2, dennotch50biq2_3,numnotch50biq2_1,numnotch50biq2_2,numnotch50biq2_3);
Zeekat 5:867fe891b990 293 double y3t = biquadfiltert( y2t, f3_v1t, f3_v2t, denhigh20_2,denhigh20_3,numhigh20_1, numhigh20_2, numhigh20_3);
Zeekat 5:867fe891b990 294 double y4t = abs(y3t);
Zeekat 5:867fe891b990 295 double y5t = biquadfiltert( y4t, f4_v1t, f4_v2t, denlow5_2,denlow5_3,numlow5_1, numlow5_2, numlow5_3);
Zeekat 5:867fe891b990 296 // update global variables
Zeekat 5:867fe891b990 297 output2 = y5t;
Zeekat 5:867fe891b990 298 output2_amp = y5t*emg_gain2;
Zeekat 5:867fe891b990 299
Zeekat 7:84abed2f376c 300 //scope.set(0,output1);
Zeekat 7:84abed2f376c 301 //scope.set(1,output2);
Zeekat 7:84abed2f376c 302 scope.set(0,output1_amp);
Zeekat 7:84abed2f376c 303 scope.set(1,output2_amp);
Zeekat 5:867fe891b990 304 scope.send();
Zeekat 5:867fe891b990 305 }
Zeekat 5:867fe891b990 306
Zeekat 5:867fe891b990 307
Zeekat 5:867fe891b990 308 // function that updates the required motor angles
Zeekat 5:867fe891b990 309 void det_angles()
Zeekat 5:867fe891b990 310 {
Zeekat 7:84abed2f376c 311 // limit the output between 0 and 1
Zeekat 6:bfd24400e9d0 312 if(output1_amp>1) {output1_amp = 1;}
Zeekat 6:bfd24400e9d0 313 if(output2_amp>1) {output2_amp = 1;}
Zeekat 5:867fe891b990 314
Zeekat 7:84abed2f376c 315 // use potmeter for debugging purposes
Zeekat 6:bfd24400e9d0 316 //output1 = potright.read();
Zeekat 6:bfd24400e9d0 317 //output2 = potleft.read();
Zeekat 5:867fe891b990 318
Zeekat 5:867fe891b990 319 double xx = 50+output1_amp*20;
Zeekat 5:867fe891b990 320
Zeekat 6:bfd24400e9d0 321 double ymin = -16; //- sqrt(4900 - pow(xx,2));
Zeekat 6:bfd24400e9d0 322 double ymax = 16; //sqrt(4900 - pow(xx,2));
Zeekat 5:867fe891b990 323 double yy = ymin+output2_amp*(ymax-ymin);
Zeekat 7:84abed2f376c 324
Zeekat 7:84abed2f376c 325 // x-y to arm-angles math
Zeekat 5:867fe891b990 326 double r = sqrt(pow(xx,2)+pow(yy,2)); // vector naar end effector
Zeekat 5:867fe891b990 327 double alfa = acos((2*pow(L,2)-pow(r,2))/(2*pow(L,2))); // alfa is de hoek tussen upper en lower arm
Zeekat 5:867fe891b990 328 double beta = acos((pow(r,2))/(2*L*r)); // beta is de hoek tussen upper arm en r
Zeekat 5:867fe891b990 329 double theta_one = (atan2(yy,xx)+beta);
Zeekat 5:867fe891b990 330 double theta_two = (-pi + alfa);
Zeekat 5:867fe891b990 331
Zeekat 7:84abed2f376c 332 // convert arm-angles to motor angles (x transmission) and offset (+ offset) to account for reset position
Zeekat 5:867fe891b990 333 double phi1 = 4*(theta_one) + 2.8;
Zeekat 7:84abed2f376c 334 double phi2 = 4*(theta_one+theta_two) + 1.85; // math assumes angle relative to first arm. motor does not change relative orientation, so angle wrt reference position is needed.
Zeekat 7:84abed2f376c 335 phi2 = -phi2; // reverse angle because of double timing belt.
Zeekat 5:867fe891b990 336
Zeekat 5:867fe891b990 337 // check the input angles and apply the limits
Zeekat 5:867fe891b990 338 phi1 = angle_limits(phi1,limlow1,limhigh1);
Zeekat 5:867fe891b990 339 phi2 = angle_limits(phi2,limlow2,limhigh2);
Zeekat 5:867fe891b990 340
Zeekat 7:84abed2f376c 341 // smooth the input signal (lowpass 1Hz). (to reduce the freq content after reaching limit)
Zeekat 5:867fe891b990 342 phi1 = biquadfilter(phi1, r1_f_v1, r1_f_v2, r1_f_a1, r1_f_a2, r1_f_b0, r1_f_b1, r1_f_b2);
Zeekat 5:867fe891b990 343 phi2 = biquadfilter(phi2, r2_f_v1, r2_f_v2, r1_f_a1, r1_f_a2, r1_f_b0, r1_f_b1, r1_f_b2);
Zeekat 5:867fe891b990 344
Zeekat 5:867fe891b990 345 // write into global variables
Zeekat 5:867fe891b990 346 phi_one = phi1;
Zeekat 5:867fe891b990 347 phi_two = phi2;
Zeekat 5:867fe891b990 348
Zeekat 7:84abed2f376c 349 // debugging line
Zeekat 5:867fe891b990 350 pc.printf("x = %f, y = %f, phi_one = %f, phi_two = %f \n",xx,yy,phi_one,phi_two);
Zeekat 5:867fe891b990 351 }
Zeekat 0:a643b1b38abe 352 // MOTOR 1
Zeekat 0:a643b1b38abe 353 void motor1_control()
Zeekat 0:a643b1b38abe 354 {
Zeekat 3:a73502236647 355
Zeekat 3:a73502236647 356 double reference1 = phi_one;
Zeekat 0:a643b1b38abe 357
Zeekat 5:867fe891b990 358 // add smooth start up
Zeekat 3:a73502236647 359 if(rc1 < start_loops)
Zeekat 3:a73502236647 360 {
Zeekat 3:a73502236647 361 rc1++;
Zeekat 3:a73502236647 362 reference1 = ((double) rc1/start_loops)*reference1;
Zeekat 3:a73502236647 363 }
Zeekat 3:a73502236647 364 else
Zeekat 3:a73502236647 365 {
Zeekat 3:a73502236647 366 reference1 = reference1;
Zeekat 3:a73502236647 367 }
Zeekat 5:867fe891b990 368
Zeekat 0:a643b1b38abe 369 double rads1 = get_radians(motor1_enc.getPosition()); // determine the position of the motor
Zeekat 0:a643b1b38abe 370 double error1 = (reference1 - rads1); // determine the error (reference - position)
Zeekat 1:f3910e46b831 371 double m_output1 = PID(error1, m1_Kp, m1_Ki, m1_Kd, controlstep, m1_err_int, m1_prev_err);
Zeekat 0:a643b1b38abe 372
Zeekat 1:f3910e46b831 373 m_output1 = outputlimiter(m_output1,1); // relimit the output for safety
Zeekat 1:f3910e46b831 374 if(m_output1 > 0) { // uses the calculated output to determine the direction of the motor
Zeekat 0:a643b1b38abe 375 motor1_rich.write(0);
Zeekat 1:f3910e46b831 376 motor1_aan.write(m_output1);
Zeekat 1:f3910e46b831 377 } else if(m_output1 < 0) {
Zeekat 0:a643b1b38abe 378 motor1_rich.write(1);
Zeekat 1:f3910e46b831 379 motor1_aan.write(abs(m_output1));
Zeekat 0:a643b1b38abe 380 }
Zeekat 0:a643b1b38abe 381 }
Zeekat 0:a643b1b38abe 382
Zeekat 0:a643b1b38abe 383 // MOTOR 2
Zeekat 0:a643b1b38abe 384 void motor2_control()
Zeekat 0:a643b1b38abe 385 {
Zeekat 3:a73502236647 386 double reference2 = phi_two;
Zeekat 0:a643b1b38abe 387
Zeekat 3:a73502236647 388 if(rc2 < start_loops)
Zeekat 3:a73502236647 389 {
Zeekat 3:a73502236647 390 rc2++;
Zeekat 3:a73502236647 391 reference2 = ((double) rc2/start_loops)*reference2;
Zeekat 3:a73502236647 392 }
Zeekat 3:a73502236647 393 else
Zeekat 3:a73502236647 394 {
Zeekat 3:a73502236647 395 reference2 = reference2;
Zeekat 3:a73502236647 396 }
Zeekat 3:a73502236647 397
Zeekat 0:a643b1b38abe 398 double rads2 = get_radians(motor2_enc.getPosition()); // determine the position of the motor
Zeekat 0:a643b1b38abe 399 double error2 = (reference2 - rads2); // determine the error (reference - position)
Zeekat 1:f3910e46b831 400 double m_output2 = PID(error2, m2_Kp, m2_Ki, m2_Kd, controlstep, m2_err_int, m2_prev_err);
Zeekat 0:a643b1b38abe 401
Zeekat 7:84abed2f376c 402 m_output2 = outputlimiter(m_output2,1); // final output limit (not really needed, is for safety)
Zeekat 1:f3910e46b831 403 if(m_output2 > 0) { // uses the calculated output to determine the direction of the motor
Zeekat 0:a643b1b38abe 404 motor2_rich.write(0);
Zeekat 1:f3910e46b831 405 motor2_aan.write(m_output2);
Zeekat 1:f3910e46b831 406 } else if(m_output2 < 0) {
Zeekat 0:a643b1b38abe 407 motor2_rich.write(1);
Zeekat 1:f3910e46b831 408 motor2_aan.write(abs(m_output2));
Zeekat 0:a643b1b38abe 409 }
Zeekat 0:a643b1b38abe 410 }
Zeekat 0:a643b1b38abe 411
Zeekat 5:867fe891b990 412 // calibrate the emg-signal
Zeekat 5:867fe891b990 413 // works bij taking a certain amount of samples adding them and then normalize to the desired value
Zeekat 7:84abed2f376c 414 // STILL BUGGED!!!
Zeekat 5:867fe891b990 415 void calibrate_amp()
Zeekat 1:f3910e46b831 416 {
Zeekat 5:867fe891b990 417 double total1 = 0;
Zeekat 5:867fe891b990 418 double total2 = 0;
Zeekat 5:867fe891b990 419 for(int i = 0; i<cal_samples; i++)
Zeekat 5:867fe891b990 420 {
Zeekat 5:867fe891b990 421 EMG_filter(); // run filter
Zeekat 5:867fe891b990 422 double input1 = output1;
Zeekat 5:867fe891b990 423 total1 = total1 + input1; // sum inputs
Zeekat 5:867fe891b990 424
Zeekat 5:867fe891b990 425 double input2 = output2;
Zeekat 5:867fe891b990 426 total2 = total2 + input2;
Zeekat 6:bfd24400e9d0 427 wait(0.02);
Zeekat 5:867fe891b990 428 }
Zeekat 5:867fe891b990 429 emg_gain1 = normalize_emg_value/(total1/cal_samples); // normalize the amplification so that the maximum signal hits the desired one
Zeekat 5:867fe891b990 430 emg_gain2 = normalize_emg_value/(total2/cal_samples);
Zeekat 5:867fe891b990 431 pc.printf("gain1 = %f, gain2 = %f",emg_gain1,emg_gain2);
Zeekat 2:867a1eb33bbe 432
Zeekat 1:f3910e46b831 433 }
Zeekat 0:a643b1b38abe 434 //////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 435 //////////// DEFINE GO-FLAG FUNCTIONS ///////////////////////////
Zeekat 0:a643b1b38abe 436 ////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 437
Zeekat 1:f3910e46b831 438
Zeekat 7:84abed2f376c 439 void EMG_activate(){emg_go = true;}
Zeekat 7:84abed2f376c 440 void angle_activate(){cart_go = true;}
Zeekat 7:84abed2f376c 441 void motor1_activate(){motor1_go = true;}
Zeekat 7:84abed2f376c 442 void motor2_activate(){motor2_go = true;}
Zeekat 0:a643b1b38abe 443
Zeekat 0:a643b1b38abe 444 int main()
Zeekat 0:a643b1b38abe 445 {
Zeekat 0:a643b1b38abe 446 pc.baud(115200);
Zeekat 4:c371fc59749e 447 main_filter.attach(&EMG_activate, controlstep);
Zeekat 1:f3910e46b831 448 cartesian.attach(&angle_activate, controlstep);
Zeekat 0:a643b1b38abe 449 controller1.attach(&motor1_activate, controlstep); // call a go-flag
Zeekat 0:a643b1b38abe 450 controller2.attach(&motor2_activate, controlstep);
Zeekat 0:a643b1b38abe 451 while(true)
Zeekat 0:a643b1b38abe 452 {
Zeekat 0:a643b1b38abe 453 // button press functions
Zeekat 0:a643b1b38abe 454 // flow buttons
Zeekat 0:a643b1b38abe 455 if(buttonlinks.read() == 0)
Zeekat 0:a643b1b38abe 456 {
Zeekat 0:a643b1b38abe 457 loop_start = !loop_start;
Zeekat 0:a643b1b38abe 458 wait(buttonlinks.read() == 1);
Zeekat 0:a643b1b38abe 459 wait(0.3);
Zeekat 0:a643b1b38abe 460 }
Zeekat 0:a643b1b38abe 461 if(buttonrechts.read() == 0)
Zeekat 0:a643b1b38abe 462 {
Zeekat 0:a643b1b38abe 463 calib_start = !calib_start;
Zeekat 0:a643b1b38abe 464 wait(buttonrechts.read() == 1);
Zeekat 0:a643b1b38abe 465 wait(0.3);
Zeekat 0:a643b1b38abe 466 }
Zeekat 0:a643b1b38abe 467 // reverse buttons
Zeekat 7:84abed2f376c 468 if(switch_xy_button.read() == 0)
Zeekat 0:a643b1b38abe 469 {
Zeekat 7:84abed2f376c 470 switch_xy = !switch_xy;
Zeekat 7:84abed2f376c 471 wait(switch_xy_button.read() == 1);
Zeekat 0:a643b1b38abe 472 wait(0.3);
Zeekat 0:a643b1b38abe 473 }
Zeekat 0:a643b1b38abe 474 //////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 475 // Main Control stuff and options
Zeekat 0:a643b1b38abe 476 if(loop_start == true && calib_start == false) // check if start button = true then start the main control loops
Zeekat 0:a643b1b38abe 477 {
Zeekat 0:a643b1b38abe 478 LED(1,1,0); // turn blue led on
Zeekat 1:f3910e46b831 479 if(cart_go) { cart_go = false; det_angles();}
Zeekat 1:f3910e46b831 480 if(emg_go) { emg_go = false; EMG_filter();}
Zeekat 0:a643b1b38abe 481 if(motor1_go) { motor1_go = false; motor1_control();}
Zeekat 0:a643b1b38abe 482 if(motor2_go) { motor2_go = false; motor2_control();}
Zeekat 0:a643b1b38abe 483 }
Zeekat 0:a643b1b38abe 484 // shut off both motors
Zeekat 0:a643b1b38abe 485 if(loop_start == false) {motor1_aan.write(0); motor2_aan.write(0);}
Zeekat 0:a643b1b38abe 486
Zeekat 0:a643b1b38abe 487 // turn green led on // start calibration procedures
Zeekat 3:a73502236647 488 if(loop_start == false && calib_start == true)
Zeekat 3:a73502236647 489 { LED(1,0,1);
Zeekat 3:a73502236647 490 motor1_aan.write(0);
Zeekat 3:a73502236647 491 motor2_aan.write(0);
Zeekat 3:a73502236647 492 calibrate_amp(); // 10 second calibration
Zeekat 3:a73502236647 493 calib_start = false; // turn fork off
Zeekat 3:a73502236647 494 }
Zeekat 0:a643b1b38abe 495
Zeekat 0:a643b1b38abe 496 // turn red led on
Zeekat 3:a73502236647 497 if(loop_start == true && calib_start == true)
Zeekat 3:a73502236647 498 {
Zeekat 3:a73502236647 499 LED(0,1,1);
Zeekat 3:a73502236647 500 motor1_aan.write(0);
Zeekat 3:a73502236647 501 motor2_aan.write(0);
Zeekat 3:a73502236647 502 // switch_type = !switch_type;
Zeekat 3:a73502236647 503 }
Zeekat 0:a643b1b38abe 504
Zeekat 0:a643b1b38abe 505 // turn leds off (both buttons false)
Zeekat 0:a643b1b38abe 506 else { LED(1,1,1);}
Zeekat 0:a643b1b38abe 507 }
Zeekat 0:a643b1b38abe 508 }