Wouter Bos / Mbed 2 deprecated 005-motor_x-y_control

werkend x-y control

Dependencies:   Encoder HIDScope MODSERIAL mbed

main.cpp@2:867a1eb33bbe, 2015-10-20 (annotated)

Committer:
Zeekat
Date:
Tue Oct 20 07:56:11 2015 +0000
Revision:
2:867a1eb33bbe
Parent:
1:f3910e46b831
Child:
3:a73502236647
'working' x-y input. still some vibrations due to low tension belt

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 0:a643b1b38abe 7 Serial pc(USBTX,USBRX);
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 1:f3910e46b831 11 Ticker controller1, controller2, main_filter, cartesian; // definieer de ticker die controler1 doet
Zeekat 0:a643b1b38abe 12 // Go flag variables
Zeekat 1:f3910e46b831 13 volatile bool motor1_go = false, motor2_go = false, emg_go = false, cart_go = false;
Zeekat 0:a643b1b38abe 14
Zeekat 0:a643b1b38abe 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 0:a643b1b38abe 20 //MOTOR OUTPUTPINS
Zeekat 0:a643b1b38abe 21 // motor 1
Zeekat 0:a643b1b38abe 22 PwmOut motor1_aan(D6); // PWM signaal motor 2 (uit sheets)
Zeekat 0:a643b1b38abe 23 DigitalOut motor1_rich(D7); // digitaal signaal voor richting
Zeekat 0:a643b1b38abe 24 // motor 2
Zeekat 0:a643b1b38abe 25 PwmOut motor2_aan(D5);
Zeekat 0:a643b1b38abe 26 DigitalOut motor2_rich(D4);
Zeekat 0:a643b1b38abe 27
Zeekat 0:a643b1b38abe 28 // ENCODER INPUTPINS
Zeekat 0:a643b1b38abe 29 Encoder motor1_enc(D12,D11); // encoder outputpins
Zeekat 0:a643b1b38abe 30 Encoder motor2_enc(D10,D9);
Zeekat 0:a643b1b38abe 31
Zeekat 0:a643b1b38abe 32 int reference1 = 0; // set the reference position of the encoders (not used)
Zeekat 0:a643b1b38abe 33 int reference2 = 0;
Zeekat 0:a643b1b38abe 34
Zeekat 1:f3910e46b831 35 ////////
Zeekat 1:f3910e46b831 36 // physical constants
Zeekat 1:f3910e46b831 37 const double L = 36; // lenght of arms
Zeekat 1:f3910e46b831 38 const double pi = 3.1415926535897;
Zeekat 1:f3910e46b831 39 ///////////////////////////
Zeekat 1:f3910e46b831 40 // Main control loop transfer variables
Zeekat 1:f3910e46b831 41 // here all variables that transfer bewtween the primary control functions
Zeekat 1:f3910e46b831 42 double output1;
Zeekat 1:f3910e46b831 43 double output2;
Zeekat 1:f3910e46b831 44
Zeekat 2:867a1eb33bbe 45 double phi_one;
Zeekat 2:867a1eb33bbe 46 double phi_two;
Zeekat 1:f3910e46b831 47
Zeekat 0:a643b1b38abe 48
Zeekat 0:a643b1b38abe 49 // EXTRA INPUTS AND REQUIRED VARIABLES
Zeekat 0:a643b1b38abe 50 //POTMETERS
Zeekat 0:a643b1b38abe 51 AnalogIn potright(A0); // define the potmeter outputpins
Zeekat 0:a643b1b38abe 52 AnalogIn potleft(A1);
Zeekat 1:f3910e46b831 53
Zeekat 1:f3910e46b831 54 // Analoge input signalen defineren
Zeekat 1:f3910e46b831 55 AnalogIn EMG_in(A2); // EMG_in.read kan je nu gebruiken om het analoge signaal A2 uit te lezen
Zeekat 1:f3910e46b831 56 AnalogIn EMG_int(A3); // deze leest A3 uit
Zeekat 0:a643b1b38abe 57
Zeekat 0:a643b1b38abe 58 // BUTTONS
Zeekat 0:a643b1b38abe 59 // control flow
Zeekat 0:a643b1b38abe 60 DigitalIn buttonlinks(PTA4);
Zeekat 0:a643b1b38abe 61 DigitalIn buttonrechts(PTC6);
Zeekat 0:a643b1b38abe 62 // init values
Zeekat 0:a643b1b38abe 63 bool loop_start = false;
Zeekat 0:a643b1b38abe 64 bool calib_start = false;
Zeekat 0:a643b1b38abe 65
Zeekat 0:a643b1b38abe 66 // direction control
Zeekat 0:a643b1b38abe 67 DigitalIn reverse_button_links(D0);
Zeekat 0:a643b1b38abe 68 DigitalIn reverse_button_rechts(D1);
Zeekat 0:a643b1b38abe 69 // init values
Zeekat 0:a643b1b38abe 70 bool reverse_links = false;
Zeekat 0:a643b1b38abe 71 bool reverse_rechts = false;
Zeekat 0:a643b1b38abe 72
Zeekat 0:a643b1b38abe 73 // LED
Zeekat 0:a643b1b38abe 74 DigitalOut ledred(LED1);
Zeekat 0:a643b1b38abe 75 DigitalOut ledgreen(LED2);
Zeekat 0:a643b1b38abe 76 DigitalOut ledblue(LED3);
Zeekat 0:a643b1b38abe 77
Zeekat 0:a643b1b38abe 78 // REFERENCE SIGNAL SETTINGS
Zeekat 0:a643b1b38abe 79 double input_threshold = 0.25; // the minimum value the signal must have to change the reference.
Zeekat 0:a643b1b38abe 80 // Define signal amplification (needed with EMG, used in control loop, precise amp determination is a work in progress!!!!) ??
Zeekat 0:a643b1b38abe 81 double signalamp1 = 1;
Zeekat 0:a643b1b38abe 82 double signalamp2 = 1;
Zeekat 0:a643b1b38abe 83 // Define storage variables for reference values
Zeekat 0:a643b1b38abe 84 double c_reference1 = 0;
Zeekat 0:a643b1b38abe 85 double c_reference2 = 0;
Zeekat 0:a643b1b38abe 86 // limit angles (in radians)
Zeekat 0:a643b1b38abe 87 // motor1
Zeekat 0:a643b1b38abe 88 const double limlow1 = 0.5; // min height
Zeekat 0:a643b1b38abe 89 const double limhigh1 = 4.5; // max height
Zeekat 0:a643b1b38abe 90 // motor 2
Zeekat 0:a643b1b38abe 91 const double limlow2 = -4.5; // maximum height, motor has been inverted due to transmission
Zeekat 0:a643b1b38abe 92 const double limhigh2 = 2; // minimum height
Zeekat 0:a643b1b38abe 93
Zeekat 0:a643b1b38abe 94 // Define the maximum rate of change for the reference (velocity)
Zeekat 0:a643b1b38abe 95 double Vmax = 3; // rad/sec
Zeekat 0:a643b1b38abe 96
Zeekat 0:a643b1b38abe 97 // CONTROLLER SETTINGS
Zeekat 0:a643b1b38abe 98 // motor 1
Zeekat 0:a643b1b38abe 99 const double m1_Kp = 5; // Proportional constant
Zeekat 0:a643b1b38abe 100 const double m1_Ki = 0.5; // integration constant
Zeekat 0:a643b1b38abe 101 const double m1_Kd = 0.4; // differentiation constant
Zeekat 0:a643b1b38abe 102 // motor 2
Zeekat 0:a643b1b38abe 103 const double m2_Kp = 2;
Zeekat 2:867a1eb33bbe 104 const double m2_Ki = 0.5;
Zeekat 0:a643b1b38abe 105 const double m2_Kd = 0.1;
Zeekat 0:a643b1b38abe 106 // storage variables
Zeekat 0:a643b1b38abe 107 // motor 1
Zeekat 0:a643b1b38abe 108 double m1_err_int = 0;
Zeekat 0:a643b1b38abe 109 double m1_prev_err = 0;
Zeekat 0:a643b1b38abe 110 // motor 2
Zeekat 0:a643b1b38abe 111 double m2_err_int = 0;
Zeekat 0:a643b1b38abe 112 double m2_prev_err = 0;
Zeekat 0:a643b1b38abe 113
Zeekat 0:a643b1b38abe 114
Zeekat 0:a643b1b38abe 115 //// FILTER VARIABLES
Zeekat 0:a643b1b38abe 116 // storage variables
Zeekat 0:a643b1b38abe 117 // differential action filter, same is used for both controllers
Zeekat 0:a643b1b38abe 118 double m_f_v1 = 0, m_f_v2 = 0;
Zeekat 0:a643b1b38abe 119 // input filter to smooth signal
Zeekat 0:a643b1b38abe 120 double r1_f_v1 = 0, r1_f_v2 = 0;
Zeekat 0:a643b1b38abe 121 double r2_f_v1 = 0, r2_f_v2 = 0;
Zeekat 0:a643b1b38abe 122
Zeekat 0:a643b1b38abe 123 // Filter coefficients
Zeekat 0:a643b1b38abe 124 // differential action filter (lowpass 5Hz at 50samples)
Zeekat 0:a643b1b38abe 125 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; // coefficients from sheets are used as first test.
Zeekat 0:a643b1b38abe 126 // input filter (lowpass 1Hz at 50samples)
Zeekat 0:a643b1b38abe 127 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 0:a643b1b38abe 128
Zeekat 0:a643b1b38abe 129 // tweede orde notch filter 50 Hz
Zeekat 0:a643b1b38abe 130 // biquad 1 coefficienten
Zeekat 0:a643b1b38abe 131 const double numnotch50biq1_1 = 1;
Zeekat 0:a643b1b38abe 132 const double numnotch50biq1_2 = -1.61816178466632;
Zeekat 0:a643b1b38abe 133 const double numnotch50biq1_3 = 1.00000006127058;
Zeekat 0:a643b1b38abe 134 const double dennotch50biq1_2 = -1.59325742941798;
Zeekat 0:a643b1b38abe 135 const double dennotch50biq1_3 = 0.982171881701431;
Zeekat 0:a643b1b38abe 136 // biquad 2 coefficienten
Zeekat 0:a643b1b38abe 137 const double numnotch50biq2_1 = 1;
Zeekat 0:a643b1b38abe 138 const double numnotch50biq2_2 = -1.61816171933244;
Zeekat 0:a643b1b38abe 139 const double numnotch50biq2_3 = 0.999999938729428;
Zeekat 0:a643b1b38abe 140 const double dennotch50biq2_2 = -1.61431180968071;
Zeekat 0:a643b1b38abe 141 const double dennotch50biq2_3 = 0.982599066293075;
Zeekat 0:a643b1b38abe 142 // highpass filter 20 Hz coefficienten
Zeekat 0:a643b1b38abe 143 const double numhigh20_1 = 0.837089190566345;
Zeekat 0:a643b1b38abe 144 const double numhigh20_2 = -1.67417838113269;
Zeekat 0:a643b1b38abe 145 const double numhigh20_3 = 0.837089190566345;
Zeekat 0:a643b1b38abe 146 const double denhigh20_2 = -1.64745998107698;
Zeekat 0:a643b1b38abe 147 const double denhigh20_3 = 0.700896781188403;
Zeekat 0:a643b1b38abe 148 // lowpass 5 Hz coefficienten
Zeekat 0:a643b1b38abe 149 const double numlow5_1 =0.000944691843840162;
Zeekat 0:a643b1b38abe 150 const double numlow5_2 =0.00188938368768032;
Zeekat 0:a643b1b38abe 151 const double numlow5_3 =0.000944691843840162;
Zeekat 0:a643b1b38abe 152 const double denlow5_2 =-1.91119706742607;
Zeekat 0:a643b1b38abe 153 const double denlow5_3 =0.914975834801434;
Zeekat 0:a643b1b38abe 154
Zeekat 1:f3910e46b831 155 // Define the storage variables and filter coeficients for eight filters
Zeekat 1:f3910e46b831 156 //filter 1
Zeekat 1:f3910e46b831 157 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 1:f3910e46b831 158 // filter2
Zeekat 1:f3910e46b831 159 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 0:a643b1b38abe 160
Zeekat 0:a643b1b38abe 161 ////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 162 /////////////////// START OF SIDE FUNCTIONS ////////////////////
Zeekat 0:a643b1b38abe 163 //////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 164 // these functions are tailored to perform 1 specific function
Zeekat 0:a643b1b38abe 165
Zeekat 0:a643b1b38abe 166 // this funtion flips leds on and off accordin to input with 0 being on
Zeekat 0:a643b1b38abe 167 void LED(int red,int green,int blue)
Zeekat 0:a643b1b38abe 168 {
Zeekat 0:a643b1b38abe 169 ledred.write(red);
Zeekat 0:a643b1b38abe 170 ledgreen.write(green);
Zeekat 0:a643b1b38abe 171 ledblue.write(blue);
Zeekat 0:a643b1b38abe 172 }
Zeekat 0:a643b1b38abe 173
Zeekat 0:a643b1b38abe 174 // counts 2 radians
Zeekat 0:a643b1b38abe 175 // this function takes counts from the encoder and converts it to the amount of radians from the zero position.
Zeekat 0:a643b1b38abe 176 // It has been set up for standard 2X DECODING!!!
Zeekat 0:a643b1b38abe 177 double get_radians(double counts)
Zeekat 0:a643b1b38abe 178 {
Zeekat 0:a643b1b38abe 179 double radians = (counts/4200)*2*pi; // 2X DECODING!!!!! ((32 counts/rotation, last warning)
Zeekat 0:a643b1b38abe 180 return radians;
Zeekat 0:a643b1b38abe 181 }
Zeekat 0:a643b1b38abe 182
Zeekat 0:a643b1b38abe 183
Zeekat 0:a643b1b38abe 184 // This functions takes a 0->1 input, uses passing by reference (&c_reference)
Zeekat 0:a643b1b38abe 185 // to create a reference that moves with a variable speed. It is meant for 0->1 values
Zeekat 0:a643b1b38abe 186 double reference_f(double input, double &c_reference, double limlow, double limhigh)
Zeekat 0:a643b1b38abe 187 {
Zeekat 0:a643b1b38abe 188 double reference = c_reference + input * controlstep * Vmax ;
Zeekat 0:a643b1b38abe 189 // two if statements check if the reference exceeds the limits placed upon the arms
Zeekat 0:a643b1b38abe 190 if(reference < limlow){reference = limlow;}
Zeekat 0:a643b1b38abe 191 if(reference > limhigh){reference = limhigh;}
Zeekat 0:a643b1b38abe 192 c_reference = reference; // change the global variable to the latest location.
Zeekat 0:a643b1b38abe 193 return reference;
Zeekat 0:a643b1b38abe 194 }
Zeekat 0:a643b1b38abe 195
Zeekat 0:a643b1b38abe 196
Zeekat 0:a643b1b38abe 197 // This function takes the controller outputvalue and ensures it is between -1 and 1
Zeekat 0:a643b1b38abe 198 // 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 199 // needs more work to use it for the wind-up prevention.
Zeekat 0:a643b1b38abe 200 double outputlimiter (double output, double limit)
Zeekat 0:a643b1b38abe 201 {
Zeekat 0:a643b1b38abe 202 if(output> limit)
Zeekat 0:a643b1b38abe 203 {
Zeekat 0:a643b1b38abe 204 output = 1;
Zeekat 0:a643b1b38abe 205 }
Zeekat 0:a643b1b38abe 206 else if(output < limit && output > 0)
Zeekat 0:a643b1b38abe 207 {
Zeekat 0:a643b1b38abe 208 output = output;
Zeekat 0:a643b1b38abe 209 }
Zeekat 0:a643b1b38abe 210 else if(output > -limit && output < 0)
Zeekat 0:a643b1b38abe 211 {
Zeekat 0:a643b1b38abe 212 output = output;
Zeekat 0:a643b1b38abe 213 }
Zeekat 0:a643b1b38abe 214 else if(output < -limit)
Zeekat 0:a643b1b38abe 215 {
Zeekat 0:a643b1b38abe 216 (output = -1);
Zeekat 0:a643b1b38abe 217 }
Zeekat 0:a643b1b38abe 218 return output;
Zeekat 0:a643b1b38abe 219 }
Zeekat 0:a643b1b38abe 220
Zeekat 0:a643b1b38abe 221
Zeekat 0:a643b1b38abe 222 // BIQUADFILTER CODE GIVEN IN SHEETS
Zeekat 0:a643b1b38abe 223 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 224 {
Zeekat 0:a643b1b38abe 225 double v = u - a1*v1 - a2*v2;
Zeekat 0:a643b1b38abe 226 double y = b0*v + b1*v1 + b2*v2;
Zeekat 0:a643b1b38abe 227 v2 = v1;
Zeekat 0:a643b1b38abe 228 v1 = v;
Zeekat 0:a643b1b38abe 229 return y;
Zeekat 0:a643b1b38abe 230 }
Zeekat 0:a643b1b38abe 231
Zeekat 1:f3910e46b831 232 // biquadfilters die bij het filteren van signaal 2 horen, copy paste, alle waardes zijn veranderd naar +t (t van two of twee)
Zeekat 1:f3910e46b831 233 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 234 {
Zeekat 1:f3910e46b831 235 double vt = ut- a1t*v1t-a2t*v2t;
Zeekat 1:f3910e46b831 236 double yt = b0t*vt+b1t*v1t+b2t*v2t;
Zeekat 1:f3910e46b831 237 v2t = v1t;
Zeekat 1:f3910e46b831 238 v1t = vt;
Zeekat 1:f3910e46b831 239 return yt;
Zeekat 0:a643b1b38abe 240 }
Zeekat 0:a643b1b38abe 241
Zeekat 0:a643b1b38abe 242 // PID Controller given in sheets
Zeekat 0:a643b1b38abe 243 // aangepast om zelfde filter te gebruiken en om de termen later gesplitst te kunnen limiteren (windup preventie!!)
Zeekat 0:a643b1b38abe 244 double PID(double e, const double Kp, const double Ki, const double Kd, double Ts,double &e_int, double &e_prev)
Zeekat 0:a643b1b38abe 245 {
Zeekat 0:a643b1b38abe 246 // Proportional
Zeekat 0:a643b1b38abe 247 double P = Kp * e;
Zeekat 0:a643b1b38abe 248 // Integral
Zeekat 0:a643b1b38abe 249 e_int = e_int + Ts * e;
Zeekat 0:a643b1b38abe 250 double I = e_int * Ki;
Zeekat 0:a643b1b38abe 251 // Derivative
Zeekat 0:a643b1b38abe 252 double e_derr = (e - e_prev)/Ts;
Zeekat 0:a643b1b38abe 253 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 254 //
Zeekat 0:a643b1b38abe 255 e_prev = e;
Zeekat 0:a643b1b38abe 256 double D = Kd* e_derr;
Zeekat 0:a643b1b38abe 257 // PID
Zeekat 0:a643b1b38abe 258 double output = P + I + D;
Zeekat 0:a643b1b38abe 259 return output;
Zeekat 0:a643b1b38abe 260 }
Zeekat 0:a643b1b38abe 261 /////////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 262 ////////////////// PRIMARY CONTROL FUNCTIONS ///////////////////////
Zeekat 0:a643b1b38abe 263 ///////////////////////////////////////////////////////////////////
Zeekat 1:f3910e46b831 264 // these functions are called by go-flags and are used to update main variables and send signals to motor
Zeekat 0:a643b1b38abe 265
Zeekat 0:a643b1b38abe 266 // MOTOR 1
Zeekat 0:a643b1b38abe 267 void motor1_control()
Zeekat 0:a643b1b38abe 268 {
Zeekat 2:867a1eb33bbe 269 //double m_input1 = potright.read(); // used for pot input
Zeekat 0:a643b1b38abe 270 //input1 = 0.4505;
Zeekat 0:a643b1b38abe 271
Zeekat 0:a643b1b38abe 272 // first input edit (limit signal between threshold and 1, and reverse if wanted
Zeekat 2:867a1eb33bbe 273 //if(m_input1 < input_threshold) {m_input1 = 0;}
Zeekat 2:867a1eb33bbe 274 //if(m_input1 > 1) {m_input1 = 1;}
Zeekat 2:867a1eb33bbe 275 //if(reverse_rechts == true) {m_input1 = -m_input1;}
Zeekat 2:867a1eb33bbe 276 // m_input1 = biquadfilter(m_input1, r1_f_v1, r1_f_v2, r1_f_a1, r1_f_a2, r1_f_b0, r1_f_b1, r1_f_b2); //biquad with diff-filter coefficients to smooth input
Zeekat 0:a643b1b38abe 277
Zeekat 0:a643b1b38abe 278
Zeekat 2:867a1eb33bbe 279 //double reference1 = reference_f(m_input1, c_reference1,limlow1,limhigh1); // determine the reference that has been set by the inputsignal
Zeekat 2:867a1eb33bbe 280 //scope.set(0,reference1);
Zeekat 2:867a1eb33bbe 281 double reference1 = phi_one;
Zeekat 0:a643b1b38abe 282 scope.set(0,reference1);
Zeekat 2:867a1eb33bbe 283 pc.printf("ref1 = %f",reference1);
Zeekat 0:a643b1b38abe 284 double rads1 = get_radians(motor1_enc.getPosition()); // determine the position of the motor
Zeekat 2:867a1eb33bbe 285 //scope.set(1,rads1);
Zeekat 2:867a1eb33bbe 286 pc.printf("rads1 = %f ",rads1);
Zeekat 2:867a1eb33bbe 287 //scope.send();
Zeekat 0:a643b1b38abe 288 double error1 = (reference1 - rads1); // determine the error (reference - position)
Zeekat 1:f3910e46b831 289 double m_output1 = PID(error1, m1_Kp, m1_Ki, m1_Kd, controlstep, m1_err_int, m1_prev_err);
Zeekat 0:a643b1b38abe 290
Zeekat 1:f3910e46b831 291 m_output1 = outputlimiter(m_output1,1); // relimit the output for safety
Zeekat 1:f3910e46b831 292 if(m_output1 > 0) { // uses the calculated output to determine the direction of the motor
Zeekat 0:a643b1b38abe 293 motor1_rich.write(0);
Zeekat 1:f3910e46b831 294 motor1_aan.write(m_output1);
Zeekat 1:f3910e46b831 295 } else if(m_output1 < 0) {
Zeekat 0:a643b1b38abe 296 motor1_rich.write(1);
Zeekat 1:f3910e46b831 297 motor1_aan.write(abs(m_output1));
Zeekat 0:a643b1b38abe 298 }
Zeekat 0:a643b1b38abe 299 }
Zeekat 0:a643b1b38abe 300
Zeekat 0:a643b1b38abe 301 // MOTOR 2
Zeekat 0:a643b1b38abe 302 void motor2_control()
Zeekat 0:a643b1b38abe 303 {
Zeekat 2:867a1eb33bbe 304 //double m_input2 = potleft.read()*signalamp2; // replace potleft with filter
Zeekat 1:f3910e46b831 305
Zeekat 0:a643b1b38abe 306 // first input limiter
Zeekat 2:867a1eb33bbe 307 //if(m_input2 < input_threshold) {m_input2 = 0;}
Zeekat 2:867a1eb33bbe 308 //if(m_input2 > 1) {m_input2 = 1;}
Zeekat 2:867a1eb33bbe 309 //if(reverse_links == false) {m_input2 = -m_input2;}
Zeekat 2:867a1eb33bbe 310 //m_input2 = biquadfilter(m_input2, r2_f_v1, r2_f_v2, r1_f_a1, r1_f_a2, r1_f_b0, r1_f_b1, r1_f_b2);
Zeekat 0:a643b1b38abe 311
Zeekat 0:a643b1b38abe 312
Zeekat 2:867a1eb33bbe 313 //double reference2 = reference_f(m_input2, c_reference2,limlow2,limhigh2); // determine the reference that has been set by the clamped inputsignal
Zeekat 2:867a1eb33bbe 314
Zeekat 2:867a1eb33bbe 315 double reference2 = phi_two;
Zeekat 2:867a1eb33bbe 316 scope.set(1,reference2);
Zeekat 2:867a1eb33bbe 317 scope.send();
Zeekat 0:a643b1b38abe 318 double rads2 = get_radians(motor2_enc.getPosition()); // determine the position of the motor
Zeekat 2:867a1eb33bbe 319 pc.printf("rads2 = %f ",rads2);
Zeekat 0:a643b1b38abe 320 double error2 = (reference2 - rads2); // determine the error (reference - position)
Zeekat 1:f3910e46b831 321 double m_output2 = PID(error2, m2_Kp, m2_Ki, m2_Kd, controlstep, m2_err_int, m2_prev_err);
Zeekat 0:a643b1b38abe 322
Zeekat 1:f3910e46b831 323 m_output2 = outputlimiter(m_output2,1);
Zeekat 1:f3910e46b831 324 if(m_output2 > 0) { // uses the calculated output to determine the direction of the motor
Zeekat 0:a643b1b38abe 325 motor2_rich.write(0);
Zeekat 1:f3910e46b831 326 motor2_aan.write(m_output2);
Zeekat 1:f3910e46b831 327 } else if(m_output2 < 0) {
Zeekat 0:a643b1b38abe 328 motor2_rich.write(1);
Zeekat 1:f3910e46b831 329 motor2_aan.write(abs(m_output2));
Zeekat 0:a643b1b38abe 330 }
Zeekat 0:a643b1b38abe 331 }
Zeekat 0:a643b1b38abe 332
Zeekat 0:a643b1b38abe 333
Zeekat 1:f3910e46b831 334 // function that updates the inputs
Zeekat 1:f3910e46b831 335 void EMG_filter()
Zeekat 1:f3910e46b831 336 {
Zeekat 1:f3910e46b831 337 // filteren van EMG signaal 1 (A0) eerst notch(2 biquads), dan highpass, rectify(abs()), lowpass
Zeekat 1:f3910e46b831 338 double u1 = EMG_in.read();
Zeekat 1:f3910e46b831 339 double y1 = biquadfilter( u1, f1_v1, f1_v2,dennotch50biq1_2, dennotch50biq1_3,numnotch50biq1_1,numnotch50biq1_2,numnotch50biq1_3);
Zeekat 1:f3910e46b831 340 double y2 = biquadfilter( y1, f2_v1, f2_v2,dennotch50biq2_2, dennotch50biq2_3,numnotch50biq2_1,numnotch50biq2_2,numnotch50biq2_3);
Zeekat 1:f3910e46b831 341 double y3 = biquadfilter( y2, f3_v1, f3_v2, denhigh20_2,denhigh20_3,numhigh20_1, numhigh20_2, numhigh20_3);
Zeekat 1:f3910e46b831 342 double y4 = abs(y3);
Zeekat 1:f3910e46b831 343 double y5 = biquadfilter( y4, f4_v1, f4_v2, denlow5_2,denlow5_3,numlow5_1, numlow5_2, numlow5_3);
Zeekat 1:f3910e46b831 344 output1 = y5; // update global variable
Zeekat 1:f3910e46b831 345 // versturen van het input signaal u1 en het gefilterde signaal y5 naar HIDScope channel 0 en 1
Zeekat 1:f3910e46b831 346 //scope.set(0,u1);
Zeekat 1:f3910e46b831 347 //scope.set(1,y5);
Zeekat 1:f3910e46b831 348 // filteren van EMG signaal 2 (A2), zelfde proces als signaal 1
Zeekat 1:f3910e46b831 349 double u1t = EMG_int.read();
Zeekat 1:f3910e46b831 350 double y1t = biquadfiltert( u1t, f1_v1t, f1_v2t,dennotch50biq1_2, dennotch50biq1_3,numnotch50biq1_1,numnotch50biq1_2,numnotch50biq1_3);
Zeekat 1:f3910e46b831 351 double y2t = biquadfiltert( y1t, f2_v1t, f2_v2t,dennotch50biq2_2, dennotch50biq2_3,numnotch50biq2_1,numnotch50biq2_2,numnotch50biq2_3);
Zeekat 1:f3910e46b831 352 double y3t = biquadfiltert( y2t, f3_v1t, f3_v2t, denhigh20_2,denhigh20_3,numhigh20_1, numhigh20_2, numhigh20_3);
Zeekat 1:f3910e46b831 353 double y4t = abs(y3t);
Zeekat 1:f3910e46b831 354 double y5t = biquadfiltert( y4t, f4_v1t, f4_v2t, denlow5_2,denlow5_3,numlow5_1, numlow5_2, numlow5_3);
Zeekat 1:f3910e46b831 355 output2 = y5t; // update global variable
Zeekat 1:f3910e46b831 356
Zeekat 1:f3910e46b831 357 // versturen van input signaal2; u1t en het gefilterde signaal; y5t naar HIDScope channel 2 en 3
Zeekat 1:f3910e46b831 358 //scope.set(2,u1t);
Zeekat 1:f3910e46b831 359 //scope.set(3,y5t);
Zeekat 1:f3910e46b831 360 // verzenden van de verstuurde signalen
Zeekat 1:f3910e46b831 361 //scope.send();
Zeekat 1:f3910e46b831 362 }
Zeekat 1:f3910e46b831 363
Zeekat 1:f3910e46b831 364 // function that updates the required motor angles
Zeekat 1:f3910e46b831 365 void det_angles()
Zeekat 1:f3910e46b831 366 {
Zeekat 2:867a1eb33bbe 367 output1 = potright.read();
Zeekat 2:867a1eb33bbe 368 output2 = potleft.read();
Zeekat 2:867a1eb33bbe 369 double xx = 66+output1*4;
Zeekat 2:867a1eb33bbe 370 double yy = -16+output2*32;
Zeekat 1:f3910e46b831 371 double r = sqrt(pow(xx,2)+pow(yy,2)); // vector naar end effector
Zeekat 1:f3910e46b831 372 double alfa = acos((2*pow(L,2)-pow(r,2))/(2*pow(L,2))); // alfa is de hoek tussen upper en lower arm
Zeekat 1:f3910e46b831 373 double beta = acos((pow(r,2))/(2*L*r)); // beta is de hoek tussen upper arm en r
Zeekat 1:f3910e46b831 374 // hoeken berekenen
Zeekat 2:867a1eb33bbe 375 //pc.printf("xx = %f ",xx);
Zeekat 2:867a1eb33bbe 376 //pc.printf("yy = %f ",yy);
Zeekat 2:867a1eb33bbe 377 //scope.set(0,xx);
Zeekat 2:867a1eb33bbe 378 //scope.set(1,yy);
Zeekat 2:867a1eb33bbe 379
Zeekat 2:867a1eb33bbe 380 double theta_one = (atan2(yy,xx)+beta);
Zeekat 2:867a1eb33bbe 381 double theta_two = (-pi + alfa);
Zeekat 2:867a1eb33bbe 382
Zeekat 2:867a1eb33bbe 383 double phi1 = 4*(theta_one) + 2.8;
Zeekat 2:867a1eb33bbe 384 double phi2 = 4*(theta_one+theta_two) + 1.85;
Zeekat 2:867a1eb33bbe 385 phi2 = -phi2;
Zeekat 2:867a1eb33bbe 386 if(phi1 < limlow1){phi1 = limlow1;}
Zeekat 2:867a1eb33bbe 387 if(phi1 > limhigh1){phi1 = limhigh1;}
Zeekat 1:f3910e46b831 388
Zeekat 2:867a1eb33bbe 389 if(phi2 < limlow2){phi2 = limlow2;} // reverse limlow2 limhigh2 becasue they are inverse due to transmission
Zeekat 2:867a1eb33bbe 390 if(phi2 > limhigh2){phi2 = limhigh2;}
Zeekat 2:867a1eb33bbe 391
Zeekat 2:867a1eb33bbe 392 phi_one = phi1;
Zeekat 2:867a1eb33bbe 393 phi_two = phi2;
Zeekat 2:867a1eb33bbe 394
Zeekat 2:867a1eb33bbe 395 //theta_one = theta_one*4 ;
Zeekat 2:867a1eb33bbe 396 //theta_two = theta_two*4 ;
Zeekat 2:867a1eb33bbe 397
Zeekat 2:867a1eb33bbe 398
Zeekat 2:867a1eb33bbe 399
Zeekat 2:867a1eb33bbe 400 //pc.printf("theta1 = %f ",theta_one);
Zeekat 2:867a1eb33bbe 401 //pc.printf("theta2 = %f \n",theta_two);
Zeekat 2:867a1eb33bbe 402 //scope.set(2,phi1);
Zeekat 2:867a1eb33bbe 403 //scope.set(3,phi2);
Zeekat 2:867a1eb33bbe 404
Zeekat 2:867a1eb33bbe 405 //scope.send();
Zeekat 1:f3910e46b831 406 // testen van de functie
Zeekat 1:f3910e46b831 407 double xt = L*cos(theta_one)+L*cos(theta_one+theta_two);
Zeekat 1:f3910e46b831 408 double yt = L*sin(theta_one)+L*sin(theta_one+theta_two);
Zeekat 2:867a1eb33bbe 409
Zeekat 1:f3910e46b831 410 }
Zeekat 0:a643b1b38abe 411 //////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 412 //////////// DEFINE GO-FLAG FUNCTIONS ///////////////////////////
Zeekat 0:a643b1b38abe 413 ////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 414
Zeekat 1:f3910e46b831 415
Zeekat 1:f3910e46b831 416 void EMG_activate()
Zeekat 1:f3910e46b831 417 {
Zeekat 1:f3910e46b831 418 emg_go = true;
Zeekat 1:f3910e46b831 419 }
Zeekat 1:f3910e46b831 420 void angle_activate()
Zeekat 1:f3910e46b831 421 {
Zeekat 1:f3910e46b831 422 cart_go = true;
Zeekat 1:f3910e46b831 423 }
Zeekat 0:a643b1b38abe 424 void motor1_activate()
Zeekat 0:a643b1b38abe 425 {
Zeekat 0:a643b1b38abe 426 motor1_go = true;
Zeekat 0:a643b1b38abe 427 }
Zeekat 0:a643b1b38abe 428 void motor2_activate()
Zeekat 0:a643b1b38abe 429 {
Zeekat 0:a643b1b38abe 430 motor2_go = true;
Zeekat 0:a643b1b38abe 431 }
Zeekat 0:a643b1b38abe 432
Zeekat 0:a643b1b38abe 433 int main()
Zeekat 0:a643b1b38abe 434 {
Zeekat 0:a643b1b38abe 435 pc.baud(115200);
Zeekat 2:867a1eb33bbe 436 // main_filter.attach(&EMG_activate, controlstep);
Zeekat 1:f3910e46b831 437 cartesian.attach(&angle_activate, controlstep);
Zeekat 0:a643b1b38abe 438 controller1.attach(&motor1_activate, controlstep); // call a go-flag
Zeekat 0:a643b1b38abe 439 controller2.attach(&motor2_activate, controlstep);
Zeekat 0:a643b1b38abe 440 while(true)
Zeekat 0:a643b1b38abe 441 {
Zeekat 0:a643b1b38abe 442 // button press functions
Zeekat 0:a643b1b38abe 443 // flow buttons
Zeekat 0:a643b1b38abe 444 if(buttonlinks.read() == 0)
Zeekat 0:a643b1b38abe 445 {
Zeekat 0:a643b1b38abe 446 loop_start = !loop_start;
Zeekat 0:a643b1b38abe 447 wait(buttonlinks.read() == 1);
Zeekat 0:a643b1b38abe 448 wait(0.3);
Zeekat 0:a643b1b38abe 449 }
Zeekat 0:a643b1b38abe 450 if(buttonrechts.read() == 0)
Zeekat 0:a643b1b38abe 451 {
Zeekat 0:a643b1b38abe 452 calib_start = !calib_start;
Zeekat 0:a643b1b38abe 453 wait(buttonrechts.read() == 1);
Zeekat 0:a643b1b38abe 454 wait(0.3);
Zeekat 0:a643b1b38abe 455 }
Zeekat 0:a643b1b38abe 456 // reverse buttons
Zeekat 0:a643b1b38abe 457 if(reverse_button_links.read() == 0)
Zeekat 0:a643b1b38abe 458 {
Zeekat 0:a643b1b38abe 459 reverse_links = !reverse_links;
Zeekat 0:a643b1b38abe 460 wait(reverse_button_links.read() == 1);
Zeekat 0:a643b1b38abe 461 wait(0.3);
Zeekat 0:a643b1b38abe 462 }
Zeekat 0:a643b1b38abe 463 if(reverse_button_rechts.read() == 0)
Zeekat 0:a643b1b38abe 464 {
Zeekat 0:a643b1b38abe 465 reverse_rechts = !reverse_rechts;
Zeekat 0:a643b1b38abe 466 wait(reverse_button_rechts.read() == 1);
Zeekat 0:a643b1b38abe 467 wait(0.3);
Zeekat 0:a643b1b38abe 468 }
Zeekat 0:a643b1b38abe 469 //////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 470 // Main Control stuff and options
Zeekat 0:a643b1b38abe 471 if(loop_start == true && calib_start == false) // check if start button = true then start the main control loops
Zeekat 0:a643b1b38abe 472 {
Zeekat 0:a643b1b38abe 473 LED(1,1,0); // turn blue led on
Zeekat 1:f3910e46b831 474 if(cart_go) { cart_go = false; det_angles();}
Zeekat 1:f3910e46b831 475 if(emg_go) { emg_go = false; EMG_filter();}
Zeekat 0:a643b1b38abe 476 if(motor1_go) { motor1_go = false; motor1_control();}
Zeekat 0:a643b1b38abe 477 if(motor2_go) { motor2_go = false; motor2_control();}
Zeekat 0:a643b1b38abe 478 }
Zeekat 0:a643b1b38abe 479 // shut off both motors
Zeekat 0:a643b1b38abe 480 if(loop_start == false) {motor1_aan.write(0); motor2_aan.write(0);}
Zeekat 0:a643b1b38abe 481
Zeekat 0:a643b1b38abe 482 // turn green led on // start calibration procedures
Zeekat 0:a643b1b38abe 483 if(loop_start == false && calib_start == true) { LED(1,0,1); motor1_aan.write(0); motor2_aan.write(0);}
Zeekat 0:a643b1b38abe 484
Zeekat 0:a643b1b38abe 485 // turn red led on
Zeekat 0:a643b1b38abe 486 if(loop_start == true && calib_start == true) { LED(0,1,1); motor1_aan.write(0); motor2_aan.write(0);}
Zeekat 0:a643b1b38abe 487
Zeekat 0:a643b1b38abe 488 // turn leds off (both buttons false)
Zeekat 0:a643b1b38abe 489 else { LED(1,1,1);}
Zeekat 0:a643b1b38abe 490 }
Zeekat 0:a643b1b38abe 491 }