Wouter Bos / Mbed 2 deprecated 005-motor_x-y_control

werkend x-y control

Dependencies:   Encoder HIDScope MODSERIAL mbed

main.cpp@4:c371fc59749e, 2015-10-21 (annotated)

Committer:
Zeekat
Date:
Wed Oct 21 14:02:07 2015 +0000
Revision:
4:c371fc59749e
Parent:
3:a73502236647
Child:
5:867fe891b990
goed werkend x y no emg gain calib

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 4:c371fc59749e 7
Zeekat 4:c371fc59749e 8 ///// points..... mooi maken calib
Zeekat 3:a73502236647 9 AnalogOut setpoint_analog(DAC0_OUT);
Zeekat 0:a643b1b38abe 10 Serial pc(USBTX,USBRX);
Zeekat 2:867a1eb33bbe 11 HIDScope scope(4); // definieerd het aantal kanalen van de scope
Zeekat 0:a643b1b38abe 12
Zeekat 0:a643b1b38abe 13 // Define Tickers and control frequencies
Zeekat 1:f3910e46b831 14 Ticker controller1, controller2, main_filter, cartesian; // definieer de ticker die controler1 doet
Zeekat 0:a643b1b38abe 15 // Go flag variables
Zeekat 1:f3910e46b831 16 volatile bool motor1_go = false, motor2_go = false, emg_go = false, cart_go = false;
Zeekat 0:a643b1b38abe 17
Zeekat 0:a643b1b38abe 18 // Frequency control
Zeekat 0:a643b1b38abe 19 double controlfreq = 50 ; // controlloops frequentie (Hz)
Zeekat 0:a643b1b38abe 20 double controlstep = 1/controlfreq; // timestep derived from controlfreq
Zeekat 0:a643b1b38abe 21
Zeekat 0:a643b1b38abe 22
Zeekat 0:a643b1b38abe 23 //MOTOR OUTPUTPINS
Zeekat 0:a643b1b38abe 24 // motor 1
Zeekat 0:a643b1b38abe 25 PwmOut motor1_aan(D6); // PWM signaal motor 2 (uit sheets)
Zeekat 0:a643b1b38abe 26 DigitalOut motor1_rich(D7); // digitaal signaal voor richting
Zeekat 0:a643b1b38abe 27 // motor 2
Zeekat 0:a643b1b38abe 28 PwmOut motor2_aan(D5);
Zeekat 0:a643b1b38abe 29 DigitalOut motor2_rich(D4);
Zeekat 0:a643b1b38abe 30
Zeekat 0:a643b1b38abe 31 // ENCODER INPUTPINS
Zeekat 0:a643b1b38abe 32 Encoder motor1_enc(D12,D11); // encoder outputpins
Zeekat 0:a643b1b38abe 33 Encoder motor2_enc(D10,D9);
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 3:a73502236647 51 AnalogIn potright(A4); // define the potmeter outputpins
Zeekat 3:a73502236647 52 AnalogIn potleft(A5);
Zeekat 1:f3910e46b831 53
Zeekat 1:f3910e46b831 54 // Analoge input signalen defineren
Zeekat 4:c371fc59749e 55 AnalogIn EMG_in(A0); // EMG_in.read kan je nu gebruiken om het analoge signaal A2 uit te lezen
Zeekat 4:c371fc59749e 56 AnalogIn EMG_int(A2); // 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 3:a73502236647 72
Zeekat 3:a73502236647 73
Zeekat 0:a643b1b38abe 74 // LED
Zeekat 0:a643b1b38abe 75 DigitalOut ledred(LED1);
Zeekat 0:a643b1b38abe 76 DigitalOut ledgreen(LED2);
Zeekat 0:a643b1b38abe 77 DigitalOut ledblue(LED3);
Zeekat 0:a643b1b38abe 78
Zeekat 0:a643b1b38abe 79 // REFERENCE SIGNAL SETTINGS
Zeekat 0:a643b1b38abe 80 double input_threshold = 0.25; // the minimum value the signal must have to change the reference.
Zeekat 0:a643b1b38abe 81 // Define signal amplification (needed with EMG, used in control loop, precise amp determination is a work in progress!!!!) ??
Zeekat 0:a643b1b38abe 82 double signalamp1 = 1;
Zeekat 0:a643b1b38abe 83 double signalamp2 = 1;
Zeekat 0:a643b1b38abe 84 // Define storage variables for reference values
Zeekat 0:a643b1b38abe 85 double c_reference1 = 0;
Zeekat 0:a643b1b38abe 86 double c_reference2 = 0;
Zeekat 3:a73502236647 87
Zeekat 3:a73502236647 88 // define start up variables
Zeekat 3:a73502236647 89 double start_up_time = 2;
Zeekat 3:a73502236647 90 double start_loops = start_up_time*controlfreq;
Zeekat 3:a73502236647 91 int rc1 = 0;
Zeekat 3:a73502236647 92 int rc2 = 0;
Zeekat 3:a73502236647 93
Zeekat 0:a643b1b38abe 94 // limit angles (in radians)
Zeekat 0:a643b1b38abe 95 // motor1
Zeekat 3:a73502236647 96 const double limlow1 = 1; // min height in rad
Zeekat 3:a73502236647 97 const double limhigh1 = 6.3; // max height in rad
Zeekat 0:a643b1b38abe 98 // motor 2
Zeekat 3:a73502236647 99 const double limlow2 = -4.0; // maximum height, motor has been inverted due to transmission
Zeekat 3:a73502236647 100 const double limhigh2 = 2.5; // minimum height in rad
Zeekat 0:a643b1b38abe 101
Zeekat 0:a643b1b38abe 102 // Define the maximum rate of change for the reference (velocity)
Zeekat 0:a643b1b38abe 103 double Vmax = 3; // rad/sec
Zeekat 0:a643b1b38abe 104
Zeekat 0:a643b1b38abe 105 // CONTROLLER SETTINGS
Zeekat 0:a643b1b38abe 106 // motor 1
Zeekat 0:a643b1b38abe 107 const double m1_Kp = 5; // Proportional constant
Zeekat 0:a643b1b38abe 108 const double m1_Ki = 0.5; // integration constant
Zeekat 0:a643b1b38abe 109 const double m1_Kd = 0.4; // differentiation constant
Zeekat 0:a643b1b38abe 110 // motor 2
Zeekat 0:a643b1b38abe 111 const double m2_Kp = 2;
Zeekat 2:867a1eb33bbe 112 const double m2_Ki = 0.5;
Zeekat 0:a643b1b38abe 113 const double m2_Kd = 0.1;
Zeekat 0:a643b1b38abe 114 // storage variables
Zeekat 0:a643b1b38abe 115 // motor 1
Zeekat 0:a643b1b38abe 116 double m1_err_int = 0;
Zeekat 0:a643b1b38abe 117 double m1_prev_err = 0;
Zeekat 0:a643b1b38abe 118 // motor 2
Zeekat 0:a643b1b38abe 119 double m2_err_int = 0;
Zeekat 0:a643b1b38abe 120 double m2_prev_err = 0;
Zeekat 0:a643b1b38abe 121
Zeekat 3:a73502236647 122 // EMG calibration variables
Zeekat 4:c371fc59749e 123 double emg_gain1 = 7;
Zeekat 4:c371fc59749e 124 double emg_gain2 = 7;
Zeekat 4:c371fc59749e 125
Zeekat 4:c371fc59749e 126 ////// MOET NETTER!!!!!
Zeekat 4:c371fc59749e 127 double output1_1 = 0;
Zeekat 4:c371fc59749e 128 double output2_1 = 0;
Zeekat 4:c371fc59749e 129
Zeekat 4:c371fc59749e 130
Zeekat 3:a73502236647 131 double cal_samples = 25;
Zeekat 0:a643b1b38abe 132
Zeekat 0:a643b1b38abe 133 //// FILTER VARIABLES
Zeekat 0:a643b1b38abe 134 // storage variables
Zeekat 0:a643b1b38abe 135 // differential action filter, same is used for both controllers
Zeekat 0:a643b1b38abe 136 double m_f_v1 = 0, m_f_v2 = 0;
Zeekat 0:a643b1b38abe 137 // input filter to smooth signal
Zeekat 0:a643b1b38abe 138 double r1_f_v1 = 0, r1_f_v2 = 0;
Zeekat 0:a643b1b38abe 139 double r2_f_v1 = 0, r2_f_v2 = 0;
Zeekat 0:a643b1b38abe 140
Zeekat 0:a643b1b38abe 141 // Filter coefficients
Zeekat 0:a643b1b38abe 142 // differential action filter (lowpass 5Hz at 50samples)
Zeekat 0:a643b1b38abe 143 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 144 // input filter (lowpass 1Hz at 50samples)
Zeekat 0:a643b1b38abe 145 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 146
Zeekat 0:a643b1b38abe 147 // tweede orde notch filter 50 Hz
Zeekat 0:a643b1b38abe 148 // biquad 1 coefficienten
Zeekat 0:a643b1b38abe 149 const double numnotch50biq1_1 = 1;
Zeekat 0:a643b1b38abe 150 const double numnotch50biq1_2 = -1.61816178466632;
Zeekat 0:a643b1b38abe 151 const double numnotch50biq1_3 = 1.00000006127058;
Zeekat 0:a643b1b38abe 152 const double dennotch50biq1_2 = -1.59325742941798;
Zeekat 0:a643b1b38abe 153 const double dennotch50biq1_3 = 0.982171881701431;
Zeekat 0:a643b1b38abe 154 // biquad 2 coefficienten
Zeekat 0:a643b1b38abe 155 const double numnotch50biq2_1 = 1;
Zeekat 0:a643b1b38abe 156 const double numnotch50biq2_2 = -1.61816171933244;
Zeekat 0:a643b1b38abe 157 const double numnotch50biq2_3 = 0.999999938729428;
Zeekat 0:a643b1b38abe 158 const double dennotch50biq2_2 = -1.61431180968071;
Zeekat 0:a643b1b38abe 159 const double dennotch50biq2_3 = 0.982599066293075;
Zeekat 0:a643b1b38abe 160 // highpass filter 20 Hz coefficienten
Zeekat 0:a643b1b38abe 161 const double numhigh20_1 = 0.837089190566345;
Zeekat 0:a643b1b38abe 162 const double numhigh20_2 = -1.67417838113269;
Zeekat 0:a643b1b38abe 163 const double numhigh20_3 = 0.837089190566345;
Zeekat 0:a643b1b38abe 164 const double denhigh20_2 = -1.64745998107698;
Zeekat 0:a643b1b38abe 165 const double denhigh20_3 = 0.700896781188403;
Zeekat 0:a643b1b38abe 166 // lowpass 5 Hz coefficienten
Zeekat 0:a643b1b38abe 167 const double numlow5_1 =0.000944691843840162;
Zeekat 0:a643b1b38abe 168 const double numlow5_2 =0.00188938368768032;
Zeekat 0:a643b1b38abe 169 const double numlow5_3 =0.000944691843840162;
Zeekat 0:a643b1b38abe 170 const double denlow5_2 =-1.91119706742607;
Zeekat 0:a643b1b38abe 171 const double denlow5_3 =0.914975834801434;
Zeekat 0:a643b1b38abe 172
Zeekat 1:f3910e46b831 173 // Define the storage variables and filter coeficients for eight filters
Zeekat 1:f3910e46b831 174 //filter 1
Zeekat 1:f3910e46b831 175 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 176 // filter2
Zeekat 1:f3910e46b831 177 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 178
Zeekat 0:a643b1b38abe 179 ////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 180 /////////////////// START OF SIDE FUNCTIONS ////////////////////
Zeekat 0:a643b1b38abe 181 //////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 182 // these functions are tailored to perform 1 specific function
Zeekat 0:a643b1b38abe 183
Zeekat 0:a643b1b38abe 184 // this funtion flips leds on and off accordin to input with 0 being on
Zeekat 0:a643b1b38abe 185 void LED(int red,int green,int blue)
Zeekat 0:a643b1b38abe 186 {
Zeekat 0:a643b1b38abe 187 ledred.write(red);
Zeekat 0:a643b1b38abe 188 ledgreen.write(green);
Zeekat 0:a643b1b38abe 189 ledblue.write(blue);
Zeekat 0:a643b1b38abe 190 }
Zeekat 0:a643b1b38abe 191
Zeekat 0:a643b1b38abe 192 // counts 2 radians
Zeekat 0:a643b1b38abe 193 // this function takes counts from the encoder and converts it to the amount of radians from the zero position.
Zeekat 0:a643b1b38abe 194 // It has been set up for standard 2X DECODING!!!
Zeekat 0:a643b1b38abe 195 double get_radians(double counts)
Zeekat 0:a643b1b38abe 196 {
Zeekat 0:a643b1b38abe 197 double radians = (counts/4200)*2*pi; // 2X DECODING!!!!! ((32 counts/rotation, last warning)
Zeekat 0:a643b1b38abe 198 return radians;
Zeekat 0:a643b1b38abe 199 }
Zeekat 0:a643b1b38abe 200
Zeekat 0:a643b1b38abe 201
Zeekat 0:a643b1b38abe 202 // This functions takes a 0->1 input, uses passing by reference (&c_reference)
Zeekat 0:a643b1b38abe 203 // to create a reference that moves with a variable speed. It is meant for 0->1 values
Zeekat 0:a643b1b38abe 204 double reference_f(double input, double &c_reference, double limlow, double limhigh)
Zeekat 0:a643b1b38abe 205 {
Zeekat 0:a643b1b38abe 206 double reference = c_reference + input * controlstep * Vmax ;
Zeekat 0:a643b1b38abe 207 // two if statements check if the reference exceeds the limits placed upon the arms
Zeekat 0:a643b1b38abe 208 if(reference < limlow){reference = limlow;}
Zeekat 0:a643b1b38abe 209 if(reference > limhigh){reference = limhigh;}
Zeekat 0:a643b1b38abe 210 c_reference = reference; // change the global variable to the latest location.
Zeekat 0:a643b1b38abe 211 return reference;
Zeekat 0:a643b1b38abe 212 }
Zeekat 0:a643b1b38abe 213
Zeekat 0:a643b1b38abe 214
Zeekat 0:a643b1b38abe 215 // This function takes the controller outputvalue and ensures it is between -1 and 1
Zeekat 0:a643b1b38abe 216 // 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 217 // needs more work to use it for the wind-up prevention.
Zeekat 0:a643b1b38abe 218 double outputlimiter (double output, double limit)
Zeekat 0:a643b1b38abe 219 {
Zeekat 0:a643b1b38abe 220 if(output> limit)
Zeekat 0:a643b1b38abe 221 {
Zeekat 0:a643b1b38abe 222 output = 1;
Zeekat 0:a643b1b38abe 223 }
Zeekat 0:a643b1b38abe 224 else if(output < limit && output > 0)
Zeekat 0:a643b1b38abe 225 {
Zeekat 0:a643b1b38abe 226 output = output;
Zeekat 0:a643b1b38abe 227 }
Zeekat 0:a643b1b38abe 228 else if(output > -limit && output < 0)
Zeekat 0:a643b1b38abe 229 {
Zeekat 0:a643b1b38abe 230 output = output;
Zeekat 0:a643b1b38abe 231 }
Zeekat 0:a643b1b38abe 232 else if(output < -limit)
Zeekat 0:a643b1b38abe 233 {
Zeekat 0:a643b1b38abe 234 (output = -1);
Zeekat 0:a643b1b38abe 235 }
Zeekat 0:a643b1b38abe 236 return output;
Zeekat 0:a643b1b38abe 237 }
Zeekat 0:a643b1b38abe 238
Zeekat 0:a643b1b38abe 239
Zeekat 0:a643b1b38abe 240 // BIQUADFILTER CODE GIVEN IN SHEETS
Zeekat 0:a643b1b38abe 241 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 242 {
Zeekat 0:a643b1b38abe 243 double v = u - a1*v1 - a2*v2;
Zeekat 0:a643b1b38abe 244 double y = b0*v + b1*v1 + b2*v2;
Zeekat 0:a643b1b38abe 245 v2 = v1;
Zeekat 0:a643b1b38abe 246 v1 = v;
Zeekat 0:a643b1b38abe 247 return y;
Zeekat 0:a643b1b38abe 248 }
Zeekat 0:a643b1b38abe 249
Zeekat 1:f3910e46b831 250 // 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 251 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 252 {
Zeekat 1:f3910e46b831 253 double vt = ut- a1t*v1t-a2t*v2t;
Zeekat 1:f3910e46b831 254 double yt = b0t*vt+b1t*v1t+b2t*v2t;
Zeekat 1:f3910e46b831 255 v2t = v1t;
Zeekat 1:f3910e46b831 256 v1t = vt;
Zeekat 1:f3910e46b831 257 return yt;
Zeekat 0:a643b1b38abe 258 }
Zeekat 0:a643b1b38abe 259
Zeekat 0:a643b1b38abe 260 // PID Controller given in sheets
Zeekat 0:a643b1b38abe 261 // aangepast om zelfde filter te gebruiken en om de termen later gesplitst te kunnen limiteren (windup preventie!!)
Zeekat 0:a643b1b38abe 262 double PID(double e, const double Kp, const double Ki, const double Kd, double Ts,double &e_int, double &e_prev)
Zeekat 0:a643b1b38abe 263 {
Zeekat 0:a643b1b38abe 264 // Proportional
Zeekat 0:a643b1b38abe 265 double P = Kp * e;
Zeekat 0:a643b1b38abe 266 // Integral
Zeekat 0:a643b1b38abe 267 e_int = e_int + Ts * e;
Zeekat 0:a643b1b38abe 268 double I = e_int * Ki;
Zeekat 0:a643b1b38abe 269 // Derivative
Zeekat 0:a643b1b38abe 270 double e_derr = (e - e_prev)/Ts;
Zeekat 0:a643b1b38abe 271 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 272 //
Zeekat 0:a643b1b38abe 273 e_prev = e;
Zeekat 0:a643b1b38abe 274 double D = Kd* e_derr;
Zeekat 0:a643b1b38abe 275 // PID
Zeekat 0:a643b1b38abe 276 double output = P + I + D;
Zeekat 0:a643b1b38abe 277 return output;
Zeekat 0:a643b1b38abe 278 }
Zeekat 3:a73502236647 279
Zeekat 3:a73502236647 280 void calibrate_amp()
Zeekat 3:a73502236647 281 {
Zeekat 4:c371fc59749e 282 //double total1 = 0;
Zeekat 4:c371fc59749e 283 //for(int i = 0; i<cal_samples; i++)
Zeekat 4:c371fc59749e 284 //{
Zeekat 4:c371fc59749e 285 // double input1 = EMG_in.read();
Zeekat 4:c371fc59749e 286 // total1 = total1 + input1;
Zeekat 4:c371fc59749e 287 // wait(0.1);
Zeekat 4:c371fc59749e 288 //}
Zeekat 4:c371fc59749e 289 emg_gain1 = 1/output1_1; //1/(total1/cal_samples);
Zeekat 4:c371fc59749e 290
Zeekat 4:c371fc59749e 291 //double total2 = 0;
Zeekat 4:c371fc59749e 292 //for(int i = 0; i<cal_samples; i++)
Zeekat 4:c371fc59749e 293 //{
Zeekat 4:c371fc59749e 294 // double input2 = output2_1;
Zeekat 4:c371fc59749e 295 // total2 = total2 + input2;
Zeekat 4:c371fc59749e 296 // wait(0.1);
Zeekat 4:c371fc59749e 297 //}
Zeekat 4:c371fc59749e 298 emg_gain2 = 1/output2_1;
Zeekat 4:c371fc59749e 299 pc.printf("gain1 = %f, gain2 = %f",emg_gain1,emg_gain2);
Zeekat 3:a73502236647 300
Zeekat 3:a73502236647 301 }
Zeekat 0:a643b1b38abe 302 /////////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 303 ////////////////// PRIMARY CONTROL FUNCTIONS ///////////////////////
Zeekat 0:a643b1b38abe 304 ///////////////////////////////////////////////////////////////////
Zeekat 1:f3910e46b831 305 // these functions are called by go-flags and are used to update main variables and send signals to motor
Zeekat 0:a643b1b38abe 306
Zeekat 0:a643b1b38abe 307 // MOTOR 1
Zeekat 0:a643b1b38abe 308 void motor1_control()
Zeekat 0:a643b1b38abe 309 {
Zeekat 3:a73502236647 310
Zeekat 3:a73502236647 311 double reference1 = phi_one;
Zeekat 0:a643b1b38abe 312
Zeekat 3:a73502236647 313 if(rc1 < start_loops)
Zeekat 3:a73502236647 314 {
Zeekat 3:a73502236647 315 rc1++;
Zeekat 3:a73502236647 316 reference1 = ((double) rc1/start_loops)*reference1;
Zeekat 3:a73502236647 317 }
Zeekat 3:a73502236647 318 else
Zeekat 3:a73502236647 319 {
Zeekat 3:a73502236647 320 reference1 = reference1;
Zeekat 3:a73502236647 321 }
Zeekat 3:a73502236647 322 // 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 323 double rads1 = get_radians(motor1_enc.getPosition()); // determine the position of the motor
Zeekat 0:a643b1b38abe 324 double error1 = (reference1 - rads1); // determine the error (reference - position)
Zeekat 1:f3910e46b831 325 double m_output1 = PID(error1, m1_Kp, m1_Ki, m1_Kd, controlstep, m1_err_int, m1_prev_err);
Zeekat 0:a643b1b38abe 326
Zeekat 1:f3910e46b831 327 m_output1 = outputlimiter(m_output1,1); // relimit the output for safety
Zeekat 1:f3910e46b831 328 if(m_output1 > 0) { // uses the calculated output to determine the direction of the motor
Zeekat 0:a643b1b38abe 329 motor1_rich.write(0);
Zeekat 1:f3910e46b831 330 motor1_aan.write(m_output1);
Zeekat 1:f3910e46b831 331 } else if(m_output1 < 0) {
Zeekat 0:a643b1b38abe 332 motor1_rich.write(1);
Zeekat 1:f3910e46b831 333 motor1_aan.write(abs(m_output1));
Zeekat 0:a643b1b38abe 334 }
Zeekat 0:a643b1b38abe 335 }
Zeekat 0:a643b1b38abe 336
Zeekat 0:a643b1b38abe 337 // MOTOR 2
Zeekat 0:a643b1b38abe 338 void motor2_control()
Zeekat 0:a643b1b38abe 339 {
Zeekat 3:a73502236647 340 double reference2 = phi_two;
Zeekat 0:a643b1b38abe 341
Zeekat 3:a73502236647 342 if(rc2 < start_loops)
Zeekat 3:a73502236647 343 {
Zeekat 3:a73502236647 344 rc2++;
Zeekat 3:a73502236647 345 reference2 = ((double) rc2/start_loops)*reference2;
Zeekat 3:a73502236647 346 }
Zeekat 3:a73502236647 347 else
Zeekat 3:a73502236647 348 {
Zeekat 3:a73502236647 349 reference2 = reference2;
Zeekat 3:a73502236647 350 }
Zeekat 3:a73502236647 351
Zeekat 0:a643b1b38abe 352 double rads2 = get_radians(motor2_enc.getPosition()); // determine the position of the motor
Zeekat 0:a643b1b38abe 353 double error2 = (reference2 - rads2); // determine the error (reference - position)
Zeekat 1:f3910e46b831 354 double m_output2 = PID(error2, m2_Kp, m2_Ki, m2_Kd, controlstep, m2_err_int, m2_prev_err);
Zeekat 0:a643b1b38abe 355
Zeekat 1:f3910e46b831 356 m_output2 = outputlimiter(m_output2,1);
Zeekat 1:f3910e46b831 357 if(m_output2 > 0) { // uses the calculated output to determine the direction of the motor
Zeekat 0:a643b1b38abe 358 motor2_rich.write(0);
Zeekat 1:f3910e46b831 359 motor2_aan.write(m_output2);
Zeekat 1:f3910e46b831 360 } else if(m_output2 < 0) {
Zeekat 0:a643b1b38abe 361 motor2_rich.write(1);
Zeekat 1:f3910e46b831 362 motor2_aan.write(abs(m_output2));
Zeekat 0:a643b1b38abe 363 }
Zeekat 0:a643b1b38abe 364 }
Zeekat 0:a643b1b38abe 365
Zeekat 0:a643b1b38abe 366
Zeekat 1:f3910e46b831 367 // function that updates the inputs
Zeekat 1:f3910e46b831 368 void EMG_filter()
Zeekat 1:f3910e46b831 369 {
Zeekat 1:f3910e46b831 370 // filteren van EMG signaal 1 (A0) eerst notch(2 biquads), dan highpass, rectify(abs()), lowpass
Zeekat 1:f3910e46b831 371 double u1 = EMG_in.read();
Zeekat 1:f3910e46b831 372 double y1 = biquadfilter( u1, f1_v1, f1_v2,dennotch50biq1_2, dennotch50biq1_3,numnotch50biq1_1,numnotch50biq1_2,numnotch50biq1_3);
Zeekat 1:f3910e46b831 373 double y2 = biquadfilter( y1, f2_v1, f2_v2,dennotch50biq2_2, dennotch50biq2_3,numnotch50biq2_1,numnotch50biq2_2,numnotch50biq2_3);
Zeekat 1:f3910e46b831 374 double y3 = biquadfilter( y2, f3_v1, f3_v2, denhigh20_2,denhigh20_3,numhigh20_1, numhigh20_2, numhigh20_3);
Zeekat 1:f3910e46b831 375 double y4 = abs(y3);
Zeekat 1:f3910e46b831 376 double y5 = biquadfilter( y4, f4_v1, f4_v2, denlow5_2,denlow5_3,numlow5_1, numlow5_2, numlow5_3);
Zeekat 4:c371fc59749e 377 output1_1 = y5;
Zeekat 4:c371fc59749e 378 output1 = y5*emg_gain1; // update global variable
Zeekat 1:f3910e46b831 379 // versturen van het input signaal u1 en het gefilterde signaal y5 naar HIDScope channel 0 en 1
Zeekat 3:a73502236647 380
Zeekat 1:f3910e46b831 381 // filteren van EMG signaal 2 (A2), zelfde proces als signaal 1
Zeekat 1:f3910e46b831 382 double u1t = EMG_int.read();
Zeekat 1:f3910e46b831 383 double y1t = biquadfiltert( u1t, f1_v1t, f1_v2t,dennotch50biq1_2, dennotch50biq1_3,numnotch50biq1_1,numnotch50biq1_2,numnotch50biq1_3);
Zeekat 1:f3910e46b831 384 double y2t = biquadfiltert( y1t, f2_v1t, f2_v2t,dennotch50biq2_2, dennotch50biq2_3,numnotch50biq2_1,numnotch50biq2_2,numnotch50biq2_3);
Zeekat 1:f3910e46b831 385 double y3t = biquadfiltert( y2t, f3_v1t, f3_v2t, denhigh20_2,denhigh20_3,numhigh20_1, numhigh20_2, numhigh20_3);
Zeekat 1:f3910e46b831 386 double y4t = abs(y3t);
Zeekat 1:f3910e46b831 387 double y5t = biquadfiltert( y4t, f4_v1t, f4_v2t, denlow5_2,denlow5_3,numlow5_1, numlow5_2, numlow5_3);
Zeekat 4:c371fc59749e 388 output2_1 = y5t;
Zeekat 4:c371fc59749e 389 output2 = y5t*emg_gain2; // update global variable
Zeekat 4:c371fc59749e 390
Zeekat 4:c371fc59749e 391 scope.set(0,output1);
Zeekat 4:c371fc59749e 392 scope.set(1,output2);
Zeekat 4:c371fc59749e 393 scope.send();
Zeekat 1:f3910e46b831 394 }
Zeekat 1:f3910e46b831 395
Zeekat 1:f3910e46b831 396 // function that updates the required motor angles
Zeekat 1:f3910e46b831 397 void det_angles()
Zeekat 1:f3910e46b831 398 {
Zeekat 3:a73502236647 399 // potmeter debugging
Zeekat 3:a73502236647 400 // static double time = 0.0;
Zeekat 3:a73502236647 401 // const double time_inc = 0.005;
Zeekat 3:a73502236647 402 // setpoint_analog= 0.5+(sin(time)/2.0);
Zeekat 3:a73502236647 403 // time += time_inc;
Zeekat 3:a73502236647 404
Zeekat 4:c371fc59749e 405 //output1 = potright.read();
Zeekat 3:a73502236647 406
Zeekat 4:c371fc59749e 407 //output2 = potleft.read();
Zeekat 4:c371fc59749e 408
Zeekat 4:c371fc59749e 409 if(output1>1) {output1 = 1;}
Zeekat 4:c371fc59749e 410 if(output2>1) {output2 = 1;}
Zeekat 4:c371fc59749e 411
Zeekat 3:a73502236647 412 double xx = 50+output1*20;
Zeekat 3:a73502236647 413
Zeekat 3:a73502236647 414 double ymin = - 16;
Zeekat 3:a73502236647 415 double ymax = + 16;
Zeekat 3:a73502236647 416 double yy = ymin+output2*(ymax-ymin);
Zeekat 1:f3910e46b831 417 double r = sqrt(pow(xx,2)+pow(yy,2)); // vector naar end effector
Zeekat 1:f3910e46b831 418 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 419 double beta = acos((pow(r,2))/(2*L*r)); // beta is de hoek tussen upper arm en r
Zeekat 2:867a1eb33bbe 420
Zeekat 2:867a1eb33bbe 421 double theta_one = (atan2(yy,xx)+beta);
Zeekat 2:867a1eb33bbe 422 double theta_two = (-pi + alfa);
Zeekat 2:867a1eb33bbe 423
Zeekat 2:867a1eb33bbe 424 double phi1 = 4*(theta_one) + 2.8;
Zeekat 2:867a1eb33bbe 425 double phi2 = 4*(theta_one+theta_two) + 1.85;
Zeekat 2:867a1eb33bbe 426 phi2 = -phi2;
Zeekat 4:c371fc59749e 427
Zeekat 4:c371fc59749e 428
Zeekat 2:867a1eb33bbe 429 if(phi1 < limlow1){phi1 = limlow1;}
Zeekat 2:867a1eb33bbe 430 if(phi1 > limhigh1){phi1 = limhigh1;}
Zeekat 1:f3910e46b831 431
Zeekat 3:a73502236647 432 if(phi2 < limlow2){phi2 = limlow2;}
Zeekat 2:867a1eb33bbe 433 if(phi2 > limhigh2){phi2 = limhigh2;}
Zeekat 2:867a1eb33bbe 434
Zeekat 3:a73502236647 435 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 3:a73502236647 436 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 4:c371fc59749e 437
Zeekat 2:867a1eb33bbe 438 phi_one = phi1;
Zeekat 2:867a1eb33bbe 439 phi_two = phi2;
Zeekat 2:867a1eb33bbe 440
Zeekat 4:c371fc59749e 441 pc.printf("x = %f, y = %f, phi_one = %f, phi_two = %f \n",xx,yy,phi_one,phi_two);
Zeekat 2:867a1eb33bbe 442
Zeekat 2:867a1eb33bbe 443
Zeekat 2:867a1eb33bbe 444
Zeekat 1:f3910e46b831 445 }
Zeekat 0:a643b1b38abe 446 //////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 447 //////////// DEFINE GO-FLAG FUNCTIONS ///////////////////////////
Zeekat 0:a643b1b38abe 448 ////////////////////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 449
Zeekat 1:f3910e46b831 450
Zeekat 1:f3910e46b831 451 void EMG_activate()
Zeekat 1:f3910e46b831 452 {
Zeekat 1:f3910e46b831 453 emg_go = true;
Zeekat 1:f3910e46b831 454 }
Zeekat 1:f3910e46b831 455 void angle_activate()
Zeekat 1:f3910e46b831 456 {
Zeekat 1:f3910e46b831 457 cart_go = true;
Zeekat 1:f3910e46b831 458 }
Zeekat 0:a643b1b38abe 459 void motor1_activate()
Zeekat 0:a643b1b38abe 460 {
Zeekat 0:a643b1b38abe 461 motor1_go = true;
Zeekat 0:a643b1b38abe 462 }
Zeekat 0:a643b1b38abe 463 void motor2_activate()
Zeekat 0:a643b1b38abe 464 {
Zeekat 0:a643b1b38abe 465 motor2_go = true;
Zeekat 0:a643b1b38abe 466 }
Zeekat 0:a643b1b38abe 467
Zeekat 0:a643b1b38abe 468 int main()
Zeekat 0:a643b1b38abe 469 {
Zeekat 0:a643b1b38abe 470 pc.baud(115200);
Zeekat 4:c371fc59749e 471 main_filter.attach(&EMG_activate, controlstep);
Zeekat 1:f3910e46b831 472 cartesian.attach(&angle_activate, controlstep);
Zeekat 0:a643b1b38abe 473 controller1.attach(&motor1_activate, controlstep); // call a go-flag
Zeekat 0:a643b1b38abe 474 controller2.attach(&motor2_activate, controlstep);
Zeekat 0:a643b1b38abe 475 while(true)
Zeekat 0:a643b1b38abe 476 {
Zeekat 0:a643b1b38abe 477 // button press functions
Zeekat 0:a643b1b38abe 478 // flow buttons
Zeekat 0:a643b1b38abe 479 if(buttonlinks.read() == 0)
Zeekat 0:a643b1b38abe 480 {
Zeekat 0:a643b1b38abe 481 loop_start = !loop_start;
Zeekat 0:a643b1b38abe 482 wait(buttonlinks.read() == 1);
Zeekat 0:a643b1b38abe 483 wait(0.3);
Zeekat 0:a643b1b38abe 484 }
Zeekat 0:a643b1b38abe 485 if(buttonrechts.read() == 0)
Zeekat 0:a643b1b38abe 486 {
Zeekat 0:a643b1b38abe 487 calib_start = !calib_start;
Zeekat 0:a643b1b38abe 488 wait(buttonrechts.read() == 1);
Zeekat 0:a643b1b38abe 489 wait(0.3);
Zeekat 0:a643b1b38abe 490 }
Zeekat 0:a643b1b38abe 491 // reverse buttons
Zeekat 0:a643b1b38abe 492 if(reverse_button_links.read() == 0)
Zeekat 0:a643b1b38abe 493 {
Zeekat 0:a643b1b38abe 494 reverse_links = !reverse_links;
Zeekat 0:a643b1b38abe 495 wait(reverse_button_links.read() == 1);
Zeekat 0:a643b1b38abe 496 wait(0.3);
Zeekat 0:a643b1b38abe 497 }
Zeekat 0:a643b1b38abe 498 if(reverse_button_rechts.read() == 0)
Zeekat 0:a643b1b38abe 499 {
Zeekat 0:a643b1b38abe 500 reverse_rechts = !reverse_rechts;
Zeekat 0:a643b1b38abe 501 wait(reverse_button_rechts.read() == 1);
Zeekat 0:a643b1b38abe 502 wait(0.3);
Zeekat 0:a643b1b38abe 503 }
Zeekat 3:a73502236647 504
Zeekat 0:a643b1b38abe 505 //////////////////////////////////////////////////
Zeekat 0:a643b1b38abe 506 // Main Control stuff and options
Zeekat 0:a643b1b38abe 507 if(loop_start == true && calib_start == false) // check if start button = true then start the main control loops
Zeekat 0:a643b1b38abe 508 {
Zeekat 0:a643b1b38abe 509 LED(1,1,0); // turn blue led on
Zeekat 1:f3910e46b831 510 if(cart_go) { cart_go = false; det_angles();}
Zeekat 1:f3910e46b831 511 if(emg_go) { emg_go = false; EMG_filter();}
Zeekat 0:a643b1b38abe 512 if(motor1_go) { motor1_go = false; motor1_control();}
Zeekat 0:a643b1b38abe 513 if(motor2_go) { motor2_go = false; motor2_control();}
Zeekat 0:a643b1b38abe 514 }
Zeekat 0:a643b1b38abe 515 // shut off both motors
Zeekat 0:a643b1b38abe 516 if(loop_start == false) {motor1_aan.write(0); motor2_aan.write(0);}
Zeekat 0:a643b1b38abe 517
Zeekat 0:a643b1b38abe 518 // turn green led on // start calibration procedures
Zeekat 3:a73502236647 519 if(loop_start == false && calib_start == true)
Zeekat 3:a73502236647 520 { LED(1,0,1);
Zeekat 3:a73502236647 521 motor1_aan.write(0);
Zeekat 3:a73502236647 522 motor2_aan.write(0);
Zeekat 3:a73502236647 523 calibrate_amp(); // 10 second calibration
Zeekat 3:a73502236647 524 calib_start = false; // turn fork off
Zeekat 3:a73502236647 525 }
Zeekat 0:a643b1b38abe 526
Zeekat 0:a643b1b38abe 527 // turn red led on
Zeekat 3:a73502236647 528 if(loop_start == true && calib_start == true)
Zeekat 3:a73502236647 529 {
Zeekat 3:a73502236647 530 LED(0,1,1);
Zeekat 3:a73502236647 531 motor1_aan.write(0);
Zeekat 3:a73502236647 532 motor2_aan.write(0);
Zeekat 3:a73502236647 533 // switch_type = !switch_type;
Zeekat 3:a73502236647 534 }
Zeekat 0:a643b1b38abe 535
Zeekat 0:a643b1b38abe 536 // turn leds off (both buttons false)
Zeekat 0:a643b1b38abe 537 else { LED(1,1,1);}
Zeekat 0:a643b1b38abe 538 }
Zeekat 0:a643b1b38abe 539 }