werkend x-y control
Dependencies: Encoder HIDScope MODSERIAL mbed
main.cpp
- Committer:
- Zeekat
- Date:
- 2015-10-22
- Revision:
- 5:867fe891b990
- Parent:
- 4:c371fc59749e
- Child:
- 6:bfd24400e9d0
File content as of revision 5:867fe891b990:
#include "mbed.h" #include "MODSERIAL.h" #include "encoder.h" #include "HIDScope.h" #include "math.h" ///// points..... mooi maken calib Serial pc(USBTX,USBRX); HIDScope scope(4); // definieerd het aantal kanalen van de scope // Define Tickers and control frequencies Ticker controller1, controller2, main_filter, cartesian; // definieer de ticker die controler1 doet // Go flag variables volatile bool motor1_go = false, motor2_go = false, emg_go = false, cart_go = false; // Frequency control double controlfreq = 50 ; // controlloops frequentie (Hz) double controlstep = 1/controlfreq; // timestep derived from controlfreq //MOTOR OUTPUTPINS // motor 1 PwmOut motor1_aan(D6); // PWM signaal motor 2 (uit sheets) DigitalOut motor1_rich(D7); // digitaal signaal voor richting // motor 2 PwmOut motor2_aan(D5); DigitalOut motor2_rich(D4); // ENCODER INPUTPINS Encoder motor1_enc(D12,D11); // encoder outputpins Encoder motor2_enc(D10,D9); //////// // physical constants const double L = 36; // lenght of arms const double pi = 3.1415926535897; /////////////////////////// // Main control loop transfer variables // here all variables that transfer bewtween the primary control functions // filter to calibration double output1; double output2; // filter to x-y double output1_amp; double output2_amp; // x-y to motor control double phi_one; double phi_two; // EXTRA INPUTS AND REQUIRED VARIABLES //POTMETERS AnalogIn potright(A4); // define the potmeter outputpins AnalogIn potleft(A5); // Analoge input signalen defineren AnalogIn EMG_in(A0); // EMG_in.read kan je nu gebruiken om het analoge signaal A2 uit te lezen AnalogIn EMG_int(A2); // deze leest A3 uit // BUTTONS // control flow DigitalIn buttonlinks(PTA4); DigitalIn buttonrechts(PTC6); // init values bool loop_start = false; bool calib_start = false; // direction control DigitalIn reverse_button_links(D0); DigitalIn reverse_button_rechts(D1); // init values bool reverse_links = false; bool reverse_rechts = false; // LED DigitalOut ledred(LED1); DigitalOut ledgreen(LED2); DigitalOut ledblue(LED3); // REFERENCE SIGNAL SETTINGS double input_threshold = 0.25; // the minimum value the signal must have to change the reference. // Define storage variables for reference values double c_reference1 = 0; double c_reference2 = 0; // define start up variables double start_up_time = 2; double start_loops = start_up_time*controlfreq; int rc1 = 0; int rc2 = 0; // limit angles (in radians) // motor1 const double limlow1 = 1; // min height in rad const double limhigh1 = 6.3; // max height in rad // motor 2 const double limlow2 = -4.0; // maximum height, motor has been inverted due to transmission const double limhigh2 = 2.5; // minimum height in rad // Define the maximum rate of change for the reference (velocity) double Vmax = 3; // rad/sec // CONTROLLER SETTINGS // motor 1 const double m1_Kp = 5; // Proportional constant const double m1_Ki = 0.5; // integration constant const double m1_Kd = 0.4; // differentiation constant // motor 2 const double m2_Kp = 2; const double m2_Ki = 0.5; const double m2_Kd = 0.1; // storage variables // motor 1 double m1_err_int = 0; double m1_prev_err = 0; // motor 2 double m2_err_int = 0; double m2_prev_err = 0; // EMG calibration variables double emg_gain1 = 1; // set to one for unamplified signal double emg_gain2 = 1; double cal_samples = 25; double normalize_emg_value = 1; // set te desired value to calibrate the signal to //// FILTER VARIABLES // storage variables // differential action filter, same is used for both controllers double m_f_v1 = 0, m_f_v2 = 0; // input filter to smooth signal double r1_f_v1 = 0, r1_f_v2 = 0; double r2_f_v1 = 0, r2_f_v2 = 0; // Filter coefficients // differential action filter (lowpass 5Hz at 50samples) 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. // input filter (lowpass 1Hz at 50samples) 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; // tweede orde notch filter 50 Hz // biquad 1 coefficienten const double numnotch50biq1_1 = 1; const double numnotch50biq1_2 = -1.61816178466632; const double numnotch50biq1_3 = 1.00000006127058; const double dennotch50biq1_2 = -1.59325742941798; const double dennotch50biq1_3 = 0.982171881701431; // biquad 2 coefficienten const double numnotch50biq2_1 = 1; const double numnotch50biq2_2 = -1.61816171933244; const double numnotch50biq2_3 = 0.999999938729428; const double dennotch50biq2_2 = -1.61431180968071; const double dennotch50biq2_3 = 0.982599066293075; // highpass filter 20 Hz coefficienten const double numhigh20_1 = 0.837089190566345; const double numhigh20_2 = -1.67417838113269; const double numhigh20_3 = 0.837089190566345; const double denhigh20_2 = -1.64745998107698; const double denhigh20_3 = 0.700896781188403; // lowpass 5 Hz coefficienten const double numlow5_1 =0.000944691843840162; const double numlow5_2 =0.00188938368768032; const double numlow5_3 =0.000944691843840162; const double denlow5_2 =-1.91119706742607; const double denlow5_3 =0.914975834801434; // Define the storage variables and filter coeficients for eight filters //filter 1 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; // filter2 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; //////////////////////////////////////////////////////////////// /////////////////// START OF SIDE FUNCTIONS //////////////////// ////////////////////////////////////////////////////////////// // these functions are tailored to perform 1 specific function // this funtion flips leds on and off accordin to input with 0 being on void LED(int red,int green,int blue) { ledred.write(red); ledgreen.write(green); ledblue.write(blue); } // counts 2 radians // this function takes counts from the encoder and converts it to the amount of radians from the zero position. // It has been set up for standard 2X DECODING!!! double get_radians(double counts) { double radians = (counts/4200)*2*pi; // 2X DECODING!!!!! ((32 counts/rotation, last warning) return radians; } // This functions takes a 0->1 input, uses passing by reference (&c_reference) // to create a reference that moves with a variable speed. It is meant for 0->1 values double reference_f(double input, double &c_reference, double limlow, double limhigh) { double reference = c_reference + input * controlstep * Vmax ; // two if statements check if the reference exceeds the limits placed upon the arms if(reference < limlow){reference = limlow;} if(reference > limhigh){reference = limhigh;} c_reference = reference; // change the global variable to the latest location. return reference; } // This function takes the controller outputvalue and ensures it is between -1 and 1 // this is done to limit the motor input to possible values (the motor takes 0 to 1 and the sign changes the direction). double outputlimiter (double output, double limit) { if(output> limit) { output = 1; } else if(output < limit && output > 0) { output = output; } else if(output > -limit && output < 0) { output = output; } else if(output < -limit) { (output = -1); } return output; } // BIQUADFILTER CODE GIVEN IN SHEETS double biquadfilter(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; } // biquadfilters die bij het filteren van signaal 2 horen, copy paste, alle waardes zijn veranderd naar +t (t van two of twee) // (niet netjes maar werkt goed) double biquadfiltert(double ut, double &v1t, double &v2t, const double a1t, const double a2t, const double b0t, const double b1t, const double b2t) { double vt = ut- a1t*v1t-a2t*v2t; double yt = b0t*vt+b1t*v1t+b2t*v2t; v2t = v1t; v1t = vt; return yt; } // PID Controller given in sheets // aangepast om zelfde filter te gebruiken en om de termen te splitsen double PID(double e, const double Kp, const double Ki, const double Kd, double Ts,double &e_int, double &e_prev) { // Proportional double P = Kp * e; // Integral e_int = e_int + Ts * e; double I = e_int * Ki; // Derivative double e_derr = (e - e_prev)/Ts; 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); // e_prev = e; double D = Kd* e_derr; // PID double output = P + I + D; return output; } double angle_limits(double phi, double limlow, double limhigh) { if(phi < limlow) { phi = limlow; } if(phi > limhigh) { phi = limhigh; } return phi; } ///////////////////////////////////////////////////////////////////// ////////////////// PRIMARY CONTROL FUNCTIONS /////////////////////// /////////////////////////////////////////////////////////////////// // these functions are called by go-flags and are used to update main variables and send signals to motor // function that updates the inputs void EMG_filter() { // filteren van EMG signaal 1 (A0) eerst notch(2 biquads), dan highpass, rectify(abs()), lowpass double u1 = EMG_in.read(); double y1 = biquadfilter( u1, f1_v1, f1_v2,dennotch50biq1_2, dennotch50biq1_3,numnotch50biq1_1,numnotch50biq1_2,numnotch50biq1_3); double y2 = biquadfilter( y1, f2_v1, f2_v2,dennotch50biq2_2, dennotch50biq2_3,numnotch50biq2_1,numnotch50biq2_2,numnotch50biq2_3); double y3 = biquadfilter( y2, f3_v1, f3_v2, denhigh20_2,denhigh20_3,numhigh20_1, numhigh20_2, numhigh20_3); double y4 = abs(y3); double y5 = biquadfilter( y4, f4_v1, f4_v2, denlow5_2,denlow5_3,numlow5_1, numlow5_2, numlow5_3); // update global variables output1 = y5; output1_amp = y5*emg_gain1; // update global variable // filteren van EMG signaal 2 (A2), zelfde proces als signaal 1 double u1t = EMG_int.read(); double y1t = biquadfiltert( u1t, f1_v1t, f1_v2t,dennotch50biq1_2, dennotch50biq1_3,numnotch50biq1_1,numnotch50biq1_2,numnotch50biq1_3); double y2t = biquadfiltert( y1t, f2_v1t, f2_v2t,dennotch50biq2_2, dennotch50biq2_3,numnotch50biq2_1,numnotch50biq2_2,numnotch50biq2_3); double y3t = biquadfiltert( y2t, f3_v1t, f3_v2t, denhigh20_2,denhigh20_3,numhigh20_1, numhigh20_2, numhigh20_3); double y4t = abs(y3t); double y5t = biquadfiltert( y4t, f4_v1t, f4_v2t, denlow5_2,denlow5_3,numlow5_1, numlow5_2, numlow5_3); // update global variables output2 = y5t; output2_amp = y5t*emg_gain2; scope.set(0,output1_amp); scope.set(1,output2_amp); scope.send(); } // function that updates the required motor angles void det_angles() { if(output1>1) {output1 = 1;} if(output2>1) {output2 = 1;} output1 = potright.read(); output2 = potleft.read(); double xx = 50+output1_amp*20; double ymin = - sqrt(4900 - pow(xx,2)); double ymax = sqrt(4900 - pow(xx,2)); double yy = ymin+output2_amp*(ymax-ymin); double r = sqrt(pow(xx,2)+pow(yy,2)); // vector naar end effector double alfa = acos((2*pow(L,2)-pow(r,2))/(2*pow(L,2))); // alfa is de hoek tussen upper en lower arm double beta = acos((pow(r,2))/(2*L*r)); // beta is de hoek tussen upper arm en r double theta_one = (atan2(yy,xx)+beta); double theta_two = (-pi + alfa); double phi1 = 4*(theta_one) + 2.8; double phi2 = 4*(theta_one+theta_two) + 1.85; phi2 = -phi2; // check the input angles and apply the limits phi1 = angle_limits(phi1,limlow1,limhigh1); phi2 = angle_limits(phi2,limlow2,limhigh2); // smooth the input signal (lowpass 1Hz) phi1 = biquadfilter(phi1, r1_f_v1, r1_f_v2, r1_f_a1, r1_f_a2, r1_f_b0, r1_f_b1, r1_f_b2); phi2 = biquadfilter(phi2, r2_f_v1, r2_f_v2, r1_f_a1, r1_f_a2, r1_f_b0, r1_f_b1, r1_f_b2); // write into global variables phi_one = phi1; phi_two = phi2; pc.printf("x = %f, y = %f, phi_one = %f, phi_two = %f \n",xx,yy,phi_one,phi_two); } // MOTOR 1 void motor1_control() { double reference1 = phi_one; // add smooth start up if(rc1 < start_loops) { rc1++; reference1 = ((double) rc1/start_loops)*reference1; } else { reference1 = reference1; } double rads1 = get_radians(motor1_enc.getPosition()); // determine the position of the motor double error1 = (reference1 - rads1); // determine the error (reference - position) double m_output1 = PID(error1, m1_Kp, m1_Ki, m1_Kd, controlstep, m1_err_int, m1_prev_err); m_output1 = outputlimiter(m_output1,1); // relimit the output for safety if(m_output1 > 0) { // uses the calculated output to determine the direction of the motor motor1_rich.write(0); motor1_aan.write(m_output1); } else if(m_output1 < 0) { motor1_rich.write(1); motor1_aan.write(abs(m_output1)); } } // MOTOR 2 void motor2_control() { double reference2 = phi_two; if(rc2 < start_loops) { rc2++; reference2 = ((double) rc2/start_loops)*reference2; } else { reference2 = reference2; } double rads2 = get_radians(motor2_enc.getPosition()); // determine the position of the motor double error2 = (reference2 - rads2); // determine the error (reference - position) double m_output2 = PID(error2, m2_Kp, m2_Ki, m2_Kd, controlstep, m2_err_int, m2_prev_err); m_output2 = outputlimiter(m_output2,1); if(m_output2 > 0) { // uses the calculated output to determine the direction of the motor motor2_rich.write(0); motor2_aan.write(m_output2); } else if(m_output2 < 0) { motor2_rich.write(1); motor2_aan.write(abs(m_output2)); } } // calibrate the emg-signal // works bij taking a certain amount of samples adding them and then normalize to the desired value void calibrate_amp() { double total1 = 0; double total2 = 0; for(int i = 0; i<cal_samples; i++) { EMG_filter(); // run filter double input1 = output1; total1 = total1 + input1; // sum inputs double input2 = output2; total2 = total2 + input2; wait(0.1); } emg_gain1 = normalize_emg_value/(total1/cal_samples); // normalize the amplification so that the maximum signal hits the desired one emg_gain2 = normalize_emg_value/(total2/cal_samples); pc.printf("gain1 = %f, gain2 = %f",emg_gain1,emg_gain2); } ////////////////////////////////////////////////////////////////// //////////// DEFINE GO-FLAG FUNCTIONS /////////////////////////// //////////////////////////////////////////////////////////////// void EMG_activate() { emg_go = true; } void angle_activate() { cart_go = true; } void motor1_activate() { motor1_go = true; } void motor2_activate() { motor2_go = true; } int main() { pc.baud(115200); main_filter.attach(&EMG_activate, controlstep); cartesian.attach(&angle_activate, controlstep); controller1.attach(&motor1_activate, controlstep); // call a go-flag controller2.attach(&motor2_activate, controlstep); while(true) { // button press functions // flow buttons if(buttonlinks.read() == 0) { loop_start = !loop_start; wait(buttonlinks.read() == 1); wait(0.3); } if(buttonrechts.read() == 0) { calib_start = !calib_start; wait(buttonrechts.read() == 1); wait(0.3); } // reverse buttons if(reverse_button_links.read() == 0) { reverse_links = !reverse_links; wait(reverse_button_links.read() == 1); wait(0.3); } if(reverse_button_rechts.read() == 0) { reverse_rechts = !reverse_rechts; wait(reverse_button_rechts.read() == 1); wait(0.3); } ////////////////////////////////////////////////// // Main Control stuff and options if(loop_start == true && calib_start == false) // check if start button = true then start the main control loops { LED(1,1,0); // turn blue led on if(cart_go) { cart_go = false; det_angles();} if(emg_go) { emg_go = false; EMG_filter();} if(motor1_go) { motor1_go = false; motor1_control();} if(motor2_go) { motor2_go = false; motor2_control();} } // shut off both motors if(loop_start == false) {motor1_aan.write(0); motor2_aan.write(0);} // turn green led on // start calibration procedures if(loop_start == false && calib_start == true) { LED(1,0,1); motor1_aan.write(0); motor2_aan.write(0); calibrate_amp(); // 10 second calibration calib_start = false; // turn fork off } // turn red led on if(loop_start == true && calib_start == true) { LED(0,1,1); motor1_aan.write(0); motor2_aan.write(0); // switch_type = !switch_type; } // turn leds off (both buttons false) else { LED(1,1,1);} } }