Revision 9:40c9a18c3430, committed 2018-11-01

Comitter:

cmaas

Date:

Thu Nov 01 17:09:18 2018 +0000

Parent:

8:ec3ea0623620

Child:

10:2325e545ce11

Commit message:

KINEMATICS + CONTROL ADDED. COMPILING

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib	Thu Nov 01 17:09:18 2018 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa

--- a/main.cpp	Thu Nov 01 16:40:11 2018 +0000
+++ b/main.cpp	Thu Nov 01 17:09:18 2018 +0000
@@ -1,15 +1,33 @@
-// EMG, RKI, PID, MOTOR
+// EMG + KINEMATICS + PID + MOTOR CONTROL
+
+//----------------~INITIATING-------------------------
 #include "mbed.h"
+
+// EMG                 --      DEPENDENCIES
 #include <iostream>
 #include "BiQuad.h"
 #include "BiQuadchains_zelfbeun.h"
 #include "MODSERIAL.h"
 
+// KINEMATICS          --       DEPENDENCIES
+#include "stdio.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+#define M_PI    3.14159265358979323846 /* pi */
+
+// PID CONTROLLER      --      DEPENDENCIES
+#include "BiQuad.h"
+#include "QEI.h"
+//#include "HIDScope.h"
+
+
+// GENERAL PIN DEFENITIONS
 MODSERIAL pc(USBTX, USBRX);
 
+// EMG     --      PIN DEFENITIONS 
 DigitalOut gpo(D0);
 
-DigitalIn button2(SW3);
+DigitalIn button2(SW3);  
 DigitalIn button1(SW2); //or SW2
 
 DigitalOut led1(LED_GREEN);
@@ -22,18 +40,126 @@
 Timer t; //timer try out for Astrid
 Timer timer_calibration; //timer for EMG calibration
 
-
-
 //Input system
 AnalogIn emg1(A0); //right biceps
 AnalogIn emg2(A1); //right triceps
 AnalogIn emg3(A2); //left biceps
 AnalogIn emg4(A3); //left triceps
 
+
+// PID  CONTROLLER     --        PIN DEFENITIONS 
+//AnalogIn button2(A4);
+//AnalogIn button1(A3);
+//DigitalIn button3(SW2);
+//DigitalIn button4(SW3);
+
+DigitalOut directionpin1(D7);   // motor 1
+DigitalOut directionpin2(D4);   // motor 2
+DigitalOut directionpin3(D13);  // motor 3
+PwmOut pwmpin1(D6);             // motor 1
+PwmOut pwmpin2(D5);             // motor 2
+PwmOut pwmpin3(D12);            // motor 3
+
+QEI encoder1 (D9, D8, NC, 8400, QEI::X4_ENCODING);
+QEI encoder2 (D11, D10, NC, 8400, QEI::X4_ENCODING); // motor 2
+QEI encoder3 (D3, D2, NC, 8400, QEI::X4_ENCODING);  // motor 3
+// HIDScope scope(2);
+
+//  PID - TICKERS
+Ticker ref_rot;
+Ticker show_counts;
+Ticker Scope_Data;
+
+//----------------GLOBALS--------------------------
+// GLOBALS EMG
+
 //Filtered EMG signals from the end of the chains
 volatile double emg1_filtered, emg2_filtered, emg3_filtered, emg4_filtered;
 int i = 0;
 
+//Define doubles for calibration and ticker
+double ts = 0.001; //tijdsstap
+double calibration_time = 55; //time EMG calibration should take
+
+volatile double temp_highest_emg1 = 0; //highest detected value right biceps
+volatile double temp_highest_emg2 = 0;
+volatile double temp_highest_emg3 = 0;
+volatile double temp_highest_emg4 = 0;
+
+//Doubles for calculation threshold
+double biceps_p_t = 0.4; //set threshold at percentage of highest value
+double triceps_p_t = 0.5; //set threshold at percentage of highest value
+volatile double threshold1;
+volatile double threshold2;
+volatile double threshold3;
+volatile double threshold4;
+
+// thresholdreads bools
+int bicepsR;
+int tricepsR;
+int bicepsL;
+int tricepsL;
+
+// VARIABLES ROBOT KINEMATICS
+// constants
+const float la = 0.256;         // lengte actieve arm
+const float lp = 0.21;          // lengte passieve arm
+const float rp = 0.052;         // straal van midden end effector tot hoekpunt
+const float rm = 0.23;          // straal van global midden tot motor
+const float a = 0.09;           // zijde van de driehoek
+const float xas = 0.40;         // afstand van motor 1 tot motor 3
+const float yas = 0.346;        // afstand van xas tot motor 2
+const float thetap = 0;         // rotatiehoek van de end effector
+
+
+// motor locatie
+const int a1x = 0;              //x locatie motor 1
+const int a1y = 0;              //y locatie motor 1
+const float a2x = (0.5)*xas;    // x locatie motor 2
+const float a2y = yas;          // y locatie motor 2
+const float a3x = xas;          // x locatie motor 3
+const int a3y = 0;              // y locatie motor 3
+
+// script voor het bepalen van de desired position aan de hand van emg (1/0)
+
+//  EMG OUTPUT
+int EMGxplus;
+int EMGxmin ;
+int EMGyplus;
+int EMGymin ;
+
+// Dit moet experimenteel geperfectioneerd worden
+float tijdstap = 0.005;      //nu wss heel langzaam, kan miss omhoog KEER V GEEFT VERANDERING IN POSITIE
+float v = 0.1;                // snelheid kan wss ook hoger
+
+float px = 0.2;     //starting x    // BOUNDARIES
+float py = 0.155;   // starting y   // BOUNDARIES
+
+// verschil horizontale as met de actieve arm
+float da1 = 1.619685; // verschil a1 hoek en motor
+float da2 = -0.609780;
+float da3 = 3.372859;
+
+// limits (since no forward kinematics)
+float upperxlim = 0.275; //36, 0.04, 0.315, -0.085niet helemaal naar requierments ff kijken of ie groter kan
+float lowerxlim = 0.10;
+float upperylim = 0.225;
+float lowerylim = 0.03; //0.03 is goed
+
+// VARIABLES PID CONTROLLER
+double PI = M_PI;// CHANGE THIS INTO M_PI
+double Kp = 14; //200 , 50
+double Ki = 0;   //1, 0.5
+double Kd = 3; //200, 10
+double Ts = 0.1; // Sample time in seconds
+double reference_rotation; //define as radians
+double motor_position;
+bool AlwaysTrue;
+
+
+//----------------FUNCTIONS--------------------------
+
+// ~~~~~~~~~~~~~~~~~~~EMG FUNCTIONS~~~~~~~~~~~~~~~~~~
 void emgsample()
 {
     //All EMG signal through Highpass
@@ -64,28 +190,8 @@
     emg2_filtered = lowp2.step(emg2_abs);
     emg3_filtered = lowp3.step(emg3_abs);
     emg4_filtered = lowp4.step(emg4_abs);
-
-
 }
 
-
-//Define doubles for calibration and ticker
-double ts = 0.001; //tijdsstap
-double calibration_time = 55; //time EMG calibration should take
-
-volatile double temp_highest_emg1 = 0; //highest detected value right biceps
-volatile double temp_highest_emg2 = 0;
-volatile double temp_highest_emg3 = 0;
-volatile double temp_highest_emg4 = 0;
-
-//Doubles for calculation threshold
-double biceps_p_t = 0.4; //set threshold at percentage of highest value
-double triceps_p_t = 0.5; //set threshold at percentage of highest value
-volatile double threshold1;
-volatile double threshold2;
-volatile double threshold3;
-volatile double threshold4;
-
 void CalibrationEMG()
 {
     //static float samples = calibration_time/ts;
@@ -137,15 +243,13 @@
         led1=1;
         led2=1;
         led3=1;
-
-
     }
-
+/*
     pc.printf("Highest value right biceps= %f \r\n", temp_highest_emg1);
     pc.printf("Highest value right triceps= %f \r\n", temp_highest_emg2);
     pc.printf("Highest value left biceps= %f \r\n", temp_highest_emg3);
     pc.printf("Highest value left triceps= %f \r\n", temp_highest_emg4);
-
+*/
 
     threshold1 = temp_highest_emg1*biceps_p_t;  //Right Biceps
     threshold2 = temp_highest_emg2*triceps_p_t; //Right Triceps
@@ -154,11 +258,6 @@
 }
 
 //Check if emg_filtered has reached their threshold
-int bicepsR;
-int tricepsR;
-int bicepsL;
-int tricepsL;
-
 void threshold_check()
 {
 
@@ -193,11 +292,8 @@
     pc.printf("Biceps Left = %i", bicepsL);
     pc.printf("Triceps Left = %i", tricepsL);
     */
-
-
 }
 
-
 //Activate ticker for Movement state, filtering and Threshold checking
 void movement_ticker_activator()
 {
@@ -210,6 +306,178 @@
     threshold_check_ticker.detach();
 }
 
+// ~~~~~~~~~~~~~~ROBOT KINEMATICS ~~~~~~~~~~~~~~~~~~
+
+// functie x positie
+float positionx(int EMGxplus,int EMGxmin)
+{
+    float EMGx = EMGxplus - EMGxmin;
+
+    float verplaatsingx = EMGx * tijdstap * v;
+    float pxnieuw = px + verplaatsingx;
+    // x limit
+    if (pxnieuw <= upperxlim && pxnieuw >= lowerxlim) {
+        px = pxnieuw;
+    } else {
+        if (pxnieuw >= lowerxlim) {
+            px = upperxlim;
+        } else {
+            px = lowerxlim;
+        }
+    }
+//printf("X eindpunt (%f) en verplaatsing: (%f)\n\r",px,verplaatsingx);
+    return px;
+}
+
+
+// functie y positie
+float positiony(int EMGyplus,int EMGymin)
+{
+    float EMGy = EMGyplus - EMGymin;
+
+    float verplaatsingy = EMGy * tijdstap * v;
+    float pynieuw = py + verplaatsingy;
+
+    // y limit
+    if (pynieuw <= upperylim && pynieuw >= lowerylim) {
+        py = pynieuw;
+    } else {
+        if (pynieuw >= lowerylim) {
+            py = upperylim;
+        } else {
+            py = lowerylim;
+        }
+    }
+//printf("Y eindpunt (%f) en verplaatsing: (%f) \n\r",py,verplaatsingy);
+    return (py);
+}
+
+
+//~~~~~~~~~~~~CALCULATIING MOTOR ANGLES ~~~~~~~~
+// arm 1 --> reference angle motor 1
+float hoek1(float px, float py) // input: ref x, ref y
+{
+    float c1x =  px - rp * cos(thetap +(M_PI/6));       // x locatie hoekpunt end-effector
+    float c1y = py - rp*sin(thetap+(M_PI/6));           // y locatie hoekpunt end-effector
+    float alpha1 = atan2((c1y-a1y),(c1x-a1x));          // hoek tussen horizontaal en lijn van motor naar bijbehorende end-effector punt
+    float psi1 = acos(( pow(la,2)-pow(lp,2)+pow((c1x-a1x),2)+pow((c1y-a1y),2))/(2*la*sqrt(pow ((c1x-a1x),2)+pow((c1y-a1y),2) ))); //Hoek tussen lijn van motor naar bijbehorende end=effector punt en actieve arm
+    float a1 = alpha1 + psi1 - da1;                          //hoek tussen horizontaal en actieve arm
+    //printf("arm 1 = %f \n\r",a1);
+    return a1;
+}
+
+// arm 2 --> reference angle motor 2
+float hoek2(float px, float py)
+{
+    float c2x =  px - rp * cos(thetap -(M_PI/2));
+    float c2y = py - rp*sin(thetap-(M_PI/2));
+    float alpha2 = atan2((c2y-a2y),(c2x-a2x));
+    float psi2 = acos(( pow(la,2)-pow(lp,2)+pow((c2x-a2x),2)+pow((c2y-a2y),2))/(2*la*sqrt(pow ((c2x-a2x),2)+pow((c2y-a2y),2) )));
+    float a2 = alpha2 + psi2 - da2;
+    //printf("arm 2 = %f \n\r",a2);
+    return a2;
+}
+
+//arm 3 --> reference angle motor 3
+float hoek3(float px, float py)
+{
+    float c3x =  px - rp * cos(thetap +(5*M_PI/6));
+    float c3y = py - rp*sin(thetap+(5*M_PI/6));
+    float alpha3 = atan2((c3y-a3y),(c3x-a3x));
+    float psi3 = acos(( pow(la,2)-pow(lp,2)+pow((c3x-a3x),2)+pow((c3y-a3y),2))/(2*la*sqrt(pow ((c3x-a3x),2)+pow((c3y-a3y),2) )));
+    float a3 = alpha3 + psi3 - da3;
+    //printf("arm 3 = %f \n\r",a3);
+    return a3;
+}
+
+// ~~~~~~~~~~~~~~PID CONTROLLER~~~~~~~~~~~~~~~~~~
+
+double PID_controller(double error)
+{
+    static double error_integral = 0;
+    static double error_prev = error; // initialization with this value only done once!
+    static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
+
+    // Proportional part:
+    double u_k = Kp * error;
+
+    // Integral part
+    error_integral = error_integral + error * Ts;
+    double u_i = Ki * error_integral;
+
+    // Derivative part
+    double error_derivative = (error - error_prev)/Ts;
+    double filtered_error_derivative = LowPassFilter.step(error_derivative);
+    double u_d = Kd * filtered_error_derivative;
+    error_prev = error;
+
+    // Sum all parts and return it
+    return u_k + u_i + u_d;
+}
+
+
+// DIRECTON AND SPEED CONTROL
+void moter_control(double u)
+{
+
+    directionpin1= u > 0.0f; //eithertrueor false
+    if (fabs(u)> 0.7f) {
+        u = 0.7f;
+    } else {
+        u= u;
+    }
+    pwmpin1= fabs(u); //pwmduty cycle canonlybepositive, floatingpoint absolute value
+}
+
+void moter2_control(double u)
+{
+    directionpin2= u > 0.0f; //eithertrueor false
+    if (fabs(u)> 0.7f) {
+        u = 0.7f;
+    } else {
+        u= u;
+    }
+    pwmpin2= fabs(u); //pwmduty cycle canonlybepositive, floatingpoint absolute value
+}
+
+void moter3_control(double u)
+{
+    directionpin3= u > 0.0f; //eithertrueor false
+    if (fabs(u)> 0.7f) {
+        u = 0.7f;
+    } else {
+        u= u;
+    }
+    pwmpin3 = fabs(u); //pwmduty cycle canonlybepositive, floatingpoint absolute value
+}
+
+// CONTROLLING THE MOTOR
+void Motor_mover()
+{
+    double motor_position = encoder1.getPulses(); //output in counts
+    double reference_rotation = hoek1(px, py);
+    double error = reference_rotation - motor_position*(2*PI)/8400;
+    double u = PID_controller(error);
+    moter_control(u);
+
+    double motor_position2 = encoder2.getPulses(); //output in counts
+    double reference_rotation2 = hoek2(px, py);
+    double error_2 = reference_rotation2 - motor_position2*(2*PI)/8400;
+    double u_2 = PID_controller(error_2);
+    moter2_control(u_2);
+
+    double motor_position3 = encoder3.getPulses(); //output in counts
+    double reference_rotation3 = hoek3(px, py);
+    double error_3 = reference_rotation3 - motor_position3*(2*PI)/8400;
+    double u_3 = PID_controller(error_3);
+    moter3_control(u_3);
+
+
+}
+
+
+
+//-------------------- STATE MACHINE --------------------------
 enum states {MOTORS_OFF,CALIBRATION,HOMING,DEMO,MOVEMENT,CLICK};
 states currentState = MOTORS_OFF; //Chosen startingposition for states
 bool stateChanged = true; // Make sure the initialization of first state is executed
@@ -430,6 +698,9 @@
     }
 }
 
+// --------------------------MAIN--------------------
+
+
 int main()
 {
     //BiQuad Chain add
@@ -453,6 +724,9 @@
     led1 = 1;
     led2 = 1;
     led3 = 1;
+    
+    pwmpin1.period_us(60); // setup motor
+        ref_rot.attach(Motor_mover, 0.001);// HAS TO GO TO STATE MACHINE
 
     while (true) {
         ProcessStateMachine();