Volledig besturingssysteem voor de myoelectrische prothese arm van mijn bachelor opdracht
Dependencies: mbed QEI MODSERIAL FastPWM biquadFilter
main.cpp@5:ef77da99d0d1, 2019-04-05 (annotated)
- Committer:
- aschut
- Date:
- Fri Apr 05 13:11:44 2019 +0000
- Revision:
- 5:ef77da99d0d1
- Parent:
- 4:babe09a69296
- Child:
- 6:464d2fdfd7de
nu ook werkende
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aschut | 0:90750f158475 | 1 | //Voor het toevoegen van een button: |
aschut | 0:90750f158475 | 2 | #include "mbed.h" |
aschut | 2:7c9974f0947a | 3 | #include "MODSERIAL.h" |
aschut | 2:7c9974f0947a | 4 | #include "QEI.h" |
aschut | 2:7c9974f0947a | 5 | #include "BiQuad.h" |
aschut | 3:2aaf54ce090b | 6 | #include "FastPWM.h" |
aschut | 4:babe09a69296 | 7 | |
aschut | 2:7c9974f0947a | 8 | // Algemeen |
aschut | 2:7c9974f0947a | 9 | DigitalIn button3(SW3); |
aschut | 2:7c9974f0947a | 10 | DigitalIn button2(SW2); |
aschut | 2:7c9974f0947a | 11 | AnalogIn But2(A5); |
aschut | 2:7c9974f0947a | 12 | AnalogIn But1(A3); |
aschut | 0:90750f158475 | 13 | |
aschut | 0:90750f158475 | 14 | DigitalOut led1(LED_GREEN); |
aschut | 0:90750f158475 | 15 | DigitalOut led2(LED_RED); |
aschut | 0:90750f158475 | 16 | DigitalOut led3(LED_BLUE); |
aschut | 0:90750f158475 | 17 | |
aschut | 2:7c9974f0947a | 18 | MODSERIAL pc(USBTX, USBRX); |
aschut | 0:90750f158475 | 19 | Timer t; |
aschut | 2:7c9974f0947a | 20 | Timer t2; |
aschut | 2:7c9974f0947a | 21 | //Motoren |
aschut | 2:7c9974f0947a | 22 | DigitalOut direction1(D4); |
aschut | 4:babe09a69296 | 23 | FastPWM pwmpin1(D5); |
aschut | 3:2aaf54ce090b | 24 | FastPWM pwmpin2(D6); |
aschut | 4:babe09a69296 | 25 | //PwmOut pwmpin1(D5); |
aschut | 4:babe09a69296 | 26 | //PwmOut pwmpin2(D6); |
aschut | 2:7c9974f0947a | 27 | DigitalOut direction2(D7); |
aschut | 2:7c9974f0947a | 28 | volatile float pwm1; |
aschut | 2:7c9974f0947a | 29 | volatile float pwm2; |
aschut | 2:7c9974f0947a | 30 | |
aschut | 2:7c9974f0947a | 31 | //Encoder |
aschut | 2:7c9974f0947a | 32 | QEI encoder1 (D10, D9, NC, 1200, QEI::X4_ENCODING); |
aschut | 2:7c9974f0947a | 33 | QEI encoder2 (D13, D12, NC, 4800, QEI::X4_ENCODING); |
aschut | 2:7c9974f0947a | 34 | double Pulses1; |
aschut | 2:7c9974f0947a | 35 | double motor_position1; |
aschut | 2:7c9974f0947a | 36 | double Pulses2; |
aschut | 2:7c9974f0947a | 37 | double motor_position2; |
aschut | 2:7c9974f0947a | 38 | double error1; |
aschut | 3:2aaf54ce090b | 39 | double u1; |
aschut | 2:7c9974f0947a | 40 | |
aschut | 2:7c9974f0947a | 41 | //Pot meter |
aschut | 2:7c9974f0947a | 42 | AnalogIn pot(A1); |
aschut | 2:7c9974f0947a | 43 | AnalogIn pot0(A0); |
aschut | 2:7c9974f0947a | 44 | float Pot2; |
aschut | 2:7c9974f0947a | 45 | float Pot1; |
aschut | 2:7c9974f0947a | 46 | |
aschut | 2:7c9974f0947a | 47 | //Ticker |
aschut | 2:7c9974f0947a | 48 | Ticker Pwm; |
aschut | 2:7c9974f0947a | 49 | Ticker PotRead; |
aschut | 2:7c9974f0947a | 50 | Ticker Kdc; |
aschut | 2:7c9974f0947a | 51 | |
aschut | 4:babe09a69296 | 52 | //Servo |
aschut | 4:babe09a69296 | 53 | FastPWM myservo1(D3); |
aschut | 4:babe09a69296 | 54 | Ticker ServoTick; |
aschut | 4:babe09a69296 | 55 | float servo_position; |
aschut | 4:babe09a69296 | 56 | float Periodlength = 0.00006; |
aschut | 4:babe09a69296 | 57 | int counts = 0; |
aschut | 4:babe09a69296 | 58 | |
aschut | 3:2aaf54ce090b | 59 | // EMG |
aschut | 3:2aaf54ce090b | 60 | float EMG1; // Rotatie |
aschut | 3:2aaf54ce090b | 61 | float EMG2; // Elleboog |
aschut | 3:2aaf54ce090b | 62 | float EMG3; // Hand |
aschut | 3:2aaf54ce090b | 63 | float EMG4; // Reverse |
aschut | 3:2aaf54ce090b | 64 | float Input1; // Voor zonder EMG |
aschut | 3:2aaf54ce090b | 65 | float Input2; |
aschut | 3:2aaf54ce090b | 66 | int count = 0; |
aschut | 3:2aaf54ce090b | 67 | |
aschut | 2:7c9974f0947a | 68 | //Kinematica |
aschut | 2:7c9974f0947a | 69 | double stap1; |
aschut | 2:7c9974f0947a | 70 | double stap2; |
aschut | 2:7c9974f0947a | 71 | double KPot; |
aschut | 2:7c9974f0947a | 72 | |
aschut | 2:7c9974f0947a | 73 | float ElbowReference; |
aschut | 2:7c9974f0947a | 74 | float Ellebooghoek1; |
aschut | 2:7c9974f0947a | 75 | float Ellebooghoek2; |
aschut | 2:7c9974f0947a | 76 | float Ellebooghoek3; |
aschut | 2:7c9974f0947a | 77 | float Ellebooghoek4; |
aschut | 2:7c9974f0947a | 78 | |
aschut | 2:7c9974f0947a | 79 | float PolsReference; |
aschut | 2:7c9974f0947a | 80 | float Polshoek1; |
aschut | 2:7c9974f0947a | 81 | float Polshoek2; |
aschut | 2:7c9974f0947a | 82 | float Polshoek3; |
aschut | 2:7c9974f0947a | 83 | float Polshoek4; |
aschut | 2:7c9974f0947a | 84 | |
aschut | 2:7c9974f0947a | 85 | float Hoeknieuw1; |
aschut | 2:7c9974f0947a | 86 | float Hoeknieuw2; |
aschut | 2:7c9974f0947a | 87 | |
aschut | 2:7c9974f0947a | 88 | //Limiet in graden |
aschut | 3:2aaf54ce090b | 89 | float lowerlim1 = -900; |
aschut | 3:2aaf54ce090b | 90 | float upperlim1 = 900; |
aschut | 3:2aaf54ce090b | 91 | float lowerlim2 = -50; |
aschut | 3:2aaf54ce090b | 92 | float upperlim2 = 1500; |
aschut | 2:7c9974f0947a | 93 | |
aschut | 2:7c9974f0947a | 94 | // VARIABLES PID CONTROLLER |
aschut | 3:2aaf54ce090b | 95 | double Kp1 = 12.5; |
aschut | 2:7c9974f0947a | 96 | double Ki1 = 0; |
aschut | 2:7c9974f0947a | 97 | double Kd1 = 1; |
aschut | 3:2aaf54ce090b | 98 | double Kp2 = 12; // Zonder arm: 6,0,1, met rotatie: 10, 0, 1 |
aschut | 2:7c9974f0947a | 99 | double Ki2 = 0; |
aschut | 2:7c9974f0947a | 100 | double Kd2 = 1; |
aschut | 2:7c9974f0947a | 101 | double Ts = 0.0005; // Sample time in seconds |
aschut | 2:7c9974f0947a | 102 | |
aschut | 2:7c9974f0947a | 103 | // Functies Kinematica |
aschut | 3:2aaf54ce090b | 104 | float Kinematics1(float EMG1) |
aschut | 2:7c9974f0947a | 105 | { |
aschut | 2:7c9974f0947a | 106 | |
aschut | 3:2aaf54ce090b | 107 | if (EMG1 > 0.45f) { |
aschut | 3:2aaf54ce090b | 108 | stap1 = EMG1*450*Ts; |
aschut | 2:7c9974f0947a | 109 | Hoeknieuw1 = PolsReference + stap1; |
aschut | 2:7c9974f0947a | 110 | return Hoeknieuw1; |
aschut | 2:7c9974f0947a | 111 | } |
aschut | 2:7c9974f0947a | 112 | |
aschut | 3:2aaf54ce090b | 113 | else if (EMG1 < -0.45f) { |
aschut | 3:2aaf54ce090b | 114 | stap1 = EMG1*450*Ts; |
aschut | 2:7c9974f0947a | 115 | Hoeknieuw1 = PolsReference + stap1; |
aschut | 2:7c9974f0947a | 116 | return Hoeknieuw1; |
aschut | 2:7c9974f0947a | 117 | } |
aschut | 2:7c9974f0947a | 118 | |
aschut | 2:7c9974f0947a | 119 | else { |
aschut | 2:7c9974f0947a | 120 | return PolsReference; |
aschut | 2:7c9974f0947a | 121 | } |
aschut | 2:7c9974f0947a | 122 | } |
aschut | 3:2aaf54ce090b | 123 | float Kinematics2(float EMG2) |
aschut | 2:7c9974f0947a | 124 | { |
aschut | 2:7c9974f0947a | 125 | |
aschut | 3:2aaf54ce090b | 126 | if (EMG2 > 0.45f) { |
aschut | 3:2aaf54ce090b | 127 | stap2 = EMG2*300*Ts; |
aschut | 2:7c9974f0947a | 128 | Hoeknieuw2 = ElbowReference + stap2; |
aschut | 2:7c9974f0947a | 129 | return Hoeknieuw2; |
aschut | 2:7c9974f0947a | 130 | } |
aschut | 2:7c9974f0947a | 131 | |
aschut | 3:2aaf54ce090b | 132 | else if (EMG2 < -0.45f) { |
aschut | 3:2aaf54ce090b | 133 | stap2 = EMG2*300*Ts; |
aschut | 2:7c9974f0947a | 134 | Hoeknieuw2 = ElbowReference + stap2; |
aschut | 2:7c9974f0947a | 135 | return Hoeknieuw2; |
aschut | 2:7c9974f0947a | 136 | } |
aschut | 2:7c9974f0947a | 137 | |
aschut | 2:7c9974f0947a | 138 | else { |
aschut | 2:7c9974f0947a | 139 | return ElbowReference; |
aschut | 2:7c9974f0947a | 140 | } |
aschut | 2:7c9974f0947a | 141 | } |
aschut | 2:7c9974f0947a | 142 | |
aschut | 2:7c9974f0947a | 143 | float Limits1(float Polshoek2) |
aschut | 2:7c9974f0947a | 144 | { |
aschut | 2:7c9974f0947a | 145 | |
aschut | 2:7c9974f0947a | 146 | if (Polshoek2 <= upperlim1 && Polshoek2 >= lowerlim1) { //Binnen de limieten |
aschut | 2:7c9974f0947a | 147 | Polshoek3 = Polshoek2; |
aschut | 2:7c9974f0947a | 148 | } |
aschut | 2:7c9974f0947a | 149 | |
aschut | 2:7c9974f0947a | 150 | else { |
aschut | 2:7c9974f0947a | 151 | if (Polshoek2 >= upperlim1) { //Boven de limiet |
aschut | 2:7c9974f0947a | 152 | Polshoek3 = upperlim1; |
aschut | 2:7c9974f0947a | 153 | } else { //Onder de limiet |
aschut | 2:7c9974f0947a | 154 | Polshoek3 = lowerlim1; |
aschut | 2:7c9974f0947a | 155 | } |
aschut | 2:7c9974f0947a | 156 | } |
aschut | 2:7c9974f0947a | 157 | |
aschut | 2:7c9974f0947a | 158 | return Polshoek3; |
aschut | 2:7c9974f0947a | 159 | } |
aschut | 2:7c9974f0947a | 160 | |
aschut | 2:7c9974f0947a | 161 | |
aschut | 2:7c9974f0947a | 162 | float Limits2(float Ellebooghoek2) |
aschut | 2:7c9974f0947a | 163 | { |
aschut | 0:90750f158475 | 164 | |
aschut | 2:7c9974f0947a | 165 | if (Ellebooghoek2 <= upperlim2 && Ellebooghoek2 >= lowerlim2) { //Binnen de limieten |
aschut | 2:7c9974f0947a | 166 | Ellebooghoek3 = Ellebooghoek2; |
aschut | 2:7c9974f0947a | 167 | } |
aschut | 2:7c9974f0947a | 168 | |
aschut | 2:7c9974f0947a | 169 | else { |
aschut | 2:7c9974f0947a | 170 | if (Ellebooghoek2 >= upperlim2) { //Boven de limiet |
aschut | 2:7c9974f0947a | 171 | Ellebooghoek3 = upperlim2; |
aschut | 2:7c9974f0947a | 172 | } else { //Onder de limiet |
aschut | 2:7c9974f0947a | 173 | Ellebooghoek3 = lowerlim2; |
aschut | 2:7c9974f0947a | 174 | } |
aschut | 2:7c9974f0947a | 175 | } |
aschut | 2:7c9974f0947a | 176 | |
aschut | 2:7c9974f0947a | 177 | return Ellebooghoek3; |
aschut | 2:7c9974f0947a | 178 | } |
aschut | 2:7c9974f0947a | 179 | |
aschut | 2:7c9974f0947a | 180 | |
aschut | 2:7c9974f0947a | 181 | // PID Controller |
aschut | 2:7c9974f0947a | 182 | double PID_controller1(double error1) |
aschut | 2:7c9974f0947a | 183 | { |
aschut | 2:7c9974f0947a | 184 | static double error1_integral = 0; |
aschut | 2:7c9974f0947a | 185 | static double error1_prev = error1; // initialization with this value only done once! |
aschut | 2:7c9974f0947a | 186 | static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241); //(BIQUAD_FILTER_TYPE type, T dbGain, T freq, T srate, T bandwidth); |
aschut | 2:7c9974f0947a | 187 | |
aschut | 2:7c9974f0947a | 188 | // Proportional part: |
aschut | 2:7c9974f0947a | 189 | double u_k1 = Kp1 * error1; |
aschut | 2:7c9974f0947a | 190 | |
aschut | 2:7c9974f0947a | 191 | // Integral part |
aschut | 2:7c9974f0947a | 192 | error1_integral = error1_integral + error1 * Ts; |
aschut | 2:7c9974f0947a | 193 | double u_i1 = Ki1* error1_integral; |
aschut | 2:7c9974f0947a | 194 | |
aschut | 2:7c9974f0947a | 195 | // Derivative part |
aschut | 2:7c9974f0947a | 196 | double error1_derivative = (error1 - error1_prev)/Ts; |
aschut | 2:7c9974f0947a | 197 | double filtered_error1_derivative = LowPassFilter.step(error1_derivative); |
aschut | 2:7c9974f0947a | 198 | double u_d1 = Kd1 * filtered_error1_derivative; |
aschut | 2:7c9974f0947a | 199 | error1_prev = error1; |
aschut | 2:7c9974f0947a | 200 | |
aschut | 2:7c9974f0947a | 201 | // Sum all parts and return it |
aschut | 2:7c9974f0947a | 202 | return u_k1 + u_i1 + u_d1; |
aschut | 2:7c9974f0947a | 203 | } |
aschut | 2:7c9974f0947a | 204 | double PID_controller2(double error2) |
aschut | 2:7c9974f0947a | 205 | { |
aschut | 2:7c9974f0947a | 206 | static double error2_integral = 0; |
aschut | 2:7c9974f0947a | 207 | static double error2_prev = error2; // initialization with this value only done once! |
aschut | 2:7c9974f0947a | 208 | static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241); //(BIQUAD_FILTER_TYPE type, T dbGain, T freq, T srate, T bandwidth); |
aschut | 2:7c9974f0947a | 209 | |
aschut | 2:7c9974f0947a | 210 | // Proportional part: |
aschut | 2:7c9974f0947a | 211 | double u_k2 = Kp2 * error2; |
aschut | 2:7c9974f0947a | 212 | |
aschut | 2:7c9974f0947a | 213 | // Integral part |
aschut | 2:7c9974f0947a | 214 | error2_integral = error2_integral + error2 * Ts; |
aschut | 2:7c9974f0947a | 215 | double u_i2 = Ki2 * error2_integral; |
aschut | 2:7c9974f0947a | 216 | |
aschut | 2:7c9974f0947a | 217 | // Derivative part |
aschut | 2:7c9974f0947a | 218 | double error2_derivative = (error2 - error2_prev)/Ts; |
aschut | 2:7c9974f0947a | 219 | double filtered_error2_derivative = LowPassFilter.step(error2_derivative); |
aschut | 2:7c9974f0947a | 220 | double u_d2 = Kd2 * filtered_error2_derivative; |
aschut | 2:7c9974f0947a | 221 | error2_prev = error2; |
aschut | 2:7c9974f0947a | 222 | |
aschut | 2:7c9974f0947a | 223 | // Sum all parts and return it |
aschut | 2:7c9974f0947a | 224 | return u_k2 + u_i2 + u_d2; |
aschut | 2:7c9974f0947a | 225 | } |
aschut | 2:7c9974f0947a | 226 | |
aschut | 2:7c9974f0947a | 227 | // Functies Motor |
aschut | 2:7c9974f0947a | 228 | void moter1_control(double u1) |
aschut | 2:7c9974f0947a | 229 | { |
aschut | 2:7c9974f0947a | 230 | direction1= u1 > 0.0f; //positief = CW |
aschut | 3:2aaf54ce090b | 231 | if (fabs(u1)> 0.6f) { |
aschut | 3:2aaf54ce090b | 232 | u1 = 0.6f; |
aschut | 2:7c9974f0947a | 233 | } else { |
aschut | 2:7c9974f0947a | 234 | u1= u1; |
aschut | 2:7c9974f0947a | 235 | } |
aschut | 3:2aaf54ce090b | 236 | pwmpin1.write(fabs(u1)) ; //pwmduty cycle canonlybepositive, floatingpoint absolute value |
aschut | 2:7c9974f0947a | 237 | } |
aschut | 2:7c9974f0947a | 238 | |
aschut | 2:7c9974f0947a | 239 | void moter2_control(double u2) |
aschut | 2:7c9974f0947a | 240 | { |
aschut | 2:7c9974f0947a | 241 | direction2= u2 < 0.0f; //positief = CW |
aschut | 2:7c9974f0947a | 242 | if (fabs(u2)> 0.99f) { |
aschut | 2:7c9974f0947a | 243 | u2 = 0.99f; |
aschut | 2:7c9974f0947a | 244 | } else { |
aschut | 2:7c9974f0947a | 245 | u2= u2; |
aschut | 2:7c9974f0947a | 246 | } |
aschut | 3:2aaf54ce090b | 247 | pwmpin2.write(fabs(u2)) ; //pwmduty cycle canonlybepositive, floatingpoint absolute value |
aschut | 2:7c9974f0947a | 248 | } |
aschut | 2:7c9974f0947a | 249 | |
aschut | 2:7c9974f0947a | 250 | void PwmMotor(void) |
aschut | 2:7c9974f0947a | 251 | { |
aschut | 5:ef77da99d0d1 | 252 | //Continues Read |
aschut | 5:ef77da99d0d1 | 253 | Pot2 = pot.read(); |
aschut | 5:ef77da99d0d1 | 254 | Pot1 = pot0.read(); |
aschut | 5:ef77da99d0d1 | 255 | pwm2 =(Pot2*2)-1; //scaling naar -1 tot 1 |
aschut | 5:ef77da99d0d1 | 256 | pwm1 =(Pot1*2)-1; |
aschut | 5:ef77da99d0d1 | 257 | Input1 = pwm1; |
aschut | 5:ef77da99d0d1 | 258 | Input2 = pwm2; |
aschut | 5:ef77da99d0d1 | 259 | |
aschut | 3:2aaf54ce090b | 260 | float Polshoek1 = Kinematics1(Input1); |
aschut | 3:2aaf54ce090b | 261 | float Polshoek4 = Limits1(Polshoek1); |
aschut | 3:2aaf54ce090b | 262 | PolsReference = Polshoek4; |
aschut | 3:2aaf54ce090b | 263 | |
aschut | 2:7c9974f0947a | 264 | // Reference hoek berekenen, in graden |
aschut | 3:2aaf54ce090b | 265 | float Ellebooghoek1 = Kinematics2(Input2); |
aschut | 2:7c9974f0947a | 266 | float Ellebooghoek4 = Limits2(Ellebooghoek1); |
aschut | 2:7c9974f0947a | 267 | ElbowReference = Ellebooghoek4; |
aschut | 2:7c9974f0947a | 268 | |
aschut | 2:7c9974f0947a | 269 | // Positie motor berekenen, in graden |
aschut | 2:7c9974f0947a | 270 | Pulses1 = encoder1.getPulses(); |
aschut | 2:7c9974f0947a | 271 | motor_position1 = -(Pulses1/1200)*360; |
aschut | 2:7c9974f0947a | 272 | Pulses2 = encoder2.getPulses(); |
aschut | 2:7c9974f0947a | 273 | motor_position2 = -(Pulses2/4800)*360; |
aschut | 2:7c9974f0947a | 274 | |
aschut | 2:7c9974f0947a | 275 | double error1 = PolsReference - motor_position1; |
aschut | 2:7c9974f0947a | 276 | double u1 = PID_controller1(error1); |
aschut | 2:7c9974f0947a | 277 | moter1_control(u1); |
aschut | 2:7c9974f0947a | 278 | |
aschut | 2:7c9974f0947a | 279 | double error2 = ElbowReference - motor_position2; |
aschut | 2:7c9974f0947a | 280 | double u2 = PID_controller2(error2); |
aschut | 2:7c9974f0947a | 281 | moter2_control(u2); |
aschut | 2:7c9974f0947a | 282 | |
aschut | 2:7c9974f0947a | 283 | } |
aschut | 2:7c9974f0947a | 284 | |
aschut | 2:7c9974f0947a | 285 | void MotorOn(void) |
aschut | 2:7c9974f0947a | 286 | { |
aschut | 2:7c9974f0947a | 287 | pwmpin1 = 0; |
aschut | 2:7c9974f0947a | 288 | pwmpin2 = 0; |
aschut | 2:7c9974f0947a | 289 | Pwm.attach (PwmMotor, Ts); |
aschut | 2:7c9974f0947a | 290 | |
aschut | 2:7c9974f0947a | 291 | } |
aschut | 2:7c9974f0947a | 292 | |
aschut | 4:babe09a69296 | 293 | //Servo functie |
aschut | 4:babe09a69296 | 294 | void ServoPeriod() |
aschut | 4:babe09a69296 | 295 | { |
aschut | 4:babe09a69296 | 296 | led1 = 1; |
aschut | 4:babe09a69296 | 297 | led2 = 1; |
aschut | 4:babe09a69296 | 298 | double Pulslength = 0.0005 + (servo_position * 0.002); //in seconden |
aschut | 4:babe09a69296 | 299 | if (counts <= (Pulslength/Periodlength)) { |
aschut | 4:babe09a69296 | 300 | myservo1.pulsewidth(0.00006); |
aschut | 4:babe09a69296 | 301 | counts++; |
aschut | 4:babe09a69296 | 302 | } |
aschut | 4:babe09a69296 | 303 | else if (counts <= (0.02/Periodlength)){ |
aschut | 4:babe09a69296 | 304 | myservo1.pulsewidth(0); |
aschut | 4:babe09a69296 | 305 | counts++; |
aschut | 4:babe09a69296 | 306 | } |
aschut | 4:babe09a69296 | 307 | else { |
aschut | 4:babe09a69296 | 308 | counts = 0; |
aschut | 4:babe09a69296 | 309 | } |
aschut | 4:babe09a69296 | 310 | } |
aschut | 2:7c9974f0947a | 311 | |
aschut | 2:7c9974f0947a | 312 | void ContinuousReader(void) |
aschut | 2:7c9974f0947a | 313 | { |
aschut | 2:7c9974f0947a | 314 | Pot2 = pot.read(); |
aschut | 2:7c9974f0947a | 315 | Pot1 = pot0.read(); |
aschut | 2:7c9974f0947a | 316 | pwm2 =(Pot2*2)-1; //scaling naar -1 tot 1 |
aschut | 2:7c9974f0947a | 317 | pwm1 =(Pot1*2)-1; |
aschut | 2:7c9974f0947a | 318 | } |
aschut | 2:7c9974f0947a | 319 | |
aschut | 2:7c9974f0947a | 320 | // StateMachine |
aschut | 2:7c9974f0947a | 321 | |
aschut | 2:7c9974f0947a | 322 | enum states {MOTORS_OFF,CALIBRATION,HOMING1,HOMING2,DEMO,MOVEMENT,FREEZE}; |
aschut | 0:90750f158475 | 323 | int f = 1; |
aschut | 0:90750f158475 | 324 | states currentState = MOTORS_OFF; |
aschut | 0:90750f158475 | 325 | bool stateChanged = true; // Make sure the initialization of first state is executed |
aschut | 0:90750f158475 | 326 | |
aschut | 0:90750f158475 | 327 | void ProcessStateMachine(void) |
aschut | 0:90750f158475 | 328 | { |
aschut | 0:90750f158475 | 329 | switch (currentState) |
aschut | 0:90750f158475 | 330 | { |
aschut | 0:90750f158475 | 331 | case MOTORS_OFF: |
aschut | 0:90750f158475 | 332 | // Actions |
aschut | 0:90750f158475 | 333 | if (stateChanged) |
aschut | 0:90750f158475 | 334 | { |
aschut | 0:90750f158475 | 335 | // state initialization: rood |
aschut | 2:7c9974f0947a | 336 | |
aschut | 0:90750f158475 | 337 | led1 = 1; |
aschut | 0:90750f158475 | 338 | led2 = 0; |
aschut | 0:90750f158475 | 339 | led3 = 1; |
aschut | 0:90750f158475 | 340 | wait (1); |
aschut | 0:90750f158475 | 341 | stateChanged = false; |
aschut | 0:90750f158475 | 342 | } |
aschut | 0:90750f158475 | 343 | |
aschut | 0:90750f158475 | 344 | // State transition logic: Als button 1 word ingedrukt --> calibratie, anders motor uithouden |
aschut | 2:7c9974f0947a | 345 | if (!button3) |
aschut | 0:90750f158475 | 346 | { |
aschut | 2:7c9974f0947a | 347 | currentState = CALIBRATION ; |
aschut | 0:90750f158475 | 348 | stateChanged = true; |
aschut | 0:90750f158475 | 349 | } |
aschut | 0:90750f158475 | 350 | else |
aschut | 0:90750f158475 | 351 | { |
aschut | 0:90750f158475 | 352 | currentState = MOTORS_OFF; |
aschut | 0:90750f158475 | 353 | stateChanged = true; |
aschut | 0:90750f158475 | 354 | } |
aschut | 0:90750f158475 | 355 | |
aschut | 0:90750f158475 | 356 | break; |
aschut | 0:90750f158475 | 357 | |
aschut | 0:90750f158475 | 358 | case CALIBRATION: |
aschut | 0:90750f158475 | 359 | // Actions |
aschut | 0:90750f158475 | 360 | if (stateChanged) |
aschut | 0:90750f158475 | 361 | { |
aschut | 0:90750f158475 | 362 | // state initialization: oranje |
aschut | 4:babe09a69296 | 363 | led1 = 0; |
aschut | 4:babe09a69296 | 364 | led2 = 0; |
aschut | 4:babe09a69296 | 365 | led3 = 1; |
aschut | 4:babe09a69296 | 366 | |
aschut | 4:babe09a69296 | 367 | servo_position = 0.5; |
aschut | 4:babe09a69296 | 368 | ServoTick.attach(ServoPeriod, Periodlength); |
aschut | 4:babe09a69296 | 369 | wait(1); |
aschut | 4:babe09a69296 | 370 | servo_position = 0.9; |
aschut | 4:babe09a69296 | 371 | wait(1); |
aschut | 4:babe09a69296 | 372 | servo_position = 0.5; |
aschut | 4:babe09a69296 | 373 | wait(1); |
aschut | 4:babe09a69296 | 374 | servo_position = 0.1; |
aschut | 4:babe09a69296 | 375 | wait (1); |
aschut | 4:babe09a69296 | 376 | stateChanged = false; |
aschut | 5:ef77da99d0d1 | 377 | ServoTick.detach(); |
aschut | 0:90750f158475 | 378 | } |
aschut | 0:90750f158475 | 379 | |
aschut | 0:90750f158475 | 380 | // State transition logic: automatisch terug naar motors off. |
aschut | 0:90750f158475 | 381 | |
aschut | 2:7c9974f0947a | 382 | currentState = HOMING1; |
aschut | 2:7c9974f0947a | 383 | stateChanged = true; |
aschut | 0:90750f158475 | 384 | break; |
aschut | 2:7c9974f0947a | 385 | |
aschut | 2:7c9974f0947a | 386 | case HOMING1: |
aschut | 0:90750f158475 | 387 | // Actions |
aschut | 0:90750f158475 | 388 | if (stateChanged) |
aschut | 0:90750f158475 | 389 | { |
aschut | 0:90750f158475 | 390 | // state initialization: green |
aschut | 0:90750f158475 | 391 | t.start(); |
aschut | 0:90750f158475 | 392 | led1 = 0; |
aschut | 0:90750f158475 | 393 | led2 = 1; |
aschut | 0:90750f158475 | 394 | led3 = 1; |
aschut | 2:7c9974f0947a | 395 | |
aschut | 2:7c9974f0947a | 396 | if (!But1) |
aschut | 2:7c9974f0947a | 397 | { |
aschut | 2:7c9974f0947a | 398 | led1 = 1; |
aschut | 3:2aaf54ce090b | 399 | float H1 = 0.7f; |
aschut | 2:7c9974f0947a | 400 | moter1_control(H1); |
aschut | 2:7c9974f0947a | 401 | wait(0.001f); |
aschut | 2:7c9974f0947a | 402 | } |
aschut | 2:7c9974f0947a | 403 | else if (!But2) |
aschut | 2:7c9974f0947a | 404 | { |
aschut | 2:7c9974f0947a | 405 | led1 = 1; |
aschut | 3:2aaf54ce090b | 406 | float H1 = -0.7f; |
aschut | 2:7c9974f0947a | 407 | moter1_control(H1); |
aschut | 2:7c9974f0947a | 408 | wait(0.001f); |
aschut | 2:7c9974f0947a | 409 | } |
aschut | 3:2aaf54ce090b | 410 | encoder1.reset(); |
aschut | 3:2aaf54ce090b | 411 | motor_position1 = 0; |
aschut | 2:7c9974f0947a | 412 | pwmpin1 = 0; |
aschut | 2:7c9974f0947a | 413 | pwmpin2 = 0; |
aschut | 2:7c9974f0947a | 414 | ; |
aschut | 0:90750f158475 | 415 | |
aschut | 0:90750f158475 | 416 | stateChanged = false; |
aschut | 0:90750f158475 | 417 | } |
aschut | 0:90750f158475 | 418 | |
aschut | 3:2aaf54ce090b | 419 | // State transition logic: naar HOMING (button2), na 5 min naar MOTORS_OFF |
aschut | 2:7c9974f0947a | 420 | |
aschut | 2:7c9974f0947a | 421 | if (!button3) |
aschut | 0:90750f158475 | 422 | { |
aschut | 2:7c9974f0947a | 423 | currentState = HOMING2 ; |
aschut | 0:90750f158475 | 424 | stateChanged = true; |
aschut | 2:7c9974f0947a | 425 | wait(1); |
aschut | 0:90750f158475 | 426 | } |
aschut | 0:90750f158475 | 427 | else if (t>300) |
aschut | 0:90750f158475 | 428 | { |
aschut | 0:90750f158475 | 429 | t.stop(); |
aschut | 0:90750f158475 | 430 | t.reset(); |
aschut | 0:90750f158475 | 431 | currentState = MOTORS_OFF ; |
aschut | 0:90750f158475 | 432 | stateChanged = true; |
aschut | 0:90750f158475 | 433 | } |
aschut | 0:90750f158475 | 434 | else |
aschut | 0:90750f158475 | 435 | { |
aschut | 2:7c9974f0947a | 436 | currentState = HOMING1 ; |
aschut | 2:7c9974f0947a | 437 | stateChanged = true; |
aschut | 2:7c9974f0947a | 438 | } |
aschut | 2:7c9974f0947a | 439 | break; |
aschut | 2:7c9974f0947a | 440 | |
aschut | 2:7c9974f0947a | 441 | case HOMING2: |
aschut | 2:7c9974f0947a | 442 | // Actions |
aschut | 2:7c9974f0947a | 443 | if (stateChanged) |
aschut | 2:7c9974f0947a | 444 | { |
aschut | 3:2aaf54ce090b | 445 | // state initialization: white |
aschut | 2:7c9974f0947a | 446 | t.start(); |
aschut | 2:7c9974f0947a | 447 | led1 = 0; |
aschut | 3:2aaf54ce090b | 448 | led2 = 0; |
aschut | 3:2aaf54ce090b | 449 | led3 = 0; |
aschut | 2:7c9974f0947a | 450 | |
aschut | 2:7c9974f0947a | 451 | if (!But1) |
aschut | 2:7c9974f0947a | 452 | { |
aschut | 2:7c9974f0947a | 453 | led1 = 1; |
aschut | 2:7c9974f0947a | 454 | float H2 = 0.98f; |
aschut | 2:7c9974f0947a | 455 | moter2_control(H2); |
aschut | 2:7c9974f0947a | 456 | wait(0.001f); |
aschut | 2:7c9974f0947a | 457 | } |
aschut | 2:7c9974f0947a | 458 | else if (!But2) |
aschut | 2:7c9974f0947a | 459 | { |
aschut | 2:7c9974f0947a | 460 | led1 = 1; |
aschut | 2:7c9974f0947a | 461 | float H2 = -0.98f; |
aschut | 2:7c9974f0947a | 462 | moter2_control(H2); |
aschut | 2:7c9974f0947a | 463 | wait(0.001f); |
aschut | 2:7c9974f0947a | 464 | } |
aschut | 3:2aaf54ce090b | 465 | encoder2.reset(); |
aschut | 3:2aaf54ce090b | 466 | motor_position2 = 0; |
aschut | 2:7c9974f0947a | 467 | pwmpin1 = 0; |
aschut | 2:7c9974f0947a | 468 | pwmpin2 = 0; |
aschut | 2:7c9974f0947a | 469 | ; |
aschut | 2:7c9974f0947a | 470 | |
aschut | 2:7c9974f0947a | 471 | stateChanged = false; |
aschut | 2:7c9974f0947a | 472 | } |
aschut | 2:7c9974f0947a | 473 | |
aschut | 2:7c9974f0947a | 474 | // State transition logic: naar DEMO (button2), naar MOVEMENT(button3) |
aschut | 2:7c9974f0947a | 475 | if (!button2) |
aschut | 2:7c9974f0947a | 476 | { |
aschut | 2:7c9974f0947a | 477 | currentState = DEMO; |
aschut | 2:7c9974f0947a | 478 | stateChanged = true; |
aschut | 2:7c9974f0947a | 479 | } |
aschut | 2:7c9974f0947a | 480 | else if (!button3) |
aschut | 2:7c9974f0947a | 481 | { |
aschut | 2:7c9974f0947a | 482 | currentState = MOVEMENT ; |
aschut | 2:7c9974f0947a | 483 | stateChanged = true; |
aschut | 2:7c9974f0947a | 484 | led1 = 1; |
aschut | 2:7c9974f0947a | 485 | led2 = 0; |
aschut | 2:7c9974f0947a | 486 | led3 = 0; |
aschut | 2:7c9974f0947a | 487 | wait(1); |
aschut | 2:7c9974f0947a | 488 | } |
aschut | 2:7c9974f0947a | 489 | else if (t>300) |
aschut | 2:7c9974f0947a | 490 | { |
aschut | 2:7c9974f0947a | 491 | t.stop(); |
aschut | 2:7c9974f0947a | 492 | t.reset(); |
aschut | 2:7c9974f0947a | 493 | currentState = MOTORS_OFF ; |
aschut | 2:7c9974f0947a | 494 | stateChanged = true; |
aschut | 2:7c9974f0947a | 495 | } |
aschut | 2:7c9974f0947a | 496 | else |
aschut | 2:7c9974f0947a | 497 | { |
aschut | 2:7c9974f0947a | 498 | currentState = HOMING2 ; |
aschut | 0:90750f158475 | 499 | stateChanged = true; |
aschut | 0:90750f158475 | 500 | } |
aschut | 0:90750f158475 | 501 | break; |
aschut | 0:90750f158475 | 502 | |
aschut | 0:90750f158475 | 503 | case DEMO: |
aschut | 0:90750f158475 | 504 | // Actions |
aschut | 0:90750f158475 | 505 | if (stateChanged) |
aschut | 0:90750f158475 | 506 | { |
aschut | 0:90750f158475 | 507 | // state initialization: light blue |
aschut | 0:90750f158475 | 508 | led1 = 0; |
aschut | 0:90750f158475 | 509 | led2 = 1; |
aschut | 0:90750f158475 | 510 | led3 = 0; |
aschut | 0:90750f158475 | 511 | wait (1); |
aschut | 0:90750f158475 | 512 | |
aschut | 0:90750f158475 | 513 | stateChanged = false; |
aschut | 0:90750f158475 | 514 | } |
aschut | 0:90750f158475 | 515 | |
aschut | 0:90750f158475 | 516 | // State transition logic: automatisch terug naar HOMING |
aschut | 2:7c9974f0947a | 517 | currentState = HOMING1; |
aschut | 0:90750f158475 | 518 | stateChanged = true; |
aschut | 0:90750f158475 | 519 | break; |
aschut | 0:90750f158475 | 520 | |
aschut | 0:90750f158475 | 521 | case MOVEMENT: |
aschut | 0:90750f158475 | 522 | // Actions |
aschut | 0:90750f158475 | 523 | if (stateChanged) |
aschut | 0:90750f158475 | 524 | { |
aschut | 0:90750f158475 | 525 | // state initialization: purple |
aschut | 0:90750f158475 | 526 | t.start(); |
aschut | 3:2aaf54ce090b | 527 | |
aschut | 2:7c9974f0947a | 528 | pwmpin1 = 0; |
aschut | 2:7c9974f0947a | 529 | pwmpin2 = 0; |
aschut | 3:2aaf54ce090b | 530 | Input1 = pwm1; |
aschut | 3:2aaf54ce090b | 531 | Input2 = pwm2; |
aschut | 3:2aaf54ce090b | 532 | |
aschut | 3:2aaf54ce090b | 533 | // printen |
aschut | 3:2aaf54ce090b | 534 | if(count==500) |
aschut | 3:2aaf54ce090b | 535 | { |
aschut | 3:2aaf54ce090b | 536 | float tmp = t2.read(); |
aschut | 3:2aaf54ce090b | 537 | pc.printf(" Elleboog positie: %f reference: %f, rotatie positie: %f reference: \r\n", motor_position2, ElbowReference, motor_position1, PolsReference); |
aschut | 3:2aaf54ce090b | 538 | count = 0; |
aschut | 3:2aaf54ce090b | 539 | } |
aschut | 3:2aaf54ce090b | 540 | count++; |
aschut | 3:2aaf54ce090b | 541 | |
aschut | 2:7c9974f0947a | 542 | Pwm.attach (PwmMotor, Ts); |
aschut | 0:90750f158475 | 543 | led1 = 1; |
aschut | 0:90750f158475 | 544 | led2 = 0; |
aschut | 0:90750f158475 | 545 | led3 = 0; |
aschut | 2:7c9974f0947a | 546 | |
aschut | 0:90750f158475 | 547 | stateChanged = false; |
aschut | 0:90750f158475 | 548 | } |
aschut | 0:90750f158475 | 549 | |
aschut | 2:7c9974f0947a | 550 | // State transition logic: naar FREEZE (button2), naar MOTORS_OFF(button3) anders naar MOVEMENT |
aschut | 2:7c9974f0947a | 551 | if (!button2) |
aschut | 0:90750f158475 | 552 | { |
aschut | 2:7c9974f0947a | 553 | currentState = FREEZE; |
aschut | 1:070092564648 | 554 | stateChanged = true; |
aschut | 0:90750f158475 | 555 | } |
aschut | 2:7c9974f0947a | 556 | else if (!button3) |
aschut | 0:90750f158475 | 557 | { |
aschut | 2:7c9974f0947a | 558 | Pwm.detach (); |
aschut | 2:7c9974f0947a | 559 | pwmpin2 = 0; |
aschut | 2:7c9974f0947a | 560 | pwmpin1 = 0; |
aschut | 0:90750f158475 | 561 | currentState = MOTORS_OFF ; |
aschut | 0:90750f158475 | 562 | stateChanged = true; |
aschut | 0:90750f158475 | 563 | } |
aschut | 0:90750f158475 | 564 | else if (t>300) |
aschut | 0:90750f158475 | 565 | { |
aschut | 0:90750f158475 | 566 | t.stop(); |
aschut | 0:90750f158475 | 567 | t.reset(); |
aschut | 2:7c9974f0947a | 568 | currentState = HOMING1 ; |
aschut | 0:90750f158475 | 569 | stateChanged = true; |
aschut | 0:90750f158475 | 570 | } |
aschut | 0:90750f158475 | 571 | else |
aschut | 0:90750f158475 | 572 | { |
aschut | 0:90750f158475 | 573 | currentState = MOVEMENT ; |
aschut | 0:90750f158475 | 574 | stateChanged = true; |
aschut | 0:90750f158475 | 575 | } |
aschut | 0:90750f158475 | 576 | break; |
aschut | 0:90750f158475 | 577 | |
aschut | 2:7c9974f0947a | 578 | case FREEZE: |
aschut | 0:90750f158475 | 579 | // Actions |
aschut | 0:90750f158475 | 580 | if (stateChanged) |
aschut | 0:90750f158475 | 581 | { |
aschut | 0:90750f158475 | 582 | // state initialization: blue |
aschut | 0:90750f158475 | 583 | led1 = 1; |
aschut | 0:90750f158475 | 584 | led2 = 1; |
aschut | 0:90750f158475 | 585 | led3 = 0; |
aschut | 0:90750f158475 | 586 | wait (1); |
aschut | 0:90750f158475 | 587 | |
aschut | 0:90750f158475 | 588 | stateChanged = false; |
aschut | 0:90750f158475 | 589 | } |
aschut | 0:90750f158475 | 590 | |
aschut | 0:90750f158475 | 591 | // State transition logic: automatisch terug naar MOVEMENT. |
aschut | 0:90750f158475 | 592 | |
aschut | 0:90750f158475 | 593 | currentState = MOVEMENT; |
aschut | 0:90750f158475 | 594 | stateChanged = true; |
aschut | 0:90750f158475 | 595 | break; |
aschut | 0:90750f158475 | 596 | |
aschut | 0:90750f158475 | 597 | } |
aschut | 0:90750f158475 | 598 | } |
aschut | 0:90750f158475 | 599 | |
aschut | 0:90750f158475 | 600 | int main() |
aschut | 0:90750f158475 | 601 | { |
aschut | 2:7c9974f0947a | 602 | |
aschut | 2:7c9974f0947a | 603 | t2.start(); |
aschut | 2:7c9974f0947a | 604 | int counter = 0; |
aschut | 4:babe09a69296 | 605 | myservo1.period_us(60); |
aschut | 4:babe09a69296 | 606 | //PotRead.attach(ContinuousReader,Ts); |
aschut | 2:7c9974f0947a | 607 | pc.baud(115200); |
aschut | 2:7c9974f0947a | 608 | |
aschut | 4:babe09a69296 | 609 | |
aschut | 2:7c9974f0947a | 610 | while(true) |
aschut | 0:90750f158475 | 611 | { |
aschut | 0:90750f158475 | 612 | led1 = 1; |
aschut | 2:7c9974f0947a | 613 | led2 =1; |
aschut | 2:7c9974f0947a | 614 | led3 =1; |
aschut | 3:2aaf54ce090b | 615 | /* |
aschut | 2:7c9974f0947a | 616 | if(counter==10) |
aschut | 2:7c9974f0947a | 617 | { |
aschut | 2:7c9974f0947a | 618 | float tmp = t2.read(); |
aschut | 2:7c9974f0947a | 619 | printf("%f,%f,%f,%f\n\r",tmp,motor_position2,ElbowReference,Pulses2); |
aschut | 2:7c9974f0947a | 620 | counter = 0; |
aschut | 2:7c9974f0947a | 621 | } |
aschut | 2:7c9974f0947a | 622 | counter++; |
aschut | 3:2aaf54ce090b | 623 | */ |
aschut | 0:90750f158475 | 624 | ProcessStateMachine(); |
aschut | 2:7c9974f0947a | 625 | |
aschut | 0:90750f158475 | 626 | |
aschut | 2:7c9974f0947a | 627 | wait(0.001); |
aschut | 2:7c9974f0947a | 628 | } |
aschut | 0:90750f158475 | 629 | } |
aschut | 0:90750f158475 | 630 | |
aschut | 2:7c9974f0947a | 631 | |
aschut | 2:7c9974f0947a | 632 | |
aschut | 2:7c9974f0947a | 633 | |
aschut | 2:7c9974f0947a | 634 | |
aschut | 2:7c9974f0947a | 635 | |
aschut | 0:90750f158475 | 636 | |
aschut | 0:90750f158475 | 637 | |
aschut | 0:90750f158475 | 638 | |
aschut | 0:90750f158475 | 639 | |
aschut | 0:90750f158475 | 640 | |
aschut | 0:90750f158475 | 641 | |
aschut | 2:7c9974f0947a | 642 |