..
Dependencies: MODSERIAL TextLCD mbed
main.cpp@0:4b5b608f1f71, 2013-11-02 (annotated)
- Committer:
- bouvdberg
- Date:
- Sat Nov 02 14:44:53 2013 +0000
- Revision:
- 0:4b5b608f1f71
Nieuwste Versie
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bouvdberg | 0:4b5b608f1f71 | 1 | // Hello World! for the TextLCD*// |
bouvdberg | 0:4b5b608f1f71 | 2 | |
bouvdberg | 0:4b5b608f1f71 | 3 | #include "mbed.h" |
bouvdberg | 0:4b5b608f1f71 | 4 | #include "TextLCD.h" |
bouvdberg | 0:4b5b608f1f71 | 5 | #include "MODSERIAL.h" |
bouvdberg | 0:4b5b608f1f71 | 6 | #include "encoder.h" |
bouvdberg | 0:4b5b608f1f71 | 7 | |
bouvdberg | 0:4b5b608f1f71 | 8 | // definieren constanten |
bouvdberg | 0:4b5b608f1f71 | 9 | #define PI 3.1415926 |
bouvdberg | 0:4b5b608f1f71 | 10 | //plant |
bouvdberg | 0:4b5b608f1f71 | 11 | #define ARM1 0.36 |
bouvdberg | 0:4b5b608f1f71 | 12 | #define ARM2 0.26 |
bouvdberg | 0:4b5b608f1f71 | 13 | //PD |
bouvdberg | 0:4b5b608f1f71 | 14 | #define CI 0.000 |
bouvdberg | 0:4b5b608f1f71 | 15 | #define CP1 0.0000000005 |
bouvdberg | 0:4b5b608f1f71 | 16 | #define CP2 0.0000000005 |
bouvdberg | 0:4b5b608f1f71 | 17 | #define CD 0.00 |
bouvdberg | 0:4b5b608f1f71 | 18 | #define CLP1 0.9975 |
bouvdberg | 0:4b5b608f1f71 | 19 | #define CLP2 0.001 |
bouvdberg | 0:4b5b608f1f71 | 20 | //Snelheid |
bouvdberg | 0:4b5b608f1f71 | 21 | #define SNELHEID 0.02 |
bouvdberg | 0:4b5b608f1f71 | 22 | //LOOPTIME |
bouvdberg | 0:4b5b608f1f71 | 23 | #define LOOPTIME 0.006667 |
bouvdberg | 0:4b5b608f1f71 | 24 | //Filtering EMG |
bouvdberg | 0:4b5b608f1f71 | 25 | #define HP1 0.8752 |
bouvdberg | 0:4b5b608f1f71 | 26 | #define HP2 20.0 |
bouvdberg | 0:4b5b608f1f71 | 27 | #define HP3 20.0 |
bouvdberg | 0:4b5b608f1f71 | 28 | #define LP1 0.9868 |
bouvdberg | 0:4b5b608f1f71 | 29 | #define LP2 0.01325 |
bouvdberg | 0:4b5b608f1f71 | 30 | //EMG threshold |
bouvdberg | 0:4b5b608f1f71 | 31 | #define SET_EMG_MAX1 10.0 //bovenarm rechts > beweging naar rechts |
bouvdberg | 0:4b5b608f1f71 | 32 | #define SET_EMG_MIN1 8.0 |
bouvdberg | 0:4b5b608f1f71 | 33 | #define SET_EMG_MAX2 10.0 //bovenarm links > beweging naar links |
bouvdberg | 0:4b5b608f1f71 | 34 | #define SET_EMG_MIN2 5.0 |
bouvdberg | 0:4b5b608f1f71 | 35 | #define SET_EMG_MAX3 10.0 //onderarm rechts > beweging naar boven |
bouvdberg | 0:4b5b608f1f71 | 36 | #define SET_EMG_MIN3 7.0 |
bouvdberg | 0:4b5b608f1f71 | 37 | #define SET_EMG_MAX4 10.0 //onderarm links > beweging naar onder |
bouvdberg | 0:4b5b608f1f71 | 38 | #define SET_EMG_MIN4 5.0 |
bouvdberg | 0:4b5b608f1f71 | 39 | |
bouvdberg | 0:4b5b608f1f71 | 40 | void aansturing(void); |
bouvdberg | 0:4b5b608f1f71 | 41 | void uitzetten(void); |
bouvdberg | 0:4b5b608f1f71 | 42 | void setlooptimerflag(void); |
bouvdberg | 0:4b5b608f1f71 | 43 | void keep_in_range(float * in, float min, float max); |
bouvdberg | 0:4b5b608f1f71 | 44 | |
bouvdberg | 0:4b5b608f1f71 | 45 | volatile bool looptimerflag; |
bouvdberg | 0:4b5b608f1f71 | 46 | |
bouvdberg | 0:4b5b608f1f71 | 47 | Serial pc(USBTX, USBRX); |
bouvdberg | 0:4b5b608f1f71 | 48 | TextLCD lcd(PTE5, PTE3, PTE2, PTB11, PTB10, PTB9, TextLCD::LCD16x2,NC,NC,TextLCD::HD44780); // rs, e, d4-d7-/*+-9 |
bouvdberg | 0:4b5b608f1f71 | 49 | AnalogIn EMG1(PTB0); //EMG |
bouvdberg | 0:4b5b608f1f71 | 50 | AnalogIn EMG2(PTB1); |
bouvdberg | 0:4b5b608f1f71 | 51 | AnalogIn EMG3(PTB2); |
bouvdberg | 0:4b5b608f1f71 | 52 | AnalogIn EMG4(PTB3); |
bouvdberg | 0:4b5b608f1f71 | 53 | AnalogIn potmeter(PTC2); //potmeter |
bouvdberg | 0:4b5b608f1f71 | 54 | DigitalIn ButtonSTOP(PTE21); //Knopjes voor kalibratie |
bouvdberg | 0:4b5b608f1f71 | 55 | DigitalIn ButtonSELECT(PTE20); |
bouvdberg | 0:4b5b608f1f71 | 56 | DigitalIn ButtonUP(PTE23); |
bouvdberg | 0:4b5b608f1f71 | 57 | DigitalIn ButtonDOWN(PTE22); |
bouvdberg | 0:4b5b608f1f71 | 58 | DigitalOut Solenoid(PTD4); //Solenoid |
bouvdberg | 0:4b5b608f1f71 | 59 | Encoder motor1(PTD0,PTC8); //Encoder |
bouvdberg | 0:4b5b608f1f71 | 60 | Encoder motor2(PTD2,PTC9); |
bouvdberg | 0:4b5b608f1f71 | 61 | PwmOut pwm_motor1(PTA12); //motor |
bouvdberg | 0:4b5b608f1f71 | 62 | DigitalOut motordir1(PTD3); |
bouvdberg | 0:4b5b608f1f71 | 63 | PwmOut pwm_motor2(PTA5); |
bouvdberg | 0:4b5b608f1f71 | 64 | DigitalOut motordir2(PTD1); |
bouvdberg | 0:4b5b608f1f71 | 65 | DigitalOut Brake1(PTD5); |
bouvdberg | 0:4b5b608f1f71 | 66 | DigitalOut Brake2(PTA13); |
bouvdberg | 0:4b5b608f1f71 | 67 | |
bouvdberg | 0:4b5b608f1f71 | 68 | float numberx = 9; |
bouvdberg | 0:4b5b608f1f71 | 69 | int menu=0, t; |
bouvdberg | 0:4b5b608f1f71 | 70 | float EMGmax1=SET_EMG_MAX1, EMGmin1=SET_EMG_MIN1, EMGmax2=SET_EMG_MAX2, EMGmin2=SET_EMG_MIN2; |
bouvdberg | 0:4b5b608f1f71 | 71 | float EMGmax3=SET_EMG_MAX3, EMGmin3=SET_EMG_MIN3, EMGmax4=SET_EMG_MAX4, EMGmin4=SET_EMG_MIN4; |
bouvdberg | 0:4b5b608f1f71 | 72 | float drawspeed=SNELHEID; |
bouvdberg | 0:4b5b608f1f71 | 73 | |
bouvdberg | 0:4b5b608f1f71 | 74 | |
bouvdberg | 0:4b5b608f1f71 | 75 | //Variabelen verwerking EMG |
bouvdberg | 0:4b5b608f1f71 | 76 | float emg_value1, emg_value2, emg_value3, emg_value4; |
bouvdberg | 0:4b5b608f1f71 | 77 | float emg_value1min1=0.5, emg_value2min1=0.5, emg_value3min1=0.5, emg_value4min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 78 | float EMGhp1, EMGhp2, EMGhp3, EMGhp4, EMGlp1, EMGlp2, EMGlp3, EMGlp4; |
bouvdberg | 0:4b5b608f1f71 | 79 | float EMGhp1min1=0.5, EMGhp2min1=0.5, EMGhp3min1=0.5, EMGhp4min1=0.5, EMGlp1min1=0.5, EMGlp2min1=0.5, EMGlp3min1=0.5, EMGlp4min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 80 | |
bouvdberg | 0:4b5b608f1f71 | 81 | //Variabelen bepaling input systeem |
bouvdberg | 0:4b5b608f1f71 | 82 | float input; |
bouvdberg | 0:4b5b608f1f71 | 83 | float w1, w2, wM2, phi1, phi2, theta; |
bouvdberg | 0:4b5b608f1f71 | 84 | float a, b, c, d, ai, bi, ci, di; |
bouvdberg | 0:4b5b608f1f71 | 85 | float v1, v2, v3, v4, vx, vy, snelheid; |
bouvdberg | 0:4b5b608f1f71 | 86 | float M1position, M2position, M2phi; |
bouvdberg | 0:4b5b608f1f71 | 87 | float Px, Py; |
bouvdberg | 0:4b5b608f1f71 | 88 | int sol_updown=0; |
bouvdberg | 0:4b5b608f1f71 | 89 | |
bouvdberg | 0:4b5b608f1f71 | 90 | //Variabelen motoraansturing |
bouvdberg | 0:4b5b608f1f71 | 91 | float setpointM1, setpointM2; |
bouvdberg | 0:4b5b608f1f71 | 92 | float setpointmin1M1=800.0, setpointmin1M2=2400.0; |
bouvdberg | 0:4b5b608f1f71 | 93 | float pwm_to_motor1, pwm_to_motor2; |
bouvdberg | 0:4b5b608f1f71 | 94 | float foutM1, foutM2; |
bouvdberg | 0:4b5b608f1f71 | 95 | float foutmin1M1=0.0, foutmin1M2=0.0; |
bouvdberg | 0:4b5b608f1f71 | 96 | float foutverschilM1, foutverschilM2; |
bouvdberg | 0:4b5b608f1f71 | 97 | float foutverschilmin1M1=0.0, foutverschilmin1M2=0.0; |
bouvdberg | 0:4b5b608f1f71 | 98 | float foutImin1=0.0, foutImin2=0.0, foutI1, foutI2; |
bouvdberg | 0:4b5b608f1f71 | 99 | float CDloop=CD/LOOPTIME; |
bouvdberg | 0:4b5b608f1f71 | 100 | float t_sin=0.0; |
bouvdberg | 0:4b5b608f1f71 | 101 | float t_timer=0.0; |
bouvdberg | 0:4b5b608f1f71 | 102 | |
bouvdberg | 0:4b5b608f1f71 | 103 | int main() { |
bouvdberg | 0:4b5b608f1f71 | 104 | //set buttons PULLDOWN |
bouvdberg | 0:4b5b608f1f71 | 105 | ButtonSTOP.mode(PullNone); |
bouvdberg | 0:4b5b608f1f71 | 106 | ButtonSELECT.mode(PullNone); |
bouvdberg | 0:4b5b608f1f71 | 107 | ButtonUP.mode(PullNone); |
bouvdberg | 0:4b5b608f1f71 | 108 | ButtonDOWN.mode(PullNone); |
bouvdberg | 0:4b5b608f1f71 | 109 | pc.baud(57600); |
bouvdberg | 0:4b5b608f1f71 | 110 | //Aanstuur timing |
bouvdberg | 0:4b5b608f1f71 | 111 | Ticker looptimer; |
bouvdberg | 0:4b5b608f1f71 | 112 | looptimer.attach(setlooptimerflag,LOOPTIME); |
bouvdberg | 0:4b5b608f1f71 | 113 | while(1) |
bouvdberg | 0:4b5b608f1f71 | 114 | { |
bouvdberg | 0:4b5b608f1f71 | 115 | switch (menu) |
bouvdberg | 0:4b5b608f1f71 | 116 | { |
bouvdberg | 0:4b5b608f1f71 | 117 | case 0: |
bouvdberg | 0:4b5b608f1f71 | 118 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 119 | lcd.printf("> DRAW"); |
bouvdberg | 0:4b5b608f1f71 | 120 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 121 | lcd.printf(" SETTINGS"); |
bouvdberg | 0:4b5b608f1f71 | 122 | while(menu==0) |
bouvdberg | 0:4b5b608f1f71 | 123 | { |
bouvdberg | 0:4b5b608f1f71 | 124 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 125 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 126 | { |
bouvdberg | 0:4b5b608f1f71 | 127 | motor1.setPosition(800); |
bouvdberg | 0:4b5b608f1f71 | 128 | motor2.setPosition(2400); |
bouvdberg | 0:4b5b608f1f71 | 129 | menu=55; |
bouvdberg | 0:4b5b608f1f71 | 130 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 131 | lcd.printf("UP:Pause Drawing"); |
bouvdberg | 0:4b5b608f1f71 | 132 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 133 | lcd.printf("DOWN:Pen Up/Down"); |
bouvdberg | 0:4b5b608f1f71 | 134 | Solenoid=0; |
bouvdberg | 0:4b5b608f1f71 | 135 | sol_updown=0; |
bouvdberg | 0:4b5b608f1f71 | 136 | wait(0.01); |
bouvdberg | 0:4b5b608f1f71 | 137 | } |
bouvdberg | 0:4b5b608f1f71 | 138 | } |
bouvdberg | 0:4b5b608f1f71 | 139 | break; |
bouvdberg | 0:4b5b608f1f71 | 140 | case 1: |
bouvdberg | 0:4b5b608f1f71 | 141 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 142 | lcd.printf("> SETTINGS"); |
bouvdberg | 0:4b5b608f1f71 | 143 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 144 | lcd.printf(" RESET ALL"); |
bouvdberg | 0:4b5b608f1f71 | 145 | while(menu==1) |
bouvdberg | 0:4b5b608f1f71 | 146 | { |
bouvdberg | 0:4b5b608f1f71 | 147 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:4b5b608f1f71 | 148 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 149 | if (ButtonSELECT.read()==1) menu=20; |
bouvdberg | 0:4b5b608f1f71 | 150 | } |
bouvdberg | 0:4b5b608f1f71 | 151 | break; |
bouvdberg | 0:4b5b608f1f71 | 152 | case 2: |
bouvdberg | 0:4b5b608f1f71 | 153 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 154 | lcd.printf("> RESET ALL"); |
bouvdberg | 0:4b5b608f1f71 | 155 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 156 | lcd.printf(" "); |
bouvdberg | 0:4b5b608f1f71 | 157 | while(menu==2) |
bouvdberg | 0:4b5b608f1f71 | 158 | { |
bouvdberg | 0:4b5b608f1f71 | 159 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:4b5b608f1f71 | 160 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 161 | { |
bouvdberg | 0:4b5b608f1f71 | 162 | EMGmax1=SET_EMG_MAX1; EMGmin1=SET_EMG_MIN1; |
bouvdberg | 0:4b5b608f1f71 | 163 | EMGmax2=SET_EMG_MAX2; EMGmin2=SET_EMG_MIN2; |
bouvdberg | 0:4b5b608f1f71 | 164 | EMGmax3=SET_EMG_MAX3; EMGmin3=SET_EMG_MIN3; |
bouvdberg | 0:4b5b608f1f71 | 165 | EMGmax4=SET_EMG_MAX4; EMGmin4=SET_EMG_MIN4; |
bouvdberg | 0:4b5b608f1f71 | 166 | drawspeed=SNELHEID; |
bouvdberg | 0:4b5b608f1f71 | 167 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 168 | lcd.printf(" Reset Completed"); |
bouvdberg | 0:4b5b608f1f71 | 169 | wait(1); |
bouvdberg | 0:4b5b608f1f71 | 170 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 171 | lcd.printf(" "); |
bouvdberg | 0:4b5b608f1f71 | 172 | } |
bouvdberg | 0:4b5b608f1f71 | 173 | } |
bouvdberg | 0:4b5b608f1f71 | 174 | break; |
bouvdberg | 0:4b5b608f1f71 | 175 | case 20: |
bouvdberg | 0:4b5b608f1f71 | 176 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 177 | lcd.printf("> EMG1-MAX: %.2f", (EMGmax1+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:4b5b608f1f71 | 178 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 179 | lcd.printf(" EMG1-MIN: "); |
bouvdberg | 0:4b5b608f1f71 | 180 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:4b5b608f1f71 | 181 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 182 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 183 | { |
bouvdberg | 0:4b5b608f1f71 | 184 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 185 | lcd.printf(" SAVED! "); |
bouvdberg | 0:4b5b608f1f71 | 186 | EMGmax1=(EMGmax1+(((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:4b5b608f1f71 | 187 | wait(0.5); |
bouvdberg | 0:4b5b608f1f71 | 188 | } |
bouvdberg | 0:4b5b608f1f71 | 189 | break; |
bouvdberg | 0:4b5b608f1f71 | 190 | case 21: |
bouvdberg | 0:4b5b608f1f71 | 191 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 192 | lcd.printf("> EMG1-MIN: %.2f", (EMGmin1+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:4b5b608f1f71 | 193 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 194 | lcd.printf(" EMG2-MAX: "); |
bouvdberg | 0:4b5b608f1f71 | 195 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:4b5b608f1f71 | 196 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:4b5b608f1f71 | 197 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 198 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 199 | { |
bouvdberg | 0:4b5b608f1f71 | 200 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 201 | lcd.printf(" SAVED! "); |
bouvdberg | 0:4b5b608f1f71 | 202 | EMGmin1=(EMGmin1+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:4b5b608f1f71 | 203 | wait(0.5); |
bouvdberg | 0:4b5b608f1f71 | 204 | } |
bouvdberg | 0:4b5b608f1f71 | 205 | break; |
bouvdberg | 0:4b5b608f1f71 | 206 | case 22: |
bouvdberg | 0:4b5b608f1f71 | 207 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 208 | lcd.printf("> EMG2-MAX: %.2f", (EMGmax1+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:4b5b608f1f71 | 209 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 210 | lcd.printf(" EMG2-MIN: "); |
bouvdberg | 0:4b5b608f1f71 | 211 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:4b5b608f1f71 | 212 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:4b5b608f1f71 | 213 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 214 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 215 | { |
bouvdberg | 0:4b5b608f1f71 | 216 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 217 | lcd.printf(" SAVED! "); |
bouvdberg | 0:4b5b608f1f71 | 218 | EMGmax2=(EMGmax1+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:4b5b608f1f71 | 219 | wait(0.5); |
bouvdberg | 0:4b5b608f1f71 | 220 | } |
bouvdberg | 0:4b5b608f1f71 | 221 | break; |
bouvdberg | 0:4b5b608f1f71 | 222 | case 23: |
bouvdberg | 0:4b5b608f1f71 | 223 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 224 | lcd.printf("> EMG2-MIN: %.2f", (EMGmin2+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:4b5b608f1f71 | 225 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 226 | lcd.printf(" EMG3-MAX: "); |
bouvdberg | 0:4b5b608f1f71 | 227 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:4b5b608f1f71 | 228 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:4b5b608f1f71 | 229 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 230 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 231 | { |
bouvdberg | 0:4b5b608f1f71 | 232 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 233 | lcd.printf(" SAVED! "); |
bouvdberg | 0:4b5b608f1f71 | 234 | EMGmin2=(EMGmin2+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:4b5b608f1f71 | 235 | wait(0.5); |
bouvdberg | 0:4b5b608f1f71 | 236 | } |
bouvdberg | 0:4b5b608f1f71 | 237 | break; |
bouvdberg | 0:4b5b608f1f71 | 238 | case 24: |
bouvdberg | 0:4b5b608f1f71 | 239 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 240 | lcd.printf("> EMG3-MAX: %.2f", (EMGmax3+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:4b5b608f1f71 | 241 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 242 | lcd.printf(" EMG3-MIN: "); |
bouvdberg | 0:4b5b608f1f71 | 243 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:4b5b608f1f71 | 244 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:4b5b608f1f71 | 245 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 246 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 247 | { |
bouvdberg | 0:4b5b608f1f71 | 248 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 249 | lcd.printf(" SAVED! "); |
bouvdberg | 0:4b5b608f1f71 | 250 | EMGmax3=(EMGmax3+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:4b5b608f1f71 | 251 | wait(0.5); |
bouvdberg | 0:4b5b608f1f71 | 252 | } |
bouvdberg | 0:4b5b608f1f71 | 253 | break; |
bouvdberg | 0:4b5b608f1f71 | 254 | case 25: |
bouvdberg | 0:4b5b608f1f71 | 255 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 256 | lcd.printf("> EMG3-MIN: %.2f", (EMGmin3+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:4b5b608f1f71 | 257 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 258 | lcd.printf(" EMG4-MAX: "); |
bouvdberg | 0:4b5b608f1f71 | 259 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:4b5b608f1f71 | 260 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:4b5b608f1f71 | 261 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 262 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 263 | { |
bouvdberg | 0:4b5b608f1f71 | 264 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 265 | lcd.printf(" SAVED! "); |
bouvdberg | 0:4b5b608f1f71 | 266 | EMGmin3=(EMGmin3+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:4b5b608f1f71 | 267 | wait(0.5); |
bouvdberg | 0:4b5b608f1f71 | 268 | } |
bouvdberg | 0:4b5b608f1f71 | 269 | break; |
bouvdberg | 0:4b5b608f1f71 | 270 | case 26: |
bouvdberg | 0:4b5b608f1f71 | 271 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 272 | lcd.printf("> EMG4-MAX: %.2f", (EMGmax4+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:4b5b608f1f71 | 273 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 274 | lcd.printf(" EMG4-MIN: "); |
bouvdberg | 0:4b5b608f1f71 | 275 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:4b5b608f1f71 | 276 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:4b5b608f1f71 | 277 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 278 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 279 | { |
bouvdberg | 0:4b5b608f1f71 | 280 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 281 | lcd.printf(" SAVED! "); |
bouvdberg | 0:4b5b608f1f71 | 282 | EMGmax4=(EMGmax4+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:4b5b608f1f71 | 283 | wait(0.5); |
bouvdberg | 0:4b5b608f1f71 | 284 | } |
bouvdberg | 0:4b5b608f1f71 | 285 | break; |
bouvdberg | 0:4b5b608f1f71 | 286 | case 27: |
bouvdberg | 0:4b5b608f1f71 | 287 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 288 | lcd.printf("> EMG4-MIN: %.2f", (EMGmin4+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:4b5b608f1f71 | 289 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 290 | lcd.printf(" SPEED :"); |
bouvdberg | 0:4b5b608f1f71 | 291 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:4b5b608f1f71 | 292 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:4b5b608f1f71 | 293 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 294 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 295 | { |
bouvdberg | 0:4b5b608f1f71 | 296 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 297 | lcd.printf(" SAVED! "); |
bouvdberg | 0:4b5b608f1f71 | 298 | EMGmin4=(EMGmin4+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:4b5b608f1f71 | 299 | wait(0.5); |
bouvdberg | 0:4b5b608f1f71 | 300 | } |
bouvdberg | 0:4b5b608f1f71 | 301 | break; |
bouvdberg | 0:4b5b608f1f71 | 302 | case 28: |
bouvdberg | 0:4b5b608f1f71 | 303 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 304 | lcd.printf("> SPEED : %.2f", (drawspeed+ (((potmeter.read()+0.0005)/10)-0.05))); |
bouvdberg | 0:4b5b608f1f71 | 305 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 306 | lcd.printf(" SOLENOID:"); |
bouvdberg | 0:4b5b608f1f71 | 307 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:4b5b608f1f71 | 308 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:4b5b608f1f71 | 309 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 310 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 311 | { |
bouvdberg | 0:4b5b608f1f71 | 312 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 313 | lcd.printf(" SAVED! "); |
bouvdberg | 0:4b5b608f1f71 | 314 | drawspeed=(drawspeed+ (((potmeter.read()+0.0005)/10)-0.05)); |
bouvdberg | 0:4b5b608f1f71 | 315 | wait(0.5); |
bouvdberg | 0:4b5b608f1f71 | 316 | } |
bouvdberg | 0:4b5b608f1f71 | 317 | break; |
bouvdberg | 0:4b5b608f1f71 | 318 | case 29: |
bouvdberg | 0:4b5b608f1f71 | 319 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 320 | lcd.printf("> SOLENOID: OFF"); |
bouvdberg | 0:4b5b608f1f71 | 321 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 322 | lcd.printf(" "); |
bouvdberg | 0:4b5b608f1f71 | 323 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:4b5b608f1f71 | 324 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:4b5b608f1f71 | 325 | //if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 326 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 327 | { |
bouvdberg | 0:4b5b608f1f71 | 328 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 329 | lcd.printf("> SOLENOID: ON"); |
bouvdberg | 0:4b5b608f1f71 | 330 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 331 | lcd.printf(" "); |
bouvdberg | 0:4b5b608f1f71 | 332 | Solenoid=1; |
bouvdberg | 0:4b5b608f1f71 | 333 | sol_updown=1; |
bouvdberg | 0:4b5b608f1f71 | 334 | wait(1); |
bouvdberg | 0:4b5b608f1f71 | 335 | Solenoid=0; |
bouvdberg | 0:4b5b608f1f71 | 336 | sol_updown=0; |
bouvdberg | 0:4b5b608f1f71 | 337 | } |
bouvdberg | 0:4b5b608f1f71 | 338 | break; |
bouvdberg | 0:4b5b608f1f71 | 339 | case 50: //tekenen afsluiten |
bouvdberg | 0:4b5b608f1f71 | 340 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 341 | lcd.printf(" Shutting Down!"); |
bouvdberg | 0:4b5b608f1f71 | 342 | menu=0; |
bouvdberg | 0:4b5b608f1f71 | 343 | |
bouvdberg | 0:4b5b608f1f71 | 344 | uitzetten(); |
bouvdberg | 0:4b5b608f1f71 | 345 | |
bouvdberg | 0:4b5b608f1f71 | 346 | break; |
bouvdberg | 0:4b5b608f1f71 | 347 | case 55: |
bouvdberg | 0:4b5b608f1f71 | 348 | |
bouvdberg | 0:4b5b608f1f71 | 349 | if (ButtonSTOP.read()==1) menu=50; |
bouvdberg | 0:4b5b608f1f71 | 350 | if (ButtonUP.read()==1) menu++; |
bouvdberg | 0:4b5b608f1f71 | 351 | if (ButtonDOWN.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 352 | { |
bouvdberg | 0:4b5b608f1f71 | 353 | if (sol_updown==1) |
bouvdberg | 0:4b5b608f1f71 | 354 | { |
bouvdberg | 0:4b5b608f1f71 | 355 | Solenoid=0; |
bouvdberg | 0:4b5b608f1f71 | 356 | sol_updown=0; |
bouvdberg | 0:4b5b608f1f71 | 357 | } |
bouvdberg | 0:4b5b608f1f71 | 358 | if (sol_updown==0) |
bouvdberg | 0:4b5b608f1f71 | 359 | { |
bouvdberg | 0:4b5b608f1f71 | 360 | Solenoid=1; |
bouvdberg | 0:4b5b608f1f71 | 361 | sol_updown=1; |
bouvdberg | 0:4b5b608f1f71 | 362 | } |
bouvdberg | 0:4b5b608f1f71 | 363 | while (ButtonDOWN.read()==1); |
bouvdberg | 0:4b5b608f1f71 | 364 | } |
bouvdberg | 0:4b5b608f1f71 | 365 | |
bouvdberg | 0:4b5b608f1f71 | 366 | aansturing(); //aansturing |
bouvdberg | 0:4b5b608f1f71 | 367 | |
bouvdberg | 0:4b5b608f1f71 | 368 | break; |
bouvdberg | 0:4b5b608f1f71 | 369 | case 56: |
bouvdberg | 0:4b5b608f1f71 | 370 | wait(0.2); |
bouvdberg | 0:4b5b608f1f71 | 371 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 372 | lcd.printf(" PAUSE "); |
bouvdberg | 0:4b5b608f1f71 | 373 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 374 | lcd.printf("> RESUME"); |
bouvdberg | 0:4b5b608f1f71 | 375 | |
bouvdberg | 0:4b5b608f1f71 | 376 | Solenoid=1; |
bouvdberg | 0:4b5b608f1f71 | 377 | pwm_motor1.write(0); |
bouvdberg | 0:4b5b608f1f71 | 378 | pwm_motor2.write(0); |
bouvdberg | 0:4b5b608f1f71 | 379 | |
bouvdberg | 0:4b5b608f1f71 | 380 | while(ButtonSELECT.read()==1); |
bouvdberg | 0:4b5b608f1f71 | 381 | while(menu==56) |
bouvdberg | 0:4b5b608f1f71 | 382 | { |
bouvdberg | 0:4b5b608f1f71 | 383 | if (ButtonSTOP.read()==1) menu=50; |
bouvdberg | 0:4b5b608f1f71 | 384 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:4b5b608f1f71 | 385 | { |
bouvdberg | 0:4b5b608f1f71 | 386 | menu--; |
bouvdberg | 0:4b5b608f1f71 | 387 | lcd.cls(); |
bouvdberg | 0:4b5b608f1f71 | 388 | lcd.printf("UP:Pause Drawing"); |
bouvdberg | 0:4b5b608f1f71 | 389 | lcd.locate(0,1); |
bouvdberg | 0:4b5b608f1f71 | 390 | lcd.printf("DOWN:Pen Up/Down"); |
bouvdberg | 0:4b5b608f1f71 | 391 | } |
bouvdberg | 0:4b5b608f1f71 | 392 | } |
bouvdberg | 0:4b5b608f1f71 | 393 | |
bouvdberg | 0:4b5b608f1f71 | 394 | |
bouvdberg | 0:4b5b608f1f71 | 395 | |
bouvdberg | 0:4b5b608f1f71 | 396 | break; |
bouvdberg | 0:4b5b608f1f71 | 397 | } |
bouvdberg | 0:4b5b608f1f71 | 398 | |
bouvdberg | 0:4b5b608f1f71 | 399 | if (menu!=55) wait(0.2); |
bouvdberg | 0:4b5b608f1f71 | 400 | } |
bouvdberg | 0:4b5b608f1f71 | 401 | |
bouvdberg | 0:4b5b608f1f71 | 402 | |
bouvdberg | 0:4b5b608f1f71 | 403 | } |
bouvdberg | 0:4b5b608f1f71 | 404 | |
bouvdberg | 0:4b5b608f1f71 | 405 | void aansturing(void) |
bouvdberg | 0:4b5b608f1f71 | 406 | { |
bouvdberg | 0:4b5b608f1f71 | 407 | while(looptimerflag != true); |
bouvdberg | 0:4b5b608f1f71 | 408 | looptimerflag = false; |
bouvdberg | 0:4b5b608f1f71 | 409 | |
bouvdberg | 0:4b5b608f1f71 | 410 | //uitlezen |
bouvdberg | 0:4b5b608f1f71 | 411 | emg_value1 = EMG1.read(); |
bouvdberg | 0:4b5b608f1f71 | 412 | emg_value2 = EMG2.read(); |
bouvdberg | 0:4b5b608f1f71 | 413 | emg_value3 = EMG3.read(); |
bouvdberg | 0:4b5b608f1f71 | 414 | emg_value4 = EMG4.read(); |
bouvdberg | 0:4b5b608f1f71 | 415 | |
bouvdberg | 0:4b5b608f1f71 | 416 | //filtering |
bouvdberg | 0:4b5b608f1f71 | 417 | EMGhp1=HP1*EMGhp1min1+HP2*emg_value1-HP3*emg_value1min1; |
bouvdberg | 0:4b5b608f1f71 | 418 | EMGhp2=HP1*EMGhp2min1+HP2*emg_value2-HP3*emg_value2min1; |
bouvdberg | 0:4b5b608f1f71 | 419 | EMGhp3=HP1*EMGhp3min1+HP2*emg_value3-HP3*emg_value3min1; |
bouvdberg | 0:4b5b608f1f71 | 420 | EMGhp4=HP1*EMGhp4min1+HP2*emg_value4-HP3*emg_value4min1; |
bouvdberg | 0:4b5b608f1f71 | 421 | EMGhp1=abs(EMGhp1); |
bouvdberg | 0:4b5b608f1f71 | 422 | EMGhp2=abs(EMGhp2); |
bouvdberg | 0:4b5b608f1f71 | 423 | EMGhp3=abs(EMGhp3); |
bouvdberg | 0:4b5b608f1f71 | 424 | EMGhp4=abs(EMGhp4); |
bouvdberg | 0:4b5b608f1f71 | 425 | EMGlp1=LP1*EMGlp1min1+LP2*EMGhp1min1; |
bouvdberg | 0:4b5b608f1f71 | 426 | EMGlp2=LP1*EMGlp2min1+LP2*EMGhp2min1; |
bouvdberg | 0:4b5b608f1f71 | 427 | EMGlp3=LP1*EMGlp3min1+LP2*EMGhp3min1; |
bouvdberg | 0:4b5b608f1f71 | 428 | EMGlp4=LP1*EMGlp4min1+LP2*EMGhp4min1; |
bouvdberg | 0:4b5b608f1f71 | 429 | //pc.printf("%.2f ",emg_value1); |
bouvdberg | 0:4b5b608f1f71 | 430 | //pc.printf("%.2f ",emg_value2); |
bouvdberg | 0:4b5b608f1f71 | 431 | //pc.printf("%.2f ",emg_value3); |
bouvdberg | 0:4b5b608f1f71 | 432 | //pc.printf("%.2f ",emg_value4); |
bouvdberg | 0:4b5b608f1f71 | 433 | //pc.printf("%.2f ",EMGlp1); |
bouvdberg | 0:4b5b608f1f71 | 434 | //pc.printf("%.2f ",EMGlp2); |
bouvdberg | 0:4b5b608f1f71 | 435 | //pc.printf("%.2f ",EMGlp3); |
bouvdberg | 0:4b5b608f1f71 | 436 | //pc.printf("%.2f ",EMGlp4); |
bouvdberg | 0:4b5b608f1f71 | 437 | |
bouvdberg | 0:4b5b608f1f71 | 438 | //berekenen setpoint |
bouvdberg | 0:4b5b608f1f71 | 439 | //hoekinput |
bouvdberg | 0:4b5b608f1f71 | 440 | |
bouvdberg | 0:4b5b608f1f71 | 441 | if((EMGlp1-EMGmin1)<=0.0) v1=0.0; |
bouvdberg | 0:4b5b608f1f71 | 442 | else v1=(EMGlp1-EMGmin1)/(EMGmax1-EMGmin1); |
bouvdberg | 0:4b5b608f1f71 | 443 | if((EMGlp2-EMGmin2)<=0.0) v2=0.0; |
bouvdberg | 0:4b5b608f1f71 | 444 | else v2=(EMGlp2-EMGmin2)/(EMGmax2-EMGmin2); |
bouvdberg | 0:4b5b608f1f71 | 445 | if((EMGlp3-EMGmin3)<=0.0) v3=0.0; |
bouvdberg | 0:4b5b608f1f71 | 446 | else v3=(EMGlp3-EMGmin3)/(EMGmax3-EMGmin3); |
bouvdberg | 0:4b5b608f1f71 | 447 | if((EMGlp4-EMGmin4)<=0.0) v4=0.0; |
bouvdberg | 0:4b5b608f1f71 | 448 | else v4=(EMGlp4-EMGmin4)/(EMGmax4-EMGmin4); |
bouvdberg | 0:4b5b608f1f71 | 449 | |
bouvdberg | 0:4b5b608f1f71 | 450 | t_timer=t_timer+LOOPTIME; |
bouvdberg | 0:4b5b608f1f71 | 451 | |
bouvdberg | 0:4b5b608f1f71 | 452 | if(v1<=0.1 && v2<=0.1 && v3<=0.1 && v4<=0.1 && sol_updown==1) { |
bouvdberg | 0:4b5b608f1f71 | 453 | Solenoid=1; //Pen van papier |
bouvdberg | 0:4b5b608f1f71 | 454 | input=0.0; |
bouvdberg | 0:4b5b608f1f71 | 455 | snelheid=0.0; |
bouvdberg | 0:4b5b608f1f71 | 456 | } |
bouvdberg | 0:4b5b608f1f71 | 457 | else { |
bouvdberg | 0:4b5b608f1f71 | 458 | Solenoid=0; //Pen op papier |
bouvdberg | 0:4b5b608f1f71 | 459 | snelheid=drawspeed; |
bouvdberg | 0:4b5b608f1f71 | 460 | if(v2>v1) { |
bouvdberg | 0:4b5b608f1f71 | 461 | input=(atan((v3-v4)/(v1-v2))+PI); |
bouvdberg | 0:4b5b608f1f71 | 462 | } |
bouvdberg | 0:4b5b608f1f71 | 463 | else { |
bouvdberg | 0:4b5b608f1f71 | 464 | input=(atan((v3-v4)/(v1-v2))); |
bouvdberg | 0:4b5b608f1f71 | 465 | } |
bouvdberg | 0:4b5b608f1f71 | 466 | pc.printf("%.2f ",input); |
bouvdberg | 0:4b5b608f1f71 | 467 | } |
bouvdberg | 0:4b5b608f1f71 | 468 | pc.printf("%.2f ",v1); |
bouvdberg | 0:4b5b608f1f71 | 469 | pc.printf("%.2f ",v2); |
bouvdberg | 0:4b5b608f1f71 | 470 | pc.printf("%.2f ",v3); |
bouvdberg | 0:4b5b608f1f71 | 471 | pc.printf("%.2f \n\r",v4); |
bouvdberg | 0:4b5b608f1f71 | 472 | //input=t_timer*0.8+PI; |
bouvdberg | 0:4b5b608f1f71 | 473 | |
bouvdberg | 0:4b5b608f1f71 | 474 | //snelheidsvector met beperking positie / encoder uitlezen |
bouvdberg | 0:4b5b608f1f71 | 475 | M1position = motor1.getPosition(); |
bouvdberg | 0:4b5b608f1f71 | 476 | M2position = motor2.getPosition(); |
bouvdberg | 0:4b5b608f1f71 | 477 | //M2phi=M1position-M2position+1600.0; //phi2 = phi1 - theta + 1600 |
bouvdberg | 0:4b5b608f1f71 | 478 | |
bouvdberg | 0:4b5b608f1f71 | 479 | //Px=cos((M1position/3200.0)*2.0*PI)*ARM1+cos((M2position/3200.0)*2.0*PI)*ARM2; |
bouvdberg | 0:4b5b608f1f71 | 480 | //Py=sin((M1position/3200.0)*2.0*PI)*ARM1+sin((M2position/3200.0)*2.0*PI)*ARM2; |
bouvdberg | 0:4b5b608f1f71 | 481 | |
bouvdberg | 0:4b5b608f1f71 | 482 | //if(Px > 0.29 || Px < 0.125) vx=0; |
bouvdberg | 0:4b5b608f1f71 | 483 | //else |
bouvdberg | 0:4b5b608f1f71 | 484 | vx=cos(input)*snelheid; |
bouvdberg | 0:4b5b608f1f71 | 485 | //if(Py < -0.425 || Py > -0.125) vy=0; |
bouvdberg | 0:4b5b608f1f71 | 486 | //else |
bouvdberg | 0:4b5b608f1f71 | 487 | vy=sin(input)*snelheid; |
bouvdberg | 0:4b5b608f1f71 | 488 | |
bouvdberg | 0:4b5b608f1f71 | 489 | //input positie |
bouvdberg | 0:4b5b608f1f71 | 490 | phi1=(motor1.getPosition()/3200.0)*2.0*PI; |
bouvdberg | 0:4b5b608f1f71 | 491 | theta=(motor2.getPosition()/3200.0)*2.0*PI; |
bouvdberg | 0:4b5b608f1f71 | 492 | phi2=theta+phi1-PI; |
bouvdberg | 0:4b5b608f1f71 | 493 | |
bouvdberg | 0:4b5b608f1f71 | 494 | //Jacobiaan |
bouvdberg | 0:4b5b608f1f71 | 495 | // [a b] |
bouvdberg | 0:4b5b608f1f71 | 496 | // [c d] |
bouvdberg | 0:4b5b608f1f71 | 497 | a=-sin(phi1)*ARM1; |
bouvdberg | 0:4b5b608f1f71 | 498 | b=-sin(phi2)*ARM2; |
bouvdberg | 0:4b5b608f1f71 | 499 | c=cos(phi1)*ARM1; |
bouvdberg | 0:4b5b608f1f71 | 500 | d=cos(phi2)*ARM2; |
bouvdberg | 0:4b5b608f1f71 | 501 | |
bouvdberg | 0:4b5b608f1f71 | 502 | //inverse |
bouvdberg | 0:4b5b608f1f71 | 503 | // [ai bi] |
bouvdberg | 0:4b5b608f1f71 | 504 | // [ci di] |
bouvdberg | 0:4b5b608f1f71 | 505 | ai=d/(a*d-b*c); |
bouvdberg | 0:4b5b608f1f71 | 506 | bi=-b/(a*d-b*c); |
bouvdberg | 0:4b5b608f1f71 | 507 | ci=-c/(a*d-b*c); |
bouvdberg | 0:4b5b608f1f71 | 508 | di=a/(a*d-b*c); |
bouvdberg | 0:4b5b608f1f71 | 509 | |
bouvdberg | 0:4b5b608f1f71 | 510 | //vermenigvuldiging |
bouvdberg | 0:4b5b608f1f71 | 511 | // [ai bi] [vx] [w1] |
bouvdberg | 0:4b5b608f1f71 | 512 | // [ci di] * [vy] = [w2] |
bouvdberg | 0:4b5b608f1f71 | 513 | w1=ai*vx+bi*vy; //=wM1 hoeksnelheid van motor 1 |
bouvdberg | 0:4b5b608f1f71 | 514 | w2=ci*vx+di*vy; |
bouvdberg | 0:4b5b608f1f71 | 515 | wM2=w2-w1;//hoeksnelheid motor 2 |
bouvdberg | 0:4b5b608f1f71 | 516 | |
bouvdberg | 0:4b5b608f1f71 | 517 | //Beveiliging hoeksnelheden |
bouvdberg | 0:4b5b608f1f71 | 518 | keep_in_range(&w1, -1000,1000); |
bouvdberg | 0:4b5b608f1f71 | 519 | keep_in_range(&wM2, -1000,1000); |
bouvdberg | 0:4b5b608f1f71 | 520 | |
bouvdberg | 0:4b5b608f1f71 | 521 | //Motoraansturing |
bouvdberg | 0:4b5b608f1f71 | 522 | //t_sin=t_sin + 0.05; |
bouvdberg | 0:4b5b608f1f71 | 523 | //if (t_sin>=2*PI) t_sin=0.0; |
bouvdberg | 0:4b5b608f1f71 | 524 | setpointM1 = (w1/(2.0*PI))*3200.0*LOOPTIME+setpointmin1M1; //sin(t_sin)*1600; |
bouvdberg | 0:4b5b608f1f71 | 525 | setpointM2 = (wM2/(2.0*PI))*3200.0*LOOPTIME+setpointmin1M2; |
bouvdberg | 0:4b5b608f1f71 | 526 | |
bouvdberg | 0:4b5b608f1f71 | 527 | //Beperking hoeken |
bouvdberg | 0:4b5b608f1f71 | 528 | keep_in_range(&setpointM1, 0,1600);//Heel rondje = 3200 pulsen, Half rondje = 1600 pulsen |
bouvdberg | 0:4b5b608f1f71 | 529 | keep_in_range(&setpointM2, 1600,3050);// Begrensd op 20 graden minimaal, werkelijke minimale waarde is 15 graden |
bouvdberg | 0:4b5b608f1f71 | 530 | |
bouvdberg | 0:4b5b608f1f71 | 531 | foutM1 = setpointM1-M1position; |
bouvdberg | 0:4b5b608f1f71 | 532 | foutM2 = setpointM2-M2position; |
bouvdberg | 0:4b5b608f1f71 | 533 | //foutI1 = foutImin1 + foutM1*LOOPTIME; |
bouvdberg | 0:4b5b608f1f71 | 534 | //foutI2 = foutImin2 + foutM2*LOOPTIME; |
bouvdberg | 0:4b5b608f1f71 | 535 | //foutverschilM1 = foutM1-foutmin1M1; |
bouvdberg | 0:4b5b608f1f71 | 536 | //foutverschilM2 = foutM2-foutmin1M2; |
bouvdberg | 0:4b5b608f1f71 | 537 | //foutverschilM1 = CLP1*foutverschilmin1M1+CLP2*foutverschilM1; |
bouvdberg | 0:4b5b608f1f71 | 538 | //foutverschilM2 = CLP1*foutverschilmin1M2+CLP2*foutverschilM2; |
bouvdberg | 0:4b5b608f1f71 | 539 | pwm_to_motor1 = foutM1*CP1; //+foutverschilM1*CDloop+foutI1*CI; |
bouvdberg | 0:4b5b608f1f71 | 540 | pwm_to_motor2 = foutM2*CP2; //+foutverschilM2*CDloop+foutI2*CI; |
bouvdberg | 0:4b5b608f1f71 | 541 | keep_in_range(&pwm_to_motor1, -0.2,0.2); |
bouvdberg | 0:4b5b608f1f71 | 542 | keep_in_range(&pwm_to_motor2, -0.2,0.2); |
bouvdberg | 0:4b5b608f1f71 | 543 | |
bouvdberg | 0:4b5b608f1f71 | 544 | |
bouvdberg | 0:4b5b608f1f71 | 545 | if(pwm_to_motor1 > 0) { |
bouvdberg | 0:4b5b608f1f71 | 546 | motordir1 = 1; |
bouvdberg | 0:4b5b608f1f71 | 547 | pwm_to_motor1=pwm_to_motor1+0.06; |
bouvdberg | 0:4b5b608f1f71 | 548 | } |
bouvdberg | 0:4b5b608f1f71 | 549 | else { |
bouvdberg | 0:4b5b608f1f71 | 550 | motordir1 = 0; |
bouvdberg | 0:4b5b608f1f71 | 551 | pwm_to_motor1=pwm_to_motor1-0.06; |
bouvdberg | 0:4b5b608f1f71 | 552 | } |
bouvdberg | 0:4b5b608f1f71 | 553 | if(pwm_to_motor2 > 0) { |
bouvdberg | 0:4b5b608f1f71 | 554 | motordir2 = 1; |
bouvdberg | 0:4b5b608f1f71 | 555 | pwm_to_motor2=pwm_to_motor2+0.06; |
bouvdberg | 0:4b5b608f1f71 | 556 | } |
bouvdberg | 0:4b5b608f1f71 | 557 | else { |
bouvdberg | 0:4b5b608f1f71 | 558 | motordir2 = 0; |
bouvdberg | 0:4b5b608f1f71 | 559 | pwm_to_motor2=pwm_to_motor2-0.06; |
bouvdberg | 0:4b5b608f1f71 | 560 | } |
bouvdberg | 0:4b5b608f1f71 | 561 | |
bouvdberg | 0:4b5b608f1f71 | 562 | //WRITE VALUE TO MOTOR |
bouvdberg | 0:4b5b608f1f71 | 563 | if(v1<=0.1 && v2<=0.1 && v3<=0.1 && v4<=0.1) |
bouvdberg | 0:4b5b608f1f71 | 564 | { |
bouvdberg | 0:4b5b608f1f71 | 565 | pwm_motor1.write(0); |
bouvdberg | 0:4b5b608f1f71 | 566 | pwm_motor2.write(0); |
bouvdberg | 0:4b5b608f1f71 | 567 | } |
bouvdberg | 0:4b5b608f1f71 | 568 | else |
bouvdberg | 0:4b5b608f1f71 | 569 | { |
bouvdberg | 0:4b5b608f1f71 | 570 | pwm_motor1.write(abs(pwm_to_motor1)); |
bouvdberg | 0:4b5b608f1f71 | 571 | pwm_motor2.write(abs(pwm_to_motor2)); |
bouvdberg | 0:4b5b608f1f71 | 572 | } |
bouvdberg | 0:4b5b608f1f71 | 573 | |
bouvdberg | 0:4b5b608f1f71 | 574 | |
bouvdberg | 0:4b5b608f1f71 | 575 | //Definieren waarden in de verleden tijd |
bouvdberg | 0:4b5b608f1f71 | 576 | //foutmin1M1=foutM1; |
bouvdberg | 0:4b5b608f1f71 | 577 | //foutmin1M2=foutM2; |
bouvdberg | 0:4b5b608f1f71 | 578 | //foutverschilmin1M1=foutverschilM1; |
bouvdberg | 0:4b5b608f1f71 | 579 | //foutverschilmin1M2=foutverschilM2; |
bouvdberg | 0:4b5b608f1f71 | 580 | //foutImin1=foutI1; |
bouvdberg | 0:4b5b608f1f71 | 581 | //foutImin2=foutI2; |
bouvdberg | 0:4b5b608f1f71 | 582 | setpointmin1M1=setpointM1; |
bouvdberg | 0:4b5b608f1f71 | 583 | setpointmin1M2=setpointM2; |
bouvdberg | 0:4b5b608f1f71 | 584 | emg_value1min1=emg_value1; |
bouvdberg | 0:4b5b608f1f71 | 585 | emg_value2min1=emg_value2; |
bouvdberg | 0:4b5b608f1f71 | 586 | emg_value3min1=emg_value3; |
bouvdberg | 0:4b5b608f1f71 | 587 | emg_value4min1=emg_value4; |
bouvdberg | 0:4b5b608f1f71 | 588 | EMGhp1min1=EMGhp1; |
bouvdberg | 0:4b5b608f1f71 | 589 | EMGhp2min1=EMGhp2; |
bouvdberg | 0:4b5b608f1f71 | 590 | EMGhp3min1=EMGhp3; |
bouvdberg | 0:4b5b608f1f71 | 591 | EMGhp4min1=EMGhp4; |
bouvdberg | 0:4b5b608f1f71 | 592 | EMGlp1min1=EMGlp1; |
bouvdberg | 0:4b5b608f1f71 | 593 | EMGlp2min1=EMGlp2; |
bouvdberg | 0:4b5b608f1f71 | 594 | EMGlp3min1=EMGlp3; |
bouvdberg | 0:4b5b608f1f71 | 595 | EMGlp4min1=EMGlp4; |
bouvdberg | 0:4b5b608f1f71 | 596 | |
bouvdberg | 0:4b5b608f1f71 | 597 | |
bouvdberg | 0:4b5b608f1f71 | 598 | } |
bouvdberg | 0:4b5b608f1f71 | 599 | void uitzetten(void) |
bouvdberg | 0:4b5b608f1f71 | 600 | { |
bouvdberg | 0:4b5b608f1f71 | 601 | float BeginM1 = 800; |
bouvdberg | 0:4b5b608f1f71 | 602 | float BeginM2 = 2400; |
bouvdberg | 0:4b5b608f1f71 | 603 | int i_timer=800; |
bouvdberg | 0:4b5b608f1f71 | 604 | Solenoid=1; |
bouvdberg | 0:4b5b608f1f71 | 605 | while(BeginM1 - motor1.getPosition() >= 10 || BeginM1 - motor1.getPosition() <= -10 || BeginM2 - motor2.getPosition() >= 10 || BeginM2 - motor2.getPosition() <= -10 || motor1.getSpeed()>=20 || motor2.getSpeed()>=20) |
bouvdberg | 0:4b5b608f1f71 | 606 | { |
bouvdberg | 0:4b5b608f1f71 | 607 | Ticker looptimer; |
bouvdberg | 0:4b5b608f1f71 | 608 | looptimer.attach(setlooptimerflag,LOOPTIME); |
bouvdberg | 0:4b5b608f1f71 | 609 | while(looptimerflag != true); |
bouvdberg | 0:4b5b608f1f71 | 610 | looptimerflag = false; |
bouvdberg | 0:4b5b608f1f71 | 611 | M1position=motor1.getPosition(); |
bouvdberg | 0:4b5b608f1f71 | 612 | M2position=motor2.getPosition(); |
bouvdberg | 0:4b5b608f1f71 | 613 | pwm_to_motor1 = (BeginM1 - M1position)*.008; |
bouvdberg | 0:4b5b608f1f71 | 614 | pwm_to_motor2 = (BeginM2 - M2position)*.008; |
bouvdberg | 0:4b5b608f1f71 | 615 | keep_in_range(&pwm_to_motor1, -0.02,0.02); |
bouvdberg | 0:4b5b608f1f71 | 616 | if(pwm_to_motor1 > 0) |
bouvdberg | 0:4b5b608f1f71 | 617 | motordir1 = 1; |
bouvdberg | 0:4b5b608f1f71 | 618 | else |
bouvdberg | 0:4b5b608f1f71 | 619 | motordir1 = 0; |
bouvdberg | 0:4b5b608f1f71 | 620 | keep_in_range(&pwm_to_motor2, -0.04,0.04); |
bouvdberg | 0:4b5b608f1f71 | 621 | if(pwm_to_motor2 > 0) |
bouvdberg | 0:4b5b608f1f71 | 622 | motordir2 = 1; |
bouvdberg | 0:4b5b608f1f71 | 623 | else |
bouvdberg | 0:4b5b608f1f71 | 624 | motordir2 = 0; |
bouvdberg | 0:4b5b608f1f71 | 625 | //WRITE VALUE TO MOTOR |
bouvdberg | 0:4b5b608f1f71 | 626 | pwm_motor1.write(abs(pwm_to_motor1)); |
bouvdberg | 0:4b5b608f1f71 | 627 | pwm_motor2.write(abs(pwm_to_motor2)); |
bouvdberg | 0:4b5b608f1f71 | 628 | float sent_pwm = abs(pwm_to_motor2); |
bouvdberg | 0:4b5b608f1f71 | 629 | |
bouvdberg | 0:4b5b608f1f71 | 630 | if(i_timer<=0) break; |
bouvdberg | 0:4b5b608f1f71 | 631 | i_timer--; |
bouvdberg | 0:4b5b608f1f71 | 632 | |
bouvdberg | 0:4b5b608f1f71 | 633 | } |
bouvdberg | 0:4b5b608f1f71 | 634 | pwm_motor1.write(0); |
bouvdberg | 0:4b5b608f1f71 | 635 | pwm_motor2.write(0); |
bouvdberg | 0:4b5b608f1f71 | 636 | motordir1 = 0; |
bouvdberg | 0:4b5b608f1f71 | 637 | motordir2 = 0; |
bouvdberg | 0:4b5b608f1f71 | 638 | Brake1=1; |
bouvdberg | 0:4b5b608f1f71 | 639 | Brake2=1; |
bouvdberg | 0:4b5b608f1f71 | 640 | wait(0.4); |
bouvdberg | 0:4b5b608f1f71 | 641 | Brake1=0; |
bouvdberg | 0:4b5b608f1f71 | 642 | Brake2=0; |
bouvdberg | 0:4b5b608f1f71 | 643 | setpointM1=800.0; |
bouvdberg | 0:4b5b608f1f71 | 644 | setpointM2=2400.0; |
bouvdberg | 0:4b5b608f1f71 | 645 | setpointmin1M1=800.0; |
bouvdberg | 0:4b5b608f1f71 | 646 | setpointmin1M2=2400.0; |
bouvdberg | 0:4b5b608f1f71 | 647 | pwm_to_motor1=0.0; |
bouvdberg | 0:4b5b608f1f71 | 648 | pwm_to_motor2=0.0; |
bouvdberg | 0:4b5b608f1f71 | 649 | foutM1=0.0; |
bouvdberg | 0:4b5b608f1f71 | 650 | foutM2=0.0; |
bouvdberg | 0:4b5b608f1f71 | 651 | foutmin1M1=0.0; |
bouvdberg | 0:4b5b608f1f71 | 652 | foutmin1M2=0.0; |
bouvdberg | 0:4b5b608f1f71 | 653 | foutverschilM1=0.0; |
bouvdberg | 0:4b5b608f1f71 | 654 | foutverschilM2=0.0; |
bouvdberg | 0:4b5b608f1f71 | 655 | foutverschilmin1M1=0.0; |
bouvdberg | 0:4b5b608f1f71 | 656 | foutverschilmin1M2=0.0; |
bouvdberg | 0:4b5b608f1f71 | 657 | foutImin1=0.0; |
bouvdberg | 0:4b5b608f1f71 | 658 | foutImin2=0.0; |
bouvdberg | 0:4b5b608f1f71 | 659 | foutI1=0.0; |
bouvdberg | 0:4b5b608f1f71 | 660 | foutI2=0.0; |
bouvdberg | 0:4b5b608f1f71 | 661 | t_sin=0.0; |
bouvdberg | 0:4b5b608f1f71 | 662 | t_timer=0.0; |
bouvdberg | 0:4b5b608f1f71 | 663 | emg_value1min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 664 | emg_value2min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 665 | emg_value3min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 666 | emg_value4min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 667 | EMGhp1min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 668 | EMGhp2min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 669 | EMGhp3min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 670 | EMGhp4min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 671 | EMGlp1min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 672 | EMGlp2min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 673 | EMGlp3min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 674 | EMGlp4min1=0.5; |
bouvdberg | 0:4b5b608f1f71 | 675 | menu=0; |
bouvdberg | 0:4b5b608f1f71 | 676 | } |
bouvdberg | 0:4b5b608f1f71 | 677 | |
bouvdberg | 0:4b5b608f1f71 | 678 | void keep_in_range(float * in, float min, float max) |
bouvdberg | 0:4b5b608f1f71 | 679 | { |
bouvdberg | 0:4b5b608f1f71 | 680 | *in > min ? *in < max? : *in = max: *in = min; |
bouvdberg | 0:4b5b608f1f71 | 681 | } |
bouvdberg | 0:4b5b608f1f71 | 682 | |
bouvdberg | 0:4b5b608f1f71 | 683 | void setlooptimerflag(void) |
bouvdberg | 0:4b5b608f1f71 | 684 | { |
bouvdberg | 0:4b5b608f1f71 | 685 | looptimerflag = true; |
bouvdberg | 0:4b5b608f1f71 | 686 | } |