v5
Dependencies: MODSERIAL TextLCD mbed
main.cpp@2:b9a7fafd233c, 2013-11-05 (annotated)
- Committer:
- bouvdberg
- Date:
- Tue Nov 05 10:58:48 2013 +0000
- Revision:
- 2:b9a7fafd233c
- Parent:
- 1:c18c171bf8b4
V6
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bouvdberg | 0:0a171d2a8dc1 | 1 | #include "mbed.h" |
bouvdberg | 0:0a171d2a8dc1 | 2 | #include "TextLCD.h" |
bouvdberg | 0:0a171d2a8dc1 | 3 | #include "MODSERIAL.h" |
bouvdberg | 0:0a171d2a8dc1 | 4 | #include "encoder.h" |
bouvdberg | 0:0a171d2a8dc1 | 5 | |
bouvdberg | 0:0a171d2a8dc1 | 6 | // definieren constanten |
bouvdberg | 0:0a171d2a8dc1 | 7 | #define PI 3.141593 |
bouvdberg | 0:0a171d2a8dc1 | 8 | //plant |
bouvdberg | 0:0a171d2a8dc1 | 9 | #define ARM1 0.36 |
bouvdberg | 0:0a171d2a8dc1 | 10 | #define ARM2 0.26 |
bouvdberg | 0:0a171d2a8dc1 | 11 | //PD |
bouvdberg | 0:0a171d2a8dc1 | 12 | //#define CI 0.01 |
bouvdberg | 0:0a171d2a8dc1 | 13 | #define CP1 0.01 |
bouvdberg | 0:0a171d2a8dc1 | 14 | #define CP2 0.01 |
bouvdberg | 0:0a171d2a8dc1 | 15 | //#define CD 0.000 |
bouvdberg | 0:0a171d2a8dc1 | 16 | //#define CLP1 0.9975 |
bouvdberg | 0:0a171d2a8dc1 | 17 | ///#define CLP2 0.001 |
bouvdberg | 0:0a171d2a8dc1 | 18 | //Snelheid |
bouvdberg | 0:0a171d2a8dc1 | 19 | #define SNELHEID 0.01 |
bouvdberg | 0:0a171d2a8dc1 | 20 | //LOOPTIME |
bouvdberg | 0:0a171d2a8dc1 | 21 | #define LOOPTIME 0.006667 |
bouvdberg | 0:0a171d2a8dc1 | 22 | //Filtering EMG |
bouvdberg | 0:0a171d2a8dc1 | 23 | #define HP1 0.8752 |
bouvdberg | 0:0a171d2a8dc1 | 24 | #define HP2 20.0 |
bouvdberg | 0:0a171d2a8dc1 | 25 | #define HP3 20.0 |
bouvdberg | 0:0a171d2a8dc1 | 26 | #define LP1 0.9868 |
bouvdberg | 0:0a171d2a8dc1 | 27 | #define LP2 0.01325 |
bouvdberg | 0:0a171d2a8dc1 | 28 | //EMG threshold |
bouvdberg | 2:b9a7fafd233c | 29 | #define SET_EMG_MAX1 2.7 //bovenarm rechts > beweging naar rechts |
bouvdberg | 2:b9a7fafd233c | 30 | #define SET_EMG_MIN1 1.9 |
bouvdberg | 2:b9a7fafd233c | 31 | #define SET_EMG_MAX2 2.7 //bovenarm links > beweging naar links |
bouvdberg | 2:b9a7fafd233c | 32 | #define SET_EMG_MIN2 1.7 |
bouvdberg | 2:b9a7fafd233c | 33 | #define SET_EMG_MAX3 3.0 //onderarm rechts > beweging naar boven |
bouvdberg | 2:b9a7fafd233c | 34 | #define SET_EMG_MIN3 1.5 |
bouvdberg | 2:b9a7fafd233c | 35 | #define SET_EMG_MAX4 6.0 //onderarm links > beweging naar onder |
bouvdberg | 2:b9a7fafd233c | 36 | #define SET_EMG_MIN4 1.0 |
bouvdberg | 0:0a171d2a8dc1 | 37 | |
bouvdberg | 0:0a171d2a8dc1 | 38 | void aansturing(void); |
bouvdberg | 0:0a171d2a8dc1 | 39 | void uitzetten(void); |
bouvdberg | 0:0a171d2a8dc1 | 40 | void setlooptimerflag(void); |
bouvdberg | 0:0a171d2a8dc1 | 41 | void keep_in_range(float * in, float min, float max); |
bouvdberg | 0:0a171d2a8dc1 | 42 | |
bouvdberg | 0:0a171d2a8dc1 | 43 | volatile bool looptimerflag; |
bouvdberg | 0:0a171d2a8dc1 | 44 | |
bouvdberg | 0:0a171d2a8dc1 | 45 | Serial pc(USBTX, USBRX); |
bouvdberg | 0:0a171d2a8dc1 | 46 | TextLCD lcd(PTE5, PTE3, PTE2, PTB11, PTB10, PTB9, TextLCD::LCD16x2,NC,NC,TextLCD::HD44780); // rs, e, d4-d7-/*+-9 |
bouvdberg | 0:0a171d2a8dc1 | 47 | AnalogIn EMG1(PTB0); //EMG |
bouvdberg | 0:0a171d2a8dc1 | 48 | AnalogIn EMG2(PTB1); |
bouvdberg | 0:0a171d2a8dc1 | 49 | AnalogIn EMG3(PTB2); |
bouvdberg | 0:0a171d2a8dc1 | 50 | AnalogIn EMG4(PTB3); |
bouvdberg | 0:0a171d2a8dc1 | 51 | AnalogIn potmeter(PTC2); //potmeter |
bouvdberg | 0:0a171d2a8dc1 | 52 | DigitalIn ButtonSTOP(PTE21); //Knopjes voor kalibratie |
bouvdberg | 0:0a171d2a8dc1 | 53 | DigitalIn ButtonSELECT(PTE20); |
bouvdberg | 0:0a171d2a8dc1 | 54 | DigitalIn ButtonUP(PTE23); |
bouvdberg | 0:0a171d2a8dc1 | 55 | DigitalIn ButtonDOWN(PTE22); |
bouvdberg | 0:0a171d2a8dc1 | 56 | DigitalOut Solenoid(PTD4); //Solenoid |
bouvdberg | 0:0a171d2a8dc1 | 57 | Encoder motor1(PTD0,PTC8); //Encoder |
bouvdberg | 0:0a171d2a8dc1 | 58 | Encoder motor2(PTD2,PTC9); |
bouvdberg | 0:0a171d2a8dc1 | 59 | PwmOut pwm_motor1(PTA12); //motor |
bouvdberg | 0:0a171d2a8dc1 | 60 | DigitalOut motordir1(PTD3); |
bouvdberg | 0:0a171d2a8dc1 | 61 | PwmOut pwm_motor2(PTA5); |
bouvdberg | 0:0a171d2a8dc1 | 62 | DigitalOut motordir2(PTD1); |
bouvdberg | 0:0a171d2a8dc1 | 63 | DigitalOut Brake1(PTD5); |
bouvdberg | 0:0a171d2a8dc1 | 64 | DigitalOut Brake2(PTA13); |
bouvdberg | 0:0a171d2a8dc1 | 65 | |
bouvdberg | 0:0a171d2a8dc1 | 66 | float numberx = 9; |
bouvdberg | 0:0a171d2a8dc1 | 67 | int menu=0, t; |
bouvdberg | 0:0a171d2a8dc1 | 68 | float EMGmax1=SET_EMG_MAX1, EMGmin1=SET_EMG_MIN1, EMGmax2=SET_EMG_MAX2, EMGmin2=SET_EMG_MIN2; |
bouvdberg | 0:0a171d2a8dc1 | 69 | float EMGmax3=SET_EMG_MAX3, EMGmin3=SET_EMG_MIN3, EMGmax4=SET_EMG_MAX4, EMGmin4=SET_EMG_MIN4; |
bouvdberg | 0:0a171d2a8dc1 | 70 | float drawspeed=SNELHEID; |
bouvdberg | 0:0a171d2a8dc1 | 71 | |
bouvdberg | 0:0a171d2a8dc1 | 72 | |
bouvdberg | 0:0a171d2a8dc1 | 73 | //Variabelen verwerking EMG |
bouvdberg | 0:0a171d2a8dc1 | 74 | float emg_value1, emg_value2, emg_value3, emg_value4; |
bouvdberg | 0:0a171d2a8dc1 | 75 | float emg_value1min1=0.5, emg_value2min1=0.5, emg_value3min1=0.5, emg_value4min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 76 | float EMGhp1, EMGhp2, EMGhp3, EMGhp4, EMGlp1, EMGlp2, EMGlp3, EMGlp4; |
bouvdberg | 0:0a171d2a8dc1 | 77 | 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 | 0:0a171d2a8dc1 | 78 | |
bouvdberg | 0:0a171d2a8dc1 | 79 | //Variabelen bepaling input systeem |
bouvdberg | 0:0a171d2a8dc1 | 80 | float input; |
bouvdberg | 0:0a171d2a8dc1 | 81 | float w1, w2, wM2, phi1, phi2, theta; |
bouvdberg | 0:0a171d2a8dc1 | 82 | float a, b, c, d, ai, bi, ci, di; |
bouvdberg | 0:0a171d2a8dc1 | 83 | float v1, v2, v3, v4, vx, vy, snelheid; |
bouvdberg | 0:0a171d2a8dc1 | 84 | float M1position, M2position, M2phi; |
bouvdberg | 0:0a171d2a8dc1 | 85 | float Px, Py; |
bouvdberg | 0:0a171d2a8dc1 | 86 | |
bouvdberg | 0:0a171d2a8dc1 | 87 | //Variabelen motoraansturing |
bouvdberg | 0:0a171d2a8dc1 | 88 | float setpointM1=800.0, setpointM2=2400.0; |
bouvdberg | 0:0a171d2a8dc1 | 89 | float setpointmin1M1=800.0, setpointmin1M2=2400.0; |
bouvdberg | 0:0a171d2a8dc1 | 90 | float pwm_to_motor1, pwm_to_motor2; |
bouvdberg | 0:0a171d2a8dc1 | 91 | float foutM1, foutM2; |
bouvdberg | 0:0a171d2a8dc1 | 92 | //float foutmin1M1=0.0, foutmin1M2=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 93 | //float foutverschilM1, foutverschilM2; |
bouvdberg | 0:0a171d2a8dc1 | 94 | //float foutverschilmin1M1=0.0, foutverschilmin1M2=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 95 | //float foutImin1=0.0, foutImin2=0.0, foutI1, foutI2; |
bouvdberg | 0:0a171d2a8dc1 | 96 | //float CDloop=CD/LOOPTIME; |
bouvdberg | 0:0a171d2a8dc1 | 97 | //float t_sin=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 98 | //float t_timer=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 99 | int sol_updown=0; |
bouvdberg | 1:c18c171bf8b4 | 100 | int t_sol=0; |
bouvdberg | 0:0a171d2a8dc1 | 101 | |
bouvdberg | 0:0a171d2a8dc1 | 102 | int main() { |
bouvdberg | 0:0a171d2a8dc1 | 103 | //set buttons PULLDOWN |
bouvdberg | 0:0a171d2a8dc1 | 104 | ButtonSTOP.mode(PullNone); |
bouvdberg | 0:0a171d2a8dc1 | 105 | ButtonSELECT.mode(PullNone); |
bouvdberg | 0:0a171d2a8dc1 | 106 | ButtonUP.mode(PullNone); |
bouvdberg | 0:0a171d2a8dc1 | 107 | ButtonDOWN.mode(PullNone); |
bouvdberg | 0:0a171d2a8dc1 | 108 | pc.baud(57600); |
bouvdberg | 0:0a171d2a8dc1 | 109 | //Aanstuur timing |
bouvdberg | 0:0a171d2a8dc1 | 110 | Ticker looptimer; |
bouvdberg | 0:0a171d2a8dc1 | 111 | looptimer.attach(setlooptimerflag,LOOPTIME); |
bouvdberg | 0:0a171d2a8dc1 | 112 | while(1) |
bouvdberg | 0:0a171d2a8dc1 | 113 | { |
bouvdberg | 0:0a171d2a8dc1 | 114 | switch (menu) |
bouvdberg | 0:0a171d2a8dc1 | 115 | { |
bouvdberg | 0:0a171d2a8dc1 | 116 | case 0: |
bouvdberg | 0:0a171d2a8dc1 | 117 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 118 | lcd.printf("> CALIBRATION"); |
bouvdberg | 0:0a171d2a8dc1 | 119 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 120 | lcd.printf(" DRAW"); |
bouvdberg | 0:0a171d2a8dc1 | 121 | while(menu==0) |
bouvdberg | 0:0a171d2a8dc1 | 122 | { |
bouvdberg | 0:0a171d2a8dc1 | 123 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 124 | if (ButtonSELECT.read()==1) menu=70; |
bouvdberg | 0:0a171d2a8dc1 | 125 | } |
bouvdberg | 0:0a171d2a8dc1 | 126 | break; |
bouvdberg | 0:0a171d2a8dc1 | 127 | case 1: |
bouvdberg | 0:0a171d2a8dc1 | 128 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 129 | lcd.printf("> DRAW"); |
bouvdberg | 0:0a171d2a8dc1 | 130 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 131 | lcd.printf(" SETTINGS"); |
bouvdberg | 0:0a171d2a8dc1 | 132 | while(menu==1) |
bouvdberg | 0:0a171d2a8dc1 | 133 | { |
bouvdberg | 0:0a171d2a8dc1 | 134 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 135 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 136 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 137 | { |
bouvdberg | 0:0a171d2a8dc1 | 138 | motor1.setPosition(800); |
bouvdberg | 0:0a171d2a8dc1 | 139 | motor2.setPosition(2400); |
bouvdberg | 0:0a171d2a8dc1 | 140 | menu=55; |
bouvdberg | 0:0a171d2a8dc1 | 141 | lcd.cls(); |
bouvdberg | 1:c18c171bf8b4 | 142 | lcd.printf("UP: Pause"); |
bouvdberg | 1:c18c171bf8b4 | 143 | lcd.locate(0,1); |
bouvdberg | 1:c18c171bf8b4 | 144 | lcd.printf("DOWN: Up/Down"); |
bouvdberg | 1:c18c171bf8b4 | 145 | Solenoid=1; |
bouvdberg | 1:c18c171bf8b4 | 146 | sol_updown=0; |
bouvdberg | 0:0a171d2a8dc1 | 147 | //wait(0.01); |
bouvdberg | 0:0a171d2a8dc1 | 148 | } |
bouvdberg | 0:0a171d2a8dc1 | 149 | } |
bouvdberg | 0:0a171d2a8dc1 | 150 | break; |
bouvdberg | 0:0a171d2a8dc1 | 151 | case 2: |
bouvdberg | 0:0a171d2a8dc1 | 152 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 153 | lcd.printf("> SETTINGS"); |
bouvdberg | 0:0a171d2a8dc1 | 154 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 155 | lcd.printf(" RESET ALL"); |
bouvdberg | 0:0a171d2a8dc1 | 156 | while(menu==2) |
bouvdberg | 0:0a171d2a8dc1 | 157 | { |
bouvdberg | 0:0a171d2a8dc1 | 158 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 159 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 160 | if (ButtonSELECT.read()==1) menu=20; |
bouvdberg | 0:0a171d2a8dc1 | 161 | } |
bouvdberg | 0:0a171d2a8dc1 | 162 | break; |
bouvdberg | 0:0a171d2a8dc1 | 163 | case 3: |
bouvdberg | 0:0a171d2a8dc1 | 164 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 165 | lcd.printf("> RESET ALL"); |
bouvdberg | 0:0a171d2a8dc1 | 166 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 167 | lcd.printf(" "); |
bouvdberg | 0:0a171d2a8dc1 | 168 | while(menu==3) |
bouvdberg | 0:0a171d2a8dc1 | 169 | { |
bouvdberg | 0:0a171d2a8dc1 | 170 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 171 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 172 | { |
bouvdberg | 0:0a171d2a8dc1 | 173 | EMGmax1=SET_EMG_MAX1; EMGmin1=SET_EMG_MIN1; |
bouvdberg | 0:0a171d2a8dc1 | 174 | EMGmax2=SET_EMG_MAX2; EMGmin2=SET_EMG_MIN2; |
bouvdberg | 0:0a171d2a8dc1 | 175 | EMGmax3=SET_EMG_MAX3; EMGmin3=SET_EMG_MIN3; |
bouvdberg | 0:0a171d2a8dc1 | 176 | EMGmax4=SET_EMG_MAX4; EMGmin4=SET_EMG_MIN4; |
bouvdberg | 0:0a171d2a8dc1 | 177 | drawspeed=SNELHEID; |
bouvdberg | 0:0a171d2a8dc1 | 178 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 179 | lcd.printf(" Reset Completed"); |
bouvdberg | 0:0a171d2a8dc1 | 180 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 181 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 182 | lcd.printf(" "); |
bouvdberg | 0:0a171d2a8dc1 | 183 | } |
bouvdberg | 0:0a171d2a8dc1 | 184 | } |
bouvdberg | 0:0a171d2a8dc1 | 185 | break; |
bouvdberg | 0:0a171d2a8dc1 | 186 | case 20: |
bouvdberg | 0:0a171d2a8dc1 | 187 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 188 | lcd.printf("> EMG1-MAX: %.2f", (EMGmax1+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:0a171d2a8dc1 | 189 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 190 | lcd.printf(" EMG1-MIN: "); |
bouvdberg | 0:0a171d2a8dc1 | 191 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 192 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 193 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 194 | { |
bouvdberg | 0:0a171d2a8dc1 | 195 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 196 | lcd.printf(" SAVED! "); |
bouvdberg | 0:0a171d2a8dc1 | 197 | EMGmax1=(EMGmax1+(((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:0a171d2a8dc1 | 198 | wait(0.5); |
bouvdberg | 0:0a171d2a8dc1 | 199 | } |
bouvdberg | 0:0a171d2a8dc1 | 200 | break; |
bouvdberg | 0:0a171d2a8dc1 | 201 | case 21: |
bouvdberg | 0:0a171d2a8dc1 | 202 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 203 | lcd.printf("> EMG1-MIN: %.2f", (EMGmin1+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:0a171d2a8dc1 | 204 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 205 | lcd.printf(" EMG2-MAX: "); |
bouvdberg | 0:0a171d2a8dc1 | 206 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 207 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 208 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 209 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 210 | { |
bouvdberg | 0:0a171d2a8dc1 | 211 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 212 | lcd.printf(" SAVED! "); |
bouvdberg | 0:0a171d2a8dc1 | 213 | EMGmin1=(EMGmin1+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:0a171d2a8dc1 | 214 | wait(0.5); |
bouvdberg | 0:0a171d2a8dc1 | 215 | } |
bouvdberg | 0:0a171d2a8dc1 | 216 | break; |
bouvdberg | 0:0a171d2a8dc1 | 217 | case 22: |
bouvdberg | 0:0a171d2a8dc1 | 218 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 219 | lcd.printf("> EMG2-MAX: %.2f", (EMGmax1+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:0a171d2a8dc1 | 220 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 221 | lcd.printf(" EMG2-MIN: "); |
bouvdberg | 0:0a171d2a8dc1 | 222 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 223 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 224 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 225 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 226 | { |
bouvdberg | 0:0a171d2a8dc1 | 227 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 228 | lcd.printf(" SAVED! "); |
bouvdberg | 0:0a171d2a8dc1 | 229 | EMGmax2=(EMGmax1+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:0a171d2a8dc1 | 230 | wait(0.5); |
bouvdberg | 0:0a171d2a8dc1 | 231 | } |
bouvdberg | 0:0a171d2a8dc1 | 232 | break; |
bouvdberg | 0:0a171d2a8dc1 | 233 | case 23: |
bouvdberg | 0:0a171d2a8dc1 | 234 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 235 | lcd.printf("> EMG2-MIN: %.2f", (EMGmin2+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:0a171d2a8dc1 | 236 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 237 | lcd.printf(" EMG3-MAX: "); |
bouvdberg | 0:0a171d2a8dc1 | 238 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 239 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 240 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 241 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 242 | { |
bouvdberg | 0:0a171d2a8dc1 | 243 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 244 | lcd.printf(" SAVED! "); |
bouvdberg | 0:0a171d2a8dc1 | 245 | EMGmin2=(EMGmin2+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:0a171d2a8dc1 | 246 | wait(0.5); |
bouvdberg | 0:0a171d2a8dc1 | 247 | } |
bouvdberg | 0:0a171d2a8dc1 | 248 | break; |
bouvdberg | 0:0a171d2a8dc1 | 249 | case 24: |
bouvdberg | 0:0a171d2a8dc1 | 250 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 251 | lcd.printf("> EMG3-MAX: %.2f", (EMGmax3+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:0a171d2a8dc1 | 252 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 253 | lcd.printf(" EMG3-MIN: "); |
bouvdberg | 0:0a171d2a8dc1 | 254 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 255 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 256 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 257 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 258 | { |
bouvdberg | 0:0a171d2a8dc1 | 259 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 260 | lcd.printf(" SAVED! "); |
bouvdberg | 0:0a171d2a8dc1 | 261 | EMGmax3=(EMGmax3+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:0a171d2a8dc1 | 262 | wait(0.5); |
bouvdberg | 0:0a171d2a8dc1 | 263 | } |
bouvdberg | 0:0a171d2a8dc1 | 264 | break; |
bouvdberg | 0:0a171d2a8dc1 | 265 | case 25: |
bouvdberg | 0:0a171d2a8dc1 | 266 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 267 | lcd.printf("> EMG3-MIN: %.2f", (EMGmin3+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:0a171d2a8dc1 | 268 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 269 | lcd.printf(" EMG4-MAX: "); |
bouvdberg | 0:0a171d2a8dc1 | 270 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 271 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 272 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 273 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 274 | { |
bouvdberg | 0:0a171d2a8dc1 | 275 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 276 | lcd.printf(" SAVED! "); |
bouvdberg | 0:0a171d2a8dc1 | 277 | EMGmin3=(EMGmin3+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:0a171d2a8dc1 | 278 | wait(0.5); |
bouvdberg | 0:0a171d2a8dc1 | 279 | } |
bouvdberg | 0:0a171d2a8dc1 | 280 | break; |
bouvdberg | 0:0a171d2a8dc1 | 281 | case 26: |
bouvdberg | 0:0a171d2a8dc1 | 282 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 283 | lcd.printf("> EMG4-MAX: %.2f", (EMGmax4+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:0a171d2a8dc1 | 284 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 285 | lcd.printf(" EMG4-MIN: "); |
bouvdberg | 0:0a171d2a8dc1 | 286 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 287 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 288 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 289 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 290 | { |
bouvdberg | 0:0a171d2a8dc1 | 291 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 292 | lcd.printf(" SAVED! "); |
bouvdberg | 0:0a171d2a8dc1 | 293 | EMGmax4=(EMGmax4+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:0a171d2a8dc1 | 294 | wait(0.5); |
bouvdberg | 0:0a171d2a8dc1 | 295 | } |
bouvdberg | 0:0a171d2a8dc1 | 296 | break; |
bouvdberg | 0:0a171d2a8dc1 | 297 | case 27: |
bouvdberg | 0:0a171d2a8dc1 | 298 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 299 | lcd.printf("> EMG4-MIN: %.2f", (EMGmin4+ (((potmeter.read()+0.0005)*2)-1))); |
bouvdberg | 0:0a171d2a8dc1 | 300 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 301 | lcd.printf(" SPEED :"); |
bouvdberg | 0:0a171d2a8dc1 | 302 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 303 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 304 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 305 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 306 | { |
bouvdberg | 0:0a171d2a8dc1 | 307 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 308 | lcd.printf(" SAVED! "); |
bouvdberg | 0:0a171d2a8dc1 | 309 | EMGmin4=(EMGmin4+ (((potmeter.read()+0.0005)*2)-1)); |
bouvdberg | 0:0a171d2a8dc1 | 310 | wait(0.5); |
bouvdberg | 0:0a171d2a8dc1 | 311 | } |
bouvdberg | 0:0a171d2a8dc1 | 312 | break; |
bouvdberg | 0:0a171d2a8dc1 | 313 | case 28: |
bouvdberg | 0:0a171d2a8dc1 | 314 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 315 | lcd.printf("> SPEED : %.2f", (drawspeed+ (((potmeter.read()+0.0005)/10)-0.05))); |
bouvdberg | 0:0a171d2a8dc1 | 316 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 317 | lcd.printf(" SOLENOID:"); |
bouvdberg | 0:0a171d2a8dc1 | 318 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 319 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 320 | if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 321 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 322 | { |
bouvdberg | 0:0a171d2a8dc1 | 323 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 324 | lcd.printf(" SAVED! "); |
bouvdberg | 0:0a171d2a8dc1 | 325 | drawspeed=(drawspeed+ (((potmeter.read()+0.0005)/10)-0.05)); |
bouvdberg | 0:0a171d2a8dc1 | 326 | wait(0.5); |
bouvdberg | 0:0a171d2a8dc1 | 327 | } |
bouvdberg | 0:0a171d2a8dc1 | 328 | break; |
bouvdberg | 0:0a171d2a8dc1 | 329 | case 29: |
bouvdberg | 0:0a171d2a8dc1 | 330 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 331 | lcd.printf("> SOLENOID: OFF"); |
bouvdberg | 0:0a171d2a8dc1 | 332 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 333 | lcd.printf(" "); |
bouvdberg | 0:0a171d2a8dc1 | 334 | if (ButtonSTOP.read()==1) menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 335 | if (ButtonUP.read()==1) menu--; |
bouvdberg | 0:0a171d2a8dc1 | 336 | //if (ButtonDOWN.read()==1) menu++; |
bouvdberg | 0:0a171d2a8dc1 | 337 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 338 | { |
bouvdberg | 0:0a171d2a8dc1 | 339 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 340 | lcd.printf("> SOLENOID: ON"); |
bouvdberg | 0:0a171d2a8dc1 | 341 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 342 | lcd.printf(" "); |
bouvdberg | 0:0a171d2a8dc1 | 343 | Solenoid=1; |
bouvdberg | 1:c18c171bf8b4 | 344 | sol_updown=1; |
bouvdberg | 0:0a171d2a8dc1 | 345 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 346 | Solenoid=0; |
bouvdberg | 1:c18c171bf8b4 | 347 | sol_updown=0; |
bouvdberg | 0:0a171d2a8dc1 | 348 | } |
bouvdberg | 0:0a171d2a8dc1 | 349 | break; |
bouvdberg | 0:0a171d2a8dc1 | 350 | case 50: //tekenen afsluiten |
bouvdberg | 0:0a171d2a8dc1 | 351 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 352 | lcd.printf(" Shutting Down!"); |
bouvdberg | 0:0a171d2a8dc1 | 353 | menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 354 | |
bouvdberg | 0:0a171d2a8dc1 | 355 | uitzetten(); |
bouvdberg | 0:0a171d2a8dc1 | 356 | |
bouvdberg | 0:0a171d2a8dc1 | 357 | break; |
bouvdberg | 0:0a171d2a8dc1 | 358 | case 55: //DRAWING |
bouvdberg | 0:0a171d2a8dc1 | 359 | |
bouvdberg | 0:0a171d2a8dc1 | 360 | if (ButtonSTOP.read()==1) menu=50; |
bouvdberg | 0:0a171d2a8dc1 | 361 | if (ButtonUP.read()==1) menu++; |
bouvdberg | 1:c18c171bf8b4 | 362 | if (ButtonDOWN.read()==1) //Misschien in de loop van 'aansturing' zetten???????????????????? |
bouvdberg | 0:0a171d2a8dc1 | 363 | { |
bouvdberg | 1:c18c171bf8b4 | 364 | t_sol++; |
bouvdberg | 2:b9a7fafd233c | 365 | if (t_sol>25) |
bouvdberg | 0:0a171d2a8dc1 | 366 | { |
bouvdberg | 1:c18c171bf8b4 | 367 | if (sol_updown==0) |
bouvdberg | 1:c18c171bf8b4 | 368 | { |
bouvdberg | 1:c18c171bf8b4 | 369 | sol_updown=1; |
bouvdberg | 1:c18c171bf8b4 | 370 | Solenoid=1; |
bouvdberg | 1:c18c171bf8b4 | 371 | } |
bouvdberg | 1:c18c171bf8b4 | 372 | else |
bouvdberg | 1:c18c171bf8b4 | 373 | { |
bouvdberg | 1:c18c171bf8b4 | 374 | sol_updown=0; |
bouvdberg | 1:c18c171bf8b4 | 375 | Solenoid=0; |
bouvdberg | 1:c18c171bf8b4 | 376 | } |
bouvdberg | 1:c18c171bf8b4 | 377 | t_sol=0; |
bouvdberg | 0:0a171d2a8dc1 | 378 | } |
bouvdberg | 0:0a171d2a8dc1 | 379 | } |
bouvdberg | 0:0a171d2a8dc1 | 380 | |
bouvdberg | 0:0a171d2a8dc1 | 381 | aansturing(); //aansturing |
bouvdberg | 0:0a171d2a8dc1 | 382 | |
bouvdberg | 0:0a171d2a8dc1 | 383 | break; |
bouvdberg | 0:0a171d2a8dc1 | 384 | case 56: //PAUSE |
bouvdberg | 0:0a171d2a8dc1 | 385 | wait(0.2); |
bouvdberg | 0:0a171d2a8dc1 | 386 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 387 | lcd.printf(" PAUSE "); |
bouvdberg | 0:0a171d2a8dc1 | 388 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 389 | lcd.printf("> RESUME"); |
bouvdberg | 0:0a171d2a8dc1 | 390 | |
bouvdberg | 0:0a171d2a8dc1 | 391 | Solenoid=1; |
bouvdberg | 1:c18c171bf8b4 | 392 | sol_updown=1; |
bouvdberg | 0:0a171d2a8dc1 | 393 | pwm_motor1.write(0); |
bouvdberg | 0:0a171d2a8dc1 | 394 | pwm_motor2.write(0); |
bouvdberg | 0:0a171d2a8dc1 | 395 | |
bouvdberg | 0:0a171d2a8dc1 | 396 | while(ButtonSELECT.read()==1); |
bouvdberg | 0:0a171d2a8dc1 | 397 | while(menu==56) |
bouvdberg | 0:0a171d2a8dc1 | 398 | { |
bouvdberg | 0:0a171d2a8dc1 | 399 | if (ButtonSTOP.read()==1) menu=50; |
bouvdberg | 0:0a171d2a8dc1 | 400 | if (ButtonSELECT.read()==1) |
bouvdberg | 0:0a171d2a8dc1 | 401 | { |
bouvdberg | 0:0a171d2a8dc1 | 402 | menu--; |
bouvdberg | 0:0a171d2a8dc1 | 403 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 404 | lcd.printf("UP: Pause"); |
bouvdberg | 0:0a171d2a8dc1 | 405 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 406 | lcd.printf("DOWN: Up/Down"); |
bouvdberg | 0:0a171d2a8dc1 | 407 | } |
bouvdberg | 0:0a171d2a8dc1 | 408 | } |
bouvdberg | 0:0a171d2a8dc1 | 409 | |
bouvdberg | 0:0a171d2a8dc1 | 410 | |
bouvdberg | 0:0a171d2a8dc1 | 411 | |
bouvdberg | 0:0a171d2a8dc1 | 412 | break; |
bouvdberg | 0:0a171d2a8dc1 | 413 | case 70: //Calibration starting |
bouvdberg | 0:0a171d2a8dc1 | 414 | wait(0.2); |
bouvdberg | 0:0a171d2a8dc1 | 415 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 416 | lcd.printf("Calibration ..."); |
bouvdberg | 0:0a171d2a8dc1 | 417 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 418 | lcd.printf("start idle in: 3"); |
bouvdberg | 0:0a171d2a8dc1 | 419 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 420 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 421 | lcd.printf("start idle in: 2"); |
bouvdberg | 0:0a171d2a8dc1 | 422 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 423 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 424 | lcd.printf("start idle in: 1"); |
bouvdberg | 0:0a171d2a8dc1 | 425 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 426 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 427 | lcd.printf("start idle NOW"); |
bouvdberg | 0:0a171d2a8dc1 | 428 | |
bouvdberg | 0:0a171d2a8dc1 | 429 | menu++; |
bouvdberg | 0:0a171d2a8dc1 | 430 | |
bouvdberg | 0:0a171d2a8dc1 | 431 | break; |
bouvdberg | 0:0a171d2a8dc1 | 432 | case 71: //Calibration rust |
bouvdberg | 0:0a171d2a8dc1 | 433 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 434 | lcd.printf("Calibration idle"); |
bouvdberg | 0:0a171d2a8dc1 | 435 | |
bouvdberg | 0:0a171d2a8dc1 | 436 | float CAL_EMG1_MAX=0; |
bouvdberg | 0:0a171d2a8dc1 | 437 | float CAL_EMG2_MAX=0; |
bouvdberg | 0:0a171d2a8dc1 | 438 | float CAL_EMG3_MAX=0; |
bouvdberg | 0:0a171d2a8dc1 | 439 | float CAL_EMG4_MAX=0; |
bouvdberg | 0:0a171d2a8dc1 | 440 | |
bouvdberg | 0:0a171d2a8dc1 | 441 | //calc idle |
bouvdberg | 0:0a171d2a8dc1 | 442 | for (int c=1000; c>=0; c--) |
bouvdberg | 0:0a171d2a8dc1 | 443 | { |
bouvdberg | 0:0a171d2a8dc1 | 444 | Ticker looptimer; |
bouvdberg | 0:0a171d2a8dc1 | 445 | looptimer.attach(setlooptimerflag,LOOPTIME); |
bouvdberg | 0:0a171d2a8dc1 | 446 | while(looptimerflag != true); |
bouvdberg | 0:0a171d2a8dc1 | 447 | looptimerflag = false; |
bouvdberg | 0:0a171d2a8dc1 | 448 | emg_value1=EMG1.read(); |
bouvdberg | 0:0a171d2a8dc1 | 449 | EMGhp1=HP1*EMGhp1min1+HP2*emg_value1-HP3*emg_value1min1; |
bouvdberg | 0:0a171d2a8dc1 | 450 | EMGhp1=abs(EMGhp1); |
bouvdberg | 0:0a171d2a8dc1 | 451 | EMGlp1=LP1*EMGlp1min1+LP2*EMGhp1min1; |
bouvdberg | 0:0a171d2a8dc1 | 452 | EMGhp1min1=EMGhp1; |
bouvdberg | 0:0a171d2a8dc1 | 453 | emg_value1min1=emg_value1; |
bouvdberg | 0:0a171d2a8dc1 | 454 | EMGlp1min1=EMGlp1; |
bouvdberg | 0:0a171d2a8dc1 | 455 | if (EMGlp1 > CAL_EMG1_MAX) CAL_EMG1_MAX=EMGlp1; |
bouvdberg | 0:0a171d2a8dc1 | 456 | |
bouvdberg | 0:0a171d2a8dc1 | 457 | emg_value2=EMG2.read(); |
bouvdberg | 0:0a171d2a8dc1 | 458 | EMGhp2=HP1*EMGhp2min1+HP2*emg_value2-HP3*emg_value2min1; |
bouvdberg | 0:0a171d2a8dc1 | 459 | EMGhp2=abs(EMGhp2); |
bouvdberg | 0:0a171d2a8dc1 | 460 | EMGlp2=LP1*EMGlp2min1+LP2*EMGhp2min1; |
bouvdberg | 0:0a171d2a8dc1 | 461 | EMGhp2min1=EMGhp2; |
bouvdberg | 0:0a171d2a8dc1 | 462 | emg_value2min1=emg_value2; |
bouvdberg | 0:0a171d2a8dc1 | 463 | EMGlp2min1=EMGlp2; |
bouvdberg | 0:0a171d2a8dc1 | 464 | if (EMGlp2 > CAL_EMG2_MAX) CAL_EMG2_MAX=EMGlp2; |
bouvdberg | 0:0a171d2a8dc1 | 465 | |
bouvdberg | 0:0a171d2a8dc1 | 466 | emg_value3=EMG3.read(); |
bouvdberg | 0:0a171d2a8dc1 | 467 | EMGhp3=HP1*EMGhp3min1+HP2*emg_value3-HP3*emg_value3min1; |
bouvdberg | 0:0a171d2a8dc1 | 468 | EMGhp3=abs(EMGhp3); |
bouvdberg | 0:0a171d2a8dc1 | 469 | EMGlp3=LP1*EMGlp3min1+LP2*EMGhp3min1; |
bouvdberg | 0:0a171d2a8dc1 | 470 | EMGhp3min1=EMGhp3; |
bouvdberg | 0:0a171d2a8dc1 | 471 | emg_value3min1=emg_value3; |
bouvdberg | 0:0a171d2a8dc1 | 472 | EMGlp3min1=EMGlp3; |
bouvdberg | 0:0a171d2a8dc1 | 473 | if (EMGlp3 > CAL_EMG3_MAX) CAL_EMG3_MAX=EMGlp3; |
bouvdberg | 0:0a171d2a8dc1 | 474 | |
bouvdberg | 0:0a171d2a8dc1 | 475 | emg_value4=EMG4.read(); |
bouvdberg | 0:0a171d2a8dc1 | 476 | EMGhp4=HP1*EMGhp4min1+HP2*emg_value4-HP3*emg_value4min1; |
bouvdberg | 0:0a171d2a8dc1 | 477 | EMGhp4=abs(EMGhp4); |
bouvdberg | 0:0a171d2a8dc1 | 478 | EMGlp4=LP1*EMGlp4min1+LP2*EMGhp4min1; |
bouvdberg | 0:0a171d2a8dc1 | 479 | EMGhp4min1=EMGhp4; |
bouvdberg | 0:0a171d2a8dc1 | 480 | emg_value4min1=emg_value4; |
bouvdberg | 0:0a171d2a8dc1 | 481 | EMGlp4min1=EMGlp4; |
bouvdberg | 0:0a171d2a8dc1 | 482 | if (EMGlp4 > CAL_EMG4_MAX) CAL_EMG4_MAX=EMGlp4; |
bouvdberg | 0:0a171d2a8dc1 | 483 | |
bouvdberg | 0:0a171d2a8dc1 | 484 | } |
bouvdberg | 2:b9a7fafd233c | 485 | EMGmin1= CAL_EMG1_MAX+0.35; |
bouvdberg | 2:b9a7fafd233c | 486 | EMGmin2= CAL_EMG2_MAX+0.35; |
bouvdberg | 2:b9a7fafd233c | 487 | EMGmin3= CAL_EMG3_MAX+0.35; |
bouvdberg | 2:b9a7fafd233c | 488 | EMGmin4= CAL_EMG4_MAX+0.35; |
bouvdberg | 0:0a171d2a8dc1 | 489 | emg_value1min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 490 | emg_value2min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 491 | emg_value3min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 492 | emg_value4min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 493 | EMGhp1min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 494 | EMGhp2min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 495 | EMGhp3min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 496 | EMGhp4min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 497 | EMGlp1min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 498 | EMGlp2min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 499 | EMGlp3min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 500 | EMGlp4min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 501 | |
bouvdberg | 0:0a171d2a8dc1 | 502 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 503 | lcd.printf("Next EMG 1 in: 3"); |
bouvdberg | 0:0a171d2a8dc1 | 504 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 505 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 506 | lcd.printf("Next EMG 1 in: 2") ; |
bouvdberg | 0:0a171d2a8dc1 | 507 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 508 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 509 | lcd.printf("Next EMG 1 in: 1"); |
bouvdberg | 0:0a171d2a8dc1 | 510 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 511 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 512 | lcd.printf("Next EMG 1 NOW"); |
bouvdberg | 0:0a171d2a8dc1 | 513 | |
bouvdberg | 0:0a171d2a8dc1 | 514 | menu++; |
bouvdberg | 0:0a171d2a8dc1 | 515 | |
bouvdberg | 0:0a171d2a8dc1 | 516 | break; |
bouvdberg | 0:0a171d2a8dc1 | 517 | case 72: //Calibration EMG1 |
bouvdberg | 0:0a171d2a8dc1 | 518 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 519 | lcd.printf("Calibration EMG1"); |
bouvdberg | 0:0a171d2a8dc1 | 520 | |
bouvdberg | 0:0a171d2a8dc1 | 521 | //calc EMG1 MAX |
bouvdberg | 0:0a171d2a8dc1 | 522 | CAL_EMG1_MAX=0; |
bouvdberg | 0:0a171d2a8dc1 | 523 | for (int c=1000; c>=0; c--) |
bouvdberg | 0:0a171d2a8dc1 | 524 | { |
bouvdberg | 0:0a171d2a8dc1 | 525 | Ticker looptimer; |
bouvdberg | 0:0a171d2a8dc1 | 526 | looptimer.attach(setlooptimerflag,LOOPTIME); |
bouvdberg | 0:0a171d2a8dc1 | 527 | while(looptimerflag != true); |
bouvdberg | 0:0a171d2a8dc1 | 528 | looptimerflag = false; |
bouvdberg | 0:0a171d2a8dc1 | 529 | emg_value1=EMG1.read(); |
bouvdberg | 0:0a171d2a8dc1 | 530 | EMGhp1=HP1*EMGhp1min1+HP2*emg_value1-HP3*emg_value1min1; |
bouvdberg | 0:0a171d2a8dc1 | 531 | EMGhp1=abs(EMGhp1); |
bouvdberg | 0:0a171d2a8dc1 | 532 | EMGlp1=LP1*EMGlp1min1+LP2*EMGhp1min1; |
bouvdberg | 0:0a171d2a8dc1 | 533 | EMGhp1min1=EMGhp1; |
bouvdberg | 0:0a171d2a8dc1 | 534 | emg_value1min1=emg_value1; |
bouvdberg | 0:0a171d2a8dc1 | 535 | EMGlp1min1=EMGlp1; |
bouvdberg | 0:0a171d2a8dc1 | 536 | |
bouvdberg | 0:0a171d2a8dc1 | 537 | if (EMGlp1 > CAL_EMG1_MAX) CAL_EMG1_MAX=EMGlp1; |
bouvdberg | 0:0a171d2a8dc1 | 538 | } |
bouvdberg | 0:0a171d2a8dc1 | 539 | EMGmax1= CAL_EMG1_MAX+1.0; |
bouvdberg | 0:0a171d2a8dc1 | 540 | emg_value1min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 541 | EMGhp1min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 542 | EMGlp1min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 543 | |
bouvdberg | 0:0a171d2a8dc1 | 544 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 545 | lcd.printf("Next EMG 2 in: 3"); |
bouvdberg | 0:0a171d2a8dc1 | 546 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 547 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 548 | lcd.printf("Next EMG 2 in: 2") ; |
bouvdberg | 0:0a171d2a8dc1 | 549 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 550 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 551 | lcd.printf("Next EMG 2 in: 1"); |
bouvdberg | 0:0a171d2a8dc1 | 552 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 553 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 554 | lcd.printf("Next EMG 2 NOW"); |
bouvdberg | 0:0a171d2a8dc1 | 555 | |
bouvdberg | 0:0a171d2a8dc1 | 556 | menu++; |
bouvdberg | 0:0a171d2a8dc1 | 557 | |
bouvdberg | 0:0a171d2a8dc1 | 558 | break; |
bouvdberg | 0:0a171d2a8dc1 | 559 | case 73: //Calibration EMG2 |
bouvdberg | 0:0a171d2a8dc1 | 560 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 561 | lcd.printf("Calibration EMG2"); |
bouvdberg | 0:0a171d2a8dc1 | 562 | |
bouvdberg | 0:0a171d2a8dc1 | 563 | //calc EMG2 MAX |
bouvdberg | 0:0a171d2a8dc1 | 564 | CAL_EMG2_MAX=0; |
bouvdberg | 0:0a171d2a8dc1 | 565 | for (int c=1000; c>=0; c--) |
bouvdberg | 0:0a171d2a8dc1 | 566 | { |
bouvdberg | 0:0a171d2a8dc1 | 567 | Ticker looptimer; |
bouvdberg | 0:0a171d2a8dc1 | 568 | looptimer.attach(setlooptimerflag,LOOPTIME); |
bouvdberg | 0:0a171d2a8dc1 | 569 | while(looptimerflag != true); |
bouvdberg | 0:0a171d2a8dc1 | 570 | looptimerflag = false; |
bouvdberg | 0:0a171d2a8dc1 | 571 | emg_value2=EMG2.read(); |
bouvdberg | 0:0a171d2a8dc1 | 572 | EMGhp2=HP1*EMGhp2min1+HP2*emg_value2-HP3*emg_value2min1; |
bouvdberg | 0:0a171d2a8dc1 | 573 | EMGhp2=abs(EMGhp2); |
bouvdberg | 0:0a171d2a8dc1 | 574 | EMGlp2=LP1*EMGlp2min1+LP2*EMGhp2min1; |
bouvdberg | 0:0a171d2a8dc1 | 575 | EMGhp2min1=EMGhp2; |
bouvdberg | 0:0a171d2a8dc1 | 576 | emg_value2min1=emg_value2; |
bouvdberg | 0:0a171d2a8dc1 | 577 | EMGlp2min1=EMGlp2; |
bouvdberg | 0:0a171d2a8dc1 | 578 | |
bouvdberg | 0:0a171d2a8dc1 | 579 | if (EMGlp2 > CAL_EMG2_MAX) CAL_EMG2_MAX=EMGlp2; |
bouvdberg | 0:0a171d2a8dc1 | 580 | } |
bouvdberg | 0:0a171d2a8dc1 | 581 | EMGmax2= CAL_EMG2_MAX+1.0; |
bouvdberg | 0:0a171d2a8dc1 | 582 | emg_value2min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 583 | EMGhp2min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 584 | EMGlp2min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 585 | |
bouvdberg | 0:0a171d2a8dc1 | 586 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 587 | lcd.printf("Next EMG 3 in: 3"); |
bouvdberg | 0:0a171d2a8dc1 | 588 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 589 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 590 | lcd.printf("Next EMG 3 in: 2") ; |
bouvdberg | 0:0a171d2a8dc1 | 591 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 592 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 593 | lcd.printf("Next EMG 3 in: 1"); |
bouvdberg | 0:0a171d2a8dc1 | 594 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 595 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 596 | lcd.printf("Next EMG 3 NOW"); |
bouvdberg | 0:0a171d2a8dc1 | 597 | |
bouvdberg | 0:0a171d2a8dc1 | 598 | menu++; |
bouvdberg | 0:0a171d2a8dc1 | 599 | |
bouvdberg | 0:0a171d2a8dc1 | 600 | break; |
bouvdberg | 0:0a171d2a8dc1 | 601 | case 74: //Calibration EMG3 |
bouvdberg | 0:0a171d2a8dc1 | 602 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 603 | lcd.printf("Calibration EMG3"); |
bouvdberg | 0:0a171d2a8dc1 | 604 | |
bouvdberg | 0:0a171d2a8dc1 | 605 | //calc EMG3 MAX |
bouvdberg | 0:0a171d2a8dc1 | 606 | CAL_EMG3_MAX=0; |
bouvdberg | 0:0a171d2a8dc1 | 607 | for (int c=1000; c>=0; c--) |
bouvdberg | 0:0a171d2a8dc1 | 608 | { |
bouvdberg | 0:0a171d2a8dc1 | 609 | Ticker looptimer; |
bouvdberg | 0:0a171d2a8dc1 | 610 | looptimer.attach(setlooptimerflag,LOOPTIME); |
bouvdberg | 0:0a171d2a8dc1 | 611 | while(looptimerflag != true); |
bouvdberg | 0:0a171d2a8dc1 | 612 | looptimerflag = false; |
bouvdberg | 0:0a171d2a8dc1 | 613 | emg_value3=EMG3.read(); |
bouvdberg | 0:0a171d2a8dc1 | 614 | EMGhp3=HP1*EMGhp3min1+HP2*emg_value3-HP3*emg_value3min1; |
bouvdberg | 0:0a171d2a8dc1 | 615 | EMGhp3=abs(EMGhp3); |
bouvdberg | 0:0a171d2a8dc1 | 616 | EMGlp3=LP1*EMGlp3min1+LP2*EMGhp3min1; |
bouvdberg | 0:0a171d2a8dc1 | 617 | EMGhp3min1=EMGhp3; |
bouvdberg | 0:0a171d2a8dc1 | 618 | emg_value3min1=emg_value3; |
bouvdberg | 0:0a171d2a8dc1 | 619 | EMGlp3min1=EMGlp3; |
bouvdberg | 0:0a171d2a8dc1 | 620 | |
bouvdberg | 0:0a171d2a8dc1 | 621 | if (EMGlp3 > CAL_EMG3_MAX) CAL_EMG3_MAX=EMGlp3; |
bouvdberg | 0:0a171d2a8dc1 | 622 | } |
bouvdberg | 0:0a171d2a8dc1 | 623 | EMGmax3= CAL_EMG3_MAX+1.0; |
bouvdberg | 0:0a171d2a8dc1 | 624 | emg_value3min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 625 | EMGhp3min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 626 | EMGlp3min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 627 | |
bouvdberg | 0:0a171d2a8dc1 | 628 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 629 | lcd.printf("Next EMG 4 in: 3"); |
bouvdberg | 0:0a171d2a8dc1 | 630 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 631 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 632 | lcd.printf("Next EMG 4 in: 2") ; |
bouvdberg | 0:0a171d2a8dc1 | 633 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 634 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 635 | lcd.printf("Next EMG 4 in: 1"); |
bouvdberg | 0:0a171d2a8dc1 | 636 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 637 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 638 | lcd.printf("Next EMG 4 NOW"); |
bouvdberg | 0:0a171d2a8dc1 | 639 | |
bouvdberg | 0:0a171d2a8dc1 | 640 | menu++; |
bouvdberg | 0:0a171d2a8dc1 | 641 | |
bouvdberg | 0:0a171d2a8dc1 | 642 | break; |
bouvdberg | 0:0a171d2a8dc1 | 643 | case 75: //Calibration EMG4 |
bouvdberg | 0:0a171d2a8dc1 | 644 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 645 | lcd.printf("Calibration EMG4"); |
bouvdberg | 0:0a171d2a8dc1 | 646 | |
bouvdberg | 0:0a171d2a8dc1 | 647 | //calc EMG4 MAX |
bouvdberg | 0:0a171d2a8dc1 | 648 | CAL_EMG4_MAX=0; |
bouvdberg | 0:0a171d2a8dc1 | 649 | for (int c=1000; c>=0; c--) |
bouvdberg | 0:0a171d2a8dc1 | 650 | { |
bouvdberg | 0:0a171d2a8dc1 | 651 | Ticker looptimer; |
bouvdberg | 0:0a171d2a8dc1 | 652 | looptimer.attach(setlooptimerflag,LOOPTIME); |
bouvdberg | 0:0a171d2a8dc1 | 653 | while(looptimerflag != true); |
bouvdberg | 0:0a171d2a8dc1 | 654 | looptimerflag = false; |
bouvdberg | 0:0a171d2a8dc1 | 655 | emg_value4=EMG4.read(); |
bouvdberg | 0:0a171d2a8dc1 | 656 | EMGhp4=HP1*EMGhp4min1+HP2*emg_value4-HP3*emg_value4min1; |
bouvdberg | 0:0a171d2a8dc1 | 657 | EMGhp4=abs(EMGhp4); |
bouvdberg | 0:0a171d2a8dc1 | 658 | EMGlp4=LP1*EMGlp4min1+LP2*EMGhp4min1; |
bouvdberg | 0:0a171d2a8dc1 | 659 | EMGhp4min1=EMGhp4; |
bouvdberg | 0:0a171d2a8dc1 | 660 | emg_value4min1=emg_value4; |
bouvdberg | 0:0a171d2a8dc1 | 661 | EMGlp4min1=EMGlp4; |
bouvdberg | 0:0a171d2a8dc1 | 662 | |
bouvdberg | 0:0a171d2a8dc1 | 663 | if (EMGlp4 > CAL_EMG4_MAX) CAL_EMG4_MAX=EMGlp4; |
bouvdberg | 0:0a171d2a8dc1 | 664 | } |
bouvdberg | 0:0a171d2a8dc1 | 665 | EMGmax4= CAL_EMG4_MAX+1.0; |
bouvdberg | 0:0a171d2a8dc1 | 666 | emg_value4min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 667 | EMGhp4min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 668 | EMGlp4min1=0.5; |
bouvdberg | 2:b9a7fafd233c | 669 | if ((EMGmax1-EMGmin1)<0.6 || (EMGmax2-EMGmin2)<0.6 || (EMGmax3-EMGmin3)<0.6 || (EMGmax4-EMGmin4)<0.6) |
bouvdberg | 0:0a171d2a8dc1 | 670 | { |
bouvdberg | 0:0a171d2a8dc1 | 671 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 672 | lcd.printf("Calibration ..."); |
bouvdberg | 0:0a171d2a8dc1 | 673 | lcd.locate(0,1); |
bouvdberg | 0:0a171d2a8dc1 | 674 | lcd.printf("failed! retry!"); |
bouvdberg | 0:0a171d2a8dc1 | 675 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 676 | menu=70; |
bouvdberg | 0:0a171d2a8dc1 | 677 | } |
bouvdberg | 0:0a171d2a8dc1 | 678 | else |
bouvdberg | 0:0a171d2a8dc1 | 679 | { |
bouvdberg | 0:0a171d2a8dc1 | 680 | lcd.cls(); |
bouvdberg | 0:0a171d2a8dc1 | 681 | lcd.printf("Calibration ..."); |
bouvdberg | 0:0a171d2a8dc1 | 682 | lcd.locate(0,1); |
bouvdberg | 2:b9a7fafd233c | 683 | lcd.printf("Done! Data Saved"); |
bouvdberg | 0:0a171d2a8dc1 | 684 | wait(1); |
bouvdberg | 0:0a171d2a8dc1 | 685 | |
bouvdberg | 0:0a171d2a8dc1 | 686 | menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 687 | } |
bouvdberg | 0:0a171d2a8dc1 | 688 | |
bouvdberg | 0:0a171d2a8dc1 | 689 | break; |
bouvdberg | 0:0a171d2a8dc1 | 690 | } |
bouvdberg | 0:0a171d2a8dc1 | 691 | |
bouvdberg | 0:0a171d2a8dc1 | 692 | |
bouvdberg | 0:0a171d2a8dc1 | 693 | if (menu!=55) wait(0.2); |
bouvdberg | 0:0a171d2a8dc1 | 694 | } |
bouvdberg | 0:0a171d2a8dc1 | 695 | |
bouvdberg | 0:0a171d2a8dc1 | 696 | |
bouvdberg | 0:0a171d2a8dc1 | 697 | } |
bouvdberg | 0:0a171d2a8dc1 | 698 | |
bouvdberg | 0:0a171d2a8dc1 | 699 | void aansturing(void) |
bouvdberg | 0:0a171d2a8dc1 | 700 | { |
bouvdberg | 0:0a171d2a8dc1 | 701 | while(looptimerflag != true); |
bouvdberg | 0:0a171d2a8dc1 | 702 | looptimerflag = false; |
bouvdberg | 0:0a171d2a8dc1 | 703 | |
bouvdberg | 0:0a171d2a8dc1 | 704 | //uitlezen |
bouvdberg | 0:0a171d2a8dc1 | 705 | emg_value1 = EMG1.read(); |
bouvdberg | 0:0a171d2a8dc1 | 706 | emg_value2 = EMG2.read(); |
bouvdberg | 0:0a171d2a8dc1 | 707 | emg_value3 = EMG3.read(); |
bouvdberg | 0:0a171d2a8dc1 | 708 | emg_value4 = EMG4.read(); |
bouvdberg | 0:0a171d2a8dc1 | 709 | |
bouvdberg | 0:0a171d2a8dc1 | 710 | //filtering |
bouvdberg | 0:0a171d2a8dc1 | 711 | EMGhp1=HP1*EMGhp1min1+HP2*emg_value1-HP3*emg_value1min1; |
bouvdberg | 0:0a171d2a8dc1 | 712 | EMGhp2=HP1*EMGhp2min1+HP2*emg_value2-HP3*emg_value2min1; |
bouvdberg | 0:0a171d2a8dc1 | 713 | EMGhp3=HP1*EMGhp3min1+HP2*emg_value3-HP3*emg_value3min1; |
bouvdberg | 0:0a171d2a8dc1 | 714 | EMGhp4=HP1*EMGhp4min1+HP2*emg_value4-HP3*emg_value4min1; |
bouvdberg | 0:0a171d2a8dc1 | 715 | EMGhp1=abs(EMGhp1); |
bouvdberg | 0:0a171d2a8dc1 | 716 | EMGhp2=abs(EMGhp2); |
bouvdberg | 0:0a171d2a8dc1 | 717 | EMGhp3=abs(EMGhp3); |
bouvdberg | 0:0a171d2a8dc1 | 718 | EMGhp4=abs(EMGhp4); |
bouvdberg | 0:0a171d2a8dc1 | 719 | EMGlp1=LP1*EMGlp1min1+LP2*EMGhp1min1; |
bouvdberg | 0:0a171d2a8dc1 | 720 | EMGlp2=LP1*EMGlp2min1+LP2*EMGhp2min1; |
bouvdberg | 0:0a171d2a8dc1 | 721 | EMGlp3=LP1*EMGlp3min1+LP2*EMGhp3min1; |
bouvdberg | 0:0a171d2a8dc1 | 722 | EMGlp4=LP1*EMGlp4min1+LP2*EMGhp4min1; |
bouvdberg | 0:0a171d2a8dc1 | 723 | //pc.printf("%.2f ",emg_value1); |
bouvdberg | 0:0a171d2a8dc1 | 724 | //pc.printf("%.2f ",emg_value2); |
bouvdberg | 0:0a171d2a8dc1 | 725 | //pc.printf("%.2f ",emg_value3); |
bouvdberg | 0:0a171d2a8dc1 | 726 | //pc.printf("%.2f ",emg_value4); |
bouvdberg | 0:0a171d2a8dc1 | 727 | //pc.printf("%.2f ",EMGlp1); |
bouvdberg | 0:0a171d2a8dc1 | 728 | //pc.printf("%.2f ",EMGlp2); |
bouvdberg | 0:0a171d2a8dc1 | 729 | //pc.printf("%.2f ",EMGlp3); |
bouvdberg | 0:0a171d2a8dc1 | 730 | //pc.printf("%.2f ",EMGlp4); |
bouvdberg | 0:0a171d2a8dc1 | 731 | |
bouvdberg | 0:0a171d2a8dc1 | 732 | //berekenen setpoint |
bouvdberg | 0:0a171d2a8dc1 | 733 | //hoekinput |
bouvdberg | 0:0a171d2a8dc1 | 734 | |
bouvdberg | 0:0a171d2a8dc1 | 735 | if((EMGlp1-EMGmin1)<=0.0) v1=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 736 | else v1=(EMGlp1-EMGmin1)/(EMGmax1-EMGmin1); |
bouvdberg | 0:0a171d2a8dc1 | 737 | if((EMGlp2-EMGmin2)<=0.0) v2=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 738 | else v2=(EMGlp2-EMGmin2)/(EMGmax2-EMGmin2); |
bouvdberg | 0:0a171d2a8dc1 | 739 | if((EMGlp3-EMGmin3)<=0.0) v3=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 740 | else v3=(EMGlp3-EMGmin3)/(EMGmax3-EMGmin3); |
bouvdberg | 0:0a171d2a8dc1 | 741 | if((EMGlp4-EMGmin4)<=0.0) v4=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 742 | else v4=(EMGlp4-EMGmin4)/(EMGmax4-EMGmin4); |
bouvdberg | 0:0a171d2a8dc1 | 743 | |
bouvdberg | 0:0a171d2a8dc1 | 744 | //t_timer=t_timer+LOOPTIME; |
bouvdberg | 0:0a171d2a8dc1 | 745 | |
bouvdberg | 2:b9a7fafd233c | 746 | pc.printf("%.2f ",v1); |
bouvdberg | 2:b9a7fafd233c | 747 | pc.printf("%.2f ",v2); |
bouvdberg | 2:b9a7fafd233c | 748 | pc.printf("%.2f ",v3); |
bouvdberg | 2:b9a7fafd233c | 749 | pc.printf("%.2f ",v4); |
bouvdberg | 1:c18c171bf8b4 | 750 | if(v1<=0.0 && v2<=0.0 && v3<=0.0 && v4<=0.0) { |
bouvdberg | 0:0a171d2a8dc1 | 751 | Solenoid=1; //Pen van papier |
bouvdberg | 0:0a171d2a8dc1 | 752 | input=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 753 | snelheid=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 754 | } |
bouvdberg | 0:0a171d2a8dc1 | 755 | else { |
bouvdberg | 0:0a171d2a8dc1 | 756 | if (sol_updown==1) Solenoid=1; //Pen op papier |
bouvdberg | 1:c18c171bf8b4 | 757 | else |
bouvdberg | 1:c18c171bf8b4 | 758 | { |
bouvdberg | 1:c18c171bf8b4 | 759 | Solenoid=0; |
bouvdberg | 1:c18c171bf8b4 | 760 | sol_updown=0; |
bouvdberg | 1:c18c171bf8b4 | 761 | } |
bouvdberg | 0:0a171d2a8dc1 | 762 | snelheid=drawspeed; //Is dit goed zo????????????????????????????????????????????????????????? Haakjes nodig???? |
bouvdberg | 0:0a171d2a8dc1 | 763 | if(v2>v1) { |
bouvdberg | 0:0a171d2a8dc1 | 764 | input=(atan((v3-v4)/(v1-v2))+PI); |
bouvdberg | 0:0a171d2a8dc1 | 765 | } |
bouvdberg | 0:0a171d2a8dc1 | 766 | else { |
bouvdberg | 0:0a171d2a8dc1 | 767 | input=(atan((v3-v4)/(v1-v2))); |
bouvdberg | 0:0a171d2a8dc1 | 768 | } |
bouvdberg | 0:0a171d2a8dc1 | 769 | } |
bouvdberg | 0:0a171d2a8dc1 | 770 | //pc.printf("%.2f \n\r",input); |
bouvdberg | 0:0a171d2a8dc1 | 771 | //snelheid=drawspeed; |
bouvdberg | 0:0a171d2a8dc1 | 772 | //input=t_timer*0.8+PI; |
bouvdberg | 0:0a171d2a8dc1 | 773 | |
bouvdberg | 0:0a171d2a8dc1 | 774 | //snelheidsvector met beperking positie / encoder uitlezen |
bouvdberg | 0:0a171d2a8dc1 | 775 | M1position = motor1.getPosition(); |
bouvdberg | 0:0a171d2a8dc1 | 776 | M2position = motor2.getPosition(); |
bouvdberg | 0:0a171d2a8dc1 | 777 | M2phi=M1position+M2position-1600.0; //phi2 = phi1 + theta - 1600 |
bouvdberg | 0:0a171d2a8dc1 | 778 | |
bouvdberg | 0:0a171d2a8dc1 | 779 | Px=cos((M1position/3200.0)*2.0*PI)*ARM1+cos((M2phi/3200.0)*2.0*PI)*ARM2; |
bouvdberg | 0:0a171d2a8dc1 | 780 | Py=sin((M1position/3200.0)*2.0*PI)*ARM1+sin((M2phi/3200.0)*2.0*PI)*ARM2; |
bouvdberg | 0:0a171d2a8dc1 | 781 | |
bouvdberg | 0:0a171d2a8dc1 | 782 | vx=cos(input)*snelheid; |
bouvdberg | 0:0a171d2a8dc1 | 783 | vy=sin(input)*snelheid; |
bouvdberg | 0:0a171d2a8dc1 | 784 | |
bouvdberg | 0:0a171d2a8dc1 | 785 | if(Py >= ARM1 && vy>=0 || Py <= 0.080 && vy<=0) { |
bouvdberg | 0:0a171d2a8dc1 | 786 | vy=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 787 | } |
bouvdberg | 0:0a171d2a8dc1 | 788 | if(Px <= -0.425 && vx<=0 || Px >= -0.080 && vx>=0) { |
bouvdberg | 0:0a171d2a8dc1 | 789 | vx=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 790 | } |
bouvdberg | 0:0a171d2a8dc1 | 791 | pc.printf("%.2f ",vx); |
bouvdberg | 0:0a171d2a8dc1 | 792 | pc.printf("%.2f \n\r",vy); |
bouvdberg | 0:0a171d2a8dc1 | 793 | |
bouvdberg | 0:0a171d2a8dc1 | 794 | //input positie |
bouvdberg | 0:0a171d2a8dc1 | 795 | phi1=(motor1.getPosition()/3200.0)*2.0*PI; |
bouvdberg | 0:0a171d2a8dc1 | 796 | theta=(motor2.getPosition()/3200.0)*2.0*PI; |
bouvdberg | 0:0a171d2a8dc1 | 797 | phi2=theta+phi1-PI; |
bouvdberg | 0:0a171d2a8dc1 | 798 | |
bouvdberg | 0:0a171d2a8dc1 | 799 | //Jacobiaan |
bouvdberg | 0:0a171d2a8dc1 | 800 | // [a b] |
bouvdberg | 0:0a171d2a8dc1 | 801 | // [c d] |
bouvdberg | 0:0a171d2a8dc1 | 802 | a=-sin(phi1)*ARM1; |
bouvdberg | 0:0a171d2a8dc1 | 803 | b=-sin(phi2)*ARM2; |
bouvdberg | 0:0a171d2a8dc1 | 804 | c=cos(phi1)*ARM1; |
bouvdberg | 0:0a171d2a8dc1 | 805 | d=cos(phi2)*ARM2; |
bouvdberg | 0:0a171d2a8dc1 | 806 | |
bouvdberg | 0:0a171d2a8dc1 | 807 | //inverse |
bouvdberg | 0:0a171d2a8dc1 | 808 | // [ai bi] |
bouvdberg | 0:0a171d2a8dc1 | 809 | // [ci di] |
bouvdberg | 0:0a171d2a8dc1 | 810 | ai=d/(a*d-b*c); |
bouvdberg | 0:0a171d2a8dc1 | 811 | bi=-b/(a*d-b*c); |
bouvdberg | 0:0a171d2a8dc1 | 812 | ci=-c/(a*d-b*c); |
bouvdberg | 0:0a171d2a8dc1 | 813 | di=a/(a*d-b*c); |
bouvdberg | 0:0a171d2a8dc1 | 814 | |
bouvdberg | 0:0a171d2a8dc1 | 815 | //vermenigvuldiging |
bouvdberg | 0:0a171d2a8dc1 | 816 | // [ai bi] [vx] [w1] |
bouvdberg | 0:0a171d2a8dc1 | 817 | // [ci di] * [vy] = [w2] |
bouvdberg | 0:0a171d2a8dc1 | 818 | w1=ai*vx+bi*vy; //=wM1 hoeksnelheid van motor 1 |
bouvdberg | 0:0a171d2a8dc1 | 819 | w2=ci*vx+di*vy; |
bouvdberg | 0:0a171d2a8dc1 | 820 | wM2=w2-w1;//hoeksnelheid motor 2 |
bouvdberg | 0:0a171d2a8dc1 | 821 | |
bouvdberg | 0:0a171d2a8dc1 | 822 | //Beveiliging hoeksnelheden |
bouvdberg | 0:0a171d2a8dc1 | 823 | keep_in_range(&w1, -600,600); |
bouvdberg | 0:0a171d2a8dc1 | 824 | keep_in_range(&wM2, -600,600); |
bouvdberg | 0:0a171d2a8dc1 | 825 | |
bouvdberg | 0:0a171d2a8dc1 | 826 | //Motoraansturing |
bouvdberg | 0:0a171d2a8dc1 | 827 | //t_sin=t_sin + 0.05; |
bouvdberg | 0:0a171d2a8dc1 | 828 | //if (t_sin>=2*PI) t_sin=0.0; |
bouvdberg | 1:c18c171bf8b4 | 829 | setpointM1 = (w1/(2.0*PI))*3200.0*LOOPTIME+setpointmin1M1; |
bouvdberg | 0:0a171d2a8dc1 | 830 | setpointM2 = (wM2/(2.0*PI))*3200.0*LOOPTIME+setpointmin1M2; |
bouvdberg | 0:0a171d2a8dc1 | 831 | |
bouvdberg | 0:0a171d2a8dc1 | 832 | //Beperking hoeken |
bouvdberg | 1:c18c171bf8b4 | 833 | keep_in_range(&setpointM1, 500,1400); //Heel rondje = 3200 pulsen, Half rondje = 1600 pulsen |
bouvdberg | 1:c18c171bf8b4 | 834 | keep_in_range(&setpointM2, 1600,2950); // Begrenzing hoeken |
bouvdberg | 0:0a171d2a8dc1 | 835 | |
bouvdberg | 0:0a171d2a8dc1 | 836 | foutM1 = setpointM1-M1position; |
bouvdberg | 0:0a171d2a8dc1 | 837 | foutM2 = setpointM2-M2position; |
bouvdberg | 0:0a171d2a8dc1 | 838 | //foutI1 = foutImin1 + foutM1*LOOPTIME; |
bouvdberg | 0:0a171d2a8dc1 | 839 | //foutI2 = foutImin2 + foutM2*LOOPTIME; |
bouvdberg | 0:0a171d2a8dc1 | 840 | //foutverschilM1 = foutM1-foutmin1M1; |
bouvdberg | 0:0a171d2a8dc1 | 841 | //foutverschilM2 = foutM2-foutmin1M2; |
bouvdberg | 0:0a171d2a8dc1 | 842 | //foutverschilM1 = CLP1*foutverschilmin1M1+CLP2*foutverschilM1; |
bouvdberg | 0:0a171d2a8dc1 | 843 | //foutverschilM2 = CLP1*foutverschilmin1M2+CLP2*foutverschilM2; |
bouvdberg | 0:0a171d2a8dc1 | 844 | pwm_to_motor1 = foutM1*CP1; //+foutverschilM1*CDloop+foutI1*CI; |
bouvdberg | 0:0a171d2a8dc1 | 845 | pwm_to_motor2 = foutM2*CP2; //+foutverschilM2*CDloop+foutI2*CI;//foutM2*CP+foutverschilM2*CDloop; |
bouvdberg | 0:0a171d2a8dc1 | 846 | keep_in_range(&pwm_to_motor1, -0.2,0.2); |
bouvdberg | 0:0a171d2a8dc1 | 847 | keep_in_range(&pwm_to_motor2, -0.2,0.2); |
bouvdberg | 0:0a171d2a8dc1 | 848 | |
bouvdberg | 0:0a171d2a8dc1 | 849 | |
bouvdberg | 0:0a171d2a8dc1 | 850 | if(pwm_to_motor1 > 0) { |
bouvdberg | 0:0a171d2a8dc1 | 851 | motordir1 = 1; |
bouvdberg | 1:c18c171bf8b4 | 852 | pwm_to_motor1=pwm_to_motor1+0.03; |
bouvdberg | 0:0a171d2a8dc1 | 853 | } |
bouvdberg | 0:0a171d2a8dc1 | 854 | else { |
bouvdberg | 0:0a171d2a8dc1 | 855 | motordir1 = 0; |
bouvdberg | 1:c18c171bf8b4 | 856 | pwm_to_motor1=pwm_to_motor1-0.03; |
bouvdberg | 0:0a171d2a8dc1 | 857 | } |
bouvdberg | 0:0a171d2a8dc1 | 858 | if(pwm_to_motor2 > 0) { |
bouvdberg | 0:0a171d2a8dc1 | 859 | motordir2 = 1; |
bouvdberg | 0:0a171d2a8dc1 | 860 | pwm_to_motor2=pwm_to_motor2+0.02; |
bouvdberg | 0:0a171d2a8dc1 | 861 | } |
bouvdberg | 0:0a171d2a8dc1 | 862 | else { |
bouvdberg | 0:0a171d2a8dc1 | 863 | motordir2 = 0; |
bouvdberg | 0:0a171d2a8dc1 | 864 | pwm_to_motor2=pwm_to_motor2-0.02; |
bouvdberg | 0:0a171d2a8dc1 | 865 | } |
bouvdberg | 0:0a171d2a8dc1 | 866 | |
bouvdberg | 0:0a171d2a8dc1 | 867 | |
bouvdberg | 0:0a171d2a8dc1 | 868 | //WRITE VALUE TO MOTOR |
bouvdberg | 1:c18c171bf8b4 | 869 | //if(v1<=0.01 && v2<=0.01 && v3<=0.01 && v4<=0.01) |
bouvdberg | 0:0a171d2a8dc1 | 870 | //{ |
bouvdberg | 1:c18c171bf8b4 | 871 | // motordir1 = 1; |
bouvdberg | 1:c18c171bf8b4 | 872 | // motordir2 = 1; |
bouvdberg | 1:c18c171bf8b4 | 873 | // Brake1=1; |
bouvdberg | 1:c18c171bf8b4 | 874 | // Brake2=1; |
bouvdberg | 0:0a171d2a8dc1 | 875 | // pwm_motor1.write(0); |
bouvdberg | 0:0a171d2a8dc1 | 876 | // pwm_motor2.write(0); //motor stil |
bouvdberg | 0:0a171d2a8dc1 | 877 | //} |
bouvdberg | 0:0a171d2a8dc1 | 878 | //else |
bouvdberg | 0:0a171d2a8dc1 | 879 | //{ |
bouvdberg | 0:0a171d2a8dc1 | 880 | pwm_motor1.write(abs(pwm_to_motor1)); |
bouvdberg | 0:0a171d2a8dc1 | 881 | pwm_motor2.write(abs(pwm_to_motor2)); |
bouvdberg | 0:0a171d2a8dc1 | 882 | //} |
bouvdberg | 0:0a171d2a8dc1 | 883 | |
bouvdberg | 0:0a171d2a8dc1 | 884 | //Definieren waarden in de verleden tijd |
bouvdberg | 0:0a171d2a8dc1 | 885 | //foutmin1M1=foutM1; |
bouvdberg | 0:0a171d2a8dc1 | 886 | //foutmin1M2=foutM2; |
bouvdberg | 0:0a171d2a8dc1 | 887 | //foutverschilmin1M1=foutverschilM1; |
bouvdberg | 0:0a171d2a8dc1 | 888 | //foutverschilmin1M2=foutverschilM2; |
bouvdberg | 0:0a171d2a8dc1 | 889 | //foutImin1=foutI1; |
bouvdberg | 0:0a171d2a8dc1 | 890 | //foutImin2=foutI2; |
bouvdberg | 0:0a171d2a8dc1 | 891 | setpointmin1M1=setpointM1; |
bouvdberg | 0:0a171d2a8dc1 | 892 | setpointmin1M2=setpointM2; |
bouvdberg | 0:0a171d2a8dc1 | 893 | emg_value1min1=emg_value1; |
bouvdberg | 0:0a171d2a8dc1 | 894 | emg_value2min1=emg_value2; |
bouvdberg | 0:0a171d2a8dc1 | 895 | emg_value3min1=emg_value3; |
bouvdberg | 0:0a171d2a8dc1 | 896 | emg_value4min1=emg_value4; |
bouvdberg | 0:0a171d2a8dc1 | 897 | EMGhp1min1=EMGhp1; |
bouvdberg | 0:0a171d2a8dc1 | 898 | EMGhp2min1=EMGhp2; |
bouvdberg | 0:0a171d2a8dc1 | 899 | EMGhp3min1=EMGhp3; |
bouvdberg | 0:0a171d2a8dc1 | 900 | EMGhp4min1=EMGhp4; |
bouvdberg | 0:0a171d2a8dc1 | 901 | EMGlp1min1=EMGlp1; |
bouvdberg | 0:0a171d2a8dc1 | 902 | EMGlp2min1=EMGlp2; |
bouvdberg | 0:0a171d2a8dc1 | 903 | EMGlp3min1=EMGlp3; |
bouvdberg | 0:0a171d2a8dc1 | 904 | EMGlp4min1=EMGlp4; |
bouvdberg | 0:0a171d2a8dc1 | 905 | |
bouvdberg | 0:0a171d2a8dc1 | 906 | |
bouvdberg | 0:0a171d2a8dc1 | 907 | } |
bouvdberg | 0:0a171d2a8dc1 | 908 | void uitzetten(void) |
bouvdberg | 0:0a171d2a8dc1 | 909 | { |
bouvdberg | 0:0a171d2a8dc1 | 910 | float BeginM1 = 800; |
bouvdberg | 0:0a171d2a8dc1 | 911 | float BeginM2 = 2400; |
bouvdberg | 1:c18c171bf8b4 | 912 | int i_timer=500; |
bouvdberg | 0:0a171d2a8dc1 | 913 | Solenoid=1; |
bouvdberg | 1:c18c171bf8b4 | 914 | sol_updown=1; |
bouvdberg | 0:0a171d2a8dc1 | 915 | while(BeginM1 - motor1.getPosition() >= 10 || BeginM1 - motor1.getPosition() <= -10 || BeginM2 - motor2.getPosition() >= 10 || BeginM2 - motor2.getPosition() <= -10 || motor1.getSpeed()>=20 || motor2.getSpeed()>=20) |
bouvdberg | 0:0a171d2a8dc1 | 916 | { |
bouvdberg | 0:0a171d2a8dc1 | 917 | Ticker looptimer; |
bouvdberg | 0:0a171d2a8dc1 | 918 | looptimer.attach(setlooptimerflag,LOOPTIME); |
bouvdberg | 0:0a171d2a8dc1 | 919 | while(looptimerflag != true); |
bouvdberg | 0:0a171d2a8dc1 | 920 | looptimerflag = false; |
bouvdberg | 0:0a171d2a8dc1 | 921 | M1position=motor1.getPosition(); |
bouvdberg | 0:0a171d2a8dc1 | 922 | M2position=motor2.getPosition(); |
bouvdberg | 0:0a171d2a8dc1 | 923 | pwm_to_motor1 = (BeginM1 - M1position)*.008; |
bouvdberg | 0:0a171d2a8dc1 | 924 | pwm_to_motor2 = (BeginM2 - M2position)*.008; |
bouvdberg | 0:0a171d2a8dc1 | 925 | keep_in_range(&pwm_to_motor1, -0.03,0.03); |
bouvdberg | 0:0a171d2a8dc1 | 926 | if(pwm_to_motor1 > 0) |
bouvdberg | 0:0a171d2a8dc1 | 927 | motordir1 = 1; |
bouvdberg | 0:0a171d2a8dc1 | 928 | else |
bouvdberg | 0:0a171d2a8dc1 | 929 | motordir1 = 0; |
bouvdberg | 0:0a171d2a8dc1 | 930 | keep_in_range(&pwm_to_motor2, -0.05,0.05); |
bouvdberg | 0:0a171d2a8dc1 | 931 | if(pwm_to_motor2 > 0) |
bouvdberg | 0:0a171d2a8dc1 | 932 | motordir2 = 1; |
bouvdberg | 0:0a171d2a8dc1 | 933 | else |
bouvdberg | 0:0a171d2a8dc1 | 934 | motordir2 = 0; |
bouvdberg | 0:0a171d2a8dc1 | 935 | //WRITE VALUE TO MOTOR |
bouvdberg | 0:0a171d2a8dc1 | 936 | pwm_motor1.write(abs(pwm_to_motor1)); |
bouvdberg | 0:0a171d2a8dc1 | 937 | pwm_motor2.write(abs(pwm_to_motor2)); |
bouvdberg | 0:0a171d2a8dc1 | 938 | float sent_pwm = abs(pwm_to_motor2); |
bouvdberg | 0:0a171d2a8dc1 | 939 | |
bouvdberg | 0:0a171d2a8dc1 | 940 | if(i_timer<=0) break; |
bouvdberg | 0:0a171d2a8dc1 | 941 | i_timer--; |
bouvdberg | 0:0a171d2a8dc1 | 942 | |
bouvdberg | 0:0a171d2a8dc1 | 943 | } |
bouvdberg | 1:c18c171bf8b4 | 944 | motordir1 = 1; |
bouvdberg | 1:c18c171bf8b4 | 945 | motordir2 = 1; |
bouvdberg | 1:c18c171bf8b4 | 946 | Brake1=1; |
bouvdberg | 1:c18c171bf8b4 | 947 | Brake2=1; |
bouvdberg | 0:0a171d2a8dc1 | 948 | pwm_motor1.write(0); |
bouvdberg | 0:0a171d2a8dc1 | 949 | pwm_motor2.write(0); |
bouvdberg | 0:0a171d2a8dc1 | 950 | wait(1.0); |
bouvdberg | 0:0a171d2a8dc1 | 951 | Brake1=0; |
bouvdberg | 0:0a171d2a8dc1 | 952 | Brake2=0; |
bouvdberg | 1:c18c171bf8b4 | 953 | i_timer=300; |
bouvdberg | 2:b9a7fafd233c | 954 | while(BeginM1 - motor1.getPosition() >= 5 || BeginM1 - motor1.getPosition() <= -5 || BeginM2 - motor2.getPosition() >= 5 || BeginM2 - motor2.getPosition() <= -5 || motor1.getSpeed()>=20 || motor2.getSpeed()>=20) |
bouvdberg | 0:0a171d2a8dc1 | 955 | { |
bouvdberg | 0:0a171d2a8dc1 | 956 | Ticker looptimer; |
bouvdberg | 0:0a171d2a8dc1 | 957 | looptimer.attach(setlooptimerflag,LOOPTIME); |
bouvdberg | 0:0a171d2a8dc1 | 958 | while(looptimerflag != true); |
bouvdberg | 0:0a171d2a8dc1 | 959 | looptimerflag = false; |
bouvdberg | 0:0a171d2a8dc1 | 960 | M1position=motor1.getPosition(); |
bouvdberg | 0:0a171d2a8dc1 | 961 | M2position=motor2.getPosition(); |
bouvdberg | 2:b9a7fafd233c | 962 | pwm_to_motor1 = (BeginM1 - M1position)*.012; |
bouvdberg | 0:0a171d2a8dc1 | 963 | pwm_to_motor2 = (BeginM2 - M2position)*.008; |
bouvdberg | 0:0a171d2a8dc1 | 964 | keep_in_range(&pwm_to_motor1, -0.05,0.05); |
bouvdberg | 0:0a171d2a8dc1 | 965 | if(pwm_to_motor1 > 0) |
bouvdberg | 0:0a171d2a8dc1 | 966 | motordir1 = 1; |
bouvdberg | 0:0a171d2a8dc1 | 967 | else |
bouvdberg | 0:0a171d2a8dc1 | 968 | motordir1 = 0; |
bouvdberg | 0:0a171d2a8dc1 | 969 | keep_in_range(&pwm_to_motor2, -0.09,0.09); |
bouvdberg | 0:0a171d2a8dc1 | 970 | if(pwm_to_motor2 > 0) |
bouvdberg | 0:0a171d2a8dc1 | 971 | motordir2 = 1; |
bouvdberg | 0:0a171d2a8dc1 | 972 | else |
bouvdberg | 0:0a171d2a8dc1 | 973 | motordir2 = 0; |
bouvdberg | 0:0a171d2a8dc1 | 974 | //WRITE VALUE TO MOTOR |
bouvdberg | 0:0a171d2a8dc1 | 975 | pwm_motor1.write(abs(pwm_to_motor1)); |
bouvdberg | 0:0a171d2a8dc1 | 976 | pwm_motor2.write(abs(pwm_to_motor2)); |
bouvdberg | 0:0a171d2a8dc1 | 977 | float sent_pwm = abs(pwm_to_motor2); |
bouvdberg | 0:0a171d2a8dc1 | 978 | |
bouvdberg | 0:0a171d2a8dc1 | 979 | if(i_timer<=0) break; |
bouvdberg | 0:0a171d2a8dc1 | 980 | i_timer--; |
bouvdberg | 0:0a171d2a8dc1 | 981 | |
bouvdberg | 0:0a171d2a8dc1 | 982 | } |
bouvdberg | 1:c18c171bf8b4 | 983 | motordir1 = 1; |
bouvdberg | 1:c18c171bf8b4 | 984 | motordir2 = 1; |
bouvdberg | 1:c18c171bf8b4 | 985 | Brake1=1; |
bouvdberg | 1:c18c171bf8b4 | 986 | Brake2=1; |
bouvdberg | 0:0a171d2a8dc1 | 987 | pwm_motor1.write(0); |
bouvdberg | 0:0a171d2a8dc1 | 988 | pwm_motor2.write(0); |
bouvdberg | 0:0a171d2a8dc1 | 989 | wait(1.0); |
bouvdberg | 0:0a171d2a8dc1 | 990 | Brake1=0; |
bouvdberg | 0:0a171d2a8dc1 | 991 | Brake2=0; |
bouvdberg | 0:0a171d2a8dc1 | 992 | setpointM1=800.0; |
bouvdberg | 0:0a171d2a8dc1 | 993 | setpointM2=2400.0; |
bouvdberg | 1:c18c171bf8b4 | 994 | setpointmin1M1=800.0; |
bouvdberg | 1:c18c171bf8b4 | 995 | setpointmin1M2=2400.0; |
bouvdberg | 0:0a171d2a8dc1 | 996 | pwm_to_motor1=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 997 | pwm_to_motor2=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 998 | foutM1=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 999 | foutM2=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1000 | //foutmin1M1=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1001 | //foutmin1M2=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1002 | //foutverschilM1=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1003 | //foutverschilM2=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1004 | //foutverschilmin1M1=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1005 | //foutverschilmin1M2=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1006 | //foutImin1=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1007 | //foutImin2=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1008 | //foutI1=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1009 | //foutI2=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1010 | //t_sin=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1011 | //t_timer=0.0; |
bouvdberg | 0:0a171d2a8dc1 | 1012 | emg_value1min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1013 | emg_value2min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1014 | emg_value3min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1015 | emg_value4min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1016 | EMGhp1min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1017 | EMGhp2min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1018 | EMGhp3min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1019 | EMGhp4min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1020 | EMGlp1min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1021 | EMGlp2min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1022 | EMGlp3min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1023 | EMGlp4min1=0.5; |
bouvdberg | 0:0a171d2a8dc1 | 1024 | menu=0; |
bouvdberg | 0:0a171d2a8dc1 | 1025 | } |
bouvdberg | 0:0a171d2a8dc1 | 1026 | |
bouvdberg | 0:0a171d2a8dc1 | 1027 | void keep_in_range(float * in, float min, float max) |
bouvdberg | 0:0a171d2a8dc1 | 1028 | { |
bouvdberg | 0:0a171d2a8dc1 | 1029 | *in > min ? *in < max? : *in = max: *in = min; |
bouvdberg | 0:0a171d2a8dc1 | 1030 | } |
bouvdberg | 0:0a171d2a8dc1 | 1031 | |
bouvdberg | 0:0a171d2a8dc1 | 1032 | void setlooptimerflag(void) |
bouvdberg | 0:0a171d2a8dc1 | 1033 | { |
bouvdberg | 0:0a171d2a8dc1 | 1034 | looptimerflag = true; |
bouvdberg | 0:0a171d2a8dc1 | 1035 | } |