Bouke Scheltinga
/
Werk_college_23sept
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Dependencies: Encoder HIDScope MODSERIAL mbed QEI biquadFilter
main.cpp
- Committer:
- ThomasBNL
- Date:
- 2015-10-22
- Revision:
- 47:926669fe14b1
- Parent:
- 40:7f928b465f8d
File content as of revision 47:926669fe14b1:
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// Groep 12: The Chenne Band //
// ___________________________
// // \\
// || [Table of content] ||
// \\___________________________//
//
// Introduction
// Libraries.................................................
//
//
//
//
//============================================================================================================================
// ___________________________
// // \\
// || [Libraries] ||
// \\___________________________//
//
#include "mbed.h"
#include "HIDScope.h"
#include "QEI.h"
#include "MODSERIAL.h"
#include "biquadFilter.h"
#include "encoder.h"
//============================================================================================================================
// ___________________________
// // \\
// || [FLOW AND DEBUGGING TOOLS] ||
// \\___________________________//
//HIDScope scope(1); // DEBUG : HIDSCOPE has the ability to display signals over time and can be used to monitor signals
MODSERIAL pc(USBTX,USBRX); // MODSERIAL : makes it possible to send messages to the computer (eg. inside Putty)
DigitalOut debug_led_red(LED_RED) , debug_led_green(LED_GREEN) , debug_led_blue(LED_BLUE); // DEBUG : Red, Blue and Green LED
DigitalIn buttonL1(PTC6) , buttonL2(PTA4) , buttonH1(D2) , buttonH2(D1); // DEBUG/CALIBRATION: 4 buttons for calibration and debugging
Ticker looptimer; // FLOW : Ticker called looptimer to set a looptimerflag that puts the volatile bool control_go to true every sample
volatile bool control_go = false, sample = false, sample_error, sample_error_strike; // EMG : booleans for controlling sample time of moving average and emg signal
volatile bool looptimerflag; // CONTROLLER : boolean that controls the sample time of the whole controller
double e30, e29, e28, e27, e26, e25, e24, e23, e22, e21, e20, // ACTION : in the action mechanism these variables calculate a current moving average error
e19, e18, e17, e16, e15, e14, e13, e12, e11, e10, e9,
e8, e7, e6, e5, e4, e3, e2, e1, er, error_count, error_turn_average, error_strike_average;
AnalogIn input1(A0), input2(A1); // EMG : Two AnalogIn EMG inputs, input1 (Left bicep), input2 (Right bicep)
double Sample_EMG_L_1, Sample_EMG_L_2, Sample_EMG_L_3, Sample_EMG_L_4, Sample_EMG_L_5, Sample_EMG_L_6,// EMG : Left/Right bicep moving average memory variables (moving average is calculated over ten values)
Sample_EMG_L_7, Sample_EMG_L_8, Sample_EMG_L_9, Sample_EMG_L_10, moving_average_left;
double Sample_EMG_R_1, Sample_EMG_R_2, Sample_EMG_R_3, Sample_EMG_R_4, Sample_EMG_R_5, Sample_EMG_R_6,
Sample_EMG_R_7, Sample_EMG_R_8, Sample_EMG_R_9, Sample_EMG_R_10, moving_average_right;
double minimum_L, maximum_L, EMG_L_min, EMG_L_max; // EMG CALIBRATION: variables that are used during the EMG calibration
double minimum_R, maximum_R, EMG_R_min, EMG_R_max;
double EMG_left_Bicep, EMG_Left_Bicep_filtered,
EMG_Left_Bicep_filtered_notch_1, EMG_Right_Bicep_filtered_notch_1;
double EMG_Right_Bicep, EMG_Left_Bicep_filtered_notch_2,
EMG_Right_Bicep_filtered_notch_2, EMG_Right_Bicep_filtered;
double Threshold_Bicep_Left_1, Threshold_Bicep_Left_2, // EMG ACTION: variables to witch the threshold values calculated after the calibration get asigned to
Threshold_Bicep_Right_1, Threshold_Bicep_Right_2;
double n=0; double c=0; double k=0; double p=0; // FLOW : these flow variables are assigned to certain values through out the script values in order to regulate the flow of the script
// FILTERS EMG
const double low_b0 = 0.05892937945281792 , low_b1 = 0.11785875890563584 , low_b2 = 0.05892937945281792, // Notch 1 LOW : VIA online biquad calculator Lowpass 520-48-0.7071-6
low_a1 = -1.205716572226748 , low_a2 = 0.44143409003801976 ;
const double high_b0 = 0.6389437261127494 , high_b1 = -1.2778874522254988 , high_b2 = 0.6389437261127494, // Notch 2 HIGH: VIA online biquad calculator Highpass 520-52-0.7071-6
high_a1 = -1.1429772843080923 , high_a2 = 0.41279762014290533 ;
const double high_b0_HP = 0.84855234544818812 , high_b1_HP = -1.6970469089637623 , high_b2_HP = 0.8485234544818812, // HIGHPASS : NOG OPZOEKEN!! : >25Hz? sample rate 512Hz
high_a1_HP = -1.6564788473046559 , high_a2_HP = 0.7376149706228688 ;
const double low_b0_LP = 0.0013067079602315681, low_b1_LP = 0.0026134159204631363, low_b2_LP = 0.0013067079602315681, // LOWPASS : NOG OPZOEKEN!! <5-10 Hz? sample rate 512Hz
low_a1_LP = -1.9238184798980429 , low_a2_LP = 0.9290453117389691 ;
//Left bicep Filters
biquadFilter highpassfilter_1(high_a1_HP, high_a2_HP, high_b0_HP, high_b1_HP, high_b2_HP); // EMG : moeten nog waardes voor gemaakt worden? (>25Hz doorlaten)
biquadFilter notchL1(high_a1, high_a2, high_b0, high_b1, high_b2); // EMG : moeten nog waardes voor gemaakt worden (>52Hz doorlaten)
biquadFilter notchL2(low_a1, low_a2, low_b0, low_b1, low_b2); // EMG : moeten nog waardes voor gemaakt worden (<48Hz doorlaten)
biquadFilter lowpassfilter_1(low_a1_LP, low_a2_LP, low_b0_LP, low_b1_LP, low_b2_LP);
// Right bicep Filters
biquadFilter highpassfilter_2(high_a1_HP, high_a2_HP, high_b0_HP, high_b1_HP, high_b2_HP); // EMG : moeten nog waardes voor gemaakt worden?
biquadFilter notchR1(high_a1, high_a2, high_b0, high_b1, high_b2); // EMG : moeten nog waardes voor gemaakt worden
biquadFilter notchR2(low_a1, low_a2, low_b0, low_b1, low_b2); // EMG : moeten nog waardes voor gemaakt worden
biquadFilter lowpassfilter_2(low_a1_LP, low_a2_LP, low_b0_LP, low_b1_LP, low_b2_LP); // EMG : moeten nog waardes voor gemaakt worden
// MOTORS
QEI motor_turn(D12,D13,NC,32); QEI motor_strike(D9,D10,NC,32); // TURN - STRIKE : Encoder for motor
PwmOut pwm_motor_turn(D5); PwmOut pwm_motor_strike(D6); // TURN - STRIKE : Pwm for motor
DigitalOut motordirection_turn(D4); DigitalOut motordirection_strike(D7); // TURN - STRIKE : Direction of the motor
double integrate_error_turn=0, previous_error_turn=0; double integrate_error_strike=0, previous_error_strike=0; // TURN - STRIKE : previous error and integration error motor
double position_turn, error_turn, reference_turn; double position_strike, error_strike, reference_strike;
double P_gain_turn; double I_gain_turn; double D_gain_turn; double P_gain_strike; double I_gain_strike; double D_gain_strike; // TURN - STRIKE : these gains get multiplied with the error inside the PID controller // TURN: these gains get multiplied with the error inside the PID controller
double pwm_motor_turn_P, pwm_motor_turn_I, pwm_motor_turn_D; double pwm_motor_strike_P, pwm_motor_strike_I, pwm_motor_strike_D; // TURN - STRIKE : variables that store the P, I and D action part of the error
double pwm_to_motor_turn; double pwm_to_motor_strike; // TURN - STRIKE : variable that is constructed by summing the values of the P, I and D action
// FILTER: D-action
// const double a0 = 0.000332685098529822, a1 = 0.000665370197059644, a2 = 0.000332685098529822, b1 = -1.9625271814290315, b2 = 0.9638579218231508;
//const double a0 = 0.000021080713160785432, a1 = 0.000042161426321570865, a2 = 0.000021080713160785432, b1 = -1.990754082898736, b2 = 0.9908384057513788; //(0.75Hz)
const double a0 = 0.003543360146633312, a1 = 0.007086720293266624, a2 = 0.003543360146633312, b1 = -1.8704759567901301, b2 = 0.8846493973766635; //(10Hz)
// const double a0 = 0.0009129521023626334, a1 = 0.0018259042047252668, a2 = 0.0009129521023626334, b1 = -1.9368516414202819, b2 = 0.9405034498297324; (5Hz)
biquadFilter Lowpassfilter_derivative(b1,b2,a0,a1,a2); // BiquadFilter used for the filtering of the Derivative action of the PID-action
const double cw=0; // MOTOR: turn direction zero is clockwise (front view)
const double ccw=1; // MOTOR: turn direction one is counterclockwise (front view)
const double off=1; // Led off
const double on=0; // Led on
const int Fs = 512; // sampling frequency (512 Hz)
const double sample_time = 0.001953125; // duration of one sample
double conversion_counts_to_degrees=0.085877862594198; // Calculation conversion counts to degrees
// gear ratio motor = 131
// ticks per magnet rotation = 32 (X2 Encoder)
// One revolution = 360 degrees
// degrees_per_encoder_tick = 360/(gear_ratio*ticks_per_magnet_rotation)=360/131*32=0.085877862594198
const double change_one_bottle=45;
const double Hit=60; // position when bottle is hit
//============================================================================================================================
// ___________________________
// // \\
// || [FUNCTIONS USED] ||
// \\___________________________//
void execute_plant_turn (); // TURN : Check error -> execute PID controller -> write pwm and direction to motor
void execute_plant_strike ();
double PID_control (double reference, double position, double &integrate_error,
double sample_time, double &previous_error,
double P_gain, double I_gain, double D_gain);
void keep_in_range (double * in, double min, double max); // Put in a value and makes sure that the value stays between assigned boundary's
void setlooptimerflag (void); // Sets looptimerflag volatile bool to true
void deactivate_PID_Controller (double& P_gain, double& I_gain, double& D_gain); // STRIKE/TURN: Deactivate PID Controller
void activate_PID_Controller_strike (double& P_gain, double& I_gain, double& D_gain); // STRIKE: Activate PID Controller
void activate_PID_Controller_turn (double& P_gain, double& I_gain, double& D_gain); // TURN : Activate PID Controller
void Change_Turn_Position_Left (double& reference, double change_one_bottle); // TURN : Change Reference position one bottle to the left
void Change_Turn_Position_Right (double& reference, double change_one_bottle); // TURN : Change Reference position one bottle to the right
void countdown_from_5(); // PUTTY : 5 second countdown inside
void calibrate_motor(); // MOTOR : Calibrate starting position motor
void calibration(); // EMG : Calibrate the EMG signal (calculate min and max signal and determine threshold values)
void Filter(); // EMG : Filter the incoming EMG signals
void sample_filter(); // EMG : Calculate moving average (10 samples, one sample per 25 samples) using sample_filter => moving average over +-0.5 seconds
void take_sample(); // EMG : Take a sample once every 25 samples that's used to calculate the moving average
void ControlGo(); // EMG : function that gets a ticker attached and sets a certain loop to true every sample
void red();void blue();void green();void white();void yellow();void cyan();void purple(); void black(); // DEBUG: Different color LEDS
void calibrate_potmeter(); // DEBUG/TEST : Calibration thresholds with potmeter
void Action_Controller(); // CONTROLLER : Decides and executes if the robot needs to turn to the left, right or strike based on the currently measured EMG signal
//============================================================================================================================
///////////////////////////////
// //
///////////////////////////////////////////// [MAIN FUNCTION] /////////////////////////////////////////////////////
// //
///////////////////////////////
//============================================================================================================================
int main() {
black(); // No LED active
pc.printf("Start of code \n\r");
pc.baud(115200); // PC contactspeed : Set the baudrate
red();
calibrate_motor(); // MOTOR CALIBRATE : The motor starting position (RED LED)
blue();
//calibration(); // EMG CALIBRATE : The motor starting position (BLUE LED)
calibrate_potmeter(); // DEBUG/TEST : Calibration thresholds with potmeter
looptimer.attach(setlooptimerflag,(float)1/Fs); // CONTROLLER FLOW : Calls the looptimer flag every sample
black();
wait (3); // REST before starting position
green(); // START CONTROLLOOP (GREEN LED)
Action_Controller(); // CONTROLLER : Decides and executes if the robot needs to turn to the left, right or strike based on the currently measured EMG signal
}
//============================================================================================================================
///////////////////////////////
// //
///////////////////////////////////////////// [FUNCTIONS DESCRIBED] /////////////////////////////////////////////////////
// //
///////////////////////////////
//============================================================================================================================
// FUNCTION 1 ___________________________
// // \\
// || [ACTIONCONTROLLER] ||
// \\___________________________//
void Action_Controller()
{
while (1)
{ // Start while loop
while(looptimerflag != true);
looptimerflag = false;
Nieuwe_actie: // Return here if action left, right or strike is executed
green(); // GREEN LED: ready to fire again
//// sample_filter(); // TIJDELIJK UIT: What is the current EMG value
// POTMETER: SIMULATE EMG SIGNAL
moving_average_left = (input1.read())*100; // EMG Right bicep (tussen nul en 100%) // DEBUG TEST TOOL: substitute EMG input for potmeter inputs
moving_average_right = (input2.read())*100; // EMG Left bicep (tussen nul en 100%) // DEBUG TEST TOOL: substitute EMG input for potmeter inputs
pc.printf("mov_r = %f, mov_l = %f \n\r", moving_average_right, moving_average_left);
// ___________________________
// : [Action 2: Turn Left] :
// :___________________________:
//
// //Blue (strike) - Yellow (return)\\
// TEMPORARY: TO TEST STRIKE MECHANISM
moving_average_left = 40; // TIJDELIJK PID TEST
moving_average_right = 40; // TIJDELIJK PID TEST
if (moving_average_right > Threshold_Bicep_Right_1 && moving_average_left > Threshold_Bicep_Left_1) // Statement 1 (if both are satisfied execute)
{ // Statement 1 start
blue(); n=0; k=0; p=0;
pc.printf("Slag \n\r");
wait(0.5); // TIJDELIJK??
if(moving_average_left > Threshold_Bicep_Left_1 && moving_average_right > Threshold_Bicep_Right_1) // Check if statement 1 is still true then continue and start Strike
{ // Statement 2 start
while(1)
{ // inf while loop strike until finished start
if (n==0) // Change the reference point of the PID Strike controller
{ reference_strike=90; n=1; error_count=0; } // Execute once (n is set to one and only gets executed if n equals zero)
if (looptimerflag == true) // Loop that executes the strike controller every sample (inside the controller the loudness is regulated)
{
looptimerflag=false;
activate_PID_Controller_strike(P_gain_strike, I_gain_strike, D_gain_strike);
execute_plant_strike();
}
if (fabs(position_strike)>Hit) // If the bottle is hit (hit if the position is greater than the set hit point) then initiate return
{ // Statement Return start
while(1)
{ // inf while loop return after strike start
yellow();
if(k==0) // Change reference point of the PID Strike controller back to the original position
{
p=1; reference_strike=0; error_count=0; k=1;
pc.printf("return \n\r");
}
//pc.printf("ref_t = %f, e_cnt= %f e_av=%f \n\r k=%f, er_cnt= %f", reference_strike, error_strike, error_strike_average, k, error_count); // LINE USED FOR TESTING
if (looptimerflag == true) // Loop that executes the strike controller every sample (loudness is deactivated by the value of p)
{
looptimerflag=false;
activate_PID_Controller_strike(P_gain_strike, I_gain_strike, D_gain_strike);
execute_plant_strike();
}
printf(" %f \n\r",error_strike_average); // LINE USED FOR TESTING
if (fabs(error_strike_average) < 0.5 && error_count>100) // If error is small enough and at least 100 samples have passed since the return execute new action
{
yellow();
pc.printf("new action \n\r");
deactivate_PID_Controller(P_gain_strike, I_gain_strike, D_gain_strike);
execute_plant_strike();
goto Nieuwe_actie;
}
} // inf while loop return after strike end
} // Statement Return end
} // inf while loop strike until finished end
} // Statement 2 end
} // Statement 1 end
// ___________________________
// : [Action 2: Turn Left] :
// :___________________________:
//
// //Yellow\\
if (moving_average_left > Threshold_Bicep_Left_2 && moving_average_right < Threshold_Bicep_Right_1)
{
yellow(); n=0;
pc.printf("LEFT \n\r");
wait(2); // TIJDELIJK
while(moving_average_left > Threshold_Bicep_Left_1 && moving_average_right < Threshold_Bicep_Right_1)
{
if (n==0)
{
Change_Turn_Position_Left(reference_turn, change_one_bottle);
n=1; error_count=0;
}
// pc.printf("ref_t = %f, e_cnt= %f e_av=%f \n\r", reference_turn, error_count, error_turn_average); // LINE USED FOR TESTING
if (looptimerflag == true)
{
looptimerflag=false;
activate_PID_Controller_turn(P_gain_turn, I_gain_turn, D_gain_turn);
execute_plant_turn();
}
if (fabs(error_turn_average) < 1 && error_count>250)
{
pc.printf("new action \n\r");
deactivate_PID_Controller(P_gain_turn, I_gain_turn, D_gain_turn);
execute_plant_turn();
goto Nieuwe_actie;
}
}
}
// ___________________________
// : [Action 3: Turn Right] :
// :___________________________:
//
// //Purple\\
if (moving_average_right > Threshold_Bicep_Right_2 && moving_average_left < Threshold_Bicep_Left_1)
{
purple(); n=0;
pc.printf("Right \n\r");
wait(2); // TIJDELIJK
while(moving_average_right > Threshold_Bicep_Right_1 && moving_average_left < Threshold_Bicep_Left_1)
{
if (n==0)
{
Change_Turn_Position_Right(reference_turn, change_one_bottle);
n=1; error_count=0;
}
// pc.printf("ref_t = %f, e_cnt= %f e_av=%f \n\r", reference_turn, error_count, error_turn_average); // LINE USED FOR TESTING
if (looptimerflag == true)
{
looptimerflag=false;
activate_PID_Controller_turn(P_gain_turn, I_gain_turn, D_gain_turn);
execute_plant_turn();
}
if (fabs(error_turn_average) < 1 && error_count>250)
{
pc.printf("new action \n\r");
deactivate_PID_Controller(P_gain_turn, I_gain_turn, D_gain_turn);
execute_plant_turn();
goto Nieuwe_actie;
}
}
}
}
}
// ___________________________
// // \\
// || [CALIBRATE] ||
// \\___________________________//
// Calibrate starting postion (RED LED)
// ___________________________
// : [Starting position motor] :
// :___________________________:
//
void calibrate_motor()
{
pc.printf("Button calibration \n\r");
while(1)
{
red();// RED LED
if (buttonL2.read() < 0.5)
{ motordirection_turn = cw;
pwm_motor_turn = 0.02; }
if (buttonL1.read() < 0.5)
{ motordirection_turn = ccw;
pwm_motor_turn = 0.02; }
pwm_motor_turn = 0;
if (buttonH2.read() < 0.5)
{ motordirection_strike = cw;
pwm_motor_strike = 0.02; }
if (buttonH1.read() < 0.5)
{ motordirection_strike = ccw;
pwm_motor_strike = 0.02; }
pwm_motor_strike = 0;
if ((buttonL2.read() < 0.5) && (buttonL1.read() < 0.5)) // Save current TURN and STRIKE positions as starting position
{
motor_turn.reset(); // TURN : Starting Position
reference_turn=0; // TURN : Set reference position to zero
motor_strike.reset(); // STRIKE : Starting Position
goto calibration_starting_position_complete; // Calibration complete (exit while loop)
}
}
calibration_starting_position_complete:
}
// ___________________________
// // \\
// || [EMG_Calibration] ||
// \\___________________________//
//
void calibration()
{
// ___________________________________
// : [Minimum value bicep calibration] :
// :___________________________________:
blue();
pc.printf("Start minimum calibration in 5 seconds \n\r");
pc.printf("Keep your biceps as relaxed as possible \n\r");
countdown_from_5();
c=0;
while(c<2560) // 512Hz -> 2560 is equal to five seconds
{
Filter(); // Filter EMG signal
minimum_L=EMG_Left_Bicep_filtered+minimum_L; // Take previous sample EMG_Left_Bicep_filtered and add the new value
minimum_R=EMG_Right_Bicep_filtered+minimum_R;
c++; // Every sample c is increased by one until the statement c<2560 is false
wait(0.001953125); // wait one sample
}
pc.printf("Finished minimum calibration \n\r");
EMG_L_min=minimum_L/2560; // Divide the summation by the number of measurements (2560 measurements) to get a mean value over 5 seconds
EMG_R_min=minimum_R/2560;
pc.printf("EMG_L_min = %f \n\r EMG_R_min = %f \n\r", EMG_L_min, EMG_R_min);
wait (3); // Cooldown
// ___________________________________
// : [Maximum value bicep calibration] :
// :___________________________________:
//
pc.printf("start maximum calibration in 5 seconds (start contraction at 3) \n\r");
countdown_from_5();
c=0;
while(c<2560) // 512Hz -> 2560 is equal to five seconds
{
Filter(); // Filter EMG signal
maximum_L=EMG_Left_Bicep_filtered+maximum_L; // Take previous sample EMG_Left_Bicep_filtered and add the new value
maximum_R=EMG_Right_Bicep_filtered+maximum_R;
c++; // Every sample c is increased by one until the statement c<2560 is false
wait(0.001953125);
}
pc.printf("Finished minimum calibration \n\r");
EMG_L_max=maximum_L/2560; // Divide the summation by the number of measurements (2560 measurements) to get a mean value over 5 seconds
EMG_R_max=maximum_R/2560;
pc.printf("EMG_L_max = %f \n\r EMG_R_max = %f \n\r", EMG_L_max, EMG_R_max);
wait (3); // Cooldown
// _______________________________________________
// : [THRESHOLDS CALCULATION FROM MIN AND MAX EMG] :
// :_______________________________________________:
//
const float Threshold_Bicep_Left_1=((EMG_L_max-EMG_L_min)*0.2)+EMG_L_min;; // EMG LEFT: Threshold put at 20% of the EMG range
const float Threshold_Bicep_Left_2=((EMG_L_max-EMG_L_min)*0.6)+EMG_L_min; // EMG LEFT: Threshold put at 60% of the EMG range
const float Threshold_Bicep_Right_1=((EMG_R_max-EMG_R_min)*0.2)+EMG_R_min; // EMG RIGHT: Threshold put at 20% of the EMG range
const float Threshold_Bicep_Right_2=((EMG_R_max-EMG_R_min)*0.6)+EMG_R_min; // EMG RIGHT: Threshold put at 60% of the EMG range
pc.printf("left 1: %f left 2: %f right 1: %f right 2: %f \n\r", Threshold_Bicep_Left_1, Threshold_Bicep_Left_2, Threshold_Bicep_Right_1, Threshold_Bicep_Right_2);
}
// ___________________________
// // \\
// || [TURN PLANT] ||
// \\___________________________//
void execute_plant_turn()
{
if ((motor_turn.getPulses()>4200) || (motor_turn.getPulses()<-4200)) // If value exceeds -4200 and 4200 (number of counts equal to one revolution) than reset to zero
{ motor_turn.reset(); }
position_turn = conversion_counts_to_degrees * motor_turn.getPulses(); // Convert counts to degrees
double pwm_to_motor_turn = PID_control(reference_turn, position_turn, integrate_error_turn, sample_time, previous_error_turn, P_gain_turn, I_gain_turn, D_gain_turn);
// Execute PID controller and calculate the pwm to put to the motor
keep_in_range(&pwm_to_motor_turn, -1,1); // Pass to the plant but make sure the max and min pwm put to the plant stays between -1 and 1
//pc.printf("pwm %f \n\r", pwm_to_motor_turn); // LINE FOR TESTING
if(pwm_to_motor_turn > 0) // Check error and decide the direction the motor has to turn
{ motordirection_turn=ccw;}
else
{ motordirection_turn=cw; }
pwm_motor_turn=(abs(pwm_to_motor_turn)); // Put the absolute value of the PID controller to the pwm (negative pwm does not work)
take_sample(); // TEMPORARY -> use sample_filter() normally
// sample_filter();
if(sample_error) // sample_error -- e10;e9;e8;e7;e6;e5:e4;e3;e2;e1 -- error_turn_average --- er
{
sample_error=false;
e1 = (position_turn - reference_turn);
e30=e29; e29=e28 ;e28=e27; e27=e26; e26=e25; e25=e24; e24=e23; e23=e22; e22=e21; e21=e20;
e20=e19; e19=e18 ;e18=e17; e17=e16; e16=e15; e15=e14; e14=e13; e13=e12; e12=e11; e11=e10;
e10=e9 ;e9=e8; e8=e7; e7=e6; e6=e5; e5=e4; e4=e3; e3=e2; e2=e1;
}
error_turn_average=(e1+e2+e3+e4+e5+e6+e7+e8+e9+e10+e11+e12+e13+e14+e15+e16+e17+e18+e19+e20+e21+e22+e23+e24+e25+e26+e27+e28+e29+e30)/30;
er++;
error_count++;
}
// ___________________________
// // \\
// || [STRIKE PLANT] ||
// \\___________________________//
//
void execute_plant_strike()
{
if ((motor_strike.getPulses()>4200) || (motor_strike.getPulses()<-4200)) // If value is outside -4200 and 4200 (number of counts equal to one revolution) reset to zero
{
motor_strike.reset();
pc.printf("RESET \n\r");
}
position_strike = conversion_counts_to_degrees * motor_strike.getPulses();
double pwm_to_motor_strike=PID_control(reference_strike, position_strike, integrate_error_strike, sample_time, previous_error_strike, P_gain_strike, I_gain_strike, D_gain_strike);
keep_in_range(&pwm_to_motor_strike, -1,1); // Pass to motor controller but keep it in range!
if(pwm_to_motor_strike > 0) // Check error and decide direction to turn
{ motordirection_strike=cw; }
else
{ motordirection_strike=ccw; }
if(p==1) // p is put to one if return action is put to active
{ pwm_motor_strike=(abs(pwm_to_motor_strike)); }
// TEMPORARY USAGE WHILE POTMETER ACTIVE
EMG_L_max = 100; // Calibreren (max average over 5 seconde?) gemeten integraal EMG over tijd / (tijdsample stappen)=100
EMG_L_min = 0;
EMG_R_max = 100; // Calibreren
EMG_R_min = 0;
const double Threshold_Bicep_Left_1 =((EMG_L_max-EMG_L_min)*0.2)+EMG_L_min;; //(waarde waarop het gemeten EMG signaal 20% van max het maximale is); // LEFT
const double Threshold_Bicep_Right_1 =((EMG_R_max-EMG_R_min)*0.2)+EMG_R_min; //(waarde waarop het gemeten EMG signaal 20% van max het maximale is); // RIGHT
moving_average_left = 40; // TIJDELIJK PID TEST
moving_average_right = 40; // TIJDELIJK PID TEST
double signal_above_threshold=(moving_average_right-Threshold_Bicep_Right_1)+(moving_average_left-Threshold_Bicep_Left_1);
double max_signal=(EMG_R_max-Threshold_Bicep_Right_1)+(EMG_L_max-Threshold_Bicep_Left_1);
double pwm_strike=signal_above_threshold/max_signal;
//pc.printf("mov_r = %f, mov_l = %f, pwm_strike = %f position = %f \n\r", moving_average_right, moving_average_left, pwm_strike, position_strike); // LINE FOR TESTING
if(p==0)
{ pwm_motor_strike=pwm_strike; }
take_sample(); // UITEINDELIJK: UIT
// sample_filter(); --> sample filter aan als EMG
if(sample_error_strike)
{
sample_error_strike=false;
e1 = fabs(position_strike - reference_strike);
e30=e29; e29=e28 ;e28=e27; e27=e26; e26=e25; e25=e24; e24=e23; e23=e22; e22=e21; e21=e20;
e20=e19; e19=e18 ;e18=e17; e17=e16; e16=e15; e15=e14; e14=e13; e13=e12; e12=e11; e11=e10;
e10=e9 ;e9=e8; e8=e7; e7=e6; e6=e5; e5=e4; e4=e3; e3=e2; e2=e1;
}
error_strike_average=(e1+e2+e3+e4+e5+e6+e7+e8+e9+e10+e11+e12+e13+e14+e15+e16+e17+e18+e19+e20+e21+e22+e23+e24+e25+e26+e27+e28+e29+e30)/30;
er++;
error_count++;
}
// ___________________________
// // \\
// || [PID CONTROLLER] ||
// \\___________________________//
//
double PID_control(double reference, double position, double &integrate_error, double sample_time, double &previous_error, double P_gain, double I_gain, double D_gain)
{
double error=(reference - position); // Current error (input controller)
integrate_error=integrate_error_turn + sample_time*error_turn; // Integral error output
// overwrite previous integrate error by adding the current error
// multiplied by the sample time.
double error_derivative=(error - previous_error)/sample_time; // Derivative error output
error_derivative=Lowpassfilter_derivative.step(error_derivative); // Filter
previous_error_turn=error_turn; // current error is saved to memory constant to be used in
// the next loop for calculating the derivative error
double pwm_motor_P = error*P_gain; // Output P controller to pwm
double pwm_motor_I = integrate_error*I_gain; // Output I controller to pwm
double pwm_motor_D = error_derivative*D_gain; // Output D controller to pwm
double pwm_to_motor = pwm_motor_P + pwm_motor_I + pwm_motor_D;
return pwm_to_motor;
}
// ___________________________
// // \\
// || [SAMPLE] ||
// \\___________________________//
//
void sample_filter()
{
Filter();
take_sample();
if(sample)
{
sample=false;
Sample_EMG_L_1 = EMG_Left_Bicep_filtered; Sample_EMG_R_1 = EMG_Right_Bicep_filtered;
Sample_EMG_L_10= Sample_EMG_L_9; Sample_EMG_R_10= Sample_EMG_R_9;
Sample_EMG_L_9 = Sample_EMG_L_8; Sample_EMG_R_9 = Sample_EMG_R_8;
Sample_EMG_L_8 = Sample_EMG_L_7; Sample_EMG_R_8 = Sample_EMG_R_7;
Sample_EMG_L_7 = Sample_EMG_L_6; Sample_EMG_R_7 = Sample_EMG_R_6;
Sample_EMG_L_6 = Sample_EMG_L_5; Sample_EMG_R_6 = Sample_EMG_R_5;
Sample_EMG_L_5 = Sample_EMG_L_4; Sample_EMG_R_5 = Sample_EMG_R_4;
Sample_EMG_L_4 = Sample_EMG_L_3; Sample_EMG_R_4 = Sample_EMG_R_3;
Sample_EMG_L_3 = Sample_EMG_L_2; Sample_EMG_R_3 = Sample_EMG_R_2;
Sample_EMG_L_2 = Sample_EMG_L_1; Sample_EMG_R_2 = Sample_EMG_R_1;
}
moving_average_left=Sample_EMG_L_1*0.1+Sample_EMG_L_2*0.1+Sample_EMG_L_3*0.1+Sample_EMG_L_4*0.1+Sample_EMG_L_5*0.1+Sample_EMG_L_6*0.1+Sample_EMG_L_7*0.1+Sample_EMG_L_8*0.1+Sample_EMG_L_9*0.1+Sample_EMG_L_10*0.1;
moving_average_right=Sample_EMG_R_1*0.1+Sample_EMG_R_2*0.1+Sample_EMG_R_3*0.1+Sample_EMG_R_4*0.1+Sample_EMG_R_5*0.1+Sample_EMG_R_6*0.1+Sample_EMG_R_7*0.1+Sample_EMG_R_8*0.1+Sample_EMG_R_9*0.1+Sample_EMG_R_10*0.1;
n++;
}
// ___________________________
// // \\
// || [ FILTER ] ||
// \\___________________________//
//
void Filter() // Unfiltered EMG (input) -> highpass filter -> rectify -> lowpass filter -> Filtered EMG (output)
{
EMG_left_Bicep = input1; EMG_Right_Bicep = input2; // Current input EMG left and right
EMG_Left_Bicep_filtered = highpassfilter_1.step(EMG_left_Bicep); EMG_Right_Bicep_filtered = highpassfilter_2.step(EMG_Right_Bicep); // Highpassfilter
EMG_Left_Bicep_filtered = fabs(EMG_Left_Bicep_filtered); EMG_Right_Bicep_filtered = fabs(EMG_Right_Bicep_filtered); // Rectify
EMG_Left_Bicep_filtered_notch_1 = notchL1.step(EMG_Left_Bicep_filtered); EMG_Right_Bicep_filtered_notch_1 = notchR1.step(EMG_Right_Bicep_filtered); // Notch Filter part 1
EMG_Left_Bicep_filtered_notch_2 = notchL2.step(EMG_Left_Bicep_filtered_notch_1); EMG_Right_Bicep_filtered_notch_2 = notchR2.step(EMG_Right_Bicep_filtered_notch_1); // Notch Filter part 2
EMG_Left_Bicep_filtered = lowpassfilter_1.step(EMG_Left_Bicep_filtered_notch_2); EMG_Right_Bicep_filtered = lowpassfilter_2.step(EMG_Right_Bicep_filtered_notch_2); // Lowpassfilter
}
// ___________________________
// // \\
// || [TAKE SAMPLE] ||
// \\___________________________//
//
void take_sample() // Take a sample every 25th sample for moving average, every 5th sample ....
{
if(n==25)
{sample = true; n=0;}
if(er==5)
{sample_error = true; er=0;}
sample_error_strike = true;
}
// ___________________________
// // \\
// || [CHANGE REFERENCE] ||
// \\___________________________//
//
void Change_Turn_Position_Right (double& reference, double change_one_bottle)
{
if(reference==90) // If reference value at right boundary bottle and function is executed than immediatly turn 5 bottles to the left (ref to -90)
{ reference=-90; }
else
{ reference = reference + change_one_bottle;
keep_in_range(&reference, -90, 90); } // reference position stays between -90 and 90 degrees (IF bottles at -90, -45, 0, 45, 90 degrees)
}
void Change_Turn_Position_Left (double& reference, double change_one_bottle)
{
if(reference==-90) // If reference value at left boundary bottle and function is executed than immediatly turn 5 bottles to the left (ref to +90)
{ reference=90; }
else
{ reference = reference - change_one_bottle;
keep_in_range(&reference, -90, 90); }
}
// ___________________________
// // \\
// | [(DE)ACTIVATE PID CONTROLLERS] |
// \\___________________________//
//
void deactivate_PID_Controller(double& P_gain, double& I_gain, double& D_gain)
{
P_gain=0; I_gain=0; D_gain=0; // Deactivating values of PID controller
pwm_motor_turn=0; pwm_motor_strike=0;
}
void activate_PID_Controller_turn(double& P_gain, double& I_gain, double& D_gain)
{
P_gain_turn=0.02; // Change P,I,D values (activate)
I_gain_turn=0.1;
D_gain_turn=0;
}
void activate_PID_Controller_strike(double& P_gain, double& I_gain, double& D_gain)
{
double Ku = (input1.read())*1; // EMG Right bicep (tussen nul en 100%) // DEBUG TEST TOOL: substitute EMG input for potmeter inputs
double Pu = (input2.read())*1; // EMG Left bicep (tussen nul en 100%)
P_gain_strike=0.8*Ku; // Ku=0.2 (ultimate gain Ziegler-Nichols method)
// Pu=0.25 (ultimate period) (4Hz)
pc.printf("Ku=%f Pu=%f \n\r", Ku, Pu);
//0.09090909;
//PI tyreus luyben : 0.0625, 0.55;
//PID tyreus luyben : 0.09090909, 0.55, 0.0396825;
// Ku=0.2 (ultimate gain Ziegler-Nichols method)
// Pu=0.25 (ultimate period) (4Hz)
// hier waardes P,I,D veranderen (waardes bovenaan doen (tijdelijk) niks meer // 0.00045 // 0.03
I_gain_strike=0; //0.55;
D_gain_strike=Pu/8; //0.0396825;
}
// ___________________________
// // \\
// || [OTHER FUNCTIONS] ||
// \\___________________________//
//
void countdown_from_5() // Countdown from 5 till 0 inside Putty (interface)
{
wait(1); pc.printf("5 \n\r"); wait(1); pc.printf("4 \n\r"); wait(1); pc.printf("3 \n\r"); wait(1); pc.printf("2 Ready \n\r");
wait(1); pc.printf("1 Set \n\r"); wait(1); pc.printf("Go \n\r");
}
void ControlGo() // Control flag
{ control_go = true; }
void setlooptimerflag(void) // Looptimerflag function
{ looptimerflag = true; }
void red() { debug_led_red=on; debug_led_blue=off; debug_led_green=off; }
void blue() { debug_led_red=off; debug_led_blue=on; debug_led_green=off; }
void green() { debug_led_red=off; debug_led_blue=off; debug_led_green=on; }
void white() { debug_led_red=on; debug_led_blue=on; debug_led_green=on; }
void yellow() { debug_led_red=on; debug_led_blue=off; debug_led_green=on; }
void cyan() { debug_led_red=off; debug_led_blue=on; debug_led_green=on; }
void purple() { debug_led_red=on; debug_led_blue=on; debug_led_green=off; }
void black() { debug_led_red=off; debug_led_blue=off; debug_led_green=off; }
void calibrate_potmeter() // DEBUG/TEST: Calibration thresholds with potmeter
{
// TEMPORARY USAGE WHILE POTMETER ACTIVE
EMG_L_max = 100;
EMG_L_min = 0;
EMG_R_max = 100;
EMG_R_min = 0;
Threshold_Bicep_Left_1 =((EMG_L_max-EMG_L_min)*0.2)+EMG_L_min;; //(waarde waarop het gemeten EMG signaal 20% van max het maximale is); // LEFT
Threshold_Bicep_Left_2 =((EMG_L_max-EMG_L_min)*0.6)+EMG_L_min; //(waarde waarop het gemeten EMG signaal 60% van max het maximale is);
Threshold_Bicep_Right_1 =((EMG_R_max-EMG_R_min)*0.2)+EMG_R_min; //(waarde waarop het gemeten EMG signaal 20% van max het maximale is); // RIGHT
Threshold_Bicep_Right_2 =((EMG_R_max-EMG_R_min)*0.6)+EMG_R_min; //(waarde waarop het gemeten EMG signaal 60% van max het maximale is);
}
// Keep in range function
void keep_in_range(double * in, double min, double max) // Put in certain min and max values that the input needs to stay within
{
*in > min ? *in < max? : *in = max: *in = min;
}
