File content as of revision 60:c165691c4e86:

//=======================================================================================================================================================   
//libraries
#include "mbed.h"           //mbed revision 113
#include "HIDScope.h"       //Hidscope by Tom Lankhorst
#include "BiQuad.h"         //BiQuad by Tom Lankhorst
#include "MODSERIAL.h"      //Modserial
#include "QEI.h"            //QEI library for the encoders


//=======================================================================================================================================================   
//Define objects
//Tickers
Ticker      ticker_referenceangle;      //ticker for the reference angle
Ticker      ticker_controllerm1;        //ticker for the controller (PID) of motor 1
Ticker      ticker_encoder;             //ticker for encoderfunction motor 1

//Timer
Timer       timer;

//Monitoring
MODSERIAL pc(USBTX, USBRX);             //pc connection
DigitalOut red(LED_RED);                //LED on K64F board, 1 is out; 0 is on
DigitalOut green(LED_GREEN);            //LED on K64f board, 1 is out; o is on

//buttons
DigitalIn  button__right_biceps(D9);
DigitalIn  button__left_biceps(PTC12);
InterruptIn  button_switch(SW3);    

//motors
DigitalOut richting_motor1(D7);  //motor 1 connected to motor 1 at k64f board; for turningtable
PwmOut pwm_motor1(D6);
DigitalOut richting_motor2(D4);  //motor 2 connected to motor 2 at k64f board; for linear actuator
PwmOut pwm_motor2(D5);

//encoders
DigitalIn encoder1A(D13);
DigitalIn encoder1B(D12);

//controller
BiQuad PID_controller;                  

//=======================================================================================================================================================   
//define variables

//on/off and switch signals
int switch_signal = 0;        //start of counter, switch made by even and odd numbers

//motorvariables
float speedmotor1=0.18; //speed of motor 1 is 0.18 pwm at start
float speedmotor2=1.0;  //speed of motor 2 is 1.0 pwm at start

int cw=0;               //clockwise direction
int ccw=1;              //counterclockwise direction

//encoder
int   counts_encoder1;              //variable to count the pulses given by the encoder, 1 indicates motor 1
float rev_counts_motor1;            //calculated revolutions
float rev_counts_motor1_rad;        //calculated revolutions in rad!
const float gearboxratio=131.25;    //gearboxratio from encoder to motor
const float rev_rond=64.0;          //number of revolutions per rotation 

QEI Encoder1(D13,D12,NC,rev_rond,QEI::X4_ENCODING); //To set the encoder 

//reference
volatile float   d_ref = 0;     //reference angle, starts off 0
const float      w_ref = 1.5;   //reference speed, constant
volatile double  t_start;       //starttime of the timer
volatile double  w_var;         //variable reference speed for making the reference signal 
const double     Ts = 0.001;    //time step for diverse tickers. It is comparable to a frequency of 1000Hz

//controller
const double        Kp = 1.2614;    //calculated value for the proportional action of the PID      
const double        Ki = 0.4219;    //calculated value for the integral action of the PID
const double        Kd = 0.8312;    //calculated value for the derivative action of the PID
const double        N = 100;        //specified value for the filter coefficient of the PID
volatile double     error1;         //calculated error
volatile double     controlOutput;  //output of the PID-controller
bool                start_motor = true; //bool to start the reference when the motor turns


//=======================================================================================================================================================   
//=======================================================================================================================================================   
//voids
//=======================================================================================================================================================   

//function teller
void switch_function() {         // The switch function. Makes it possible to switch between the motors. It simply adds one at switch_signal.
    if(button_switch==0){
        switch_signal++;
           
    // To monitor what is happening: we will show the text in putty and change led color from red to green or vice versa.
    
        green=!green;
        red=!red;
        
        if (switch_signal%2==0){
             pc.printf("If you push button 1 , the robot will go right \r\n");    
             pc.printf("If you push button 2, the robot will go left \r\n");
             pc.printf("\r\n");
        }
       
    
        else{
             pc.printf("If you push button 1, the robot will go up \r\n");
             pc.printf("If you push button 2, the robot will go down \r\n");
             pc.printf("\r\n");
        }
     
    }    
}
 //=======================================================================================================================================================   

//reference void makes the reference that the controllor should follow. There is only a controller for motor 1. 
void reference(){                       
    if (start_motor == true){         //bool that is true when the motor starts turning
        timer.start();                //timer that starts counting in milliseconds
    }
    if (button__left_biceps==0 && switch_signal%2==0){  //the signal of the biceps is -1 and the switch is even, so motor 1 is being controlled      
         t_start = timer.read_ms();     //read the current time passed from the timer
         start_motor = false;           //it means that the motor is not running or has started up
         
        if (t_start < 1.0){            //the time passed is less than one second
            w_var = t_start*1.5;       //the reference velocity is the time passed multiplied with the eventual constant velocity it should reach
        }
            
        else{
            w_var = 1.5;                //if the time passed is more than one second, the velocity is constant
        }
         
         d_ref = d_ref + w_var * Ts;    //makes the reference angle
         
    }
         if (d_ref > 12){               //set the restrictions
            d_ref = 12;
            start_motor = true;         //after the restriction is reached the motor (if turned the other way) will start up again so the bool has to be set to true
         }
         
    else{ 
        d_ref = d_ref;                  //if there is no signal, the referance angle is constant
    }
    
    if (button__right_biceps==0 && switch_signal%2==0){   //the signal of the biceps is -1 and the switch is even, so motor 1 is being controlled
        t_start = timer.read_ms();
        start_motor = false;
        
        if (t_start < 1.0){
            w_var = t_start*1.5;
        }
        
        else {
            w_var = 1.5;
        }
        d_ref = d_ref - w_var * Ts;             //the motor should turn the other way now so the reference becomes negative     
    }
    
        if (d_ref < -12){       //negative restriction
            d_ref = -12;
            start_motor = true;
        }
        
    else{
        d_ref = d_ref;
    }
    
}
//=======================================================================================================================================================   
//This void calculates the error and makes the control output. 
void m1_controller(){
    error1 = d_ref-rev_counts_motor1_rad;               //calculate the error = reference-output
    controlOutput = PID_controller.step(error1);        //give the error as input to the controller
}
//=======================================================================================================================================================   

//This void calculated the number of rotations that the motor has done in rad. It is put in a void because with the ticker, this ensures that it is updated continuously. 
void encoders(){
    counts_encoder1 = Encoder1.getPulses();
    rev_counts_motor1 = (float)counts_encoder1/(gearboxratio*rev_rond);
    rev_counts_motor1_rad = rev_counts_motor1*6.28318530718;
    
}
//=======================================================================================================================================================   
//program
//=======================================================================================================================================================   
int main(){  

    pc.baud(115200); //connect with pc with baudrate 115200
    green=1;            //led is off (1), at beginning  
    red=0;              //led is on (0),  at beginning
    
    //attach tickers to functions
    ticker_referenceangle.attach(&reference, Ts);
    ticker_controllerm1.attach(&m1_controller, Ts);
    ticker_encoder.attach(&encoders, Ts);
   
    //PID controller
    PID_controller.PIDF(Kp,Ki,Kd,N,Ts);
    
    //Encoder
    //QEI Encoder1(D13,D12, NC, rev_rond,QEI::X4_ENCODING);
    
    //Show the user what the starting motor will be and what will happen
    pc.printf("We will start the demonstration\r\n");
    pc.printf("\r\n\r\n\r\n");

        if (switch_signal%2==0){  
            pc.printf("If you contract the biceps, the robot will go right \r\n");
            pc.printf("If you contract the triceps, the robot will go left \r\n");
            pc.printf("\r\n");
         }
       
    
        else{
            pc.printf("If you contract the biceps, the robot will go up \r\n");
            pc.printf("If you contract the triceps, the robot will go down \r\n");
            pc.printf("\r\n");
        }
     
//=======================================================================================================================================================   
//endless loop


    while (true) {                      //neverending loop
    button_switch.fall(&switch_function);    
        if (button__left_biceps==0){    //left biceps contracted                        
    
            if (switch_signal%2==0){    //switch even                    
          
                speedmotor1=controlOutput;  //output PID-controller is the speed for motor1

                if (speedmotor1<0){         //if the output of the controller is negative, the direction is clockwise
                    richting_motor1 = cw;      //motor 1, right
                }
                else   {                    //if the output is positive, the direction is counterclockwise
                    richting_motor1 = ccw;     //motor 1, left
                }
                pwm_motor1 = fabs(speedmotor1);  //speed of motor 1, absolute because pwm cannot be negative
               
            } 
            
         
            else{               //switch odd        
         
                richting_motor2 = ccw;    //motor 2, up 
                pwm_motor2 = speedmotor2; //speed of motor 2
           
            }      
              
        }
        else if (button__right_biceps==0){       //right biceps contracted
        
            if (switch_signal%2==0){           //switch signal even         
                speedmotor1=controlOutput;
     
                if (speedmotor1<0){         //the same as for the left biceps, the robot turns in the right direction because of the reference signal
                    richting_motor1 = cw;   //motor 1, right
                }
                else {
                    richting_motor1 = ccw;  //motor 1, left
                }
                pwm_motor1 = fabs(speedmotor1);      //speed of motor 1
          
            } 
            else{                           //switch signal odd
                richting_motor2 = cw;       //motor 2, down
                pwm_motor2 = speedmotor2;   //speed motor 2
                
            }  
        }   
        else{ 
            //no contraction of biceps, thus no motoraction.   
            pwm_motor2=0;
            pwm_motor1=0;
            start_motor = true;             //every time the motor is off, the bool is reset so that the reference void can start when the motor starts
    
        }              
               
    } //while true closed
        
} //int main closed

//=======================================================================================================================================================