Wil je hier nog je PID controler kort uitleggen? Is sneller denk ik. Rest is gedaan volgens mij. Hier zit kall in.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of another_try_from_scratch_on_emg by
main.cpp@55:d742332ced11, 2016-11-03 (annotated)
- Committer:
- FloorC
- Date:
- Thu Nov 03 15:27:59 2016 +0000
- Revision:
- 55:d742332ced11
- Parent:
- 54:fb72c58a7150
- Child:
- 56:a38412383477
links rechts pid controller zonder dat de fout op nul wordt gezet bij motor uit, WERKT GOED!
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
daniQQue | 46:4a8889f9dc9f | 1 | //===================================================================================== |
daniQQue | 0:34c739fcc3e0 | 2 | //libraries |
daniQQue | 49:818a0e90ed9c | 3 | #include "mbed.h" //mbed revision 113 |
daniQQue | 49:818a0e90ed9c | 4 | #include "HIDScope.h" //Hidscope by Tom Lankhorst |
daniQQue | 49:818a0e90ed9c | 5 | #include "BiQuad.h" //BiQuad by Tom Lankhorst |
daniQQue | 49:818a0e90ed9c | 6 | #include "MODSERIAL.h" //Modserial |
sivuu | 50:2c03357de7cc | 7 | #include "QEI.h" //QEI library for the encoders |
daniQQue | 0:34c739fcc3e0 | 8 | |
daniQQue | 46:4a8889f9dc9f | 9 | |
daniQQue | 46:4a8889f9dc9f | 10 | //===================================================================================== |
daniQQue | 0:34c739fcc3e0 | 11 | //Define objects |
daniQQue | 49:818a0e90ed9c | 12 | |
daniQQue | 49:818a0e90ed9c | 13 | //EMG |
sivuu | 50:2c03357de7cc | 14 | AnalogIn emg_biceps_right_in (A0); //analog in to get EMG biceps (r) in to c++ |
daniQQue | 40:187ef29de53d | 15 | AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ |
daniQQue | 40:187ef29de53d | 16 | AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ |
daniQQue | 49:818a0e90ed9c | 17 | |
daniQQue | 49:818a0e90ed9c | 18 | //Tickers |
daniQQue | 49:818a0e90ed9c | 19 | Ticker sample_timer; //ticker for EMG signal sampling, analog becomes digital |
daniQQue | 49:818a0e90ed9c | 20 | Ticker ticker_switch; //ticker for switch, every second it is possible to switch |
sivuu | 50:2c03357de7cc | 21 | Ticker ticker_referenceangle; //ticker for the reference angle |
sivuu | 50:2c03357de7cc | 22 | Ticker ticker_controllerm1; //ticker for the controller (PID) of motor 1 |
FloorC | 55:d742332ced11 | 23 | Ticker ticker_encoder; |
FloorC | 55:d742332ced11 | 24 | |
FloorC | 55:d742332ced11 | 25 | //Timer |
FloorC | 55:d742332ced11 | 26 | Timer timer; |
daniQQue | 49:818a0e90ed9c | 27 | |
daniQQue | 49:818a0e90ed9c | 28 | //Monitoring |
daniQQue | 46:4a8889f9dc9f | 29 | HIDScope scope(5); //open 5 channels in hidscope |
daniQQue | 46:4a8889f9dc9f | 30 | MODSERIAL pc(USBTX, USBRX); //pc connection |
daniQQue | 49:818a0e90ed9c | 31 | DigitalOut red(LED_RED); //LED on K64F board, 1 is out; 0 is on |
daniQQue | 49:818a0e90ed9c | 32 | DigitalOut green(LED_GREEN); //LED on K64f board, 1 is out; o is on |
daniQQue | 40:187ef29de53d | 33 | |
daniQQue | 40:187ef29de53d | 34 | //motors |
sivuu | 50:2c03357de7cc | 35 | DigitalOut richting_motor1(D7); //motor 1 connected to motor 1 at k64f board; for turningtable |
daniQQue | 47:ddaa59d48aca | 36 | PwmOut pwm_motor1(D6); |
sivuu | 50:2c03357de7cc | 37 | DigitalOut richting_motor2(D4); //motor 2 connected to motor 2 at k64f board; for linear actuator |
daniQQue | 47:ddaa59d48aca | 38 | PwmOut pwm_motor2(D5); |
daniQQue | 0:34c739fcc3e0 | 39 | |
sivuu | 50:2c03357de7cc | 40 | //encoders |
sivuu | 50:2c03357de7cc | 41 | DigitalIn encoder1A(D13); |
sivuu | 50:2c03357de7cc | 42 | DigitalIn encoder1B(D12); |
sivuu | 50:2c03357de7cc | 43 | DigitalIn encoder2A(D11); |
sivuu | 50:2c03357de7cc | 44 | DigitalIn encoder2B(D10); |
sivuu | 50:2c03357de7cc | 45 | |
sivuu | 50:2c03357de7cc | 46 | //controller |
sivuu | 50:2c03357de7cc | 47 | BiQuad PID_controller; |
sivuu | 50:2c03357de7cc | 48 | |
sivuu | 50:2c03357de7cc | 49 | |
daniQQue | 46:4a8889f9dc9f | 50 | //===================================================================================== |
daniQQue | 0:34c739fcc3e0 | 51 | //define variables |
daniQQue | 47:ddaa59d48aca | 52 | |
sivuu | 50:2c03357de7cc | 53 | //thresholds |
sivuu | 50:2c03357de7cc | 54 | double treshold_biceps_right = 0.04; //common values that work. |
sivuu | 52:0135deb3b07f | 55 | double treshold_biceps_left = -0.04; // tested on multiple persons |
sivuu | 52:0135deb3b07f | 56 | double treshold_triceps = -0.04; //triceps and left biceps is specified negative, thus negative treshold |
daniQQue | 49:818a0e90ed9c | 57 | |
daniQQue | 49:818a0e90ed9c | 58 | //on/off and switch signals |
daniQQue | 49:818a0e90ed9c | 59 | int switch_signal = 0; //start of counter, switch made by even and odd numbers |
daniQQue | 49:818a0e90ed9c | 60 | int onoffsignal_biceps; |
daniQQue | 45:08bddea67bd8 | 61 | int switch_signal_triceps; |
daniQQue | 46:4a8889f9dc9f | 62 | |
daniQQue | 49:818a0e90ed9c | 63 | //motorvariables |
daniQQue | 49:818a0e90ed9c | 64 | float speedmotor1=0.18; //speed of motor 1 is 0.18pwm at start |
daniQQue | 49:818a0e90ed9c | 65 | float speedmotor2=1.0; //speed of motor 2 is 1.0 pwm at start |
daniQQue | 46:4a8889f9dc9f | 66 | |
daniQQue | 49:818a0e90ed9c | 67 | int cw=0; //clockwise direction |
daniQQue | 49:818a0e90ed9c | 68 | int ccw=1; //counterclockwise direction |
sivuu | 50:2c03357de7cc | 69 | |
sivuu | 50:2c03357de7cc | 70 | //encoder |
sivuu | 50:2c03357de7cc | 71 | int counts_encoder1; |
sivuu | 50:2c03357de7cc | 72 | //int counts_encoder2; |
sivuu | 50:2c03357de7cc | 73 | float rev_counts_motor1; |
sivuu | 50:2c03357de7cc | 74 | float rev_counts_motor1_rad; |
sivuu | 51:b344a92b6a5f | 75 | const float gearboxratio=131.25; // gearboxratio van encoder naar motor |
sivuu | 51:b344a92b6a5f | 76 | const float rev_rond=64.0; // aantal revoluties per omgang van de encoder |
FloorC | 55:d742332ced11 | 77 | QEI Encoder1(D13,D12,NC,rev_rond,QEI::X4_ENCODING); |
sivuu | 50:2c03357de7cc | 78 | |
sivuu | 50:2c03357de7cc | 79 | //reference |
sivuu | 50:2c03357de7cc | 80 | volatile float d_ref = 0; |
FloorC | 55:d742332ced11 | 81 | const float w_ref = 1.5; |
FloorC | 55:d742332ced11 | 82 | volatile double t_start; |
FloorC | 55:d742332ced11 | 83 | volatile double w_var; |
sivuu | 50:2c03357de7cc | 84 | const double Ts = 0.001; |
sivuu | 50:2c03357de7cc | 85 | |
sivuu | 50:2c03357de7cc | 86 | //controller |
sivuu | 50:2c03357de7cc | 87 | const double Kp = 0.3823; |
sivuu | 50:2c03357de7cc | 88 | const double Ki = 0.1279; |
sivuu | 50:2c03357de7cc | 89 | const double Kd = 0.2519; |
sivuu | 50:2c03357de7cc | 90 | const double N = 100; |
sivuu | 50:2c03357de7cc | 91 | volatile double error1; |
sivuu | 50:2c03357de7cc | 92 | volatile double controlOutput; |
FloorC | 55:d742332ced11 | 93 | bool start_motor = true; |
FloorC | 55:d742332ced11 | 94 | volatile double starttime; |
daniQQue | 44:c79e5944ac91 | 95 | //======================================= |
daniQQue | 44:c79e5944ac91 | 96 | //filter coefficients |
daniQQue | 40:187ef29de53d | 97 | |
daniQQue | 40:187ef29de53d | 98 | //b1 = biceps right arm |
daniQQue | 49:818a0e90ed9c | 99 | BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of? |
daniQQue | 49:818a0e90ed9c | 100 | BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of? |
daniQQue | 40:187ef29de53d | 101 | |
daniQQue | 40:187ef29de53d | 102 | //t1= triceps right arm |
daniQQue | 49:818a0e90ed9c | 103 | BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of? |
daniQQue | 49:818a0e90ed9c | 104 | BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of? |
daniQQue | 5:688b1b5530d8 | 105 | |
daniQQue | 40:187ef29de53d | 106 | //b2= biceps left arm |
daniQQue | 49:818a0e90ed9c | 107 | BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of? |
daniQQue | 49:818a0e90ed9c | 108 | BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of? |
daniQQue | 40:187ef29de53d | 109 | |
daniQQue | 40:187ef29de53d | 110 | //after abs filtering |
daniQQue | 49:818a0e90ed9c | 111 | BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of? |
daniQQue | 49:818a0e90ed9c | 112 | BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of? |
daniQQue | 49:818a0e90ed9c | 113 | BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of? |
daniQQue | 10:7255b59224cc | 114 | |
daniQQue | 45:08bddea67bd8 | 115 | //====================================================================== |
daniQQue | 45:08bddea67bd8 | 116 | //voids |
daniQQue | 45:08bddea67bd8 | 117 | //====================================================================== |
daniQQue | 45:08bddea67bd8 | 118 | |
daniQQue | 40:187ef29de53d | 119 | //function teller |
daniQQue | 49:818a0e90ed9c | 120 | void switch_function() { // The switch function. Makes it possible to switch between the motors. It simply adds one at switch_signal. |
daniQQue | 45:08bddea67bd8 | 121 | if(switch_signal_triceps==1) |
daniQQue | 40:187ef29de53d | 122 | { |
daniQQue | 45:08bddea67bd8 | 123 | switch_signal++; |
daniQQue | 49:818a0e90ed9c | 124 | |
daniQQue | 49:818a0e90ed9c | 125 | // To monitor what is happening: we will show the text in putty and change led color from red to green or vice versa. |
daniQQue | 49:818a0e90ed9c | 126 | |
daniQQue | 40:187ef29de53d | 127 | green=!green; |
daniQQue | 40:187ef29de53d | 128 | red=!red; |
daniQQue | 47:ddaa59d48aca | 129 | |
daniQQue | 45:08bddea67bd8 | 130 | if (switch_signal%2==0) |
daniQQue | 49:818a0e90ed9c | 131 | {pc.printf("If you contract the biceps, the robot will go right \r\n"); |
daniQQue | 47:ddaa59d48aca | 132 | pc.printf("If you contract the triceps, the robot will go left \r\n"); |
daniQQue | 47:ddaa59d48aca | 133 | pc.printf("\r\n"); |
daniQQue | 47:ddaa59d48aca | 134 | } |
daniQQue | 47:ddaa59d48aca | 135 | |
daniQQue | 47:ddaa59d48aca | 136 | |
daniQQue | 47:ddaa59d48aca | 137 | else |
daniQQue | 40:187ef29de53d | 138 | {pc.printf("If you contract the biceps, the robot will go up \r\n"); |
daniQQue | 40:187ef29de53d | 139 | pc.printf("If you contract the triceps, the robot will go down \r\n"); |
daniQQue | 47:ddaa59d48aca | 140 | pc.printf("\r\n"); |
daniQQue | 40:187ef29de53d | 141 | } |
daniQQue | 47:ddaa59d48aca | 142 | |
daniQQue | 40:187ef29de53d | 143 | } |
daniQQue | 40:187ef29de53d | 144 | } |
daniQQue | 49:818a0e90ed9c | 145 | |
daniQQue | 49:818a0e90ed9c | 146 | //====================================================================== |
daniQQue | 49:818a0e90ed9c | 147 | //functions which are called in ticker to sample the analog signal and make the on/off and switch signal. |
daniQQue | 40:187ef29de53d | 148 | |
daniQQue | 0:34c739fcc3e0 | 149 | void filter(){ |
daniQQue | 40:187ef29de53d | 150 | //biceps right arm read+filtering |
daniQQue | 49:818a0e90ed9c | 151 | double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 49:818a0e90ed9c | 152 | double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); //high pass filter, to remove offset |
daniQQue | 49:818a0e90ed9c | 153 | double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); //notch filter, to remove noise |
daniQQue | 49:818a0e90ed9c | 154 | double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //rectify the signal, fabs because float |
daniQQue | 49:818a0e90ed9c | 155 | double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //low pass filter to envelope the signal |
daniQQue | 40:187ef29de53d | 156 | |
daniQQue | 40:187ef29de53d | 157 | //triceps right arm read+filtering |
daniQQue | 49:818a0e90ed9c | 158 | double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 49:818a0e90ed9c | 159 | double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); //high pass filter, to remove offset |
daniQQue | 49:818a0e90ed9c | 160 | double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); //notch filter, to remove noise |
daniQQue | 49:818a0e90ed9c | 161 | double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //rectify the signal, fabs because float |
daniQQue | 49:818a0e90ed9c | 162 | double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //low pass filter to envelope the signal |
daniQQue | 7:42d0e38196f1 | 163 | |
daniQQue | 40:187ef29de53d | 164 | //biceps left arm read+filtering |
daniQQue | 49:818a0e90ed9c | 165 | double emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes |
daniQQue | 49:818a0e90ed9c | 166 | double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); //high pass filter, to remove offset |
daniQQue | 49:818a0e90ed9c | 167 | double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); //notch filter, to remove noise |
daniQQue | 49:818a0e90ed9c | 168 | double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //rectify the signal, fabs because float |
daniQQue | 49:818a0e90ed9c | 169 | double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); //low pass filter to envelope the signal |
daniQQue | 40:187ef29de53d | 170 | |
daniQQue | 40:187ef29de53d | 171 | //creating of on/off signal with the created on/off signals, with if statement for right arm! |
daniQQue | 44:c79e5944ac91 | 172 | //signal substraction of filter biceps and triceps. right Biceps + left biceps - |
daniQQue | 44:c79e5944ac91 | 173 | double signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left; |
daniQQue | 44:c79e5944ac91 | 174 | double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right; |
daniQQue | 45:08bddea67bd8 | 175 | |
daniQQue | 44:c79e5944ac91 | 176 | //creating of on/off signal with the created on/off signals, with if statement for right arm! |
daniQQue | 49:818a0e90ed9c | 177 | if (signal_biceps_sum>treshold_biceps_right) |
daniQQue | 49:818a0e90ed9c | 178 | {onoffsignal_biceps=1;} |
daniQQue | 7:42d0e38196f1 | 179 | |
daniQQue | 49:818a0e90ed9c | 180 | else if (signal_biceps_sum<treshold_biceps_left) |
daniQQue | 49:818a0e90ed9c | 181 | { onoffsignal_biceps=-1; } |
daniQQue | 40:187ef29de53d | 182 | |
daniQQue | 49:818a0e90ed9c | 183 | else |
daniQQue | 49:818a0e90ed9c | 184 | {onoffsignal_biceps=0;} |
daniQQue | 7:42d0e38196f1 | 185 | |
daniQQue | 40:187ef29de53d | 186 | //creating on/off signal for switch (left arm) |
daniQQue | 40:187ef29de53d | 187 | |
daniQQue | 49:818a0e90ed9c | 188 | if (bicepstriceps_rightarm<treshold_triceps) |
daniQQue | 49:818a0e90ed9c | 189 | { switch_signal_triceps=1; } |
daniQQue | 40:187ef29de53d | 190 | |
daniQQue | 40:187ef29de53d | 191 | else |
daniQQue | 49:818a0e90ed9c | 192 | { switch_signal_triceps=0; } |
daniQQue | 49:818a0e90ed9c | 193 | |
daniQQue | 49:818a0e90ed9c | 194 | //send signals to scope to monitor the EMG signals |
daniQQue | 49:818a0e90ed9c | 195 | scope.set(0, emg_filtered_biceps_right); //set emg signal of right biceps to scope in channel 0 |
daniQQue | 49:818a0e90ed9c | 196 | scope.set(1, emg_filtered_triceps_right); // set emg signal of right triceps to scope in channel 1 |
daniQQue | 49:818a0e90ed9c | 197 | scope.set(2, emg_filtered_biceps_left); // set emg signal of left biceps to scope in channel 2 |
daniQQue | 49:818a0e90ed9c | 198 | scope.set(3, onoffsignal_biceps); // set on/off signal for the motors to scope in channel 3 |
daniQQue | 49:818a0e90ed9c | 199 | scope.set(4, switch_signal_triceps); // set the switch signal to scope in channel 4 |
daniQQue | 40:187ef29de53d | 200 | |
daniQQue | 40:187ef29de53d | 201 | scope.send(); //send all the signals to the scope |
daniQQue | 0:34c739fcc3e0 | 202 | } |
sivuu | 50:2c03357de7cc | 203 | |
sivuu | 50:2c03357de7cc | 204 | void reference(){ |
FloorC | 55:d742332ced11 | 205 | if (start_motor == true){ |
FloorC | 55:d742332ced11 | 206 | timer.start(); |
sivuu | 50:2c03357de7cc | 207 | } |
FloorC | 55:d742332ced11 | 208 | if (onoffsignal_biceps==-1 && switch_signal%2==0){ //switch even |
FloorC | 55:d742332ced11 | 209 | t_start = timer.read_ms(); |
FloorC | 55:d742332ced11 | 210 | start_motor = false; |
FloorC | 55:d742332ced11 | 211 | |
FloorC | 55:d742332ced11 | 212 | if (t_start < 1.0){ |
FloorC | 55:d742332ced11 | 213 | w_var = t_start*1.5; |
FloorC | 55:d742332ced11 | 214 | } |
FloorC | 55:d742332ced11 | 215 | |
FloorC | 55:d742332ced11 | 216 | else { |
FloorC | 55:d742332ced11 | 217 | w_var = 1.5; |
FloorC | 55:d742332ced11 | 218 | } |
FloorC | 55:d742332ced11 | 219 | |
FloorC | 55:d742332ced11 | 220 | d_ref = d_ref + w_var * Ts; |
FloorC | 55:d742332ced11 | 221 | |
FloorC | 55:d742332ced11 | 222 | } |
FloorC | 55:d742332ced11 | 223 | if (d_ref > 12){ |
FloorC | 55:d742332ced11 | 224 | d_ref = 12; |
FloorC | 55:d742332ced11 | 225 | start_motor = true; |
sivuu | 50:2c03357de7cc | 226 | //d_ref_const_cw = 1; |
FloorC | 55:d742332ced11 | 227 | } |
sivuu | 50:2c03357de7cc | 228 | else{ |
sivuu | 50:2c03357de7cc | 229 | d_ref = d_ref; |
sivuu | 50:2c03357de7cc | 230 | } |
sivuu | 50:2c03357de7cc | 231 | |
sivuu | 52:0135deb3b07f | 232 | if (onoffsignal_biceps==1 && switch_signal%2==0){ //switch even //left biceps contracted{ |
FloorC | 55:d742332ced11 | 233 | t_start = timer.read_ms(); |
FloorC | 55:d742332ced11 | 234 | start_motor = false; |
FloorC | 55:d742332ced11 | 235 | |
FloorC | 55:d742332ced11 | 236 | if (t_start < 1.0){ |
FloorC | 55:d742332ced11 | 237 | w_var = t_start*1.5; |
FloorC | 55:d742332ced11 | 238 | } |
FloorC | 55:d742332ced11 | 239 | else { |
FloorC | 55:d742332ced11 | 240 | w_var = 1.5; |
FloorC | 55:d742332ced11 | 241 | } |
FloorC | 55:d742332ced11 | 242 | d_ref = d_ref - w_var * Ts; |
sivuu | 50:2c03357de7cc | 243 | |
sivuu | 50:2c03357de7cc | 244 | } |
FloorC | 55:d742332ced11 | 245 | if (d_ref < -12){ |
FloorC | 55:d742332ced11 | 246 | d_ref = -12; |
FloorC | 55:d742332ced11 | 247 | start_motor = true; |
FloorC | 55:d742332ced11 | 248 | } |
sivuu | 50:2c03357de7cc | 249 | else{ |
sivuu | 50:2c03357de7cc | 250 | d_ref = d_ref; |
sivuu | 50:2c03357de7cc | 251 | } |
sivuu | 50:2c03357de7cc | 252 | |
sivuu | 50:2c03357de7cc | 253 | } |
sivuu | 50:2c03357de7cc | 254 | |
sivuu | 50:2c03357de7cc | 255 | void m1_controller(){ |
sivuu | 50:2c03357de7cc | 256 | error1 = d_ref-rev_counts_motor1_rad; |
sivuu | 51:b344a92b6a5f | 257 | controlOutput = PID_controller.step(error1); |
sivuu | 50:2c03357de7cc | 258 | } |
sivuu | 50:2c03357de7cc | 259 | |
FloorC | 55:d742332ced11 | 260 | void encoders(){ |
FloorC | 55:d742332ced11 | 261 | counts_encoder1 = Encoder1.getPulses(); |
FloorC | 55:d742332ced11 | 262 | rev_counts_motor1 = (float)counts_encoder1/(gearboxratio*rev_rond); |
FloorC | 55:d742332ced11 | 263 | rev_counts_motor1_rad = rev_counts_motor1*6.28318530718; |
FloorC | 55:d742332ced11 | 264 | |
FloorC | 55:d742332ced11 | 265 | } |
FloorC | 55:d742332ced11 | 266 | |
daniQQue | 49:818a0e90ed9c | 267 | //====================================================================== |
daniQQue | 0:34c739fcc3e0 | 268 | //program |
daniQQue | 49:818a0e90ed9c | 269 | //====================================================================== |
daniQQue | 0:34c739fcc3e0 | 270 | int main() |
daniQQue | 0:34c739fcc3e0 | 271 | { |
daniQQue | 40:187ef29de53d | 272 | |
daniQQue | 49:818a0e90ed9c | 273 | pc.baud(115200); //connect with pc with baudrate 115200 |
daniQQue | 49:818a0e90ed9c | 274 | green=1; //led is off (1), at beginning |
daniQQue | 49:818a0e90ed9c | 275 | red=0; //led is on (0), at beginning |
daniQQue | 49:818a0e90ed9c | 276 | |
daniQQue | 49:818a0e90ed9c | 277 | //attach tickers to functions |
sivuu | 50:2c03357de7cc | 278 | sample_timer.attach(&filter, Ts); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds |
daniQQue | 45:08bddea67bd8 | 279 | ticker_switch.attach(&switch_function,1.0); |
sivuu | 50:2c03357de7cc | 280 | ticker_referenceangle.attach(&reference, Ts); |
sivuu | 50:2c03357de7cc | 281 | ticker_controllerm1.attach(&m1_controller, Ts); |
FloorC | 55:d742332ced11 | 282 | ticker_encoder.attach(&encoders, Ts); |
sivuu | 50:2c03357de7cc | 283 | |
sivuu | 50:2c03357de7cc | 284 | //PID controller |
sivuu | 50:2c03357de7cc | 285 | PID_controller.PIDF(Kp,Ki,Kd,N,Ts); |
daniQQue | 44:c79e5944ac91 | 286 | |
sivuu | 51:b344a92b6a5f | 287 | //Encoder |
FloorC | 55:d742332ced11 | 288 | //QEI Encoder1(D13,D12, NC, rev_rond,QEI::X4_ENCODING); |
sivuu | 51:b344a92b6a5f | 289 | |
daniQQue | 49:818a0e90ed9c | 290 | //Show the user what the starting motor will be and what will happen |
daniQQue | 47:ddaa59d48aca | 291 | pc.printf("We will start the demonstration\r\n"); |
daniQQue | 49:818a0e90ed9c | 292 | pc.printf("\r\n\r\n\r\n"); |
daniQQue | 49:818a0e90ed9c | 293 | |
daniQQue | 47:ddaa59d48aca | 294 | if (switch_signal%2==0) |
daniQQue | 47:ddaa59d48aca | 295 | {pc.printf("If you contract the biceps, the robot will go right \r\n"); |
daniQQue | 47:ddaa59d48aca | 296 | pc.printf("If you contract the triceps, the robot will go left \r\n"); |
daniQQue | 47:ddaa59d48aca | 297 | pc.printf("\r\n"); |
daniQQue | 47:ddaa59d48aca | 298 | } |
daniQQue | 47:ddaa59d48aca | 299 | |
daniQQue | 47:ddaa59d48aca | 300 | |
daniQQue | 47:ddaa59d48aca | 301 | else |
daniQQue | 45:08bddea67bd8 | 302 | {pc.printf("If you contract the biceps, the robot will go up \r\n"); |
daniQQue | 45:08bddea67bd8 | 303 | pc.printf("If you contract the triceps, the robot will go down \r\n"); |
daniQQue | 47:ddaa59d48aca | 304 | pc.printf("\r\n"); |
daniQQue | 45:08bddea67bd8 | 305 | } |
daniQQue | 45:08bddea67bd8 | 306 | |
daniQQue | 44:c79e5944ac91 | 307 | //============================================================================================== |
daniQQue | 0:34c739fcc3e0 | 308 | //endless loop |
daniQQue | 0:34c739fcc3e0 | 309 | |
daniQQue | 40:187ef29de53d | 310 | |
daniQQue | 49:818a0e90ed9c | 311 | while (true) { // neverending loop |
daniQQue | 8:cd0cb71b69f2 | 312 | |
sivuu | 51:b344a92b6a5f | 313 | counts_encoder1 = Encoder1.getPulses(); |
sivuu | 51:b344a92b6a5f | 314 | rev_counts_motor1=(float)counts_encoder1/(gearboxratio*rev_rond); |
sivuu | 51:b344a92b6a5f | 315 | rev_counts_motor1_rad=rev_counts_motor1*6.28318530718; |
sivuu | 52:0135deb3b07f | 316 | |
sivuu | 52:0135deb3b07f | 317 | pc.printf("%f \r\n", d_ref); |
FloorC | 55:d742332ced11 | 318 | //pc.printf("%f ", rev_counts_motor1_rad); |
FloorC | 55:d742332ced11 | 319 | //pc.printf("%f",w_var); |
FloorC | 55:d742332ced11 | 320 | pc.printf("%d\n",start_motor); |
FloorC | 55:d742332ced11 | 321 | |
sivuu | 51:b344a92b6a5f | 322 | |
daniQQue | 45:08bddea67bd8 | 323 | if (onoffsignal_biceps==-1) //left biceps contracted |
daniQQue | 40:187ef29de53d | 324 | { |
daniQQue | 49:818a0e90ed9c | 325 | if (switch_signal%2==0) //switch even |
daniQQue | 40:187ef29de53d | 326 | { |
sivuu | 51:b344a92b6a5f | 327 | speedmotor1=controlOutput; |
sivuu | 51:b344a92b6a5f | 328 | //richting_motor1 = ccw; //motor 1, left |
sivuu | 51:b344a92b6a5f | 329 | //pwm_motor1 = speedmotor1; //speed of motor 1 |
sivuu | 51:b344a92b6a5f | 330 | if (speedmotor1<0){ |
sivuu | 52:0135deb3b07f | 331 | richting_motor1 = cw; |
sivuu | 51:b344a92b6a5f | 332 | } |
sivuu | 51:b344a92b6a5f | 333 | else { |
sivuu | 52:0135deb3b07f | 334 | richting_motor1 = ccw; |
sivuu | 51:b344a92b6a5f | 335 | } |
sivuu | 51:b344a92b6a5f | 336 | pwm_motor1 = fabs(speedmotor1); //speed of motor 1 |
sivuu | 52:0135deb3b07f | 337 | // pc.printf("%f\r\n", pwm_motor1.read()); |
daniQQue | 40:187ef29de53d | 338 | } |
sivuu | 51:b344a92b6a5f | 339 | |
daniQQue | 40:187ef29de53d | 340 | |
daniQQue | 49:818a0e90ed9c | 341 | else //switch odd |
daniQQue | 40:187ef29de53d | 342 | { |
daniQQue | 49:818a0e90ed9c | 343 | richting_motor2 = ccw; //motor 2, up |
daniQQue | 49:818a0e90ed9c | 344 | pwm_motor2 = speedmotor2;//speed of motor 2 |
daniQQue | 40:187ef29de53d | 345 | |
daniQQue | 40:187ef29de53d | 346 | } |
daniQQue | 40:187ef29de53d | 347 | |
daniQQue | 8:cd0cb71b69f2 | 348 | } |
sivuu | 52:0135deb3b07f | 349 | else if (onoffsignal_biceps==1) //right biceps contracted |
daniQQue | 40:187ef29de53d | 350 | { |
daniQQue | 49:818a0e90ed9c | 351 | if (switch_signal%2==0) //switch signal even |
daniQQue | 40:187ef29de53d | 352 | { |
sivuu | 51:b344a92b6a5f | 353 | speedmotor1=controlOutput; |
sivuu | 51:b344a92b6a5f | 354 | //richting_motor1 = ccw; //motor 1, left |
sivuu | 51:b344a92b6a5f | 355 | //pwm_motor1 = speedmotor1; //speed of motor 1 |
sivuu | 51:b344a92b6a5f | 356 | if (speedmotor1<0){ |
sivuu | 52:0135deb3b07f | 357 | richting_motor1 = cw; |
sivuu | 51:b344a92b6a5f | 358 | } |
sivuu | 51:b344a92b6a5f | 359 | else { |
sivuu | 52:0135deb3b07f | 360 | richting_motor1 = ccw; |
sivuu | 51:b344a92b6a5f | 361 | } |
sivuu | 51:b344a92b6a5f | 362 | pwm_motor1 = fabs(speedmotor1); //speed of motor 1 |
sivuu | 52:0135deb3b07f | 363 | // pc.printf("%f\r\n", pwm_motor1.read()); |
daniQQue | 40:187ef29de53d | 364 | } |
daniQQue | 49:818a0e90ed9c | 365 | else //switch signal odd |
daniQQue | 40:187ef29de53d | 366 | { |
daniQQue | 49:818a0e90ed9c | 367 | richting_motor2 = cw; //motor 2. down |
daniQQue | 49:818a0e90ed9c | 368 | pwm_motor2 = speedmotor2; //speed motor 2 |
daniQQue | 40:187ef29de53d | 369 | |
daniQQue | 40:187ef29de53d | 370 | } |
daniQQue | 40:187ef29de53d | 371 | } |
daniQQue | 49:818a0e90ed9c | 372 | else{ |
daniQQue | 49:818a0e90ed9c | 373 | //no contraction of biceps |
daniQQue | 40:187ef29de53d | 374 | pwm_motor2=0; |
daniQQue | 40:187ef29de53d | 375 | pwm_motor1=0; |
FloorC | 55:d742332ced11 | 376 | start_motor = true; |
daniQQue | 40:187ef29de53d | 377 | } |
daniQQue | 40:187ef29de53d | 378 | |
daniQQue | 49:818a0e90ed9c | 379 | }//while true closed |
daniQQue | 0:34c739fcc3e0 | 380 | |
daniQQue | 49:818a0e90ed9c | 381 | } //int main closed |
daniQQue | 49:818a0e90ed9c | 382 | |
daniQQue | 49:818a0e90ed9c | 383 | //=============================================================================================1 |