mevlid yildirim / Mbed 2 deprecated BioRobotics_BMT

Minor BioRobotics BMT Hierbij publish ik mijn code public ter inspiratie voor komende jaarlagen. Het gaat om een serial robot met twee links en een haak als end-effector. Veel plezier ermee!

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@16:1be144329f05, 2019-10-29 (annotated)

Committer:
fb07
Date:
Tue Oct 29 20:34:49 2019 +0000
Revision:
16:1be144329f05
Parent:
15:849e0fc5d3a8
Child:
17:f87e5d6c87f4
Motors only run after calibration is done

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fb07 2:45a85caaebfb 1 // Project BioRobotics - Opening a Door - Group 13 2019/2020
fb07 2:45a85caaebfb 2 // Dion ten Berge - s1864734
fb07 2:45a85caaebfb 3 // Bas Rutteman - s1854305
fb07 2:45a85caaebfb 4 // Nick in het Veld - s1915584
fb07 2:45a85caaebfb 5 // Marleen van der Weij - s1800078
fb07 2:45a85caaebfb 6 // Mevlid Yildirim - s2005735
fb07 2:45a85caaebfb 7
fb07 5:7e2c6d2235fe 8 /* To-Do
fb07 5:7e2c6d2235fe 9 1. Kd, Ki, Kp waardes bepalen
fb07 5:7e2c6d2235fe 10 2. Filter cutoff frequentie bepalen, zie https://github.com/tomlankhorst/biquad
fb07 5:7e2c6d2235fe 11 3. Grenswaarde EMG signaal na het filteren
fb07 5:7e2c6d2235fe 12 */
fb07 2:45a85caaebfb 13
fb07 2:45a85caaebfb 14 //*****************************************************************************
fb07 2:45a85caaebfb 15 // 1. Libraries ******************************************************************
fb07 2:45a85caaebfb 16 //*****************************************************************************
RobertoO 0:67c50348f842 17 #include "mbed.h"
fb07 2:45a85caaebfb 18 #include "HIDScope.h"
fb07 2:45a85caaebfb 19 #include "QEI.h"
RobertoO 1:b862262a9d14 20 #include "MODSERIAL.h"
fb07 2:45a85caaebfb 21 #include "BiQuad.h"
fb07 2:45a85caaebfb 22 #include "FastPWM.h"
fb07 2:45a85caaebfb 23
fb07 2:45a85caaebfb 24 //*****************************************************************************
fb07 2:45a85caaebfb 25 // 2. States ******************************************************************
fb07 2:45a85caaebfb 26 //*****************************************************************************
fb07 12:f5dc65f1c27b 27 enum States {StartWait, MotorCalibration, EMGCalibration, Homing, Demo, Operating, EmergencyMode, Idle}; //All robot states
fb07 12:f5dc65f1c27b 28 States State;
RobertoO 0:67c50348f842 29
fb07 2:45a85caaebfb 30 //*****************************************************************************
fb07 5:7e2c6d2235fe 31 // 3. (Global) Variables ***********************************************************
fb07 2:45a85caaebfb 32 //*****************************************************************************
fb07 5:7e2c6d2235fe 33 // 3.1 Tickers *****************************************************************
fb07 5:7e2c6d2235fe 34 Ticker ticker_mainloop; // The ticker which runs the mainloop
fb07 5:7e2c6d2235fe 35 Ticker ticker_hidscope; // The ticker which sends data to the HIDScope server
fb07 5:7e2c6d2235fe 36
fb07 5:7e2c6d2235fe 37 // 3.2 General variables *******************************************************
fb07 5:7e2c6d2235fe 38
fb07 5:7e2c6d2235fe 39 MODSERIAL pc(USBTX, USBRX); // Serial communication with the board
fb07 5:7e2c6d2235fe 40 QEI encoder_motor1(D12,D13,NC,64); // Defines encoder for motor 1
fb07 5:7e2c6d2235fe 41 QEI encoder_motor2(D10,D11,NC,64); // Defines encoder for motor 1
fb07 14:236ae2d7ec41 42 double f=1/100; // Frequency, currently unused
fb07 14:236ae2d7ec41 43 const double Ts = 0.001; // Sampletime
fb07 5:7e2c6d2235fe 44 HIDScope scope(2); // Amount of HIDScope servers
fb07 10:a60b369c1711 45
fb07 5:7e2c6d2235fe 46
fb07 5:7e2c6d2235fe 47 // 3.3 BiQuad Filters **********************************************************
fb07 5:7e2c6d2235fe 48 static BiQuad notchfilter(9.97761e-01, -1.97095e+00, 9.97761e-01, -1.97095e+00, 9.95522e-01);
fb07 5:7e2c6d2235fe 49 static BiQuad highfilter(9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01);
fb07 5:7e2c6d2235fe 50 static BiQuad LowPassFilter( 4.12535e-02, 8.25071e-02, 4.12535e-02, -1.34897e+00, 5.13982e-01 );
RobertoO 0:67c50348f842 51
fb07 5:7e2c6d2235fe 52 // 3.4 Hardware ***************************************************************
fb07 5:7e2c6d2235fe 53 //3.4a Leds
fb07 5:7e2c6d2235fe 54 DigitalOut led_red(LED_RED); // Defines the red led on the K64 board (0=on, 1 = off)
fb07 5:7e2c6d2235fe 55 DigitalOut led_green(LED_GREEN); // Defines the green led on the K64 board (0=on, 1 = off)
fb07 5:7e2c6d2235fe 56 DigitalOut led_blue(LED_BLUE); // Defines the blue led on the K64 board (0=on, 1 = off)
fb07 5:7e2c6d2235fe 57 // FastPWM led1(D8); //CODE DOES NOT WORK WITH D8 PIN DEFINED //Defines Led1 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 58 FastPWM led2(D9); //Defines Led2 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 59
fb07 5:7e2c6d2235fe 60 //3.4b Potmeters and buttons
fb07 5:7e2c6d2235fe 61 AnalogIn pot1_links(A5); //Defines potmeter1 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 62 AnalogIn pot2_rechts(A4); //Defines potmeter2 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 63 DigitalIn button1(D2); //Defines button1 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 64 DigitalIn button2(D3); //Defines button2 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 65 DigitalIn sw2(SW2); //Defines button SW2 on the K64 board
fb07 5:7e2c6d2235fe 66 DigitalIn sw3(SW3); //Defines button SW3 on the K64 board
fb07 5:7e2c6d2235fe 67
fb07 5:7e2c6d2235fe 68 //3.4c Motors
fb07 5:7e2c6d2235fe 69 DigitalOut motor1DirectionPin(D7); // motor 1 direction control (1=cw, 0=ccw)
fb07 5:7e2c6d2235fe 70 FastPWM motor1(D6); // motor 1 velocity control (between 0-1)
fb07 5:7e2c6d2235fe 71 FastPWM motor2(D5); // motor 2 velocity control (between 0-1)
fb07 5:7e2c6d2235fe 72 DigitalOut motor2DirectionPin(D4); // motor 2 direction control (1=cw, 0=ccw)
fb07 11:a3fd9d5144bb 73 bool motor1_calibrated=false;
fb07 11:a3fd9d5144bb 74 bool motor2_calibrated=false;
fb07 5:7e2c6d2235fe 75
fb07 10:a60b369c1711 76 // 3.5 Motor 1 variables ***************************************************************
fb07 5:7e2c6d2235fe 77 //3.5a PID-controller motor 1
fb07 5:7e2c6d2235fe 78 double counts_per_rad_motor1 = (131.25*32)/(2*3.14159265359); // (gear ratio * counts per revolution) / (2* pi) = ~668.45 counts per rad
fb07 5:7e2c6d2235fe 79 static double error_integral_motor1 = 0;
fb07 5:7e2c6d2235fe 80 double Yref_motor1;
fb07 5:7e2c6d2235fe 81 double kp_motor1;
fb07 5:7e2c6d2235fe 82 double Ki_motor1;
fb07 5:7e2c6d2235fe 83 double Kd_motor1;
fb07 14:236ae2d7ec41 84 double Up_motor1;
fb07 14:236ae2d7ec41 85 double Ui_motor1;
fb07 14:236ae2d7ec41 86 double Ud_motor1;
fb07 14:236ae2d7ec41 87
fb07 5:7e2c6d2235fe 88 double positie_motor1; //counts encoder
fb07 5:7e2c6d2235fe 89 double error1_motor1;
fb07 5:7e2c6d2235fe 90 double error1_prev_motor1;
fb07 5:7e2c6d2235fe 91 double error1_derivative_motor1;
fb07 5:7e2c6d2235fe 92 double error1_derivative_filtered_motor1;
fb07 5:7e2c6d2235fe 93 double P_motor1;
fb07 5:7e2c6d2235fe 94
fb07 10:a60b369c1711 95 double positie_verschil_motor1;
fb07 10:a60b369c1711 96 double positie_prev_motor1;
fb07 10:a60b369c1711 97
fb07 10:a60b369c1711 98 // 3.5 Motor 2 variables ***************************************************************
fb07 5:7e2c6d2235fe 99 //3.5b PID-controller motor 2
fb07 5:7e2c6d2235fe 100 double counts_per_rad_motor2 = (131.25*32)/(2*3.14159265359); // (gear ratio * counts per revolution) / (2* pi) = ~668.45 counts per rad
fb07 5:7e2c6d2235fe 101 static double error_integral_motor2 = 0;
fb07 5:7e2c6d2235fe 102 double Yref_motor2;
fb07 5:7e2c6d2235fe 103 double kp_motor2;
fb07 5:7e2c6d2235fe 104 double Ki_motor2;
fb07 5:7e2c6d2235fe 105 double Kd_motor2;
fb07 15:849e0fc5d3a8 106 double Up_motor2;
fb07 15:849e0fc5d3a8 107 double Ui_motor2;
fb07 15:849e0fc5d3a8 108 double Ud_motor2;
fb07 2:45a85caaebfb 109
fb07 5:7e2c6d2235fe 110 double positie_motor2; //counts encoder
fb07 5:7e2c6d2235fe 111 double error1_motor2;
fb07 5:7e2c6d2235fe 112 double error1_prev_motor2;
fb07 5:7e2c6d2235fe 113 double error1_derivative_motor2;
fb07 5:7e2c6d2235fe 114 double error1_derivative_filtered_motor2;
fb07 5:7e2c6d2235fe 115 double P_motor2;
fb07 10:a60b369c1711 116
fb07 10:a60b369c1711 117 double positie_verschil_motor2;
fb07 10:a60b369c1711 118 double positie_prev_motor2;
RobertoO 0:67c50348f842 119
fb07 2:45a85caaebfb 120 //******************************************************************************
fb07 5:7e2c6d2235fe 121 // 4. Functions ****************************************************************
fb07 5:7e2c6d2235fe 122 //******************************************************************************
fb07 5:7e2c6d2235fe 123
fb07 5:7e2c6d2235fe 124 // 4.1 Hidscope ****************************************************************
fb07 5:7e2c6d2235fe 125 void HIDScope() //voor HIDscope
fb07 5:7e2c6d2235fe 126 {
fb07 9:c4fa72ffa1c2 127 scope.set(0, positie_motor1);
fb07 15:849e0fc5d3a8 128 scope.set(1, positie_motor2); //nog te definieren wat we willen weergeven
fb07 15:849e0fc5d3a8 129 // scope.set(2, P_motor1); //nog te definieren wat we willen weergeven
fb07 15:849e0fc5d3a8 130 // scope.set(3, Up_motor1);
fb07 14:236ae2d7ec41 131 // scope.set(4, Ui_motor1);
fb07 14:236ae2d7ec41 132 // scope.set(5, Uk_motor1);
fb07 14:236ae2d7ec41 133
fb07 5:7e2c6d2235fe 134 scope.send();
fb07 5:7e2c6d2235fe 135 }
fb07 15:849e0fc5d3a8 136
fb07 10:a60b369c1711 137 // 4.x Encoder motor1 ****************************************************************
fb07 9:c4fa72ffa1c2 138 double fencoder_motor1() // bepaalt de positie van de motor
fb07 9:c4fa72ffa1c2 139 {
fb07 9:c4fa72ffa1c2 140 positie_motor1 = encoder_motor1.getPulses(); // haalt encoder waardes op
fb07 9:c4fa72ffa1c2 141 positie_verschil_motor1 = (positie_motor1-positie_prev_motor1)/Ts;
fb07 9:c4fa72ffa1c2 142 positie_prev_motor1 = positie_motor1;
fb07 9:c4fa72ffa1c2 143
fb07 9:c4fa72ffa1c2 144 return positie_motor1; //geeft positie van motor
fb07 9:c4fa72ffa1c2 145 }
fb07 10:a60b369c1711 146 // 4.x Encoder motor2 ****************************************************************
fb07 10:a60b369c1711 147 double fencoder_motor2() // bepaalt de positie van de motor
fb07 10:a60b369c1711 148 {
fb07 10:a60b369c1711 149 positie_motor2 = encoder_motor2.getPulses(); // haalt encoder waardes op
fb07 10:a60b369c1711 150 positie_verschil_motor2 = (positie_motor2-positie_prev_motor2)/Ts;
fb07 10:a60b369c1711 151 positie_prev_motor2 = positie_motor2;
fb07 10:a60b369c1711 152
fb07 10:a60b369c1711 153 return positie_motor2; //geeft positie van motor
fb07 10:a60b369c1711 154 }
fb07 10:a60b369c1711 155
fb07 11:a3fd9d5144bb 156 // 4.xa Calibration motors
fb07 11:a3fd9d5144bb 157
fb07 11:a3fd9d5144bb 158 void motor_calibration()
fb07 10:a60b369c1711 159 {
fb07 11:a3fd9d5144bb 160 // Calibration motor 2
fb07 10:a60b369c1711 161 motor1DirectionPin=0; //direction of the motor
fb07 10:a60b369c1711 162 motor1=1.0;
fb07 13:db1a8b51706b 163 wait(0.1);
fb07 10:a60b369c1711 164 while (abs(positie_verschil_motor1)>5)
fb07 10:a60b369c1711 165 {
fb07 10:a60b369c1711 166 motor1=0.2 ;
fb07 14:236ae2d7ec41 167 // pc.printf("\r\n Motor1 kalibratie = %s", motor1_calibrated ? "true" : "false");
fb07 10:a60b369c1711 168 }
fb07 10:a60b369c1711 169 motor1=0.0;
fb07 11:a3fd9d5144bb 170 motor1_calibrated=true;
fb07 14:236ae2d7ec41 171 // pc.printf("\r\n Motor1 kalibratie = %s", motor1_calibrated ? "true" : "false");
fb07 10:a60b369c1711 172
fb07 11:a3fd9d5144bb 173
fb07 10:a60b369c1711 174
fb07 11:a3fd9d5144bb 175 // Calibration motor 2
fb07 10:a60b369c1711 176 motor2DirectionPin=0; //direction of the motor
fb07 10:a60b369c1711 177 motor2=1.0;
fb07 13:db1a8b51706b 178 wait(0.1);
fb07 10:a60b369c1711 179 while (abs(positie_verschil_motor2)>5)
fb07 10:a60b369c1711 180 {
fb07 10:a60b369c1711 181 motor2=0.2 ;
fb07 14:236ae2d7ec41 182 // pc.printf("\r\n Motor2 kalibratie = %s", motor2_calibrated ? "true" : "false");
fb07 13:db1a8b51706b 183 led2=1;
fb07 10:a60b369c1711 184 }
fb07 10:a60b369c1711 185 motor2=0.0;
fb07 13:db1a8b51706b 186 led2=0;
fb07 11:a3fd9d5144bb 187 motor2_calibrated=true;
fb07 14:236ae2d7ec41 188 // pc.printf("\r\n Motor2 kalibratie = %s", motor2_calibrated ? "true" : "false");
fb07 13:db1a8b51706b 189
fb07 12:f5dc65f1c27b 190
fb07 10:a60b369c1711 191 }
fb07 10:a60b369c1711 192
fb07 5:7e2c6d2235fe 193 // 4.2a PID-Controller motor 1**************************************************
fb07 14:236ae2d7ec41 194 double PID_controller_motor1(double &error_integral_motor1, double &error1_prev_motor1)
fb07 5:7e2c6d2235fe 195 {
fb07 5:7e2c6d2235fe 196 //Proportional part
fb07 5:7e2c6d2235fe 197 kp_motor1 = 0.01 ; // moet nog getweaked worden
fb07 14:236ae2d7ec41 198 Up_motor1 = kp_motor1 * error1_motor1;
fb07 5:7e2c6d2235fe 199
fb07 5:7e2c6d2235fe 200 //Integral part
fb07 15:849e0fc5d3a8 201 Ki_motor1 = 0.001; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 202 error_integral_motor1 = error_integral_motor1 + (Ts*error1_motor1); // integrale fout + (de sample tijd * fout)
fb07 14:236ae2d7ec41 203 Ui_motor1 = Ki_motor1 * error_integral_motor1; // (fout * integrale fout)
fb07 5:7e2c6d2235fe 204
fb07 5:7e2c6d2235fe 205 //Derivative part
fb07 15:849e0fc5d3a8 206 Kd_motor1 = 0.001 ;// moet nog getweaked worden
fb07 14:236ae2d7ec41 207 error1_derivative_motor1 = (error1_motor1-error1_prev_motor1)/Ts; // (Fout - de vorige fout) / tijdstap = afgeleide
fb07 5:7e2c6d2235fe 208 error1_derivative_filtered_motor1 = LowPassFilter.step(error1_derivative_motor1); //derivative wordt gefiltered
fb07 14:236ae2d7ec41 209 Ud_motor1 = Kd_motor1 * error1_derivative_filtered_motor1; // (afgeleide gain) * (afgeleide gefilterde fout)
fb07 5:7e2c6d2235fe 210 error1_prev_motor1 = error1_motor1;
fb07 5:7e2c6d2235fe 211
fb07 14:236ae2d7ec41 212 P_motor1 = Up_motor1 + Ui_motor1 + Ud_motor1; //sommatie van de u's
fb07 14:236ae2d7ec41 213
fb07 14:236ae2d7ec41 214 return P_motor1;
fb07 14:236ae2d7ec41 215
fb07 5:7e2c6d2235fe 216
fb07 5:7e2c6d2235fe 217 }
fb07 5:7e2c6d2235fe 218
fb07 5:7e2c6d2235fe 219 // 4.2b PID-Controller motor 2**************************************************
fb07 15:849e0fc5d3a8 220 double PID_controller_motor2(double &error_integral_motor2, double &error1_prev_motor2)
fb07 5:7e2c6d2235fe 221 {
fb07 5:7e2c6d2235fe 222 //Proportional part
fb07 5:7e2c6d2235fe 223 kp_motor2 = 0.01 ; // moet nog getweaked worden
fb07 15:849e0fc5d3a8 224 Up_motor2 = kp_motor2 * error1_motor2;
fb07 5:7e2c6d2235fe 225
fb07 5:7e2c6d2235fe 226 //Integral part
fb07 15:849e0fc5d3a8 227 Ki_motor2 = 0.001; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 228 error_integral_motor2 = error_integral_motor2 + (Ts*error1_motor2); // integrale fout + (de sample tijd * fout)
fb07 15:849e0fc5d3a8 229 Ui_motor2 = Ki_motor2 * error_integral_motor2; //de fout keer de integrale fout
fb07 5:7e2c6d2235fe 230
fb07 5:7e2c6d2235fe 231 //Derivative part
fb07 15:849e0fc5d3a8 232 Kd_motor2 = 0.001 ;// moet nog getweaked worden
fb07 5:7e2c6d2235fe 233 error1_derivative_motor2 = (error1_motor2 - error1_prev_motor2)/Ts;
fb07 5:7e2c6d2235fe 234 error1_derivative_filtered_motor2 = LowPassFilter.step(error1_derivative_motor2); //derivative wordt gefiltered, dit later aanpassen
fb07 15:849e0fc5d3a8 235 Ud_motor2 = Kd_motor2 * error1_derivative_filtered_motor2;
fb07 5:7e2c6d2235fe 236 error1_prev_motor2 = error1_motor2;
fb07 5:7e2c6d2235fe 237
fb07 15:849e0fc5d3a8 238 P_motor2 = Up_motor2 + Ui_motor2 + Ud_motor2; //sommatie van de u's
fb07 5:7e2c6d2235fe 239
fb07 5:7e2c6d2235fe 240 return P_motor2;
fb07 5:7e2c6d2235fe 241 }
fb07 10:a60b369c1711 242
fb07 14:236ae2d7ec41 243 double motor1_pwm()
fb07 14:236ae2d7ec41 244 {
fb07 14:236ae2d7ec41 245
fb07 14:236ae2d7ec41 246 if (P_motor1 >=0 ) // Als de stuursignaal groter is als 0, dan clockwise rotatie, anders counterclockwise rotatie
fb07 14:236ae2d7ec41 247 {
fb07 14:236ae2d7ec41 248 motor1DirectionPin=1; // Clockwise rotation
fb07 14:236ae2d7ec41 249 }
fb07 14:236ae2d7ec41 250 else
fb07 14:236ae2d7ec41 251 {
fb07 14:236ae2d7ec41 252 motor1DirectionPin=0; // Counterclockwise rotation
fb07 14:236ae2d7ec41 253 }
fb07 14:236ae2d7ec41 254
fb07 14:236ae2d7ec41 255 if (fabs(P_motor1) > 0.99 ) // als de absolute waarde van de motorsnelheid groter is als 1, terug schalen naar 1, anders de absolute waarde van de snelheid. (Bij een waarde lager als 0 draait de motor niet)
fb07 14:236ae2d7ec41 256 {
fb07 14:236ae2d7ec41 257 motor1 = 0.99 ;
fb07 14:236ae2d7ec41 258 }
fb07 14:236ae2d7ec41 259 else
fb07 14:236ae2d7ec41 260 {
fb07 14:236ae2d7ec41 261 motor1 = fabs(P_motor1);
fb07 14:236ae2d7ec41 262 }
fb07 15:849e0fc5d3a8 263 }
fb07 15:849e0fc5d3a8 264 double motor2_pwm()
fb07 15:849e0fc5d3a8 265 {
fb07 15:849e0fc5d3a8 266
fb07 15:849e0fc5d3a8 267 if (P_motor2 >=0 ) // Als de stuursignaal groter is als 0, dan clockwise rotatie, anders counterclockwise rotatie
fb07 15:849e0fc5d3a8 268 {
fb07 15:849e0fc5d3a8 269 motor2DirectionPin=2; // Clockwise rotation
fb07 15:849e0fc5d3a8 270 }
fb07 15:849e0fc5d3a8 271 else
fb07 15:849e0fc5d3a8 272 {
fb07 15:849e0fc5d3a8 273 motor2DirectionPin=0; // Counterclockwise rotation
fb07 15:849e0fc5d3a8 274 }
fb07 14:236ae2d7ec41 275
fb07 15:849e0fc5d3a8 276 if (fabs(P_motor2) > 0.99 ) // als de absolute waarde van de motorsnelheid groter is als 1, terug schalen naar 1, anders de absolute waarde van de snelheid. (Bij een waarde lager als 0 draait de motor niet)
fb07 15:849e0fc5d3a8 277 {
fb07 15:849e0fc5d3a8 278 motor2 = 0.99 ;
fb07 15:849e0fc5d3a8 279 }
fb07 15:849e0fc5d3a8 280 else
fb07 15:849e0fc5d3a8 281 {
fb07 15:849e0fc5d3a8 282 motor2 = fabs(P_motor2);
fb07 15:849e0fc5d3a8 283 }
fb07 14:236ae2d7ec41 284 }
fb07 14:236ae2d7ec41 285
fb07 14:236ae2d7ec41 286 void motor1_controller(void)
fb07 14:236ae2d7ec41 287 {
fb07 14:236ae2d7ec41 288 error1_motor1 = (Yref_motor1 - positie_motor1);
fb07 16:1be144329f05 289 if (motor1_calibrated==true&&motor2_calibrated==true)
fb07 16:1be144329f05 290 {
fb07 16:1be144329f05 291 motor1_pwm();
fb07 16:1be144329f05 292 }
fb07 16:1be144329f05 293
fb07 14:236ae2d7ec41 294 }
fb07 14:236ae2d7ec41 295
fb07 15:849e0fc5d3a8 296 void motor2_controller(void)
fb07 15:849e0fc5d3a8 297 {
fb07 15:849e0fc5d3a8 298 error1_motor2 = (Yref_motor2 - positie_motor2);
fb07 16:1be144329f05 299 if (motor1_calibrated==true&&motor2_calibrated==true)
fb07 16:1be144329f05 300 {
fb07 16:1be144329f05 301 motor2_pwm();
fb07 16:1be144329f05 302 }
fb07 15:849e0fc5d3a8 303 }
fb07 13:db1a8b51706b 304
fb07 5:7e2c6d2235fe 305 // 4.3 State-Machine *******************************************************
fb07 10:a60b369c1711 306
fb07 12:f5dc65f1c27b 307 void state_machine()
fb07 12:f5dc65f1c27b 308 {
fb07 12:f5dc65f1c27b 309 if (sw2==0) {State = EmergencyMode;}
fb07 12:f5dc65f1c27b 310 switch(State)
fb07 12:f5dc65f1c27b 311 {
fb07 12:f5dc65f1c27b 312 case MotorCalibration:
fb07 12:f5dc65f1c27b 313 // pc.printf("\r\n State: MotorCalibration");
fb07 12:f5dc65f1c27b 314 led_blue.write(1);
fb07 12:f5dc65f1c27b 315 led_red.write(1);
fb07 12:f5dc65f1c27b 316 led_green.write(0); //Green Led on when in this state
fb07 12:f5dc65f1c27b 317
fb07 14:236ae2d7ec41 318 if (motor1_calibrated==true&&motor2_calibrated==true)
fb07 12:f5dc65f1c27b 319 {
fb07 12:f5dc65f1c27b 320 pc.printf("\r\n Motor Calibration is done!");
fb07 14:236ae2d7ec41 321 encoder_motor1.reset();
fb07 14:236ae2d7ec41 322 encoder_motor2.reset();
fb07 15:849e0fc5d3a8 323
fb07 15:849e0fc5d3a8 324
fb07 12:f5dc65f1c27b 325 State=StartWait;
fb07 12:f5dc65f1c27b 326 }
fb07 12:f5dc65f1c27b 327 else {;} //pc.printf("\r\n Motor Calibration is not done!");}
fb07 12:f5dc65f1c27b 328
fb07 12:f5dc65f1c27b 329 break;
fb07 12:f5dc65f1c27b 330
fb07 12:f5dc65f1c27b 331 case StartWait:
fb07 12:f5dc65f1c27b 332 // pc.printf("\r\n State: StartWait Button 1 = operation, Button 2 = Demo");
fb07 12:f5dc65f1c27b 333 led_blue.write(0);
fb07 12:f5dc65f1c27b 334 led_red.write(1);
fb07 12:f5dc65f1c27b 335 led_green.write(1);
fb07 15:849e0fc5d3a8 336
fb07 16:1be144329f05 337 State=EMGCalibration;
fb07 16:1be144329f05 338 break;
fb07 16:1be144329f05 339
fb07 12:f5dc65f1c27b 340 case EMGCalibration:
fb07 12:f5dc65f1c27b 341 // pc.printf("\r\n State: EMGCalibration");
fb07 12:f5dc65f1c27b 342 led_blue.write(1);
fb07 12:f5dc65f1c27b 343 led_red.write(1);
fb07 12:f5dc65f1c27b 344 led_green.write(0);
fb07 12:f5dc65f1c27b 345
fb07 16:1be144329f05 346 Yref_motor1=5000;
fb07 16:1be144329f05 347 Yref_motor2=2000;
fb07 12:f5dc65f1c27b 348 State=Homing;
fb07 12:f5dc65f1c27b 349 break;
fb07 12:f5dc65f1c27b 350 case Homing:
fb07 14:236ae2d7ec41 351 // pc.printf("\r\n State: Homing");
fb07 16:1be144329f05 352 led_green.write(1);
fb07 14:236ae2d7ec41 353 led2=1;
fb07 16:1be144329f05 354 if(button1==0) {State=Operating;}
fb07 16:1be144329f05 355 if(button2==0) {State=Demo;}
fb07 16:1be144329f05 356
fb07 12:f5dc65f1c27b 357 break;
fb07 16:1be144329f05 358
fb07 12:f5dc65f1c27b 359 case Operating:
fb07 12:f5dc65f1c27b 360 /* pc.printf("\r\n State: Operating");
fb07 12:f5dc65f1c27b 361 led_blue.write(1);
fb07 12:f5dc65f1c27b 362 led_red.write(1);
fb07 12:f5dc65f1c27b 363 led_green.write(0);
fb07 12:f5dc65f1c27b 364 wait(0.5);
fb07 12:f5dc65f1c27b 365 led_green.write(1);
fb07 12:f5dc65f1c27b 366 wait(0.5); */
fb07 12:f5dc65f1c27b 367 break;
fb07 16:1be144329f05 368
fb07 16:1be144329f05 369 case Demo:
fb07 16:1be144329f05 370 pc.printf("\r\n State: Demo");
fb07 16:1be144329f05 371 led_blue.write(1);
fb07 16:1be144329f05 372 led_red.write(1);
fb07 16:1be144329f05 373 led_green.write(0);
fb07 16:1be144329f05 374
fb07 16:1be144329f05 375
fb07 16:1be144329f05 376 break;
fb07 16:1be144329f05 377
fb07 12:f5dc65f1c27b 378 case EmergencyMode:
fb07 12:f5dc65f1c27b 379 pc.printf("\r\n State: EMERGENCY MODE! Press RESET to restart");
fb07 12:f5dc65f1c27b 380
fb07 12:f5dc65f1c27b 381 motor1=0;
fb07 12:f5dc65f1c27b 382 motor2=0;
fb07 12:f5dc65f1c27b 383
fb07 12:f5dc65f1c27b 384 led_blue.write(1);
fb07 12:f5dc65f1c27b 385 led_green.write(1);
fb07 12:f5dc65f1c27b 386 //SOS start
fb07 12:f5dc65f1c27b 387 led_red.write(0); // S
fb07 12:f5dc65f1c27b 388 wait(0.5);
fb07 12:f5dc65f1c27b 389 led_red.write(1); //pause
fb07 12:f5dc65f1c27b 390 wait(0.25);
fb07 12:f5dc65f1c27b 391 led_red.write(0); // O
fb07 12:f5dc65f1c27b 392 wait(1.5);
fb07 12:f5dc65f1c27b 393 led_red.write(1); // pause
fb07 12:f5dc65f1c27b 394 wait(0.25);
fb07 12:f5dc65f1c27b 395 led_red.write(0); // S
fb07 12:f5dc65f1c27b 396 wait(0.5);
fb07 12:f5dc65f1c27b 397 //SOS end
fb07 12:f5dc65f1c27b 398 break;
fb07 12:f5dc65f1c27b 399 case Idle:
fb07 12:f5dc65f1c27b 400 /* pc.printf("\r\n Idling..."); */
fb07 12:f5dc65f1c27b 401 break;
fb07 12:f5dc65f1c27b 402
fb07 12:f5dc65f1c27b 403 }
fb07 12:f5dc65f1c27b 404 }
fb07 9:c4fa72ffa1c2 405
fb07 5:7e2c6d2235fe 406 //******************************************************************************
fb07 5:7e2c6d2235fe 407 // 5. Main Loop ****************************************************************
fb07 2:45a85caaebfb 408 //******************************************************************************
fb07 2:45a85caaebfb 409
fb07 2:45a85caaebfb 410 void main_loop() { //Beginning of main_loop()
fb07 5:7e2c6d2235fe 411 // pc.printf("main_loop is running succesfully \r\n"); //confirmation that main_loop is running (als je dit erin zet krijg je elke duizendste dit bericht. Dit is niet gewenst)
fb07 9:c4fa72ffa1c2 412 fencoder_motor1() ;
fb07 10:a60b369c1711 413 fencoder_motor2() ;
fb07 14:236ae2d7ec41 414 PID_controller_motor1(error_integral_motor1, error1_prev_motor1);
fb07 15:849e0fc5d3a8 415 PID_controller_motor2(error_integral_motor2, error1_prev_motor2);
fb07 16:1be144329f05 416 motor1_controller();
fb07 16:1be144329f05 417 motor2_controller();
fb07 16:1be144329f05 418
fb07 12:f5dc65f1c27b 419 state_machine() ;
fb07 9:c4fa72ffa1c2 420
fb07 5:7e2c6d2235fe 421 // 5.1 Measure Analog and Digital input signals ********************************
fb07 5:7e2c6d2235fe 422 // 5.2 Run state-machine(s) ****************************************************
fb07 5:7e2c6d2235fe 423 // 5.3 Run controller(s) *******************************************************
fb07 5:7e2c6d2235fe 424 // 5.4 Send output signals to digital and PWM output pins **********************
fb07 2:45a85caaebfb 425
fb07 2:45a85caaebfb 426
fb07 2:45a85caaebfb 427 } //Ending of main_loop()
fb07 2:45a85caaebfb 428
fb07 2:45a85caaebfb 429 //******************************************************************************
fb07 5:7e2c6d2235fe 430 // 6. Main function ************************************************************
fb07 2:45a85caaebfb 431 //******************************************************************************
fb07 2:45a85caaebfb 432 int main()
fb07 5:7e2c6d2235fe 433 { //Beginning of Main() Function //All the things we do only once, some relevant things are now missing here: set pwmperiod to 60 microsec. Set Serial comm. Etc. Etc.
fb07 5:7e2c6d2235fe 434 // 6.1 Initialization **********************************************************
RobertoO 0:67c50348f842 435 pc.baud(115200);
fb07 2:45a85caaebfb 436 pc.printf("\r\nStarting Project BioRobotics - Opening a Door " //print Project information
fb07 2:45a85caaebfb 437 "- Group 13 2019/2020 \r\n"
fb07 2:45a85caaebfb 438 "Dion ten Berge - s1864734 \r\n"
fb07 2:45a85caaebfb 439 "Bas Rutteman - s1854305 \r\n"
fb07 2:45a85caaebfb 440 "Nick in het Veld - s1915584 \r\n"
fb07 2:45a85caaebfb 441 "Marleen van der Weij - s1800078 \r\n"
fb07 2:45a85caaebfb 442 "Mevlid Yildirim - s2005735 \r\n");
fb07 5:7e2c6d2235fe 443 led_green.write(1);
fb07 5:7e2c6d2235fe 444 led_red.write(1);
fb07 14:236ae2d7ec41 445 led_blue.write(1);
fb07 14:236ae2d7ec41 446 State = StartWait ; // veranderen inMotorCalibration;
fb07 14:236ae2d7ec41 447 ticker_hidscope.attach(&HIDScope, 0.001); //Ticker for Hidscope, different frequency compared to motors
fb07 9:c4fa72ffa1c2 448 ticker_mainloop.attach(&main_loop,0.001); // change back to 0.001f //Run the function main_loop 1000 times per second
fb07 14:236ae2d7ec41 449
fb07 16:1be144329f05 450 motor_calibration();
fb07 10:a60b369c1711 451
fb07 10:a60b369c1711 452
fb07 5:7e2c6d2235fe 453 // 6.2 While loop in main function**********************************************
fb07 2:45a85caaebfb 454 while (true) { } //Is not used but has to remain in the code!!
fb07 2:45a85caaebfb 455
fb07 2:45a85caaebfb 456 } //Ending of Main() Function