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@6:79e42e1b87cb, 2019-10-22 (annotated)

Committer:
fb07
Date:
Tue Oct 22 00:42:37 2019 +0000
Revision:
6:79e42e1b87cb
Parent:
5:7e2c6d2235fe
Child:
7:a3e073b8dd29
State_machine werkende; Volgende stap motor kalibratie

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 6:79e42e1b87cb 27 enum States {StartWait, MotorCalibration, EMGCalibration, Homing, Demo, Operating, EmergencyMode, Idle}; //All robot states
fb07 6:79e42e1b87cb 28 States State; //defines 'State' which can contain a state (i.e. StartWait) from 'enum States'.
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 5:7e2c6d2235fe 42 double f=1/100; // Frequency
fb07 6:79e42e1b87cb 43 const double Ts = f/1000; // Sampletime
fb07 5:7e2c6d2235fe 44 HIDScope scope(2); // Amount of HIDScope servers
fb07 5:7e2c6d2235fe 45
fb07 5:7e2c6d2235fe 46 // 3.3 BiQuad Filters **********************************************************
fb07 5:7e2c6d2235fe 47 static BiQuad notchfilter(9.97761e-01, -1.97095e+00, 9.97761e-01, -1.97095e+00, 9.95522e-01);
fb07 5:7e2c6d2235fe 48 static BiQuad highfilter(9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01);
fb07 5:7e2c6d2235fe 49 static BiQuad LowPassFilter( 4.12535e-02, 8.25071e-02, 4.12535e-02, -1.34897e+00, 5.13982e-01 );
RobertoO 0:67c50348f842 50
fb07 5:7e2c6d2235fe 51 // 3.4 Hardware ***************************************************************
fb07 5:7e2c6d2235fe 52 //3.4a Leds
fb07 5:7e2c6d2235fe 53 DigitalOut led_red(LED_RED); // Defines the red led on the K64 board (0=on, 1 = off)
fb07 5:7e2c6d2235fe 54 DigitalOut led_green(LED_GREEN); // Defines the green led on the K64 board (0=on, 1 = off)
fb07 5:7e2c6d2235fe 55 DigitalOut led_blue(LED_BLUE); // Defines the blue led on the K64 board (0=on, 1 = off)
fb07 6:79e42e1b87cb 56 // FastPWM led1(D8); //CODE DOES NOT WORK WITH D8 PIN DEFINED //Defines Led1 on the BioRobotics Shield (1=on, 0 = off)
fb07 6:79e42e1b87cb 57 FastPWM led2(D9); //Defines Led2 on the BioRobotics Shield (1=on, 0 = off)
fb07 5:7e2c6d2235fe 58
fb07 5:7e2c6d2235fe 59 //3.4b Potmeters and buttons
fb07 5:7e2c6d2235fe 60 AnalogIn pot1_links(A5); //Defines potmeter1 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 61 AnalogIn pot2_rechts(A4); //Defines potmeter2 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 62 DigitalIn button1(D2); //Defines button1 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 63 DigitalIn button2(D3); //Defines button2 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 64 DigitalIn sw2(SW2); //Defines button SW2 on the K64 board
fb07 5:7e2c6d2235fe 65 DigitalIn sw3(SW3); //Defines button SW3 on the K64 board
fb07 5:7e2c6d2235fe 66
fb07 5:7e2c6d2235fe 67 //3.4c Motors
fb07 5:7e2c6d2235fe 68 DigitalOut motor1DirectionPin(D7); // motor 1 direction control (1=cw, 0=ccw)
fb07 5:7e2c6d2235fe 69 FastPWM motor1(D6); // motor 1 velocity control (between 0-1)
fb07 5:7e2c6d2235fe 70 FastPWM motor2(D5); // motor 2 velocity control (between 0-1)
fb07 5:7e2c6d2235fe 71 DigitalOut motor2DirectionPin(D4); // motor 2 direction control (1=cw, 0=ccw)
fb07 5:7e2c6d2235fe 72
fb07 5:7e2c6d2235fe 73 // 3.5 PID variabelen ***************************************************************
fb07 5:7e2c6d2235fe 74 //3.5a PID-controller motor 1
fb07 5:7e2c6d2235fe 75 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 76 static double error_integral_motor1 = 0;
fb07 5:7e2c6d2235fe 77 double Yref_motor1;
fb07 5:7e2c6d2235fe 78 double kp_motor1;
fb07 5:7e2c6d2235fe 79 double Ki_motor1;
fb07 5:7e2c6d2235fe 80 double Kd_motor1;
fb07 2:45a85caaebfb 81
fb07 5:7e2c6d2235fe 82 double positie_motor1; //counts encoder
fb07 5:7e2c6d2235fe 83 double error1_motor1;
fb07 5:7e2c6d2235fe 84 double error1_prev_motor1;
fb07 5:7e2c6d2235fe 85 double error1_derivative_motor1;
fb07 5:7e2c6d2235fe 86 double error1_derivative_filtered_motor1;
fb07 5:7e2c6d2235fe 87 double P_motor1;
fb07 5:7e2c6d2235fe 88
fb07 5:7e2c6d2235fe 89 //3.5b PID-controller motor 2
fb07 5:7e2c6d2235fe 90 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 91 static double error_integral_motor2 = 0;
fb07 5:7e2c6d2235fe 92 double Yref_motor2;
fb07 5:7e2c6d2235fe 93 double kp_motor2;
fb07 5:7e2c6d2235fe 94 double Ki_motor2;
fb07 5:7e2c6d2235fe 95 double Kd_motor2;
fb07 2:45a85caaebfb 96
fb07 5:7e2c6d2235fe 97 double positie_motor2; //counts encoder
fb07 5:7e2c6d2235fe 98 double error1_motor2;
fb07 5:7e2c6d2235fe 99 double error1_prev_motor2;
fb07 5:7e2c6d2235fe 100 double error1_derivative_motor2;
fb07 5:7e2c6d2235fe 101 double error1_derivative_filtered_motor2;
fb07 5:7e2c6d2235fe 102 double P_motor2;
RobertoO 0:67c50348f842 103
fb07 2:45a85caaebfb 104 //******************************************************************************
fb07 5:7e2c6d2235fe 105 // 4. Functions ****************************************************************
fb07 5:7e2c6d2235fe 106 //******************************************************************************
fb07 5:7e2c6d2235fe 107
fb07 5:7e2c6d2235fe 108 // 4.1 Hidscope ****************************************************************
fb07 5:7e2c6d2235fe 109 void HIDScope() //voor HIDscope
fb07 5:7e2c6d2235fe 110 {
fb07 5:7e2c6d2235fe 111 scope.set(0, Yref_motor1); //nog te definieren wat we willen weergeven
fb07 5:7e2c6d2235fe 112 scope.set(1, positie_motor1); //nog te definieren wat we willen weergeven
fb07 5:7e2c6d2235fe 113 scope.send();
fb07 5:7e2c6d2235fe 114 }
fb07 5:7e2c6d2235fe 115
fb07 5:7e2c6d2235fe 116 // 4.2a PID-Controller motor 1**************************************************
fb07 5:7e2c6d2235fe 117 double PID_controller_motor1()
fb07 5:7e2c6d2235fe 118 {
fb07 5:7e2c6d2235fe 119 //Proportional part
fb07 5:7e2c6d2235fe 120 kp_motor1 = 0.01 ; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 121 double Up_motor1 = kp_motor1 * error1_motor1;
fb07 5:7e2c6d2235fe 122
fb07 5:7e2c6d2235fe 123 //Integral part
fb07 5:7e2c6d2235fe 124 Ki_motor1 = 0.0001; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 125 error_integral_motor1 = error_integral_motor1 + (Ts*error1_motor1); // integrale fout + (de sample tijd * fout)
fb07 5:7e2c6d2235fe 126 double Ui_motor1 = Ki_motor1 * error_integral_motor1; // (fout * integrale fout)
fb07 5:7e2c6d2235fe 127
fb07 5:7e2c6d2235fe 128 //Derivative part
fb07 5:7e2c6d2235fe 129 Kd_motor1 = 0.01 ;// moet nog getweaked worden
fb07 5:7e2c6d2235fe 130 error1_derivative_motor1 = (error1_motor1 - error1_prev_motor1)/Ts; // (Fout - de vorige fout) / tijdstap = afgeleide
fb07 5:7e2c6d2235fe 131 error1_derivative_filtered_motor1 = LowPassFilter.step(error1_derivative_motor1); //derivative wordt gefiltered
fb07 5:7e2c6d2235fe 132 double Ud_motor1 = Kd_motor1 * error1_derivative_filtered_motor1; // (afgeleide gain) * (afgeleide gefilterde fout)
fb07 5:7e2c6d2235fe 133 error1_prev_motor1 = error1_motor1;
fb07 5:7e2c6d2235fe 134
fb07 5:7e2c6d2235fe 135 double P_motor1 = Up_motor1 + Ui_motor1 + Ud_motor1; //sommatie van de u's
fb07 5:7e2c6d2235fe 136
fb07 5:7e2c6d2235fe 137 return P_motor1;
fb07 5:7e2c6d2235fe 138 }
fb07 5:7e2c6d2235fe 139
fb07 5:7e2c6d2235fe 140 // 4.2b PID-Controller motor 2**************************************************
fb07 5:7e2c6d2235fe 141 double PID_controller_motor2()
fb07 5:7e2c6d2235fe 142 {
fb07 5:7e2c6d2235fe 143 //Proportional part
fb07 5:7e2c6d2235fe 144 kp_motor2 = 0.01 ; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 145 double Up_motor2 = kp_motor2 * error1_motor2;
fb07 5:7e2c6d2235fe 146
fb07 5:7e2c6d2235fe 147 //Integral part
fb07 5:7e2c6d2235fe 148 Ki_motor2 = 0.0001; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 149 error_integral_motor2 = error_integral_motor2 + (Ts*error1_motor2); // integrale fout + (de sample tijd * fout)
fb07 5:7e2c6d2235fe 150 double Ui_motor2 = Ki_motor2 * error_integral_motor2; //de fout keer de integrale fout
fb07 5:7e2c6d2235fe 151
fb07 5:7e2c6d2235fe 152 //Derivative part
fb07 5:7e2c6d2235fe 153 Kd_motor2 = 0.01 ;// moet nog getweaked worden
fb07 5:7e2c6d2235fe 154 error1_derivative_motor2 = (error1_motor2 - error1_prev_motor2)/Ts;
fb07 5:7e2c6d2235fe 155 error1_derivative_filtered_motor2 = LowPassFilter.step(error1_derivative_motor2); //derivative wordt gefiltered, dit later aanpassen
fb07 5:7e2c6d2235fe 156 double Ud_motor2 = Kd_motor2 * error1_derivative_filtered_motor2;
fb07 5:7e2c6d2235fe 157 error1_prev_motor2 = error1_motor2;
fb07 5:7e2c6d2235fe 158
fb07 5:7e2c6d2235fe 159 double P_motor2 = Up_motor2 + Ui_motor2 + Ud_motor2; //sommatie van de u's
fb07 5:7e2c6d2235fe 160
fb07 5:7e2c6d2235fe 161 return P_motor2;
fb07 5:7e2c6d2235fe 162 }
fb07 5:7e2c6d2235fe 163 // 4.3 State-Machine *******************************************************
fb07 6:79e42e1b87cb 164 void state_machine()
fb07 6:79e42e1b87cb 165 {
fb07 6:79e42e1b87cb 166 if (sw2==0) {State = EmergencyMode;}
fb07 6:79e42e1b87cb 167 switch(State)
fb07 6:79e42e1b87cb 168 {
fb07 6:79e42e1b87cb 169 case StartWait:
fb07 6:79e42e1b87cb 170 pc.printf("\r\n State: StartWait Button 1 = operation, Button 2 = Demo");
fb07 6:79e42e1b87cb 171 led_blue.write(0);
fb07 6:79e42e1b87cb 172 if(button1==0) {State=MotorCalibration;}
fb07 6:79e42e1b87cb 173 if(button2==0) {State=Demo;}
fb07 6:79e42e1b87cb 174 break;
fb07 6:79e42e1b87cb 175
fb07 6:79e42e1b87cb 176 case MotorCalibration:
fb07 6:79e42e1b87cb 177 pc.printf("\r\n State: MotorCalibration");
fb07 6:79e42e1b87cb 178
fb07 6:79e42e1b87cb 179 State=EMGCalibration;
fb07 6:79e42e1b87cb 180 break;
fb07 6:79e42e1b87cb 181
fb07 6:79e42e1b87cb 182 case EMGCalibration:
fb07 6:79e42e1b87cb 183 pc.printf("\r\n State: EMGCalibration");
fb07 6:79e42e1b87cb 184 led_blue.write(0);
fb07 6:79e42e1b87cb 185 led_red.write(1);
fb07 6:79e42e1b87cb 186 led_green.write(1);
fb07 6:79e42e1b87cb 187 // wait(2);
fb07 6:79e42e1b87cb 188 State=Homing;
fb07 6:79e42e1b87cb 189 break;
fb07 6:79e42e1b87cb 190
fb07 6:79e42e1b87cb 191 case Homing:
fb07 6:79e42e1b87cb 192 pc.printf("\r\n State: Homing");
fb07 6:79e42e1b87cb 193 State=Operating;
fb07 6:79e42e1b87cb 194 break;
fb07 6:79e42e1b87cb 195
fb07 6:79e42e1b87cb 196 case Demo:
fb07 6:79e42e1b87cb 197 pc.printf("\r\n State: Demo");
fb07 6:79e42e1b87cb 198 wait(2);
fb07 6:79e42e1b87cb 199 State=Idle;
fb07 6:79e42e1b87cb 200 break;
fb07 6:79e42e1b87cb 201
fb07 6:79e42e1b87cb 202 case Operating:
fb07 6:79e42e1b87cb 203 pc.printf("\r\n State: Operating");
fb07 6:79e42e1b87cb 204 motor1=1;
fb07 6:79e42e1b87cb 205 break;
fb07 6:79e42e1b87cb 206
fb07 6:79e42e1b87cb 207 case Idle:
fb07 6:79e42e1b87cb 208 pc.printf("\r\n Idling...");
fb07 6:79e42e1b87cb 209 break;
fb07 6:79e42e1b87cb 210
fb07 6:79e42e1b87cb 211 case EmergencyMode:
fb07 6:79e42e1b87cb 212 pc.printf("\r\n State: EMERGENCY MODE! Press RESET to restart");
fb07 6:79e42e1b87cb 213 motor1=0; //Turns motor1 off
fb07 6:79e42e1b87cb 214 motor2=0; //Turns motor2 off
fb07 6:79e42e1b87cb 215 //led1=0; //led1 is disabled //Turns Led1 off
fb07 6:79e42e1b87cb 216 led2=1; //Turns Led2 off
fb07 6:79e42e1b87cb 217
fb07 6:79e42e1b87cb 218 led_blue.write(1); //Turns Led blue off
fb07 6:79e42e1b87cb 219 led_green.write(1); //Turns Led green off
fb07 6:79e42e1b87cb 220
fb07 6:79e42e1b87cb 221
fb07 6:79e42e1b87cb 222 //SOS signal with Led Red start
fb07 6:79e42e1b87cb 223 led_red.write(0); // S
fb07 6:79e42e1b87cb 224 wait(0.5);
fb07 6:79e42e1b87cb 225 led_red.write(1); //pause
fb07 6:79e42e1b87cb 226 wait(0.25);
fb07 6:79e42e1b87cb 227 led_red.write(0); // O
fb07 6:79e42e1b87cb 228 wait(1.5);
fb07 6:79e42e1b87cb 229 led_red.write(1); // pause
fb07 6:79e42e1b87cb 230 wait(0.25);
fb07 6:79e42e1b87cb 231 led_red.write(0); // S
fb07 6:79e42e1b87cb 232 wait(0.5);
fb07 6:79e42e1b87cb 233 //SOS end
fb07 6:79e42e1b87cb 234 break;
fb07 6:79e42e1b87cb 235
fb07 6:79e42e1b87cb 236 }
fb07 6:79e42e1b87cb 237 }
fb07 5:7e2c6d2235fe 238
fb07 5:7e2c6d2235fe 239 //******************************************************************************
fb07 5:7e2c6d2235fe 240 // 5. Main Loop ****************************************************************
fb07 2:45a85caaebfb 241 //******************************************************************************
fb07 2:45a85caaebfb 242
fb07 2:45a85caaebfb 243 void main_loop() { //Beginning of main_loop()
fb07 5:7e2c6d2235fe 244 // 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 5:7e2c6d2235fe 245
fb07 5:7e2c6d2235fe 246 // 5.1 Measure Analog and Digital input signals ********************************
fb07 5:7e2c6d2235fe 247 // 5.2 Run state-machine(s) ****************************************************
fb07 6:79e42e1b87cb 248 state_machine();
fb07 5:7e2c6d2235fe 249 // 5.3 Run controller(s) *******************************************************
fb07 5:7e2c6d2235fe 250 // 5.4 Send output signals to digital and PWM output pins **********************
fb07 2:45a85caaebfb 251
fb07 2:45a85caaebfb 252
fb07 2:45a85caaebfb 253 } //Ending of main_loop()
fb07 2:45a85caaebfb 254
fb07 2:45a85caaebfb 255 //******************************************************************************
fb07 5:7e2c6d2235fe 256 // 6. Main function ************************************************************
fb07 2:45a85caaebfb 257 //******************************************************************************
fb07 2:45a85caaebfb 258 int main()
fb07 5:7e2c6d2235fe 259 { //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 260 // 6.1 Initialization **********************************************************
RobertoO 0:67c50348f842 261 pc.baud(115200);
fb07 2:45a85caaebfb 262 pc.printf("\r\nStarting Project BioRobotics - Opening a Door " //print Project information
fb07 2:45a85caaebfb 263 "- Group 13 2019/2020 \r\n"
fb07 2:45a85caaebfb 264 "Dion ten Berge - s1864734 \r\n"
fb07 2:45a85caaebfb 265 "Bas Rutteman - s1854305 \r\n"
fb07 2:45a85caaebfb 266 "Nick in het Veld - s1915584 \r\n"
fb07 2:45a85caaebfb 267 "Marleen van der Weij - s1800078 \r\n"
fb07 2:45a85caaebfb 268 "Mevlid Yildirim - s2005735 \r\n");
fb07 6:79e42e1b87cb 269 led_green.write(1); //Led off
fb07 6:79e42e1b87cb 270 led_red.write(1); //Led off
fb07 6:79e42e1b87cb 271 led_blue.write(1); //Led off
RobertoO 0:67c50348f842 272
fb07 5:7e2c6d2235fe 273 ticker_mainloop.attach(&main_loop,0.001f); // change back to 0.001f //Run the function main_loop 1000 times per second
fb07 5:7e2c6d2235fe 274 ticker_hidscope.attach(&HIDScope, 0.1f); //Ticker for Hidscope, different frequency compared to motors
fb07 2:45a85caaebfb 275
fb07 5:7e2c6d2235fe 276 // 6.2 While loop in main function**********************************************
fb07 2:45a85caaebfb 277 while (true) { } //Is not used but has to remain in the code!!
fb07 2:45a85caaebfb 278
fb07 2:45a85caaebfb 279 } //Ending of Main() Function