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@10:a60b369c1711, 2019-10-29 (annotated)

Committer:
fb07
Date:
Tue Oct 29 13:36:53 2019 +0000
Revision:
10:a60b369c1711
Parent:
9:c4fa72ffa1c2
Child:
11:a3fd9d5144bb
Beide motoren kalibreren na elkaar. Revisie voor het samenvoegen van de aparte kalibratie functies

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 5:7e2c6d2235fe 27 enum States {StartWait, MotorCalibration, EMGCalibration, Homing, Operating, Emergency, Demo}; //All robot states
fb07 5:7e2c6d2235fe 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 5:7e2c6d2235fe 42 double f=1/100; // Frequency
fb07 5:7e2c6d2235fe 43 const double Ts = f/10; // 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 10:a60b369c1711 73 bool motor1_calibration_status=true;
fb07 10:a60b369c1711 74 bool motor2_calibration_status=true;
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 2:45a85caaebfb 84
fb07 5:7e2c6d2235fe 85 double positie_motor1; //counts encoder
fb07 5:7e2c6d2235fe 86 double error1_motor1;
fb07 5:7e2c6d2235fe 87 double error1_prev_motor1;
fb07 5:7e2c6d2235fe 88 double error1_derivative_motor1;
fb07 5:7e2c6d2235fe 89 double error1_derivative_filtered_motor1;
fb07 5:7e2c6d2235fe 90 double P_motor1;
fb07 5:7e2c6d2235fe 91
fb07 10:a60b369c1711 92 double positie_verschil_motor1;
fb07 10:a60b369c1711 93 double positie_prev_motor1;
fb07 10:a60b369c1711 94
fb07 10:a60b369c1711 95 // 3.5 Motor 2 variables ***************************************************************
fb07 5:7e2c6d2235fe 96 //3.5b PID-controller motor 2
fb07 5:7e2c6d2235fe 97 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 98 static double error_integral_motor2 = 0;
fb07 5:7e2c6d2235fe 99 double Yref_motor2;
fb07 5:7e2c6d2235fe 100 double kp_motor2;
fb07 5:7e2c6d2235fe 101 double Ki_motor2;
fb07 5:7e2c6d2235fe 102 double Kd_motor2;
fb07 2:45a85caaebfb 103
fb07 5:7e2c6d2235fe 104 double positie_motor2; //counts encoder
fb07 5:7e2c6d2235fe 105 double error1_motor2;
fb07 5:7e2c6d2235fe 106 double error1_prev_motor2;
fb07 5:7e2c6d2235fe 107 double error1_derivative_motor2;
fb07 5:7e2c6d2235fe 108 double error1_derivative_filtered_motor2;
fb07 5:7e2c6d2235fe 109 double P_motor2;
fb07 10:a60b369c1711 110
fb07 10:a60b369c1711 111 double positie_verschil_motor2;
fb07 10:a60b369c1711 112 double positie_prev_motor2;
RobertoO 0:67c50348f842 113
fb07 2:45a85caaebfb 114 //******************************************************************************
fb07 5:7e2c6d2235fe 115 // 4. Functions ****************************************************************
fb07 5:7e2c6d2235fe 116 //******************************************************************************
fb07 5:7e2c6d2235fe 117
fb07 5:7e2c6d2235fe 118 // 4.1 Hidscope ****************************************************************
fb07 5:7e2c6d2235fe 119 void HIDScope() //voor HIDscope
fb07 5:7e2c6d2235fe 120 {
fb07 9:c4fa72ffa1c2 121 scope.set(0, positie_motor1);
fb07 9:c4fa72ffa1c2 122 scope.set(1, positie_prev_motor1); //nog te definieren wat we willen weergeven
fb07 9:c4fa72ffa1c2 123 scope.set(2, positie_verschil_motor1); //nog te definieren wat we willen weergeven
fb07 9:c4fa72ffa1c2 124
fb07 5:7e2c6d2235fe 125 scope.send();
fb07 5:7e2c6d2235fe 126 }
fb07 10:a60b369c1711 127 // 4.x Encoder motor1 ****************************************************************
fb07 9:c4fa72ffa1c2 128 double fencoder_motor1() // bepaalt de positie van de motor
fb07 9:c4fa72ffa1c2 129 {
fb07 9:c4fa72ffa1c2 130 positie_motor1 = encoder_motor1.getPulses(); // haalt encoder waardes op
fb07 9:c4fa72ffa1c2 131 positie_verschil_motor1 = (positie_motor1-positie_prev_motor1)/Ts;
fb07 9:c4fa72ffa1c2 132 positie_prev_motor1 = positie_motor1;
fb07 9:c4fa72ffa1c2 133
fb07 9:c4fa72ffa1c2 134 return positie_motor1; //geeft positie van motor
fb07 9:c4fa72ffa1c2 135 }
fb07 10:a60b369c1711 136 // 4.x Encoder motor2 ****************************************************************
fb07 10:a60b369c1711 137 double fencoder_motor2() // bepaalt de positie van de motor
fb07 10:a60b369c1711 138 {
fb07 10:a60b369c1711 139 positie_motor2 = encoder_motor2.getPulses(); // haalt encoder waardes op
fb07 10:a60b369c1711 140 positie_verschil_motor2 = (positie_motor2-positie_prev_motor2)/Ts;
fb07 10:a60b369c1711 141 positie_prev_motor2 = positie_motor2;
fb07 10:a60b369c1711 142
fb07 10:a60b369c1711 143 return positie_motor2; //geeft positie van motor
fb07 10:a60b369c1711 144 }
fb07 10:a60b369c1711 145
fb07 10:a60b369c1711 146 // 4.xa Calibration motor 1
fb07 10:a60b369c1711 147 void motor1_calibration()
fb07 10:a60b369c1711 148 {
fb07 10:a60b369c1711 149 motor1DirectionPin=0; //direction of the motor
fb07 10:a60b369c1711 150 motor1=1.0;
fb07 10:a60b369c1711 151 wait(0.05);
fb07 10:a60b369c1711 152 while (abs(positie_verschil_motor1)>5)
fb07 10:a60b369c1711 153 {
fb07 10:a60b369c1711 154 motor1=0.2 ;
fb07 10:a60b369c1711 155 pc.printf("\r\n Motor1 kalibratie = %s", motor1_calibration_status ? "true" : "false");
fb07 10:a60b369c1711 156 }
fb07 10:a60b369c1711 157 motor1=0.0;
fb07 10:a60b369c1711 158 motor1_calibration_status=false;
fb07 10:a60b369c1711 159 pc.printf("\r\n Motor1 kalibratie = %s", motor1_calibration_status ? "true" : "false");
fb07 10:a60b369c1711 160
fb07 10:a60b369c1711 161 }
fb07 10:a60b369c1711 162
fb07 10:a60b369c1711 163 // 4.xa Calibration motor 2
fb07 10:a60b369c1711 164 void motor2_calibration()
fb07 10:a60b369c1711 165 {
fb07 10:a60b369c1711 166 motor2DirectionPin=0; //direction of the motor
fb07 10:a60b369c1711 167 motor2=1.0;
fb07 10:a60b369c1711 168 wait(1);
fb07 10:a60b369c1711 169 while (abs(positie_verschil_motor2)>5)
fb07 10:a60b369c1711 170 {
fb07 10:a60b369c1711 171 motor2=0.2 ;
fb07 10:a60b369c1711 172 pc.printf("\r\n Motor2 kalibratie = %s", motor2_calibration_status ? "true" : "false");
fb07 10:a60b369c1711 173 }
fb07 10:a60b369c1711 174 motor2=0.0;
fb07 10:a60b369c1711 175 motor2_calibration_status=false;
fb07 10:a60b369c1711 176 pc.printf("\r\n Motor2 kalibratie = %s", motor2_calibration_status ? "true" : "false");
fb07 10:a60b369c1711 177
fb07 10:a60b369c1711 178 }
fb07 10:a60b369c1711 179
fb07 5:7e2c6d2235fe 180 // 4.2a PID-Controller motor 1**************************************************
fb07 5:7e2c6d2235fe 181 double PID_controller_motor1()
fb07 5:7e2c6d2235fe 182 {
fb07 5:7e2c6d2235fe 183 //Proportional part
fb07 5:7e2c6d2235fe 184 kp_motor1 = 0.01 ; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 185 double Up_motor1 = kp_motor1 * error1_motor1;
fb07 5:7e2c6d2235fe 186
fb07 5:7e2c6d2235fe 187 //Integral part
fb07 5:7e2c6d2235fe 188 Ki_motor1 = 0.0001; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 189 error_integral_motor1 = error_integral_motor1 + (Ts*error1_motor1); // integrale fout + (de sample tijd * fout)
fb07 5:7e2c6d2235fe 190 double Ui_motor1 = Ki_motor1 * error_integral_motor1; // (fout * integrale fout)
fb07 5:7e2c6d2235fe 191
fb07 5:7e2c6d2235fe 192 //Derivative part
fb07 5:7e2c6d2235fe 193 Kd_motor1 = 0.01 ;// moet nog getweaked worden
fb07 5:7e2c6d2235fe 194 error1_derivative_motor1 = (error1_motor1 - error1_prev_motor1)/Ts; // (Fout - de vorige fout) / tijdstap = afgeleide
fb07 5:7e2c6d2235fe 195 error1_derivative_filtered_motor1 = LowPassFilter.step(error1_derivative_motor1); //derivative wordt gefiltered
fb07 5:7e2c6d2235fe 196 double Ud_motor1 = Kd_motor1 * error1_derivative_filtered_motor1; // (afgeleide gain) * (afgeleide gefilterde fout)
fb07 5:7e2c6d2235fe 197 error1_prev_motor1 = error1_motor1;
fb07 5:7e2c6d2235fe 198
fb07 5:7e2c6d2235fe 199 double P_motor1 = Up_motor1 + Ui_motor1 + Ud_motor1; //sommatie van de u's
fb07 5:7e2c6d2235fe 200
fb07 5:7e2c6d2235fe 201 return P_motor1;
fb07 5:7e2c6d2235fe 202 }
fb07 5:7e2c6d2235fe 203
fb07 5:7e2c6d2235fe 204 // 4.2b PID-Controller motor 2**************************************************
fb07 5:7e2c6d2235fe 205 double PID_controller_motor2()
fb07 5:7e2c6d2235fe 206 {
fb07 5:7e2c6d2235fe 207 //Proportional part
fb07 5:7e2c6d2235fe 208 kp_motor2 = 0.01 ; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 209 double Up_motor2 = kp_motor2 * error1_motor2;
fb07 5:7e2c6d2235fe 210
fb07 5:7e2c6d2235fe 211 //Integral part
fb07 5:7e2c6d2235fe 212 Ki_motor2 = 0.0001; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 213 error_integral_motor2 = error_integral_motor2 + (Ts*error1_motor2); // integrale fout + (de sample tijd * fout)
fb07 5:7e2c6d2235fe 214 double Ui_motor2 = Ki_motor2 * error_integral_motor2; //de fout keer de integrale fout
fb07 5:7e2c6d2235fe 215
fb07 5:7e2c6d2235fe 216 //Derivative part
fb07 5:7e2c6d2235fe 217 Kd_motor2 = 0.01 ;// moet nog getweaked worden
fb07 5:7e2c6d2235fe 218 error1_derivative_motor2 = (error1_motor2 - error1_prev_motor2)/Ts;
fb07 5:7e2c6d2235fe 219 error1_derivative_filtered_motor2 = LowPassFilter.step(error1_derivative_motor2); //derivative wordt gefiltered, dit later aanpassen
fb07 5:7e2c6d2235fe 220 double Ud_motor2 = Kd_motor2 * error1_derivative_filtered_motor2;
fb07 5:7e2c6d2235fe 221 error1_prev_motor2 = error1_motor2;
fb07 5:7e2c6d2235fe 222
fb07 5:7e2c6d2235fe 223 double P_motor2 = Up_motor2 + Ui_motor2 + Ud_motor2; //sommatie van de u's
fb07 5:7e2c6d2235fe 224
fb07 5:7e2c6d2235fe 225 return P_motor2;
fb07 5:7e2c6d2235fe 226 }
fb07 10:a60b369c1711 227
fb07 5:7e2c6d2235fe 228 // 4.3 State-Machine *******************************************************
fb07 10:a60b369c1711 229
fb07 9:c4fa72ffa1c2 230
fb07 5:7e2c6d2235fe 231 //******************************************************************************
fb07 5:7e2c6d2235fe 232 // 5. Main Loop ****************************************************************
fb07 2:45a85caaebfb 233 //******************************************************************************
fb07 2:45a85caaebfb 234
fb07 2:45a85caaebfb 235 void main_loop() { //Beginning of main_loop()
fb07 5:7e2c6d2235fe 236 // 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 237 fencoder_motor1() ;
fb07 10:a60b369c1711 238 fencoder_motor2() ;
fb07 9:c4fa72ffa1c2 239
fb07 9:c4fa72ffa1c2 240
fb07 5:7e2c6d2235fe 241 // 5.1 Measure Analog and Digital input signals ********************************
fb07 5:7e2c6d2235fe 242 // 5.2 Run state-machine(s) ****************************************************
fb07 5:7e2c6d2235fe 243 // 5.3 Run controller(s) *******************************************************
fb07 5:7e2c6d2235fe 244 // 5.4 Send output signals to digital and PWM output pins **********************
fb07 2:45a85caaebfb 245
fb07 2:45a85caaebfb 246
fb07 2:45a85caaebfb 247 } //Ending of main_loop()
fb07 2:45a85caaebfb 248
fb07 2:45a85caaebfb 249 //******************************************************************************
fb07 5:7e2c6d2235fe 250 // 6. Main function ************************************************************
fb07 2:45a85caaebfb 251 //******************************************************************************
fb07 2:45a85caaebfb 252 int main()
fb07 5:7e2c6d2235fe 253 { //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 254 // 6.1 Initialization **********************************************************
RobertoO 0:67c50348f842 255 pc.baud(115200);
fb07 2:45a85caaebfb 256 pc.printf("\r\nStarting Project BioRobotics - Opening a Door " //print Project information
fb07 2:45a85caaebfb 257 "- Group 13 2019/2020 \r\n"
fb07 2:45a85caaebfb 258 "Dion ten Berge - s1864734 \r\n"
fb07 2:45a85caaebfb 259 "Bas Rutteman - s1854305 \r\n"
fb07 2:45a85caaebfb 260 "Nick in het Veld - s1915584 \r\n"
fb07 2:45a85caaebfb 261 "Marleen van der Weij - s1800078 \r\n"
fb07 2:45a85caaebfb 262 "Mevlid Yildirim - s2005735 \r\n");
fb07 5:7e2c6d2235fe 263 led_green.write(1);
fb07 5:7e2c6d2235fe 264 led_red.write(1);
fb07 5:7e2c6d2235fe 265 led_blue.write(0);
fb07 9:c4fa72ffa1c2 266
fb07 9:c4fa72ffa1c2 267 ticker_mainloop.attach(&main_loop,0.001); // change back to 0.001f //Run the function main_loop 1000 times per second
fb07 9:c4fa72ffa1c2 268 ticker_hidscope.attach(&HIDScope, 0.001); //Ticker for Hidscope, different frequency compared to motors
fb07 9:c4fa72ffa1c2 269 motor1_calibration();
fb07 10:a60b369c1711 270 motor2_calibration();
fb07 10:a60b369c1711 271
fb07 10:a60b369c1711 272
fb07 5:7e2c6d2235fe 273 // 6.2 While loop in main function**********************************************
fb07 2:45a85caaebfb 274 while (true) { } //Is not used but has to remain in the code!!
fb07 2:45a85caaebfb 275
fb07 2:45a85caaebfb 276 } //Ending of Main() Function