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@17:f87e5d6c87f4, 2019-10-30 (annotated)

Committer:
fb07
Date:
Wed Oct 30 10:54:50 2019 +0000
Revision:
17:f87e5d6c87f4
Parent:
16:1be144329f05
Child:
18:8bfc1821d412
With emg added and working

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 17:f87e5d6c87f4 47 // 3.3 EMG Variables **********************************************************
fb07 17:f87e5d6c87f4 48 static BiQuad highfilter0(9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01);
fb07 17:f87e5d6c87f4 49 static BiQuad LowPassFilter0( 4.12535e-02, 8.25071e-02, 4.12535e-02, -1.34897e+00, 5.13982e-01 );
fb07 17:f87e5d6c87f4 50
fb07 17:f87e5d6c87f4 51 static BiQuad highfilter1(9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01);
fb07 17:f87e5d6c87f4 52 static BiQuad LowPassFilter1( 4.12535e-02, 8.25071e-02, 4.12535e-02, -1.34897e+00, 5.13982e-01 );
fb07 17:f87e5d6c87f4 53
fb07 17:f87e5d6c87f4 54 static BiQuad highfilter2(9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01);
fb07 17:f87e5d6c87f4 55 static BiQuad LowPassFilter2( 4.12535e-02, 8.25071e-02, 4.12535e-02, -1.34897e+00, 5.13982e-01 );
fb07 17:f87e5d6c87f4 56
fb07 17:f87e5d6c87f4 57 static BiQuad highfilter3(9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01);
fb07 17:f87e5d6c87f4 58 static BiQuad LowPassFilter3( 4.12535e-02, 8.25071e-02, 4.12535e-02, -1.34897e+00, 5.13982e-01 );
fb07 17:f87e5d6c87f4 59
fb07 17:f87e5d6c87f4 60 double emg0_raw_signal ; double emg1_raw_signal ; double emg2_raw_signal ; double emg3_raw_signal ;
fb07 17:f87e5d6c87f4 61 double high_emg0_signal ; double high_emg1_signal ; double high_emg2_signal ; double high_emg3_signal ;
fb07 17:f87e5d6c87f4 62 double rec_emg0_signal ; double rec_emg1_signal ; double rec_emg2_signal ; double rec_emg3_signal ;
fb07 17:f87e5d6c87f4 63 double low_rec_high_emg0_signal ; double low_rec_high_emg1_signal ; double low_rec_high_emg2_signal ; double low_rec_high_emg3_signal ;
fb07 17:f87e5d6c87f4 64 double emg0_signal ; double emg1_signal ; double emg2_signal ; double emg3_signal ;
fb07 17:f87e5d6c87f4 65
RobertoO 0:67c50348f842 66
fb07 5:7e2c6d2235fe 67 // 3.4 Hardware ***************************************************************
fb07 5:7e2c6d2235fe 68 //3.4a Leds
fb07 5:7e2c6d2235fe 69 DigitalOut led_red(LED_RED); // Defines the red led on the K64 board (0=on, 1 = off)
fb07 5:7e2c6d2235fe 70 DigitalOut led_green(LED_GREEN); // Defines the green led on the K64 board (0=on, 1 = off)
fb07 5:7e2c6d2235fe 71 DigitalOut led_blue(LED_BLUE); // Defines the blue led on the K64 board (0=on, 1 = off)
fb07 5:7e2c6d2235fe 72 // FastPWM led1(D8); //CODE DOES NOT WORK WITH D8 PIN DEFINED //Defines Led1 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 73 FastPWM led2(D9); //Defines Led2 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 74
fb07 5:7e2c6d2235fe 75 //3.4b Potmeters and buttons
fb07 5:7e2c6d2235fe 76 AnalogIn pot1_links(A5); //Defines potmeter1 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 77 AnalogIn pot2_rechts(A4); //Defines potmeter2 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 78 DigitalIn button1(D2); //Defines button1 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 79 DigitalIn button2(D3); //Defines button2 on the BioRobotics Shield
fb07 5:7e2c6d2235fe 80 DigitalIn sw2(SW2); //Defines button SW2 on the K64 board
fb07 5:7e2c6d2235fe 81 DigitalIn sw3(SW3); //Defines button SW3 on the K64 board
fb07 5:7e2c6d2235fe 82
fb07 5:7e2c6d2235fe 83 //3.4c Motors
fb07 5:7e2c6d2235fe 84 DigitalOut motor1DirectionPin(D7); // motor 1 direction control (1=cw, 0=ccw)
fb07 5:7e2c6d2235fe 85 FastPWM motor1(D6); // motor 1 velocity control (between 0-1)
fb07 5:7e2c6d2235fe 86 FastPWM motor2(D5); // motor 2 velocity control (between 0-1)
fb07 5:7e2c6d2235fe 87 DigitalOut motor2DirectionPin(D4); // motor 2 direction control (1=cw, 0=ccw)
fb07 11:a3fd9d5144bb 88 bool motor1_calibrated=false;
fb07 11:a3fd9d5144bb 89 bool motor2_calibrated=false;
fb07 5:7e2c6d2235fe 90
fb07 17:f87e5d6c87f4 91 //3.4d EMGs
fb07 17:f87e5d6c87f4 92 AnalogIn emg0(A0); //Rechterarm
fb07 17:f87e5d6c87f4 93 AnalogIn emg1(A1); //Linkerarm
fb07 17:f87e5d6c87f4 94 AnalogIn emg2(A2); //Rechterbeen
fb07 17:f87e5d6c87f4 95 AnalogIn emg3(A3); //Linkerbeen
fb07 17:f87e5d6c87f4 96
fb07 10:a60b369c1711 97 // 3.5 Motor 1 variables ***************************************************************
fb07 5:7e2c6d2235fe 98 //3.5a PID-controller motor 1
fb07 5:7e2c6d2235fe 99 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 100 static double error_integral_motor1 = 0;
fb07 5:7e2c6d2235fe 101 double Yref_motor1;
fb07 5:7e2c6d2235fe 102 double kp_motor1;
fb07 5:7e2c6d2235fe 103 double Ki_motor1;
fb07 5:7e2c6d2235fe 104 double Kd_motor1;
fb07 14:236ae2d7ec41 105 double Up_motor1;
fb07 14:236ae2d7ec41 106 double Ui_motor1;
fb07 14:236ae2d7ec41 107 double Ud_motor1;
fb07 14:236ae2d7ec41 108
fb07 5:7e2c6d2235fe 109 double positie_motor1; //counts encoder
fb07 5:7e2c6d2235fe 110 double error1_motor1;
fb07 5:7e2c6d2235fe 111 double error1_prev_motor1;
fb07 5:7e2c6d2235fe 112 double error1_derivative_motor1;
fb07 5:7e2c6d2235fe 113 double error1_derivative_filtered_motor1;
fb07 5:7e2c6d2235fe 114 double P_motor1;
fb07 5:7e2c6d2235fe 115
fb07 10:a60b369c1711 116 double positie_verschil_motor1;
fb07 10:a60b369c1711 117 double positie_prev_motor1;
fb07 10:a60b369c1711 118
fb07 10:a60b369c1711 119 // 3.5 Motor 2 variables ***************************************************************
fb07 5:7e2c6d2235fe 120 //3.5b PID-controller motor 2
fb07 5:7e2c6d2235fe 121 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 122 static double error_integral_motor2 = 0;
fb07 5:7e2c6d2235fe 123 double Yref_motor2;
fb07 5:7e2c6d2235fe 124 double kp_motor2;
fb07 5:7e2c6d2235fe 125 double Ki_motor2;
fb07 5:7e2c6d2235fe 126 double Kd_motor2;
fb07 15:849e0fc5d3a8 127 double Up_motor2;
fb07 15:849e0fc5d3a8 128 double Ui_motor2;
fb07 15:849e0fc5d3a8 129 double Ud_motor2;
fb07 2:45a85caaebfb 130
fb07 5:7e2c6d2235fe 131 double positie_motor2; //counts encoder
fb07 5:7e2c6d2235fe 132 double error1_motor2;
fb07 5:7e2c6d2235fe 133 double error1_prev_motor2;
fb07 5:7e2c6d2235fe 134 double error1_derivative_motor2;
fb07 5:7e2c6d2235fe 135 double error1_derivative_filtered_motor2;
fb07 5:7e2c6d2235fe 136 double P_motor2;
fb07 10:a60b369c1711 137
fb07 10:a60b369c1711 138 double positie_verschil_motor2;
fb07 10:a60b369c1711 139 double positie_prev_motor2;
RobertoO 0:67c50348f842 140
fb07 2:45a85caaebfb 141 //******************************************************************************
fb07 5:7e2c6d2235fe 142 // 4. Functions ****************************************************************
fb07 5:7e2c6d2235fe 143 //******************************************************************************
fb07 5:7e2c6d2235fe 144
fb07 5:7e2c6d2235fe 145 // 4.1 Hidscope ****************************************************************
fb07 5:7e2c6d2235fe 146 void HIDScope() //voor HIDscope
fb07 5:7e2c6d2235fe 147 {
fb07 17:f87e5d6c87f4 148 scope.set(0, emg0_signal);
fb07 17:f87e5d6c87f4 149 scope.set(1, emg1_signal);
fb07 17:f87e5d6c87f4 150 scope.set(2, emg2_signal);
fb07 17:f87e5d6c87f4 151 scope.set(3, emg3_signal);
fb07 14:236ae2d7ec41 152 // scope.set(4, Ui_motor1);
fb07 14:236ae2d7ec41 153 // scope.set(5, Uk_motor1);
fb07 14:236ae2d7ec41 154
fb07 5:7e2c6d2235fe 155 scope.send();
fb07 5:7e2c6d2235fe 156 }
fb07 15:849e0fc5d3a8 157
fb07 10:a60b369c1711 158 // 4.x Encoder motor1 ****************************************************************
fb07 9:c4fa72ffa1c2 159 double fencoder_motor1() // bepaalt de positie van de motor
fb07 9:c4fa72ffa1c2 160 {
fb07 9:c4fa72ffa1c2 161 positie_motor1 = encoder_motor1.getPulses(); // haalt encoder waardes op
fb07 9:c4fa72ffa1c2 162 positie_verschil_motor1 = (positie_motor1-positie_prev_motor1)/Ts;
fb07 9:c4fa72ffa1c2 163 positie_prev_motor1 = positie_motor1;
fb07 9:c4fa72ffa1c2 164
fb07 9:c4fa72ffa1c2 165 return positie_motor1; //geeft positie van motor
fb07 9:c4fa72ffa1c2 166 }
fb07 10:a60b369c1711 167 // 4.x Encoder motor2 ****************************************************************
fb07 10:a60b369c1711 168 double fencoder_motor2() // bepaalt de positie van de motor
fb07 10:a60b369c1711 169 {
fb07 10:a60b369c1711 170 positie_motor2 = encoder_motor2.getPulses(); // haalt encoder waardes op
fb07 10:a60b369c1711 171 positie_verschil_motor2 = (positie_motor2-positie_prev_motor2)/Ts;
fb07 10:a60b369c1711 172 positie_prev_motor2 = positie_motor2;
fb07 10:a60b369c1711 173
fb07 10:a60b369c1711 174 return positie_motor2; //geeft positie van motor
fb07 10:a60b369c1711 175 }
fb07 10:a60b369c1711 176
fb07 11:a3fd9d5144bb 177 // 4.xa Calibration motors
fb07 11:a3fd9d5144bb 178
fb07 11:a3fd9d5144bb 179 void motor_calibration()
fb07 10:a60b369c1711 180 {
fb07 11:a3fd9d5144bb 181 // Calibration motor 2
fb07 10:a60b369c1711 182 motor1DirectionPin=0; //direction of the motor
fb07 10:a60b369c1711 183 motor1=1.0;
fb07 13:db1a8b51706b 184 wait(0.1);
fb07 10:a60b369c1711 185 while (abs(positie_verschil_motor1)>5)
fb07 10:a60b369c1711 186 {
fb07 10:a60b369c1711 187 motor1=0.2 ;
fb07 14:236ae2d7ec41 188 // pc.printf("\r\n Motor1 kalibratie = %s", motor1_calibrated ? "true" : "false");
fb07 10:a60b369c1711 189 }
fb07 10:a60b369c1711 190 motor1=0.0;
fb07 11:a3fd9d5144bb 191 motor1_calibrated=true;
fb07 14:236ae2d7ec41 192 // pc.printf("\r\n Motor1 kalibratie = %s", motor1_calibrated ? "true" : "false");
fb07 10:a60b369c1711 193
fb07 11:a3fd9d5144bb 194
fb07 10:a60b369c1711 195
fb07 11:a3fd9d5144bb 196 // Calibration motor 2
fb07 10:a60b369c1711 197 motor2DirectionPin=0; //direction of the motor
fb07 10:a60b369c1711 198 motor2=1.0;
fb07 13:db1a8b51706b 199 wait(0.1);
fb07 10:a60b369c1711 200 while (abs(positie_verschil_motor2)>5)
fb07 10:a60b369c1711 201 {
fb07 10:a60b369c1711 202 motor2=0.2 ;
fb07 14:236ae2d7ec41 203 // pc.printf("\r\n Motor2 kalibratie = %s", motor2_calibrated ? "true" : "false");
fb07 13:db1a8b51706b 204 led2=1;
fb07 10:a60b369c1711 205 }
fb07 10:a60b369c1711 206 motor2=0.0;
fb07 13:db1a8b51706b 207 led2=0;
fb07 11:a3fd9d5144bb 208 motor2_calibrated=true;
fb07 14:236ae2d7ec41 209 // pc.printf("\r\n Motor2 kalibratie = %s", motor2_calibrated ? "true" : "false");
fb07 13:db1a8b51706b 210
fb07 12:f5dc65f1c27b 211
fb07 10:a60b369c1711 212 }
fb07 10:a60b369c1711 213
fb07 5:7e2c6d2235fe 214 // 4.2a PID-Controller motor 1**************************************************
fb07 14:236ae2d7ec41 215 double PID_controller_motor1(double &error_integral_motor1, double &error1_prev_motor1)
fb07 5:7e2c6d2235fe 216 {
fb07 5:7e2c6d2235fe 217 //Proportional part
fb07 5:7e2c6d2235fe 218 kp_motor1 = 0.01 ; // moet nog getweaked worden
fb07 14:236ae2d7ec41 219 Up_motor1 = kp_motor1 * error1_motor1;
fb07 5:7e2c6d2235fe 220
fb07 5:7e2c6d2235fe 221 //Integral part
fb07 15:849e0fc5d3a8 222 Ki_motor1 = 0.001; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 223 error_integral_motor1 = error_integral_motor1 + (Ts*error1_motor1); // integrale fout + (de sample tijd * fout)
fb07 14:236ae2d7ec41 224 Ui_motor1 = Ki_motor1 * error_integral_motor1; // (fout * integrale fout)
fb07 5:7e2c6d2235fe 225
fb07 5:7e2c6d2235fe 226 //Derivative part
fb07 15:849e0fc5d3a8 227 Kd_motor1 = 0.001 ;// moet nog getweaked worden
fb07 14:236ae2d7ec41 228 error1_derivative_motor1 = (error1_motor1-error1_prev_motor1)/Ts; // (Fout - de vorige fout) / tijdstap = afgeleide
fb07 5:7e2c6d2235fe 229 error1_derivative_filtered_motor1 = LowPassFilter.step(error1_derivative_motor1); //derivative wordt gefiltered
fb07 14:236ae2d7ec41 230 Ud_motor1 = Kd_motor1 * error1_derivative_filtered_motor1; // (afgeleide gain) * (afgeleide gefilterde fout)
fb07 5:7e2c6d2235fe 231 error1_prev_motor1 = error1_motor1;
fb07 5:7e2c6d2235fe 232
fb07 14:236ae2d7ec41 233 P_motor1 = Up_motor1 + Ui_motor1 + Ud_motor1; //sommatie van de u's
fb07 14:236ae2d7ec41 234
fb07 14:236ae2d7ec41 235 return P_motor1;
fb07 14:236ae2d7ec41 236
fb07 5:7e2c6d2235fe 237
fb07 5:7e2c6d2235fe 238 }
fb07 5:7e2c6d2235fe 239
fb07 5:7e2c6d2235fe 240 // 4.2b PID-Controller motor 2**************************************************
fb07 15:849e0fc5d3a8 241 double PID_controller_motor2(double &error_integral_motor2, double &error1_prev_motor2)
fb07 5:7e2c6d2235fe 242 {
fb07 5:7e2c6d2235fe 243 //Proportional part
fb07 5:7e2c6d2235fe 244 kp_motor2 = 0.01 ; // moet nog getweaked worden
fb07 15:849e0fc5d3a8 245 Up_motor2 = kp_motor2 * error1_motor2;
fb07 5:7e2c6d2235fe 246
fb07 5:7e2c6d2235fe 247 //Integral part
fb07 15:849e0fc5d3a8 248 Ki_motor2 = 0.001; // moet nog getweaked worden
fb07 5:7e2c6d2235fe 249 error_integral_motor2 = error_integral_motor2 + (Ts*error1_motor2); // integrale fout + (de sample tijd * fout)
fb07 15:849e0fc5d3a8 250 Ui_motor2 = Ki_motor2 * error_integral_motor2; //de fout keer de integrale fout
fb07 5:7e2c6d2235fe 251
fb07 5:7e2c6d2235fe 252 //Derivative part
fb07 15:849e0fc5d3a8 253 Kd_motor2 = 0.001 ;// moet nog getweaked worden
fb07 5:7e2c6d2235fe 254 error1_derivative_motor2 = (error1_motor2 - error1_prev_motor2)/Ts;
fb07 5:7e2c6d2235fe 255 error1_derivative_filtered_motor2 = LowPassFilter.step(error1_derivative_motor2); //derivative wordt gefiltered, dit later aanpassen
fb07 15:849e0fc5d3a8 256 Ud_motor2 = Kd_motor2 * error1_derivative_filtered_motor2;
fb07 5:7e2c6d2235fe 257 error1_prev_motor2 = error1_motor2;
fb07 5:7e2c6d2235fe 258
fb07 15:849e0fc5d3a8 259 P_motor2 = Up_motor2 + Ui_motor2 + Ud_motor2; //sommatie van de u's
fb07 5:7e2c6d2235fe 260
fb07 5:7e2c6d2235fe 261 return P_motor2;
fb07 5:7e2c6d2235fe 262 }
fb07 10:a60b369c1711 263
fb07 14:236ae2d7ec41 264 double motor1_pwm()
fb07 14:236ae2d7ec41 265 {
fb07 14:236ae2d7ec41 266
fb07 14:236ae2d7ec41 267 if (P_motor1 >=0 ) // Als de stuursignaal groter is als 0, dan clockwise rotatie, anders counterclockwise rotatie
fb07 14:236ae2d7ec41 268 {
fb07 14:236ae2d7ec41 269 motor1DirectionPin=1; // Clockwise rotation
fb07 14:236ae2d7ec41 270 }
fb07 14:236ae2d7ec41 271 else
fb07 14:236ae2d7ec41 272 {
fb07 14:236ae2d7ec41 273 motor1DirectionPin=0; // Counterclockwise rotation
fb07 14:236ae2d7ec41 274 }
fb07 14:236ae2d7ec41 275
fb07 14:236ae2d7ec41 276 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 277 {
fb07 14:236ae2d7ec41 278 motor1 = 0.99 ;
fb07 14:236ae2d7ec41 279 }
fb07 14:236ae2d7ec41 280 else
fb07 14:236ae2d7ec41 281 {
fb07 14:236ae2d7ec41 282 motor1 = fabs(P_motor1);
fb07 14:236ae2d7ec41 283 }
fb07 15:849e0fc5d3a8 284 }
fb07 15:849e0fc5d3a8 285 double motor2_pwm()
fb07 15:849e0fc5d3a8 286 {
fb07 15:849e0fc5d3a8 287
fb07 15:849e0fc5d3a8 288 if (P_motor2 >=0 ) // Als de stuursignaal groter is als 0, dan clockwise rotatie, anders counterclockwise rotatie
fb07 15:849e0fc5d3a8 289 {
fb07 15:849e0fc5d3a8 290 motor2DirectionPin=2; // Clockwise rotation
fb07 15:849e0fc5d3a8 291 }
fb07 15:849e0fc5d3a8 292 else
fb07 15:849e0fc5d3a8 293 {
fb07 15:849e0fc5d3a8 294 motor2DirectionPin=0; // Counterclockwise rotation
fb07 15:849e0fc5d3a8 295 }
fb07 14:236ae2d7ec41 296
fb07 15:849e0fc5d3a8 297 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 298 {
fb07 15:849e0fc5d3a8 299 motor2 = 0.99 ;
fb07 15:849e0fc5d3a8 300 }
fb07 15:849e0fc5d3a8 301 else
fb07 15:849e0fc5d3a8 302 {
fb07 15:849e0fc5d3a8 303 motor2 = fabs(P_motor2);
fb07 15:849e0fc5d3a8 304 }
fb07 14:236ae2d7ec41 305 }
fb07 14:236ae2d7ec41 306
fb07 14:236ae2d7ec41 307 void motor1_controller(void)
fb07 14:236ae2d7ec41 308 {
fb07 14:236ae2d7ec41 309 error1_motor1 = (Yref_motor1 - positie_motor1);
fb07 16:1be144329f05 310 if (motor1_calibrated==true&&motor2_calibrated==true)
fb07 16:1be144329f05 311 {
fb07 16:1be144329f05 312 motor1_pwm();
fb07 16:1be144329f05 313 }
fb07 16:1be144329f05 314
fb07 14:236ae2d7ec41 315 }
fb07 14:236ae2d7ec41 316
fb07 15:849e0fc5d3a8 317 void motor2_controller(void)
fb07 15:849e0fc5d3a8 318 {
fb07 15:849e0fc5d3a8 319 error1_motor2 = (Yref_motor2 - positie_motor2);
fb07 16:1be144329f05 320 if (motor1_calibrated==true&&motor2_calibrated==true)
fb07 16:1be144329f05 321 {
fb07 16:1be144329f05 322 motor2_pwm();
fb07 16:1be144329f05 323 }
fb07 17:f87e5d6c87f4 324 }
fb07 17:f87e5d6c87f4 325
fb07 17:f87e5d6c87f4 326 void emg0_processing()
fb07 17:f87e5d6c87f4 327 {
fb07 17:f87e5d6c87f4 328 emg0_raw_signal=emg0.read();
fb07 17:f87e5d6c87f4 329
fb07 17:f87e5d6c87f4 330 high_emg0_signal = highfilter0.step(emg0_raw_signal);
fb07 17:f87e5d6c87f4 331 rec_emg0_signal = abs(high_emg0_signal);
fb07 17:f87e5d6c87f4 332 low_rec_high_emg0_signal = LowPassFilter0.step(rec_emg0_signal);
fb07 17:f87e5d6c87f4 333 emg0_signal = low_rec_high_emg0_signal;
fb07 17:f87e5d6c87f4 334
fb07 17:f87e5d6c87f4 335 }
fb07 17:f87e5d6c87f4 336
fb07 17:f87e5d6c87f4 337 void emg1_processing()
fb07 17:f87e5d6c87f4 338 {
fb07 17:f87e5d6c87f4 339 emg1_raw_signal=emg1.read();
fb07 17:f87e5d6c87f4 340
fb07 17:f87e5d6c87f4 341 high_emg1_signal = highfilter1.step(emg1_raw_signal);
fb07 17:f87e5d6c87f4 342 rec_emg1_signal = abs(high_emg1_signal);
fb07 17:f87e5d6c87f4 343 low_rec_high_emg1_signal = LowPassFilter1.step(rec_emg1_signal);
fb07 17:f87e5d6c87f4 344 emg1_signal = low_rec_high_emg1_signal;
fb07 17:f87e5d6c87f4 345
fb07 17:f87e5d6c87f4 346 }
fb07 17:f87e5d6c87f4 347
fb07 17:f87e5d6c87f4 348 void emg2_processing()
fb07 17:f87e5d6c87f4 349 {
fb07 17:f87e5d6c87f4 350 emg2_raw_signal=emg2.read();
fb07 17:f87e5d6c87f4 351
fb07 17:f87e5d6c87f4 352 high_emg2_signal = highfilter2.step(emg2_raw_signal);
fb07 17:f87e5d6c87f4 353 rec_emg2_signal = abs(high_emg2_signal);
fb07 17:f87e5d6c87f4 354 low_rec_high_emg2_signal = LowPassFilter2.step(rec_emg2_signal);
fb07 17:f87e5d6c87f4 355 emg2_signal = low_rec_high_emg2_signal;
fb07 17:f87e5d6c87f4 356
fb07 17:f87e5d6c87f4 357 }
fb07 17:f87e5d6c87f4 358
fb07 17:f87e5d6c87f4 359 void emg3_processing()
fb07 17:f87e5d6c87f4 360 {
fb07 17:f87e5d6c87f4 361 emg3_raw_signal=emg3.read();
fb07 17:f87e5d6c87f4 362
fb07 17:f87e5d6c87f4 363 high_emg3_signal = highfilter3.step(emg3_raw_signal);
fb07 17:f87e5d6c87f4 364 rec_emg3_signal = abs(high_emg3_signal);
fb07 17:f87e5d6c87f4 365 low_rec_high_emg3_signal = LowPassFilter3.step(rec_emg3_signal);
fb07 17:f87e5d6c87f4 366 emg3_signal = low_rec_high_emg3_signal;
fb07 17:f87e5d6c87f4 367
fb07 17:f87e5d6c87f4 368 }
fb07 13:db1a8b51706b 369
fb07 5:7e2c6d2235fe 370 // 4.3 State-Machine *******************************************************
fb07 10:a60b369c1711 371
fb07 12:f5dc65f1c27b 372 void state_machine()
fb07 12:f5dc65f1c27b 373 {
fb07 12:f5dc65f1c27b 374 if (sw2==0) {State = EmergencyMode;}
fb07 12:f5dc65f1c27b 375 switch(State)
fb07 12:f5dc65f1c27b 376 {
fb07 12:f5dc65f1c27b 377 case MotorCalibration:
fb07 12:f5dc65f1c27b 378 // pc.printf("\r\n State: MotorCalibration");
fb07 12:f5dc65f1c27b 379 led_blue.write(1);
fb07 12:f5dc65f1c27b 380 led_red.write(1);
fb07 12:f5dc65f1c27b 381 led_green.write(0); //Green Led on when in this state
fb07 12:f5dc65f1c27b 382
fb07 14:236ae2d7ec41 383 if (motor1_calibrated==true&&motor2_calibrated==true)
fb07 12:f5dc65f1c27b 384 {
fb07 12:f5dc65f1c27b 385 pc.printf("\r\n Motor Calibration is done!");
fb07 14:236ae2d7ec41 386 encoder_motor1.reset();
fb07 14:236ae2d7ec41 387 encoder_motor2.reset();
fb07 15:849e0fc5d3a8 388
fb07 15:849e0fc5d3a8 389
fb07 12:f5dc65f1c27b 390 State=StartWait;
fb07 12:f5dc65f1c27b 391 }
fb07 12:f5dc65f1c27b 392 else {;} //pc.printf("\r\n Motor Calibration is not done!");}
fb07 12:f5dc65f1c27b 393
fb07 12:f5dc65f1c27b 394 break;
fb07 12:f5dc65f1c27b 395
fb07 12:f5dc65f1c27b 396 case StartWait:
fb07 12:f5dc65f1c27b 397 // pc.printf("\r\n State: StartWait Button 1 = operation, Button 2 = Demo");
fb07 12:f5dc65f1c27b 398 led_blue.write(0);
fb07 12:f5dc65f1c27b 399 led_red.write(1);
fb07 12:f5dc65f1c27b 400 led_green.write(1);
fb07 15:849e0fc5d3a8 401
fb07 16:1be144329f05 402 State=EMGCalibration;
fb07 16:1be144329f05 403 break;
fb07 16:1be144329f05 404
fb07 12:f5dc65f1c27b 405 case EMGCalibration:
fb07 12:f5dc65f1c27b 406 // pc.printf("\r\n State: EMGCalibration");
fb07 12:f5dc65f1c27b 407 led_blue.write(1);
fb07 12:f5dc65f1c27b 408 led_red.write(1);
fb07 12:f5dc65f1c27b 409 led_green.write(0);
fb07 12:f5dc65f1c27b 410
fb07 16:1be144329f05 411 Yref_motor1=5000;
fb07 16:1be144329f05 412 Yref_motor2=2000;
fb07 12:f5dc65f1c27b 413 State=Homing;
fb07 12:f5dc65f1c27b 414 break;
fb07 12:f5dc65f1c27b 415 case Homing:
fb07 14:236ae2d7ec41 416 // pc.printf("\r\n State: Homing");
fb07 16:1be144329f05 417 led_green.write(1);
fb07 14:236ae2d7ec41 418 led2=1;
fb07 16:1be144329f05 419 if(button1==0) {State=Operating;}
fb07 16:1be144329f05 420 if(button2==0) {State=Demo;}
fb07 16:1be144329f05 421
fb07 12:f5dc65f1c27b 422 break;
fb07 16:1be144329f05 423
fb07 12:f5dc65f1c27b 424 case Operating:
fb07 12:f5dc65f1c27b 425 /* pc.printf("\r\n State: Operating");
fb07 12:f5dc65f1c27b 426 led_blue.write(1);
fb07 12:f5dc65f1c27b 427 led_red.write(1);
fb07 12:f5dc65f1c27b 428 led_green.write(0);
fb07 12:f5dc65f1c27b 429 wait(0.5);
fb07 12:f5dc65f1c27b 430 led_green.write(1);
fb07 12:f5dc65f1c27b 431 wait(0.5); */
fb07 12:f5dc65f1c27b 432 break;
fb07 16:1be144329f05 433
fb07 16:1be144329f05 434 case Demo:
fb07 16:1be144329f05 435 pc.printf("\r\n State: Demo");
fb07 16:1be144329f05 436 led_blue.write(1);
fb07 16:1be144329f05 437 led_red.write(1);
fb07 16:1be144329f05 438 led_green.write(0);
fb07 16:1be144329f05 439
fb07 16:1be144329f05 440 break;
fb07 16:1be144329f05 441
fb07 12:f5dc65f1c27b 442 case EmergencyMode:
fb07 12:f5dc65f1c27b 443 pc.printf("\r\n State: EMERGENCY MODE! Press RESET to restart");
fb07 12:f5dc65f1c27b 444
fb07 12:f5dc65f1c27b 445 motor1=0;
fb07 12:f5dc65f1c27b 446 motor2=0;
fb07 12:f5dc65f1c27b 447
fb07 12:f5dc65f1c27b 448 led_blue.write(1);
fb07 12:f5dc65f1c27b 449 led_green.write(1);
fb07 12:f5dc65f1c27b 450 //SOS start
fb07 12:f5dc65f1c27b 451 led_red.write(0); // S
fb07 12:f5dc65f1c27b 452 wait(0.5);
fb07 12:f5dc65f1c27b 453 led_red.write(1); //pause
fb07 12:f5dc65f1c27b 454 wait(0.25);
fb07 12:f5dc65f1c27b 455 led_red.write(0); // O
fb07 12:f5dc65f1c27b 456 wait(1.5);
fb07 12:f5dc65f1c27b 457 led_red.write(1); // pause
fb07 12:f5dc65f1c27b 458 wait(0.25);
fb07 12:f5dc65f1c27b 459 led_red.write(0); // S
fb07 12:f5dc65f1c27b 460 wait(0.5);
fb07 12:f5dc65f1c27b 461 //SOS end
fb07 12:f5dc65f1c27b 462 break;
fb07 12:f5dc65f1c27b 463 case Idle:
fb07 12:f5dc65f1c27b 464 /* pc.printf("\r\n Idling..."); */
fb07 12:f5dc65f1c27b 465 break;
fb07 12:f5dc65f1c27b 466
fb07 12:f5dc65f1c27b 467 }
fb07 12:f5dc65f1c27b 468 }
fb07 9:c4fa72ffa1c2 469
fb07 5:7e2c6d2235fe 470 //******************************************************************************
fb07 5:7e2c6d2235fe 471 // 5. Main Loop ****************************************************************
fb07 2:45a85caaebfb 472 //******************************************************************************
fb07 2:45a85caaebfb 473
fb07 2:45a85caaebfb 474 void main_loop() { //Beginning of main_loop()
fb07 5:7e2c6d2235fe 475 // 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 17:f87e5d6c87f4 476 emg0_processing();
fb07 17:f87e5d6c87f4 477 emg1_processing();
fb07 17:f87e5d6c87f4 478 emg2_processing();
fb07 17:f87e5d6c87f4 479 emg3_processing();
fb07 17:f87e5d6c87f4 480
fb07 9:c4fa72ffa1c2 481 fencoder_motor1() ;
fb07 10:a60b369c1711 482 fencoder_motor2() ;
fb07 14:236ae2d7ec41 483 PID_controller_motor1(error_integral_motor1, error1_prev_motor1);
fb07 15:849e0fc5d3a8 484 PID_controller_motor2(error_integral_motor2, error1_prev_motor2);
fb07 16:1be144329f05 485 motor1_controller();
fb07 16:1be144329f05 486 motor2_controller();
fb07 16:1be144329f05 487
fb07 12:f5dc65f1c27b 488 state_machine() ;
fb07 9:c4fa72ffa1c2 489
fb07 5:7e2c6d2235fe 490 // 5.1 Measure Analog and Digital input signals ********************************
fb07 17:f87e5d6c87f4 491
fb07 5:7e2c6d2235fe 492 // 5.2 Run state-machine(s) ****************************************************
fb07 5:7e2c6d2235fe 493 // 5.3 Run controller(s) *******************************************************
fb07 5:7e2c6d2235fe 494 // 5.4 Send output signals to digital and PWM output pins **********************
fb07 2:45a85caaebfb 495
fb07 2:45a85caaebfb 496
fb07 2:45a85caaebfb 497 } //Ending of main_loop()
fb07 2:45a85caaebfb 498
fb07 2:45a85caaebfb 499 //******************************************************************************
fb07 5:7e2c6d2235fe 500 // 6. Main function ************************************************************
fb07 2:45a85caaebfb 501 //******************************************************************************
fb07 2:45a85caaebfb 502 int main()
fb07 5:7e2c6d2235fe 503 { //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 504 // 6.1 Initialization **********************************************************
RobertoO 0:67c50348f842 505 pc.baud(115200);
fb07 2:45a85caaebfb 506 pc.printf("\r\nStarting Project BioRobotics - Opening a Door " //print Project information
fb07 2:45a85caaebfb 507 "- Group 13 2019/2020 \r\n"
fb07 2:45a85caaebfb 508 "Dion ten Berge - s1864734 \r\n"
fb07 2:45a85caaebfb 509 "Bas Rutteman - s1854305 \r\n"
fb07 2:45a85caaebfb 510 "Nick in het Veld - s1915584 \r\n"
fb07 2:45a85caaebfb 511 "Marleen van der Weij - s1800078 \r\n"
fb07 2:45a85caaebfb 512 "Mevlid Yildirim - s2005735 \r\n");
fb07 5:7e2c6d2235fe 513 led_green.write(1);
fb07 5:7e2c6d2235fe 514 led_red.write(1);
fb07 14:236ae2d7ec41 515 led_blue.write(1);
fb07 17:f87e5d6c87f4 516 State = StartWait ; // veranderen naar MotorCalibration;
fb07 14:236ae2d7ec41 517 ticker_hidscope.attach(&HIDScope, 0.001); //Ticker for Hidscope, different frequency compared to motors
fb07 9:c4fa72ffa1c2 518 ticker_mainloop.attach(&main_loop,0.001); // change back to 0.001f //Run the function main_loop 1000 times per second
fb07 14:236ae2d7ec41 519
fb07 16:1be144329f05 520 motor_calibration();
fb07 10:a60b369c1711 521
fb07 10:a60b369c1711 522
fb07 5:7e2c6d2235fe 523 // 6.2 While loop in main function**********************************************
fb07 2:45a85caaebfb 524 while (true) { } //Is not used but has to remain in the code!!
fb07 2:45a85caaebfb 525
fb07 2:45a85caaebfb 526 } //Ending of Main() Function