Motor_Control_EMG
Dependencies: HIDScope MODSERIAL QEI Servo biquadFilter mbed
Fork of Motor_Control_buttons by
main.cpp@11:b1ad5267a6bd, 2016-10-17 (annotated)
- Committer:
- huismaja
- Date:
- Mon Oct 17 13:01:00 2016 +0000
- Revision:
- 11:b1ad5267a6bd
- Parent:
- 10:cf579c3eaf01
- Child:
- 12:35a81d6c6505
Using go-flags --> working script for controlling 2 DC-motors and 1 gripper
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
huismaja | 0:6c8444d06e97 | 1 | #include "mbed.h" |
huismaja | 4:84bd5ead83f9 | 2 | #include "MODSERIAL.h" |
huismaja | 4:84bd5ead83f9 | 3 | #include "Servo.h" |
huismaja | 9:cca4d4084775 | 4 | #include "QEI.h" |
huismaja | 0:6c8444d06e97 | 5 | |
huismaja | 10:cf579c3eaf01 | 6 | QEI encoder_M1 (D9, D10, NC, 8400); //Define an encoder for motor 1 called encoder_M1 |
huismaja | 10:cf579c3eaf01 | 7 | QEI encoder_M2 (D11, D12, NC, 8400); //Define an encoder for motor 2 called encoder_M2 |
huismaja | 9:cca4d4084775 | 8 | |
huismaja | 10:cf579c3eaf01 | 9 | Ticker encoder_M1_ticker; //Create a ticker for reading the encoder data of encoder_M1 |
huismaja | 10:cf579c3eaf01 | 10 | Ticker encoder_M2_ticker; //Create a ticker for reading the encoder data of encoder_M2 |
huismaja | 6:98121d2d76a6 | 11 | |
huismaja | 5:9b5edadc023b | 12 | DigitalOut Direction_M1(D4); //To control the rotation direction of the arm |
huismaja | 6:98121d2d76a6 | 13 | PwmOut Speed_M1(D5); //To control the rotation speed of the arm |
huismaja | 6:98121d2d76a6 | 14 | PwmOut Speed_M2(D6); //To control the translation direction of the arm |
huismaja | 5:9b5edadc023b | 15 | DigitalOut Direction_M2(D7); //To control the translation speed of the arm |
huismaja | 10:cf579c3eaf01 | 16 | Servo gripper_servo(D13); //To control the gripper |
huismaja | 0:6c8444d06e97 | 17 | |
huismaja | 10:cf579c3eaf01 | 18 | InterruptIn Switch_1(SW2); //Switch 1 to control the rotation to the left |
huismaja | 10:cf579c3eaf01 | 19 | InterruptIn Switch_2(SW3); //Switch 2 to control the rotation to the right |
huismaja | 10:cf579c3eaf01 | 20 | InterruptIn Switch_3(D2); //Switch 3 to control the translation of the arm |
huismaja | 10:cf579c3eaf01 | 21 | InterruptIn Switch_4(D3); //Switch 4 to control the gripper |
huismaja | 2:b20570f160c6 | 22 | |
huismaja | 5:9b5edadc023b | 23 | int counter_rotation_left=0; //To count the number of times the rotation_left switch (switch_1) has been pushed |
huismaja | 5:9b5edadc023b | 24 | int counter_rotation_right=0; //To count the number of times the rotation_right switch (switch_2) has been pushed |
huismaja | 5:9b5edadc023b | 25 | int counter_translation=0; //To count the number of times the translation switch (switch_3) has been pushed |
huismaja | 5:9b5edadc023b | 26 | int counter_gripper=0; //To count the number of times the gripper switch (switch_4) has been pushed |
huismaja | 5:9b5edadc023b | 27 | |
huismaja | 11:b1ad5267a6bd | 28 | volatile bool rotation_left_go = false; //Create a go-flag for the rotation_left and set it to false |
huismaja | 11:b1ad5267a6bd | 29 | volatile bool rotation_right_go = false; //Create a go-flag for the rotation_right and set it to false |
huismaja | 11:b1ad5267a6bd | 30 | volatile bool translation_go = false; //Create a go-flag for the translation and set it to false |
huismaja | 11:b1ad5267a6bd | 31 | volatile bool gripper_go = false; //Create a go-flag for the gripper and set it to false |
huismaja | 0:6c8444d06e97 | 32 | |
huismaja | 11:b1ad5267a6bd | 33 | MODSERIAL pc(USBTX, USBRX); //Make a connection with the PC |
huismaja | 11:b1ad5267a6bd | 34 | |
huismaja | 11:b1ad5267a6bd | 35 | const double pi = 3.1415926535897; //Declare the value of pi |
huismaja | 9:cca4d4084775 | 36 | |
huismaja | 10:cf579c3eaf01 | 37 | double speed_rotation=pi/5; //Set the rotation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec |
huismaja | 10:cf579c3eaf01 | 38 | double speed_translation=pi/5; //Set the translation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec |
huismaja | 10:cf579c3eaf01 | 39 | double speedM1=speed_rotation/8.4; //Map the rotation speed from (0-8.4) to (0-1) by dividing by 8.4 |
huismaja | 10:cf579c3eaf01 | 40 | double speedM2=speed_translation/8.4; //Map the translation speed from (0-8.4) to (0-1) by dividing by 8.4 |
huismaja | 6:98121d2d76a6 | 41 | |
huismaja | 10:cf579c3eaf01 | 42 | void read_position_M1(){ //Function to read the position of motor 1 |
huismaja | 10:cf579c3eaf01 | 43 | int pulses_M1 = encoder_M1.getPulses(); //Read the encoder data and store it in pulses_M1 |
huismaja | 10:cf579c3eaf01 | 44 | float angle_M1 = float(pulses_M1)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses |
huismaja | 10:cf579c3eaf01 | 45 | // pc.printf("%i \t%f \t", pulses_M1, angle_M1); |
huismaja | 9:cca4d4084775 | 46 | } |
huismaja | 9:cca4d4084775 | 47 | |
huismaja | 10:cf579c3eaf01 | 48 | void read_position_M2(){ //Function to read the position of motor 2 |
huismaja | 10:cf579c3eaf01 | 49 | int pulses_M2 = encoder_M2.getPulses(); //Read the encoder data and store it in pulses_M2 |
huismaja | 10:cf579c3eaf01 | 50 | float angle_M2 = float(pulses_M2)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses |
huismaja | 10:cf579c3eaf01 | 51 | // pc.printf("%i \t%f \n", pulses_M2, angle_M2); |
huismaja | 9:cca4d4084775 | 52 | } |
huismaja | 9:cca4d4084775 | 53 | |
huismaja | 11:b1ad5267a6bd | 54 | void activate_rotation_left (){ //To activate the rotation_left |
huismaja | 11:b1ad5267a6bd | 55 | counter_rotation_left++; //Increase the counter_rotation_left that counts the number of time switch 1 has been pressed |
huismaja | 11:b1ad5267a6bd | 56 | if (counter_rotation_left > 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1 etc. |
huismaja | 11:b1ad5267a6bd | 57 | counter_rotation_left=1; |
huismaja | 11:b1ad5267a6bd | 58 | } |
huismaja | 11:b1ad5267a6bd | 59 | rotation_left_go = true; //After increasing the counter, set the rotation_left go-flag to true |
huismaja | 11:b1ad5267a6bd | 60 | } |
huismaja | 11:b1ad5267a6bd | 61 | |
huismaja | 10:cf579c3eaf01 | 62 | void rotation_left (){ //Function to control the rotation to the left |
huismaja | 10:cf579c3eaf01 | 63 | switch (counter_rotation_left){ //Create a switch statement |
huismaja | 10:cf579c3eaf01 | 64 | case 1: //For activating the rotation to the left |
huismaja | 10:cf579c3eaf01 | 65 | Direction_M1 = 1; //The arm will rotate to the left |
huismaja | 10:cf579c3eaf01 | 66 | Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec |
huismaja | 8:9c58ca13076e | 67 | pc.printf("The arm will now rotate to the left with %f rad/sec \n", speedM1); |
huismaja | 3:0a4bfcb3f339 | 68 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 69 | break; |
huismaja | 10:cf579c3eaf01 | 70 | case 2: //For stopping the rotation to the left |
huismaja | 10:cf579c3eaf01 | 71 | Direction_M1 = 1; //The arm will rotate to the left |
huismaja | 10:cf579c3eaf01 | 72 | Speed_M1 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 73 | pc.printf("The arm will now stop rotating to the left \n"); |
huismaja | 3:0a4bfcb3f339 | 74 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 75 | break; |
huismaja | 3:0a4bfcb3f339 | 76 | } |
huismaja | 11:b1ad5267a6bd | 77 | } |
huismaja | 3:0a4bfcb3f339 | 78 | |
huismaja | 11:b1ad5267a6bd | 79 | void activate_rotation_right (){ //To activate the rotation_right |
huismaja | 11:b1ad5267a6bd | 80 | counter_rotation_right++; //Increase the counter_rotation_right that counts the number of time switch 2 has been pressed |
huismaja | 11:b1ad5267a6bd | 81 | if (counter_rotation_right> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1 |
huismaja | 11:b1ad5267a6bd | 82 | counter_rotation_right=1; |
huismaja | 3:0a4bfcb3f339 | 83 | } |
huismaja | 11:b1ad5267a6bd | 84 | rotation_right_go = true; //After increasing the counter, set the rotation_right go-flag to true |
huismaja | 3:0a4bfcb3f339 | 85 | } |
huismaja | 3:0a4bfcb3f339 | 86 | |
huismaja | 10:cf579c3eaf01 | 87 | void rotation_right (){ //Function to control the rotation to the left |
huismaja | 10:cf579c3eaf01 | 88 | switch (counter_rotation_right){ //Create a switch statement |
huismaja | 10:cf579c3eaf01 | 89 | case 1: //For activation the rotation to the right |
huismaja | 10:cf579c3eaf01 | 90 | Direction_M1 = 0; //The arm will rotate to the right |
huismaja | 8:9c58ca13076e | 91 | Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec |
huismaja | 8:9c58ca13076e | 92 | pc.printf("The arm will now rotate to the right with %f rad/sec \n", speedM1); |
huismaja | 3:0a4bfcb3f339 | 93 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 94 | break; |
huismaja | 5:9b5edadc023b | 95 | case 2: //For stopping the rotation to the right |
huismaja | 5:9b5edadc023b | 96 | Direction_M1 = 0; //The arm will rotate to the right |
huismaja | 5:9b5edadc023b | 97 | Speed_M1 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 98 | pc.printf("The arm will now stop rotating to the right \n"); |
huismaja | 3:0a4bfcb3f339 | 99 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 100 | break; |
huismaja | 3:0a4bfcb3f339 | 101 | } |
huismaja | 3:0a4bfcb3f339 | 102 | } |
huismaja | 3:0a4bfcb3f339 | 103 | |
huismaja | 11:b1ad5267a6bd | 104 | void activate_translation (){ //To activate the translation |
huismaja | 11:b1ad5267a6bd | 105 | counter_translation++; //Increase the counter_translation that counts the number of time switch 3 has been pressed |
huismaja | 11:b1ad5267a6bd | 106 | if (counter_translation > 4){ //Because there are 4 cases in the switch statement, case 5 = case 1 |
huismaja | 11:b1ad5267a6bd | 107 | counter_translation=1; |
huismaja | 3:0a4bfcb3f339 | 108 | } |
huismaja | 11:b1ad5267a6bd | 109 | translation_go = true; //After increasing the counter, set the translation go-flag to true |
huismaja | 3:0a4bfcb3f339 | 110 | } |
huismaja | 3:0a4bfcb3f339 | 111 | |
huismaja | 10:cf579c3eaf01 | 112 | void translation (){ //Function to control the translation |
huismaja | 10:cf579c3eaf01 | 113 | switch (counter_translation){ //Create a switch statement |
huismaja | 8:9c58ca13076e | 114 | case 1: //For activating the elongation of the arm |
huismaja | 8:9c58ca13076e | 115 | Direction_M2 = 1; //The arm will get longer |
huismaja | 10:cf579c3eaf01 | 116 | Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec |
huismaja | 5:9b5edadc023b | 117 | pc.printf("The arm will now get longer \n"); |
huismaja | 5:9b5edadc023b | 118 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 119 | break; |
huismaja | 8:9c58ca13076e | 120 | case 2: //For stopping the elongation of the arm |
huismaja | 8:9c58ca13076e | 121 | Direction_M2 = 1; //The arm will get longer |
huismaja | 8:9c58ca13076e | 122 | Speed_M2 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 123 | pc.printf("The arm will now stop getting longer \n"); |
huismaja | 5:9b5edadc023b | 124 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 125 | break; |
huismaja | 8:9c58ca13076e | 126 | case 3: //For activating the shortening of the arm |
huismaja | 8:9c58ca13076e | 127 | Direction_M2 = 0; //The arm will get shorter |
huismaja | 10:cf579c3eaf01 | 128 | Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec |
huismaja | 5:9b5edadc023b | 129 | pc.printf("The arm will now get shorter \n"); |
huismaja | 5:9b5edadc023b | 130 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 131 | break; |
huismaja | 8:9c58ca13076e | 132 | case 4: //For stopping the shortening of the arm |
huismaja | 8:9c58ca13076e | 133 | Direction_M2 = 0; //The arm will get shorter |
huismaja | 8:9c58ca13076e | 134 | Speed_M2 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 135 | pc.printf("The arm will now stop getting shorter \n"); |
huismaja | 5:9b5edadc023b | 136 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 137 | break; |
huismaja | 5:9b5edadc023b | 138 | } |
huismaja | 11:b1ad5267a6bd | 139 | } |
huismaja | 5:9b5edadc023b | 140 | |
huismaja | 11:b1ad5267a6bd | 141 | void activate_gripper (){ //To activate the gripper |
huismaja | 11:b1ad5267a6bd | 142 | counter_gripper++; //Increase the couter_gripper that counts the number of time switch 4 has been pressed |
huismaja | 11:b1ad5267a6bd | 143 | if (counter_gripper> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1 |
huismaja | 11:b1ad5267a6bd | 144 | counter_gripper=1; |
huismaja | 5:9b5edadc023b | 145 | } |
huismaja | 11:b1ad5267a6bd | 146 | gripper_go = true; //After increasing the counter, set the gripper go-flag to true |
huismaja | 5:9b5edadc023b | 147 | } |
huismaja | 5:9b5edadc023b | 148 | |
huismaja | 10:cf579c3eaf01 | 149 | void gripper (){ //Function to control the gripper |
huismaja | 10:cf579c3eaf01 | 150 | switch (counter_gripper){ //Create a switch statement |
huismaja | 10:cf579c3eaf01 | 151 | case 1: //For closing the gripper |
huismaja | 10:cf579c3eaf01 | 152 | gripper_servo = 0; //The gripper is now closed |
huismaja | 5:9b5edadc023b | 153 | pc.printf("The gripper will now close \n"); |
huismaja | 4:84bd5ead83f9 | 154 | wait(0.5f); |
huismaja | 4:84bd5ead83f9 | 155 | break; |
huismaja | 10:cf579c3eaf01 | 156 | case 2: //For opening the gripper |
huismaja | 10:cf579c3eaf01 | 157 | gripper_servo = 1; //The gripper is now open |
huismaja | 5:9b5edadc023b | 158 | pc.printf("The gripper will now open \n"); |
huismaja | 4:84bd5ead83f9 | 159 | wait(0.5f); |
huismaja | 4:84bd5ead83f9 | 160 | break; |
huismaja | 4:84bd5ead83f9 | 161 | } |
huismaja | 4:84bd5ead83f9 | 162 | } |
huismaja | 4:84bd5ead83f9 | 163 | |
huismaja | 0:6c8444d06e97 | 164 | int main(){ |
huismaja | 10:cf579c3eaf01 | 165 | pc.baud(115200); //Set the boud rate for serial communication |
huismaja | 10:cf579c3eaf01 | 166 | pc.printf("RESET \n"); //Print "RESET" |
huismaja | 1:0d55a4bf2269 | 167 | |
huismaja | 5:9b5edadc023b | 168 | Direction_M1 = 1; //The arm will initially get longer |
huismaja | 5:9b5edadc023b | 169 | Speed_M1 = 0; //The first motor is initially turned off |
huismaja | 5:9b5edadc023b | 170 | Direction_M2 = 255; //The arm will initially turn left |
huismaja | 6:98121d2d76a6 | 171 | Speed_M2 = 0; //The second motor is initially turned off |
huismaja | 5:9b5edadc023b | 172 | gripper_servo = 1; //The gripper is initially open |
huismaja | 10:cf579c3eaf01 | 173 | encoder_M1.reset(); //Reset the encoder for motor 1 |
huismaja | 10:cf579c3eaf01 | 174 | encoder_M2.reset(); //Reset the encoder for motor 2 |
huismaja | 1:0d55a4bf2269 | 175 | |
huismaja | 10:cf579c3eaf01 | 176 | encoder_M1_ticker.attach(&read_position_M1,0.01); //Connect the encoder_M1_ticker to the read_position_M1 function and execute at 100Hz |
huismaja | 10:cf579c3eaf01 | 177 | encoder_M2_ticker.attach(&read_position_M2,0.01); //Connect the encoder_M2_ticker to the read_position_M2 function and execute at 100Hz |
huismaja | 10:cf579c3eaf01 | 178 | |
huismaja | 11:b1ad5267a6bd | 179 | Switch_1.rise(&activate_rotation_left); //Use switch_1 to activate the rotation_left go-flag |
huismaja | 11:b1ad5267a6bd | 180 | Switch_2.rise(&activate_rotation_right); //Use switch_2 to activate the counter_rotation_right go-flag |
huismaja | 11:b1ad5267a6bd | 181 | Switch_3.rise(&activate_translation); //Use switch_3 to activate the counter_translation go-flag |
huismaja | 11:b1ad5267a6bd | 182 | Switch_4.rise(&activate_gripper); //Use switch_4 to activate the counter_gripper go-flag |
huismaja | 5:9b5edadc023b | 183 | |
huismaja | 11:b1ad5267a6bd | 184 | while (true){ |
huismaja | 11:b1ad5267a6bd | 185 | if (rotation_left_go == true){ //If the rotation_left go-flag is true |
huismaja | 11:b1ad5267a6bd | 186 | rotation_left_go = false; //Set the rotation_left go-flag to false |
huismaja | 11:b1ad5267a6bd | 187 | rotation_left(); //Execute the rotation_left function |
huismaja | 11:b1ad5267a6bd | 188 | } |
huismaja | 11:b1ad5267a6bd | 189 | if (rotation_right_go == true){ //If the rotation_right go-flag is true |
huismaja | 11:b1ad5267a6bd | 190 | rotation_right_go = false; //Set the rotation_right go-flag to false |
huismaja | 11:b1ad5267a6bd | 191 | rotation_right(); //Execute the rotation_right function |
huismaja | 11:b1ad5267a6bd | 192 | } |
huismaja | 11:b1ad5267a6bd | 193 | if (translation_go == true){ //If the translation go-flag is true |
huismaja | 11:b1ad5267a6bd | 194 | translation_go = false; //Set the translation go-flag to false |
huismaja | 11:b1ad5267a6bd | 195 | translation(); //Execute the translation function |
huismaja | 11:b1ad5267a6bd | 196 | } |
huismaja | 11:b1ad5267a6bd | 197 | if (gripper_go == true){ //If the gripper go-flag is true |
huismaja | 11:b1ad5267a6bd | 198 | gripper_go = false; //Set the gripper go-flag to false |
huismaja | 11:b1ad5267a6bd | 199 | gripper(); //Execute the gripper function |
huismaja | 11:b1ad5267a6bd | 200 | } |
huismaja | 11:b1ad5267a6bd | 201 | } |
huismaja | 0:6c8444d06e97 | 202 | } |