Diff: main.cpp

Revision:

80:6f9ddb8bb335

Parent:

79:251d73ddbc8b

Child:

81:4263d0ce34d3

--- a/main.cpp	Mon Jun 22 13:13:55 2015 +0000
+++ b/main.cpp	Mon Jun 22 14:47:21 2015 +0000
@@ -8,7 +8,7 @@
 */
 
 #include "mbed.h"
-//#include "C12832_lcd.h"
+#include "C12832_lcd.h"
 #include "arm_math.h"
 //#include "HIDScope.h"
 
@@ -27,36 +27,36 @@
 #define error_tresh 0.01
 
 //Motor control
-DigitalOut Dirx(PB_8);
-PwmOut Stepx(PB_9);
-DigitalOut Diry(PA_2);
-PwmOut Stepy(PA_3);
+DigitalOut Dirx(p21);
+PwmOut Stepx(p22);
+DigitalOut Diry(p23);
+PwmOut Stepy(p24);
 
 //Signal to and from computer
 Serial pc(USBTX, USBRX);
 
 //Position sensors
-AnalogIn Posx(PC_0);
-AnalogIn Posy(PC_1);
-DigitalOut Enablex(PB_3);
-DigitalOut Enabley(PA_10);
+AnalogIn Posx(p19);
+AnalogIn Posy(p20);
+DigitalOut Enablex(p25);
+DigitalOut Enabley(p26);
 
 //Microstepping
-DigitalOut MS1(PB_10);
-DigitalOut MS2(PB_4);
-DigitalOut MS3(PB_5);
+DigitalOut MS1(p27);
+DigitalOut MS2(p28);
+DigitalOut MS3(p29);
 
 //EMG inputs
-AnalogIn emg1(PB_0); 
-AnalogIn emg2(PA_4); 
-AnalogIn emg3(PA_1);
-AnalogIn emg4(PA_0);
+AnalogIn emg1(p15);
+AnalogIn emg2(p16);
+AnalogIn emg3(p17);
+AnalogIn emg4(p18);
 
 //HIDScope scope(4);
 //Ticker   scopeTimer;
 
 //lcd screen
-//C12832_LCD lcd;
+C12832_LCD lcd;
 
 //Variables for motor control
 float setpoint = 2000; //Frequentie setpoint
@@ -144,7 +144,6 @@
 
 void looper_motory()
 {
-
     emg_y = (filtered_biceps - filtered_triceps);
     emg_y_abs = fabs(emg_y);
     force1 = emg_y_abs*K_Gain;
@@ -176,7 +175,6 @@
     }
 }
 
-
 void looper_motorx()
 {
 
@@ -215,7 +213,7 @@
 {
     // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
     // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
-    /*
+    
         MS1 = 1;
         MS2 = 0;
         MS3 = 0;
@@ -226,21 +224,32 @@
         Enablex = 1;
         Enabley = 1;
         wait(1);
-        pc.printf("Start homing");
+        lcd.printf("Start homing");
         wait(2);
-        //lcd.cls();
+        lcd.cls();
         wait(1);
         Enablex = 0;
         Enabley = 0;
+
+        //Homing of the motor, so you start from the same position every time.
         while(errorx > error_tresh || errory > error_tresh) {
 
             Ps_x = Posx.read();
             Ps_y = Posy.read();
             errorx = fabs(Pt_x - Ps_x);
             errory = fabs(Ps_y - Pt_y);
-            pc.printf("%.2f %.2f \n", errorx, errory);
+            lcd.printf("%.2f %.2f \n", Stepx.read(), Stepy.read());
 
 
+            if (Ps_x < Pt_x && errorx > error_tresh) {
+                Dirx = 0;
+                cx = errorx * H_Gain;
+                float hnew_step_freqx;
+                hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
+                hstep_freqx = hnew_step_freqx;
+                Stepx.period(1.0/hstep_freqx);
+                wait(0.01);
+            }
             if (Ps_y > Pt_y && errory > error_tresh) {
                 Diry = 0;
                 cy = errory * H_Gain;
@@ -251,6 +260,15 @@
                 wait(0.01);
             }
 
+            if (Ps_x > Pt_x && errorx > error_tresh) {
+                Dirx = 1;
+                cx = errorx * H_Gain;
+                float hnew_step_freqx;
+                hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
+                hstep_freqx = hnew_step_freqx;
+                Stepx.period(1.0/hstep_freqx);
+                wait(0.01);
+            }
             if (Ps_y < Pt_y && errory > error_tresh) {
                 Diry = 1;
                 cy = errory * H_Gain;
@@ -260,28 +278,21 @@
                 Stepy.period(1.0/hstep_freqy);
                 wait(0.01);
             }
-
         }
-        pc.printf("Done");
+        lcd.printf("Done");
         wait(2);
-        //lcd.cls();
+        lcd.cls();
         wait(1);
         Enablex = 1;
         Enabley = 1;
         wait(3);
-        pc.printf("Start EMG Control");
+        lcd.printf("Start EMG Control");
         wait(2);
-        //lcd.cls();
+        lcd.cls();
         wait(1);
         Enablex = 0;
         Enabley = 0;
-    */
-    MS1 = 1;
-    MS2 = 0;
-    MS3 = 0;
-    Stepx.write(0.5); // Duty cycle of 50%
-    Stepy.write(0.5);
-
+    
     Ticker emgtimer;    //biceps
     arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
     arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
@@ -304,15 +315,10 @@
 
     //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
 
-
-
     while (1) {
-
-    
-        //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
-        //lcd.printf("%.2f, %.2f %.2f %.2f \n", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values
-        //lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2); //step_freq value of every EMG sensor
-        pc.printf("%.2f %.2f %.2f  \n", Stepy.read(), step_freq1, speed1);
+        
+        lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
+        //lcd.printf("%.2f %.2f %.2f %.2f  \n", speed1, step_freq1, speed2, step_freq2);
         wait(0.01);
 
     }