Jesse Kaiser
Aansturen van een LED script dmv twee EMG signalen
Dependencies: HIDScope MODSERIAL mbed-dsp mbed
main.cpp@8:ee16c139e10b, 2014-11-03 (annotated)
- Committer:
- jessekaiser
- Date:
- Mon Nov 03 20:35:03 2014 +0000
- Revision:
- 8:ee16c139e10b
- Parent:
- 7:119b85a92a09
Doet die het nu?
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| jessekaiser | 0:db396b9f4b4c | 1 | #include "mbed.h" |
| jessekaiser | 0:db396b9f4b4c | 2 | #include "HIDScope.h" |
| jessekaiser | 0:db396b9f4b4c | 3 | #include "arm_math.h" |
| jessekaiser | 0:db396b9f4b4c | 4 | #include "MODSERIAL.h" |
| jessekaiser | 8:ee16c139e10b | 5 | #include "encoder.h" |
| jessekaiser | 8:ee16c139e10b | 6 | #include "PwmOut.h" |
| jessekaiser | 0:db396b9f4b4c | 7 | |
| jessekaiser | 8:ee16c139e10b | 8 | // define |
| jessekaiser | 8:ee16c139e10b | 9 | #define TSAMP 0.005 |
| jessekaiser | 8:ee16c139e10b | 10 | #define K_P1 (3.5) //Kp waarde voor motor1, van het batje // 7.0 |
| jessekaiser | 8:ee16c139e10b | 11 | #define K_I1 (0.01 *TSAMP) //0.1 |
| jessekaiser | 8:ee16c139e10b | 12 | #define K_P2 (0.7) //Kp waarde voor motor2, de arm //10.0 |
| jessekaiser | 8:ee16c139e10b | 13 | #define K_I2 (0.01 *TSAMP) //3.0 |
| jessekaiser | 8:ee16c139e10b | 14 | #define I_LIMIT 1. |
| jessekaiser | 8:ee16c139e10b | 15 | #define l_arm 0.5 |
| jessekaiser | 8:ee16c139e10b | 16 | |
| jessekaiser | 8:ee16c139e10b | 17 | #define M1_PWM PTC8 |
| jessekaiser | 8:ee16c139e10b | 18 | #define M1_DIR PTC9 |
| jessekaiser | 8:ee16c139e10b | 19 | #define M2_PWM PTA5 |
| jessekaiser | 8:ee16c139e10b | 20 | #define M2_DIR PTA4 |
| jessekaiser | 0:db396b9f4b4c | 21 | |
| jessekaiser | 8:ee16c139e10b | 22 | //Groene kabel moet op de GROUND en blauw op de 3.3v aansluiting |
| jessekaiser | 8:ee16c139e10b | 23 | |
| jessekaiser | 8:ee16c139e10b | 24 | // Define objects |
| jessekaiser | 8:ee16c139e10b | 25 | Serial pc(USBTX, USBRX); |
| jessekaiser | 8:ee16c139e10b | 26 | |
| jessekaiser | 8:ee16c139e10b | 27 | // LED |
| jessekaiser | 8:ee16c139e10b | 28 | DigitalOut myledred(PTB3); |
| jessekaiser | 8:ee16c139e10b | 29 | DigitalOut myledgreen(PTB1); |
| jessekaiser | 8:ee16c139e10b | 30 | DigitalOut myledblue(PTB2); |
| jessekaiser | 8:ee16c139e10b | 31 | |
| jessekaiser | 8:ee16c139e10b | 32 | //EMG |
| jessekaiser | 8:ee16c139e10b | 33 | AnalogIn emg0(PTB0); //Analog input |
| jessekaiser | 8:ee16c139e10b | 34 | AnalogIn emg1(PTC2); //Analog input |
| jessekaiser | 3:0895fa0a6ca4 | 35 | HIDScope scope(4); |
| jessekaiser | 0:db396b9f4b4c | 36 | |
| jessekaiser | 8:ee16c139e10b | 37 | //motor1 25D |
| jessekaiser | 8:ee16c139e10b | 38 | Encoder motor1(PTD3,PTD5); //wit, geel |
| jessekaiser | 8:ee16c139e10b | 39 | PwmOut pwm_motor1(M2_PWM); |
| jessekaiser | 8:ee16c139e10b | 40 | DigitalOut motordir1(M2_DIR); |
| jessekaiser | 8:ee16c139e10b | 41 | |
| jessekaiser | 8:ee16c139e10b | 42 | //motor2 37D |
| jessekaiser | 8:ee16c139e10b | 43 | Encoder motor2(PTD2, PTD0); //wit, geel |
| jessekaiser | 8:ee16c139e10b | 44 | PwmOut pwm_motor2(M1_PWM); |
| jessekaiser | 8:ee16c139e10b | 45 | DigitalOut motordir2(M1_DIR); |
| jessekaiser | 8:ee16c139e10b | 46 | |
| jessekaiser | 8:ee16c139e10b | 47 | // Motor variabelen |
| jessekaiser | 8:ee16c139e10b | 48 | float pwm_out1 = 0; |
| jessekaiser | 8:ee16c139e10b | 49 | float pwm_out2 = 0; |
| jessekaiser | 8:ee16c139e10b | 50 | int cur_pos_motor1; |
| jessekaiser | 8:ee16c139e10b | 51 | int prev_pos_motor1 = 0; |
| jessekaiser | 8:ee16c139e10b | 52 | int cur_pos_motor2; |
| jessekaiser | 8:ee16c139e10b | 53 | int prev_pos_motor2 = 0; |
| jessekaiser | 8:ee16c139e10b | 54 | float speed1_rad; |
| jessekaiser | 8:ee16c139e10b | 55 | float speed2_rad; |
| jessekaiser | 8:ee16c139e10b | 56 | float pos_motor1_rad; |
| jessekaiser | 8:ee16c139e10b | 57 | float pos_motor2_rad; |
| jessekaiser | 8:ee16c139e10b | 58 | int staat1 = 0; |
| jessekaiser | 8:ee16c139e10b | 59 | int staat2 = 0; |
| jessekaiser | 8:ee16c139e10b | 60 | volatile float arm_hoogte = 0; |
| jessekaiser | 8:ee16c139e10b | 61 | volatile float batje_hoek = 0; |
| jessekaiser | 8:ee16c139e10b | 62 | int wait_iterator1 = 0; |
| jessekaiser | 8:ee16c139e10b | 63 | int wait_iterator2 = 0; |
| jessekaiser | 8:ee16c139e10b | 64 | |
| jessekaiser | 8:ee16c139e10b | 65 | |
| jessekaiser | 8:ee16c139e10b | 66 | // EMG Filters (settings en variabelen) |
| jessekaiser | 8:ee16c139e10b | 67 | |
| jessekaiser | 8:ee16c139e10b | 68 | // Filters |
| jessekaiser | 8:ee16c139e10b | 69 | arm_biquad_casd_df1_inst_f32 lowpass_biceps; |
| jessekaiser | 8:ee16c139e10b | 70 | arm_biquad_casd_df1_inst_f32 lowpass_deltoid; |
| jessekaiser | 8:ee16c139e10b | 71 | //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB |
| jessekaiser | 8:ee16c139e10b | 72 | float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751}; |
| jessekaiser | 0:db396b9f4b4c | 73 | //state values |
| jessekaiser | 8:ee16c139e10b | 74 | float lowpass_biceps_states[4]; |
| jessekaiser | 8:ee16c139e10b | 75 | float lowpass_deltoid_states[4]; |
| jessekaiser | 8:ee16c139e10b | 76 | arm_biquad_casd_df1_inst_f32 highnotch_biceps; |
| jessekaiser | 8:ee16c139e10b | 77 | arm_biquad_casd_df1_inst_f32 highnotch_deltoid; |
| jessekaiser | 8:ee16c139e10b | 78 | //highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB |
| jessekaiser | 8:ee16c139e10b | 79 | float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533}; |
| jessekaiser | 0:db396b9f4b4c | 80 | //state values |
| jessekaiser | 8:ee16c139e10b | 81 | float highnotch_biceps_states[8]; |
| jessekaiser | 8:ee16c139e10b | 82 | float highnotch_deltoid_states[8]; |
| jessekaiser | 2:39e1bde54e73 | 83 | |
| jessekaiser | 2:39e1bde54e73 | 84 | //De globale variabele voor het gefilterde EMG signaal |
| jessekaiser | 2:39e1bde54e73 | 85 | float filtered_biceps; |
| jessekaiser | 2:39e1bde54e73 | 86 | float filtered_deltoid; |
| jessekaiser | 8:ee16c139e10b | 87 | float filtered_average_bi; |
| jessekaiser | 8:ee16c139e10b | 88 | float filtered_average_del; |
| jessekaiser | 0:db396b9f4b4c | 89 | |
| jessekaiser | 8:ee16c139e10b | 90 | //gemiddelde EMG waarden over 250 sample stappen |
| jessekaiser | 8:ee16c139e10b | 91 | void average_biceps(float filtered_biceps,float *average) |
| jessekaiser | 8:ee16c139e10b | 92 | { |
| jessekaiser | 8:ee16c139e10b | 93 | static float total=0; |
| jessekaiser | 8:ee16c139e10b | 94 | static float number=0; |
| jessekaiser | 8:ee16c139e10b | 95 | total = total + filtered_biceps; |
| jessekaiser | 8:ee16c139e10b | 96 | number = number + 1; |
| jessekaiser | 8:ee16c139e10b | 97 | if ( number == 250) { |
| jessekaiser | 8:ee16c139e10b | 98 | *average = total/250; |
| jessekaiser | 8:ee16c139e10b | 99 | total = 0; |
| jessekaiser | 8:ee16c139e10b | 100 | number = 0; |
| jessekaiser | 8:ee16c139e10b | 101 | } |
| jessekaiser | 8:ee16c139e10b | 102 | } |
| jessekaiser | 1:099b19376f16 | 103 | |
| jessekaiser | 8:ee16c139e10b | 104 | void average_deltoid(float filtered_input,float *average_output) |
| jessekaiser | 8:ee16c139e10b | 105 | { |
| jessekaiser | 8:ee16c139e10b | 106 | static float total=0; |
| jessekaiser | 8:ee16c139e10b | 107 | static float number=0; |
| jessekaiser | 8:ee16c139e10b | 108 | total = total + filtered_input; |
| jessekaiser | 8:ee16c139e10b | 109 | number = number + 1; |
| jessekaiser | 8:ee16c139e10b | 110 | if ( number == 250) { |
| jessekaiser | 8:ee16c139e10b | 111 | *average_output = total/250; |
| jessekaiser | 8:ee16c139e10b | 112 | total = 0; |
| jessekaiser | 8:ee16c139e10b | 113 | number = 0; |
| jessekaiser | 8:ee16c139e10b | 114 | } |
| jessekaiser | 8:ee16c139e10b | 115 | } |
| jessekaiser | 1:099b19376f16 | 116 | |
| jessekaiser | 8:ee16c139e10b | 117 | // EMG looper |
| jessekaiser | 0:db396b9f4b4c | 118 | void looper() |
| jessekaiser | 0:db396b9f4b4c | 119 | { |
| jessekaiser | 1:099b19376f16 | 120 | /*variable to store value in*/ |
| jessekaiser | 2:39e1bde54e73 | 121 | uint16_t emg_value1; |
| jessekaiser | 3:0895fa0a6ca4 | 122 | uint16_t emg_value2; |
| jessekaiser | 1:099b19376f16 | 123 | |
| jessekaiser | 2:39e1bde54e73 | 124 | float emg_value1_f32; |
| jessekaiser | 2:39e1bde54e73 | 125 | float emg_value2_f32; |
| jessekaiser | 0:db396b9f4b4c | 126 | /*put raw emg value both in red and in emg_value*/ |
| jessekaiser | 2:39e1bde54e73 | 127 | emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) |
| jessekaiser | 2:39e1bde54e73 | 128 | emg_value1_f32 = emg0.read(); |
| jessekaiser | 3:0895fa0a6ca4 | 129 | |
| jessekaiser | 2:39e1bde54e73 | 130 | emg_value2 = emg1.read_u16(); |
| jessekaiser | 2:39e1bde54e73 | 131 | emg_value2_f32 = emg1.read(); |
| jessekaiser | 0:db396b9f4b4c | 132 | |
| jessekaiser | 2:39e1bde54e73 | 133 | //process emg biceps |
| jessekaiser | 8:ee16c139e10b | 134 | arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); |
| jessekaiser | 2:39e1bde54e73 | 135 | filtered_biceps = fabs(filtered_biceps); |
| jessekaiser | 8:ee16c139e10b | 136 | arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); |
| jessekaiser | 8:ee16c139e10b | 137 | average_biceps(filtered_biceps,&filtered_average_bi); |
| jessekaiser | 2:39e1bde54e73 | 138 | //process emg deltoid |
| jessekaiser | 8:ee16c139e10b | 139 | arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value2_f32, &filtered_deltoid, 1 ); |
| jessekaiser | 3:0895fa0a6ca4 | 140 | filtered_deltoid = fabs(filtered_deltoid); |
| jessekaiser | 8:ee16c139e10b | 141 | arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 ); |
| jessekaiser | 8:ee16c139e10b | 142 | average_deltoid(filtered_deltoid, &filtered_average_del); |
| jessekaiser | 1:099b19376f16 | 143 | |
| jessekaiser | 0:db396b9f4b4c | 144 | /*send value to PC. */ |
| jessekaiser | 8:ee16c139e10b | 145 | //scope.set(0,emg_value1); //Raw EMG signal biceps |
| jessekaiser | 8:ee16c139e10b | 146 | //scope.set(1,emg_value2); //Raw EMG signal Deltoid |
| jessekaiser | 8:ee16c139e10b | 147 | scope.set(0,filtered_biceps); //processed float biceps |
| jessekaiser | 8:ee16c139e10b | 148 | scope.set(1,filtered_average_bi); //processed float deltoid |
| jessekaiser | 8:ee16c139e10b | 149 | scope.set(2,filtered_deltoid); //processed float biceps |
| jessekaiser | 8:ee16c139e10b | 150 | scope.set(3,filtered_average_del); //processed float deltoid |
| jessekaiser | 0:db396b9f4b4c | 151 | scope.send(); |
| jessekaiser | 0:db396b9f4b4c | 152 | |
| jessekaiser | 0:db396b9f4b4c | 153 | } |
| jessekaiser | 0:db396b9f4b4c | 154 | |
| jessekaiser | 8:ee16c139e10b | 155 | // LED AANSTURING |
| jessekaiser | 8:ee16c139e10b | 156 | |
| jessekaiser | 0:db396b9f4b4c | 157 | void BlinkRed(int n) |
| jessekaiser | 0:db396b9f4b4c | 158 | { |
| jessekaiser | 0:db396b9f4b4c | 159 | for (int i=0; i<n; i++) { |
| jessekaiser | 8:ee16c139e10b | 160 | myledred = 0; |
| jessekaiser | 8:ee16c139e10b | 161 | myledgreen = 0; |
| jessekaiser | 8:ee16c139e10b | 162 | myledblue = 0; |
| jessekaiser | 3:0895fa0a6ca4 | 163 | wait(0.1); |
| jessekaiser | 8:ee16c139e10b | 164 | myledred = 1; |
| jessekaiser | 8:ee16c139e10b | 165 | myledgreen = 0; |
| jessekaiser | 8:ee16c139e10b | 166 | myledblue = 0; |
| jessekaiser | 3:0895fa0a6ca4 | 167 | wait(0.1); |
| jessekaiser | 0:db396b9f4b4c | 168 | } |
| jessekaiser | 0:db396b9f4b4c | 169 | } |
| jessekaiser | 0:db396b9f4b4c | 170 | |
| jessekaiser | 8:ee16c139e10b | 171 | // Ticker voor groen knipperen, zodat tijdens dit knipperen presets gekozen kunnen worden |
| jessekaiser | 8:ee16c139e10b | 172 | Ticker ledticker; |
| jessekaiser | 8:ee16c139e10b | 173 | |
| jessekaiser | 8:ee16c139e10b | 174 | void greenblink() |
| jessekaiser | 3:0895fa0a6ca4 | 175 | { |
| jessekaiser | 8:ee16c139e10b | 176 | if(myledgreen.read()) |
| jessekaiser | 8:ee16c139e10b | 177 | myledgreen = 0; |
| jessekaiser | 8:ee16c139e10b | 178 | else |
| jessekaiser | 8:ee16c139e10b | 179 | myledgreen = 1; |
| jessekaiser | 8:ee16c139e10b | 180 | } |
| jessekaiser | 8:ee16c139e10b | 181 | |
| jessekaiser | 8:ee16c139e10b | 182 | void BlinkGreen() |
| jessekaiser | 8:ee16c139e10b | 183 | { |
| jessekaiser | 8:ee16c139e10b | 184 | myledred= 0; |
| jessekaiser | 8:ee16c139e10b | 185 | myledblue =0; |
| jessekaiser | 8:ee16c139e10b | 186 | ledticker.attach(&greenblink,.5); |
| jessekaiser | 8:ee16c139e10b | 187 | } |
| jessekaiser | 3:0895fa0a6ca4 | 188 | |
| jessekaiser | 8:ee16c139e10b | 189 | void stopblinkgreen() |
| jessekaiser | 8:ee16c139e10b | 190 | { |
| jessekaiser | 8:ee16c139e10b | 191 | ledticker.detach(); |
| jessekaiser | 8:ee16c139e10b | 192 | } |
| jessekaiser | 8:ee16c139e10b | 193 | |
| jessekaiser | 8:ee16c139e10b | 194 | // Groen schijnen |
| jessekaiser | 8:ee16c139e10b | 195 | void ShineGreen () |
| jessekaiser | 8:ee16c139e10b | 196 | { |
| jessekaiser | 8:ee16c139e10b | 197 | myledred = 0; |
| jessekaiser | 8:ee16c139e10b | 198 | myledgreen = 1; |
| jessekaiser | 8:ee16c139e10b | 199 | myledblue = 0; |
| jessekaiser | 8:ee16c139e10b | 200 | } |
| jessekaiser | 8:ee16c139e10b | 201 | |
| jessekaiser | 8:ee16c139e10b | 202 | // Blauw schijnen |
| jessekaiser | 8:ee16c139e10b | 203 | void ShineBlue () |
| jessekaiser | 8:ee16c139e10b | 204 | { |
| jessekaiser | 8:ee16c139e10b | 205 | myledred = 0; |
| jessekaiser | 8:ee16c139e10b | 206 | myledgreen = 0; |
| jessekaiser | 8:ee16c139e10b | 207 | myledblue = 1; |
| jessekaiser | 3:0895fa0a6ca4 | 208 | } |
| jessekaiser | 3:0895fa0a6ca4 | 209 | |
| jessekaiser | 8:ee16c139e10b | 210 | // Rood schijnen |
| jessekaiser | 8:ee16c139e10b | 211 | void ShineRed () |
| jessekaiser | 8:ee16c139e10b | 212 | { |
| jessekaiser | 8:ee16c139e10b | 213 | myledred = 1; |
| jessekaiser | 8:ee16c139e10b | 214 | myledgreen = 0; |
| jessekaiser | 8:ee16c139e10b | 215 | myledblue = 0; |
| jessekaiser | 8:ee16c139e10b | 216 | } |
| jessekaiser | 3:0895fa0a6ca4 | 217 | |
| jessekaiser | 8:ee16c139e10b | 218 | // MOTORFUNCTIES |
| jessekaiser | 8:ee16c139e10b | 219 | |
| jessekaiser | 8:ee16c139e10b | 220 | // Motor1 = batje |
| jessekaiser | 8:ee16c139e10b | 221 | // Motor2 = arm |
| jessekaiser | 8:ee16c139e10b | 222 | |
| jessekaiser | 8:ee16c139e10b | 223 | void clamp(float* in, float min, float max) //Clamp geeft een maximum en minimum limiet aan een functie |
| jessekaiser | 8:ee16c139e10b | 224 | { |
| jessekaiser | 8:ee16c139e10b | 225 | *in > min ? /*(*/*in < max? : *in = max : *in = min; |
| jessekaiser | 8:ee16c139e10b | 226 | } |
| jessekaiser | 8:ee16c139e10b | 227 | |
| jessekaiser | 8:ee16c139e10b | 228 | // PI-regelaar motor1: batje |
| jessekaiser | 8:ee16c139e10b | 229 | float pid1(float setpoint1, float measurement1) |
| jessekaiser | 2:39e1bde54e73 | 230 | { |
| jessekaiser | 8:ee16c139e10b | 231 | float error1; |
| jessekaiser | 8:ee16c139e10b | 232 | float out_p1 = 0; |
| jessekaiser | 8:ee16c139e10b | 233 | static float out_i1 = 0; |
| jessekaiser | 8:ee16c139e10b | 234 | error1 = (setpoint1 - measurement1); |
| jessekaiser | 8:ee16c139e10b | 235 | out_p1 = error1*K_P1; |
| jessekaiser | 8:ee16c139e10b | 236 | out_i1 += error1*K_I1; |
| jessekaiser | 8:ee16c139e10b | 237 | clamp(&out_i1,-I_LIMIT,I_LIMIT); |
| jessekaiser | 8:ee16c139e10b | 238 | return out_p1 + out_i1; |
| jessekaiser | 8:ee16c139e10b | 239 | } |
| jessekaiser | 8:ee16c139e10b | 240 | |
| jessekaiser | 8:ee16c139e10b | 241 | // PI-regelaar motor2: arm |
| jessekaiser | 8:ee16c139e10b | 242 | float pid2(float setpoint2, float measurement2) |
| jessekaiser | 8:ee16c139e10b | 243 | { |
| jessekaiser | 8:ee16c139e10b | 244 | float error2; |
| jessekaiser | 8:ee16c139e10b | 245 | float out_p2 = 0; |
| jessekaiser | 8:ee16c139e10b | 246 | static float out_i2 = 0; |
| jessekaiser | 8:ee16c139e10b | 247 | error2 = (setpoint2 - measurement2); |
| jessekaiser | 8:ee16c139e10b | 248 | out_p2 = error2*K_P2; |
| jessekaiser | 8:ee16c139e10b | 249 | out_i2 += error2*K_I2; |
| jessekaiser | 8:ee16c139e10b | 250 | clamp(&out_i2,-I_LIMIT,I_LIMIT); |
| jessekaiser | 8:ee16c139e10b | 251 | return out_p2 + out_i2; |
| jessekaiser | 2:39e1bde54e73 | 252 | } |
| jessekaiser | 2:39e1bde54e73 | 253 | |
| jessekaiser | 8:ee16c139e10b | 254 | // Variabelen |
| jessekaiser | 8:ee16c139e10b | 255 | float prev_setpoint1 = 0; |
| jessekaiser | 8:ee16c139e10b | 256 | float setpoint1 = 0; |
| jessekaiser | 8:ee16c139e10b | 257 | float prev_setpoint2 = 0; |
| jessekaiser | 8:ee16c139e10b | 258 | float setpoint2 = 0; |
| jessekaiser | 8:ee16c139e10b | 259 | |
| jessekaiser | 8:ee16c139e10b | 260 | // Functies motoren |
| jessekaiser | 1:099b19376f16 | 261 | |
| jessekaiser | 8:ee16c139e10b | 262 | // Motor1 links draaien |
| jessekaiser | 8:ee16c139e10b | 263 | void batje_links () |
| jessekaiser | 8:ee16c139e10b | 264 | { |
| jessekaiser | 8:ee16c139e10b | 265 | speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht) |
| jessekaiser | 8:ee16c139e10b | 266 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; //bepalen van de setpoint |
| jessekaiser | 8:ee16c139e10b | 267 | if(setpoint1 > (11.3*2.3*2.0*PI/360)) { //Het eerste getal geeft een aantal graden weer, dus alleen dit hoeft aangepast te worden/ |
| jessekaiser | 8:ee16c139e10b | 268 | setpoint1 = (11.3*2.3*2.0*PI/360); //Hier wordt er een grens bepaald voor de hoek. |
| jessekaiser | 8:ee16c139e10b | 269 | } |
| jessekaiser | 8:ee16c139e10b | 270 | if(setpoint1 < -(11.3*2.3*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 271 | setpoint1 = -(11.3*2.3*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 272 | } |
| jessekaiser | 8:ee16c139e10b | 273 | if(setpoint1 <= -(11.3*2.3*2.0*PI/360)-0.1) { |
| jessekaiser | 8:ee16c139e10b | 274 | staat1 = 1; |
| jessekaiser | 8:ee16c139e10b | 275 | prev_setpoint1 = setpoint1; |
| jessekaiser | 8:ee16c139e10b | 276 | } |
| jessekaiser | 8:ee16c139e10b | 277 | } |
| jessekaiser | 8:ee16c139e10b | 278 | // Motor1 rechts draaien |
| jessekaiser | 8:ee16c139e10b | 279 | void batje_rechts () { |
| jessekaiser | 8:ee16c139e10b | 280 | speed1_rad = 1.0; |
| jessekaiser | 8:ee16c139e10b | 281 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; |
| jessekaiser | 8:ee16c139e10b | 282 | if(setpoint1 > (11.3*2.3*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 283 | setpoint1 = (11.3*2.3*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 284 | } |
| jessekaiser | 8:ee16c139e10b | 285 | if(setpoint1 < -(11.3*2.3*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 286 | setpoint1 = -(11.3*2.3*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 287 | } |
| jessekaiser | 8:ee16c139e10b | 288 | prev_setpoint1 = setpoint1; |
| jessekaiser | 8:ee16c139e10b | 289 | if(setpoint1 >= (11.3*2.3*2.0*PI/360)-0.1) { |
| jessekaiser | 8:ee16c139e10b | 290 | staat1 = 1; |
| jessekaiser | 8:ee16c139e10b | 291 | } |
| jessekaiser | 8:ee16c139e10b | 292 | } |
| jessekaiser | 0:db396b9f4b4c | 293 | |
| jessekaiser | 8:ee16c139e10b | 294 | //Motor1 na links draaien weer terug laten draaien naar beginstand |
| jessekaiser | 8:ee16c139e10b | 295 | void batje_begin_links () { |
| jessekaiser | 8:ee16c139e10b | 296 | speed1_rad = 1.0; |
| jessekaiser | 8:ee16c139e10b | 297 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; |
| jessekaiser | 8:ee16c139e10b | 298 | if(setpoint1 > (0*2.3*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 299 | setpoint1 = (0*2.3*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 300 | } |
| jessekaiser | 8:ee16c139e10b | 301 | if(setpoint1 < -(0*2.3*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 302 | setpoint1 = -(0*2.3*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 303 | } |
| jessekaiser | 8:ee16c139e10b | 304 | prev_setpoint1 = setpoint1; |
| jessekaiser | 8:ee16c139e10b | 305 | } |
| jessekaiser | 8:ee16c139e10b | 306 | |
| jessekaiser | 8:ee16c139e10b | 307 | //Motor1 na links draaien weer terug laten draaien naar beginstand |
| jessekaiser | 8:ee16c139e10b | 308 | void batje_begin_rechts () { |
| jessekaiser | 8:ee16c139e10b | 309 | speed1_rad = -1.0; |
| jessekaiser | 8:ee16c139e10b | 310 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; |
| jessekaiser | 8:ee16c139e10b | 311 | if(setpoint1 > (0*2.3*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 312 | setpoint1 = (0*2.3*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 313 | } |
| jessekaiser | 8:ee16c139e10b | 314 | if(setpoint1 < -(0.0*2.3*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 315 | setpoint1 = -(0.0*2.3*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 316 | } |
| jessekaiser | 8:ee16c139e10b | 317 | prev_setpoint1 = setpoint1; |
| jessekaiser | 8:ee16c139e10b | 318 | } |
| jessekaiser | 8:ee16c139e10b | 319 | |
| jessekaiser | 8:ee16c139e10b | 320 | // Motor2 balletje op zn hoogst slaan |
| jessekaiser | 8:ee16c139e10b | 321 | void arm_hoog () { |
| jessekaiser | 8:ee16c139e10b | 322 | speed2_rad = 6.0; |
| jessekaiser | 8:ee16c139e10b | 323 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
| jessekaiser | 8:ee16c139e10b | 324 | if(setpoint2 > (155.0*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 325 | setpoint2 = (155.0*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 326 | } |
| jessekaiser | 8:ee16c139e10b | 327 | if(setpoint2 < -(155.0*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 328 | setpoint2 = -(155.0*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 329 | } |
| jessekaiser | 8:ee16c139e10b | 330 | prev_setpoint2 = setpoint2; |
| jessekaiser | 8:ee16c139e10b | 331 | if(setpoint2 >= (155.0*2.0*PI/360)-0.1) { |
| jessekaiser | 8:ee16c139e10b | 332 | staat2 = 1; |
| jessekaiser | 8:ee16c139e10b | 333 | } |
| jessekaiser | 8:ee16c139e10b | 334 | } |
| jessekaiser | 6:8f4138a811e0 | 335 | |
| jessekaiser | 8:ee16c139e10b | 336 | // Motor2 balletje in het midden slaan |
| jessekaiser | 8:ee16c139e10b | 337 | void arm_mid () { |
| jessekaiser | 8:ee16c139e10b | 338 | speed2_rad = 4.0; |
| jessekaiser | 8:ee16c139e10b | 339 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
| jessekaiser | 8:ee16c139e10b | 340 | if(setpoint2 > (155.0*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 341 | setpoint2 = (155.0*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 342 | } |
| jessekaiser | 8:ee16c139e10b | 343 | if(setpoint2 < -(155.0*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 344 | setpoint2 = -(155.0*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 345 | } |
| jessekaiser | 8:ee16c139e10b | 346 | prev_setpoint2 = setpoint2; |
| jessekaiser | 8:ee16c139e10b | 347 | if(setpoint2 >= (155.0*2.0*PI/360)-0.1) { |
| jessekaiser | 8:ee16c139e10b | 348 | staat2 = 1; |
| jessekaiser | 8:ee16c139e10b | 349 | } |
| jessekaiser | 8:ee16c139e10b | 350 | } |
| jessekaiser | 8:ee16c139e10b | 351 | |
| jessekaiser | 8:ee16c139e10b | 352 | // Motor2 balletje op het laagst slaan |
| jessekaiser | 8:ee16c139e10b | 353 | void arm_laag () { |
| jessekaiser | 8:ee16c139e10b | 354 | speed2_rad = 2.0; |
| jessekaiser | 8:ee16c139e10b | 355 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
| jessekaiser | 8:ee16c139e10b | 356 | if(setpoint2 > (155*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 357 | setpoint2 = (155*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 358 | } |
| jessekaiser | 8:ee16c139e10b | 359 | if(setpoint2 < -(155.0*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 360 | setpoint2 = -(155.0*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 361 | } |
| jessekaiser | 8:ee16c139e10b | 362 | prev_setpoint2 = setpoint2; |
| jessekaiser | 8:ee16c139e10b | 363 | if(setpoint2 >= (155.0*2.0*PI/360)-0.1) { |
| jessekaiser | 8:ee16c139e10b | 364 | staat2 = 1; |
| jessekaiser | 8:ee16c139e10b | 365 | } |
| jessekaiser | 8:ee16c139e10b | 366 | } |
| jessekaiser | 8:ee16c139e10b | 367 | |
| jessekaiser | 8:ee16c139e10b | 368 | // Motor2 arm terug zetten in beginstand |
| jessekaiser | 8:ee16c139e10b | 369 | void arm_begin () { |
| jessekaiser | 8:ee16c139e10b | 370 | speed2_rad = 1.0; |
| jessekaiser | 8:ee16c139e10b | 371 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
| jessekaiser | 8:ee16c139e10b | 372 | if(setpoint2 > (0.0*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 373 | setpoint2 = (0.0*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 374 | } |
| jessekaiser | 8:ee16c139e10b | 375 | if(setpoint2 < -(0.0*2.0*PI/360)) { |
| jessekaiser | 8:ee16c139e10b | 376 | setpoint2 = -(0.0*2.0*PI/360); |
| jessekaiser | 8:ee16c139e10b | 377 | } |
| jessekaiser | 8:ee16c139e10b | 378 | prev_setpoint2 = setpoint2; |
| jessekaiser | 8:ee16c139e10b | 379 | } |
| jessekaiser | 8:ee16c139e10b | 380 | |
| jessekaiser | 8:ee16c139e10b | 381 | // MOTOR aansturing |
| jessekaiser | 8:ee16c139e10b | 382 | void looper_motor() { |
| jessekaiser | 8:ee16c139e10b | 383 | pc.printf("%d, %f \r\n", motor1.getPosition(), motor2.getPosition()); //Geeft de posities weer van beide motoren met een sample frequentie van 0.005 |
| jessekaiser | 0:db396b9f4b4c | 384 | |
| jessekaiser | 8:ee16c139e10b | 385 | //MOTOR1 |
| jessekaiser | 8:ee16c139e10b | 386 | \ |
| jessekaiser | 8:ee16c139e10b | 387 | cur_pos_motor1 = motor1.getPosition(); |
| jessekaiser | 8:ee16c139e10b | 388 | pos_motor1_rad = (float)cur_pos_motor1/(4128.0/(2.0*PI)); //voor 1 rotatie van de motoras geldt 24(aantal cpr vd encoder)*172(gearbox ratio)=4128 counts. |
| jessekaiser | 8:ee16c139e10b | 389 | pwm_out1 = pid1(setpoint1, pos_motor1_rad); |
| jessekaiser | 8:ee16c139e10b | 390 | if (pwm_out1 < -1.0) { //Hier wordt de grens voor de pwm waarde ingesteld. |
| jessekaiser | 8:ee16c139e10b | 391 | pwm_out1 = -1.0; |
| jessekaiser | 8:ee16c139e10b | 392 | } |
| jessekaiser | 8:ee16c139e10b | 393 | if (pwm_out1 > 1.0) { |
| jessekaiser | 8:ee16c139e10b | 394 | pwm_out1 = 1.0; |
| jessekaiser | 8:ee16c139e10b | 395 | } |
| jessekaiser | 8:ee16c139e10b | 396 | pwm_motor1.write(abs(pwm_out1)); |
| jessekaiser | 8:ee16c139e10b | 397 | if(pwm_out1 > 0) { |
| jessekaiser | 8:ee16c139e10b | 398 | motordir1 = 0; |
| jessekaiser | 8:ee16c139e10b | 399 | } else { |
| jessekaiser | 8:ee16c139e10b | 400 | motordir1 = 1; |
| jessekaiser | 8:ee16c139e10b | 401 | } |
| jessekaiser | 6:8f4138a811e0 | 402 | |
| jessekaiser | 8:ee16c139e10b | 403 | //MOTOR2 |
| jessekaiser | 8:ee16c139e10b | 404 | cur_pos_motor2 = motor2.getPosition(); |
| jessekaiser | 8:ee16c139e10b | 405 | pos_motor2_rad = (float)cur_pos_motor2/(3200.0/(2.0*PI)); |
| jessekaiser | 8:ee16c139e10b | 406 | pwm_out2 = pid2(setpoint2, pos_motor2_rad); // |
| jessekaiser | 8:ee16c139e10b | 407 | if (pwm_out2 < -1.0) { |
| jessekaiser | 8:ee16c139e10b | 408 | pwm_out2 = -1.0; |
| jessekaiser | 8:ee16c139e10b | 409 | } |
| jessekaiser | 8:ee16c139e10b | 410 | if (pwm_out2 > 1.0) { |
| jessekaiser | 8:ee16c139e10b | 411 | pwm_out2 = 1.0; |
| jessekaiser | 8:ee16c139e10b | 412 | } |
| jessekaiser | 8:ee16c139e10b | 413 | pwm_motor2.write(abs(pwm_out2)); |
| jessekaiser | 8:ee16c139e10b | 414 | if(pwm_out2 > 0) { |
| jessekaiser | 8:ee16c139e10b | 415 | motordir2 = 0; |
| jessekaiser | 8:ee16c139e10b | 416 | } else { |
| jessekaiser | 8:ee16c139e10b | 417 | motordir2 = 1; |
| jessekaiser | 8:ee16c139e10b | 418 | } |
| jessekaiser | 8:ee16c139e10b | 419 | |
| jessekaiser | 8:ee16c139e10b | 420 | |
| jessekaiser | 8:ee16c139e10b | 421 | //STATES |
| jessekaiser | 8:ee16c139e10b | 422 | |
| jessekaiser | 8:ee16c139e10b | 423 | //Het batje draait naar opgegeven positie, doet dan een bepaalde tijd niks (wait_iterator), en draait daarna weer terug |
| jessekaiser | 8:ee16c139e10b | 424 | if (batje_hoek == 1) { |
| jessekaiser | 8:ee16c139e10b | 425 | if(staat1 == 0) { |
| jessekaiser | 8:ee16c139e10b | 426 | batje_rechts(); |
| jessekaiser | 8:ee16c139e10b | 427 | wait_iterator1 = 0; |
| jessekaiser | 8:ee16c139e10b | 428 | } else if(staat1 ==1) { |
| jessekaiser | 8:ee16c139e10b | 429 | wait_iterator1++; |
| jessekaiser | 8:ee16c139e10b | 430 | if(wait_iterator1 > 1200) { |
| jessekaiser | 8:ee16c139e10b | 431 | staat1 = 2; |
| jessekaiser | 8:ee16c139e10b | 432 | |
| jessekaiser | 8:ee16c139e10b | 433 | batje_begin_rechts(); |
| jessekaiser | 0:db396b9f4b4c | 434 | } |
| jessekaiser | 0:db396b9f4b4c | 435 | } |
| jessekaiser | 0:db396b9f4b4c | 436 | } |
| jessekaiser | 8:ee16c139e10b | 437 | if (batje_hoek == 2) { |
| jessekaiser | 8:ee16c139e10b | 438 | if(staat1 == 0) { |
| jessekaiser | 8:ee16c139e10b | 439 | batje_links(); |
| jessekaiser | 8:ee16c139e10b | 440 | wait_iterator1 = 0; |
| jessekaiser | 8:ee16c139e10b | 441 | } else if(staat1 ==1) { |
| jessekaiser | 8:ee16c139e10b | 442 | wait_iterator1++; |
| jessekaiser | 8:ee16c139e10b | 443 | if(wait_iterator1 > 1200) { |
| jessekaiser | 8:ee16c139e10b | 444 | staat1 = 2; |
| jessekaiser | 8:ee16c139e10b | 445 | |
| jessekaiser | 8:ee16c139e10b | 446 | batje_begin_links (); |
| jessekaiser | 8:ee16c139e10b | 447 | } |
| jessekaiser | 8:ee16c139e10b | 448 | } |
| jessekaiser | 8:ee16c139e10b | 449 | } |
| jessekaiser | 8:ee16c139e10b | 450 | |
| jessekaiser | 8:ee16c139e10b | 451 | if(arm_hoogte == 1) { |
| jessekaiser | 8:ee16c139e10b | 452 | if(staat2 == 0) { |
| jessekaiser | 8:ee16c139e10b | 453 | arm_laag(); |
| jessekaiser | 8:ee16c139e10b | 454 | wait_iterator2 = 0; |
| jessekaiser | 8:ee16c139e10b | 455 | } else if(staat2 == 1) { |
| jessekaiser | 8:ee16c139e10b | 456 | wait_iterator2++; |
| jessekaiser | 8:ee16c139e10b | 457 | if(wait_iterator2 > 400) { |
| jessekaiser | 8:ee16c139e10b | 458 | staat2 = 2; |
| jessekaiser | 8:ee16c139e10b | 459 | |
| jessekaiser | 8:ee16c139e10b | 460 | arm_begin(); |
| jessekaiser | 8:ee16c139e10b | 461 | } |
| jessekaiser | 8:ee16c139e10b | 462 | } |
| jessekaiser | 8:ee16c139e10b | 463 | } |
| jessekaiser | 8:ee16c139e10b | 464 | if(arm_hoogte == 2) { |
| jessekaiser | 8:ee16c139e10b | 465 | if(staat2 == 0) { |
| jessekaiser | 8:ee16c139e10b | 466 | arm_mid(); |
| jessekaiser | 8:ee16c139e10b | 467 | wait_iterator2 = 0; |
| jessekaiser | 8:ee16c139e10b | 468 | } else if(staat2 == 1) { |
| jessekaiser | 8:ee16c139e10b | 469 | wait_iterator2++; |
| jessekaiser | 8:ee16c139e10b | 470 | if(wait_iterator2 > 400) { |
| jessekaiser | 8:ee16c139e10b | 471 | staat2 = 2; |
| jessekaiser | 8:ee16c139e10b | 472 | |
| jessekaiser | 8:ee16c139e10b | 473 | arm_begin(); |
| jessekaiser | 8:ee16c139e10b | 474 | } |
| jessekaiser | 8:ee16c139e10b | 475 | } |
| jessekaiser | 8:ee16c139e10b | 476 | } |
| jessekaiser | 8:ee16c139e10b | 477 | if(arm_hoogte == 3) { |
| jessekaiser | 8:ee16c139e10b | 478 | if(staat2 == 0) { |
| jessekaiser | 8:ee16c139e10b | 479 | arm_hoog(); |
| jessekaiser | 8:ee16c139e10b | 480 | wait_iterator2 = 0; |
| jessekaiser | 8:ee16c139e10b | 481 | } else if(staat2 == 1) { |
| jessekaiser | 8:ee16c139e10b | 482 | wait_iterator2++; |
| jessekaiser | 8:ee16c139e10b | 483 | if(wait_iterator2 > 400) { |
| jessekaiser | 8:ee16c139e10b | 484 | staat2 = 2; |
| jessekaiser | 8:ee16c139e10b | 485 | |
| jessekaiser | 8:ee16c139e10b | 486 | arm_begin(); |
| jessekaiser | 8:ee16c139e10b | 487 | } |
| jessekaiser | 8:ee16c139e10b | 488 | } |
| jessekaiser | 8:ee16c139e10b | 489 | } |
| jessekaiser | 8:ee16c139e10b | 490 | |
| jessekaiser | 0:db396b9f4b4c | 491 | } |
| jessekaiser | 8:ee16c139e10b | 492 | |
| jessekaiser | 8:ee16c139e10b | 493 | |
| jessekaiser | 8:ee16c139e10b | 494 | // Hoofdprogramma, hierin staat de aansturing vd LED |
| jessekaiser | 8:ee16c139e10b | 495 | int main() { |
| jessekaiser | 8:ee16c139e10b | 496 | |
| jessekaiser | 8:ee16c139e10b | 497 | pwm_motor1.period_us(100); |
| jessekaiser | 8:ee16c139e10b | 498 | motor1.setPosition(0); |
| jessekaiser | 8:ee16c139e10b | 499 | pwm_motor2.period_us(100); |
| jessekaiser | 8:ee16c139e10b | 500 | motor2.setPosition(0); |
| jessekaiser | 8:ee16c139e10b | 501 | pc.baud(115200); |
| jessekaiser | 8:ee16c139e10b | 502 | // Ticker EMG signaal meten |
| jessekaiser | 8:ee16c139e10b | 503 | Ticker log_timer; |
| jessekaiser | 8:ee16c139e10b | 504 | //set up filters. Use external array for constants |
| jessekaiser | 8:ee16c139e10b | 505 | arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 , lowpass_const, lowpass_biceps_states); |
| jessekaiser | 8:ee16c139e10b | 506 | arm_biquad_cascade_df1_init_f32(&lowpass_deltoid,1 , lowpass_const, lowpass_deltoid_states); |
| jessekaiser | 8:ee16c139e10b | 507 | arm_biquad_cascade_df1_init_f32(&highnotch_biceps,2 ,highnotch_const,highnotch_biceps_states); |
| jessekaiser | 8:ee16c139e10b | 508 | arm_biquad_cascade_df1_init_f32(&highnotch_deltoid,2 ,highnotch_const,highnotch_deltoid_states); |
| jessekaiser | 8:ee16c139e10b | 509 | // Uitvoeren van ticker EMG, sample frequentie 500Hz |
| jessekaiser | 8:ee16c139e10b | 510 | log_timer.attach(looper, 0.002); |
| jessekaiser | 8:ee16c139e10b | 511 | |
| jessekaiser | 8:ee16c139e10b | 512 | // Aanroepen van motoraansturing in motor ticker |
| jessekaiser | 8:ee16c139e10b | 513 | Ticker looptimer; |
| jessekaiser | 8:ee16c139e10b | 514 | looptimer.attach(looper_motor,TSAMP); |
| jessekaiser | 8:ee16c139e10b | 515 | |
| jessekaiser | 8:ee16c139e10b | 516 | while(1) { |
| jessekaiser | 8:ee16c139e10b | 517 | |
| jessekaiser | 8:ee16c139e10b | 518 | while(1) { |
| jessekaiser | 8:ee16c139e10b | 519 | pc.printf("Span de biceps aan om het instellen te starten.\n"); |
| jessekaiser | 8:ee16c139e10b | 520 | do { |
| jessekaiser | 8:ee16c139e10b | 521 | ShineRed(); |
| jessekaiser | 8:ee16c139e10b | 522 | } while(filtered_average_bi < 0.05 && filtered_average_del <0.05); // In rust, geen meting |
| jessekaiser | 8:ee16c139e10b | 523 | if (filtered_average_bi > 0.05) { // Beginnen met meting wanneer biceps wordt aangespannen |
| jessekaiser | 8:ee16c139e10b | 524 | BlinkRed(10); // 2 seconden rood knipperen, geen signaal verwerking |
| jessekaiser | 8:ee16c139e10b | 525 | BlinkGreen(); // groen knipperen, meten van spieraanspanning |
| jessekaiser | 8:ee16c139e10b | 526 | while (1) { // eerste loop, keuze voor de positie van het batje |
| jessekaiser | 8:ee16c139e10b | 527 | pc.printf("In de loop.\n"); |
| jessekaiser | 8:ee16c139e10b | 528 | if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { //bi en del aangespannen --> batje in het midden |
| jessekaiser | 8:ee16c139e10b | 529 | stopblinkgreen(); |
| jessekaiser | 8:ee16c139e10b | 530 | pc.printf("ShineGreen.\n"); |
| jessekaiser | 8:ee16c139e10b | 531 | ShineGreen(); |
| jessekaiser | 8:ee16c139e10b | 532 | wait (4); |
| jessekaiser | 8:ee16c139e10b | 533 | break; |
| jessekaiser | 8:ee16c139e10b | 534 | } |
| jessekaiser | 8:ee16c139e10b | 535 | if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { // del aanspannen --> batje naar links |
| jessekaiser | 8:ee16c139e10b | 536 | stopblinkgreen(); |
| jessekaiser | 8:ee16c139e10b | 537 | pc.printf("ShineBlue.\n"); |
| jessekaiser | 8:ee16c139e10b | 538 | ShineBlue(); |
| jessekaiser | 8:ee16c139e10b | 539 | batje_hoek = 2; |
| jessekaiser | 8:ee16c139e10b | 540 | wait(4); |
| jessekaiser | 8:ee16c139e10b | 541 | break; |
| jessekaiser | 8:ee16c139e10b | 542 | } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { // bi aanspannen --> batje naar rechts |
| jessekaiser | 8:ee16c139e10b | 543 | stopblinkgreen(); |
| jessekaiser | 8:ee16c139e10b | 544 | pc.printf("ShineRed.\n"); |
| jessekaiser | 8:ee16c139e10b | 545 | ShineRed(); |
| jessekaiser | 8:ee16c139e10b | 546 | batje_hoek = 1; |
| jessekaiser | 8:ee16c139e10b | 547 | wait (4); |
| jessekaiser | 8:ee16c139e10b | 548 | break; |
| jessekaiser | 8:ee16c139e10b | 549 | } |
| jessekaiser | 8:ee16c139e10b | 550 | } |
| jessekaiser | 8:ee16c139e10b | 551 | BlinkGreen(); |
| jessekaiser | 8:ee16c139e10b | 552 | while (1) { // loop voor het instellen van de kracht |
| jessekaiser | 8:ee16c139e10b | 553 | pc.printf("In de loop.\n"); |
| jessekaiser | 8:ee16c139e10b | 554 | if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { // bi en del aanspannen --> hoog slaan |
| jessekaiser | 8:ee16c139e10b | 555 | stopblinkgreen(); |
| jessekaiser | 8:ee16c139e10b | 556 | pc.printf("ShineGreen.\n"); |
| jessekaiser | 8:ee16c139e10b | 557 | ShineGreen(); |
| jessekaiser | 8:ee16c139e10b | 558 | arm_hoogte = 3; |
| jessekaiser | 8:ee16c139e10b | 559 | wait (4); |
| jessekaiser | 8:ee16c139e10b | 560 | break; |
| jessekaiser | 8:ee16c139e10b | 561 | } |
| jessekaiser | 8:ee16c139e10b | 562 | if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { // del aanspannen --> laag slaan |
| jessekaiser | 8:ee16c139e10b | 563 | stopblinkgreen(); |
| jessekaiser | 8:ee16c139e10b | 564 | pc.printf("ShineBlue.\n"); |
| jessekaiser | 8:ee16c139e10b | 565 | ShineBlue(); |
| jessekaiser | 8:ee16c139e10b | 566 | arm_hoogte = 1; |
| jessekaiser | 8:ee16c139e10b | 567 | wait(4); |
| jessekaiser | 8:ee16c139e10b | 568 | break; |
| jessekaiser | 8:ee16c139e10b | 569 | } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { // bi aanspannen --> midden slaan |
| jessekaiser | 8:ee16c139e10b | 570 | stopblinkgreen(); |
| jessekaiser | 8:ee16c139e10b | 571 | pc.printf("ShineRed.\n"); |
| jessekaiser | 8:ee16c139e10b | 572 | ShineRed(); |
| jessekaiser | 8:ee16c139e10b | 573 | arm_hoogte = 2; |
| jessekaiser | 8:ee16c139e10b | 574 | wait (4); |
| jessekaiser | 8:ee16c139e10b | 575 | break; |
| jessekaiser | 8:ee16c139e10b | 576 | } |
| jessekaiser | 8:ee16c139e10b | 577 | } |
| jessekaiser | 8:ee16c139e10b | 578 | |
| jessekaiser | 8:ee16c139e10b | 579 | } |
| jessekaiser | 8:ee16c139e10b | 580 | |
| jessekaiser | 8:ee16c139e10b | 581 | } |
| jessekaiser | 8:ee16c139e10b | 582 | } |
| jessekaiser | 8:ee16c139e10b | 583 | } |