Revision 8:ee16c139e10b, committed 2014-11-03

Comitter:

jessekaiser

Date:

Mon Nov 03 20:35:03 2014 +0000

Parent:

7:119b85a92a09

Commit message:

Doet die het nu?

Changed in this revision

diff -r 119b85a92a09 -r ee16c139e10b main.cpp
--- a/main.cpp	Fri Oct 17 13:41:56 2014 +0000
+++ b/main.cpp	Mon Nov 03 20:35:03 2014 +0000
@@ -2,54 +2,119 @@
 #include "HIDScope.h"
 #include "arm_math.h"
 #include "MODSERIAL.h"
+#include "encoder.h"
+#include "PwmOut.h"
 
-Serial pc(USBTX, USBRX); // tx, rx
-DigitalOut myled1(LED_RED);
-DigitalOut myled2(LED_GREEN);
-DigitalOut myled3(LED_BLUE);
-PwmOut     motorsignal(PTD4);
+// define
+#define TSAMP 0.005
+#define K_P1 (3.5) //Kp waarde voor motor1, van het batje // 7.0
+#define K_I1 (0.01  *TSAMP) //0.1
+#define K_P2 (0.7) //Kp waarde voor motor2, de arm //10.0
+#define K_I2 (0.01 *TSAMP) //3.0
+#define I_LIMIT 1.
+#define l_arm 0.5
+
+#define M1_PWM PTC8
+#define M1_DIR PTC9
+#define M2_PWM PTA5
+#define M2_DIR PTA4
 
-//Define objects
-AnalogIn    emg0(PTB1); //Analog input
-AnalogIn    emg1(PTB2); //Analog input
+//Groene kabel moet op de GROUND en blauw op de 3.3v aansluiting
+
+// Define objects
+Serial pc(USBTX, USBRX);
+
+// LED
+DigitalOut myledred(PTB3);
+DigitalOut myledgreen(PTB1);
+DigitalOut myledblue(PTB2);
+
+//EMG
+AnalogIn    emg0(PTB0); //Analog input
+AnalogIn    emg1(PTC2); //Analog input
 HIDScope scope(4);
 
-arm_biquad_casd_df1_inst_f32 lowpass;
-//lowpass filter settings: Fc = 225 Hz, Fs = 500 Hz, Gain = -3 dB
-float lowpass_const[] = {0.8005910266528647, 1.6011820533057295, 0.8005910266528647, -1.5610153912536877, -0.6413487153577715};
+//motor1 25D
+Encoder motor1(PTD3,PTD5); //wit, geel
+PwmOut pwm_motor1(M2_PWM);
+DigitalOut motordir1(M2_DIR);
+
+//motor2 37D
+Encoder motor2(PTD2, PTD0); //wit, geel
+PwmOut pwm_motor2(M1_PWM);
+DigitalOut motordir2(M1_DIR);
+
+// Motor variabelen
+float pwm_out1 = 0;
+float pwm_out2 = 0;
+int cur_pos_motor1;
+int prev_pos_motor1 = 0;
+int cur_pos_motor2;
+int prev_pos_motor2 = 0;
+float speed1_rad;
+float speed2_rad;
+float pos_motor1_rad;
+float pos_motor2_rad;
+int staat1 = 0;
+int staat2 = 0;
+volatile float arm_hoogte = 0;
+volatile float batje_hoek = 0;
+int wait_iterator1 = 0;
+int wait_iterator2 = 0;
+
+
+// EMG Filters (settings en variabelen)
+
+// Filters
+arm_biquad_casd_df1_inst_f32 lowpass_biceps;
+arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
+//lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
+float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
 //state values
-float lowpass_states[4];
-arm_biquad_casd_df1_inst_f32 highpass;
-//highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB
-float highpass_const[] = {0.956542835577484, -1.913085671154968, 0.956542835577484, 1.911196288237583, -0.914975054072353};
+float lowpass_biceps_states[4];
+float lowpass_deltoid_states[4];
+arm_biquad_casd_df1_inst_f32 highnotch_biceps;
+arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
+//highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB
+float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
 //state values
-float highpass_states[4];
-arm_biquad_casd_df1_inst_f32 notch;
-//highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB
-float notch_const[] = {0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
-//state values
-float notch_states[4];
+float highnotch_biceps_states[8];
+float highnotch_deltoid_states[8];
 
 //De globale variabele voor het gefilterde EMG signaal
 float filtered_biceps;
 float filtered_deltoid;
-
+float filtered_average_bi;
+float filtered_average_del;
 
-/** Looper function
-* functions used for Ticker and Timeout should be of type void <name>(void)
-* i.e. no input arguments, no output arguments.
-* if you want to change a variable that you use in other places (for example in main)
-* you will have to make that variable global in order to be able to reach it both from
-* the function called at interrupt time, and in the main function.
-* To make a variable global, define it under the includes.
-* variables that are changed in the interrupt routine (written to) should be made
-* 'volatile' to let the compiler know that those values may change outside the current context.
-* i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
-* in the example below, the variable is not re-used in the main function, and is thus declared
-* local in the looper function only.
-**/
+//gemiddelde EMG waarden over 250 sample stappen
+void average_biceps(float filtered_biceps,float *average)
+{
+    static float total=0;
+    static float number=0;
+    total = total + filtered_biceps;
+    number = number + 1;
+    if ( number == 250) {
+        *average = total/250;
+        total = 0;
+        number = 0;
+    }
+}
 
+void average_deltoid(float filtered_input,float *average_output)
+{
+    static float total=0;
+    static float number=0;
+    total = total + filtered_input;
+    number = number + 1;
+    if ( number == 250) {
+        *average_output = total/250;
+        total = 0;
+        number = 0;
+    }
+}
 
+// EMG looper
 void looper()
 {
     /*variable to store value in*/
@@ -66,111 +131,453 @@
     emg_value2_f32 = emg1.read();
 
     //process emg biceps
-    arm_biquad_cascade_df1_f32(&highpass, &emg_value1_f32, &filtered_biceps, 1 );
+    arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
     filtered_biceps = fabs(filtered_biceps);
-    arm_biquad_cascade_df1_f32(&notch, &filtered_biceps, &filtered_biceps, 1 );
-    arm_biquad_cascade_df1_f32(&lowpass, &filtered_biceps, &filtered_biceps, 1 );
-
+    arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
+    average_biceps(filtered_biceps,&filtered_average_bi);
     //process emg deltoid
-    arm_biquad_cascade_df1_f32(&highpass, &emg_value2_f32, &filtered_deltoid, 1 );
+    arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value2_f32, &filtered_deltoid, 1 );
     filtered_deltoid = fabs(filtered_deltoid);
-    arm_biquad_cascade_df1_f32(&notch, &filtered_deltoid, &filtered_deltoid, 1 );
-    arm_biquad_cascade_df1_f32(&lowpass, &filtered_deltoid, &filtered_deltoid, 1 );
+    arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
+    average_deltoid(filtered_deltoid, &filtered_average_del);
 
     /*send value to PC. */
-    scope.set(0,emg_value1);     //Raw EMG signal biceps
-    scope.set(1,emg_value2);    //Raw EMG signal Deltoid
-    scope.set(2,filtered_biceps);  //processed float biceps
-    scope.set(3,filtered_deltoid); //processed float deltoid
+    //scope.set(0,emg_value1);     //Raw EMG signal biceps
+    //scope.set(1,emg_value2);    //Raw EMG signal Deltoid
+    scope.set(0,filtered_biceps);  //processed float biceps
+    scope.set(1,filtered_average_bi); //processed float deltoid
+    scope.set(2,filtered_deltoid);  //processed float biceps
+    scope.set(3,filtered_average_del); //processed float deltoid
     scope.send();
 
 }
 
+// LED AANSTURING
+
 void BlinkRed(int n)
 {
     for (int i=0; i<n; i++) {
-        myled1 = 1;
-        myled2 = 1;
-        myled3 = 1;
+        myledred = 0;
+        myledgreen = 0;
+        myledblue = 0;
         wait(0.1);
-        myled1 = 0;
-        myled2 = 1;
-        myled3 = 1;
+        myledred = 1;
+        myledgreen = 0;
+        myledblue = 0;
         wait(0.1);
     }
 }
 
-void BlinkGreen ()
+// Ticker voor groen knipperen, zodat tijdens dit knipperen presets gekozen kunnen worden
+Ticker ledticker;
+
+void greenblink()
 {
+    if(myledgreen.read())
+        myledgreen = 0;
+    else
+        myledgreen = 1;
+}
+
+void BlinkGreen()
+{
+    myledred= 0;
+    myledblue =0;
+    ledticker.attach(&greenblink,.5);
+}
 
-    myled1 = 1;
-    myled2 = 1;
-    myled3 = 1;
-    wait(0.1);
-    myled1 = 1;
-    myled2 = 0;
-    myled3 = 1;
-    wait(0.1);
+void stopblinkgreen()
+{
+    ledticker.detach();
+}
+
+// Groen schijnen
+void ShineGreen ()
+{
+    myledred = 0;
+    myledgreen = 1;
+    myledblue = 0;
+}
+
+// Blauw schijnen
+void ShineBlue ()
+{
+    myledred = 0;
+    myledgreen = 0;
+    myledblue = 1;
 }
 
+// Rood schijnen
+void ShineRed ()
+{
+    myledred = 1;
+    myledgreen = 0;
+    myledblue = 0;
+}
 
-void BlinkBlue(int n)
+// MOTORFUNCTIES
+
+// Motor1 = batje
+// Motor2 = arm
+
+void clamp(float* in, float min, float max) //Clamp geeft een maximum en minimum limiet aan een functie
+{
+*in > min ? /*(*/*in < max? : *in = max : *in = min;
+}
+
+// PI-regelaar motor1: batje
+float pid1(float setpoint1, float measurement1)
 {
-    for (int i=0; i<n; i++) {
-        myled1 = 1;
-        myled2 = 1;
-        myled3 = 1;
-        wait(0.1);
-        myled1 = 1;
-        myled2 = 1;
-        myled3 = 0;
-        wait(0.1);
-    }
+    float error1;
+    float           out_p1 = 0;
+    static float    out_i1 = 0;
+    error1  = (setpoint1 - measurement1);
+    out_p1  = error1*K_P1;
+    out_i1 += error1*K_I1;
+    clamp(&out_i1,-I_LIMIT,I_LIMIT);
+    return out_p1 + out_i1;
+}
+
+// PI-regelaar motor2: arm
+float pid2(float setpoint2, float measurement2)
+{
+    float error2;
+    float           out_p2 = 0;
+    static float    out_i2 = 0;
+    error2  = (setpoint2 - measurement2);
+    out_p2  = error2*K_P2;
+    out_i2 += error2*K_I2;
+    clamp(&out_i2,-I_LIMIT,I_LIMIT);
+    return out_p2 + out_i2;
 }
 
-int main()
-{
-    pc.baud(115200);
+// Variabelen
+float prev_setpoint1 = 0;
+float setpoint1 = 0;
+float prev_setpoint2 = 0;
+float setpoint2 = 0;
+
+// Functies motoren
 
-    Ticker log_timer;
-    //set up filters. Use external array for constants
-    arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
-    arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const,highpass_states);
-    arm_biquad_cascade_df1_init_f32(&notch,1 , notch_const, notch_states);
+// Motor1 links draaien
+void batje_links ()
+{
+    speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht)
+    setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; //bepalen van de setpoint
+    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/
+        setpoint1 = (11.3*2.3*2.0*PI/360); //Hier wordt er een grens bepaald voor de hoek.
+    }
+    if(setpoint1 < -(11.3*2.3*2.0*PI/360)) {
+        setpoint1 = -(11.3*2.3*2.0*PI/360);
+    }
+    if(setpoint1 <= -(11.3*2.3*2.0*PI/360)-0.1) {
+        staat1 = 1;
+        prev_setpoint1 = setpoint1;
+    }
+}
+// Motor1 rechts draaien
+    void batje_rechts () {
+        speed1_rad = 1.0;
+        setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
+        if(setpoint1 > (11.3*2.3*2.0*PI/360)) {
+            setpoint1 = (11.3*2.3*2.0*PI/360);
+        }
+        if(setpoint1 < -(11.3*2.3*2.0*PI/360)) {
+            setpoint1 = -(11.3*2.3*2.0*PI/360);
+        }
+        prev_setpoint1 = setpoint1;
+        if(setpoint1 >= (11.3*2.3*2.0*PI/360)-0.1) {
+            staat1 = 1;
+        }
+    }
 
-    /**Here you attach the 'void looper(void)' function to the Ticker object
-    * The looper() function will be called every 0.01 seconds.
-    * Please mind that the parentheses after looper are omitted when using attach.
-    */
-    log_timer.attach(looper, 0.001);
-    while(1) { //Loop
-        /*Empty!*/
-        /*Everything is handled by the interrupt routine now!*/
-        {
+//Motor1 na links draaien weer terug laten draaien naar beginstand
+    void batje_begin_links () {
+        speed1_rad = 1.0;
+        setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
+        if(setpoint1 > (0*2.3*2.0*PI/360)) {
+            setpoint1 = (0*2.3*2.0*PI/360);
+        }
+        if(setpoint1 < -(0*2.3*2.0*PI/360)) {
+            setpoint1 = -(0*2.3*2.0*PI/360);
+        }
+        prev_setpoint1 = setpoint1;
+    }
+
+//Motor1 na links draaien weer terug laten draaien naar beginstand
+    void batje_begin_rechts () {
+        speed1_rad = -1.0;
+        setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
+        if(setpoint1 > (0*2.3*2.0*PI/360)) {
+            setpoint1 = (0*2.3*2.0*PI/360);
+        }
+        if(setpoint1 < -(0.0*2.3*2.0*PI/360)) {
+            setpoint1 = -(0.0*2.3*2.0*PI/360);
+        }
+        prev_setpoint1 = setpoint1;
+    }
+
+// Motor2 balletje op zn hoogst slaan
+    void arm_hoog () {
+        speed2_rad = 6.0;
+        setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
+        if(setpoint2 > (155.0*2.0*PI/360)) {
+            setpoint2 = (155.0*2.0*PI/360);
+        }
+        if(setpoint2 < -(155.0*2.0*PI/360)) {
+            setpoint2 = -(155.0*2.0*PI/360);
+        }
+        prev_setpoint2 = setpoint2;
+        if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
+            staat2 = 1;
+        }
+    }
 
-            while(1) {
-                pc.printf("Span de biceps aan om het instellen te starten");
-                do {
-                    BlinkGreen();
-                }
-                while(filtered_biceps < 0.04);
-                while(filtered_biceps > 0.04) {    //Wanneer het EMG signaal een piek geeft wordt het volgende uitgevoerd.
-                    BlinkRed(20);
-                    if (filtered_deltoid > 0.04) {
-                        BlinkBlue(20);
-                    } else if (filtered_biceps < 0.04 && filtered_deltoid < 0.04) {
-                        break;
-                    }
+// Motor2 balletje in het midden slaan
+    void arm_mid () {
+        speed2_rad = 4.0;
+        setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
+        if(setpoint2 > (155.0*2.0*PI/360)) {
+            setpoint2 = (155.0*2.0*PI/360);
+        }
+        if(setpoint2 < -(155.0*2.0*PI/360)) {
+            setpoint2 = -(155.0*2.0*PI/360);
+        }
+        prev_setpoint2 = setpoint2;
+        if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
+            staat2 = 1;
+        }
+    }
+
+// Motor2 balletje op het laagst slaan
+    void arm_laag () {
+        speed2_rad = 2.0;
+        setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
+        if(setpoint2 > (155*2.0*PI/360)) {
+            setpoint2 = (155*2.0*PI/360);
+        }
+        if(setpoint2 < -(155.0*2.0*PI/360)) {
+            setpoint2 = -(155.0*2.0*PI/360);
+        }
+        prev_setpoint2 = setpoint2;
+        if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
+            staat2 = 1;
+        }
+    }
+
+// Motor2 arm terug zetten in beginstand
+    void arm_begin () {
+        speed2_rad = 1.0;
+        setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
+        if(setpoint2 > (0.0*2.0*PI/360)) {
+            setpoint2 = (0.0*2.0*PI/360);
+        }
+        if(setpoint2 < -(0.0*2.0*PI/360)) {
+            setpoint2 = -(0.0*2.0*PI/360);
+        }
+        prev_setpoint2 = setpoint2;
+    }
+
+// MOTOR aansturing
+    void looper_motor() {
+        pc.printf("%d, %f \r\n", motor1.getPosition(), motor2.getPosition()); //Geeft de posities weer van beide motoren met een sample frequentie van 0.005
 
-                    if(filtered_biceps > 0.04) {
-                        myled1 = 1;
-                        myled2 = 0;
-                        myled3 = 1;
-                        wait(5); //Dit wordt de duur van het slaan en teruggaan naar de beginpositie totdat er opnieuw gemeten kan worden.
+        //MOTOR1
+        \
+        cur_pos_motor1 = motor1.getPosition();
+        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.
+        pwm_out1 = pid1(setpoint1, pos_motor1_rad);
+        if (pwm_out1 < -1.0) { //Hier wordt de grens voor de pwm waarde ingesteld.
+            pwm_out1 = -1.0;
+        }
+        if (pwm_out1 > 1.0) {
+            pwm_out1 = 1.0;
+        }
+        pwm_motor1.write(abs(pwm_out1));
+        if(pwm_out1 > 0) {
+            motordir1 = 0;
+        } else {
+            motordir1 = 1;
+        }
 
-                    }
+        //MOTOR2
+        cur_pos_motor2 = motor2.getPosition();
+        pos_motor2_rad = (float)cur_pos_motor2/(3200.0/(2.0*PI));
+        pwm_out2 = pid2(setpoint2, pos_motor2_rad); //
+        if (pwm_out2 < -1.0) {
+            pwm_out2 = -1.0;
+        }
+        if (pwm_out2 > 1.0) {
+            pwm_out2 = 1.0;
+        }
+        pwm_motor2.write(abs(pwm_out2));
+        if(pwm_out2 > 0) {
+            motordir2 = 0;
+        } else {
+            motordir2 = 1;
+        }
+
+
+        //STATES
+
+        //Het batje draait naar opgegeven positie, doet dan een bepaalde tijd niks (wait_iterator), en draait daarna weer terug
+        if (batje_hoek == 1) {
+            if(staat1 == 0) {
+                batje_rechts();
+                wait_iterator1 = 0;
+            } else if(staat1 ==1) {
+                wait_iterator1++;
+                if(wait_iterator1 > 1200) {
+                    staat1 = 2;
+
+                    batje_begin_rechts();
                 }
             }
         }
+        if (batje_hoek == 2) {
+            if(staat1 == 0) {
+                batje_links();
+                wait_iterator1 = 0;
+            } else if(staat1 ==1) {
+                wait_iterator1++;
+                if(wait_iterator1 > 1200) {
+                    staat1 = 2;
+
+                    batje_begin_links ();
+                }
+            }
+        }
+
+        if(arm_hoogte == 1) {
+            if(staat2 == 0) {
+                arm_laag();
+                wait_iterator2 = 0;
+            } else if(staat2 == 1) {
+                wait_iterator2++;
+                if(wait_iterator2 > 400) {
+                    staat2 = 2;
+
+                    arm_begin();
+                }
+            }
+        }
+        if(arm_hoogte == 2) {
+            if(staat2 == 0) {
+                arm_mid();
+                wait_iterator2 = 0;
+            } else if(staat2 == 1) {
+                wait_iterator2++;
+                if(wait_iterator2 > 400) {
+                    staat2 = 2;
+
+                    arm_begin();
+                }
+            }
+        }
+        if(arm_hoogte == 3) {
+            if(staat2 == 0) {
+                arm_hoog();
+                wait_iterator2 = 0;
+            } else if(staat2 == 1) {
+                wait_iterator2++;
+                if(wait_iterator2 > 400) {
+                    staat2 = 2;
+
+                    arm_begin();
+                }
+            }
+        }
+
     }
-}
+
+
+// Hoofdprogramma, hierin staat de aansturing vd LED
+    int main() {
+
+        pwm_motor1.period_us(100);
+        motor1.setPosition(0);
+        pwm_motor2.period_us(100);
+        motor2.setPosition(0);
+        pc.baud(115200);
+        // Ticker EMG signaal meten
+        Ticker log_timer;
+        //set up filters. Use external array for constants
+        arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 , lowpass_const, lowpass_biceps_states);
+        arm_biquad_cascade_df1_init_f32(&lowpass_deltoid,1 , lowpass_const, lowpass_deltoid_states);
+        arm_biquad_cascade_df1_init_f32(&highnotch_biceps,2 ,highnotch_const,highnotch_biceps_states);
+        arm_biquad_cascade_df1_init_f32(&highnotch_deltoid,2 ,highnotch_const,highnotch_deltoid_states);
+        // Uitvoeren van ticker EMG, sample frequentie 500Hz
+        log_timer.attach(looper, 0.002);
+
+        // Aanroepen van motoraansturing in motor ticker
+        Ticker looptimer;
+        looptimer.attach(looper_motor,TSAMP);
+
+        while(1) {
+
+            while(1) {
+                pc.printf("Span de biceps aan om het instellen te starten.\n");
+                do {
+                    ShineRed();
+                } while(filtered_average_bi < 0.05 && filtered_average_del <0.05); // In rust, geen meting
+                if (filtered_average_bi > 0.05) { // Beginnen met meting wanneer biceps wordt aangespannen
+                    BlinkRed(10); // 2 seconden rood knipperen, geen signaal verwerking
+                    BlinkGreen(); // groen knipperen, meten van spieraanspanning
+                    while (1) { // eerste loop, keuze voor de positie van het batje
+                        pc.printf("In de loop.\n");
+                        if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { //bi en del aangespannen --> batje in het midden
+                            stopblinkgreen();
+                            pc.printf("ShineGreen.\n");
+                            ShineGreen();
+                            wait (4);
+                            break;
+                        }
+                        if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { // del aanspannen --> batje naar links
+                            stopblinkgreen();
+                            pc.printf("ShineBlue.\n");
+                            ShineBlue();
+                            batje_hoek = 2;
+                            wait(4);
+                            break;
+                        } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { // bi aanspannen --> batje naar rechts
+                            stopblinkgreen();
+                            pc.printf("ShineRed.\n");
+                            ShineRed();
+                            batje_hoek = 1;
+                            wait (4);
+                            break;
+                        }
+                    }
+                    BlinkGreen();
+                    while (1) { // loop voor het instellen van de kracht
+                        pc.printf("In de loop.\n");
+                        if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { // bi en del aanspannen --> hoog slaan
+                            stopblinkgreen();
+                            pc.printf("ShineGreen.\n");
+                            ShineGreen();
+                            arm_hoogte = 3;
+                            wait (4);
+                            break;
+                        }
+                        if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { // del aanspannen --> laag slaan
+                            stopblinkgreen();
+                            pc.printf("ShineBlue.\n");
+                            ShineBlue();
+                            arm_hoogte = 1;
+                            wait(4);
+                            break;
+                        } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { // bi aanspannen --> midden slaan
+                            stopblinkgreen();
+                            pc.printf("ShineRed.\n");
+                            ShineRed();
+                            arm_hoogte = 2;
+                            wait (4);
+                            break;
+                        }
+                    }
+
+                }
+
+            }
+        }
+    }
\ No newline at end of file