Er is uitleg bijgeschreven en pwm_percentage heeft een andere naam
Dependencies: Encoder HIDScope MODSERIAL mbed-dsp mbed
Fork of Lampje_EMG_Gr6 by
main.cpp@28:c33a0658605e, 2014-11-01 (annotated)
- Committer:
- irisl
- Date:
- Sat Nov 01 16:19:53 2014 +0000
- Revision:
- 28:c33a0658605e
- Parent:
- 27:691779624530
- Child:
- 29:d0dab8921e9d
Commentaar bijgevoegd
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" |
irisl | 20:d40b6cba4280 | 5 | #include "encoder.h" |
irisl | 21:674fafb6301d | 6 | #include "PwmOut.h" |
jessekaiser | 0:db396b9f4b4c | 7 | |
irisl | 21:674fafb6301d | 8 | #define TSAMP 0.005 |
irisl | 21:674fafb6301d | 9 | #define K_P1 (3.5) //voor motor1 is het 3.5 |
irisl | 21:674fafb6301d | 10 | #define K_I1 (0.01 *TSAMP) //voor motor1 is het 0.01 |
irisl | 23:94b5746e52f5 | 11 | #define K_P2 (0.7) |
irisl | 21:674fafb6301d | 12 | #define K_I2 (0.01 *TSAMP) |
irisl | 20:d40b6cba4280 | 13 | #define I_LIMIT 1. |
irisl | 21:674fafb6301d | 14 | //#define PI 3.14159265 |
irisl | 21:674fafb6301d | 15 | #define l_arm 0.5 |
irisl | 20:d40b6cba4280 | 16 | |
irisl | 20:d40b6cba4280 | 17 | #define M1_PWM PTC8 |
irisl | 20:d40b6cba4280 | 18 | #define M1_DIR PTC9 |
irisl | 20:d40b6cba4280 | 19 | #define M2_PWM PTA5 |
irisl | 20:d40b6cba4280 | 20 | #define M2_DIR PTA4 |
irisl | 20:d40b6cba4280 | 21 | |
irisl | 20:d40b6cba4280 | 22 | //Groene kabel moet op de GROUND en blauw op de 3.3v aansluiting |
irisl | 20:d40b6cba4280 | 23 | |
irisl | 28:c33a0658605e | 24 | // Define objects |
irisl | 20:d40b6cba4280 | 25 | Serial pc(USBTX, USBRX); |
irisl | 20:d40b6cba4280 | 26 | |
irisl | 28:c33a0658605e | 27 | // LED |
irisl | 21:674fafb6301d | 28 | DigitalOut myledred(PTB3); |
irisl | 21:674fafb6301d | 29 | DigitalOut myledgreen(PTB1); |
irisl | 21:674fafb6301d | 30 | DigitalOut myledblue(PTB2); |
jessekaiser | 0:db396b9f4b4c | 31 | |
irisl | 28:c33a0658605e | 32 | //EMG |
irisl | 21:674fafb6301d | 33 | AnalogIn emg0(PTB0); //Analog input |
irisl | 21:674fafb6301d | 34 | AnalogIn emg1(PTC2); //Analog input |
irisl | 25:a12d51345aa4 | 35 | HIDScope scope(4); |
jessekaiser | 0:db396b9f4b4c | 36 | |
irisl | 20:d40b6cba4280 | 37 | //motor 25D |
irisl | 21:674fafb6301d | 38 | Encoder motor1(PTD3,PTD5); //wit, geel |
irisl | 20:d40b6cba4280 | 39 | PwmOut pwm_motor1(M2_PWM); |
irisl | 20:d40b6cba4280 | 40 | DigitalOut motordir1(M2_DIR); |
irisl | 20:d40b6cba4280 | 41 | |
irisl | 20:d40b6cba4280 | 42 | //motor2 37D |
irisl | 21:674fafb6301d | 43 | Encoder motor2(PTD2, PTD0); //wit, geel |
irisl | 20:d40b6cba4280 | 44 | PwmOut pwm_motor2(M1_PWM); |
irisl | 20:d40b6cba4280 | 45 | DigitalOut motordir2(M1_DIR); |
irisl | 20:d40b6cba4280 | 46 | |
irisl | 28:c33a0658605e | 47 | // Motor variabelen |
irisl | 21:674fafb6301d | 48 | float pwm1_percentage = 0; |
irisl | 21:674fafb6301d | 49 | float pwm2_percentage = 0; |
irisl | 21:674fafb6301d | 50 | int cur_pos_motor1; |
irisl | 21:674fafb6301d | 51 | int prev_pos_motor1 = 0; |
irisl | 21:674fafb6301d | 52 | int cur_pos_motor2; |
irisl | 21:674fafb6301d | 53 | int prev_pos_motor2 = 0; |
irisl | 21:674fafb6301d | 54 | float speed1_rad; |
irisl | 21:674fafb6301d | 55 | float speed2_rad; |
irisl | 21:674fafb6301d | 56 | float pos_motor1_rad; |
irisl | 21:674fafb6301d | 57 | float pos_motor2_rad; |
irisl | 21:674fafb6301d | 58 | int staat1 = 0; |
irisl | 21:674fafb6301d | 59 | int staat2 = 0; |
irisl | 22:14f5161d7d7b | 60 | volatile float arm_hoogte = 0; |
irisl | 22:14f5161d7d7b | 61 | volatile float batje_hoek = 0; |
irisl | 21:674fafb6301d | 62 | int wait_iterator1 = 0; |
irisl | 21:674fafb6301d | 63 | int wait_iterator2 = 0; |
irisl | 20:d40b6cba4280 | 64 | |
irisl | 20:d40b6cba4280 | 65 | |
irisl | 28:c33a0658605e | 66 | // EMG Filters (settings en variabelen) |
irisl | 20:d40b6cba4280 | 67 | |
irisl | 28:c33a0658605e | 68 | // Filters |
irisl | 9:f7ec578a17c0 | 69 | arm_biquad_casd_df1_inst_f32 lowpass_biceps; |
irisl | 9:f7ec578a17c0 | 70 | arm_biquad_casd_df1_inst_f32 lowpass_deltoid; |
irisl | 26:9859a71456fd | 71 | //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB |
irisl | 26:9859a71456fd | 72 | float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751}; |
jessekaiser | 0:db396b9f4b4c | 73 | //state values |
irisl | 9:f7ec578a17c0 | 74 | float lowpass_biceps_states[4]; |
irisl | 9:f7ec578a17c0 | 75 | float lowpass_deltoid_states[4]; |
irisl | 9:f7ec578a17c0 | 76 | arm_biquad_casd_df1_inst_f32 highnotch_biceps; |
irisl | 9:f7ec578a17c0 | 77 | arm_biquad_casd_df1_inst_f32 highnotch_deltoid; |
irisl | 27:691779624530 | 78 | //highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB |
irisl | 26:9859a71456fd | 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 |
irisl | 9:f7ec578a17c0 | 81 | float highnotch_biceps_states[8]; |
irisl | 9:f7ec578a17c0 | 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; |
irisl | 12:9e6e49af9304 | 87 | float filtered_average_bi; |
irisl | 12:9e6e49af9304 | 88 | float filtered_average_del; |
jessekaiser | 0:db396b9f4b4c | 89 | |
jessekaiser | 0:db396b9f4b4c | 90 | |
irisl | 12:9e6e49af9304 | 91 | void average_biceps(float filtered_biceps,float *average) |
irisl | 12:9e6e49af9304 | 92 | { |
irisl | 12:9e6e49af9304 | 93 | static float total=0; |
irisl | 12:9e6e49af9304 | 94 | static float number=0; |
irisl | 12:9e6e49af9304 | 95 | total = total + filtered_biceps; |
irisl | 12:9e6e49af9304 | 96 | number = number + 1; |
irisl | 26:9859a71456fd | 97 | if ( number == 250) { |
irisl | 26:9859a71456fd | 98 | *average = total/250; |
irisl | 12:9e6e49af9304 | 99 | total = 0; |
irisl | 12:9e6e49af9304 | 100 | number = 0; |
irisl | 12:9e6e49af9304 | 101 | } |
irisl | 12:9e6e49af9304 | 102 | } |
irisl | 12:9e6e49af9304 | 103 | |
irisl | 12:9e6e49af9304 | 104 | void average_deltoid(float filtered_input,float *average_output) |
irisl | 12:9e6e49af9304 | 105 | { |
irisl | 12:9e6e49af9304 | 106 | static float total=0; |
irisl | 12:9e6e49af9304 | 107 | static float number=0; |
irisl | 12:9e6e49af9304 | 108 | total = total + filtered_input; |
irisl | 12:9e6e49af9304 | 109 | number = number + 1; |
irisl | 26:9859a71456fd | 110 | if ( number == 250) { |
irisl | 26:9859a71456fd | 111 | *average_output = total/250; |
irisl | 12:9e6e49af9304 | 112 | total = 0; |
irisl | 12:9e6e49af9304 | 113 | number = 0; |
irisl | 12:9e6e49af9304 | 114 | } |
irisl | 12:9e6e49af9304 | 115 | } |
irisl | 12:9e6e49af9304 | 116 | |
irisl | 28:c33a0658605e | 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 |
irisl | 9:f7ec578a17c0 | 134 | arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); |
jessekaiser | 2:39e1bde54e73 | 135 | filtered_biceps = fabs(filtered_biceps); |
irisl | 9:f7ec578a17c0 | 136 | arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); |
irisl | 12:9e6e49af9304 | 137 | average_biceps(filtered_biceps,&filtered_average_bi); |
jessekaiser | 2:39e1bde54e73 | 138 | //process emg deltoid |
irisl | 9:f7ec578a17c0 | 139 | arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value2_f32, &filtered_deltoid, 1 ); |
jessekaiser | 3:0895fa0a6ca4 | 140 | filtered_deltoid = fabs(filtered_deltoid); |
irisl | 9:f7ec578a17c0 | 141 | arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 ); |
irisl | 12:9e6e49af9304 | 142 | average_deltoid(filtered_deltoid, &filtered_average_del); |
jessekaiser | 1:099b19376f16 | 143 | |
jessekaiser | 0:db396b9f4b4c | 144 | /*send value to PC. */ |
irisl | 9:f7ec578a17c0 | 145 | //scope.set(0,emg_value1); //Raw EMG signal biceps |
irisl | 9:f7ec578a17c0 | 146 | //scope.set(1,emg_value2); //Raw EMG signal Deltoid |
irisl | 25:a12d51345aa4 | 147 | scope.set(0,filtered_biceps); //processed float biceps |
irisl | 25:a12d51345aa4 | 148 | scope.set(1,filtered_average_bi); //processed float deltoid |
irisl | 25:a12d51345aa4 | 149 | scope.set(2,filtered_deltoid); //processed float biceps |
irisl | 25:a12d51345aa4 | 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 | |
irisl | 16:d65458b85734 | 155 | // LED AANSTURING |
irisl | 16:d65458b85734 | 156 | |
jessekaiser | 0:db396b9f4b4c | 157 | void BlinkRed(int n) |
jessekaiser | 0:db396b9f4b4c | 158 | { |
jessekaiser | 0:db396b9f4b4c | 159 | for (int i=0; i<n; i++) { |
irisl | 21:674fafb6301d | 160 | myledred = 0; |
irisl | 21:674fafb6301d | 161 | myledgreen = 0; |
irisl | 21:674fafb6301d | 162 | myledblue = 0; |
jessekaiser | 3:0895fa0a6ca4 | 163 | wait(0.1); |
irisl | 21:674fafb6301d | 164 | myledred = 1; |
irisl | 21:674fafb6301d | 165 | myledgreen = 0; |
irisl | 21:674fafb6301d | 166 | myledblue = 0; |
jessekaiser | 3:0895fa0a6ca4 | 167 | wait(0.1); |
jessekaiser | 0:db396b9f4b4c | 168 | } |
jessekaiser | 0:db396b9f4b4c | 169 | } |
jessekaiser | 0:db396b9f4b4c | 170 | |
irisl | 28:c33a0658605e | 171 | // Ticker voor groen knipperen, zodat tijdens dit knipperen presets gekozen kunnen worden |
irisl | 28:c33a0658605e | 172 | Ticker ledticker; |
irisl | 28:c33a0658605e | 173 | |
irisl | 17:dbbe4e126203 | 174 | void greenblink() |
irisl | 16:d65458b85734 | 175 | { |
irisl | 21:674fafb6301d | 176 | if(myledgreen.read()) |
irisl | 21:674fafb6301d | 177 | myledgreen = 0; |
irisl | 16:d65458b85734 | 178 | else |
irisl | 21:674fafb6301d | 179 | myledgreen = 1; |
irisl | 16:d65458b85734 | 180 | } |
irisl | 16:d65458b85734 | 181 | |
irisl | 17:dbbe4e126203 | 182 | void BlinkGreen() |
irisl | 18:ed2afe6953de | 183 | { |
irisl | 21:674fafb6301d | 184 | myledred= 0; |
irisl | 21:674fafb6301d | 185 | myledblue =0; |
irisl | 18:ed2afe6953de | 186 | ledticker.attach(&greenblink,.5); |
irisl | 18:ed2afe6953de | 187 | /* myled1 = 1; |
irisl | 18:ed2afe6953de | 188 | myled2 = 1; |
irisl | 18:ed2afe6953de | 189 | myled3 = 1; |
irisl | 18:ed2afe6953de | 190 | wait(0.1); |
irisl | 18:ed2afe6953de | 191 | myled1 = 0; |
irisl | 18:ed2afe6953de | 192 | myled2 = 1; |
irisl | 18:ed2afe6953de | 193 | myled3 = 1; |
irisl | 18:ed2afe6953de | 194 | wait(0.1);*/ |
irisl | 16:d65458b85734 | 195 | } |
irisl | 16:d65458b85734 | 196 | |
irisl | 18:ed2afe6953de | 197 | void stopblinkgreen() |
irisl | 16:d65458b85734 | 198 | { |
irisl | 16:d65458b85734 | 199 | ledticker.detach(); |
irisl | 16:d65458b85734 | 200 | } |
irisl | 16:d65458b85734 | 201 | |
irisl | 28:c33a0658605e | 202 | // Groen schijnen |
irisl | 13:493a953a2a85 | 203 | void ShineGreen () |
irisl | 13:493a953a2a85 | 204 | { |
irisl | 21:674fafb6301d | 205 | myledred = 0; |
irisl | 21:674fafb6301d | 206 | myledgreen = 1; |
irisl | 21:674fafb6301d | 207 | myledblue = 0; |
irisl | 13:493a953a2a85 | 208 | } |
irisl | 13:493a953a2a85 | 209 | |
irisl | 28:c33a0658605e | 210 | // Blauw schijnen |
irisl | 13:493a953a2a85 | 211 | void ShineBlue () |
irisl | 13:493a953a2a85 | 212 | { |
irisl | 21:674fafb6301d | 213 | myledred = 0; |
irisl | 21:674fafb6301d | 214 | myledgreen = 0; |
irisl | 21:674fafb6301d | 215 | myledblue = 1; |
irisl | 13:493a953a2a85 | 216 | } |
irisl | 13:493a953a2a85 | 217 | |
irisl | 28:c33a0658605e | 218 | // Rood schijnen |
irisl | 13:493a953a2a85 | 219 | void ShineRed () |
irisl | 13:493a953a2a85 | 220 | { |
irisl | 21:674fafb6301d | 221 | myledred = 1; |
irisl | 21:674fafb6301d | 222 | myledgreen = 0; |
irisl | 21:674fafb6301d | 223 | myledblue = 0; |
irisl | 13:493a953a2a85 | 224 | } |
irisl | 13:493a953a2a85 | 225 | |
irisl | 20:d40b6cba4280 | 226 | // MOTORFUNCTIES |
irisl | 20:d40b6cba4280 | 227 | |
irisl | 28:c33a0658605e | 228 | // Motor1 = batje |
irisl | 28:c33a0658605e | 229 | // Motor2 = arm |
irisl | 28:c33a0658605e | 230 | |
irisl | 21:674fafb6301d | 231 | void clamp(float* in, float min, float max) // "*" is een pointer (verwijst naar het adres waar een variabele instaat). Dus je slaat niet de variabele op |
irisl | 21:674fafb6301d | 232 | // maar de locatie van de variabele. |
irisl | 21:674fafb6301d | 233 | { |
irisl | 21:674fafb6301d | 234 | *in > min ? /*(*/*in < max? /*niets doen*/ : *in = max/*)*/: *in = min; // a ? b : c --> als a waar is, dan doe je b, en anders c |
irisl | 21:674fafb6301d | 235 | // *in = het getal dat staat op locatie van in --> waarde van new_pwm |
irisl | 21:674fafb6301d | 236 | } |
irisl | 21:674fafb6301d | 237 | |
irisl | 28:c33a0658605e | 238 | // PI-regelaar motor1: batje |
irisl | 21:674fafb6301d | 239 | float pid1(float setpoint1, float measurement1) |
irisl | 20:d40b6cba4280 | 240 | { |
irisl | 21:674fafb6301d | 241 | float error1; |
irisl | 21:674fafb6301d | 242 | float out_p1 = 0; |
irisl | 21:674fafb6301d | 243 | static float out_i1 = 0; |
irisl | 21:674fafb6301d | 244 | error1 = (setpoint1 - measurement1); |
irisl | 21:674fafb6301d | 245 | out_p1 = error1*K_P1; |
irisl | 21:674fafb6301d | 246 | out_i1 += error1*K_I1; |
irisl | 21:674fafb6301d | 247 | clamp(&out_i1,-I_LIMIT,I_LIMIT); |
irisl | 21:674fafb6301d | 248 | return out_p1 + out_i1; |
irisl | 20:d40b6cba4280 | 249 | } |
irisl | 20:d40b6cba4280 | 250 | |
irisl | 28:c33a0658605e | 251 | // PI-regelaar motor2: arm |
irisl | 21:674fafb6301d | 252 | float pid2(float setpoint2, float measurement2) |
irisl | 20:d40b6cba4280 | 253 | { |
irisl | 21:674fafb6301d | 254 | float error2; |
irisl | 21:674fafb6301d | 255 | float out_p2 = 0; |
irisl | 21:674fafb6301d | 256 | static float out_i2 = 0; |
irisl | 21:674fafb6301d | 257 | error2 = (setpoint2 - measurement2); |
irisl | 21:674fafb6301d | 258 | out_p2 = error2*K_P2; |
irisl | 21:674fafb6301d | 259 | out_i2 += error2*K_I2; |
irisl | 21:674fafb6301d | 260 | clamp(&out_i2,-I_LIMIT,I_LIMIT); |
irisl | 21:674fafb6301d | 261 | return out_p2 + out_i2; |
irisl | 21:674fafb6301d | 262 | } |
irisl | 28:c33a0658605e | 263 | |
irisl | 28:c33a0658605e | 264 | // Variabelen |
irisl | 21:674fafb6301d | 265 | float prev_setpoint1 = 0; |
irisl | 21:674fafb6301d | 266 | float setpoint1 = 0; |
irisl | 21:674fafb6301d | 267 | float prev_setpoint2 = 0; |
irisl | 21:674fafb6301d | 268 | float setpoint2 = 0; |
irisl | 21:674fafb6301d | 269 | |
irisl | 28:c33a0658605e | 270 | // Functies motoren |
irisl | 28:c33a0658605e | 271 | |
irisl | 28:c33a0658605e | 272 | // Motor1 links draaien |
irisl | 21:674fafb6301d | 273 | void batje_links () |
irisl | 21:674fafb6301d | 274 | { |
irisl | 21:674fafb6301d | 275 | speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht) |
irisl | 21:674fafb6301d | 276 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; |
irisl | 28:c33a0658605e | 277 | if(setpoint1 > (11.3*2.3*2.0*PI/360)) { //setpoint in graden, nu 11.3. 2.3 is de verhouding van de tanden |
irisl | 23:94b5746e52f5 | 278 | setpoint1 = (11.3*2.3*2.0*PI/360); |
irisl | 21:674fafb6301d | 279 | } |
irisl | 23:94b5746e52f5 | 280 | if(setpoint1 < -(11.3*2.3*2.0*PI/360)) { |
irisl | 23:94b5746e52f5 | 281 | setpoint1 = -(11.3*2.3*2.0*PI/360); |
irisl | 21:674fafb6301d | 282 | } |
irisl | 21:674fafb6301d | 283 | prev_setpoint1 = setpoint1; |
irisl | 20:d40b6cba4280 | 284 | } |
irisl | 20:d40b6cba4280 | 285 | |
irisl | 28:c33a0658605e | 286 | // Motor1 rechts draaien |
irisl | 21:674fafb6301d | 287 | void batje_rechts () |
irisl | 20:d40b6cba4280 | 288 | { |
irisl | 23:94b5746e52f5 | 289 | speed1_rad = 1.0; //positief is CCW, negatief CW (boven aanzicht) |
irisl | 21:674fafb6301d | 290 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; |
irisl | 21:674fafb6301d | 291 | if(setpoint1 > (11.3*2.3*2.0*PI/360)) { //setpoint in graden |
irisl | 21:674fafb6301d | 292 | setpoint1 = (11.3*2.3*2.0*PI/360); |
irisl | 21:674fafb6301d | 293 | } |
irisl | 22:14f5161d7d7b | 294 | if(setpoint1 < -(11.3*2.3*2.0*PI/360)) { |
irisl | 22:14f5161d7d7b | 295 | setpoint1 = -(11.3*2.3*2.0*PI/360); |
irisl | 21:674fafb6301d | 296 | } |
irisl | 21:674fafb6301d | 297 | pwm_motor1.write(abs(pwm1_percentage)); |
irisl | 21:674fafb6301d | 298 | prev_setpoint1 = setpoint1; |
irisl | 21:674fafb6301d | 299 | if(setpoint1 >= (11.3*2.3*2.0*PI/360)-0.1) { |
irisl | 21:674fafb6301d | 300 | staat1 = 1; |
irisl | 21:674fafb6301d | 301 | } |
irisl | 20:d40b6cba4280 | 302 | } |
irisl | 20:d40b6cba4280 | 303 | |
irisl | 28:c33a0658605e | 304 | //Motor1 na links draaien weer terug laten draaien naar beginstand |
irisl | 21:674fafb6301d | 305 | void batje_begin_links () |
irisl | 21:674fafb6301d | 306 | { |
irisl | 21:674fafb6301d | 307 | speed1_rad = 1.0; //positief is CCW, negatief CW (boven aanzicht) |
irisl | 21:674fafb6301d | 308 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; |
irisl | 22:14f5161d7d7b | 309 | if(setpoint1 > (0*2.3*2.0*PI/360)) { //setpoint in graden |
irisl | 22:14f5161d7d7b | 310 | setpoint1 = (0*2.3*2.0*PI/360); |
irisl | 21:674fafb6301d | 311 | } |
irisl | 22:14f5161d7d7b | 312 | if(setpoint1 < -(0*2.3*2.0*PI/360)) { |
irisl | 22:14f5161d7d7b | 313 | setpoint1 = -(0*2.3*2.0*PI/360); |
irisl | 21:674fafb6301d | 314 | } |
irisl | 21:674fafb6301d | 315 | prev_setpoint1 = setpoint1; |
irisl | 21:674fafb6301d | 316 | } |
irisl | 21:674fafb6301d | 317 | |
irisl | 28:c33a0658605e | 318 | //Motor1 na links draaien weer terug laten draaien naar beginstand |
irisl | 21:674fafb6301d | 319 | void batje_begin_rechts () |
irisl | 21:674fafb6301d | 320 | { |
irisl | 23:94b5746e52f5 | 321 | speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht) |
irisl | 21:674fafb6301d | 322 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; |
irisl | 22:14f5161d7d7b | 323 | if(setpoint1 > (0*2.3*2.0*PI/360)) { //setpoint in graden |
irisl | 22:14f5161d7d7b | 324 | setpoint1 = (0*2.3*2.0*PI/360); |
irisl | 21:674fafb6301d | 325 | } |
irisl | 21:674fafb6301d | 326 | if(setpoint1 < -(0.0*2.3*2.0*PI/360)) { |
irisl | 21:674fafb6301d | 327 | setpoint1 = -(0.0*2.3*2.0*PI/360); |
irisl | 21:674fafb6301d | 328 | } |
irisl | 21:674fafb6301d | 329 | prev_setpoint1 = setpoint1; |
irisl | 21:674fafb6301d | 330 | } |
irisl | 21:674fafb6301d | 331 | |
irisl | 28:c33a0658605e | 332 | // Motor2 balletje op zn hoogst slaan |
irisl | 21:674fafb6301d | 333 | void arm_hoog () //LET OP, PAS VARIABELE NOG AAN DIT IS VOOR TESTEN |
irisl | 21:674fafb6301d | 334 | { |
irisl | 23:94b5746e52f5 | 335 | speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht) |
irisl | 21:674fafb6301d | 336 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
irisl | 23:94b5746e52f5 | 337 | if(setpoint2 > (155.0*2.0*PI/360)) { //setpoint in graden |
irisl | 23:94b5746e52f5 | 338 | setpoint2 = (155.0*2.0*PI/360); |
irisl | 21:674fafb6301d | 339 | } |
irisl | 23:94b5746e52f5 | 340 | if(setpoint2 < -(155.0*2.0*PI/360)) { |
irisl | 23:94b5746e52f5 | 341 | setpoint2 = -(155.0*2.0*PI/360); |
irisl | 21:674fafb6301d | 342 | } |
irisl | 21:674fafb6301d | 343 | prev_setpoint2 = setpoint2; |
irisl | 23:94b5746e52f5 | 344 | if(setpoint2 >= (155.0*2.0*PI/360)-0.1) { |
irisl | 21:674fafb6301d | 345 | staat2 = 1; |
irisl | 21:674fafb6301d | 346 | } |
irisl | 21:674fafb6301d | 347 | } |
irisl | 21:674fafb6301d | 348 | |
irisl | 28:c33a0658605e | 349 | // Motor2 balletje in het midden slaan |
irisl | 21:674fafb6301d | 350 | void arm_mid () |
irisl | 21:674fafb6301d | 351 | { |
irisl | 23:94b5746e52f5 | 352 | speed2_rad = 4.0; //positief is CCW, negatief CW (boven aanzicht) |
irisl | 21:674fafb6301d | 353 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
irisl | 23:94b5746e52f5 | 354 | if(setpoint2 > (155.0*2.0*PI/360)) { //setpoint in graden |
irisl | 23:94b5746e52f5 | 355 | setpoint2 = (155.0*2.0*PI/360); |
irisl | 21:674fafb6301d | 356 | } |
irisl | 23:94b5746e52f5 | 357 | if(setpoint2 < -(155.0*2.0*PI/360)) { |
irisl | 23:94b5746e52f5 | 358 | setpoint2 = -(155.0*2.0*PI/360); |
irisl | 21:674fafb6301d | 359 | } |
irisl | 21:674fafb6301d | 360 | prev_setpoint2 = setpoint2; |
irisl | 23:94b5746e52f5 | 361 | if(setpoint2 >= (155.0*2.0*PI/360)-0.1) { |
irisl | 21:674fafb6301d | 362 | staat2 = 1; |
irisl | 21:674fafb6301d | 363 | } |
irisl | 21:674fafb6301d | 364 | } |
irisl | 21:674fafb6301d | 365 | |
irisl | 28:c33a0658605e | 366 | // Motor2 balletje op het laagst slaan |
irisl | 21:674fafb6301d | 367 | void arm_laag () |
irisl | 21:674fafb6301d | 368 | { |
irisl | 23:94b5746e52f5 | 369 | speed2_rad = 2.0; //positief is CCW, negatief CW (boven aanzicht) |
irisl | 21:674fafb6301d | 370 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
irisl | 23:94b5746e52f5 | 371 | if(setpoint2 > (155*2.0*PI/360)) { //setpoint in graden |
irisl | 23:94b5746e52f5 | 372 | setpoint2 = (155*2.0*PI/360); |
irisl | 21:674fafb6301d | 373 | } |
irisl | 23:94b5746e52f5 | 374 | if(setpoint2 < -(155.0*2.0*PI/360)) { |
irisl | 23:94b5746e52f5 | 375 | setpoint2 = -(155.0*2.0*PI/360); |
irisl | 21:674fafb6301d | 376 | } |
irisl | 21:674fafb6301d | 377 | prev_setpoint2 = setpoint2; |
irisl | 23:94b5746e52f5 | 378 | if(setpoint2 >= (155.0*2.0*PI/360)-0.1) { |
irisl | 21:674fafb6301d | 379 | staat2 = 1; |
irisl | 21:674fafb6301d | 380 | } |
irisl | 21:674fafb6301d | 381 | } |
irisl | 21:674fafb6301d | 382 | |
irisl | 28:c33a0658605e | 383 | // Motor2 arm terug zetten in beginstand |
irisl | 21:674fafb6301d | 384 | void arm_begin () |
irisl | 21:674fafb6301d | 385 | { |
irisl | 27:691779624530 | 386 | speed2_rad = 1.0; //positief is CCW, negatief CW (boven aanzicht) |
irisl | 21:674fafb6301d | 387 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
irisl | 21:674fafb6301d | 388 | if(setpoint2 > (0.0*2.0*PI/360)) { //setpoint in graden |
irisl | 21:674fafb6301d | 389 | setpoint2 = (0.0*2.0*PI/360); |
irisl | 21:674fafb6301d | 390 | } |
irisl | 21:674fafb6301d | 391 | if(setpoint2 < -(0.0*2.0*PI/360)) { |
irisl | 21:674fafb6301d | 392 | setpoint2 = -(0.0*2.0*PI/360); |
irisl | 21:674fafb6301d | 393 | } |
irisl | 21:674fafb6301d | 394 | prev_setpoint2 = setpoint2; |
irisl | 21:674fafb6301d | 395 | } |
irisl | 21:674fafb6301d | 396 | |
irisl | 28:c33a0658605e | 397 | // MOTOR aansturing |
irisl | 21:674fafb6301d | 398 | void looper_motor() |
irisl | 20:d40b6cba4280 | 399 | { |
irisl | 21:674fafb6301d | 400 | //MOTOR1 |
irisl | 21:674fafb6301d | 401 | pc.printf("%d \r\n", motor1.getPosition()); |
irisl | 21:674fafb6301d | 402 | cur_pos_motor1 = motor1.getPosition(); |
irisl | 21:674fafb6301d | 403 | pos_motor1_rad = (float)cur_pos_motor1/(4128.0/(2.0*PI)); //moet 4128 |
irisl | 21:674fafb6301d | 404 | pwm1_percentage = pid1(setpoint1, pos_motor1_rad); |
irisl | 21:674fafb6301d | 405 | if (pwm1_percentage < -1.0) { |
irisl | 21:674fafb6301d | 406 | pwm1_percentage = -1.0; |
irisl | 21:674fafb6301d | 407 | } |
irisl | 21:674fafb6301d | 408 | if (pwm1_percentage > 1.0) { |
irisl | 21:674fafb6301d | 409 | pwm1_percentage = 1.0; |
irisl | 21:674fafb6301d | 410 | } |
irisl | 21:674fafb6301d | 411 | pwm_motor1.write(abs(pwm1_percentage)); |
irisl | 21:674fafb6301d | 412 | if(pwm1_percentage > 0) { |
irisl | 21:674fafb6301d | 413 | motordir1 = 0; |
irisl | 21:674fafb6301d | 414 | } else { |
irisl | 21:674fafb6301d | 415 | motordir1 = 1; |
irisl | 21:674fafb6301d | 416 | } |
irisl | 21:674fafb6301d | 417 | |
irisl | 21:674fafb6301d | 418 | //MOTOR2 |
irisl | 21:674fafb6301d | 419 | cur_pos_motor2 = motor2.getPosition(); |
irisl | 21:674fafb6301d | 420 | pos_motor2_rad = (float)cur_pos_motor2/(3200.0/(2.0*PI)); |
irisl | 21:674fafb6301d | 421 | pwm2_percentage = pid2(setpoint2, pos_motor2_rad); // |
irisl | 21:674fafb6301d | 422 | if (pwm2_percentage < -1.0) { |
irisl | 21:674fafb6301d | 423 | pwm2_percentage = -1.0; |
irisl | 21:674fafb6301d | 424 | } |
irisl | 21:674fafb6301d | 425 | if (pwm2_percentage > 1.0) { |
irisl | 21:674fafb6301d | 426 | pwm2_percentage = 1.0; |
irisl | 21:674fafb6301d | 427 | } |
irisl | 21:674fafb6301d | 428 | pwm_motor2.write(abs(pwm2_percentage)); |
irisl | 21:674fafb6301d | 429 | if(pwm2_percentage > 0) { |
irisl | 21:674fafb6301d | 430 | motordir2 = 0; |
irisl | 21:674fafb6301d | 431 | } else { |
irisl | 21:674fafb6301d | 432 | motordir2 = 1; |
irisl | 21:674fafb6301d | 433 | } |
irisl | 21:674fafb6301d | 434 | |
irisl | 21:674fafb6301d | 435 | |
irisl | 21:674fafb6301d | 436 | //STATES |
irisl | 21:674fafb6301d | 437 | |
irisl | 22:14f5161d7d7b | 438 | if (batje_hoek == 1) { |
irisl | 21:674fafb6301d | 439 | if(staat1 == 0) { |
irisl | 21:674fafb6301d | 440 | batje_rechts(); |
irisl | 21:674fafb6301d | 441 | wait_iterator1 = 0; |
irisl | 21:674fafb6301d | 442 | } else if(staat1 ==1) { |
irisl | 21:674fafb6301d | 443 | wait_iterator1++; |
irisl | 27:691779624530 | 444 | if(wait_iterator1 > 400) { |
irisl | 21:674fafb6301d | 445 | staat1 = 2; |
irisl | 28:c33a0658605e | 446 | |
irisl | 27:691779624530 | 447 | batje_begin_rechts(); |
irisl | 27:691779624530 | 448 | } |
irisl | 21:674fafb6301d | 449 | } |
irisl | 21:674fafb6301d | 450 | } |
irisl | 22:14f5161d7d7b | 451 | if (batje_hoek == 2) { |
irisl | 21:674fafb6301d | 452 | if(staat1 == 0) { |
irisl | 21:674fafb6301d | 453 | batje_links(); |
irisl | 21:674fafb6301d | 454 | wait_iterator1 = 0; |
irisl | 21:674fafb6301d | 455 | } else if(staat1 ==1) { |
irisl | 21:674fafb6301d | 456 | wait_iterator1++; |
irisl | 27:691779624530 | 457 | if(wait_iterator1 > 400) { |
irisl | 21:674fafb6301d | 458 | staat1 = 2; |
irisl | 28:c33a0658605e | 459 | |
irisl | 27:691779624530 | 460 | batje_begin_links (); |
irisl | 27:691779624530 | 461 | } |
irisl | 21:674fafb6301d | 462 | } |
irisl | 21:674fafb6301d | 463 | } |
irisl | 21:674fafb6301d | 464 | |
irisl | 22:14f5161d7d7b | 465 | if(arm_hoogte == 1) { |
irisl | 21:674fafb6301d | 466 | if(staat2 == 0) { |
irisl | 21:674fafb6301d | 467 | arm_laag(); |
irisl | 21:674fafb6301d | 468 | wait_iterator2 = 0; |
irisl | 21:674fafb6301d | 469 | } else if(staat2 == 1) { |
irisl | 21:674fafb6301d | 470 | wait_iterator2++; |
irisl | 27:691779624530 | 471 | if(wait_iterator2 > 400) { |
irisl | 21:674fafb6301d | 472 | staat2 = 2; |
irisl | 28:c33a0658605e | 473 | |
irisl | 27:691779624530 | 474 | arm_begin(); |
irisl | 27:691779624530 | 475 | } |
irisl | 21:674fafb6301d | 476 | } |
irisl | 21:674fafb6301d | 477 | } |
irisl | 22:14f5161d7d7b | 478 | if(arm_hoogte == 2) { |
irisl | 21:674fafb6301d | 479 | if(staat2 == 0) { |
irisl | 21:674fafb6301d | 480 | arm_mid(); |
irisl | 21:674fafb6301d | 481 | wait_iterator2 = 0; |
irisl | 21:674fafb6301d | 482 | } else if(staat2 == 1) { |
irisl | 21:674fafb6301d | 483 | wait_iterator2++; |
irisl | 27:691779624530 | 484 | if(wait_iterator2 > 400) { |
irisl | 21:674fafb6301d | 485 | staat2 = 2; |
irisl | 28:c33a0658605e | 486 | |
irisl | 27:691779624530 | 487 | arm_begin(); |
irisl | 27:691779624530 | 488 | } |
irisl | 21:674fafb6301d | 489 | } |
irisl | 21:674fafb6301d | 490 | } |
irisl | 22:14f5161d7d7b | 491 | if(arm_hoogte == 3) { |
irisl | 21:674fafb6301d | 492 | if(staat2 == 0) { |
irisl | 21:674fafb6301d | 493 | arm_hoog(); |
irisl | 21:674fafb6301d | 494 | wait_iterator2 = 0; |
irisl | 21:674fafb6301d | 495 | } else if(staat2 == 1) { |
irisl | 21:674fafb6301d | 496 | wait_iterator2++; |
irisl | 27:691779624530 | 497 | if(wait_iterator2 > 400) { |
irisl | 21:674fafb6301d | 498 | staat2 = 2; |
irisl | 28:c33a0658605e | 499 | |
irisl | 27:691779624530 | 500 | arm_begin(); |
irisl | 27:691779624530 | 501 | } |
irisl | 21:674fafb6301d | 502 | } |
irisl | 21:674fafb6301d | 503 | } |
irisl | 27:691779624530 | 504 | |
irisl | 20:d40b6cba4280 | 505 | } |
irisl | 15:eb6498bb7ca0 | 506 | |
irisl | 27:691779624530 | 507 | |
irisl | 28:c33a0658605e | 508 | // Hoofdprogramma, hierin staat de aansturing vd LED |
irisl | 16:d65458b85734 | 509 | int main() |
jessekaiser | 1:099b19376f16 | 510 | { |
irisl | 21:674fafb6301d | 511 | |
irisl | 21:674fafb6301d | 512 | pwm_motor1.period_us(100); |
irisl | 21:674fafb6301d | 513 | motor1.setPosition(0); |
irisl | 21:674fafb6301d | 514 | pwm_motor2.period_us(100); |
irisl | 21:674fafb6301d | 515 | motor2.setPosition(0); |
jessekaiser | 0:db396b9f4b4c | 516 | pc.baud(115200); |
irisl | 28:c33a0658605e | 517 | // Ticker EMG signaal meten |
jessekaiser | 0:db396b9f4b4c | 518 | Ticker log_timer; |
jessekaiser | 1:099b19376f16 | 519 | //set up filters. Use external array for constants |
irisl | 9:f7ec578a17c0 | 520 | arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 , lowpass_const, lowpass_biceps_states); |
irisl | 9:f7ec578a17c0 | 521 | arm_biquad_cascade_df1_init_f32(&lowpass_deltoid,1 , lowpass_const, lowpass_deltoid_states); |
irisl | 9:f7ec578a17c0 | 522 | arm_biquad_cascade_df1_init_f32(&highnotch_biceps,2 ,highnotch_const,highnotch_biceps_states); |
irisl | 9:f7ec578a17c0 | 523 | arm_biquad_cascade_df1_init_f32(&highnotch_deltoid,2 ,highnotch_const,highnotch_deltoid_states); |
irisl | 28:c33a0658605e | 524 | // Uitvoeren van ticker EMG, sample frequentie 500Hz |
irisl | 26:9859a71456fd | 525 | log_timer.attach(looper, 0.002); |
irisl | 21:674fafb6301d | 526 | |
irisl | 28:c33a0658605e | 527 | // Aanroepen van motoraansturing in motor ticker |
irisl | 21:674fafb6301d | 528 | Ticker looptimer; |
irisl | 21:674fafb6301d | 529 | looptimer.attach(looper_motor,TSAMP); |
irisl | 28:c33a0658605e | 530 | |
irisl | 28:c33a0658605e | 531 | while(1) { |
jessekaiser | 6:8f4138a811e0 | 532 | |
irisl | 13:493a953a2a85 | 533 | while(1) { |
irisl | 18:ed2afe6953de | 534 | pc.printf("Span de biceps aan om het instellen te starten.\n"); |
irisl | 13:493a953a2a85 | 535 | do { |
irisl | 16:d65458b85734 | 536 | ShineRed(); |
irisl | 17:dbbe4e126203 | 537 | } while(filtered_average_bi < 0.05 && filtered_average_del <0.05); // In rust, geen meting |
irisl | 28:c33a0658605e | 538 | if (filtered_average_bi > 0.05) { // Beginnen met meting wanneer biceps wordt aangespannen |
irisl | 28:c33a0658605e | 539 | BlinkRed(10); // 2 seconden rood knipperen, geen signaal verwerking |
irisl | 28:c33a0658605e | 540 | BlinkGreen(); // groen knipperen, meten van spieraanspanning |
irisl | 28:c33a0658605e | 541 | while (1) { // eerste loop, keuze voor de positie van het batje |
irisl | 18:ed2afe6953de | 542 | pc.printf("In de loop.\n"); |
irisl | 28:c33a0658605e | 543 | if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { //bi en del aangespannen --> batje in het midden |
irisl | 18:ed2afe6953de | 544 | stopblinkgreen(); |
irisl | 20:d40b6cba4280 | 545 | pc.printf("ShineGreen.\n"); |
irisl | 20:d40b6cba4280 | 546 | ShineGreen(); |
irisl | 18:ed2afe6953de | 547 | wait (4); |
irisl | 18:ed2afe6953de | 548 | break; |
irisl | 18:ed2afe6953de | 549 | } |
irisl | 28:c33a0658605e | 550 | if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { // del aanspannen --> batje naar links |
irisl | 18:ed2afe6953de | 551 | stopblinkgreen(); |
irisl | 18:ed2afe6953de | 552 | pc.printf("ShineBlue.\n"); |
irisl | 18:ed2afe6953de | 553 | ShineBlue(); |
irisl | 22:14f5161d7d7b | 554 | batje_hoek = 2; |
irisl | 18:ed2afe6953de | 555 | wait(4); |
irisl | 18:ed2afe6953de | 556 | break; |
irisl | 28:c33a0658605e | 557 | } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { // bi aanspannen --> batje naar rechts |
irisl | 18:ed2afe6953de | 558 | stopblinkgreen(); |
irisl | 20:d40b6cba4280 | 559 | pc.printf("ShineRed.\n"); |
irisl | 20:d40b6cba4280 | 560 | ShineRed(); |
irisl | 22:14f5161d7d7b | 561 | batje_hoek = 1; |
irisl | 18:ed2afe6953de | 562 | wait (4); |
irisl | 18:ed2afe6953de | 563 | break; |
irisl | 18:ed2afe6953de | 564 | } |
irisl | 14:257026c95f22 | 565 | } |
irisl | 19:1bd2fc3bce1e | 566 | BlinkGreen(); |
irisl | 28:c33a0658605e | 567 | while (1) { // loop voor het instellen van de kracht |
irisl | 19:1bd2fc3bce1e | 568 | pc.printf("In de loop.\n"); |
irisl | 28:c33a0658605e | 569 | if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { // bi en del aanspannen --> hoog slaan |
irisl | 19:1bd2fc3bce1e | 570 | stopblinkgreen(); |
irisl | 20:d40b6cba4280 | 571 | pc.printf("ShineGreen.\n"); |
irisl | 20:d40b6cba4280 | 572 | ShineGreen(); |
irisl | 22:14f5161d7d7b | 573 | arm_hoogte = 3; |
irisl | 19:1bd2fc3bce1e | 574 | wait (4); |
irisl | 19:1bd2fc3bce1e | 575 | break; |
irisl | 19:1bd2fc3bce1e | 576 | } |
irisl | 28:c33a0658605e | 577 | if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { // del aanspannen --> laag slaan |
irisl | 19:1bd2fc3bce1e | 578 | stopblinkgreen(); |
irisl | 19:1bd2fc3bce1e | 579 | pc.printf("ShineBlue.\n"); |
irisl | 19:1bd2fc3bce1e | 580 | ShineBlue(); |
irisl | 22:14f5161d7d7b | 581 | arm_hoogte = 1; |
irisl | 19:1bd2fc3bce1e | 582 | wait(4); |
irisl | 19:1bd2fc3bce1e | 583 | break; |
irisl | 28:c33a0658605e | 584 | } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { // bi aanspannen --> midden slaan |
irisl | 19:1bd2fc3bce1e | 585 | stopblinkgreen(); |
irisl | 20:d40b6cba4280 | 586 | pc.printf("ShineRed.\n"); |
irisl | 20:d40b6cba4280 | 587 | ShineRed(); |
irisl | 22:14f5161d7d7b | 588 | arm_hoogte = 2; |
irisl | 19:1bd2fc3bce1e | 589 | wait (4); |
irisl | 19:1bd2fc3bce1e | 590 | break; |
irisl | 19:1bd2fc3bce1e | 591 | } |
irisl | 19:1bd2fc3bce1e | 592 | } |
irisl | 26:9859a71456fd | 593 | |
irisl | 14:257026c95f22 | 594 | } |
irisl | 19:1bd2fc3bce1e | 595 | |
jessekaiser | 0:db396b9f4b4c | 596 | } |
irisl | 16:d65458b85734 | 597 | } |
irisl | 19:1bd2fc3bce1e | 598 | } |