Jorick Leferink
moet nog aan de gains worden gesleuteld
Dependencies: Encoder MODSERIAL mbed
Diff: main.cpp
- Revision:
- 0:73dcc8fb9900
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Nov 01 08:24:02 2013 +0000
@@ -0,0 +1,536 @@
+#include "mbed.h"
+#include "encoder.h"
+#include "MODSERIAL.h"
+
+//high pass filter constantes 15Hz cutoff 4e orde
+ #define NUM0 0.2754 // constante
+ #define NUM1 -1.1017 // z^-1
+ #define NUM2 1.6525 // z^-2etc.
+ #define NUM3 -1.1017
+ #define NUM4 0.2754
+
+ #define DEN0 1 // constante
+ #define DEN1 -1.5704
+ #define DEN2 1.2756
+ #define DEN3 -0.4844
+ #define DEN4 0.0762
+
+//lowpass filter constantes 40 Hz 4e orde
+ #define NUM0_2 0.4328 // constante
+ #define NUM1_2 1.7314 // z^-1
+ #define NUM2_2 2.5971 // z^-2etc.
+ #define NUM3_2 1.7314
+ #define NUM4_2 0.4328
+
+
+ #define DEN0_2 1 // constante
+ #define DEN1_2 2.3695
+ #define DEN2_2 2.3140
+ #define DEN3_2 1.0547
+ #define DEN4_2 0.1874
+
+//lowpass filter constantes 3Hz 4e orde
+ #define NUM0_3 0.0000624 // constante
+ #define NUM1_3 0.0002495 // z^-1
+ #define NUM2_3 0.0003743 // z^-2etc.
+ #define NUM3_3 0.0002495
+ #define NUM4_3 0.0000624
+
+ #define DEN0_3 1 // constante
+ #define DEN1_3 -3.5078
+ #define DEN2_3 4.6409
+ #define DEN3_3 -2.7427
+ #define DEN4_3 0.6105
+
+/*******************************************************************************
+* *
+* Code can be found at http://mbed.org/users/vsluiter/code/BMT-K9-Regelaar/ *
+* *
+********************************************************************************/
+
+// dit is voor schakelaar die aan en uit wil gaan
+DigitalIn toggle(PTD7);
+
+void toggle_on()
+{
+}
+
+void toggle_off()
+{
+ // do nothing
+}
+
+/** keep_in_range -> float in, and keep_in_range if less than min, or larger than max **/
+void keep_in_range(float * in, float min, float max);
+
+/** variable to show when a new loop can be started*/
+/** volatile means that it can be changed in an */
+/** interrupt routine, and that that change is vis-*/
+/** ible in the main loop. */
+
+volatile bool looptimerflag;
+
+/** function called by Ticker "looptimer" */
+/** variable 'looptimerflag' is set to 'true' */
+/** each time the looptimer expires. */
+void setlooptimerflag(void)
+{
+ looptimerflag = true;
+}
+
+ //emg variabelen
+ float emg_value_biceps, emg_value_triceps, emg_value_flexoren, emg_value_extensoren, dy;
+ AnalogIn emg_biceps(PTB0); //Analog input
+ AnalogIn emg_triceps(PTB1);
+ AnalogIn emg_flexoren(PTB2);
+ AnalogIn emg_extensoren(PTB3);
+
+/*
+DIT IS DE FILTER FUNCTIE! aanroepen door "filter(signaal nummer)"
+ filter(1): biceps meten
+ filter(2): triceps meten
+ filter(3): flexoren meten
+ filter(3): extensoren meten
+*/
+float filter(int sig_number){
+ float sig_out;
+
+ // eerst variabelen definieren
+
+ //biceps
+ //filter 1
+ float in0_biceps =0;
+ static float in1_biceps =0, in2_biceps = 0, in3_biceps = 0, in4_biceps = 0;
+ static float out0_biceps = 0, out1_biceps = 0 , out2_biceps = 0, out3_biceps = 0, out4_biceps = 0;
+ //filter 2
+ float in0_2_biceps =0;
+ static float in1_2_biceps =0, in2_2_biceps = 0, in3_2_biceps = 0, in4_2_biceps = 0;
+ static float out0_2_biceps = 0, out1_2_biceps = 0 , out2_2_biceps = 0, out3_2_biceps = 0, out4_2_biceps = 0;
+ //filter 3
+ float in0_3_biceps =0;
+ static float in1_3_biceps =0, in2_3_biceps = 0, in3_3_biceps = 0, in4_3_biceps = 0;
+ static float out0_3_biceps = 0, out1_3_biceps = 0 , out2_3_biceps = 0, out3_3_biceps = 0, out4_3_biceps = 0;
+
+ //triceps
+ //filter 1
+ float in0_triceps =0;
+ static float in1_triceps =0, in2_triceps = 0, in3_triceps = 0, in4_triceps = 0;
+ static float out0_triceps = 0, out1_triceps = 0 , out2_triceps = 0, out3_triceps = 0, out4_triceps = 0;
+ //filter 2
+ float in0_2_triceps =0;
+ static float in1_2_triceps =0, in2_2_triceps = 0, in3_2_triceps = 0, in4_2_triceps = 0;
+ static float out0_2_triceps = 0, out1_2_triceps = 0 , out2_2_triceps = 0, out3_2_triceps = 0, out4_2_triceps = 0;
+ //filter 3
+ float in0_3_triceps =0;
+ static float in1_3_triceps =0, in2_3_triceps = 0, in3_3_triceps = 0, in4_3_triceps = 0;
+ static float out0_3_triceps = 0, out1_3_triceps = 0 , out2_3_triceps = 0, out3_3_triceps = 0, out4_3_triceps = 0;
+
+ //flexoren
+ //filter 1
+ float in0_flexoren =0;
+ static float in1_flexoren =0, in2_flexoren = 0, in3_flexoren = 0, in4_flexoren = 0;
+ static float out0_flexoren = 0, out1_flexoren = 0 , out2_flexoren = 0, out3_flexoren = 0, out4_flexoren = 0;
+ //filter 2
+ float in0_2_flexoren =0;
+ static float in1_2_flexoren =0, in2_2_flexoren = 0, in3_2_flexoren = 0, in4_2_flexoren = 0;
+ static float out0_2_flexoren = 0, out1_2_flexoren = 0 , out2_2_flexoren = 0, out3_2_flexoren = 0, out4_2_flexoren = 0;
+ //filter 3
+ float in0_3_flexoren =0;
+ static float in1_3_flexoren =0, in2_3_flexoren = 0, in3_3_flexoren = 0, in4_3_flexoren = 0;
+ static float out0_3_flexoren = 0, out1_3_flexoren = 0 , out2_3_flexoren = 0, out3_3_flexoren = 0, out4_3_flexoren = 0;
+
+ //extensoren
+ //filter 1
+ float in0_extensoren =0;
+ static float in1_extensoren =0, in2_extensoren = 0, in3_extensoren = 0, in4_extensoren = 0;
+ static float out0_extensoren = 0, out1_extensoren = 0 , out2_extensoren = 0, out3_extensoren = 0, out4_extensoren = 0;
+ //filter 2
+ float in0_2_extensoren =0;
+ static float in1_2_extensoren =0, in2_2_extensoren = 0, in3_2_extensoren = 0, in4_2_extensoren = 0;
+ static float out0_2_extensoren = 0, out1_2_extensoren = 0 , out2_2_extensoren = 0, out3_2_extensoren = 0, out4_2_extensoren = 0;
+ //filter 3
+ float in0_3_extensoren =0;
+ static float in1_3_extensoren =0, in2_3_extensoren = 0, in3_3_extensoren = 0, in4_3_extensoren = 0;
+ static float out0_3_extensoren = 0, out1_3_extensoren = 0 , out2_3_extensoren = 0, out3_3_extensoren = 0, out4_3_extensoren = 0;
+
+
+ switch(sig_number){
+ case 1:
+ // signaal filteren op 15 Hz HIGHPASS
+ in4_biceps = in3_biceps; in3_biceps = in2_biceps; in2_biceps = in1_biceps; in1_biceps = in0_biceps;
+ in0_biceps = emg_biceps.read();
+ out4_biceps = out3_biceps; out3_biceps = out2_biceps; out2_biceps = out1_biceps; out1_biceps = out0_biceps;
+ out0_biceps = (NUM0*in0_biceps + NUM1*in1_biceps + NUM2*in2_biceps + NUM3*in3_biceps + NUM4*in4_biceps - DEN1*out1_biceps - DEN2*out2_biceps - DEN3*out3_biceps - DEN4*out4_biceps ) / DEN0;
+
+ //signaal filteren op 40 HZ LOWPASS
+ in4_2_biceps = in3_2_biceps; in3_2_biceps = in2_2_biceps; in2_2_biceps = in1_2_biceps; in1_2_biceps = in0_2_biceps;
+ in0_2_biceps = out0_biceps;
+ out4_2_biceps = out3_2_biceps; out3_2_biceps = out2_2_biceps; out2_2_biceps = out1_2_biceps; out1_2_biceps = out0_2_biceps;
+ out0_2_biceps = (NUM0_2*in0_2_biceps + NUM1_2*in1_2_biceps + NUM2_2*in2_2_biceps + NUM3_2*in3_2_biceps + NUM4_2*in4_2_biceps - DEN1_2*out1_2_biceps - DEN2_2*out2_2_biceps - DEN3_2*out3_2_biceps - DEN4_2*out4_2_biceps ) / DEN0_2;
+
+ //signaal filteren op 5Hz LOWPASS
+ in4_3_biceps = in3_3_biceps; in3_3_biceps = in2_3_biceps; in2_3_biceps = in1_3_biceps; in1_3_biceps = in0_3_biceps;
+ in0_3_biceps = abs(out0_2_biceps);
+ out4_3_biceps = out3_3_biceps; out3_3_biceps = out2_3_biceps; out2_3_biceps = out1_3_biceps; out1_3_biceps = out0_3_biceps;
+ out0_3_biceps = (NUM0_3*in0_3_biceps + NUM1_3*in1_3_biceps + NUM2_3*in2_3_biceps + NUM3_3*in3_3_biceps + NUM4_3*in4_3_biceps - DEN1_3*out1_3_biceps - DEN2_3*out2_3_biceps - DEN3_3*out3_3_biceps - DEN4_3*out4_3_biceps ) / DEN0_3;
+ sig_out = out0_3_biceps;
+ break;
+ case 2:
+ // signaal filteren op 15 Hz HIGHPASS
+ in4_triceps = in3_triceps; in3_triceps = in2_triceps; in2_triceps = in1_triceps; in1_triceps = in0_triceps;
+ in0_triceps = emg_triceps.read();
+ out4_triceps = out3_triceps; out3_triceps = out2_triceps; out2_triceps = out1_triceps; out1_triceps = out0_triceps;
+ out0_triceps = (NUM0*in0_triceps + NUM1*in1_triceps + NUM2*in2_triceps + NUM3*in3_triceps + NUM4*in4_triceps - DEN1*out1_triceps - DEN2*out2_triceps - DEN3*out3_triceps - DEN4*out4_triceps ) / DEN0;
+
+ //signaal filteren op 40 HZ LOWPASS
+ in4_2_triceps = in3_2_triceps; in3_2_triceps = in2_2_triceps; in2_2_triceps = in1_2_triceps; in1_2_triceps = in0_2_triceps;
+ in0_2_triceps = out0_triceps;
+ out4_2_triceps = out3_2_triceps; out3_2_triceps = out2_2_triceps; out2_2_triceps = out1_2_triceps; out1_2_triceps = out0_2_triceps;
+ out0_2_triceps = (NUM0_2*in0_2_triceps + NUM1_2*in1_2_triceps + NUM2_2*in2_2_triceps + NUM3_2*in3_2_triceps + NUM4_2*in4_2_triceps - DEN1_2*out1_2_triceps - DEN2_2*out2_2_triceps - DEN3_2*out3_2_triceps - DEN4_2*out4_2_triceps ) / DEN0_2;
+
+ //signaal filteren op 5Hz LOWPASS
+ in4_3_triceps = in3_3_triceps; in3_3_triceps = in2_3_triceps; in2_3_triceps = in1_3_triceps; in1_3_triceps = in0_3_triceps;
+ in0_3_triceps = abs(out0_2_triceps);
+ out4_3_triceps = out3_3_triceps; out3_3_triceps = out2_3_triceps; out2_3_triceps = out1_3_triceps; out1_3_triceps = out0_3_triceps;
+ out0_3_triceps = (NUM0_3*in0_3_triceps + NUM1_3*in1_3_triceps + NUM2_3*in2_3_triceps + NUM3_3*in3_3_triceps + NUM4_3*in4_3_triceps - DEN1_3*out1_3_triceps - DEN2_3*out2_3_triceps - DEN3_3*out3_3_triceps - DEN4_3*out4_3_triceps ) / DEN0_3;
+ sig_out = out0_3_triceps;
+ break;
+ case 3:
+ // signaal filteren op 15 Hz HIGHPASS
+ in4_flexoren = in3_flexoren; in3_flexoren = in2_flexoren; in2_flexoren = in1_flexoren; in1_flexoren = in0_flexoren;
+ in0_flexoren = emg_flexoren.read();
+ out4_flexoren = out3_flexoren; out3_flexoren = out2_flexoren; out2_flexoren = out1_flexoren; out1_flexoren = out0_flexoren;
+ out0_flexoren = (NUM0*in0_flexoren + NUM1*in1_flexoren + NUM2*in2_flexoren + NUM3*in3_flexoren + NUM4*in4_flexoren - DEN1*out1_flexoren - DEN2*out2_flexoren - DEN3*out3_flexoren - DEN4*out4_flexoren ) / DEN0;
+
+ //signaal filteren op 40 HZ LOWPASS
+ in4_2_flexoren = in3_2_flexoren; in3_2_flexoren = in2_2_flexoren; in2_2_flexoren = in1_2_flexoren; in1_2_flexoren = in0_2_flexoren;
+ in0_2_flexoren = out0_flexoren;
+ out4_2_flexoren = out3_2_flexoren; out3_2_flexoren = out2_2_flexoren; out2_2_flexoren = out1_2_flexoren; out1_2_flexoren = out0_2_flexoren;
+ out0_2_flexoren = (NUM0_2*in0_2_flexoren + NUM1_2*in1_2_flexoren + NUM2_2*in2_2_flexoren + NUM3_2*in3_2_flexoren + NUM4_2*in4_2_flexoren - DEN1_2*out1_2_flexoren - DEN2_2*out2_2_flexoren - DEN3_2*out3_2_flexoren - DEN4_2*out4_2_flexoren ) / DEN0_2;
+
+ //signaal filteren op 5Hz LOWPASS
+ in4_3_flexoren = in3_3_flexoren; in3_3_flexoren = in2_3_flexoren; in2_3_flexoren = in1_3_flexoren; in1_3_flexoren = in0_3_flexoren;
+ in0_3_flexoren = abs(out0_2_flexoren);
+ out4_3_flexoren = out3_3_flexoren; out3_3_flexoren = out2_3_flexoren; out2_3_flexoren = out1_3_flexoren; out1_3_flexoren = out0_3_flexoren;
+ out0_3_flexoren = (NUM0_3*in0_3_flexoren + NUM1_3*in1_3_flexoren + NUM2_3*in2_3_flexoren + NUM3_3*in3_3_flexoren + NUM4_3*in4_3_flexoren - DEN1_3*out1_3_flexoren - DEN2_3*out2_3_flexoren - DEN3_3*out3_3_flexoren - DEN4_3*out4_3_flexoren ) / DEN0_3;
+ sig_out = out0_3_flexoren;
+ break;
+ case 4:
+ // signaal filteren op 15 Hz HIGHPASS
+ in4_extensoren = in3_extensoren; in3_extensoren = in2_extensoren; in2_extensoren = in1_extensoren; in1_extensoren = in0_extensoren;
+ in0_extensoren = emg_extensoren.read();
+ out4_extensoren = out3_extensoren; out3_extensoren = out2_extensoren; out2_extensoren = out1_extensoren; out1_extensoren = out0_extensoren;
+ out0_extensoren = (NUM0*in0_extensoren + NUM1*in1_extensoren + NUM2*in2_extensoren + NUM3*in3_extensoren + NUM4*in4_extensoren - DEN1*out1_extensoren - DEN2*out2_extensoren - DEN3*out3_extensoren - DEN4*out4_extensoren ) / DEN0;
+
+ //signaal filteren op 40 HZ LOWPASS
+ in4_2_extensoren = in3_2_extensoren; in3_2_extensoren = in2_2_extensoren; in2_2_extensoren = in1_2_extensoren; in1_2_extensoren = in0_2_extensoren;
+ in0_2_extensoren = out0_extensoren;
+ out4_2_extensoren = out3_2_extensoren; out3_2_extensoren = out2_2_extensoren; out2_2_extensoren = out1_2_extensoren; out1_2_extensoren = out0_2_extensoren;
+ out0_2_extensoren = (NUM0_2*in0_2_extensoren + NUM1_2*in1_2_extensoren + NUM2_2*in2_2_extensoren + NUM3_2*in3_2_extensoren + NUM4_2*in4_2_extensoren - DEN1_2*out1_2_extensoren - DEN2_2*out2_2_extensoren - DEN3_2*out3_2_extensoren - DEN4_2*out4_2_extensoren ) / DEN0_2;
+
+ //signaal filteren op 5Hz LOWPASS
+ in4_3_extensoren = in3_3_extensoren; in3_3_extensoren = in2_3_extensoren; in2_3_extensoren = in1_3_extensoren; in1_3_extensoren = in0_3_extensoren;
+ in0_3_extensoren = abs(out0_2_extensoren);
+ out4_3_extensoren = out3_3_extensoren; out3_3_extensoren = out2_3_extensoren; out2_3_extensoren = out1_3_extensoren; out1_3_extensoren = out0_3_extensoren;
+ out0_3_extensoren = (NUM0_3*in0_3_extensoren + NUM1_3*in1_3_extensoren + NUM2_3*in2_3_extensoren + NUM3_3*in3_3_extensoren + NUM4_3*in4_3_extensoren - DEN1_3*out1_3_extensoren - DEN2_3*out2_3_extensoren - DEN3_3*out3_3_extensoren - DEN4_3*out4_3_extensoren ) / DEN0_3;
+ sig_out = out0_3_extensoren;
+ break;
+ }
+ return sig_out;
+}
+
+int main()
+{
+ //LOCAL VARIABLES
+ /*Potmeter input*/
+ AnalogIn potmeterA(PTC2);
+ AnalogIn potmeterB(PTB2);
+ /* Encoder, using my encoder library */
+ /* First pin should be PTDx or PTAx */
+ /* because those pins can be used as */
+ /* InterruptIn */
+ Encoder motorA(PTD4,PTC8);
+ Encoder motorB(PTD0,PTD2);
+ /* MODSERIAL to get non-blocking Serial*/
+ MODSERIAL pc(USBTX,USBRX);
+ /* PWM control to motor */
+ PwmOut pwm_motorA(PTA12);
+ PwmOut pwm_motorB(PTA5);
+ /* Direction pin */
+ DigitalOut motordirA(PTD3);
+ DigitalOut motordirB(PTD1);
+ /* variable to store setpoint in */
+ float setpointA;
+ float setpointB;
+ float setpoint_beginA;
+ float setpoint_beginB;
+ float setpoint_rechtsonderA;
+ float setpoint_rechtsonderB;
+
+ /* variable to store pwm value in*/
+ float pwm_to_motorA;
+ float pwm_to_begin_motorA = 0;
+ float pwm_to_begin_motorB = 0;
+ float pwm_to_motorB;
+ float pwm_to_rechtsonder_motorA;
+ float pwm_to_rechtsonder_motorB;
+
+ const float dt = 0.002;
+ float Kp = 0.001; //0.0113
+ float Ki = 0.0759;
+ float Kd = 0.0004342;
+ float error_t0_A = 0;
+ float error_t0_B = 0;
+ float error_ti_A;
+ float error_ti_B;
+ float error_t_1_A;
+ float error_t_1_B;
+ float P_regelaar_A;
+ float P_regelaar_B;
+ float I_regelaar_A;
+ float I_regelaar_B;
+ float D_regelaar_A;
+ float D_regelaar_B;
+ float output_regelaar_A;
+ float output_regelaar_B;
+ float integral_i_A;
+ float integral_i_B;
+ float integral_0_A = 0;
+ float integral_0_B = 0;
+
+ int32_t positionmotorA_t0;
+ int32_t positionmotorB_t0;
+ int32_t positionmotorA_t_1;
+ int32_t positionmotorB_t_1;
+ int32_t positiondifference_motorA;
+ int32_t positiondifference_motorB;
+
+ //START OF CODE
+
+ while(1) {
+ while(!toggle);
+ { // wait while toggle == 0
+ toggle_on();
+
+ /*Set the baudrate (use this number in RealTerm too!) */
+ pc.baud(115200);
+
+ // in dit stukje code zorgen we ervoor dat de arm gaat draaien naar rechts en stopt als het tegen het frame komt. Eerst motor B botsen dan motor A botsen.
+ // motor B zit onder en motor A zit boven en dus op zijn kop (en dus setpoint moet - zijn).
+
+ motordirB.write(0);
+ pwm_motorB.write(.08);
+ positionmotorB_t0 = motorB.getPosition();
+ do {
+ wait(0.2);
+ positionmotorB_t_1 = positionmotorB_t0 ;
+ positionmotorB_t0 = motorB.getPosition();
+ positiondifference_motorB = abs(positionmotorB_t0 - positionmotorB_t_1);
+ } while(positiondifference_motorB > 10);
+ motorB.setPosition(0);
+ pwm_motorB.write(0);
+
+ wait(1); // willen nu even dat tussen ene actie en andere actie 1 seconde wacht.
+
+ motordirA.write(1);
+ pwm_motorA.write(.08);
+ positionmotorA_t0 = motorA.getPosition();
+ do {
+ wait(0.2);
+ positionmotorA_t_1 = positionmotorA_t0 ;
+ positionmotorA_t0 = motorA.getPosition();
+ positiondifference_motorA = abs(positionmotorA_t0 - positionmotorA_t_1);
+ } while(positiondifference_motorA > 10);
+ motorA.setPosition(0);
+ pwm_motorA.write(0);
+
+ wait(1); // willen nu even dat tussen ene actie en andere actie 1 seconde wacht.
+
+ // Hierna willen we de motor van zijn alleruiterste positie naar de x-as hebben. Hiervoor moet motor A eerst op de x-as worden gezet. Hiervoor moet motor A 4.11 graden (63) naar links.
+
+ motordirA.write(0);
+ pwm_motorA.write(.08);
+ do {
+ setpoint_beginA = -63; // x-as
+ pwm_to_begin_motorA = abs((setpoint_beginA + motorA.getPosition()) *.001); // + omdat men met een negatieve hoekverdraaiing werkt.
+ wait(0.2);
+ keep_in_range(&pwm_to_begin_motorA, -1, 1 );
+ motordirA.write(0);
+ pwm_motorA.write(pwm_to_begin_motorA);
+ } while(pwm_to_begin_motorA <= 0);
+ motorA.setPosition(0);
+ pwm_motorA.write(0);
+
+ wait(1); // willen nu even dat tussen ene actie en andere actie 1 seconde wacht.
+
+ // hierna moet motor A naar de rechtsonder A4. Motor A 532.
+
+ motordirA.write(0);
+ pwm_motorA.write(0.08);
+ do {
+ setpoint_beginA = -532; // rechtsonder positie A4
+ pwm_to_begin_motorA = abs((setpoint_beginA + motorA.getPosition()) *.001);
+ wait(0.2);
+ keep_in_range(&pwm_to_begin_motorA, -1, 1 );
+ motordirA.write(0);
+ pwm_motorA.write(pwm_to_begin_motorA);
+ } while(pwm_to_begin_motorA <= 0);
+ pwm_motorA.write(0);
+
+ wait(1);
+
+ // Hierna moet motor B 21.6 (192) graden naar links om naar x-as te gaan.
+
+ motordirB.write(1);
+ pwm_motorB.write(.08);
+ do {
+ setpoint_beginB = 192; // x-as
+ pwm_to_begin_motorB = abs((setpoint_beginB - motorB.getPosition()) *.001);
+ wait(0.2);
+ keep_in_range(&pwm_to_begin_motorB, -1, 1 );
+ motordirB.write(1);
+ pwm_motorB.write(pwm_to_begin_motorB);
+ } while(pwm_to_begin_motorB <= 0);
+ motorB.setPosition(0);
+ pwm_motorB.write(0);
+
+ wait(1); // willen nu even dat tussen ene actie en andere actie 1 seconde wacht.
+
+ // Hierna moet motor B van x-as naar de rechtsonder A4 positie. Motor B 460.
+
+ motordirB.write(1);
+ pwm_motorB.write(0.08);
+ do {
+ setpoint_beginB = 460; // rechtsonder positie A4
+ pwm_to_begin_motorB = abs((setpoint_beginB - motorB.getPosition()) *.001);
+ wait(0.2);
+ keep_in_range(&pwm_to_begin_motorB, -1, 1 );
+ motordirB.write(1);
+ pwm_motorB.write(pwm_to_begin_motorB);
+ } while(pwm_to_begin_motorB <= 0);
+ pwm_motorB.write(0);
+
+ wait(1);
+
+ // Nu zijn de motoren gekalibreed en staan ze op de startpositie.
+ // Hierna het script dat EMG wordt omgezet in een positie verandering
+
+ /*Create a ticker, and let it call the */
+ /*function 'setlooptimerflag' every 0.01s */
+ Ticker looptimer;
+ looptimer.attach(setlooptimerflag,0.01);
+
+ //INFINITE LOOP
+ while(1) {
+
+ while(looptimerflag != true);
+ looptimerflag = false;
+
+ // HIER EMG!!
+float emg_value_biceps;
+ float emg_value_triceps;
+ float emg_value_flexoren;
+ float emg_value_extensoren;
+ float dy;
+ emg_value_biceps = ((100*(filter(1))-0.18)/0.49);
+ emg_value_triceps = ((100*(filter(2))-0.18)/0.35);
+ //emg_value_flexoren = 100*filter(3);
+ //emg_value_extensoren = 100*filter(4);
+
+ if(emg_value_biceps < 0.10){
+ emg_value_biceps=0;
+ }
+ else {
+ emg_value_biceps = emg_value_biceps;
+ }
+ if(emg_value_triceps < 0.20){
+ emg_value_triceps=0;
+ }
+ else {
+ emg_value_triceps=emg_value_triceps;
+ }
+
+
+
+ dy = emg_value_biceps-emg_value_triceps;
+ dy=dy*10;
+ if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
+ pc.printf("%.6f\n",dy);
+
+
+
+
+ //setpointA = (potmeterA.read()-0.09027)*(631); // bereik van 71 graden dit afhankelijk van waar nul punt zit en waar heel wil. Dus afh. van EMG lezen bij EMG wordt 0.5 - 0.09027
+ //setpointB = (potmeterB.read())*(415); // bereik van 46.7 graden
+ //pc.printf("s: %f, %d ", setpointA, motorA.getPosition());
+ //pc.printf("s: %f, %d ", setpointB, motorB.getPosition());
+
+ setpointB = (dy);
+ //setpointB = (potmeterB.read() - 0.5) * (871/2);
+ // motor A moet de hoek altijd binnen 53.4 tot en met 124.3 graden liggen
+ // motor B moet de hoek altijd binnen 30.2 tot en met -16.5 graden liggen
+ keep_in_range(&setpointA, -1105, -474); // voor motor moet bereik zijn -1105 tot -474
+ keep_in_range(&setpointB, -147, 269); // voor motor moet bereik zijn -147 tot 269
+
+ // PID regelaar voor motor A
+ //wait(dt);
+ //error_ti_A = setpointA - motorA.getPosition();
+ //P_regelaar_A = Kp * error_ti_A;
+ //D_regelaar_A = Kd * ((error_ti_A - error_t0_A) / dt);
+ //integral_i_A = integral_0_A + (error_ti_A * dt);
+ //I_regelaar_A = Ki * integral_i_A;
+ //integral_0_A = integral_i_A;
+ //error_t0_A = error_ti_A;
+ //output_regelaar_A = P_regelaar_A;
+
+ // PID regelaar voor motor B
+ //wait(dt);
+ //error_ti_B = setpointB - motorB.getPosition();
+ //P_regelaar_B = Kp * error_ti_B;
+ //D_regelaar_B = Kd * ((error_ti_B - error_t0_B) / dt);
+ //integral_i_B = integral_0_B + (error_ti_B * dt);
+ //I_regelaar_B = Ki * integral_i_B;
+ //integral_0_B = integral_i_B;
+ //error_t0_B = error_ti_B;
+ //output_regelaar_B = P_regelaar_B;
+
+ /* This is a PID-action! store in pwm_to_motor */
+ pwm_to_motorA = (setpointA - motorA.getPosition())*.001; //output_regelaar_A;
+ pwm_to_motorB = (setpointB); //- motorB.getPosition())*.001; //output_regelaar_B;
+
+ keep_in_range(&pwm_to_motorA, -1,1);
+ keep_in_range(&pwm_to_motorB, -1,1);
+
+ if(pwm_to_motorA > 0)
+ motordirA.write(1);
+ else
+ motordirA.write(0);
+ if(pwm_to_motorB > 0)
+ motordirB.write(1);
+ else
+ motordirB.write(0);
+
+ pwm_motorA.write(abs(pwm_to_motorA));
+ pwm_motorB.write(abs(pwm_to_motorB));
+ }
+ }
+ while(toggle);
+ { // wait while toggle == 1
+ toggle_off();
+ pwm_motorA.write(0);
+ pwm_motorB.write(0);
+ }
+ }
+}
+
+
+void keep_in_range(float * in, float min, float max)
+{
+*in > min ? *in < max? : *in = max: *in = min;
+}
+
+
+
+
+
+