Laurence B / Mbed 2 deprecated VolledigeScript

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Dependencies:   FastPWM HIDScope MODSERIAL QEI mbed biquadFilter

Fork of deelPID by Laurence B

main.cpp@6:405ec2bba6d0, 2018-11-01 (annotated)

Committer:
laurencebr
Date:
Thu Nov 01 18:50:26 2018 +0000
Revision:
6:405ec2bba6d0
Parent:
5:8e326d07f125
Child:
7:de221f894d3b
rik heeft het gefixt

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UserRevisionLine numberNew contents of line
laurencebr 0:2aa29a0824df 1 #include "mbed.h"
laurencebr 0:2aa29a0824df 2 #include "FastPWM.h"
laurencebr 0:2aa29a0824df 3 #include "MODSERIAL.h"
laurencebr 0:2aa29a0824df 4 #include "QEI.h"
laurencebr 0:2aa29a0824df 5 #include "HIDScope.h"
laurencebr 3:53fb8bd0a448 6 #include "BiQuad.h"
laurencebr 0:2aa29a0824df 7
laurencebr 5:8e326d07f125 8 DigitalIn ButtonCal(D2); //Button 1
laurencebr 0:2aa29a0824df 9 DigitalOut gpo(D0);
laurencebr 5:8e326d07f125 10 DigitalOut ledred(LED_RED);
laurencebr 5:8e326d07f125 11 DigitalOut ledblue(LED_BLUE);
laurencebr 5:8e326d07f125 12 DigitalOut ledgreen(LED_GREEN);
laurencebr 2:58ec7347245e 13 AnalogIn pot1(A4); //POORTEN VERANDEREN
laurencebr 5:8e326d07f125 14 //AnalogIn pot2(A3); //Beneden is I control op 0 gezet. //POORTEN veranderen
laurencebr 2:58ec7347245e 15 AnalogIn pot3(A5); //POORTEN VERANDEREN
laurencebr 0:2aa29a0824df 16 QEI encoder1(D10, D11, NC, 32);
laurencebr 0:2aa29a0824df 17 QEI encoder2(D12, D13, NC, 32);
laurencebr 0:2aa29a0824df 18 FastPWM Motor1PWM(D6);
laurencebr 0:2aa29a0824df 19 DigitalOut Motor1Direction(D7);
laurencebr 2:58ec7347245e 20 FastPWM Motor2PWM(D5);
laurencebr 2:58ec7347245e 21 DigitalOut Motor2Direction(D4);
laurencebr 1:23834862b877 22 //EMG
laurencebr 6:405ec2bba6d0 23
laurencebr 1:23834862b877 24 AnalogIn a0(A0);
laurencebr 1:23834862b877 25 AnalogIn a1(A1);
laurencebr 1:23834862b877 26 AnalogIn a2(A2);
laurencebr 5:8e326d07f125 27 AnalogIn a3(A3);
laurencebr 0:2aa29a0824df 28
laurencebr 6:405ec2bba6d0 29
laurencebr 6:405ec2bba6d0 30 /*AnalogIn Ppot(A0);
laurencebr 6:405ec2bba6d0 31 AnalogIn Ipot(A1);
laurencebr 6:405ec2bba6d0 32 AnalogIn Dpot(A2);
laurencebr 6:405ec2bba6d0 33 */
laurencebr 6:405ec2bba6d0 34
laurencebr 0:2aa29a0824df 35 MODSERIAL pc(USBTX, USBRX);
laurencebr 0:2aa29a0824df 36
laurencebr 1:23834862b877 37 //HIDSCOPE //Oppassen waar we HIDSCOPE aanroepen want nu voor meerdere dingen
laurencebr 6:405ec2bba6d0 38 HIDScope scope(6);
laurencebr 5:8e326d07f125 39 Ticker scopeTimer;
laurencebr 0:2aa29a0824df 40
laurencebr 1:23834862b877 41 Ticker EMGTicker;
laurencebr 1:23834862b877 42
laurencebr 1:23834862b877 43 // BiQuad filters
laurencebr 1:23834862b877 44 //BiQuad Chains
laurencebr 1:23834862b877 45 BiQuadChain bqc1;
laurencebr 1:23834862b877 46 BiQuadChain bqc2;
laurencebr 1:23834862b877 47 BiQuadChain bqc3;
laurencebr 1:23834862b877 48 BiQuadChain bqc4;
laurencebr 1:23834862b877 49
laurencebr 1:23834862b877 50 //High pass filters 20 Hz
laurencebr 6:405ec2bba6d0 51 BiQuad HP_emg1(1,-2,1,-1.647459981076977,0.700896781188403);
laurencebr 6:405ec2bba6d0 52 BiQuad HP_emg2(1,-2,1,-1.647459981076977,0.700896781188403);
laurencebr 6:405ec2bba6d0 53 BiQuad HP_emg3(1,-2,1,-1.647459981076977,0.700896781188403);
laurencebr 6:405ec2bba6d0 54 BiQuad HP_emg4(1,-2,1,-1.647459981076977,0.700896781188403);
laurencebr 1:23834862b877 55
laurencebr 1:23834862b877 56 //Notch filters 50 Hz
laurencebr 6:405ec2bba6d0 57 BiQuad Notch_emg1(1,-1.619184463611223,1,-1.560333397539390,0.927307768331003);
laurencebr 6:405ec2bba6d0 58 BiQuad Notch_emg2(1,-1.619184463611223,1,-1.560333397539390,0.927307768331003);
laurencebr 6:405ec2bba6d0 59 BiQuad Notch_emg3(1,-1.619184463611223,1,-1.560333397539390,0.927307768331003);
laurencebr 6:405ec2bba6d0 60 BiQuad Notch_emg4(1,-1.619184463611223,1,-1.560333397539390,0.927307768331003);
laurencebr 6:405ec2bba6d0 61
laurencebr 6:405ec2bba6d0 62 //LP 98
laurencebr 6:405ec2bba6d0 63 BiQuad LP1(1,2,1,1.911197067426073,0.914975834801434);
laurencebr 6:405ec2bba6d0 64 BiQuad LP2(1,2,1,1.911197067426073,0.914975834801434);
laurencebr 6:405ec2bba6d0 65 BiQuad LP3(1,2,1,1.911197067426073,0.914975834801434);
laurencebr 6:405ec2bba6d0 66 BiQuad LP4(1,2,1,1.911197067426073,0.914975834801434);
laurencebr 6:405ec2bba6d0 67
laurencebr 6:405ec2bba6d0 68
laurencebr 0:2aa29a0824df 69
laurencebr 0:2aa29a0824df 70 ///Variables
laurencebr 0:2aa29a0824df 71
laurencebr 0:2aa29a0824df 72 double q1Error;
laurencebr 0:2aa29a0824df 73 double q2Error;
laurencebr 0:2aa29a0824df 74 double PrevErrorq1[100];
laurencebr 0:2aa29a0824df 75 double PrevErrorq2[100];
laurencebr 0:2aa29a0824df 76 int n = 100; // Zelfde waarde als PrevErrorarray
laurencebr 0:2aa29a0824df 77 double q1Ref = 1.0; //VOOR TESTEN
laurencebr 0:2aa29a0824df 78 double q2Ref;
laurencebr 3:53fb8bd0a448 79 double xRef = 40.0;
laurencebr 3:53fb8bd0a448 80 double yRef = 40.0;
laurencebr 0:2aa29a0824df 81 double q1Pos;
laurencebr 0:2aa29a0824df 82 double q2Pos;
laurencebr 0:2aa29a0824df 83 double PIDerrorq1;
laurencebr 0:2aa29a0824df 84 double PIDerrorq2;
laurencebr 0:2aa29a0824df 85 double IntegralErrorq1 = 0.0;
laurencebr 0:2aa29a0824df 86 double IntegralErrorq2 = 0.0;
laurencebr 0:2aa29a0824df 87 double DerivativeErrorq1 = 0.0;
laurencebr 0:2aa29a0824df 88 double DerivativeErrorq2 = 0.0;
laurencebr 4:93c4e826d11d 89 double GainP1 = 3.0;
laurencebr 4:93c4e826d11d 90 double GainI1 = 0.0;
laurencebr 4:93c4e826d11d 91 double GainD1 = 0.235;
laurencebr 4:93c4e826d11d 92 double GainP2 = 3.0;
laurencebr 4:93c4e826d11d 93 double GainI2 = 0.0;
laurencebr 4:93c4e826d11d 94 double GainD2 = 0.235;
laurencebr 6:405ec2bba6d0 95 double TickerPeriod = 1.0/500.0;
laurencebr 1:23834862b877 96 // Global variables EMG
laurencebr 1:23834862b877 97 double EMGdata1;
laurencebr 1:23834862b877 98 double EMGdata2;
laurencebr 1:23834862b877 99 double EMGdata3;
laurencebr 1:23834862b877 100 double EMGdata4;
laurencebr 3:53fb8bd0a448 101 int count = 0;
laurencebr 1:23834862b877 102 double EMG_filt1;
laurencebr 1:23834862b877 103 double EMG_filt2;
laurencebr 1:23834862b877 104 double EMG_filt3;
laurencebr 1:23834862b877 105 double EMG_filt4;
laurencebr 3:53fb8bd0a448 106
laurencebr 3:53fb8bd0a448 107 double EMG_max1 = 10000.0;
laurencebr 3:53fb8bd0a448 108 double EMG_max2 = 10000.0;
laurencebr 3:53fb8bd0a448 109 double EMG_max3 = 10000.0;
laurencebr 3:53fb8bd0a448 110 double EMG_max4 = 10000.0;
laurencebr 3:53fb8bd0a448 111
laurencebr 3:53fb8bd0a448 112 double unit_vX;
laurencebr 1:23834862b877 113 double unit_vY;
laurencebr 0:2aa29a0824df 114
laurencebr 0:2aa29a0824df 115 Ticker Kikker;
laurencebr 1:23834862b877 116 int counter = 0;
laurencebr 0:2aa29a0824df 117 int countstep = 0;
laurencebr 0:2aa29a0824df 118
laurencebr 3:53fb8bd0a448 119 //Demo variabelen
laurencebr 6:405ec2bba6d0 120 double vxMax = 1.0;
laurencebr 6:405ec2bba6d0 121 double vyMax = 1.0;
laurencebr 3:53fb8bd0a448 122 int DemoStage = 0;
laurencebr 3:53fb8bd0a448 123
laurencebr 5:8e326d07f125 124 //States
laurencebr 5:8e326d07f125 125 enum states {WaitModusState, EMGCalibrationState, NormalOperatingModusState, DemoModusState};
laurencebr 5:8e326d07f125 126 states State = WaitModusState;
laurencebr 3:53fb8bd0a448 127
laurencebr 0:2aa29a0824df 128
laurencebr 5:8e326d07f125 129 //Calibration Time
laurencebr 5:8e326d07f125 130
laurencebr 5:8e326d07f125 131 int countcalibration = 0;
laurencebr 5:8e326d07f125 132 double CalibrationTime = 20.0; //Tijd om te calibreren seconden
laurencebr 5:8e326d07f125 133
laurencebr 1:23834862b877 134 //EMGDINGEN
laurencebr 1:23834862b877 135
laurencebr 1:23834862b877 136 void ReadEMG()
laurencebr 1:23834862b877 137 {
laurencebr 6:405ec2bba6d0 138
laurencebr 1:23834862b877 139 EMGdata1 = a0.read(); // store values in the scope
laurencebr 1:23834862b877 140 EMGdata2 = a1.read();
laurencebr 1:23834862b877 141 EMGdata3 = a2.read();
laurencebr 5:8e326d07f125 142 EMGdata4 = a3.read();
laurencebr 6:405ec2bba6d0 143
laurencebr 1:23834862b877 144 }
laurencebr 1:23834862b877 145
laurencebr 1:23834862b877 146 // EMG High pass filters
laurencebr 1:23834862b877 147 double EMG_HP1(double EMGdata) //data 1
laurencebr 1:23834862b877 148 {
laurencebr 1:23834862b877 149 double HP_abs_EMGdata = bqc1.step(EMGdata);
laurencebr 1:23834862b877 150
laurencebr 1:23834862b877 151 return fabs(HP_abs_EMGdata);
laurencebr 1:23834862b877 152 }
laurencebr 1:23834862b877 153
laurencebr 1:23834862b877 154 double EMG_HP2(double EMGdata) //data 2
laurencebr 1:23834862b877 155 {
laurencebr 1:23834862b877 156 double HP_abs_EMGdata = bqc2.step(EMGdata);
laurencebr 1:23834862b877 157
laurencebr 1:23834862b877 158 return fabs(HP_abs_EMGdata);
laurencebr 1:23834862b877 159 }
laurencebr 1:23834862b877 160
laurencebr 1:23834862b877 161 double EMG_HP3(double EMGdata) //data 3
laurencebr 1:23834862b877 162 {
laurencebr 1:23834862b877 163 double HP_abs_EMGdata = bqc3.step(EMGdata);
laurencebr 1:23834862b877 164
laurencebr 1:23834862b877 165 return fabs(HP_abs_EMGdata);
laurencebr 1:23834862b877 166 }
laurencebr 1:23834862b877 167
laurencebr 1:23834862b877 168 double EMG_HP4(double EMGdata) // data 4
laurencebr 1:23834862b877 169 {
laurencebr 1:23834862b877 170 double HP_abs_EMGdata = bqc4.step(EMGdata);
laurencebr 1:23834862b877 171
laurencebr 1:23834862b877 172 return fabs(HP_abs_EMGdata);
laurencebr 1:23834862b877 173 }
laurencebr 1:23834862b877 174
laurencebr 1:23834862b877 175 // EMG moving filter
laurencebr 1:23834862b877 176 double EMG_mean (double EMGarray[100])
laurencebr 1:23834862b877 177 {
laurencebr 1:23834862b877 178 double sum = 0.0;
laurencebr 1:23834862b877 179
laurencebr 1:23834862b877 180 for(int j=0; j<100; j++)
laurencebr 1:23834862b877 181 {
laurencebr 1:23834862b877 182 sum += EMGarray[j];
laurencebr 1:23834862b877 183 }
laurencebr 1:23834862b877 184
laurencebr 1:23834862b877 185 double EMG_filt = sum / 100.0;
laurencebr 1:23834862b877 186
laurencebr 1:23834862b877 187 return EMG_filt;
laurencebr 1:23834862b877 188 }
laurencebr 1:23834862b877 189
laurencebr 1:23834862b877 190 // Filtered signal to output between -1 and 1
laurencebr 1:23834862b877 191 double filt2kin (double EMG_filt1, double EMG_filt2, double max1, double max2)
laurencebr 1:23834862b877 192 {
laurencebr 1:23834862b877 193 double EMG_scaled1 = EMG_filt1 / max1;
laurencebr 1:23834862b877 194 double EMG_scaled2 = EMG_filt2 / max2;
laurencebr 1:23834862b877 195
laurencebr 1:23834862b877 196 double kin_input = EMG_scaled2 - EMG_scaled1;
laurencebr 1:23834862b877 197
laurencebr 1:23834862b877 198 if (kin_input > 1.0) {
laurencebr 1:23834862b877 199 kin_input = 1.0;
laurencebr 1:23834862b877 200 }
laurencebr 1:23834862b877 201 if (kin_input < -1.0) {
laurencebr 1:23834862b877 202 kin_input = -1.0;
laurencebr 1:23834862b877 203 }
laurencebr 1:23834862b877 204
laurencebr 1:23834862b877 205 return kin_input;
laurencebr 1:23834862b877 206 }
laurencebr 1:23834862b877 207
laurencebr 1:23834862b877 208 void EMG ()
laurencebr 1:23834862b877 209 {
laurencebr 1:23834862b877 210 ReadEMG();
laurencebr 1:23834862b877 211
laurencebr 1:23834862b877 212 double HP_abs_EMGdata1 = EMG_HP1(EMGdata1);
laurencebr 1:23834862b877 213 double HP_abs_EMGdata2 = EMG_HP2(EMGdata2);
laurencebr 1:23834862b877 214 double HP_abs_EMGdata3 = EMG_HP3(EMGdata3);
laurencebr 1:23834862b877 215 double HP_abs_EMGdata4 = EMG_HP4(EMGdata4);
laurencebr 1:23834862b877 216
laurencebr 1:23834862b877 217 static double EMG_array1[100];
laurencebr 1:23834862b877 218 static double EMG_array2[100];
laurencebr 1:23834862b877 219 static double EMG_array3[100];
laurencebr 1:23834862b877 220 static double EMG_array4[100];
laurencebr 1:23834862b877 221
laurencebr 1:23834862b877 222 // Fill array 1
laurencebr 1:23834862b877 223 for(int i = 100-1; i >= 1; i--)
laurencebr 1:23834862b877 224 {
laurencebr 1:23834862b877 225 EMG_array1[i] = EMG_array1[i-1];
laurencebr 1:23834862b877 226 }
laurencebr 1:23834862b877 227 EMG_array1[0] = HP_abs_EMGdata1;
laurencebr 1:23834862b877 228
laurencebr 1:23834862b877 229 // Fill array 2
laurencebr 1:23834862b877 230 for(int i = 100-1; i >= 1; i--)
laurencebr 1:23834862b877 231 {
laurencebr 1:23834862b877 232 EMG_array2[i] = EMG_array2[i-1];
laurencebr 1:23834862b877 233 }
laurencebr 1:23834862b877 234 EMG_array2[0] = HP_abs_EMGdata2;
laurencebr 1:23834862b877 235
laurencebr 1:23834862b877 236 // Fill array 3
laurencebr 1:23834862b877 237 for(int i = 100-1; i >= 1; i--)
laurencebr 1:23834862b877 238 {
laurencebr 1:23834862b877 239 EMG_array3[i] = EMG_array3[i-1];
laurencebr 1:23834862b877 240 }
laurencebr 1:23834862b877 241 EMG_array3[0] = HP_abs_EMGdata3;
laurencebr 1:23834862b877 242
laurencebr 1:23834862b877 243 // Fill array 4
laurencebr 1:23834862b877 244 for(int i = 100-1; i >= 1; i--)
laurencebr 1:23834862b877 245 {
laurencebr 1:23834862b877 246 EMG_array4[i] = EMG_array4[i-1];
laurencebr 1:23834862b877 247 }
laurencebr 1:23834862b877 248 EMG_array4[0] = HP_abs_EMGdata4;
laurencebr 1:23834862b877 249
laurencebr 1:23834862b877 250
laurencebr 1:23834862b877 251 EMG_filt1 = EMG_mean(EMG_array1); //global maken
laurencebr 1:23834862b877 252 EMG_filt2 = EMG_mean(EMG_array2);
laurencebr 1:23834862b877 253 EMG_filt3 = EMG_mean(EMG_array3);
laurencebr 1:23834862b877 254 EMG_filt4 = EMG_mean(EMG_array4);
laurencebr 1:23834862b877 255
laurencebr 1:23834862b877 256
laurencebr 1:23834862b877 257
laurencebr 1:23834862b877 258 unit_vX = filt2kin (EMG_filt1, EMG_filt2, EMG_max1, EMG_max2);
laurencebr 1:23834862b877 259 unit_vY = filt2kin (EMG_filt3, EMG_filt4, EMG_max3, EMG_max4);
laurencebr 5:8e326d07f125 260 if (fabs(unit_vX)<0.1)
laurencebr 5:8e326d07f125 261 {
laurencebr 5:8e326d07f125 262 unit_vX = 0.0;
laurencebr 5:8e326d07f125 263 }
laurencebr 5:8e326d07f125 264 if (fabs(unit_vY)<0.1)
laurencebr 5:8e326d07f125 265 {
laurencebr 5:8e326d07f125 266 unit_vY = 0.0;
laurencebr 5:8e326d07f125 267 }
laurencebr 5:8e326d07f125 268
laurencebr 1:23834862b877 269
laurencebr 6:405ec2bba6d0 270 scope.set(0, EMG_filt1);
laurencebr 6:405ec2bba6d0 271 scope.set(1, EMG_filt2);
laurencebr 6:405ec2bba6d0 272 scope.set(2, unit_vX);
laurencebr 6:405ec2bba6d0 273 scope.set(3, EMG_filt3);
laurencebr 6:405ec2bba6d0 274 scope.set(4, EMG_filt4);
laurencebr 6:405ec2bba6d0 275 scope.set(5, unit_vY);
laurencebr 1:23834862b877 276
laurencebr 1:23834862b877 277
laurencebr 1:23834862b877 278 count++;
laurencebr 1:23834862b877 279
laurencebr 1:23834862b877 280 if (count == 100)
laurencebr 1:23834862b877 281 {
laurencebr 6:405ec2bba6d0 282 pc.printf("xRef = %1f, yRef = %1f, q2Ref = %1f, q1Ref = %1f \n\r", xRef, yRef, q2Ref, q1Ref);
laurencebr 1:23834862b877 283 count = 0;
laurencebr 1:23834862b877 284 }
laurencebr 1:23834862b877 285 }
laurencebr 1:23834862b877 286
laurencebr 1:23834862b877 287
laurencebr 0:2aa29a0824df 288
laurencebr 1:23834862b877 289 //PIDCONTROLLLLLLLLLL + INVERSE KINEMATIKS
laurencebr 1:23834862b877 290
laurencebr 1:23834862b877 291
laurencebr 1:23834862b877 292 //InverseKinematics
laurencebr 1:23834862b877 293
laurencebr 3:53fb8bd0a448 294 void inverse()
laurencebr 0:2aa29a0824df 295 {
laurencebr 1:23834862b877 296 double L1 = 40.0; // %define length of arm 1 attached to gear
laurencebr 3:53fb8bd0a448 297 double L3 = sqrt(pow(xRef,2.0)+pow(yRef,2.0));
laurencebr 3:53fb8bd0a448 298 double q3 = atan(yRef/xRef);
laurencebr 1:23834862b877 299 double q4 = 2.0*asin(0.5*L3/L1);
laurencebr 3:53fb8bd0a448 300 q1Ref = (0.5*3.1416-0.5*q4+q3)*9.0;
laurencebr 3:53fb8bd0a448 301 q2Ref = (3.1416-q1Ref/9.0-q4)*4.0;
laurencebr 1:23834862b877 302 }
laurencebr 0:2aa29a0824df 303
laurencebr 0:2aa29a0824df 304
laurencebr 1:23834862b877 305 void InverseKinematics ()// Kinematics function, takes imput between 1 and -1
laurencebr 0:2aa29a0824df 306 {
laurencebr 1:23834862b877 307
laurencebr 6:405ec2bba6d0 308 double V_max = 2.5; //Maximum velocity in either direction
laurencebr 1:23834862b877 309 // CM/s
laurencebr 1:23834862b877 310
laurencebr 1:23834862b877 311 double deltaX = TickerPeriod*V_max*unit_vX; // imput to delta
laurencebr 1:23834862b877 312 double deltaY = TickerPeriod*V_max*unit_vY;
laurencebr 1:23834862b877 313
laurencebr 3:53fb8bd0a448 314 xRef += deltaX;
laurencebr 3:53fb8bd0a448 315 yRef += deltaY;
laurencebr 1:23834862b877 316
laurencebr 3:53fb8bd0a448 317 inverse();
laurencebr 1:23834862b877 318
laurencebr 0:2aa29a0824df 319 }
laurencebr 0:2aa29a0824df 320
laurencebr 0:2aa29a0824df 321
laurencebr 0:2aa29a0824df 322 void ReadCurrentPosition() //Update the coordinates of the end-effector q1Pos, q2Pos
laurencebr 0:2aa29a0824df 323 {
laurencebr 3:53fb8bd0a448 324 q1Pos = -encoder1.getPulses()/32/131.25*2*3.1416 + 3.1416/2.0*9.0; //Position motor 1 in rad
laurencebr 0:2aa29a0824df 325 q2Pos = encoder2.getPulses()/32/131.25*2*3.1416; //Position motor 2 in rad
laurencebr 0:2aa29a0824df 326 }
laurencebr 0:2aa29a0824df 327
laurencebr 0:2aa29a0824df 328 void UpdateError() //Update the q1Error and q2Error values based on q1Ref, q2Ref, q1Pos, q2Pos
laurencebr 0:2aa29a0824df 329 {
laurencebr 0:2aa29a0824df 330 q1Error = q1Ref - q1Pos;
laurencebr 0:2aa29a0824df 331 q2Error = q2Ref - q2Pos;
laurencebr 0:2aa29a0824df 332
laurencebr 0:2aa29a0824df 333 //Update PrevErrorq1 and PrevErrorq2
laurencebr 0:2aa29a0824df 334
laurencebr 0:2aa29a0824df 335 for (int i = 0; i <= n-2 ; i++)
laurencebr 0:2aa29a0824df 336 {
laurencebr 0:2aa29a0824df 337 PrevErrorq1[i] = PrevErrorq1[i+1];
laurencebr 0:2aa29a0824df 338 PrevErrorq2[i] = PrevErrorq2[i+1];
laurencebr 0:2aa29a0824df 339 }
laurencebr 0:2aa29a0824df 340
laurencebr 0:2aa29a0824df 341 PrevErrorq1[n-1] = q1Error;
laurencebr 0:2aa29a0824df 342 PrevErrorq2[n-1] = q2Error;
laurencebr 0:2aa29a0824df 343 }
laurencebr 0:2aa29a0824df 344
laurencebr 0:2aa29a0824df 345 void PIDControl(){
laurencebr 0:2aa29a0824df 346 // Update PIDerrorq1 and PIDerrorq2 based on the gains and the values q1Error and q2Error
laurencebr 0:2aa29a0824df 347
laurencebr 0:2aa29a0824df 348
laurencebr 0:2aa29a0824df 349 // PID control motor 1
laurencebr 0:2aa29a0824df 350 //P-Control
laurencebr 0:2aa29a0824df 351 double P_error1 = GainP1 * q1Error;
laurencebr 0:2aa29a0824df 352
laurencebr 0:2aa29a0824df 353 //I-Control
laurencebr 0:2aa29a0824df 354 IntegralErrorq1 = IntegralErrorq1 + q1Error * TickerPeriod;
laurencebr 0:2aa29a0824df 355 double I_error1 = GainI1 * IntegralErrorq1;
laurencebr 0:2aa29a0824df 356
laurencebr 0:2aa29a0824df 357 //D-Control
laurencebr 0:2aa29a0824df 358 //First smoothen the error signal
laurencebr 0:2aa29a0824df 359 double MovAvq1_1 = 0.0;
laurencebr 0:2aa29a0824df 360 double MovAvq1_2 = 0.0;
laurencebr 0:2aa29a0824df 361 for (int i=0; i<=n-2; i++){ // Creates two mov. av. with one element shifted
laurencebr 0:2aa29a0824df 362 MovAvq1_1 = MovAvq1_1 + PrevErrorq1[i]/((double) (n-1));
laurencebr 0:2aa29a0824df 363 MovAvq1_2 = MovAvq1_2 + PrevErrorq1[i+1]/((double)(n-1));
laurencebr 0:2aa29a0824df 364 }
laurencebr 0:2aa29a0824df 365 DerivativeErrorq1 = (MovAvq1_2 - MovAvq1_1)/TickerPeriod;
laurencebr 0:2aa29a0824df 366 double D_error1 = GainD1 * DerivativeErrorq1;
laurencebr 0:2aa29a0824df 367 // Derivative error sum over all time?
laurencebr 0:2aa29a0824df 368
laurencebr 0:2aa29a0824df 369 PIDerrorq1 = P_error1 + I_error1 + D_error1;
laurencebr 0:2aa29a0824df 370
laurencebr 0:2aa29a0824df 371 // PID control motor 2
laurencebr 0:2aa29a0824df 372 //P-Control
laurencebr 0:2aa29a0824df 373 double P_error2 = GainP2 * q2Error;
laurencebr 0:2aa29a0824df 374
laurencebr 0:2aa29a0824df 375 //I-Control
laurencebr 0:2aa29a0824df 376 IntegralErrorq2 = IntegralErrorq2 + q2Error * TickerPeriod;
laurencebr 0:2aa29a0824df 377 double I_error2 = GainI2 * IntegralErrorq2;
laurencebr 0:2aa29a0824df 378
laurencebr 0:2aa29a0824df 379 //D-Control
laurencebr 0:2aa29a0824df 380 //First smoothen the error signal
laurencebr 0:2aa29a0824df 381 double MovAvq2_1 = 0.0;
laurencebr 0:2aa29a0824df 382 double MovAvq2_2 = 0.0;
laurencebr 0:2aa29a0824df 383 for (int i=0; i<=n-2; i++){ // Creates two mov. av. with one element shifted
laurencebr 0:2aa29a0824df 384 MovAvq2_1 = MovAvq2_1 + PrevErrorq2[i]/((double)(n-1));
laurencebr 0:2aa29a0824df 385 MovAvq2_2 = MovAvq2_2 + PrevErrorq2[i+1]/((double)(n-1));
laurencebr 0:2aa29a0824df 386 }
laurencebr 0:2aa29a0824df 387 DerivativeErrorq2 = (MovAvq2_2 - MovAvq2_1)/TickerPeriod;
laurencebr 0:2aa29a0824df 388 double D_error2 = GainD2 * DerivativeErrorq2;
laurencebr 0:2aa29a0824df 389 // Derivative error sum over all time?
laurencebr 0:2aa29a0824df 390
laurencebr 0:2aa29a0824df 391 PIDerrorq2 = P_error2 + I_error2 + D_error2;
laurencebr 0:2aa29a0824df 392 }
laurencebr 0:2aa29a0824df 393
laurencebr 0:2aa29a0824df 394
laurencebr 0:2aa29a0824df 395 void MotorControl()
laurencebr 0:2aa29a0824df 396 {
laurencebr 0:2aa29a0824df 397 //Motor 1
laurencebr 0:2aa29a0824df 398 //Keep signal within bounds
laurencebr 4:93c4e826d11d 399 if (PIDerrorq1 > 1.0){ //tijdelijk 0.6, hoort 1.0 te zijn
laurencebr 4:93c4e826d11d 400 PIDerrorq1 = 1.0;
laurencebr 0:2aa29a0824df 401 }
laurencebr 4:93c4e826d11d 402 else if (PIDerrorq1 < -1.0){
laurencebr 4:93c4e826d11d 403 PIDerrorq1 = -1.0;
laurencebr 0:2aa29a0824df 404 }
laurencebr 0:2aa29a0824df 405 //Direction
laurencebr 0:2aa29a0824df 406 if (PIDerrorq1 <= 0){
laurencebr 3:53fb8bd0a448 407 Motor1Direction = 1;
laurencebr 0:2aa29a0824df 408 Motor1PWM.write(-PIDerrorq1); //write Duty cycle
laurencebr 0:2aa29a0824df 409 }
laurencebr 0:2aa29a0824df 410 if (PIDerrorq1 >= 0){
laurencebr 3:53fb8bd0a448 411 Motor1Direction = 0;
laurencebr 0:2aa29a0824df 412 Motor1PWM.write(PIDerrorq1); //write Duty cycle
laurencebr 0:2aa29a0824df 413 }
laurencebr 0:2aa29a0824df 414
laurencebr 0:2aa29a0824df 415 //Motor 2
laurencebr 0:2aa29a0824df 416 //Keep signal within bounds
laurencebr 4:93c4e826d11d 417 if (PIDerrorq2 > 1.0){
laurencebr 4:93c4e826d11d 418 PIDerrorq2 = 1.0;
laurencebr 0:2aa29a0824df 419 }
laurencebr 4:93c4e826d11d 420 else if (PIDerrorq2 < -1.0){
laurencebr 4:93c4e826d11d 421 PIDerrorq2 = -1.0;
laurencebr 0:2aa29a0824df 422 }
laurencebr 0:2aa29a0824df 423 //Direction
laurencebr 0:2aa29a0824df 424
laurencebr 0:2aa29a0824df 425 if (PIDerrorq2 <= 0){
laurencebr 3:53fb8bd0a448 426 Motor2Direction = 1;
laurencebr 0:2aa29a0824df 427 Motor2PWM.write(-PIDerrorq2); //write Duty cycle
laurencebr 0:2aa29a0824df 428 }
laurencebr 0:2aa29a0824df 429 if (PIDerrorq2 >= 0){
laurencebr 3:53fb8bd0a448 430 Motor2Direction = 0;
laurencebr 0:2aa29a0824df 431 Motor2PWM.write(PIDerrorq2); //write Duty cycle
laurencebr 0:2aa29a0824df 432 }
laurencebr 0:2aa29a0824df 433 }
laurencebr 0:2aa29a0824df 434
laurencebr 3:53fb8bd0a448 435
laurencebr 3:53fb8bd0a448 436
laurencebr 3:53fb8bd0a448 437 void DemonstrationPath()
laurencebr 3:53fb8bd0a448 438 {
laurencebr 3:53fb8bd0a448 439
laurencebr 3:53fb8bd0a448 440 // Also think about how to move from whatever position to (40,5)
laurencebr 3:53fb8bd0a448 441 if (DemoStage == 0) //From (40,40) to (40,-5)
laurencebr 3:53fb8bd0a448 442 {
laurencebr 3:53fb8bd0a448 443 if (yRef >0)
laurencebr 3:53fb8bd0a448 444 {
laurencebr 3:53fb8bd0a448 445 yRef = yRef - vyMax * TickerPeriod;
laurencebr 3:53fb8bd0a448 446 }
laurencebr 3:53fb8bd0a448 447 else
laurencebr 3:53fb8bd0a448 448 {
laurencebr 3:53fb8bd0a448 449 DemoStage = 1;
laurencebr 3:53fb8bd0a448 450 }
laurencebr 3:53fb8bd0a448 451 }
laurencebr 3:53fb8bd0a448 452 else if (DemoStage == 1) //From (40,-5) to (65,-5)
laurencebr 3:53fb8bd0a448 453 {
laurencebr 3:53fb8bd0a448 454 if (xRef > 30)
laurencebr 3:53fb8bd0a448 455 {
laurencebr 3:53fb8bd0a448 456 xRef = xRef - vxMax * TickerPeriod;
laurencebr 3:53fb8bd0a448 457 }
laurencebr 3:53fb8bd0a448 458 else
laurencebr 3:53fb8bd0a448 459 {
laurencebr 3:53fb8bd0a448 460 DemoStage = 2;
laurencebr 3:53fb8bd0a448 461 }
laurencebr 3:53fb8bd0a448 462 }
laurencebr 3:53fb8bd0a448 463 else if (DemoStage == 2)
laurencebr 3:53fb8bd0a448 464 {
laurencebr 3:53fb8bd0a448 465 if (yRef < 10) //From (65,-5) to (65, 10)
laurencebr 3:53fb8bd0a448 466 {
laurencebr 3:53fb8bd0a448 467 yRef = yRef + TickerPeriod;
laurencebr 3:53fb8bd0a448 468 }
laurencebr 3:53fb8bd0a448 469 else
laurencebr 3:53fb8bd0a448 470 {
laurencebr 3:53fb8bd0a448 471 DemoStage = 3;
laurencebr 3:53fb8bd0a448 472 }
laurencebr 3:53fb8bd0a448 473 }
laurencebr 3:53fb8bd0a448 474 else if (DemoStage == 3) //From (65,10) to (40,10)
laurencebr 3:53fb8bd0a448 475 {
laurencebr 3:53fb8bd0a448 476 if (xRef < 40)
laurencebr 3:53fb8bd0a448 477 {
laurencebr 3:53fb8bd0a448 478 xRef = xRef + vxMax * TickerPeriod;
laurencebr 3:53fb8bd0a448 479 }
laurencebr 3:53fb8bd0a448 480 else
laurencebr 3:53fb8bd0a448 481 {
laurencebr 3:53fb8bd0a448 482 DemoStage = 0; // Repeat moving in the square pattern
laurencebr 3:53fb8bd0a448 483 }
laurencebr 3:53fb8bd0a448 484 }
laurencebr 3:53fb8bd0a448 485 }
laurencebr 6:405ec2bba6d0 486 void TestPath()
laurencebr 6:405ec2bba6d0 487 {
laurencebr 6:405ec2bba6d0 488 /* GainP1 = Ppot.read()*60.0;
laurencebr 6:405ec2bba6d0 489 GainI1 = Ipot.read()*20.0;
laurencebr 6:405ec2bba6d0 490 GainD1 = Dpot.read();
laurencebr 6:405ec2bba6d0 491 GainP2 = Ppot.read()*30.0;
laurencebr 6:405ec2bba6d0 492 GainI2 = Ipot.read()*20.0;
laurencebr 6:405ec2bba6d0 493 GainD2 = Dpot.read();
laurencebr 6:405ec2bba6d0 494
laurencebr 6:405ec2bba6d0 495 pc.printf("GainP = %1f, GainI = %1f, GainD = %1f", GainP1, GainI1, GainD1);
laurencebr 6:405ec2bba6d0 496 // Also think about how to move from whatever position to (40,5)
laurencebr 6:405ec2bba6d0 497 if (DemoStage == 0) //From (40,40) to (40,-5)
laurencebr 6:405ec2bba6d0 498 {
laurencebr 6:405ec2bba6d0 499 if (yRef >0)
laurencebr 6:405ec2bba6d0 500 {
laurencebr 6:405ec2bba6d0 501 yRef = yRef - vyMax * TickerPeriod;
laurencebr 6:405ec2bba6d0 502 }
laurencebr 6:405ec2bba6d0 503 else
laurencebr 6:405ec2bba6d0 504 {
laurencebr 6:405ec2bba6d0 505 DemoStage = 1;
laurencebr 6:405ec2bba6d0 506 }
laurencebr 6:405ec2bba6d0 507 }
laurencebr 6:405ec2bba6d0 508 else if (DemoStage == 1)
laurencebr 6:405ec2bba6d0 509 {
laurencebr 6:405ec2bba6d0 510 if (yRef < 30) //From (65,-5) to (65, 10)
laurencebr 6:405ec2bba6d0 511 {
laurencebr 6:405ec2bba6d0 512 yRef = yRef + vyMax * TickerPeriod;
laurencebr 6:405ec2bba6d0 513 }
laurencebr 6:405ec2bba6d0 514 else
laurencebr 6:405ec2bba6d0 515 {
laurencebr 6:405ec2bba6d0 516 DemoStage = 0;
laurencebr 6:405ec2bba6d0 517 }
laurencebr 6:405ec2bba6d0 518 }
laurencebr 6:405ec2bba6d0 519 */
laurencebr 6:405ec2bba6d0 520 }
laurencebr 3:53fb8bd0a448 521
laurencebr 3:53fb8bd0a448 522
laurencebr 3:53fb8bd0a448 523
laurencebr 5:8e326d07f125 524 void CalibrationButton()
laurencebr 5:8e326d07f125 525 {
laurencebr 5:8e326d07f125 526 ledred = 1;
laurencebr 5:8e326d07f125 527 ledgreen = 1;
laurencebr 5:8e326d07f125 528 ledblue = 0;
laurencebr 5:8e326d07f125 529
laurencebr 5:8e326d07f125 530 EMG_max1 = 0.0001;
laurencebr 5:8e326d07f125 531 EMG_max2 = 0.0001;
laurencebr 5:8e326d07f125 532 EMG_max3 = 0.0001;
laurencebr 5:8e326d07f125 533 EMG_max4 = 0.0001;
laurencebr 5:8e326d07f125 534
laurencebr 5:8e326d07f125 535 State = EMGCalibrationState;
laurencebr 5:8e326d07f125 536
laurencebr 5:8e326d07f125 537
laurencebr 5:8e326d07f125 538 }
laurencebr 5:8e326d07f125 539
laurencebr 5:8e326d07f125 540 void EMGCalibration()
laurencebr 5:8e326d07f125 541 {
laurencebr 5:8e326d07f125 542 if (0.95*EMG_filt1>EMG_max1)
laurencebr 5:8e326d07f125 543 {
laurencebr 5:8e326d07f125 544 EMG_max1 = 0.95*EMG_filt1;
laurencebr 5:8e326d07f125 545 }
laurencebr 5:8e326d07f125 546 if (0.95*EMG_filt2>EMG_max2)
laurencebr 5:8e326d07f125 547
laurencebr 5:8e326d07f125 548 {
laurencebr 5:8e326d07f125 549 EMG_max2 = 0.95*EMG_filt2;
laurencebr 5:8e326d07f125 550 }
laurencebr 5:8e326d07f125 551
laurencebr 5:8e326d07f125 552 if (0.95*EMG_filt3>EMG_max3)
laurencebr 5:8e326d07f125 553 {
laurencebr 5:8e326d07f125 554 EMG_max3 = 0.95*EMG_filt3;
laurencebr 5:8e326d07f125 555 }
laurencebr 5:8e326d07f125 556 if (0.95*EMG_filt4>EMG_max4)
laurencebr 5:8e326d07f125 557 {
laurencebr 5:8e326d07f125 558 EMG_max4 = 0.95*EMG_filt4;
laurencebr 5:8e326d07f125 559 }
laurencebr 5:8e326d07f125 560
laurencebr 5:8e326d07f125 561 }
laurencebr 5:8e326d07f125 562
laurencebr 5:8e326d07f125 563
laurencebr 5:8e326d07f125 564
laurencebr 3:53fb8bd0a448 565 void CalibrationModus()
laurencebr 3:53fb8bd0a448 566 {
laurencebr 5:8e326d07f125 567
laurencebr 5:8e326d07f125 568 EMG();
laurencebr 5:8e326d07f125 569 EMGCalibration();
laurencebr 5:8e326d07f125 570
laurencebr 5:8e326d07f125 571 countcalibration++;
laurencebr 5:8e326d07f125 572 pc.printf("countcal = %i", countcalibration);
laurencebr 5:8e326d07f125 573 if (countcalibration >= (int)(CalibrationTime*1.0/TickerPeriod))
laurencebr 5:8e326d07f125 574 {
laurencebr 5:8e326d07f125 575 State = NormalOperatingModusState;
laurencebr 5:8e326d07f125 576 countcalibration = 0;
laurencebr 5:8e326d07f125 577 }
laurencebr 5:8e326d07f125 578
laurencebr 3:53fb8bd0a448 579 }
laurencebr 3:53fb8bd0a448 580
laurencebr 3:53fb8bd0a448 581 void DemoModus() // The ticker should call this function (in the switch statement)
laurencebr 3:53fb8bd0a448 582 {
laurencebr 5:8e326d07f125 583
laurencebr 5:8e326d07f125 584 //GainP1 = pot3.read() * 30;
laurencebr 5:8e326d07f125 585 //GainI1 = pot2.read() * 10;
laurencebr 5:8e326d07f125 586 //GainD1 = pot1.read() ;
laurencebr 5:8e326d07f125 587 //GainP2 = pot3.read() * 10;
laurencebr 5:8e326d07f125 588 //GainI2 = pot2.read() * 10;
laurencebr 5:8e326d07f125 589 //GainD2 = pot1.read() ;
laurencebr 5:8e326d07f125 590
laurencebr 6:405ec2bba6d0 591 //DemonstrationPath();
laurencebr 6:405ec2bba6d0 592 TestPath();
laurencebr 3:53fb8bd0a448 593 inverse();
laurencebr 3:53fb8bd0a448 594 ReadCurrentPosition();
laurencebr 3:53fb8bd0a448 595 UpdateError();
laurencebr 3:53fb8bd0a448 596 PIDControl();
laurencebr 3:53fb8bd0a448 597 MotorControl();
laurencebr 3:53fb8bd0a448 598
laurencebr 5:8e326d07f125 599 //scope.set(0, q1Pos);
laurencebr 5:8e326d07f125 600 // scope.set(1, q1Ref);
laurencebr 5:8e326d07f125 601 //scope.set(2, q2Pos);
laurencebr 5:8e326d07f125 602 //scope.set(3, q2Ref);
laurencebr 5:8e326d07f125 603
laurencebr 3:53fb8bd0a448 604 count++;
laurencebr 3:53fb8bd0a448 605 if (count ==400)
laurencebr 3:53fb8bd0a448 606 {
laurencebr 5:8e326d07f125 607 pc.printf("GainP = %lf, GainI = %lf, GainD = %lf, q1Pos = %lf, q2Pos = %lf, q1Ref = %lf, q2Ref = %lf, xRef = %lf, yRef = %lf \n\r", GainP1, GainI1, GainD1, q1Pos, q2Pos, q1Ref, q2Ref, xRef, yRef);
laurencebr 3:53fb8bd0a448 608 count = 0;
laurencebr 3:53fb8bd0a448 609 }
laurencebr 3:53fb8bd0a448 610 }
laurencebr 3:53fb8bd0a448 611
laurencebr 3:53fb8bd0a448 612
laurencebr 0:2aa29a0824df 613 void NormalOperatingModus()
laurencebr 0:2aa29a0824df 614 {
laurencebr 5:8e326d07f125 615 ledred = 1;
laurencebr 5:8e326d07f125 616 ledgreen = 0;
laurencebr 5:8e326d07f125 617 ledblue = 1;
laurencebr 5:8e326d07f125 618
laurencebr 3:53fb8bd0a448 619 EMG();
laurencebr 0:2aa29a0824df 620 InverseKinematics();
laurencebr 0:2aa29a0824df 621 ReadCurrentPosition();
laurencebr 0:2aa29a0824df 622 UpdateError();
laurencebr 0:2aa29a0824df 623 PIDControl();
laurencebr 0:2aa29a0824df 624 MotorControl();
laurencebr 0:2aa29a0824df 625
laurencebr 3:53fb8bd0a448 626 //scope.set(0, q1Pos);
laurencebr 3:53fb8bd0a448 627 //scope.set(1, q1Ref);
laurencebr 0:2aa29a0824df 628
laurencebr 4:93c4e826d11d 629 //GainP1 = pot3.read() * 10;
laurencebr 4:93c4e826d11d 630 //GainI1 = pot2.read() * 10;
laurencebr 4:93c4e826d11d 631 //GainD1 = pot1.read() ;
laurencebr 0:2aa29a0824df 632
laurencebr 0:2aa29a0824df 633 countstep++;
laurencebr 1:23834862b877 634 counter++;
laurencebr 1:23834862b877 635 if (counter == 400) // print 1x per seconde waardes.
laurencebr 0:2aa29a0824df 636 {
laurencebr 6:405ec2bba6d0 637 //pc.printf("xRef = %lf, q1Pos = %lf, q1Ref = %1f \n\r", xRef, q1Pos, q1Ref);
laurencebr 1:23834862b877 638 counter = 0;
laurencebr 0:2aa29a0824df 639 }
laurencebr 0:2aa29a0824df 640 if (countstep == 4000)
laurencebr 0:2aa29a0824df 641 {
laurencebr 0:2aa29a0824df 642 q1Ref = !q1Ref;
laurencebr 0:2aa29a0824df 643 countstep = 0;
laurencebr 0:2aa29a0824df 644 }
laurencebr 0:2aa29a0824df 645
laurencebr 0:2aa29a0824df 646
laurencebr 0:2aa29a0824df 647 }
laurencebr 3:53fb8bd0a448 648
laurencebr 5:8e326d07f125 649
laurencebr 0:2aa29a0824df 650
laurencebr 5:8e326d07f125 651 void StateMachine()
laurencebr 3:53fb8bd0a448 652 {
laurencebr 5:8e326d07f125 653
laurencebr 5:8e326d07f125 654
laurencebr 5:8e326d07f125 655 if (ButtonCal.read() == 0)
laurencebr 5:8e326d07f125 656 {
laurencebr 5:8e326d07f125 657 CalibrationButton();
laurencebr 5:8e326d07f125 658 pc.printf("print iets");
laurencebr 5:8e326d07f125 659 }
laurencebr 5:8e326d07f125 660
laurencebr 3:53fb8bd0a448 661 switch(State)
laurencebr 3:53fb8bd0a448 662 {
laurencebr 5:8e326d07f125 663 case WaitModusState: //aanmaken
laurencebr 3:53fb8bd0a448 664 EMG();
laurencebr 5:8e326d07f125 665 pc.printf("Wait \n\r");
laurencebr 3:53fb8bd0a448 666 break;
laurencebr 5:8e326d07f125 667 case EMGCalibrationState:
laurencebr 5:8e326d07f125 668 CalibrationModus();
laurencebr 5:8e326d07f125 669 //pc.printf("EMG CAL \n\r");
laurencebr 3:53fb8bd0a448 670 break;
laurencebr 5:8e326d07f125 671 case NormalOperatingModusState:
laurencebr 3:53fb8bd0a448 672 NormalOperatingModus();
laurencebr 5:8e326d07f125 673 //pc.printf("NOMS \n\r");
laurencebr 3:53fb8bd0a448 674 break;
laurencebr 5:8e326d07f125 675 case DemoModusState:
laurencebr 5:8e326d07f125 676 DemoModus();
laurencebr 5:8e326d07f125 677 pc.printf("Demo \n\r");
laurencebr 3:53fb8bd0a448 678 break;
laurencebr 3:53fb8bd0a448 679 default :
laurencebr 3:53fb8bd0a448 680 }
laurencebr 3:53fb8bd0a448 681 }
laurencebr 5:8e326d07f125 682
laurencebr 3:53fb8bd0a448 683
laurencebr 0:2aa29a0824df 684
laurencebr 0:2aa29a0824df 685 int main()
laurencebr 0:2aa29a0824df 686 {
laurencebr 0:2aa29a0824df 687 pc.baud(115200);
laurencebr 1:23834862b877 688
laurencebr 5:8e326d07f125 689 /*
laurencebr 5:8e326d07f125 690 GainP1 = pot3.read() * 10;
laurencebr 5:8e326d07f125 691 GainI1 = pot2.read() * 10;
laurencebr 5:8e326d07f125 692 GainD1 = pot1.read();
laurencebr 5:8e326d07f125 693 */
laurencebr 6:405ec2bba6d0 694
laurencebr 5:8e326d07f125 695 pc.printf("GainP = %lf, GainI = %lf, GainP = %lf, nog 10 seconden \n\r", GainP1, GainI1, GainD1);
laurencebr 3:53fb8bd0a448 696 wait(7.0);
laurencebr 3:53fb8bd0a448 697 pc.printf("nog 3 seconden \n\r");
laurencebr 3:53fb8bd0a448 698 wait(3.0);
laurencebr 6:405ec2bba6d0 699
laurencebr 3:53fb8bd0a448 700
laurencebr 1:23834862b877 701 //BiQuad chains
laurencebr 6:405ec2bba6d0 702 bqc1.add( &HP_emg1 ).add( &Notch_emg1 );//.add( &LP1);
laurencebr 6:405ec2bba6d0 703 bqc2.add( &HP_emg2 ).add( &Notch_emg2 );//.add( &LP2);
laurencebr 6:405ec2bba6d0 704 bqc3.add( &HP_emg3 ).add( &Notch_emg3 );//.add( &LP3);
laurencebr 6:405ec2bba6d0 705 bqc4.add( &HP_emg4 ).add( &Notch_emg4 );//.add( &LP4);
laurencebr 1:23834862b877 706
laurencebr 0:2aa29a0824df 707 //Initialize array errors to 0
laurencebr 0:2aa29a0824df 708 for (int i = 0; i <= 9; i++){
laurencebr 0:2aa29a0824df 709 PrevErrorq2[i] = 0;
laurencebr 0:2aa29a0824df 710 PrevErrorq2[i] = 0;
laurencebr 0:2aa29a0824df 711 }
laurencebr 0:2aa29a0824df 712
laurencebr 0:2aa29a0824df 713 int frequency_pwm = 16700; //16.7 kHz PWM
laurencebr 0:2aa29a0824df 714 Motor1PWM.period(1.0/frequency_pwm); // T = 1/f
laurencebr 0:2aa29a0824df 715 Motor2PWM.period(1.0/frequency_pwm); // T = 1/f
laurencebr 0:2aa29a0824df 716
laurencebr 5:8e326d07f125 717 //Emg Calibratie button
laurencebr 5:8e326d07f125 718 //ButtonCal.fall(&CalibrationButton);
laurencebr 5:8e326d07f125 719
laurencebr 3:53fb8bd0a448 720
laurencebr 5:8e326d07f125 721
laurencebr 5:8e326d07f125 722 Kikker.attach(StateMachine, TickerPeriod);
laurencebr 5:8e326d07f125 723 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e4);
laurencebr 0:2aa29a0824df 724
laurencebr 1:23834862b877 725 //Onderstaande stond in EMG deel, kijken hoe en wat met tickers!!
laurencebr 1:23834862b877 726 // Attach the HIDScope::send method from the scope object to the timer at 50Hz
laurencebr 5:8e326d07f125 727 scopeTimer.attach_us(&scope, &HIDScope::send, 5e3);
laurencebr 1:23834862b877 728 //EMGTicker.attach_us(EMG_filtering, 5e3);
laurencebr 1:23834862b877 729 //.
laurencebr 1:23834862b877 730
laurencebr 0:2aa29a0824df 731 while(true);
laurencebr 0:2aa29a0824df 732 {}
laurencebr 0:2aa29a0824df 733 }
laurencebr 0:2aa29a0824df 734
laurencebr 0:2aa29a0824df 735
laurencebr 0:2aa29a0824df 736
laurencebr 0:2aa29a0824df 737