Laurence B / Mbed 2 deprecated VolledigeScript

alles ingevoegd

Dependencies:   FastPWM HIDScope MODSERIAL QEI mbed biquadFilter

Fork of deelPID by Laurence B

main.cpp@7:de221f894d3b, 2018-11-02 (annotated)

Committer:
laurencebr
Date:
Fri Nov 02 08:15:25 2018 +0000
Revision:
7:de221f894d3b
Parent:
6:405ec2bba6d0
Child:
8:fa268d163bbd
Laatste versie donderdagavond

Who changed what in which revision?

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 7:de221f894d3b 24 /*
laurencebr 1:23834862b877 25 AnalogIn a0(A0);
laurencebr 1:23834862b877 26 AnalogIn a1(A1);
laurencebr 1:23834862b877 27 AnalogIn a2(A2);
laurencebr 5:8e326d07f125 28 AnalogIn a3(A3);
laurencebr 7:de221f894d3b 29 */
laurencebr 6:405ec2bba6d0 30
laurencebr 7:de221f894d3b 31 AnalogIn Ppot(A0);
laurencebr 6:405ec2bba6d0 32 AnalogIn Ipot(A1);
laurencebr 6:405ec2bba6d0 33 AnalogIn Dpot(A2);
laurencebr 7:de221f894d3b 34
laurencebr 6:405ec2bba6d0 35
laurencebr 0:2aa29a0824df 36 MODSERIAL pc(USBTX, USBRX);
laurencebr 0:2aa29a0824df 37
laurencebr 1:23834862b877 38 //HIDSCOPE //Oppassen waar we HIDSCOPE aanroepen want nu voor meerdere dingen
laurencebr 6:405ec2bba6d0 39 HIDScope scope(6);
laurencebr 5:8e326d07f125 40 Ticker scopeTimer;
laurencebr 0:2aa29a0824df 41
laurencebr 1:23834862b877 42 Ticker EMGTicker;
laurencebr 1:23834862b877 43
laurencebr 1:23834862b877 44 // BiQuad filters
laurencebr 1:23834862b877 45 //BiQuad Chains
laurencebr 1:23834862b877 46 BiQuadChain bqc1;
laurencebr 1:23834862b877 47 BiQuadChain bqc2;
laurencebr 1:23834862b877 48 BiQuadChain bqc3;
laurencebr 1:23834862b877 49 BiQuadChain bqc4;
laurencebr 1:23834862b877 50
laurencebr 1:23834862b877 51 //High pass filters 20 Hz
laurencebr 6:405ec2bba6d0 52 BiQuad HP_emg1(1,-2,1,-1.647459981076977,0.700896781188403);
laurencebr 6:405ec2bba6d0 53 BiQuad HP_emg2(1,-2,1,-1.647459981076977,0.700896781188403);
laurencebr 6:405ec2bba6d0 54 BiQuad HP_emg3(1,-2,1,-1.647459981076977,0.700896781188403);
laurencebr 6:405ec2bba6d0 55 BiQuad HP_emg4(1,-2,1,-1.647459981076977,0.700896781188403);
laurencebr 1:23834862b877 56
laurencebr 1:23834862b877 57 //Notch filters 50 Hz
laurencebr 6:405ec2bba6d0 58 BiQuad Notch_emg1(1,-1.619184463611223,1,-1.560333397539390,0.927307768331003);
laurencebr 6:405ec2bba6d0 59 BiQuad Notch_emg2(1,-1.619184463611223,1,-1.560333397539390,0.927307768331003);
laurencebr 6:405ec2bba6d0 60 BiQuad Notch_emg3(1,-1.619184463611223,1,-1.560333397539390,0.927307768331003);
laurencebr 6:405ec2bba6d0 61 BiQuad Notch_emg4(1,-1.619184463611223,1,-1.560333397539390,0.927307768331003);
laurencebr 6:405ec2bba6d0 62
laurencebr 6:405ec2bba6d0 63 //LP 98
laurencebr 6:405ec2bba6d0 64 BiQuad LP1(1,2,1,1.911197067426073,0.914975834801434);
laurencebr 6:405ec2bba6d0 65 BiQuad LP2(1,2,1,1.911197067426073,0.914975834801434);
laurencebr 6:405ec2bba6d0 66 BiQuad LP3(1,2,1,1.911197067426073,0.914975834801434);
laurencebr 6:405ec2bba6d0 67 BiQuad LP4(1,2,1,1.911197067426073,0.914975834801434);
laurencebr 6:405ec2bba6d0 68
laurencebr 7:de221f894d3b 69 // lowpass derivative
laurencebr 7:de221f894d3b 70 BiQuad LPD1(1,2,1,-1.734725768809275,0.766006600943264);
laurencebr 7:de221f894d3b 71 BiQuad LPD2(1,2,1,-1.734725768809275,0.766006600943264);
laurencebr 0:2aa29a0824df 72
laurencebr 0:2aa29a0824df 73 ///Variables
laurencebr 0:2aa29a0824df 74
laurencebr 0:2aa29a0824df 75 double q1Error;
laurencebr 0:2aa29a0824df 76 double q2Error;
laurencebr 0:2aa29a0824df 77 double PrevErrorq1[100];
laurencebr 0:2aa29a0824df 78 double PrevErrorq2[100];
laurencebr 0:2aa29a0824df 79 int n = 100; // Zelfde waarde als PrevErrorarray
laurencebr 0:2aa29a0824df 80 double q1Ref = 1.0; //VOOR TESTEN
laurencebr 0:2aa29a0824df 81 double q2Ref;
laurencebr 3:53fb8bd0a448 82 double xRef = 40.0;
laurencebr 3:53fb8bd0a448 83 double yRef = 40.0;
laurencebr 0:2aa29a0824df 84 double q1Pos;
laurencebr 0:2aa29a0824df 85 double q2Pos;
laurencebr 0:2aa29a0824df 86 double PIDerrorq1;
laurencebr 0:2aa29a0824df 87 double PIDerrorq2;
laurencebr 0:2aa29a0824df 88 double IntegralErrorq1 = 0.0;
laurencebr 0:2aa29a0824df 89 double IntegralErrorq2 = 0.0;
laurencebr 0:2aa29a0824df 90 double DerivativeErrorq1 = 0.0;
laurencebr 0:2aa29a0824df 91 double DerivativeErrorq2 = 0.0;
laurencebr 4:93c4e826d11d 92 double GainP1 = 3.0;
laurencebr 4:93c4e826d11d 93 double GainI1 = 0.0;
laurencebr 4:93c4e826d11d 94 double GainD1 = 0.235;
laurencebr 4:93c4e826d11d 95 double GainP2 = 3.0;
laurencebr 4:93c4e826d11d 96 double GainI2 = 0.0;
laurencebr 4:93c4e826d11d 97 double GainD2 = 0.235;
laurencebr 6:405ec2bba6d0 98 double TickerPeriod = 1.0/500.0;
laurencebr 1:23834862b877 99 // Global variables EMG
laurencebr 1:23834862b877 100 double EMGdata1;
laurencebr 1:23834862b877 101 double EMGdata2;
laurencebr 1:23834862b877 102 double EMGdata3;
laurencebr 1:23834862b877 103 double EMGdata4;
laurencebr 3:53fb8bd0a448 104 int count = 0;
laurencebr 1:23834862b877 105 double EMG_filt1;
laurencebr 1:23834862b877 106 double EMG_filt2;
laurencebr 1:23834862b877 107 double EMG_filt3;
laurencebr 1:23834862b877 108 double EMG_filt4;
laurencebr 3:53fb8bd0a448 109
laurencebr 3:53fb8bd0a448 110 double EMG_max1 = 10000.0;
laurencebr 3:53fb8bd0a448 111 double EMG_max2 = 10000.0;
laurencebr 3:53fb8bd0a448 112 double EMG_max3 = 10000.0;
laurencebr 3:53fb8bd0a448 113 double EMG_max4 = 10000.0;
laurencebr 3:53fb8bd0a448 114
laurencebr 3:53fb8bd0a448 115 double unit_vX;
laurencebr 1:23834862b877 116 double unit_vY;
laurencebr 0:2aa29a0824df 117
laurencebr 0:2aa29a0824df 118 Ticker Kikker;
laurencebr 1:23834862b877 119 int counter = 0;
laurencebr 0:2aa29a0824df 120 int countstep = 0;
laurencebr 0:2aa29a0824df 121
laurencebr 3:53fb8bd0a448 122 //Demo variabelen
laurencebr 6:405ec2bba6d0 123 double vxMax = 1.0;
laurencebr 6:405ec2bba6d0 124 double vyMax = 1.0;
laurencebr 3:53fb8bd0a448 125 int DemoStage = 0;
laurencebr 3:53fb8bd0a448 126
laurencebr 5:8e326d07f125 127 //States
laurencebr 5:8e326d07f125 128 enum states {WaitModusState, EMGCalibrationState, NormalOperatingModusState, DemoModusState};
laurencebr 7:de221f894d3b 129 states State = DemoModusState;
laurencebr 3:53fb8bd0a448 130
laurencebr 0:2aa29a0824df 131
laurencebr 5:8e326d07f125 132 //Calibration Time
laurencebr 5:8e326d07f125 133
laurencebr 5:8e326d07f125 134 int countcalibration = 0;
laurencebr 5:8e326d07f125 135 double CalibrationTime = 20.0; //Tijd om te calibreren seconden
laurencebr 5:8e326d07f125 136
laurencebr 1:23834862b877 137 //EMGDINGEN
laurencebr 1:23834862b877 138
laurencebr 1:23834862b877 139 void ReadEMG()
laurencebr 1:23834862b877 140 {
laurencebr 7:de221f894d3b 141 /*
laurencebr 1:23834862b877 142 EMGdata1 = a0.read(); // store values in the scope
laurencebr 1:23834862b877 143 EMGdata2 = a1.read();
laurencebr 1:23834862b877 144 EMGdata3 = a2.read();
laurencebr 5:8e326d07f125 145 EMGdata4 = a3.read();
laurencebr 7:de221f894d3b 146 */
laurencebr 1:23834862b877 147 }
laurencebr 1:23834862b877 148
laurencebr 1:23834862b877 149 // EMG High pass filters
laurencebr 1:23834862b877 150 double EMG_HP1(double EMGdata) //data 1
laurencebr 1:23834862b877 151 {
laurencebr 1:23834862b877 152 double HP_abs_EMGdata = bqc1.step(EMGdata);
laurencebr 1:23834862b877 153
laurencebr 1:23834862b877 154 return fabs(HP_abs_EMGdata);
laurencebr 1:23834862b877 155 }
laurencebr 1:23834862b877 156
laurencebr 1:23834862b877 157 double EMG_HP2(double EMGdata) //data 2
laurencebr 1:23834862b877 158 {
laurencebr 1:23834862b877 159 double HP_abs_EMGdata = bqc2.step(EMGdata);
laurencebr 1:23834862b877 160
laurencebr 1:23834862b877 161 return fabs(HP_abs_EMGdata);
laurencebr 1:23834862b877 162 }
laurencebr 1:23834862b877 163
laurencebr 1:23834862b877 164 double EMG_HP3(double EMGdata) //data 3
laurencebr 1:23834862b877 165 {
laurencebr 1:23834862b877 166 double HP_abs_EMGdata = bqc3.step(EMGdata);
laurencebr 1:23834862b877 167
laurencebr 1:23834862b877 168 return fabs(HP_abs_EMGdata);
laurencebr 1:23834862b877 169 }
laurencebr 1:23834862b877 170
laurencebr 1:23834862b877 171 double EMG_HP4(double EMGdata) // data 4
laurencebr 1:23834862b877 172 {
laurencebr 1:23834862b877 173 double HP_abs_EMGdata = bqc4.step(EMGdata);
laurencebr 1:23834862b877 174
laurencebr 1:23834862b877 175 return fabs(HP_abs_EMGdata);
laurencebr 1:23834862b877 176 }
laurencebr 1:23834862b877 177
laurencebr 1:23834862b877 178 // EMG moving filter
laurencebr 1:23834862b877 179 double EMG_mean (double EMGarray[100])
laurencebr 1:23834862b877 180 {
laurencebr 1:23834862b877 181 double sum = 0.0;
laurencebr 1:23834862b877 182
laurencebr 1:23834862b877 183 for(int j=0; j<100; j++)
laurencebr 1:23834862b877 184 {
laurencebr 1:23834862b877 185 sum += EMGarray[j];
laurencebr 1:23834862b877 186 }
laurencebr 1:23834862b877 187
laurencebr 1:23834862b877 188 double EMG_filt = sum / 100.0;
laurencebr 1:23834862b877 189
laurencebr 1:23834862b877 190 return EMG_filt;
laurencebr 1:23834862b877 191 }
laurencebr 1:23834862b877 192
laurencebr 1:23834862b877 193 // Filtered signal to output between -1 and 1
laurencebr 1:23834862b877 194 double filt2kin (double EMG_filt1, double EMG_filt2, double max1, double max2)
laurencebr 1:23834862b877 195 {
laurencebr 1:23834862b877 196 double EMG_scaled1 = EMG_filt1 / max1;
laurencebr 1:23834862b877 197 double EMG_scaled2 = EMG_filt2 / max2;
laurencebr 1:23834862b877 198
laurencebr 1:23834862b877 199 double kin_input = EMG_scaled2 - EMG_scaled1;
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 if (kin_input < -1.0) {
laurencebr 1:23834862b877 205 kin_input = -1.0;
laurencebr 1:23834862b877 206 }
laurencebr 1:23834862b877 207
laurencebr 1:23834862b877 208 return kin_input;
laurencebr 1:23834862b877 209 }
laurencebr 1:23834862b877 210
laurencebr 1:23834862b877 211 void EMG ()
laurencebr 1:23834862b877 212 {
laurencebr 1:23834862b877 213 ReadEMG();
laurencebr 1:23834862b877 214
laurencebr 1:23834862b877 215 double HP_abs_EMGdata1 = EMG_HP1(EMGdata1);
laurencebr 1:23834862b877 216 double HP_abs_EMGdata2 = EMG_HP2(EMGdata2);
laurencebr 1:23834862b877 217 double HP_abs_EMGdata3 = EMG_HP3(EMGdata3);
laurencebr 1:23834862b877 218 double HP_abs_EMGdata4 = EMG_HP4(EMGdata4);
laurencebr 1:23834862b877 219
laurencebr 1:23834862b877 220 static double EMG_array1[100];
laurencebr 1:23834862b877 221 static double EMG_array2[100];
laurencebr 1:23834862b877 222 static double EMG_array3[100];
laurencebr 1:23834862b877 223 static double EMG_array4[100];
laurencebr 1:23834862b877 224
laurencebr 1:23834862b877 225 // Fill array 1
laurencebr 1:23834862b877 226 for(int i = 100-1; i >= 1; i--)
laurencebr 1:23834862b877 227 {
laurencebr 1:23834862b877 228 EMG_array1[i] = EMG_array1[i-1];
laurencebr 1:23834862b877 229 }
laurencebr 1:23834862b877 230 EMG_array1[0] = HP_abs_EMGdata1;
laurencebr 1:23834862b877 231
laurencebr 1:23834862b877 232 // Fill array 2
laurencebr 1:23834862b877 233 for(int i = 100-1; i >= 1; i--)
laurencebr 1:23834862b877 234 {
laurencebr 1:23834862b877 235 EMG_array2[i] = EMG_array2[i-1];
laurencebr 1:23834862b877 236 }
laurencebr 1:23834862b877 237 EMG_array2[0] = HP_abs_EMGdata2;
laurencebr 1:23834862b877 238
laurencebr 1:23834862b877 239 // Fill array 3
laurencebr 1:23834862b877 240 for(int i = 100-1; i >= 1; i--)
laurencebr 1:23834862b877 241 {
laurencebr 1:23834862b877 242 EMG_array3[i] = EMG_array3[i-1];
laurencebr 1:23834862b877 243 }
laurencebr 1:23834862b877 244 EMG_array3[0] = HP_abs_EMGdata3;
laurencebr 1:23834862b877 245
laurencebr 1:23834862b877 246 // Fill array 4
laurencebr 1:23834862b877 247 for(int i = 100-1; i >= 1; i--)
laurencebr 1:23834862b877 248 {
laurencebr 1:23834862b877 249 EMG_array4[i] = EMG_array4[i-1];
laurencebr 1:23834862b877 250 }
laurencebr 1:23834862b877 251 EMG_array4[0] = HP_abs_EMGdata4;
laurencebr 1:23834862b877 252
laurencebr 1:23834862b877 253
laurencebr 1:23834862b877 254 EMG_filt1 = EMG_mean(EMG_array1); //global maken
laurencebr 1:23834862b877 255 EMG_filt2 = EMG_mean(EMG_array2);
laurencebr 1:23834862b877 256 EMG_filt3 = EMG_mean(EMG_array3);
laurencebr 1:23834862b877 257 EMG_filt4 = EMG_mean(EMG_array4);
laurencebr 1:23834862b877 258
laurencebr 1:23834862b877 259
laurencebr 1:23834862b877 260
laurencebr 1:23834862b877 261 unit_vX = filt2kin (EMG_filt1, EMG_filt2, EMG_max1, EMG_max2);
laurencebr 1:23834862b877 262 unit_vY = filt2kin (EMG_filt3, EMG_filt4, EMG_max3, EMG_max4);
laurencebr 5:8e326d07f125 263 if (fabs(unit_vX)<0.1)
laurencebr 5:8e326d07f125 264 {
laurencebr 5:8e326d07f125 265 unit_vX = 0.0;
laurencebr 5:8e326d07f125 266 }
laurencebr 5:8e326d07f125 267 if (fabs(unit_vY)<0.1)
laurencebr 5:8e326d07f125 268 {
laurencebr 5:8e326d07f125 269 unit_vY = 0.0;
laurencebr 5:8e326d07f125 270 }
laurencebr 5:8e326d07f125 271
laurencebr 1:23834862b877 272
laurencebr 6:405ec2bba6d0 273 scope.set(0, EMG_filt1);
laurencebr 6:405ec2bba6d0 274 scope.set(1, EMG_filt2);
laurencebr 6:405ec2bba6d0 275 scope.set(2, unit_vX);
laurencebr 6:405ec2bba6d0 276 scope.set(3, EMG_filt3);
laurencebr 6:405ec2bba6d0 277 scope.set(4, EMG_filt4);
laurencebr 6:405ec2bba6d0 278 scope.set(5, unit_vY);
laurencebr 1:23834862b877 279
laurencebr 1:23834862b877 280
laurencebr 1:23834862b877 281 count++;
laurencebr 1:23834862b877 282
laurencebr 1:23834862b877 283 if (count == 100)
laurencebr 1:23834862b877 284 {
laurencebr 6:405ec2bba6d0 285 pc.printf("xRef = %1f, yRef = %1f, q2Ref = %1f, q1Ref = %1f \n\r", xRef, yRef, q2Ref, q1Ref);
laurencebr 1:23834862b877 286 count = 0;
laurencebr 1:23834862b877 287 }
laurencebr 1:23834862b877 288 }
laurencebr 1:23834862b877 289
laurencebr 1:23834862b877 290
laurencebr 0:2aa29a0824df 291
laurencebr 1:23834862b877 292 //PIDCONTROLLLLLLLLLL + INVERSE KINEMATIKS
laurencebr 1:23834862b877 293
laurencebr 1:23834862b877 294
laurencebr 1:23834862b877 295 //InverseKinematics
laurencebr 1:23834862b877 296
laurencebr 3:53fb8bd0a448 297 void inverse()
laurencebr 0:2aa29a0824df 298 {
laurencebr 1:23834862b877 299 double L1 = 40.0; // %define length of arm 1 attached to gear
laurencebr 3:53fb8bd0a448 300 double L3 = sqrt(pow(xRef,2.0)+pow(yRef,2.0));
laurencebr 3:53fb8bd0a448 301 double q3 = atan(yRef/xRef);
laurencebr 1:23834862b877 302 double q4 = 2.0*asin(0.5*L3/L1);
laurencebr 3:53fb8bd0a448 303 q1Ref = (0.5*3.1416-0.5*q4+q3)*9.0;
laurencebr 3:53fb8bd0a448 304 q2Ref = (3.1416-q1Ref/9.0-q4)*4.0;
laurencebr 1:23834862b877 305 }
laurencebr 0:2aa29a0824df 306
laurencebr 0:2aa29a0824df 307
laurencebr 1:23834862b877 308 void InverseKinematics ()// Kinematics function, takes imput between 1 and -1
laurencebr 0:2aa29a0824df 309 {
laurencebr 1:23834862b877 310
laurencebr 6:405ec2bba6d0 311 double V_max = 2.5; //Maximum velocity in either direction
laurencebr 1:23834862b877 312 // CM/s
laurencebr 1:23834862b877 313
laurencebr 1:23834862b877 314 double deltaX = TickerPeriod*V_max*unit_vX; // imput to delta
laurencebr 1:23834862b877 315 double deltaY = TickerPeriod*V_max*unit_vY;
laurencebr 1:23834862b877 316
laurencebr 3:53fb8bd0a448 317 xRef += deltaX;
laurencebr 3:53fb8bd0a448 318 yRef += deltaY;
laurencebr 1:23834862b877 319
laurencebr 3:53fb8bd0a448 320 inverse();
laurencebr 1:23834862b877 321
laurencebr 0:2aa29a0824df 322 }
laurencebr 0:2aa29a0824df 323
laurencebr 0:2aa29a0824df 324
laurencebr 0:2aa29a0824df 325 void ReadCurrentPosition() //Update the coordinates of the end-effector q1Pos, q2Pos
laurencebr 0:2aa29a0824df 326 {
laurencebr 3:53fb8bd0a448 327 q1Pos = -encoder1.getPulses()/32/131.25*2*3.1416 + 3.1416/2.0*9.0; //Position motor 1 in rad
laurencebr 0:2aa29a0824df 328 q2Pos = encoder2.getPulses()/32/131.25*2*3.1416; //Position motor 2 in rad
laurencebr 0:2aa29a0824df 329 }
laurencebr 0:2aa29a0824df 330
laurencebr 0:2aa29a0824df 331 void UpdateError() //Update the q1Error and q2Error values based on q1Ref, q2Ref, q1Pos, q2Pos
laurencebr 0:2aa29a0824df 332 {
laurencebr 0:2aa29a0824df 333 q1Error = q1Ref - q1Pos;
laurencebr 0:2aa29a0824df 334 q2Error = q2Ref - q2Pos;
laurencebr 0:2aa29a0824df 335
laurencebr 0:2aa29a0824df 336 //Update PrevErrorq1 and PrevErrorq2
laurencebr 0:2aa29a0824df 337
laurencebr 0:2aa29a0824df 338 for (int i = 0; i <= n-2 ; i++)
laurencebr 0:2aa29a0824df 339 {
laurencebr 0:2aa29a0824df 340 PrevErrorq1[i] = PrevErrorq1[i+1];
laurencebr 0:2aa29a0824df 341 PrevErrorq2[i] = PrevErrorq2[i+1];
laurencebr 0:2aa29a0824df 342 }
laurencebr 0:2aa29a0824df 343
laurencebr 0:2aa29a0824df 344 PrevErrorq1[n-1] = q1Error;
laurencebr 0:2aa29a0824df 345 PrevErrorq2[n-1] = q2Error;
laurencebr 0:2aa29a0824df 346 }
laurencebr 0:2aa29a0824df 347
laurencebr 0:2aa29a0824df 348 void PIDControl(){
laurencebr 0:2aa29a0824df 349 // Update PIDerrorq1 and PIDerrorq2 based on the gains and the values q1Error and q2Error
laurencebr 0:2aa29a0824df 350
laurencebr 0:2aa29a0824df 351
laurencebr 0:2aa29a0824df 352 // PID control motor 1
laurencebr 0:2aa29a0824df 353 //P-Control
laurencebr 0:2aa29a0824df 354 double P_error1 = GainP1 * q1Error;
laurencebr 0:2aa29a0824df 355
laurencebr 0:2aa29a0824df 356 //I-Control
laurencebr 0:2aa29a0824df 357 IntegralErrorq1 = IntegralErrorq1 + q1Error * TickerPeriod;
laurencebr 0:2aa29a0824df 358 double I_error1 = GainI1 * IntegralErrorq1;
laurencebr 0:2aa29a0824df 359
laurencebr 0:2aa29a0824df 360 //D-Control
laurencebr 0:2aa29a0824df 361 //First smoothen the error signal
laurencebr 7:de221f894d3b 362
laurencebr 0:2aa29a0824df 363 double MovAvq1_1 = 0.0;
laurencebr 0:2aa29a0824df 364 double MovAvq1_2 = 0.0;
laurencebr 7:de221f894d3b 365
laurencebr 0:2aa29a0824df 366 for (int i=0; i<=n-2; i++){ // Creates two mov. av. with one element shifted
laurencebr 0:2aa29a0824df 367 MovAvq1_1 = MovAvq1_1 + PrevErrorq1[i]/((double) (n-1));
laurencebr 0:2aa29a0824df 368 MovAvq1_2 = MovAvq1_2 + PrevErrorq1[i+1]/((double)(n-1));
laurencebr 0:2aa29a0824df 369 }
laurencebr 7:de221f894d3b 370 DerivativeErrorq1 = (MovAvq1_2 - MovAvq1_1)/TickerPeriod;
laurencebr 0:2aa29a0824df 371 double D_error1 = GainD1 * DerivativeErrorq1;
laurencebr 7:de221f894d3b 372
laurencebr 0:2aa29a0824df 373 // Derivative error sum over all time?
laurencebr 7:de221f894d3b 374
laurencebr 7:de221f894d3b 375
laurencebr 0:2aa29a0824df 376 PIDerrorq1 = P_error1 + I_error1 + D_error1;
laurencebr 0:2aa29a0824df 377
laurencebr 0:2aa29a0824df 378 // PID control motor 2
laurencebr 0:2aa29a0824df 379 //P-Control
laurencebr 0:2aa29a0824df 380 double P_error2 = GainP2 * q2Error;
laurencebr 0:2aa29a0824df 381
laurencebr 0:2aa29a0824df 382 //I-Control
laurencebr 0:2aa29a0824df 383 IntegralErrorq2 = IntegralErrorq2 + q2Error * TickerPeriod;
laurencebr 0:2aa29a0824df 384 double I_error2 = GainI2 * IntegralErrorq2;
laurencebr 0:2aa29a0824df 385
laurencebr 0:2aa29a0824df 386 //D-Control
laurencebr 0:2aa29a0824df 387 //First smoothen the error signal
laurencebr 7:de221f894d3b 388
laurencebr 0:2aa29a0824df 389 double MovAvq2_1 = 0.0;
laurencebr 0:2aa29a0824df 390 double MovAvq2_2 = 0.0;
laurencebr 0:2aa29a0824df 391 for (int i=0; i<=n-2; i++){ // Creates two mov. av. with one element shifted
laurencebr 0:2aa29a0824df 392 MovAvq2_1 = MovAvq2_1 + PrevErrorq2[i]/((double)(n-1));
laurencebr 0:2aa29a0824df 393 MovAvq2_2 = MovAvq2_2 + PrevErrorq2[i+1]/((double)(n-1));
laurencebr 0:2aa29a0824df 394 }
laurencebr 0:2aa29a0824df 395 DerivativeErrorq2 = (MovAvq2_2 - MovAvq2_1)/TickerPeriod;
laurencebr 0:2aa29a0824df 396 double D_error2 = GainD2 * DerivativeErrorq2;
laurencebr 7:de221f894d3b 397
laurencebr 7:de221f894d3b 398
laurencebr 0:2aa29a0824df 399 // Derivative error sum over all time?
laurencebr 0:2aa29a0824df 400
laurencebr 0:2aa29a0824df 401 PIDerrorq2 = P_error2 + I_error2 + D_error2;
laurencebr 0:2aa29a0824df 402 }
laurencebr 0:2aa29a0824df 403
laurencebr 0:2aa29a0824df 404
laurencebr 0:2aa29a0824df 405 void MotorControl()
laurencebr 0:2aa29a0824df 406 {
laurencebr 0:2aa29a0824df 407 //Motor 1
laurencebr 0:2aa29a0824df 408 //Keep signal within bounds
laurencebr 4:93c4e826d11d 409 if (PIDerrorq1 > 1.0){ //tijdelijk 0.6, hoort 1.0 te zijn
laurencebr 4:93c4e826d11d 410 PIDerrorq1 = 1.0;
laurencebr 0:2aa29a0824df 411 }
laurencebr 4:93c4e826d11d 412 else if (PIDerrorq1 < -1.0){
laurencebr 4:93c4e826d11d 413 PIDerrorq1 = -1.0;
laurencebr 0:2aa29a0824df 414 }
laurencebr 0:2aa29a0824df 415 //Direction
laurencebr 0:2aa29a0824df 416 if (PIDerrorq1 <= 0){
laurencebr 3:53fb8bd0a448 417 Motor1Direction = 1;
laurencebr 0:2aa29a0824df 418 Motor1PWM.write(-PIDerrorq1); //write Duty cycle
laurencebr 0:2aa29a0824df 419 }
laurencebr 0:2aa29a0824df 420 if (PIDerrorq1 >= 0){
laurencebr 3:53fb8bd0a448 421 Motor1Direction = 0;
laurencebr 0:2aa29a0824df 422 Motor1PWM.write(PIDerrorq1); //write Duty cycle
laurencebr 0:2aa29a0824df 423 }
laurencebr 0:2aa29a0824df 424
laurencebr 0:2aa29a0824df 425 //Motor 2
laurencebr 0:2aa29a0824df 426 //Keep signal within bounds
laurencebr 4:93c4e826d11d 427 if (PIDerrorq2 > 1.0){
laurencebr 4:93c4e826d11d 428 PIDerrorq2 = 1.0;
laurencebr 0:2aa29a0824df 429 }
laurencebr 4:93c4e826d11d 430 else if (PIDerrorq2 < -1.0){
laurencebr 4:93c4e826d11d 431 PIDerrorq2 = -1.0;
laurencebr 0:2aa29a0824df 432 }
laurencebr 0:2aa29a0824df 433 //Direction
laurencebr 0:2aa29a0824df 434
laurencebr 0:2aa29a0824df 435 if (PIDerrorq2 <= 0){
laurencebr 3:53fb8bd0a448 436 Motor2Direction = 1;
laurencebr 0:2aa29a0824df 437 Motor2PWM.write(-PIDerrorq2); //write Duty cycle
laurencebr 0:2aa29a0824df 438 }
laurencebr 0:2aa29a0824df 439 if (PIDerrorq2 >= 0){
laurencebr 3:53fb8bd0a448 440 Motor2Direction = 0;
laurencebr 0:2aa29a0824df 441 Motor2PWM.write(PIDerrorq2); //write Duty cycle
laurencebr 0:2aa29a0824df 442 }
laurencebr 0:2aa29a0824df 443 }
laurencebr 0:2aa29a0824df 444
laurencebr 3:53fb8bd0a448 445
laurencebr 3:53fb8bd0a448 446
laurencebr 3:53fb8bd0a448 447 void DemonstrationPath()
laurencebr 3:53fb8bd0a448 448 {
laurencebr 3:53fb8bd0a448 449
laurencebr 3:53fb8bd0a448 450 // Also think about how to move from whatever position to (40,5)
laurencebr 3:53fb8bd0a448 451 if (DemoStage == 0) //From (40,40) to (40,-5)
laurencebr 3:53fb8bd0a448 452 {
laurencebr 3:53fb8bd0a448 453 if (yRef >0)
laurencebr 3:53fb8bd0a448 454 {
laurencebr 3:53fb8bd0a448 455 yRef = yRef - vyMax * TickerPeriod;
laurencebr 3:53fb8bd0a448 456 }
laurencebr 3:53fb8bd0a448 457 else
laurencebr 3:53fb8bd0a448 458 {
laurencebr 3:53fb8bd0a448 459 DemoStage = 1;
laurencebr 3:53fb8bd0a448 460 }
laurencebr 3:53fb8bd0a448 461 }
laurencebr 3:53fb8bd0a448 462 else if (DemoStage == 1) //From (40,-5) to (65,-5)
laurencebr 3:53fb8bd0a448 463 {
laurencebr 3:53fb8bd0a448 464 if (xRef > 30)
laurencebr 3:53fb8bd0a448 465 {
laurencebr 3:53fb8bd0a448 466 xRef = xRef - vxMax * TickerPeriod;
laurencebr 3:53fb8bd0a448 467 }
laurencebr 3:53fb8bd0a448 468 else
laurencebr 3:53fb8bd0a448 469 {
laurencebr 3:53fb8bd0a448 470 DemoStage = 2;
laurencebr 3:53fb8bd0a448 471 }
laurencebr 3:53fb8bd0a448 472 }
laurencebr 3:53fb8bd0a448 473 else if (DemoStage == 2)
laurencebr 3:53fb8bd0a448 474 {
laurencebr 3:53fb8bd0a448 475 if (yRef < 10) //From (65,-5) to (65, 10)
laurencebr 3:53fb8bd0a448 476 {
laurencebr 3:53fb8bd0a448 477 yRef = yRef + TickerPeriod;
laurencebr 3:53fb8bd0a448 478 }
laurencebr 3:53fb8bd0a448 479 else
laurencebr 3:53fb8bd0a448 480 {
laurencebr 3:53fb8bd0a448 481 DemoStage = 3;
laurencebr 3:53fb8bd0a448 482 }
laurencebr 3:53fb8bd0a448 483 }
laurencebr 3:53fb8bd0a448 484 else if (DemoStage == 3) //From (65,10) to (40,10)
laurencebr 3:53fb8bd0a448 485 {
laurencebr 3:53fb8bd0a448 486 if (xRef < 40)
laurencebr 3:53fb8bd0a448 487 {
laurencebr 3:53fb8bd0a448 488 xRef = xRef + vxMax * TickerPeriod;
laurencebr 3:53fb8bd0a448 489 }
laurencebr 3:53fb8bd0a448 490 else
laurencebr 3:53fb8bd0a448 491 {
laurencebr 3:53fb8bd0a448 492 DemoStage = 0; // Repeat moving in the square pattern
laurencebr 3:53fb8bd0a448 493 }
laurencebr 3:53fb8bd0a448 494 }
laurencebr 3:53fb8bd0a448 495 }
laurencebr 6:405ec2bba6d0 496 void TestPath()
laurencebr 7:de221f894d3b 497 {
laurencebr 7:de221f894d3b 498 if (DemoStage == 0) //From (40,40) to (40,-5)
laurencebr 6:405ec2bba6d0 499 {
laurencebr 7:de221f894d3b 500 if (yRef > 20.0)
laurencebr 6:405ec2bba6d0 501 {
laurencebr 6:405ec2bba6d0 502 yRef = yRef - vyMax * TickerPeriod;
laurencebr 6:405ec2bba6d0 503 }
laurencebr 6:405ec2bba6d0 504 else
laurencebr 6:405ec2bba6d0 505 {
laurencebr 6:405ec2bba6d0 506 DemoStage = 1;
laurencebr 6:405ec2bba6d0 507 }
laurencebr 6:405ec2bba6d0 508 }
laurencebr 7:de221f894d3b 509
laurencebr 6:405ec2bba6d0 510 else if (DemoStage == 1)
laurencebr 6:405ec2bba6d0 511 {
laurencebr 7:de221f894d3b 512 if (yRef < 35.0) //From (65,-5) to (65, 10)
laurencebr 6:405ec2bba6d0 513 {
laurencebr 7:de221f894d3b 514 yRef = yRef + TickerPeriod;
laurencebr 6:405ec2bba6d0 515 }
laurencebr 6:405ec2bba6d0 516 else
laurencebr 6:405ec2bba6d0 517 {
laurencebr 6:405ec2bba6d0 518 DemoStage = 0;
laurencebr 6:405ec2bba6d0 519 }
laurencebr 6:405ec2bba6d0 520 }
laurencebr 7:de221f894d3b 521
laurencebr 6:405ec2bba6d0 522 }
laurencebr 3:53fb8bd0a448 523
laurencebr 3:53fb8bd0a448 524
laurencebr 3:53fb8bd0a448 525
laurencebr 7:de221f894d3b 526
laurencebr 7:de221f894d3b 527
laurencebr 5:8e326d07f125 528 void CalibrationButton()
laurencebr 5:8e326d07f125 529 {
laurencebr 5:8e326d07f125 530 ledred = 1;
laurencebr 5:8e326d07f125 531 ledgreen = 1;
laurencebr 5:8e326d07f125 532 ledblue = 0;
laurencebr 5:8e326d07f125 533
laurencebr 5:8e326d07f125 534 EMG_max1 = 0.0001;
laurencebr 5:8e326d07f125 535 EMG_max2 = 0.0001;
laurencebr 5:8e326d07f125 536 EMG_max3 = 0.0001;
laurencebr 5:8e326d07f125 537 EMG_max4 = 0.0001;
laurencebr 5:8e326d07f125 538
laurencebr 5:8e326d07f125 539 State = EMGCalibrationState;
laurencebr 5:8e326d07f125 540
laurencebr 5:8e326d07f125 541
laurencebr 5:8e326d07f125 542 }
laurencebr 5:8e326d07f125 543
laurencebr 5:8e326d07f125 544 void EMGCalibration()
laurencebr 5:8e326d07f125 545 {
laurencebr 5:8e326d07f125 546 if (0.95*EMG_filt1>EMG_max1)
laurencebr 5:8e326d07f125 547 {
laurencebr 5:8e326d07f125 548 EMG_max1 = 0.95*EMG_filt1;
laurencebr 5:8e326d07f125 549 }
laurencebr 5:8e326d07f125 550 if (0.95*EMG_filt2>EMG_max2)
laurencebr 5:8e326d07f125 551
laurencebr 5:8e326d07f125 552 {
laurencebr 5:8e326d07f125 553 EMG_max2 = 0.95*EMG_filt2;
laurencebr 5:8e326d07f125 554 }
laurencebr 5:8e326d07f125 555
laurencebr 5:8e326d07f125 556 if (0.95*EMG_filt3>EMG_max3)
laurencebr 5:8e326d07f125 557 {
laurencebr 5:8e326d07f125 558 EMG_max3 = 0.95*EMG_filt3;
laurencebr 5:8e326d07f125 559 }
laurencebr 5:8e326d07f125 560 if (0.95*EMG_filt4>EMG_max4)
laurencebr 5:8e326d07f125 561 {
laurencebr 5:8e326d07f125 562 EMG_max4 = 0.95*EMG_filt4;
laurencebr 5:8e326d07f125 563 }
laurencebr 5:8e326d07f125 564
laurencebr 5:8e326d07f125 565 }
laurencebr 5:8e326d07f125 566
laurencebr 5:8e326d07f125 567
laurencebr 5:8e326d07f125 568
laurencebr 3:53fb8bd0a448 569 void CalibrationModus()
laurencebr 3:53fb8bd0a448 570 {
laurencebr 5:8e326d07f125 571
laurencebr 5:8e326d07f125 572 EMG();
laurencebr 5:8e326d07f125 573 EMGCalibration();
laurencebr 5:8e326d07f125 574
laurencebr 5:8e326d07f125 575 countcalibration++;
laurencebr 5:8e326d07f125 576 pc.printf("countcal = %i", countcalibration);
laurencebr 5:8e326d07f125 577 if (countcalibration >= (int)(CalibrationTime*1.0/TickerPeriod))
laurencebr 5:8e326d07f125 578 {
laurencebr 5:8e326d07f125 579 State = NormalOperatingModusState;
laurencebr 5:8e326d07f125 580 countcalibration = 0;
laurencebr 5:8e326d07f125 581 }
laurencebr 5:8e326d07f125 582
laurencebr 3:53fb8bd0a448 583 }
laurencebr 3:53fb8bd0a448 584
laurencebr 3:53fb8bd0a448 585 void DemoModus() // The ticker should call this function (in the switch statement)
laurencebr 3:53fb8bd0a448 586 {
laurencebr 5:8e326d07f125 587
laurencebr 7:de221f894d3b 588 GainP1 = 40.0;//Ppot.read()*100.0;
laurencebr 7:de221f894d3b 589 GainI1 = 17.0;//Ipot.read()*20.0;
laurencebr 7:de221f894d3b 590 GainD1 = 2.0;//Dpot.read()*20.0;
laurencebr 7:de221f894d3b 591 GainP2 = Ppot.read()*100.0;
laurencebr 7:de221f894d3b 592 GainI2 = Ipot.read()*20.0;
laurencebr 7:de221f894d3b 593 GainD2 = Dpot.read()*20.0;
laurencebr 5:8e326d07f125 594
laurencebr 6:405ec2bba6d0 595 //DemonstrationPath();
laurencebr 6:405ec2bba6d0 596 TestPath();
laurencebr 3:53fb8bd0a448 597 inverse();
laurencebr 3:53fb8bd0a448 598 ReadCurrentPosition();
laurencebr 3:53fb8bd0a448 599 UpdateError();
laurencebr 3:53fb8bd0a448 600 PIDControl();
laurencebr 3:53fb8bd0a448 601 MotorControl();
laurencebr 3:53fb8bd0a448 602
laurencebr 5:8e326d07f125 603 //scope.set(0, q1Pos);
laurencebr 5:8e326d07f125 604 // scope.set(1, q1Ref);
laurencebr 5:8e326d07f125 605 //scope.set(2, q2Pos);
laurencebr 5:8e326d07f125 606 //scope.set(3, q2Ref);
laurencebr 5:8e326d07f125 607
laurencebr 3:53fb8bd0a448 608 count++;
laurencebr 3:53fb8bd0a448 609 if (count ==400)
laurencebr 3:53fb8bd0a448 610 {
laurencebr 7:de221f894d3b 611 pc.printf("GainP = %lf, GainI = %lf, GainD = %lf, q1Pos = %lf, q2Pos = %lf, q1Ref = %lf, q2Ref = %lf, xRef = %lf, yRef = %lf \n\r", GainP2, GainI2, GainD2, q1Pos, q2Pos, q1Ref, q2Ref, xRef, yRef);
laurencebr 3:53fb8bd0a448 612 count = 0;
laurencebr 3:53fb8bd0a448 613 }
laurencebr 3:53fb8bd0a448 614 }
laurencebr 3:53fb8bd0a448 615
laurencebr 3:53fb8bd0a448 616
laurencebr 0:2aa29a0824df 617 void NormalOperatingModus()
laurencebr 0:2aa29a0824df 618 {
laurencebr 5:8e326d07f125 619 ledred = 1;
laurencebr 5:8e326d07f125 620 ledgreen = 0;
laurencebr 5:8e326d07f125 621 ledblue = 1;
laurencebr 5:8e326d07f125 622
laurencebr 3:53fb8bd0a448 623 EMG();
laurencebr 0:2aa29a0824df 624 InverseKinematics();
laurencebr 0:2aa29a0824df 625 ReadCurrentPosition();
laurencebr 0:2aa29a0824df 626 UpdateError();
laurencebr 0:2aa29a0824df 627 PIDControl();
laurencebr 0:2aa29a0824df 628 MotorControl();
laurencebr 0:2aa29a0824df 629
laurencebr 3:53fb8bd0a448 630 //scope.set(0, q1Pos);
laurencebr 3:53fb8bd0a448 631 //scope.set(1, q1Ref);
laurencebr 0:2aa29a0824df 632
laurencebr 4:93c4e826d11d 633 //GainP1 = pot3.read() * 10;
laurencebr 4:93c4e826d11d 634 //GainI1 = pot2.read() * 10;
laurencebr 4:93c4e826d11d 635 //GainD1 = pot1.read() ;
laurencebr 0:2aa29a0824df 636
laurencebr 0:2aa29a0824df 637 countstep++;
laurencebr 1:23834862b877 638 counter++;
laurencebr 1:23834862b877 639 if (counter == 400) // print 1x per seconde waardes.
laurencebr 0:2aa29a0824df 640 {
laurencebr 6:405ec2bba6d0 641 //pc.printf("xRef = %lf, q1Pos = %lf, q1Ref = %1f \n\r", xRef, q1Pos, q1Ref);
laurencebr 1:23834862b877 642 counter = 0;
laurencebr 0:2aa29a0824df 643 }
laurencebr 0:2aa29a0824df 644 if (countstep == 4000)
laurencebr 0:2aa29a0824df 645 {
laurencebr 0:2aa29a0824df 646 q1Ref = !q1Ref;
laurencebr 0:2aa29a0824df 647 countstep = 0;
laurencebr 0:2aa29a0824df 648 }
laurencebr 0:2aa29a0824df 649
laurencebr 0:2aa29a0824df 650
laurencebr 0:2aa29a0824df 651 }
laurencebr 3:53fb8bd0a448 652
laurencebr 5:8e326d07f125 653
laurencebr 0:2aa29a0824df 654
laurencebr 5:8e326d07f125 655 void StateMachine()
laurencebr 3:53fb8bd0a448 656 {
laurencebr 5:8e326d07f125 657
laurencebr 5:8e326d07f125 658
laurencebr 5:8e326d07f125 659 if (ButtonCal.read() == 0)
laurencebr 5:8e326d07f125 660 {
laurencebr 5:8e326d07f125 661 CalibrationButton();
laurencebr 5:8e326d07f125 662 pc.printf("print iets");
laurencebr 5:8e326d07f125 663 }
laurencebr 5:8e326d07f125 664
laurencebr 3:53fb8bd0a448 665 switch(State)
laurencebr 3:53fb8bd0a448 666 {
laurencebr 5:8e326d07f125 667 case WaitModusState: //aanmaken
laurencebr 3:53fb8bd0a448 668 EMG();
laurencebr 5:8e326d07f125 669 pc.printf("Wait \n\r");
laurencebr 3:53fb8bd0a448 670 break;
laurencebr 5:8e326d07f125 671 case EMGCalibrationState:
laurencebr 5:8e326d07f125 672 CalibrationModus();
laurencebr 5:8e326d07f125 673 //pc.printf("EMG CAL \n\r");
laurencebr 3:53fb8bd0a448 674 break;
laurencebr 5:8e326d07f125 675 case NormalOperatingModusState:
laurencebr 3:53fb8bd0a448 676 NormalOperatingModus();
laurencebr 5:8e326d07f125 677 //pc.printf("NOMS \n\r");
laurencebr 3:53fb8bd0a448 678 break;
laurencebr 5:8e326d07f125 679 case DemoModusState:
laurencebr 5:8e326d07f125 680 DemoModus();
laurencebr 7:de221f894d3b 681 //pc.printf("Demo \n\r");
laurencebr 3:53fb8bd0a448 682 break;
laurencebr 3:53fb8bd0a448 683 default :
laurencebr 3:53fb8bd0a448 684 }
laurencebr 3:53fb8bd0a448 685 }
laurencebr 5:8e326d07f125 686
laurencebr 3:53fb8bd0a448 687
laurencebr 0:2aa29a0824df 688
laurencebr 0:2aa29a0824df 689 int main()
laurencebr 0:2aa29a0824df 690 {
laurencebr 0:2aa29a0824df 691 pc.baud(115200);
laurencebr 1:23834862b877 692
laurencebr 5:8e326d07f125 693 /*
laurencebr 5:8e326d07f125 694 GainP1 = pot3.read() * 10;
laurencebr 5:8e326d07f125 695 GainI1 = pot2.read() * 10;
laurencebr 5:8e326d07f125 696 GainD1 = pot1.read();
laurencebr 5:8e326d07f125 697 */
laurencebr 6:405ec2bba6d0 698
laurencebr 5:8e326d07f125 699 pc.printf("GainP = %lf, GainI = %lf, GainP = %lf, nog 10 seconden \n\r", GainP1, GainI1, GainD1);
laurencebr 3:53fb8bd0a448 700 wait(7.0);
laurencebr 3:53fb8bd0a448 701 pc.printf("nog 3 seconden \n\r");
laurencebr 3:53fb8bd0a448 702 wait(3.0);
laurencebr 6:405ec2bba6d0 703
laurencebr 3:53fb8bd0a448 704
laurencebr 1:23834862b877 705 //BiQuad chains
laurencebr 6:405ec2bba6d0 706 bqc1.add( &HP_emg1 ).add( &Notch_emg1 );//.add( &LP1);
laurencebr 6:405ec2bba6d0 707 bqc2.add( &HP_emg2 ).add( &Notch_emg2 );//.add( &LP2);
laurencebr 6:405ec2bba6d0 708 bqc3.add( &HP_emg3 ).add( &Notch_emg3 );//.add( &LP3);
laurencebr 6:405ec2bba6d0 709 bqc4.add( &HP_emg4 ).add( &Notch_emg4 );//.add( &LP4);
laurencebr 1:23834862b877 710
laurencebr 0:2aa29a0824df 711 //Initialize array errors to 0
laurencebr 7:de221f894d3b 712 for (int i = 0; i <= 99; i++){
laurencebr 7:de221f894d3b 713 PrevErrorq1[i] = 0;
laurencebr 0:2aa29a0824df 714 PrevErrorq2[i] = 0;
laurencebr 0:2aa29a0824df 715 }
laurencebr 0:2aa29a0824df 716
laurencebr 7:de221f894d3b 717 double frequency_pwm = 16700.0; //16.7 kHz PWM
laurencebr 7:de221f894d3b 718 Motor1PWM.period_us(1.0/frequency_pwm); // T = 1/f
laurencebr 7:de221f894d3b 719 Motor2PWM.period_us(1.0/frequency_pwm); // T = 1/f
laurencebr 0:2aa29a0824df 720
laurencebr 5:8e326d07f125 721 //Emg Calibratie button
laurencebr 5:8e326d07f125 722 //ButtonCal.fall(&CalibrationButton);
laurencebr 5:8e326d07f125 723
laurencebr 3:53fb8bd0a448 724
laurencebr 5:8e326d07f125 725
laurencebr 5:8e326d07f125 726 Kikker.attach(StateMachine, TickerPeriod);
laurencebr 5:8e326d07f125 727 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e4);
laurencebr 0:2aa29a0824df 728
laurencebr 1:23834862b877 729 //Onderstaande stond in EMG deel, kijken hoe en wat met tickers!!
laurencebr 1:23834862b877 730 // Attach the HIDScope::send method from the scope object to the timer at 50Hz
laurencebr 5:8e326d07f125 731 scopeTimer.attach_us(&scope, &HIDScope::send, 5e3);
laurencebr 1:23834862b877 732 //EMGTicker.attach_us(EMG_filtering, 5e3);
laurencebr 1:23834862b877 733 //.
laurencebr 1:23834862b877 734
laurencebr 0:2aa29a0824df 735 while(true);
laurencebr 0:2aa29a0824df 736 {}
laurencebr 0:2aa29a0824df 737 }
laurencebr 0:2aa29a0824df 738
laurencebr 0:2aa29a0824df 739
laurencebr 0:2aa29a0824df 740
laurencebr 0:2aa29a0824df 741