Meike Froklage / Mbed 2 deprecated The_Claw_with_EMG_Control_PID

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Dependencies:   HIDScope MODSERIAL Motordriver QEI Servo mbed

Fork of The_Claw_with_EMG_Control by Meike Froklage

main.cpp@16:3c9a3ff09765, 2016-11-03 (annotated)

Committer:
meikefrok
Date:
Thu Nov 03 16:50:49 2016 +0000
Revision:
16:3c9a3ff09765
Parent:
15:caf29b6f5261
Child:
17:18e9df406502
the final, zeer mooi;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
megrootens 0:048fbd80203e 1 #include "mbed.h"
meikefrok 5:3d88f7506cd9 2 #include "MODSERIAL.h"
meikefrok 5:3d88f7506cd9 3 #define SERIAL_BAUD 115200
meikefrok 3:3a671d01bcb8 4 #include "motordriver.h"
meikefrok 5:3d88f7506cd9 5 #include "QEI.h"
meikefrok 5:3d88f7506cd9 6 #include "Servo.h"
meikefrok 10:31e4c3d71ee6 7 #include "HIDScope.h"
megrootens 0:048fbd80203e 8
meikefrok 5:3d88f7506cd9 9 //======== Serial Communication ================================================
megrootens 0:048fbd80203e 10 MODSERIAL pc(USBTX,USBRX);
megrootens 0:048fbd80203e 11
meikefrok 5:3d88f7506cd9 12 //======== Motor and QEI =======================================================
meikefrok 5:3d88f7506cd9 13 int Brakeable;
meikefrok 5:3d88f7506cd9 14 int sign;
meikefrok 5:3d88f7506cd9 15
meikefrok 5:3d88f7506cd9 16 // motor
meikefrok 5:3d88f7506cd9 17 Motor Cart(D5, D4, D4, Brakeable); // right motor
meikefrok 5:3d88f7506cd9 18 Motor Arm(D6,D7, D7, Brakeable); // left motor
meikefrok 5:3d88f7506cd9 19
meikefrok 5:3d88f7506cd9 20 // qei
meikefrok 6:23b1ed826b59 21 QEI Encoder_Cart(D10, D11, NC, 6400);
meikefrok 6:23b1ed826b59 22 QEI Encoder_Arm(D12, D13, NC, 6400);
megrootens 0:048fbd80203e 23
meikefrok 5:3d88f7506cd9 24 // servo
meikefrok 5:3d88f7506cd9 25 Servo servo(D9);
megrootens 0:048fbd80203e 26
meikefrok 10:31e4c3d71ee6 27 HIDScope scope(2); //scope has two ports for the two EMG signals
meikefrok 10:31e4c3d71ee6 28
meikefrok 5:3d88f7506cd9 29 //======== Miscellaneous =======================================================
meikefrok 5:3d88f7506cd9 30 // button
meikefrok 5:3d88f7506cd9 31 InterruptIn btn(SW2);
meikefrok 5:3d88f7506cd9 32 InterruptIn btn2(SW3);
meikefrok 5:3d88f7506cd9 33
meikefrok 5:3d88f7506cd9 34 InterruptIn btn_cart(D1);
meikefrok 5:3d88f7506cd9 35 InterruptIn btn_arm(D2);
meikefrok 5:3d88f7506cd9 36 InterruptIn btn_claw(D3);
meikefrok 5:3d88f7506cd9 37
meikefrok 5:3d88f7506cd9 38 // led
meikefrok 2:ad4b181a6422 39 DigitalOut led_r(LED_RED);
meikefrok 2:ad4b181a6422 40 DigitalOut led_g(LED_GREEN);
meikefrok 2:ad4b181a6422 41 DigitalOut led_b(LED_BLUE);
megrootens 0:048fbd80203e 42
meikefrok 5:3d88f7506cd9 43 // potmeter
meikefrok 5:3d88f7506cd9 44 AnalogIn pot_cart(A2);
meikefrok 5:3d88f7506cd9 45 AnalogIn pot_arm(A3);
megrootens 0:048fbd80203e 46
meikefrok 7:9715323b20ac 47 AnalogIn emgl(A1); // labels are attached to the olimex shields the left tricep should obviously be connected to the should with an L label on it
meikefrok 7:9715323b20ac 48 AnalogIn emgr(A0);
meikefrok 7:9715323b20ac 49
meikefrok 5:3d88f7506cd9 50 // ticker
meikefrok 8:ac4e5afbdbcd 51 Ticker tick_part; // ticker to switch parts
meikefrok 15:caf29b6f5261 52 Ticker tick_part_arm;
meikefrok 15:caf29b6f5261 53 Ticker tick_part_claw;
meikefrok 10:31e4c3d71ee6 54 Ticker sampleTicker;
meikefrok 15:caf29b6f5261 55 Ticker measureTicker;
meikefrok 15:caf29b6f5261 56 Ticker sampleTicker_claw;
meikefrok 5:3d88f7506cd9 57
meikefrok 5:3d88f7506cd9 58 //======== Variables ===========================================================
megrootens 0:048fbd80203e 59 // counters
meikefrok 5:3d88f7506cd9 60 int num_turned_on_0 = 0; // count number of times red LED turned on
meikefrok 5:3d88f7506cd9 61 int num_turned_on_1 = 0; // count number of times green LED turned on
meikefrok 5:3d88f7506cd9 62 int num_turned_on_2 = 0; // count number of times blue LED turned on
meikefrok 5:3d88f7506cd9 63
meikefrok 5:3d88f7506cd9 64 int num_claw_turned_on_0 = 0; // count number of times red LED turned on
meikefrok 5:3d88f7506cd9 65 int num_claw_turned_on_1 = 0; // count number of times green LED turned on
meikefrok 5:3d88f7506cd9 66 int num_claw_turned_on_2 = 0; // count number of times blue LED turned on
megrootens 0:048fbd80203e 67
meikefrok 5:3d88f7506cd9 68 // speed
meikefrok 16:3c9a3ff09765 69 double cart_speed = 0.2;
meikefrok 6:23b1ed826b59 70 double arm_speed = 0.1;
megrootens 0:048fbd80203e 71
meikefrok 5:3d88f7506cd9 72 // position
meikefrok 12:b31df384b170 73 float factor_cart = 0.05802;
meikefrok 5:3d88f7506cd9 74 float factor_arm = 0.1539;
meikefrok 5:3d88f7506cd9 75 int position_cart;
meikefrok 5:3d88f7506cd9 76 int position_arm;
meikefrok 5:3d88f7506cd9 77 float ain_cart; //Variable to store the analog input of the cart
meikefrok 5:3d88f7506cd9 78 float ain_arm; //Variable to store the analog input of the arm
megrootens 0:048fbd80203e 79
meikefrok 6:23b1ed826b59 80 int position_claw;
meikefrok 6:23b1ed826b59 81
meikefrok 6:23b1ed826b59 82
meikefrok 5:3d88f7506cd9 83 // miscellaneous
meikefrok 12:b31df384b170 84 const float kTimeToggle = 0.05f; // period with which to toggle the parts
meikefrok 5:3d88f7506cd9 85 const int LedOn = 0; // LED on if 0
meikefrok 7:9715323b20ac 86 volatile int part_id = 1; // ID of what part should move, begins with the cart
meikefrok 5:3d88f7506cd9 87 volatile int servo_id = 1; // ID to the side the servo should move, begins in center position
meikefrok 3:3a671d01bcb8 88
meikefrok 15:caf29b6f5261 89 int waiting_claw = 1000;
meikefrok 15:caf29b6f5261 90
meikefrok 7:9715323b20ac 91 //======== Variables Filter ====================================================
meikefrok 7:9715323b20ac 92 /*coefficients of each filter
meikefrok 7:9715323b20ac 93 lno = left tricep notch filter
meikefrok 7:9715323b20ac 94 lhf = left tricep high pass filter
meikefrok 7:9715323b20ac 95 llf = left tricep lowpass filter
meikefrok 7:9715323b20ac 96 same goes for rno etc.
meikefrok 7:9715323b20ac 97 */
meikefrok 7:9715323b20ac 98 double lno_b0 = 0.9911;
meikefrok 7:9715323b20ac 99 double lno_b1 = -1.6036;
meikefrok 7:9715323b20ac 100 double lno_b2 = 0.9911;
meikefrok 7:9715323b20ac 101 double lno_a1 = -1.603;
meikefrok 7:9715323b20ac 102 double lno_a2 = 0.9822;
meikefrok 7:9715323b20ac 103
meikefrok 7:9715323b20ac 104 double rno_b0 = 0.9911;
meikefrok 7:9715323b20ac 105 double rno_b1 = -1.6036;
meikefrok 7:9715323b20ac 106 double rno_b2 = 0.9911;
meikefrok 7:9715323b20ac 107 double rno_a1 = -1.603;
meikefrok 7:9715323b20ac 108 double rno_a2 = 0.9822;
meikefrok 7:9715323b20ac 109
meikefrok 7:9715323b20ac 110 double lno2_b0 = 0.9824;
meikefrok 7:9715323b20ac 111 double lno2_b1 = -0.6071;
meikefrok 7:9715323b20ac 112 double lno2_b2 = 0.9824;
meikefrok 7:9715323b20ac 113 double lno2_a1 = -0.6071;
meikefrok 7:9715323b20ac 114 double lno2_a2 = 0.9647;
meikefrok 7:9715323b20ac 115
meikefrok 7:9715323b20ac 116 double rno2_b0 = 0.9824;
meikefrok 7:9715323b20ac 117 double rno2_b1 = -0.6071;
meikefrok 7:9715323b20ac 118 double rno2_b2 = 0.9824;
meikefrok 7:9715323b20ac 119 double rno2_a1 = -0.6071;
meikefrok 7:9715323b20ac 120 double rno2_a2 = 0.9647;
meikefrok 7:9715323b20ac 121
meikefrok 7:9715323b20ac 122 double lhf_b0 = 0.9355;
meikefrok 7:9715323b20ac 123 double lhf_b1 = -1.8711;
meikefrok 7:9715323b20ac 124 double lhf_b2 = 0.9355;
meikefrok 7:9715323b20ac 125 double lhf_a1 = -1.8669;
meikefrok 7:9715323b20ac 126 double lhf_a2 = 0.8752;
meikefrok 7:9715323b20ac 127
meikefrok 7:9715323b20ac 128 double rhf_b0 = 0.9355;
meikefrok 7:9715323b20ac 129 double rhf_b1 = -1.8711;
meikefrok 7:9715323b20ac 130 double rhf_b2 = 0.9355;
meikefrok 7:9715323b20ac 131 double rhf_a1 = -1.8669;
meikefrok 7:9715323b20ac 132 double rhf_a2 = 0.8752;
meikefrok 7:9715323b20ac 133
meikefrok 7:9715323b20ac 134
meikefrok 7:9715323b20ac 135 double llf_b0 = 8.7656e-5;
meikefrok 7:9715323b20ac 136 double llf_b1 = 1.17531e-4;
meikefrok 7:9715323b20ac 137 double llf_b2 = 8.7656e-5;
meikefrok 7:9715323b20ac 138 double llf_a1 = -1.9733;
meikefrok 7:9715323b20ac 139 double llf_a2 = 0.9737;
meikefrok 7:9715323b20ac 140
meikefrok 7:9715323b20ac 141 double rlf_b0 = 8.7656e-5;
meikefrok 7:9715323b20ac 142 double rlf_b1 = 1.17531e-4;
meikefrok 7:9715323b20ac 143 double rlf_b2 = 8.7656e-5;
meikefrok 7:9715323b20ac 144 double rlf_a1 = -1.9733;
meikefrok 7:9715323b20ac 145 double rlf_a2 = 0.9737;
meikefrok 7:9715323b20ac 146
meikefrok 7:9715323b20ac 147
meikefrok 7:9715323b20ac 148 //starting values of the biquads of the corresponding filters
meikefrok 7:9715323b20ac 149 double lno_v1 = 0, lno_v2 = 0;
meikefrok 7:9715323b20ac 150 double lno2_v1 = 0, lno2_v2 = 0;
meikefrok 7:9715323b20ac 151 double lhf_v1 = 0, lhf_v2 = 0;
meikefrok 7:9715323b20ac 152 double llf_v1 = 0, llf_v2 = 0;
meikefrok 7:9715323b20ac 153
meikefrok 7:9715323b20ac 154 double rno_v1 = 0, rno_v2 = 0;
meikefrok 7:9715323b20ac 155 double rno2_v1 = 0, rno2_v2 = 0;
meikefrok 7:9715323b20ac 156 double rhf_v1 = 0, rhf_v2 = 0;
meikefrok 7:9715323b20ac 157 double rlf_v1 = 0, rlf_v2 = 0;
meikefrok 7:9715323b20ac 158
meikefrok 7:9715323b20ac 159 /* declaration of the outputs of each biquad.
meikefrok 7:9715323b20ac 160 the output of the previous biquad is the input for the next biquad.
meikefrok 7:9715323b20ac 161 so lno_y goes into lhf_y etc.
meikefrok 7:9715323b20ac 162 */
meikefrok 7:9715323b20ac 163 double lno_y;
meikefrok 7:9715323b20ac 164 double lno2_y;
meikefrok 7:9715323b20ac 165 double lhf_y;
meikefrok 7:9715323b20ac 166 double llf_y;
meikefrok 7:9715323b20ac 167 double lrect_y;
meikefrok 7:9715323b20ac 168 double rno_y;
meikefrok 7:9715323b20ac 169 double rno2_y;
meikefrok 7:9715323b20ac 170 double rhf_y;
meikefrok 7:9715323b20ac 171 double rlf_y;
meikefrok 7:9715323b20ac 172 double rrect_y;
meikefrok 7:9715323b20ac 173
meikefrok 16:3c9a3ff09765 174
meikefrok 7:9715323b20ac 175 // set the threshold value for the filtered signal
meikefrok 7:9715323b20ac 176 //if the signal exceeds this value the motors will start to rotate
meikefrok 16:3c9a3ff09765 177 const double threshold_value= 0.1;
meikefrok 15:caf29b6f5261 178 const double threshold_value_claw= 0.08;
meikefrok 16:3c9a3ff09765 179 const double threshold_value_cart=0.08;
meikefrok 15:caf29b6f5261 180
meikefrok 7:9715323b20ac 181
meikefrok 7:9715323b20ac 182
meikefrok 7:9715323b20ac 183 /* declaration of each biquad
meikefrok 7:9715323b20ac 184 The coefficients will be filled in later on in void scopeSend
meikefrok 7:9715323b20ac 185 As said before the input of each biquad is the output of the previous one
meikefrok 7:9715323b20ac 186 The input of the first biquad is the raw EMG signal and the output of the last biquad is the filtered signal.
meikefrok 7:9715323b20ac 187 This is done for both left and right so this makes two chains of 3 biquads */
meikefrok 7:9715323b20ac 188
meikefrok 7:9715323b20ac 189 double biquad_lno(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 190 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 191 {
meikefrok 7:9715323b20ac 192 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 193 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 194 v2 = v1;
meikefrok 7:9715323b20ac 195 v1 = v;
meikefrok 7:9715323b20ac 196 return y;
meikefrok 7:9715323b20ac 197 }
meikefrok 7:9715323b20ac 198
meikefrok 7:9715323b20ac 199 double biquad_lno2(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 200 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 201 {
meikefrok 7:9715323b20ac 202 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 203 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 204 v2 = v1;
meikefrok 7:9715323b20ac 205 v1 = v;
meikefrok 7:9715323b20ac 206 return y;
meikefrok 7:9715323b20ac 207 }
meikefrok 7:9715323b20ac 208
meikefrok 7:9715323b20ac 209 double biquad_lhf(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 210 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 211 {
meikefrok 7:9715323b20ac 212 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 213 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 214 v2 = v1;
meikefrok 7:9715323b20ac 215 v1 = v;
meikefrok 7:9715323b20ac 216 return y;
meikefrok 7:9715323b20ac 217 }
meikefrok 7:9715323b20ac 218
meikefrok 7:9715323b20ac 219 double biquad_llf(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 220 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 221 {
meikefrok 7:9715323b20ac 222 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 223 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 224 v2 = v1;
meikefrok 7:9715323b20ac 225 v1 = v;
meikefrok 7:9715323b20ac 226 return y;
meikefrok 7:9715323b20ac 227 }
meikefrok 7:9715323b20ac 228 double biquad_rno(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 229 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 230 {
meikefrok 7:9715323b20ac 231 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 232 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 233 v2 = v1;
meikefrok 7:9715323b20ac 234 v1 = v;
meikefrok 7:9715323b20ac 235 return y;
meikefrok 7:9715323b20ac 236 }
meikefrok 7:9715323b20ac 237
meikefrok 7:9715323b20ac 238 double biquad_rno2(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 239 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 240 {
meikefrok 7:9715323b20ac 241 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 242 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 243 v2 = v1;
meikefrok 7:9715323b20ac 244 v1 = v;
meikefrok 7:9715323b20ac 245 return y;
meikefrok 7:9715323b20ac 246 }
meikefrok 7:9715323b20ac 247
meikefrok 7:9715323b20ac 248 double biquad_rhf(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 249 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 250 {
meikefrok 7:9715323b20ac 251 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 252 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 253 v2 = v1;
meikefrok 7:9715323b20ac 254 v1 = v;
meikefrok 7:9715323b20ac 255 return y;
meikefrok 7:9715323b20ac 256 }
meikefrok 7:9715323b20ac 257
meikefrok 7:9715323b20ac 258 double biquad_rlf(double u, double&v1 , double&v2 , const double a1 , const double a2 , const double b0 ,
meikefrok 7:9715323b20ac 259 const double b1 , const double b2 )
meikefrok 7:9715323b20ac 260 {
meikefrok 7:9715323b20ac 261 double v = u - a1*v1 - a2*v2;
meikefrok 7:9715323b20ac 262 double y = b0*v + b1*v1 + b2*v2;
meikefrok 7:9715323b20ac 263 v2 = v1;
meikefrok 7:9715323b20ac 264 v1 = v;
meikefrok 7:9715323b20ac 265 return y;
meikefrok 7:9715323b20ac 266 }
meikefrok 7:9715323b20ac 267
meikefrok 7:9715323b20ac 268 /* function that calculates the filtered EMG signal from the raw EMG signal.
meikefrok 7:9715323b20ac 269 So 2 chains of 3 biquads each are calculating the left and the right filtered EMG signal.
meikefrok 7:9715323b20ac 270 After this is calculated, the signals are sent to HIDscope (scope.send) to see what they look like.
meikefrok 7:9715323b20ac 271 The filtered left signal (llf_y) is shown in channel 1, the filtered right signal (rlf_y)is shown in channel 0 (scope.set)*/
meikefrok 7:9715323b20ac 272
meikefrok 7:9715323b20ac 273
meikefrok 7:9715323b20ac 274 //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
meikefrok 7:9715323b20ac 275 //======== Functions and main ==============================================================
meikefrok 7:9715323b20ac 276 /* function that calculates the filtered EMG signal from the raw EMG signal.
meikefrok 7:9715323b20ac 277 So 2 chains of 3 biquads each are calculating the left and the right filtered EMG signal.
meikefrok 7:9715323b20ac 278 After this is calculated, the signals are sent to HIDscope (scope.send) to see what they look like.
meikefrok 7:9715323b20ac 279 The filtered left signal (llf_y) is shown in channel 1, the filtered right signal (rlf_y)is shown in channel 0 (scope.set)*/
meikefrok 7:9715323b20ac 280 void scopeSend(void){
meikefrok 7:9715323b20ac 281 lno_y = biquad_lno(emgl.read(), lno_v1, lno_v2, lno_a1, lno_a2, lno_b0, lno_b1, lno_b2);
meikefrok 7:9715323b20ac 282 lno2_y = biquad_lno2(lno_y, lno2_v1, lno2_v2, lno2_a1, lno2_a2, lno2_b0, lno2_b1, lno2_b2);
meikefrok 7:9715323b20ac 283 lhf_y = biquad_lhf(lno2_y, lhf_v1, lhf_v2, lhf_a1, lhf_a2, lhf_b0, lhf_b1, lhf_b2);
meikefrok 7:9715323b20ac 284 lrect_y = fabs(lhf_y);
meikefrok 7:9715323b20ac 285 llf_y = biquad_llf(lrect_y, llf_v1, llf_v2, llf_a1, llf_a2, llf_b0, llf_b1, llf_b2)/0.2;
meikefrok 7:9715323b20ac 286 rno_y = biquad_rno(emgr.read(), rno_v1, rno_v2, rno_a1, rno_a2, rno_b0, rno_b1, rno_b2);
meikefrok 7:9715323b20ac 287 rno2_y = biquad_rno2(rno_y, rno2_v1, rno2_v2, rno2_a1, rno2_a2, rno2_b0, rno2_b1, rno2_b2);
meikefrok 7:9715323b20ac 288 rhf_y = biquad_rhf(rno2_y, rhf_v1, rhf_v2, rhf_a1, rhf_a2, rhf_b0, rhf_b1, rhf_b2);
meikefrok 7:9715323b20ac 289 rrect_y = fabs(rhf_y);
meikefrok 7:9715323b20ac 290 rlf_y = biquad_rlf(rrect_y, rlf_v1, rlf_v2, rlf_a1, rlf_a2, rlf_b0, rlf_b1, rlf_b2)/0.2;
meikefrok 16:3c9a3ff09765 291 scope.set(1, llf_y);
meikefrok 16:3c9a3ff09765 292 scope.set(0, rlf_y);
meikefrok 16:3c9a3ff09765 293 scope.send();
meikefrok 7:9715323b20ac 294 }
meikefrok 7:9715323b20ac 295
meikefrok 5:3d88f7506cd9 296 //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
meikefrok 5:3d88f7506cd9 297 //======== Functions and main ==============================================================
meikefrok 10:31e4c3d71ee6 298 void Measure(){
meikefrok 10:31e4c3d71ee6 299 // encoder
meikefrok 10:31e4c3d71ee6 300 position_cart = (Encoder_Cart.getPulses()*factor_cart) ;
meikefrok 10:31e4c3d71ee6 301 ain_cart = pot_cart.read();
meikefrok 12:b31df384b170 302
meikefrok 13:dd7b41766f5f 303 // encoder
meikefrok 13:dd7b41766f5f 304 position_arm = (Encoder_Arm.getPulses()*factor_arm) ;
meikefrok 13:dd7b41766f5f 305 ain_arm = pot_arm.read();
meikefrok 13:dd7b41766f5f 306
meikefrok 16:3c9a3ff09765 307 if (ain_arm == 0){
meikefrok 16:3c9a3ff09765 308 Encoder_Arm.reset();
meikefrok 16:3c9a3ff09765 309 }else {}
meikefrok 13:dd7b41766f5f 310
meikefrok 12:b31df384b170 311
meikefrok 10:31e4c3d71ee6 312
meikefrok 10:31e4c3d71ee6 313 }
meikefrok 10:31e4c3d71ee6 314
meikefrok 3:3a671d01bcb8 315
meikefrok 5:3d88f7506cd9 316 // Switch between Cart, Arm and Claw
meikefrok 7:9715323b20ac 317
meikefrok 8:ac4e5afbdbcd 318 void SwitchCart(){
meikefrok 2:ad4b181a6422 319 switch (part_id) {
meikefrok 5:3d88f7506cd9 320 //Cart
meikefrok 3:3a671d01bcb8 321 case 2: {
meikefrok 15:caf29b6f5261 322 led_r = LedOn;
meikefrok 5:3d88f7506cd9 323 if(led_r == LedOn){
megrootens 0:048fbd80203e 324 num_turned_on_0++;
meikefrok 5:3d88f7506cd9 325
meikefrok 16:3c9a3ff09765 326 if (rlf_y > threshold_value_cart) {
meikefrok 12:b31df384b170 327 if(position_cart <= -170){ //If the cart is at the right side, it stops
meikefrok 6:23b1ed826b59 328 Cart.stop(1)==1;
meikefrok 16:3c9a3ff09765 329
meikefrok 16:3c9a3ff09765 330 }else if(position_cart >= 170 && position_arm <=-100){ //If the cart is at the left side and the arm is rotated 60 degrees to the left, the cart can't move to the right.
meikefrok 6:23b1ed826b59 331 Cart.stop(1) == 1;
meikefrok 6:23b1ed826b59 332
meikefrok 16:3c9a3ff09765 333 }else if(position_cart >= 170 && position_arm <=-160 && position_claw == -18){
meikefrok 6:23b1ed826b59 334 Cart.stop(1) == 1;
meikefrok 5:3d88f7506cd9 335
meikefrok 5:3d88f7506cd9 336 }else{
meikefrok 5:3d88f7506cd9 337 Cart.speed(cart_speed)==cart_speed;
meikefrok 5:3d88f7506cd9 338 }
meikefrok 12:b31df384b170 339
meikefrok 16:3c9a3ff09765 340 if (llf_y > threshold_value_cart){
meikefrok 12:b31df384b170 341 Cart.stop(1)==1;
meikefrok 12:b31df384b170 342 }
meikefrok 5:3d88f7506cd9 343
meikefrok 16:3c9a3ff09765 344 }else if (llf_y > threshold_value_cart) {
meikefrok 16:3c9a3ff09765 345 if(position_cart >= 170){ //If the cart is at the left side, it stops
meikefrok 6:23b1ed826b59 346 Cart.stop(1)==1;
meikefrok 16:3c9a3ff09765 347
meikefrok 16:3c9a3ff09765 348 }else if(position_cart <= -170 && position_arm >=100){ //If the cart is at the left side and the arm is rotated 60 degrees to the left, the cart can't move to the right.
meikefrok 12:b31df384b170 349 Cart.stop(1) == 1;
meikefrok 12:b31df384b170 350
meikefrok 16:3c9a3ff09765 351 }else if(position_cart <= -170 && position_arm >=160 && position_claw == 27){
meikefrok 6:23b1ed826b59 352 Cart.stop(1)==1;
meikefrok 6:23b1ed826b59 353
meikefrok 5:3d88f7506cd9 354 }else{
meikefrok 5:3d88f7506cd9 355 Cart.speed(-cart_speed)==-cart_speed;
meikefrok 5:3d88f7506cd9 356 }
meikefrok 12:b31df384b170 357
meikefrok 16:3c9a3ff09765 358 if (rlf_y > threshold_value_cart){
meikefrok 12:b31df384b170 359 Cart.stop(1)==1;
meikefrok 12:b31df384b170 360 }
meikefrok 5:3d88f7506cd9 361
meikefrok 5:3d88f7506cd9 362 }else {
meikefrok 12:b31df384b170 363 Cart.stop(1)==1;
meikefrok 5:3d88f7506cd9 364 }
megrootens 0:048fbd80203e 365 }
meikefrok 12:b31df384b170 366
meikefrok 12:b31df384b170 367 if(!btn && !btn2) {
meikefrok 12:b31df384b170 368 Arm.speed(0) == 0;
meikefrok 12:b31df384b170 369 if(position_cart<0){
meikefrok 12:b31df384b170 370 Cart.speed(-0.1)== -0.1;
meikefrok 12:b31df384b170 371 }else if(position_cart>0){
meikefrok 12:b31df384b170 372 Cart.speed(0.1)==0.1;
meikefrok 12:b31df384b170 373 }else{
meikefrok 12:b31df384b170 374 Cart.stop(0)==0;
meikefrok 12:b31df384b170 375 }
meikefrok 12:b31df384b170 376 }
meikefrok 12:b31df384b170 377
meikefrok 12:b31df384b170 378
meikefrok 12:b31df384b170 379
meikefrok 5:3d88f7506cd9 380 // controle LED
meikefrok 3:3a671d01bcb8 381 led_g = not LedOn;
meikefrok 5:3d88f7506cd9 382 led_b = not LedOn;
meikefrok 12:b31df384b170 383
meikefrok 5:3d88f7506cd9 384 pc.baud(115200);
meikefrok 5:3d88f7506cd9 385 pc.printf("Distance in mm: %i\n", position_cart);
meikefrok 5:3d88f7506cd9 386
megrootens 0:048fbd80203e 387 break;
megrootens 0:048fbd80203e 388 }
meikefrok 8:ac4e5afbdbcd 389 }
meikefrok 8:ac4e5afbdbcd 390 }
meikefrok 8:ac4e5afbdbcd 391
meikefrok 8:ac4e5afbdbcd 392 void SwitchArm(){
meikefrok 8:ac4e5afbdbcd 393 switch (part_id) {
meikefrok 8:ac4e5afbdbcd 394 //Cart
meikefrok 8:ac4e5afbdbcd 395 case 3: {
meikefrok 15:caf29b6f5261 396 led_g = LedOn;
meikefrok 8:ac4e5afbdbcd 397 if(led_g == LedOn){
meikefrok 8:ac4e5afbdbcd 398 num_turned_on_1++;
meikefrok 13:dd7b41766f5f 399 Arm.stop(1)==1;
meikefrok 13:dd7b41766f5f 400
meikefrok 8:ac4e5afbdbcd 401
meikefrok 16:3c9a3ff09765 402 if (rlf_y > threshold_value_claw) {
meikefrok 16:3c9a3ff09765 403 if(position_cart > -170 && position_arm >= 95){ //If the cart is not at the end, the arm can't move any further than 45 degrees
meikefrok 8:ac4e5afbdbcd 404 Arm.stop(1)==1;
meikefrok 8:ac4e5afbdbcd 405
meikefrok 16:3c9a3ff09765 406 }else if(position_cart > -200 && position_arm >= 60 && position_claw == 27){
meikefrok 8:ac4e5afbdbcd 407 Arm.stop(1)==1;
meikefrok 8:ac4e5afbdbcd 408
meikefrok 16:3c9a3ff09765 409 }else if(position_cart<= -170 && position_arm>=160){ //If the cart is at the right end, the arm can't move any further than 70 degrees
meikefrok 8:ac4e5afbdbcd 410 Arm.stop(1)==1;
meikefrok 16:3c9a3ff09765 411
meikefrok 16:3c9a3ff09765 412 }else if(position_cart <= -170 && position_arm >= 95){
meikefrok 16:3c9a3ff09765 413 Arm.speed(0.075)==0.075;
meikefrok 8:ac4e5afbdbcd 414
meikefrok 8:ac4e5afbdbcd 415 }else{
meikefrok 8:ac4e5afbdbcd 416 Arm.speed(arm_speed)==arm_speed;
meikefrok 8:ac4e5afbdbcd 417 }
meikefrok 13:dd7b41766f5f 418
meikefrok 13:dd7b41766f5f 419 if (llf_y > threshold_value){
meikefrok 13:dd7b41766f5f 420 Cart.stop(1)==1;
meikefrok 13:dd7b41766f5f 421 }
meikefrok 8:ac4e5afbdbcd 422
meikefrok 16:3c9a3ff09765 423 }else if (llf_y > threshold_value_claw) {
meikefrok 16:3c9a3ff09765 424 if(position_cart < 170 && position_arm <= -95){ //If the cart is not at the end, the arm can't move any further than 45 degrees
meikefrok 8:ac4e5afbdbcd 425 Arm.stop(1)==1;
meikefrok 8:ac4e5afbdbcd 426
meikefrok 16:3c9a3ff09765 427 }else if(position_cart < 170 && position_arm <= -60 && position_claw == -18){
meikefrok 8:ac4e5afbdbcd 428 Arm.stop(1)==1;
meikefrok 8:ac4e5afbdbcd 429
meikefrok 16:3c9a3ff09765 430 }else if(position_cart>=170 && position_arm<=-160){ //If the cart is at the left end, the arm can't move any further than 70 degrees
meikefrok 8:ac4e5afbdbcd 431 Arm.stop(1)==1;
meikefrok 16:3c9a3ff09765 432
meikefrok 8:ac4e5afbdbcd 433 }else{
meikefrok 8:ac4e5afbdbcd 434 Arm.speed(-arm_speed)==-arm_speed;
meikefrok 8:ac4e5afbdbcd 435 }
meikefrok 13:dd7b41766f5f 436
meikefrok 13:dd7b41766f5f 437 if (rlf_y > threshold_value){
meikefrok 13:dd7b41766f5f 438 Cart.stop(1)==1;
meikefrok 13:dd7b41766f5f 439 }
meikefrok 8:ac4e5afbdbcd 440
meikefrok 8:ac4e5afbdbcd 441 }else {
meikefrok 13:dd7b41766f5f 442 Arm.stop(1)==1;
meikefrok 13:dd7b41766f5f 443 }
meikefrok 13:dd7b41766f5f 444
meikefrok 13:dd7b41766f5f 445 if(!btn&&!btn2){
meikefrok 13:dd7b41766f5f 446 Cart.speed(0) == 0;
meikefrok 8:ac4e5afbdbcd 447 if(position_arm>0){
meikefrok 8:ac4e5afbdbcd 448 Arm.speed(-0.1)== -0.1;
meikefrok 8:ac4e5afbdbcd 449 }else if(position_arm<0){
meikefrok 8:ac4e5afbdbcd 450 Arm.speed(0.1)==0.1;
meikefrok 8:ac4e5afbdbcd 451 }else{
meikefrok 8:ac4e5afbdbcd 452 Arm.stop(0)==0;
meikefrok 8:ac4e5afbdbcd 453 }
meikefrok 13:dd7b41766f5f 454 }
meikefrok 8:ac4e5afbdbcd 455 }
meikefrok 8:ac4e5afbdbcd 456 // controle LED
meikefrok 8:ac4e5afbdbcd 457 led_r = not LedOn;
meikefrok 8:ac4e5afbdbcd 458 led_b = not LedOn;
meikefrok 8:ac4e5afbdbcd 459
meikefrok 13:dd7b41766f5f 460 pc.baud(115200);
meikefrok 13:dd7b41766f5f 461 pc.printf("Degrees: %i\n", position_arm);
meikefrok 13:dd7b41766f5f 462
meikefrok 8:ac4e5afbdbcd 463 break;
megrootens 0:048fbd80203e 464 }
meikefrok 8:ac4e5afbdbcd 465 }
meikefrok 8:ac4e5afbdbcd 466 }
meikefrok 8:ac4e5afbdbcd 467
meikefrok 15:caf29b6f5261 468 void SwitchClaw(){
meikefrok 15:caf29b6f5261 469 switch (part_id) {
meikefrok 15:caf29b6f5261 470 case 4: {
meikefrok 15:caf29b6f5261 471 led_b = LedOn;
meikefrok 15:caf29b6f5261 472
meikefrok 15:caf29b6f5261 473 if(rlf_y > threshold_value_claw){
meikefrok 15:caf29b6f5261 474 servo_id ++;
meikefrok 15:caf29b6f5261 475
meikefrok 15:caf29b6f5261 476 switch (servo_id) {
meikefrok 15:caf29b6f5261 477 case 0: {
meikefrok 15:caf29b6f5261 478 led_r = LedOn;
meikefrok 15:caf29b6f5261 479 if (led_r == LedOn) {
meikefrok 15:caf29b6f5261 480 num_claw_turned_on_0++;
meikefrok 15:caf29b6f5261 481 }
meikefrok 15:caf29b6f5261 482
meikefrok 15:caf29b6f5261 483 led_b = not LedOn;
meikefrok 15:caf29b6f5261 484 led_g = not LedOn;
meikefrok 15:caf29b6f5261 485 servo.position(-18);
meikefrok 15:caf29b6f5261 486 //pc.printf("Servo position is: left \r\n");
meikefrok 15:caf29b6f5261 487
meikefrok 15:caf29b6f5261 488 break;
meikefrok 15:caf29b6f5261 489 }
meikefrok 15:caf29b6f5261 490 case 1: {
meikefrok 15:caf29b6f5261 491 led_b = LedOn;
meikefrok 15:caf29b6f5261 492 if (led_b == LedOn) {
meikefrok 15:caf29b6f5261 493 num_claw_turned_on_1++;
meikefrok 15:caf29b6f5261 494 }
meikefrok 15:caf29b6f5261 495
meikefrok 15:caf29b6f5261 496 led_r = not LedOn;
meikefrok 15:caf29b6f5261 497 led_g = not LedOn;
meikefrok 15:caf29b6f5261 498
meikefrok 15:caf29b6f5261 499 servo.position(3);
meikefrok 15:caf29b6f5261 500 //pc.printf("Servo position is: center \r\n");
meikefrok 15:caf29b6f5261 501
meikefrok 15:caf29b6f5261 502 wait_ms(waiting_claw);
meikefrok 15:caf29b6f5261 503
meikefrok 15:caf29b6f5261 504 break;
meikefrok 15:caf29b6f5261 505 }
meikefrok 15:caf29b6f5261 506 case 2: {
meikefrok 15:caf29b6f5261 507 led_g = LedOn;
meikefrok 15:caf29b6f5261 508 if (led_g == LedOn) {
meikefrok 15:caf29b6f5261 509 num_claw_turned_on_2++;
meikefrok 15:caf29b6f5261 510 }
meikefrok 15:caf29b6f5261 511
meikefrok 15:caf29b6f5261 512 led_r = not LedOn;
meikefrok 15:caf29b6f5261 513 led_b = not LedOn;
meikefrok 15:caf29b6f5261 514
meikefrok 15:caf29b6f5261 515 servo.position(27);
meikefrok 15:caf29b6f5261 516 //pc.printf("Servo position is: %i\r\n", num_claw_turned_on);
meikefrok 15:caf29b6f5261 517
meikefrok 15:caf29b6f5261 518 break;
meikefrok 15:caf29b6f5261 519 }
meikefrok 15:caf29b6f5261 520 }
meikefrok 15:caf29b6f5261 521
meikefrok 15:caf29b6f5261 522
meikefrok 15:caf29b6f5261 523 }else if(llf_y > threshold_value_claw){
meikefrok 15:caf29b6f5261 524 servo_id --;
meikefrok 15:caf29b6f5261 525
meikefrok 15:caf29b6f5261 526 switch (servo_id) {
meikefrok 15:caf29b6f5261 527 case 0: {
meikefrok 15:caf29b6f5261 528 led_r = LedOn;
meikefrok 15:caf29b6f5261 529 led_b = not LedOn;
meikefrok 15:caf29b6f5261 530 led_g = not LedOn;
meikefrok 15:caf29b6f5261 531
meikefrok 15:caf29b6f5261 532 servo.position(-18);
meikefrok 15:caf29b6f5261 533 //pc.printf("Servo position is: left \r\n");
meikefrok 15:caf29b6f5261 534
meikefrok 15:caf29b6f5261 535
meikefrok 15:caf29b6f5261 536 break;
meikefrok 15:caf29b6f5261 537 }
meikefrok 15:caf29b6f5261 538 case 1: {
meikefrok 15:caf29b6f5261 539 led_b = LedOn;
meikefrok 15:caf29b6f5261 540 led_r = not LedOn;
meikefrok 15:caf29b6f5261 541 led_g = not LedOn;
meikefrok 15:caf29b6f5261 542
meikefrok 15:caf29b6f5261 543 servo.position(3);
meikefrok 15:caf29b6f5261 544 //pc.printf("Servo position is: center \r\n");
meikefrok 15:caf29b6f5261 545
meikefrok 15:caf29b6f5261 546 wait_ms(waiting_claw);
meikefrok 15:caf29b6f5261 547
meikefrok 15:caf29b6f5261 548 break;
meikefrok 15:caf29b6f5261 549 }
meikefrok 15:caf29b6f5261 550 case 2: {
meikefrok 15:caf29b6f5261 551 led_g = LedOn;
meikefrok 15:caf29b6f5261 552 led_r = not LedOn;
meikefrok 15:caf29b6f5261 553 led_b = not LedOn;
meikefrok 15:caf29b6f5261 554
meikefrok 15:caf29b6f5261 555 servo.position(27);
meikefrok 15:caf29b6f5261 556 //pc.printf("Servo position is: right \r\n");
meikefrok 15:caf29b6f5261 557
meikefrok 15:caf29b6f5261 558
meikefrok 15:caf29b6f5261 559 break;
meikefrok 15:caf29b6f5261 560 }
meikefrok 15:caf29b6f5261 561 }
meikefrok 15:caf29b6f5261 562
meikefrok 15:caf29b6f5261 563 }else{}
meikefrok 15:caf29b6f5261 564 }
meikefrok 15:caf29b6f5261 565 led_r = not LedOn;
meikefrok 15:caf29b6f5261 566 led_g = not LedOn;
meikefrok 15:caf29b6f5261 567
meikefrok 15:caf29b6f5261 568 position_claw = servo.read();
meikefrok 15:caf29b6f5261 569 pc.baud(115200);
meikefrok 15:caf29b6f5261 570 pc.printf("Servo position is: %i, %i, %i \r\n", num_claw_turned_on_0, num_claw_turned_on_1, num_claw_turned_on_2);
meikefrok 15:caf29b6f5261 571
meikefrok 15:caf29b6f5261 572 break;
meikefrok 15:caf29b6f5261 573 }
meikefrok 15:caf29b6f5261 574 }
megrootens 0:048fbd80203e 575
megrootens 0:048fbd80203e 576
meikefrok 5:3d88f7506cd9 577 // Switch the part
meikefrok 2:ad4b181a6422 578 void SetValue2() {
meikefrok 3:3a671d01bcb8 579 part_id = 2;
meikefrok 6:23b1ed826b59 580 }
meikefrok 2:ad4b181a6422 581
meikefrok 2:ad4b181a6422 582 void SetValue3() {
meikefrok 3:3a671d01bcb8 583 part_id = 3;
meikefrok 6:23b1ed826b59 584 }
meikefrok 2:ad4b181a6422 585
meikefrok 2:ad4b181a6422 586
meikefrok 2:ad4b181a6422 587 void SetValue4() {
meikefrok 3:3a671d01bcb8 588 part_id = 4;
megrootens 0:048fbd80203e 589 }
megrootens 0:048fbd80203e 590
meikefrok 2:ad4b181a6422 591
meikefrok 5:3d88f7506cd9 592 // Main
megrootens 0:048fbd80203e 593 int main()
megrootens 0:048fbd80203e 594 {
meikefrok 3:3a671d01bcb8 595 led_r = not LedOn;
meikefrok 3:3a671d01bcb8 596 led_g = not LedOn;
meikefrok 3:3a671d01bcb8 597 led_b = not LedOn;
megrootens 0:048fbd80203e 598
meikefrok 8:ac4e5afbdbcd 599 tick_part.attach(&SwitchCart,kTimeToggle);
meikefrok 15:caf29b6f5261 600 tick_part_arm.attach(&SwitchArm,kTimeToggle);
meikefrok 15:caf29b6f5261 601 tick_part_claw.attach(&SwitchClaw,0.1f);
meikefrok 11:97f824629da5 602 measureTicker.attach(Measure, 0.005);
meikefrok 15:caf29b6f5261 603 sampleTicker.attach(scopeSend,0.01);
meikefrok 15:caf29b6f5261 604
meikefrok 5:3d88f7506cd9 605
meikefrok 3:3a671d01bcb8 606 btn_cart.fall(&SetValue2);
meikefrok 3:3a671d01bcb8 607 btn_arm.fall(&SetValue3);
meikefrok 3:3a671d01bcb8 608 btn_claw.fall(&SetValue4);
meikefrok 2:ad4b181a6422 609
meikefrok 12:b31df384b170 610 if(part_id == 4){
meikefrok 12:b31df384b170 611 Cart.stop(1)==1;
meikefrok 12:b31df384b170 612 }
meikefrok 12:b31df384b170 613
megrootens 0:048fbd80203e 614 while (true);
meikefrok 12:b31df384b170 615
megrootens 0:048fbd80203e 616 }
meikefrok 2:ad4b181a6422 617
meikefrok 2:ad4b181a6422 618
meikefrok 2:ad4b181a6422 619