Peter Knoben / Mbed 2 deprecated Oudverslag

Oud verslag voor Biquad.

Dependencies:   Biquad HIDScope QEI angleandposition controlandadjust mbed

Fork of includeair by Jasper Gerth

main.cpp@23:1c4a18799464, 2015-10-20 (annotated)

Committer:
Gerth
Date:
Tue Oct 20 14:45:02 2015 +0000
Revision:
23:1c4a18799464
Parent:
22:b29ba919d93e
Child:
24:dd75c961ae88
working;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gerth 0:dd66fff537d7 1 #include "mbed.h"
Gerth 1:917c07a4f3ec 2 #include "QEI.h"
Gerth 1:917c07a4f3ec 3 #include "HIDScope.h"
Gerth 1:917c07a4f3ec 4 #include "Biquad.h"
Gerth 1:917c07a4f3ec 5 #include "controlandadjust.h"
Gerth 16:63320b8f79c2 6 #include "angleandposition.h"
Gerth 1:917c07a4f3ec 7
Gerth 20:c5fb2ff5d457 8 ///////////////////////////////////////////////info out
Gerth 20:c5fb2ff5d457 9 HIDScope scope(6);// number of hidscope channels
Gerth 23:1c4a18799464 10 const double scope_frequency=50; //HIDscope frequency
Gerth 20:c5fb2ff5d457 11
Gerth 20:c5fb2ff5d457 12 Serial pc(USBTX,USBRX);// serial connection to pc
Gerth 1:917c07a4f3ec 13
Gerth 16:63320b8f79c2 14 DigitalOut ledred(LED_RED);
Gerth 16:63320b8f79c2 15 DigitalOut ledgreen(LED_GREEN);
Gerth 16:63320b8f79c2 16 DigitalOut ledblue(LED_BLUE);
Gerth 14:4c4f45a1dd23 17
Gerth 20:c5fb2ff5d457 18 Ticker scope_ticker;
Gerth 20:c5fb2ff5d457 19 /////////////////////////////////////////////ENCODERS
Gerth 9:4ee354663560 20 const float cpr_sensor=32;
Gerth 20:c5fb2ff5d457 21 const float cpr_shaft=cpr_sensor*131;//counts per rotation of the sensor
Gerth 20:c5fb2ff5d457 22
Gerth 20:c5fb2ff5d457 23 QEI encoder1(D13,D12,NC,cpr_sensor);/// encoders on motors X2 encoding
Gerth 9:4ee354663560 24 QEI encoder2(D10,D11,NC,cpr_sensor);
Gerth 20:c5fb2ff5d457 25
Gerth 9:4ee354663560 26 const double PIE=3.14159265359;
Gerth 20:c5fb2ff5d457 27 const float counttorad=((2*PIE)/cpr_shaft);// counts per rotation of the shaft
Gerth 1:917c07a4f3ec 28
Gerth 6:37c94a5e205f 29 /////////////////////////////////CALIBRATION (MODE)
Gerth 20:c5fb2ff5d457 30 const double radpersec_calibrate=0.1*PIE;// speed of arms when in calibration mode
Gerth 20:c5fb2ff5d457 31 int modecounter=1;//counter in which mode the robot is
Gerth 20:c5fb2ff5d457 32 const double readbuttoncalibrate_frequency=10;//frequency at which the buttons are read when in calibration mode
Gerth 20:c5fb2ff5d457 33 const double ledblink_frequency=4;//frequency at which the green led and leds on top blink when in resp button or calibration mode
Gerth 6:37c94a5e205f 34
Gerth 20:c5fb2ff5d457 35 DigitalIn changemodebutton(PTA4);// button to change mode (sw3)
Gerth 7:7fbb2c028778 36 Ticker readbuttoncalibrate_ticker;
Gerth 14:4c4f45a1dd23 37 Ticker ledblink_ticker;
Gerth 14:4c4f45a1dd23 38
Gerth 20:c5fb2ff5d457 39 DigitalIn buttonR(D2);//rigth button on biorobotics shield
Gerth 20:c5fb2ff5d457 40 DigitalIn buttonL(D3);//left button on biorobotics shield
Gerth 8:54a7da09ccad 41
Gerth 1:917c07a4f3ec 42 //////////////////////////////////CONTROLLER
Gerth 20:c5fb2ff5d457 43 const double control_frequency=25;// frequency at which the controller is called
Gerth 1:917c07a4f3ec 44 //controller constants
Gerth 21:6954cc25f2a7 45 float Kp=1;
Gerth 21:6954cc25f2a7 46 float Ki=0.1;
Gerth 1:917c07a4f3ec 47 float Kd=0.001;
Gerth 20:c5fb2ff5d457 48
Gerth 20:c5fb2ff5d457 49 controlandadjust mycontroller; // make a controller
Gerth 1:917c07a4f3ec 50 Ticker control_ticker;
Gerth 20:c5fb2ff5d457 51
Gerth 7:7fbb2c028778 52 const double Ts_control=1.0/control_frequency;
Gerth 1:917c07a4f3ec 53
Gerth 22:b29ba919d93e 54 float error1=0;
Gerth 22:b29ba919d93e 55 float error2=0;
Gerth 7:7fbb2c028778 56 float error1_int=0;// storage variables for the errors
Gerth 7:7fbb2c028778 57 float error2_int=0;
Gerth 7:7fbb2c028778 58 float error1_prev=0;
Gerth 7:7fbb2c028778 59 float error2_prev=0;
Gerth 1:917c07a4f3ec 60
Gerth 1:917c07a4f3ec 61 InterruptIn valuechangebutton(PTC6);//button to change controller constants
Gerth 1:917c07a4f3ec 62
Gerth 1:917c07a4f3ec 63 //safetyandthreshold
Gerth 3:48438eea184e 64 AnalogIn safety_pot(A3);//pot 2, used for the safety cutoff value for the pwm
Gerth 3:48438eea184e 65 AnalogIn threshold_pot(A2);//pot1, used to adjust threshold if signal differs per person
Gerth 1:917c07a4f3ec 66
Gerth 1:917c07a4f3ec 67 Ticker safetyandthreshold_ticker; // ticker to read potmeters
Gerth 3:48438eea184e 68 const double safetyandthreshold_frequency=1; // frequency for the ticker
Gerth 3:48438eea184e 69
Gerth 4:bf7765b0f612 70 float threshold_value=1;//initial threshold value
Gerth 1:917c07a4f3ec 71
Gerth 1:917c07a4f3ec 72 ////////////////////////////////FILTER
Gerth 20:c5fb2ff5d457 73 const double filter_frequency=500;
Gerth 20:c5fb2ff5d457 74 #include "filtervalues.h"// call the values for the biquads
Gerth 20:c5fb2ff5d457 75
Gerth 1:917c07a4f3ec 76 Ticker filter_ticker;
Gerth 1:917c07a4f3ec 77
Gerth 20:c5fb2ff5d457 78 Biquad myfilter1;// make filter for signal 1
Gerth 20:c5fb2ff5d457 79 Biquad myfilter2;//make filter for signal 2
Gerth 1:917c07a4f3ec 80
Gerth 20:c5fb2ff5d457 81 AnalogIn emg1_input(A0);//input for first emg signal
Gerth 20:c5fb2ff5d457 82 AnalogIn emg2_input(A1);//input for second emg signal
Gerth 20:c5fb2ff5d457 83
Gerth 20:c5fb2ff5d457 84 volatile double filteredsignal1=0;//the first filtered emg signal
Gerth 20:c5fb2ff5d457 85 volatile double filteredsignal2=0;//the second filtered emg signal
Gerth 5:8ac5d0651e4d 86 float filter_extragain=1;
Gerth 1:917c07a4f3ec 87
Gerth 3:48438eea184e 88 /////////////////READSIGNAL
Gerth 20:c5fb2ff5d457 89 const double readsignal_frequency=25;//frequency at wich the filtered emg signal is sampled to be 0 or 1
Gerth 3:48438eea184e 90 Ticker readsignal_ticker;
Gerth 3:48438eea184e 91
Gerth 20:c5fb2ff5d457 92
Gerth 20:c5fb2ff5d457 93 DigitalOut led1(PTC12);// rigth led on biorobotics shield
Gerth 20:c5fb2ff5d457 94 DigitalOut led2(D9);//left led on biorobotics shield
Gerth 4:bf7765b0f612 95
Gerth 4:bf7765b0f612 96 //////////////////////////////// POSITION AND ANGLE SHIZZLE
Gerth 20:c5fb2ff5d457 97 const float safetymarginfield=0.075; //adjustable, tweak for maximum but safe range
Gerth 20:c5fb2ff5d457 98 const float mm_per_sec_emg=0.050;// move the pod 50 mm per sec if muscle is flexed
Gerth 21:6954cc25f2a7 99 const float y_start=0.155;//starting y position of the pod
Gerth 20:c5fb2ff5d457 100 const float y_punch=0.473;// position to where there is punched
Gerth 21:6954cc25f2a7 101 const float timetoshoot=0.25;// time it can take to shoot
Gerth 20:c5fb2ff5d457 102
Gerth 4:bf7765b0f612 103 float desired_position=0;
Gerth 20:c5fb2ff5d457 104 float desired_angle1=0;
Gerth 20:c5fb2ff5d457 105 float desired_angle2=0;
Gerth 19:6f22b5687587 106
Gerth 20:c5fb2ff5d457 107 const float fieldwidth=0.473;
Gerth 20:c5fb2ff5d457 108 const float maxdisplacement=((fieldwidth/2)-safetymarginfield); //so the pod doesn't hit the edges of the playfield
Gerth 3:48438eea184e 109
Gerth 20:c5fb2ff5d457 110 angleandposition anglepos;// initiate the angle and position calculation library
Gerth 20:c5fb2ff5d457 111
Gerth 23:1c4a18799464 112 const float radtodeg=(180/PIE);
Gerth 23:1c4a18799464 113
Gerth 19:6f22b5687587 114
Gerth 18:1c3254a32fd1 115
Gerth 1:917c07a4f3ec 116 //////////////////////GO FLAGS AND ACTIVATION FUNCTIONS
Gerth 1:917c07a4f3ec 117 volatile bool scopedata_go=false,
Gerth 1:917c07a4f3ec 118 control_go=false,
Gerth 1:917c07a4f3ec 119 filter_go=false,
Gerth 3:48438eea184e 120 safetyandthreshold_go=false,
Gerth 6:37c94a5e205f 121 readsignal_go=false,
Gerth 8:54a7da09ccad 122 switchedmode=true,
Gerth 14:4c4f45a1dd23 123 readbuttoncalibrate_go=false,
Gerth 14:4c4f45a1dd23 124 ledblink_go=false;
Gerth 1:917c07a4f3ec 125
Gerth 1:917c07a4f3ec 126 void scopedata_activate()
Gerth 1:917c07a4f3ec 127 {
Gerth 1:917c07a4f3ec 128 scopedata_go=true;
Gerth 1:917c07a4f3ec 129 }
Gerth 1:917c07a4f3ec 130 void control_activate()
Gerth 1:917c07a4f3ec 131 {
Gerth 1:917c07a4f3ec 132 control_go=true;
Gerth 1:917c07a4f3ec 133 }
Gerth 1:917c07a4f3ec 134 void filter_activate()
Gerth 1:917c07a4f3ec 135 {
Gerth 1:917c07a4f3ec 136 filter_go=true;
Gerth 1:917c07a4f3ec 137 }
Gerth 1:917c07a4f3ec 138 void safetyandthreshold_activate()
Gerth 1:917c07a4f3ec 139 {
Gerth 1:917c07a4f3ec 140 safetyandthreshold_go=true;
Gerth 1:917c07a4f3ec 141 }
Gerth 3:48438eea184e 142 void readsignal_activate()
Gerth 3:48438eea184e 143 {
Gerth 3:48438eea184e 144 readsignal_go=true;
Gerth 3:48438eea184e 145 }
Gerth 7:7fbb2c028778 146 void readbuttoncalibrate_activate()
Gerth 7:7fbb2c028778 147 {
Gerth 7:7fbb2c028778 148 readbuttoncalibrate_go=true;
Gerth 7:7fbb2c028778 149 }
Gerth 14:4c4f45a1dd23 150 void ledblink_activate()
Gerth 14:4c4f45a1dd23 151 {
Gerth 14:4c4f45a1dd23 152 ledblink_go=true;
Gerth 14:4c4f45a1dd23 153 }
Gerth 1:917c07a4f3ec 154
Gerth 1:917c07a4f3ec 155 ////////////////////////FUNCTIONS
Gerth 1:917c07a4f3ec 156 //gather data and send to scope
Gerth 1:917c07a4f3ec 157 void scopedata()
Gerth 1:917c07a4f3ec 158 {
Gerth 17:72d3522165ac 159 scope.set(0,desired_position);
Gerth 23:1c4a18799464 160 scope.set(1,desired_angle1*radtodeg);
Gerth 23:1c4a18799464 161 scope.set(2,desired_angle2*radtodeg);
Gerth 23:1c4a18799464 162 scope.set(3,error1*radtodeg);
Gerth 23:1c4a18799464 163 scope.set(4,error2*radtodeg);
Gerth 3:48438eea184e 164 scope.send();
Gerth 4:bf7765b0f612 165 }
Gerth 1:917c07a4f3ec 166 //read potmeters and adjust the safetyfactor and threshold
Gerth 1:917c07a4f3ec 167 void safetyandthreshold()
Gerth 1:917c07a4f3ec 168 {
Gerth 3:48438eea184e 169 mycontroller.cutoff((ceil (10*safety_pot.read()) )/10); // adjust the safetyfactor value between 0 and 1 rounded to 1 decimal
Gerth 3:48438eea184e 170 threshold_value=((ceil (10*threshold_pot.read()) )/10); // adjust the threshold value between 0 and 1 rounded to 1 decimal
Gerth 1:917c07a4f3ec 171 }
Gerth 1:917c07a4f3ec 172 /////filter
Gerth 1:917c07a4f3ec 173 void filtereverything()
Gerth 1:917c07a4f3ec 174 {
Gerth 1:917c07a4f3ec 175 //pass1 so f1
Gerth 2:c7707856d137 176 double pass1_emg1 = myfilter1.filter(emg1_input.read(), v1_f1_emg1 , v2_f1_emg1 , a1_f1 , a2_f1 , b0_f1 , b1_f1 , b2_f1);
Gerth 2:c7707856d137 177 double pass1_emg2 = myfilter2.filter(emg2_input.read(), v1_f1_emg2 , v2_f1_emg2 , a1_f1 , a2_f1 , b0_f1 , b1_f1 , b2_f1);
Gerth 1:917c07a4f3ec 178
Gerth 1:917c07a4f3ec 179 //pass2 so f2
Gerth 2:c7707856d137 180 double pass2_emg1 = myfilter1.filter(pass1_emg1, v1_f2_emg1 , v2_f2_emg1 , a1_f2 , a2_f2 , b0_f2 , b1_f2 , b2_f2);
Gerth 2:c7707856d137 181 double pass2_emg2 = myfilter2.filter(pass1_emg2, v1_f2_emg2 , v2_f2_emg2 , a1_f2 , a2_f2 , b0_f2 , b1_f2 , b2_f2);
Gerth 1:917c07a4f3ec 182
Gerth 1:917c07a4f3ec 183 //pass3 so f3
Gerth 2:c7707856d137 184 double pass3_emg1 = myfilter1.filter(pass2_emg1, v1_f3_emg1 , v2_f3_emg1 , a1_f3 , a2_f3 , b0_f3 , b1_f3 , b2_f3);
Gerth 2:c7707856d137 185 double pass3_emg2 = myfilter2.filter(pass2_emg2, v1_f3_emg2 , v2_f3_emg2 , a1_f3 , a2_f3 , b0_f3 , b1_f3 , b2_f3);
Gerth 1:917c07a4f3ec 186
Gerth 1:917c07a4f3ec 187 //pass4 so f4
Gerth 2:c7707856d137 188 double pass4_emg1 = myfilter1.filter(pass3_emg1, v1_f4_emg1 , v2_f4_emg1 , a1_f4 , a2_f4 , b0_f4 , b1_f4 , b2_f4);
Gerth 2:c7707856d137 189 double pass4_emg2 = myfilter2.filter(pass3_emg2, v1_f4_emg2 , v2_f4_emg2 , a1_f4 , a2_f4 , b0_f4 , b1_f4 , b2_f4);
Gerth 1:917c07a4f3ec 190
Gerth 1:917c07a4f3ec 191 //pass5 so f5
Gerth 2:c7707856d137 192 double pass5_emg1 = myfilter1.filter(pass4_emg1, v1_f5_emg1 , v2_f5_emg1 , a1_f5 , a2_f5 , b0_f5 , b1_f5 , b2_f5);
Gerth 2:c7707856d137 193 double pass5_emg2 = myfilter2.filter(pass4_emg2, v1_f5_emg2 , v2_f5_emg2 , a1_f5 , a2_f5 , b0_f5 , b1_f5 , b2_f5);
Gerth 1:917c07a4f3ec 194
Gerth 1:917c07a4f3ec 195 ///// take absolute value
Gerth 2:c7707856d137 196 double pass5_emg1_abs=(fabs(pass5_emg1));
Gerth 2:c7707856d137 197 double pass5_emg2_abs=(fabs(pass5_emg2));
Gerth 1:917c07a4f3ec 198
Gerth 1:917c07a4f3ec 199 //pass6 so f6
Gerth 2:c7707856d137 200 double pass6_emg1 = myfilter1.filter(pass5_emg1_abs, v1_f6_emg1 , v2_f6_emg1 , a1_f6 , a2_f6 , b0_f6 , b1_f6 , b2_f6);
Gerth 2:c7707856d137 201 double pass6_emg2 = myfilter2.filter(pass5_emg2_abs, v1_f6_emg2 , v2_f6_emg2 , a1_f6 , a2_f6 , b0_f6 , b1_f6 , b2_f6);
Gerth 1:917c07a4f3ec 202
Gerth 1:917c07a4f3ec 203
Gerth 1:917c07a4f3ec 204 //pass7 so f7
Gerth 2:c7707856d137 205 double pass7_emg1 = myfilter1.filter(pass6_emg1, v1_f7_emg1 , v2_f7_emg1 , a1_f7 , a2_f7 , b0_f7 , b1_f7 , b2_f7);
Gerth 2:c7707856d137 206 double pass7_emg2 = myfilter2.filter(pass6_emg2, v1_f7_emg2 , v2_f7_emg2 , a1_f7 , a2_f7 , b0_f7 , b1_f7 , b2_f7);
Gerth 1:917c07a4f3ec 207
Gerth 2:c7707856d137 208 filteredsignal1=(pass7_emg1*9e11*filter_extragain);
Gerth 2:c7707856d137 209 filteredsignal2=(pass7_emg2*9e11*filter_extragain);
Gerth 1:917c07a4f3ec 210 }
Gerth 1:917c07a4f3ec 211
Gerth 1:917c07a4f3ec 212 //adjust controller values when sw2 is pressed
Gerth 1:917c07a4f3ec 213 void valuechange()
Gerth 1:917c07a4f3ec 214 {
Gerth 3:48438eea184e 215 mycontroller.STOP();
Gerth 5:8ac5d0651e4d 216 pc.printf("KP is now %f, enter new value\n",Kp);
Gerth 1:917c07a4f3ec 217 pc.scanf("%f", &Kp);
Gerth 1:917c07a4f3ec 218
Gerth 1:917c07a4f3ec 219 pc.printf("KI is now %f, enter new value\n",Ki);
Gerth 1:917c07a4f3ec 220 pc.scanf("%f", &Ki);
Gerth 1:917c07a4f3ec 221
Gerth 1:917c07a4f3ec 222 pc.printf("KD is now %f, enter new value\n",Kd);
Gerth 5:8ac5d0651e4d 223 pc.scanf("%f", &Kd);
Gerth 3:48438eea184e 224
Gerth 3:48438eea184e 225 pc.printf("Extra gain is now %f, enter new value\n",filter_extragain);
Gerth 5:8ac5d0651e4d 226 pc.scanf("%f", &filter_extragain);
Gerth 1:917c07a4f3ec 227 }
Gerth 11:c10651055871 228
Gerth 20:c5fb2ff5d457 229 // shoot the pod forward
Gerth 19:6f22b5687587 230 void shoot()
Gerth 14:4c4f45a1dd23 231 {
Gerth 19:6f22b5687587 232 ledgreen=1;
Gerth 19:6f22b5687587 233 float time=0;
Gerth 19:6f22b5687587 234 float stepsize=(y_punch-y_start)/(timetoshoot*control_frequency);
Gerth 20:c5fb2ff5d457 235 float y_during_punch=y_start;// set initial y position to start position
Gerth 11:c10651055871 236
Gerth 19:6f22b5687587 237 Timer shoottimer;
Gerth 19:6f22b5687587 238 shoottimer.reset();
Gerth 19:6f22b5687587 239 shoottimer.start();
Gerth 23:1c4a18799464 240 //forward
Gerth 19:6f22b5687587 241 while (time<=timetoshoot) {
Gerth 19:6f22b5687587 242 ledblue=!ledblue;
Gerth 20:c5fb2ff5d457 243
Gerth 20:c5fb2ff5d457 244 y_during_punch+=stepsize; // add stepsize to y position
Gerth 20:c5fb2ff5d457 245 if (y_during_punch>=y_punch) {//to check if y position is not bigger than y_punch for safety
Gerth 19:6f22b5687587 246 y_during_punch=y_punch;
Gerth 19:6f22b5687587 247 } else {
Gerth 19:6f22b5687587 248 y_during_punch=y_during_punch;
Gerth 19:6f22b5687587 249 }
Gerth 19:6f22b5687587 250
Gerth 20:c5fb2ff5d457 251 desired_angle1=anglepos.positiontoangle1(desired_position,y_during_punch);// calculate desired angles
Gerth 20:c5fb2ff5d457 252 desired_angle2=anglepos.positiontoangle2(desired_position,y_during_punch);
Gerth 19:6f22b5687587 253
Gerth 22:b29ba919d93e 254 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 22:b29ba919d93e 255 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 19:6f22b5687587 256
Gerth 20:c5fb2ff5d457 257 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);// send errors to controller
Gerth 20:c5fb2ff5d457 258 scopedata();//send data to hidscope WARING lower freqyency than normal
Gerth 19:6f22b5687587 259
Gerth 20:c5fb2ff5d457 260 time+=(Ts_control);// add time it should take to calculated time
Gerth 20:c5fb2ff5d457 261 wait(time-shoottimer.read());// IMPORTANT wait until the loop has taken the time it should need, if this is not done the loop wil go to fast and the motors can't keep up
Gerth 11:c10651055871 262 }
Gerth 23:1c4a18799464 263 //back
Gerth 23:1c4a18799464 264 time=0;
Gerth 23:1c4a18799464 265 shoottimer.reset();
Gerth 23:1c4a18799464 266 while (time<=timetoshoot) {
Gerth 23:1c4a18799464 267 ledblue=!ledblue;
Gerth 23:1c4a18799464 268
Gerth 23:1c4a18799464 269 y_during_punch-=stepsize; // add stepsize to y position
Gerth 23:1c4a18799464 270 if (y_during_punch<=y_start) {//to check if y position is not smaller than y_start for safety
Gerth 23:1c4a18799464 271 y_during_punch=y_start;
Gerth 23:1c4a18799464 272 } else {
Gerth 23:1c4a18799464 273 y_during_punch=y_during_punch;
Gerth 23:1c4a18799464 274 }
Gerth 23:1c4a18799464 275
Gerth 23:1c4a18799464 276 desired_angle1=anglepos.positiontoangle1(desired_position,y_during_punch);// calculate desired angles
Gerth 23:1c4a18799464 277 desired_angle2=anglepos.positiontoangle2(desired_position,y_during_punch);
Gerth 23:1c4a18799464 278
Gerth 23:1c4a18799464 279 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 23:1c4a18799464 280 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 23:1c4a18799464 281
Gerth 23:1c4a18799464 282 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);// send errors to controller
Gerth 23:1c4a18799464 283 scopedata();//send data to hidscope WARING lower freqyency than normal
Gerth 23:1c4a18799464 284
Gerth 23:1c4a18799464 285 time+=(Ts_control);// add time it should take to calculated time
Gerth 23:1c4a18799464 286 wait(time-shoottimer.read());// IMPORTANT wait until the loop has taken the time it should need, if this is not done the loop wil go to fast and the motors can't keep up
Gerth 23:1c4a18799464 287 }
Gerth 19:6f22b5687587 288 shoottimer.stop();
Gerth 16:63320b8f79c2 289 ledblue=1;
Gerth 19:6f22b5687587 290 ledgreen=0;
Gerth 11:c10651055871 291 }
Gerth 11:c10651055871 292
Gerth 16:63320b8f79c2 293 ////////////////////////////////////////////////////READ EMG AND MOVE DESIRED POSITION
Gerth 3:48438eea184e 294 void readsignal()
Gerth 3:48438eea184e 295 {
Gerth 11:c10651055871 296 //check if pod has to shoot
Gerth 4:bf7765b0f612 297 if (filteredsignal1>=threshold_value && filteredsignal2>=threshold_value) {
Gerth 4:bf7765b0f612 298 led1=led2=1;
Gerth 11:c10651055871 299 shoot();
Gerth 14:4c4f45a1dd23 300 // check if pod has to move to the right
Gerth 4:bf7765b0f612 301 } else if (filteredsignal1>=threshold_value && filteredsignal2<=threshold_value) {
Gerth 4:bf7765b0f612 302 led1=1;
Gerth 4:bf7765b0f612 303 led2=0;
Gerth 16:63320b8f79c2 304 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 11:c10651055871 305 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 11:c10651055871 306 desired_position=maxdisplacement;
Gerth 11:c10651055871 307 } else {
Gerth 11:c10651055871 308 desired_position=desired_position;
Gerth 11:c10651055871 309 }
Gerth 14:4c4f45a1dd23 310 // check if pod has to move to the left
Gerth 4:bf7765b0f612 311 } else if (filteredsignal1<=threshold_value && filteredsignal2>=threshold_value) {
Gerth 4:bf7765b0f612 312 led1=0;
Gerth 4:bf7765b0f612 313 led2=1;
Gerth 16:63320b8f79c2 314 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 11:c10651055871 315 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 14:4c4f45a1dd23 316 desired_position=(-1*maxdisplacement);
Gerth 11:c10651055871 317 } else {
Gerth 11:c10651055871 318 desired_position=desired_position;
Gerth 11:c10651055871 319 }
Gerth 3:48438eea184e 320 } else {
Gerth 4:bf7765b0f612 321 led1=led2=0;
Gerth 3:48438eea184e 322 }
Gerth 16:63320b8f79c2 323 }
Gerth 16:63320b8f79c2 324 ///////////////////////////////////////////////READ BUTTON AND MOVE DESIRED POSITION
Gerth 17:72d3522165ac 325 void readsignalbutton()
Gerth 16:63320b8f79c2 326 {
Gerth 19:6f22b5687587 327 //write value of button to variable
Gerth 17:72d3522165ac 328 int buttonr=buttonR.read();
Gerth 17:72d3522165ac 329 int buttonl=buttonL.read();
Gerth 16:63320b8f79c2 330 //check if pod has to shoot
Gerth 17:72d3522165ac 331 if (buttonr==0 && buttonl==0) {
Gerth 16:63320b8f79c2 332 led1=led2=1;
Gerth 16:63320b8f79c2 333 shoot();
Gerth 16:63320b8f79c2 334 // check if pod has to move to the right
Gerth 17:72d3522165ac 335 } else if (buttonr==0 && buttonl==1) {
Gerth 16:63320b8f79c2 336 led1=1;
Gerth 16:63320b8f79c2 337 led2=0;
Gerth 16:63320b8f79c2 338 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 17:72d3522165ac 339 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 340 desired_position=maxdisplacement;
Gerth 16:63320b8f79c2 341 } else {
Gerth 16:63320b8f79c2 342 desired_position=desired_position;
Gerth 16:63320b8f79c2 343 }
Gerth 17:72d3522165ac 344 // check if pod has to move to the left
Gerth 17:72d3522165ac 345 } else if (buttonr==1 && buttonl==0) {
Gerth 16:63320b8f79c2 346 led1=0;
Gerth 16:63320b8f79c2 347 led2=1;
Gerth 16:63320b8f79c2 348 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 17:72d3522165ac 349 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 350 desired_position=(-1*maxdisplacement);
Gerth 16:63320b8f79c2 351 } else {
Gerth 16:63320b8f79c2 352 desired_position=desired_position;
Gerth 16:63320b8f79c2 353 }
Gerth 16:63320b8f79c2 354 } else {
Gerth 16:63320b8f79c2 355 led1=led2=0;
Gerth 16:63320b8f79c2 356 }
Gerth 3:48438eea184e 357 }
Gerth 3:48438eea184e 358
Gerth 20:c5fb2ff5d457 359 void changemode()//this makes the counter higher to switch between modes
Gerth 6:37c94a5e205f 360 {
Gerth 10:9e96d14d7034 361 mycontroller.STOP();
Gerth 6:37c94a5e205f 362 switchedmode=true;
Gerth 6:37c94a5e205f 363 modecounter++;
Gerth 15:17de575b7385 364 if (modecounter==4) {
Gerth 6:37c94a5e205f 365 modecounter=0;
Gerth 6:37c94a5e205f 366 } else {
Gerth 6:37c94a5e205f 367 modecounter=modecounter;
Gerth 6:37c94a5e205f 368 }
Gerth 20:c5fb2ff5d457 369 wait(1);// needed because else it is checked too fast if the button is pressed and modes change too fast
Gerth 20:c5fb2ff5d457 370 // tried it with interruptin but dinn't work
Gerth 6:37c94a5e205f 371 }
Gerth 0:dd66fff537d7 372
Gerth 16:63320b8f79c2 373 ///////////////////////////////////////////////////MAIN
Gerth 7:7fbb2c028778 374
Gerth 0:dd66fff537d7 375 int main()
Gerth 0:dd66fff537d7 376 {
Gerth 1:917c07a4f3ec 377 //tickers
Gerth 1:917c07a4f3ec 378 safetyandthreshold_ticker.attach(&safetyandthreshold_activate,1.0/safetyandthreshold_frequency);
Gerth 1:917c07a4f3ec 379 filter_ticker.attach(&filter_activate,1.0/filter_frequency);
Gerth 1:917c07a4f3ec 380 control_ticker.attach(&control_activate,1.0/control_frequency);
Gerth 1:917c07a4f3ec 381 scope_ticker.attach(&scopedata_activate,1.0/scope_frequency);
Gerth 3:48438eea184e 382 readsignal_ticker.attach(&readsignal_activate, 1.0/readsignal_frequency);
Gerth 7:7fbb2c028778 383 readbuttoncalibrate_ticker.attach(&readbuttoncalibrate_activate, 1.0/readbuttoncalibrate_frequency);
Gerth 14:4c4f45a1dd23 384 ledblink_ticker.attach(&ledblink_activate, 1.0/ledblink_frequency);
Gerth 14:4c4f45a1dd23 385
Gerth 20:c5fb2ff5d457 386 pc.baud(115200);//set baudrate to 115200
Gerth 1:917c07a4f3ec 387 while(1) {
Gerth 20:c5fb2ff5d457 388 if (changemodebutton==0) {// check if the change mode button is pressed
Gerth 6:37c94a5e205f 389 changemode();
Gerth 1:917c07a4f3ec 390 }
Gerth 20:c5fb2ff5d457 391 if (scopedata_go==true) {//send scopedata
Gerth 9:4ee354663560 392 scopedata();
Gerth 9:4ee354663560 393 scopedata_go=false;
Gerth 9:4ee354663560 394 }
Gerth 20:c5fb2ff5d457 395 if (safetyandthreshold_go==true) {// check the potmeters
Gerth 9:4ee354663560 396 safetyandthreshold();
Gerth 9:4ee354663560 397 safetyandthreshold_go=false;
Gerth 9:4ee354663560 398 }
Gerth 7:7fbb2c028778 399 ///////////////////////////////////////////NORMAL RUNNING MODE
Gerth 7:7fbb2c028778 400 if(modecounter==0) {
Gerth 6:37c94a5e205f 401 if (switchedmode==true) {
Gerth 20:c5fb2ff5d457 402 encoder1.reset();// reset encoders so they are at 0 degrees
Gerth 6:37c94a5e205f 403 encoder2.reset();
Gerth 6:37c94a5e205f 404 pc.printf("Program running\n");//
Gerth 16:63320b8f79c2 405 ledgreen=0;
Gerth 16:63320b8f79c2 406 led1=led2=ledred=ledblue=1;
Gerth 6:37c94a5e205f 407 switchedmode=false;
Gerth 6:37c94a5e205f 408 }
Gerth 20:c5fb2ff5d457 409 if (filter_go==true) {// filter the emg signal
Gerth 6:37c94a5e205f 410 filtereverything();
Gerth 6:37c94a5e205f 411 filter_go=false;
Gerth 6:37c94a5e205f 412 }
Gerth 20:c5fb2ff5d457 413 if (readsignal_go==true) {// check if signal is 0 or 1 and adjust wanted position
Gerth 17:72d3522165ac 414 readsignal();
Gerth 17:72d3522165ac 415 readsignal_go=false;
Gerth 17:72d3522165ac 416 }
Gerth 20:c5fb2ff5d457 417 if (control_go==true) {// calculate angles from positions and send error to controller
Gerth 20:c5fb2ff5d457 418 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 419 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 16:63320b8f79c2 420
Gerth 20:c5fb2ff5d457 421 float error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 20:c5fb2ff5d457 422 float error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 7:7fbb2c028778 423 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);
Gerth 6:37c94a5e205f 424 control_go=false;
Gerth 6:37c94a5e205f 425 }
Gerth 20:c5fb2ff5d457 426 valuechangebutton.fall(&valuechange);// used to change controller variables and the gain for the filter
Gerth 1:917c07a4f3ec 427 }
Gerth 7:7fbb2c028778 428 ////////////////////////////////////////////////////CALIBRATE RIGHT ARM
Gerth 6:37c94a5e205f 429 if (modecounter==1) {
Gerth 6:37c94a5e205f 430 if(switchedmode==true) {
Gerth 6:37c94a5e205f 431 pc.printf("Calibration mode! Use buttons to move rigth arm to 0 degrees\n");
Gerth 16:63320b8f79c2 432 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 433 ledgreen=ledblue=1;
Gerth 6:37c94a5e205f 434 switchedmode=false;
Gerth 14:4c4f45a1dd23 435 }
Gerth 14:4c4f45a1dd23 436 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 437 led1=!led1;// blink rigth led on biorobotics shield (because rigth arm is being calibrated)
Gerth 16:63320b8f79c2 438 ledblink_go=false;
Gerth 6:37c94a5e205f 439 }
Gerth 20:c5fb2ff5d457 440 if (readbuttoncalibrate_go==true) {//check wich button is pressed and adjust wanted angle of rigth arm
Gerth 9:4ee354663560 441 if (buttonR.read()==0 && buttonL.read()==1) {
Gerth 20:c5fb2ff5d457 442 desired_angle1 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 443 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 444 }
Gerth 9:4ee354663560 445 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 446 desired_angle1 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 447 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 448 }
Gerth 9:4ee354663560 449 }
Gerth 20:c5fb2ff5d457 450 if (control_go==true) {// calculate errors and send them to controllers
Gerth 22:b29ba919d93e 451 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 22:b29ba919d93e 452 error2=0;
Gerth 20:c5fb2ff5d457 453 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);
Gerth 20:c5fb2ff5d457 454 control_go=false;
Gerth 20:c5fb2ff5d457 455 }
Gerth 8:54a7da09ccad 456 }
Gerth 8:54a7da09ccad 457 ////////////////////////////////////////////CALIBRATE LEFT ARM
Gerth 8:54a7da09ccad 458 if (modecounter==2) {
Gerth 8:54a7da09ccad 459 if(switchedmode==true) {
Gerth 8:54a7da09ccad 460 pc.printf("Calibration mode! Use buttons to move left arm to 0 degrees\n");
Gerth 16:63320b8f79c2 461 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 462 ledgreen=ledblue=1;
Gerth 8:54a7da09ccad 463 switchedmode=false;
Gerth 8:54a7da09ccad 464 }
Gerth 14:4c4f45a1dd23 465 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 466 led2=!led2;// blink left led on biorobotics shield (because left arm is being calibrated)
Gerth 16:63320b8f79c2 467 ledblink_go=false;
Gerth 14:4c4f45a1dd23 468 }
Gerth 20:c5fb2ff5d457 469 if (readbuttoncalibrate_go==true) {//
Gerth 20:c5fb2ff5d457 470 if (buttonR.read()==0 && buttonL.read()==1) {//check wich button is pressed and adjust wanted angle of left arm
Gerth 20:c5fb2ff5d457 471 desired_angle2 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 472 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 473 }
Gerth 8:54a7da09ccad 474 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 475 desired_angle2 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 476 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 477 }
Gerth 6:37c94a5e205f 478 }
Gerth 20:c5fb2ff5d457 479 if (control_go==true) {// calculate errors and send to controller
Gerth 22:b29ba919d93e 480 error1=0;
Gerth 22:b29ba919d93e 481 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 20:c5fb2ff5d457 482 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);
Gerth 20:c5fb2ff5d457 483 control_go=false;
Gerth 20:c5fb2ff5d457 484 }
Gerth 3:48438eea184e 485 }
Gerth 16:63320b8f79c2 486 ///////////////////////////////BUTTONCONTROLMODE
Gerth 15:17de575b7385 487 if (modecounter==3) {
Gerth 16:63320b8f79c2 488 if (switchedmode==true) {
Gerth 19:6f22b5687587 489 pc.printf("Buttonmode, you can use the buttons to control the robot\n");
Gerth 16:63320b8f79c2 490 led1=led2=0;
Gerth 21:6954cc25f2a7 491 ledred=ledblue=1;
Gerth 21:6954cc25f2a7 492 encoder1.reset();// reset encoders so they are at 0 degrees
Gerth 21:6954cc25f2a7 493 encoder2.reset();
Gerth 16:63320b8f79c2 494 switchedmode=false;
Gerth 16:63320b8f79c2 495 }
Gerth 16:63320b8f79c2 496 if (ledblink_go==true) {
Gerth 15:17de575b7385 497 ledgreen=!ledgreen;
Gerth 16:63320b8f79c2 498 ledblink_go=false;
Gerth 15:17de575b7385 499 }
Gerth 20:c5fb2ff5d457 500 if (readsignal_go==true) {// read buttons and adjus wanted position
Gerth 17:72d3522165ac 501 readsignalbutton();
Gerth 17:72d3522165ac 502 readsignal_go=false;
Gerth 17:72d3522165ac 503 }
Gerth 20:c5fb2ff5d457 504 if (control_go==true) {// calculate wanted angles from position, errors and send to controller
Gerth 20:c5fb2ff5d457 505 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 506 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 17:72d3522165ac 507
Gerth 22:b29ba919d93e 508 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 22:b29ba919d93e 509 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 17:72d3522165ac 510 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);
Gerth 17:72d3522165ac 511 control_go=false;
Gerth 16:63320b8f79c2 512 }
Gerth 21:6954cc25f2a7 513 valuechangebutton.fall(&valuechange);// used to change controller variables and the gain for the filter
Gerth 16:63320b8f79c2 514 }
Gerth 15:17de575b7385 515
Gerth 0:dd66fff537d7 516 }
Gerth 8:54a7da09ccad 517 }