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@33:1c7b498ded25, 2015-10-28 (annotated)

Committer:
Gerth
Date:
Wed Oct 28 14:58:35 2015 +0000
Revision:
33:1c7b498ded25
Parent:
32:c940f6b6a6a0
Child:
34:bc2d64e86cb9
added emg calibration mode and separate filter gains per arm;

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 25:21dcd3f9eac2 10 const double scope_frequency=500; //HIDscope frequency
Gerth 25:21dcd3f9eac2 11 Timer checktimer;
Gerth 25:21dcd3f9eac2 12 volatile double checktimervalue=0;
Gerth 20:c5fb2ff5d457 13
Gerth 20:c5fb2ff5d457 14 Serial pc(USBTX,USBRX);// serial connection to pc
Gerth 1:917c07a4f3ec 15
Gerth 16:63320b8f79c2 16 DigitalOut ledred(LED_RED);
Gerth 16:63320b8f79c2 17 DigitalOut ledgreen(LED_GREEN);
Gerth 16:63320b8f79c2 18 DigitalOut ledblue(LED_BLUE);
Gerth 14:4c4f45a1dd23 19
Gerth 20:c5fb2ff5d457 20 Ticker scope_ticker;
Gerth 20:c5fb2ff5d457 21 /////////////////////////////////////////////ENCODERS
Gerth 9:4ee354663560 22 const float cpr_sensor=32;
Gerth 20:c5fb2ff5d457 23 const float cpr_shaft=cpr_sensor*131;//counts per rotation of the sensor
Gerth 20:c5fb2ff5d457 24
Gerth 20:c5fb2ff5d457 25 QEI encoder1(D13,D12,NC,cpr_sensor);/// encoders on motors X2 encoding
Gerth 9:4ee354663560 26 QEI encoder2(D10,D11,NC,cpr_sensor);
Gerth 20:c5fb2ff5d457 27
Gerth 9:4ee354663560 28 const double PIE=3.14159265359;
Gerth 20:c5fb2ff5d457 29 const float counttorad=((2*PIE)/cpr_shaft);// counts per rotation of the shaft
Gerth 1:917c07a4f3ec 30
Gerth 24:dd75c961ae88 31
Gerth 6:37c94a5e205f 32 /////////////////////////////////CALIBRATION (MODE)
Gerth 20:c5fb2ff5d457 33 const double radpersec_calibrate=0.1*PIE;// speed of arms when in calibration mode
Gerth 20:c5fb2ff5d457 34 int modecounter=1;//counter in which mode the robot is
Gerth 20:c5fb2ff5d457 35 const double readbuttoncalibrate_frequency=10;//frequency at which the buttons are read when in calibration mode
Gerth 20:c5fb2ff5d457 36 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 37
Gerth 20:c5fb2ff5d457 38 DigitalIn changemodebutton(PTA4);// button to change mode (sw3)
Gerth 7:7fbb2c028778 39 Ticker readbuttoncalibrate_ticker;
Gerth 14:4c4f45a1dd23 40 Ticker ledblink_ticker;
Gerth 14:4c4f45a1dd23 41
Gerth 20:c5fb2ff5d457 42 DigitalIn buttonR(D2);//rigth button on biorobotics shield
Gerth 20:c5fb2ff5d457 43 DigitalIn buttonL(D3);//left button on biorobotics shield
Gerth 8:54a7da09ccad 44
Gerth 27:31cb8fbd976d 45 /////////////////READSIGNAL
Gerth 28:71a90073e482 46 const double readsignal_frequency=100;//frequency at wich the filtered emg signal is sampled to be 0 or 1
Gerth 27:31cb8fbd976d 47 Ticker readsignal_ticker;
Gerth 27:31cb8fbd976d 48
Gerth 27:31cb8fbd976d 49
Gerth 27:31cb8fbd976d 50 DigitalOut led1(PTC12);// rigth led on biorobotics shield
Gerth 27:31cb8fbd976d 51 DigitalOut led2(D9);//left led on biorobotics shield
Gerth 27:31cb8fbd976d 52
Gerth 1:917c07a4f3ec 53 //////////////////////////////////CONTROLLER
Gerth 25:21dcd3f9eac2 54 const double control_frequency=250;// frequency at which the controller is called
Gerth 1:917c07a4f3ec 55 //controller constants
Gerth 31:8646e853979f 56 float Kp_shoot=6;
Gerth 31:8646e853979f 57 float Ki_shoot=2;
Gerth 31:8646e853979f 58 float Kd_shoot=0.5;
Gerth 31:8646e853979f 59 float Kp_move=2;
Gerth 31:8646e853979f 60 float Ki_move=1.25;
Gerth 31:8646e853979f 61 float Kd_move=0.05;
Gerth 31:8646e853979f 62
Gerth 27:31cb8fbd976d 63 float factor_taup=1.5;
Gerth 27:31cb8fbd976d 64 float tau_p=1.0/(factor_taup*control_frequency);
Gerth 27:31cb8fbd976d 65 controlandadjust mycontroller(2,control_frequency); // make a controller, value in brackets is errorband in degrees and controller frequency
Gerth 20:c5fb2ff5d457 66
Gerth 1:917c07a4f3ec 67 Ticker control_ticker;
Gerth 20:c5fb2ff5d457 68
Gerth 27:31cb8fbd976d 69 const double Ts_control=1.0/control_frequency;
Gerth 27:31cb8fbd976d 70
Gerth 26:c935e39cce8a 71 float error1=0,//controller error storage variables
Gerth 26:c935e39cce8a 72 error2=0;
Gerth 1:917c07a4f3ec 73
Gerth 1:917c07a4f3ec 74 InterruptIn valuechangebutton(PTC6);//button to change controller constants
Gerth 1:917c07a4f3ec 75
Gerth 1:917c07a4f3ec 76 //safetyandthreshold
Gerth 3:48438eea184e 77 AnalogIn safety_pot(A3);//pot 2, used for the safety cutoff value for the pwm
Gerth 3:48438eea184e 78 AnalogIn threshold_pot(A2);//pot1, used to adjust threshold if signal differs per person
Gerth 1:917c07a4f3ec 79
Gerth 1:917c07a4f3ec 80 Ticker safetyandthreshold_ticker; // ticker to read potmeters
Gerth 3:48438eea184e 81 const double safetyandthreshold_frequency=1; // frequency for the ticker
Gerth 3:48438eea184e 82
Gerth 4:bf7765b0f612 83 float threshold_value=1;//initial threshold value
Gerth 1:917c07a4f3ec 84
Gerth 1:917c07a4f3ec 85 ////////////////////////////////FILTER
Gerth 20:c5fb2ff5d457 86 const double filter_frequency=500;
Gerth 20:c5fb2ff5d457 87 #include "filtervalues.h"// call the values for the biquads
Gerth 20:c5fb2ff5d457 88
Gerth 1:917c07a4f3ec 89 Ticker filter_ticker;
Gerth 1:917c07a4f3ec 90
Gerth 20:c5fb2ff5d457 91 Biquad myfilter1;// make filter for signal 1
Gerth 20:c5fb2ff5d457 92 Biquad myfilter2;//make filter for signal 2
Gerth 1:917c07a4f3ec 93
Gerth 20:c5fb2ff5d457 94 AnalogIn emg1_input(A0);//input for first emg signal
Gerth 20:c5fb2ff5d457 95 AnalogIn emg2_input(A1);//input for second emg signal
Gerth 20:c5fb2ff5d457 96
Gerth 20:c5fb2ff5d457 97 volatile double filteredsignal1=0;//the first filtered emg signal
Gerth 20:c5fb2ff5d457 98 volatile double filteredsignal2=0;//the second filtered emg signal
Gerth 33:1c7b498ded25 99 float filter_extragain1=1,filter_extragain2=1;
Gerth 1:917c07a4f3ec 100
Gerth 4:bf7765b0f612 101
Gerth 4:bf7765b0f612 102 //////////////////////////////// POSITION AND ANGLE SHIZZLE
Gerth 32:c940f6b6a6a0 103 const float safetymarginfield=0.1; //adjustable, tweak for maximum but safe range
Gerth 24:dd75c961ae88 104 const float mm_per_sec_emg=0.1;// move the pod 100 mm per sec if muscle is flexed
Gerth 26:c935e39cce8a 105 const float y_start=0.145;//starting y position of the pod
Gerth 20:c5fb2ff5d457 106 const float y_punch=0.473;// position to where there is punched
Gerth 32:c940f6b6a6a0 107 const float timetoshoot=0.35;// time it can take to shoot
Gerth 31:8646e853979f 108 const float timetogoback=1;// time it can take to go back after shooting
Gerth 20:c5fb2ff5d457 109
Gerth 4:bf7765b0f612 110 float desired_position=0;
Gerth 20:c5fb2ff5d457 111 float desired_angle1=0;
Gerth 20:c5fb2ff5d457 112 float desired_angle2=0;
Gerth 19:6f22b5687587 113
Gerth 20:c5fb2ff5d457 114 const float fieldwidth=0.473;
Gerth 20:c5fb2ff5d457 115 const float maxdisplacement=((fieldwidth/2)-safetymarginfield); //so the pod doesn't hit the edges of the playfield
Gerth 3:48438eea184e 116
Gerth 20:c5fb2ff5d457 117 angleandposition anglepos;// initiate the angle and position calculation library
Gerth 20:c5fb2ff5d457 118
Gerth 23:1c4a18799464 119 const float radtodeg=(180/PIE);
Gerth 23:1c4a18799464 120
Gerth 19:6f22b5687587 121
Gerth 18:1c3254a32fd1 122
Gerth 1:917c07a4f3ec 123 //////////////////////GO FLAGS AND ACTIVATION FUNCTIONS
Gerth 1:917c07a4f3ec 124 volatile bool scopedata_go=false,
Gerth 1:917c07a4f3ec 125 control_go=false,
Gerth 1:917c07a4f3ec 126 filter_go=false,
Gerth 3:48438eea184e 127 safetyandthreshold_go=false,
Gerth 6:37c94a5e205f 128 readsignal_go=false,
Gerth 8:54a7da09ccad 129 switchedmode=true,
Gerth 14:4c4f45a1dd23 130 readbuttoncalibrate_go=false,
Gerth 14:4c4f45a1dd23 131 ledblink_go=false;
Gerth 1:917c07a4f3ec 132
Gerth 1:917c07a4f3ec 133 void scopedata_activate()
Gerth 1:917c07a4f3ec 134 {
Gerth 1:917c07a4f3ec 135 scopedata_go=true;
Gerth 1:917c07a4f3ec 136 }
Gerth 1:917c07a4f3ec 137 void control_activate()
Gerth 1:917c07a4f3ec 138 {
Gerth 1:917c07a4f3ec 139 control_go=true;
Gerth 1:917c07a4f3ec 140 }
Gerth 1:917c07a4f3ec 141 void filter_activate()
Gerth 1:917c07a4f3ec 142 {
Gerth 1:917c07a4f3ec 143 filter_go=true;
Gerth 1:917c07a4f3ec 144 }
Gerth 1:917c07a4f3ec 145 void safetyandthreshold_activate()
Gerth 1:917c07a4f3ec 146 {
Gerth 1:917c07a4f3ec 147 safetyandthreshold_go=true;
Gerth 1:917c07a4f3ec 148 }
Gerth 3:48438eea184e 149 void readsignal_activate()
Gerth 3:48438eea184e 150 {
Gerth 3:48438eea184e 151 readsignal_go=true;
Gerth 3:48438eea184e 152 }
Gerth 7:7fbb2c028778 153 void readbuttoncalibrate_activate()
Gerth 7:7fbb2c028778 154 {
Gerth 7:7fbb2c028778 155 readbuttoncalibrate_go=true;
Gerth 7:7fbb2c028778 156 }
Gerth 14:4c4f45a1dd23 157 void ledblink_activate()
Gerth 14:4c4f45a1dd23 158 {
Gerth 14:4c4f45a1dd23 159 ledblink_go=true;
Gerth 14:4c4f45a1dd23 160 }
Gerth 1:917c07a4f3ec 161
Gerth 1:917c07a4f3ec 162 ////////////////////////FUNCTIONS
Gerth 1:917c07a4f3ec 163 //gather data and send to scope
Gerth 32:c940f6b6a6a0 164 void scopedata(double wanted_y)
Gerth 1:917c07a4f3ec 165 {
Gerth 33:1c7b498ded25 166 scope.set(0,desired_position);
Gerth 33:1c7b498ded25 167 scope.set(1,wanted_y);
Gerth 33:1c7b498ded25 168 scope.set(2,filteredsignal1);
Gerth 33:1c7b498ded25 169 scope.set(3,filteredsignal2);
Gerth 33:1c7b498ded25 170 scope.set(4,threshold_value);
Gerth 30:cd4d9754a357 171 scope.set(5,mycontroller.motor2pwm());
Gerth 3:48438eea184e 172 scope.send();
Gerth 4:bf7765b0f612 173 }
Gerth 1:917c07a4f3ec 174 //read potmeters and adjust the safetyfactor and threshold
Gerth 1:917c07a4f3ec 175 void safetyandthreshold()
Gerth 1:917c07a4f3ec 176 {
Gerth 3:48438eea184e 177 mycontroller.cutoff((ceil (10*safety_pot.read()) )/10); // adjust the safetyfactor value between 0 and 1 rounded to 1 decimal
Gerth 28:71a90073e482 178 threshold_value=((ceil (100*threshold_pot.read()) )/100); // adjust the threshold value between 0 and 1 rounded to 2 decimals
Gerth 1:917c07a4f3ec 179 }
Gerth 1:917c07a4f3ec 180 /////filter
Gerth 28:71a90073e482 181 void filtereverything(bool makeempty)
Gerth 1:917c07a4f3ec 182 {
Gerth 1:917c07a4f3ec 183 //pass1 so f1
Gerth 2:c7707856d137 184 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 185 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 186
Gerth 1:917c07a4f3ec 187 //pass2 so f2
Gerth 2:c7707856d137 188 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 189 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 190
Gerth 1:917c07a4f3ec 191 //pass3 so f3
Gerth 2:c7707856d137 192 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 193 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 194
Gerth 1:917c07a4f3ec 195 //pass4 so f4
Gerth 2:c7707856d137 196 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 197 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 198
Gerth 1:917c07a4f3ec 199 //pass5 so f5
Gerth 2:c7707856d137 200 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 201 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 202
Gerth 1:917c07a4f3ec 203 ///// take absolute value
Gerth 2:c7707856d137 204 double pass5_emg1_abs=(fabs(pass5_emg1));
Gerth 2:c7707856d137 205 double pass5_emg2_abs=(fabs(pass5_emg2));
Gerth 1:917c07a4f3ec 206
Gerth 1:917c07a4f3ec 207 //pass6 so f6
Gerth 2:c7707856d137 208 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 209 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 210
Gerth 1:917c07a4f3ec 211
Gerth 1:917c07a4f3ec 212 //pass7 so f7
Gerth 2:c7707856d137 213 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 214 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 215
Gerth 33:1c7b498ded25 216 filteredsignal1=(pass7_emg1*9e11*filter_extragain1);
Gerth 33:1c7b498ded25 217 filteredsignal2=(pass7_emg2*9e11*filter_extragain2);
Gerth 30:cd4d9754a357 218
Gerth 28:71a90073e482 219 if (makeempty==true) {//this is needed so the filtered value is nog high after shooting
Gerth 28:71a90073e482 220 pass1_emg1 = pass1_emg2 =pass2_emg1 =pass2_emg2 =pass3_emg1 = pass3_emg2 =pass4_emg1 =pass4_emg2 =pass5_emg1 =pass5_emg2 =0;
Gerth 28:71a90073e482 221 pass5_emg1_abs=pass5_emg2_abs=pass6_emg1 =pass6_emg2 =pass7_emg1=pass7_emg2 =filteredsignal1=filteredsignal2=0;
Gerth 28:71a90073e482 222 v1_f1_emg1=v1_f1_emg2=v1_f2_emg1=v1_f2_emg2=v1_f3_emg1=v1_f3_emg2=v1_f4_emg1=v1_f4_emg2=v1_f5_emg1=0;
Gerth 28:71a90073e482 223 v1_f5_emg2=v1_f6_emg1=v1_f6_emg2=v1_f7_emg1=v1_f7_emg2=0;
Gerth 28:71a90073e482 224 }
Gerth 28:71a90073e482 225
Gerth 1:917c07a4f3ec 226 }
Gerth 1:917c07a4f3ec 227 //adjust controller values when sw2 is pressed
Gerth 1:917c07a4f3ec 228 void valuechange()
Gerth 1:917c07a4f3ec 229 {
Gerth 3:48438eea184e 230 mycontroller.STOP();
Gerth 33:1c7b498ded25 231 pc.printf("Extra gain for rigth arm is now %f, enter new value\n",filter_extragain1);
Gerth 33:1c7b498ded25 232 pc.scanf("%f", &filter_extragain1);
Gerth 33:1c7b498ded25 233
Gerth 33:1c7b498ded25 234 pc.printf("Extra gain for left arm is now %f, enter new value\n",filter_extragain2);
Gerth 33:1c7b498ded25 235 pc.scanf("%f", &filter_extragain2);
Gerth 1:917c07a4f3ec 236 }
Gerth 11:c10651055871 237
Gerth 20:c5fb2ff5d457 238 // shoot the pod forward
Gerth 19:6f22b5687587 239 void shoot()
Gerth 14:4c4f45a1dd23 240 {
Gerth 19:6f22b5687587 241 ledgreen=1;
Gerth 32:c940f6b6a6a0 242 double time=0;
Gerth 32:c940f6b6a6a0 243 double stepsize=(0.5*PIE)/(timetoshoot*control_frequency);
Gerth 32:c940f6b6a6a0 244 double profile_angle=0;
Gerth 32:c940f6b6a6a0 245 double x_punch=anglepos.angletoposition(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses());
Gerth 32:c940f6b6a6a0 246 double y_during_punch=y_start;
Gerth 19:6f22b5687587 247 Timer shoottimer;
Gerth 19:6f22b5687587 248 shoottimer.reset();
Gerth 19:6f22b5687587 249 shoottimer.start();
Gerth 23:1c4a18799464 250 //forward
Gerth 19:6f22b5687587 251 while (time<=timetoshoot) {
Gerth 19:6f22b5687587 252 ledblue=!ledblue;
Gerth 25:21dcd3f9eac2 253
Gerth 32:c940f6b6a6a0 254 profile_angle+=stepsize; // add stepsize to angle
Gerth 33:1c7b498ded25 255
Gerth 32:c940f6b6a6a0 256 y_during_punch=(y_punch-y_start)*(1-cos(profile_angle))+y_start; // calculate y position for shooting
Gerth 33:1c7b498ded25 257
Gerth 20:c5fb2ff5d457 258 if (y_during_punch>=y_punch) {//to check if y position is not bigger than y_punch for safety
Gerth 19:6f22b5687587 259 y_during_punch=y_punch;
Gerth 19:6f22b5687587 260 } else {
Gerth 19:6f22b5687587 261 y_during_punch=y_during_punch;
Gerth 33:1c7b498ded25 262 }
Gerth 19:6f22b5687587 263
Gerth 29:cd47a5a772db 264 desired_angle1=anglepos.positiontoangle1(x_punch,y_during_punch);// calculate desired angles
Gerth 29:cd47a5a772db 265 desired_angle2=anglepos.positiontoangle2(x_punch,y_during_punch);
Gerth 19:6f22b5687587 266
Gerth 25:21dcd3f9eac2 267 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 25:21dcd3f9eac2 268 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 19:6f22b5687587 269
Gerth 31:8646e853979f 270 mycontroller.PID(error1,error2,Kp_shoot,Ki_shoot,Kd_shoot);;// send errors to controller
Gerth 31:8646e853979f 271 scopedata(y_during_punch);//send data to hidscope WARING lower freqyency than normal
Gerth 19:6f22b5687587 272
Gerth 20:c5fb2ff5d457 273 time+=(Ts_control);// add time it should take to calculated time
Gerth 28:71a90073e482 274 //pc.printf("Time = %f\n",time);
Gerth 28:71a90073e482 275 filtereverything(true);//set al filter variables to 0
Gerth 20:c5fb2ff5d457 276 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 277 }
Gerth 23:1c4a18799464 278 //back
Gerth 23:1c4a18799464 279 time=0;
Gerth 23:1c4a18799464 280 shoottimer.reset();
Gerth 32:c940f6b6a6a0 281 stepsize=(PIE)/(timetogoback*control_frequency);
Gerth 32:c940f6b6a6a0 282 profile_angle=0;
Gerth 26:c935e39cce8a 283 while (time<=timetogoback) {
Gerth 23:1c4a18799464 284 ledblue=!ledblue;
Gerth 25:21dcd3f9eac2 285
Gerth 32:c940f6b6a6a0 286 profile_angle+=stepsize; // add stepsize to y position
Gerth 33:1c7b498ded25 287 y_during_punch=0.5*(y_punch-y_start)*(1+cos(profile_angle))+y_start; // calculate y position for shooting
Gerth 23:1c4a18799464 288 if (y_during_punch<=y_start) {//to check if y position is not smaller than y_start for safety
Gerth 23:1c4a18799464 289 y_during_punch=y_start;
Gerth 23:1c4a18799464 290 } else {
Gerth 23:1c4a18799464 291 y_during_punch=y_during_punch;
Gerth 23:1c4a18799464 292 }
Gerth 23:1c4a18799464 293
Gerth 29:cd47a5a772db 294 desired_angle1=anglepos.positiontoangle1(x_punch,y_during_punch);// calculate desired angles
Gerth 29:cd47a5a772db 295 desired_angle2=anglepos.positiontoangle2(x_punch,y_during_punch);
Gerth 23:1c4a18799464 296
Gerth 25:21dcd3f9eac2 297 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 25:21dcd3f9eac2 298 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 23:1c4a18799464 299
Gerth 31:8646e853979f 300 mycontroller.PID(error1,error2,Kp_shoot,Ki_shoot,Kd_shoot);;// send errors to controller
Gerth 31:8646e853979f 301 scopedata(y_during_punch);//send data to hidscope WARING lower freqyency than normal
Gerth 23:1c4a18799464 302
Gerth 23:1c4a18799464 303 time+=(Ts_control);// add time it should take to calculated time
Gerth 28:71a90073e482 304 //pc.printf("Time = %f\n",time);
Gerth 28:71a90073e482 305 filtereverything(false);
Gerth 23:1c4a18799464 306 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 25:21dcd3f9eac2 307 }
Gerth 19:6f22b5687587 308 shoottimer.stop();
Gerth 16:63320b8f79c2 309 ledblue=1;
Gerth 19:6f22b5687587 310 ledgreen=0;
Gerth 11:c10651055871 311 }
Gerth 11:c10651055871 312
Gerth 16:63320b8f79c2 313 ////////////////////////////////////////////////////READ EMG AND MOVE DESIRED POSITION
Gerth 3:48438eea184e 314 void readsignal()
Gerth 3:48438eea184e 315 {
Gerth 11:c10651055871 316 //check if pod has to shoot
Gerth 4:bf7765b0f612 317 if (filteredsignal1>=threshold_value && filteredsignal2>=threshold_value) {
Gerth 4:bf7765b0f612 318 led1=led2=1;
Gerth 11:c10651055871 319 shoot();
Gerth 14:4c4f45a1dd23 320 // check if pod has to move to the right
Gerth 4:bf7765b0f612 321 } else if (filteredsignal1>=threshold_value && filteredsignal2<=threshold_value) {
Gerth 4:bf7765b0f612 322 led1=1;
Gerth 4:bf7765b0f612 323 led2=0;
Gerth 16:63320b8f79c2 324 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 11:c10651055871 325 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 11:c10651055871 326 desired_position=maxdisplacement;
Gerth 11:c10651055871 327 } else {
Gerth 11:c10651055871 328 desired_position=desired_position;
Gerth 11:c10651055871 329 }
Gerth 14:4c4f45a1dd23 330 // check if pod has to move to the left
Gerth 4:bf7765b0f612 331 } else if (filteredsignal1<=threshold_value && filteredsignal2>=threshold_value) {
Gerth 4:bf7765b0f612 332 led1=0;
Gerth 4:bf7765b0f612 333 led2=1;
Gerth 16:63320b8f79c2 334 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 11:c10651055871 335 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 14:4c4f45a1dd23 336 desired_position=(-1*maxdisplacement);
Gerth 11:c10651055871 337 } else {
Gerth 11:c10651055871 338 desired_position=desired_position;
Gerth 11:c10651055871 339 }
Gerth 3:48438eea184e 340 } else {
Gerth 4:bf7765b0f612 341 led1=led2=0;
Gerth 3:48438eea184e 342 }
Gerth 16:63320b8f79c2 343 }
Gerth 28:71a90073e482 344
Gerth 16:63320b8f79c2 345 ///////////////////////////////////////////////READ BUTTON AND MOVE DESIRED POSITION
Gerth 17:72d3522165ac 346 void readsignalbutton()
Gerth 16:63320b8f79c2 347 {
Gerth 19:6f22b5687587 348 //write value of button to variable
Gerth 17:72d3522165ac 349 int buttonr=buttonR.read();
Gerth 17:72d3522165ac 350 int buttonl=buttonL.read();
Gerth 16:63320b8f79c2 351 //check if pod has to shoot
Gerth 17:72d3522165ac 352 if (buttonr==0 && buttonl==0) {
Gerth 16:63320b8f79c2 353 led1=led2=1;
Gerth 16:63320b8f79c2 354 shoot();
Gerth 16:63320b8f79c2 355 // check if pod has to move to the right
Gerth 17:72d3522165ac 356 } else if (buttonr==0 && buttonl==1) {
Gerth 16:63320b8f79c2 357 led1=1;
Gerth 16:63320b8f79c2 358 led2=0;
Gerth 16:63320b8f79c2 359 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 17:72d3522165ac 360 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 361 desired_position=maxdisplacement;
Gerth 16:63320b8f79c2 362 } else {
Gerth 16:63320b8f79c2 363 desired_position=desired_position;
Gerth 16:63320b8f79c2 364 }
Gerth 17:72d3522165ac 365 // check if pod has to move to the left
Gerth 17:72d3522165ac 366 } else if (buttonr==1 && buttonl==0) {
Gerth 16:63320b8f79c2 367 led1=0;
Gerth 16:63320b8f79c2 368 led2=1;
Gerth 16:63320b8f79c2 369 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 17:72d3522165ac 370 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 371 desired_position=(-1*maxdisplacement);
Gerth 16:63320b8f79c2 372 } else {
Gerth 16:63320b8f79c2 373 desired_position=desired_position;
Gerth 16:63320b8f79c2 374 }
Gerth 16:63320b8f79c2 375 } else {
Gerth 16:63320b8f79c2 376 led1=led2=0;
Gerth 16:63320b8f79c2 377 }
Gerth 3:48438eea184e 378 }
Gerth 3:48438eea184e 379
Gerth 28:71a90073e482 380 void changemode() //this makes the counter higher to switch between modes
Gerth 6:37c94a5e205f 381 {
Gerth 10:9e96d14d7034 382 mycontroller.STOP();
Gerth 6:37c94a5e205f 383 switchedmode=true;
Gerth 6:37c94a5e205f 384 modecounter++;
Gerth 33:1c7b498ded25 385 if (modecounter==5) {
Gerth 6:37c94a5e205f 386 modecounter=0;
Gerth 6:37c94a5e205f 387 } else {
Gerth 6:37c94a5e205f 388 modecounter=modecounter;
Gerth 6:37c94a5e205f 389 }
Gerth 20:c5fb2ff5d457 390 wait(1);// needed because else it is checked too fast if the button is pressed and modes change too fast
Gerth 25:21dcd3f9eac2 391 // tried it with interruptin but dinn't work
Gerth 6:37c94a5e205f 392 }
Gerth 0:dd66fff537d7 393
Gerth 16:63320b8f79c2 394 ///////////////////////////////////////////////////MAIN
Gerth 7:7fbb2c028778 395
Gerth 0:dd66fff537d7 396 int main()
Gerth 0:dd66fff537d7 397 {
Gerth 1:917c07a4f3ec 398 //tickers
Gerth 1:917c07a4f3ec 399 safetyandthreshold_ticker.attach(&safetyandthreshold_activate,1.0/safetyandthreshold_frequency);
Gerth 1:917c07a4f3ec 400 filter_ticker.attach(&filter_activate,1.0/filter_frequency);
Gerth 1:917c07a4f3ec 401 control_ticker.attach(&control_activate,1.0/control_frequency);
Gerth 1:917c07a4f3ec 402 scope_ticker.attach(&scopedata_activate,1.0/scope_frequency);
Gerth 3:48438eea184e 403 readsignal_ticker.attach(&readsignal_activate, 1.0/readsignal_frequency);
Gerth 7:7fbb2c028778 404 readbuttoncalibrate_ticker.attach(&readbuttoncalibrate_activate, 1.0/readbuttoncalibrate_frequency);
Gerth 14:4c4f45a1dd23 405 ledblink_ticker.attach(&ledblink_activate, 1.0/ledblink_frequency);
Gerth 14:4c4f45a1dd23 406
Gerth 20:c5fb2ff5d457 407 pc.baud(115200);//set baudrate to 115200
Gerth 1:917c07a4f3ec 408 while(1) {
Gerth 27:31cb8fbd976d 409 valuechangebutton.fall(&valuechange);// used to change controller variables and the gain for the filter
Gerth 25:21dcd3f9eac2 410 checktimer.reset();
Gerth 26:c935e39cce8a 411 checktimer.start();
Gerth 20:c5fb2ff5d457 412 if (changemodebutton==0) {// check if the change mode button is pressed
Gerth 6:37c94a5e205f 413 changemode();
Gerth 1:917c07a4f3ec 414 }
Gerth 20:c5fb2ff5d457 415 if (scopedata_go==true) {//send scopedata
Gerth 26:c935e39cce8a 416 //TIME THIS LOOP TAKES 0.000008 SEC (PEAKS AT 0.000015)
Gerth 31:8646e853979f 417 scopedata(y_start);
Gerth 26:c935e39cce8a 418 scopedata_go=false;
Gerth 9:4ee354663560 419 }
Gerth 20:c5fb2ff5d457 420 if (safetyandthreshold_go==true) {// check the potmeters
Gerth 26:c935e39cce8a 421 //TIME THIS LOOP TAKES: 0.000032 SEC
Gerth 9:4ee354663560 422 safetyandthreshold();
Gerth 9:4ee354663560 423 safetyandthreshold_go=false;
Gerth 26:c935e39cce8a 424 }
Gerth 7:7fbb2c028778 425 ///////////////////////////////////////////NORMAL RUNNING MODE
Gerth 7:7fbb2c028778 426 if(modecounter==0) {
Gerth 6:37c94a5e205f 427 if (switchedmode==true) {
Gerth 20:c5fb2ff5d457 428 encoder1.reset();// reset encoders so they are at 0 degrees
Gerth 6:37c94a5e205f 429 encoder2.reset();
Gerth 6:37c94a5e205f 430 pc.printf("Program running\n");//
Gerth 16:63320b8f79c2 431 ledgreen=0;
Gerth 16:63320b8f79c2 432 led1=led2=ledred=ledblue=1;
Gerth 6:37c94a5e205f 433 switchedmode=false;
Gerth 6:37c94a5e205f 434 }
Gerth 20:c5fb2ff5d457 435 if (filter_go==true) {// filter the emg signal
Gerth 26:c935e39cce8a 436 // TIME THIS LOOP TAKES: 0.000173 SEC
Gerth 28:71a90073e482 437 filtereverything(false);
Gerth 26:c935e39cce8a 438 filter_go=false;
Gerth 6:37c94a5e205f 439 }
Gerth 20:c5fb2ff5d457 440 if (readsignal_go==true) {// check if signal is 0 or 1 and adjust wanted position
Gerth 26:c935e39cce8a 441 // TIME THIS LOOP TAKES: 0.000005 SEC
Gerth 17:72d3522165ac 442 readsignal();
Gerth 17:72d3522165ac 443 readsignal_go=false;
Gerth 26:c935e39cce8a 444 }
Gerth 20:c5fb2ff5d457 445 if (control_go==true) {// calculate angles from positions and send error to controller
Gerth 26:c935e39cce8a 446 //TIME THIS LOOP TAKES: 0.000223 SEC
Gerth 26:c935e39cce8a 447
Gerth 20:c5fb2ff5d457 448 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 449 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 16:63320b8f79c2 450
Gerth 20:c5fb2ff5d457 451 float error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 20:c5fb2ff5d457 452 float error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 453 mycontroller.PID(error1,error2,Kp_move,Ki_move,Kd_move);
Gerth 6:37c94a5e205f 454 control_go=false;
Gerth 26:c935e39cce8a 455 }
Gerth 33:1c7b498ded25 456 // valuechangebutton.fall(&valuechange);// used to change controller variables and the gain for the filter
Gerth 1:917c07a4f3ec 457 }
Gerth 7:7fbb2c028778 458 ////////////////////////////////////////////////////CALIBRATE RIGHT ARM
Gerth 6:37c94a5e205f 459 if (modecounter==1) {
Gerth 6:37c94a5e205f 460 if(switchedmode==true) {
Gerth 6:37c94a5e205f 461 pc.printf("Calibration mode! Use buttons to move rigth arm to 0 degrees\n");
Gerth 16:63320b8f79c2 462 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 463 ledgreen=ledblue=1;
Gerth 6:37c94a5e205f 464 switchedmode=false;
Gerth 14:4c4f45a1dd23 465 }
Gerth 14:4c4f45a1dd23 466 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 467 led1=!led1;// blink rigth led on biorobotics shield (because rigth arm is being calibrated)
Gerth 16:63320b8f79c2 468 ledblink_go=false;
Gerth 6:37c94a5e205f 469 }
Gerth 20:c5fb2ff5d457 470 if (readbuttoncalibrate_go==true) {//check wich button is pressed and adjust wanted angle of rigth arm
Gerth 9:4ee354663560 471 if (buttonR.read()==0 && buttonL.read()==1) {
Gerth 20:c5fb2ff5d457 472 desired_angle1 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 473 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 474 }
Gerth 9:4ee354663560 475 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 476 desired_angle1 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 477 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 478 }
Gerth 9:4ee354663560 479 }
Gerth 25:21dcd3f9eac2 480 if (control_go==true) {// calculate errors and send them to controllers
Gerth 25:21dcd3f9eac2 481 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 25:21dcd3f9eac2 482 error2=0;
Gerth 31:8646e853979f 483 mycontroller.PI(error1,error2,Kp_move,Ki_move);
Gerth 20:c5fb2ff5d457 484 control_go=false;
Gerth 20:c5fb2ff5d457 485 }
Gerth 8:54a7da09ccad 486 }
Gerth 8:54a7da09ccad 487 ////////////////////////////////////////////CALIBRATE LEFT ARM
Gerth 8:54a7da09ccad 488 if (modecounter==2) {
Gerth 8:54a7da09ccad 489 if(switchedmode==true) {
Gerth 8:54a7da09ccad 490 pc.printf("Calibration mode! Use buttons to move left arm to 0 degrees\n");
Gerth 16:63320b8f79c2 491 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 492 ledgreen=ledblue=1;
Gerth 8:54a7da09ccad 493 switchedmode=false;
Gerth 8:54a7da09ccad 494 }
Gerth 14:4c4f45a1dd23 495 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 496 led2=!led2;// blink left led on biorobotics shield (because left arm is being calibrated)
Gerth 16:63320b8f79c2 497 ledblink_go=false;
Gerth 14:4c4f45a1dd23 498 }
Gerth 25:21dcd3f9eac2 499 if (readbuttoncalibrate_go==true) {//
Gerth 20:c5fb2ff5d457 500 if (buttonR.read()==0 && buttonL.read()==1) {//check wich button is pressed and adjust wanted angle of left arm
Gerth 20:c5fb2ff5d457 501 desired_angle2 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 502 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 503 }
Gerth 8:54a7da09ccad 504 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 505 desired_angle2 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 506 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 507 }
Gerth 6:37c94a5e205f 508 }
Gerth 25:21dcd3f9eac2 509 if (control_go==true) {// calculate errors and send to controller
Gerth 25:21dcd3f9eac2 510 error1=0;
Gerth 25:21dcd3f9eac2 511 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 512 mycontroller.PI(error1,error2,Kp_move,Ki_move);
Gerth 20:c5fb2ff5d457 513 control_go=false;
Gerth 20:c5fb2ff5d457 514 }
Gerth 3:48438eea184e 515 }
Gerth 16:63320b8f79c2 516 ///////////////////////////////BUTTONCONTROLMODE
Gerth 15:17de575b7385 517 if (modecounter==3) {
Gerth 16:63320b8f79c2 518 if (switchedmode==true) {
Gerth 19:6f22b5687587 519 pc.printf("Buttonmode, you can use the buttons to control the robot\n");
Gerth 16:63320b8f79c2 520 led1=led2=0;
Gerth 25:21dcd3f9eac2 521 ledred=ledblue=1;
Gerth 21:6954cc25f2a7 522 encoder1.reset();// reset encoders so they are at 0 degrees
Gerth 21:6954cc25f2a7 523 encoder2.reset();
Gerth 16:63320b8f79c2 524 switchedmode=false;
Gerth 16:63320b8f79c2 525 }
Gerth 16:63320b8f79c2 526 if (ledblink_go==true) {
Gerth 15:17de575b7385 527 ledgreen=!ledgreen;
Gerth 16:63320b8f79c2 528 ledblink_go=false;
Gerth 15:17de575b7385 529 }
Gerth 20:c5fb2ff5d457 530 if (readsignal_go==true) {// read buttons and adjus wanted position
Gerth 17:72d3522165ac 531 readsignalbutton();
Gerth 17:72d3522165ac 532 readsignal_go=false;
Gerth 17:72d3522165ac 533 }
Gerth 20:c5fb2ff5d457 534 if (control_go==true) {// calculate wanted angles from position, errors and send to controller
Gerth 20:c5fb2ff5d457 535 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 536 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 17:72d3522165ac 537
Gerth 25:21dcd3f9eac2 538 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 25:21dcd3f9eac2 539 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 540 mycontroller.PID(error1,error2,Kp_move,Ki_move,Kd_move);
Gerth 17:72d3522165ac 541 control_go=false;
Gerth 16:63320b8f79c2 542 }
Gerth 16:63320b8f79c2 543 }
Gerth 33:1c7b498ded25 544 if(modecounter==4) {
Gerth 33:1c7b498ded25 545 if (switchedmode==true) {
Gerth 33:1c7b498ded25 546 pc.printf("Calibrate the EMG signals and threshold");
Gerth 33:1c7b498ded25 547 ledgreen=1;
Gerth 33:1c7b498ded25 548 ledred=0;
Gerth 33:1c7b498ded25 549 switchedmode=false;
Gerth 33:1c7b498ded25 550 }
Gerth 33:1c7b498ded25 551 if(ledblink_go==true) {
Gerth 33:1c7b498ded25 552 ledgreen=!ledgreen;
Gerth 33:1c7b498ded25 553 ledred=!ledred;
Gerth 33:1c7b498ded25 554 ledblink_go=false;
Gerth 33:1c7b498ded25 555 }
Gerth 33:1c7b498ded25 556 if (filter_go==true) {// filter the emg signal
Gerth 33:1c7b498ded25 557 // TIME THIS LOOP TAKES: 0.000173 SEC
Gerth 33:1c7b498ded25 558 filtereverything(false);
Gerth 33:1c7b498ded25 559 filter_go=false;
Gerth 33:1c7b498ded25 560 }
Gerth 33:1c7b498ded25 561 }
Gerth 25:21dcd3f9eac2 562 checktimervalue=checktimer.read();
Gerth 25:21dcd3f9eac2 563 checktimer.stop();
Gerth 0:dd66fff537d7 564 }
Gerth 8:54a7da09ccad 565 }