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@32:c940f6b6a6a0, 2015-10-28 (annotated)

Committer:
Gerth
Date:
Wed Oct 28 13:09:25 2015 +0000
Revision:
32:c940f6b6a6a0
Parent:
31:8646e853979f
Child:
33:1c7b498ded25
ander verplaatsingsprofiel, met cosinus dingen;

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 5:8ac5d0651e4d 99 float filter_extragain=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 30:cd4d9754a357 166 scope.set(0,desired_position-anglepos.angletoposition(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses()));
Gerth 31:8646e853979f 167 scope.set(1,wanted_y-anglepos.angletoposition_y(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses()));
Gerth 30:cd4d9754a357 168 scope.set(2,error1*radtodeg);
Gerth 30:cd4d9754a357 169 scope.set(3,error2*radtodeg);
Gerth 30:cd4d9754a357 170 scope.set(4,mycontroller.motor1pwm());
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 2:c7707856d137 216 filteredsignal1=(pass7_emg1*9e11*filter_extragain);
Gerth 2:c7707856d137 217 filteredsignal2=(pass7_emg2*9e11*filter_extragain);
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 32:c940f6b6a6a0 231 pc.printf("KP shoot is now %f, enter new value\n",Kp_shoot);
Gerth 32:c940f6b6a6a0 232 pc.scanf("%f", &Kp_shoot);
Gerth 1:917c07a4f3ec 233
Gerth 32:c940f6b6a6a0 234 pc.printf("KI shoot is now %f, enter new value\n",Ki_shoot);
Gerth 32:c940f6b6a6a0 235 pc.scanf("%f", &Ki_shoot);
Gerth 1:917c07a4f3ec 236
Gerth 32:c940f6b6a6a0 237 pc.printf("KD shoot is now %f, enter new value\n",Kd_shoot);
Gerth 32:c940f6b6a6a0 238 pc.scanf("%f", &Kd_shoot);
Gerth 28:71a90073e482 239
Gerth 28:71a90073e482 240 pc.printf("Factor of tau_p=1.0/(factor*controlfrequency) is now %f, enter new value\n",factor_taup);
Gerth 27:31cb8fbd976d 241 pc.scanf("%f", &factor_taup);
Gerth 3:48438eea184e 242
Gerth 3:48438eea184e 243 pc.printf("Extra gain is now %f, enter new value\n",filter_extragain);
Gerth 5:8ac5d0651e4d 244 pc.scanf("%f", &filter_extragain);
Gerth 1:917c07a4f3ec 245 }
Gerth 11:c10651055871 246
Gerth 20:c5fb2ff5d457 247 // shoot the pod forward
Gerth 19:6f22b5687587 248 void shoot()
Gerth 14:4c4f45a1dd23 249 {
Gerth 19:6f22b5687587 250 ledgreen=1;
Gerth 32:c940f6b6a6a0 251 double time=0;
Gerth 32:c940f6b6a6a0 252 double stepsize=(0.5*PIE)/(timetoshoot*control_frequency);
Gerth 32:c940f6b6a6a0 253 double profile_angle=0;
Gerth 32:c940f6b6a6a0 254 double x_punch=anglepos.angletoposition(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses());
Gerth 32:c940f6b6a6a0 255 double y_during_punch=y_start;
Gerth 19:6f22b5687587 256 Timer shoottimer;
Gerth 19:6f22b5687587 257 shoottimer.reset();
Gerth 19:6f22b5687587 258 shoottimer.start();
Gerth 23:1c4a18799464 259 //forward
Gerth 19:6f22b5687587 260 while (time<=timetoshoot) {
Gerth 19:6f22b5687587 261 ledblue=!ledblue;
Gerth 25:21dcd3f9eac2 262
Gerth 32:c940f6b6a6a0 263 profile_angle+=stepsize; // add stepsize to angle
Gerth 32:c940f6b6a6a0 264
Gerth 32:c940f6b6a6a0 265 y_during_punch=(y_punch-y_start)*(1-cos(profile_angle))+y_start; // calculate y position for shooting
Gerth 32:c940f6b6a6a0 266
Gerth 20:c5fb2ff5d457 267 if (y_during_punch>=y_punch) {//to check if y position is not bigger than y_punch for safety
Gerth 19:6f22b5687587 268 y_during_punch=y_punch;
Gerth 19:6f22b5687587 269 } else {
Gerth 19:6f22b5687587 270 y_during_punch=y_during_punch;
Gerth 32:c940f6b6a6a0 271 }
Gerth 19:6f22b5687587 272
Gerth 29:cd47a5a772db 273 desired_angle1=anglepos.positiontoangle1(x_punch,y_during_punch);// calculate desired angles
Gerth 29:cd47a5a772db 274 desired_angle2=anglepos.positiontoangle2(x_punch,y_during_punch);
Gerth 19:6f22b5687587 275
Gerth 25:21dcd3f9eac2 276 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 25:21dcd3f9eac2 277 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 19:6f22b5687587 278
Gerth 31:8646e853979f 279 mycontroller.PID(error1,error2,Kp_shoot,Ki_shoot,Kd_shoot);;// send errors to controller
Gerth 31:8646e853979f 280 scopedata(y_during_punch);//send data to hidscope WARING lower freqyency than normal
Gerth 19:6f22b5687587 281
Gerth 20:c5fb2ff5d457 282 time+=(Ts_control);// add time it should take to calculated time
Gerth 28:71a90073e482 283 //pc.printf("Time = %f\n",time);
Gerth 28:71a90073e482 284 filtereverything(true);//set al filter variables to 0
Gerth 20:c5fb2ff5d457 285 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 286 }
Gerth 23:1c4a18799464 287 //back
Gerth 23:1c4a18799464 288 time=0;
Gerth 23:1c4a18799464 289 shoottimer.reset();
Gerth 32:c940f6b6a6a0 290 stepsize=(PIE)/(timetogoback*control_frequency);
Gerth 32:c940f6b6a6a0 291 profile_angle=0;
Gerth 26:c935e39cce8a 292 while (time<=timetogoback) {
Gerth 23:1c4a18799464 293 ledblue=!ledblue;
Gerth 25:21dcd3f9eac2 294
Gerth 32:c940f6b6a6a0 295 profile_angle+=stepsize; // add stepsize to y position
Gerth 32:c940f6b6a6a0 296 y_during_punch=0.5*(y_punch-y_start)*(1+cos(profile_angle))+y_start; // calculate y position for shooting
Gerth 23:1c4a18799464 297 if (y_during_punch<=y_start) {//to check if y position is not smaller than y_start for safety
Gerth 23:1c4a18799464 298 y_during_punch=y_start;
Gerth 23:1c4a18799464 299 } else {
Gerth 23:1c4a18799464 300 y_during_punch=y_during_punch;
Gerth 23:1c4a18799464 301 }
Gerth 23:1c4a18799464 302
Gerth 29:cd47a5a772db 303 desired_angle1=anglepos.positiontoangle1(x_punch,y_during_punch);// calculate desired angles
Gerth 29:cd47a5a772db 304 desired_angle2=anglepos.positiontoangle2(x_punch,y_during_punch);
Gerth 23:1c4a18799464 305
Gerth 25:21dcd3f9eac2 306 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 25:21dcd3f9eac2 307 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 23:1c4a18799464 308
Gerth 31:8646e853979f 309 mycontroller.PID(error1,error2,Kp_shoot,Ki_shoot,Kd_shoot);;// send errors to controller
Gerth 31:8646e853979f 310 scopedata(y_during_punch);//send data to hidscope WARING lower freqyency than normal
Gerth 23:1c4a18799464 311
Gerth 23:1c4a18799464 312 time+=(Ts_control);// add time it should take to calculated time
Gerth 28:71a90073e482 313 //pc.printf("Time = %f\n",time);
Gerth 28:71a90073e482 314 filtereverything(false);
Gerth 23:1c4a18799464 315 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 316 }
Gerth 19:6f22b5687587 317 shoottimer.stop();
Gerth 16:63320b8f79c2 318 ledblue=1;
Gerth 19:6f22b5687587 319 ledgreen=0;
Gerth 11:c10651055871 320 }
Gerth 11:c10651055871 321
Gerth 16:63320b8f79c2 322 ////////////////////////////////////////////////////READ EMG AND MOVE DESIRED POSITION
Gerth 3:48438eea184e 323 void readsignal()
Gerth 3:48438eea184e 324 {
Gerth 11:c10651055871 325 //check if pod has to shoot
Gerth 4:bf7765b0f612 326 if (filteredsignal1>=threshold_value && filteredsignal2>=threshold_value) {
Gerth 4:bf7765b0f612 327 led1=led2=1;
Gerth 11:c10651055871 328 shoot();
Gerth 14:4c4f45a1dd23 329 // check if pod has to move to the right
Gerth 4:bf7765b0f612 330 } else if (filteredsignal1>=threshold_value && filteredsignal2<=threshold_value) {
Gerth 4:bf7765b0f612 331 led1=1;
Gerth 4:bf7765b0f612 332 led2=0;
Gerth 16:63320b8f79c2 333 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 11:c10651055871 334 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 11:c10651055871 335 desired_position=maxdisplacement;
Gerth 11:c10651055871 336 } else {
Gerth 11:c10651055871 337 desired_position=desired_position;
Gerth 11:c10651055871 338 }
Gerth 14:4c4f45a1dd23 339 // check if pod has to move to the left
Gerth 4:bf7765b0f612 340 } else if (filteredsignal1<=threshold_value && filteredsignal2>=threshold_value) {
Gerth 4:bf7765b0f612 341 led1=0;
Gerth 4:bf7765b0f612 342 led2=1;
Gerth 16:63320b8f79c2 343 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 11:c10651055871 344 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 14:4c4f45a1dd23 345 desired_position=(-1*maxdisplacement);
Gerth 11:c10651055871 346 } else {
Gerth 11:c10651055871 347 desired_position=desired_position;
Gerth 11:c10651055871 348 }
Gerth 3:48438eea184e 349 } else {
Gerth 4:bf7765b0f612 350 led1=led2=0;
Gerth 3:48438eea184e 351 }
Gerth 16:63320b8f79c2 352 }
Gerth 28:71a90073e482 353
Gerth 16:63320b8f79c2 354 ///////////////////////////////////////////////READ BUTTON AND MOVE DESIRED POSITION
Gerth 17:72d3522165ac 355 void readsignalbutton()
Gerth 16:63320b8f79c2 356 {
Gerth 19:6f22b5687587 357 //write value of button to variable
Gerth 17:72d3522165ac 358 int buttonr=buttonR.read();
Gerth 17:72d3522165ac 359 int buttonl=buttonL.read();
Gerth 16:63320b8f79c2 360 //check if pod has to shoot
Gerth 17:72d3522165ac 361 if (buttonr==0 && buttonl==0) {
Gerth 16:63320b8f79c2 362 led1=led2=1;
Gerth 16:63320b8f79c2 363 shoot();
Gerth 16:63320b8f79c2 364 // check if pod has to move to the right
Gerth 17:72d3522165ac 365 } else if (buttonr==0 && buttonl==1) {
Gerth 16:63320b8f79c2 366 led1=1;
Gerth 16:63320b8f79c2 367 led2=0;
Gerth 16:63320b8f79c2 368 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 17:72d3522165ac 369 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 370 desired_position=maxdisplacement;
Gerth 16:63320b8f79c2 371 } else {
Gerth 16:63320b8f79c2 372 desired_position=desired_position;
Gerth 16:63320b8f79c2 373 }
Gerth 17:72d3522165ac 374 // check if pod has to move to the left
Gerth 17:72d3522165ac 375 } else if (buttonr==1 && buttonl==0) {
Gerth 16:63320b8f79c2 376 led1=0;
Gerth 16:63320b8f79c2 377 led2=1;
Gerth 16:63320b8f79c2 378 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 17:72d3522165ac 379 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 380 desired_position=(-1*maxdisplacement);
Gerth 16:63320b8f79c2 381 } else {
Gerth 16:63320b8f79c2 382 desired_position=desired_position;
Gerth 16:63320b8f79c2 383 }
Gerth 16:63320b8f79c2 384 } else {
Gerth 16:63320b8f79c2 385 led1=led2=0;
Gerth 16:63320b8f79c2 386 }
Gerth 3:48438eea184e 387 }
Gerth 3:48438eea184e 388
Gerth 28:71a90073e482 389 void changemode() //this makes the counter higher to switch between modes
Gerth 6:37c94a5e205f 390 {
Gerth 10:9e96d14d7034 391 mycontroller.STOP();
Gerth 6:37c94a5e205f 392 switchedmode=true;
Gerth 6:37c94a5e205f 393 modecounter++;
Gerth 15:17de575b7385 394 if (modecounter==4) {
Gerth 6:37c94a5e205f 395 modecounter=0;
Gerth 6:37c94a5e205f 396 } else {
Gerth 6:37c94a5e205f 397 modecounter=modecounter;
Gerth 6:37c94a5e205f 398 }
Gerth 20:c5fb2ff5d457 399 wait(1);// needed because else it is checked too fast if the button is pressed and modes change too fast
Gerth 25:21dcd3f9eac2 400 // tried it with interruptin but dinn't work
Gerth 6:37c94a5e205f 401 }
Gerth 0:dd66fff537d7 402
Gerth 16:63320b8f79c2 403 ///////////////////////////////////////////////////MAIN
Gerth 7:7fbb2c028778 404
Gerth 0:dd66fff537d7 405 int main()
Gerth 0:dd66fff537d7 406 {
Gerth 1:917c07a4f3ec 407 //tickers
Gerth 1:917c07a4f3ec 408 safetyandthreshold_ticker.attach(&safetyandthreshold_activate,1.0/safetyandthreshold_frequency);
Gerth 1:917c07a4f3ec 409 filter_ticker.attach(&filter_activate,1.0/filter_frequency);
Gerth 1:917c07a4f3ec 410 control_ticker.attach(&control_activate,1.0/control_frequency);
Gerth 1:917c07a4f3ec 411 scope_ticker.attach(&scopedata_activate,1.0/scope_frequency);
Gerth 3:48438eea184e 412 readsignal_ticker.attach(&readsignal_activate, 1.0/readsignal_frequency);
Gerth 7:7fbb2c028778 413 readbuttoncalibrate_ticker.attach(&readbuttoncalibrate_activate, 1.0/readbuttoncalibrate_frequency);
Gerth 14:4c4f45a1dd23 414 ledblink_ticker.attach(&ledblink_activate, 1.0/ledblink_frequency);
Gerth 14:4c4f45a1dd23 415
Gerth 20:c5fb2ff5d457 416 pc.baud(115200);//set baudrate to 115200
Gerth 1:917c07a4f3ec 417 while(1) {
Gerth 27:31cb8fbd976d 418 valuechangebutton.fall(&valuechange);// used to change controller variables and the gain for the filter
Gerth 25:21dcd3f9eac2 419 checktimer.reset();
Gerth 26:c935e39cce8a 420 checktimer.start();
Gerth 20:c5fb2ff5d457 421 if (changemodebutton==0) {// check if the change mode button is pressed
Gerth 6:37c94a5e205f 422 changemode();
Gerth 1:917c07a4f3ec 423 }
Gerth 20:c5fb2ff5d457 424 if (scopedata_go==true) {//send scopedata
Gerth 26:c935e39cce8a 425 //TIME THIS LOOP TAKES 0.000008 SEC (PEAKS AT 0.000015)
Gerth 31:8646e853979f 426 scopedata(y_start);
Gerth 26:c935e39cce8a 427 scopedata_go=false;
Gerth 9:4ee354663560 428 }
Gerth 20:c5fb2ff5d457 429 if (safetyandthreshold_go==true) {// check the potmeters
Gerth 26:c935e39cce8a 430 //TIME THIS LOOP TAKES: 0.000032 SEC
Gerth 9:4ee354663560 431 safetyandthreshold();
Gerth 9:4ee354663560 432 safetyandthreshold_go=false;
Gerth 26:c935e39cce8a 433 }
Gerth 7:7fbb2c028778 434 ///////////////////////////////////////////NORMAL RUNNING MODE
Gerth 7:7fbb2c028778 435 if(modecounter==0) {
Gerth 6:37c94a5e205f 436 if (switchedmode==true) {
Gerth 20:c5fb2ff5d457 437 encoder1.reset();// reset encoders so they are at 0 degrees
Gerth 6:37c94a5e205f 438 encoder2.reset();
Gerth 6:37c94a5e205f 439 pc.printf("Program running\n");//
Gerth 16:63320b8f79c2 440 ledgreen=0;
Gerth 16:63320b8f79c2 441 led1=led2=ledred=ledblue=1;
Gerth 6:37c94a5e205f 442 switchedmode=false;
Gerth 6:37c94a5e205f 443 }
Gerth 20:c5fb2ff5d457 444 if (filter_go==true) {// filter the emg signal
Gerth 26:c935e39cce8a 445 // TIME THIS LOOP TAKES: 0.000173 SEC
Gerth 28:71a90073e482 446 filtereverything(false);
Gerth 26:c935e39cce8a 447 filter_go=false;
Gerth 6:37c94a5e205f 448 }
Gerth 20:c5fb2ff5d457 449 if (readsignal_go==true) {// check if signal is 0 or 1 and adjust wanted position
Gerth 26:c935e39cce8a 450 // TIME THIS LOOP TAKES: 0.000005 SEC
Gerth 17:72d3522165ac 451 readsignal();
Gerth 17:72d3522165ac 452 readsignal_go=false;
Gerth 26:c935e39cce8a 453 }
Gerth 20:c5fb2ff5d457 454 if (control_go==true) {// calculate angles from positions and send error to controller
Gerth 26:c935e39cce8a 455 //TIME THIS LOOP TAKES: 0.000223 SEC
Gerth 26:c935e39cce8a 456
Gerth 20:c5fb2ff5d457 457 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 458 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 16:63320b8f79c2 459
Gerth 20:c5fb2ff5d457 460 float error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 20:c5fb2ff5d457 461 float error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 462 mycontroller.PID(error1,error2,Kp_move,Ki_move,Kd_move);
Gerth 6:37c94a5e205f 463 control_go=false;
Gerth 26:c935e39cce8a 464 }
Gerth 20:c5fb2ff5d457 465 valuechangebutton.fall(&valuechange);// used to change controller variables and the gain for the filter
Gerth 1:917c07a4f3ec 466 }
Gerth 7:7fbb2c028778 467 ////////////////////////////////////////////////////CALIBRATE RIGHT ARM
Gerth 6:37c94a5e205f 468 if (modecounter==1) {
Gerth 6:37c94a5e205f 469 if(switchedmode==true) {
Gerth 6:37c94a5e205f 470 pc.printf("Calibration mode! Use buttons to move rigth arm to 0 degrees\n");
Gerth 16:63320b8f79c2 471 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 472 ledgreen=ledblue=1;
Gerth 6:37c94a5e205f 473 switchedmode=false;
Gerth 14:4c4f45a1dd23 474 }
Gerth 14:4c4f45a1dd23 475 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 476 led1=!led1;// blink rigth led on biorobotics shield (because rigth arm is being calibrated)
Gerth 16:63320b8f79c2 477 ledblink_go=false;
Gerth 6:37c94a5e205f 478 }
Gerth 20:c5fb2ff5d457 479 if (readbuttoncalibrate_go==true) {//check wich button is pressed and adjust wanted angle of rigth arm
Gerth 9:4ee354663560 480 if (buttonR.read()==0 && buttonL.read()==1) {
Gerth 20:c5fb2ff5d457 481 desired_angle1 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 482 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 483 }
Gerth 9:4ee354663560 484 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 485 desired_angle1 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 486 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 487 }
Gerth 9:4ee354663560 488 }
Gerth 25:21dcd3f9eac2 489 if (control_go==true) {// calculate errors and send them to controllers
Gerth 25:21dcd3f9eac2 490 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 25:21dcd3f9eac2 491 error2=0;
Gerth 31:8646e853979f 492 mycontroller.PI(error1,error2,Kp_move,Ki_move);
Gerth 20:c5fb2ff5d457 493 control_go=false;
Gerth 20:c5fb2ff5d457 494 }
Gerth 8:54a7da09ccad 495 }
Gerth 8:54a7da09ccad 496 ////////////////////////////////////////////CALIBRATE LEFT ARM
Gerth 8:54a7da09ccad 497 if (modecounter==2) {
Gerth 8:54a7da09ccad 498 if(switchedmode==true) {
Gerth 8:54a7da09ccad 499 pc.printf("Calibration mode! Use buttons to move left arm to 0 degrees\n");
Gerth 16:63320b8f79c2 500 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 501 ledgreen=ledblue=1;
Gerth 8:54a7da09ccad 502 switchedmode=false;
Gerth 8:54a7da09ccad 503 }
Gerth 14:4c4f45a1dd23 504 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 505 led2=!led2;// blink left led on biorobotics shield (because left arm is being calibrated)
Gerth 16:63320b8f79c2 506 ledblink_go=false;
Gerth 14:4c4f45a1dd23 507 }
Gerth 25:21dcd3f9eac2 508 if (readbuttoncalibrate_go==true) {//
Gerth 20:c5fb2ff5d457 509 if (buttonR.read()==0 && buttonL.read()==1) {//check wich button is pressed and adjust wanted angle of left arm
Gerth 20:c5fb2ff5d457 510 desired_angle2 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 511 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 512 }
Gerth 8:54a7da09ccad 513 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 514 desired_angle2 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 515 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 516 }
Gerth 6:37c94a5e205f 517 }
Gerth 25:21dcd3f9eac2 518 if (control_go==true) {// calculate errors and send to controller
Gerth 25:21dcd3f9eac2 519 error1=0;
Gerth 25:21dcd3f9eac2 520 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 521 mycontroller.PI(error1,error2,Kp_move,Ki_move);
Gerth 20:c5fb2ff5d457 522 control_go=false;
Gerth 20:c5fb2ff5d457 523 }
Gerth 3:48438eea184e 524 }
Gerth 16:63320b8f79c2 525 ///////////////////////////////BUTTONCONTROLMODE
Gerth 15:17de575b7385 526 if (modecounter==3) {
Gerth 16:63320b8f79c2 527 if (switchedmode==true) {
Gerth 19:6f22b5687587 528 pc.printf("Buttonmode, you can use the buttons to control the robot\n");
Gerth 16:63320b8f79c2 529 led1=led2=0;
Gerth 25:21dcd3f9eac2 530 ledred=ledblue=1;
Gerth 21:6954cc25f2a7 531 encoder1.reset();// reset encoders so they are at 0 degrees
Gerth 21:6954cc25f2a7 532 encoder2.reset();
Gerth 16:63320b8f79c2 533 switchedmode=false;
Gerth 16:63320b8f79c2 534 }
Gerth 16:63320b8f79c2 535 if (ledblink_go==true) {
Gerth 15:17de575b7385 536 ledgreen=!ledgreen;
Gerth 16:63320b8f79c2 537 ledblink_go=false;
Gerth 15:17de575b7385 538 }
Gerth 20:c5fb2ff5d457 539 if (readsignal_go==true) {// read buttons and adjus wanted position
Gerth 17:72d3522165ac 540 readsignalbutton();
Gerth 17:72d3522165ac 541 readsignal_go=false;
Gerth 17:72d3522165ac 542 }
Gerth 20:c5fb2ff5d457 543 if (control_go==true) {// calculate wanted angles from position, errors and send to controller
Gerth 20:c5fb2ff5d457 544 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 545 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 17:72d3522165ac 546
Gerth 25:21dcd3f9eac2 547 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 25:21dcd3f9eac2 548 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 549 mycontroller.PID(error1,error2,Kp_move,Ki_move,Kd_move);
Gerth 17:72d3522165ac 550 control_go=false;
Gerth 16:63320b8f79c2 551 }
Gerth 16:63320b8f79c2 552 }
Gerth 25:21dcd3f9eac2 553 checktimervalue=checktimer.read();
Gerth 25:21dcd3f9eac2 554 checktimer.stop();
Gerth 0:dd66fff537d7 555 }
Gerth 8:54a7da09ccad 556 }