Peter Knoben / Mbed 2 deprecated ShowItv2

Working, Clean

Dependencies:   AnglePosition2 Encoder FastPWM MovementClean PIDController Servo SignalNumberClean biquadFilter mbed

Fork of ShowIt by Dustin Berendsen

main.cpp@10:614050a50c2f, 2017-11-02 (annotated)

Committer:
DBerendsen
Date:
Thu Nov 02 10:17:33 2017 +0000
Revision:
10:614050a50c2f
Parent:
8:24f6744d47b2
Child:
11:28b5ec12a4b9
Eerste keer super mooi werkend;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
peterknoben 3:c768a37620c9 1 #include "MODSERIAL.h"
peterknoben 1:406519ff0f17 2 #include "AnglePosition.h"
peterknoben 1:406519ff0f17 3 #include "PIDControl.h"
peterknoben 3:c768a37620c9 4 #include "BiQuad.h"
peterknoben 3:c768a37620c9 5 #include "signalnumber.h"
peterknoben 4:e15fc329b88b 6 #include "Movement.h"
DBerendsen 0:5f4bc2d63814 7 #include "mbed.h"
DBerendsen 0:5f4bc2d63814 8 #include "encoder.h"
DBerendsen 0:5f4bc2d63814 9 #include "Servo.h"
peterknoben 1:406519ff0f17 10 #include "FastPWM.h"
peterknoben 8:24f6744d47b2 11 #include "HIDScope.h"
DBerendsen 0:5f4bc2d63814 12
peterknoben 4:e15fc329b88b 13 //This code is for Mbed 2
DBerendsen 0:5f4bc2d63814 14 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 15 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 16 //------------------------------------------------------------------------------
peterknoben 3:c768a37620c9 17 MODSERIAL pc(USBTX, USBRX); //Establish connection
peterknoben 8:24f6744d47b2 18 Ticker MyControllerTicker; //Declare Ticker for Motors
peterknoben 8:24f6744d47b2 19 Ticker MyTickerMode; //Declare Ticker
peterknoben 3:c768a37620c9 20 Ticker MyTickerMean; //Declare Ticker Signalprocessing
peterknoben 3:c768a37620c9 21
peterknoben 8:24f6744d47b2 22 InterruptIn But1(PTA4); //Declare button for min calibration
peterknoben 8:24f6744d47b2 23 InterruptIn Mode(PTC6); //Declare button for max calibration
peterknoben 3:c768a37620c9 24
peterknoben 1:406519ff0f17 25 AnglePosition Angle; //Declare Angle calculater
peterknoben 1:406519ff0f17 26 PIDControl PID; //Declare PID Controller
peterknoben 4:e15fc329b88b 27 SignalNumber SignalLeft; //Declare Signal determiner for Left arm
peterknoben 4:e15fc329b88b 28 SignalNumber SignalRight; //Declare Signal determiner for Right arm
peterknoben 5:b4abbd3c513c 29 SignalNumber SignalMode;
peterknoben 4:e15fc329b88b 30 Movement MoveLeft; //Declare Movement determiner
peterknoben 4:e15fc329b88b 31 Movement MoveRight;
peterknoben 3:c768a37620c9 32
peterknoben 4:e15fc329b88b 33 AnalogIn emg0( A0 ); //Set Inputpin for EMG 0 signal Left
peterknoben 4:e15fc329b88b 34 AnalogIn emg2( A2 ); //Set Inputpin for EMG 2 signal Right
peterknoben 4:e15fc329b88b 35 AnalogIn emg4( A4 ); //Set Inputpin for EMG 4 signal Mode
peterknoben 5:b4abbd3c513c 36 DigitalOut Up( D9 ); //Set digital in for mode selection
peterknoben 5:b4abbd3c513c 37 DigitalOut Down( D8 );
peterknoben 4:e15fc329b88b 38 DigitalOut Led_red(LED_RED);
peterknoben 4:e15fc329b88b 39 DigitalOut Led_green(LED_GREEN);
peterknoben 4:e15fc329b88b 40 DigitalOut Led_blue(LED_BLUE);
peterknoben 1:406519ff0f17 41
peterknoben 1:406519ff0f17 42 const float CONTROLLER_TS = 0.02; //Motor frequency
peterknoben 4:e15fc329b88b 43 const float MEAN_TS = 0.002; //Filter frequency
peterknoben 4:e15fc329b88b 44
peterknoben 3:c768a37620c9 45 //------------------------------------------------------------------------------
peterknoben 3:c768a37620c9 46 //-----------------------------EMG Signals--------------------------------------
peterknoben 3:c768a37620c9 47 //------------------------------------------------------------------------------
peterknoben 4:e15fc329b88b 48 // Filtering the signal and getting the usefull information out of it.
DBerendsen 10:614050a50c2f 49 const int n = 500; //Window size for the mean value, also adjust in signalnumber.cpp
peterknoben 8:24f6744d47b2 50 const int action =100; //Number of same mean values to change the signalnumber
DBerendsen 10:614050a50c2f 51 const int m = 500; //Number of samples for calibration
peterknoben 5:b4abbd3c513c 52 int CaseLeft, CaseRight, CaseMode; //Strength of the muscles
peterknoben 5:b4abbd3c513c 53 float emg_offsetLeft, emg_offsetmaxLeft; //Calibration offsets from zero to one for the left arm
peterknoben 5:b4abbd3c513c 54 float emg_offsetRight, emg_offsetmaxRight; //Calibration offsets from zero to one for the right arm
peterknoben 5:b4abbd3c513c 55 float emg_offsetMode, emg_offsetmaxMode;
peterknoben 5:b4abbd3c513c 56 float mean_value_left, mean_value_right, mean_value_mode; //Mean value of the filtered system
peterknoben 5:b4abbd3c513c 57 float kLeft, kRight, kMode; //Scaling factors
peterknoben 6:edd30e11f3c7 58 float Signal_filteredLeft, Signal_filteredRight, Signal_filteredMode;
peterknoben 3:c768a37620c9 59
peterknoben 4:e15fc329b88b 60 //BiQuad filter variables
peterknoben 6:edd30e11f3c7 61 BiQuad LP1L( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad
peterknoben 6:edd30e11f3c7 62 BiQuad HP2L( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad
peterknoben 6:edd30e11f3c7 63 BiQuad NO3L( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad
peterknoben 6:edd30e11f3c7 64 BiQuad LP1R( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad
peterknoben 6:edd30e11f3c7 65 BiQuad HP2R( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad
peterknoben 6:edd30e11f3c7 66 BiQuad NO3R( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad
peterknoben 6:edd30e11f3c7 67 BiQuad LP1M( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad
peterknoben 6:edd30e11f3c7 68 BiQuad HP2M( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad
peterknoben 6:edd30e11f3c7 69 BiQuad NO3M( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad
peterknoben 6:edd30e11f3c7 70 BiQuadChain BiQuad_filter_Left;
peterknoben 6:edd30e11f3c7 71 BiQuadChain BiQuad_filter_Right;
peterknoben 6:edd30e11f3c7 72 BiQuadChain BiQuad_filter_Mode;
peterknoben 3:c768a37620c9 73
peterknoben 7:105e3ae0fb19 74 float FilterLeft(float input){
peterknoben 7:105e3ae0fb19 75 float Signal_filtered= BiQuad_filter_Left.step(input);
peterknoben 7:105e3ae0fb19 76 return Signal_filtered;
peterknoben 7:105e3ae0fb19 77 }
peterknoben 7:105e3ae0fb19 78 float FilterRight(float input){
peterknoben 7:105e3ae0fb19 79 float Signal_filtered= BiQuad_filter_Right.step(input);
peterknoben 7:105e3ae0fb19 80 return Signal_filtered;
peterknoben 7:105e3ae0fb19 81 }
peterknoben 7:105e3ae0fb19 82 float FilterMode(float input){
peterknoben 7:105e3ae0fb19 83 float Signal_filtered= BiQuad_filter_Mode.step(input);
peterknoben 7:105e3ae0fb19 84 return Signal_filtered;
peterknoben 7:105e3ae0fb19 85 }
peterknoben 5:b4abbd3c513c 86
peterknoben 5:b4abbd3c513c 87 //Calibration-------------------------------------------------------------------
peterknoben 4:e15fc329b88b 88 void setled(){
peterknoben 5:b4abbd3c513c 89 Led_red=0; Led_green=1; Led_blue=1;
peterknoben 5:b4abbd3c513c 90 }
peterknoben 8:24f6744d47b2 91
peterknoben 5:b4abbd3c513c 92 // One calibration
peterknoben 5:b4abbd3c513c 93 void maxcalibration(){
peterknoben 5:b4abbd3c513c 94 pc.printf("start max calibration \r\n");
peterknoben 8:24f6744d47b2 95 emg_offsetmaxLeft = SignalLeft.calibrate(m, FilterLeft(emg0));
peterknoben 8:24f6744d47b2 96 emg_offsetmaxRight = SignalRight.calibrate(m, FilterRight(emg2));
peterknoben 8:24f6744d47b2 97 emg_offsetmaxMode = SignalMode.calibrate(m, FilterMode(emg4));
peterknoben 5:b4abbd3c513c 98 kLeft = 1/emg_offsetmaxLeft;
peterknoben 5:b4abbd3c513c 99 kRight = 1/emg_offsetmaxRight;
peterknoben 5:b4abbd3c513c 100 kMode = 1/emg_offsetmaxMode;
peterknoben 5:b4abbd3c513c 101 Led_red=1; //Set led to Green
peterknoben 3:c768a37620c9 102 }
peterknoben 3:c768a37620c9 103
peterknoben 5:b4abbd3c513c 104 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 105 //---------------------------------Servo----------------------------------------
peterknoben 5:b4abbd3c513c 106 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 107 void servo(){
DBerendsen 10:614050a50c2f 108 Signal_filteredLeft = fabs(FilterLeft(emg0)*kLeft);//*kLeft
peterknoben 8:24f6744d47b2 109 CaseLeft = SignalLeft.getnumberLeft(n, action, Signal_filteredLeft);
DBerendsen 10:614050a50c2f 110 Signal_filteredRight = fabs(FilterRight(emg2)*kRight);//*kRight
peterknoben 8:24f6744d47b2 111 CaseRight = SignalRight.getnumberRight(n, action, Signal_filteredRight);
DBerendsen 10:614050a50c2f 112 if (CaseLeft>=2){
peterknoben 6:edd30e11f3c7 113 Up = 0;
peterknoben 6:edd30e11f3c7 114 Up = 1;
peterknoben 5:b4abbd3c513c 115 }
DBerendsen 10:614050a50c2f 116 else if (CaseRight >=2){
peterknoben 6:edd30e11f3c7 117 Down = 0;
peterknoben 5:b4abbd3c513c 118 Down = 1;
peterknoben 5:b4abbd3c513c 119 }
peterknoben 5:b4abbd3c513c 120 }
DBerendsen 10:614050a50c2f 121
peterknoben 5:b4abbd3c513c 122
peterknoben 5:b4abbd3c513c 123 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 124 //---------------------------Mode selection-------------------------------------
peterknoben 5:b4abbd3c513c 125 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 126 int mode =0;
peterknoben 5:b4abbd3c513c 127
peterknoben 5:b4abbd3c513c 128 //Recieving mode selection from EMG mode signal
peterknoben 5:b4abbd3c513c 129 void mode_selection(){
peterknoben 5:b4abbd3c513c 130 if(mode ==6){
peterknoben 5:b4abbd3c513c 131 mode=1;
peterknoben 5:b4abbd3c513c 132 }
peterknoben 5:b4abbd3c513c 133 else{
peterknoben 5:b4abbd3c513c 134 mode++;
peterknoben 5:b4abbd3c513c 135 }
peterknoben 5:b4abbd3c513c 136 if (mode==3||mode==6){
peterknoben 5:b4abbd3c513c 137 servo();
peterknoben 5:b4abbd3c513c 138 }
peterknoben 5:b4abbd3c513c 139 pc.printf("\r\n mode = %i \r\n", mode);
DBerendsen 10:614050a50c2f 140
DBerendsen 10:614050a50c2f 141
DBerendsen 10:614050a50c2f 142 /*if((mode==3) || (mode==6)) {
DBerendsen 10:614050a50c2f 143 Led_red = 0;
DBerendsen 10:614050a50c2f 144 Led_green = 0;
DBerendsen 10:614050a50c2f 145 Led_blue = 0;
DBerendsen 10:614050a50c2f 146 }
DBerendsen 10:614050a50c2f 147 else if (mode==1) {
DBerendsen 10:614050a50c2f 148 Led_red = 0;
DBerendsen 10:614050a50c2f 149 Led_green = 1;
DBerendsen 10:614050a50c2f 150 Led_blue = 1;
DBerendsen 10:614050a50c2f 151 }
DBerendsen 10:614050a50c2f 152 else if (mode==2) {
DBerendsen 10:614050a50c2f 153 Led_red = 1;
DBerendsen 10:614050a50c2f 154 Led_green = 0;
DBerendsen 10:614050a50c2f 155 Led_blue = 1;
DBerendsen 10:614050a50c2f 156 }
DBerendsen 10:614050a50c2f 157 else if (mode==4) {
DBerendsen 10:614050a50c2f 158 Led_red = 1;
DBerendsen 10:614050a50c2f 159 Led_green = 1;
DBerendsen 10:614050a50c2f 160 Led_blue = 0;
DBerendsen 10:614050a50c2f 161 }
DBerendsen 10:614050a50c2f 162 else if (mode==5) {
DBerendsen 10:614050a50c2f 163 Led_red = 0;
DBerendsen 10:614050a50c2f 164 Led_green = 0;
DBerendsen 10:614050a50c2f 165 Led_blue = 1;
DBerendsen 10:614050a50c2f 166 }*/
DBerendsen 10:614050a50c2f 167
peterknoben 5:b4abbd3c513c 168 }
peterknoben 5:b4abbd3c513c 169
peterknoben 5:b4abbd3c513c 170 // Control mode selection-------------------------------------------------------
peterknoben 5:b4abbd3c513c 171
peterknoben 5:b4abbd3c513c 172 //Determine the signalnumbers (i.e. speed) based on the strenght of the EMG signals
peterknoben 3:c768a37620c9 173 void signalnumber(){
peterknoben 4:e15fc329b88b 174 //Left
peterknoben 8:24f6744d47b2 175 Signal_filteredLeft = fabs(FilterLeft(emg0)*kLeft);//*kLeft
peterknoben 8:24f6744d47b2 176 // mean_value_left = SignalLeft.getmeanLeft(n, Signal_filteredLeft);
peterknoben 8:24f6744d47b2 177 mean_value_left = SignalLeft.getmeanLeft(n, fabs(FilterLeft(emg0.read())*kLeft));
peterknoben 8:24f6744d47b2 178 CaseLeft = SignalLeft.getnumberLeft(n, action, Signal_filteredLeft);
peterknoben 4:e15fc329b88b 179 //Right
peterknoben 8:24f6744d47b2 180 Signal_filteredRight = fabs(FilterRight(emg2)*kRight);//*kRight
peterknoben 8:24f6744d47b2 181 // mean_value_right = SignalRight.getmeanRight(n, Signal_filteredRight);
peterknoben 8:24f6744d47b2 182 mean_value_right = SignalRight.getmeanRight(n, fabs(FilterRight(emg2.read())*kRight));
peterknoben 8:24f6744d47b2 183 CaseRight = SignalRight.getnumberRight(n, action, Signal_filteredRight);
peterknoben 5:b4abbd3c513c 184 //Mode
peterknoben 8:24f6744d47b2 185 /*
peterknoben 8:24f6744d47b2 186 Signal_filteredMode = fabs(FilterMode(emg4));//*kMode
peterknoben 8:24f6744d47b2 187 mean_value_mode = SignalMode.getmeanMode(n, Signal_filteredMode);
peterknoben 8:24f6744d47b2 188 CaseMode = SignalMode.getnumberMode(n, action, Signal_filteredMode);
peterknoben 8:24f6744d47b2 189 if(CaseMode >= 3){
peterknoben 5:b4abbd3c513c 190 milli ++;
peterknoben 5:b4abbd3c513c 191 if(milli>=150){
peterknoben 5:b4abbd3c513c 192 mode_selection();
peterknoben 5:b4abbd3c513c 193 milli=0;
peterknoben 5:b4abbd3c513c 194 }
peterknoben 5:b4abbd3c513c 195 }
peterknoben 5:b4abbd3c513c 196 else{
peterknoben 5:b4abbd3c513c 197 milli=0;
peterknoben 6:edd30e11f3c7 198 }*/
peterknoben 3:c768a37620c9 199 }
peterknoben 3:c768a37620c9 200
peterknoben 1:406519ff0f17 201 //------------------------------------------------------------------------------
peterknoben 1:406519ff0f17 202 //-------------------------Kinematic Constants----------------------------------
peterknoben 1:406519ff0f17 203 //------------------------------------------------------------------------------
peterknoben 4:e15fc329b88b 204 const double RAD_PER_PULSE = 0.00074799825*2; //Number of radials per pulse from the encoder
peterknoben 4:e15fc329b88b 205 const double PI = 3.14159265358979323846; //Pi
DBerendsen 10:614050a50c2f 206 const float max_rangex = 700.0, max_rangey = 450.0; //Max range on the y axis
peterknoben 8:24f6744d47b2 207 const float x_offset = 156.15, y_offset = -76.97; //Starting positions from the shoulder joint
DBerendsen 10:614050a50c2f 208 const float alpha_offset = -0.4114;
DBerendsen 10:614050a50c2f 209 const float beta_offset = 0.0486;
peterknoben 8:24f6744d47b2 210 const float L1 = 450.0, L2 = 490.0; //Length of the bodies
peterknoben 5:b4abbd3c513c 211
DBerendsen 0:5f4bc2d63814 212 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 213 //--------------------------------Motor1----------------------------------------
DBerendsen 0:5f4bc2d63814 214 //------------------------------------------------------------------------------
peterknoben 1:406519ff0f17 215 FastPWM motor1(D5);
DBerendsen 0:5f4bc2d63814 216 DigitalOut motor1DirectionPin(D4);
DBerendsen 0:5f4bc2d63814 217 DigitalIn ENC2A(D12);
DBerendsen 0:5f4bc2d63814 218 DigitalIn ENC2B(D13);
DBerendsen 0:5f4bc2d63814 219 Encoder encoder1(D13,D12);
peterknoben 1:406519ff0f17 220 const float MOTOR1_KP = 40.0;
peterknoben 1:406519ff0f17 221 const float MOTOR1_KI = 0.0;
peterknoben 1:406519ff0f17 222 const float MOTOR1_KD = 15.0;
peterknoben 5:b4abbd3c513c 223 double M1_v1 = 0.0, M1_v2 = 0.0; //Calculation values
DBerendsen 0:5f4bc2d63814 224 const double motor1_gain = 2*PI;
peterknoben 1:406519ff0f17 225 const float M1_N = 0.5;
peterknoben 8:24f6744d47b2 226 float position_math_l =0, position_math_r=0;
DBerendsen 0:5f4bc2d63814 227
DBerendsen 10:614050a50c2f 228 float motor1_control(){
peterknoben 8:24f6744d47b2 229 float reference_alpha = Angle.getbeta(max_rangex, max_rangey, x_offset, y_offset, beta_offset, L1, L2, position_math_l, position_math_r);
DBerendsen 0:5f4bc2d63814 230 float position_alpha = RAD_PER_PULSE * encoder1.getPosition();
DBerendsen 0:5f4bc2d63814 231 float error_alpha = reference_alpha-position_alpha;
peterknoben 1:406519ff0f17 232 float magnitude1 = PID.get(error_alpha, MOTOR1_KP, MOTOR1_KI, MOTOR1_KD, CONTROLLER_TS, M1_N, M1_v1, M1_v2) / motor1_gain;
DBerendsen 10:614050a50c2f 233
DBerendsen 10:614050a50c2f 234 //Determine Motor Magnitude
DBerendsen 10:614050a50c2f 235 if (fabs(magnitude1)>1) {
DBerendsen 10:614050a50c2f 236 motor1 = 1;
DBerendsen 10:614050a50c2f 237 }
DBerendsen 10:614050a50c2f 238 else {
DBerendsen 10:614050a50c2f 239 motor1 = fabs(magnitude1);
DBerendsen 10:614050a50c2f 240 }
DBerendsen 10:614050a50c2f 241
DBerendsen 10:614050a50c2f 242
peterknoben 1:406519ff0f17 243 // Determine Motor Direction
peterknoben 1:406519ff0f17 244 if (magnitude1 < 0){
DBerendsen 0:5f4bc2d63814 245 motor1DirectionPin = 1;
DBerendsen 0:5f4bc2d63814 246 }
DBerendsen 0:5f4bc2d63814 247 else{
DBerendsen 0:5f4bc2d63814 248 motor1DirectionPin = 0;
DBerendsen 0:5f4bc2d63814 249 }
DBerendsen 10:614050a50c2f 250 return magnitude1;
DBerendsen 0:5f4bc2d63814 251 }
DBerendsen 0:5f4bc2d63814 252
DBerendsen 0:5f4bc2d63814 253 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 254 //--------------------------------Motor2----------------------------------------
DBerendsen 0:5f4bc2d63814 255 //------------------------------------------------------------------------------
peterknoben 1:406519ff0f17 256 FastPWM motor2(D6);
DBerendsen 0:5f4bc2d63814 257 DigitalOut motor2DirectionPin(D7);
DBerendsen 0:5f4bc2d63814 258 DigitalIn ENC1A(D10);
DBerendsen 0:5f4bc2d63814 259 DigitalIn ENC1B(D11);
DBerendsen 0:5f4bc2d63814 260 Encoder encoder2(D10,D11);
peterknoben 1:406519ff0f17 261 const float MOTOR2_KP = 60.0;
peterknoben 1:406519ff0f17 262 const float MOTOR2_KI = 0.0;
peterknoben 1:406519ff0f17 263 const float MOTOR2_KD = 15.0;
peterknoben 5:b4abbd3c513c 264 double M2_v1 = 0.0, M2_v2 = 0.0; //Calculation values
DBerendsen 0:5f4bc2d63814 265 const double motor2_gain = 2*PI;
peterknoben 1:406519ff0f17 266 const float M2_N = 0.5;
DBerendsen 0:5f4bc2d63814 267
DBerendsen 10:614050a50c2f 268 float motor2_control(){
peterknoben 8:24f6744d47b2 269 float reference_beta = Angle.getalpha(max_rangex, max_rangey, x_offset, y_offset, alpha_offset, L1, L2, position_math_l, position_math_r);
DBerendsen 0:5f4bc2d63814 270 float position_beta = RAD_PER_PULSE * -encoder2.getPosition();
DBerendsen 0:5f4bc2d63814 271 float error_beta = reference_beta-position_beta;
peterknoben 1:406519ff0f17 272 float magnitude2 = PID.get(error_beta, MOTOR2_KP, MOTOR2_KI, MOTOR2_KD, CONTROLLER_TS, M2_N, M1_v1, M1_v2) / motor2_gain;
DBerendsen 10:614050a50c2f 273
DBerendsen 10:614050a50c2f 274 //Determine Motor Magnitude
DBerendsen 10:614050a50c2f 275 if (fabs(magnitude2)>1) {
DBerendsen 10:614050a50c2f 276 motor2 = 1;
DBerendsen 10:614050a50c2f 277 }
DBerendsen 10:614050a50c2f 278 else {
DBerendsen 10:614050a50c2f 279 motor2 = fabs(magnitude2);
DBerendsen 10:614050a50c2f 280 }
DBerendsen 10:614050a50c2f 281
DBerendsen 10:614050a50c2f 282
peterknoben 1:406519ff0f17 283 //Determine Motor Direction
DBerendsen 0:5f4bc2d63814 284 if (magnitude2 > 0){
DBerendsen 0:5f4bc2d63814 285 motor2DirectionPin = 1;
DBerendsen 0:5f4bc2d63814 286 }
DBerendsen 0:5f4bc2d63814 287 else{
DBerendsen 0:5f4bc2d63814 288 motor2DirectionPin = 0;
DBerendsen 0:5f4bc2d63814 289 }
DBerendsen 10:614050a50c2f 290 return magnitude2;
DBerendsen 0:5f4bc2d63814 291 }
peterknoben 5:b4abbd3c513c 292
peterknoben 8:24f6744d47b2 293 //------------------------------------------------------------------------------
peterknoben 8:24f6744d47b2 294 //----------------------------Motor controller----------------------------------
peterknoben 8:24f6744d47b2 295 //------------------------------------------------------------------------------
peterknoben 8:24f6744d47b2 296 int direction_l, direction_r;
DBerendsen 10:614050a50c2f 297 float magnitude1, magnitude2;
peterknoben 8:24f6744d47b2 298
peterknoben 5:b4abbd3c513c 299 void motor_control(){
DBerendsen 10:614050a50c2f 300 direction_l = MoveLeft.getdirectionLeft(mode); //x-direction
DBerendsen 10:614050a50c2f 301 direction_r = MoveRight.getdirectionRight(mode); //y-direction
DBerendsen 10:614050a50c2f 302 position_math_l= MoveLeft.getpositionLeft(CaseLeft, mode, max_rangex); //x-direction
DBerendsen 10:614050a50c2f 303 position_math_r= MoveRight.getpositionRight(CaseRight, mode, max_rangey); //y-direction
DBerendsen 10:614050a50c2f 304 magnitude1 = motor1_control();
DBerendsen 10:614050a50c2f 305 magnitude2 = motor2_control();
DBerendsen 10:614050a50c2f 306
DBerendsen 10:614050a50c2f 307
DBerendsen 10:614050a50c2f 308
DBerendsen 10:614050a50c2f 309
peterknoben 5:b4abbd3c513c 310 }
DBerendsen 10:614050a50c2f 311 /*//------------------------------------------------------------------------------
peterknoben 8:24f6744d47b2 312 //-------------------------------HID Scope--------------------------------------
DBerendsen 0:5f4bc2d63814 313 //------------------------------------------------------------------------------
peterknoben 8:24f6744d47b2 314
peterknoben 8:24f6744d47b2 315 HIDScope scope(4);
peterknoben 8:24f6744d47b2 316 Ticker scopeTimer;
peterknoben 8:24f6744d47b2 317 Ticker controllerTimer;
peterknoben 8:24f6744d47b2 318
peterknoben 8:24f6744d47b2 319 void HID_Monitor(){
peterknoben 8:24f6744d47b2 320 scope.set(0, fabs(FilterLeft(emg0.read())));
peterknoben 8:24f6744d47b2 321 scope.set(1, fabs(FilterRight(emg2.read())));
peterknoben 8:24f6744d47b2 322 scope.set(2, SignalLeft.getmeanLeft(n, fabs(FilterLeft(emg0.read()))));
peterknoben 8:24f6744d47b2 323 scope.set(3, SignalRight.getmeanRight(n, fabs(FilterRight(emg2.read()))));
peterknoben 8:24f6744d47b2 324 }
peterknoben 8:24f6744d47b2 325
peterknoben 8:24f6744d47b2 326 //Working
peterknoben 8:24f6744d47b2 327 //SignalLeft.getmeanLeft(n, fabs(FilterLeft(emg0.read())))
DBerendsen 10:614050a50c2f 328 //SignalRight.getmeanRight(n, fabs(FilterRight(emg2.read())))*/
peterknoben 8:24f6744d47b2 329
peterknoben 8:24f6744d47b2 330 //------------------------------------------------------------------------------
peterknoben 8:24f6744d47b2 331 //------------------------------Main--------------------------------------------
DBerendsen 0:5f4bc2d63814 332 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 333
DBerendsen 0:5f4bc2d63814 334 int main(){
DBerendsen 0:5f4bc2d63814 335 pc.baud(115200);
peterknoben 4:e15fc329b88b 336 setled();
peterknoben 6:edd30e11f3c7 337 BiQuad_filter_Left.add( &LP1L ).add( &HP2L ).add( &NO3L);
peterknoben 6:edd30e11f3c7 338 BiQuad_filter_Right.add( &LP1R ).add( &HP2R ).add( &NO3R);
peterknoben 6:edd30e11f3c7 339 BiQuad_filter_Mode.add( &LP1M ).add( &HP2M ).add( &NO3M);
peterknoben 4:e15fc329b88b 340 But1.rise(&maxcalibration);
peterknoben 6:edd30e11f3c7 341 Mode.rise(&mode_selection);
peterknoben 5:b4abbd3c513c 342 motor1.period(0.0001f); motor2.period(0.0001f);
peterknoben 8:24f6744d47b2 343 MyControllerTicker.attach(&motor_control, CONTROLLER_TS); //Determining motorposiitons
peterknoben 8:24f6744d47b2 344 MyTickerMean.attach(&signalnumber, MEAN_TS); //Detemining the signalnumbers
peterknoben 5:b4abbd3c513c 345 // MyTickerMode.attach(&signalmode, MEAN_TS);
DBerendsen 10:614050a50c2f 346 /*
peterknoben 8:24f6744d47b2 347 //Scope
peterknoben 8:24f6744d47b2 348 scopeTimer.attach_us(&scope, &HIDScope::send, 2e4);
DBerendsen 10:614050a50c2f 349 controllerTimer.attach_us(&HID_Monitor, 1e3);*/
peterknoben 8:24f6744d47b2 350
peterknoben 5:b4abbd3c513c 351 while(1) {
DBerendsen 10:614050a50c2f 352 //pc.printf(" direction %i , %i Signal numbers %i %i Position %f %f \r\n", direction_l, direction_r, CaseLeft, CaseRight, position_math_l, position_math_r);
DBerendsen 10:614050a50c2f 353 pc.printf("direction %i , %i Signal numbers %i %i Position %f %f magnitude1 =%f magnitude2=%f \r\n",direction_l, direction_r, CaseLeft, CaseRight, position_math_l, position_math_r, magnitude1, magnitude2);
peterknoben 5:b4abbd3c513c 354 wait(0.1f);
peterknoben 5:b4abbd3c513c 355 }
peterknoben 1:406519ff0f17 356 }
peterknoben 1:406519ff0f17 357
peterknoben 1:406519ff0f17 358