i
Dependencies: Encoder HIDScope MODSERIAL TextLCD mbed-dsp mbed
Fork of Main-script_groep7_V2 by
main.cpp@11:687aa4656a6e, 2014-11-03 (annotated)
- Committer:
- phgbartels
- Date:
- Mon Nov 03 14:46:31 2014 +0000
- Revision:
- 11:687aa4656a6e
- Parent:
- 10:cd89569cd847
- Child:
- 12:3fec73bc3318
Werkend script incl instellen richting;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
phgbartels | 0:2386012c6594 | 1 | /********************************************/ |
phgbartels | 0:2386012c6594 | 2 | /* */ |
phgbartels | 0:2386012c6594 | 3 | /* BRONCODE GROEP 7, MODULE 9, 2014 */ |
phgbartels | 0:2386012c6594 | 4 | /* *-THE SLAP-* */ |
phgbartels | 0:2386012c6594 | 5 | /* */ |
phgbartels | 0:2386012c6594 | 6 | /* -Anne ten Dam */ |
phgbartels | 0:2386012c6594 | 7 | /* -Laura de Heus */ |
phgbartels | 0:2386012c6594 | 8 | /* -Moniek Strijdveen */ |
phgbartels | 0:2386012c6594 | 9 | /* -Bart Arendshorst */ |
phgbartels | 0:2386012c6594 | 10 | /* -Peter Bartels */ |
phgbartels | 0:2386012c6594 | 11 | /********************************************/ |
phgbartels | 0:2386012c6594 | 12 | |
phgbartels | 0:2386012c6594 | 13 | #include "TextLCD.h" |
phgbartels | 0:2386012c6594 | 14 | #include "mbed.h" |
phgbartels | 0:2386012c6594 | 15 | #include "encoder.h" |
lauradeheus | 6:a7379a681adf | 16 | #include "HIDScope.h" |
phgbartels | 0:2386012c6594 | 17 | #include "PwmOut.h" |
lauradeheus | 6:a7379a681adf | 18 | #include "arm_math.h" |
phgbartels | 11:687aa4656a6e | 19 | #include "MODSERIAL.h" |
phgbartels | 0:2386012c6594 | 20 | |
lauradeheus | 8:f733c6a27c15 | 21 | /*definieren pinnen Motoren*/ |
phgbartels | 0:2386012c6594 | 22 | #define M1_PWM PTA5 |
phgbartels | 0:2386012c6594 | 23 | #define M1_DIR PTA4 |
phgbartels | 0:2386012c6594 | 24 | #define M2_PWM PTC8 |
phgbartels | 0:2386012c6594 | 25 | #define M2_DIR PTC9 |
phgbartels | 0:2386012c6594 | 26 | /*Definieren om de hoeveel seconden er gegevens naar de HID-scope gestuurd worden.*/ |
phgbartels | 0:2386012c6594 | 27 | #define TSAMP 0.005 |
lauradeheus | 8:f733c6a27c15 | 28 | #define K_P (80000) |
lauradeheus | 8:f733c6a27c15 | 29 | #define K_I (0.01) |
lauradeheus | 8:f733c6a27c15 | 30 | #define K_D (0.01) |
phgbartels | 0:2386012c6594 | 31 | #define I_LIMIT 100. |
phgbartels | 0:2386012c6594 | 32 | #define lengte_arm 0.5 |
phgbartels | 0:2386012c6594 | 33 | |
phgbartels | 0:2386012c6594 | 34 | /* |
phgbartels | 0:2386012c6594 | 35 | Geef een naam aan een actie en vertel welke pinnen hiervoor gebruikt worden. |
phgbartels | 0:2386012c6594 | 36 | */ |
phgbartels | 0:2386012c6594 | 37 | TextLCD lcd(PTD2, PTA12, PTB2, PTB3, PTC2, PTA13, TextLCD::LCD16x2); // rs, e, d4-d7 |
phgbartels | 0:2386012c6594 | 38 | Encoder motor1(PTD3,PTD1); |
phgbartels | 11:687aa4656a6e | 39 | Encoder motor2(PTD5, PTD0); |
phgbartels | 0:2386012c6594 | 40 | PwmOut pwm_motor1(M1_PWM); |
phgbartels | 11:687aa4656a6e | 41 | PwmOut pwm_motor2(M2_PWM); |
phgbartels | 0:2386012c6594 | 42 | DigitalOut motordir1(M1_DIR); |
phgbartels | 11:687aa4656a6e | 43 | DigitalOut motordir2(M2_DIR); |
phgbartels | 0:2386012c6594 | 44 | DigitalOut LEDGREEN(LED_GREEN); |
phgbartels | 11:687aa4656a6e | 45 | DigitalOut LEDRED(LED_RED); |
phgbartels | 11:687aa4656a6e | 46 | MODSERIAL pc(USBTX,USBRX); |
lauradeheus | 6:a7379a681adf | 47 | HIDScope scope(3); |
lauradeheus | 8:f733c6a27c15 | 48 | AnalogIn emg(PTB1); |
phgbartels | 0:2386012c6594 | 49 | /* |
phgbartels | 0:2386012c6594 | 50 | definieer namen aan var, float, int, static float, uint8_t, uint16_t etc. en geef ze eventueel een waarde |
phgbartels | 0:2386012c6594 | 51 | */ |
phgbartels | 0:2386012c6594 | 52 | Ticker statemachine; |
phgbartels | 0:2386012c6594 | 53 | Ticker screen; |
lauradeheus | 6:a7379a681adf | 54 | arm_biquad_casd_df1_inst_f32 lowpass_1; //2e orde lowpass biquad butterworthfilter 99Hz |
lauradeheus | 6:a7379a681adf | 55 | arm_biquad_casd_df1_inst_f32 lowpass_2; //2e orde lowpass biquad butterworthfilter 3Hz |
lauradeheus | 6:a7379a681adf | 56 | arm_biquad_casd_df1_inst_f32 highpass; //2e orde highpass biquad butterworthfilter 20Hz |
lauradeheus | 6:a7379a681adf | 57 | arm_biquad_casd_df1_inst_f32 notch; //2e orde lowpass biquad butterworthfilter 50Hz |
phgbartels | 0:2386012c6594 | 58 | int previous_herhalingen = 0; |
phgbartels | 1:b08ac32d1ddc | 59 | int current_herhalingen = 0; |
phgbartels | 11:687aa4656a6e | 60 | int current_herhalingen_1 = 0; |
phgbartels | 11:687aa4656a6e | 61 | int previous_herhalingen_1 = 0; |
phgbartels | 0:2386012c6594 | 62 | int previous_pos_motor1 = 0; |
phgbartels | 0:2386012c6594 | 63 | int current_pos_motor1; |
phgbartels | 11:687aa4656a6e | 64 | int current_pos_motor2; |
phgbartels | 5:4842219cb77c | 65 | int EMG = 1; |
phgbartels | 10:cd89569cd847 | 66 | int aantal_pieken = 0; |
lauradeheus | 6:a7379a681adf | 67 | int doel; |
lauradeheus | 7:7e3e183bf063 | 68 | int doel_richting; |
lauradeheus | 7:7e3e183bf063 | 69 | int doel_hoogte; |
lauradeheus | 9:7e9b63fe8988 | 70 | int puls_richting1; |
lauradeheus | 9:7e9b63fe8988 | 71 | int puls_richting2; |
lauradeheus | 9:7e9b63fe8988 | 72 | int puls_richting3; |
lauradeheus | 6:a7379a681adf | 73 | bool aanspan; |
phgbartels | 0:2386012c6594 | 74 | void clamp(float * in, float min, float max); |
phgbartels | 0:2386012c6594 | 75 | float pid(float setpoint, float measurement); |
phgbartels | 0:2386012c6594 | 76 | float pos_motor1_rad; |
phgbartels | 0:2386012c6594 | 77 | float PWM1_percentage = 0; |
phgbartels | 11:687aa4656a6e | 78 | float PWM1; |
phgbartels | 0:2386012c6594 | 79 | float PWM2; |
phgbartels | 1:b08ac32d1ddc | 80 | float setpoint = 0; |
lauradeheus | 6:a7379a681adf | 81 | float prev_setpoint = 0; |
lauradeheus | 6:a7379a681adf | 82 | float lowpass_1_const[] = {0.978030479206560 , 1.956060958413119 , 0.978030479206560 , -1.955578240315036 , -0.956543676511203}; |
lauradeheus | 6:a7379a681adf | 83 | float lowpass_1_states[4]; |
lauradeheus | 6:a7379a681adf | 84 | float lowpass_2_const[] = {0.002080567135492 , 0.004161134270985 , 0.002080567135492 , 1.866892279711715 , -0.875214548253684}; |
lauradeheus | 6:a7379a681adf | 85 | float lowpass_2_states[4]; |
lauradeheus | 6:a7379a681adf | 86 | float highpass_const[] = {0.638945525159022 , -1.277891050318045 , 0.638945525159022 , 1.142980502539901 , -0.412801598096189}; |
lauradeheus | 6:a7379a681adf | 87 | float highpass_states[4]; |
lauradeheus | 6:a7379a681adf | 88 | float notch_const[] = {0.978048948305681 , 0.000000000000000 , 0.978048948305681 , 0.000000000000000 , -0.956097896611362}; |
lauradeheus | 6:a7379a681adf | 89 | float notch_states[4]; |
lauradeheus | 6:a7379a681adf | 90 | float emg_filtered; |
lauradeheus | 6:a7379a681adf | 91 | float emg_max = 0; |
lauradeheus | 6:a7379a681adf | 92 | float emg_treshhold_laag = 0; |
lauradeheus | 6:a7379a681adf | 93 | float emg_treshhold_hoog = 0; |
phgbartels | 11:687aa4656a6e | 94 | float marge = 0; |
lauradeheus | 9:7e9b63fe8988 | 95 | float PWM_richting1; |
lauradeheus | 9:7e9b63fe8988 | 96 | float PWM_richting2; |
lauradeheus | 9:7e9b63fe8988 | 97 | float PWM_richting3; |
phgbartels | 0:2386012c6594 | 98 | |
lauradeheus | 7:7e3e183bf063 | 99 | enum state_t {RUST, EMG_KALIBRATIE, ARM_KALIBRATIE, METEN_HOOGTE, METEN_RICHTING, INSTELLEN_RICHTING, SLAAN, RETURN2RUST}; //verschillende stadia definieren voor gebruik in CASES |
phgbartels | 0:2386012c6594 | 100 | state_t state = RUST; |
phgbartels | 0:2386012c6594 | 101 | |
phgbartels | 11:687aa4656a6e | 102 | void rust() |
phgbartels | 11:687aa4656a6e | 103 | { |
phgbartels | 11:687aa4656a6e | 104 | current_herhalingen = previous_herhalingen + 1; |
phgbartels | 11:687aa4656a6e | 105 | previous_herhalingen = current_herhalingen; |
lauradeheus | 8:f733c6a27c15 | 106 | }//void rust |
phgbartels | 11:687aa4656a6e | 107 | |
phgbartels | 11:687aa4656a6e | 108 | void pieken_tellen() |
phgbartels | 11:687aa4656a6e | 109 | { |
phgbartels | 11:687aa4656a6e | 110 | if (emg_filtered>=emg_treshhold_hoog) { |
lauradeheus | 6:a7379a681adf | 111 | aanspan=true; //maak een variabele waarin je opslaat dat het signaal hoog is. |
lauradeheus | 8:f733c6a27c15 | 112 | }//if |
phgbartels | 11:687aa4656a6e | 113 | if (aanspan==true && emg_filtered<=emg_treshhold_laag) { //== ipv =, anders wordt aanspan true gemaakt |
lauradeheus | 6:a7379a681adf | 114 | aanspan=false; |
lauradeheus | 6:a7379a681adf | 115 | aantal_pieken++; |
phgbartels | 10:cd89569cd847 | 116 | doel = aantal_pieken-(((aantal_pieken-1)/3)*3); //aantal_pieken-((aantal_pieken/3)*3)+1; |
phgbartels | 11:687aa4656a6e | 117 | |
lauradeheus | 8:f733c6a27c15 | 118 | }//if |
lauradeheus | 8:f733c6a27c15 | 119 | }//void pieken_tellen |
lauradeheus | 6:a7379a681adf | 120 | |
phgbartels | 11:687aa4656a6e | 121 | void emg_filtering() |
phgbartels | 11:687aa4656a6e | 122 | { |
lauradeheus | 6:a7379a681adf | 123 | uint16_t emg_value; |
lauradeheus | 6:a7379a681adf | 124 | float emg_value_f32; |
lauradeheus | 6:a7379a681adf | 125 | emg_value = emg.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) |
lauradeheus | 6:a7379a681adf | 126 | emg_value_f32 = emg.read(); |
phgbartels | 11:687aa4656a6e | 127 | |
lauradeheus | 6:a7379a681adf | 128 | arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32, &emg_filtered, 1 ); |
lauradeheus | 6:a7379a681adf | 129 | arm_biquad_cascade_df1_f32(&lowpass_1, &emg_filtered, &emg_filtered, 1 ); |
lauradeheus | 6:a7379a681adf | 130 | arm_biquad_cascade_df1_f32(¬ch, &emg_filtered, &emg_filtered, 1); |
lauradeheus | 6:a7379a681adf | 131 | emg_filtered = fabs(emg_filtered); |
lauradeheus | 6:a7379a681adf | 132 | arm_biquad_cascade_df1_f32(&lowpass_2, &emg_filtered, &emg_filtered, 1 ); |
phgbartels | 10:cd89569cd847 | 133 | //scope.set(0,emg_value); //uint value |
phgbartels | 10:cd89569cd847 | 134 | //scope.set(1,emg_filtered); //processed float |
phgbartels | 11:687aa4656a6e | 135 | if(state!=EMG_KALIBRATIE) { |
lauradeheus | 6:a7379a681adf | 136 | pieken_tellen(); |
lauradeheus | 8:f733c6a27c15 | 137 | }//if |
phgbartels | 10:cd89569cd847 | 138 | //pc.printf("%d\n\r",doel); |
phgbartels | 11:687aa4656a6e | 139 | scope.set(0, doel); |
phgbartels | 10:cd89569cd847 | 140 | scope.set(1, aantal_pieken); |
lauradeheus | 9:7e9b63fe8988 | 141 | scope.send(); |
lauradeheus | 8:f733c6a27c15 | 142 | }//void emg_filtering() |
lauradeheus | 6:a7379a681adf | 143 | |
phgbartels | 11:687aa4656a6e | 144 | void emg_max_meting() |
phgbartels | 11:687aa4656a6e | 145 | { |
lauradeheus | 6:a7379a681adf | 146 | emg_filtering(); |
phgbartels | 11:687aa4656a6e | 147 | if (emg_filtered>=emg_max) { |
lauradeheus | 6:a7379a681adf | 148 | emg_max=emg_filtered; |
lauradeheus | 8:f733c6a27c15 | 149 | }//if |
phgbartels | 11:687aa4656a6e | 150 | emg_treshhold_laag = 0.4*emg_max; |
phgbartels | 11:687aa4656a6e | 151 | emg_treshhold_hoog = 0.7*emg_max; |
lauradeheus | 8:f733c6a27c15 | 152 | }//void emg_max_meting |
lauradeheus | 6:a7379a681adf | 153 | |
phgbartels | 11:687aa4656a6e | 154 | void akkoord_geven() |
phgbartels | 11:687aa4656a6e | 155 | { |
lauradeheus | 9:7e9b63fe8988 | 156 | emg_filtering(); |
lauradeheus | 9:7e9b63fe8988 | 157 | } |
lauradeheus | 9:7e9b63fe8988 | 158 | |
phgbartels | 11:687aa4656a6e | 159 | void emg_kalibratie() |
phgbartels | 11:687aa4656a6e | 160 | { |
lauradeheus | 7:7e3e183bf063 | 161 | //if(emg_filtered>=0.05){//Deze if-loop alleen zodat het nog op de hidscope kan worden gezien, dit mag weg wanneer er een display is, current_herhalingen wel laten. |
phgbartels | 11:687aa4656a6e | 162 | current_herhalingen = previous_herhalingen + 1; |
phgbartels | 11:687aa4656a6e | 163 | previous_herhalingen = current_herhalingen; |
lauradeheus | 7:7e3e183bf063 | 164 | //} |
phgbartels | 11:687aa4656a6e | 165 | if(current_herhalingen<=1000) { |
lauradeheus | 6:a7379a681adf | 166 | emg_max_meting(); |
lauradeheus | 8:f733c6a27c15 | 167 | }//if |
lauradeheus | 8:f733c6a27c15 | 168 | }//void emg_kalibratie |
phgbartels | 0:2386012c6594 | 169 | |
phgbartels | 11:687aa4656a6e | 170 | void arm_kalibratie() |
phgbartels | 11:687aa4656a6e | 171 | { |
lauradeheus | 7:7e3e183bf063 | 172 | //voor nu om de loop te doorlopen wordt onderstaande code gebruikt. Nogmaal gesproken moet er gewacht worden op een 'hoog' signaal van een knop |
lauradeheus | 7:7e3e183bf063 | 173 | motor1.setPosition(0); |
phgbartels | 11:687aa4656a6e | 174 | motor2.setPosition(0); |
lauradeheus | 9:7e9b63fe8988 | 175 | pwm_motor1.period_us(100); |
lauradeheus | 9:7e9b63fe8988 | 176 | pwm_motor2.period_us(100); |
phgbartels | 11:687aa4656a6e | 177 | akkoord_geven(); |
lauradeheus | 8:f733c6a27c15 | 178 | }//void arm_kalibratie |
lauradeheus | 7:7e3e183bf063 | 179 | |
phgbartels | 11:687aa4656a6e | 180 | void doel_bepaling() |
phgbartels | 11:687aa4656a6e | 181 | { |
phgbartels | 11:687aa4656a6e | 182 | if(200<=current_herhalingen && current_herhalingen <1200) { |
lauradeheus | 7:7e3e183bf063 | 183 | emg_filtering(); |
phgbartels | 10:cd89569cd847 | 184 | doel = aantal_pieken-(((aantal_pieken-1)/3)*3); |
lauradeheus | 8:f733c6a27c15 | 185 | }//if |
phgbartels | 11:687aa4656a6e | 186 | else if(current_herhalingen == 1200 && state==METEN_HOOGTE) { |
lauradeheus | 9:7e9b63fe8988 | 187 | doel_hoogte = doel; |
lauradeheus | 9:7e9b63fe8988 | 188 | aantal_pieken = 0; |
phgbartels | 11:687aa4656a6e | 189 | doel = 0; |
phgbartels | 11:687aa4656a6e | 190 | } else if(current_herhalingen == 1200 && state==METEN_RICHTING) { |
lauradeheus | 9:7e9b63fe8988 | 191 | doel_richting = doel; |
lauradeheus | 9:7e9b63fe8988 | 192 | aantal_pieken = 0;//op 0 omdat bij akkoord geven dit ook gebruikt wordt. |
phgbartels | 10:cd89569cd847 | 193 | doel = 0; |
phgbartels | 11:687aa4656a6e | 194 | } else if(1200<current_herhalingen && current_herhalingen<=2200) { |
phgbartels | 11:687aa4656a6e | 195 | akkoord_geven(); |
lauradeheus | 8:f733c6a27c15 | 196 | }//else if |
phgbartels | 11:687aa4656a6e | 197 | else { |
phgbartels | 11:687aa4656a6e | 198 | }//else |
lauradeheus | 8:f733c6a27c15 | 199 | }//void doel_bepaling |
phgbartels | 0:2386012c6594 | 200 | |
phgbartels | 11:687aa4656a6e | 201 | void meten_hoogte() |
phgbartels | 11:687aa4656a6e | 202 | { |
phgbartels | 11:687aa4656a6e | 203 | current_herhalingen = previous_herhalingen + 1; |
phgbartels | 11:687aa4656a6e | 204 | previous_herhalingen = current_herhalingen; |
lauradeheus | 7:7e3e183bf063 | 205 | doel_bepaling(); |
lauradeheus | 8:f733c6a27c15 | 206 | }//void meten_hoogte |
lauradeheus | 7:7e3e183bf063 | 207 | |
phgbartels | 11:687aa4656a6e | 208 | void meten_richting() |
phgbartels | 11:687aa4656a6e | 209 | { |
phgbartels | 11:687aa4656a6e | 210 | current_herhalingen = previous_herhalingen + 1; |
phgbartels | 11:687aa4656a6e | 211 | previous_herhalingen = current_herhalingen; |
lauradeheus | 7:7e3e183bf063 | 212 | doel_bepaling(); |
lauradeheus | 8:f733c6a27c15 | 213 | }//void meten_richting |
phgbartels | 0:2386012c6594 | 214 | |
phgbartels | 11:687aa4656a6e | 215 | void instellen_richting() |
phgbartels | 11:687aa4656a6e | 216 | { |
lauradeheus | 9:7e9b63fe8988 | 217 | current_pos_motor2 = motor2.getPosition(); |
phgbartels | 11:687aa4656a6e | 218 | pc.printf("%d\n\r", current_pos_motor2); |
phgbartels | 11:687aa4656a6e | 219 | /* |
phgbartels | 11:687aa4656a6e | 220 | if (doel_richting ==1){ |
lauradeheus | 9:7e9b63fe8988 | 221 | if (state==RETURN2RUST){ |
lauradeheus | 9:7e9b63fe8988 | 222 | motordir2 = 1; |
lauradeheus | 9:7e9b63fe8988 | 223 | while (current_pos_motor2 > 0){ |
lauradeheus | 9:7e9b63fe8988 | 224 | pwm_motor2.write(PWM_richting1); |
lauradeheus | 9:7e9b63fe8988 | 225 | }//while (current_pos_motor2 < rad_richting1) |
phgbartels | 10:cd89569cd847 | 226 | current_herhalingen_1 = previous_herhalingen_1 + 1; previous_herhalingen_1 = current_herhalingen_1; |
lauradeheus | 9:7e9b63fe8988 | 227 | }//if (doel_richting == 1) |
lauradeheus | 9:7e9b63fe8988 | 228 | else{ |
lauradeheus | 9:7e9b63fe8988 | 229 | motordir2 = 0; |
lauradeheus | 9:7e9b63fe8988 | 230 | while (current_pos_motor2 < puls_richting1){ |
lauradeheus | 9:7e9b63fe8988 | 231 | pwm_motor2.write(PWM_richting1); |
lauradeheus | 9:7e9b63fe8988 | 232 | }//while (current_pos_motor2 < rad_richting1) |
phgbartels | 10:cd89569cd847 | 233 | current_herhalingen_1 = previous_herhalingen_1 + 1; previous_herhalingen_1 = current_herhalingen_1; |
phgbartels | 10:cd89569cd847 | 234 | }//else |
phgbartels | 11:687aa4656a6e | 235 | }//if (doel_richting ==1) |
lauradeheus | 9:7e9b63fe8988 | 236 | |
lauradeheus | 9:7e9b63fe8988 | 237 | |
phgbartels | 11:687aa4656a6e | 238 | else if (doel_richting == 2){ |
lauradeheus | 9:7e9b63fe8988 | 239 | if (state==RETURN2RUST){ |
lauradeheus | 9:7e9b63fe8988 | 240 | motordir2 = 1; |
lauradeheus | 9:7e9b63fe8988 | 241 | while (current_pos_motor2 > 0){ |
lauradeheus | 9:7e9b63fe8988 | 242 | pwm_motor2.write(PWM_richting2); |
lauradeheus | 9:7e9b63fe8988 | 243 | }//while (current_pos_motor2 < rad_richting1) |
phgbartels | 10:cd89569cd847 | 244 | current_herhalingen_1 = previous_herhalingen_1 + 1; previous_herhalingen_1 = current_herhalingen_1; |
lauradeheus | 9:7e9b63fe8988 | 245 | }//if (doel_richting == 1) |
lauradeheus | 9:7e9b63fe8988 | 246 | else{ |
lauradeheus | 9:7e9b63fe8988 | 247 | motordir2 = 0; |
lauradeheus | 9:7e9b63fe8988 | 248 | while (current_pos_motor2 < puls_richting2){ |
lauradeheus | 9:7e9b63fe8988 | 249 | pwm_motor2.write(PWM_richting2); |
lauradeheus | 9:7e9b63fe8988 | 250 | }//while (current_pos_motor2 < rad_richting1) |
phgbartels | 10:cd89569cd847 | 251 | current_herhalingen_1 = previous_herhalingen_1 + 1; previous_herhalingen_1 = current_herhalingen_1; |
lauradeheus | 9:7e9b63fe8988 | 252 | }//if (doel_richting == 1) |
phgbartels | 11:687aa4656a6e | 253 | }//if (doel_richting ==1) |
lauradeheus | 9:7e9b63fe8988 | 254 | |
phgbartels | 11:687aa4656a6e | 255 | else if(doel_richting == 3){ |
lauradeheus | 9:7e9b63fe8988 | 256 | if (state==RETURN2RUST){ |
lauradeheus | 9:7e9b63fe8988 | 257 | motordir2 =1; |
lauradeheus | 9:7e9b63fe8988 | 258 | while (current_pos_motor2 > 0){ |
lauradeheus | 9:7e9b63fe8988 | 259 | pwm_motor2.write(PWM_richting3); |
lauradeheus | 9:7e9b63fe8988 | 260 | }//while (current_pos_motor2 < rad_richting1) |
phgbartels | 10:cd89569cd847 | 261 | current_herhalingen_1 = previous_herhalingen_1 + 1; previous_herhalingen_1 = current_herhalingen_1; |
lauradeheus | 9:7e9b63fe8988 | 262 | }//if (doel_richting == 1) |
lauradeheus | 9:7e9b63fe8988 | 263 | else{ |
lauradeheus | 9:7e9b63fe8988 | 264 | motordir2 = 0; |
lauradeheus | 9:7e9b63fe8988 | 265 | while (current_pos_motor2 < puls_richting3){ |
lauradeheus | 9:7e9b63fe8988 | 266 | pwm_motor2.write(PWM_richting3); |
lauradeheus | 9:7e9b63fe8988 | 267 | }//while (current_pos_motor2 < rad_richting1) |
phgbartels | 10:cd89569cd847 | 268 | current_herhalingen_1 = previous_herhalingen_1 + 1; previous_herhalingen_1 = current_herhalingen_1; |
lauradeheus | 9:7e9b63fe8988 | 269 | }//if (doel_richting == 1) |
phgbartels | 11:687aa4656a6e | 270 | }//if (doel_richting ==1) |
phgbartels | 11:687aa4656a6e | 271 | */ |
lauradeheus | 8:f733c6a27c15 | 272 | }//void instellen_richting |
phgbartels | 0:2386012c6594 | 273 | |
phgbartels | 11:687aa4656a6e | 274 | void GotoPosition (float position_setpoint_rad, float speed_radpersecond, float marge) |
phgbartels | 11:687aa4656a6e | 275 | { |
phgbartels | 11:687aa4656a6e | 276 | |
phgbartels | 0:2386012c6594 | 277 | current_pos_motor1 = motor1.getPosition(); //bekijk na elke 0.005s wat de huidige 'waarde' van de encoder is |
phgbartels | 0:2386012c6594 | 278 | pos_motor1_rad = current_pos_motor1/(1600/(2*PI)); //echte waarde omrekenen naar rad voor (positie) PID regelaar |
phgbartels | 0:2386012c6594 | 279 | previous_pos_motor1 = current_pos_motor1; //sla de huidige waarde op als vorige waarde. |
phgbartels | 11:687aa4656a6e | 280 | |
lauradeheus | 9:7e9b63fe8988 | 281 | //nu gaan we snelheid volgen d.m.v. positie regeling |
phgbartels | 11:687aa4656a6e | 282 | if (fabs(pos_motor1_rad - position_setpoint_rad) <= marge) { //if position error < ...rad, then stop. |
phgbartels | 11:687aa4656a6e | 283 | speed_radpersecond = 0; |
phgbartels | 4:377ddd65e4a6 | 284 | setpoint = pos_motor1_rad; |
phgbartels | 11:687aa4656a6e | 285 | current_herhalingen = previous_herhalingen + 1; |
phgbartels | 2:de7b6c1d67c4 | 286 | previous_herhalingen = current_herhalingen; |
phgbartels | 11:687aa4656a6e | 287 | //pc.printf("stop\n\r"); |
phgbartels | 5:4842219cb77c | 288 | PWM1_percentage = 0; |
lauradeheus | 8:f733c6a27c15 | 289 | }//if |
phgbartels | 11:687aa4656a6e | 290 | else if(pos_motor1_rad - position_setpoint_rad < 0) { |
phgbartels | 5:4842219cb77c | 291 | setpoint = prev_setpoint +( TSAMP * speed_radpersecond); |
phgbartels | 11:687aa4656a6e | 292 | PWM1_percentage = pid(setpoint, pos_motor1_rad); |
lauradeheus | 8:f733c6a27c15 | 293 | }//else if |
phgbartels | 11:687aa4656a6e | 294 | else { |
phgbartels | 5:4842219cb77c | 295 | setpoint = prev_setpoint -( TSAMP * speed_radpersecond); |
phgbartels | 11:687aa4656a6e | 296 | PWM1_percentage = pid(setpoint, pos_motor1_rad); |
lauradeheus | 8:f733c6a27c15 | 297 | }//else |
phgbartels | 11:687aa4656a6e | 298 | //pc.printf("%f\n\r",PWM1_percentage); |
phgbartels | 11:687aa4656a6e | 299 | |
phgbartels | 11:687aa4656a6e | 300 | if (PWM1_percentage < -100) { |
phgbartels | 0:2386012c6594 | 301 | PWM1_percentage = -100; |
lauradeheus | 8:f733c6a27c15 | 302 | }//if |
phgbartels | 11:687aa4656a6e | 303 | else if (PWM1_percentage >100) { |
phgbartels | 0:2386012c6594 | 304 | PWM1_percentage =100; |
lauradeheus | 8:f733c6a27c15 | 305 | }//else if |
phgbartels | 11:687aa4656a6e | 306 | |
phgbartels | 11:687aa4656a6e | 307 | if(PWM1_percentage < 0) { |
phgbartels | 0:2386012c6594 | 308 | motordir1 = 1; |
lauradeheus | 8:f733c6a27c15 | 309 | }//if |
phgbartels | 11:687aa4656a6e | 310 | else { |
phgbartels | 0:2386012c6594 | 311 | motordir1 = 0; |
lauradeheus | 8:f733c6a27c15 | 312 | }//else |
phgbartels | 11:687aa4656a6e | 313 | |
lauradeheus | 9:7e9b63fe8988 | 314 | pwm_motor1.write(abs(PWM1_percentage/100.)); |
phgbartels | 0:2386012c6594 | 315 | prev_setpoint = setpoint; |
lauradeheus | 8:f733c6a27c15 | 316 | }//void GotoPosition |
phgbartels | 2:de7b6c1d67c4 | 317 | |
phgbartels | 0:2386012c6594 | 318 | float pid(float setpoint, float measurement) |
phgbartels | 0:2386012c6594 | 319 | { |
phgbartels | 0:2386012c6594 | 320 | float error; |
phgbartels | 0:2386012c6594 | 321 | static float prev_error = 0; |
phgbartels | 0:2386012c6594 | 322 | float out_p = 0; |
phgbartels | 0:2386012c6594 | 323 | static float out_i = 0; |
phgbartels | 0:2386012c6594 | 324 | float out_d = 0; |
phgbartels | 0:2386012c6594 | 325 | error = (setpoint-measurement); |
phgbartels | 11:687aa4656a6e | 326 | out_p = error*K_P; |
phgbartels | 0:2386012c6594 | 327 | out_i += error*K_I; |
phgbartels | 0:2386012c6594 | 328 | out_d = (error-prev_error)*K_D; |
phgbartels | 0:2386012c6594 | 329 | clamp(&out_i,-I_LIMIT,I_LIMIT); |
phgbartels | 0:2386012c6594 | 330 | prev_error = error; |
phgbartels | 0:2386012c6594 | 331 | return out_p + out_i + out_d; |
lauradeheus | 8:f733c6a27c15 | 332 | }//float pid |
phgbartels | 0:2386012c6594 | 333 | |
lauradeheus | 8:f733c6a27c15 | 334 | void clamp(float* in, float min, float max) |
phgbartels | 0:2386012c6594 | 335 | { |
phgbartels | 11:687aa4656a6e | 336 | *in > min ? /*(*/*in < max? /*niets doen*/ : *in = max/*)*/: *in = min; |
lauradeheus | 8:f733c6a27c15 | 337 | }//void clamp |
phgbartels | 11:687aa4656a6e | 338 | |
phgbartels | 0:2386012c6594 | 339 | void statemachinefunction() |
phgbartels | 0:2386012c6594 | 340 | { |
phgbartels | 11:687aa4656a6e | 341 | pc.printf("."); |
phgbartels | 0:2386012c6594 | 342 | switch(state) { |
phgbartels | 0:2386012c6594 | 343 | case RUST: { |
phgbartels | 0:2386012c6594 | 344 | rust(); |
phgbartels | 0:2386012c6594 | 345 | /*voorwaarde wanneer hij door kan naar de volgende case*/ |
phgbartels | 11:687aa4656a6e | 346 | if (current_herhalingen == 100 && EMG == 1) { |
phgbartels | 0:2386012c6594 | 347 | current_herhalingen = 0; |
phgbartels | 0:2386012c6594 | 348 | previous_herhalingen = 0; |
lauradeheus | 9:7e9b63fe8988 | 349 | state = EMG_KALIBRATIE; |
lauradeheus | 9:7e9b63fe8988 | 350 | EMG = 0; //door EMG op 0 te zetten word deze loop nooit meer doorlopen, daarna zal altijd else worden uitgevoerd. Wat ook gelijk het kalibreren van de arm overslaat. Men kan na 1 keer kalibreren dus vaker achter elkaar schieten |
phgbartels | 11:687aa4656a6e | 351 | }//if (current_herhalingen == 100 && EMG == 1) |
phgbartels | 11:687aa4656a6e | 352 | else if(current_herhalingen == 100) { |
phgbartels | 11:687aa4656a6e | 353 | current_herhalingen = 0; |
phgbartels | 11:687aa4656a6e | 354 | previous_herhalingen = 0; |
phgbartels | 11:687aa4656a6e | 355 | state = METEN_HOOGTE; |
lauradeheus | 9:7e9b63fe8988 | 356 | }//else |
phgbartels | 1:b08ac32d1ddc | 357 | break; |
phgbartels | 11:687aa4656a6e | 358 | }//case RUST: |
phgbartels | 0:2386012c6594 | 359 | |
phgbartels | 11:687aa4656a6e | 360 | case EMG_KALIBRATIE: { |
phgbartels | 0:2386012c6594 | 361 | emg_kalibratie(); |
phgbartels | 11:687aa4656a6e | 362 | if (current_herhalingen >=1000) { /*waarom >= en niet ==?*/ |
lauradeheus | 7:7e3e183bf063 | 363 | current_herhalingen = 0; |
lauradeheus | 7:7e3e183bf063 | 364 | previous_herhalingen = 0; |
lauradeheus | 7:7e3e183bf063 | 365 | aantal_pieken = 0; |
lauradeheus | 7:7e3e183bf063 | 366 | doel = 0; |
lauradeheus | 9:7e9b63fe8988 | 367 | state = ARM_KALIBRATIE; |
phgbartels | 11:687aa4656a6e | 368 | }//if (current_herhalingen >=1000) |
lauradeheus | 7:7e3e183bf063 | 369 | break; |
lauradeheus | 8:f733c6a27c15 | 370 | }//case EMG_KALIBRATIE |
phgbartels | 11:687aa4656a6e | 371 | |
phgbartels | 11:687aa4656a6e | 372 | case ARM_KALIBRATIE: { |
lauradeheus | 9:7e9b63fe8988 | 373 | arm_kalibratie(); |
phgbartels | 11:687aa4656a6e | 374 | if (aantal_pieken == 1) { |
phgbartels | 0:2386012c6594 | 375 | current_herhalingen = 0; |
phgbartels | 0:2386012c6594 | 376 | previous_herhalingen = 0; |
lauradeheus | 7:7e3e183bf063 | 377 | aantal_pieken = 0; |
lauradeheus | 7:7e3e183bf063 | 378 | doel = 0; |
phgbartels | 11:687aa4656a6e | 379 | state = METEN_HOOGTE; |
phgbartels | 11:687aa4656a6e | 380 | }//if (current_herhalingen == 100) |
phgbartels | 11:687aa4656a6e | 381 | break; |
phgbartels | 11:687aa4656a6e | 382 | }//case ARM_KALIBRATIE: |
phgbartels | 11:687aa4656a6e | 383 | |
phgbartels | 11:687aa4656a6e | 384 | case METEN_HOOGTE: { |
phgbartels | 11:687aa4656a6e | 385 | meten_hoogte(); |
phgbartels | 11:687aa4656a6e | 386 | if (1200 < current_herhalingen && current_herhalingen <2200 && aantal_pieken == 1 && doel_hoogte>=1 ) { |
lauradeheus | 7:7e3e183bf063 | 387 | current_herhalingen = 0; |
lauradeheus | 7:7e3e183bf063 | 388 | previous_herhalingen = 0; |
lauradeheus | 7:7e3e183bf063 | 389 | aantal_pieken = 0; |
phgbartels | 11:687aa4656a6e | 390 | doel = 0; |
phgbartels | 11:687aa4656a6e | 391 | //doel_hoogte = 0; |
phgbartels | 11:687aa4656a6e | 392 | state = METEN_RICHTING; |
phgbartels | 11:687aa4656a6e | 393 | }//if (current_herhalingen == 2800 && aantal_pieken == 1) |
phgbartels | 11:687aa4656a6e | 394 | else if (current_herhalingen == 2200) { |
phgbartels | 11:687aa4656a6e | 395 | current_herhalingen = 0; |
phgbartels | 11:687aa4656a6e | 396 | previous_herhalingen = 0; |
phgbartels | 11:687aa4656a6e | 397 | aantal_pieken = 0; |
phgbartels | 11:687aa4656a6e | 398 | doel = 0; |
lauradeheus | 9:7e9b63fe8988 | 399 | state = METEN_HOOGTE; |
lauradeheus | 8:f733c6a27c15 | 400 | }///else |
phgbartels | 1:b08ac32d1ddc | 401 | break; |
lauradeheus | 8:f733c6a27c15 | 402 | }//case METEN_HOOGTE |
phgbartels | 0:2386012c6594 | 403 | |
phgbartels | 11:687aa4656a6e | 404 | case METEN_RICHTING: { |
phgbartels | 0:2386012c6594 | 405 | meten_richting(); |
phgbartels | 11:687aa4656a6e | 406 | if (1200 < current_herhalingen && current_herhalingen <2200 && aantal_pieken == 1 && doel_richting>=1 ) { |
phgbartels | 0:2386012c6594 | 407 | current_herhalingen = 0; |
phgbartels | 0:2386012c6594 | 408 | previous_herhalingen = 0; |
lauradeheus | 7:7e3e183bf063 | 409 | aantal_pieken = 0; |
lauradeheus | 7:7e3e183bf063 | 410 | doel = 0; |
lauradeheus | 9:7e9b63fe8988 | 411 | state = INSTELLEN_RICHTING; |
phgbartels | 11:687aa4656a6e | 412 | }//if (current_herhalingen == 2800 && aantal_pieken == 1) |
phgbartels | 11:687aa4656a6e | 413 | else if (current_herhalingen == 2200) { |
lauradeheus | 7:7e3e183bf063 | 414 | current_herhalingen = 0; |
lauradeheus | 7:7e3e183bf063 | 415 | previous_herhalingen = 0; |
lauradeheus | 7:7e3e183bf063 | 416 | aantal_pieken = 0; |
phgbartels | 11:687aa4656a6e | 417 | doel = 0; |
lauradeheus | 9:7e9b63fe8988 | 418 | state = METEN_RICHTING; |
lauradeheus | 9:7e9b63fe8988 | 419 | }///else |
phgbartels | 1:b08ac32d1ddc | 420 | break; |
lauradeheus | 8:f733c6a27c15 | 421 | }//case METEN_RICHTING |
phgbartels | 0:2386012c6594 | 422 | |
phgbartels | 11:687aa4656a6e | 423 | case INSTELLEN_RICHTING: { |
phgbartels | 0:2386012c6594 | 424 | instellen_richting(); |
phgbartels | 11:687aa4656a6e | 425 | /*if (current_herhalingen == 100) |
phgbartels | 0:2386012c6594 | 426 | { |
lauradeheus | 9:7e9b63fe8988 | 427 | current_herhalingen_1 = 0; |
lauradeheus | 9:7e9b63fe8988 | 428 | previous_herhalingen_1 = 0; |
lauradeheus | 9:7e9b63fe8988 | 429 | doel_richting = 0; |
phgbartels | 0:2386012c6594 | 430 | state = SLAAN; |
lauradeheus | 8:f733c6a27c15 | 431 | }//if (current_herhalingen == 100) |
phgbartels | 11:687aa4656a6e | 432 | */ |
phgbartels | 11:687aa4656a6e | 433 | break; |
lauradeheus | 8:f733c6a27c15 | 434 | }//case INSTELLEN_RICHTING |
phgbartels | 0:2386012c6594 | 435 | |
phgbartels | 11:687aa4656a6e | 436 | case SLAAN: { |
lauradeheus | 8:f733c6a27c15 | 437 | GotoPosition(1.5 ,8, 0.1); |
phgbartels | 11:687aa4656a6e | 438 | if (current_herhalingen == 400) { |
phgbartels | 0:2386012c6594 | 439 | current_herhalingen = 0; |
phgbartels | 0:2386012c6594 | 440 | previous_herhalingen = 0; |
phgbartels | 11:687aa4656a6e | 441 | prev_setpoint =0; |
phgbartels | 2:de7b6c1d67c4 | 442 | setpoint =0; |
lauradeheus | 9:7e9b63fe8988 | 443 | state = RETURN2RUST; |
phgbartels | 11:687aa4656a6e | 444 | }//if (current_herhalingen == 100) |
phgbartels | 11:687aa4656a6e | 445 | break; |
lauradeheus | 8:f733c6a27c15 | 446 | }//case SLAAN |
phgbartels | 0:2386012c6594 | 447 | |
phgbartels | 11:687aa4656a6e | 448 | case RETURN2RUST: { |
lauradeheus | 9:7e9b63fe8988 | 449 | instellen_richting(); |
lauradeheus | 8:f733c6a27c15 | 450 | GotoPosition(0,4, 0.05); |
lauradeheus | 9:7e9b63fe8988 | 451 | doel_richting = 0; |
phgbartels | 11:687aa4656a6e | 452 | doel_hoogte = 0; |
phgbartels | 11:687aa4656a6e | 453 | if (current_herhalingen >= 200 && current_herhalingen_1 >= 200) { |
lauradeheus | 9:7e9b63fe8988 | 454 | state = RUST; |
lauradeheus | 9:7e9b63fe8988 | 455 | current_herhalingen = 0; |
lauradeheus | 9:7e9b63fe8988 | 456 | previous_herhalingen = 0; |
phgbartels | 11:687aa4656a6e | 457 | current_herhalingen = 0; |
lauradeheus | 9:7e9b63fe8988 | 458 | current_herhalingen = 0; |
phgbartels | 11:687aa4656a6e | 459 | }//if (current_herhalingen == 100) |
phgbartels | 1:b08ac32d1ddc | 460 | break; |
lauradeheus | 8:f733c6a27c15 | 461 | }// case RETURN2RUST |
phgbartels | 11:687aa4656a6e | 462 | |
phgbartels | 0:2386012c6594 | 463 | default: { |
phgbartels | 0:2386012c6594 | 464 | state = RUST; |
lauradeheus | 8:f733c6a27c15 | 465 | }//default |
phgbartels | 0:2386012c6594 | 466 | |
phgbartels | 0:2386012c6594 | 467 | }//switch(state) |
phgbartels | 0:2386012c6594 | 468 | }//void statemachinefunction |
phgbartels | 0:2386012c6594 | 469 | |
phgbartels | 0:2386012c6594 | 470 | |
phgbartels | 11:687aa4656a6e | 471 | void screenupdate() |
phgbartels | 11:687aa4656a6e | 472 | { |
phgbartels | 11:687aa4656a6e | 473 | pc.printf("l"); |
phgbartels | 11:687aa4656a6e | 474 | if(state==RUST) { |
phgbartels | 11:687aa4656a6e | 475 | lcd.cls(); |
phgbartels | 0:2386012c6594 | 476 | lcd.locate(0,0); |
phgbartels | 5:4842219cb77c | 477 | lcd.printf("V.I.C.T.O.R.Y."); //regel 1 LCD scherm |
phgbartels | 0:2386012c6594 | 478 | lcd.locate(0,1); |
phgbartels | 0:2386012c6594 | 479 | lcd.printf(" GROEP 7 "); |
lauradeheus | 8:f733c6a27c15 | 480 | }//if(state==RUST) |
phgbartels | 11:687aa4656a6e | 481 | |
phgbartels | 11:687aa4656a6e | 482 | else if(state==EMG_KALIBRATIE) { |
lauradeheus | 6:a7379a681adf | 483 | lcd.cls(); |
lauradeheus | 6:a7379a681adf | 484 | lcd.locate(0,0); |
lauradeheus | 6:a7379a681adf | 485 | lcd.printf("Max. aanspannen"); |
phgbartels | 11:687aa4656a6e | 486 | if(current_herhalingen<=200) { |
phgbartels | 11:687aa4656a6e | 487 | lcd.locate(0,1); |
lauradeheus | 6:a7379a681adf | 488 | lcd.printf("nog 5 sec."); |
lauradeheus | 8:f733c6a27c15 | 489 | }//if(current_herhalingen<=200) |
phgbartels | 11:687aa4656a6e | 490 | else if(current_herhalingen<=400) { |
phgbartels | 11:687aa4656a6e | 491 | lcd.locate(0,1); |
lauradeheus | 6:a7379a681adf | 492 | lcd.printf("nog 4 sec."); |
lauradeheus | 8:f733c6a27c15 | 493 | }//else if(current_herhalingen<=400) |
phgbartels | 11:687aa4656a6e | 494 | else if(current_herhalingen<=600) { |
phgbartels | 11:687aa4656a6e | 495 | lcd.locate(0,1); |
lauradeheus | 6:a7379a681adf | 496 | lcd.printf("nog 3 sec."); |
lauradeheus | 8:f733c6a27c15 | 497 | }//else if(current_herhalingen<=600) |
phgbartels | 11:687aa4656a6e | 498 | else if(current_herhalingen<=800) { |
phgbartels | 11:687aa4656a6e | 499 | lcd.locate(0,1); |
lauradeheus | 6:a7379a681adf | 500 | lcd.printf("nog 2 sec."); |
lauradeheus | 8:f733c6a27c15 | 501 | }//else if(current_herhalingen<=800) |
phgbartels | 11:687aa4656a6e | 502 | else if(current_herhalingen<=1000) { |
phgbartels | 11:687aa4656a6e | 503 | lcd.locate(0,1); |
lauradeheus | 6:a7379a681adf | 504 | lcd.printf("nog 1 sec."); |
lauradeheus | 8:f733c6a27c15 | 505 | }//else if(current_herhalingen<=1000) |
lauradeheus | 8:f733c6a27c15 | 506 | }//else if(state==EMG_KALIBRATIE) |
phgbartels | 11:687aa4656a6e | 507 | |
phgbartels | 11:687aa4656a6e | 508 | else if(state==ARM_KALIBRATIE) { |
lauradeheus | 9:7e9b63fe8988 | 509 | lcd.cls(); |
lauradeheus | 9:7e9b63fe8988 | 510 | lcd.locate(0,0); |
lauradeheus | 9:7e9b63fe8988 | 511 | lcd.printf("Set arm to zero"); |
phgbartels | 11:687aa4656a6e | 512 | lcd.locate(0,1); |
lauradeheus | 9:7e9b63fe8988 | 513 | lcd.printf("Klaar? Span aan"); |
lauradeheus | 9:7e9b63fe8988 | 514 | }//else if(state==ARM_KALIBRATIE) |
phgbartels | 11:687aa4656a6e | 515 | |
phgbartels | 11:687aa4656a6e | 516 | else if(state==METEN_HOOGTE) { |
lauradeheus | 7:7e3e183bf063 | 517 | lcd.cls(); |
phgbartels | 11:687aa4656a6e | 518 | if(current_herhalingen<=200) { |
lauradeheus | 7:7e3e183bf063 | 519 | lcd.locate(0,0); |
lauradeheus | 7:7e3e183bf063 | 520 | lcd.printf("Hoogte bepalen:"); |
lauradeheus | 7:7e3e183bf063 | 521 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 522 | lcd.printf("span aan per vak"); |
lauradeheus | 8:f733c6a27c15 | 523 | }//if(current_herhalingen<=200){ |
phgbartels | 11:687aa4656a6e | 524 | else if(200<=current_herhalingen && current_herhalingen<1200) { |
lauradeheus | 7:7e3e183bf063 | 525 | lcd.locate(0,0); |
lauradeheus | 7:7e3e183bf063 | 526 | lcd.printf("Vak %d",doel); |
phgbartels | 11:687aa4656a6e | 527 | if(current_herhalingen<=400) { |
phgbartels | 11:687aa4656a6e | 528 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 529 | lcd.printf("nog 5 sec."); |
lauradeheus | 8:f733c6a27c15 | 530 | }//if(current_herhalingen<=400) |
phgbartels | 11:687aa4656a6e | 531 | else if(current_herhalingen<=600) { |
phgbartels | 11:687aa4656a6e | 532 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 533 | lcd.printf("nog 4 sec."); |
lauradeheus | 8:f733c6a27c15 | 534 | }//else if(current_herhalingen<=600) |
phgbartels | 11:687aa4656a6e | 535 | else if(current_herhalingen<=800) { |
phgbartels | 11:687aa4656a6e | 536 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 537 | lcd.printf("nog 3 sec."); |
lauradeheus | 8:f733c6a27c15 | 538 | }//else if(current_herhalingen<=800) |
phgbartels | 11:687aa4656a6e | 539 | else if(current_herhalingen<=1000) { |
phgbartels | 11:687aa4656a6e | 540 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 541 | lcd.printf("nog 2 sec."); |
lauradeheus | 8:f733c6a27c15 | 542 | }//else if(current_herhalingen<=1000) |
phgbartels | 11:687aa4656a6e | 543 | else if(current_herhalingen<1200) { |
phgbartels | 11:687aa4656a6e | 544 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 545 | lcd.printf("nog 1 sec."); |
lauradeheus | 8:f733c6a27c15 | 546 | }//else if(current_herhalingen<=1200) |
lauradeheus | 8:f733c6a27c15 | 547 | }//else if(200<=current_herhalingen<=1200) |
phgbartels | 11:687aa4656a6e | 548 | else if(current_herhalingen<=2200) { |
lauradeheus | 7:7e3e183bf063 | 549 | lcd.locate(0,0); |
lauradeheus | 9:7e9b63fe8988 | 550 | lcd.printf("Vak %d akkoord?",doel_hoogte); |
lauradeheus | 7:7e3e183bf063 | 551 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 552 | lcd.printf("Span aan"); |
lauradeheus | 8:f733c6a27c15 | 553 | }//else if(current_herhalingen<=1600){ |
phgbartels | 11:687aa4656a6e | 554 | else { |
lauradeheus | 7:7e3e183bf063 | 555 | lcd.locate(0,0); |
lauradeheus | 7:7e3e183bf063 | 556 | lcd.printf("Opnieuw hoogte"); |
lauradeheus | 7:7e3e183bf063 | 557 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 558 | lcd.printf("bepalen"); |
lauradeheus | 8:f733c6a27c15 | 559 | }//else{ |
lauradeheus | 8:f733c6a27c15 | 560 | }//else if(state==METEN_HOOGTE){ |
phgbartels | 11:687aa4656a6e | 561 | |
phgbartels | 11:687aa4656a6e | 562 | else if(state==METEN_RICHTING) { |
lauradeheus | 7:7e3e183bf063 | 563 | lcd.cls(); |
phgbartels | 11:687aa4656a6e | 564 | if(current_herhalingen<=200) { |
lauradeheus | 7:7e3e183bf063 | 565 | lcd.locate(0,0); |
lauradeheus | 7:7e3e183bf063 | 566 | lcd.printf("Richting bepalen:"); |
lauradeheus | 7:7e3e183bf063 | 567 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 568 | lcd.printf("span aan per vak"); |
lauradeheus | 8:f733c6a27c15 | 569 | }//if(current_herhalingen<=200) |
phgbartels | 11:687aa4656a6e | 570 | else if(200<=current_herhalingen && current_herhalingen<1200) { |
lauradeheus | 7:7e3e183bf063 | 571 | lcd.locate(0,0); |
lauradeheus | 7:7e3e183bf063 | 572 | lcd.printf("Vak %d",doel); |
phgbartels | 11:687aa4656a6e | 573 | if(current_herhalingen<=400) { |
phgbartels | 11:687aa4656a6e | 574 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 575 | lcd.printf("nog 5 sec."); |
lauradeheus | 8:f733c6a27c15 | 576 | }//if(current_herhalingen<=400) |
phgbartels | 11:687aa4656a6e | 577 | else if(current_herhalingen<=600) { |
phgbartels | 11:687aa4656a6e | 578 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 579 | lcd.printf("nog 4 sec."); |
lauradeheus | 8:f733c6a27c15 | 580 | }//else if(current_herhalingen<=600) |
phgbartels | 11:687aa4656a6e | 581 | else if(current_herhalingen<=800) { |
phgbartels | 11:687aa4656a6e | 582 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 583 | lcd.printf("nog 3 sec."); |
lauradeheus | 8:f733c6a27c15 | 584 | }//else if(current_herhalingen<=800) |
phgbartels | 11:687aa4656a6e | 585 | else if(current_herhalingen<=1000) { |
phgbartels | 11:687aa4656a6e | 586 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 587 | lcd.printf("nog 2 sec."); |
lauradeheus | 8:f733c6a27c15 | 588 | }//else if(current_herhalingen<=1000) |
phgbartels | 11:687aa4656a6e | 589 | else if(current_herhalingen<1200) { |
phgbartels | 11:687aa4656a6e | 590 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 591 | lcd.printf("nog 1 sec."); |
lauradeheus | 8:f733c6a27c15 | 592 | }//else if(current_herhalingen<=1200) |
lauradeheus | 8:f733c6a27c15 | 593 | }//else if(200<=current_herhalingen<=1200) |
phgbartels | 11:687aa4656a6e | 594 | else if(current_herhalingen<=2200) { |
lauradeheus | 7:7e3e183bf063 | 595 | lcd.locate(0,0); |
lauradeheus | 9:7e9b63fe8988 | 596 | lcd.printf("Vak %d akkoord?",doel_richting); |
lauradeheus | 7:7e3e183bf063 | 597 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 598 | lcd.printf("Span aan"); |
lauradeheus | 8:f733c6a27c15 | 599 | }//else if(current_herhalingen<=1600) |
phgbartels | 11:687aa4656a6e | 600 | else { |
lauradeheus | 7:7e3e183bf063 | 601 | lcd.locate(0,0); |
lauradeheus | 7:7e3e183bf063 | 602 | lcd.printf("Opnieuw richting"); |
lauradeheus | 7:7e3e183bf063 | 603 | lcd.locate(0,1); |
lauradeheus | 7:7e3e183bf063 | 604 | lcd.printf("bepalen"); |
lauradeheus | 8:f733c6a27c15 | 605 | }//else |
lauradeheus | 8:f733c6a27c15 | 606 | }//else if(state==METEN_RICHTING){ |
phgbartels | 11:687aa4656a6e | 607 | |
phgbartels | 11:687aa4656a6e | 608 | else if(state==INSTELLEN_RICHTING) { |
phgbartels | 11:687aa4656a6e | 609 | pc.printf("i"); |
phgbartels | 10:cd89569cd847 | 610 | lcd.cls(); |
phgbartels | 10:cd89569cd847 | 611 | lcd.locate(0,0); |
phgbartels | 10:cd89569cd847 | 612 | lcd.printf("Instellen hoek"); |
phgbartels | 10:cd89569cd847 | 613 | lcd.locate(0,1); |
phgbartels | 11:687aa4656a6e | 614 | lcd.printf("Even "); |
phgbartels | 11:687aa4656a6e | 615 | pc.printf("e"); |
phgbartels | 10:cd89569cd847 | 616 | }//else if(state==INSTELLEN_RICHTING){ |
phgbartels | 11:687aa4656a6e | 617 | |
phgbartels | 11:687aa4656a6e | 618 | else if(state==SLAAN) { |
phgbartels | 10:cd89569cd847 | 619 | lcd.cls(); |
phgbartels | 10:cd89569cd847 | 620 | lcd.locate(0,0); |
phgbartels | 10:cd89569cd847 | 621 | lcd.printf("Slaan, pas op"); |
phgbartels | 10:cd89569cd847 | 622 | lcd.locate(0,1); |
phgbartels | 10:cd89569cd847 | 623 | lcd.printf("Let's pray"); |
phgbartels | 10:cd89569cd847 | 624 | }//else if(state==INSTELLEN_RICHTING){ |
phgbartels | 11:687aa4656a6e | 625 | |
phgbartels | 11:687aa4656a6e | 626 | else if(state==RETURN2RUST) { |
phgbartels | 10:cd89569cd847 | 627 | lcd.cls(); |
phgbartels | 10:cd89569cd847 | 628 | lcd.locate(0,0); |
phgbartels | 10:cd89569cd847 | 629 | lcd.printf("Terug naar"); |
phgbartels | 10:cd89569cd847 | 630 | lcd.locate(0,1); |
phgbartels | 10:cd89569cd847 | 631 | lcd.printf("0-positie"); |
phgbartels | 10:cd89569cd847 | 632 | }//else if(state==INSTELLEN_RICHTING){ |
phgbartels | 11:687aa4656a6e | 633 | |
phgbartels | 11:687aa4656a6e | 634 | else { |
phgbartels | 0:2386012c6594 | 635 | lcd.cls(); |
phgbartels | 0:2386012c6594 | 636 | lcd.printf("state %d", state); //hier nog aan toevoegen hoe je de 'waarde', dus eigenlijk tekst, die opgeslagen staat in state kan printen. |
lauradeheus | 8:f733c6a27c15 | 637 | }//else{ |
phgbartels | 0:2386012c6594 | 638 | } |
phgbartels | 0:2386012c6594 | 639 | |
phgbartels | 11:687aa4656a6e | 640 | int main() |
phgbartels | 11:687aa4656a6e | 641 | { |
phgbartels | 4:377ddd65e4a6 | 642 | pc.baud(115200); |
lauradeheus | 6:a7379a681adf | 643 | arm_biquad_cascade_df1_init_f32(&lowpass_1,1 , lowpass_1_const, lowpass_1_states); |
lauradeheus | 6:a7379a681adf | 644 | arm_biquad_cascade_df1_init_f32(&highpass,1 , highpass_const, highpass_states); |
lauradeheus | 6:a7379a681adf | 645 | arm_biquad_cascade_df1_init_f32(¬ch,1 , notch_const, notch_states); |
lauradeheus | 6:a7379a681adf | 646 | arm_biquad_cascade_df1_init_f32(&lowpass_2,1 , lowpass_2_const, lowpass_2_states); |
phgbartels | 4:377ddd65e4a6 | 647 | statemachine.attach(&statemachinefunction, TSAMP); // the address of the function to be attached (flip) and the interval (2 seconds) |
phgbartels | 0:2386012c6594 | 648 | screen.attach(&screenupdate, 0.2); |
phgbartels | 4:377ddd65e4a6 | 649 | while(1); |
phgbartels | 0:2386012c6594 | 650 | } |