Muhabbat Komil / Mbed 2 deprecated Robot1_1

final

Dependencies:   Encoder HIDScope MODSERIAL TouchButton mbed-dsp mbed

Fork of Robot1_11 by BMT M9 Groep01

main.cpp@36:0c8d4397c02f, 2014-11-01 (annotated)

Committer:
s1340735
Date:
Sat Nov 01 23:23:49 2014 +0000
Revision:
36:0c8d4397c02f
Parent:
35:39e6e9941ce4
Child:
37:35fda673beb3
poging miljoen. lichtjes toegevoegd (niet getest). pidpositie!?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tanja2211 0:1594bb11fa13 1 #include "mbed.h"
Tanja2211 0:1594bb11fa13 2 #include "encoder.h"
Tanja2211 0:1594bb11fa13 3 #include "HIDScope.h"
Tanja2211 0:1594bb11fa13 4 #include "MODSERIAL.h"
Tanja2211 0:1594bb11fa13 5 #include "arm_math.h"
Tanja2211 0:1594bb11fa13 6 #include "TouchButton.h"
Tanja2211 0:1594bb11fa13 7
Tanja2211 0:1594bb11fa13 8 #define K_P (0.5)
Tanja2211 0:1594bb11fa13 9 #define K_I (0.02 *TSAMP1)
Tanja2211 0:1594bb11fa13 10 #define K_D (0 /TSAMP1)
Tanja2211 0:1594bb11fa13 11 #define I_LIMIT 1.
Jolein 24:a165dcd86710 12 #define K_Pp (0.2)
Tanja2211 27:9dea548d6d6c 13 #define K_Ip (0.02 *TSAMP1)
Jolein 24:a165dcd86710 14 #define K_Dp (0 /TSAMP1)
Tanja2211 0:1594bb11fa13 15
Tanja2211 0:1594bb11fa13 16 #define TSAMP1 0.01
Tanja2211 0:1594bb11fa13 17 #define TSAMP2 0.01
Tanja2211 0:1594bb11fa13 18 #define WACHTEN 1
Tanja2211 0:1594bb11fa13 19 #define SLAAN 2
Tanja2211 0:1594bb11fa13 20 #define TERUGKEREN 3
Tanja2211 33:2f9c21ac9175 21 #define ANGLEMAX -150
Tanja2211 35:39e6e9941ce4 22 #define ANGLEMIN 0
Tanja2211 0:1594bb11fa13 23
Tanja2211 0:1594bb11fa13 24 //initiating functions
Tanja2211 0:1594bb11fa13 25 void Triceps();
Tanja2211 0:1594bb11fa13 26 void Biceps();
Tanja2211 0:1594bb11fa13 27 void Calibratie_Triceps();
Tanja2211 0:1594bb11fa13 28 void Calibratie_Biceps();
Tanja2211 7:b40bbf5be443 29 float pid(float setspeed, float measurement, bool reset = false);
Jolein 24:a165dcd86710 30 float pidpositie(float setposition, float measurement);
Tanja2211 0:1594bb11fa13 31 void motor2aansturing();
Tanja2211 0:1594bb11fa13 32 void motor1aansturing();
Jolein 17:71c5c9bfb7ba 33 void motor1aansturingdeel2();
Tanja2211 0:1594bb11fa13 34
Tanja2211 0:1594bb11fa13 35 //alle initiaties voor EMG
Tanja2211 0:1594bb11fa13 36 MODSERIAL pc(USBTX,USBRX);
Tanja2211 0:1594bb11fa13 37
Tanja2211 0:1594bb11fa13 38 HIDScope scope(4);
Tanja2211 0:1594bb11fa13 39
Tanja2211 0:1594bb11fa13 40 AnalogIn emgB(PTB1); //biceps
Tanja2211 0:1594bb11fa13 41 AnalogIn emgT(PTB2); //tricep
Tanja2211 0:1594bb11fa13 42
Tanja2211 0:1594bb11fa13 43 //*** OBJECTS ***
Tanja2211 0:1594bb11fa13 44 //bicep
Tanja2211 0:1594bb11fa13 45 uint16_t emg_valueB;
Tanja2211 0:1594bb11fa13 46 float emg_value_f32B;
Tanja2211 0:1594bb11fa13 47 float filtered_emgB;
Tanja2211 0:1594bb11fa13 48 float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3;//B1=snelheidsstand 1, B2=snelheidsstand 2, B3=snelheidsstand 3
Tanja2211 0:1594bb11fa13 49 int yB1, yB2, yB3;
Tanja2211 0:1594bb11fa13 50 float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, B13, B14, B15, B16, B17, B18, B19, B20, B21, B22, B23, B24, B25, B26, B27, B28, B29, MOVAVG_B; //moving average objects
Tanja2211 0:1594bb11fa13 51 float B30, B31, B32, B33, B34, B35, B36, B37, B38, B39, B40, B41, B42, B43, B44, B45, B46, B47, B48, B49, B50, B51, B52, B53, B54, B55, B56, B57, B58, B59;
Tanja2211 0:1594bb11fa13 52 int snelheidsstand;
Tanja2211 0:1594bb11fa13 53 //tricep
Tanja2211 0:1594bb11fa13 54 uint16_t emg_valueT;
Tanja2211 0:1594bb11fa13 55 float emg_value_f32T;
Tanja2211 0:1594bb11fa13 56 float filtered_emgT;
Tanja2211 0:1594bb11fa13 57 float drempelwaardeT;
Tanja2211 0:1594bb11fa13 58 int yT1, yT2;
Tanja2211 0:1594bb11fa13 59 float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,MOVAVG_T; //moving average objects
Tanja2211 0:1594bb11fa13 60 float MOVAVG_Positie1, MOVAVG_Positie2;
Tanja2211 0:1594bb11fa13 61 int positie;
Tanja2211 0:1594bb11fa13 62
Tanja2211 0:1594bb11fa13 63 //*** FILTERS ***
Tanja2211 0:1594bb11fa13 64 arm_biquad_casd_df1_inst_f32 notchT;
Tanja2211 0:1594bb11fa13 65 arm_biquad_casd_df1_inst_f32 notchB;
Tanja2211 0:1594bb11fa13 66 //constants for 50Hz
Tanja2211 0:1594bb11fa13 67 float notch_const[]= {0.5857841106784856, -1.3007020142696517e-16, 0.5857841106784856, 1.3007020142696517e-16, -0.17156822135697122}; //{a0 a1 a2 -b1 -b2}
Tanja2211 0:1594bb11fa13 68 float notch_states[4];
Tanja2211 0:1594bb11fa13 69
Tanja2211 0:1594bb11fa13 70 arm_biquad_casd_df1_inst_f32 lowpassT;
Tanja2211 0:1594bb11fa13 71 arm_biquad_casd_df1_inst_f32 lowpassB;
Tanja2211 0:1594bb11fa13 72 //constants for 60Hz lowpass
Tanja2211 0:1594bb11fa13 73 float lowpass_const[] = {0.39133426347022965, 0.7826685269404593, 0.39133426347022965, -0.3695259524151476, -0.19581110146577096};//{a0 a1 a2 -b1 -b2} van online calculator
Tanja2211 0:1594bb11fa13 74 float lowpass_states[4];
Tanja2211 0:1594bb11fa13 75
Tanja2211 0:1594bb11fa13 76 arm_biquad_casd_df1_inst_f32 highpassT;
Tanja2211 0:1594bb11fa13 77 arm_biquad_casd_df1_inst_f32 highpassB;
Tanja2211 0:1594bb11fa13 78 //constants for 20Hz highpass
Tanja2211 0:1594bb11fa13 79 float highpass_const[] = {0.6389437261127494, -1.2778874522254988, 0.6389437261127494, 1.1429772843080923, -0.41279762014290533};//{a0 a1 a2 -b1 -b2}
Tanja2211 0:1594bb11fa13 80 float highpass_states[4];
Tanja2211 0:1594bb11fa13 81
Tanja2211 0:1594bb11fa13 82 bool stop;
Tanja2211 33:2f9c21ac9175 83 float pwm;
Tanja2211 25:b58e10cbd35b 84 float new_pos;
Tanja2211 0:1594bb11fa13 85 float new_pwm;
Tanja2211 0:1594bb11fa13 86 float PWM2 = 0.3; //PWM voor instellen hoek batje
Jolein 24:a165dcd86710 87 int toestand = WACHTEN; //terugkeren?
Jolein 1:5d30a2ea2e11 88 float setspeed = 0, V3=60, V2=40, V1 =30, Vreturn= 35;//V in counts/s
Tanja2211 0:1594bb11fa13 89
Tanja2211 0:1594bb11fa13 90
Jolein 24:a165dcd86710 91 Encoder motor1(PTD5,PTD3);
Jolein 24:a165dcd86710 92 Encoder motor2(PTD0,PTD2);
Jolein 24:a165dcd86710 93
Tanja2211 0:1594bb11fa13 94 DigitalOut motordir1(PTA4);
Tanja2211 0:1594bb11fa13 95 DigitalOut motordir2(PTC9);
Tanja2211 0:1594bb11fa13 96 PwmOut pwm_motor1(PTA5);
Tanja2211 0:1594bb11fa13 97 PwmOut pwm_motor2(PTC8);
Tanja2211 0:1594bb11fa13 98
Tanja2211 0:1594bb11fa13 99 DigitalOut myled1(LED1);//red
Tanja2211 0:1594bb11fa13 100 DigitalOut myled2(LED2);//green
Tanja2211 0:1594bb11fa13 101 DigitalOut myled3(LED3);//blue
Tanja2211 0:1594bb11fa13 102
s1340735 36:0c8d4397c02f 103 DigitalOut rood(PTD1);
s1340735 36:0c8d4397c02f 104 DigitalOut groen(PTA13);
s1340735 36:0c8d4397c02f 105 DigitalOut blauw(PTA12);
s1340735 36:0c8d4397c02f 106 DigitalOut wit(PTD4);
s1340735 36:0c8d4397c02f 107
Tanja2211 0:1594bb11fa13 108 /* FRDM-KL25Z built-in touch slider
Tanja2211 0:1594bb11fa13 109 *******************
Tanja2211 0:1594bb11fa13 110 * * * *
Tanja2211 0:1594bb11fa13 111 * 1 * 2 * 3 *
Tanja2211 0:1594bb11fa13 112 * * * *
Tanja2211 0:1594bb11fa13 113 *******************
Tanja2211 0:1594bb11fa13 114 * key 1 will light Red LED -> CALIBRATIE TRICEPS
Tanja2211 0:1594bb11fa13 115 * key 2 will light Green LED -> CALIBRATIE BICEPS
Tanja2211 0:1594bb11fa13 116 * key 3 will light Blue LED -> START*/
Tanja2211 0:1594bb11fa13 117
Tanja2211 0:1594bb11fa13 118
Tanja2211 0:1594bb11fa13 119 enum standen {STAND1=0, STAND2=1, STAND3=2};
Tanja2211 0:1594bb11fa13 120 standen hoek2 = STAND1;
Tanja2211 0:1594bb11fa13 121
Tanja2211 0:1594bb11fa13 122 int main ()
Tanja2211 22:f3a827faa135 123 {
Tanja2211 0:1594bb11fa13 124 pc.baud(115200);
Tanja2211 0:1594bb11fa13 125
Tanja2211 0:1594bb11fa13 126 drempelwaardeT=0;
Tanja2211 0:1594bb11fa13 127 drempelwaardeB1=0;
Tanja2211 0:1594bb11fa13 128 drempelwaardeB2=0;
Tanja2211 0:1594bb11fa13 129 drempelwaardeB3=0;
Tanja2211 0:1594bb11fa13 130
Tanja2211 0:1594bb11fa13 131 TouchButton TButton;
Tanja2211 0:1594bb11fa13 132
Tanja2211 0:1594bb11fa13 133 myled1=1;
Tanja2211 0:1594bb11fa13 134 myled2=1;
Tanja2211 0:1594bb11fa13 135 myled3=1;
Tanja2211 0:1594bb11fa13 136
Tanja2211 0:1594bb11fa13 137 int key=0;
Tanja2211 0:1594bb11fa13 138
Tanja2211 0:1594bb11fa13 139 pc.printf("key 1 calibratie triceps\n");
Tanja2211 0:1594bb11fa13 140 pc.printf("key 2 caliratie biceps\n");
Tanja2211 0:1594bb11fa13 141 pc.printf("key 3 START\n");
Tanja2211 0:1594bb11fa13 142
Tanja2211 0:1594bb11fa13 143 while(true) {
Tanja2211 0:1594bb11fa13 144
Tanja2211 0:1594bb11fa13 145 key = TButton.PressedButton();
Tanja2211 0:1594bb11fa13 146
Tanja2211 0:1594bb11fa13 147 if (key==1) {
Tanja2211 0:1594bb11fa13 148 //rood
Tanja2211 0:1594bb11fa13 149 myled1 = 0;
Tanja2211 0:1594bb11fa13 150 myled2 = 1;
Tanja2211 0:1594bb11fa13 151 myled3 = 1;
s1340735 36:0c8d4397c02f 152 rood=1;
Tanja2211 0:1594bb11fa13 153
s1340735 21:b7fb79882cb8 154 /*pc.printf("calibratie tricep aan\n");
Tanja2211 0:1594bb11fa13 155 wait(2);
Tanja2211 0:1594bb11fa13 156
Tanja2211 0:1594bb11fa13 157 Calibratie_Triceps();
Tanja2211 0:1594bb11fa13 158 drempelwaardeT=MOVAVG_T-1;
Tanja2211 0:1594bb11fa13 159 pc.printf("drempelwaarde triceps is %f\r\n", drempelwaardeT);
Tanja2211 0:1594bb11fa13 160
Tanja2211 0:1594bb11fa13 161 pc.printf("calibratie tricep klaar,\n");
Tanja2211 0:1594bb11fa13 162 myled1 = 0;
Tanja2211 0:1594bb11fa13 163 myled2 = 0;
Tanja2211 0:1594bb11fa13 164 myled3 = 0;
s1340735 36:0c8d4397c02f 165 wit=1;
s1340735 36:0c8d4397c02f 166
Tanja2211 0:1594bb11fa13 167 wait(2);
Tanja2211 0:1594bb11fa13 168
Tanja2211 0:1594bb11fa13 169 myled1=1;
Tanja2211 0:1594bb11fa13 170 myled2=1;
s1340735 36:0c8d4397c02f 171 myled3=1;
s1340735 36:0c8d4397c02f 172 rood=0;
s1340735 36:0c8d4397c02f 173 wit=0;*/
Tanja2211 0:1594bb11fa13 174 }
Tanja2211 0:1594bb11fa13 175 if (key==2) {
Tanja2211 0:1594bb11fa13 176 //green
Tanja2211 0:1594bb11fa13 177 myled1 = 1;
Tanja2211 0:1594bb11fa13 178 myled2 = 0;
Tanja2211 0:1594bb11fa13 179 myled3 = 1;
s1340735 36:0c8d4397c02f 180 groen=1;
Tanja2211 0:1594bb11fa13 181
s1340735 21:b7fb79882cb8 182 /*pc.printf("calibratie bicep snelheid 1 aan\n");
Tanja2211 0:1594bb11fa13 183 wait(2);
Tanja2211 0:1594bb11fa13 184
Tanja2211 0:1594bb11fa13 185 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 186 drempelwaardeB1=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 187 pc.printf("drempelwaarde snelheid 1 is %f\r\n", drempelwaardeB1);
Tanja2211 0:1594bb11fa13 188 myled1 = 0;
Tanja2211 0:1594bb11fa13 189 myled2 = 0;
Tanja2211 0:1594bb11fa13 190 myled3 = 0;
s1340735 36:0c8d4397c02f 191 wit=1;
Tanja2211 0:1594bb11fa13 192 wait(2);
Tanja2211 0:1594bb11fa13 193
s1340735 36:0c8d4397c02f 194 wit=0;
Tanja2211 0:1594bb11fa13 195 myled1 = 1;
Tanja2211 0:1594bb11fa13 196 myled2 = 0;
Tanja2211 0:1594bb11fa13 197 myled3 = 1;
Tanja2211 0:1594bb11fa13 198
Tanja2211 0:1594bb11fa13 199 pc.printf("calibratie biceps snelheid 2 aan\n");
Tanja2211 0:1594bb11fa13 200 wait(2);
Tanja2211 0:1594bb11fa13 201
Tanja2211 0:1594bb11fa13 202 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 203 drempelwaardeB2=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 204 pc.printf("drempelwaarde snelheid 2 is %f\r\n", drempelwaardeB2);
Tanja2211 0:1594bb11fa13 205 myled1 = 0;
Tanja2211 0:1594bb11fa13 206 myled2 = 0;
Tanja2211 0:1594bb11fa13 207 myled3 = 0;
s1340735 36:0c8d4397c02f 208 wit=1;
s1340735 36:0c8d4397c02f 209
Tanja2211 0:1594bb11fa13 210 wait(2);
Tanja2211 0:1594bb11fa13 211
s1340735 36:0c8d4397c02f 212 wit=0;
Tanja2211 0:1594bb11fa13 213 myled1 = 1;
Tanja2211 0:1594bb11fa13 214 myled2 = 0;
Tanja2211 0:1594bb11fa13 215 myled3 = 1;
Tanja2211 0:1594bb11fa13 216
Tanja2211 0:1594bb11fa13 217 pc.printf("calibratie biceps snelheid 3 aan\n");
Tanja2211 0:1594bb11fa13 218 wait(2);
Tanja2211 0:1594bb11fa13 219 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 220 drempelwaardeB3=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 221 pc.printf("drempelwaarde snelheid 3 is %f\r\n", drempelwaardeB3);
Tanja2211 0:1594bb11fa13 222 myled1 = 0;
Tanja2211 0:1594bb11fa13 223 myled2 = 0;
Tanja2211 0:1594bb11fa13 224 myled3 = 0;
s1340735 36:0c8d4397c02f 225 wit=1;
s1340735 36:0c8d4397c02f 226
Tanja2211 0:1594bb11fa13 227 wait(2);
Tanja2211 0:1594bb11fa13 228
Tanja2211 0:1594bb11fa13 229 pc.printf("caliratie biceps is klaar\n");
s1340735 36:0c8d4397c02f 230 wit=0;
s1340735 36:0c8d4397c02f 231 groen=0;
Tanja2211 0:1594bb11fa13 232 myled1=1;
Tanja2211 0:1594bb11fa13 233 myled2=1;
s1340735 21:b7fb79882cb8 234 myled3=1;*/
Tanja2211 0:1594bb11fa13 235 }
Tanja2211 0:1594bb11fa13 236
Tanja2211 0:1594bb11fa13 237 if (key==3) {
Tanja2211 0:1594bb11fa13 238 //blue
Tanja2211 0:1594bb11fa13 239 myled1 = 1;
Tanja2211 0:1594bb11fa13 240 myled2 = 1;
Tanja2211 0:1594bb11fa13 241 myled3 = 0;
s1340735 36:0c8d4397c02f 242 blauw=1;
s1340735 21:b7fb79882cb8 243 /*wait(3);
Tanja2211 0:1594bb11fa13 244
Tanja2211 0:1594bb11fa13 245 if(drempelwaardeT==0) {
Tanja2211 0:1594bb11fa13 246 pc.printf("geen waarde calibratie TRICEPS \n");
Tanja2211 0:1594bb11fa13 247 myled1 = 0;
Tanja2211 0:1594bb11fa13 248 myled2 = 0;
Tanja2211 0:1594bb11fa13 249 myled3 = 0;
s1340735 36:0c8d4397c02f 250 wit=1;
s1340735 36:0c8d4397c02f 251 rood=1;
Tanja2211 0:1594bb11fa13 252 }
Tanja2211 0:1594bb11fa13 253 if (drempelwaardeB1==0) {
Tanja2211 0:1594bb11fa13 254 pc.printf("geen waarde calibratie BICEPS 1 \n");
Tanja2211 0:1594bb11fa13 255 myled1 = 0;
Tanja2211 0:1594bb11fa13 256 myled2 = 0;
Tanja2211 0:1594bb11fa13 257 myled3 = 0;
s1340735 36:0c8d4397c02f 258 wit=1;
s1340735 36:0c8d4397c02f 259 groen=1;
Tanja2211 0:1594bb11fa13 260 }
Tanja2211 0:1594bb11fa13 261 if (drempelwaardeB2==0) {
Tanja2211 0:1594bb11fa13 262 pc.printf("geen waarde calibratie BICEPS 2 \n");
Tanja2211 0:1594bb11fa13 263 myled1 = 0;
Tanja2211 0:1594bb11fa13 264 myled2 = 0;
Tanja2211 0:1594bb11fa13 265 myled3 = 0;
s1340735 36:0c8d4397c02f 266 wit=1;
s1340735 36:0c8d4397c02f 267 groen=1;
Tanja2211 0:1594bb11fa13 268 }
Tanja2211 0:1594bb11fa13 269 if (drempelwaardeB3==0) {
Tanja2211 0:1594bb11fa13 270 pc.printf("geen waarde calibratie BICEPS 3 \n");
Tanja2211 0:1594bb11fa13 271 myled1 = 0;
Tanja2211 0:1594bb11fa13 272 myled2 = 0;
Tanja2211 0:1594bb11fa13 273 myled3 = 0;
s1340735 36:0c8d4397c02f 274 wit=1;
s1340735 36:0c8d4397c02f 275 groen=1;
s1340735 21:b7fb79882cb8 276 } else {*/
Tanja2211 0:1594bb11fa13 277
Tanja2211 22:f3a827faa135 278 /*pc.printf("eerst positie dan snelheid aangeven /n");
Tanja2211 0:1594bb11fa13 279
Tanja2211 22:f3a827faa135 280 //bepaling van positie met triceps 1
Tanja2211 22:f3a827faa135 281 Ticker log_timerT1;
Tanja2211 22:f3a827faa135 282
Tanja2211 22:f3a827faa135 283 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 22:f3a827faa135 284 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 22:f3a827faa135 285 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 286
Tanja2211 22:f3a827faa135 287 myled1 = 0;
Tanja2211 22:f3a827faa135 288 myled2 = 1;
Tanja2211 22:f3a827faa135 289 myled3 = 1;
s1340735 36:0c8d4397c02f 290 rood=1;
Tanja2211 22:f3a827faa135 291
Tanja2211 22:f3a827faa135 292 log_timerT1.attach(Triceps, 0.005);
Tanja2211 22:f3a827faa135 293 wait(2);
Tanja2211 22:f3a827faa135 294 log_timerT1.detach();
Tanja2211 0:1594bb11fa13 295
Tanja2211 22:f3a827faa135 296 // positie van batje met behulp van Triceps
Tanja2211 0:1594bb11fa13 297
Tanja2211 22:f3a827faa135 298 if (MOVAVG_T >= drempelwaardeT) {
Tanja2211 22:f3a827faa135 299 yT1=1;
Tanja2211 22:f3a827faa135 300 } else {
Tanja2211 22:f3a827faa135 301 yT1=0;
Tanja2211 22:f3a827faa135 302 }
Tanja2211 0:1594bb11fa13 303
Tanja2211 22:f3a827faa135 304 pc.printf("Triceps meting 1 is klaar.\n");
Tanja2211 22:f3a827faa135 305 myled1 = 1;
Tanja2211 22:f3a827faa135 306 myled2 = 1;
Tanja2211 22:f3a827faa135 307 myled3 = 0;
s1340735 36:0c8d4397c02f 308 rood=0;
s1340735 36:0c8d4397c02f 309
Tanja2211 22:f3a827faa135 310 wait(3);
Tanja2211 0:1594bb11fa13 311
Tanja2211 22:f3a827faa135 312 //bepaling van positie met tricep 2
Tanja2211 22:f3a827faa135 313 Ticker log_timerT2;
Tanja2211 22:f3a827faa135 314
Tanja2211 22:f3a827faa135 315 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 22:f3a827faa135 316 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 22:f3a827faa135 317 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 22:f3a827faa135 318
Tanja2211 22:f3a827faa135 319 myled1 = 0;
Tanja2211 22:f3a827faa135 320 myled2 = 1;
Tanja2211 22:f3a827faa135 321 myled3 = 1;
s1340735 36:0c8d4397c02f 322 rood=1;
Tanja2211 0:1594bb11fa13 323
Tanja2211 22:f3a827faa135 324 log_timerT2.attach(Triceps, 0.005);
Tanja2211 22:f3a827faa135 325 wait(2);
Tanja2211 22:f3a827faa135 326 log_timerT2.detach();
Tanja2211 0:1594bb11fa13 327
Tanja2211 22:f3a827faa135 328 if (MOVAVG_T >= drempelwaardeT) {
Tanja2211 22:f3a827faa135 329 yT2=1;
Tanja2211 22:f3a827faa135 330 } else {
Tanja2211 22:f3a827faa135 331 yT2=0;
Tanja2211 22:f3a827faa135 332 }
Tanja2211 22:f3a827faa135 333
Tanja2211 22:f3a827faa135 334 pc.printf("Triceps meting 2 is klaar.\n");
Tanja2211 22:f3a827faa135 335 myled1 = 1;
Tanja2211 22:f3a827faa135 336 myled2 = 1;
Tanja2211 22:f3a827faa135 337 myled3 = 0;
s1340735 36:0c8d4397c02f 338 rood=0;
Tanja2211 22:f3a827faa135 339
Tanja2211 22:f3a827faa135 340 //*** INPUT MOTOR 2 ***
Tanja2211 22:f3a827faa135 341 positie=yT1+yT2;
Tanja2211 0:1594bb11fa13 342
Tanja2211 22:f3a827faa135 343 //controle positie op scherm
Tanja2211 22:f3a827faa135 344 if (positie==0) {
Tanja2211 22:f3a827faa135 345 pc.printf("Motor 2 blijft op stand 1\n");
Tanja2211 22:f3a827faa135 346 } else {
Tanja2211 22:f3a827faa135 347 if (positie==1) {
Tanja2211 22:f3a827faa135 348 pc.printf("Motor 2 gaat naar stand 2\n");
Tanja2211 22:f3a827faa135 349 } else {
Tanja2211 22:f3a827faa135 350 if (positie==2) {
Tanja2211 22:f3a827faa135 351 pc.printf("Motor 2 gaat naar stand 3\n");
Tanja2211 22:f3a827faa135 352 }
Tanja2211 22:f3a827faa135 353 }
Tanja2211 22:f3a827faa135 354 }
Tanja2211 0:1594bb11fa13 355
Tanja2211 22:f3a827faa135 356 Ticker looptimer2;
Tanja2211 22:f3a827faa135 357 looptimer2.attach(motor2aansturing,TSAMP1);
Tanja2211 22:f3a827faa135 358 wait(8);
Tanja2211 22:f3a827faa135 359 looptimer2.detach();
Tanja2211 22:f3a827faa135 360 pc.printf("Detach Motor 1\n"); */
Tanja2211 22:f3a827faa135 361
Tanja2211 22:f3a827faa135 362 //------------------------------------------------------------------------------------------------------------------------------- eind aansturing motor 2
Tanja2211 22:f3a827faa135 363 wait(2);
Tanja2211 22:f3a827faa135 364 /* Ticker log_timerB;
Tanja2211 0:1594bb11fa13 365
Tanja2211 22:f3a827faa135 366 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 22:f3a827faa135 367 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 22:f3a827faa135 368 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
Tanja2211 22:f3a827faa135 369
Tanja2211 22:f3a827faa135 370 myled1 = 1;
Tanja2211 22:f3a827faa135 371 myled2 = 0;
Tanja2211 22:f3a827faa135 372 myled3 = 1;
s1340735 36:0c8d4397c02f 373 groen=1;
Tanja2211 22:f3a827faa135 374
Tanja2211 22:f3a827faa135 375 log_timerB.attach(Biceps,0.005);
Tanja2211 22:f3a827faa135 376 wait(2);
Tanja2211 22:f3a827faa135 377 log_timerB.detach();
Tanja2211 22:f3a827faa135 378
Tanja2211 22:f3a827faa135 379 //bepaling van snelheidsstand met biceps
Tanja2211 0:1594bb11fa13 380
Tanja2211 22:f3a827faa135 381 if (MOVAVG_B >= drempelwaardeB1) {
Tanja2211 22:f3a827faa135 382 yB1=1;
Tanja2211 22:f3a827faa135 383 if (MOVAVG_B >= drempelwaardeB2) {
Tanja2211 22:f3a827faa135 384 yB2=1;
Tanja2211 22:f3a827faa135 385 if (MOVAVG_B >= drempelwaardeB3) {
Tanja2211 22:f3a827faa135 386 yB3=1;
Tanja2211 22:f3a827faa135 387 } else {
Tanja2211 22:f3a827faa135 388 yB3=0;
Tanja2211 22:f3a827faa135 389 }
Tanja2211 22:f3a827faa135 390 } else {
Tanja2211 22:f3a827faa135 391 yB2=0;
Tanja2211 22:f3a827faa135 392 }
Tanja2211 22:f3a827faa135 393 } else {
Tanja2211 22:f3a827faa135 394 yB1=0;
Tanja2211 22:f3a827faa135 395 }
Tanja2211 0:1594bb11fa13 396
Tanja2211 22:f3a827faa135 397 pc.printf("Biceps meting is klaar.\n");
Tanja2211 22:f3a827faa135 398 myled1 = 1;
Tanja2211 22:f3a827faa135 399 myled2 = 1;
Tanja2211 22:f3a827faa135 400 myled3 = 0;
s1340735 36:0c8d4397c02f 401 groen=0;
Tanja2211 22:f3a827faa135 402
Tanja2211 22:f3a827faa135 403 //*** INPUT MOTOR 1 ***
Tanja2211 22:f3a827faa135 404 snelheidsstand=yB1+yB2+yB3; */
Tanja2211 22:f3a827faa135 405
Tanja2211 22:f3a827faa135 406 snelheidsstand=3;
Tanja2211 22:f3a827faa135 407
Tanja2211 22:f3a827faa135 408 //controle snelheidsstand op scherm
Tanja2211 22:f3a827faa135 409 if (snelheidsstand==0) {
Tanja2211 22:f3a827faa135 410 pc.printf("Motor 1 beweegt niet \n");
Tanja2211 22:f3a827faa135 411 } else {
Tanja2211 22:f3a827faa135 412 if (snelheidsstand==1) {
Tanja2211 22:f3a827faa135 413 pc.printf("Motor 1 beweegt met snelheid 1 \n");
Tanja2211 0:1594bb11fa13 414 } else {
Tanja2211 22:f3a827faa135 415 if (snelheidsstand==2) {
Tanja2211 22:f3a827faa135 416 pc.printf("Motor 1 beweegt met snelheid 2 \n");
Tanja2211 0:1594bb11fa13 417 } else {
Tanja2211 22:f3a827faa135 418 if (snelheidsstand==3) {
Tanja2211 22:f3a827faa135 419 pc.printf("Motor 1 beweegt met snelheid 3 \n");
Tanja2211 0:1594bb11fa13 420 }
Tanja2211 0:1594bb11fa13 421 }
Tanja2211 0:1594bb11fa13 422 }
Tanja2211 22:f3a827faa135 423 }
Tanja2211 0:1594bb11fa13 424
Tanja2211 34:688120048afb 425 Ticker looptimer1;
Tanja2211 22:f3a827faa135 426 //pwm_motor1.write(0.3);
Tanja2211 22:f3a827faa135 427 motordir1 = 1;
Tanja2211 22:f3a827faa135 428 stop = 0;
Tanja2211 22:f3a827faa135 429 looptimer1.attach(motor1aansturing,TSAMP1);
Tanja2211 29:f26796cca47f 430 wait(2); ////is aan te passen (tijd die nodig is om balletje te slaan
Tanja2211 22:f3a827faa135 431 looptimer1.detach();
Tanja2211 34:688120048afb 432 pc.printf("detachMotor1\n");
s1340735 36:0c8d4397c02f 433
s1340735 36:0c8d4397c02f 434 pid(0,0,true);
s1340735 36:0c8d4397c02f 435
Tanja2211 22:f3a827faa135 436 Ticker looptimer3;
Tanja2211 22:f3a827faa135 437 looptimer3.attach(motor1aansturingdeel2,TSAMP1);
Tanja2211 33:2f9c21ac9175 438 wait(5); ////is aan te passen (tijd die nodig is om balletje te slaan
Tanja2211 22:f3a827faa135 439 looptimer3.detach();
Tanja2211 22:f3a827faa135 440 pc.printf("detachMotor1\n");
Tanja2211 0:1594bb11fa13 441
Tanja2211 22:f3a827faa135 442 pwm_motor1.write(0);
Tanja2211 0:1594bb11fa13 443
Tanja2211 22:f3a827faa135 444 myled1=1;
Tanja2211 22:f3a827faa135 445 myled2=1;
Tanja2211 22:f3a827faa135 446 myled3=1;
s1340735 36:0c8d4397c02f 447 groen=0;
s1340735 36:0c8d4397c02f 448 blauw=0;
s1340735 36:0c8d4397c02f 449
s1340735 36:0c8d4397c02f 450 pid(0,0,true);
s1340735 36:0c8d4397c02f 451 }
s1340735 36:0c8d4397c02f 452 }
Tanja2211 22:f3a827faa135 453 //}
Tanja2211 0:1594bb11fa13 454 }//end int main
Tanja2211 0:1594bb11fa13 455
Tanja2211 0:1594bb11fa13 456
Tanja2211 9:ba7f541cef3a 457 float pid(float setspeed, float measurement, bool reset )
Tanja2211 0:1594bb11fa13 458 {
Tanja2211 0:1594bb11fa13 459 float error;
Tanja2211 0:1594bb11fa13 460 static float prev_error = 0;
Tanja2211 0:1594bb11fa13 461 float out_p = 0;
Tanja2211 0:1594bb11fa13 462 static float out_i = 0;
Tanja2211 0:1594bb11fa13 463 float out_d = 0;
Tanja2211 22:f3a827faa135 464 if(reset==true) {
Jolein 13:722697791695 465 out_i = 0;
Jolein 13:722697791695 466 prev_error = 0;
Jolein 13:722697791695 467 }
Tanja2211 0:1594bb11fa13 468 error = setspeed-measurement;
Tanja2211 0:1594bb11fa13 469 out_p = error*K_P;
Tanja2211 0:1594bb11fa13 470 out_i += error*K_I;
Tanja2211 0:1594bb11fa13 471 out_d = (error-prev_error)*K_D;
Tanja2211 0:1594bb11fa13 472 prev_error = error;
Tanja2211 0:1594bb11fa13 473 return out_p + out_i + out_d;
Tanja2211 0:1594bb11fa13 474 }
Tanja2211 0:1594bb11fa13 475
Jolein 24:a165dcd86710 476 float pidpositie(float setposition, float measurement)
Jolein 24:a165dcd86710 477 {
Jolein 24:a165dcd86710 478 float error;
Jolein 24:a165dcd86710 479 static float prev_error = 0;
Jolein 24:a165dcd86710 480 float out_p = 0;
Jolein 24:a165dcd86710 481 static float out_i = 0;
Jolein 24:a165dcd86710 482 float out_d = 0;
Tanja2211 27:9dea548d6d6c 483 error = setposition-measurement;
Jolein 24:a165dcd86710 484 out_p = error*K_Pp;
Jolein 24:a165dcd86710 485 out_i += error*K_Ip;
Jolein 24:a165dcd86710 486 out_d = (error-prev_error)*K_Dp;
Jolein 24:a165dcd86710 487 prev_error = error;
Jolein 24:a165dcd86710 488 return out_p + out_i + out_d;
Jolein 24:a165dcd86710 489 }
Jolein 24:a165dcd86710 490
Tanja2211 0:1594bb11fa13 491 void Triceps()
Tanja2211 0:1594bb11fa13 492 {
Tanja2211 0:1594bb11fa13 493 //Triceps lezen
Tanja2211 0:1594bb11fa13 494 emg_valueT = emgT.read_u16();
Tanja2211 0:1594bb11fa13 495 emg_value_f32T = emgT.read();
Tanja2211 0:1594bb11fa13 496
Tanja2211 0:1594bb11fa13 497 //Triceps filteren
Tanja2211 0:1594bb11fa13 498 arm_biquad_cascade_df1_f32(&notchT, &emg_value_f32T, &filtered_emgT, 1);
Tanja2211 0:1594bb11fa13 499 arm_biquad_cascade_df1_f32(&lowpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 0:1594bb11fa13 500 filtered_emgT = fabs(filtered_emgT);
Tanja2211 0:1594bb11fa13 501 arm_biquad_cascade_df1_f32(&highpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 0:1594bb11fa13 502 filtered_emgT = fabs(filtered_emgT);
Tanja2211 0:1594bb11fa13 503
Tanja2211 0:1594bb11fa13 504 //Triceps moving average
Tanja2211 0:1594bb11fa13 505 T0=filtered_emgT*1000;
Tanja2211 0:1594bb11fa13 506 MOVAVG_T=T0*0.03333+T1*0.03333+T2*0.03333+T3*0.03333+T4*0.03333+T5*0.03333+T6*0.03333+T7*0.03333+T8*0.03333+T9*0.03333+T10*0.03333+T11*0.03333+T12*0.03333+T13*0.03333+T14*0.03333+T15*0.03333+T16*0.03333+T17*0.03333+T18*0.03333+T19*0.03333+T20*0.03333+T21*0.03333+T22*0.03333+T23*0.03333+T24*0.03333+T25*0.03333+T26*0.03333+T27*0.03333+T28*0.03333+T29*0.03333;
Tanja2211 0:1594bb11fa13 507 T29=T28;
Tanja2211 0:1594bb11fa13 508 T28=T27;
Tanja2211 0:1594bb11fa13 509 T27=T26;
Tanja2211 0:1594bb11fa13 510 T26=T25;
Tanja2211 0:1594bb11fa13 511 T25=T24;
Tanja2211 0:1594bb11fa13 512 T24=T23;
Tanja2211 0:1594bb11fa13 513 T23=T22;
Tanja2211 0:1594bb11fa13 514 T22=T21;
Tanja2211 0:1594bb11fa13 515 T21=T20;
Tanja2211 0:1594bb11fa13 516 T20=T19;
Tanja2211 0:1594bb11fa13 517 T19=T18;
Tanja2211 0:1594bb11fa13 518 T18=T17;
Tanja2211 0:1594bb11fa13 519 T17=T16;
Tanja2211 0:1594bb11fa13 520 T16=T15;
Tanja2211 0:1594bb11fa13 521 T15=T14;
Tanja2211 0:1594bb11fa13 522 T14=T13;
Tanja2211 0:1594bb11fa13 523 T13=T12;
Tanja2211 0:1594bb11fa13 524 T12=T11;
Tanja2211 0:1594bb11fa13 525 T11=T10;
Tanja2211 0:1594bb11fa13 526 T10=T9;
Tanja2211 0:1594bb11fa13 527 T9=T8;
Tanja2211 0:1594bb11fa13 528 T8=T7;
Tanja2211 0:1594bb11fa13 529 T7=T6;
Tanja2211 0:1594bb11fa13 530 T6=T5;
Tanja2211 0:1594bb11fa13 531 T5=T4;
Tanja2211 0:1594bb11fa13 532 T4=T3;
Tanja2211 0:1594bb11fa13 533 T3=T2;
Tanja2211 0:1594bb11fa13 534 T2=T1;
Tanja2211 0:1594bb11fa13 535 T1=T0;
Tanja2211 0:1594bb11fa13 536
Tanja2211 0:1594bb11fa13 537 //sturen naar scherm (Realterm)
Tanja2211 0:1594bb11fa13 538 pc.printf("Moving average T %f\r\n",MOVAVG_T);
Tanja2211 0:1594bb11fa13 539
Tanja2211 0:1594bb11fa13 540 //sturen naar HID Scope
Tanja2211 20:99a8e9da2d6d 541 /*scope.set(0,emg_valueT); //ruwe data
Tanja2211 0:1594bb11fa13 542 scope.set(1,filtered_emgT); //filtered
Tanja2211 20:99a8e9da2d6d 543 scope.send();*/
Tanja2211 0:1594bb11fa13 544 }
Tanja2211 0:1594bb11fa13 545
Tanja2211 0:1594bb11fa13 546 void Biceps()
Tanja2211 0:1594bb11fa13 547 {
Tanja2211 0:1594bb11fa13 548 //Biceps lezen
Tanja2211 0:1594bb11fa13 549 emg_valueB = emgB.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
Tanja2211 0:1594bb11fa13 550 emg_value_f32B = emgB.read();
Tanja2211 0:1594bb11fa13 551
Tanja2211 0:1594bb11fa13 552 //Biceps filteren
Tanja2211 0:1594bb11fa13 553 arm_biquad_cascade_df1_f32(&notchB, &emg_value_f32B, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 554 arm_biquad_cascade_df1_f32(&lowpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 555 filtered_emgB = fabs(filtered_emgB);
Tanja2211 0:1594bb11fa13 556 arm_biquad_cascade_df1_f32(&highpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 557 filtered_emgB = fabs(filtered_emgB);
Tanja2211 0:1594bb11fa13 558
Tanja2211 0:1594bb11fa13 559 //Biceps moving average
Tanja2211 0:1594bb11fa13 560 B0=filtered_emgB*1000;
Tanja2211 0:1594bb11fa13 561 MOVAVG_B=B0*0.01667+B1*0.01667+B2*0.01667+B3*0.01667+B4*0.01667+B5*0.01667+B6*0.01667+B7*0.01667+B8*0.01667+B9*0.01667+B10*0.01667+B11*0.01667+B12*0.01667+B13*0.01667+B14*0.01667+B15*0.01667+B16*0.01667+B17*0.01667+B18*0.01667+B19*0.01667+B20*0.01667+B21*0.01667+B22*0.01667+B23*0.01667+B24*0.01667+B25*0.01667+B26*0.01667+B27*0.01667+B28*0.01667+B29*0.01667+B30*0.01667+B31*0.01667+B32*0.01667+B33*0.01667+B34*0.01667+B35*0.01667+B36*0.01667+B37*0.01667+B38*0.01667+B39*0.01667+B40*0.01667+B41*0.01667+B42*0.01667+B43*0.01667+B44*0.01667+B45*0.01667+B46*0.01667+B47*0.01667+B48*0.01667+B49*0.01667+B50*0.01667+B51*0.01667+B52*0.01667+B53*0.01667+B54*0.01667+B55*0.01667+B56*0.01667+B57*0.01667+B58*0.01667+B59*0.01667;
Tanja2211 0:1594bb11fa13 562 B59=B58;
Tanja2211 0:1594bb11fa13 563 B58=B57;
Tanja2211 0:1594bb11fa13 564 B57=B56;
Tanja2211 0:1594bb11fa13 565 B56=B55;
Tanja2211 0:1594bb11fa13 566 B55=B54;
Tanja2211 0:1594bb11fa13 567 B54=B53;
Tanja2211 0:1594bb11fa13 568 B53=B52;
Tanja2211 0:1594bb11fa13 569 B52=B51;
Tanja2211 0:1594bb11fa13 570 B51=B50;
Tanja2211 0:1594bb11fa13 571 B50=B48;
Tanja2211 0:1594bb11fa13 572 B49=B49;
Tanja2211 0:1594bb11fa13 573 B48=B47;
Tanja2211 0:1594bb11fa13 574 B47=B46;
Tanja2211 0:1594bb11fa13 575 B46=B45;
Tanja2211 0:1594bb11fa13 576 B45=B44;
Tanja2211 0:1594bb11fa13 577 B44=B43;
Tanja2211 0:1594bb11fa13 578 B43=B42;
Tanja2211 0:1594bb11fa13 579 B42=B41;
Tanja2211 0:1594bb11fa13 580 B41=B40;
Tanja2211 0:1594bb11fa13 581 B40=B39;
Tanja2211 0:1594bb11fa13 582 B39=B38;
Tanja2211 0:1594bb11fa13 583 B38=B37;
Tanja2211 0:1594bb11fa13 584 B37=B36;
Tanja2211 0:1594bb11fa13 585 B36=B35;
Tanja2211 0:1594bb11fa13 586 B35=B34;
Tanja2211 0:1594bb11fa13 587 B34=B33;
Tanja2211 0:1594bb11fa13 588 B33=B32;
Tanja2211 0:1594bb11fa13 589 B32=B31;
Tanja2211 0:1594bb11fa13 590 B31=B30;
Tanja2211 0:1594bb11fa13 591 B30=B29;
Tanja2211 0:1594bb11fa13 592 B29=B28;
Tanja2211 0:1594bb11fa13 593 B28=B27;
Tanja2211 0:1594bb11fa13 594 B27=B26;
Tanja2211 0:1594bb11fa13 595 B26=B25;
Tanja2211 0:1594bb11fa13 596 B25=B24;
Tanja2211 0:1594bb11fa13 597 B24=B23;
Tanja2211 0:1594bb11fa13 598 B23=B22;
Tanja2211 0:1594bb11fa13 599 B22=B21;
Tanja2211 0:1594bb11fa13 600 B21=B20;
Tanja2211 0:1594bb11fa13 601 B20=B19;
Tanja2211 0:1594bb11fa13 602 B19=B18;
Tanja2211 0:1594bb11fa13 603 B18=B17;
Tanja2211 0:1594bb11fa13 604 B17=B16;
Tanja2211 0:1594bb11fa13 605 B16=B15;
Tanja2211 0:1594bb11fa13 606 B15=B14;
Tanja2211 0:1594bb11fa13 607 B14=B13;
Tanja2211 0:1594bb11fa13 608 B13=B12;
Tanja2211 0:1594bb11fa13 609 B12=B11;
Tanja2211 0:1594bb11fa13 610 B11=B10;
Tanja2211 0:1594bb11fa13 611 B10=B9;
Tanja2211 0:1594bb11fa13 612 B9=B8;
Tanja2211 0:1594bb11fa13 613 B8=B7;
Tanja2211 0:1594bb11fa13 614 B7=B6;
Tanja2211 0:1594bb11fa13 615 B6=B5;
Tanja2211 0:1594bb11fa13 616 B5=B4;
Tanja2211 0:1594bb11fa13 617 B4=B3;
Tanja2211 0:1594bb11fa13 618 B3=B2;
Tanja2211 0:1594bb11fa13 619 B2=B1;
Tanja2211 0:1594bb11fa13 620 B1=B0;
Tanja2211 0:1594bb11fa13 621
Tanja2211 0:1594bb11fa13 622 //sturen naar scherm
Tanja2211 0:1594bb11fa13 623 pc.printf("Moving average B %f\r\n",MOVAVG_B);
Tanja2211 0:1594bb11fa13 624
Tanja2211 0:1594bb11fa13 625 //naar HID Scope
Tanja2211 20:99a8e9da2d6d 626 /*scope.set(2,emg_valueB); //ruwe data
Tanja2211 0:1594bb11fa13 627 scope.set(3,filtered_emgB); //filtered
Tanja2211 20:99a8e9da2d6d 628 scope.send();*/
Tanja2211 0:1594bb11fa13 629 }
Tanja2211 0:1594bb11fa13 630
Tanja2211 0:1594bb11fa13 631 void Calibratie_Triceps()
Tanja2211 0:1594bb11fa13 632 {
Tanja2211 0:1594bb11fa13 633 Ticker log_timerT;
Tanja2211 0:1594bb11fa13 634
Tanja2211 0:1594bb11fa13 635 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 636 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 637 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 638
Tanja2211 0:1594bb11fa13 639 log_timerT.attach(Triceps, 0.005);
Tanja2211 0:1594bb11fa13 640 wait(2);
Tanja2211 0:1594bb11fa13 641 log_timerT.detach();
Tanja2211 0:1594bb11fa13 642 }
Tanja2211 0:1594bb11fa13 643
Tanja2211 0:1594bb11fa13 644 void Calibratie_Biceps()
Tanja2211 0:1594bb11fa13 645 {
Tanja2211 0:1594bb11fa13 646 Ticker log_timerB;
Tanja2211 0:1594bb11fa13 647
Tanja2211 0:1594bb11fa13 648 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 649 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 650 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 651
Tanja2211 0:1594bb11fa13 652 log_timerB.attach(Biceps, 0.005);
Tanja2211 0:1594bb11fa13 653 wait(2);
Tanja2211 0:1594bb11fa13 654 log_timerB.detach();
Tanja2211 0:1594bb11fa13 655 }
Tanja2211 0:1594bb11fa13 656
Tanja2211 0:1594bb11fa13 657 void motor2aansturing()
Tanja2211 0:1594bb11fa13 658 {
Tanja2211 0:1594bb11fa13 659 if (positie == 0) {
Tanja2211 0:1594bb11fa13 660 if (motor2.getPosition()>= 0) {
Tanja2211 0:1594bb11fa13 661 motordir2 = 1;
Tanja2211 0:1594bb11fa13 662 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 663 } else {
Tanja2211 0:1594bb11fa13 664 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 665 }
Tanja2211 0:1594bb11fa13 666 }
Tanja2211 0:1594bb11fa13 667 if (positie ==1) {
Tanja2211 0:1594bb11fa13 668 if (motor2.getPosition()>= 2) {
Tanja2211 0:1594bb11fa13 669 motordir2 = 1;
Tanja2211 0:1594bb11fa13 670 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 671 }
Tanja2211 0:1594bb11fa13 672 if (motor2.getPosition()<= 2) {
Tanja2211 0:1594bb11fa13 673 motordir2 = 0;
Tanja2211 0:1594bb11fa13 674 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 675 } else {
Tanja2211 0:1594bb11fa13 676 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 677 }
Tanja2211 0:1594bb11fa13 678 }
Tanja2211 0:1594bb11fa13 679 if (positie ==2) {
Tanja2211 0:1594bb11fa13 680 if (motor2.getPosition()<= 4) {
Tanja2211 0:1594bb11fa13 681 motordir2 = 0;
Tanja2211 0:1594bb11fa13 682 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 683 } else {
Tanja2211 0:1594bb11fa13 684 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 685 }
Tanja2211 0:1594bb11fa13 686 } //end if
Tanja2211 0:1594bb11fa13 687 }
Tanja2211 0:1594bb11fa13 688
Tanja2211 0:1594bb11fa13 689 void motor1aansturing()
Tanja2211 0:1594bb11fa13 690 {
Jolein 18:1e40778ad1aa 691 if (motor1.getPosition()>= ANGLEMIN && toestand != SLAAN) {
Tanja2211 7:b40bbf5be443 692 toestand = WACHTEN;
Tanja2211 2:455216d1b5ba 693 pc.printf("if1\n");
Tanja2211 0:1594bb11fa13 694 }
Tanja2211 0:1594bb11fa13 695 if (snelheidsstand != 0 && toestand == WACHTEN && stop == 0) { // stop = 0 in het begin let op dat dit na reset nog zo is
Tanja2211 0:1594bb11fa13 696 toestand = SLAAN;
Tanja2211 0:1594bb11fa13 697 pc.printf("slaan \n");
Tanja2211 0:1594bb11fa13 698 if ( snelheidsstand==3) {
Tanja2211 22:f3a827faa135 699 setspeed = V3;
Tanja2211 22:f3a827faa135 700 pc.printf("Snel 3 \n");
Tanja2211 0:1594bb11fa13 701 }
Tanja2211 0:1594bb11fa13 702 if ( snelheidsstand==2) {
Tanja2211 22:f3a827faa135 703 setspeed = V2;
Tanja2211 22:f3a827faa135 704 pc.printf("Snel 2\n");
Tanja2211 0:1594bb11fa13 705 }
Tanja2211 0:1594bb11fa13 706 if ( snelheidsstand==1) {
Tanja2211 22:f3a827faa135 707 setspeed = V1;
Tanja2211 22:f3a827faa135 708 pc.printf("Snel 1 \n");
Tanja2211 0:1594bb11fa13 709 }
Tanja2211 0:1594bb11fa13 710 }
Tanja2211 4:68dc27d284f7 711 if (toestand == SLAAN && motor1.getPosition() <= ANGLEMAX) {
Jolein 16:8e56aa6f4b7a 712 toestand = TERUGKEREN;
Jolein 18:1e40778ad1aa 713 //motor1.setPosition(0);
s1340735 36:0c8d4397c02f 714 pid(0,0,true);
s1340735 36:0c8d4397c02f 715 pwm_motor1.write(0);//arvid had hier 0,0 gezet?!
Jolein 16:8e56aa6f4b7a 716 stop = 1; //zorgt dat hij niet weer gaat slaan tot er gereset is...
Jolein 1:5d30a2ea2e11 717 pc.printf("toestand = terugkeren\n\r");
Tanja2211 0:1594bb11fa13 718 }
Jolein 17:71c5c9bfb7ba 719 if (toestand == WACHTEN) {
s1340735 36:0c8d4397c02f 720 pidpositie(ANGLEMIN,motor1.getPosition()); //dit is nu alleen een waarde, moet vervolgens in een functie terugkomen toch
s1340735 36:0c8d4397c02f 721 //?? motor1.getPosition(nieuwe positie);
Jolein 17:71c5c9bfb7ba 722 pwm_motor1.write(0);
Jolein 17:71c5c9bfb7ba 723 pc.printf("ifwachten\n");
Jolein 17:71c5c9bfb7ba 724 }
Jolein 17:71c5c9bfb7ba 725 if (toestand == SLAAN) {
s1340735 36:0c8d4397c02f 726 pidpositie(ANGLEMAX, motor1.getPosition());//dit is nu alleen een waarde, moet vervolgens in een functie terugkomen toch
s1340735 36:0c8d4397c02f 727 //?? motor1.getPosition(nieuwe positie);
Jolein 17:71c5c9bfb7ba 728 new_pwm = pid(setspeed, motor1.getSpeed(),false);
Jolein 17:71c5c9bfb7ba 729 pwm_motor1.write(new_pwm);
s1340735 36:0c8d4397c02f 730
Jolein 17:71c5c9bfb7ba 731 motordir1 = 1;
Jolein 17:71c5c9bfb7ba 732 pc.printf("SLAAN\n");
s1340735 36:0c8d4397c02f 733
s1340735 36:0c8d4397c02f 734 /*if (toestand == TERUGKEREN) {
s1340735 36:0c8d4397c02f 735 pidpositie(ANGLEMIN, motor1.getPosition());
s1340735 36:0c8d4397c02f 736 }*/
Tanja2211 23:8f7ce4894c58 737
Tanja2211 22:f3a827faa135 738
Tanja2211 22:f3a827faa135 739 /*if (toestand == TERUGKEREN) {
Tanja2211 22:f3a827faa135 740 new_pwm = pid(setspeed, motor1.getSpeed(),false);
Tanja2211 22:f3a827faa135 741 pwm_motor1.write(new_pwm);
Tanja2211 22:f3a827faa135 742 motordir1 = 0;
Tanja2211 22:f3a827faa135 743 pc.printf("motor gaat terugkeren\n\r");
Tanja2211 22:f3a827faa135 744 pc.printf("new pwm %f\r\n",new_pwm);*/
Jolein 17:71c5c9bfb7ba 745 }
s1340735 36:0c8d4397c02f 746 scope.set(0,motor1.getPosition());
s1340735 36:0c8d4397c02f 747 scope.set(1,motor1.getPosition());
Tanja2211 23:8f7ce4894c58 748 scope.send();
Tanja2211 22:f3a827faa135 749
Jolein 17:71c5c9bfb7ba 750 }
Jolein 17:71c5c9bfb7ba 751
Jolein 17:71c5c9bfb7ba 752 void motor1aansturingdeel2()
Jolein 17:71c5c9bfb7ba 753 {
s1340735 36:0c8d4397c02f 754 if (toestand == TERUGKEREN && motor1.getPosition()>= ANGLEMIN) {//moet arm hier niet naar beginpositie? als het te ver naar achteren is gegaan bijvoorbeeld
s1340735 36:0c8d4397c02f 755 //pidpositie(ANGLEMIN, motor1.getPosition())
s1340735 36:0c8d4397c02f 756 //?? motor1.getPosition(nieuwe positie);
Jolein 17:71c5c9bfb7ba 757 toestand = WACHTEN;
Tanja2211 23:8f7ce4894c58 758 //motor1.setPosition(0);
s1340735 36:0c8d4397c02f 759 pid(0,0,true);
Tanja2211 20:99a8e9da2d6d 760 //pc.printf("if2\n");
Jolein 17:71c5c9bfb7ba 761 }
Tanja2211 35:39e6e9941ce4 762 if (toestand == TERUGKEREN && motor1.getPosition()<=ANGLEMIN) {
s1340735 36:0c8d4397c02f 763 pidpositie(ANGLEMIN, motor1.getPosition());//dit is nu alleen een waarde, moet vervolgens in een functie terugkomen toch
s1340735 36:0c8d4397c02f 764 //?? motor1.getPosition(nieuwe positie);
Tanja2211 29:f26796cca47f 765 pwm_motor1.write(0.3);
Jolein 15:737f5f448eb7 766 motordir1 = 0;
Tanja2211 23:8f7ce4894c58 767
Tanja2211 20:99a8e9da2d6d 768 pc.printf("motor2.getPosition %d\r\n", motor2.getPosition());
Tanja2211 0:1594bb11fa13 769 }
Tanja2211 0:1594bb11fa13 770 if (toestand == WACHTEN) {
Tanja2211 0:1594bb11fa13 771 pwm_motor1.write(0);
s1340735 36:0c8d4397c02f 772 //pidpositie(ANGLEMIN, motor1.getPosition());
Tanja2211 25:b58e10cbd35b 773 pc.printf("new position %f\r\n", new_pos);
Tanja2211 20:99a8e9da2d6d 774 //pc.printf("ifwachten2\n");
Tanja2211 0:1594bb11fa13 775 }
Tanja2211 23:8f7ce4894c58 776 //sturen naar HID Scope
Tanja2211 23:8f7ce4894c58 777 scope.set(0,motor1.getPosition()); //ruwe data
Tanja2211 23:8f7ce4894c58 778 scope.set(2,motor1.getPosition()); //filtered
Tanja2211 23:8f7ce4894c58 779 scope.send();
Tanja2211 0:1594bb11fa13 780 }