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@56:29c31b83c4ce, 2014-11-03 (annotated)

Committer:
Tanja2211
Date:
Mon Nov 03 15:20:07 2014 +0000
Revision:
56:29c31b83c4ce
Parent:
55:4eb229a35859
Child:
57:4b682f92ab51
motor2

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.
Tanja2211 55:4eb229a35859 12 #define K_Pp (0.003) //-------------------------------Deze drie waarden moeten anders!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Tanja2211 54:2b54283b3b47 13 #define K_Ip (0.0 *TSAMP2)//-----------------------------TSAMP1 veranderd naar TSAMP2
Tanja2211 55:4eb229a35859 14 #define K_Dp (0.0000003 /TSAMP2)//--------------------------------TSAMP1 veranderd naar TSAMP2
Tanja2211 0:1594bb11fa13 15
Tanja2211 55:4eb229a35859 16 #define TSAMP1 0.025
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 54:2b54283b3b47 21 #define ANGLEMAX -50
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);
Tanja2211 54:2b54283b3b47 30 float pidpositie(float setposition, float measurement, bool reset =false);
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 55:4eb229a35859 38 HIDScope scope(6);
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
Jolein 46:8b30338f3f9b 82 /*bool stop;*/
Tanja2211 33:2f9c21ac9175 83 float pwm;
Jolein 48:5b1b90260239 84 float new_pwmpos;
Tanja2211 0:1594bb11fa13 85 float new_pwm;
Jolein 53:bdcbf365a9aa 86 float PWM2 = 0.3; //PWM voor instellen hoek batje, kan waarschijnlijk een stuk langzamer
Jolein 24:a165dcd86710 87 int toestand = WACHTEN; //terugkeren?
Tanja2211 55:4eb229a35859 88 float setspeed = 0, V3=80, V2=40, V1 =30;//V in counts/s
Tanja2211 0:1594bb11fa13 89
Tanja2211 0:1594bb11fa13 90
Tanja2211 55:4eb229a35859 91 Encoder motor1(PTD5,PTD3, true);
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);
Tanja2211 54:2b54283b3b47 105 DigitalOut blauw(PTD4);
Tanja2211 54:2b54283b3b47 106 DigitalOut wit(PTA12);
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 56:29c31b83c4ce 341 positie=yT1+yT2; */
Tanja2211 56:29c31b83c4ce 342
Tanja2211 56:29c31b83c4ce 343 positie=2;
Tanja2211 0:1594bb11fa13 344
Tanja2211 22:f3a827faa135 345 //controle positie op scherm
Tanja2211 22:f3a827faa135 346 if (positie==0) {
Tanja2211 22:f3a827faa135 347 pc.printf("Motor 2 blijft op stand 1\n");
Tanja2211 22:f3a827faa135 348 } else {
Tanja2211 22:f3a827faa135 349 if (positie==1) {
Tanja2211 22:f3a827faa135 350 pc.printf("Motor 2 gaat naar stand 2\n");
Tanja2211 22:f3a827faa135 351 } else {
Tanja2211 22:f3a827faa135 352 if (positie==2) {
Tanja2211 22:f3a827faa135 353 pc.printf("Motor 2 gaat naar stand 3\n");
Tanja2211 22:f3a827faa135 354 }
Tanja2211 22:f3a827faa135 355 }
Tanja2211 22:f3a827faa135 356 }
Tanja2211 0:1594bb11fa13 357
Tanja2211 22:f3a827faa135 358 Ticker looptimer2;
Tanja2211 22:f3a827faa135 359 looptimer2.attach(motor2aansturing,TSAMP1);
Tanja2211 22:f3a827faa135 360 wait(8);
Tanja2211 22:f3a827faa135 361 looptimer2.detach();
Tanja2211 55:4eb229a35859 362 pc.printf("Detach Motor 1\n");
Tanja2211 22:f3a827faa135 363
Tanja2211 56:29c31b83c4ce 364 // ------------------------------------------------------------------------------------------------------------------------------- eind aansturing motor 2
Tanja2211 22:f3a827faa135 365 wait(2);
Tanja2211 22:f3a827faa135 366 /* Ticker log_timerB;
Tanja2211 0:1594bb11fa13 367
Tanja2211 22:f3a827faa135 368 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 22:f3a827faa135 369 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 22:f3a827faa135 370 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
Tanja2211 22:f3a827faa135 371
Tanja2211 22:f3a827faa135 372 myled1 = 1;
Tanja2211 22:f3a827faa135 373 myled2 = 0;
Tanja2211 22:f3a827faa135 374 myled3 = 1;
s1340735 36:0c8d4397c02f 375 groen=1;
Tanja2211 22:f3a827faa135 376
Tanja2211 22:f3a827faa135 377 log_timerB.attach(Biceps,0.005);
Tanja2211 22:f3a827faa135 378 wait(2);
Tanja2211 22:f3a827faa135 379 log_timerB.detach();
Tanja2211 22:f3a827faa135 380
Tanja2211 22:f3a827faa135 381 //bepaling van snelheidsstand met biceps
Tanja2211 0:1594bb11fa13 382
Tanja2211 22:f3a827faa135 383 if (MOVAVG_B >= drempelwaardeB1) {
Tanja2211 22:f3a827faa135 384 yB1=1;
Tanja2211 22:f3a827faa135 385 if (MOVAVG_B >= drempelwaardeB2) {
Tanja2211 22:f3a827faa135 386 yB2=1;
Tanja2211 22:f3a827faa135 387 if (MOVAVG_B >= drempelwaardeB3) {
Tanja2211 22:f3a827faa135 388 yB3=1;
Tanja2211 22:f3a827faa135 389 } else {
Tanja2211 22:f3a827faa135 390 yB3=0;
Tanja2211 22:f3a827faa135 391 }
Tanja2211 22:f3a827faa135 392 } else {
Tanja2211 22:f3a827faa135 393 yB2=0;
Tanja2211 22:f3a827faa135 394 }
Tanja2211 22:f3a827faa135 395 } else {
Tanja2211 22:f3a827faa135 396 yB1=0;
Tanja2211 22:f3a827faa135 397 }
Tanja2211 0:1594bb11fa13 398
Tanja2211 22:f3a827faa135 399 pc.printf("Biceps meting is klaar.\n");
Tanja2211 22:f3a827faa135 400 myled1 = 1;
Tanja2211 22:f3a827faa135 401 myled2 = 1;
Tanja2211 22:f3a827faa135 402 myled3 = 0;
s1340735 36:0c8d4397c02f 403 groen=0;
Tanja2211 22:f3a827faa135 404
Tanja2211 22:f3a827faa135 405 //*** INPUT MOTOR 1 ***
Tanja2211 22:f3a827faa135 406 snelheidsstand=yB1+yB2+yB3; */
Tanja2211 22:f3a827faa135 407
Tanja2211 56:29c31b83c4ce 408 /*snelheidsstand=3;
Tanja2211 22:f3a827faa135 409
Tanja2211 22:f3a827faa135 410 //controle snelheidsstand op scherm
Tanja2211 22:f3a827faa135 411 if (snelheidsstand==0) {
Tanja2211 22:f3a827faa135 412 pc.printf("Motor 1 beweegt niet \n");
Tanja2211 22:f3a827faa135 413 } else {
Tanja2211 22:f3a827faa135 414 if (snelheidsstand==1) {
Tanja2211 22:f3a827faa135 415 pc.printf("Motor 1 beweegt met snelheid 1 \n");
Tanja2211 0:1594bb11fa13 416 } else {
Tanja2211 22:f3a827faa135 417 if (snelheidsstand==2) {
Tanja2211 22:f3a827faa135 418 pc.printf("Motor 1 beweegt met snelheid 2 \n");
Tanja2211 0:1594bb11fa13 419 } else {
Tanja2211 22:f3a827faa135 420 if (snelheidsstand==3) {
Tanja2211 22:f3a827faa135 421 pc.printf("Motor 1 beweegt met snelheid 3 \n");
Tanja2211 0:1594bb11fa13 422 }
Tanja2211 0:1594bb11fa13 423 }
Tanja2211 0:1594bb11fa13 424 }
Tanja2211 22:f3a827faa135 425 }
Tanja2211 0:1594bb11fa13 426
Tanja2211 34:688120048afb 427 Ticker looptimer1;
Tanja2211 22:f3a827faa135 428 //pwm_motor1.write(0.3);
Tanja2211 22:f3a827faa135 429 motordir1 = 1;
Jolein 46:8b30338f3f9b 430 //stop = 0;
Tanja2211 22:f3a827faa135 431 looptimer1.attach(motor1aansturing,TSAMP1);
Tanja2211 29:f26796cca47f 432 wait(2); ////is aan te passen (tijd die nodig is om balletje te slaan
Tanja2211 22:f3a827faa135 433 looptimer1.detach();
Tanja2211 55:4eb229a35859 434 pc.printf("detachMotor1\n");
s1340735 36:0c8d4397c02f 435
s1340735 36:0c8d4397c02f 436 pid(0,0,true);
Tanja2211 55:4eb229a35859 437
Tanja2211 22:f3a827faa135 438 Ticker looptimer3;
Jolein 40:207eb8ab507a 439 looptimer3.attach(motor1aansturingdeel2,TSAMP1); //of TSAMP2?....
Tanja2211 55:4eb229a35859 440 wait(4); ////is aan te passen (tijd die nodig is om balletje te slaan
Tanja2211 22:f3a827faa135 441 looptimer3.detach();
Tanja2211 22:f3a827faa135 442 pc.printf("detachMotor1\n");
Tanja2211 55:4eb229a35859 443
Tanja2211 54:2b54283b3b47 444 pidpositie(0,0,true);
Tanja2211 22:f3a827faa135 445 pwm_motor1.write(0);
Jolein 48:5b1b90260239 446 toestand = WACHTEN; //hierheen verplaatst vanaf motor1aansturingdeel2. Belangrijk!! niet weghalen!!
Tanja2211 56:29c31b83c4ce 447 */
Tanja2211 0:1594bb11fa13 448
Tanja2211 22:f3a827faa135 449 myled1=1;
Tanja2211 22:f3a827faa135 450 myled2=1;
Tanja2211 22:f3a827faa135 451 myled3=1;
s1340735 36:0c8d4397c02f 452 groen=0;
s1340735 36:0c8d4397c02f 453 blauw=0;
Tanja2211 55:4eb229a35859 454
s1340735 36:0c8d4397c02f 455 }
s1340735 36:0c8d4397c02f 456 }
Tanja2211 22:f3a827faa135 457 //}
Tanja2211 0:1594bb11fa13 458 }//end int main
Tanja2211 0:1594bb11fa13 459
Tanja2211 0:1594bb11fa13 460
Tanja2211 9:ba7f541cef3a 461 float pid(float setspeed, float measurement, bool reset )
Tanja2211 0:1594bb11fa13 462 {
Tanja2211 0:1594bb11fa13 463 float error;
Tanja2211 0:1594bb11fa13 464 static float prev_error = 0;
Tanja2211 0:1594bb11fa13 465 float out_p = 0;
Tanja2211 0:1594bb11fa13 466 static float out_i = 0;
Tanja2211 0:1594bb11fa13 467 float out_d = 0;
Tanja2211 22:f3a827faa135 468 if(reset==true) {
Jolein 13:722697791695 469 out_i = 0;
Jolein 13:722697791695 470 prev_error = 0;
Jolein 13:722697791695 471 }
Tanja2211 0:1594bb11fa13 472 error = setspeed-measurement;
Tanja2211 0:1594bb11fa13 473 out_p = error*K_P;
Tanja2211 0:1594bb11fa13 474 out_i += error*K_I;
Tanja2211 0:1594bb11fa13 475 out_d = (error-prev_error)*K_D;
Tanja2211 0:1594bb11fa13 476 prev_error = error;
Tanja2211 0:1594bb11fa13 477 return out_p + out_i + out_d;
Tanja2211 0:1594bb11fa13 478 }
Tanja2211 0:1594bb11fa13 479
Tanja2211 54:2b54283b3b47 480 float pidpositie(float setposition, float measurement, bool reset)
Jolein 24:a165dcd86710 481 {
Jolein 24:a165dcd86710 482 float error;
Jolein 24:a165dcd86710 483 static float prev_error = 0;
Jolein 24:a165dcd86710 484 float out_p = 0;
Jolein 24:a165dcd86710 485 static float out_i = 0;
Jolein 24:a165dcd86710 486 float out_d = 0;
Tanja2211 54:2b54283b3b47 487 if(reset==true) {
Tanja2211 54:2b54283b3b47 488 out_i = 0;
Tanja2211 54:2b54283b3b47 489 prev_error = 0;
Tanja2211 54:2b54283b3b47 490 }
Tanja2211 27:9dea548d6d6c 491 error = setposition-measurement;
Jolein 24:a165dcd86710 492 out_p = error*K_Pp;
Jolein 24:a165dcd86710 493 out_i += error*K_Ip;
Jolein 24:a165dcd86710 494 out_d = (error-prev_error)*K_Dp;
Jolein 24:a165dcd86710 495 prev_error = error;
Tanja2211 54:2b54283b3b47 496 return abs(out_p + out_i + out_d);
Jolein 24:a165dcd86710 497 }
Jolein 24:a165dcd86710 498
Tanja2211 0:1594bb11fa13 499 void Triceps()
Tanja2211 0:1594bb11fa13 500 {
Tanja2211 0:1594bb11fa13 501 //Triceps lezen
Tanja2211 0:1594bb11fa13 502 emg_valueT = emgT.read_u16();
Tanja2211 0:1594bb11fa13 503 emg_value_f32T = emgT.read();
Tanja2211 0:1594bb11fa13 504
Tanja2211 0:1594bb11fa13 505 //Triceps filteren
Tanja2211 0:1594bb11fa13 506 arm_biquad_cascade_df1_f32(&notchT, &emg_value_f32T, &filtered_emgT, 1);
Tanja2211 0:1594bb11fa13 507 arm_biquad_cascade_df1_f32(&lowpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 0:1594bb11fa13 508 filtered_emgT = fabs(filtered_emgT);
Tanja2211 0:1594bb11fa13 509 arm_biquad_cascade_df1_f32(&highpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 0:1594bb11fa13 510 filtered_emgT = fabs(filtered_emgT);
Tanja2211 0:1594bb11fa13 511
Tanja2211 0:1594bb11fa13 512 //Triceps moving average
Tanja2211 0:1594bb11fa13 513 T0=filtered_emgT*1000;
Tanja2211 0:1594bb11fa13 514 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 515 T29=T28;
Tanja2211 0:1594bb11fa13 516 T28=T27;
Tanja2211 0:1594bb11fa13 517 T27=T26;
Tanja2211 0:1594bb11fa13 518 T26=T25;
Tanja2211 0:1594bb11fa13 519 T25=T24;
Tanja2211 0:1594bb11fa13 520 T24=T23;
Tanja2211 0:1594bb11fa13 521 T23=T22;
Tanja2211 0:1594bb11fa13 522 T22=T21;
Tanja2211 0:1594bb11fa13 523 T21=T20;
Tanja2211 0:1594bb11fa13 524 T20=T19;
Tanja2211 0:1594bb11fa13 525 T19=T18;
Tanja2211 0:1594bb11fa13 526 T18=T17;
Tanja2211 0:1594bb11fa13 527 T17=T16;
Tanja2211 0:1594bb11fa13 528 T16=T15;
Tanja2211 0:1594bb11fa13 529 T15=T14;
Tanja2211 0:1594bb11fa13 530 T14=T13;
Tanja2211 0:1594bb11fa13 531 T13=T12;
Tanja2211 0:1594bb11fa13 532 T12=T11;
Tanja2211 0:1594bb11fa13 533 T11=T10;
Tanja2211 0:1594bb11fa13 534 T10=T9;
Tanja2211 0:1594bb11fa13 535 T9=T8;
Tanja2211 0:1594bb11fa13 536 T8=T7;
Tanja2211 0:1594bb11fa13 537 T7=T6;
Tanja2211 0:1594bb11fa13 538 T6=T5;
Tanja2211 0:1594bb11fa13 539 T5=T4;
Tanja2211 0:1594bb11fa13 540 T4=T3;
Tanja2211 0:1594bb11fa13 541 T3=T2;
Tanja2211 0:1594bb11fa13 542 T2=T1;
Tanja2211 0:1594bb11fa13 543 T1=T0;
Tanja2211 0:1594bb11fa13 544
Tanja2211 0:1594bb11fa13 545 //sturen naar scherm (Realterm)
Tanja2211 0:1594bb11fa13 546 pc.printf("Moving average T %f\r\n",MOVAVG_T);
Tanja2211 0:1594bb11fa13 547
Tanja2211 0:1594bb11fa13 548 //sturen naar HID Scope
Tanja2211 20:99a8e9da2d6d 549 /*scope.set(0,emg_valueT); //ruwe data
Tanja2211 0:1594bb11fa13 550 scope.set(1,filtered_emgT); //filtered
Tanja2211 20:99a8e9da2d6d 551 scope.send();*/
Tanja2211 0:1594bb11fa13 552 }
Tanja2211 0:1594bb11fa13 553
Tanja2211 0:1594bb11fa13 554 void Biceps()
Tanja2211 0:1594bb11fa13 555 {
Tanja2211 0:1594bb11fa13 556 //Biceps lezen
Tanja2211 0:1594bb11fa13 557 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 558 emg_value_f32B = emgB.read();
Tanja2211 0:1594bb11fa13 559
Tanja2211 0:1594bb11fa13 560 //Biceps filteren
Tanja2211 0:1594bb11fa13 561 arm_biquad_cascade_df1_f32(&notchB, &emg_value_f32B, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 562 arm_biquad_cascade_df1_f32(&lowpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 563 filtered_emgB = fabs(filtered_emgB);
Tanja2211 0:1594bb11fa13 564 arm_biquad_cascade_df1_f32(&highpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 565 filtered_emgB = fabs(filtered_emgB);
Tanja2211 0:1594bb11fa13 566
Tanja2211 0:1594bb11fa13 567 //Biceps moving average
Tanja2211 0:1594bb11fa13 568 B0=filtered_emgB*1000;
Tanja2211 0:1594bb11fa13 569 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 570 B59=B58;
Tanja2211 0:1594bb11fa13 571 B58=B57;
Tanja2211 0:1594bb11fa13 572 B57=B56;
Tanja2211 0:1594bb11fa13 573 B56=B55;
Tanja2211 0:1594bb11fa13 574 B55=B54;
Tanja2211 0:1594bb11fa13 575 B54=B53;
Tanja2211 0:1594bb11fa13 576 B53=B52;
Tanja2211 0:1594bb11fa13 577 B52=B51;
Tanja2211 0:1594bb11fa13 578 B51=B50;
Tanja2211 0:1594bb11fa13 579 B50=B48;
Tanja2211 0:1594bb11fa13 580 B49=B49;
Tanja2211 0:1594bb11fa13 581 B48=B47;
Tanja2211 0:1594bb11fa13 582 B47=B46;
Tanja2211 0:1594bb11fa13 583 B46=B45;
Tanja2211 0:1594bb11fa13 584 B45=B44;
Tanja2211 0:1594bb11fa13 585 B44=B43;
Tanja2211 0:1594bb11fa13 586 B43=B42;
Tanja2211 0:1594bb11fa13 587 B42=B41;
Tanja2211 0:1594bb11fa13 588 B41=B40;
Tanja2211 0:1594bb11fa13 589 B40=B39;
Tanja2211 0:1594bb11fa13 590 B39=B38;
Tanja2211 0:1594bb11fa13 591 B38=B37;
Tanja2211 0:1594bb11fa13 592 B37=B36;
Tanja2211 0:1594bb11fa13 593 B36=B35;
Tanja2211 0:1594bb11fa13 594 B35=B34;
Tanja2211 0:1594bb11fa13 595 B34=B33;
Tanja2211 0:1594bb11fa13 596 B33=B32;
Tanja2211 0:1594bb11fa13 597 B32=B31;
Tanja2211 0:1594bb11fa13 598 B31=B30;
Tanja2211 0:1594bb11fa13 599 B30=B29;
Tanja2211 0:1594bb11fa13 600 B29=B28;
Tanja2211 0:1594bb11fa13 601 B28=B27;
Tanja2211 0:1594bb11fa13 602 B27=B26;
Tanja2211 0:1594bb11fa13 603 B26=B25;
Tanja2211 0:1594bb11fa13 604 B25=B24;
Tanja2211 0:1594bb11fa13 605 B24=B23;
Tanja2211 0:1594bb11fa13 606 B23=B22;
Tanja2211 0:1594bb11fa13 607 B22=B21;
Tanja2211 0:1594bb11fa13 608 B21=B20;
Tanja2211 0:1594bb11fa13 609 B20=B19;
Tanja2211 0:1594bb11fa13 610 B19=B18;
Tanja2211 0:1594bb11fa13 611 B18=B17;
Tanja2211 0:1594bb11fa13 612 B17=B16;
Tanja2211 0:1594bb11fa13 613 B16=B15;
Tanja2211 0:1594bb11fa13 614 B15=B14;
Tanja2211 0:1594bb11fa13 615 B14=B13;
Tanja2211 0:1594bb11fa13 616 B13=B12;
Tanja2211 0:1594bb11fa13 617 B12=B11;
Tanja2211 0:1594bb11fa13 618 B11=B10;
Tanja2211 0:1594bb11fa13 619 B10=B9;
Tanja2211 0:1594bb11fa13 620 B9=B8;
Tanja2211 0:1594bb11fa13 621 B8=B7;
Tanja2211 0:1594bb11fa13 622 B7=B6;
Tanja2211 0:1594bb11fa13 623 B6=B5;
Tanja2211 0:1594bb11fa13 624 B5=B4;
Tanja2211 0:1594bb11fa13 625 B4=B3;
Tanja2211 0:1594bb11fa13 626 B3=B2;
Tanja2211 0:1594bb11fa13 627 B2=B1;
Tanja2211 0:1594bb11fa13 628 B1=B0;
Tanja2211 0:1594bb11fa13 629
Tanja2211 0:1594bb11fa13 630 //sturen naar scherm
Tanja2211 0:1594bb11fa13 631 pc.printf("Moving average B %f\r\n",MOVAVG_B);
Tanja2211 0:1594bb11fa13 632
Tanja2211 0:1594bb11fa13 633 //naar HID Scope
Tanja2211 20:99a8e9da2d6d 634 /*scope.set(2,emg_valueB); //ruwe data
Tanja2211 0:1594bb11fa13 635 scope.set(3,filtered_emgB); //filtered
Tanja2211 20:99a8e9da2d6d 636 scope.send();*/
Tanja2211 0:1594bb11fa13 637 }
Tanja2211 0:1594bb11fa13 638
Tanja2211 0:1594bb11fa13 639 void Calibratie_Triceps()
Tanja2211 0:1594bb11fa13 640 {
Tanja2211 0:1594bb11fa13 641 Ticker log_timerT;
Tanja2211 0:1594bb11fa13 642
Tanja2211 0:1594bb11fa13 643 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 644 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 645 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 646
Tanja2211 0:1594bb11fa13 647 log_timerT.attach(Triceps, 0.005);
Tanja2211 0:1594bb11fa13 648 wait(2);
Tanja2211 0:1594bb11fa13 649 log_timerT.detach();
Tanja2211 0:1594bb11fa13 650 }
Tanja2211 0:1594bb11fa13 651
Tanja2211 0:1594bb11fa13 652 void Calibratie_Biceps()
Tanja2211 0:1594bb11fa13 653 {
Tanja2211 0:1594bb11fa13 654 Ticker log_timerB;
Tanja2211 0:1594bb11fa13 655
Tanja2211 0:1594bb11fa13 656 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 657 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 658 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 659
Tanja2211 0:1594bb11fa13 660 log_timerB.attach(Biceps, 0.005);
Tanja2211 0:1594bb11fa13 661 wait(2);
Tanja2211 0:1594bb11fa13 662 log_timerB.detach();
Tanja2211 0:1594bb11fa13 663 }
Tanja2211 0:1594bb11fa13 664
Tanja2211 0:1594bb11fa13 665 void motor2aansturing()
Tanja2211 0:1594bb11fa13 666 {
Tanja2211 54:2b54283b3b47 667 switch(positie) {
Jolein 52:b4af2a4ce38e 668 case 0:
Jolein 52:b4af2a4ce38e 669 if (motor2.getPosition()>= 0) {
Jolein 53:bdcbf365a9aa 670 motordir2 = 1;
Jolein 53:bdcbf365a9aa 671 pwm_motor2.write(PWM2);
Jolein 52:b4af2a4ce38e 672 } else {
Jolein 52:b4af2a4ce38e 673 pwm_motor2.write(0);
Jolein 52:b4af2a4ce38e 674 }
Jolein 52:b4af2a4ce38e 675 break;
Jolein 52:b4af2a4ce38e 676 case 1:
Jolein 52:b4af2a4ce38e 677 if (motor2.getPosition()>= 2) {
Jolein 53:bdcbf365a9aa 678 motordir2 = 1;
Jolein 53:bdcbf365a9aa 679 pwm_motor2.write(PWM2);
Jolein 52:b4af2a4ce38e 680 }
Jolein 52:b4af2a4ce38e 681 if (motor2.getPosition()<= 2) {
Jolein 52:b4af2a4ce38e 682 motordir2 = 0;
Jolein 52:b4af2a4ce38e 683 pwm_motor2.write(PWM2);
Jolein 52:b4af2a4ce38e 684 } else {
Jolein 52:b4af2a4ce38e 685 pwm_motor2.write(0);
Jolein 52:b4af2a4ce38e 686 }
Jolein 52:b4af2a4ce38e 687 break;
Jolein 52:b4af2a4ce38e 688 case 2:
Jolein 52:b4af2a4ce38e 689 if (motor2.getPosition()<= 4) {
Jolein 53:bdcbf365a9aa 690 motordir2 = 0;
Jolein 53:bdcbf365a9aa 691 pwm_motor2.write(PWM2);
Jolein 52:b4af2a4ce38e 692 } else {
Jolein 52:b4af2a4ce38e 693 pwm_motor2.write(0);
Jolein 52:b4af2a4ce38e 694 }
Jolein 52:b4af2a4ce38e 695 break;
Tanja2211 0:1594bb11fa13 696 }
Tanja2211 0:1594bb11fa13 697 }
Tanja2211 0:1594bb11fa13 698
Tanja2211 0:1594bb11fa13 699 void motor1aansturing()
Tanja2211 0:1594bb11fa13 700 {
Jolein 40:207eb8ab507a 701 switch(toestand) {
Jolein 38:cc14faf38326 702 case SLAAN:
Jolein 44:130fa54388ef 703 pc.printf("SLAAN\n");
Jolein 48:5b1b90260239 704 new_pwm = pid(setspeed, motor1.getSpeed());
Jolein 38:cc14faf38326 705 pwm_motor1.write(new_pwm);
Jolein 38:cc14faf38326 706 motordir1 = 1;
Jolein 44:130fa54388ef 707 if (motor1.getPosition() <= ANGLEMAX) {
Jolein 44:130fa54388ef 708 toestand = TERUGKEREN;
Tanja2211 54:2b54283b3b47 709 pwm_motor1.write(0.0);//arvid had hier 0,0 gezet?!
Jolein 45:d359aad22a8a 710 pc.printf("toestand = terugkeren, wacht tot 2e ticker\n\r");
Jolein 46:8b30338f3f9b 711 //stop = 1;
Tanja2211 54:2b54283b3b47 712
Tanja2211 55:4eb229a35859 713 }
Jolein 40:207eb8ab507a 714 break;
Tanja2211 55:4eb229a35859 715
Jolein 38:cc14faf38326 716 case WACHTEN:
Jolein 38:cc14faf38326 717 pidpositie(ANGLEMIN,motor1.getPosition()); //dit is nu alleen een waarde, moet vervolgens in een functie terugkomen toch
Jolein 38:cc14faf38326 718 //?? motor1.getPosition(nieuwe positie);
Jolein 38:cc14faf38326 719 pwm_motor1.write(0);
Jolein 38:cc14faf38326 720 pc.printf("ifwachten\n");
Jolein 46:8b30338f3f9b 721 if (snelheidsstand != 0 /*&& stop == 0*/) {
Jolein 40:207eb8ab507a 722 toestand = SLAAN;
Jolein 40:207eb8ab507a 723 pc.printf("slaan \n");
Jolein 41:f2478822cee9 724 switch(snelheidsstand) {
Jolein 41:f2478822cee9 725 case 1:
Jolein 41:f2478822cee9 726 setspeed = V1;
Jolein 41:f2478822cee9 727 pc.printf("Snel 1 \n");
Jolein 41:f2478822cee9 728 break;
Jolein 41:f2478822cee9 729 case 2:
Jolein 41:f2478822cee9 730 setspeed = V2;
Jolein 41:f2478822cee9 731 pc.printf("Snel 2\n");
Jolein 41:f2478822cee9 732 break;
Jolein 41:f2478822cee9 733 case 3:
Jolein 41:f2478822cee9 734 setspeed = V3;
Jolein 41:f2478822cee9 735 pc.printf("Snel 3 \n");
Jolein 41:f2478822cee9 736 break;
Jolein 41:f2478822cee9 737 }//end switch
Jolein 40:207eb8ab507a 738 } //end if
Jolein 40:207eb8ab507a 739 break;
Tanja2211 55:4eb229a35859 740
Tanja2211 54:2b54283b3b47 741 /*case TERUGKEREN:
Tanja2211 54:2b54283b3b47 742 if (motor1.getPosition()<=ANGLEMAX) {
Tanja2211 54:2b54283b3b47 743 new_pwmpos = pidpositie(ANGLEMAX, motor1.getPosition());
Tanja2211 54:2b54283b3b47 744 pwm_motor1.write(new_pwmpos); //mogelijk moet dit -new_pwm zijn???
Tanja2211 54:2b54283b3b47 745 motordir1 = 0;
Tanja2211 54:2b54283b3b47 746 }
Tanja2211 54:2b54283b3b47 747 if (motor1.getPosition()>= ANGLEMAX) {
Tanja2211 54:2b54283b3b47 748 new_pwmpos = pidpositie(ANGLEMAX, motor1.getPosition());
Tanja2211 54:2b54283b3b47 749 pwm_motor1.write(new_pwmpos); //mogelijk moet dit -new_pwm zijn???
Tanja2211 54:2b54283b3b47 750 motordir1 = 1;
Tanja2211 54:2b54283b3b47 751 }
Tanja2211 54:2b54283b3b47 752 break;*///overbodig!!!
Jolein 41:f2478822cee9 753 } //end switch
Jolein 39:7d36e1219707 754 scope.set(0,motor1.getPosition());
Tanja2211 55:4eb229a35859 755 scope.set(1,ANGLEMAX);
Tanja2211 55:4eb229a35859 756 scope.set(4,motor1.getSpeed());
Tanja2211 55:4eb229a35859 757 scope.set(5, setspeed);
Jolein 39:7d36e1219707 758 scope.send();
Jolein 17:71c5c9bfb7ba 759 }
Jolein 17:71c5c9bfb7ba 760
Jolein 17:71c5c9bfb7ba 761 void motor1aansturingdeel2()
Jolein 17:71c5c9bfb7ba 762 {
Jolein 40:207eb8ab507a 763 switch(toestand) {
Jolein 48:5b1b90260239 764 case TERUGKEREN: //deze case moet blijven ookal is het de enige case
Jolein 48:5b1b90260239 765 if (motor1.getPosition()<=ANGLEMIN) {
Jolein 48:5b1b90260239 766 new_pwmpos = pidpositie(ANGLEMIN, motor1.getPosition());//new_PWM benaming zorgt mogelijk voor problemen.
Jolein 48:5b1b90260239 767 pwm_motor1.write(new_pwmpos); //mogelijk moet dit -new_pwm zijn???
Jolein 48:5b1b90260239 768 motordir1 = 0;
Jolein 48:5b1b90260239 769 //pc.printf("motor2.getPosition %d\r\n", motor2.getPosition());
Jolein 48:5b1b90260239 770 }
Jolein 48:5b1b90260239 771 if (motor1.getPosition()>= ANGLEMIN) {
Jolein 48:5b1b90260239 772 new_pwmpos = pidpositie(ANGLEMIN, motor1.getPosition());
Jolein 48:5b1b90260239 773 pwm_motor1.write(new_pwmpos); //mogelijk moet dit -new_pwm zijn???
Jolein 48:5b1b90260239 774 motordir1 = 1;
Jolein 43:af480e6823ab 775 //pc.printf("if2\n");
Jolein 43:af480e6823ab 776 }
Jolein 40:207eb8ab507a 777 break;
Jolein 44:130fa54388ef 778 } //end switch
Jolein 39:7d36e1219707 779 scope.set(0,motor1.getPosition()); //ruwe data
Tanja2211 55:4eb229a35859 780 scope.set(2,ANGLEMIN);
Tanja2211 55:4eb229a35859 781 scope.set(4,motor1.getSpeed());
Tanja2211 55:4eb229a35859 782 scope.set(5, setspeed);
Jolein 39:7d36e1219707 783 scope.send();
Jolein 48:5b1b90260239 784 }//let op. Geen pidposition(0,0,true) deze moet zelf zorgen dat hij 0 wordt, en daar genoeg tijd voor hebben!!!