Menno Sytsma / Passief_stuurprogramma

Dit is het passieve stuurprogramma van de handorthese behorend bij mijn bacheloropdracht. Groet, Menno Sytsma

Dependencies:   EMG FastPWM HIDScope mbed-src

main.cpp@1:f63d8a73460c, 2016-05-30 (annotated)

Committer:
s1503189
Date:
Mon May 30 13:14:25 2016 +0000
Revision:
1:f63d8a73460c
Parent:
0:46b6258b2b00
Child:
2:1dd9e630a7b5
Werkende Combinatie, Cosinusfunctie loopt vrij soepel 30-5-2016;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1503189 0:46b6258b2b00 1 #include "mbed.h"
s1503189 0:46b6258b2b00 2 #include "FastPWM.h"
s1503189 0:46b6258b2b00 3 #include <iostream>
s1503189 0:46b6258b2b00 4 #include "HIDScope.h"
s1503189 0:46b6258b2b00 5 #include "math.h"
s1503189 0:46b6258b2b00 6 #include "biquadFilter.h"
s1503189 0:46b6258b2b00 7
s1503189 0:46b6258b2b00 8
s1503189 0:46b6258b2b00 9 DigitalOut Rood(LED_RED);
s1503189 0:46b6258b2b00 10 DigitalOut Groen(LED_GREEN);
s1503189 0:46b6258b2b00 11 DigitalOut Blauw(LED_BLUE);
s1503189 0:46b6258b2b00 12 DigitalIn Button1pressed(SW2);
s1503189 0:46b6258b2b00 13 DigitalIn Button2pressed(SW3);
s1503189 0:46b6258b2b00 14 volatile bool LoopTimerFlag = 0;
s1503189 0:46b6258b2b00 15 Serial pc(USBTX, USBRX);
s1503189 0:46b6258b2b00 16
s1503189 0:46b6258b2b00 17 int N;
s1503189 0:46b6258b2b00 18 bool Start(0);
s1503189 0:46b6258b2b00 19 bool Setting(0);
s1503189 0:46b6258b2b00 20 bool Dotask(0);
s1503189 0:46b6258b2b00 21 int i;
s1503189 0:46b6258b2b00 22
s1503189 0:46b6258b2b00 23 Ticker Finitestatemachine;
s1503189 0:46b6258b2b00 24
s1503189 0:46b6258b2b00 25 // Verklaren van de in en outputs
s1503189 0:46b6258b2b00 26 Ticker Loopticker; // Deze ticker wordt gebruikt om de looptimerflag aan te roepen.
s1503189 0:46b6258b2b00 27 volatile bool LoopTimerFlag2 = 0; // Volatile, omdat deze heel vaak verandert van waar naar onwaar.
s1503189 0:46b6258b2b00 28 AnalogIn Referentie(A0); // De schuifpotmeter naast de geleiding van de draad is de referentie.
s1503189 0:46b6258b2b00 29 AnalogIn Boardpotmeter(A1); // POT1 op het board wordt gebruikt als input van de controlloop.
s1503189 0:46b6258b2b00 30 DigitalOut motor1direction(D7); //D6 en D7 voor motor 1 (op het motorshield)
s1503189 0:46b6258b2b00 31 FastPWM motor1speed(D6);
s1503189 0:46b6258b2b00 32 DigitalOut Led(LED_RED);
s1503189 0:46b6258b2b00 33 AnalogIn Safety(A5);
s1503189 0:46b6258b2b00 34
s1503189 0:46b6258b2b00 35 float potmeter;
s1503189 0:46b6258b2b00 36 float Error;
s1503189 0:46b6258b2b00 37 float Referentie2=1.0;
s1503189 0:46b6258b2b00 38 float Input;
s1503189 0:46b6258b2b00 39 float Output;
s1503189 0:46b6258b2b00 40 double Error_prev = 0;
s1503189 0:46b6258b2b00 41 double Error_int = 0;
s1503189 0:46b6258b2b00 42 double Error_der;
s1503189 1:f63d8a73460c 43 double Ref_der = 0;
s1503189 1:f63d8a73460c 44 double Ref_prev = 0;
s1503189 0:46b6258b2b00 45 // Define the HIDScope and Ticker object
s1503189 0:46b6258b2b00 46 HIDScope scope(4);
s1503189 0:46b6258b2b00 47 Ticker Hidscope;
s1503189 0:46b6258b2b00 48 // Lowpassfilter
s1503189 0:46b6258b2b00 49 const double a1_LP = -1.561018075800718, a2_LP = 0.641351538057563;
s1503189 0:46b6258b2b00 50 const double b0_LP = 0.020083365564211, b1_LP = 0.040166731128423, b2_LP = 0.020083365564211;
s1503189 0:46b6258b2b00 51 const double a1_LP2 = -1.561018075800718, a2_LP2 = 0.641351538057563;
s1503189 0:46b6258b2b00 52 const double b0_LP2 = 0.020083365564211, b1_LP2 = 0.040166731128423, b2_LP2 = 0.020083365564211;
s1503189 0:46b6258b2b00 53 //const double a1_LP2 = -1.866892279711715, a2_LP2 = 0.875214548253684;
s1503189 0:46b6258b2b00 54 //const double b0_LP2 = 0.002080567135492, b1_LP2 = 0.004161134270985, b2_LP2 = 0.002080567135492;
s1503189 0:46b6258b2b00 55 //const double a1_HP = -1.982228929792529, a2_HP = 0.982385450614125;
s1503189 0:46b6258b2b00 56 //const double b0_HP = 0.991153595101663, b1_HP = -1.982307190203327, b2_HP = 0.991153595101663;
s1503189 0:46b6258b2b00 57
s1503189 0:46b6258b2b00 58 float time_;
s1503189 0:46b6258b2b00 59 const float time_increment = 0.01;
s1503189 0:46b6258b2b00 60
s1503189 0:46b6258b2b00 61 biquadFilter Filter1(a1_LP, a2_LP, b0_LP, b1_LP, b2_LP);
s1503189 0:46b6258b2b00 62 biquadFilter Filter2(a1_LP2, a2_LP2, b0_LP2, b1_LP2, b2_LP2);
s1503189 0:46b6258b2b00 63
s1503189 0:46b6258b2b00 64 double Referentieschaling(double A, double B)
s1503189 0:46b6258b2b00 65 {
s1503189 0:46b6258b2b00 66 double Y= 787.3008916207206*pow(A,4) -565.1143141517078*pow(A,3) + 122.8516837382677*pow(A,2) + 0.0556616744031*A + 0.0912411880277;
s1503189 0:46b6258b2b00 67 Referentie2 = Filter1.step(Y);
s1503189 0:46b6258b2b00 68 if (Referentie2<=2.5 or Referentie2>=9.2) {
s1503189 0:46b6258b2b00 69 Led = 0;
s1503189 0:46b6258b2b00 70 Referentie2 = B;
s1503189 0:46b6258b2b00 71 }
s1503189 0:46b6258b2b00 72 return Referentie2;
s1503189 0:46b6258b2b00 73 }
s1503189 0:46b6258b2b00 74
s1503189 0:46b6258b2b00 75 double Inputberekening(double B)
s1503189 0:46b6258b2b00 76 {
s1503189 0:46b6258b2b00 77 //double Inp = 10*B; // De potmeter geeft ook waardes tussen 0 en 1, dit wordt met een factor 10 geschaald zodat deze als een positie in cm opgelegd kunnen worden.
s1503189 0:46b6258b2b00 78 //Input = Filter2.step(Inp);
s1503189 1:f63d8a73460c 79 Input = 5.5+(2.5*-cos(2*time_));
s1503189 0:46b6258b2b00 80 if (Input>=9) { // De Input moet binnnen een aantal grenzen blijven. Groter dan 7 is mechanisch niet mogelijk.
s1503189 0:46b6258b2b00 81 Input=9; // Bij een waarde kleiner dan 1,5 zijn de strings niet meer gewikkeld en werkt de controller averechts en is deze uiterst instabiel.
s1503189 0:46b6258b2b00 82 } else if (Input<=3.0) {
s1503189 0:46b6258b2b00 83 Input = 3.0;
s1503189 0:46b6258b2b00 84 }
s1503189 0:46b6258b2b00 85 return Input;
s1503189 0:46b6258b2b00 86 }
s1503189 0:46b6258b2b00 87
s1503189 0:46b6258b2b00 88
s1503189 0:46b6258b2b00 89 double Errorberekening(double Input,double Ref)
s1503189 0:46b6258b2b00 90 {
s1503189 0:46b6258b2b00 91 Error = Input-Ref; // Het Error-signaal wordt ook gebruikt voor de PWMOut, dus mag deze niet hoger worden dan 1, 1 is immers al full speed voor de motor.
s1503189 1:f63d8a73460c 92 /*if (Error>=1) {
s1503189 0:46b6258b2b00 93 Error=1;
s1503189 0:46b6258b2b00 94 } else if (Error<=-1) {
s1503189 0:46b6258b2b00 95 Error = -1;
s1503189 0:46b6258b2b00 96 } else if (fabs(Error)<0.01) {
s1503189 0:46b6258b2b00 97 Error = 0;
s1503189 0:46b6258b2b00 98 }
s1503189 1:f63d8a73460c 99 */
s1503189 0:46b6258b2b00 100 return Error;
s1503189 0:46b6258b2b00 101 }
s1503189 0:46b6258b2b00 102 double PID_controller(double Error, double KP, double KI, double KD, double Ts, double &Error_int, double &e_prev)
s1503189 0:46b6258b2b00 103 {
s1503189 0:46b6258b2b00 104 Error_der = (Error-Error_prev)/Ts;
s1503189 0:46b6258b2b00 105 Error_prev = Error;
s1503189 0:46b6258b2b00 106 Error_int = Error_int + Ts*Error;
s1503189 0:46b6258b2b00 107
s1503189 0:46b6258b2b00 108 return KP*Error+KI*Error_int+KD*Error_der;
s1503189 0:46b6258b2b00 109 }
s1503189 0:46b6258b2b00 110
s1503189 0:46b6258b2b00 111 // The data read and send function
s1503189 0:46b6258b2b00 112 void scopeSend()
s1503189 0:46b6258b2b00 113 {
s1503189 0:46b6258b2b00 114 scope.set(0,Referentie2); // Kanaal 1 van HIDscope geeft: De positie van de schuifpotmeter in cm.
s1503189 0:46b6258b2b00 115 scope.set(1,Input); // Kanaal 2 van HIDscope geeft: De gewenste positie in cm door de potmeter op het board ingesteld.
s1503189 0:46b6258b2b00 116 scope.set(2,Error); // Kanaal 3 van HIDscope geeft: De waarde van de Error die de P_controller in gaat.
s1503189 0:46b6258b2b00 117 scope.set(3,motor1speed.read());// Kanaal 1 van HIDscope geeft: De snelheid van de motor, is een absolute waarde, richting wordt elders gegeven.
s1503189 0:46b6258b2b00 118 scope.send();
s1503189 0:46b6258b2b00 119
s1503189 0:46b6258b2b00 120 }
s1503189 0:46b6258b2b00 121
s1503189 0:46b6258b2b00 122 void tickerfunctie2() //Deze functie wordt elke honderdste seconde aangeroepen en zorgt ervoor dat de while-loop helemaal uitgevoerd kan worden.
s1503189 0:46b6258b2b00 123 {
s1503189 0:46b6258b2b00 124 LoopTimerFlag2 = 1;
s1503189 0:46b6258b2b00 125 }
s1503189 0:46b6258b2b00 126
s1503189 0:46b6258b2b00 127 void Motor_controller() // De P_controller, door de ticker elke honderdste seconde uitgevoerd.
s1503189 0:46b6258b2b00 128 {
s1503189 1:f63d8a73460c 129 if(Ref_der < 0) {
s1503189 1:f63d8a73460c 130 if(Output>=0) {
s1503189 1:f63d8a73460c 131 motor1direction.write(1);
s1503189 1:f63d8a73460c 132 motor1speed = 0.01*fabs(Output);
s1503189 1:f63d8a73460c 133 } else if (Output<0) {
s1503189 1:f63d8a73460c 134 motor1direction.write(0);
s1503189 1:f63d8a73460c 135 motor1speed = 0.05*fabs(Output);
s1503189 0:46b6258b2b00 136 }
s1503189 0:46b6258b2b00 137 }
s1503189 1:f63d8a73460c 138 if(Ref_der >= 0) {
s1503189 1:f63d8a73460c 139 if(Output>=0) {
s1503189 1:f63d8a73460c 140 motor1direction.write(1);
s1503189 1:f63d8a73460c 141 motor1speed = (20*fabs(Output));
s1503189 1:f63d8a73460c 142 } else if (Output<0) {
s1503189 1:f63d8a73460c 143 motor1direction.write(0);
s1503189 1:f63d8a73460c 144 motor1speed = 0.01*fabs(Output);
s1503189 0:46b6258b2b00 145 }
s1503189 0:46b6258b2b00 146 }
s1503189 0:46b6258b2b00 147 }
s1503189 1:f63d8a73460c 148 void Extendfinger(){
s1503189 1:f63d8a73460c 149 Error = 0;
s1503189 1:f63d8a73460c 150 int J = 0;
s1503189 1:f63d8a73460c 151 time_ = 0; // Voordat het hele programma begint, staat de Error op 0, zodat de motor niet spastisch gaat draaien om dit te compenseren.
s1503189 1:f63d8a73460c 152 while(1 && J<=320) {
s1503189 1:f63d8a73460c 153 Loopticker.attach(tickerfunctie2,0.01);
s1503189 1:f63d8a73460c 154 Hidscope.attach(scopeSend,0.01); // Verzenden naar HIDscope
s1503189 1:f63d8a73460c 155 while(1 && J<=320) {
s1503189 1:f63d8a73460c 156 while(LoopTimerFlag2 !=1); // Als LTF 0 is, blijft hij 0 en stopt de loop.
s1503189 1:f63d8a73460c 157 LoopTimerFlag2 = 0; // Als voorgaand statement niet waar is, maken we de LTF weer 0 en gaan we verder met het programma
s1503189 1:f63d8a73460c 158 J= J+1;
s1503189 1:f63d8a73460c 159 pc.printf(" J is %i \n",J);
s1503189 1:f63d8a73460c 160 Led = 1;
s1503189 1:f63d8a73460c 161 double Input = Inputberekening(Boardpotmeter.read());
s1503189 1:f63d8a73460c 162 time_ += time_increment;
s1503189 1:f63d8a73460c 163 double Ref2 = Referentieschaling(Referentie.read()/2,Input); // De referentiewaarde is via deze functie (gevonden met metingen en polyfit) verbonden aan de afstand in centimeters voor waarden tussen 0 en 0.5.
s1503189 1:f63d8a73460c 164 Ref_der = Referentie2-Ref_prev;
s1503189 1:f63d8a73460c 165 Ref_prev = Referentie2;
s1503189 1:f63d8a73460c 166 Error = Errorberekening(Input, Referentie2);
s1503189 1:f63d8a73460c 167 Output = PID_controller(Error,5,1,0.1,0.01, Error_prev, Error_int);
s1503189 1:f63d8a73460c 168 Motor_controller();
s1503189 1:f63d8a73460c 169 }
s1503189 1:f63d8a73460c 170 }
s1503189 1:f63d8a73460c 171 motor1speed.write(0);
s1503189 1:f63d8a73460c 172
s1503189 1:f63d8a73460c 173 }
s1503189 1:f63d8a73460c 174
s1503189 1:f63d8a73460c 175 void tickerfunctie() {
s1503189 1:f63d8a73460c 176 LoopTimerFlag = 1;
s1503189 1:f63d8a73460c 177 }
s1503189 1:f63d8a73460c 178
s1503189 1:f63d8a73460c 179 void Determinetask() {
s1503189 1:f63d8a73460c 180 if (Button1pressed == 0) {
s1503189 1:f63d8a73460c 181
s1503189 1:f63d8a73460c 182 Groen = 0;
s1503189 1:f63d8a73460c 183 N++;
s1503189 1:f63d8a73460c 184 wait (0.5);
s1503189 1:f63d8a73460c 185 Groen = 1;
s1503189 1:f63d8a73460c 186 }
s1503189 1:f63d8a73460c 187 }
s1503189 1:f63d8a73460c 188
s1503189 1:f63d8a73460c 189 /* void Extendfinger()
s1503189 1:f63d8a73460c 190 {
s1503189 1:f63d8a73460c 191 //i = i+1;
s1503189 1:f63d8a73460c 192 wait (0.5); // Knipper 2 keer met Rood en 1 keer met paars
s1503189 1:f63d8a73460c 193 Rood = 0;
s1503189 1:f63d8a73460c 194 wait (0.5);
s1503189 1:f63d8a73460c 195 Rood = 1;
s1503189 1:f63d8a73460c 196 wait (0.5);
s1503189 1:f63d8a73460c 197 Rood = 0;
s1503189 1:f63d8a73460c 198 wait (0.5);
s1503189 1:f63d8a73460c 199 Rood = 1;
s1503189 1:f63d8a73460c 200 wait (0.5);
s1503189 1:f63d8a73460c 201 Rood = 0;
s1503189 1:f63d8a73460c 202 Blauw = 0;
s1503189 1:f63d8a73460c 203 wait (0.5);
s1503189 1:f63d8a73460c 204 Rood = 1;
s1503189 1:f63d8a73460c 205 Blauw = 1;
s1503189 1:f63d8a73460c 206 wait (0.5);
s1503189 1:f63d8a73460c 207 } */
s1503189 1:f63d8a73460c 208
s1503189 1:f63d8a73460c 209 int main() {
s1503189 1:f63d8a73460c 210 Rood = 1;
s1503189 1:f63d8a73460c 211 Blauw = 1;
s1503189 1:f63d8a73460c 212 Groen = 1;
s1503189 1:f63d8a73460c 213 int i = 0;
s1503189 1:f63d8a73460c 214 pc.printf("Hello World! %i \n", i);
s1503189 1:f63d8a73460c 215 Finitestatemachine.attach(tickerfunctie,0.1);
s1503189 1:f63d8a73460c 216
s1503189 1:f63d8a73460c 217 while (true) {
s1503189 1:f63d8a73460c 218 while(LoopTimerFlag !=1); // Als LTF 0 is, blijft hij 0 en stopt de loop.
s1503189 1:f63d8a73460c 219 LoopTimerFlag = 0; // Als voorgaand statement niet waar is, maken we de LTF weer 0 en gaan we verder met het programma
s1503189 1:f63d8a73460c 220 if (Start==0 && Setting==0 && Dotask==0) { // In eerste instantie gaan de leds even uit
s1503189 1:f63d8a73460c 221
s1503189 1:f63d8a73460c 222 Start = 1;
s1503189 1:f63d8a73460c 223 Groen = 0;
s1503189 1:f63d8a73460c 224 pc.printf("State 1\n");
s1503189 1:f63d8a73460c 225 }
s1503189 1:f63d8a73460c 226
s1503189 1:f63d8a73460c 227 if (Start==1 && Setting==0 && Dotask==0) { // State 2 heeft Geel als kleur
s1503189 1:f63d8a73460c 228 Groen = 0;
s1503189 1:f63d8a73460c 229 Rood = 0;
s1503189 1:f63d8a73460c 230 pc.printf("State 2\n");
s1503189 1:f63d8a73460c 231 if (Button1pressed.read()==1 && Button2pressed.read()==0) {
s1503189 1:f63d8a73460c 232 Setting = true;
s1503189 1:f63d8a73460c 233 Start = false;
s1503189 1:f63d8a73460c 234 Groen = 1;
s1503189 1:f63d8a73460c 235 Rood = 1;
s1503189 1:f63d8a73460c 236 pc.printf("State 2 A\n");
s1503189 1:f63d8a73460c 237 wait(0.5);
s1503189 1:f63d8a73460c 238
s1503189 1:f63d8a73460c 239
s1503189 1:f63d8a73460c 240 }
s1503189 1:f63d8a73460c 241 if (Button1pressed.read()==0 && Button2pressed.read()==1 && N>0) {
s1503189 1:f63d8a73460c 242 Groen = 1;
s1503189 1:f63d8a73460c 243 Rood = 1;
s1503189 1:f63d8a73460c 244 Dotask = 1;
s1503189 1:f63d8a73460c 245 Start=0;
s1503189 1:f63d8a73460c 246 pc.printf("State 2 B\n");
s1503189 1:f63d8a73460c 247 wait(0.5);
s1503189 1:f63d8a73460c 248 }
s1503189 1:f63d8a73460c 249 }
s1503189 1:f63d8a73460c 250
s1503189 1:f63d8a73460c 251 if (Start==0 && Setting==1 && Dotask==0) { // Leds zijn uit, elke count gaat het groene lampje even branden.
s1503189 1:f63d8a73460c 252 pc.printf("State 3\n");
s1503189 1:f63d8a73460c 253 Determinetask(); // Aantal gewenste herhalingen van Dotask instellen
s1503189 1:f63d8a73460c 254 pc.printf("N = %i \n", N);
s1503189 1:f63d8a73460c 255 if (Button1pressed.read()== 1 && Button2pressed.read()== 0) {
s1503189 1:f63d8a73460c 256 Setting = 0;
s1503189 1:f63d8a73460c 257 Dotask = 1;
s1503189 1:f63d8a73460c 258 pc.printf("State 3 B\n");
s1503189 1:f63d8a73460c 259 }
s1503189 1:f63d8a73460c 260 }
s1503189 1:f63d8a73460c 261
s1503189 1:f63d8a73460c 262 if (Start==0 && Setting==0 && Dotask==1) {
s1503189 1:f63d8a73460c 263 pc.printf("State 4\n");
s1503189 1:f63d8a73460c 264 while(i < N) {
s1503189 1:f63d8a73460c 265
s1503189 1:f63d8a73460c 266 pc.printf("i = %i N = %i \n", i, N);
s1503189 1:f63d8a73460c 267 Extendfinger();
s1503189 1:f63d8a73460c 268 //int J = 0;
s1503189 1:f63d8a73460c 269 pc.printf("Extendfinger()afgerond\n", i, N);
s1503189 1:f63d8a73460c 270 i++;
s1503189 1:f63d8a73460c 271 }
s1503189 1:f63d8a73460c 272 if (i==N) {
s1503189 1:f63d8a73460c 273 Dotask = 0;
s1503189 1:f63d8a73460c 274 Start = 1;
s1503189 1:f63d8a73460c 275 i=0;
s1503189 1:f63d8a73460c 276 pc.printf("Final state \n");
s1503189 1:f63d8a73460c 277 }
s1503189 1:f63d8a73460c 278
s1503189 1:f63d8a73460c 279 }
s1503189 1:f63d8a73460c 280 }
s1503189 1:f63d8a73460c 281 }