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@5:f97bf30bec14, 2016-06-01 (annotated)

Committer:
s1503189
Date:
Wed Jun 01 13:04:36 2016 +0000
Revision:
5:f97bf30bec14
Parent:
4:4ad3fc99c356
Child:
6:e206abd0b2ca
Nettere versie van kwartiertje geleden;

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 2:1dd9e630a7b5 19 double 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 5:f97bf30bec14 28 //Ticker Loopticker2; // Deze ticker wordt gebruikt om de looptimerflag aan te roepen.
s1503189 5:f97bf30bec14 29 //volatile bool LoopTimerFlag3 = 0;
s1503189 0:46b6258b2b00 30 AnalogIn Referentie(A0); // De schuifpotmeter naast de geleiding van de draad is de referentie.
s1503189 2:1dd9e630a7b5 31 AnalogIn Boardpotmeter(A2); // POT1 op het board wordt gebruikt als input van de controlloop.
s1503189 2:1dd9e630a7b5 32 AnalogIn Boardpotmeter2(A1);
s1503189 0:46b6258b2b00 33 DigitalOut motor1direction(D7); //D6 en D7 voor motor 1 (op het motorshield)
s1503189 0:46b6258b2b00 34 FastPWM motor1speed(D6);
s1503189 2:1dd9e630a7b5 35
s1503189 0:46b6258b2b00 36
s1503189 0:46b6258b2b00 37 float potmeter;
s1503189 0:46b6258b2b00 38 float Error;
s1503189 4:4ad3fc99c356 39 float Referentie2;//=0.0;
s1503189 0:46b6258b2b00 40 float Input;
s1503189 0:46b6258b2b00 41 float Output;
s1503189 2:1dd9e630a7b5 42 float POT;
s1503189 3:9f9ef68a25a2 43 float Foutje;
s1503189 3:9f9ef68a25a2 44 float Potmetertje;
s1503189 0:46b6258b2b00 45 double Error_prev = 0;
s1503189 0:46b6258b2b00 46 double Error_int = 0;
s1503189 0:46b6258b2b00 47 double Error_der;
s1503189 1:f63d8a73460c 48 double Ref_der = 0;
s1503189 1:f63d8a73460c 49 double Ref_prev = 0;
s1503189 4:4ad3fc99c356 50 float Amplitude;
s1503189 4:4ad3fc99c356 51 float Baseline;
s1503189 0:46b6258b2b00 52 // Define the HIDScope and Ticker object
s1503189 0:46b6258b2b00 53 HIDScope scope(4);
s1503189 0:46b6258b2b00 54 Ticker Hidscope;
s1503189 0:46b6258b2b00 55 // Lowpassfilter
s1503189 0:46b6258b2b00 56 const double a1_LP = -1.561018075800718, a2_LP = 0.641351538057563;
s1503189 0:46b6258b2b00 57 const double b0_LP = 0.020083365564211, b1_LP = 0.040166731128423, b2_LP = 0.020083365564211;
s1503189 0:46b6258b2b00 58 const double a1_LP2 = -1.561018075800718, a2_LP2 = 0.641351538057563;
s1503189 0:46b6258b2b00 59 const double b0_LP2 = 0.020083365564211, b1_LP2 = 0.040166731128423, b2_LP2 = 0.020083365564211;
s1503189 0:46b6258b2b00 60 //const double a1_LP2 = -1.866892279711715, a2_LP2 = 0.875214548253684;
s1503189 0:46b6258b2b00 61 //const double b0_LP2 = 0.002080567135492, b1_LP2 = 0.004161134270985, b2_LP2 = 0.002080567135492;
s1503189 0:46b6258b2b00 62 //const double a1_HP = -1.982228929792529, a2_HP = 0.982385450614125;
s1503189 0:46b6258b2b00 63 //const double b0_HP = 0.991153595101663, b1_HP = -1.982307190203327, b2_HP = 0.991153595101663;
s1503189 0:46b6258b2b00 64
s1503189 0:46b6258b2b00 65 float time_;
s1503189 0:46b6258b2b00 66 const float time_increment = 0.01;
s1503189 0:46b6258b2b00 67
s1503189 0:46b6258b2b00 68 biquadFilter Filter1(a1_LP, a2_LP, b0_LP, b1_LP, b2_LP);
s1503189 0:46b6258b2b00 69 biquadFilter Filter2(a1_LP2, a2_LP2, b0_LP2, b1_LP2, b2_LP2);
s1503189 0:46b6258b2b00 70
s1503189 0:46b6258b2b00 71 double Referentieschaling(double A, double B)
s1503189 0:46b6258b2b00 72 {
s1503189 0:46b6258b2b00 73 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 74 Referentie2 = Filter1.step(Y);
s1503189 0:46b6258b2b00 75 if (Referentie2<=2.5 or Referentie2>=9.2) {
s1503189 4:4ad3fc99c356 76 Rood = 0;
s1503189 0:46b6258b2b00 77 Referentie2 = B;
s1503189 0:46b6258b2b00 78 }
s1503189 0:46b6258b2b00 79 return Referentie2;
s1503189 0:46b6258b2b00 80 }
s1503189 0:46b6258b2b00 81
s1503189 0:46b6258b2b00 82 double Inputberekening(double B)
s1503189 0:46b6258b2b00 83 {
s1503189 4:4ad3fc99c356 84 Input = Baseline+(Amplitude*-cos(2*time_));
s1503189 0:46b6258b2b00 85 if (Input>=9) { // De Input moet binnnen een aantal grenzen blijven. Groter dan 7 is mechanisch niet mogelijk.
s1503189 0:46b6258b2b00 86 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 87 } else if (Input<=3.0) {
s1503189 0:46b6258b2b00 88 Input = 3.0;
s1503189 0:46b6258b2b00 89 }
s1503189 0:46b6258b2b00 90 return Input;
s1503189 0:46b6258b2b00 91 }
s1503189 0:46b6258b2b00 92
s1503189 0:46b6258b2b00 93 double Errorberekening(double Input,double Ref)
s1503189 0:46b6258b2b00 94 {
s1503189 0:46b6258b2b00 95 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 96 /*if (Error>=1) {
s1503189 0:46b6258b2b00 97 Error=1;
s1503189 0:46b6258b2b00 98 } else if (Error<=-1) {
s1503189 0:46b6258b2b00 99 Error = -1;
s1503189 0:46b6258b2b00 100 } else if (fabs(Error)<0.01) {
s1503189 0:46b6258b2b00 101 Error = 0;
s1503189 0:46b6258b2b00 102 }
s1503189 1:f63d8a73460c 103 */
s1503189 0:46b6258b2b00 104 return Error;
s1503189 0:46b6258b2b00 105 }
s1503189 0:46b6258b2b00 106 double PID_controller(double Error, double KP, double KI, double KD, double Ts, double &Error_int, double &e_prev)
s1503189 0:46b6258b2b00 107 {
s1503189 0:46b6258b2b00 108 Error_der = (Error-Error_prev)/Ts;
s1503189 0:46b6258b2b00 109 Error_prev = Error;
s1503189 0:46b6258b2b00 110 Error_int = Error_int + Ts*Error;
s1503189 0:46b6258b2b00 111
s1503189 0:46b6258b2b00 112 return KP*Error+KI*Error_int+KD*Error_der;
s1503189 0:46b6258b2b00 113 }
s1503189 0:46b6258b2b00 114
s1503189 0:46b6258b2b00 115 // The data read and send function
s1503189 0:46b6258b2b00 116 void scopeSend()
s1503189 0:46b6258b2b00 117 {
s1503189 0:46b6258b2b00 118 scope.set(0,Referentie2); // Kanaal 1 van HIDscope geeft: De positie van de schuifpotmeter in cm.
s1503189 0:46b6258b2b00 119 scope.set(1,Input); // Kanaal 2 van HIDscope geeft: De gewenste positie in cm door de potmeter op het board ingesteld.
s1503189 0:46b6258b2b00 120 scope.set(2,Error); // Kanaal 3 van HIDscope geeft: De waarde van de Error die de P_controller in gaat.
s1503189 0:46b6258b2b00 121 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 122 scope.send();
s1503189 0:46b6258b2b00 123
s1503189 0:46b6258b2b00 124 }
s1503189 0:46b6258b2b00 125
s1503189 0:46b6258b2b00 126 void tickerfunctie2() //Deze functie wordt elke honderdste seconde aangeroepen en zorgt ervoor dat de while-loop helemaal uitgevoerd kan worden.
s1503189 0:46b6258b2b00 127 {
s1503189 0:46b6258b2b00 128 LoopTimerFlag2 = 1;
s1503189 0:46b6258b2b00 129 }
s1503189 0:46b6258b2b00 130
s1503189 3:9f9ef68a25a2 131 void Motor_controller(float Output) // De P_controller, door de ticker elke honderdste seconde uitgevoerd.
s1503189 0:46b6258b2b00 132 {
s1503189 1:f63d8a73460c 133 if(Ref_der < 0) {
s1503189 1:f63d8a73460c 134 if(Output>=0) {
s1503189 1:f63d8a73460c 135 motor1direction.write(1);
s1503189 1:f63d8a73460c 136 motor1speed = 0.01*fabs(Output);
s1503189 1:f63d8a73460c 137 } else if (Output<0) {
s1503189 1:f63d8a73460c 138 motor1direction.write(0);
s1503189 1:f63d8a73460c 139 motor1speed = 0.05*fabs(Output);
s1503189 0:46b6258b2b00 140 }
s1503189 0:46b6258b2b00 141 }
s1503189 3:9f9ef68a25a2 142 if(Ref_der > 0) {
s1503189 1:f63d8a73460c 143 if(Output>=0) {
s1503189 1:f63d8a73460c 144 motor1direction.write(1);
s1503189 1:f63d8a73460c 145 motor1speed = (20*fabs(Output));
s1503189 1:f63d8a73460c 146 } else if (Output<0) {
s1503189 1:f63d8a73460c 147 motor1direction.write(0);
s1503189 1:f63d8a73460c 148 motor1speed = 0.01*fabs(Output);
s1503189 0:46b6258b2b00 149 }
s1503189 0:46b6258b2b00 150 }
s1503189 0:46b6258b2b00 151 }
s1503189 3:9f9ef68a25a2 152
s1503189 3:9f9ef68a25a2 153 void Motor_controller2(float Foutje)
s1503189 3:9f9ef68a25a2 154 {
s1503189 3:9f9ef68a25a2 155 if(Foutje>=0.01){
s1503189 3:9f9ef68a25a2 156 motor1direction.write(1);
s1503189 3:9f9ef68a25a2 157 motor1speed.write(0.05*Foutje);
s1503189 3:9f9ef68a25a2 158 }
s1503189 3:9f9ef68a25a2 159 else if(Foutje<=-0.01){
s1503189 3:9f9ef68a25a2 160 motor1direction.write(0);
s1503189 3:9f9ef68a25a2 161 motor1speed.write(-Foutje);
s1503189 3:9f9ef68a25a2 162 }
s1503189 3:9f9ef68a25a2 163 else {
s1503189 3:9f9ef68a25a2 164 motor1speed.write(0);
s1503189 3:9f9ef68a25a2 165 }
s1503189 3:9f9ef68a25a2 166 }
s1503189 3:9f9ef68a25a2 167
s1503189 2:1dd9e630a7b5 168 void Extendfinger()
s1503189 2:1dd9e630a7b5 169 {
s1503189 2:1dd9e630a7b5 170 Error = 0;
s1503189 2:1dd9e630a7b5 171 int J = 0;
s1503189 2:1dd9e630a7b5 172 time_ = 0; // Voordat het hele programma begint, staat de Error op 0, zodat de motor niet spastisch gaat draaien om dit te compenseren.
s1503189 3:9f9ef68a25a2 173 while(1 && J<=320) {
s1503189 2:1dd9e630a7b5 174 while(LoopTimerFlag2 !=1); // Als LTF 0 is, blijft hij 0 en stopt de loop.
s1503189 2:1dd9e630a7b5 175 LoopTimerFlag2 = 0; // Als voorgaand statement niet waar is, maken we de LTF weer 0 en gaan we verder met het programma
s1503189 2:1dd9e630a7b5 176 J= J+1;
s1503189 2:1dd9e630a7b5 177 //pc.printf(" J is %i \n",J);
s1503189 4:4ad3fc99c356 178 Rood = 1;
s1503189 2:1dd9e630a7b5 179 double Input = Inputberekening(Boardpotmeter.read());
s1503189 2:1dd9e630a7b5 180 time_ += time_increment;
s1503189 2:1dd9e630a7b5 181 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 2:1dd9e630a7b5 182 Ref_der = Referentie2-Ref_prev;
s1503189 2:1dd9e630a7b5 183 Ref_prev = Referentie2;
s1503189 2:1dd9e630a7b5 184 Error = Errorberekening(Input, Referentie2);
s1503189 2:1dd9e630a7b5 185 Output = PID_controller(Error,5,1,0.1,0.01, Error_prev, Error_int);
s1503189 3:9f9ef68a25a2 186 Motor_controller(Output);
s1503189 1:f63d8a73460c 187 }
s1503189 3:9f9ef68a25a2 188 //}
s1503189 2:1dd9e630a7b5 189 motor1speed.write(0);
s1503189 2:1dd9e630a7b5 190 }
s1503189 1:f63d8a73460c 191
s1503189 2:1dd9e630a7b5 192 void tickerfunctie()
s1503189 2:1dd9e630a7b5 193 {
s1503189 2:1dd9e630a7b5 194 LoopTimerFlag = 1;
s1503189 2:1dd9e630a7b5 195 }
s1503189 2:1dd9e630a7b5 196
s1503189 3:9f9ef68a25a2 197 void P_controller(double Max, bool Keuze)
s1503189 2:1dd9e630a7b5 198 {
s1503189 3:9f9ef68a25a2 199 while (Button1pressed.read()==1) {
s1503189 3:9f9ef68a25a2 200 while(LoopTimerFlag2 !=1); // Als LTF 0 is, blijft hij 0 en stopt de loop.
s1503189 2:1dd9e630a7b5 201 LoopTimerFlag2 = 0; // Als voorgaand statement niet waar is, maken we de LTF weer 0 en gaan we verder met het programma
s1503189 2:1dd9e630a7b5 202 if (bool (0)) {
s1503189 2:1dd9e630a7b5 203 POT = Boardpotmeter.read();
s1503189 2:1dd9e630a7b5 204 } else if (bool (1)) {
s1503189 2:1dd9e630a7b5 205 POT = Boardpotmeter2.read();
s1503189 1:f63d8a73460c 206 }
s1503189 4:4ad3fc99c356 207 Input = 10*POT; //Inputberekening2(POT,0); Inputberekening(Boardpotmeter.read()); // 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 3:9f9ef68a25a2 208 // time_ += time_increment;
s1503189 3:9f9ef68a25a2 209 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 4:4ad3fc99c356 210 Rood = 1;
s1503189 3:9f9ef68a25a2 211 //Ref_prev = Ref2;
s1503189 4:4ad3fc99c356 212 Error = Referentie2-Input;
s1503189 3:9f9ef68a25a2 213 // pc.printf("Input = %f Referentie= %f Error= %f \n", Input, Referentie2, Error);
s1503189 3:9f9ef68a25a2 214 Motor_controller2(Error);
s1503189 3:9f9ef68a25a2 215 // pc.printf("output = %f \n", motor1speed.read());
s1503189 2:1dd9e630a7b5 216
s1503189 1:f63d8a73460c 217 }
s1503189 4:4ad3fc99c356 218
s1503189 2:1dd9e630a7b5 219 Groen = 0;
s1503189 2:1dd9e630a7b5 220 wait (0.5);
s1503189 2:1dd9e630a7b5 221 }
s1503189 2:1dd9e630a7b5 222
s1503189 2:1dd9e630a7b5 223 void Determinetask()
s1503189 2:1dd9e630a7b5 224 {
s1503189 2:1dd9e630a7b5 225 if (Button1pressed == 0) {
s1503189 2:1dd9e630a7b5 226
s1503189 2:1dd9e630a7b5 227 Groen = 0;
s1503189 2:1dd9e630a7b5 228 N++;
s1503189 1:f63d8a73460c 229 wait (0.5);
s1503189 2:1dd9e630a7b5 230 Groen = 1;
s1503189 2:1dd9e630a7b5 231 }
s1503189 2:1dd9e630a7b5 232 }
s1503189 2:1dd9e630a7b5 233
s1503189 2:1dd9e630a7b5 234 int main()
s1503189 2:1dd9e630a7b5 235 {
s1503189 2:1dd9e630a7b5 236 Rood = 1;
s1503189 2:1dd9e630a7b5 237 Blauw = 1;
s1503189 2:1dd9e630a7b5 238 Groen = 1;
s1503189 2:1dd9e630a7b5 239 int i = 0;
s1503189 2:1dd9e630a7b5 240 pc.printf("Hello World! %i \n", i);
s1503189 2:1dd9e630a7b5 241 Finitestatemachine.attach(tickerfunctie,0.1);
s1503189 3:9f9ef68a25a2 242 Loopticker.attach(tickerfunctie2,0.01);
s1503189 3:9f9ef68a25a2 243 Hidscope.attach(scopeSend,0.01); // Verzenden naar HIDscope
s1503189 2:1dd9e630a7b5 244
s1503189 2:1dd9e630a7b5 245 while (true) {
s1503189 2:1dd9e630a7b5 246 while(LoopTimerFlag !=1); // Als LTF 0 is, blijft hij 0 en stopt de loop.
s1503189 2:1dd9e630a7b5 247 LoopTimerFlag = 0; // Als voorgaand statement niet waar is, maken we de LTF weer 0 en gaan we verder met het programma
s1503189 2:1dd9e630a7b5 248 if (Start==0 && Setting==0 && Dotask==0) { // In eerste instantie gaan de leds even uit
s1503189 2:1dd9e630a7b5 249
s1503189 2:1dd9e630a7b5 250 Start = 1;
s1503189 2:1dd9e630a7b5 251 Groen = 0;
s1503189 2:1dd9e630a7b5 252 pc.printf("State 1\n");
s1503189 2:1dd9e630a7b5 253 }
s1503189 2:1dd9e630a7b5 254
s1503189 2:1dd9e630a7b5 255 if (Start==1 && Setting==0 && Dotask==0) { // State 2 heeft Geel als kleur
s1503189 2:1dd9e630a7b5 256 Groen = 0;
s1503189 2:1dd9e630a7b5 257 Rood = 0;
s1503189 2:1dd9e630a7b5 258 pc.printf("State 2\n");
s1503189 2:1dd9e630a7b5 259 if (Button1pressed.read()==1 && Button2pressed.read()==0) {
s1503189 2:1dd9e630a7b5 260 Setting = true;
s1503189 2:1dd9e630a7b5 261 Start = false;
s1503189 2:1dd9e630a7b5 262 Groen = 1;
s1503189 2:1dd9e630a7b5 263 Rood = 1;
s1503189 2:1dd9e630a7b5 264 pc.printf("State 2 A\n");
s1503189 2:1dd9e630a7b5 265 wait(0.5);
s1503189 2:1dd9e630a7b5 266
s1503189 1:f63d8a73460c 267
s1503189 2:1dd9e630a7b5 268 }
s1503189 2:1dd9e630a7b5 269 if (Button1pressed.read()==0 && Button2pressed.read()==1 && N>0) {
s1503189 2:1dd9e630a7b5 270 Groen = 1;
s1503189 2:1dd9e630a7b5 271 Rood = 1;
s1503189 2:1dd9e630a7b5 272 Dotask = 1;
s1503189 2:1dd9e630a7b5 273 Start=0;
s1503189 2:1dd9e630a7b5 274 pc.printf("State 2 B\n");
s1503189 2:1dd9e630a7b5 275 wait(0.5);
s1503189 2:1dd9e630a7b5 276 }
s1503189 2:1dd9e630a7b5 277 }
s1503189 3:9f9ef68a25a2 278 if (Start==0 && Setting==1 && Dotask==0) { // Leds zijn uit, elke bepaling gaat het groene lampje even branden.
s1503189 2:1dd9e630a7b5 279 pc.printf("State 2 C\n");
s1503189 3:9f9ef68a25a2 280 P_controller(0,0);
s1503189 3:9f9ef68a25a2 281 double Maximum = 10*POT;
s1503189 2:1dd9e630a7b5 282 Groen = 1;
s1503189 2:1dd9e630a7b5 283 pc.printf("Max = %f \n", Maximum);
s1503189 3:9f9ef68a25a2 284 P_controller(0,1);
s1503189 3:9f9ef68a25a2 285 double Minimum = 10*POT;
s1503189 2:1dd9e630a7b5 286 Groen = 1;
s1503189 2:1dd9e630a7b5 287 pc.printf("Min = %f \n", Minimum);
s1503189 4:4ad3fc99c356 288 Amplitude = (Minimum+Maximum)/2;
s1503189 4:4ad3fc99c356 289 Baseline = (Maximum-Minimum)/2;
s1503189 4:4ad3fc99c356 290 Rood = 0;
s1503189 4:4ad3fc99c356 291 Blauw = 0;
s1503189 4:4ad3fc99c356 292 wait (2);
s1503189 4:4ad3fc99c356 293 Rood = 1;
s1503189 4:4ad3fc99c356 294 Blauw = 1;
s1503189 2:1dd9e630a7b5 295 Setting = 2;
s1503189 2:1dd9e630a7b5 296 }
s1503189 1:f63d8a73460c 297
s1503189 2:1dd9e630a7b5 298 if (Start==0 && Setting==2 && Dotask==0) { // Leds zijn uit, elke count gaat het groene lampje even branden.
s1503189 2:1dd9e630a7b5 299 pc.printf("State 3\n");
s1503189 2:1dd9e630a7b5 300 Determinetask(); // Aantal gewenste herhalingen van Dotask instellen
s1503189 2:1dd9e630a7b5 301 pc.printf("N = %i \n", N);
s1503189 2:1dd9e630a7b5 302 if (Button1pressed.read()== 1 && Button2pressed.read()== 0) {
s1503189 2:1dd9e630a7b5 303 Setting = 0;
s1503189 2:1dd9e630a7b5 304 Dotask = 1;
s1503189 2:1dd9e630a7b5 305 pc.printf("State 3 B\n");
s1503189 2:1dd9e630a7b5 306 }
s1503189 2:1dd9e630a7b5 307 }
s1503189 1:f63d8a73460c 308
s1503189 2:1dd9e630a7b5 309 if (Start==0 && Setting==0 && Dotask==1) {
s1503189 2:1dd9e630a7b5 310 pc.printf("State 4\n");
s1503189 2:1dd9e630a7b5 311 while(i < N) {
s1503189 2:1dd9e630a7b5 312
s1503189 2:1dd9e630a7b5 313 pc.printf("i = %i N = %i \n", i, N);
s1503189 2:1dd9e630a7b5 314 Extendfinger();
s1503189 2:1dd9e630a7b5 315 //int J = 0;
s1503189 2:1dd9e630a7b5 316 pc.printf("Extendfinger()afgerond\n", i, N);
s1503189 2:1dd9e630a7b5 317 i++;
s1503189 2:1dd9e630a7b5 318 }
s1503189 2:1dd9e630a7b5 319 if (i==N) {
s1503189 2:1dd9e630a7b5 320 Dotask = 0;
s1503189 1:f63d8a73460c 321 Start = 1;
s1503189 2:1dd9e630a7b5 322 i=0;
s1503189 2:1dd9e630a7b5 323 pc.printf("Final state \n");
s1503189 1:f63d8a73460c 324 }
s1503189 1:f63d8a73460c 325
s1503189 1:f63d8a73460c 326 }
s1503189 1:f63d8a73460c 327 }
s1503189 2:1dd9e630a7b5 328 }