Dit is het passieve stuurprogramma van de handorthese behorend bij mijn bacheloropdracht. Groet, Menno Sytsma
Dependencies: EMG FastPWM HIDScope mbed-src
main.cpp@7:9ea55ce667be, 2016-06-21 (annotated)
- Committer:
- s1503189
- Date:
- Tue Jun 21 15:02:23 2016 +0000
- Revision:
- 7:9ea55ce667be
- Parent:
- 6:e206abd0b2ca
Versie zonder pc.printf en comments;
Who changed what in which revision?
User | Revision | Line number | New 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 | DigitalOut Rood(LED_RED); |
s1503189 | 0:46b6258b2b00 | 9 | DigitalOut Groen(LED_GREEN); |
s1503189 | 0:46b6258b2b00 | 10 | DigitalOut Blauw(LED_BLUE); |
s1503189 | 0:46b6258b2b00 | 11 | DigitalIn Button1pressed(SW2); |
s1503189 | 0:46b6258b2b00 | 12 | DigitalIn Button2pressed(SW3); |
s1503189 | 0:46b6258b2b00 | 13 | volatile bool LoopTimerFlag = 0; |
s1503189 | 0:46b6258b2b00 | 14 | Serial pc(USBTX, USBRX); |
s1503189 | 0:46b6258b2b00 | 15 | |
s1503189 | 0:46b6258b2b00 | 16 | int N; |
s1503189 | 0:46b6258b2b00 | 17 | bool Start(0); |
s1503189 | 2:1dd9e630a7b5 | 18 | double Setting(0); |
s1503189 | 0:46b6258b2b00 | 19 | bool Dotask(0); |
s1503189 | 0:46b6258b2b00 | 20 | int i; |
s1503189 | 0:46b6258b2b00 | 21 | |
s1503189 | 0:46b6258b2b00 | 22 | Ticker Finitestatemachine; |
s1503189 | 0:46b6258b2b00 | 23 | |
s1503189 | 0:46b6258b2b00 | 24 | // Verklaren van de in en outputs |
s1503189 | 0:46b6258b2b00 | 25 | Ticker Loopticker; // Deze ticker wordt gebruikt om de looptimerflag aan te roepen. |
s1503189 | 0:46b6258b2b00 | 26 | volatile bool LoopTimerFlag2 = 0; // Volatile, omdat deze heel vaak verandert van waar naar onwaar. |
s1503189 | 0:46b6258b2b00 | 27 | AnalogIn Referentie(A0); // De schuifpotmeter naast de geleiding van de draad is de referentie. |
s1503189 | 2:1dd9e630a7b5 | 28 | AnalogIn Boardpotmeter(A2); // POT1 op het board wordt gebruikt als input van de controlloop. |
s1503189 | 2:1dd9e630a7b5 | 29 | AnalogIn Boardpotmeter2(A1); |
s1503189 | 0:46b6258b2b00 | 30 | DigitalOut motor1direction(D7); //D6 en D7 voor motor 1 (op het motorshield) |
s1503189 | 0:46b6258b2b00 | 31 | FastPWM motor1speed(D6); |
s1503189 | 2:1dd9e630a7b5 | 32 | |
s1503189 | 0:46b6258b2b00 | 33 | float potmeter; |
s1503189 | 0:46b6258b2b00 | 34 | float Error; |
s1503189 | 4:4ad3fc99c356 | 35 | float Referentie2;//=0.0; |
s1503189 | 0:46b6258b2b00 | 36 | float Input; |
s1503189 | 0:46b6258b2b00 | 37 | float Output; |
s1503189 | 2:1dd9e630a7b5 | 38 | float POT; |
s1503189 | 3:9f9ef68a25a2 | 39 | float Foutje; |
s1503189 | 3:9f9ef68a25a2 | 40 | float Potmetertje; |
s1503189 | 0:46b6258b2b00 | 41 | double Error_prev = 0; |
s1503189 | 0:46b6258b2b00 | 42 | double Error_int = 0; |
s1503189 | 0:46b6258b2b00 | 43 | double Error_der; |
s1503189 | 1:f63d8a73460c | 44 | double Ref_der = 0; |
s1503189 | 1:f63d8a73460c | 45 | double Ref_prev = 0; |
s1503189 | 4:4ad3fc99c356 | 46 | float Amplitude; |
s1503189 | 4:4ad3fc99c356 | 47 | float Baseline; |
s1503189 | 0:46b6258b2b00 | 48 | // Define the HIDScope and Ticker object |
s1503189 | 0:46b6258b2b00 | 49 | HIDScope scope(4); |
s1503189 | 0:46b6258b2b00 | 50 | Ticker Hidscope; |
s1503189 | 0:46b6258b2b00 | 51 | // Lowpassfilter |
s1503189 | 0:46b6258b2b00 | 52 | const double a1_LP = -1.561018075800718, a2_LP = 0.641351538057563; |
s1503189 | 0:46b6258b2b00 | 53 | const double b0_LP = 0.020083365564211, b1_LP = 0.040166731128423, b2_LP = 0.020083365564211; |
s1503189 | 0:46b6258b2b00 | 54 | const double a1_LP2 = -1.561018075800718, a2_LP2 = 0.641351538057563; |
s1503189 | 0:46b6258b2b00 | 55 | const double b0_LP2 = 0.020083365564211, b1_LP2 = 0.040166731128423, b2_LP2 = 0.020083365564211; |
s1503189 | 0:46b6258b2b00 | 56 | |
s1503189 | 0:46b6258b2b00 | 57 | float time_; |
s1503189 | 0:46b6258b2b00 | 58 | const float time_increment = 0.01; |
s1503189 | 0:46b6258b2b00 | 59 | |
s1503189 | 0:46b6258b2b00 | 60 | biquadFilter Filter1(a1_LP, a2_LP, b0_LP, b1_LP, b2_LP); |
s1503189 | 0:46b6258b2b00 | 61 | biquadFilter Filter2(a1_LP2, a2_LP2, b0_LP2, b1_LP2, b2_LP2); |
s1503189 | 0:46b6258b2b00 | 62 | |
s1503189 | 0:46b6258b2b00 | 63 | double Referentieschaling(double A, double B) |
s1503189 | 0:46b6258b2b00 | 64 | { |
s1503189 | 0:46b6258b2b00 | 65 | 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 | 66 | Referentie2 = Filter1.step(Y); |
s1503189 | 0:46b6258b2b00 | 67 | if (Referentie2<=2.5 or Referentie2>=9.2) { |
s1503189 | 4:4ad3fc99c356 | 68 | Rood = 0; |
s1503189 | 0:46b6258b2b00 | 69 | Referentie2 = B; |
s1503189 | 0:46b6258b2b00 | 70 | } |
s1503189 | 0:46b6258b2b00 | 71 | return Referentie2; |
s1503189 | 0:46b6258b2b00 | 72 | } |
s1503189 | 0:46b6258b2b00 | 73 | |
s1503189 | 0:46b6258b2b00 | 74 | double Inputberekening(double B) |
s1503189 | 0:46b6258b2b00 | 75 | { |
s1503189 | 7:9ea55ce667be | 76 | Input = Baseline+(Amplitude*-cos(1.5*time_)); |
s1503189 | 0:46b6258b2b00 | 77 | if (Input>=9) { // De Input moet binnnen een aantal grenzen blijven. Groter dan 7 is mechanisch niet mogelijk. |
s1503189 | 0:46b6258b2b00 | 78 | 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 | 79 | } else if (Input<=3.0) { |
s1503189 | 0:46b6258b2b00 | 80 | Input = 3.0; |
s1503189 | 0:46b6258b2b00 | 81 | } |
s1503189 | 0:46b6258b2b00 | 82 | return Input; |
s1503189 | 0:46b6258b2b00 | 83 | } |
s1503189 | 0:46b6258b2b00 | 84 | |
s1503189 | 0:46b6258b2b00 | 85 | double Errorberekening(double Input,double Ref) |
s1503189 | 0:46b6258b2b00 | 86 | { |
s1503189 | 7:9ea55ce667be | 87 | Error = Input-Ref; |
s1503189 | 0:46b6258b2b00 | 88 | return Error; |
s1503189 | 0:46b6258b2b00 | 89 | } |
s1503189 | 0:46b6258b2b00 | 90 | double PID_controller(double Error, double KP, double KI, double KD, double Ts, double &Error_int, double &e_prev) |
s1503189 | 0:46b6258b2b00 | 91 | { |
s1503189 | 0:46b6258b2b00 | 92 | Error_der = (Error-Error_prev)/Ts; |
s1503189 | 0:46b6258b2b00 | 93 | Error_prev = Error; |
s1503189 | 0:46b6258b2b00 | 94 | Error_int = Error_int + Ts*Error; |
s1503189 | 0:46b6258b2b00 | 95 | |
s1503189 | 0:46b6258b2b00 | 96 | return KP*Error+KI*Error_int+KD*Error_der; |
s1503189 | 0:46b6258b2b00 | 97 | } |
s1503189 | 0:46b6258b2b00 | 98 | |
s1503189 | 0:46b6258b2b00 | 99 | // The data read and send function |
s1503189 | 0:46b6258b2b00 | 100 | void scopeSend() |
s1503189 | 0:46b6258b2b00 | 101 | { |
s1503189 | 0:46b6258b2b00 | 102 | scope.set(0,Referentie2); // Kanaal 1 van HIDscope geeft: De positie van de schuifpotmeter in cm. |
s1503189 | 0:46b6258b2b00 | 103 | scope.set(1,Input); // Kanaal 2 van HIDscope geeft: De gewenste positie in cm door de potmeter op het board ingesteld. |
s1503189 | 0:46b6258b2b00 | 104 | scope.set(2,Error); // Kanaal 3 van HIDscope geeft: De waarde van de Error die de P_controller in gaat. |
s1503189 | 0:46b6258b2b00 | 105 | 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 | 106 | scope.send(); |
s1503189 | 0:46b6258b2b00 | 107 | |
s1503189 | 0:46b6258b2b00 | 108 | } |
s1503189 | 0:46b6258b2b00 | 109 | |
s1503189 | 0:46b6258b2b00 | 110 | void tickerfunctie2() //Deze functie wordt elke honderdste seconde aangeroepen en zorgt ervoor dat de while-loop helemaal uitgevoerd kan worden. |
s1503189 | 0:46b6258b2b00 | 111 | { |
s1503189 | 0:46b6258b2b00 | 112 | LoopTimerFlag2 = 1; |
s1503189 | 0:46b6258b2b00 | 113 | } |
s1503189 | 0:46b6258b2b00 | 114 | |
s1503189 | 3:9f9ef68a25a2 | 115 | void Motor_controller(float Output) // De P_controller, door de ticker elke honderdste seconde uitgevoerd. |
s1503189 | 0:46b6258b2b00 | 116 | { |
s1503189 | 1:f63d8a73460c | 117 | if(Ref_der < 0) { |
s1503189 | 1:f63d8a73460c | 118 | if(Output>=0) { |
s1503189 | 1:f63d8a73460c | 119 | motor1direction.write(1); |
s1503189 | 7:9ea55ce667be | 120 | motor1speed = 0.1*fabs(Output); |
s1503189 | 1:f63d8a73460c | 121 | } else if (Output<0) { |
s1503189 | 1:f63d8a73460c | 122 | motor1direction.write(0); |
s1503189 | 7:9ea55ce667be | 123 | motor1speed = 0.25*fabs(Output); |
s1503189 | 0:46b6258b2b00 | 124 | } |
s1503189 | 0:46b6258b2b00 | 125 | } |
s1503189 | 3:9f9ef68a25a2 | 126 | if(Ref_der > 0) { |
s1503189 | 1:f63d8a73460c | 127 | if(Output>=0) { |
s1503189 | 1:f63d8a73460c | 128 | motor1direction.write(1); |
s1503189 | 7:9ea55ce667be | 129 | motor1speed = (fabs(Output)); |
s1503189 | 1:f63d8a73460c | 130 | } else if (Output<0) { |
s1503189 | 1:f63d8a73460c | 131 | motor1direction.write(0); |
s1503189 | 1:f63d8a73460c | 132 | motor1speed = 0.01*fabs(Output); |
s1503189 | 0:46b6258b2b00 | 133 | } |
s1503189 | 0:46b6258b2b00 | 134 | } |
s1503189 | 0:46b6258b2b00 | 135 | } |
s1503189 | 3:9f9ef68a25a2 | 136 | |
s1503189 | 3:9f9ef68a25a2 | 137 | void Motor_controller2(float Foutje) |
s1503189 | 3:9f9ef68a25a2 | 138 | { |
s1503189 | 3:9f9ef68a25a2 | 139 | if(Foutje>=0.01){ |
s1503189 | 7:9ea55ce667be | 140 | motor1direction.write(0); |
s1503189 | 7:9ea55ce667be | 141 | motor1speed.write(0.02*Foutje); |
s1503189 | 3:9f9ef68a25a2 | 142 | } |
s1503189 | 3:9f9ef68a25a2 | 143 | else if(Foutje<=-0.01){ |
s1503189 | 7:9ea55ce667be | 144 | motor1direction.write(1); |
s1503189 | 3:9f9ef68a25a2 | 145 | motor1speed.write(-Foutje); |
s1503189 | 3:9f9ef68a25a2 | 146 | } |
s1503189 | 3:9f9ef68a25a2 | 147 | else { |
s1503189 | 3:9f9ef68a25a2 | 148 | motor1speed.write(0); |
s1503189 | 3:9f9ef68a25a2 | 149 | } |
s1503189 | 3:9f9ef68a25a2 | 150 | } |
s1503189 | 3:9f9ef68a25a2 | 151 | |
s1503189 | 2:1dd9e630a7b5 | 152 | void Extendfinger() |
s1503189 | 2:1dd9e630a7b5 | 153 | { |
s1503189 | 2:1dd9e630a7b5 | 154 | Error = 0; |
s1503189 | 2:1dd9e630a7b5 | 155 | int J = 0; |
s1503189 | 2:1dd9e630a7b5 | 156 | time_ = 0; // Voordat het hele programma begint, staat de Error op 0, zodat de motor niet spastisch gaat draaien om dit te compenseren. |
s1503189 | 7:9ea55ce667be | 157 | while(1 && J<=480) { |
s1503189 | 2:1dd9e630a7b5 | 158 | while(LoopTimerFlag2 !=1); // Als LTF 0 is, blijft hij 0 en stopt de loop. |
s1503189 | 2:1dd9e630a7b5 | 159 | LoopTimerFlag2 = 0; // Als voorgaand statement niet waar is, maken we de LTF weer 0 en gaan we verder met het programma |
s1503189 | 2:1dd9e630a7b5 | 160 | J= J+1; |
s1503189 | 2:1dd9e630a7b5 | 161 | //pc.printf(" J is %i \n",J); |
s1503189 | 4:4ad3fc99c356 | 162 | Rood = 1; |
s1503189 | 2:1dd9e630a7b5 | 163 | double Input = Inputberekening(Boardpotmeter.read()); |
s1503189 | 2:1dd9e630a7b5 | 164 | time_ += time_increment; |
s1503189 | 2:1dd9e630a7b5 | 165 | 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 | 166 | Ref_der = Referentie2-Ref_prev; |
s1503189 | 2:1dd9e630a7b5 | 167 | Ref_prev = Referentie2; |
s1503189 | 2:1dd9e630a7b5 | 168 | Error = Errorberekening(Input, Referentie2); |
s1503189 | 7:9ea55ce667be | 169 | Output = PID_controller(Error,0.5,0.1,0.01,0.01, Error_prev, Error_int); //,5,1,0.1, |
s1503189 | 3:9f9ef68a25a2 | 170 | Motor_controller(Output); |
s1503189 | 1:f63d8a73460c | 171 | } |
s1503189 | 3:9f9ef68a25a2 | 172 | //} |
s1503189 | 2:1dd9e630a7b5 | 173 | motor1speed.write(0); |
s1503189 | 2:1dd9e630a7b5 | 174 | } |
s1503189 | 1:f63d8a73460c | 175 | |
s1503189 | 2:1dd9e630a7b5 | 176 | void tickerfunctie() |
s1503189 | 2:1dd9e630a7b5 | 177 | { |
s1503189 | 2:1dd9e630a7b5 | 178 | LoopTimerFlag = 1; |
s1503189 | 2:1dd9e630a7b5 | 179 | } |
s1503189 | 2:1dd9e630a7b5 | 180 | |
s1503189 | 3:9f9ef68a25a2 | 181 | void P_controller(double Max, bool Keuze) |
s1503189 | 2:1dd9e630a7b5 | 182 | { |
s1503189 | 3:9f9ef68a25a2 | 183 | while (Button1pressed.read()==1) { |
s1503189 | 3:9f9ef68a25a2 | 184 | while(LoopTimerFlag2 !=1); // Als LTF 0 is, blijft hij 0 en stopt de loop. |
s1503189 | 2:1dd9e630a7b5 | 185 | LoopTimerFlag2 = 0; // Als voorgaand statement niet waar is, maken we de LTF weer 0 en gaan we verder met het programma |
s1503189 | 2:1dd9e630a7b5 | 186 | if (bool (0)) { |
s1503189 | 2:1dd9e630a7b5 | 187 | POT = Boardpotmeter.read(); |
s1503189 | 2:1dd9e630a7b5 | 188 | } else if (bool (1)) { |
s1503189 | 2:1dd9e630a7b5 | 189 | POT = Boardpotmeter2.read(); |
s1503189 | 1:f63d8a73460c | 190 | } |
s1503189 | 7:9ea55ce667be | 191 | Input = 10*POT; // 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 | 192 | 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 | 193 | Rood = 1; |
s1503189 | 4:4ad3fc99c356 | 194 | Error = Referentie2-Input; |
s1503189 | 3:9f9ef68a25a2 | 195 | Motor_controller2(Error); |
s1503189 | 2:1dd9e630a7b5 | 196 | |
s1503189 | 1:f63d8a73460c | 197 | } |
s1503189 | 4:4ad3fc99c356 | 198 | |
s1503189 | 2:1dd9e630a7b5 | 199 | Groen = 0; |
s1503189 | 2:1dd9e630a7b5 | 200 | wait (0.5); |
s1503189 | 2:1dd9e630a7b5 | 201 | } |
s1503189 | 2:1dd9e630a7b5 | 202 | |
s1503189 | 2:1dd9e630a7b5 | 203 | void Determinetask() |
s1503189 | 2:1dd9e630a7b5 | 204 | { |
s1503189 | 2:1dd9e630a7b5 | 205 | if (Button1pressed == 0) { |
s1503189 | 2:1dd9e630a7b5 | 206 | |
s1503189 | 2:1dd9e630a7b5 | 207 | Groen = 0; |
s1503189 | 2:1dd9e630a7b5 | 208 | N++; |
s1503189 | 1:f63d8a73460c | 209 | wait (0.5); |
s1503189 | 2:1dd9e630a7b5 | 210 | Groen = 1; |
s1503189 | 2:1dd9e630a7b5 | 211 | } |
s1503189 | 2:1dd9e630a7b5 | 212 | } |
s1503189 | 2:1dd9e630a7b5 | 213 | |
s1503189 | 2:1dd9e630a7b5 | 214 | int main() |
s1503189 | 2:1dd9e630a7b5 | 215 | { |
s1503189 | 2:1dd9e630a7b5 | 216 | Rood = 1; |
s1503189 | 2:1dd9e630a7b5 | 217 | Blauw = 1; |
s1503189 | 2:1dd9e630a7b5 | 218 | Groen = 1; |
s1503189 | 2:1dd9e630a7b5 | 219 | int i = 0; |
s1503189 | 2:1dd9e630a7b5 | 220 | Finitestatemachine.attach(tickerfunctie,0.1); |
s1503189 | 3:9f9ef68a25a2 | 221 | Loopticker.attach(tickerfunctie2,0.01); |
s1503189 | 3:9f9ef68a25a2 | 222 | Hidscope.attach(scopeSend,0.01); // Verzenden naar HIDscope |
s1503189 | 2:1dd9e630a7b5 | 223 | |
s1503189 | 2:1dd9e630a7b5 | 224 | while (true) { |
s1503189 | 2:1dd9e630a7b5 | 225 | while(LoopTimerFlag !=1); // Als LTF 0 is, blijft hij 0 en stopt de loop. |
s1503189 | 2:1dd9e630a7b5 | 226 | LoopTimerFlag = 0; // Als voorgaand statement niet waar is, maken we de LTF weer 0 en gaan we verder met het programma |
s1503189 | 2:1dd9e630a7b5 | 227 | if (Start==0 && Setting==0 && Dotask==0) { // In eerste instantie gaan de leds even uit |
s1503189 | 2:1dd9e630a7b5 | 228 | Start = 1; |
s1503189 | 2:1dd9e630a7b5 | 229 | Groen = 0; |
s1503189 | 2:1dd9e630a7b5 | 230 | } |
s1503189 | 2:1dd9e630a7b5 | 231 | if (Start==1 && Setting==0 && Dotask==0) { // State 2 heeft Geel als kleur |
s1503189 | 2:1dd9e630a7b5 | 232 | Groen = 0; |
s1503189 | 2:1dd9e630a7b5 | 233 | Rood = 0; |
s1503189 | 2:1dd9e630a7b5 | 234 | if (Button1pressed.read()==1 && Button2pressed.read()==0) { |
s1503189 | 6:e206abd0b2ca | 235 | if (Amplitude != 0){ |
s1503189 | 6:e206abd0b2ca | 236 | Setting = 2; |
s1503189 | 6:e206abd0b2ca | 237 | Start = false; |
s1503189 | 6:e206abd0b2ca | 238 | Groen = 1; |
s1503189 | 6:e206abd0b2ca | 239 | Rood = 1; |
s1503189 | 6:e206abd0b2ca | 240 | N = 0; |
s1503189 | 6:e206abd0b2ca | 241 | wait(0.5);} |
s1503189 | 6:e206abd0b2ca | 242 | else { |
s1503189 | 6:e206abd0b2ca | 243 | Setting = 1; |
s1503189 | 2:1dd9e630a7b5 | 244 | Start = false; |
s1503189 | 2:1dd9e630a7b5 | 245 | Groen = 1; |
s1503189 | 2:1dd9e630a7b5 | 246 | Rood = 1; |
s1503189 | 6:e206abd0b2ca | 247 | wait(0.5);} |
s1503189 | 1:f63d8a73460c | 248 | |
s1503189 | 2:1dd9e630a7b5 | 249 | } |
s1503189 | 2:1dd9e630a7b5 | 250 | if (Button1pressed.read()==0 && Button2pressed.read()==1 && N>0) { |
s1503189 | 2:1dd9e630a7b5 | 251 | Groen = 1; |
s1503189 | 2:1dd9e630a7b5 | 252 | Rood = 1; |
s1503189 | 2:1dd9e630a7b5 | 253 | Dotask = 1; |
s1503189 | 2:1dd9e630a7b5 | 254 | Start=0; |
s1503189 | 2:1dd9e630a7b5 | 255 | wait(0.5); |
s1503189 | 2:1dd9e630a7b5 | 256 | } |
s1503189 | 2:1dd9e630a7b5 | 257 | } |
s1503189 | 3:9f9ef68a25a2 | 258 | if (Start==0 && Setting==1 && Dotask==0) { // Leds zijn uit, elke bepaling gaat het groene lampje even branden. |
s1503189 | 3:9f9ef68a25a2 | 259 | P_controller(0,0); |
s1503189 | 3:9f9ef68a25a2 | 260 | double Maximum = 10*POT; |
s1503189 | 2:1dd9e630a7b5 | 261 | Groen = 1; |
s1503189 | 3:9f9ef68a25a2 | 262 | P_controller(0,1); |
s1503189 | 3:9f9ef68a25a2 | 263 | double Minimum = 10*POT; |
s1503189 | 2:1dd9e630a7b5 | 264 | Groen = 1; |
s1503189 | 4:4ad3fc99c356 | 265 | Amplitude = (Minimum+Maximum)/2; |
s1503189 | 4:4ad3fc99c356 | 266 | Baseline = (Maximum-Minimum)/2; |
s1503189 | 4:4ad3fc99c356 | 267 | Rood = 0; |
s1503189 | 4:4ad3fc99c356 | 268 | Blauw = 0; |
s1503189 | 4:4ad3fc99c356 | 269 | wait (2); |
s1503189 | 4:4ad3fc99c356 | 270 | Rood = 1; |
s1503189 | 4:4ad3fc99c356 | 271 | Blauw = 1; |
s1503189 | 2:1dd9e630a7b5 | 272 | Setting = 2; |
s1503189 | 2:1dd9e630a7b5 | 273 | } |
s1503189 | 1:f63d8a73460c | 274 | |
s1503189 | 2:1dd9e630a7b5 | 275 | if (Start==0 && Setting==2 && Dotask==0) { // Leds zijn uit, elke count gaat het groene lampje even branden. |
s1503189 | 2:1dd9e630a7b5 | 276 | Determinetask(); // Aantal gewenste herhalingen van Dotask instellen |
s1503189 | 2:1dd9e630a7b5 | 277 | if (Button1pressed.read()== 1 && Button2pressed.read()== 0) { |
s1503189 | 2:1dd9e630a7b5 | 278 | Setting = 0; |
s1503189 | 2:1dd9e630a7b5 | 279 | Dotask = 1; |
s1503189 | 2:1dd9e630a7b5 | 280 | } |
s1503189 | 2:1dd9e630a7b5 | 281 | } |
s1503189 | 1:f63d8a73460c | 282 | |
s1503189 | 2:1dd9e630a7b5 | 283 | if (Start==0 && Setting==0 && Dotask==1) { |
s1503189 | 2:1dd9e630a7b5 | 284 | while(i < N) { |
s1503189 | 2:1dd9e630a7b5 | 285 | Extendfinger(); |
s1503189 | 2:1dd9e630a7b5 | 286 | i++; |
s1503189 | 2:1dd9e630a7b5 | 287 | } |
s1503189 | 2:1dd9e630a7b5 | 288 | if (i==N) { |
s1503189 | 2:1dd9e630a7b5 | 289 | Dotask = 0; |
s1503189 | 1:f63d8a73460c | 290 | Start = 1; |
s1503189 | 2:1dd9e630a7b5 | 291 | i=0; |
s1503189 | 1:f63d8a73460c | 292 | } |
s1503189 | 1:f63d8a73460c | 293 | |
s1503189 | 1:f63d8a73460c | 294 | } |
s1503189 | 1:f63d8a73460c | 295 | } |
s1503189 | 2:1dd9e630a7b5 | 296 | } |