Sem Bertelink / Mbed 2 deprecated MOD09_Biorobotics_Groep_14lol

lololololol

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@35:ab9b1c9b6d08, 2019-10-31 (annotated)

Committer:
sembert
Date:
Thu Oct 31 17:44:11 2019 +0000
Revision:
35:ab9b1c9b6d08
Parent:
34:89a424fd37ce
Child:
36:66f500e387c4
PID soort van werkend :^)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hendrikvg 17:cacf9e75eda7 1 #include "QEI.h"
Hendrikvg 15:80b3ac2b8448 2 #include "mbed.h"
Hendrikvg 20:ac1b4ffa3323 3 #include "BiQuad.h"
Hendrikvg 14:20f11bb58244 4 #include "FastPWM.h"
Hendrikvg 17:cacf9e75eda7 5 #include "HIDScope.h"
Hendrikvg 16:40183eeadb6d 6 #include "MODSERIAL.h"
Hendrikvg 9:12b9865e7373 7
Hendrikvg 21:394a7a1deb73 8 // Pins
Hendrikvg 21:394a7a1deb73 9 MODSERIAL pc(USBTX, USBRX);
SjorsdeBruin 26:088e397ec26f 10
SjorsdeBruin 26:088e397ec26f 11 QEI encoder_1(D10,D11,NC,8400,QEI::X4_ENCODING);
SjorsdeBruin 26:088e397ec26f 12 QEI encoder_2(D12,D13,NC,8400,QEI::X4_ENCODING);
Hendrikvg 24:a9ec9b836fd9 13
Hendrikvg 21:394a7a1deb73 14 FastPWM PWM_motor_1(D6);
Hendrikvg 23:78898ddfb103 15 FastPWM PWM_motor_2(D5);
Hendrikvg 24:a9ec9b836fd9 16
Hendrikvg 20:ac1b4ffa3323 17 DigitalOut direction_motor_1(D7);
Hendrikvg 23:78898ddfb103 18 DigitalOut direction_motor_2(D4);
SjorsdeBruin 26:088e397ec26f 19
Hendrikvg 24:a9ec9b836fd9 20 DigitalOut led_red(LED1);
Hendrikvg 24:a9ec9b836fd9 21 DigitalOut led_green(LED2);
Hendrikvg 24:a9ec9b836fd9 22 DigitalOut led_blue(LED3);
Hendrikvg 24:a9ec9b836fd9 23
SjorsdeBruin 26:088e397ec26f 24 AnalogIn emg_bl(A0);
SjorsdeBruin 26:088e397ec26f 25 AnalogIn emg_br(A1);
SjorsdeBruin 26:088e397ec26f 26 AnalogIn emg_leg(A2);
Hendrikvg 24:a9ec9b836fd9 27
Hendrikvg 21:394a7a1deb73 28 InterruptIn button_1(SW2);
Hendrikvg 21:394a7a1deb73 29 InterruptIn button_2(SW3);
Hendrikvg 17:cacf9e75eda7 30
Hendrikvg 24:a9ec9b836fd9 31
Hendrikvg 15:80b3ac2b8448 32 // variables
SjorsdeBruin 31:465a6e1e1db6 33 int m = 0;
SjorsdeBruin 31:465a6e1e1db6 34
SjorsdeBruin 28:8c90a46b613e 35 const float pi = 3.1416;
SjorsdeBruin 28:8c90a46b613e 36 const float l = 0.535;
Hendrikvg 21:394a7a1deb73 37 Ticker TickerStateMachine;
Hendrikvg 23:78898ddfb103 38 Ticker motor_control;
Hendrikvg 23:78898ddfb103 39 Ticker write_scope;
Hendrikvg 21:394a7a1deb73 40 Timer sinus_time;
Hendrikvg 24:a9ec9b836fd9 41 Timeout rest_timeout;
Hendrikvg 24:a9ec9b836fd9 42 Timeout mvc_timeout;
SjorsdeBruin 26:088e397ec26f 43 Timeout led_timeout;
Hendrikvg 21:394a7a1deb73 44 enum states {start, motor_calibration, demo_mode, emg_calibration, vertical_movement, horizontal_movement};
Hendrikvg 21:394a7a1deb73 45 states CurrentState = start;
Hendrikvg 21:394a7a1deb73 46 bool StateChanged = true;
Hendrikvg 24:a9ec9b836fd9 47 enum substates {rest_biceps_left, mvc_biceps_left, rest_biceps_right, mvc_biceps_right, rest_biceps_leg, mvc_biceps_leg};
Hendrikvg 24:a9ec9b836fd9 48 substates CurrentSubstate = rest_biceps_left;
Hendrikvg 24:a9ec9b836fd9 49 bool SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 50 volatile bool pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 51 volatile bool pressed_2 = false;
SjorsdeBruin 27:d37b3a0e0f2b 52 HIDScope scope(6);
SjorsdeBruin 26:088e397ec26f 53
SjorsdeBruin 29:5a846abba59e 54 volatile float theta_ref1;
SjorsdeBruin 29:5a846abba59e 55 volatile float theta_ref2;
SjorsdeBruin 33:1da600f06862 56 float Ts = 0.01f;
sembert 35:ab9b1c9b6d08 57 float Kp0;
sembert 35:ab9b1c9b6d08 58 float Ki0;
sembert 35:ab9b1c9b6d08 59 float Kd0;
sembert 35:ab9b1c9b6d08 60 float Kp1;
sembert 35:ab9b1c9b6d08 61 float Ki1;
sembert 35:ab9b1c9b6d08 62 float Kd1;
SjorsdeBruin 29:5a846abba59e 63 float theta_1 = (40.0f*pi)/180.0f;
SjorsdeBruin 29:5a846abba59e 64 float theta_2 = (175.0f*pi)/180.0f;
SjorsdeBruin 29:5a846abba59e 65 float theta_error1;
SjorsdeBruin 29:5a846abba59e 66 float theta_error2;
SjorsdeBruin 29:5a846abba59e 67 float torque_1;
SjorsdeBruin 29:5a846abba59e 68 float torque_2;
SjorsdeBruin 28:8c90a46b613e 69 float x;
SjorsdeBruin 28:8c90a46b613e 70 float y;
SjorsdeBruin 33:1da600f06862 71 volatile float EMGx_velocity = 0.0f;
SjorsdeBruin 33:1da600f06862 72 volatile float EMGy_velocity = 0.0f;
SjorsdeBruin 30:a16519224d58 73
SjorsdeBruin 27:d37b3a0e0f2b 74 BiQuad Lowpass_bl ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 75 BiQuad Highpass_bl ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 76 BiQuad notch_bl (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 27:d37b3a0e0f2b 77 BiQuad Lowpass_br ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 78 BiQuad Highpass_br ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 79 BiQuad notch_br (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 27:d37b3a0e0f2b 80 BiQuad Lowpass_leg ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 81 BiQuad Highpass_leg ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 82 BiQuad notch_leg (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 26:088e397ec26f 83
Hendrikvg 24:a9ec9b836fd9 84 int n = 0;
Hendrikvg 24:a9ec9b836fd9 85
SjorsdeBruin 26:088e397ec26f 86 float emgFiltered_bl;
SjorsdeBruin 26:088e397ec26f 87 float emgFiltered_br;
SjorsdeBruin 26:088e397ec26f 88 float emgFiltered_leg;
SjorsdeBruin 26:088e397ec26f 89 float emg;
SjorsdeBruin 26:088e397ec26f 90 float xmvc_value = 1e-11;
Hendrikvg 24:a9ec9b836fd9 91
Hendrikvg 24:a9ec9b836fd9 92 float sum = 0;
SjorsdeBruin 26:088e397ec26f 93 float xrest_value;
Hendrikvg 24:a9ec9b836fd9 94 float rest_value_bl;
Hendrikvg 24:a9ec9b836fd9 95 float rest_value_br;
Hendrikvg 24:a9ec9b836fd9 96 float rest_value_leg;
Hendrikvg 24:a9ec9b836fd9 97
Hendrikvg 24:a9ec9b836fd9 98 float mvc_value_bl;
Hendrikvg 24:a9ec9b836fd9 99 float mvc_value_br;
Hendrikvg 24:a9ec9b836fd9 100 float mvc_value_leg;
Hendrikvg 24:a9ec9b836fd9 101
SjorsdeBruin 28:8c90a46b613e 102 float treshold_bl = 0.5;
SjorsdeBruin 28:8c90a46b613e 103 float treshold_br = 0.5;
SjorsdeBruin 28:8c90a46b613e 104 float treshold_leg = 0.5;
SjorsdeBruin 28:8c90a46b613e 105
SjorsdeBruin 28:8c90a46b613e 106 bool previous_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 107 bool current_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 108
SjorsdeBruin 33:1da600f06862 109 volatile char command;
Hendrikvg 21:394a7a1deb73 110 // functies
SjorsdeBruin 26:088e397ec26f 111 void ledred()
SjorsdeBruin 26:088e397ec26f 112 {
SjorsdeBruin 26:088e397ec26f 113 led_red = 0;
SjorsdeBruin 26:088e397ec26f 114 led_green = 1;
SjorsdeBruin 26:088e397ec26f 115 led_blue = 1;
SjorsdeBruin 26:088e397ec26f 116 }
SjorsdeBruin 26:088e397ec26f 117 void ledgreen()
SjorsdeBruin 26:088e397ec26f 118 {
SjorsdeBruin 26:088e397ec26f 119 led_green=0;
SjorsdeBruin 26:088e397ec26f 120 led_blue=1;
SjorsdeBruin 26:088e397ec26f 121 led_red=1;
SjorsdeBruin 26:088e397ec26f 122 }
SjorsdeBruin 26:088e397ec26f 123 void ledblue()
SjorsdeBruin 26:088e397ec26f 124 {
SjorsdeBruin 26:088e397ec26f 125 led_green=1;
SjorsdeBruin 26:088e397ec26f 126 led_blue=0;
SjorsdeBruin 26:088e397ec26f 127 led_red=1;
SjorsdeBruin 26:088e397ec26f 128 }
SjorsdeBruin 26:088e397ec26f 129 void ledyellow()
SjorsdeBruin 26:088e397ec26f 130 {
SjorsdeBruin 26:088e397ec26f 131 led_green=0;
SjorsdeBruin 26:088e397ec26f 132 led_blue=1;
SjorsdeBruin 26:088e397ec26f 133 led_red=0;
SjorsdeBruin 26:088e397ec26f 134 }
SjorsdeBruin 26:088e397ec26f 135 void ledmagenta()
SjorsdeBruin 26:088e397ec26f 136 {
SjorsdeBruin 26:088e397ec26f 137 led_green=1;
SjorsdeBruin 26:088e397ec26f 138 led_blue=0;
SjorsdeBruin 26:088e397ec26f 139 led_red=0;
SjorsdeBruin 26:088e397ec26f 140 }
SjorsdeBruin 26:088e397ec26f 141 void ledcyan()
SjorsdeBruin 26:088e397ec26f 142 {
SjorsdeBruin 26:088e397ec26f 143 led_green=0;
SjorsdeBruin 26:088e397ec26f 144 led_blue=0;
SjorsdeBruin 26:088e397ec26f 145 led_red=1;
SjorsdeBruin 26:088e397ec26f 146 }
SjorsdeBruin 26:088e397ec26f 147 void ledwhite()
SjorsdeBruin 26:088e397ec26f 148 {
SjorsdeBruin 26:088e397ec26f 149 led_green=0;
SjorsdeBruin 26:088e397ec26f 150 led_blue=0;
SjorsdeBruin 26:088e397ec26f 151 led_red=0;
SjorsdeBruin 26:088e397ec26f 152 }
SjorsdeBruin 26:088e397ec26f 153 void ledoff()
SjorsdeBruin 26:088e397ec26f 154 {
SjorsdeBruin 26:088e397ec26f 155 led_green=1;
SjorsdeBruin 26:088e397ec26f 156 led_blue=1;
SjorsdeBruin 26:088e397ec26f 157 led_red=1;
SjorsdeBruin 26:088e397ec26f 158 }
SjorsdeBruin 26:088e397ec26f 159
SjorsdeBruin 33:1da600f06862 160 bool get_command_a() {
SjorsdeBruin 33:1da600f06862 161 command = pc.getcNb();
SjorsdeBruin 33:1da600f06862 162 if (command == 'a') {
SjorsdeBruin 33:1da600f06862 163 pc.printf("a is ingedrukt! \n\r");
SjorsdeBruin 33:1da600f06862 164 return true;
SjorsdeBruin 33:1da600f06862 165 } else {
SjorsdeBruin 33:1da600f06862 166 return false;
SjorsdeBruin 33:1da600f06862 167 }
SjorsdeBruin 33:1da600f06862 168 }
SjorsdeBruin 33:1da600f06862 169
SjorsdeBruin 33:1da600f06862 170 bool get_command_d () {
SjorsdeBruin 33:1da600f06862 171 command = pc.getcNb();
SjorsdeBruin 33:1da600f06862 172 if (command == 'd') {
SjorsdeBruin 33:1da600f06862 173 pc.printf("d is ingedrukt! \n\r");
SjorsdeBruin 33:1da600f06862 174 return true;
SjorsdeBruin 33:1da600f06862 175 } else {
SjorsdeBruin 33:1da600f06862 176 return false;
SjorsdeBruin 33:1da600f06862 177 }
SjorsdeBruin 33:1da600f06862 178 }
SjorsdeBruin 33:1da600f06862 179
SjorsdeBruin 33:1da600f06862 180 bool get_command_s () {
SjorsdeBruin 33:1da600f06862 181 command = pc.getcNb();
SjorsdeBruin 33:1da600f06862 182 if (command == 's') {
SjorsdeBruin 33:1da600f06862 183 pc.printf("s is ingedrukt! \n\r");
SjorsdeBruin 33:1da600f06862 184 return true;
SjorsdeBruin 33:1da600f06862 185 } else {
SjorsdeBruin 33:1da600f06862 186 return false;
SjorsdeBruin 33:1da600f06862 187 }
SjorsdeBruin 33:1da600f06862 188 }
SjorsdeBruin 33:1da600f06862 189
sembert 34:89a424fd37ce 190 float CalculateError(float theta_reference,float theta)
sembert 34:89a424fd37ce 191 {
sembert 34:89a424fd37ce 192 float theta_error = theta_reference-theta;
sembert 34:89a424fd37ce 193 return theta_error;
sembert 34:89a424fd37ce 194 }
sembert 34:89a424fd37ce 195
sembert 34:89a424fd37ce 196 float Controller(float theta_error, bool motor)
Hendrikvg 21:394a7a1deb73 197 {
sembert 34:89a424fd37ce 198 if (motor == false) {
sembert 35:ab9b1c9b6d08 199 float K0 = 75.0f;
sembert 35:ab9b1c9b6d08 200 float ti0 = 5.0f;
sembert 35:ab9b1c9b6d08 201 float td0 = 0.1f;
sembert 35:ab9b1c9b6d08 202 Kp0 = K0*(1+td0/ti0);
sembert 35:ab9b1c9b6d08 203 Ki0 = K0/ti0;
sembert 35:ab9b1c9b6d08 204 Kd0 = K0*td0;
sembert 35:ab9b1c9b6d08 205
sembert 35:ab9b1c9b6d08 206 static float error_integral0 = 0;
sembert 35:ab9b1c9b6d08 207 static float error_prev0 = 0;
sembert 35:ab9b1c9b6d08 208 static BiQuad LowPassFilter0(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
sembert 35:ab9b1c9b6d08 209
sembert 35:ab9b1c9b6d08 210 // Proportional part:
sembert 35:ab9b1c9b6d08 211 float torque_p0 = Kp0 * theta_error;
sembert 35:ab9b1c9b6d08 212
sembert 35:ab9b1c9b6d08 213 // Integral part:
sembert 35:ab9b1c9b6d08 214 error_integral0 = error_integral0 + theta_error * Ts;
sembert 35:ab9b1c9b6d08 215 float torque_i0 = Ki0 * error_integral0;
sembert 35:ab9b1c9b6d08 216
sembert 35:ab9b1c9b6d08 217 // Derivative part:
sembert 35:ab9b1c9b6d08 218 float error_derivative0 = (theta_error - error_prev0)/Ts;
sembert 35:ab9b1c9b6d08 219 float filtered_error_derivative0 = LowPassFilter0.step(error_derivative0);
sembert 35:ab9b1c9b6d08 220 float torque_d0 = Kd0 * filtered_error_derivative0;
sembert 35:ab9b1c9b6d08 221 error_prev0 = theta_error;
sembert 35:ab9b1c9b6d08 222
sembert 35:ab9b1c9b6d08 223 // Sum all parts and return it
sembert 35:ab9b1c9b6d08 224 float torque0 = torque_p0 + torque_i0 + torque_d0;
sembert 35:ab9b1c9b6d08 225 return torque0;
sembert 34:89a424fd37ce 226 } else {
sembert 35:ab9b1c9b6d08 227 float K1 = 75.0f;
sembert 35:ab9b1c9b6d08 228 float ti1 = 1.0f;
sembert 35:ab9b1c9b6d08 229 float td1 = 0.01f;
sembert 35:ab9b1c9b6d08 230 Kp1 = K1*(1+td1/ti1);
sembert 35:ab9b1c9b6d08 231 Ki1 = K1/ti1;
sembert 35:ab9b1c9b6d08 232 Kd1 = K1*td1;
sembert 35:ab9b1c9b6d08 233
sembert 35:ab9b1c9b6d08 234 static float error_integral1 = 0;
sembert 35:ab9b1c9b6d08 235 static float error_prev1 = 0;
sembert 35:ab9b1c9b6d08 236 static BiQuad LowPassFilter1(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
sembert 35:ab9b1c9b6d08 237
sembert 35:ab9b1c9b6d08 238 // Proportional part:
sembert 35:ab9b1c9b6d08 239 float torque_p1 = Kp1 * theta_error;
sembert 35:ab9b1c9b6d08 240
sembert 35:ab9b1c9b6d08 241 // Integral part:
sembert 35:ab9b1c9b6d08 242 error_integral1 = error_integral1 + theta_error * Ts;
sembert 35:ab9b1c9b6d08 243 float torque_i1 = Ki1 * error_integral1;
sembert 35:ab9b1c9b6d08 244
sembert 35:ab9b1c9b6d08 245 // Derivative part:
sembert 35:ab9b1c9b6d08 246 float error_derivative1 = (theta_error - error_prev1)/Ts;
sembert 35:ab9b1c9b6d08 247 float filtered_error_derivative1 = LowPassFilter1.step(error_derivative1);
sembert 35:ab9b1c9b6d08 248 float torque_d1 = Kd1 * filtered_error_derivative1;
sembert 35:ab9b1c9b6d08 249 error_prev1 = theta_error;
sembert 35:ab9b1c9b6d08 250
sembert 35:ab9b1c9b6d08 251 // Sum all parts and return it
sembert 35:ab9b1c9b6d08 252 float torque1 = torque_p1 + torque_i1 + torque_d1;
sembert 35:ab9b1c9b6d08 253 return torque1;
sembert 34:89a424fd37ce 254 }
Hendrikvg 21:394a7a1deb73 255 }
Hendrikvg 16:40183eeadb6d 256
SjorsdeBruin 30:a16519224d58 257 void Kinematics()
SjorsdeBruin 28:8c90a46b613e 258 {
SjorsdeBruin 28:8c90a46b613e 259 float DET_jacobian= 1.0f/((-l*sin(theta_1)-l*sin(theta_1+theta_2))*(l*cos(theta_1+theta_2))-(-l*sin(theta_1+theta_2))*(l*cos(theta_1)+l*cos(theta_1+theta_2)));
SjorsdeBruin 30:a16519224d58 260 float thetav_1=DET_jacobian*l*cos(theta_1+theta_2)*EMGx_velocity + DET_jacobian*l*sin(theta_1+theta_2)*EMGy_velocity;
SjorsdeBruin 30:a16519224d58 261 float thetav_2= DET_jacobian*-l*cos(theta_1)-l*cos(theta_1+theta_2)*EMGx_velocity + DET_jacobian*-l*sin(theta_1)-l*sin(theta_1+theta_2)*EMGy_velocity;
SjorsdeBruin 29:5a846abba59e 262 theta_ref1=theta_1+thetav_1*Ts;
SjorsdeBruin 29:5a846abba59e 263 theta_ref2=theta_2+thetav_2*Ts;
SjorsdeBruin 28:8c90a46b613e 264 x=cos(theta_ref1)*l+cos(theta_ref1+theta_ref2)*l;
SjorsdeBruin 28:8c90a46b613e 265 y=sin(theta_ref1)*l+sin(theta_ref1+theta_ref2)*l;
SjorsdeBruin 29:5a846abba59e 266 if (sqrt(pow(x,2)+pow(y,2))>1.0f) {
SjorsdeBruin 30:a16519224d58 267 theta_ref1 = theta_1;
SjorsdeBruin 30:a16519224d58 268 theta_ref2 = theta_2;
SjorsdeBruin 28:8c90a46b613e 269 }
SjorsdeBruin 28:8c90a46b613e 270 }
Hendrikvg 24:a9ec9b836fd9 271 void CalculateDirectionMotor()
Hendrikvg 21:394a7a1deb73 272 {
sembert 34:89a424fd37ce 273 //Kinematics();
sembert 34:89a424fd37ce 274 direction_motor_1 = Controller(CalculateError(theta_ref1,theta_1),0) <= 0.0f;
sembert 35:ab9b1c9b6d08 275 direction_motor_2 = Controller(CalculateError(theta_ref2,theta_2),1) >= 0.0f;
Hendrikvg 21:394a7a1deb73 276 }
Hendrikvg 20:ac1b4ffa3323 277
Hendrikvg 23:78898ddfb103 278 void ReadEncoder()
Hendrikvg 23:78898ddfb103 279 {
SjorsdeBruin 30:a16519224d58 280 theta_1 = (((2.0f*pi)/64.0f)*(float)encoder_1.getPulses())/131.25f; // 360/64 voor de 64 CPR Encoder, 131.25 omdat de gear ratio 131.25:1 is. Hiermee is 1 omwenteling 360.
SjorsdeBruin 30:a16519224d58 281 theta_2 = (((2.0f*pi)/64.0f)*(float)encoder_2.getPulses())/131.25f;
Hendrikvg 23:78898ddfb103 282 }
Hendrikvg 16:40183eeadb6d 283
Hendrikvg 24:a9ec9b836fd9 284 void MotorControl()
Hendrikvg 23:78898ddfb103 285 {
Hendrikvg 21:394a7a1deb73 286 ReadEncoder();
Hendrikvg 22:6cc93216b323 287 CalculateDirectionMotor();
sembert 35:ab9b1c9b6d08 288 PWM_motor_1.write(fabs(Controller(CalculateError(theta_ref1,theta_1),0))/(2.0f*pi));
sembert 35:ab9b1c9b6d08 289 PWM_motor_2.write(fabs(Controller(CalculateError(theta_ref2,theta_2),1))/(2.0f*pi));
Hendrikvg 21:394a7a1deb73 290 }
Hendrikvg 21:394a7a1deb73 291
Hendrikvg 21:394a7a1deb73 292 void go_next_1()
Hendrikvg 21:394a7a1deb73 293 {
Hendrikvg 24:a9ec9b836fd9 294 pressed_1 = !pressed_1;
Hendrikvg 21:394a7a1deb73 295 }
Hendrikvg 21:394a7a1deb73 296
Hendrikvg 21:394a7a1deb73 297 void go_next_2()
Hendrikvg 21:394a7a1deb73 298 {
Hendrikvg 24:a9ec9b836fd9 299 pressed_2 = !pressed_2;
Hendrikvg 24:a9ec9b836fd9 300 }
Hendrikvg 24:a9ec9b836fd9 301
SjorsdeBruin 27:d37b3a0e0f2b 302 bool emg_switch(float treshold, float emg_input) {
SjorsdeBruin 27:d37b3a0e0f2b 303 if(emg_input > treshold){
SjorsdeBruin 28:8c90a46b613e 304 current_value_emg_leg = true;
SjorsdeBruin 28:8c90a46b613e 305 } else {
SjorsdeBruin 28:8c90a46b613e 306 current_value_emg_leg = false;
SjorsdeBruin 28:8c90a46b613e 307 }
SjorsdeBruin 28:8c90a46b613e 308 if(current_value_emg_leg == true && previous_value_emg_leg == false) {
SjorsdeBruin 28:8c90a46b613e 309 previous_value_emg_leg = current_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 310 return true;
SjorsdeBruin 28:8c90a46b613e 311 } else {
SjorsdeBruin 28:8c90a46b613e 312 previous_value_emg_leg = current_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 313 return false;
SjorsdeBruin 28:8c90a46b613e 314 }
SjorsdeBruin 28:8c90a46b613e 315 }
SjorsdeBruin 28:8c90a46b613e 316
SjorsdeBruin 28:8c90a46b613e 317 bool emg_trigger(float treshold, float emg_input) {
SjorsdeBruin 28:8c90a46b613e 318 if(emg_input > treshold) {
SjorsdeBruin 27:d37b3a0e0f2b 319 return true;
SjorsdeBruin 27:d37b3a0e0f2b 320 } else {
SjorsdeBruin 27:d37b3a0e0f2b 321 return false;
SjorsdeBruin 27:d37b3a0e0f2b 322 }
SjorsdeBruin 27:d37b3a0e0f2b 323 }
SjorsdeBruin 27:d37b3a0e0f2b 324
SjorsdeBruin 26:088e397ec26f 325 float EmgCalibration(float emgFiltered, float mvc_value, float rest_value)
Hendrikvg 24:a9ec9b836fd9 326 {
Hendrikvg 24:a9ec9b836fd9 327 float emgCalibrated;
Hendrikvg 24:a9ec9b836fd9 328 if (emgFiltered <= rest_value) {
SjorsdeBruin 27:d37b3a0e0f2b 329 return 0.0f;
SjorsdeBruin 27:d37b3a0e0f2b 330 //emgCalibrated = 0;
Hendrikvg 24:a9ec9b836fd9 331 }
SjorsdeBruin 27:d37b3a0e0f2b 332
Hendrikvg 24:a9ec9b836fd9 333 if (emgFiltered >= mvc_value) {
SjorsdeBruin 27:d37b3a0e0f2b 334 return 1.1f;
SjorsdeBruin 27:d37b3a0e0f2b 335 //emgCalibrated = 1;
Hendrikvg 24:a9ec9b836fd9 336 } else {
Hendrikvg 24:a9ec9b836fd9 337 emgCalibrated = (emgFiltered-rest_value)/(mvc_value-rest_value);
Hendrikvg 24:a9ec9b836fd9 338 }
Hendrikvg 24:a9ec9b836fd9 339 return emgCalibrated;
Hendrikvg 24:a9ec9b836fd9 340 }
Hendrikvg 24:a9ec9b836fd9 341
Hendrikvg 24:a9ec9b836fd9 342 void emgsample()
Hendrikvg 24:a9ec9b836fd9 343 {
SjorsdeBruin 27:d37b3a0e0f2b 344 emgFiltered_bl = Highpass_bl.step(emg_bl.read());
SjorsdeBruin 27:d37b3a0e0f2b 345 emgFiltered_bl = notch_bl.step(emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 346 emgFiltered_bl = fabs(emgFiltered_bl);
SjorsdeBruin 27:d37b3a0e0f2b 347 emgFiltered_bl = Lowpass_bl.step(emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 348
SjorsdeBruin 27:d37b3a0e0f2b 349 emgFiltered_br = Highpass_br.step(emg_br.read());
SjorsdeBruin 27:d37b3a0e0f2b 350 emgFiltered_br = notch_br.step(emgFiltered_br);
Hendrikvg 24:a9ec9b836fd9 351 emgFiltered_br = fabs(emgFiltered_br);
SjorsdeBruin 27:d37b3a0e0f2b 352 emgFiltered_br = Lowpass_br.step(emgFiltered_br);
Hendrikvg 24:a9ec9b836fd9 353
SjorsdeBruin 27:d37b3a0e0f2b 354 emgFiltered_leg = Highpass_leg.step(emg_leg.read());
SjorsdeBruin 27:d37b3a0e0f2b 355 emgFiltered_leg = notch_leg.step(emgFiltered_leg);
Hendrikvg 24:a9ec9b836fd9 356 emgFiltered_leg = fabs(emgFiltered_leg);
SjorsdeBruin 27:d37b3a0e0f2b 357 emgFiltered_leg = Lowpass_leg.step(emgFiltered_leg);
Hendrikvg 24:a9ec9b836fd9 358 }
Hendrikvg 24:a9ec9b836fd9 359
Hendrikvg 24:a9ec9b836fd9 360 void rest()
Hendrikvg 24:a9ec9b836fd9 361 {
SjorsdeBruin 26:088e397ec26f 362 if (CurrentSubstate == rest_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 363 emg = emgFiltered_bl;
SjorsdeBruin 26:088e397ec26f 364 //pc.printf("emg: %f \n\r",emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 365 }
SjorsdeBruin 26:088e397ec26f 366 if (CurrentSubstate == rest_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 367 emg = emgFiltered_br;
Hendrikvg 24:a9ec9b836fd9 368 }
SjorsdeBruin 26:088e397ec26f 369 if (CurrentSubstate == rest_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 370 emg = emgFiltered_leg;
Hendrikvg 24:a9ec9b836fd9 371 }
SjorsdeBruin 26:088e397ec26f 372 if (n < 500) {
SjorsdeBruin 26:088e397ec26f 373 ledred();
Hendrikvg 24:a9ec9b836fd9 374 sum = sum + emg;
SjorsdeBruin 26:088e397ec26f 375 //pc.printf("sum: %f \n\r",sum);
Hendrikvg 24:a9ec9b836fd9 376 n++;
SjorsdeBruin 26:088e397ec26f 377 rest_timeout.attach(rest,0.001f);
Hendrikvg 24:a9ec9b836fd9 378 }
SjorsdeBruin 26:088e397ec26f 379 if (n == 500) {
Hendrikvg 24:a9ec9b836fd9 380 sum = sum + emg;
SjorsdeBruin 26:088e397ec26f 381 //pc.printf("sum: %f \n\r",sum);
Hendrikvg 24:a9ec9b836fd9 382 n++;
SjorsdeBruin 26:088e397ec26f 383 xrest_value = float (sum/n);
SjorsdeBruin 26:088e397ec26f 384 if (CurrentSubstate == rest_biceps_left) {
SjorsdeBruin 26:088e397ec26f 385 rest_value_bl = xrest_value;
SjorsdeBruin 26:088e397ec26f 386 pc.printf("rest_value_bl %f \n\r", rest_value_bl);
Hendrikvg 24:a9ec9b836fd9 387 CurrentSubstate = mvc_biceps_left;
Hendrikvg 24:a9ec9b836fd9 388 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 389 ledblue();
SjorsdeBruin 26:088e397ec26f 390
Hendrikvg 24:a9ec9b836fd9 391 }
SjorsdeBruin 26:088e397ec26f 392 if (CurrentSubstate == rest_biceps_right) {
SjorsdeBruin 26:088e397ec26f 393 rest_value_br = xrest_value;
SjorsdeBruin 26:088e397ec26f 394 pc.printf("rest_value_br %f \n\r", rest_value_br);
Hendrikvg 24:a9ec9b836fd9 395 CurrentSubstate = mvc_biceps_right;
Hendrikvg 24:a9ec9b836fd9 396 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 397 ledmagenta();
Hendrikvg 24:a9ec9b836fd9 398 }
SjorsdeBruin 26:088e397ec26f 399 if (CurrentSubstate == rest_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 400 rest_value_leg = xrest_value;
SjorsdeBruin 26:088e397ec26f 401 pc.printf("rest_value_leg %f \n\r", rest_value_leg);
SjorsdeBruin 26:088e397ec26f 402 pc.printf("rest_value_bl %f \n\r", rest_value_bl);
Hendrikvg 24:a9ec9b836fd9 403 CurrentSubstate = mvc_biceps_leg;
Hendrikvg 24:a9ec9b836fd9 404 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 405 ledwhite();
Hendrikvg 24:a9ec9b836fd9 406 }
Hendrikvg 24:a9ec9b836fd9 407 }
Hendrikvg 24:a9ec9b836fd9 408 }
Hendrikvg 24:a9ec9b836fd9 409
Hendrikvg 24:a9ec9b836fd9 410 void mvc()
Hendrikvg 24:a9ec9b836fd9 411 {
SjorsdeBruin 26:088e397ec26f 412 if (CurrentSubstate == mvc_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 413 emg = emgFiltered_bl;
Hendrikvg 24:a9ec9b836fd9 414 }
SjorsdeBruin 26:088e397ec26f 415 if (CurrentSubstate == mvc_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 416 emg = emgFiltered_br;
Hendrikvg 24:a9ec9b836fd9 417 }
SjorsdeBruin 26:088e397ec26f 418 if (CurrentSubstate == mvc_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 419 emg = emgFiltered_leg;
Hendrikvg 24:a9ec9b836fd9 420 }
SjorsdeBruin 26:088e397ec26f 421 if (emg >= xmvc_value) {
Hendrikvg 24:a9ec9b836fd9 422 xmvc_value = emg;
SjorsdeBruin 26:088e397ec26f 423 }
Hendrikvg 24:a9ec9b836fd9 424 n++;
SjorsdeBruin 26:088e397ec26f 425 if (n < 1000) {
SjorsdeBruin 26:088e397ec26f 426 mvc_timeout.attach(mvc,0.001f);
SjorsdeBruin 26:088e397ec26f 427 ledred();
Hendrikvg 24:a9ec9b836fd9 428 }
SjorsdeBruin 26:088e397ec26f 429 if (n == 1000) {
SjorsdeBruin 26:088e397ec26f 430 if (CurrentSubstate == mvc_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 431 mvc_value_bl = xmvc_value;
SjorsdeBruin 26:088e397ec26f 432 pc.printf("mvc_value_bl %f \n\r", mvc_value_bl);
Hendrikvg 24:a9ec9b836fd9 433 CurrentSubstate = rest_biceps_right;
Hendrikvg 24:a9ec9b836fd9 434 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 435 ledyellow();
Hendrikvg 24:a9ec9b836fd9 436 }
SjorsdeBruin 26:088e397ec26f 437 if (CurrentSubstate == mvc_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 438 mvc_value_br = xmvc_value;
SjorsdeBruin 26:088e397ec26f 439 pc.printf("mvc_value_br %f \n\r", mvc_value_br);
Hendrikvg 24:a9ec9b836fd9 440 CurrentSubstate = rest_biceps_leg;
Hendrikvg 24:a9ec9b836fd9 441 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 442 ledcyan();
Hendrikvg 24:a9ec9b836fd9 443 }
SjorsdeBruin 26:088e397ec26f 444 if (CurrentSubstate == mvc_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 445 mvc_value_leg = xmvc_value;
SjorsdeBruin 26:088e397ec26f 446 pc.printf("mvc_value_leg %f \n\r", mvc_value_leg);
Hendrikvg 24:a9ec9b836fd9 447 CurrentState = vertical_movement;
Hendrikvg 24:a9ec9b836fd9 448 StateChanged = true;
SjorsdeBruin 26:088e397ec26f 449 ledoff();
Hendrikvg 24:a9ec9b836fd9 450 }
Hendrikvg 24:a9ec9b836fd9 451 xmvc_value = 1e-11;
Hendrikvg 24:a9ec9b836fd9 452 }
Hendrikvg 24:a9ec9b836fd9 453 }
Hendrikvg 24:a9ec9b836fd9 454
Hendrikvg 24:a9ec9b836fd9 455 void WriteScope()
Hendrikvg 24:a9ec9b836fd9 456 {
SjorsdeBruin 26:088e397ec26f 457 emgsample();
sembert 35:ab9b1c9b6d08 458 scope.set(3, theta_ref1);
sembert 35:ab9b1c9b6d08 459 scope.set(4, theta_1);
sembert 35:ab9b1c9b6d08 460 scope.set(5, CalculateError(theta_ref1,theta_1));
sembert 35:ab9b1c9b6d08 461 scope.set(0, theta_ref2);
sembert 35:ab9b1c9b6d08 462 scope.set(1, theta_2);
sembert 35:ab9b1c9b6d08 463 scope.set(2, CalculateError(theta_ref2,theta_2));
Hendrikvg 24:a9ec9b836fd9 464 scope.send();
Hendrikvg 24:a9ec9b836fd9 465 }
Hendrikvg 24:a9ec9b836fd9 466
Hendrikvg 24:a9ec9b836fd9 467 void SubstateTransition()
Hendrikvg 24:a9ec9b836fd9 468 {
SjorsdeBruin 26:088e397ec26f 469 if (SubstateChanged == true) {
SjorsdeBruin 26:088e397ec26f 470 SubstateChanged = false;
SjorsdeBruin 26:088e397ec26f 471 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 472 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 473 if (CurrentSubstate == rest_biceps_left) {
SjorsdeBruin 26:088e397ec26f 474 ledgreen();
SjorsdeBruin 26:088e397ec26f 475 pc.printf("groen \n\r");
SjorsdeBruin 26:088e397ec26f 476 pc.printf("Initiating rest_biceps_left\n\r");
SjorsdeBruin 26:088e397ec26f 477 }
SjorsdeBruin 26:088e397ec26f 478 if (CurrentSubstate == mvc_biceps_left) {
SjorsdeBruin 26:088e397ec26f 479 //ledblue();
SjorsdeBruin 26:088e397ec26f 480 pc.printf("Initiating mvc_biceps_left\n\r");
SjorsdeBruin 26:088e397ec26f 481 }
SjorsdeBruin 26:088e397ec26f 482 if (CurrentSubstate == rest_biceps_right) {
SjorsdeBruin 26:088e397ec26f 483 //ledyellow();
SjorsdeBruin 26:088e397ec26f 484 pc.printf("Initiating rest_biceps_right\n\r");
SjorsdeBruin 26:088e397ec26f 485 }
SjorsdeBruin 26:088e397ec26f 486 if (CurrentSubstate == mvc_biceps_right) {
SjorsdeBruin 26:088e397ec26f 487 //ledmagenta();
SjorsdeBruin 26:088e397ec26f 488 pc.printf("Initiating mvc_biceps_right\n\r");
SjorsdeBruin 26:088e397ec26f 489 }
SjorsdeBruin 26:088e397ec26f 490 if (CurrentSubstate == rest_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 491 //ledcyan();
SjorsdeBruin 26:088e397ec26f 492 pc.printf("Initiating rest_biceps_leg\n\r");
SjorsdeBruin 26:088e397ec26f 493 }
SjorsdeBruin 26:088e397ec26f 494 if (CurrentSubstate == mvc_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 495 //ledwhite();
SjorsdeBruin 26:088e397ec26f 496 pc.printf("Initiating mvc_biceps_leg\n\r");
SjorsdeBruin 26:088e397ec26f 497 }
SjorsdeBruin 26:088e397ec26f 498 }
Hendrikvg 21:394a7a1deb73 499 }
Hendrikvg 21:394a7a1deb73 500
Hendrikvg 21:394a7a1deb73 501 void while_start()
Hendrikvg 21:394a7a1deb73 502 {
Hendrikvg 21:394a7a1deb73 503 // Do startup stuff
Hendrikvg 21:394a7a1deb73 504 CurrentState = motor_calibration;
Hendrikvg 21:394a7a1deb73 505 StateChanged = true;
Hendrikvg 21:394a7a1deb73 506 }
Hendrikvg 21:394a7a1deb73 507
Hendrikvg 21:394a7a1deb73 508 void while_motor_calibration()
Hendrikvg 21:394a7a1deb73 509 {
SjorsdeBruin 29:5a846abba59e 510
Hendrikvg 21:394a7a1deb73 511 // Do motor calibration stuff
SjorsdeBruin 29:5a846abba59e 512
Hendrikvg 24:a9ec9b836fd9 513 if (pressed_1) { // bool aanmaken voor demo (switch oid aanmaken)
Hendrikvg 21:394a7a1deb73 514 CurrentState = demo_mode;
Hendrikvg 21:394a7a1deb73 515 StateChanged = true;
Hendrikvg 21:394a7a1deb73 516 }
Hendrikvg 24:a9ec9b836fd9 517 if (pressed_2) { // bool aanmaken voor EMG (switch oid aanmaken)
Hendrikvg 21:394a7a1deb73 518 CurrentState = emg_calibration;
Hendrikvg 21:394a7a1deb73 519 StateChanged = true;
Hendrikvg 21:394a7a1deb73 520 }
Hendrikvg 21:394a7a1deb73 521 }
Hendrikvg 21:394a7a1deb73 522
Hendrikvg 21:394a7a1deb73 523 void while_demo_mode()
Hendrikvg 21:394a7a1deb73 524 {
Hendrikvg 21:394a7a1deb73 525 // Do demo mode stuff
SjorsdeBruin 33:1da600f06862 526 treshold_bl = 1.1f;
SjorsdeBruin 33:1da600f06862 527 treshold_br = 1.1f;
SjorsdeBruin 33:1da600f06862 528 treshold_leg = 1.1f;
SjorsdeBruin 26:088e397ec26f 529 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 33:1da600f06862 530 CurrentState = vertical_movement;
Hendrikvg 21:394a7a1deb73 531 StateChanged = true;
Hendrikvg 21:394a7a1deb73 532 }
Hendrikvg 21:394a7a1deb73 533 }
Hendrikvg 21:394a7a1deb73 534
Hendrikvg 21:394a7a1deb73 535 void while_emg_calibration()
Hendrikvg 21:394a7a1deb73 536 {
Hendrikvg 21:394a7a1deb73 537 // Do emg calibration stuff
Hendrikvg 24:a9ec9b836fd9 538 switch (CurrentSubstate) {
Hendrikvg 24:a9ec9b836fd9 539 case rest_biceps_left:
Hendrikvg 24:a9ec9b836fd9 540 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 541 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 542 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 543 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 544 n = 0;
SjorsdeBruin 26:088e397ec26f 545 sum = 0;
Hendrikvg 24:a9ec9b836fd9 546 rest();
Hendrikvg 24:a9ec9b836fd9 547 }
Hendrikvg 24:a9ec9b836fd9 548 break;
Hendrikvg 24:a9ec9b836fd9 549 case mvc_biceps_left:
Hendrikvg 24:a9ec9b836fd9 550 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 551 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 552 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 553 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 554 n = 0;
Hendrikvg 24:a9ec9b836fd9 555 mvc();
Hendrikvg 24:a9ec9b836fd9 556 }
Hendrikvg 24:a9ec9b836fd9 557 break;
Hendrikvg 24:a9ec9b836fd9 558 case rest_biceps_right:
Hendrikvg 24:a9ec9b836fd9 559 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 560 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 561 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 562 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 563 n = 0;
SjorsdeBruin 26:088e397ec26f 564 sum = 0;
Hendrikvg 24:a9ec9b836fd9 565 rest();
Hendrikvg 24:a9ec9b836fd9 566 }
Hendrikvg 24:a9ec9b836fd9 567 break;
Hendrikvg 24:a9ec9b836fd9 568 case mvc_biceps_right:
Hendrikvg 24:a9ec9b836fd9 569 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 570 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 571 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 572 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 573 n = 0;
Hendrikvg 24:a9ec9b836fd9 574 mvc();
Hendrikvg 24:a9ec9b836fd9 575 }
Hendrikvg 24:a9ec9b836fd9 576 break;
Hendrikvg 24:a9ec9b836fd9 577 case rest_biceps_leg:
Hendrikvg 24:a9ec9b836fd9 578 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 579 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 580 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 581 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 582 n = 0;
SjorsdeBruin 26:088e397ec26f 583 sum = 0;
Hendrikvg 24:a9ec9b836fd9 584 rest();
Hendrikvg 24:a9ec9b836fd9 585 }
Hendrikvg 24:a9ec9b836fd9 586 break;
Hendrikvg 24:a9ec9b836fd9 587 case mvc_biceps_leg:
Hendrikvg 24:a9ec9b836fd9 588 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 589 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 590 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 591 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 592 n = 0;
Hendrikvg 24:a9ec9b836fd9 593 mvc();
Hendrikvg 24:a9ec9b836fd9 594 }
Hendrikvg 24:a9ec9b836fd9 595 break;
Hendrikvg 24:a9ec9b836fd9 596 default:
Hendrikvg 24:a9ec9b836fd9 597 pc.printf("Unknown or unimplemented state reached!\n\r");
Hendrikvg 21:394a7a1deb73 598 }
Hendrikvg 21:394a7a1deb73 599 }
Hendrikvg 21:394a7a1deb73 600
Hendrikvg 21:394a7a1deb73 601 void while_vertical_movement()
Hendrikvg 21:394a7a1deb73 602 {
Hendrikvg 21:394a7a1deb73 603 // Do vertical movement stuff
sembert 35:ab9b1c9b6d08 604 //theta_ref1 = 0.35f*(0.8f+sin(2*pi*sinus_time.read()*0.1f));
sembert 35:ab9b1c9b6d08 605 theta_ref1 = 0.35f;
sembert 34:89a424fd37ce 606 MotorControl();
SjorsdeBruin 28:8c90a46b613e 607 if ((pressed_1) || (pressed_2) || (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))) { // EMG gebaseerde threshold aanmaken
Hendrikvg 21:394a7a1deb73 608 CurrentState = horizontal_movement;
SjorsdeBruin 29:5a846abba59e 609 StateChanged = true;
SjorsdeBruin 32:7355524d862f 610 }
SjorsdeBruin 32:7355524d862f 611 }
SjorsdeBruin 31:465a6e1e1db6 612
Hendrikvg 17:cacf9e75eda7 613
Hendrikvg 21:394a7a1deb73 614 void while_horizontal_movement()
Hendrikvg 21:394a7a1deb73 615 {
Hendrikvg 21:394a7a1deb73 616 // Do horizontal movement stuff
sembert 35:ab9b1c9b6d08 617 theta_ref1 = 0.3f*(0.8f+sin(2*pi*sinus_time.read()*0.1f));
sembert 35:ab9b1c9b6d08 618 theta_ref2 = 0.3f*(1.0f+sin(2*pi*sinus_time.read()*0.1f));
sembert 35:ab9b1c9b6d08 619 MotorControl();
sembert 34:89a424fd37ce 620 if ((pressed_1) || (pressed_2) || (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))) { // EMG gebaseerde threshold aanmaken
Hendrikvg 21:394a7a1deb73 621 CurrentState = vertical_movement;
Hendrikvg 21:394a7a1deb73 622 StateChanged = true;
Hendrikvg 21:394a7a1deb73 623 }
SjorsdeBruin 29:5a846abba59e 624 }
SjorsdeBruin 29:5a846abba59e 625
Hendrikvg 21:394a7a1deb73 626
Hendrikvg 21:394a7a1deb73 627 void StateTransition()
Hendrikvg 21:394a7a1deb73 628 {
Hendrikvg 24:a9ec9b836fd9 629 if (StateChanged) {
SjorsdeBruin 26:088e397ec26f 630 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 631 pressed_2 = false;
Hendrikvg 24:a9ec9b836fd9 632 if (CurrentState == start) {
Hendrikvg 21:394a7a1deb73 633 pc.printf("Initiating start.\n\r");
Hendrikvg 21:394a7a1deb73 634 }
Hendrikvg 24:a9ec9b836fd9 635 if (CurrentState == motor_calibration) {
Hendrikvg 21:394a7a1deb73 636 pc.printf("Initiating motor_calibration.\n\r");
Hendrikvg 21:394a7a1deb73 637 }
Hendrikvg 24:a9ec9b836fd9 638 if (CurrentState == demo_mode) {
Hendrikvg 21:394a7a1deb73 639 pc.printf("Initiating demo_mode.\n\r");
Hendrikvg 21:394a7a1deb73 640 }
Hendrikvg 24:a9ec9b836fd9 641 if (CurrentState == emg_calibration) {
Hendrikvg 21:394a7a1deb73 642 pc.printf("Initiating emg_calibration.\n\r");
Hendrikvg 21:394a7a1deb73 643 }
Hendrikvg 24:a9ec9b836fd9 644 if (CurrentState == vertical_movement) {
Hendrikvg 21:394a7a1deb73 645 pc.printf("Initiating vertical_movement.\n\r");
Hendrikvg 21:394a7a1deb73 646 }
Hendrikvg 24:a9ec9b836fd9 647 if (CurrentState == horizontal_movement) {
Hendrikvg 21:394a7a1deb73 648 pc.printf("Initiating horizontal_movement.\n\r");
Hendrikvg 21:394a7a1deb73 649 }
Hendrikvg 21:394a7a1deb73 650 StateChanged = false;
Hendrikvg 21:394a7a1deb73 651 }
Hendrikvg 21:394a7a1deb73 652 }
Hendrikvg 21:394a7a1deb73 653
Hendrikvg 21:394a7a1deb73 654 void StateMachine()
Hendrikvg 21:394a7a1deb73 655 {
Hendrikvg 24:a9ec9b836fd9 656 switch(CurrentState) {
Hendrikvg 21:394a7a1deb73 657 case start:
Hendrikvg 21:394a7a1deb73 658 StateTransition();
Hendrikvg 21:394a7a1deb73 659 while_start();
Hendrikvg 21:394a7a1deb73 660 break;
Hendrikvg 21:394a7a1deb73 661 case motor_calibration:
Hendrikvg 21:394a7a1deb73 662 StateTransition();
Hendrikvg 21:394a7a1deb73 663 while_motor_calibration();
Hendrikvg 21:394a7a1deb73 664 break;
Hendrikvg 21:394a7a1deb73 665 case demo_mode:
Hendrikvg 21:394a7a1deb73 666 StateTransition();
Hendrikvg 21:394a7a1deb73 667 while_demo_mode();
Hendrikvg 21:394a7a1deb73 668 break;
Hendrikvg 21:394a7a1deb73 669 case emg_calibration:
Hendrikvg 21:394a7a1deb73 670 StateTransition();
Hendrikvg 21:394a7a1deb73 671 while_emg_calibration();
Hendrikvg 21:394a7a1deb73 672 break;
Hendrikvg 21:394a7a1deb73 673 case vertical_movement:
Hendrikvg 21:394a7a1deb73 674 StateTransition();
Hendrikvg 21:394a7a1deb73 675 while_vertical_movement();
Hendrikvg 21:394a7a1deb73 676 break;
Hendrikvg 21:394a7a1deb73 677 case horizontal_movement:
Hendrikvg 21:394a7a1deb73 678 StateTransition();
Hendrikvg 21:394a7a1deb73 679 while_horizontal_movement();
Hendrikvg 21:394a7a1deb73 680 break;
Hendrikvg 21:394a7a1deb73 681 default:
Hendrikvg 21:394a7a1deb73 682 pc.printf("Unknown or unimplemented state reached!\n\r");
Hendrikvg 21:394a7a1deb73 683 }
Hendrikvg 21:394a7a1deb73 684 }
Hendrikvg 21:394a7a1deb73 685
Hendrikvg 15:80b3ac2b8448 686 // main
Hendrikvg 24:a9ec9b836fd9 687 int main()
Hendrikvg 24:a9ec9b836fd9 688 {
RobertoO 0:67c50348f842 689 pc.baud(115200);
Hendrikvg 17:cacf9e75eda7 690 pc.printf("Hello World!\n\r");
SjorsdeBruin 26:088e397ec26f 691 ledoff();
Hendrikvg 21:394a7a1deb73 692 button_1.fall(go_next_1);
Hendrikvg 21:394a7a1deb73 693 button_2.fall(go_next_2);
sembert 34:89a424fd37ce 694 sinus_time.start();
sembert 34:89a424fd37ce 695 PWM_motor_1.period_ms(1.0f/16.0f);
sembert 34:89a424fd37ce 696 PWM_motor_2.period_ms(1.0f/16.0f);
sembert 34:89a424fd37ce 697 //motor_control.attach(&MotorControl, Ts);
SjorsdeBruin 27:d37b3a0e0f2b 698 write_scope.attach(&WriteScope, 0.01);
sembert 35:ab9b1c9b6d08 699 TickerStateMachine.attach(&StateMachine,Ts);
Hendrikvg 21:394a7a1deb73 700 while(true) {
sembert 34:89a424fd37ce 701 return 0;
Hendrikvg 21:394a7a1deb73 702 }
SjorsdeBruin 26:088e397ec26f 703 }