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?
User | Revision | Line number | New 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 | } |