juijiu
Dependencies: HIDScope QEI biquadFilter mbed
Fork of MotorArchitecture1-11 by
main.cpp@3:055eb9f256fc, 2018-10-26 (annotated)
- Committer:
- WouterJS
- Date:
- Fri Oct 26 11:46:25 2018 +0000
- Revision:
- 3:055eb9f256fc
- Parent:
- 2:fa90eaa14f99
- Child:
- 4:34ad002cb646
for alibus;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
WouterJS | 0:3710031b2621 | 1 | #include "mbed.h" |
WouterJS | 0:3710031b2621 | 2 | #include "BiQuad.h" |
WouterJS | 0:3710031b2621 | 3 | #include "HIDScope.h" |
WouterJS | 1:a9c933f1dc71 | 4 | #include <stdio.h> |
WouterJS | 1:a9c933f1dc71 | 5 | #include <math.h> |
WouterJS | 1:a9c933f1dc71 | 6 | #include "QEI.h" |
WouterJS | 1:a9c933f1dc71 | 7 | |
WouterJS | 1:a9c933f1dc71 | 8 | |
WouterJS | 1:a9c933f1dc71 | 9 | Serial pc(USBTX,USBRX); |
WouterJS | 1:a9c933f1dc71 | 10 | Timer timer; |
WouterJS | 1:a9c933f1dc71 | 11 | float Ts = 0.002; |
WouterJS | 1:a9c933f1dc71 | 12 | int sensor_sensitivity = 32; |
WouterJS | 1:a9c933f1dc71 | 13 | int gear_ratio = 131; |
WouterJS | 1:a9c933f1dc71 | 14 | float full_ratio = gear_ratio*sensor_sensitivity*4; |
WouterJS | 1:a9c933f1dc71 | 15 | |
WouterJS | 1:a9c933f1dc71 | 16 | QEI Encoder1(D10,D11,NC,sensor_sensitivity); //First one is B, Second one is A |
WouterJS | 1:a9c933f1dc71 | 17 | QEI Encoder2(D12,D13,NC,sensor_sensitivity); // |
WouterJS | 0:3710031b2621 | 18 | |
WouterJS | 1:a9c933f1dc71 | 19 | int counts_m1 = 0; |
WouterJS | 1:a9c933f1dc71 | 20 | int counts_m2 = 0; |
WouterJS | 1:a9c933f1dc71 | 21 | int counts_m1_prev = 0; |
WouterJS | 1:a9c933f1dc71 | 22 | int counts_m2_prev = 0; |
WouterJS | 1:a9c933f1dc71 | 23 | float deg_m1 = 0; |
WouterJS | 1:a9c933f1dc71 | 24 | float deg_m2 = 0; |
WouterJS | 1:a9c933f1dc71 | 25 | |
WouterJS | 1:a9c933f1dc71 | 26 | //Vector2d twist(0,0); |
WouterJS | 1:a9c933f1dc71 | 27 | //Matrix2f jacobian(0, 0, 0, 0), inv_jacobian(0, 0, 0, 0); |
WouterJS | 0:3710031b2621 | 28 | |
WouterJS | 0:3710031b2621 | 29 | DigitalOut motor1_direction(D4);// draairichting motor 1 (1 is CW encoder als je daar op kijkt en CW shaft als je daar op kijkt) |
WouterJS | 0:3710031b2621 | 30 | PwmOut motor1_speed_control(D5);//aanstuursnelheid motor 1 |
WouterJS | 1:a9c933f1dc71 | 31 | PwmOut motor2_speed_control(D6);//aanstuursnelheid motor 2 |
WouterJS | 0:3710031b2621 | 32 | DigitalOut motor2_direction(D7);// draairichting motor 2 (1 is CW encoder als je daar op kijkt en CW shaft als je daar op kijkt) |
WouterJS | 1:a9c933f1dc71 | 33 | |
WouterJS | 1:a9c933f1dc71 | 34 | enum States {failure, waiting, calib_motor, calib_emg, operational, demo}; |
WouterJS | 0:3710031b2621 | 35 | enum Operations {rest, forward, backward, up, down}; |
WouterJS | 0:3710031b2621 | 36 | |
WouterJS | 1:a9c933f1dc71 | 37 | States current_state = calib_motor; |
WouterJS | 0:3710031b2621 | 38 | Operations movement = rest; |
WouterJS | 0:3710031b2621 | 39 | |
WouterJS | 1:a9c933f1dc71 | 40 | float max1 = 0; //initial threshold value for emg signals, changes during calibration left arm |
WouterJS | 1:a9c933f1dc71 | 41 | float max2 = 0; // right arm |
WouterJS | 1:a9c933f1dc71 | 42 | float threshold1; |
WouterJS | 1:a9c933f1dc71 | 43 | float threshold2; |
WouterJS | 1:a9c933f1dc71 | 44 | float thresholdtime = 1.0; // time waiting before switching modes |
WouterJS | 1:a9c933f1dc71 | 45 | |
WouterJS | 1:a9c933f1dc71 | 46 | Ticker loop_timer; |
WouterJS | 0:3710031b2621 | 47 | Ticker sample_timer; |
WouterJS | 1:a9c933f1dc71 | 48 | Ticker sample_timer2; |
WouterJS | 2:fa90eaa14f99 | 49 | HIDScope scope(5); |
WouterJS | 0:3710031b2621 | 50 | |
WouterJS | 0:3710031b2621 | 51 | AnalogIn raw_emg1_input(A0);//input for first emg signal 1, for the modes |
WouterJS | 0:3710031b2621 | 52 | AnalogIn raw_emg2_input(A1);//input for first emg signal 2, for the strength |
WouterJS | 0:3710031b2621 | 53 | |
WouterJS | 1:a9c933f1dc71 | 54 | volatile float emg1_input; |
WouterJS | 1:a9c933f1dc71 | 55 | volatile float emg2_input; |
WouterJS | 1:a9c933f1dc71 | 56 | |
WouterJS | 0:3710031b2621 | 57 | volatile float raw_filteredsignal1;//the first filtered emg signal 1 |
WouterJS | 0:3710031b2621 | 58 | volatile float raw_filteredsignal2;//the first filtered emg signal 2 |
WouterJS | 0:3710031b2621 | 59 | |
WouterJS | 0:3710031b2621 | 60 | volatile float filteredsignal1;//the first filtered emg signal 1 |
WouterJS | 0:3710031b2621 | 61 | volatile float filteredsignal2;//the first filtered emg signal 2 |
WouterJS | 0:3710031b2621 | 62 | |
WouterJS | 0:3710031b2621 | 63 | bool state_changed = false; |
WouterJS | 2:fa90eaa14f99 | 64 | |
WouterJS | 0:3710031b2621 | 65 | void filterall() |
WouterJS | 0:3710031b2621 | 66 | { |
WouterJS | 0:3710031b2621 | 67 | //Highpass Biquad 5 Hz |
WouterJS | 1:a9c933f1dc71 | 68 | static BiQuad HighPass1(0.95653708, -1.91307417, 0.95653708, -1.91118480, 0.91496354); |
WouterJS | 2:fa90eaa14f99 | 69 | float high1 = HighPass1.step(emg1_input); |
WouterJS | 1:a9c933f1dc71 | 70 | static BiQuad HighPass2(0.95653708, -1.91307417, 0.95653708, -1.91118480, 0.91496354); |
WouterJS | 1:a9c933f1dc71 | 71 | float high2 = HighPass2.step(emg2_input); |
WouterJS | 0:3710031b2621 | 72 | // Rectify the signal(absolute value) |
WouterJS | 2:fa90eaa14f99 | 73 | float abs1 = fabs(high1); |
WouterJS | 0:3710031b2621 | 74 | float abs2 = fabs(high2); |
WouterJS | 0:3710031b2621 | 75 | //Lowpass Biquad 10 Hz |
WouterJS | 1:a9c933f1dc71 | 76 | static BiQuad LowPass1(0.00362164, 0.00724327, 0.00362164, -1.82267251, 0.83715906); |
WouterJS | 2:fa90eaa14f99 | 77 | float low1 = LowPass1.step(abs1); |
WouterJS | 1:a9c933f1dc71 | 78 | static BiQuad LowPass2(0.00362164, 0.00724327, 0.00362164, -1.82267251, 0.83715906); |
WouterJS | 1:a9c933f1dc71 | 79 | float low2 = LowPass2.step(abs2); |
WouterJS | 0:3710031b2621 | 80 | |
WouterJS | 0:3710031b2621 | 81 | raw_filteredsignal1 = low1; |
WouterJS | 0:3710031b2621 | 82 | raw_filteredsignal2 = low2; |
WouterJS | 0:3710031b2621 | 83 | |
WouterJS | 1:a9c933f1dc71 | 84 | |
WouterJS | 0:3710031b2621 | 85 | } |
WouterJS | 0:3710031b2621 | 86 | |
WouterJS | 1:a9c933f1dc71 | 87 | void measureall(){ // changes all variables according in sync with the rest of the code |
WouterJS | 1:a9c933f1dc71 | 88 | |
WouterJS | 1:a9c933f1dc71 | 89 | emg1_input = raw_emg1_input.read(); |
WouterJS | 1:a9c933f1dc71 | 90 | emg2_input = raw_emg2_input.read(); |
WouterJS | 1:a9c933f1dc71 | 91 | |
WouterJS | 1:a9c933f1dc71 | 92 | filteredsignal1 = raw_filteredsignal1; |
WouterJS | 1:a9c933f1dc71 | 93 | filteredsignal2 = raw_filteredsignal2; |
WouterJS | 1:a9c933f1dc71 | 94 | |
WouterJS | 1:a9c933f1dc71 | 95 | //Reading of motor |
WouterJS | 1:a9c933f1dc71 | 96 | |
WouterJS | 1:a9c933f1dc71 | 97 | counts_m1 = Encoder1.getPulses() - counts_m1_prev; |
WouterJS | 1:a9c933f1dc71 | 98 | counts_m2 = Encoder1.getPulses() - counts_m2_prev; |
WouterJS | 1:a9c933f1dc71 | 99 | deg_m1 = deg_m1 + counts_m1*(360/(full_ratio)); |
WouterJS | 1:a9c933f1dc71 | 100 | deg_m2 = deg_m2 + counts_m2*(360/(full_ratio)); |
WouterJS | 1:a9c933f1dc71 | 101 | counts_m1_prev = Encoder1.getPulses(); |
WouterJS | 1:a9c933f1dc71 | 102 | counts_m2_prev = Encoder2.getPulses(); |
WouterJS | 1:a9c933f1dc71 | 103 | |
WouterJS | 1:a9c933f1dc71 | 104 | |
WouterJS | 1:a9c933f1dc71 | 105 | } |
WouterJS | 1:a9c933f1dc71 | 106 | |
WouterJS | 0:3710031b2621 | 107 | void scopedata() |
WouterJS | 0:3710031b2621 | 108 | { |
WouterJS | 0:3710031b2621 | 109 | scope.set(0,emg1_input); // |
WouterJS | 2:fa90eaa14f99 | 110 | scope.set(1,emg1_input); // |
WouterJS | 2:fa90eaa14f99 | 111 | scope.set(2,emg1_input); // |
WouterJS | 2:fa90eaa14f99 | 112 | scope.set(3,emg1_input);// |
WouterJS | 1:a9c933f1dc71 | 113 | scope.set(4,filteredsignal1); |
WouterJS | 0:3710031b2621 | 114 | scope.send(); // send info to HIDScope server |
WouterJS | 0:3710031b2621 | 115 | } |
WouterJS | 0:3710031b2621 | 116 | |
WouterJS | 1:a9c933f1dc71 | 117 | |
WouterJS | 1:a9c933f1dc71 | 118 | //////////////////// MOVEMENT STATES |
WouterJS | 1:a9c933f1dc71 | 119 | void do_forward(){ |
WouterJS | 1:a9c933f1dc71 | 120 | |
WouterJS | 1:a9c933f1dc71 | 121 | //twist << 1, 0; |
WouterJS | 1:a9c933f1dc71 | 122 | //Vector2d twistf(0,0); |
WouterJS | 1:a9c933f1dc71 | 123 | //twistf << 1, 0; |
WouterJS | 1:a9c933f1dc71 | 124 | if (filteredsignal2 > threshold2){ |
WouterJS | 1:a9c933f1dc71 | 125 | //double abs_sig = (filteredsignal2 - (0.5*max2))/(0.5*max2); |
WouterJS | 1:a9c933f1dc71 | 126 | |
WouterJS | 1:a9c933f1dc71 | 127 | //twist = twistf * abs_sig; |
WouterJS | 1:a9c933f1dc71 | 128 | |
WouterJS | 1:a9c933f1dc71 | 129 | } |
WouterJS | 1:a9c933f1dc71 | 130 | |
WouterJS | 1:a9c933f1dc71 | 131 | |
WouterJS | 1:a9c933f1dc71 | 132 | if( timer.read() > thresholdtime && filteredsignal1 > threshold1) |
WouterJS | 1:a9c933f1dc71 | 133 | { |
WouterJS | 1:a9c933f1dc71 | 134 | movement = backward; |
WouterJS | 1:a9c933f1dc71 | 135 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 136 | } |
WouterJS | 1:a9c933f1dc71 | 137 | } |
WouterJS | 1:a9c933f1dc71 | 138 | |
WouterJS | 1:a9c933f1dc71 | 139 | void do_backward(){ |
WouterJS | 1:a9c933f1dc71 | 140 | |
WouterJS | 1:a9c933f1dc71 | 141 | |
WouterJS | 1:a9c933f1dc71 | 142 | |
WouterJS | 1:a9c933f1dc71 | 143 | if( timer.read() > thresholdtime && filteredsignal1 > threshold1) |
WouterJS | 1:a9c933f1dc71 | 144 | { |
WouterJS | 1:a9c933f1dc71 | 145 | movement = up; |
WouterJS | 1:a9c933f1dc71 | 146 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 147 | } |
WouterJS | 1:a9c933f1dc71 | 148 | } |
WouterJS | 1:a9c933f1dc71 | 149 | |
WouterJS | 1:a9c933f1dc71 | 150 | void do_up(){ |
WouterJS | 1:a9c933f1dc71 | 151 | |
WouterJS | 1:a9c933f1dc71 | 152 | //Code for moving up |
WouterJS | 1:a9c933f1dc71 | 153 | |
WouterJS | 1:a9c933f1dc71 | 154 | if( timer.read() > thresholdtime && filteredsignal1 > threshold1) |
WouterJS | 1:a9c933f1dc71 | 155 | { |
WouterJS | 1:a9c933f1dc71 | 156 | movement = down; |
WouterJS | 1:a9c933f1dc71 | 157 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 158 | } |
WouterJS | 1:a9c933f1dc71 | 159 | } |
WouterJS | 1:a9c933f1dc71 | 160 | void do_down(){ |
WouterJS | 1:a9c933f1dc71 | 161 | |
WouterJS | 1:a9c933f1dc71 | 162 | //Code for moving down |
WouterJS | 1:a9c933f1dc71 | 163 | |
WouterJS | 1:a9c933f1dc71 | 164 | if( timer.read() > thresholdtime && filteredsignal1 > threshold1) |
WouterJS | 1:a9c933f1dc71 | 165 | { |
WouterJS | 1:a9c933f1dc71 | 166 | movement = rest; |
WouterJS | 1:a9c933f1dc71 | 167 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 168 | |
WouterJS | 1:a9c933f1dc71 | 169 | } |
WouterJS | 1:a9c933f1dc71 | 170 | } |
WouterJS | 1:a9c933f1dc71 | 171 | void do_wait(){ |
WouterJS | 1:a9c933f1dc71 | 172 | |
WouterJS | 1:a9c933f1dc71 | 173 | if ( filteredsignal2 > threshold2) {// |
WouterJS | 1:a9c933f1dc71 | 174 | current_state = waiting; |
WouterJS | 1:a9c933f1dc71 | 175 | state_changed = true; |
WouterJS | 1:a9c933f1dc71 | 176 | } |
WouterJS | 1:a9c933f1dc71 | 177 | if( timer.read() > thresholdtime && filteredsignal1 > threshold1) |
WouterJS | 1:a9c933f1dc71 | 178 | { |
WouterJS | 1:a9c933f1dc71 | 179 | movement = forward; |
WouterJS | 1:a9c933f1dc71 | 180 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 181 | } |
WouterJS | 1:a9c933f1dc71 | 182 | } |
WouterJS | 1:a9c933f1dc71 | 183 | ///////////END MOVEMENT STATES///////////////////////// |
WouterJS | 1:a9c933f1dc71 | 184 | ///////////ROBOT ARM STATES /////////////////////////// |
WouterJS | 1:a9c933f1dc71 | 185 | |
WouterJS | 1:a9c933f1dc71 | 186 | void do_state_failure(){ |
WouterJS | 1:a9c933f1dc71 | 187 | |
WouterJS | 1:a9c933f1dc71 | 188 | } |
WouterJS | 1:a9c933f1dc71 | 189 | bool on = true; |
WouterJS | 1:a9c933f1dc71 | 190 | void do_state_calib_motor(){ |
WouterJS | 1:a9c933f1dc71 | 191 | if (state_changed==true) { |
WouterJS | 1:a9c933f1dc71 | 192 | state_changed = false; |
WouterJS | 1:a9c933f1dc71 | 193 | } |
WouterJS | 1:a9c933f1dc71 | 194 | |
WouterJS | 1:a9c933f1dc71 | 195 | |
WouterJS | 1:a9c933f1dc71 | 196 | if(on){ |
WouterJS | 1:a9c933f1dc71 | 197 | timer.reset(); |
WouterJS | 2:fa90eaa14f99 | 198 | |
WouterJS | 1:a9c933f1dc71 | 199 | on = false; |
WouterJS | 1:a9c933f1dc71 | 200 | } |
WouterJS | 1:a9c933f1dc71 | 201 | |
WouterJS | 1:a9c933f1dc71 | 202 | int deriv1 = fabs((counts_m1 - counts_m1_prev)/Ts); |
WouterJS | 1:a9c933f1dc71 | 203 | int deriv2 = fabs((counts_m2 - counts_m2_prev)/Ts); |
WouterJS | 1:a9c933f1dc71 | 204 | |
WouterJS | 1:a9c933f1dc71 | 205 | |
WouterJS | 1:a9c933f1dc71 | 206 | if ( timer.read() > 5 && deriv1 < 1 && deriv2 < 1) { |
WouterJS | 1:a9c933f1dc71 | 207 | motor1_speed_control = 0; |
WouterJS | 1:a9c933f1dc71 | 208 | motor2_speed_control = 0; |
WouterJS | 1:a9c933f1dc71 | 209 | current_state = calib_emg; |
WouterJS | 1:a9c933f1dc71 | 210 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 211 | state_changed = true; |
WouterJS | 1:a9c933f1dc71 | 212 | } |
WouterJS | 1:a9c933f1dc71 | 213 | } |
WouterJS | 1:a9c933f1dc71 | 214 | void do_state_calib_emg(){ |
WouterJS | 1:a9c933f1dc71 | 215 | if (state_changed==true) { |
WouterJS | 1:a9c933f1dc71 | 216 | state_changed = false; |
WouterJS | 1:a9c933f1dc71 | 217 | } |
WouterJS | 1:a9c933f1dc71 | 218 | |
WouterJS | 1:a9c933f1dc71 | 219 | if(filteredsignal1 > max1){//calibrate to a new maximum |
WouterJS | 1:a9c933f1dc71 | 220 | max1 = filteredsignal1; |
WouterJS | 1:a9c933f1dc71 | 221 | threshold1 = 0.5*max1; |
WouterJS | 1:a9c933f1dc71 | 222 | } |
WouterJS | 1:a9c933f1dc71 | 223 | if(filteredsignal2 > max2){//calibrate to a new maximum |
WouterJS | 1:a9c933f1dc71 | 224 | max2 = filteredsignal2; |
WouterJS | 1:a9c933f1dc71 | 225 | threshold2 = 0.5 * max2; |
WouterJS | 1:a9c933f1dc71 | 226 | } |
WouterJS | 1:a9c933f1dc71 | 227 | |
WouterJS | 1:a9c933f1dc71 | 228 | if (timer.read() > 10 && filteredsignal1 > threshold1 && filteredsignal2 > threshold2) { |
WouterJS | 1:a9c933f1dc71 | 229 | current_state = operational; |
WouterJS | 1:a9c933f1dc71 | 230 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 231 | state_changed = true; |
WouterJS | 1:a9c933f1dc71 | 232 | } |
WouterJS | 1:a9c933f1dc71 | 233 | } |
WouterJS | 1:a9c933f1dc71 | 234 | |
WouterJS | 1:a9c933f1dc71 | 235 | void do_state_operational(){ |
WouterJS | 1:a9c933f1dc71 | 236 | if (state_changed==true) { |
WouterJS | 1:a9c933f1dc71 | 237 | state_changed = false; |
WouterJS | 1:a9c933f1dc71 | 238 | } |
WouterJS | 1:a9c933f1dc71 | 239 | |
WouterJS | 1:a9c933f1dc71 | 240 | switch(movement) {// a separate function for what happens in each state |
WouterJS | 1:a9c933f1dc71 | 241 | case rest: |
WouterJS | 1:a9c933f1dc71 | 242 | do_wait(); |
WouterJS | 1:a9c933f1dc71 | 243 | break; |
WouterJS | 1:a9c933f1dc71 | 244 | case forward: |
WouterJS | 1:a9c933f1dc71 | 245 | do_forward(); |
WouterJS | 1:a9c933f1dc71 | 246 | |
WouterJS | 1:a9c933f1dc71 | 247 | break; |
WouterJS | 1:a9c933f1dc71 | 248 | case backward: |
WouterJS | 1:a9c933f1dc71 | 249 | do_backward(); |
WouterJS | 1:a9c933f1dc71 | 250 | |
WouterJS | 1:a9c933f1dc71 | 251 | break; |
WouterJS | 1:a9c933f1dc71 | 252 | case up: |
WouterJS | 1:a9c933f1dc71 | 253 | do_up(); |
WouterJS | 1:a9c933f1dc71 | 254 | break; |
WouterJS | 1:a9c933f1dc71 | 255 | case down: |
WouterJS | 1:a9c933f1dc71 | 256 | do_down(); |
WouterJS | 1:a9c933f1dc71 | 257 | break; |
WouterJS | 1:a9c933f1dc71 | 258 | } |
WouterJS | 1:a9c933f1dc71 | 259 | if (movement == rest && filteredsignal2 > threshold2) { |
WouterJS | 1:a9c933f1dc71 | 260 | current_state = waiting; |
WouterJS | 1:a9c933f1dc71 | 261 | state_changed = true; |
WouterJS | 1:a9c933f1dc71 | 262 | } |
WouterJS | 1:a9c933f1dc71 | 263 | |
WouterJS | 1:a9c933f1dc71 | 264 | } |
WouterJS | 1:a9c933f1dc71 | 265 | |
WouterJS | 1:a9c933f1dc71 | 266 | void do_state_waiting(){ |
WouterJS | 1:a9c933f1dc71 | 267 | if (state_changed==true) { |
WouterJS | 1:a9c933f1dc71 | 268 | state_changed = false; |
WouterJS | 1:a9c933f1dc71 | 269 | } |
WouterJS | 1:a9c933f1dc71 | 270 | |
WouterJS | 1:a9c933f1dc71 | 271 | if (filteredsignal1 > threshold1 && filteredsignal2 > threshold2) { |
WouterJS | 1:a9c933f1dc71 | 272 | current_state = operational; |
WouterJS | 1:a9c933f1dc71 | 273 | state_changed = true; |
WouterJS | 1:a9c933f1dc71 | 274 | } |
WouterJS | 1:a9c933f1dc71 | 275 | } |
WouterJS | 1:a9c933f1dc71 | 276 | //////////////// END ROBOT ARM STATES ////////////////////////////// |
WouterJS | 1:a9c933f1dc71 | 277 | |
WouterJS | 1:a9c933f1dc71 | 278 | void motor_controller(){ |
WouterJS | 1:a9c933f1dc71 | 279 | float q1; |
WouterJS | 1:a9c933f1dc71 | 280 | float q2; |
WouterJS | 1:a9c933f1dc71 | 281 | //q1 defined |
WouterJS | 1:a9c933f1dc71 | 282 | //q2 defined |
WouterJS | 1:a9c933f1dc71 | 283 | |
WouterJS | 1:a9c933f1dc71 | 284 | //float L0 = 0.1; |
WouterJS | 1:a9c933f1dc71 | 285 | //float L1 = 0.1; |
WouterJS | 1:a9c933f1dc71 | 286 | //float L2 = 0.4; |
WouterJS | 1:a9c933f1dc71 | 287 | |
WouterJS | 1:a9c933f1dc71 | 288 | //jacobian << L1, L2*sin(q1)+L1,-L0,-L0 - L2*cos(q1); |
WouterJS | 1:a9c933f1dc71 | 289 | |
WouterJS | 1:a9c933f1dc71 | 290 | //inv_jacobian = jacobian.inverse(); |
WouterJS | 1:a9c933f1dc71 | 291 | //Vector2d reference_vector = inv_jacobian*twist; |
WouterJS | 1:a9c933f1dc71 | 292 | //float ref_v1 = reference_vector(0); |
WouterJS | 1:a9c933f1dc71 | 293 | //float ref_v2 = reference_vector(1); |
WouterJS | 1:a9c933f1dc71 | 294 | |
WouterJS | 1:a9c933f1dc71 | 295 | //float ref_q1 = 0; |
WouterJS | 1:a9c933f1dc71 | 296 | //ref_q1 = ref_p1 + 0.002*ref_v1; |
WouterJS | 1:a9c933f1dc71 | 297 | // float ref_q2 = 0; |
WouterJS | 1:a9c933f1dc71 | 298 | //ref_q2 = ref_p2 + 0.002*ref_v2; |
WouterJS | 1:a9c933f1dc71 | 299 | |
WouterJS | 1:a9c933f1dc71 | 300 | |
WouterJS | 1:a9c933f1dc71 | 301 | |
WouterJS | 1:a9c933f1dc71 | 302 | } |
WouterJS | 1:a9c933f1dc71 | 303 | |
WouterJS | 1:a9c933f1dc71 | 304 | void loop_function() { //Main loop function |
WouterJS | 0:3710031b2621 | 305 | measureall(); |
WouterJS | 0:3710031b2621 | 306 | switch(current_state) { |
WouterJS | 0:3710031b2621 | 307 | case failure: |
WouterJS | 0:3710031b2621 | 308 | do_state_failure(); // a separate function for what happens in each state |
WouterJS | 0:3710031b2621 | 309 | break; |
WouterJS | 1:a9c933f1dc71 | 310 | case calib_motor: |
WouterJS | 1:a9c933f1dc71 | 311 | do_state_calib_motor(); |
WouterJS | 1:a9c933f1dc71 | 312 | break ; |
WouterJS | 0:3710031b2621 | 313 | case calib_emg: |
WouterJS | 0:3710031b2621 | 314 | do_state_calib_emg(); |
WouterJS | 0:3710031b2621 | 315 | break; |
WouterJS | 0:3710031b2621 | 316 | case operational: |
WouterJS | 0:3710031b2621 | 317 | do_state_operational(); |
WouterJS | 0:3710031b2621 | 318 | break; |
WouterJS | 1:a9c933f1dc71 | 319 | case waiting: |
WouterJS | 1:a9c933f1dc71 | 320 | do_state_waiting(); |
WouterJS | 0:3710031b2621 | 321 | break; |
WouterJS | 0:3710031b2621 | 322 | } |
WouterJS | 0:3710031b2621 | 323 | motor_controller(); |
WouterJS | 1:a9c933f1dc71 | 324 | // Outputs data to the computer |
WouterJS | 0:3710031b2621 | 325 | } |
WouterJS | 0:3710031b2621 | 326 | |
WouterJS | 0:3710031b2621 | 327 | |
WouterJS | 0:3710031b2621 | 328 | int main() |
WouterJS | 1:a9c933f1dc71 | 329 | { |
WouterJS | 1:a9c933f1dc71 | 330 | motor1_speed_control.period_us(60); //60 microseconds PWM period, 16.7 kHz |
WouterJS | 3:055eb9f256fc | 331 | |
WouterJS | 3:055eb9f256fc | 332 | motor1_direction = 1; //set motor 1 to run counterclockwise (positive) direction for calibration |
WouterJS | 3:055eb9f256fc | 333 | motor1_speed_control = 0.55;//to make sure the motor will not run at too high velocity |
WouterJS | 3:055eb9f256fc | 334 | motor2_direction = 0; // set motor 2 to run clockwise (negative) direction |
WouterJS | 3:055eb9f256fc | 335 | motor2_speed_control = 0.55; |
WouterJS | 3:055eb9f256fc | 336 | timer.start(); |
WouterJS | 3:055eb9f256fc | 337 | loop_timer.attach(&loop_function, Ts); |
WouterJS | 3:055eb9f256fc | 338 | sample_timer.attach(&scopedata, Ts); |
WouterJS | 3:055eb9f256fc | 339 | sample_timer2.attach(&filterall, Ts); |
WouterJS | 1:a9c933f1dc71 | 340 | |
WouterJS | 2:fa90eaa14f99 | 341 | while (true) { |
WouterJS | 3:055eb9f256fc | 342 | |
WouterJS | 0:3710031b2621 | 343 | } |
WouterJS | 0:3710031b2621 | 344 | } |