juijiu
Dependencies: HIDScope QEI biquadFilter mbed
Fork of MotorArchitecture1-11 by
main.cpp@8:c7d21f5f87d8, 2018-10-31 (annotated)
- Committer:
- thijslubberman
- Date:
- Wed Oct 31 09:47:09 2018 +0000
- Revision:
- 8:c7d21f5f87d8
- Parent:
- 7:db050a878cff
- Child:
- 9:4f594927cff3
31-10 morning
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 | |
thijslubberman | 7:db050a878cff | 16 | DigitalIn but1(D2); |
thijslubberman | 7:db050a878cff | 17 | |
WouterJS | 1:a9c933f1dc71 | 18 | QEI Encoder1(D10,D11,NC,sensor_sensitivity); //First one is B, Second one is A |
WouterJS | 1:a9c933f1dc71 | 19 | QEI Encoder2(D12,D13,NC,sensor_sensitivity); // |
thijslubberman | 7:db050a878cff | 20 | |
WouterJS | 4:34ad002cb646 | 21 | DigitalOut led_red(LED_RED); |
thijslubberman | 7:db050a878cff | 22 | DigitalOut led_green(LED_GREEN); |
thijslubberman | 7:db050a878cff | 23 | DigitalOut led_blue(LED_BLUE); |
thijslubberman | 7:db050a878cff | 24 | |
WouterJS | 1:a9c933f1dc71 | 25 | int counts_m1 = 0; |
WouterJS | 1:a9c933f1dc71 | 26 | int counts_m2 = 0; |
WouterJS | 1:a9c933f1dc71 | 27 | int counts_m1_prev = 0; |
WouterJS | 1:a9c933f1dc71 | 28 | int counts_m2_prev = 0; |
WouterJS | 1:a9c933f1dc71 | 29 | float deg_m1 = 0; |
WouterJS | 1:a9c933f1dc71 | 30 | float deg_m2 = 0; |
WouterJS | 1:a9c933f1dc71 | 31 | |
WouterJS | 4:34ad002cb646 | 32 | |
WouterJS | 0:3710031b2621 | 33 | |
WouterJS | 5:892531e4e015 | 34 | DigitalOut motor1_direction(D4);// draairichting motor 1 (0 is CCW ) |
WouterJS | 0:3710031b2621 | 35 | PwmOut motor1_speed_control(D5);//aanstuursnelheid motor 1 |
WouterJS | 1:a9c933f1dc71 | 36 | PwmOut motor2_speed_control(D6);//aanstuursnelheid motor 2 |
WouterJS | 5:892531e4e015 | 37 | DigitalOut motor2_direction(D7);// draairichting motor 2 (0 is CCW ) |
WouterJS | 1:a9c933f1dc71 | 38 | |
thijslubberman | 7:db050a878cff | 39 | float kp1 = 0.1; |
thijslubberman | 7:db050a878cff | 40 | float kp2 = 0.1; |
thijslubberman | 8:c7d21f5f87d8 | 41 | float ki1 = 0.01; |
thijslubberman | 8:c7d21f5f87d8 | 42 | float ki2 = 0.01; |
thijslubberman | 8:c7d21f5f87d8 | 43 | float kd1 = 0.0005; |
thijslubberman | 8:c7d21f5f87d8 | 44 | float kd2 = 0.0005; |
thijslubberman | 7:db050a878cff | 45 | float int_u1 = 0; |
thijslubberman | 7:db050a878cff | 46 | float int_u2 = 0; |
WouterJS | 4:34ad002cb646 | 47 | float u1 = 0; |
WouterJS | 4:34ad002cb646 | 48 | float u2 = 0; |
WouterJS | 4:34ad002cb646 | 49 | |
WouterJS | 4:34ad002cb646 | 50 | float ref_q1 = 0; |
WouterJS | 4:34ad002cb646 | 51 | float ref_q2 = 0; |
WouterJS | 4:34ad002cb646 | 52 | float L0 = 0.1; |
WouterJS | 4:34ad002cb646 | 53 | float L1 = 0.1; |
WouterJS | 4:34ad002cb646 | 54 | float L2 = 0.4; |
WouterJS | 4:34ad002cb646 | 55 | |
WouterJS | 4:34ad002cb646 | 56 | float ref_v1; |
WouterJS | 4:34ad002cb646 | 57 | float ref_v2; |
thijslubberman | 8:c7d21f5f87d8 | 58 | float teraterm1; |
thijslubberman | 8:c7d21f5f87d8 | 59 | float teraterm2; |
thijslubberman | 8:c7d21f5f87d8 | 60 | float error1; |
thijslubberman | 8:c7d21f5f87d8 | 61 | float error2; |
thijslubberman | 8:c7d21f5f87d8 | 62 | float filtered_d_error1; |
thijslubberman | 8:c7d21f5f87d8 | 63 | float filtered_d_error2; |
WouterJS | 4:34ad002cb646 | 64 | |
WouterJS | 4:34ad002cb646 | 65 | enum States {failure, waiting, calib_motor, homing ,calib_emg, operational, demo}; |
WouterJS | 0:3710031b2621 | 66 | enum Operations {rest, forward, backward, up, down}; |
WouterJS | 0:3710031b2621 | 67 | |
WouterJS | 1:a9c933f1dc71 | 68 | States current_state = calib_motor; |
thijslubberman | 7:db050a878cff | 69 | Operations movement = forward; |
WouterJS | 0:3710031b2621 | 70 | |
WouterJS | 1:a9c933f1dc71 | 71 | float max1 = 0; //initial threshold value for emg signals, changes during calibration left arm |
WouterJS | 1:a9c933f1dc71 | 72 | float max2 = 0; // right arm |
WouterJS | 1:a9c933f1dc71 | 73 | float threshold1; |
WouterJS | 1:a9c933f1dc71 | 74 | float threshold2; |
WouterJS | 1:a9c933f1dc71 | 75 | float thresholdtime = 1.0; // time waiting before switching modes |
WouterJS | 1:a9c933f1dc71 | 76 | |
WouterJS | 1:a9c933f1dc71 | 77 | Ticker loop_timer; |
WouterJS | 0:3710031b2621 | 78 | Ticker sample_timer; |
WouterJS | 1:a9c933f1dc71 | 79 | Ticker sample_timer2; |
thijslubberman | 7:db050a878cff | 80 | //HIDScope scope(3); |
WouterJS | 0:3710031b2621 | 81 | |
WouterJS | 0:3710031b2621 | 82 | AnalogIn raw_emg1_input(A0);//input for first emg signal 1, for the modes |
WouterJS | 0:3710031b2621 | 83 | AnalogIn raw_emg2_input(A1);//input for first emg signal 2, for the strength |
WouterJS | 0:3710031b2621 | 84 | |
WouterJS | 1:a9c933f1dc71 | 85 | volatile float emg1_input; |
WouterJS | 1:a9c933f1dc71 | 86 | volatile float emg2_input; |
WouterJS | 1:a9c933f1dc71 | 87 | |
WouterJS | 0:3710031b2621 | 88 | volatile float raw_filteredsignal1;//the first filtered emg signal 1 |
WouterJS | 0:3710031b2621 | 89 | volatile float raw_filteredsignal2;//the first filtered emg signal 2 |
WouterJS | 0:3710031b2621 | 90 | |
WouterJS | 0:3710031b2621 | 91 | volatile float filteredsignal1;//the first filtered emg signal 1 |
WouterJS | 0:3710031b2621 | 92 | volatile float filteredsignal2;//the first filtered emg signal 2 |
WouterJS | 0:3710031b2621 | 93 | |
WouterJS | 0:3710031b2621 | 94 | bool state_changed = false; |
thijslubberman | 7:db050a878cff | 95 | static BiQuad Notch1(0.9714498065192796,-1.5718388053127037,0.9714498065192796,-1.5718388053127037,0.9428996130385592); |
thijslubberman | 7:db050a878cff | 96 | static BiQuad Notch2(0.9714498065192796,-1.5718388053127037,0.9714498065192796,-1.5718388053127037,0.9428996130385592); |
thijslubberman | 7:db050a878cff | 97 | static BiQuad HighPass1(0.95653708, -1.91307417, 0.95653708, -1.91118480, 0.91496354); |
thijslubberman | 7:db050a878cff | 98 | static BiQuad HighPass2(0.95653708, -1.91307417, 0.95653708, -1.91118480, 0.91496354); |
thijslubberman | 7:db050a878cff | 99 | static BiQuad LowPass1(0.00362164, 0.00724327, 0.00362164, -1.82267251, 0.83715906); |
thijslubberman | 7:db050a878cff | 100 | static BiQuad LowPass2(0.00362164, 0.00724327, 0.00362164, -1.82267251, 0.83715906); |
thijslubberman | 8:c7d21f5f87d8 | 101 | static BiQuad LowpassFilter(0.0640,0.1279,0.0640,-1.1683,0.4241); |
WouterJS | 2:fa90eaa14f99 | 102 | |
WouterJS | 0:3710031b2621 | 103 | void filterall() |
WouterJS | 0:3710031b2621 | 104 | { |
thijslubberman | 7:db050a878cff | 105 | //Notch 50 Hz BW 6 Hz |
thijslubberman | 7:db050a878cff | 106 | float notch1 = Notch1.step(emg1_input); |
thijslubberman | 7:db050a878cff | 107 | float notch2 = Notch2.step(emg2_input); |
WouterJS | 0:3710031b2621 | 108 | //Highpass Biquad 5 Hz |
thijslubberman | 7:db050a878cff | 109 | float high1 = HighPass1.step(notch1); |
thijslubberman | 7:db050a878cff | 110 | float high2 = HighPass2.step(notch2); |
WouterJS | 0:3710031b2621 | 111 | // Rectify the signal(absolute value) |
thijslubberman | 7:db050a878cff | 112 | float abs1 = fabs(high1); |
thijslubberman | 7:db050a878cff | 113 | float abs2 = fabs(high2); |
WouterJS | 0:3710031b2621 | 114 | //Lowpass Biquad 10 Hz |
thijslubberman | 7:db050a878cff | 115 | float low1 = LowPass1.step(abs1); |
thijslubberman | 7:db050a878cff | 116 | float low2 = LowPass2.step(abs2); |
WouterJS | 0:3710031b2621 | 117 | |
WouterJS | 0:3710031b2621 | 118 | raw_filteredsignal1 = low1; |
WouterJS | 0:3710031b2621 | 119 | raw_filteredsignal2 = low2; |
WouterJS | 0:3710031b2621 | 120 | |
WouterJS | 1:a9c933f1dc71 | 121 | |
WouterJS | 0:3710031b2621 | 122 | } |
WouterJS | 0:3710031b2621 | 123 | |
WouterJS | 1:a9c933f1dc71 | 124 | void measureall(){ // changes all variables according in sync with the rest of the code |
WouterJS | 1:a9c933f1dc71 | 125 | |
WouterJS | 1:a9c933f1dc71 | 126 | emg1_input = raw_emg1_input.read(); |
WouterJS | 1:a9c933f1dc71 | 127 | emg2_input = raw_emg2_input.read(); |
WouterJS | 1:a9c933f1dc71 | 128 | |
WouterJS | 1:a9c933f1dc71 | 129 | filteredsignal1 = raw_filteredsignal1; |
WouterJS | 1:a9c933f1dc71 | 130 | filteredsignal2 = raw_filteredsignal2; |
WouterJS | 1:a9c933f1dc71 | 131 | |
WouterJS | 1:a9c933f1dc71 | 132 | //Reading of motor |
WouterJS | 1:a9c933f1dc71 | 133 | |
WouterJS | 1:a9c933f1dc71 | 134 | counts_m1 = Encoder1.getPulses() - counts_m1_prev; |
WouterJS | 6:b526cf83fd4f | 135 | counts_m2 = Encoder2.getPulses() - counts_m2_prev; |
WouterJS | 1:a9c933f1dc71 | 136 | deg_m1 = deg_m1 + counts_m1*(360/(full_ratio)); |
WouterJS | 1:a9c933f1dc71 | 137 | deg_m2 = deg_m2 + counts_m2*(360/(full_ratio)); |
WouterJS | 1:a9c933f1dc71 | 138 | counts_m1_prev = Encoder1.getPulses(); |
WouterJS | 5:892531e4e015 | 139 | counts_m2_prev = Encoder2.getPulses(); |
WouterJS | 1:a9c933f1dc71 | 140 | |
WouterJS | 1:a9c933f1dc71 | 141 | } |
WouterJS | 1:a9c933f1dc71 | 142 | |
WouterJS | 0:3710031b2621 | 143 | void scopedata() |
WouterJS | 0:3710031b2621 | 144 | { |
thijslubberman | 7:db050a878cff | 145 | //scope.set(0,filteredsignal1); // |
thijslubberman | 7:db050a878cff | 146 | //scope.set(1,filteredsignal2); // |
thijslubberman | 7:db050a878cff | 147 | //scope.set(2,ref_q1); // |
thijslubberman | 7:db050a878cff | 148 | // scope.set(3,movement);// |
thijslubberman | 7:db050a878cff | 149 | // scope.set(4,ref_q1); |
WouterJS | 4:34ad002cb646 | 150 | //scope.send(); // send info to HIDScope server |
WouterJS | 0:3710031b2621 | 151 | } |
WouterJS | 0:3710031b2621 | 152 | |
WouterJS | 1:a9c933f1dc71 | 153 | |
WouterJS | 1:a9c933f1dc71 | 154 | //////////////////// MOVEMENT STATES |
thijslubberman | 7:db050a878cff | 155 | float twist[2] = {0,0}; |
thijslubberman | 7:db050a878cff | 156 | float twistf[2] = {0,0}; |
thijslubberman | 7:db050a878cff | 157 | float abs_sig; |
thijslubberman | 7:db050a878cff | 158 | |
thijslubberman | 8:c7d21f5f87d8 | 159 | int gain = 3; |
thijslubberman | 7:db050a878cff | 160 | |
WouterJS | 1:a9c933f1dc71 | 161 | void do_forward(){ |
WouterJS | 1:a9c933f1dc71 | 162 | |
thijslubberman | 7:db050a878cff | 163 | |
thijslubberman | 8:c7d21f5f87d8 | 164 | twistf[0] = 1; |
thijslubberman | 8:c7d21f5f87d8 | 165 | twistf[1] = 0; |
thijslubberman | 7:db050a878cff | 166 | |
thijslubberman | 7:db050a878cff | 167 | if (filteredsignal2 > 0.15*max2){ |
thijslubberman | 7:db050a878cff | 168 | abs_sig = (filteredsignal2 - (0.15*max2))/(0.85*max2); |
WouterJS | 1:a9c933f1dc71 | 169 | |
WouterJS | 1:a9c933f1dc71 | 170 | |
WouterJS | 1:a9c933f1dc71 | 171 | } |
thijslubberman | 7:db050a878cff | 172 | else |
thijslubberman | 7:db050a878cff | 173 | { |
thijslubberman | 7:db050a878cff | 174 | abs_sig = 0; |
thijslubberman | 7:db050a878cff | 175 | } |
thijslubberman | 7:db050a878cff | 176 | //if (but1 == false){ |
thijslubberman | 7:db050a878cff | 177 | // abs_sig = 0.75; |
thijslubberman | 7:db050a878cff | 178 | |
thijslubberman | 7:db050a878cff | 179 | |
thijslubberman | 7:db050a878cff | 180 | // } |
WouterJS | 1:a9c933f1dc71 | 181 | |
thijslubberman | 7:db050a878cff | 182 | twist[0] = twistf[0] * abs_sig* gain; |
thijslubberman | 7:db050a878cff | 183 | twist[1] = twistf[1] * abs_sig* gain; |
thijslubberman | 7:db050a878cff | 184 | |
thijslubberman | 7:db050a878cff | 185 | motor1_speed_control = fabs(u1); |
WouterJS | 1:a9c933f1dc71 | 186 | |
thijslubberman | 7:db050a878cff | 187 | if(u1 > 0){ |
thijslubberman | 7:db050a878cff | 188 | motor1_direction = 1;} |
thijslubberman | 7:db050a878cff | 189 | if(u1 < 0){ |
thijslubberman | 7:db050a878cff | 190 | motor1_direction = 0;} |
thijslubberman | 7:db050a878cff | 191 | |
thijslubberman | 7:db050a878cff | 192 | motor2_speed_control = fabs(u2); |
thijslubberman | 7:db050a878cff | 193 | |
thijslubberman | 7:db050a878cff | 194 | if(u2 > 0){ |
thijslubberman | 7:db050a878cff | 195 | motor2_direction = 1;} |
thijslubberman | 7:db050a878cff | 196 | if(u2 < 0){ |
thijslubberman | 7:db050a878cff | 197 | motor2_direction = 0;} |
thijslubberman | 7:db050a878cff | 198 | |
thijslubberman | 7:db050a878cff | 199 | //if( timer.read() > thresholdtime && filteredsignal1 > threshold1*100) |
thijslubberman | 7:db050a878cff | 200 | // { |
thijslubberman | 7:db050a878cff | 201 | // movement = backward; |
thijslubberman | 7:db050a878cff | 202 | // timer.reset(); |
thijslubberman | 7:db050a878cff | 203 | // } |
WouterJS | 1:a9c933f1dc71 | 204 | } |
WouterJS | 1:a9c933f1dc71 | 205 | |
WouterJS | 1:a9c933f1dc71 | 206 | void do_backward(){ |
WouterJS | 1:a9c933f1dc71 | 207 | |
WouterJS | 1:a9c933f1dc71 | 208 | |
WouterJS | 1:a9c933f1dc71 | 209 | |
WouterJS | 1:a9c933f1dc71 | 210 | if( timer.read() > thresholdtime && filteredsignal1 > threshold1) |
WouterJS | 1:a9c933f1dc71 | 211 | { |
WouterJS | 1:a9c933f1dc71 | 212 | movement = up; |
WouterJS | 1:a9c933f1dc71 | 213 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 214 | } |
WouterJS | 1:a9c933f1dc71 | 215 | } |
WouterJS | 1:a9c933f1dc71 | 216 | |
WouterJS | 1:a9c933f1dc71 | 217 | void do_up(){ |
WouterJS | 1:a9c933f1dc71 | 218 | |
WouterJS | 1:a9c933f1dc71 | 219 | //Code for moving up |
WouterJS | 1:a9c933f1dc71 | 220 | |
WouterJS | 1:a9c933f1dc71 | 221 | if( timer.read() > thresholdtime && filteredsignal1 > threshold1) |
WouterJS | 1:a9c933f1dc71 | 222 | { |
WouterJS | 1:a9c933f1dc71 | 223 | movement = down; |
WouterJS | 1:a9c933f1dc71 | 224 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 225 | } |
WouterJS | 1:a9c933f1dc71 | 226 | } |
WouterJS | 1:a9c933f1dc71 | 227 | void do_down(){ |
WouterJS | 1:a9c933f1dc71 | 228 | |
WouterJS | 1:a9c933f1dc71 | 229 | //Code for moving down |
WouterJS | 1:a9c933f1dc71 | 230 | |
WouterJS | 1:a9c933f1dc71 | 231 | if( timer.read() > thresholdtime && filteredsignal1 > threshold1) |
WouterJS | 1:a9c933f1dc71 | 232 | { |
WouterJS | 1:a9c933f1dc71 | 233 | movement = rest; |
WouterJS | 1:a9c933f1dc71 | 234 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 235 | |
WouterJS | 1:a9c933f1dc71 | 236 | } |
WouterJS | 1:a9c933f1dc71 | 237 | } |
WouterJS | 1:a9c933f1dc71 | 238 | void do_wait(){ |
WouterJS | 1:a9c933f1dc71 | 239 | |
WouterJS | 1:a9c933f1dc71 | 240 | if ( filteredsignal2 > threshold2) {// |
WouterJS | 1:a9c933f1dc71 | 241 | current_state = waiting; |
WouterJS | 1:a9c933f1dc71 | 242 | state_changed = true; |
WouterJS | 1:a9c933f1dc71 | 243 | } |
WouterJS | 1:a9c933f1dc71 | 244 | if( timer.read() > thresholdtime && filteredsignal1 > threshold1) |
WouterJS | 1:a9c933f1dc71 | 245 | { |
WouterJS | 1:a9c933f1dc71 | 246 | movement = forward; |
WouterJS | 1:a9c933f1dc71 | 247 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 248 | } |
WouterJS | 1:a9c933f1dc71 | 249 | } |
WouterJS | 1:a9c933f1dc71 | 250 | ///////////END MOVEMENT STATES///////////////////////// |
WouterJS | 1:a9c933f1dc71 | 251 | ///////////ROBOT ARM STATES /////////////////////////// |
WouterJS | 1:a9c933f1dc71 | 252 | |
WouterJS | 1:a9c933f1dc71 | 253 | void do_state_failure(){ |
WouterJS | 1:a9c933f1dc71 | 254 | |
WouterJS | 1:a9c933f1dc71 | 255 | } |
WouterJS | 4:34ad002cb646 | 256 | int count1 = 0; |
WouterJS | 4:34ad002cb646 | 257 | int count2 = 0; |
WouterJS | 1:a9c933f1dc71 | 258 | void do_state_calib_motor(){ |
WouterJS | 1:a9c933f1dc71 | 259 | if (state_changed==true) { |
WouterJS | 1:a9c933f1dc71 | 260 | state_changed = false; |
WouterJS | 1:a9c933f1dc71 | 261 | } |
thijslubberman | 7:db050a878cff | 262 | led_red = 0; |
WouterJS | 1:a9c933f1dc71 | 263 | |
WouterJS | 1:a9c933f1dc71 | 264 | |
WouterJS | 4:34ad002cb646 | 265 | |
WouterJS | 4:34ad002cb646 | 266 | int deriv1 = deg_m1 - count1; |
WouterJS | 4:34ad002cb646 | 267 | int deriv2 = deg_m2 - count2; |
WouterJS | 5:892531e4e015 | 268 | |
WouterJS | 4:34ad002cb646 | 269 | count1 = deg_m1; |
WouterJS | 4:34ad002cb646 | 270 | count2 = deg_m2; |
WouterJS | 4:34ad002cb646 | 271 | |
WouterJS | 4:34ad002cb646 | 272 | if ( timer.read() > 3 && deriv1 < 0.5 && deriv2 < 0.5) { |
WouterJS | 4:34ad002cb646 | 273 | motor1_speed_control = 0; |
WouterJS | 4:34ad002cb646 | 274 | motor2_speed_control = 0; |
WouterJS | 4:34ad002cb646 | 275 | current_state = homing; |
thijslubberman | 7:db050a878cff | 276 | |
WouterJS | 4:34ad002cb646 | 277 | state_changed = true; |
thijslubberman | 7:db050a878cff | 278 | wait(1); |
thijslubberman | 7:db050a878cff | 279 | deg_m1 = 57.4; |
thijslubberman | 7:db050a878cff | 280 | deg_m2 = 72.93; |
thijslubberman | 7:db050a878cff | 281 | led_red = 1; |
thijslubberman | 7:db050a878cff | 282 | led_green = 0; |
WouterJS | 4:34ad002cb646 | 283 | } |
WouterJS | 1:a9c933f1dc71 | 284 | } |
WouterJS | 1:a9c933f1dc71 | 285 | |
WouterJS | 5:892531e4e015 | 286 | float wu1; |
WouterJS | 5:892531e4e015 | 287 | float wu2; |
thijslubberman | 7:db050a878cff | 288 | |
WouterJS | 4:34ad002cb646 | 289 | void do_state_homing(){ |
WouterJS | 4:34ad002cb646 | 290 | if (state_changed==true) { |
thijslubberman | 7:db050a878cff | 291 | timer.reset(); |
WouterJS | 4:34ad002cb646 | 292 | state_changed = false; |
WouterJS | 4:34ad002cb646 | 293 | } |
WouterJS | 4:34ad002cb646 | 294 | |
WouterJS | 4:34ad002cb646 | 295 | float werror1 = deg_m1 - 0; |
WouterJS | 4:34ad002cb646 | 296 | float werror2 = deg_m2 - 0; |
WouterJS | 1:a9c933f1dc71 | 297 | |
WouterJS | 5:892531e4e015 | 298 | if(werror1 > 5){ |
WouterJS | 5:892531e4e015 | 299 | wu1 = 1; } |
WouterJS | 5:892531e4e015 | 300 | if(werror1 < -5){ |
WouterJS | 5:892531e4e015 | 301 | wu1 = -1; } |
WouterJS | 5:892531e4e015 | 302 | else{ |
thijslubberman | 7:db050a878cff | 303 | wu1 = kp1*werror1; //+ (u1 + werror1*0.002)*ki1; |
WouterJS | 5:892531e4e015 | 304 | } |
WouterJS | 1:a9c933f1dc71 | 305 | |
WouterJS | 5:892531e4e015 | 306 | if(werror2 > 5){ |
WouterJS | 5:892531e4e015 | 307 | wu2 = 1;} |
WouterJS | 5:892531e4e015 | 308 | if(werror2 < -5){ |
WouterJS | 5:892531e4e015 | 309 | wu2 = -1;} |
WouterJS | 5:892531e4e015 | 310 | else{ |
thijslubberman | 7:db050a878cff | 311 | wu2 = kp2*werror2; //+ (u2 + werror2*0.002)*ki2); |
WouterJS | 5:892531e4e015 | 312 | } |
WouterJS | 5:892531e4e015 | 313 | |
thijslubberman | 7:db050a878cff | 314 | motor1_speed_control = fabs(wu1)/8; |
WouterJS | 5:892531e4e015 | 315 | |
WouterJS | 4:34ad002cb646 | 316 | if(wu1 > 0){ |
thijslubberman | 7:db050a878cff | 317 | motor1_direction = 1;} |
WouterJS | 4:34ad002cb646 | 318 | if(wu1< 0){ |
thijslubberman | 7:db050a878cff | 319 | motor1_direction = 0;} |
WouterJS | 4:34ad002cb646 | 320 | |
thijslubberman | 7:db050a878cff | 321 | motor2_speed_control = fabs(wu2)/8; |
WouterJS | 4:34ad002cb646 | 322 | |
WouterJS | 4:34ad002cb646 | 323 | if(wu2 > 0){ |
thijslubberman | 7:db050a878cff | 324 | motor2_direction = 1;} |
WouterJS | 5:892531e4e015 | 325 | if(wu2 < 0){ |
thijslubberman | 7:db050a878cff | 326 | motor2_direction = 0;} |
thijslubberman | 7:db050a878cff | 327 | |
thijslubberman | 7:db050a878cff | 328 | if ( timer.read() > 4) { |
thijslubberman | 7:db050a878cff | 329 | motor1_speed_control = 0; |
thijslubberman | 7:db050a878cff | 330 | motor2_speed_control = 0; |
thijslubberman | 7:db050a878cff | 331 | |
WouterJS | 4:34ad002cb646 | 332 | |
thijslubberman | 7:db050a878cff | 333 | deg_m1 = 0; |
thijslubberman | 7:db050a878cff | 334 | deg_m2 = 0; |
thijslubberman | 7:db050a878cff | 335 | u1 = 0; |
thijslubberman | 7:db050a878cff | 336 | u2 = 0; |
thijslubberman | 7:db050a878cff | 337 | int_u1 = 0; |
thijslubberman | 7:db050a878cff | 338 | int_u2 = 0; |
thijslubberman | 7:db050a878cff | 339 | wait(1); |
thijslubberman | 7:db050a878cff | 340 | current_state = calib_emg; |
thijslubberman | 7:db050a878cff | 341 | timer.reset(); |
thijslubberman | 7:db050a878cff | 342 | state_changed = true; |
thijslubberman | 7:db050a878cff | 343 | led_green = 1; |
thijslubberman | 7:db050a878cff | 344 | led_blue = 0; |
thijslubberman | 7:db050a878cff | 345 | |
thijslubberman | 7:db050a878cff | 346 | } |
WouterJS | 4:34ad002cb646 | 347 | |
WouterJS | 4:34ad002cb646 | 348 | |
WouterJS | 1:a9c933f1dc71 | 349 | } |
WouterJS | 1:a9c933f1dc71 | 350 | void do_state_calib_emg(){ |
WouterJS | 1:a9c933f1dc71 | 351 | if (state_changed==true) { |
WouterJS | 1:a9c933f1dc71 | 352 | state_changed = false; |
WouterJS | 1:a9c933f1dc71 | 353 | } |
WouterJS | 1:a9c933f1dc71 | 354 | |
WouterJS | 1:a9c933f1dc71 | 355 | if(filteredsignal1 > max1){//calibrate to a new maximum |
WouterJS | 1:a9c933f1dc71 | 356 | max1 = filteredsignal1; |
thijslubberman | 7:db050a878cff | 357 | threshold1 = 0.5 * max1; |
WouterJS | 1:a9c933f1dc71 | 358 | } |
WouterJS | 1:a9c933f1dc71 | 359 | if(filteredsignal2 > max2){//calibrate to a new maximum |
WouterJS | 1:a9c933f1dc71 | 360 | max2 = filteredsignal2; |
WouterJS | 1:a9c933f1dc71 | 361 | threshold2 = 0.5 * max2; |
WouterJS | 1:a9c933f1dc71 | 362 | } |
WouterJS | 1:a9c933f1dc71 | 363 | |
thijslubberman | 7:db050a878cff | 364 | if (timer.read() > 5 && filteredsignal1 > threshold1 && filteredsignal2 > threshold2) { |
WouterJS | 1:a9c933f1dc71 | 365 | current_state = operational; |
WouterJS | 1:a9c933f1dc71 | 366 | timer.reset(); |
WouterJS | 1:a9c933f1dc71 | 367 | state_changed = true; |
thijslubberman | 7:db050a878cff | 368 | led_green = 0; |
thijslubberman | 7:db050a878cff | 369 | led_red =0; |
WouterJS | 1:a9c933f1dc71 | 370 | } |
WouterJS | 1:a9c933f1dc71 | 371 | } |
WouterJS | 1:a9c933f1dc71 | 372 | |
WouterJS | 1:a9c933f1dc71 | 373 | void do_state_operational(){ |
WouterJS | 1:a9c933f1dc71 | 374 | if (state_changed==true) { |
WouterJS | 1:a9c933f1dc71 | 375 | state_changed = false; |
WouterJS | 1:a9c933f1dc71 | 376 | } |
WouterJS | 1:a9c933f1dc71 | 377 | |
WouterJS | 1:a9c933f1dc71 | 378 | switch(movement) {// a separate function for what happens in each state |
WouterJS | 1:a9c933f1dc71 | 379 | case rest: |
WouterJS | 1:a9c933f1dc71 | 380 | do_wait(); |
WouterJS | 1:a9c933f1dc71 | 381 | break; |
WouterJS | 1:a9c933f1dc71 | 382 | case forward: |
WouterJS | 1:a9c933f1dc71 | 383 | do_forward(); |
WouterJS | 1:a9c933f1dc71 | 384 | |
WouterJS | 1:a9c933f1dc71 | 385 | break; |
WouterJS | 1:a9c933f1dc71 | 386 | case backward: |
WouterJS | 1:a9c933f1dc71 | 387 | do_backward(); |
WouterJS | 1:a9c933f1dc71 | 388 | |
WouterJS | 1:a9c933f1dc71 | 389 | break; |
WouterJS | 1:a9c933f1dc71 | 390 | case up: |
WouterJS | 1:a9c933f1dc71 | 391 | do_up(); |
WouterJS | 1:a9c933f1dc71 | 392 | break; |
WouterJS | 1:a9c933f1dc71 | 393 | case down: |
WouterJS | 1:a9c933f1dc71 | 394 | do_down(); |
WouterJS | 1:a9c933f1dc71 | 395 | break; |
WouterJS | 1:a9c933f1dc71 | 396 | } |
WouterJS | 1:a9c933f1dc71 | 397 | if (movement == rest && filteredsignal2 > threshold2) { |
WouterJS | 1:a9c933f1dc71 | 398 | current_state = waiting; |
WouterJS | 1:a9c933f1dc71 | 399 | state_changed = true; |
WouterJS | 1:a9c933f1dc71 | 400 | } |
WouterJS | 1:a9c933f1dc71 | 401 | |
WouterJS | 1:a9c933f1dc71 | 402 | } |
WouterJS | 1:a9c933f1dc71 | 403 | |
WouterJS | 1:a9c933f1dc71 | 404 | void do_state_waiting(){ |
WouterJS | 1:a9c933f1dc71 | 405 | if (state_changed==true) { |
WouterJS | 1:a9c933f1dc71 | 406 | state_changed = false; |
WouterJS | 1:a9c933f1dc71 | 407 | } |
WouterJS | 1:a9c933f1dc71 | 408 | |
WouterJS | 1:a9c933f1dc71 | 409 | if (filteredsignal1 > threshold1 && filteredsignal2 > threshold2) { |
WouterJS | 1:a9c933f1dc71 | 410 | current_state = operational; |
WouterJS | 1:a9c933f1dc71 | 411 | state_changed = true; |
WouterJS | 1:a9c933f1dc71 | 412 | } |
WouterJS | 1:a9c933f1dc71 | 413 | } |
WouterJS | 1:a9c933f1dc71 | 414 | //////////////// END ROBOT ARM STATES ////////////////////////////// |
WouterJS | 4:34ad002cb646 | 415 | |
WouterJS | 4:34ad002cb646 | 416 | |
thijslubberman | 7:db050a878cff | 417 | void motor_controller(){ |
thijslubberman | 7:db050a878cff | 418 | |
WouterJS | 4:34ad002cb646 | 419 | float jacobian[4]; |
WouterJS | 4:34ad002cb646 | 420 | float inv_jacobian[4]; |
WouterJS | 4:34ad002cb646 | 421 | |
WouterJS | 4:34ad002cb646 | 422 | jacobian[0] = L1; |
thijslubberman | 8:c7d21f5f87d8 | 423 | jacobian[1] = L2*sin(deg_m2)+L1; |
WouterJS | 4:34ad002cb646 | 424 | jacobian[2] = -L0; |
thijslubberman | 8:c7d21f5f87d8 | 425 | jacobian[3] = -L0 - L2*cos(deg_m2); |
WouterJS | 1:a9c933f1dc71 | 426 | |
WouterJS | 4:34ad002cb646 | 427 | float det = 1/(jacobian[0]*jacobian[3]-jacobian[1]*jacobian[2]); |
WouterJS | 1:a9c933f1dc71 | 428 | |
WouterJS | 4:34ad002cb646 | 429 | inv_jacobian[0] = det*jacobian[3]; |
WouterJS | 4:34ad002cb646 | 430 | inv_jacobian[1] = -det*jacobian[1]; |
WouterJS | 4:34ad002cb646 | 431 | inv_jacobian[2] = -det*jacobian[2]; |
WouterJS | 4:34ad002cb646 | 432 | inv_jacobian[3] = det*jacobian[0]; |
WouterJS | 4:34ad002cb646 | 433 | |
WouterJS | 4:34ad002cb646 | 434 | |
thijslubberman | 7:db050a878cff | 435 | ref_v1 = inv_jacobian[0]*twist[0]+inv_jacobian[1]*twist[1]; |
thijslubberman | 7:db050a878cff | 436 | ref_v2 = inv_jacobian[2]*twist[0]+inv_jacobian[3]*twist[1]; |
WouterJS | 4:34ad002cb646 | 437 | |
thijslubberman | 7:db050a878cff | 438 | |
WouterJS | 4:34ad002cb646 | 439 | |
thijslubberman | 7:db050a878cff | 440 | ref_q1 = ref_q1 + 0.002*ref_v1; |
thijslubberman | 7:db050a878cff | 441 | ref_q2 = ref_q2 + 0.002*ref_v2; |
thijslubberman | 7:db050a878cff | 442 | |
thijslubberman | 8:c7d21f5f87d8 | 443 | error1 = deg_m1 - ref_q1; |
thijslubberman | 8:c7d21f5f87d8 | 444 | error2 = deg_m2 - ref_q2; |
thijslubberman | 8:c7d21f5f87d8 | 445 | float olderror1; |
thijslubberman | 8:c7d21f5f87d8 | 446 | float olderror2; |
thijslubberman | 8:c7d21f5f87d8 | 447 | float d_error1; |
thijslubberman | 8:c7d21f5f87d8 | 448 | float d_error2; |
thijslubberman | 8:c7d21f5f87d8 | 449 | |
thijslubberman | 8:c7d21f5f87d8 | 450 | |
thijslubberman | 8:c7d21f5f87d8 | 451 | |
WouterJS | 1:a9c933f1dc71 | 452 | |
thijslubberman | 7:db050a878cff | 453 | if(error1 > 5){ |
thijslubberman | 7:db050a878cff | 454 | u1 = 1; } |
thijslubberman | 7:db050a878cff | 455 | if(error1 < -5){ |
thijslubberman | 7:db050a878cff | 456 | u1 = -1; } |
thijslubberman | 7:db050a878cff | 457 | else{ |
thijslubberman | 8:c7d21f5f87d8 | 458 | d_error1 = (error1 - olderror1)/Ts; |
thijslubberman | 8:c7d21f5f87d8 | 459 | filtered_d_error1 = LowpassFilter.step(d_error1); |
thijslubberman | 7:db050a878cff | 460 | int_u1 = int_u1 + error1 * Ts; |
thijslubberman | 8:c7d21f5f87d8 | 461 | u1 = kp1*error1 + int_u1*ki1 + kd1*filtered_d_error1; |
thijslubberman | 8:c7d21f5f87d8 | 462 | teraterm1 = u1; // to see how big u1 and u2 actually get, they should lie between -1 and 1 for the right gains. |
thijslubberman | 8:c7d21f5f87d8 | 463 | if(u1>1){ |
thijslubberman | 8:c7d21f5f87d8 | 464 | u1 =1; |
thijslubberman | 8:c7d21f5f87d8 | 465 | } |
thijslubberman | 8:c7d21f5f87d8 | 466 | if(u1<-1){ |
thijslubberman | 8:c7d21f5f87d8 | 467 | u1 = -1; |
thijslubberman | 8:c7d21f5f87d8 | 468 | } |
thijslubberman | 8:c7d21f5f87d8 | 469 | |
thijslubberman | 7:db050a878cff | 470 | } |
thijslubberman | 8:c7d21f5f87d8 | 471 | olderror1 = error1; |
WouterJS | 1:a9c933f1dc71 | 472 | |
thijslubberman | 7:db050a878cff | 473 | if(error2 > 5){ |
thijslubberman | 7:db050a878cff | 474 | u2 = 1;} |
thijslubberman | 7:db050a878cff | 475 | if(error2 < -5){ |
thijslubberman | 7:db050a878cff | 476 | u2 = -1;} |
thijslubberman | 7:db050a878cff | 477 | else{ |
thijslubberman | 8:c7d21f5f87d8 | 478 | d_error2 = (error2 - olderror2)/Ts; |
thijslubberman | 8:c7d21f5f87d8 | 479 | filtered_d_error2 = LowpassFilter.step(d_error2); |
thijslubberman | 7:db050a878cff | 480 | int_u2 = int_u2 + error2 * Ts; |
thijslubberman | 8:c7d21f5f87d8 | 481 | u2 = kp2*error2 + int_u2*ki2 + kd2*filtered_d_error2; |
thijslubberman | 8:c7d21f5f87d8 | 482 | teraterm2 = u2; |
thijslubberman | 8:c7d21f5f87d8 | 483 | if(u2>1){ |
thijslubberman | 8:c7d21f5f87d8 | 484 | u2 =1; |
thijslubberman | 8:c7d21f5f87d8 | 485 | } |
thijslubberman | 8:c7d21f5f87d8 | 486 | if(u2<-1){ |
thijslubberman | 8:c7d21f5f87d8 | 487 | u2 = -1; |
thijslubberman | 8:c7d21f5f87d8 | 488 | } |
thijslubberman | 7:db050a878cff | 489 | } |
thijslubberman | 7:db050a878cff | 490 | |
thijslubberman | 7:db050a878cff | 491 | |
WouterJS | 1:a9c933f1dc71 | 492 | } |
WouterJS | 1:a9c933f1dc71 | 493 | |
WouterJS | 1:a9c933f1dc71 | 494 | void loop_function() { //Main loop function |
WouterJS | 0:3710031b2621 | 495 | measureall(); |
WouterJS | 0:3710031b2621 | 496 | switch(current_state) { |
WouterJS | 0:3710031b2621 | 497 | case failure: |
WouterJS | 0:3710031b2621 | 498 | do_state_failure(); // a separate function for what happens in each state |
WouterJS | 0:3710031b2621 | 499 | break; |
WouterJS | 1:a9c933f1dc71 | 500 | case calib_motor: |
WouterJS | 1:a9c933f1dc71 | 501 | do_state_calib_motor(); |
WouterJS | 1:a9c933f1dc71 | 502 | break ; |
WouterJS | 4:34ad002cb646 | 503 | case homing: |
WouterJS | 4:34ad002cb646 | 504 | do_state_homing(); |
WouterJS | 4:34ad002cb646 | 505 | break; |
WouterJS | 0:3710031b2621 | 506 | case calib_emg: |
WouterJS | 0:3710031b2621 | 507 | do_state_calib_emg(); |
WouterJS | 0:3710031b2621 | 508 | break; |
WouterJS | 0:3710031b2621 | 509 | case operational: |
WouterJS | 0:3710031b2621 | 510 | do_state_operational(); |
WouterJS | 0:3710031b2621 | 511 | break; |
WouterJS | 1:a9c933f1dc71 | 512 | case waiting: |
WouterJS | 1:a9c933f1dc71 | 513 | do_state_waiting(); |
WouterJS | 0:3710031b2621 | 514 | break; |
WouterJS | 0:3710031b2621 | 515 | } |
WouterJS | 0:3710031b2621 | 516 | motor_controller(); |
WouterJS | 1:a9c933f1dc71 | 517 | // Outputs data to the computer |
thijslubberman | 7:db050a878cff | 518 | |
WouterJS | 0:3710031b2621 | 519 | } |
WouterJS | 0:3710031b2621 | 520 | |
WouterJS | 0:3710031b2621 | 521 | |
WouterJS | 0:3710031b2621 | 522 | int main() |
WouterJS | 1:a9c933f1dc71 | 523 | { |
WouterJS | 4:34ad002cb646 | 524 | // motor1_speed_control.period_us(60); //60 microseconds PWM period, 16.7 kHz |
WouterJS | 3:055eb9f256fc | 525 | |
WouterJS | 5:892531e4e015 | 526 | motor1_direction = 0; //set motor 1 to run clockwisedirection for calibration |
thijslubberman | 7:db050a878cff | 527 | motor1_speed_control = 0.15;//to make sure the motor will not run at too high velocity |
WouterJS | 5:892531e4e015 | 528 | motor2_direction = 0; // set motor 2 to run clockwise direction |
thijslubberman | 7:db050a878cff | 529 | motor2_speed_control = 0.15; |
WouterJS | 4:34ad002cb646 | 530 | |
thijslubberman | 7:db050a878cff | 531 | led_red = 1; |
thijslubberman | 7:db050a878cff | 532 | led_green = 1; |
thijslubberman | 7:db050a878cff | 533 | led_blue = 1; |
WouterJS | 3:055eb9f256fc | 534 | timer.start(); |
WouterJS | 3:055eb9f256fc | 535 | loop_timer.attach(&loop_function, Ts); |
WouterJS | 3:055eb9f256fc | 536 | sample_timer.attach(&scopedata, Ts); |
WouterJS | 3:055eb9f256fc | 537 | sample_timer2.attach(&filterall, Ts); |
WouterJS | 1:a9c933f1dc71 | 538 | |
WouterJS | 2:fa90eaa14f99 | 539 | while (true) { |
thijslubberman | 8:c7d21f5f87d8 | 540 | printf("%f %f %f %f %f \n\r",ref_q1,ref_q2,error1,int_u1,filtered_d_error1); |
WouterJS | 0:3710031b2621 | 541 | } |
WouterJS | 0:3710031b2621 | 542 | } |