Tommie Verouden / Mbed 2 deprecated StateMachine

Biorobotics state machine

Dependencies:   biquadFilter FastPWM MODSERIAL QEI mbed

Changes

RevisionDateWhoCommit message
59:c90348c81ac4 2018-11-06 efvanmarrewijk Dont compile this default tip
58:6660127e5d34 2018-11-02 efvanmarrewijk Kinematics deleted, tried to implement EMG to motor --> doesnt work
57:099ebbb041b0 2018-11-02 efvanmarrewijk Motor works in calibration mode, kinematics+EMG works in demo mode, with output of theta1 and theta4
56:e8d568d455a0 2018-11-02 efvanmarrewijk Values of theta do not change, motors move around and around
55:b297e064ebd9 2018-11-02 efvanmarrewijk Kinematics works, motors turn with potmeter value
54:31957e8d6a73 2018-11-01 efvanmarrewijk Next step: printing of instead of theta1 and theta4; iJ[0][0] = d*Q;; iJ[0][1]= -c*Q;; iJ[1][0] = -b*Q;; iJ[1][1] = a*Q;
53:75076f9705dc 2018-11-01 efvanmarrewijk kinematics: output of motors added
52:17b3aeacb643 2018-11-01 efvanmarrewijk Calibrates, EMG works, kinematics fails (nan)
51:78c75cc72d17 2018-11-01 tverouden Added two new motor calibration states
50:4a7b0a3f64cb 2018-11-01 tverouden Merge
49:0ada5a721686 2018-11-01 efvanmarrewijk POTMETER 1 DOESNT WORK; Extra calibrating mode for motors needs to be inserted
48:1eb0f9ed6cd9 2018-11-01 efvanmarrewijk Calibration of motor left works; Code for rest of motors (right and flip) deleted
47:7919857587f8 2018-11-01 EvaKrolis Minor changes; Transistion is tested and works; EMG is tested and works; Motor and kinematics need to be tested
46:f4dcfe6652ac 2018-11-01 EvaKrolis HIJ COMPILED
45:d405103e9625 2018-11-01 EvaKrolis Statemachine variables checked
44:ca74d11a2dac 2018-11-01 tverouden Fixed kinematics variables
43:d332aa9f49e0 2018-11-01 tverouden Added filter chains in main
42:bb43f1b67787 2018-11-01 tverouden Merge kinematics
41:5aecc1a27ce6 2018-11-01 tverouden Added kinematics functions & parameters
40:0b3f0b63977a 2018-11-01 tverouden Merge EMG & motor control
39:7f877fb93842 2018-11-01 root@developer-sjc-indigo-compiler.local.mbed.org Removed tag untested
38:317b8eaaf1a2 2018-11-01 efvanmarrewijk Kinematics connected to motor movement
37:317e14b9d551 2018-11-01 EvaKrolis EMG and Esthers part added
36:b233c549dd80 2018-11-01 EvaKrolis EMG is added
35:3c937770aa41 2018-11-01 efvanmarrewijk Motor flip code added
34:fb6889c5ca22 2018-11-01 tverouden Fixed pins not defined
33:44ba3c159f54 2018-11-01 tverouden Merge version 2
32:a00ff9898574 2018-11-01 tverouden Merge version 1
31:a89c1e87e05c 2018-11-01 root@developer-sjc-cyan-compiler.local.mbed.org Added tag merge for changeset c2986e890040
30:1a3f4c3ca946 2018-11-01 root@developer-sjc-cyan-compiler.local.mbed.org Removed tag Merge
29:8a07f71b114e 2018-11-01 root@developer-sjc-cyan-compiler.local.mbed.org Added tag tested for changeset 6b0d56f9958b
28:fa56677dbb98 2018-11-01 root@developer-sjc-cyan-compiler.local.mbed.org Added tag untested for changeset 0abc564349e1
27:0161beda5273 2018-11-01 root@developer-sjc-cyan-compiler.local.mbed.org Added tag Merge for changeset c2986e890040
26:247be0bea9b1 2018-11-01 efvanmarrewijk Also parameters for the motors added, and dt defined
25:ac139331fe51 2018-11-01 efvanmarrewijk Motor part for motor left and right added
24:0abc564349e1 2018-11-01 tverouden Cleaned up more comments; Fully implemented state transition logic; Bug: 20 sec transition still missing
23:e282bdb9e9b7 2018-11-01 tverouden Cleaned up some comments; Started working on state transition logic
22:6b0d56f9958b 2018-11-01 tverouden Removed HIDscope library; Removed test.cpp file tested
21:fbd900a55877 2018-11-01 tverouden Fixed EMG mode message
20:cf673a2cbc60 2018-11-01 tverouden Fixed emergency button behaviour; Red LED in failure mode now permanent
19:2797bb471f9f 2018-11-01 tverouden State machine now runs at 500 Hz; Added startup message; Bug: failing mode not reachable
18:c74dfa681e09 2018-11-01 tverouden Fixed emergency button LED (works!); Removed Biorobotics shield LED pins
17:b04e1938491a 2018-11-01 tverouden Swapped operating & reading mode
16:c2986e890040 2018-11-01 tverouden Merged LED & EMG stuff merge
15:6566c5dedeeb 2018-11-01 tverouden Implemented full state LED indication functionality
14:2c0bf576a0e7 2018-11-01 EvaKrolis StateMachine with EMG and Kinematics functions and parameters
13:4ba8f63e6ff4 2018-11-01 EvaKrolis StateMachine with EMG functions and parameters
12:323ac4e27a0d 2018-11-01 tverouden Latest version (added some comments)
11:2d1dfebae948 2018-10-31 tverouden Removed waiting state
10:584b7d2c2d63 2018-10-31 tverouden Made a basis for LED state indication
9:8a162a3505ed 2018-10-31 tverouden Made a basis for LED state indication;
8:8cef1050ebd9 2018-10-31 tverouden Layed the basis for LED state indication
7:ef5966469621 2018-10-31 tverouden Comments besproken met Eva, deels ge?mplementeerd, nieuw plan bedacht
6:f32352bc5078 2018-10-31 tverouden Emergency button implemented in main & several comments added
5:04b26b2f536a 2018-10-31 tverouden Basic state transition logic implemented
4:5ce2c8864908 2018-10-31 tverouden Transition logic implemented until operating mode
3:9c63fc5f157e 2018-10-31 tverouden Basic state machine structure added;
2:d70795e4e0bf 2018-10-31 tverouden PC-communication now working;
1:d5ff787228fa 2018-10-31 tverouden Added toggleable external PC-communication
0:c0c35b95765f 2018-10-31 tverouden Started preparation