Control up to two motors using filtered EMG signals and a PID controller
Dependencies: FastPWM HIDScope MODSERIAL QEI Matrix biquadFilter controller errorFetch mbed motorConfig refGen MatrixMath inverseKinematics
Fork of Minor_test_serial by
main.cpp@17:616ce7bc1f96, 2017-09-21 (annotated)
- Committer:
- tvlogman
- Date:
- Thu Sep 21 11:53:09 2017 +0000
- Revision:
- 17:616ce7bc1f96
- Parent:
- 16:27430afe663e
- Child:
- 18:65e24db15c69
- Child:
- 19:f08b5cd2b7ce
Changed variable revs to represent driving shaft revs instead of motor revs
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:c8f15874531b | 1 | #include "mbed.h" |
vsluiter | 0:c8f15874531b | 2 | #include "MODSERIAL.h" |
tvlogman | 8:0067469c3389 | 3 | #include "HIDScope.h" |
tvlogman | 9:5f0e796c9489 | 4 | #include "QEI.h" |
tvlogman | 15:b76b8cff4d8f | 5 | #include "FastPWM.h" |
tvlogman | 15:b76b8cff4d8f | 6 | |
tvlogman | 15:b76b8cff4d8f | 7 | enum robotStates {KILLED, ACTIVE}; |
tvlogman | 15:b76b8cff4d8f | 8 | robotStates currentState = KILLED; |
tvlogman | 8:0067469c3389 | 9 | |
tvlogman | 12:0462757e1ed2 | 10 | QEI Encoder(D12,D13,NC,64, QEI::X4_ENCODING); |
tvlogman | 10:e23cbcdde7e3 | 11 | MODSERIAL pc(USBTX, USBRX); |
tvlogman | 16:27430afe663e | 12 | HIDScope scope(2); |
tvlogman | 8:0067469c3389 | 13 | |
tvlogman | 14:664870b5d153 | 14 | // Defining outputs |
tvlogman | 13:83e3672b24ee | 15 | DigitalOut motor1_direction(D4); |
tvlogman | 13:83e3672b24ee | 16 | PwmOut motor1_pwm(D5); |
tvlogman | 14:664870b5d153 | 17 | |
tvlogman | 14:664870b5d153 | 18 | // Defining inputs |
tvlogman | 14:664870b5d153 | 19 | InterruptIn sw2(SW2); |
tvlogman | 15:b76b8cff4d8f | 20 | InterruptIn sw3(SW3); |
tvlogman | 16:27430afe663e | 21 | InterruptIn button1(D2); |
tvlogman | 15:b76b8cff4d8f | 22 | AnalogIn pot(A0); |
tvlogman | 15:b76b8cff4d8f | 23 | |
tvlogman | 16:27430afe663e | 24 | // PWM settings |
tvlogman | 16:27430afe663e | 25 | float pwmPeriod = 1.0/5000.0; |
tvlogman | 16:27430afe663e | 26 | int frequency_pwm = 10000; //10kHz PWM |
tvlogman | 14:664870b5d153 | 27 | |
tvlogman | 16:27430afe663e | 28 | volatile float x; |
tvlogman | 16:27430afe663e | 29 | volatile float x_prev =0; |
tvlogman | 16:27430afe663e | 30 | volatile float y; // filtered 'output' of ReadAnalogInAndFilter |
tvlogman | 14:664870b5d153 | 31 | |
tvlogman | 17:616ce7bc1f96 | 32 | // Initializing encoder |
tvlogman | 10:e23cbcdde7e3 | 33 | Ticker encoderTicker; |
tvlogman | 10:e23cbcdde7e3 | 34 | volatile int counts = 0; |
tvlogman | 12:0462757e1ed2 | 35 | volatile float revs = 0.00; |
tvlogman | 7:1bffab95fc5f | 36 | |
tvlogman | 10:e23cbcdde7e3 | 37 | void readEncoder(){ |
tvlogman | 10:e23cbcdde7e3 | 38 | counts = Encoder.getPulses(); |
tvlogman | 17:616ce7bc1f96 | 39 | revs = counts/(131*64.0f); |
tvlogman | 17:616ce7bc1f96 | 40 | pc.printf("%0.2f revolutions \r\n", revs); |
tvlogman | 16:27430afe663e | 41 | |
tvlogman | 16:27430afe663e | 42 | // Displaying revs in HIDscope |
tvlogman | 16:27430afe663e | 43 | x = revs; // Capture data |
tvlogman | 16:27430afe663e | 44 | scope.set(0, x); // store data in first element of scope memory |
tvlogman | 16:27430afe663e | 45 | y = (x_prev + x)/2.0; // averaging filter |
tvlogman | 16:27430afe663e | 46 | scope.set(1, y); // store data in second element of scope memory |
tvlogman | 16:27430afe663e | 47 | x_prev = x; // Prepare for next round |
tvlogman | 16:27430afe663e | 48 | |
tvlogman | 16:27430afe663e | 49 | scope.send(); // send what's in scope memory to PC |
tvlogman | 10:e23cbcdde7e3 | 50 | } |
tvlogman | 14:664870b5d153 | 51 | |
tvlogman | 14:664870b5d153 | 52 | void killSwitch(){ |
tvlogman | 15:b76b8cff4d8f | 53 | pc.printf("Motors turned off"); |
tvlogman | 15:b76b8cff4d8f | 54 | currentState = KILLED; |
tvlogman | 14:664870b5d153 | 55 | } |
tvlogman | 14:664870b5d153 | 56 | |
tvlogman | 15:b76b8cff4d8f | 57 | void turnMotorsOn(){ |
tvlogman | 15:b76b8cff4d8f | 58 | pc.printf("Motors turned on"); |
tvlogman | 15:b76b8cff4d8f | 59 | currentState = ACTIVE; |
tvlogman | 15:b76b8cff4d8f | 60 | } |
tvlogman | 15:b76b8cff4d8f | 61 | |
tvlogman | 15:b76b8cff4d8f | 62 | |
tvlogman | 14:664870b5d153 | 63 | void M1switchDirection(){ |
tvlogman | 14:664870b5d153 | 64 | motor1_direction = !motor1_direction; |
tvlogman | 14:664870b5d153 | 65 | } |
vsluiter | 0:c8f15874531b | 66 | |
vsluiter | 0:c8f15874531b | 67 | int main() |
tvlogman | 10:e23cbcdde7e3 | 68 | { |
tvlogman | 14:664870b5d153 | 69 | motor1_direction = false; |
tvlogman | 13:83e3672b24ee | 70 | motor1_pwm.period(pwmPeriod);//T=1/f |
tvlogman | 14:664870b5d153 | 71 | sw2.fall(&killSwitch); |
tvlogman | 15:b76b8cff4d8f | 72 | sw3.fall(&turnMotorsOn); |
tvlogman | 16:27430afe663e | 73 | button1.rise(&M1switchDirection); |
vsluiter | 0:c8f15874531b | 74 | pc.baud(115200); |
tvlogman | 16:27430afe663e | 75 | encoderTicker.attach(readEncoder, 0.1); |
tvlogman | 15:b76b8cff4d8f | 76 | |
tvlogman | 10:e23cbcdde7e3 | 77 | pc.printf("Encoder ticker attached and baudrate set"); |
tvlogman | 13:83e3672b24ee | 78 | |
tvlogman | 15:b76b8cff4d8f | 79 | while(true){ |
tvlogman | 15:b76b8cff4d8f | 80 | switch(currentState){ |
tvlogman | 15:b76b8cff4d8f | 81 | case KILLED: |
tvlogman | 15:b76b8cff4d8f | 82 | motor1_pwm.write(0.0); |
tvlogman | 15:b76b8cff4d8f | 83 | break; |
tvlogman | 15:b76b8cff4d8f | 84 | case ACTIVE: |
tvlogman | 15:b76b8cff4d8f | 85 | motor1_pwm.write(pot.read()); // Motor speed proportional to pot meter |
tvlogman | 15:b76b8cff4d8f | 86 | break; |
tvlogman | 15:b76b8cff4d8f | 87 | } |
tvlogman | 15:b76b8cff4d8f | 88 | } |
tvlogman | 15:b76b8cff4d8f | 89 | |
vsluiter | 0:c8f15874531b | 90 | } |
tvlogman | 7:1bffab95fc5f | 91 |