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@18:65e24db15c69, 2017-09-29 (annotated)
- Committer:
- tvlogman
- Date:
- Fri Sep 29 08:08:19 2017 +0000
- Revision:
- 18:65e24db15c69
- Parent:
- 17:616ce7bc1f96
Removed HIDscope - that seems to prevent the entire program from working
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 | 8:0067469c3389 | 12 | |
tvlogman | 14:664870b5d153 | 13 | // Defining outputs |
tvlogman | 13:83e3672b24ee | 14 | DigitalOut motor1_direction(D4); |
tvlogman | 13:83e3672b24ee | 15 | PwmOut motor1_pwm(D5); |
tvlogman | 14:664870b5d153 | 16 | |
tvlogman | 14:664870b5d153 | 17 | // Defining inputs |
tvlogman | 14:664870b5d153 | 18 | InterruptIn sw2(SW2); |
tvlogman | 15:b76b8cff4d8f | 19 | InterruptIn sw3(SW3); |
tvlogman | 16:27430afe663e | 20 | InterruptIn button1(D2); |
tvlogman | 15:b76b8cff4d8f | 21 | AnalogIn pot(A0); |
tvlogman | 15:b76b8cff4d8f | 22 | |
tvlogman | 16:27430afe663e | 23 | // PWM settings |
tvlogman | 16:27430afe663e | 24 | float pwmPeriod = 1.0/5000.0; |
tvlogman | 16:27430afe663e | 25 | int frequency_pwm = 10000; //10kHz PWM |
tvlogman | 14:664870b5d153 | 26 | |
tvlogman | 16:27430afe663e | 27 | volatile float x; |
tvlogman | 16:27430afe663e | 28 | volatile float x_prev =0; |
tvlogman | 16:27430afe663e | 29 | volatile float y; // filtered 'output' of ReadAnalogInAndFilter |
tvlogman | 14:664870b5d153 | 30 | |
tvlogman | 17:616ce7bc1f96 | 31 | // Initializing encoder |
tvlogman | 10:e23cbcdde7e3 | 32 | Ticker encoderTicker; |
tvlogman | 10:e23cbcdde7e3 | 33 | volatile int counts = 0; |
tvlogman | 12:0462757e1ed2 | 34 | volatile float revs = 0.00; |
tvlogman | 7:1bffab95fc5f | 35 | |
tvlogman | 10:e23cbcdde7e3 | 36 | void readEncoder(){ |
tvlogman | 10:e23cbcdde7e3 | 37 | counts = Encoder.getPulses(); |
tvlogman | 17:616ce7bc1f96 | 38 | revs = counts/(131*64.0f); |
tvlogman | 17:616ce7bc1f96 | 39 | pc.printf("%0.2f revolutions \r\n", revs); |
tvlogman | 16:27430afe663e | 40 | |
tvlogman | 16:27430afe663e | 41 | // Displaying revs in HIDscope |
tvlogman | 16:27430afe663e | 42 | x = revs; // Capture data |
tvlogman | 16:27430afe663e | 43 | y = (x_prev + x)/2.0; // averaging filter |
tvlogman | 16:27430afe663e | 44 | x_prev = x; // Prepare for next round |
tvlogman | 16:27430afe663e | 45 | |
tvlogman | 10:e23cbcdde7e3 | 46 | } |
tvlogman | 14:664870b5d153 | 47 | |
tvlogman | 14:664870b5d153 | 48 | void killSwitch(){ |
tvlogman | 15:b76b8cff4d8f | 49 | pc.printf("Motors turned off"); |
tvlogman | 15:b76b8cff4d8f | 50 | currentState = KILLED; |
tvlogman | 14:664870b5d153 | 51 | } |
tvlogman | 14:664870b5d153 | 52 | |
tvlogman | 15:b76b8cff4d8f | 53 | void turnMotorsOn(){ |
tvlogman | 15:b76b8cff4d8f | 54 | pc.printf("Motors turned on"); |
tvlogman | 15:b76b8cff4d8f | 55 | currentState = ACTIVE; |
tvlogman | 15:b76b8cff4d8f | 56 | } |
tvlogman | 15:b76b8cff4d8f | 57 | |
tvlogman | 15:b76b8cff4d8f | 58 | |
tvlogman | 14:664870b5d153 | 59 | void M1switchDirection(){ |
tvlogman | 14:664870b5d153 | 60 | motor1_direction = !motor1_direction; |
tvlogman | 14:664870b5d153 | 61 | } |
vsluiter | 0:c8f15874531b | 62 | |
vsluiter | 0:c8f15874531b | 63 | int main() |
tvlogman | 10:e23cbcdde7e3 | 64 | { |
tvlogman | 18:65e24db15c69 | 65 | pc.baud(115200); |
tvlogman | 18:65e24db15c69 | 66 | pc.printf("Entered main function"); |
tvlogman | 14:664870b5d153 | 67 | motor1_direction = false; |
tvlogman | 13:83e3672b24ee | 68 | motor1_pwm.period(pwmPeriod);//T=1/f |
tvlogman | 14:664870b5d153 | 69 | sw2.fall(&killSwitch); |
tvlogman | 15:b76b8cff4d8f | 70 | sw3.fall(&turnMotorsOn); |
tvlogman | 16:27430afe663e | 71 | button1.rise(&M1switchDirection); |
tvlogman | 18:65e24db15c69 | 72 | |
tvlogman | 16:27430afe663e | 73 | encoderTicker.attach(readEncoder, 0.1); |
tvlogman | 15:b76b8cff4d8f | 74 | |
tvlogman | 10:e23cbcdde7e3 | 75 | pc.printf("Encoder ticker attached and baudrate set"); |
tvlogman | 13:83e3672b24ee | 76 | |
tvlogman | 15:b76b8cff4d8f | 77 | while(true){ |
tvlogman | 15:b76b8cff4d8f | 78 | switch(currentState){ |
tvlogman | 15:b76b8cff4d8f | 79 | case KILLED: |
tvlogman | 15:b76b8cff4d8f | 80 | motor1_pwm.write(0.0); |
tvlogman | 15:b76b8cff4d8f | 81 | break; |
tvlogman | 15:b76b8cff4d8f | 82 | case ACTIVE: |
tvlogman | 15:b76b8cff4d8f | 83 | motor1_pwm.write(pot.read()); // Motor speed proportional to pot meter |
tvlogman | 15:b76b8cff4d8f | 84 | break; |
tvlogman | 15:b76b8cff4d8f | 85 | } |
tvlogman | 15:b76b8cff4d8f | 86 | } |
tvlogman | 15:b76b8cff4d8f | 87 | |
vsluiter | 0:c8f15874531b | 88 | } |
tvlogman | 7:1bffab95fc5f | 89 |