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Dependencies: FastPWM HIDScope MODSERIAL QEI Matrix biquadFilter controller errorFetch mbed motorConfig refGen MatrixMath inverseKinematics
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Minor_test_serial
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Revision 34:1a70aa045c8f, committed 2017-10-22
- Comitter:
- tvlogman
- Date:
- Sun Oct 22 08:01:59 2017 +0000
- Parent:
- 33:6f4858b98fe5
- Child:
- 35:99bf23b34ee3
- Commit message:
- Now implementing the new calls to refGen and errorFetch.
Changed in this revision
--- a/errorFetch.lib Fri Oct 20 16:30:26 2017 +0000 +++ b/errorFetch.lib Sun Oct 22 08:01:59 2017 +0000 @@ -1,1 +1,1 @@ -errorFetch#9e2c9237d88b +errorFetch#71a7dd98fb2c
--- a/main.cpp Fri Oct 20 16:30:26 2017 +0000
+++ b/main.cpp Sun Oct 22 08:01:59 2017 +0000
@@ -8,9 +8,22 @@
#include "controller.h"
#include "motorConfig.h"
#include "errorFetch.h"
+#include "biquadFilter.h"
+#include "biquadChain.h"
// ADJUSTABLE PARAMETERS
+// EMG filter parameters
+
+// high pass
+biquadFilter HPbq1(0.9837,-1.9674, 0.9837,1.0000,-1.9769,0.9770);
+biquadFilter HPbq2(1.0000, -2.0000, 1.0000, 1.0000, -1.9903, 0.9904);
+biquadChain HPbqc(HPbq1, HPbq2);
+// low pass
+biquadFilter LPbq1(1.0e-6*0.1202, 1.0e-6*0.2405, 1.0e-6*0.1202, 1.0000, -1.9313, 0.9327);
+biquadFilter LPbq2(1.0000, 2.0000, 1.0000, 1.0000, -1.9702, 0.9716);
+biquadChain LPbqc(LPbq1, LPbq2);
+
// Controller parameters
const float k_p = 1;
const float k_i = 0; // Still needs a reasonable value
@@ -44,7 +57,7 @@
InterruptIn button1(D2);
InterruptIn button2(D3);
AnalogIn pot2(A3);
-AnalogIn emg0( A0 );
+//AnalogIn emg0( A0 );
//AnalogIn emg1( A1 );
// Setting up HIDscope
@@ -77,11 +90,11 @@
// Function getReferencePosition returns reference angle based on potmeter 1
refGen ref1(A1, maxAngle);
-refGen ref2(A1, maxAngle);
+//refGen ref2(A1, maxAngle);
// readEncoder reads counts and revs and logs results to serial window
-errorFetch e1(ref1, gearRatio, Ts);
-errorFetch e2(ref2, gearRatio, Ts);
+errorFetch e1(gearRatio, Ts);
+//errorFetch e2(gearRatio, Ts);
// Generate a PID controller with the specified values of k_p, k_d and k_i
controller motorController1(k_p, k_d, k_i);
@@ -92,10 +105,11 @@
void measureAndControl(){
m1counts = Encoder1.getPulses();
m2counts = Encoder2.getPulses();
- e1.fetchError(m1counts);
+ float r1 = ref1.getFilteredReference;
+ e1.fetchError(m1counts, r1);
float motorValue = motorController1.control(e1.e_pos, e1.e_int, e1.e_der);
- float r = ref1.getReferencePosition();
- sendDataToPc(r, e1.e_pos, emg0.read(), e1.e_der, motorValue);
+ float r1_unfiltered = ref1.getReference();
+ sendDataToPc(r1_unfiltered, r1, e1.e_pos, e1.e_der, motorValue);
motor1.setMotor(motorValue);
}
--- a/refGen.lib Fri Oct 20 16:30:26 2017 +0000 +++ b/refGen.lib Sun Oct 22 08:01:59 2017 +0000 @@ -1,1 +1,1 @@ -refGen#43d9f8db93b7 +refGen#38af2aa14a3f