Totale script, 2 rotationele joints met middelpunt van swiffer als end-effector die verticaal en horizontaal wordt bestuurd middels EMG-signalen. Automatische kalibratie, grenshoeken
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
main.cpp
- Committer:
- willem_hoitzing
- Date:
- 2016-10-28
- Revision:
- 0:e03285f8a410
- Child:
- 1:078e96685ed3
File content as of revision 0:e03285f8a410:
#include "stdio.h" #include "math.h" #include "mbed.h" #include "QEI.h" #include "MODSERIAL.h" #include "BiQuad.h" #include "HIDScope.h" MODSERIAL pc(USBTX, USBRX); QEI wheel_M1 (D13, D12, NC, 32); QEI wheel_M2 (D10, D11, NC, 32); PwmOut pwm_M1 (D6); PwmOut pwm_M2 (D5); DigitalOut dir_M1 (D7); DigitalOut dir_M2 (D4); Ticker emgticker; AnalogIn emgB(A0); AnalogIn emgT(A1); AnalogIn emgS(A2); HIDScope scope(3); DigitalOut ledg (LED_GREEN); DigitalOut ledr (LED_RED); DigitalOut ledb (LED_BLUE); InterruptIn knop_biceps(SW2); InterruptIn knop_triceps(SW3); InterruptIn knop_switch(D9); BiQuadChain filter1b; BiQuadChain filter2b; BiQuadChain filter1t; BiQuadChain filter2t; BiQuadChain filter1s; BiQuadChain filter2s; BiQuad bq1b(8.5977e-01, -1.7195e+00, 8.5977e-01, -1.7347e+00, 7.6601e-01); // Notch + HP BiQuad bq2b(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.5933e+00, 9.8217e-01); // Notch + HP BiQuad bq3b(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.6143e+00 , 9.8260e-01); // Notch + HP BiQuad bq4b(3.4604e-04, 6.9208e-04, 3.4604e-04, -1.9467e+00, 9.4808e-01); // LP BiQuad bq1t(8.5977e-01, -1.7195e+00, 8.5977e-01, -1.7347e+00, 7.6601e-01); // Notch + HP BiQuad bq2t(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.5933e+00, 9.8217e-01); // Notch + HP BiQuad bq3t(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.6143e+00 , 9.8260e-01); // Notch + HP BiQuad bq4t(3.4604e-04, 6.9208e-04, 3.4604e-04, -1.9467e+00, 9.4808e-01); // LP BiQuad bq1s(8.5977e-01, -1.7195e+00, 8.5977e-01, -1.7347e+00, 7.6601e-01); // Notch + HP BiQuad bq2s(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.5933e+00, 9.8217e-01); // Notch + HP BiQuad bq3s(1.0000e+00, -1.6182e+00, 1.0000e+00, -1.6143e+00 , 9.8260e-01); // Notch + HP BiQuad bq4s(3.4604e-04, 6.9208e-04, 3.4604e-04, -1.9467e+00, 9.4808e-01); // LP const float threshold_biceps = 0.07; const float threshold_triceps = 0.07; const float threshold_switch = 0.05; volatile float q1 = 0; volatile float q2 = 0; volatile float q1_begin; volatile float q2_begin; const float l1 = 0.3626; const float l2 = 0.420; volatile float q1_v; volatile float q2_v; volatile float q1_ref = 0; volatile float q2_ref = 0; volatile float q1_error = 0; volatile float q2_error = 0; volatile float q1_error_prev = 0; volatile float q2_error_prev = 0; volatile float q1DerivativeError = 0; volatile float q2DerivativeError = 0; volatile float q1IntError = 0; volatile float q2IntError = 0; volatile float TotalError1= 0; volatile float TotalError2= 0; float ctrlOutput_M1 = 0; float ctrlOutput_M2 = 0; volatile float vx; volatile float vy; volatile bool translatie_richting = true; //true is verticaal, false is horizontaal const float TS = 0.02; const float MotorGain_M1 = 4.3; // bij pwm = 1 draait (losse) motor met 4.3 rad/s -> gemeten const float MotorGain_M2 = 4.7; // gemeten Ticker update_encoder_ticker; volatile bool go_flag_update_encoder = false; void flag_update_encoder() { go_flag_update_encoder = true; } void update_encoder() { //q1 = wheel_M1.getPulses()/(1334.355/2); //q2 = wheel_M2.getPulses()/(1334.355/2); //pc.printf("q1 = %f \tq1_ref = %f \tq2 = %f \tq2_ref = %f \ttotalerr1 = %f \ttotalerr2 = %f\n\r",q1, q1_ref,q2,q2_ref,TotalError1,TotalError2); pc.printf("vx = %f \tvy = %f \tq1_r = %f \tq2_r = %f \tq1 = %f \tq2 = %f \tpwm_M1 = %f \tpwm_M2 = %f\n\r",vx,vy,q1_ref,q2_ref,q1,q2,pwm_M1.read(),pwm_M2.read()); //pc.printf("q1_err = %0.9f \tq2_err = %0.9f \tq1IntErr = %0.9f \tq2IntErr = %0.9f \tTotErr1 = %0.9f \tTotErr2 = %0.9f\n\r",q1_error,q2_error,q1IntError,q2IntError,TotalError1,TotalError2); } Ticker PIDcontrol; volatile bool go_flag_controller = false; void flag_controller() { go_flag_controller = true; } volatile bool active_PID_ticker = false; void begin_hoeken() { wait(1); q1_ref = wheel_M1.getPulses()/(1334.355/2); q2_ref = wheel_M2.getPulses()/(1334.355/2); active_PID_ticker = true; } void initialize() { dir_M1 = 0; //ccw dir_M2 = 1; //cw while (q1 < 20*2*3.1415/360) { q1 = wheel_M1.getPulses()/(1334.355/2); pwm_M1 = 0.05; wait(0.005f); } pwm_M1 = 0; while (q2 > -45*2*3.1415/360) { q2 = wheel_M2.getPulses()/(1334.355/2); pwm_M2 = 0.05; wait(0.005f); } pwm_M2 = 0; ledg = !ledg; begin_hoeken(); } void biceps() { q1IntError = 0; q2IntError = 0; q1_error_prev = 0; q2_error_prev = 0; if (translatie_richting == true) { // verticaal / up vx = 0; vy = 0.1; } else { // horizontaal / right vx = 0.1; vy = 0; } } void triceps() { q1IntError = 0; q2IntError = 0; q1_error_prev = 0; q2_error_prev = 0; if (translatie_richting == true) { // verticaal / down vx = 0; vy = -0.1; } else { // horizontaal / left vx = -0.1; vy = 0; } } void switcher() { if ( (vx == 0) && (vy == 0) && (translatie_richting == true) ) { translatie_richting = false; } else if ( (vx == 0) && (vy == 0) && (translatie_richting == false) ) { translatie_richting = true; } else { vx = 0; vy = 0; q1IntError = 0; q2IntError = 0; q1_error_prev = 0; q2_error_prev = 0; } if (translatie_richting == 1) { ledr = 1; // blauw - verticaal ledg = 1; ledb = 0; } else { ledr = 0; // rood - horizontaal ledg = 1; ledb = 1; } } Ticker switch_activate_ticker; volatile bool switch_active = true; void switch_activate() { switch_active = true; } volatile bool go_flag_emgsample = false; void flag_emgsample() { go_flag_emgsample = true; } void emgsample() { float bEMG_raw = emgB.read(); float bEMG_HPfilt = filter1b.step( bEMG_raw ); float bEMG_rect = abs(bEMG_HPfilt); float bEMG_filt = filter2b.step(bEMG_rect); float tEMG_raw = emgT.read(); float tEMG_HPfilt = filter1t.step( tEMG_raw ); float tEMG_rect = abs(tEMG_HPfilt); float tEMG_filt = filter2t.step(tEMG_rect); float sEMG_raw = emgS.read(); float sEMG_HPfilt = filter1s.step( sEMG_raw ); float sEMG_rect = abs(sEMG_HPfilt); float sEMG_filt = filter2s.step(sEMG_rect); scope.set(0, bEMG_filt); scope.set(1, tEMG_filt); scope.set(2, sEMG_filt); scope.send(); // motor aansturing if (sEMG_filt > threshold_switch) { if (switch_active == true) { switcher(); switch_active = false; switch_activate_ticker.attach(&switch_activate, 0.5f); } } else if (tEMG_filt > threshold_triceps) { triceps(); } else if (bEMG_filt > threshold_biceps) { biceps(); } } Ticker update_ref_ticker; volatile float J_1; volatile float J_2; volatile float J_3; volatile float J_4; volatile bool go_flag_update_ref = false; void flag_update_ref() { go_flag_update_ref = true; } void update_ref() { q1 = wheel_M1.getPulses() / (1334.355/2); // rad q2 = wheel_M2.getPulses() / (1334.355/2); J_1 = -(l2*sin(q1 + q2))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); J_2 = (l2*cos(q1 + q2))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); J_3 = (l2*sin(q1 + q2) + l1*sin(q1))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); J_4 = -(l2*cos(q1 + q2) + l1*cos(q1))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); q1_v = J_1 * vx + J_2 * vy; q2_v = J_3 * vx + J_4 * vy; if ( (q1 > (90*2*3.1415/360)) && (q1_v > 0 ) ) { // WAARDES VINDEN 0.8726 (50 graden) q1_v = 0; q2_v = 0; } else if ( (q1 < -(90*2*3.1415/360)) && (q1_v < 0) ) { q1_v = 0; q2_v = 0; } else if ( (q2 < (-140*2*3.1415/360)) && (q2_v < 0) ) { // WAARDES VINDEN -2.4434 (-140 graden) --> werkelijke max -2.672452 q1_v = 0; q2_v = 0; } else if ( (q2 > 0) && (q2_v > 0) ) { q1_v = 0; q2_v = 0; } q1_ref = q1 + q1_v*TS; q2_ref = q2 + q2_v*TS; } void PID(float q1,float q1_ref,float q2,float q2_ref,float TS,float &ctrlOutput_M1, float &ctrlOutput_M2) { // linear feedback control q1_error = q1_ref - q1; //referencePosition1 - Position1; // proportional angular error in radians q2_error = q2_ref - q2; //referencePosition1 - Position1; // proportional angular error in radians float Kp = 10; q1IntError = q1IntError + q1_error*TS; // integrated error in radians q2IntError = q2IntError + q2_error*TS; // integrated error in radians float Ki = 1; q1DerivativeError = (q1_error - q1_error_prev)/TS; // derivative of error in radians q2DerivativeError = (q2_error - q2_error_prev)/TS; // derivative of error in radians float Kd = 0; TotalError1 = (q1_error * Kp) + (q1IntError * Ki) + (q1DerivativeError * Kd); //total controller output = motor input TotalError2 = (q2_error * Kp) + (q2IntError * Ki) + (q2DerivativeError * Kd); //total controller output = motor input ctrlOutput_M1 = TotalError1/MotorGain_M1; ctrlOutput_M2 = TotalError2/MotorGain_M2; q1_error_prev = q1_error; q2_error_prev = q2_error; } void Controller() { PID(q1,q1_ref,q2,q2_ref,TS,ctrlOutput_M1,ctrlOutput_M2); if (ctrlOutput_M1 < 0) { dir_M1 = 1; } else { dir_M1 = 0; } pwm_M1 = abs(ctrlOutput_M1); if (pwm_M1 <= 0) { pwm_M1 = 0; } else { pwm_M1 = pwm_M1 + 0.05; } if (ctrlOutput_M2 < 0) { dir_M2 = 1; } else { dir_M2 = 0; } pwm_M2 = abs(ctrlOutput_M2); if (pwm_M2 <= 0) { pwm_M2 = 0; } else { pwm_M2 = pwm_M2 + 0.05; } } int main() { ledr = 1; ledg = 1; ledb = 0; pc.baud(115200); wheel_M1.reset(); wheel_M2.reset(); filter1b.add(&bq1b).add(&bq2b).add(&bq3b); filter2b.add(&bq4b); filter1t.add(&bq1t).add(&bq2t).add(&bq3t); filter2t.add(&bq4t); filter1s.add(&bq1s).add(&bq2s).add(&bq3s); filter2s.add(&bq4s); knop_biceps.rise(&biceps); knop_triceps.rise(&triceps); knop_switch.rise(&switcher); // flag functions/tickers emgticker.attach(&emgsample, 0.002f); // 500 Hz --> moet kloppen met frequentie gebruikt voor filter coefficienten update_encoder_ticker.attach(&flag_update_encoder, TS); update_ref_ticker.attach(&flag_update_ref, TS); // initialize -> beginposities initialize(); if (active_PID_ticker == true) { PIDcontrol.attach(&flag_controller, TS); } while(1) { // sample EMG if (go_flag_emgsample == true) { go_flag_emgsample = false; emgsample(); } // update encoder if (go_flag_update_encoder == true) { go_flag_update_encoder = false; update_encoder(); } // update joint positions/velocities if (go_flag_update_ref == true) { go_flag_update_ref = false; update_ref(); } // controller M1+M2 if (go_flag_controller == true) { go_flag_controller = false; Controller(); } } }