Revision 83:067e07db027c, committed 2015-06-22

Comitter:

jessekaiser

Date:

Mon Jun 22 20:30:23 2015 +0000

Parent:

82:bcd96c98af2d

Child:

84:8b3f18260431

Commit message:

Volledige code. Niet 100% zeker of alles werkt.

Changed in this revision

--- a/main.cpp	Mon Jun 22 20:22:57 2015 +0000
+++ b/main.cpp	Mon Jun 22 20:30:23 2015 +0000
@@ -1,5 +1,5 @@
 /*Code by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table
-Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
+Some variables are also numbered at the end. The numbers stand for the muscle that controls it.
 Biceps =            1
 Triceps =           2
 Pectoralis Major =  3
@@ -94,11 +94,11 @@
 
 //global variabels
 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
-float speed_old1, speed_old2, speed_old3, speed_old4;
-float acc1, acc2, acc3, acc4;
-float force1, force2, force3, force4;
-float speed1, speed2, speed3, speed4;
-float damping1, damping2, damping3, damping4;
+float speed_old1, speed_old2;
+float acc1, acc2;
+float force1, force2;
+float speed1, speed2;
+float damping1, damping2;
 float emg_x, emg_y;
 float cx = 0;
 float cy = 0;
@@ -121,7 +121,7 @@
 
     //process emg biceps
     arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );   //High pass and notch filter
-    filtered_biceps = fabs(filtered_biceps);                                                //Rectifier, The Gain is already implemented.
+    filtered_biceps = fabs(filtered_biceps);                                                //Rectifier
     arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );    //low pass filter
 
     //process emg triceps
@@ -148,7 +148,7 @@
 
 void looper_motory()
 {
-
+    //Motor control
     emg_y = (filtered_biceps - filtered_triceps);
     emg_y_abs = fabs(emg_y);
     force1 = emg_y_abs*K_Gain;
@@ -160,10 +160,11 @@
     Stepy.period(1.0/step_freq1);
     speed_old1 = speed1;
 
+    //Direction control. 1 is up.
     if (emg_y > 0) {
         Diry = 1;
     }
-
+    //Direction control. 0 is down.
     if (emg_y < 0) {
         Diry = 0;
     }
@@ -181,9 +182,9 @@
 
 }
 
-/*void looper_motorx()
+void looper_motorx()
 {
-
+    //Motor control.
     emg_x = (filtered_pect - filtered_deltoid);
     emg_x_abs = fabs(emg_x);
     force2 = emg_x_abs*K_Gain;
@@ -194,10 +195,11 @@
     step_freq2 = setpoint * speed2;
     Stepx.period(1.0/step_freq2);
     speed_old2 = speed2;
-
+    //Direction control. 0 is to the left.
     if (emg_x > 0) {
         Dirx = 0;
     }
+    //Direction control. 1 is to the right.
     if (emg_x < 0) {
         Dirx = 1;
     }
@@ -213,13 +215,13 @@
         Enablex = 0;
     }
 
-}*/
+}
 
 int main()
 {
     // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
     // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
-/*
+    //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
     MS1 = 1;
     MS2 = 0;
     MS3 = 0;
@@ -236,6 +238,7 @@
     wait(1);
     Enablex = 0;
     Enabley = 0;
+    //Homing loop.
     while(errorx > error_tresh || errory > error_tresh) {
 
         Ps_x = Posx.read();
@@ -243,24 +246,20 @@
         errorx = fabs(Pt_x - Ps_x);
         errory = fabs(Ps_y - Pt_y);
         lcd.printf("%.2f %.2f \n", errorx, errory);
-        
-        
-        if (Ps_x < 0.50 && errorx > error_tresh) {
+
+
+        if (Ps_x < Pt_x && errorx > error_tresh) {
             Dirx = 0;
-            //errorx = Pt_x - Ps_x;
             cx = errorx * H_Gain;
-
             float hnew_step_freqx;
             hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
             hstep_freqx = hnew_step_freqx;
             Stepx.period(1.0/hstep_freqx);
             wait(0.01);
         }
-        if (Ps_y > 0.50 && errory > error_tresh) {
+        if (Ps_y > Pt_y && errory > error_tresh) {
             Diry = 0;
-            //errory = Ps_y - Pt_y;
             cy = errory * H_Gain;
-
             float hnew_step_freqy;
             hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
             hstep_freqy = hnew_step_freqy;
@@ -268,22 +267,18 @@
             wait(0.01);
         }
 
-        if (Ps_x > 0.50 && errorx > error_tresh) {
+        if (Ps_x > Pt_x && errorx > error_tresh) {
             Dirx = 1;
-            //errorx = Pt_x - Ps_x;
             cx = errorx * H_Gain;
-
             float hnew_step_freqx;
             hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
             hstep_freqx = hnew_step_freqx;
             Stepx.period(1.0/hstep_freqx);
             wait(0.01);
         }
-        if (Ps_y < 0.50 && errory > error_tresh) {
+        if (Ps_y < Pt_y && errory > error_tresh) {
             Diry = 1;
-            //errory = Ps_y - Pt_y;
             cy = errory * H_Gain;
-
             float hnew_step_freqy;
             hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
             hstep_freqy = hnew_step_freqy;
@@ -305,12 +300,6 @@
     wait(1);
     Enablex = 0;
     Enabley = 0;
-*/
-    MS1 = 1;
-    MS2 = 0;
-    MS3 = 0;
-    Stepx.write(0.5); // Duty cycle of 50%
-    Stepy.write(0.5);
 
     Ticker emgtimer;    //biceps
     arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
@@ -326,21 +315,16 @@
     arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
     emgtimer.attach(looper_emg, 0.01);
 
-    //Ticker looptimer1;
-    //looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
+    Ticker looptimer1;
+    looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor
 
     Ticker looptimer2;
     looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
 
-    //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
-
-
-
     while (1) {
 
-
         pc.printf("%.2f %.2f %.2f  \n", Posy.read(), emg_y, step_freq1); //Send signal values to the computer.
-        wait(0.01); 
+        wait(0.01);
 
     }
 }