Revision 85:a7493d3dd4ce, committed 2015-06-25

Comitter:

jessekaiser

Date:

Thu Jun 25 08:22:00 2015 +0000

Parent:

84:8b3f18260431

Child:

86:9d781e7aa893

Commit message:

Poging Y-Motor 1;

Changed in this revision

--- a/main.cpp	Mon Jun 22 22:53:27 2015 +0000
+++ b/main.cpp	Thu Jun 25 08:22:00 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 stand for the muscle that controls it.
+Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
 Biceps =            1
 Triceps =           2
 Pectoralis Major =  3
@@ -31,8 +31,8 @@
 #define error_tresh 0.03
 
 //Motor control
-DigitalOut Dirx(p21);
-PwmOut Stepx(p22);
+DigitalOut Dirx(p25);
+PwmOut Stepx(p26);
 DigitalOut Diry(p23);
 PwmOut Stepy(p24);
 
@@ -40,21 +40,21 @@
 Serial pc(USBTX, USBRX);
 
 //Position sensors
-AnalogIn Posx(p19);
-AnalogIn Posy(p20);
-DigitalOut Enablex(p25);
-DigitalOut Enabley(p26);
+AnalogIn Posx(p20);
+AnalogIn Posy(p19);
+DigitalOut Enablex(p27);
+DigitalOut Enabley(p39);
 
 //Microstepping
-DigitalOut MS1(p27);
-DigitalOut MS2(p28);
-DigitalOut MS3(p29);
+DigitalOut MS1(p29);
+DigitalOut MS2(p30);
+DigitalOut MS3(p31);
 
 //EMG inputs
-AnalogIn emg1(p15); //biceps
+AnalogIn emg1(p15); //EMG bordje bovenop, biceps
 AnalogIn emg2(p16); //triceps
-AnalogIn emg3(p17); //pectoralis major
-AnalogIn emg4(p18); //deltoid
+AnalogIn emg3(p17);
+AnalogIn emg4(p18);
 
 //HIDScope scope(4);
 //Ticker   scopeTimer;
@@ -80,8 +80,7 @@
 arm_biquad_casd_df1_inst_f32 highnotch_pect;
 arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
-float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 
-0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
+float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
 
 //state values
 float lowpass_biceps_states[4];
@@ -95,11 +94,11 @@
 
 //global variabels
 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
-float speed_old1, speed_old2;
-float acc1, acc2;
-float force1, force2;
-float speed1, speed2;
-float damping1, damping2;
+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 emg_x, emg_y;
 float cx = 0;
 float cy = 0;
@@ -122,7 +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
+    filtered_biceps = fabs(filtered_biceps);                                                //Rectifier, The Gain is already implemented.
     arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );    //low pass filter
 
     //process emg triceps
@@ -147,9 +146,9 @@
     scope.set(3,filtered_deltoid);*/
 }
 
-void looper_motory()
+/*void looper_motory()
 {
-    //Motor control
+
     emg_y = (filtered_biceps - filtered_triceps);
     emg_y_abs = fabs(emg_y);
     force1 = emg_y_abs*K_Gain;
@@ -161,11 +160,10 @@
     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;
     }
@@ -181,11 +179,11 @@
         Enabley = 0;
     }
 
-}
+}*/
 
 void looper_motorx()
 {
-    //Motor control.
+
     emg_x = (filtered_pect - filtered_deltoid);
     emg_x_abs = fabs(emg_x);
     force2 = emg_x_abs*K_Gain;
@@ -196,11 +194,10 @@
     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;
     }
@@ -222,7 +219,7 @@
 {
     // 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;
@@ -239,7 +236,6 @@
     wait(1);
     Enablex = 0;
     Enabley = 0;
-    //Homing loop.
     while(errorx > error_tresh || errory > error_tresh) {
 
         Ps_x = Posx.read();
@@ -247,20 +243,24 @@
         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) {
+            Dirx = 0;
+            //errorx = Pt_x - Ps_x;
+            cx = errorx * H_Gain;
 
-        if (Ps_x < Pt_x && errorx > error_tresh) {
-            Dirx = 0;
-            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 > Pt_y && errory > error_tresh) {
+        if (Ps_y > 0.50 && 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;
@@ -268,18 +268,22 @@
             wait(0.01);
         }
 
-        if (Ps_x > Pt_x && errorx > error_tresh) {
+        if (Ps_x > 0.50 && 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 < Pt_y && errory > error_tresh) {
+        if (Ps_y < 0.50 && 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;
@@ -302,6 +306,12 @@
     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);
     arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
@@ -317,15 +327,20 @@
     emgtimer.attach(looper_emg, 0.01);
 
     Ticker looptimer1;
-    looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor
+    looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
 
-    Ticker looptimer2;
-    looptimer2.attach(looper_motory, 0.01); //Y-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);
+
+        pc.printf("%.2f %.2f %.2f  \n", Posx.read(), emg_x, step_freq2); //Send signal values to the computer.
+        wait(0.01); 
 
     }
 }