Revision 74:a9281e4ae9bb, committed 2015-06-22

Comitter:

jessekaiser

Date:

Mon Jun 22 08:59:46 2015 +0000

Parent:

73:8cc2826ab1c4

Child:

75:9fa809932adf

Commit message:

Motor-x control;

Changed in this revision

--- a/main.cpp	Mon Jun 22 08:51:19 2015 +0000
+++ b/main.cpp	Mon Jun 22 08:59:46 2015 +0000
@@ -27,15 +27,15 @@
 #define error_tresh 0.01
 
 //Motor control
-DigitalOut Diry(p23);
-PwmOut Stepy(p24);
+DigitalOut Dirx(p21);
+PwmOut Stepx(p22);
 
 //Signal to and from computer
 Serial pc(USBTX, USBRX);
 
 //Position sensors
-AnalogIn Posy(p20);
-DigitalOut Enabley(p26);
+AnalogIn Posx(p19);
+DigitalOut Enablex(p25);
 
 //Microstepping
 DigitalOut MS1(p27);
@@ -54,7 +54,7 @@
 
 //Variables for motor control
 float setpoint = 2000; //Frequentie setpoint
-float step_freq1 = 1;
+float step_freq2 = 1;
 
 
 //EMG filter
@@ -98,7 +98,6 @@
     emg_value1_f32 = emg1.read();
     emg_value2_f32 = emg2.read();
 
-
     //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.
@@ -109,141 +108,135 @@
     filtered_triceps = fabs(filtered_triceps);
     arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
 
-
-
     /*send value to PC.
     scope.set(0,filtered_biceps); //Filtered EMG signal
-    scope.set(1,filtered_triceps);*/
-
+    scope.set(1,filtered_triceps);
+    scope.set(2,filtered_pect);
+    scope.set(3,filtered_deltoid);*/
 }
 
-void looper_motory()
+
+void looper_motorx()
 {
 
-    emg_y = (filtered_biceps - filtered_triceps);
-    emg_y_abs = fabs(emg_y);
-    force1 = emg_y_abs*K_Gain;
-    force1 = force1 - damping1;
-    acc1 = force1/Mass;
-    speed1 = speed_old1 + (acc1 * dt);
-    damping1 = speed1 * Damp;
-    step_freq1 = setpoint * speed1;
-    Stepy.period(1.0/step_freq1);
-    speed_old1 = speed1;
+    emg_x = (filtered_biceps - filtered_triceps);
+    emg_x_abs = fabs(emg_x);
+    force2 = emg_x_abs*K_Gain;
+    force2 = force2 - damping2;
+    acc2 = force2/Mass;
+    speed2 = speed_old2 + (acc2 * dt);
+    damping2 = speed2 * Damp;
+    step_freq2 = setpoint * speed2;
+    Stepx.period(1.0/step_freq2);
+    speed_old2 = speed2;
 
-    if (emg_y > 0) {
-        Diry = 1;
+    if (emg_x > 0) {
+        Dirx = 0;
     }
-
-    if (emg_y < 0) {
-        Diry = 0;
+    if (emg_x < 0) {
+        Dirx = 1;
     }
     //Speed limit
-    if (speed1 > 1) {
-        speed1 = 1;
-        step_freq1 = setpoint;
+    if (speed2 > 1) {
+        speed2 = 1;
+        step_freq2 = setpoint;
     }
     //EMG treshold
     if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
-        Enabley = 1; //Enable = 1 turns the motor off.
+        Enablex = 1; //Enable = 1 turns the motor off.
     } else {
-        Enabley = 0;
+        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);
+    
+        MS1 = 1;
+        MS2 = 0;
+        MS3 = 0;
 
+        Stepx.write(0.5); // Duty cycle of 50%
+ 
+        Enablex = 1;
+        wait(1);
+        lcd.printf("Start homing");
+        wait(2);
+        lcd.cls();
+        wait(1);
+        Enablex = 0;
+ 
+        //Homing of the motor, so you start from the same position every time.
+        while(errorx > error_tresh) {
+
+            Ps_x = Posx.read();
+            errorx = fabs(Pt_x - Ps_x);
+            lcd.printf("%.2f  \n", Stepx.read());
+
+
+            if (Ps_x < 0.50 && 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_x > 0.50 && errorx > error_tresh) {
+                Dirx = 1;
+                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);
+            }
+        }
+        lcd.printf("Done");
+        wait(5);
+        lcd.cls();
+        wait(1);
+        Enablex = 1;
+        wait(3);
+        lcd.printf("Start EMG Control");
+        wait(2);
+        lcd.cls();
+        wait(1);
+        Enablex = 0;
+        
     MS1 = 1;
     MS2 = 0;
     MS3 = 0;
-
-   
-    Stepy.write(0.5);
-
-
-    Enabley = 1;
-    wait(1);
-    lcd.printf("Start homing");
-    wait(2);
-    lcd.cls();
-    wait(1);
-    Enabley = 0;
-
-    //Homing of the motor, so you start from the same position every time.
-    while(errory > error_tresh) {
-
-        Ps_y = Posy.read();
-        errory = fabs(Ps_y - Pt_y);
-        lcd.printf("%.2f \n",  Stepy.read());
-
-                   if (Ps_y > 0.50 && errory > error_tresh) {
-                   Diry = 0;
-                   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;
-                   Stepy.period(1.0/hstep_freqy);
-                   wait(0.01);
-               }
-
+    Stepx.write(0.5); // Duty cycle of 50%
+    
+    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);
+    //triceps
+    arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
+    arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
+    emgtimer.attach(looper_emg, 0.01);
 
-                   if (Ps_y < 0.50 && errory > error_tresh) {
-                   Diry = 1;
-                   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;
-                   Stepy.period(1.0/hstep_freqy);
-                   wait(0.01);
-               }
+    Ticker looptimer1;
+    looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
 
-               }
-                   lcd.printf("Done");
-                   wait(5);
-                   lcd.cls();
-                   wait(1);
-                   
-                   Enabley = 1;
-                   wait(3);
-                   lcd.printf("Start EMG Control");
-                   wait(2);
-                   lcd.cls();
-                   wait(1);
-                   
-                   Enabley = 0;
+    //Ticker looptimer2;
+    //looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
 
-                   MS1 = 1;
-                   MS2 = 0;
-                   MS3 = 0;
-
-                   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);
-                   //triceps
-                   arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
-                   arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
-                   emgtimer.attach(looper_emg, 0.01);
-
-                   Ticker looptimer2;
-                   looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
-
-                   //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
+    //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
 
 
 
-                   while (1) {
+    while (1) {
 
-                   //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
-                   lcd.printf("%.2f %.2f %.2f %.2f  \n", Stepy.read(), step_freq1);
-                   wait(0.01);
+        //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
+//        lcd.printf("%.2f %.2f  \n", Stepx.read(), step_freq2);
+        wait(0.01);
 
-               }
-               }
+    }
+}