Jesse Kaiser / Mbed 2 deprecated Motorscript_Gr6

Er is uitleg bijgeschreven en pwm_percentage heeft een andere naam

Dependencies:   Encoder HIDScope MODSERIAL mbed-dsp mbed

Fork of Lampje_EMG_Gr6 by Iris van Leeuwen

main.cpp@31:608140bf7b13, 2014-11-03 (annotated)

Committer:
jessekaiser
Date:
Mon Nov 03 20:30:28 2014 +0000
Revision:
31:608140bf7b13
Parent:
30:7a0a3c272308 
hoi

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 0:db396b9f4b4c 1 #include "mbed.h"
jessekaiser 0:db396b9f4b4c 2 #include "HIDScope.h"
jessekaiser 0:db396b9f4b4c 3 #include "arm_math.h"
jessekaiser 0:db396b9f4b4c 4 #include "MODSERIAL.h"
irisl 20:d40b6cba4280 5 #include "encoder.h"
irisl 21:674fafb6301d 6 #include "PwmOut.h"
jessekaiser 0:db396b9f4b4c 7
jessekaiser 30:7a0a3c272308 8 // define
irisl 21:674fafb6301d 9 #define TSAMP 0.005
jessekaiser 29:d0dab8921e9d 10 #define K_P1 (3.5) //Kp waarde voor motor1, van het batje // 7.0
jessekaiser 29:d0dab8921e9d 11 #define K_I1 (0.01 *TSAMP) //0.1
jessekaiser 29:d0dab8921e9d 12 #define K_P2 (0.7) //Kp waarde voor motor2, de arm //10.0
jessekaiser 29:d0dab8921e9d 13 #define K_I2 (0.01 *TSAMP) //3.0
irisl 20:d40b6cba4280 14 #define I_LIMIT 1.
irisl 21:674fafb6301d 15 #define l_arm 0.5
irisl 20:d40b6cba4280 16
irisl 20:d40b6cba4280 17 #define M1_PWM PTC8
irisl 20:d40b6cba4280 18 #define M1_DIR PTC9
irisl 20:d40b6cba4280 19 #define M2_PWM PTA5
irisl 20:d40b6cba4280 20 #define M2_DIR PTA4
irisl 20:d40b6cba4280 21
irisl 20:d40b6cba4280 22 //Groene kabel moet op de GROUND en blauw op de 3.3v aansluiting
jessekaiser 31:608140bf7b13 23 //Jesse is mooi
irisl 28:c33a0658605e 24 // Define objects
irisl 20:d40b6cba4280 25 Serial pc(USBTX, USBRX);
irisl 20:d40b6cba4280 26
irisl 28:c33a0658605e 27 // LED
irisl 21:674fafb6301d 28 DigitalOut myledred(PTB3);
irisl 21:674fafb6301d 29 DigitalOut myledgreen(PTB1);
irisl 21:674fafb6301d 30 DigitalOut myledblue(PTB2);
jessekaiser 0:db396b9f4b4c 31
irisl 28:c33a0658605e 32 //EMG
irisl 21:674fafb6301d 33 AnalogIn emg0(PTB0); //Analog input
irisl 21:674fafb6301d 34 AnalogIn emg1(PTC2); //Analog input
irisl 25:a12d51345aa4 35 HIDScope scope(4);
jessekaiser 0:db396b9f4b4c 36
jessekaiser 29:d0dab8921e9d 37 //motor1 25D
irisl 21:674fafb6301d 38 Encoder motor1(PTD3,PTD5); //wit, geel
irisl 20:d40b6cba4280 39 PwmOut pwm_motor1(M2_PWM);
irisl 20:d40b6cba4280 40 DigitalOut motordir1(M2_DIR);
irisl 20:d40b6cba4280 41
irisl 20:d40b6cba4280 42 //motor2 37D
irisl 21:674fafb6301d 43 Encoder motor2(PTD2, PTD0); //wit, geel
irisl 20:d40b6cba4280 44 PwmOut pwm_motor2(M1_PWM);
irisl 20:d40b6cba4280 45 DigitalOut motordir2(M1_DIR);
irisl 20:d40b6cba4280 46
irisl 28:c33a0658605e 47 // Motor variabelen
jessekaiser 29:d0dab8921e9d 48 float pwm_out1 = 0;
jessekaiser 29:d0dab8921e9d 49 float pwm_out2 = 0;
irisl 21:674fafb6301d 50 int cur_pos_motor1;
irisl 21:674fafb6301d 51 int prev_pos_motor1 = 0;
irisl 21:674fafb6301d 52 int cur_pos_motor2;
irisl 21:674fafb6301d 53 int prev_pos_motor2 = 0;
irisl 21:674fafb6301d 54 float speed1_rad;
irisl 21:674fafb6301d 55 float speed2_rad;
irisl 21:674fafb6301d 56 float pos_motor1_rad;
irisl 21:674fafb6301d 57 float pos_motor2_rad;
irisl 21:674fafb6301d 58 int staat1 = 0;
irisl 21:674fafb6301d 59 int staat2 = 0;
irisl 22:14f5161d7d7b 60 volatile float arm_hoogte = 0;
irisl 22:14f5161d7d7b 61 volatile float batje_hoek = 0;
irisl 21:674fafb6301d 62 int wait_iterator1 = 0;
irisl 21:674fafb6301d 63 int wait_iterator2 = 0;
irisl 20:d40b6cba4280 64
irisl 20:d40b6cba4280 65
irisl 28:c33a0658605e 66 // EMG Filters (settings en variabelen)
irisl 20:d40b6cba4280 67
irisl 28:c33a0658605e 68 // Filters
irisl 9:f7ec578a17c0 69 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
irisl 9:f7ec578a17c0 70 arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
irisl 26:9859a71456fd 71 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
irisl 26:9859a71456fd 72 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 0:db396b9f4b4c 73 //state values
irisl 9:f7ec578a17c0 74 float lowpass_biceps_states[4];
irisl 9:f7ec578a17c0 75 float lowpass_deltoid_states[4];
irisl 9:f7ec578a17c0 76 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
irisl 9:f7ec578a17c0 77 arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
irisl 27:691779624530 78 //highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB
irisl 26:9859a71456fd 79 float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 0:db396b9f4b4c 80 //state values
irisl 9:f7ec578a17c0 81 float highnotch_biceps_states[8];
irisl 9:f7ec578a17c0 82 float highnotch_deltoid_states[8];
jessekaiser 2:39e1bde54e73 83
jessekaiser 2:39e1bde54e73 84 //De globale variabele voor het gefilterde EMG signaal
jessekaiser 2:39e1bde54e73 85 float filtered_biceps;
jessekaiser 2:39e1bde54e73 86 float filtered_deltoid;
irisl 12:9e6e49af9304 87 float filtered_average_bi;
irisl 12:9e6e49af9304 88 float filtered_average_del;
jessekaiser 0:db396b9f4b4c 89
jessekaiser 29:d0dab8921e9d 90 //gemiddelde EMG waarden over 250 sample stappen
irisl 12:9e6e49af9304 91 void average_biceps(float filtered_biceps,float *average)
irisl 12:9e6e49af9304 92 {
irisl 12:9e6e49af9304 93 static float total=0;
irisl 12:9e6e49af9304 94 static float number=0;
irisl 12:9e6e49af9304 95 total = total + filtered_biceps;
irisl 12:9e6e49af9304 96 number = number + 1;
irisl 26:9859a71456fd 97 if ( number == 250) {
irisl 26:9859a71456fd 98 *average = total/250;
irisl 12:9e6e49af9304 99 total = 0;
irisl 12:9e6e49af9304 100 number = 0;
irisl 12:9e6e49af9304 101 }
irisl 12:9e6e49af9304 102 }
irisl 12:9e6e49af9304 103
irisl 12:9e6e49af9304 104 void average_deltoid(float filtered_input,float *average_output)
irisl 12:9e6e49af9304 105 {
irisl 12:9e6e49af9304 106 static float total=0;
irisl 12:9e6e49af9304 107 static float number=0;
irisl 12:9e6e49af9304 108 total = total + filtered_input;
irisl 12:9e6e49af9304 109 number = number + 1;
irisl 26:9859a71456fd 110 if ( number == 250) {
irisl 26:9859a71456fd 111 *average_output = total/250;
irisl 12:9e6e49af9304 112 total = 0;
irisl 12:9e6e49af9304 113 number = 0;
irisl 12:9e6e49af9304 114 }
irisl 12:9e6e49af9304 115 }
irisl 12:9e6e49af9304 116
irisl 28:c33a0658605e 117 // EMG looper
jessekaiser 0:db396b9f4b4c 118 void looper()
jessekaiser 0:db396b9f4b4c 119 {
jessekaiser 1:099b19376f16 120 /*variable to store value in*/
jessekaiser 2:39e1bde54e73 121 uint16_t emg_value1;
jessekaiser 3:0895fa0a6ca4 122 uint16_t emg_value2;
jessekaiser 1:099b19376f16 123
jessekaiser 2:39e1bde54e73 124 float emg_value1_f32;
jessekaiser 2:39e1bde54e73 125 float emg_value2_f32;
jessekaiser 0:db396b9f4b4c 126 /*put raw emg value both in red and in emg_value*/
jessekaiser 2:39e1bde54e73 127 emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
jessekaiser 2:39e1bde54e73 128 emg_value1_f32 = emg0.read();
jessekaiser 3:0895fa0a6ca4 129
jessekaiser 2:39e1bde54e73 130 emg_value2 = emg1.read_u16();
jessekaiser 2:39e1bde54e73 131 emg_value2_f32 = emg1.read();
jessekaiser 0:db396b9f4b4c 132
jessekaiser 2:39e1bde54e73 133 //process emg biceps
irisl 9:f7ec578a17c0 134 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
jessekaiser 2:39e1bde54e73 135 filtered_biceps = fabs(filtered_biceps);
irisl 9:f7ec578a17c0 136 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
irisl 12:9e6e49af9304 137 average_biceps(filtered_biceps,&filtered_average_bi);
jessekaiser 2:39e1bde54e73 138 //process emg deltoid
irisl 9:f7ec578a17c0 139 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value2_f32, &filtered_deltoid, 1 );
jessekaiser 3:0895fa0a6ca4 140 filtered_deltoid = fabs(filtered_deltoid);
irisl 9:f7ec578a17c0 141 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
irisl 12:9e6e49af9304 142 average_deltoid(filtered_deltoid, &filtered_average_del);
jessekaiser 1:099b19376f16 143
jessekaiser 0:db396b9f4b4c 144 /*send value to PC. */
irisl 9:f7ec578a17c0 145 //scope.set(0,emg_value1); //Raw EMG signal biceps
irisl 9:f7ec578a17c0 146 //scope.set(1,emg_value2); //Raw EMG signal Deltoid
irisl 25:a12d51345aa4 147 scope.set(0,filtered_biceps); //processed float biceps
irisl 25:a12d51345aa4 148 scope.set(1,filtered_average_bi); //processed float deltoid
irisl 25:a12d51345aa4 149 scope.set(2,filtered_deltoid); //processed float biceps
irisl 25:a12d51345aa4 150 scope.set(3,filtered_average_del); //processed float deltoid
jessekaiser 0:db396b9f4b4c 151 scope.send();
jessekaiser 0:db396b9f4b4c 152
jessekaiser 0:db396b9f4b4c 153 }
jessekaiser 0:db396b9f4b4c 154
irisl 16:d65458b85734 155 // LED AANSTURING
irisl 16:d65458b85734 156
jessekaiser 0:db396b9f4b4c 157 void BlinkRed(int n)
jessekaiser 0:db396b9f4b4c 158 {
jessekaiser 0:db396b9f4b4c 159 for (int i=0; i<n; i++) {
irisl 21:674fafb6301d 160 myledred = 0;
irisl 21:674fafb6301d 161 myledgreen = 0;
irisl 21:674fafb6301d 162 myledblue = 0;
jessekaiser 3:0895fa0a6ca4 163 wait(0.1);
irisl 21:674fafb6301d 164 myledred = 1;
irisl 21:674fafb6301d 165 myledgreen = 0;
irisl 21:674fafb6301d 166 myledblue = 0;
jessekaiser 3:0895fa0a6ca4 167 wait(0.1);
jessekaiser 0:db396b9f4b4c 168 }
jessekaiser 0:db396b9f4b4c 169 }
jessekaiser 0:db396b9f4b4c 170
irisl 28:c33a0658605e 171 // Ticker voor groen knipperen, zodat tijdens dit knipperen presets gekozen kunnen worden
irisl 28:c33a0658605e 172 Ticker ledticker;
irisl 28:c33a0658605e 173
irisl 17:dbbe4e126203 174 void greenblink()
irisl 16:d65458b85734 175 {
irisl 21:674fafb6301d 176 if(myledgreen.read())
irisl 21:674fafb6301d 177 myledgreen = 0;
irisl 16:d65458b85734 178 else
irisl 21:674fafb6301d 179 myledgreen = 1;
irisl 16:d65458b85734 180 }
irisl 16:d65458b85734 181
irisl 17:dbbe4e126203 182 void BlinkGreen()
irisl 18:ed2afe6953de 183 {
irisl 21:674fafb6301d 184 myledred= 0;
irisl 21:674fafb6301d 185 myledblue =0;
irisl 18:ed2afe6953de 186 ledticker.attach(&greenblink,.5);
irisl 16:d65458b85734 187 }
irisl 16:d65458b85734 188
irisl 18:ed2afe6953de 189 void stopblinkgreen()
irisl 16:d65458b85734 190 {
irisl 16:d65458b85734 191 ledticker.detach();
irisl 16:d65458b85734 192 }
irisl 16:d65458b85734 193
irisl 28:c33a0658605e 194 // Groen schijnen
irisl 13:493a953a2a85 195 void ShineGreen ()
irisl 13:493a953a2a85 196 {
irisl 21:674fafb6301d 197 myledred = 0;
irisl 21:674fafb6301d 198 myledgreen = 1;
irisl 21:674fafb6301d 199 myledblue = 0;
irisl 13:493a953a2a85 200 }
irisl 13:493a953a2a85 201
irisl 28:c33a0658605e 202 // Blauw schijnen
irisl 13:493a953a2a85 203 void ShineBlue ()
irisl 13:493a953a2a85 204 {
irisl 21:674fafb6301d 205 myledred = 0;
irisl 21:674fafb6301d 206 myledgreen = 0;
irisl 21:674fafb6301d 207 myledblue = 1;
irisl 13:493a953a2a85 208 }
irisl 13:493a953a2a85 209
irisl 28:c33a0658605e 210 // Rood schijnen
irisl 13:493a953a2a85 211 void ShineRed ()
irisl 13:493a953a2a85 212 {
irisl 21:674fafb6301d 213 myledred = 1;
irisl 21:674fafb6301d 214 myledgreen = 0;
irisl 21:674fafb6301d 215 myledblue = 0;
irisl 13:493a953a2a85 216 }
irisl 13:493a953a2a85 217
irisl 20:d40b6cba4280 218 // MOTORFUNCTIES
irisl 20:d40b6cba4280 219
irisl 28:c33a0658605e 220 // Motor1 = batje
irisl 28:c33a0658605e 221 // Motor2 = arm
irisl 28:c33a0658605e 222
jessekaiser 29:d0dab8921e9d 223 void clamp(float* in, float min, float max) //Clamp geeft een maximum en minimum limiet aan een functie
irisl 21:674fafb6301d 224 {
jessekaiser 29:d0dab8921e9d 225 *in > min ? /*(*/*in < max? : *in = max : *in = min;
irisl 21:674fafb6301d 226 }
irisl 21:674fafb6301d 227
irisl 28:c33a0658605e 228 // PI-regelaar motor1: batje
irisl 21:674fafb6301d 229 float pid1(float setpoint1, float measurement1)
irisl 20:d40b6cba4280 230 {
irisl 21:674fafb6301d 231 float error1;
irisl 21:674fafb6301d 232 float out_p1 = 0;
irisl 21:674fafb6301d 233 static float out_i1 = 0;
irisl 21:674fafb6301d 234 error1 = (setpoint1 - measurement1);
irisl 21:674fafb6301d 235 out_p1 = error1*K_P1;
irisl 21:674fafb6301d 236 out_i1 += error1*K_I1;
irisl 21:674fafb6301d 237 clamp(&out_i1,-I_LIMIT,I_LIMIT);
irisl 21:674fafb6301d 238 return out_p1 + out_i1;
irisl 20:d40b6cba4280 239 }
irisl 20:d40b6cba4280 240
irisl 28:c33a0658605e 241 // PI-regelaar motor2: arm
irisl 21:674fafb6301d 242 float pid2(float setpoint2, float measurement2)
irisl 20:d40b6cba4280 243 {
irisl 21:674fafb6301d 244 float error2;
irisl 21:674fafb6301d 245 float out_p2 = 0;
irisl 21:674fafb6301d 246 static float out_i2 = 0;
irisl 21:674fafb6301d 247 error2 = (setpoint2 - measurement2);
irisl 21:674fafb6301d 248 out_p2 = error2*K_P2;
irisl 21:674fafb6301d 249 out_i2 += error2*K_I2;
irisl 21:674fafb6301d 250 clamp(&out_i2,-I_LIMIT,I_LIMIT);
irisl 21:674fafb6301d 251 return out_p2 + out_i2;
irisl 21:674fafb6301d 252 }
irisl 28:c33a0658605e 253
irisl 28:c33a0658605e 254 // Variabelen
irisl 21:674fafb6301d 255 float prev_setpoint1 = 0;
irisl 21:674fafb6301d 256 float setpoint1 = 0;
irisl 21:674fafb6301d 257 float prev_setpoint2 = 0;
irisl 21:674fafb6301d 258 float setpoint2 = 0;
irisl 21:674fafb6301d 259
irisl 28:c33a0658605e 260 // Functies motoren
irisl 28:c33a0658605e 261
irisl 28:c33a0658605e 262 // Motor1 links draaien
irisl 21:674fafb6301d 263 void batje_links ()
irisl 21:674fafb6301d 264 {
irisl 21:674fafb6301d 265 speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht)
jessekaiser 29:d0dab8921e9d 266 setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; //bepalen van de setpoint
jessekaiser 29:d0dab8921e9d 267 if(setpoint1 > (11.3*2.3*2.0*PI/360)) { //Het eerste getal geeft een aantal graden weer, dus alleen dit hoeft aangepast te worden/
jessekaiser 29:d0dab8921e9d 268 setpoint1 = (11.3*2.3*2.0*PI/360); //Hier wordt er een grens bepaald voor de hoek.
irisl 21:674fafb6301d 269 }
irisl 22:14f5161d7d7b 270 if(setpoint1 < -(11.3*2.3*2.0*PI/360)) {
irisl 22:14f5161d7d7b 271 setpoint1 = -(11.3*2.3*2.0*PI/360);
irisl 21:674fafb6301d 272 }
jessekaiser 29:d0dab8921e9d 273 if(setpoint1 <= -(11.3*2.3*2.0*PI/360)-0.1) {
irisl 21:674fafb6301d 274 staat1 = 1;
jessekaiser 29:d0dab8921e9d 275 prev_setpoint1 = setpoint1;
irisl 21:674fafb6301d 276 }
irisl 21:674fafb6301d 277 }
jessekaiser 29:d0dab8921e9d 278 // Motor1 rechts draaien
jessekaiser 29:d0dab8921e9d 279 void batje_rechts () {
jessekaiser 29:d0dab8921e9d 280 speed1_rad = 1.0;
jessekaiser 29:d0dab8921e9d 281 setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
jessekaiser 29:d0dab8921e9d 282 if(setpoint1 > (11.3*2.3*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 283 setpoint1 = (11.3*2.3*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 284 }
jessekaiser 29:d0dab8921e9d 285 if(setpoint1 < -(11.3*2.3*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 286 setpoint1 = -(11.3*2.3*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 287 }
jessekaiser 29:d0dab8921e9d 288 prev_setpoint1 = setpoint1;
jessekaiser 29:d0dab8921e9d 289 if(setpoint1 >= (11.3*2.3*2.0*PI/360)-0.1) {
jessekaiser 29:d0dab8921e9d 290 staat1 = 1;
jessekaiser 29:d0dab8921e9d 291 }
jessekaiser 29:d0dab8921e9d 292 }
jessekaiser 29:d0dab8921e9d 293
jessekaiser 29:d0dab8921e9d 294 //Motor1 na links draaien weer terug laten draaien naar beginstand
jessekaiser 29:d0dab8921e9d 295 void batje_begin_links () {
jessekaiser 29:d0dab8921e9d 296 speed1_rad = 1.0;
jessekaiser 29:d0dab8921e9d 297 setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
jessekaiser 29:d0dab8921e9d 298 if(setpoint1 > (0*2.3*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 299 setpoint1 = (0*2.3*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 300 }
jessekaiser 29:d0dab8921e9d 301 if(setpoint1 < -(0*2.3*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 302 setpoint1 = -(0*2.3*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 303 }
jessekaiser 29:d0dab8921e9d 304 prev_setpoint1 = setpoint1;
jessekaiser 29:d0dab8921e9d 305 }
jessekaiser 29:d0dab8921e9d 306
jessekaiser 29:d0dab8921e9d 307 //Motor1 na links draaien weer terug laten draaien naar beginstand
jessekaiser 29:d0dab8921e9d 308 void batje_begin_rechts () {
jessekaiser 29:d0dab8921e9d 309 speed1_rad = -1.0;
jessekaiser 29:d0dab8921e9d 310 setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
jessekaiser 29:d0dab8921e9d 311 if(setpoint1 > (0*2.3*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 312 setpoint1 = (0*2.3*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 313 }
jessekaiser 29:d0dab8921e9d 314 if(setpoint1 < -(0.0*2.3*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 315 setpoint1 = -(0.0*2.3*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 316 }
jessekaiser 29:d0dab8921e9d 317 prev_setpoint1 = setpoint1;
jessekaiser 29:d0dab8921e9d 318 }
jessekaiser 29:d0dab8921e9d 319
jessekaiser 29:d0dab8921e9d 320 // Motor2 balletje op zn hoogst slaan
jessekaiser 29:d0dab8921e9d 321 void arm_hoog () {
jessekaiser 29:d0dab8921e9d 322 speed2_rad = 6.0;
jessekaiser 29:d0dab8921e9d 323 setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
jessekaiser 29:d0dab8921e9d 324 if(setpoint2 > (155.0*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 325 setpoint2 = (155.0*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 326 }
jessekaiser 29:d0dab8921e9d 327 if(setpoint2 < -(155.0*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 328 setpoint2 = -(155.0*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 329 }
jessekaiser 29:d0dab8921e9d 330 prev_setpoint2 = setpoint2;
jessekaiser 29:d0dab8921e9d 331 if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
jessekaiser 29:d0dab8921e9d 332 staat2 = 1;
jessekaiser 29:d0dab8921e9d 333 }
jessekaiser 29:d0dab8921e9d 334 }
jessekaiser 29:d0dab8921e9d 335
jessekaiser 29:d0dab8921e9d 336 // Motor2 balletje in het midden slaan
jessekaiser 29:d0dab8921e9d 337 void arm_mid () {
jessekaiser 29:d0dab8921e9d 338 speed2_rad = 4.0;
jessekaiser 29:d0dab8921e9d 339 setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
jessekaiser 29:d0dab8921e9d 340 if(setpoint2 > (155.0*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 341 setpoint2 = (155.0*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 342 }
jessekaiser 29:d0dab8921e9d 343 if(setpoint2 < -(155.0*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 344 setpoint2 = -(155.0*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 345 }
jessekaiser 29:d0dab8921e9d 346 prev_setpoint2 = setpoint2;
jessekaiser 29:d0dab8921e9d 347 if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
jessekaiser 29:d0dab8921e9d 348 staat2 = 1;
jessekaiser 29:d0dab8921e9d 349 }
jessekaiser 29:d0dab8921e9d 350 }
irisl 21:674fafb6301d 351
irisl 28:c33a0658605e 352 // Motor2 balletje op het laagst slaan
jessekaiser 29:d0dab8921e9d 353 void arm_laag () {
jessekaiser 29:d0dab8921e9d 354 speed2_rad = 2.0;
jessekaiser 29:d0dab8921e9d 355 setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
jessekaiser 29:d0dab8921e9d 356 if(setpoint2 > (155*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 357 setpoint2 = (155*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 358 }
jessekaiser 29:d0dab8921e9d 359 if(setpoint2 < -(155.0*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 360 setpoint2 = -(155.0*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 361 }
jessekaiser 29:d0dab8921e9d 362 prev_setpoint2 = setpoint2;
jessekaiser 29:d0dab8921e9d 363 if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
jessekaiser 29:d0dab8921e9d 364 staat2 = 1;
jessekaiser 29:d0dab8921e9d 365 }
irisl 21:674fafb6301d 366 }
irisl 21:674fafb6301d 367
irisl 28:c33a0658605e 368 // Motor2 arm terug zetten in beginstand
jessekaiser 29:d0dab8921e9d 369 void arm_begin () {
jessekaiser 29:d0dab8921e9d 370 speed2_rad = 1.0;
jessekaiser 29:d0dab8921e9d 371 setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
jessekaiser 29:d0dab8921e9d 372 if(setpoint2 > (0.0*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 373 setpoint2 = (0.0*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 374 }
jessekaiser 29:d0dab8921e9d 375 if(setpoint2 < -(0.0*2.0*PI/360)) {
jessekaiser 29:d0dab8921e9d 376 setpoint2 = -(0.0*2.0*PI/360);
jessekaiser 29:d0dab8921e9d 377 }
jessekaiser 29:d0dab8921e9d 378 prev_setpoint2 = setpoint2;
irisl 21:674fafb6301d 379 }
irisl 21:674fafb6301d 380
irisl 28:c33a0658605e 381 // MOTOR aansturing
jessekaiser 29:d0dab8921e9d 382 void looper_motor() {
jessekaiser 29:d0dab8921e9d 383 pc.printf("%d, %f \r\n", motor1.getPosition(), motor2.getPosition()); //Geeft de posities weer van beide motoren met een sample frequentie van 0.005
jessekaiser 29:d0dab8921e9d 384
jessekaiser 29:d0dab8921e9d 385 //MOTOR1
jessekaiser 29:d0dab8921e9d 386 \
jessekaiser 29:d0dab8921e9d 387 cur_pos_motor1 = motor1.getPosition();
jessekaiser 29:d0dab8921e9d 388 pos_motor1_rad = (float)cur_pos_motor1/(4128.0/(2.0*PI)); //voor 1 rotatie van de motoras geldt 24(aantal cpr vd encoder)*172(gearbox ratio)=4128 counts.
jessekaiser 29:d0dab8921e9d 389 pwm_out1 = pid1(setpoint1, pos_motor1_rad);
jessekaiser 29:d0dab8921e9d 390 if (pwm_out1 < -1.0) { //Hier wordt de grens voor de pwm waarde ingesteld.
jessekaiser 29:d0dab8921e9d 391 pwm_out1 = -1.0;
jessekaiser 29:d0dab8921e9d 392 }
jessekaiser 29:d0dab8921e9d 393 if (pwm_out1 > 1.0) {
jessekaiser 29:d0dab8921e9d 394 pwm_out1 = 1.0;
jessekaiser 29:d0dab8921e9d 395 }
jessekaiser 29:d0dab8921e9d 396 pwm_motor1.write(abs(pwm_out1));
jessekaiser 29:d0dab8921e9d 397 if(pwm_out1 > 0) {
jessekaiser 29:d0dab8921e9d 398 motordir1 = 0;
jessekaiser 29:d0dab8921e9d 399 } else {
jessekaiser 29:d0dab8921e9d 400 motordir1 = 1;
jessekaiser 29:d0dab8921e9d 401 }
jessekaiser 29:d0dab8921e9d 402
jessekaiser 29:d0dab8921e9d 403 //MOTOR2
jessekaiser 29:d0dab8921e9d 404 cur_pos_motor2 = motor2.getPosition();
jessekaiser 29:d0dab8921e9d 405 pos_motor2_rad = (float)cur_pos_motor2/(3200.0/(2.0*PI));
jessekaiser 29:d0dab8921e9d 406 pwm_out2 = pid2(setpoint2, pos_motor2_rad); //
jessekaiser 29:d0dab8921e9d 407 if (pwm_out2 < -1.0) {
jessekaiser 29:d0dab8921e9d 408 pwm_out2 = -1.0;
jessekaiser 29:d0dab8921e9d 409 }
jessekaiser 29:d0dab8921e9d 410 if (pwm_out2 > 1.0) {
jessekaiser 29:d0dab8921e9d 411 pwm_out2 = 1.0;
jessekaiser 29:d0dab8921e9d 412 }
jessekaiser 29:d0dab8921e9d 413 pwm_motor2.write(abs(pwm_out2));
jessekaiser 29:d0dab8921e9d 414 if(pwm_out2 > 0) {
jessekaiser 29:d0dab8921e9d 415 motordir2 = 0;
jessekaiser 29:d0dab8921e9d 416 } else {
jessekaiser 29:d0dab8921e9d 417 motordir2 = 1;
jessekaiser 29:d0dab8921e9d 418 }
jessekaiser 29:d0dab8921e9d 419
jessekaiser 29:d0dab8921e9d 420
jessekaiser 29:d0dab8921e9d 421 //STATES
jessekaiser 29:d0dab8921e9d 422
jessekaiser 29:d0dab8921e9d 423 //Het batje draait naar opgegeven positie, doet dan een bepaalde tijd niks (wait_iterator), en draait daarna weer terug
jessekaiser 29:d0dab8921e9d 424 if (batje_hoek == 1) {
jessekaiser 29:d0dab8921e9d 425 if(staat1 == 0) {
jessekaiser 29:d0dab8921e9d 426 batje_rechts();
jessekaiser 29:d0dab8921e9d 427 wait_iterator1 = 0;
jessekaiser 29:d0dab8921e9d 428 } else if(staat1 ==1) {
jessekaiser 29:d0dab8921e9d 429 wait_iterator1++;
jessekaiser 29:d0dab8921e9d 430 if(wait_iterator1 > 1200) {
jessekaiser 29:d0dab8921e9d 431 staat1 = 2;
irisl 21:674fafb6301d 432
jessekaiser 29:d0dab8921e9d 433 batje_begin_rechts();
jessekaiser 29:d0dab8921e9d 434 }
jessekaiser 29:d0dab8921e9d 435 }
jessekaiser 29:d0dab8921e9d 436 }
jessekaiser 29:d0dab8921e9d 437 if (batje_hoek == 2) {
jessekaiser 29:d0dab8921e9d 438 if(staat1 == 0) {
jessekaiser 29:d0dab8921e9d 439 batje_links();
jessekaiser 29:d0dab8921e9d 440 wait_iterator1 = 0;
jessekaiser 29:d0dab8921e9d 441 } else if(staat1 ==1) {
jessekaiser 29:d0dab8921e9d 442 wait_iterator1++;
jessekaiser 29:d0dab8921e9d 443 if(wait_iterator1 > 1200) {
jessekaiser 29:d0dab8921e9d 444 staat1 = 2;
jessekaiser 29:d0dab8921e9d 445
jessekaiser 29:d0dab8921e9d 446 batje_begin_links ();
jessekaiser 29:d0dab8921e9d 447 }
jessekaiser 29:d0dab8921e9d 448 }
jessekaiser 29:d0dab8921e9d 449 }
jessekaiser 29:d0dab8921e9d 450
jessekaiser 29:d0dab8921e9d 451 if(arm_hoogte == 1) {
jessekaiser 29:d0dab8921e9d 452 if(staat2 == 0) {
jessekaiser 29:d0dab8921e9d 453 arm_laag();
jessekaiser 29:d0dab8921e9d 454 wait_iterator2 = 0;
jessekaiser 29:d0dab8921e9d 455 } else if(staat2 == 1) {
jessekaiser 29:d0dab8921e9d 456 wait_iterator2++;
jessekaiser 29:d0dab8921e9d 457 if(wait_iterator2 > 400) {
jessekaiser 29:d0dab8921e9d 458 staat2 = 2;
jessekaiser 29:d0dab8921e9d 459
jessekaiser 29:d0dab8921e9d 460 arm_begin();
jessekaiser 29:d0dab8921e9d 461 }
jessekaiser 29:d0dab8921e9d 462 }
jessekaiser 29:d0dab8921e9d 463 }
jessekaiser 29:d0dab8921e9d 464 if(arm_hoogte == 2) {
jessekaiser 29:d0dab8921e9d 465 if(staat2 == 0) {
jessekaiser 29:d0dab8921e9d 466 arm_mid();
jessekaiser 29:d0dab8921e9d 467 wait_iterator2 = 0;
jessekaiser 29:d0dab8921e9d 468 } else if(staat2 == 1) {
jessekaiser 29:d0dab8921e9d 469 wait_iterator2++;
jessekaiser 29:d0dab8921e9d 470 if(wait_iterator2 > 400) {
jessekaiser 29:d0dab8921e9d 471 staat2 = 2;
jessekaiser 29:d0dab8921e9d 472
jessekaiser 29:d0dab8921e9d 473 arm_begin();
jessekaiser 29:d0dab8921e9d 474 }
jessekaiser 29:d0dab8921e9d 475 }
jessekaiser 29:d0dab8921e9d 476 }
jessekaiser 29:d0dab8921e9d 477 if(arm_hoogte == 3) {
jessekaiser 29:d0dab8921e9d 478 if(staat2 == 0) {
jessekaiser 29:d0dab8921e9d 479 arm_hoog();
jessekaiser 29:d0dab8921e9d 480 wait_iterator2 = 0;
jessekaiser 29:d0dab8921e9d 481 } else if(staat2 == 1) {
jessekaiser 29:d0dab8921e9d 482 wait_iterator2++;
jessekaiser 29:d0dab8921e9d 483 if(wait_iterator2 > 400) {
jessekaiser 29:d0dab8921e9d 484 staat2 = 2;
jessekaiser 29:d0dab8921e9d 485
jessekaiser 29:d0dab8921e9d 486 arm_begin();
jessekaiser 29:d0dab8921e9d 487 }
jessekaiser 29:d0dab8921e9d 488 }
jessekaiser 29:d0dab8921e9d 489 }
jessekaiser 29:d0dab8921e9d 490
irisl 21:674fafb6301d 491 }
irisl 21:674fafb6301d 492
irisl 21:674fafb6301d 493
jessekaiser 29:d0dab8921e9d 494 // Hoofdprogramma, hierin staat de aansturing vd LED
jessekaiser 29:d0dab8921e9d 495 int main() {
irisl 28:c33a0658605e 496
jessekaiser 29:d0dab8921e9d 497 pwm_motor1.period_us(100);
jessekaiser 29:d0dab8921e9d 498 motor1.setPosition(0);
jessekaiser 29:d0dab8921e9d 499 pwm_motor2.period_us(100);
jessekaiser 29:d0dab8921e9d 500 motor2.setPosition(0);
jessekaiser 29:d0dab8921e9d 501 pc.baud(115200);
jessekaiser 29:d0dab8921e9d 502 // Ticker EMG signaal meten
jessekaiser 29:d0dab8921e9d 503 Ticker log_timer;
jessekaiser 29:d0dab8921e9d 504 //set up filters. Use external array for constants
jessekaiser 29:d0dab8921e9d 505 arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 , lowpass_const, lowpass_biceps_states);
jessekaiser 29:d0dab8921e9d 506 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid,1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 29:d0dab8921e9d 507 arm_biquad_cascade_df1_init_f32(&highnotch_biceps,2 ,highnotch_const,highnotch_biceps_states);
jessekaiser 29:d0dab8921e9d 508 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid,2 ,highnotch_const,highnotch_deltoid_states);
jessekaiser 29:d0dab8921e9d 509 // Uitvoeren van ticker EMG, sample frequentie 500Hz
jessekaiser 29:d0dab8921e9d 510 log_timer.attach(looper, 0.002);
irisl 28:c33a0658605e 511
jessekaiser 29:d0dab8921e9d 512 // Aanroepen van motoraansturing in motor ticker
jessekaiser 29:d0dab8921e9d 513 Ticker looptimer;
jessekaiser 29:d0dab8921e9d 514 looptimer.attach(looper_motor,TSAMP);
jessekaiser 6:8f4138a811e0 515
irisl 13:493a953a2a85 516 while(1) {
jessekaiser 29:d0dab8921e9d 517
jessekaiser 29:d0dab8921e9d 518 while(1) {
jessekaiser 29:d0dab8921e9d 519 pc.printf("Span de biceps aan om het instellen te starten.\n");
jessekaiser 29:d0dab8921e9d 520 do {
jessekaiser 29:d0dab8921e9d 521 ShineRed();
jessekaiser 29:d0dab8921e9d 522 } while(filtered_average_bi < 0.05 && filtered_average_del <0.05); // In rust, geen meting
jessekaiser 29:d0dab8921e9d 523 if (filtered_average_bi > 0.05) { // Beginnen met meting wanneer biceps wordt aangespannen
jessekaiser 29:d0dab8921e9d 524 BlinkRed(10); // 2 seconden rood knipperen, geen signaal verwerking
jessekaiser 29:d0dab8921e9d 525 BlinkGreen(); // groen knipperen, meten van spieraanspanning
jessekaiser 29:d0dab8921e9d 526 while (1) { // eerste loop, keuze voor de positie van het batje
jessekaiser 29:d0dab8921e9d 527 pc.printf("In de loop.\n");
jessekaiser 29:d0dab8921e9d 528 if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { //bi en del aangespannen --> batje in het midden
jessekaiser 29:d0dab8921e9d 529 stopblinkgreen();
jessekaiser 29:d0dab8921e9d 530 pc.printf("ShineGreen.\n");
jessekaiser 29:d0dab8921e9d 531 ShineGreen();
jessekaiser 29:d0dab8921e9d 532 wait (4);
jessekaiser 29:d0dab8921e9d 533 break;
jessekaiser 29:d0dab8921e9d 534 }
jessekaiser 29:d0dab8921e9d 535 if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { // del aanspannen --> batje naar links
jessekaiser 29:d0dab8921e9d 536 stopblinkgreen();
jessekaiser 29:d0dab8921e9d 537 pc.printf("ShineBlue.\n");
jessekaiser 29:d0dab8921e9d 538 ShineBlue();
jessekaiser 29:d0dab8921e9d 539 batje_hoek = 2;
jessekaiser 29:d0dab8921e9d 540 wait(4);
jessekaiser 29:d0dab8921e9d 541 break;
jessekaiser 29:d0dab8921e9d 542 } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { // bi aanspannen --> batje naar rechts
jessekaiser 29:d0dab8921e9d 543 stopblinkgreen();
jessekaiser 29:d0dab8921e9d 544 pc.printf("ShineRed.\n");
jessekaiser 29:d0dab8921e9d 545 ShineRed();
jessekaiser 29:d0dab8921e9d 546 batje_hoek = 1;
jessekaiser 29:d0dab8921e9d 547 wait (4);
jessekaiser 29:d0dab8921e9d 548 break;
jessekaiser 29:d0dab8921e9d 549 }
irisl 18:ed2afe6953de 550 }
jessekaiser 29:d0dab8921e9d 551 BlinkGreen();
jessekaiser 29:d0dab8921e9d 552 while (1) { // loop voor het instellen van de kracht
jessekaiser 29:d0dab8921e9d 553 pc.printf("In de loop.\n");
jessekaiser 29:d0dab8921e9d 554 if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { // bi en del aanspannen --> hoog slaan
jessekaiser 29:d0dab8921e9d 555 stopblinkgreen();
jessekaiser 29:d0dab8921e9d 556 pc.printf("ShineGreen.\n");
jessekaiser 29:d0dab8921e9d 557 ShineGreen();
jessekaiser 29:d0dab8921e9d 558 arm_hoogte = 3;
jessekaiser 29:d0dab8921e9d 559 wait (4);
jessekaiser 29:d0dab8921e9d 560 break;
jessekaiser 29:d0dab8921e9d 561 }
jessekaiser 29:d0dab8921e9d 562 if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { // del aanspannen --> laag slaan
jessekaiser 29:d0dab8921e9d 563 stopblinkgreen();
jessekaiser 29:d0dab8921e9d 564 pc.printf("ShineBlue.\n");
jessekaiser 29:d0dab8921e9d 565 ShineBlue();
jessekaiser 29:d0dab8921e9d 566 arm_hoogte = 1;
jessekaiser 29:d0dab8921e9d 567 wait(4);
jessekaiser 29:d0dab8921e9d 568 break;
jessekaiser 29:d0dab8921e9d 569 } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { // bi aanspannen --> midden slaan
jessekaiser 29:d0dab8921e9d 570 stopblinkgreen();
jessekaiser 29:d0dab8921e9d 571 pc.printf("ShineRed.\n");
jessekaiser 29:d0dab8921e9d 572 ShineRed();
jessekaiser 29:d0dab8921e9d 573 arm_hoogte = 2;
jessekaiser 29:d0dab8921e9d 574 wait (4);
jessekaiser 29:d0dab8921e9d 575 break;
jessekaiser 29:d0dab8921e9d 576 }
irisl 18:ed2afe6953de 577 }
jessekaiser 29:d0dab8921e9d 578
irisl 19:1bd2fc3bce1e 579 }
irisl 26:9859a71456fd 580
irisl 14:257026c95f22 581 }
jessekaiser 0:db396b9f4b4c 582 }
jessekaiser 29:d0dab8921e9d 583 }