Revision 22:a658a3e7b3f4, committed 2013-10-29

Comitter:

Socrates

Date:

Tue Oct 29 13:44:03 2013 +0000

Parent:

21:659f7c8ed328

Child:

23:ee89be59ae2f

Commit message:

Doet niet.

Changed in this revision

--- a/main.cpp	Tue Oct 29 12:17:41 2013 +0000
+++ b/main.cpp	Tue Oct 29 13:44:03 2013 +0000
@@ -3,8 +3,8 @@
 #include "encoder.h"
 #define PI 3.14159265358979323
 //XenY
-//Een pwm van 0.05 is net genoeg om de heugel te bewegen. linksom bewegen is negatief voor de encoder. getposition gaat in ticks.
-//4123 ticks is een rondje.
+//Een pwm van 0.05 is net genoeg om de heugel te bewegen. linksom bewegen is negatief voor de encoder. getposition gaat in ticks. 
+//4123 ticks is een rondje. 
 //Rechts is x, links is y
 AnalogIn emgtr(PTB3);
 AnalogIn emgbr(PTB2);
@@ -23,7 +23,7 @@
 volatile bool looptimerflag;
 void setlooptimerflag(void)
 {
-    looptimerflag = true;
+looptimerflag = true;
 }
 
 volatile bool dirflagx=true;
@@ -31,8 +31,8 @@
 
 void tricheck(void)
 {
-    dirflagx=true;
-    dirflagy=true;
+dirflagx=true;
+dirflagy=true;
 }
 
 int main()
@@ -49,61 +49,28 @@
     float xtl,ytl,y1tl,x1tl,ztl,z1tl,z2tl,yabstl,yabs1tl,yabs2tl,ktl;
     float xbl,ybl,y1bl,x1bl,zbl,z1bl,z2bl,yabsbl,yabs1bl,yabs2bl,kbl;
     float zx,zy;
-    float xuit,yuit, rt;
-    //float zx1, zy1, gain;
-    //float pwmA, pwmB;
+    float xuit,yuit, rt; 
     int xdir, ydir, Adir, Bdir;
     float vxuit, vyuit, Ap, Ad, Ad1, kd, kp, ki, Ai, Ai1, Bp, Bd, Bd1, Bi, Bi1;
-    float for_A, for_B, yuit1, xuit1;
+    float for_A, for_B;
     int ticka, tickb, refA,refB, errA, errB;
     float ctrlA;
     float ctrlB;
     //Startwaarden
-    x1tr=0;
-    y1tr=0;
-    z1tr=0;
-    z2tr=0;
-    yabs1tr=0;
-    yabs2tr=0;
-    x1br=0;
-    y1br=0;
-    z1br=0;
-    z2br=0;
-    yabs1br=0;
-    yabs2br=0;
-    x1tl=0;
-    y1tl=0;
-    z1tl=0;
-    z2tl=0;
-    yabs1tl=0;
-    yabs2tl=0;
-    x1bl=0;
-    y1bl=0;
-    z1bl=0;
-    z2bl=0;
-    yabs1bl=0;
-    yabs2bl=0;
-    zx=0;
-    zy=0;
-    xdir=0;
-    ydir=0;
-    xuit=0;
-    yuit=0;
-    kp=0.1;
-    ki=0.01;
-    kd=0.01;
-    rt=0.032805;
-    Bi1=0;
-    Bd1=0;
-    yuit1=0;
-    xuit1=0;
+    x1tr=0;    y1tr=0;    z1tr=0;    z2tr=0;    yabs1tr=0;    yabs2tr=0;
+    x1br=0;    y1br=0;    z1br=0;    z2br=0;    yabs1br=0;    yabs2br=0;
+    x1tl=0;    y1tl=0;    z1tl=0;    z2tl=0;    yabs1tl=0;    yabs2tl=0;
+    x1bl=0;    y1bl=0;    z1bl=0;    z2bl=0;    yabs1bl=0;    yabs2bl=0;
+    zx=0;      zy=0;      xdir=0;    ydir=0;    xuit=0;       yuit=0;
+    kp=1;      ki=0.0;   kd=0.0;   rt=0.032805; Ai1=0;        Ad1=0;
+    Bi1=0;     Bd1=0;     
 
     //High pass, 35Hz, 1e orde
     numh1=0.900575535279376;
     numh2=-0.900575535279376;
     //denh1=1;
     denh2=-0.801151070558751;
-
+    
     //Low pass, 5 Hz, 2e orde.
     numl1=0.241359049041961*pow(10.0,-3.0);
     numl2=0.482718098083923*pow(10.0,-3.0);
@@ -114,63 +81,42 @@
     pc.baud(115200);
 
     while(1) {
-        while(looptimerflag != true);
-        {
+        while(looptimerflag != true);{
         }
         looptimerflag = false;
 
 //EMG lezen.
-        ktr=emgtr.read();
+ktr=emgtr.read();
         xtr=(ktr-0.5)*2.0;
         ytr=xtr*numh1+x1tr*numh2-y1tr*denh2;
         yabstr=abs(ytr);
         ztr=yabstr*numl1+yabs1tr*numl2+yabs2tr*numl3-z1tr*denl2-z2tr*denl3;
-        x1tr=xtr;
-        y1tr=ytr;
-        z2tr=z1tr;
-        z1tr=ztr;
-        yabs2tr=yabs1tr;
-        yabs1tr=yabstr;
+        x1tr=xtr;        y1tr=ytr;        z2tr=z1tr;        z1tr=ztr;        yabs2tr=yabs1tr;        yabs1tr=yabstr;
 
-        kbr=emgbr.read();
+kbr=emgbr.read();
         xbr=(kbr-0.5)*2.0;
         ybr=xbr*numh1+x1br*numh2-y1br*denh2;
         yabsbr=abs(ybr);
         zbr=yabsbr*numl1+yabs1br*numl2+yabs2br*numl3-z1br*denl2-z2br*denl3;
-        x1br=xbr;
-        y1br=ybr;
-        z2br=z1br;
-        z1br=zbr;
-        yabs2br=yabs1br;
-        yabs1br=yabsbr;
+        x1br=xbr;        y1br=ybr;        z2br=z1br;        z1br=zbr;        yabs2br=yabs1br;        yabs1br=yabsbr;
 
-        ktl=emgtl.read();
+ktl=emgtl.read();
         xtl=(ktl-0.5)*2.0;
         ytl=xtl*numh1+x1tl*numh2-y1tl*denh2;
         yabstl=abs(ytl);
         ztl=yabstl*numl1+yabs1tl*numl2+yabs2tl*numl3-z1tl*denl2-z2tl*denl3;
-        x1tl=xtl;
-        y1tl=ytl;
-        z2tl=z1tl;
-        z1tl=ztl;
-        yabs2tl=yabs1tl;
-        yabs1tl=yabstl;
+        x1tl=xtl;        y1tl=ytl;        z2tl=z1tl;        z1tl=ztl;        yabs2tl=yabs1tl;        yabs1tl=yabstl;
 
-        kbl=emgbl.read();
+kbl=emgbl.read();
         xbl=(kbl-0.5)*2.0;
         ybl=xbl*numh1+x1bl*numh2-y1bl*denh2;
         yabsbl=abs(ybl);
         zbl=yabsbl*numl1+yabs1bl*numl2+yabs2bl*numl3-z1bl*denl2-z2bl*denl3;
-        x1bl=xbl;
-        y1bl=ybl;
-        z2bl=z1bl;
-        z1bl=zbl;
-        yabs2bl=yabs1bl;
-        yabs1bl=yabsbl;
+        x1bl=xbl;        y1bl=ybl;        z2bl=z1bl;        z1bl=zbl;        yabs2bl=yabs1bl;        yabs1bl=yabsbl;
 
-        zx=(zbr*5.0);
-        zy=(zbl*5.0);
-
+        zx=(zbr*3.0);
+        zy=(zbl*3.0);
+        
         //Grenzen.
         if (zx>1.0) {
             zx=0.99999;
@@ -178,94 +124,91 @@
         if (zy>1.0) {
             zy=0.99999;
         }
-        if (zx<0.20) {
-            zx=0;
+        if (zx<0.30){
+        zx=0;
         }
-        if (zy<0.20) {
-            zy=0;
+        if (zy<0.30){
+        zy=0;
         }
-
-        //Richting omdraaien met triceps.
+        
+        //Richting omdraaien met triceps. 
         if ((ztr>(zbr+0.1)) && dirflagx == true) {
             dirflagx = false;
             xdir ^= 1;
             zx=0;
             dirtimeout.attach(tricheck,1.5);
         }
-        if ((ztl>(zbl+0.1)) && dirflagy == true) {
+          if ((ztl>(zbl+0.1)) && dirflagy == true) {
             dirflagy = false;
             ydir ^= 1;
             zy=0;
             dirtimeout.attach(tricheck,1.5);
         }
-
+        
         //Motoraansturing.
-        if (ydir==1) {
-            zy=-1.0*zy;
+        if (ydir==1)
+        {
+        zy=-1.0*zy;
         }
-        if (xdir==1) {
-            zx=-1.0*zx;
+        if (xdir==1)
+        {
+        zx=-1.0*zx;
         }
-
-        ticka=motor1.getPosition();
-        tickb=motor2.getPosition();
-        vxuit=zx*1.0*pow(1.0,-2.0); // 4cm/s
-        vyuit=zy*1.0*pow(1.0,-2.0); // 4cm/s
+        
+        ticka=motor1.getPosition(); tickb=motor2.getPosition();
+        vxuit=zx*1.0*pow(1.0,1.0); // 4cm/s
+        vyuit=zy*1.0*pow(1.0,1.0); // 4cm/s
         xuit += ts*vxuit;
         yuit += ts*vyuit;
-        yuit1=yuit;
-
+        
         refA=floor(4123.0*atan2(yuit,xuit)/(2.0*PI));
         refB=floor(4123.0*sqrt(xuit*xuit+yuit*yuit)/(2.0*PI*rt));
         errA=refA-ticka;
-        errB=refB-tickb;
-
-        if(errA<0) {
-            Adir=0;
-        } else {
-            Adir=1;
-        }
-        if(errB<0) {
-            Bdir=0;
-        } else {
-            Bdir=1;
-        }
+        errB=refB-tickb;     
+        
+if(errA<0){
+Adir=0;}
+else{
+Adir=1;
+}
+if(errB<0){
+Bdir=0;}
+else{
+Bdir=1;
+}
         //Controllers
-        Ap=errA*kp;
-        Ad=(errA-Ad1)*kd/ts;
-        Ai=(Ai1+ts*errA)*ki;
-        keep_in_range(&Ai, -0.1,0.1);
-        Ad1=Ad;
-        Ai1=Ai;
-        ctrlA=Ai+Ap+Ad;
-        for_A = ctrlA/1000.;
+        Ap=errA*kp;          Ad=(errA-Ad1)*kd/ts;        Ai=(Ai1+ts*errA)*ki;
+        keep_in_range(&Ai,-0.1,0.1);
+        keep_in_range(&Ad,-0.1,0.1);
+        Ad1=Ad;           Ai1=Ai;
+        ctrlA=(Ai+Ap+Ad);
+        for_A=(ctrlA)/1000.0;
         
-        errB= 1;
-        Bp=errB*kp;
-        Bd=(errB-Bd1)*kd/ts;
-        Bi=(Bi1+ts*errB)*ki;
-        keep_in_range(&Bi, -0.1,0.1);
-        Bd1=Bd;
-        Bi1=Bi;
-        ctrlB=Bi+Bp+Bd;
-        for_B= ctrlB / 1000.0;
-        //x en y uit emg in meters. IK naar radialen. dan radialen naar ticks.
-
+        Bp=errB*kp;          Bd=(errB-Bd1)*kd/ts;        Bi=(Bi1+ts*errB)*ki;
+        keep_in_range(&Bi,-0.1,0.1);
+        keep_in_range(&Bd,-0.1,0.1);
+        Bd1=Bd;           Bi1=Bi;
+        ctrlB=(Bi+Bp+Bd);
+        for_B=(ctrlB)/1000.0;
+        //x en y uit emg in meters. IK naar radialen. dan radialen naar ticks.  
+        
         keep_in_range(&for_A, -1,1);
         keep_in_range(&for_B, -1,1);
 
         motordirA.write(Adir);
         motordirB.write(Bdir);
-        pwm_A.write(for_A);
-        pwm_B.write(for_B);
-
-        //pc.printf("Bi: %f, Tri: %f, Richting: %d \n\r",zbl*3.0,ztl*3.0,ydir);
-        pc.printf(" %i %i %i %f %f\n\r",tickb,refB,errB,ctrlB,for_B);
-        //pc.printf("b %f t %f xu %f yu %f A %f B %f \n\r",zbl,ztl,xuit, yuit, pwmA,pwmB);
+        pwm_A.write(abs(for_A));
+        pwm_B.write(abs(for_B));
+        
+        //Voor EMG
+        pc.printf(" %f \n\r", zy);
+        
+        //Voor motor
+        //pc.printf(" %i %i %i %f %f\n\r",tickb,refB,errB,ctrlB,for_B);
     }
 }
 
 void keep_in_range(float * in, float min, float max)
 {
-*in > min ? *in < max? : *in = max: *in = min;
+    *in > min ? *in < max? : *in = max: *in = min;
 }
\ No newline at end of file