Version 1: coming together. With PD controller but without inverse kinematics
Dependencies: Encoder MODSERIAL mbed
Fork of motoraansturing_met_EMG by
Revision 0:73dcc8fb9900, committed 2013-11-01
- Comitter:
- jorick92
- Date:
- Fri Nov 01 08:24:02 2013 +0000
- Child:
- 1:1c22ce9f370b
- Commit message:
- moet nog aan de gains worden gesleuteld
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder.lib Fri Nov 01 08:24:02 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/vsluiter/code/Encoder/#2dd7853c911a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Fri Nov 01 08:24:02 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Sissors/code/MODSERIAL/#b04ce87dc424
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Nov 01 08:24:02 2013 +0000 @@ -0,0 +1,536 @@ +#include "mbed.h" +#include "encoder.h" +#include "MODSERIAL.h" + +//high pass filter constantes 15Hz cutoff 4e orde + #define NUM0 0.2754 // constante + #define NUM1 -1.1017 // z^-1 + #define NUM2 1.6525 // z^-2etc. + #define NUM3 -1.1017 + #define NUM4 0.2754 + + #define DEN0 1 // constante + #define DEN1 -1.5704 + #define DEN2 1.2756 + #define DEN3 -0.4844 + #define DEN4 0.0762 + +//lowpass filter constantes 40 Hz 4e orde + #define NUM0_2 0.4328 // constante + #define NUM1_2 1.7314 // z^-1 + #define NUM2_2 2.5971 // z^-2etc. + #define NUM3_2 1.7314 + #define NUM4_2 0.4328 + + + #define DEN0_2 1 // constante + #define DEN1_2 2.3695 + #define DEN2_2 2.3140 + #define DEN3_2 1.0547 + #define DEN4_2 0.1874 + +//lowpass filter constantes 3Hz 4e orde + #define NUM0_3 0.0000624 // constante + #define NUM1_3 0.0002495 // z^-1 + #define NUM2_3 0.0003743 // z^-2etc. + #define NUM3_3 0.0002495 + #define NUM4_3 0.0000624 + + #define DEN0_3 1 // constante + #define DEN1_3 -3.5078 + #define DEN2_3 4.6409 + #define DEN3_3 -2.7427 + #define DEN4_3 0.6105 + +/******************************************************************************* +* * +* Code can be found at http://mbed.org/users/vsluiter/code/BMT-K9-Regelaar/ * +* * +********************************************************************************/ + +// dit is voor schakelaar die aan en uit wil gaan +DigitalIn toggle(PTD7); + +void toggle_on() +{ +} + +void toggle_off() +{ + // do nothing +} + +/** keep_in_range -> float in, and keep_in_range if less than min, or larger than max **/ +void keep_in_range(float * in, float min, float max); + +/** variable to show when a new loop can be started*/ +/** volatile means that it can be changed in an */ +/** interrupt routine, and that that change is vis-*/ +/** ible in the main loop. */ + +volatile bool looptimerflag; + +/** function called by Ticker "looptimer" */ +/** variable 'looptimerflag' is set to 'true' */ +/** each time the looptimer expires. */ +void setlooptimerflag(void) +{ + looptimerflag = true; +} + + //emg variabelen + float emg_value_biceps, emg_value_triceps, emg_value_flexoren, emg_value_extensoren, dy; + AnalogIn emg_biceps(PTB0); //Analog input + AnalogIn emg_triceps(PTB1); + AnalogIn emg_flexoren(PTB2); + AnalogIn emg_extensoren(PTB3); + +/* +DIT IS DE FILTER FUNCTIE! aanroepen door "filter(signaal nummer)" + filter(1): biceps meten + filter(2): triceps meten + filter(3): flexoren meten + filter(3): extensoren meten +*/ +float filter(int sig_number){ + float sig_out; + + // eerst variabelen definieren + + //biceps + //filter 1 + float in0_biceps =0; + static float in1_biceps =0, in2_biceps = 0, in3_biceps = 0, in4_biceps = 0; + static float out0_biceps = 0, out1_biceps = 0 , out2_biceps = 0, out3_biceps = 0, out4_biceps = 0; + //filter 2 + float in0_2_biceps =0; + static float in1_2_biceps =0, in2_2_biceps = 0, in3_2_biceps = 0, in4_2_biceps = 0; + static float out0_2_biceps = 0, out1_2_biceps = 0 , out2_2_biceps = 0, out3_2_biceps = 0, out4_2_biceps = 0; + //filter 3 + float in0_3_biceps =0; + static float in1_3_biceps =0, in2_3_biceps = 0, in3_3_biceps = 0, in4_3_biceps = 0; + static float out0_3_biceps = 0, out1_3_biceps = 0 , out2_3_biceps = 0, out3_3_biceps = 0, out4_3_biceps = 0; + + //triceps + //filter 1 + float in0_triceps =0; + static float in1_triceps =0, in2_triceps = 0, in3_triceps = 0, in4_triceps = 0; + static float out0_triceps = 0, out1_triceps = 0 , out2_triceps = 0, out3_triceps = 0, out4_triceps = 0; + //filter 2 + float in0_2_triceps =0; + static float in1_2_triceps =0, in2_2_triceps = 0, in3_2_triceps = 0, in4_2_triceps = 0; + static float out0_2_triceps = 0, out1_2_triceps = 0 , out2_2_triceps = 0, out3_2_triceps = 0, out4_2_triceps = 0; + //filter 3 + float in0_3_triceps =0; + static float in1_3_triceps =0, in2_3_triceps = 0, in3_3_triceps = 0, in4_3_triceps = 0; + static float out0_3_triceps = 0, out1_3_triceps = 0 , out2_3_triceps = 0, out3_3_triceps = 0, out4_3_triceps = 0; + + //flexoren + //filter 1 + float in0_flexoren =0; + static float in1_flexoren =0, in2_flexoren = 0, in3_flexoren = 0, in4_flexoren = 0; + static float out0_flexoren = 0, out1_flexoren = 0 , out2_flexoren = 0, out3_flexoren = 0, out4_flexoren = 0; + //filter 2 + float in0_2_flexoren =0; + static float in1_2_flexoren =0, in2_2_flexoren = 0, in3_2_flexoren = 0, in4_2_flexoren = 0; + static float out0_2_flexoren = 0, out1_2_flexoren = 0 , out2_2_flexoren = 0, out3_2_flexoren = 0, out4_2_flexoren = 0; + //filter 3 + float in0_3_flexoren =0; + static float in1_3_flexoren =0, in2_3_flexoren = 0, in3_3_flexoren = 0, in4_3_flexoren = 0; + static float out0_3_flexoren = 0, out1_3_flexoren = 0 , out2_3_flexoren = 0, out3_3_flexoren = 0, out4_3_flexoren = 0; + + //extensoren + //filter 1 + float in0_extensoren =0; + static float in1_extensoren =0, in2_extensoren = 0, in3_extensoren = 0, in4_extensoren = 0; + static float out0_extensoren = 0, out1_extensoren = 0 , out2_extensoren = 0, out3_extensoren = 0, out4_extensoren = 0; + //filter 2 + float in0_2_extensoren =0; + static float in1_2_extensoren =0, in2_2_extensoren = 0, in3_2_extensoren = 0, in4_2_extensoren = 0; + static float out0_2_extensoren = 0, out1_2_extensoren = 0 , out2_2_extensoren = 0, out3_2_extensoren = 0, out4_2_extensoren = 0; + //filter 3 + float in0_3_extensoren =0; + static float in1_3_extensoren =0, in2_3_extensoren = 0, in3_3_extensoren = 0, in4_3_extensoren = 0; + static float out0_3_extensoren = 0, out1_3_extensoren = 0 , out2_3_extensoren = 0, out3_3_extensoren = 0, out4_3_extensoren = 0; + + + switch(sig_number){ + case 1: + // signaal filteren op 15 Hz HIGHPASS + in4_biceps = in3_biceps; in3_biceps = in2_biceps; in2_biceps = in1_biceps; in1_biceps = in0_biceps; + in0_biceps = emg_biceps.read(); + out4_biceps = out3_biceps; out3_biceps = out2_biceps; out2_biceps = out1_biceps; out1_biceps = out0_biceps; + out0_biceps = (NUM0*in0_biceps + NUM1*in1_biceps + NUM2*in2_biceps + NUM3*in3_biceps + NUM4*in4_biceps - DEN1*out1_biceps - DEN2*out2_biceps - DEN3*out3_biceps - DEN4*out4_biceps ) / DEN0; + + //signaal filteren op 40 HZ LOWPASS + in4_2_biceps = in3_2_biceps; in3_2_biceps = in2_2_biceps; in2_2_biceps = in1_2_biceps; in1_2_biceps = in0_2_biceps; + in0_2_biceps = out0_biceps; + out4_2_biceps = out3_2_biceps; out3_2_biceps = out2_2_biceps; out2_2_biceps = out1_2_biceps; out1_2_biceps = out0_2_biceps; + out0_2_biceps = (NUM0_2*in0_2_biceps + NUM1_2*in1_2_biceps + NUM2_2*in2_2_biceps + NUM3_2*in3_2_biceps + NUM4_2*in4_2_biceps - DEN1_2*out1_2_biceps - DEN2_2*out2_2_biceps - DEN3_2*out3_2_biceps - DEN4_2*out4_2_biceps ) / DEN0_2; + + //signaal filteren op 5Hz LOWPASS + in4_3_biceps = in3_3_biceps; in3_3_biceps = in2_3_biceps; in2_3_biceps = in1_3_biceps; in1_3_biceps = in0_3_biceps; + in0_3_biceps = abs(out0_2_biceps); + out4_3_biceps = out3_3_biceps; out3_3_biceps = out2_3_biceps; out2_3_biceps = out1_3_biceps; out1_3_biceps = out0_3_biceps; + out0_3_biceps = (NUM0_3*in0_3_biceps + NUM1_3*in1_3_biceps + NUM2_3*in2_3_biceps + NUM3_3*in3_3_biceps + NUM4_3*in4_3_biceps - DEN1_3*out1_3_biceps - DEN2_3*out2_3_biceps - DEN3_3*out3_3_biceps - DEN4_3*out4_3_biceps ) / DEN0_3; + sig_out = out0_3_biceps; + break; + case 2: + // signaal filteren op 15 Hz HIGHPASS + in4_triceps = in3_triceps; in3_triceps = in2_triceps; in2_triceps = in1_triceps; in1_triceps = in0_triceps; + in0_triceps = emg_triceps.read(); + out4_triceps = out3_triceps; out3_triceps = out2_triceps; out2_triceps = out1_triceps; out1_triceps = out0_triceps; + out0_triceps = (NUM0*in0_triceps + NUM1*in1_triceps + NUM2*in2_triceps + NUM3*in3_triceps + NUM4*in4_triceps - DEN1*out1_triceps - DEN2*out2_triceps - DEN3*out3_triceps - DEN4*out4_triceps ) / DEN0; + + //signaal filteren op 40 HZ LOWPASS + in4_2_triceps = in3_2_triceps; in3_2_triceps = in2_2_triceps; in2_2_triceps = in1_2_triceps; in1_2_triceps = in0_2_triceps; + in0_2_triceps = out0_triceps; + out4_2_triceps = out3_2_triceps; out3_2_triceps = out2_2_triceps; out2_2_triceps = out1_2_triceps; out1_2_triceps = out0_2_triceps; + out0_2_triceps = (NUM0_2*in0_2_triceps + NUM1_2*in1_2_triceps + NUM2_2*in2_2_triceps + NUM3_2*in3_2_triceps + NUM4_2*in4_2_triceps - DEN1_2*out1_2_triceps - DEN2_2*out2_2_triceps - DEN3_2*out3_2_triceps - DEN4_2*out4_2_triceps ) / DEN0_2; + + //signaal filteren op 5Hz LOWPASS + in4_3_triceps = in3_3_triceps; in3_3_triceps = in2_3_triceps; in2_3_triceps = in1_3_triceps; in1_3_triceps = in0_3_triceps; + in0_3_triceps = abs(out0_2_triceps); + out4_3_triceps = out3_3_triceps; out3_3_triceps = out2_3_triceps; out2_3_triceps = out1_3_triceps; out1_3_triceps = out0_3_triceps; + out0_3_triceps = (NUM0_3*in0_3_triceps + NUM1_3*in1_3_triceps + NUM2_3*in2_3_triceps + NUM3_3*in3_3_triceps + NUM4_3*in4_3_triceps - DEN1_3*out1_3_triceps - DEN2_3*out2_3_triceps - DEN3_3*out3_3_triceps - DEN4_3*out4_3_triceps ) / DEN0_3; + sig_out = out0_3_triceps; + break; + case 3: + // signaal filteren op 15 Hz HIGHPASS + in4_flexoren = in3_flexoren; in3_flexoren = in2_flexoren; in2_flexoren = in1_flexoren; in1_flexoren = in0_flexoren; + in0_flexoren = emg_flexoren.read(); + out4_flexoren = out3_flexoren; out3_flexoren = out2_flexoren; out2_flexoren = out1_flexoren; out1_flexoren = out0_flexoren; + out0_flexoren = (NUM0*in0_flexoren + NUM1*in1_flexoren + NUM2*in2_flexoren + NUM3*in3_flexoren + NUM4*in4_flexoren - DEN1*out1_flexoren - DEN2*out2_flexoren - DEN3*out3_flexoren - DEN4*out4_flexoren ) / DEN0; + + //signaal filteren op 40 HZ LOWPASS + in4_2_flexoren = in3_2_flexoren; in3_2_flexoren = in2_2_flexoren; in2_2_flexoren = in1_2_flexoren; in1_2_flexoren = in0_2_flexoren; + in0_2_flexoren = out0_flexoren; + out4_2_flexoren = out3_2_flexoren; out3_2_flexoren = out2_2_flexoren; out2_2_flexoren = out1_2_flexoren; out1_2_flexoren = out0_2_flexoren; + out0_2_flexoren = (NUM0_2*in0_2_flexoren + NUM1_2*in1_2_flexoren + NUM2_2*in2_2_flexoren + NUM3_2*in3_2_flexoren + NUM4_2*in4_2_flexoren - DEN1_2*out1_2_flexoren - DEN2_2*out2_2_flexoren - DEN3_2*out3_2_flexoren - DEN4_2*out4_2_flexoren ) / DEN0_2; + + //signaal filteren op 5Hz LOWPASS + in4_3_flexoren = in3_3_flexoren; in3_3_flexoren = in2_3_flexoren; in2_3_flexoren = in1_3_flexoren; in1_3_flexoren = in0_3_flexoren; + in0_3_flexoren = abs(out0_2_flexoren); + out4_3_flexoren = out3_3_flexoren; out3_3_flexoren = out2_3_flexoren; out2_3_flexoren = out1_3_flexoren; out1_3_flexoren = out0_3_flexoren; + out0_3_flexoren = (NUM0_3*in0_3_flexoren + NUM1_3*in1_3_flexoren + NUM2_3*in2_3_flexoren + NUM3_3*in3_3_flexoren + NUM4_3*in4_3_flexoren - DEN1_3*out1_3_flexoren - DEN2_3*out2_3_flexoren - DEN3_3*out3_3_flexoren - DEN4_3*out4_3_flexoren ) / DEN0_3; + sig_out = out0_3_flexoren; + break; + case 4: + // signaal filteren op 15 Hz HIGHPASS + in4_extensoren = in3_extensoren; in3_extensoren = in2_extensoren; in2_extensoren = in1_extensoren; in1_extensoren = in0_extensoren; + in0_extensoren = emg_extensoren.read(); + out4_extensoren = out3_extensoren; out3_extensoren = out2_extensoren; out2_extensoren = out1_extensoren; out1_extensoren = out0_extensoren; + out0_extensoren = (NUM0*in0_extensoren + NUM1*in1_extensoren + NUM2*in2_extensoren + NUM3*in3_extensoren + NUM4*in4_extensoren - DEN1*out1_extensoren - DEN2*out2_extensoren - DEN3*out3_extensoren - DEN4*out4_extensoren ) / DEN0; + + //signaal filteren op 40 HZ LOWPASS + in4_2_extensoren = in3_2_extensoren; in3_2_extensoren = in2_2_extensoren; in2_2_extensoren = in1_2_extensoren; in1_2_extensoren = in0_2_extensoren; + in0_2_extensoren = out0_extensoren; + out4_2_extensoren = out3_2_extensoren; out3_2_extensoren = out2_2_extensoren; out2_2_extensoren = out1_2_extensoren; out1_2_extensoren = out0_2_extensoren; + out0_2_extensoren = (NUM0_2*in0_2_extensoren + NUM1_2*in1_2_extensoren + NUM2_2*in2_2_extensoren + NUM3_2*in3_2_extensoren + NUM4_2*in4_2_extensoren - DEN1_2*out1_2_extensoren - DEN2_2*out2_2_extensoren - DEN3_2*out3_2_extensoren - DEN4_2*out4_2_extensoren ) / DEN0_2; + + //signaal filteren op 5Hz LOWPASS + in4_3_extensoren = in3_3_extensoren; in3_3_extensoren = in2_3_extensoren; in2_3_extensoren = in1_3_extensoren; in1_3_extensoren = in0_3_extensoren; + in0_3_extensoren = abs(out0_2_extensoren); + out4_3_extensoren = out3_3_extensoren; out3_3_extensoren = out2_3_extensoren; out2_3_extensoren = out1_3_extensoren; out1_3_extensoren = out0_3_extensoren; + out0_3_extensoren = (NUM0_3*in0_3_extensoren + NUM1_3*in1_3_extensoren + NUM2_3*in2_3_extensoren + NUM3_3*in3_3_extensoren + NUM4_3*in4_3_extensoren - DEN1_3*out1_3_extensoren - DEN2_3*out2_3_extensoren - DEN3_3*out3_3_extensoren - DEN4_3*out4_3_extensoren ) / DEN0_3; + sig_out = out0_3_extensoren; + break; + } + return sig_out; +} + +int main() +{ + //LOCAL VARIABLES + /*Potmeter input*/ + AnalogIn potmeterA(PTC2); + AnalogIn potmeterB(PTB2); + /* Encoder, using my encoder library */ + /* First pin should be PTDx or PTAx */ + /* because those pins can be used as */ + /* InterruptIn */ + Encoder motorA(PTD4,PTC8); + Encoder motorB(PTD0,PTD2); + /* MODSERIAL to get non-blocking Serial*/ + MODSERIAL pc(USBTX,USBRX); + /* PWM control to motor */ + PwmOut pwm_motorA(PTA12); + PwmOut pwm_motorB(PTA5); + /* Direction pin */ + DigitalOut motordirA(PTD3); + DigitalOut motordirB(PTD1); + /* variable to store setpoint in */ + float setpointA; + float setpointB; + float setpoint_beginA; + float setpoint_beginB; + float setpoint_rechtsonderA; + float setpoint_rechtsonderB; + + /* variable to store pwm value in*/ + float pwm_to_motorA; + float pwm_to_begin_motorA = 0; + float pwm_to_begin_motorB = 0; + float pwm_to_motorB; + float pwm_to_rechtsonder_motorA; + float pwm_to_rechtsonder_motorB; + + const float dt = 0.002; + float Kp = 0.001; //0.0113 + float Ki = 0.0759; + float Kd = 0.0004342; + float error_t0_A = 0; + float error_t0_B = 0; + float error_ti_A; + float error_ti_B; + float error_t_1_A; + float error_t_1_B; + float P_regelaar_A; + float P_regelaar_B; + float I_regelaar_A; + float I_regelaar_B; + float D_regelaar_A; + float D_regelaar_B; + float output_regelaar_A; + float output_regelaar_B; + float integral_i_A; + float integral_i_B; + float integral_0_A = 0; + float integral_0_B = 0; + + int32_t positionmotorA_t0; + int32_t positionmotorB_t0; + int32_t positionmotorA_t_1; + int32_t positionmotorB_t_1; + int32_t positiondifference_motorA; + int32_t positiondifference_motorB; + + //START OF CODE + + while(1) { + while(!toggle); + { // wait while toggle == 0 + toggle_on(); + + /*Set the baudrate (use this number in RealTerm too!) */ + pc.baud(115200); + + // in dit stukje code zorgen we ervoor dat de arm gaat draaien naar rechts en stopt als het tegen het frame komt. Eerst motor B botsen dan motor A botsen. + // motor B zit onder en motor A zit boven en dus op zijn kop (en dus setpoint moet - zijn). + + motordirB.write(0); + pwm_motorB.write(.08); + positionmotorB_t0 = motorB.getPosition(); + do { + wait(0.2); + positionmotorB_t_1 = positionmotorB_t0 ; + positionmotorB_t0 = motorB.getPosition(); + positiondifference_motorB = abs(positionmotorB_t0 - positionmotorB_t_1); + } while(positiondifference_motorB > 10); + motorB.setPosition(0); + pwm_motorB.write(0); + + wait(1); // willen nu even dat tussen ene actie en andere actie 1 seconde wacht. + + motordirA.write(1); + pwm_motorA.write(.08); + positionmotorA_t0 = motorA.getPosition(); + do { + wait(0.2); + positionmotorA_t_1 = positionmotorA_t0 ; + positionmotorA_t0 = motorA.getPosition(); + positiondifference_motorA = abs(positionmotorA_t0 - positionmotorA_t_1); + } while(positiondifference_motorA > 10); + motorA.setPosition(0); + pwm_motorA.write(0); + + wait(1); // willen nu even dat tussen ene actie en andere actie 1 seconde wacht. + + // Hierna willen we de motor van zijn alleruiterste positie naar de x-as hebben. Hiervoor moet motor A eerst op de x-as worden gezet. Hiervoor moet motor A 4.11 graden (63) naar links. + + motordirA.write(0); + pwm_motorA.write(.08); + do { + setpoint_beginA = -63; // x-as + pwm_to_begin_motorA = abs((setpoint_beginA + motorA.getPosition()) *.001); // + omdat men met een negatieve hoekverdraaiing werkt. + wait(0.2); + keep_in_range(&pwm_to_begin_motorA, -1, 1 ); + motordirA.write(0); + pwm_motorA.write(pwm_to_begin_motorA); + } while(pwm_to_begin_motorA <= 0); + motorA.setPosition(0); + pwm_motorA.write(0); + + wait(1); // willen nu even dat tussen ene actie en andere actie 1 seconde wacht. + + // hierna moet motor A naar de rechtsonder A4. Motor A 532. + + motordirA.write(0); + pwm_motorA.write(0.08); + do { + setpoint_beginA = -532; // rechtsonder positie A4 + pwm_to_begin_motorA = abs((setpoint_beginA + motorA.getPosition()) *.001); + wait(0.2); + keep_in_range(&pwm_to_begin_motorA, -1, 1 ); + motordirA.write(0); + pwm_motorA.write(pwm_to_begin_motorA); + } while(pwm_to_begin_motorA <= 0); + pwm_motorA.write(0); + + wait(1); + + // Hierna moet motor B 21.6 (192) graden naar links om naar x-as te gaan. + + motordirB.write(1); + pwm_motorB.write(.08); + do { + setpoint_beginB = 192; // x-as + pwm_to_begin_motorB = abs((setpoint_beginB - motorB.getPosition()) *.001); + wait(0.2); + keep_in_range(&pwm_to_begin_motorB, -1, 1 ); + motordirB.write(1); + pwm_motorB.write(pwm_to_begin_motorB); + } while(pwm_to_begin_motorB <= 0); + motorB.setPosition(0); + pwm_motorB.write(0); + + wait(1); // willen nu even dat tussen ene actie en andere actie 1 seconde wacht. + + // Hierna moet motor B van x-as naar de rechtsonder A4 positie. Motor B 460. + + motordirB.write(1); + pwm_motorB.write(0.08); + do { + setpoint_beginB = 460; // rechtsonder positie A4 + pwm_to_begin_motorB = abs((setpoint_beginB - motorB.getPosition()) *.001); + wait(0.2); + keep_in_range(&pwm_to_begin_motorB, -1, 1 ); + motordirB.write(1); + pwm_motorB.write(pwm_to_begin_motorB); + } while(pwm_to_begin_motorB <= 0); + pwm_motorB.write(0); + + wait(1); + + // Nu zijn de motoren gekalibreed en staan ze op de startpositie. + // Hierna het script dat EMG wordt omgezet in een positie verandering + + /*Create a ticker, and let it call the */ + /*function 'setlooptimerflag' every 0.01s */ + Ticker looptimer; + looptimer.attach(setlooptimerflag,0.01); + + //INFINITE LOOP + while(1) { + + while(looptimerflag != true); + looptimerflag = false; + + // HIER EMG!! +float emg_value_biceps; + float emg_value_triceps; + float emg_value_flexoren; + float emg_value_extensoren; + float dy; + emg_value_biceps = ((100*(filter(1))-0.18)/0.49); + emg_value_triceps = ((100*(filter(2))-0.18)/0.35); + //emg_value_flexoren = 100*filter(3); + //emg_value_extensoren = 100*filter(4); + + if(emg_value_biceps < 0.10){ + emg_value_biceps=0; + } + else { + emg_value_biceps = emg_value_biceps; + } + if(emg_value_triceps < 0.20){ + emg_value_triceps=0; + } + else { + emg_value_triceps=emg_value_triceps; + } + + + + dy = emg_value_biceps-emg_value_triceps; + dy=dy*10; + if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30) + pc.printf("%.6f\n",dy); + + + + + //setpointA = (potmeterA.read()-0.09027)*(631); // bereik van 71 graden dit afhankelijk van waar nul punt zit en waar heel wil. Dus afh. van EMG lezen bij EMG wordt 0.5 - 0.09027 + //setpointB = (potmeterB.read())*(415); // bereik van 46.7 graden + //pc.printf("s: %f, %d ", setpointA, motorA.getPosition()); + //pc.printf("s: %f, %d ", setpointB, motorB.getPosition()); + + setpointB = (dy); + //setpointB = (potmeterB.read() - 0.5) * (871/2); + // motor A moet de hoek altijd binnen 53.4 tot en met 124.3 graden liggen + // motor B moet de hoek altijd binnen 30.2 tot en met -16.5 graden liggen + keep_in_range(&setpointA, -1105, -474); // voor motor moet bereik zijn -1105 tot -474 + keep_in_range(&setpointB, -147, 269); // voor motor moet bereik zijn -147 tot 269 + + // PID regelaar voor motor A + //wait(dt); + //error_ti_A = setpointA - motorA.getPosition(); + //P_regelaar_A = Kp * error_ti_A; + //D_regelaar_A = Kd * ((error_ti_A - error_t0_A) / dt); + //integral_i_A = integral_0_A + (error_ti_A * dt); + //I_regelaar_A = Ki * integral_i_A; + //integral_0_A = integral_i_A; + //error_t0_A = error_ti_A; + //output_regelaar_A = P_regelaar_A; + + // PID regelaar voor motor B + //wait(dt); + //error_ti_B = setpointB - motorB.getPosition(); + //P_regelaar_B = Kp * error_ti_B; + //D_regelaar_B = Kd * ((error_ti_B - error_t0_B) / dt); + //integral_i_B = integral_0_B + (error_ti_B * dt); + //I_regelaar_B = Ki * integral_i_B; + //integral_0_B = integral_i_B; + //error_t0_B = error_ti_B; + //output_regelaar_B = P_regelaar_B; + + /* This is a PID-action! store in pwm_to_motor */ + pwm_to_motorA = (setpointA - motorA.getPosition())*.001; //output_regelaar_A; + pwm_to_motorB = (setpointB); //- motorB.getPosition())*.001; //output_regelaar_B; + + keep_in_range(&pwm_to_motorA, -1,1); + keep_in_range(&pwm_to_motorB, -1,1); + + if(pwm_to_motorA > 0) + motordirA.write(1); + else + motordirA.write(0); + if(pwm_to_motorB > 0) + motordirB.write(1); + else + motordirB.write(0); + + pwm_motorA.write(abs(pwm_to_motorA)); + pwm_motorB.write(abs(pwm_to_motorB)); + } + } + while(toggle); + { // wait while toggle == 1 + toggle_off(); + pwm_motorA.write(0); + pwm_motorB.write(0); + } + } +} + + +void keep_in_range(float * in, float min, float max) +{ +*in > min ? *in < max? : *in = max: *in = min; +} + + + + + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.lib Fri Nov 01 08:24:02 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/#f37f3b9c9f0b