BMT M9 groep 7
Werkende PID controller met EMG aansturing.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Motor_EMG_V2
by 
BMT M9 groep 7
Diff: main.cpp
- Revision:
- 0:5816557b2064
- Child:
- 1:3f49c8818619
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 19 10:06:36 2015 +0000
@@ -0,0 +1,390 @@
+ //--------------------------------------------------------------------------------------------------------------------------//
+ // Motorscript voor 2 motoren voor de "SJOEL ROBOT", Groep 7
+ //--------------------------------------------------------------------------------------------------------------------------//
+ // Libraries
+ //--------------------------------------------------------------------------------------------------------------------------//
+#include "mbed.h"
+#include "MODSERIAL.h"
+#include "HIDScope.h"
+#include "QEI.h"
+#include "biquadFilter.h"
+
+//--------------------------------------------------------------------------------------------------------------------------//
+// Constanten/Inputs/Outputs
+//--------------------------------------------------------------------------------------------------------------------------//
+ MODSERIAL pc(USBTX, USBRX); // To/From PC
+ QEI Encoder2(D3, D2, NC, 32); // Encoder Motor 2
+ QEI Encoder1(D13,D12,NC, 32); // Encoder Motor 1
+ HIDScope scope(5); // Scope, 4 channels
+
+// LEDs
+ DigitalOut LedR(LED_RED);
+ DigitalOut LedG(LED_GREEN);
+ DigitalOut LedB(LED_BLUE);
+
+// Motor
+ DigitalOut motor1direction(D7); // Motor 1, Direction & Speed
+ PwmOut motor1speed(D6);
+ DigitalOut motor2direction(D4); // Motor 2, Direction & Speed
+ PwmOut motor2speed(D5);
+
+//EMG
+ AnalogIn EMG_left(A0); //Analog input
+ AnalogIn EMG_right(A1);
+
+// Tickers
+ Ticker ScopeTime;
+ Ticker myControllerTicker2;
+ Ticker myControllerTicker1;
+ Ticker SampleEMGLeft;
+ Ticker SampleEMGRight;
+ Ticker ScopeTimer;
+ Ticker serial;
+ Ticker MovingAverageLeft;
+ Ticker MovingAverageRight;
+
+// Constants
+ double reference2, reference1;
+ double position2 = 0, position1 = 0;
+ double m2_ref = 0, m1_ref = 0;
+ int count = 0;
+ double Grens2 = 90, Grens1 = 90;
+ double Stapgrootte = 5;
+
+ DigitalOut led(LED_RED);
+ DigitalOut ledG(LED_GREEN);
+ DigitalOut ledB(LED_BLUE);
+
+// Declaring variables
+ double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0;
+ double EMG_L_fh=0;
+ double EMG_left_value;
+ double EMG_left_f1;
+ double EMG_left_f2;
+ double EMG_left_f3;
+ double EMG_left_abs;
+
+ double EMG_right_value;
+ double EMG_right_f1;
+ double EMG_right_f2;
+ double EMG_right_f3;
+ double EMG_right_abs;
+ double Threshold1;
+ double Threshold2;
+ double Threshold3;
+ double Threshold4;
+
+ int N = 50;
+ double MAF_left[50];
+ double EMG_left_MAF;
+ double MAF_right[50];
+ double EMG_right_MAF;
+
+
+//Sample time (motor-step)
+ const double m2_Ts = 0.01, m1_Ts = 0.01;
+
+//Controller gain Motor 2 & 1
+ const double m2_Kp = 5,m2_Ki = 0.01, m2_Kd = 20;
+ const double m1_Kp = 5,m1_Ki = 0.01, m1_Kd = 20;
+ double m2_err_int = 0, m2_prev_err = 0;
+ double m1_err_int = 0, m1_prev_err = 0;
+
+//Derivative filter coeffs Motor 2 & 1
+ const double BiGain2 = 0.012, BiGain1 = 0.016955;
+ const double m2_f_a1 = -0.96608908283*BiGain2, m2_f_a2 = 0.0*BiGain2, m2_f_b0 = 1.0*BiGain2, m2_f_b1 = 1.0*BiGain2, m2_f_b2 = 0.0*BiGain2;
+ const double m1_f_a1 = -0.96608908283*BiGain1, m1_f_a2 = 0.0*BiGain1, m1_f_b0 = 1.0*BiGain1, m1_f_b1 = 1.0*BiGain1, m1_f_b2 = 0.0*BiGain1;
+
+// coëfficiënten
+const double BiGainEMG_H1 = 0.796821;
+ const double EMGH1_a1 = -1.47500228332, EMGH1_a2 = 0.55273994299, EMGH1_b0 = 1.0*BiGainEMG_H1, EMGH1_b1 = -1.99922446977*BiGainEMG_H1, EMGH1_b2 = 1.0*BiGainEMG_H1; //coefficients for high-pass filter
+
+ const double BiGainEMG_L1= 0.001041;
+ const double EMGL1_a1 = -1.87506717001, EMGL1_a2 = 0.87923101463, EMGL1_b0 = 1.0*BiGainEMG_L1, EMGL1_b1 = 2.00000000000*BiGainEMG_L1, EMGL1_b2 = 1.0*BiGainEMG_L1; // coefficients for low-pass filter
+
+ const double BiGainEMG_N1 = 1.0;
+ const double EMGN1_a1 = -1.58174308681, EMGN1_a2 = 0.96540248979, EMGN1_b0 = 1.0*BiGainEMG_N1, EMGN1_b1 = -1.61816176147*BiGainEMG_N1, EMGN1_b2 = 1.0*BiGainEMG_N1; //coefficients for notch filter
+
+// Filter variables
+ double m2_f_v1 = 0, m2_f_v2 = 0;
+ double m1_f_v1 = 0, m1_f_v2 = 0;
+
+// Creating the filters
+ biquadFilter EMG_highpass1 (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter
+ biquadFilter EMG_lowpass1 (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter
+ biquadFilter EMG_notch1 (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter
+
+ biquadFilter EMG_highpass1R (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter
+ biquadFilter EMG_lowpass1R (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter
+ biquadFilter EMG_notch1R (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter
+
+
+//--------------------------------------------------------------------------------------------------------------------------//
+// General Functions
+//--------------------------------------------------------------------------------------------------------------------------//
+
+//HIDScope
+ void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt
+ {
+ scope.set(0, reference2 - position2);
+ scope.set(1, position2);
+ scope.set(2, reference1 - position1);
+ scope.set(3, position1);
+ scope.set(4, EMG_left_MAF);
+ scope.set(5, EMG_right_MAF);
+ scope.send();
+
+ }
+
+// Reusable PID controller
+ double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev)
+ {
+ // Derivative
+ double e_der = (e-e_prev)/Ts;
+ e_prev = e;
+ // Integral
+ e_int = e_int + Ts*e;
+ // PID
+ return Kp * e + Ki*e_int + Kd*e_der;
+ }
+
+//--------------------------------------------------------------------------------------------------------------------------//
+//EMG functions
+//--------------------------------------------------------------------------------------------------------------------------//
+
+// EMG filtering function
+void EMGfilterLeft()
+{
+ EMG_left_value = EMG_left.read();
+ EMG_left_f1 = EMG_highpass1.step(EMG_left_value);
+ EMG_left_abs = fabs(EMG_left_f1);
+ EMG_left_f2 = EMG_lowpass1.step(EMG_left_abs);
+ EMG_left_f3 = EMG_notch1.step(EMG_left_f2);
+
+}
+
+void EMGfilterRight()
+{
+ EMG_right_value = EMG_right.read();
+ EMG_right_f1 = EMG_highpass1R.step(EMG_right_value);
+ EMG_right_abs = fabs(EMG_right_f1);
+ EMG_right_f2 = EMG_lowpass1R.step(EMG_right_abs);
+ EMG_right_f3 = EMG_notch1R.step(EMG_right_f2);
+}
+
+// Movingaverage Filter
+ void MovingAverageFilterLeft()
+ {
+ EMG_left_MAF = (MAF_left[0]+MAF_left[1]+MAF_left[2]+MAF_left[3]+MAF_left[4]+MAF_left[5]+MAF_left[6]+MAF_left[7]+MAF_left[8]+MAF_left[9]+MAF_left[10]+MAF_left[11]+MAF_left[12]+MAF_left[13]+MAF_left[14]+MAF_left[15]+MAF_left[16]+MAF_left[17]+MAF_left[18]+MAF_left[19]+MAF_left[20]+MAF_left[21]+MAF_left[22]+MAF_left[23]+MAF_left[24]+MAF_left[25]+MAF_left[26]+MAF_left[27]+MAF_left[28]+MAF_left[29]+MAF_left[30]+MAF_left[31]+MAF_left[32]+MAF_left[33]+MAF_left[34]+MAF_left[35]+MAF_left[36]+MAF_left[37]+MAF_left[38]+MAF_left[39]+MAF_left[40]+MAF_left[41]+MAF_left[42]+MAF_left[43]+MAF_left[44]+MAF_left[45]+MAF_left[46]+MAF_left[47]+MAF_left[48]+MAF_left[49])/N;
+ MAF_left[49] = MAF_left[48], MAF_left[48] = MAF_left[47], MAF_left[47] = MAF_left[46], MAF_left[46] = MAF_left[45], MAF_left[45] = MAF_left[44], MAF_left[44] = MAF_left[43], MAF_left[43] = MAF_left[42], MAF_left[42] = MAF_left[41], MAF_left[41] = MAF_left[40], MAF_left[40] = MAF_left[39], MAF_left[39] = MAF_left[38], MAF_left[38] = MAF_left[37], MAF_left[37] = MAF_left[36], MAF_left[36] = MAF_left[35], MAF_left[35] = MAF_left[34], MAF_left[34] = MAF_left[33], MAF_left[33] = MAF_left[32], MAF_left[32] = MAF_left[31], MAF_left[31] = MAF_left[30], MAF_left[30] = MAF_left[29], MAF_left[29] = MAF_left[28], MAF_left[28] = MAF_left[27], MAF_left[27] = MAF_left[26], MAF_left[26] = MAF_left[25];
+ MAF_left[25] = MAF_left[24], MAF_left[24] = MAF_left[23], MAF_left[23] = MAF_left[22], MAF_left[22] = MAF_left[21], MAF_left[21] = MAF_left[20], MAF_left[20] = MAF_left[19], MAF_left[19] = MAF_left[18], MAF_left[18] = MAF_left[17], MAF_left[17] = MAF_left[16], MAF_left[16] = MAF_left[15], MAF_left[15] = MAF_left[14], MAF_left[14] = MAF_left[13], MAF_left[13] = MAF_left[12], MAF_left[12] = MAF_left[11], MAF_left[11] = MAF_left[10], MAF_left[10] = MAF_left[9], MAF_left[9] = MAF_left[8], MAF_left[8] = MAF_left[7], MAF_left[7] = MAF_left[6], MAF_left[6] = MAF_left[5], MAF_left[5] = MAF_left[4], MAF_left[4] = MAF_left[3], MAF_left[3] = MAF_left[2], MAF_left[2] = MAF_left[1], MAF_left[1] = MAF_left[0];
+ MAF_left[0] = EMG_left_f3;
+ }
+
+ void MovingAverageFilterRight()
+ {
+ EMG_right_MAF = (MAF_right[0]+MAF_right[1]+MAF_right[2]+MAF_right[3]+MAF_right[4]+MAF_right[5]+MAF_right[6]+MAF_right[7]+MAF_right[8]+MAF_right[9]+MAF_right[10]+MAF_right[11]+MAF_right[12]+MAF_right[13]+MAF_right[14]+MAF_right[15]+MAF_right[16]+MAF_right[17]+MAF_right[18]+MAF_right[19]+MAF_right[20]+MAF_right[21]+MAF_right[22]+MAF_right[23]+MAF_right[24]+MAF_right[25]+MAF_right[26]+MAF_right[27]+MAF_right[28]+MAF_right[29]+MAF_right[30]+MAF_right[31]+MAF_right[32]+MAF_right[33]+MAF_right[34]+MAF_right[35]+MAF_right[36]+MAF_right[37]+MAF_right[38]+MAF_right[39]+MAF_right[40]+MAF_right[41]+MAF_right[42]+MAF_right[43]+MAF_right[44]+MAF_right[45]+MAF_right[46]+MAF_right[47]+MAF_right[48]+MAF_right[49])/N;
+ MAF_right[49] = MAF_right[48], MAF_right[48] = MAF_right[47], MAF_right[47] = MAF_right[46], MAF_right[46] = MAF_right[45], MAF_right[45] = MAF_right[44], MAF_right[44] = MAF_right[43], MAF_right[43] = MAF_right[42], MAF_right[42] = MAF_right[41], MAF_right[41] = MAF_right[40], MAF_right[40] = MAF_right[39], MAF_right[39] = MAF_right[38], MAF_right[38] = MAF_right[37], MAF_right[37] = MAF_right[36], MAF_right[36] = MAF_right[35], MAF_right[35] = MAF_right[34], MAF_right[34] = MAF_right[33], MAF_right[33] = MAF_right[32], MAF_right[32] = MAF_right[31], MAF_right[31] = MAF_right[30], MAF_right[30] = MAF_right[29], MAF_right[29] = MAF_right[28], MAF_right[28] = MAF_right[27], MAF_right[27] = MAF_right[26], MAF_right[26] = MAF_right[25];
+ MAF_right[25] = MAF_right[24], MAF_right[24] = MAF_right[23], MAF_right[23] = MAF_right[22], MAF_right[22] = MAF_right[21], MAF_right[21] = MAF_right[20], MAF_right[20] = MAF_right[19], MAF_right[19] = MAF_right[18], MAF_right[18] = MAF_right[17], MAF_right[17] = MAF_right[16], MAF_right[16] = MAF_right[15], MAF_right[15] = MAF_right[14], MAF_right[14] = MAF_right[13], MAF_right[13] = MAF_right[12], MAF_right[12] = MAF_right[11], MAF_right[11] = MAF_right[10], MAF_right[10] = MAF_right[9], MAF_right[9] = MAF_right[8], MAF_right[8] = MAF_right[7], MAF_right[7] = MAF_right[6], MAF_right[6] = MAF_right[5], MAF_right[5] = MAF_right[4], MAF_right[4] = MAF_right[3], MAF_right[3] = MAF_right[2], MAF_right[2] = MAF_right[1], MAF_right[1] = MAF_right[0];
+ MAF_right[0] = EMG_right_f3;
+ }
+
+//--------------------------------------------------------------------------------------------------------------------------//
+// Motor control functions
+//--------------------------------------------------------------------------------------------------------------------------//
+
+// Motor2 control
+ void motor2_Controller()
+ {
+ // Setpoint motor 2
+ reference2 = m2_ref; // Reference in degrees
+ position2 = Encoder2.getPulses()*360/(32*131); // Position in degrees
+ // Speed control
+ double m2_P1 = PID( reference2 - position2, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err);
+ double m2_P2 = m2_P1;
+ motor2speed = abs(m2_P2);
+ // Direction control
+ if(m2_P2 > 0)
+ {
+ motor2direction = 0;
+ }
+ else
+ {
+ motor2direction = 1;
+ }
+ }
+
+// Motor1 control
+ void motor1_Controller()
+ {
+ // Setpoint Motor 1
+ reference1 = m1_ref; // Reference in degrees
+ position1 = Encoder1.getPulses()*360/(32*131); // Position in degrees
+ // Speed control
+ double m1_P1 = PID( reference1 - position1, m1_Kp, m1_Ki, m1_Kd, m1_Ts, m1_err_int, m1_prev_err);
+ double m1_P2 = m1_P1;
+ motor1speed = abs(m1_P2);
+ // Direction control
+ if(m1_P2 > 0)
+ {
+ motor1direction = 1;
+ }
+ else
+ {
+ motor1direction = 0;
+ }
+ }
+
+//--------------------------------------------------------------------------------------------------------------------------//
+// Main function
+//--------------------------------------------------------------------------------------------------------------------------//
+int main()
+{
+//--------------------------------------------------------------------------------------------------------------------------//
+// Initalizing
+//--------------------------------------------------------------------------------------------------------------------------//
+ //LEDs OFF
+ LedR = LedB = LedG = 1;
+
+ //PC connection & check
+ pc.baud(115200);
+ pc.printf("Tot aan loop werkt\n");
+
+ // Tickers
+ ScopeTime.attach(&ScopeSend, 0.01f); // 100 Hz, Scope
+ myControllerTicker2.attach(&motor2_Controller, 0.01f ); // 100 Hz, Motor 2
+ myControllerTicker1.attach(&motor1_Controller, 0.01f ); // 100 Hz, Motor 1
+ SampleEMGLeft.attach(&EMGfilterLeft, 0.01f);
+ SampleEMGRight.attach(&EMGfilterRight, 0.01f);
+ MovingAverageLeft.attach(&MovingAverageFilterLeft, 0.01f);
+ MovingAverageRight.attach(&MovingAverageFilterRight, 0.01f);
+
+ // Defining threshold
+ ledG.write(1), led.write(1), ledB.write(1);
+ wait(20);
+
+ ledG.write(1);
+ wait(0.2);
+ ledG.write(0);
+ wait(0.2);
+ ledG.write(1);
+ wait(0.2);
+ ledG.write(0);
+ wait(0.2);
+ ledG.write(1);
+ wait(0.2);
+ ledG.write(0);
+ wait(2);
+ Threshold1 = 0.5*EMG_left_MAF;
+ Threshold2 = 0.2*EMG_left_MAF;
+ ledG.write(1);
+
+ wait(2);
+ ledB.write(1);
+ wait(0.2);
+ ledB.write(0);
+ wait(0.2);
+ ledB.write(1);
+ wait(0.2);
+ ledB.write(0);
+ wait(0.2);
+ ledB.write(1);
+ wait(0.2);
+ ledB.write(0);
+ wait(2);
+ Threshold3 = 0.5*EMG_right_MAF;
+ Threshold4 = 0.2*EMG_right_MAF;
+ ledB.write(1);
+
+ pc.printf("T1 = %f, T2 = %f, T3 = %f, T4 = %f\n", Threshold1, Threshold2, Threshold3, Threshold4);
+ ledG.write(1);
+
+//--------------------------------------------------------------------------------------------------------------------------//
+// Control Program
+//--------------------------------------------------------------------------------------------------------------------------//
+ while(true)
+ {
+ //char c = pc.getc();
+ // 1 Program UP
+ if ((EMG_right_MAF >= Threshold1) && (EMG_left_MAF >= Threshold1)) //if(c == 'e') //
+ {
+ count = count + 1;
+ if(count > 2)
+ {
+ count = 2;
+ }
+
+ }
+ // 1 Program DOWN
+ // if(c == 'd') // Hoe gaat dit aangestuurd worden?
+ // {
+ // count = count - 1;
+ // if(count < 0)
+ // {
+ // count = 0;
+ // }
+ // }
+ // PROGRAM 0: Motor 2 control and indirect control of motor 1, Green LED
+ if(count == 0)
+ {
+
+ LedR = LedB = 1;
+ LedG = 0;
+ if ((EMG_right_MAF >= Threshold1) && (EMG_left_MAF <= Threshold1)) //if(c == 'r') //
+ {
+ m2_ref = m2_ref + Stapgrootte;
+ m1_ref = m1_ref - Stapgrootte;
+ if (m2_ref > Grens2)
+ {
+ m2_ref = Grens2;
+ m1_ref = -1*Grens1;
+ }
+ }
+ if((EMG_right_MAF < Threshold1) && (EMG_left_MAF > Threshold1)) //if (c == 'f') //
+ {
+ m2_ref = m2_ref - Stapgrootte;
+ m1_ref = m1_ref + Stapgrootte;
+ if (m2_ref < -1*Grens2)
+ {
+ m2_ref = -1*Grens2;
+ m1_ref = Grens1;
+ }
+ }
+
+ // PROGRAM 1: Motor 1 control, Red LED
+ if(count == 1)
+ {
+ LedG = LedB = 1;
+ LedR = 0;
+ if ((EMG_right_MAF >= Threshold1) && (EMG_left_MAF <= Threshold1)) // if(c == 't') //
+ {
+ m1_ref = m1_ref + Stapgrootte;
+ if (m1_ref > Grens1)
+ {
+ m1_ref = Grens1;
+ }
+ }
+ if ((EMG_left_MAF > Threshold1) && (EMG_right_MAF < Threshold1)) //if(c == 'g') //
+ {
+ m1_ref = m1_ref - Stapgrootte;
+ if (m1_ref < -1*Grens1)
+ {
+ m1_ref = -1*Grens1;
+ }
+ }
+ }
+ // PROGRAM 2: Firing mechanism & Reset, Blue LED
+ if(count == 2)
+ {
+
+ LedR = LedG = 1;
+ LedB = 0;
+ //VUUUUR!! (To Do)
+ wait(1);
+ m2_ref = 0;
+ m1_ref = 0;
+ count = 0;
+ }
+}
+}
+}
\ No newline at end of file