Diff: main.cpp

Revision:

28:2eb768b9cb3b

Parent:

26:58c3d24b29d2

Child:

29:0f1c25496bdc

--- a/main.cpp	Wed Oct 14 10:27:54 2015 +0000
+++ b/main.cpp	Mon Oct 19 09:22:05 2015 +0000
@@ -12,10 +12,13 @@
 //--------------------------------------------------------------------------------------------------------------------------//
 // 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(4);                      // Scope, 4 channels
+    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(4);                       // Scope, 4 channels
+    AnalogIn    EMG_left(A0);                   // EMG Analog input LEFT
+    AnalogIn    EMG_right(A1);                  // EMG Analog input RIGHT
+
 
 // LEDs
     DigitalOut LedR(LED_RED);
@@ -23,15 +26,22 @@
     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);
+    DigitalOut  motor1direction(D7);         // Motor 1, Direction & Speed
+    PwmOut      motor1speed(D6);
+    DigitalOut  motor2direction(D4);         // Motor 2, Direction & Speed
+    PwmOut      motor2speed(D5);
 
 // Tickers
     Ticker ScopeTime;
     Ticker myControllerTicker2;
     Ticker myControllerTicker1;
+    // EMG Tickers
+    Ticker SampleEMGLeft;
+    Ticker SampleEMGRight;
+    Ticker ScopeTimer;
+    Ticker serial;
+    Ticker MovingAverageLeft;
+    Ticker MovingAverageRight;
 
 // Constants
     double reference2, reference1;
@@ -45,19 +55,45 @@
     const double m2_Ts = 0.01, m1_Ts = 0.01;
 
 //Controller gain Motor 2 & 1
-    const double m2_Kp = 5,m2_Ki = 0.05, m2_Kd = 5;
-    const double m1_Kp = 5,m1_Ki = 0, m1_Kd = 1;
+    const double m2_Kp = 0.5, m2_Ki = 0.005, m2_Kd = 0.5;
+    const double m1_Kp = 0.5,m1_Ki = 0.005, m1_Kd = 0.5;
     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 = 0.010681;
-    const double m2_f_a1 = -1.78114551442*BiGain2, m2_f_a2 = 0.79497571585*BiGain2, m2_f_b0 = 1.0*BiGain2, m2_f_b1 = -0.64542853817*BiGain2, m2_f_b2 = 1.0*BiGain2;
-    const double m1_f_a1 = m2_f_a1, m1_f_a2 = m2_f_a2, m1_f_b0 = m2_f_b0, m1_f_b1 = m2_f_b1, m1_f_b2 = m2_f_b2;
+// Declaring variables EMG
+    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;
 
-// Filter variables
-    double m2_f_v1 = 0, m2_f_v2 = 0;
-    double m1_f_v1 = 0, m1_f_v2 = 0;
+    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;
+    
+// Filtercoëfficiënten EMG
+    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
 
 //--------------------------------------------------------------------------------------------------------------------------//
 // General Functions
@@ -68,29 +104,17 @@
     {
         scope.set(0, reference2 - position2);
         scope.set(1, position2);
-        scope.set(2, reference1 - position1);    
-        scope.set(3, position1);
+        scope.set(2, EMG_left_MAF);    
+        scope.set(3, EMG_left);
         scope.send();
     
     }
 
-// Biquad filter
-    double biquad( double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2 )
-    {
-        double v = u - a1*v1 - a2*v2;
-        double y = b0*v + b1*v1 + b2*v2;
-        v2 = v1; v1 = v;
-        return y;
-    }    
-
-
 // Reusable PID controller
-    double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev, double &f_v1, double &f_v2,
-        const double f_a1,const double f_a2, const double f_b0, const double f_b1, const double f_b2)
+    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_der = biquad(e_der,f_v1,f_v2,f_a1,f_a2,f_b0,f_b1,f_b2);
         e_prev = e;
     // Integral
         e_int = e_int + Ts*e;
@@ -98,6 +122,55 @@
         return Kp * e + Ki*e_int + Kd*e_der;
     }
 //--------------------------------------------------------------------------------------------------------------------------//
+// EMG filtering function
+//--------------------------------------------------------------------------------------------------------------------------//
+
+// Filter creation    
+    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
+
+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
 //--------------------------------------------------------------------------------------------------------------------------//
 
@@ -108,9 +181,8 @@
             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, m2_f_v1, m2_f_v2, m2_f_a1, m2_f_a2, 
-                m2_f_b0, m2_f_b1, m2_f_b2);
-            double m2_P2 = biquad(m2_P1, m2_f_v1, m2_f_v2, m2_f_a1, m2_f_a2,m2_f_b0, m2_f_b1, m2_f_b2); // Filter of motorspeed input
+            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) 
@@ -130,9 +202,8 @@
             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, m1_f_v1, m1_f_v2, m1_f_a1, m1_f_a2, 
-                m1_f_b0, m1_f_b1, m1_f_b2); 
-            double m1_P2 = biquad(m1_P1, m1_f_v1, m1_f_v2, m1_f_a1, m1_f_a2, m1_f_b0, m1_f_b1, m1_f_b2); 
+            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)
@@ -161,9 +232,37 @@
         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
+        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, 0.002);                // 500 Hz, EMG LEFT
+        SampleEMGRight.attach(&EMGfilterRight, 0.002);              // 500 Hz, EMG RIGHT
+        MovingAverageLeft.attach(&MovingAverageFilterLeft, 0.005);  // 200 Hz, MAF LEFT
+        MovingAverageRight.attach(&MovingAverageFilterRight, 0.005);// 200 Hz, MAF RIGHT
+        
+//--------------------------------------------------------------------------------------------------------------------------//
+// Determing Threshold 
+//--------------------------------------------------------------------------------------------------------------------------//      
+        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);
+    
+        pc.printf("T1 = %f, T2 = %f\n", Threshold1, Threshold2); 
+        LedG.write(1);
     
 //--------------------------------------------------------------------------------------------------------------------------//
 // Control Program
@@ -196,7 +295,7 @@
                 
                 LedR = LedB = 1;
                 LedG = 0;
-                if(c == 'r')
+                if(EMG_left_MAF > Threshold1)
                 {
                     m2_ref = m2_ref + Stapgrootte;
                     m1_ref = m1_ref - Stapgrootte;