klein beginnen
Dependencies: HIDScope QEI mbed
main.cpp
- Committer:
- yohoo15
- Date:
- 2015-10-28
- Revision:
- 0:be32746458fc
File content as of revision 0:be32746458fc:
#include "mbed.h" //#include "read_filter_emg.h" //included for fabs() function #include <math.h> #include "HIDScope.h" #include <iostream> #include "QEI.h" //DigitalOut led_green(LED_GREEN); //DigitalOut led_red(LED_RED); Serial pc(USBTX, USBRX); AnalogIn analog_emg_left(A0); AnalogIn analog_emg_right(A1); Ticker HIDScope_timer; Ticker Filteren_timer; Ticker aansturen; Ticker movement_motor; HIDScope scope(4); // defining flags volatile bool Flag_filteren = false; volatile bool Flag_HIDScope = false; volatile bool left_movement = false; volatile bool right_movement = false; // making function flags. void Go_flag_filteren() { Flag_filteren = true; } void Go_flag_HIDScope() { Flag_HIDScope = true; } double input_left = 0 ; double input_right = 0 ; //double input = 0; double filter_signal_hid_left = 0; double filter_signal_hid_right = 0; //double input_right = 0; // defining threshold double high_threshold = 2000; double low_threshold = 1500; //*** making the v for everything and conquer the world*** //for left //for Notchfilter double notch_v11=0; double notch_v21=0; double notch_v12=0; double notch_v22=0; double notch_v13=0; double notch_v23=0; //for highpass filter double high_v11=0; double high_v21=0; double high_v12=0; double high_v22=0; double high_v13=0; double high_v23=0; // for lowpasfilter double low_v11=0; double low_v21=0; double low_v12=0; double low_v22=0; double low_v13=0; double low_v23=0; // for moving average double n1 = 0; double n2 = 0; double n3 = 0; double n4 = 0; double n5 = 0; // for right //for Notchfilter double notch_v11_b=0; double notch_v21_b=0; double notch_v12_b=0; double notch_v22_b=0; double notch_v13_b=0; double notch_v23_b=0; //for highpass filter double high_v11_b=0; double high_v21_b=0; double high_v12_b=0; double high_v22_b=0; double high_v13_b=0; double high_v23_b=0; // for lowpasfilter double low_v11_b=0; double low_v21_b=0; double low_v12_b=0; double low_v22_b=0; double low_v13_b=0; double low_v23_b=0; // for moving average double n1_b = 0; double n2_b = 0; double n3_b = 0; double n4_b = 0; double n5_b = 0; double filter_left; double filter_right; //general biquad filter that can be called in all the filter functions 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; //values of v2 and v1 are updated, as they are passed by reference //they update globally v2 = v1; v1 = v; return y; } double moving_average(double y, double &n1, double &n2, double &n3, double &n4, double &n5) { double average = (y + n1 + n2 +n3 + n4 + n5)/5; n5 = n4; n4 = n3; n3 = n2; n2 = n1; n1 = y; return average; } /* double threshold(double signal, const double lowtreshold, const double hightreshold) { if (signal > hightreshold) left = true; else if (signal <lowtreshold) left = false; } */ //Specifying filter coefficients highpass /* notch filter with 3 cascaded biquads*/ //first notch biquad const double notch1_a1 = -1.55951422433; const double notch1_a2 = 0.92705680308; const double notch1_b0 = 1.00000000000; const double notch1_b1 = -1.61854515325; const double notch1_b2 = 1.00000000000; //second notch biquad const double notch2_a1 = -1.54767435801; const double notch2_a2 = 0.96124842048; const double notch2_b0 = 1.00000000000; const double notch2_b1 = -1.61854515325; const double notch2_b2 = 1.00000000000; //third notch biquad const double notch3_a1 = -1.62600366964; const double notch3_a2 = 0.96453460373; const double notch3_b0 = 1.00000000000; const double notch3_b1 = -1.61854515325; const double notch3_b2 = 1.00000000000; /* high pass filter consists of three cascaded biquads blow coefficients for those three biquads */ //first high pass biquad const double highp1_a1 = -0.67538034389; const double highp1_a2 = 0.12769255668; const double highp1_b0 = 1.00000000000; const double highp1_b1 = -2.00000000000; const double highp1_b2 = 1.00000000000; //second high pass biquad const double highp2_a1 = -0.76475499450; const double highp2_a2 = 0.27692273367; const double highp2_b0 = 1.00000000000; const double highp2_b1 = -2.00000000000; const double highp2_b2 = 1.00000000000; //third high pass biquad const double highp3_a1 = -0.99216561242; const double highp3_a2 = 0.65663360837; const double highp3_b0 = 1.00000000000; const double highp3_b1 = -2.00000000000; const double highp3_b2 = 1.00000000000; /* lowpass filter consists of three cascaded biquads below the coefficients for those three biquads */ //first low pass biquad const double lowp1_a1 = -1.05207469728; const double lowp1_a2 = 0.28586907478; const double lowp1_b0 = 1.00000000000; const double lowp1_b1 = 2.00000000000; const double lowp1_b2 = 1.00000000000; //second low pass biquad const double lowp2_a1 = -1.16338171052; const double lowp2_a2 = 0.42191097989; const double lowp2_b0 = 1.00000000000; const double lowp2_b1 = 2.00000000000; const double lowp2_b2 = 1.00000000000; //third low pass biquad const double lowp3_a1 = -1.42439823874; const double lowp3_a2 = 0.74093118112; const double lowp3_b0 = 1.00000000000; const double lowp3_b1 = 2.00000000000; const double lowp3_b2 = 1.00000000000; double Filteren_left(double input) { input = input-0.45; //FIRST SUBTRACT MEAN THEN FILTER //input_right = analog_emg_right.read(); // notch filter double y1 = biquad(input, notch_v11, notch_v21, notch1_a1, notch1_a2, notch1_b0, notch1_b1, notch1_b2); double y2 = biquad(y1, notch_v12, notch_v22, notch2_a1, notch2_a2, notch2_b0, notch2_b1, notch2_b2); double y3 = biquad(y2, notch_v13, notch_v23, notch3_a1, notch3_a2, notch3_b0, notch3_b1, notch3_b2); //higpass filter double y4 = biquad(y3, high_v11, high_v21, highp1_a1, highp1_a2, highp1_b0, highp1_b1, highp1_b2); double y5 = biquad(y4, high_v12, high_v22, highp2_a1, highp2_a2, highp2_b0, highp2_b1, highp2_b2); double y6 = biquad(y5, high_v13, high_v23, highp3_a1, highp3_a2, highp3_b0, highp3_b1, highp3_b2); //rectivier double y7 = fabs(y6); //lowpas filter cascade double y8 = biquad(y7, low_v11, low_v21, lowp1_a1, lowp1_a2, lowp1_b0, lowp1_b1, lowp1_b2); double y9 = biquad(y8, low_v12, low_v22, lowp2_a1, lowp2_a2, lowp2_b0, lowp2_b1, lowp2_b2); double y10= biquad(y9, low_v13, low_v23, lowp3_a1, lowp3_a2, lowp3_b0, lowp3_b1, lowp3_b2); // moving average double filter_signal = moving_average(y10,n1,n2,n3,n4,n5); return(filter_signal); } double Filteren_right(double input_b) { input_b = input_b-0.45; //FIRST SUBTRACT MEAN THEN FILTER //input_right = analog_emg_right.read(); // notch filter double y1_b = biquad(input_b, notch_v11_b, notch_v21_b, notch1_a1, notch1_a2, notch1_b0, notch1_b1, notch1_b2); double y2_b = biquad(y1_b, notch_v12_b, notch_v22_b, notch2_a1, notch2_a2, notch2_b0, notch2_b1, notch2_b2); double y3_b = biquad(y2_b, notch_v13_b, notch_v23_b, notch3_a1, notch3_a2, notch3_b0, notch3_b1, notch3_b2); //higpass filter double y4_b = biquad(y3_b, high_v11_b, high_v21_b, highp1_a1, highp1_a2, highp1_b0, highp1_b1, highp1_b2); double y5_b = biquad(y4_b, high_v12_b, high_v22_b, highp2_a1, highp2_a2, highp2_b0, highp2_b1, highp2_b2); double y6_b = biquad(y5_b, high_v13_b, high_v23_b, highp3_a1, highp3_a2, highp3_b0, highp3_b1, highp3_b2); //rectivier double y7_b = fabs(y6_b); //lowpas filter cascade double y8_b = biquad(y7_b, low_v11_b, low_v21_b, lowp1_a1, lowp1_a2, lowp1_b0, lowp1_b1, lowp1_b2); double y9_b = biquad(y8_b, low_v12_b, low_v22_b, lowp2_a1, lowp2_a2, lowp2_b0, lowp2_b1, lowp2_b2); double y10_b= biquad(y9_b, low_v13_b, low_v23_b, lowp3_a1, lowp3_a2, lowp3_b0, lowp3_b1, lowp3_b2); // moving average double filter_signal_b = moving_average(y10_b,n1_b,n2_b,n3_b,n4_b,n5_b); return(filter_signal_b); } /*************************************************************BEGIN motor control******************************************************************************************************/ // Define pin for motor control DigitalOut directionPin(D4); PwmOut PWM(D5); DigitalOut directionPin_key(D7); PwmOut PWM_key(D6); DigitalIn buttonccw(PTA4); DigitalIn buttoncw(PTC6); QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in) // saying buttons are not pressed const int Buttoncw_pressed = 0; const int Buttonccw_pressed = 0; // define rotation direction and begin possition const int cw = 1; const int ccw = 0; double setpoint = 0; //setpoint is in pulses // Controller gain proportional and intergrator const double motor1_Kp = 4; // more or les random number. const double motor1_Ki = 0; const double M1_timestep = 0.01; // reason ticker works with 100 Hz. double motor1_error_integraal = 0; // initial value of integral error // Defining pulses per revolution (calculating pulses to rotations in degree.) const double pulses_per_revolution = 3200 ;// motor gear is 1:1000 /* double Rotation = -2; // rotation double movement = Rotation * pulses_per_revolution; // times 360 to make Rotations degree. */ // defining flags volatile bool flag_motor = false; // making function flags. void Go_flag_motor() { flag_motor = true; } // To make a new setpoint double making_setpoint(double direction) { if ( cw == direction) { setpoint = setpoint + (pulses_per_revolution/400000); } if ( ccw == direction) { setpoint = setpoint - (pulses_per_revolution/400000); } return(setpoint); } // Reusable P controller double PI(double error, const double Kp, const double Ki, double Ts, double &e_int) { e_int = e_int + Ts * error; double PI_output = (Kp * error) + (Ki * e_int); return PI_output; } // Next task, measure the error and apply the output to the plant // control for movement left right void motor1_Controller() { double reference = setpoint; // setpoint is in pulses double position = wheel.getPulses(); double error_pulses = (reference - position); // calculate the error in pulses double error_rotation = error_pulses / pulses_per_revolution; //calculate how much the rotaions the motor has to turn double output = abs(PI( error_rotation, motor1_Kp, motor1_Ki, M1_timestep, motor1_error_integraal )); if(error_pulses > 0) { directionPin.write(cw); } else if(error_pulses < 0) { directionPin.write(ccw); } else { output = 0; } PWM.write(output); // out of the if loop due to abs output } /*************************************************************END motor control******************************************************************************************************/ void HIDScope_kijken() { scope.set(0, analog_emg_left.read()); scope.set(1, filter_signal_hid_left); scope.set(2, analog_emg_right.read()); scope.set(3, filter_signal_hid_right); scope.send(); } int main() { pc.printf("at the begin"); directionPin_key.write(cw); PWM_key.write(0); aansturen.attach( &Go_flag_motor, 0.01f ); // 100 Hz // timer 0.00001f motor keeps spinning HIDScope_timer.attach(&Go_flag_HIDScope, 0.02);//0.02 had worked Filteren_timer.attach(&Go_flag_filteren,0.04);// 0.04 had worked while(1) { if(Flag_filteren) { Flag_filteren = false; // filter left and set bool filter_signal_hid_left = Filteren_left(analog_emg_left.read()); if (filter_signal_hid_left > high_threshold) { left_movement = true; } else if (filter_signal_hid_left < low_threshold) { left_movement = false; } // make filter right and set bool filter_signal_hid_right = Filteren_right(analog_emg_right.read()); if (filter_signal_hid_right > high_threshold) { right_movement = true; } else if (filter_signal_hid_right < low_threshold) { right_movement = false; } } if(Flag_HIDScope) { Flag_HIDScope = false; HIDScope_kijken(); } if(flag_motor) { flag_motor = false; motor1_Controller(); } // Pussing buttons to get input signal if( left_movement and right_movement == false) { setpoint = making_setpoint(cw); } else if(right_movement and left_movement == false ) { setpoint = making_setpoint(ccw); } else if(right_movement and left_movement) { PWM_key.write(1); //pc.printf("I am working"); } else { PWM_key.write(0); // pc.printf("resting /n"); } } }