Dammenisvoorcasuals
control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of
chessRobot
by 
a steenbeek
emg.cpp@75:9995528bf8b7, 2015-10-20 (annotated)
- Committer:
- bjornnijhuis
- Date:
- Tue Oct 20 10:24:01 2015 +0000
- Revision:
- 75:9995528bf8b7
- Child:
- 78:0cc7c64ba94c
New EMG-processing files included
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bjornnijhuis | 75:9995528bf8b7 | 1 | #include "filter_constants.h" // All constants for EMG processing |
| bjornnijhuis | 75:9995528bf8b7 | 2 | #include "emg.h" |
| bjornnijhuis | 75:9995528bf8b7 | 3 | |
| bjornnijhuis | 75:9995528bf8b7 | 4 | #include "mbed.h" |
| bjornnijhuis | 75:9995528bf8b7 | 5 | #include "HIDScope.h" |
| bjornnijhuis | 75:9995528bf8b7 | 6 | |
| bjornnijhuis | 75:9995528bf8b7 | 7 | |
| bjornnijhuis | 75:9995528bf8b7 | 8 | |
| bjornnijhuis | 75:9995528bf8b7 | 9 | // Define objects |
| bjornnijhuis | 75:9995528bf8b7 | 10 | AnalogIn emg1(A0); // Analog input 1 |
| bjornnijhuis | 75:9995528bf8b7 | 11 | AnalogIn emg2(A1); // Analog input 2 |
| bjornnijhuis | 75:9995528bf8b7 | 12 | DigitalOut ledred(LED_RED); // Red led |
| bjornnijhuis | 75:9995528bf8b7 | 13 | DigitalOut ledgreen(LED_GREEN); // Green led |
| bjornnijhuis | 75:9995528bf8b7 | 14 | DigitalOut ledblue(LED_BLUE); // Blue led |
| bjornnijhuis | 75:9995528bf8b7 | 15 | Ticker sample_tick; // Ticker for sampling |
| bjornnijhuis | 75:9995528bf8b7 | 16 | Ticker output; // Ticker for PC output |
| bjornnijhuis | 75:9995528bf8b7 | 17 | HIDScope scope(6); // Number of scopes |
| bjornnijhuis | 75:9995528bf8b7 | 18 | Timer normalizing_timer; // Timer for normalizing |
| bjornnijhuis | 75:9995528bf8b7 | 19 | Timer EMG_timer; // Timer for switch statement |
| bjornnijhuis | 75:9995528bf8b7 | 20 | |
| bjornnijhuis | 75:9995528bf8b7 | 21 | // Define program constants |
| bjornnijhuis | 75:9995528bf8b7 | 22 | const int on = 0; // On-constant for LEDs for program readability |
| bjornnijhuis | 75:9995528bf8b7 | 23 | const int off = 1; // Off-constant for LEDs for program readability |
| bjornnijhuis | 75:9995528bf8b7 | 24 | const int sample = 0; // Constant for mode switching for program readability |
| bjornnijhuis | 75:9995528bf8b7 | 25 | const int normalize = 1; // Constant for mode switching for program readability |
| bjornnijhuis | 75:9995528bf8b7 | 26 | |
| bjornnijhuis | 75:9995528bf8b7 | 27 | |
| bjornnijhuis | 75:9995528bf8b7 | 28 | //********************************************************************************************** |
| bjornnijhuis | 75:9995528bf8b7 | 29 | bool mode = normalize; // Set program mode |
| bjornnijhuis | 75:9995528bf8b7 | 30 | //********************************************************************************************** |
| bjornnijhuis | 75:9995528bf8b7 | 31 | |
| bjornnijhuis | 75:9995528bf8b7 | 32 | // Initialize sampling constants |
| bjornnijhuis | 75:9995528bf8b7 | 33 | double emg_val1 = 0, emg_val2 = 0, emg_filt_val1 = 0, emg_filt_val2 = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 34 | |
| bjornnijhuis | 75:9995528bf8b7 | 35 | // Initialize normalizing parameters |
| bjornnijhuis | 75:9995528bf8b7 | 36 | double max_vol_cont1 = 0; // Maximum voluntary contraction for scaling EMG1 |
| bjornnijhuis | 75:9995528bf8b7 | 37 | double max_vol_cont2 = 0; // Maximum voluntary contraction for scaling EMG2 |
| bjornnijhuis | 75:9995528bf8b7 | 38 | int channel = 1; // Channel for normalizing (EMG1 or EMG2) |
| bjornnijhuis | 75:9995528bf8b7 | 39 | |
| bjornnijhuis | 75:9995528bf8b7 | 40 | // Initialize movement parameters |
| bjornnijhuis | 75:9995528bf8b7 | 41 | int DOF = 1; // Switch variable for controlled DOF: 1=x 2=y 3=z |
| bjornnijhuis | 75:9995528bf8b7 | 42 | bool pump = false; // Pump switch |
| bjornnijhuis | 75:9995528bf8b7 | 43 | bool thr_pass1 = false; // Processing threshold passed for signal 1? |
| bjornnijhuis | 75:9995528bf8b7 | 44 | bool thr_pass2 = false; // Processing threshold passed for signal 2? |
| bjornnijhuis | 75:9995528bf8b7 | 45 | double velocity = 0; // Forward velocity |
| bjornnijhuis | 75:9995528bf8b7 | 46 | double x_velocity = 0; // x component for velocity |
| bjornnijhuis | 75:9995528bf8b7 | 47 | double y_velocity = 0; // y component for velocity |
| bjornnijhuis | 75:9995528bf8b7 | 48 | double z_velocity = 0; // z component for velocity |
| bjornnijhuis | 75:9995528bf8b7 | 49 | |
| bjornnijhuis | 75:9995528bf8b7 | 50 | |
| bjornnijhuis | 75:9995528bf8b7 | 51 | // Reusable BiQuad filter |
| bjornnijhuis | 75:9995528bf8b7 | 52 | double biquad(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2, const double gain) |
| bjornnijhuis | 75:9995528bf8b7 | 53 | { |
| bjornnijhuis | 75:9995528bf8b7 | 54 | double v = u - a1*v1-a2*v2; |
| bjornnijhuis | 75:9995528bf8b7 | 55 | double y = gain*(b0*v+b1*v1+b2*v2); |
| bjornnijhuis | 75:9995528bf8b7 | 56 | v2 = v1; |
| bjornnijhuis | 75:9995528bf8b7 | 57 | v1=v; |
| bjornnijhuis | 75:9995528bf8b7 | 58 | return y; |
| bjornnijhuis | 75:9995528bf8b7 | 59 | } |
| bjornnijhuis | 75:9995528bf8b7 | 60 | |
| bjornnijhuis | 75:9995528bf8b7 | 61 | |
| bjornnijhuis | 75:9995528bf8b7 | 62 | // Apply filters: applies all necesary filters and averaging methods to input signal value |
| bjornnijhuis | 75:9995528bf8b7 | 63 | double filtera(double emg_val) |
| bjornnijhuis | 75:9995528bf8b7 | 64 | { |
| bjornnijhuis | 75:9995528bf8b7 | 65 | // Filtering signal |
| bjornnijhuis | 75:9995528bf8b7 | 66 | double emg_filt_val; |
| bjornnijhuis | 75:9995528bf8b7 | 67 | emg_filt_val = biquad(emg_val,f11_v1,f11_v2,f11_a1,f11_a2,f11_b0,f11_b1,f11_b2,f11_gain); // Apply bandstop |
| bjornnijhuis | 75:9995528bf8b7 | 68 | emg_filt_val = biquad(emg_filt_val,f12_v1,f12_v2,f12_a1,f12_a2,f12_b0,f12_b1,f12_b2,f12_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 69 | emg_filt_val = biquad(emg_filt_val,f13_v1,f13_v2,f13_a1,f13_a2,f13_b0,f13_b1,f13_b2,f13_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 70 | emg_filt_val = biquad(emg_filt_val,f21_v1,f21_v2,f21_a1,f21_a2,f21_b0,f21_b1,f21_b2,f21_gain); // Apply highpass |
| bjornnijhuis | 75:9995528bf8b7 | 71 | emg_filt_val = biquad(emg_filt_val,f22_v1,f22_v2,f22_a1,f22_a2,f22_b0,f22_b1,f22_b2,f22_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 72 | emg_filt_val = biquad(emg_filt_val,f23_v1,f23_v2,f23_a1,f23_a2,f23_b0,f23_b1,f23_b2,f23_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 73 | emg_filt_val = biquad(emg_filt_val,f31_v1,f31_v2,f31_a1,f31_a2,f31_b0,f31_b1,f31_b2,f31_gain); // Apply lowpass |
| bjornnijhuis | 75:9995528bf8b7 | 74 | emg_filt_val = biquad(emg_filt_val,f32_v1,f32_v2,f32_a1,f32_a2,f32_b0,f32_b1,f32_b2,f32_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 75 | emg_filt_val = biquad(emg_filt_val,f33_v1,f33_v2,f33_a1,f33_a2,f33_b0,f33_b1,f33_b2,f33_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 76 | |
| bjornnijhuis | 75:9995528bf8b7 | 77 | // Rectify signal |
| bjornnijhuis | 75:9995528bf8b7 | 78 | emg_filt_val = fabs(emg_filt_val); |
| bjornnijhuis | 75:9995528bf8b7 | 79 | |
| bjornnijhuis | 75:9995528bf8b7 | 80 | // Averaging signal |
| bjornnijhuis | 75:9995528bf8b7 | 81 | emg_filt_val = biquad(emg_filt_val,a11_v1,a11_v2,a11_a1,a11_a2,a11_b0,a11_b1,a11_b2,a11_gain); // Apply avg. lowpass |
| bjornnijhuis | 75:9995528bf8b7 | 82 | emg_filt_val = biquad(emg_filt_val,a12_v1,a12_v2,a12_a1,a12_a2,a12_b0,a12_b1,a12_b2,a12_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 83 | emg_filt_val = biquad(emg_filt_val,a13_v1,a13_v2,a13_a1,a13_a2,a13_b0,a13_b1,a13_b2,a13_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 84 | |
| bjornnijhuis | 75:9995528bf8b7 | 85 | return emg_filt_val; |
| bjornnijhuis | 75:9995528bf8b7 | 86 | } |
| bjornnijhuis | 75:9995528bf8b7 | 87 | double filterb(double emg_val) |
| bjornnijhuis | 75:9995528bf8b7 | 88 | { |
| bjornnijhuis | 75:9995528bf8b7 | 89 | // Filtering signal |
| bjornnijhuis | 75:9995528bf8b7 | 90 | double emg_filt_val; |
| bjornnijhuis | 75:9995528bf8b7 | 91 | emg_filt_val = biquad(emg_val,f11_v1b,f11_v2b,f11_a1,f11_a2,f11_b0,f11_b1,f11_b2,f11_gain); // Apply bandstop |
| bjornnijhuis | 75:9995528bf8b7 | 92 | emg_filt_val = biquad(emg_filt_val,f12_v1b,f12_v2b,f12_a1,f12_a2,f12_b0,f12_b1,f12_b2,f12_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 93 | emg_filt_val = biquad(emg_filt_val,f13_v1b,f13_v2b,f13_a1,f13_a2,f13_b0,f13_b1,f13_b2,f13_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 94 | emg_filt_val = biquad(emg_filt_val,f21_v1b,f21_v2b,f21_a1,f21_a2,f21_b0,f21_b1,f21_b2,f21_gain); // Apply highpass |
| bjornnijhuis | 75:9995528bf8b7 | 95 | emg_filt_val = biquad(emg_filt_val,f22_v1b,f22_v2b,f22_a1,f22_a2,f22_b0,f22_b1,f22_b2,f22_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 96 | emg_filt_val = biquad(emg_filt_val,f23_v1b,f23_v2b,f23_a1,f23_a2,f23_b0,f23_b1,f23_b2,f23_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 97 | emg_filt_val = biquad(emg_filt_val,f31_v1b,f31_v2b,f31_a1,f31_a2,f31_b0,f31_b1,f31_b2,f31_gain); // Apply lowpass |
| bjornnijhuis | 75:9995528bf8b7 | 98 | emg_filt_val = biquad(emg_filt_val,f32_v1b,f32_v2b,f32_a1,f32_a2,f32_b0,f32_b1,f32_b2,f32_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 99 | emg_filt_val = biquad(emg_filt_val,f33_v1b,f33_v2b,f33_a1,f33_a2,f33_b0,f33_b1,f33_b2,f33_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 100 | |
| bjornnijhuis | 75:9995528bf8b7 | 101 | // Rectify signal |
| bjornnijhuis | 75:9995528bf8b7 | 102 | emg_filt_val = fabs(emg_filt_val); |
| bjornnijhuis | 75:9995528bf8b7 | 103 | |
| bjornnijhuis | 75:9995528bf8b7 | 104 | // Averaging signal |
| bjornnijhuis | 75:9995528bf8b7 | 105 | emg_filt_val = biquad(emg_filt_val,a11_v1b,a11_v2b,a11_a1,a11_a2,a11_b0,a11_b1,a11_b2,a11_gain); // Apply avg. lowpass |
| bjornnijhuis | 75:9995528bf8b7 | 106 | emg_filt_val = biquad(emg_filt_val,a12_v1b,a12_v2b,a12_a1,a12_a2,a12_b0,a12_b1,a12_b2,a12_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 107 | emg_filt_val = biquad(emg_filt_val,a13_v1b,a13_v2b,a13_a1,a13_a2,a13_b0,a13_b1,a13_b2,a13_gain); |
| bjornnijhuis | 75:9995528bf8b7 | 108 | |
| bjornnijhuis | 75:9995528bf8b7 | 109 | return emg_filt_val; |
| bjornnijhuis | 75:9995528bf8b7 | 110 | } |
| bjornnijhuis | 75:9995528bf8b7 | 111 | |
| bjornnijhuis | 75:9995528bf8b7 | 112 | // Create velocity steps: Converts continious velocity input signal to stepped output |
| bjornnijhuis | 75:9995528bf8b7 | 113 | double velocity_step(double velocity) |
| bjornnijhuis | 75:9995528bf8b7 | 114 | { |
| bjornnijhuis | 75:9995528bf8b7 | 115 | if (velocity <= 0.33) { |
| bjornnijhuis | 75:9995528bf8b7 | 116 | velocity=0.33; |
| bjornnijhuis | 75:9995528bf8b7 | 117 | } else if(velocity <= 0.66) { |
| bjornnijhuis | 75:9995528bf8b7 | 118 | velocity=0.66; |
| bjornnijhuis | 75:9995528bf8b7 | 119 | } else if(velocity > 0.66) { |
| bjornnijhuis | 75:9995528bf8b7 | 120 | velocity=1; |
| bjornnijhuis | 75:9995528bf8b7 | 121 | } |
| bjornnijhuis | 75:9995528bf8b7 | 122 | return velocity; |
| bjornnijhuis | 75:9995528bf8b7 | 123 | } |
| bjornnijhuis | 75:9995528bf8b7 | 124 | |
| bjornnijhuis | 75:9995528bf8b7 | 125 | // Output velocity components |
| bjornnijhuis | 75:9995528bf8b7 | 126 | void EMG_velocity(double &x_velocity, double &y_velocity, double &z_velocity, double emg_val, bool thr_pass1, int &DOF, int emg_time) |
| bjornnijhuis | 75:9995528bf8b7 | 127 | { |
| bjornnijhuis | 75:9995528bf8b7 | 128 | if (emg_time == 0) { |
| bjornnijhuis | 75:9995528bf8b7 | 129 | EMG_timer.start(); |
| bjornnijhuis | 75:9995528bf8b7 | 130 | } |
| bjornnijhuis | 75:9995528bf8b7 | 131 | |
| bjornnijhuis | 75:9995528bf8b7 | 132 | if (emg_val > LPT) { |
| bjornnijhuis | 75:9995528bf8b7 | 133 | if (emg_time > LST) { |
| bjornnijhuis | 75:9995528bf8b7 | 134 | if(emg_time > UST) { |
| bjornnijhuis | 75:9995528bf8b7 | 135 | // Output velocities ------------------------------------------------------------------- |
| bjornnijhuis | 75:9995528bf8b7 | 136 | velocity = (emg_val - LPT)*(1/(1-LPT)); |
| bjornnijhuis | 75:9995528bf8b7 | 137 | |
| bjornnijhuis | 75:9995528bf8b7 | 138 | if(thr_pass1) { |
| bjornnijhuis | 75:9995528bf8b7 | 139 | velocity = velocity_step(velocity); |
| bjornnijhuis | 75:9995528bf8b7 | 140 | } else { |
| bjornnijhuis | 75:9995528bf8b7 | 141 | velocity = - velocity_step(velocity); |
| bjornnijhuis | 75:9995528bf8b7 | 142 | } |
| bjornnijhuis | 75:9995528bf8b7 | 143 | |
| bjornnijhuis | 75:9995528bf8b7 | 144 | switch(DOF) { |
| bjornnijhuis | 75:9995528bf8b7 | 145 | case 1 : |
| bjornnijhuis | 75:9995528bf8b7 | 146 | x_velocity = velocity; |
| bjornnijhuis | 75:9995528bf8b7 | 147 | y_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 148 | z_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 149 | break; |
| bjornnijhuis | 75:9995528bf8b7 | 150 | case 2 : |
| bjornnijhuis | 75:9995528bf8b7 | 151 | x_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 152 | y_velocity = velocity; |
| bjornnijhuis | 75:9995528bf8b7 | 153 | z_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 154 | break; |
| bjornnijhuis | 75:9995528bf8b7 | 155 | case 3 : |
| bjornnijhuis | 75:9995528bf8b7 | 156 | x_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 157 | y_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 158 | |
| bjornnijhuis | 75:9995528bf8b7 | 159 | // z-velocity is not controlled continiously, but set to fixed value +/- 1 |
| bjornnijhuis | 75:9995528bf8b7 | 160 | if(velocity > 0) { |
| bjornnijhuis | 75:9995528bf8b7 | 161 | z_velocity = 1; |
| bjornnijhuis | 75:9995528bf8b7 | 162 | } else if( velocity < 0) { |
| bjornnijhuis | 75:9995528bf8b7 | 163 | z_velocity = -1; |
| bjornnijhuis | 75:9995528bf8b7 | 164 | } else { |
| bjornnijhuis | 75:9995528bf8b7 | 165 | z_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 166 | } |
| bjornnijhuis | 75:9995528bf8b7 | 167 | break; |
| bjornnijhuis | 75:9995528bf8b7 | 168 | } |
| bjornnijhuis | 75:9995528bf8b7 | 169 | } |
| bjornnijhuis | 75:9995528bf8b7 | 170 | } |
| bjornnijhuis | 75:9995528bf8b7 | 171 | } else { |
| bjornnijhuis | 75:9995528bf8b7 | 172 | if((emg_time > LST)&&(emg_time < UST)) { |
| bjornnijhuis | 75:9995528bf8b7 | 173 | if(thr_pass1) { |
| bjornnijhuis | 75:9995528bf8b7 | 174 | // Switch channel ----------------------------------------------------------------------- |
| bjornnijhuis | 75:9995528bf8b7 | 175 | DOF = DOF + 1; |
| bjornnijhuis | 75:9995528bf8b7 | 176 | if (DOF == 4) { |
| bjornnijhuis | 75:9995528bf8b7 | 177 | DOF = 1; |
| bjornnijhuis | 75:9995528bf8b7 | 178 | } |
| bjornnijhuis | 75:9995528bf8b7 | 179 | } else { |
| bjornnijhuis | 75:9995528bf8b7 | 180 | // Switch pump --------------------------------------------------------------------------- |
| bjornnijhuis | 75:9995528bf8b7 | 181 | pump = !pump; |
| bjornnijhuis | 75:9995528bf8b7 | 182 | } |
| bjornnijhuis | 75:9995528bf8b7 | 183 | } |
| bjornnijhuis | 75:9995528bf8b7 | 184 | // No input: set all value to zero --------------------------------------------------------------- |
| bjornnijhuis | 75:9995528bf8b7 | 185 | x_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 186 | y_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 187 | z_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 188 | thr_pass1 = false; |
| bjornnijhuis | 75:9995528bf8b7 | 189 | thr_pass2 = false; |
| bjornnijhuis | 75:9995528bf8b7 | 190 | EMG_timer.stop(); |
| bjornnijhuis | 75:9995528bf8b7 | 191 | EMG_timer.reset(); |
| bjornnijhuis | 75:9995528bf8b7 | 192 | } |
| bjornnijhuis | 75:9995528bf8b7 | 193 | } |
| bjornnijhuis | 75:9995528bf8b7 | 194 | |
| bjornnijhuis | 75:9995528bf8b7 | 195 | void EMG_check(bool &thr_pass1, bool &thr_pass2, double &x_velocity, double &y_velocity, double &z_velocity, double emg_filt_val1, double emg_filt_val2, int emg_time) |
| bjornnijhuis | 75:9995528bf8b7 | 196 | { |
| bjornnijhuis | 75:9995528bf8b7 | 197 | if (emg_filt_val1 > UPT) { |
| bjornnijhuis | 75:9995528bf8b7 | 198 | thr_pass1 = true; |
| bjornnijhuis | 75:9995528bf8b7 | 199 | } |
| bjornnijhuis | 75:9995528bf8b7 | 200 | if (emg_filt_val2 > UPT) { |
| bjornnijhuis | 75:9995528bf8b7 | 201 | thr_pass2 = true; |
| bjornnijhuis | 75:9995528bf8b7 | 202 | } |
| bjornnijhuis | 75:9995528bf8b7 | 203 | |
| bjornnijhuis | 75:9995528bf8b7 | 204 | if ((thr_pass1 == true) && (thr_pass2 == true)) { |
| bjornnijhuis | 75:9995528bf8b7 | 205 | // If both true terminate |
| bjornnijhuis | 75:9995528bf8b7 | 206 | thr_pass1 = false; |
| bjornnijhuis | 75:9995528bf8b7 | 207 | thr_pass2 = false; |
| bjornnijhuis | 75:9995528bf8b7 | 208 | EMG_timer.stop(); |
| bjornnijhuis | 75:9995528bf8b7 | 209 | EMG_timer.reset(); |
| bjornnijhuis | 75:9995528bf8b7 | 210 | x_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 211 | y_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 212 | z_velocity = 0; |
| bjornnijhuis | 75:9995528bf8b7 | 213 | |
| bjornnijhuis | 75:9995528bf8b7 | 214 | } else { |
| bjornnijhuis | 75:9995528bf8b7 | 215 | if(thr_pass1) { |
| bjornnijhuis | 75:9995528bf8b7 | 216 | EMG_velocity(x_velocity, y_velocity, z_velocity, emg_filt_val1, thr_pass1, DOF, emg_time); |
| bjornnijhuis | 75:9995528bf8b7 | 217 | } else if(thr_pass2) { |
| bjornnijhuis | 75:9995528bf8b7 | 218 | EMG_velocity(x_velocity, y_velocity, z_velocity, emg_filt_val2, thr_pass1, DOF, emg_time); |
| bjornnijhuis | 75:9995528bf8b7 | 219 | } |
| bjornnijhuis | 75:9995528bf8b7 | 220 | } |
| bjornnijhuis | 75:9995528bf8b7 | 221 | } |
| bjornnijhuis | 75:9995528bf8b7 | 222 | |
| bjornnijhuis | 75:9995528bf8b7 | 223 | |
| bjornnijhuis | 75:9995528bf8b7 | 224 | void readEMG() |
| bjornnijhuis | 75:9995528bf8b7 | 225 | { |
| bjornnijhuis | 75:9995528bf8b7 | 226 | if(mode==normalize && normalizing_timer.read_ms() == 0) { // Start normalizing timer |
| bjornnijhuis | 75:9995528bf8b7 | 227 | normalizing_timer.reset(); |
| bjornnijhuis | 75:9995528bf8b7 | 228 | normalizing_timer.start(); |
| bjornnijhuis | 75:9995528bf8b7 | 229 | } |
| bjornnijhuis | 75:9995528bf8b7 | 230 | |
| bjornnijhuis | 75:9995528bf8b7 | 231 | if(mode ==normalize) { |
| bjornnijhuis | 75:9995528bf8b7 | 232 | emg_val1 = emg1.read(); // Sample EMG value 1 from AnalogIn |
| bjornnijhuis | 75:9995528bf8b7 | 233 | emg_val2 = emg2.read(); // Sample EMG value 2 from AnalogIn |
| bjornnijhuis | 75:9995528bf8b7 | 234 | |
| bjornnijhuis | 75:9995528bf8b7 | 235 | emg_filt_val1 = filtera(emg_val1); // Filter and average signal |
| bjornnijhuis | 75:9995528bf8b7 | 236 | emg_filt_val2 = filterb(emg_val2); // Filter and average signal |
| bjornnijhuis | 75:9995528bf8b7 | 237 | |
| bjornnijhuis | 75:9995528bf8b7 | 238 | |
| bjornnijhuis | 75:9995528bf8b7 | 239 | /* Determining normalizing constants |
| bjornnijhuis | 75:9995528bf8b7 | 240 | - Read value from EMG and average as above |
| bjornnijhuis | 75:9995528bf8b7 | 241 | - If mode "normalizing" and normalizing timer below ending time: |
| bjornnijhuis | 75:9995528bf8b7 | 242 | * store averaged EMG value 1 in max_vol_cont1 while overwriting previous value when current value > previous value |
| bjornnijhuis | 75:9995528bf8b7 | 243 | - If normalizing time exceeded, wait for given time |
| bjornnijhuis | 75:9995528bf8b7 | 244 | - Switch channels: redo above procedure for EMG value 2 |
| bjornnijhuis | 75:9995528bf8b7 | 245 | - Switch to sampling mode |
| bjornnijhuis | 75:9995528bf8b7 | 246 | */ |
| bjornnijhuis | 75:9995528bf8b7 | 247 | |
| bjornnijhuis | 75:9995528bf8b7 | 248 | // First normalizing step: channel 1 |
| bjornnijhuis | 75:9995528bf8b7 | 249 | if (normalizing_timer.read_ms() <= normalize_time && channel == 1) { |
| bjornnijhuis | 75:9995528bf8b7 | 250 | ledred.write(off); |
| bjornnijhuis | 75:9995528bf8b7 | 251 | ledgreen.write(on); |
| bjornnijhuis | 75:9995528bf8b7 | 252 | if (emg_filt_val1 > max_vol_cont1) { |
| bjornnijhuis | 75:9995528bf8b7 | 253 | max_vol_cont1 = emg_filt_val1; |
| bjornnijhuis | 75:9995528bf8b7 | 254 | } |
| bjornnijhuis | 75:9995528bf8b7 | 255 | // Second normalizing step: wait time, switch channel |
| bjornnijhuis | 75:9995528bf8b7 | 256 | } else if (normalizing_timer.read_ms() > normalize_time && channel == 1) { |
| bjornnijhuis | 75:9995528bf8b7 | 257 | channel = 2; |
| bjornnijhuis | 75:9995528bf8b7 | 258 | ledgreen.write(off); |
| bjornnijhuis | 75:9995528bf8b7 | 259 | ledred.write(on); |
| bjornnijhuis | 75:9995528bf8b7 | 260 | // Third normalizing step: channel 2 |
| bjornnijhuis | 75:9995528bf8b7 | 261 | } else if (normalizing_timer.read_ms() >= (normalize_time + normalize_wait) && normalizing_timer.read_ms() <= (2*normalize_time + normalize_wait) && channel == 2) { |
| bjornnijhuis | 75:9995528bf8b7 | 262 | ledred.write(off); |
| bjornnijhuis | 75:9995528bf8b7 | 263 | ledgreen.write(on); |
| bjornnijhuis | 75:9995528bf8b7 | 264 | if (emg_filt_val2 > max_vol_cont2) { |
| bjornnijhuis | 75:9995528bf8b7 | 265 | max_vol_cont2 = emg_filt_val2; |
| bjornnijhuis | 75:9995528bf8b7 | 266 | } |
| bjornnijhuis | 75:9995528bf8b7 | 267 | // Final normalizing step: stop normalizing process, start outputting velocities |
| bjornnijhuis | 75:9995528bf8b7 | 268 | } else if (normalizing_timer.read_ms() > (2*normalize_time + normalize_wait)) { |
| bjornnijhuis | 75:9995528bf8b7 | 269 | normalizing_timer.stop(); |
| bjornnijhuis | 75:9995528bf8b7 | 270 | normalizing_timer.reset(); |
| bjornnijhuis | 75:9995528bf8b7 | 271 | ledgreen.write(off); |
| bjornnijhuis | 75:9995528bf8b7 | 272 | ledred.write(off); |
| bjornnijhuis | 75:9995528bf8b7 | 273 | ledblue.write(on); |
| bjornnijhuis | 75:9995528bf8b7 | 274 | mode = sample; |
| bjornnijhuis | 75:9995528bf8b7 | 275 | } |
| bjornnijhuis | 75:9995528bf8b7 | 276 | } |
| bjornnijhuis | 75:9995528bf8b7 | 277 | |
| bjornnijhuis | 75:9995528bf8b7 | 278 | |
| bjornnijhuis | 75:9995528bf8b7 | 279 | if(mode ==sample) { |
| bjornnijhuis | 75:9995528bf8b7 | 280 | emg_val1 = emg1.read(); // Sample EMG value 1 from AnalogIn |
| bjornnijhuis | 75:9995528bf8b7 | 281 | emg_val2 = emg2.read(); // Sample EMG value 2 from AnalogIn |
| bjornnijhuis | 75:9995528bf8b7 | 282 | |
| bjornnijhuis | 75:9995528bf8b7 | 283 | // Normalize EMG values using pre-determined coefficients |
| bjornnijhuis | 75:9995528bf8b7 | 284 | if(max_vol_cont1 != 0 && max_vol_cont2 != 0) { // Safety check: normalizing coefficients have to be set first |
| bjornnijhuis | 75:9995528bf8b7 | 285 | emg_val1 = emg_val1 / max_vol_cont1; // Normalize EMG-value 1 |
| bjornnijhuis | 75:9995528bf8b7 | 286 | emg_val2 = emg_val2 / max_vol_cont2; // Normalize EMG-value 2 |
| bjornnijhuis | 75:9995528bf8b7 | 287 | |
| bjornnijhuis | 75:9995528bf8b7 | 288 | emg_filt_val1 = filtera(emg_val1); // Filter and average signal 1 |
| bjornnijhuis | 75:9995528bf8b7 | 289 | emg_filt_val2 = filterb(emg_val2); // Filter and average signal 2 |
| bjornnijhuis | 75:9995528bf8b7 | 290 | |
| bjornnijhuis | 75:9995528bf8b7 | 291 | if (emg_filt_val1 > 1) { // Safety-function: set max. output to 1, even if muscle contraction exceeds max. voluntary contraction |
| bjornnijhuis | 75:9995528bf8b7 | 292 | emg_filt_val1 = 1; |
| bjornnijhuis | 75:9995528bf8b7 | 293 | } |
| bjornnijhuis | 75:9995528bf8b7 | 294 | if (emg_filt_val2 > 1) { // Safety-function: set max. output to 1, even if muscle contraction exceeds max. voluntary contraction |
| bjornnijhuis | 75:9995528bf8b7 | 295 | emg_filt_val2 = 1; |
| bjornnijhuis | 75:9995528bf8b7 | 296 | } |
| bjornnijhuis | 75:9995528bf8b7 | 297 | |
| bjornnijhuis | 75:9995528bf8b7 | 298 | /* Checking EMG input: |
| bjornnijhuis | 75:9995528bf8b7 | 299 | - Make sure only one DOF is actuated at a time |
| bjornnijhuis | 75:9995528bf8b7 | 300 | - Distinct between switching function and motion from one EMG-signal |
| bjornnijhuis | 75:9995528bf8b7 | 301 | */ |
| bjornnijhuis | 75:9995528bf8b7 | 302 | |
| bjornnijhuis | 75:9995528bf8b7 | 303 | EMG_check(thr_pass1, thr_pass2, x_velocity, y_velocity, z_velocity, emg_filt_val1, emg_filt_val2, EMG_timer.read_ms()); |
| bjornnijhuis | 75:9995528bf8b7 | 304 | |
| bjornnijhuis | 75:9995528bf8b7 | 305 | } else { |
| bjornnijhuis | 75:9995528bf8b7 | 306 | ledgreen.write(off); |
| bjornnijhuis | 75:9995528bf8b7 | 307 | ledred.write(on); |
| bjornnijhuis | 75:9995528bf8b7 | 308 | ledblue.write(off); |
| bjornnijhuis | 75:9995528bf8b7 | 309 | } |
| bjornnijhuis | 75:9995528bf8b7 | 310 | } |
| bjornnijhuis | 75:9995528bf8b7 | 311 | |
| bjornnijhuis | 75:9995528bf8b7 | 312 | // Graphical output to HIDScope for debugging/ program check |
| bjornnijhuis | 75:9995528bf8b7 | 313 | scope.set(0,emg_filt_val2); |
| bjornnijhuis | 75:9995528bf8b7 | 314 | scope.set(1,x_velocity); |
| bjornnijhuis | 75:9995528bf8b7 | 315 | scope.set(2,y_velocity); |
| bjornnijhuis | 75:9995528bf8b7 | 316 | scope.set(3,pump); |
| bjornnijhuis | 75:9995528bf8b7 | 317 | scope.set(4,DOF); |
| bjornnijhuis | 75:9995528bf8b7 | 318 | scope.set(5,DOF); |
| bjornnijhuis | 75:9995528bf8b7 | 319 | scope.send(); |
| bjornnijhuis | 75:9995528bf8b7 | 320 | |
| bjornnijhuis | 75:9995528bf8b7 | 321 | |
| bjornnijhuis | 75:9995528bf8b7 | 322 | } |
| bjornnijhuis | 75:9995528bf8b7 | 323 |