De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@7:7a088536f1c9, 2019-10-21 (annotated)
- Committer:
- Jellehierck
- Date:
- Mon Oct 21 09:21:17 2019 +0000
- Revision:
- 7:7a088536f1c9
- Parent:
- 6:5437cc97e1e6
- Child:
- 8:ea3de43c9e8b
Working on calibration
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
IsaRobin | 0:6972d0e91af1 | 1 | //c++ script for filtering of measured EMG signals |
IsaRobin | 0:6972d0e91af1 | 2 | #include "mbed.h" //Base library |
IsaRobin | 0:6972d0e91af1 | 3 | #include "HIDScope.h" // to see if program is working and EMG is filtered properly |
Jellehierck | 2:d3e9788ab1b3 | 4 | // #include "QEI.h"// is needed for the encoder |
Jellehierck | 2:d3e9788ab1b3 | 5 | // #include "MODSERIAL.h"// in order for connection with the pc |
Jellehierck | 2:d3e9788ab1b3 | 6 | #include "BiQuad.h" |
Jellehierck | 2:d3e9788ab1b3 | 7 | // #include "FastPWM.h" |
Jellehierck | 2:d3e9788ab1b3 | 8 | // #include "Arduino.h" //misschien handig omdat we het EMG arduino board gebruiken (?) |
Jellehierck | 2:d3e9788ab1b3 | 9 | // #include "EMGFilters.h" |
IsaRobin | 0:6972d0e91af1 | 10 | #include <vector> // For easy array management |
Jellehierck | 7:7a088536f1c9 | 11 | #include <numeric> // For manipulating array data |
IsaRobin | 0:6972d0e91af1 | 12 | |
Jellehierck | 2:d3e9788ab1b3 | 13 | // PC serial connection |
Jellehierck | 4:09a01d2db8f7 | 14 | HIDScope scope( 2 ); |
Jellehierck | 2:d3e9788ab1b3 | 15 | // MODSERIAL pc(USBTX, USBRX); |
IsaRobin | 0:6972d0e91af1 | 16 | |
IsaRobin | 0:6972d0e91af1 | 17 | //EMG inputs definieren |
IsaRobin | 0:6972d0e91af1 | 18 | AnalogIn emg1_in (A1); //emg van rechterbicep, voor de x-richting |
IsaRobin | 0:6972d0e91af1 | 19 | AnalogIn emg2_in (A2); //emg van linkerbicep, voor de y-richting |
IsaRobin | 0:6972d0e91af1 | 20 | AnalogIn emg3_in (A3); //emg van een derde (nog te bepalen) spier, voor het vernaderen van de richting |
IsaRobin | 0:6972d0e91af1 | 21 | |
Jellehierck | 4:09a01d2db8f7 | 22 | // LED |
Jellehierck | 6:5437cc97e1e6 | 23 | DigitalOut led_g(LED_GREEN); |
Jellehierck | 6:5437cc97e1e6 | 24 | DigitalOut led_r(LED_RED); |
Jellehierck | 4:09a01d2db8f7 | 25 | |
IsaRobin | 0:6972d0e91af1 | 26 | //variablen voor EMG |
IsaRobin | 0:6972d0e91af1 | 27 | double emg1; |
IsaRobin | 0:6972d0e91af1 | 28 | double emg2; |
IsaRobin | 0:6972d0e91af1 | 29 | double emg3; |
Jellehierck | 7:7a088536f1c9 | 30 | |
Jellehierck | 7:7a088536f1c9 | 31 | vector<double> emg1_cal; |
Jellehierck | 7:7a088536f1c9 | 32 | |
Jellehierck | 7:7a088536f1c9 | 33 | int i_cal; |
IsaRobin | 0:6972d0e91af1 | 34 | |
Jellehierck | 4:09a01d2db8f7 | 35 | // Initialize tickers |
Jellehierck | 4:09a01d2db8f7 | 36 | Ticker tickSample; |
Jellehierck | 7:7a088536f1c9 | 37 | Timeout timeoutCalibrationMVC; |
Jellehierck | 7:7a088536f1c9 | 38 | Ticker tickSampleCalibration; |
Jellehierck | 4:09a01d2db8f7 | 39 | |
Jellehierck | 4:09a01d2db8f7 | 40 | // Sample rate |
Jellehierck | 4:09a01d2db8f7 | 41 | const double Fs = 500; //Hz |
Jellehierck | 7:7a088536f1c9 | 42 | const double Ts = 1/Fs; //sec |
Jellehierck | 4:09a01d2db8f7 | 43 | |
Jellehierck | 3:c0ece64850db | 44 | // Notch filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB in the following form: |
Jellehierck | 3:c0ece64850db | 45 | // b01 b11 b21 a01 a11 a21 |
Jellehierck | 3:c0ece64850db | 46 | BiQuad bq_notch(0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); |
Jellehierck | 1:059cca298369 | 47 | |
Jellehierck | 3:c0ece64850db | 48 | // Highpass filter coefficients (butter 4th order @10Hz cutoff) from MATLAB in the following form: |
Jellehierck | 3:c0ece64850db | 49 | // b01 b11 b21 a01 a11 a21 |
Jellehierck | 3:c0ece64850db | 50 | // b02 b12 b22 a02 a12 a22 |
Jellehierck | 3:c0ece64850db | 51 | BiQuad bq_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); |
Jellehierck | 3:c0ece64850db | 52 | BiQuad bq_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); |
Jellehierck | 4:09a01d2db8f7 | 53 | BiQuadChain bqc_notch_high; // Used to chain two 2nd other filters into a 4th order filter |
IsaRobin | 0:6972d0e91af1 | 54 | |
Jellehierck | 3:c0ece64850db | 55 | // Lowpass filter coefficients (butter 4th order @5Hz cutoff) from MATLAB in the following form: |
Jellehierck | 3:c0ece64850db | 56 | // b01 b11 b21 a01 a11 a21 |
Jellehierck | 3:c0ece64850db | 57 | // b02 b12 b22 a02 a12 a22 |
Jellehierck | 3:c0ece64850db | 58 | BiQuad bq_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138); |
Jellehierck | 3:c0ece64850db | 59 | BiQuad bq_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); |
Jellehierck | 3:c0ece64850db | 60 | BiQuadChain bqc_low; // Used to chain two 2nd other filters into a 4th order filter |
Jellehierck | 2:d3e9788ab1b3 | 61 | |
Jellehierck | 7:7a088536f1c9 | 62 | double stdev(const vector<double> &vect) |
Jellehierck | 7:7a088536f1c9 | 63 | { |
Jellehierck | 7:7a088536f1c9 | 64 | |
Jellehierck | 7:7a088536f1c9 | 65 | } |
Jellehierck | 7:7a088536f1c9 | 66 | |
Jellehierck | 6:5437cc97e1e6 | 67 | // Check if filters are stable |
Jellehierck | 6:5437cc97e1e6 | 68 | bool checkBQChainStable() |
Jellehierck | 6:5437cc97e1e6 | 69 | { |
Jellehierck | 6:5437cc97e1e6 | 70 | bool n_hp_stable = bqc_notch_high.stable(); |
Jellehierck | 6:5437cc97e1e6 | 71 | bool l_stable = bqc_low.stable(); |
Jellehierck | 6:5437cc97e1e6 | 72 | |
Jellehierck | 6:5437cc97e1e6 | 73 | if (n_hp_stable && l_stable) { |
Jellehierck | 6:5437cc97e1e6 | 74 | return true; |
Jellehierck | 6:5437cc97e1e6 | 75 | } else { |
Jellehierck | 6:5437cc97e1e6 | 76 | return false; |
Jellehierck | 6:5437cc97e1e6 | 77 | } |
Jellehierck | 6:5437cc97e1e6 | 78 | } |
Jellehierck | 6:5437cc97e1e6 | 79 | |
Jellehierck | 6:5437cc97e1e6 | 80 | |
Jellehierck | 6:5437cc97e1e6 | 81 | // Read samples, filter samples and output to HIDScope |
Jellehierck | 2:d3e9788ab1b3 | 82 | void sample() |
Jellehierck | 2:d3e9788ab1b3 | 83 | { |
Jellehierck | 4:09a01d2db8f7 | 84 | // Read EMG inputs |
Jellehierck | 2:d3e9788ab1b3 | 85 | emg1 = emg1_in.read(); |
Jellehierck | 2:d3e9788ab1b3 | 86 | emg2 = emg2_in.read(); |
Jellehierck | 2:d3e9788ab1b3 | 87 | emg3 = emg3_in.read(); |
Jellehierck | 4:09a01d2db8f7 | 88 | |
Jellehierck | 4:09a01d2db8f7 | 89 | // Output raw EMG input |
Jellehierck | 4:09a01d2db8f7 | 90 | scope.set(0, emg1 ); |
Jellehierck | 6:5437cc97e1e6 | 91 | |
Jellehierck | 5:3d65f89e3755 | 92 | // Filter notch and highpass |
Jellehierck | 5:3d65f89e3755 | 93 | double emg1_n_hp = bqc_notch_high.step( emg1 ); |
Jellehierck | 6:5437cc97e1e6 | 94 | |
Jellehierck | 5:3d65f89e3755 | 95 | // Rectify |
Jellehierck | 5:3d65f89e3755 | 96 | double emg1_rectify = fabs( emg1_n_hp ); |
Jellehierck | 6:5437cc97e1e6 | 97 | |
Jellehierck | 5:3d65f89e3755 | 98 | // Filter lowpass (completes envelope) |
Jellehierck | 5:3d65f89e3755 | 99 | double emg1_env = bqc_low.step( emg1_rectify ); |
Jellehierck | 4:09a01d2db8f7 | 100 | |
Jellehierck | 4:09a01d2db8f7 | 101 | // Output EMG after filters |
Jellehierck | 5:3d65f89e3755 | 102 | scope.set(1, emg1_env ); |
Jellehierck | 4:09a01d2db8f7 | 103 | scope.send(); |
Jellehierck | 7:7a088536f1c9 | 104 | |
Jellehierck | 7:7a088536f1c9 | 105 | |
Jellehierck | 2:d3e9788ab1b3 | 106 | } |
IsaRobin | 0:6972d0e91af1 | 107 | |
Jellehierck | 7:7a088536f1c9 | 108 | void sampleCalibration() |
Jellehierck | 7:7a088536f1c9 | 109 | { |
Jellehierck | 7:7a088536f1c9 | 110 | // Read EMG inputs |
Jellehierck | 7:7a088536f1c9 | 111 | emg1 = emg1_in.read(); |
Jellehierck | 7:7a088536f1c9 | 112 | emg2 = emg2_in.read(); |
Jellehierck | 7:7a088536f1c9 | 113 | emg3 = emg3_in.read(); |
Jellehierck | 7:7a088536f1c9 | 114 | |
Jellehierck | 7:7a088536f1c9 | 115 | // Output raw EMG input |
Jellehierck | 7:7a088536f1c9 | 116 | scope.set(0, emg1 ); |
Jellehierck | 7:7a088536f1c9 | 117 | |
Jellehierck | 7:7a088536f1c9 | 118 | double emg1_n_hp = bqc_notch_high.step( emg1 ); // Filter notch and highpass |
Jellehierck | 7:7a088536f1c9 | 119 | double emg1_rectify = fabs( emg1_n_hp ); // Filter lowpass (completes envelope) |
Jellehierck | 7:7a088536f1c9 | 120 | double emg1_env = bqc_low.step( emg1_rectify ); // Filter lowpass (completes envelope) |
Jellehierck | 7:7a088536f1c9 | 121 | |
Jellehierck | 7:7a088536f1c9 | 122 | // Output EMG after filters |
Jellehierck | 7:7a088536f1c9 | 123 | scope.set(1, emg1_env ); |
Jellehierck | 7:7a088536f1c9 | 124 | scope.send(); |
Jellehierck | 7:7a088536f1c9 | 125 | |
Jellehierck | 7:7a088536f1c9 | 126 | emg1_cal.push_back(emg1_env); |
Jellehierck | 7:7a088536f1c9 | 127 | } |
Jellehierck | 7:7a088536f1c9 | 128 | |
Jellehierck | 7:7a088536f1c9 | 129 | void calibrationMVCFinished() |
Jellehierck | 7:7a088536f1c9 | 130 | { |
Jellehierck | 7:7a088536f1c9 | 131 | tickSampleCalibration.detach(); |
Jellehierck | 7:7a088536f1c9 | 132 | |
Jellehierck | 7:7a088536f1c9 | 133 | } |
Jellehierck | 7:7a088536f1c9 | 134 | |
Jellehierck | 7:7a088536f1c9 | 135 | void calibrationMVC() |
Jellehierck | 7:7a088536f1c9 | 136 | { |
Jellehierck | 7:7a088536f1c9 | 137 | timeoutCalibrationMVC.attach( &calibrationMVCFinished, 10.0f); |
Jellehierck | 7:7a088536f1c9 | 138 | tickSampleCalibration.attach( &sampleCalibration, Ts ); |
Jellehierck | 7:7a088536f1c9 | 139 | } |
Jellehierck | 7:7a088536f1c9 | 140 | |
Jellehierck | 7:7a088536f1c9 | 141 | |
Jellehierck | 7:7a088536f1c9 | 142 | |
Jellehierck | 5:3d65f89e3755 | 143 | void main() |
Jellehierck | 4:09a01d2db8f7 | 144 | { |
Jellehierck | 6:5437cc97e1e6 | 145 | // Initialize sample ticker |
Jellehierck | 4:09a01d2db8f7 | 146 | tickSample.attach(&sample, Ts); |
Jellehierck | 6:5437cc97e1e6 | 147 | |
Jellehierck | 6:5437cc97e1e6 | 148 | // Create BQ chains to reduce computations |
Jellehierck | 5:3d65f89e3755 | 149 | bqc_notch_high.add( &bq_notch ).add( &bq_H1 ).add( &bq_H2 ); |
Jellehierck | 5:3d65f89e3755 | 150 | bqc_low.add( &bq_L1 ).add( &bq_L2 ); |
Jellehierck | 4:09a01d2db8f7 | 151 | |
Jellehierck | 6:5437cc97e1e6 | 152 | // If any filter chain is unstable, red led will light up |
Jellehierck | 6:5437cc97e1e6 | 153 | if (checkBQChainStable) { |
Jellehierck | 6:5437cc97e1e6 | 154 | led_r = 1; // LED off |
Jellehierck | 6:5437cc97e1e6 | 155 | } else { |
Jellehierck | 6:5437cc97e1e6 | 156 | led_r = 0; // LED on |
Jellehierck | 6:5437cc97e1e6 | 157 | } |
Jellehierck | 6:5437cc97e1e6 | 158 | |
Jellehierck | 4:09a01d2db8f7 | 159 | while(true) { |
Jellehierck | 7:7a088536f1c9 | 160 | |
Jellehierck | 6:5437cc97e1e6 | 161 | // Show that system is running |
Jellehierck | 6:5437cc97e1e6 | 162 | led_g = !led_g; |
Jellehierck | 4:09a01d2db8f7 | 163 | wait(0.5); |
Jellehierck | 4:09a01d2db8f7 | 164 | } |
Jellehierck | 4:09a01d2db8f7 | 165 | } |