M9 Biorobotics Group 8 / Mbed 2 deprecated CARD_program

De hele robot in 1 keer bam

Dependencies:   mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@26:7e81c7db6e7a, 2019-10-25 (annotated)

Committer:
Jellehierck
Date:
Fri Oct 25 14:32:35 2019 +0000
Revision:
26:7e81c7db6e7a
Parent:
25:a1be4cf2ab0b
Child:
27:f18da01093c9
Maybe working version of makeScale and EMG operation mode in state machine. Needs testing

Who changed what in which revision?

UserRevisionLine numberNew 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 8:ea3de43c9e8b 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 15:421d3d9c563b 13 /*
Jellehierck 15:421d3d9c563b 14 ------ DEFINE MBED CONNECTIONS ------
Jellehierck 15:421d3d9c563b 15 */
IsaRobin 0:6972d0e91af1 16
Jellehierck 15:421d3d9c563b 17 // PC serial connection
Jellehierck 18:9f24792bb39a 18 HIDScope scope( 4 );
Jellehierck 15:421d3d9c563b 19 MODSERIAL pc(USBTX, USBRX);
IsaRobin 0:6972d0e91af1 20
Jellehierck 4:09a01d2db8f7 21 // LED
Jellehierck 6:5437cc97e1e6 22 DigitalOut led_g(LED_GREEN);
Jellehierck 6:5437cc97e1e6 23 DigitalOut led_r(LED_RED);
Jellehierck 8:ea3de43c9e8b 24 DigitalOut led_b(LED_BLUE);
Jellehierck 8:ea3de43c9e8b 25
Jellehierck 8:ea3de43c9e8b 26 // Buttons
Jellehierck 8:ea3de43c9e8b 27 InterruptIn button1(D11);
Jellehierck 8:ea3de43c9e8b 28 InterruptIn button2(D10);
Jellehierck 12:70f0710400c2 29 InterruptIn button3(SW3);
Jellehierck 4:09a01d2db8f7 30
Jellehierck 16:7acbcc4aa35c 31 // EMG Substates
Jellehierck 26:7e81c7db6e7a 32 enum EMG_States { emg_wait, emg_cal_MVC, emg_cal_rest, emg_operation }; // Define EMG substates
Jellehierck 16:7acbcc4aa35c 33 EMG_States emg_curr_state; // Initialize EMG substate variable
Jellehierck 25:a1be4cf2ab0b 34 bool emg_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 35
Jellehierck 25:a1be4cf2ab0b 36 bool sampleNow = false;
Jellehierck 25:a1be4cf2ab0b 37 bool calibrateNow = false;
Jellehierck 25:a1be4cf2ab0b 38 bool emg_MVC_cal_done = false;
Jellehierck 25:a1be4cf2ab0b 39 bool emg_rest_cal_done = false;
Jellehierck 25:a1be4cf2ab0b 40
Jellehierck 25:a1be4cf2ab0b 41 bool button1_pressed = false;
Jellehierck 25:a1be4cf2ab0b 42 bool button2_pressed = false;
Jellehierck 16:7acbcc4aa35c 43
Jellehierck 15:421d3d9c563b 44 // Global variables for EMG reading
Jellehierck 15:421d3d9c563b 45 AnalogIn emg1_in (A1); // Right biceps, x axis
Jellehierck 15:421d3d9c563b 46 AnalogIn emg2_in (A2); // Left biceps, y axis
Jellehierck 15:421d3d9c563b 47 AnalogIn emg3_in (A3); // Third muscle, TBD
Jellehierck 15:421d3d9c563b 48
IsaRobin 0:6972d0e91af1 49 double emg1;
Jellehierck 26:7e81c7db6e7a 50 double emg1_env;
Jellehierck 12:70f0710400c2 51 double emg1_MVC;
Jellehierck 12:70f0710400c2 52 double emg1_MVC_stdev;
Jellehierck 12:70f0710400c2 53 double emg1_rest;
Jellehierck 12:70f0710400c2 54 double emg1_rest_stdev;
Jellehierck 26:7e81c7db6e7a 55 double emg1_factor;
Jellehierck 26:7e81c7db6e7a 56 double emg1_th;
Jellehierck 26:7e81c7db6e7a 57 double emg1_out;
Jellehierck 7:7a088536f1c9 58 vector<double> emg1_cal;
Jellehierck 25:a1be4cf2ab0b 59 int emg1_cal_size;
Jellehierck 7:7a088536f1c9 60
Jellehierck 15:421d3d9c563b 61 double emg2;
Jellehierck 26:7e81c7db6e7a 62 double emg2_env;
Jellehierck 15:421d3d9c563b 63 double emg2_MVC;
Jellehierck 15:421d3d9c563b 64 double emg2_MVC_stdev;
Jellehierck 15:421d3d9c563b 65 double emg2_rest;
Jellehierck 15:421d3d9c563b 66 double emg2_rest_stdev;
Jellehierck 26:7e81c7db6e7a 67 double emg2_factor;
Jellehierck 26:7e81c7db6e7a 68 double emg2_th;
Jellehierck 26:7e81c7db6e7a 69 double emg2_out;
Jellehierck 15:421d3d9c563b 70 vector<double> emg2_cal;
Jellehierck 25:a1be4cf2ab0b 71 int emg2_cal_size;
IsaRobin 0:6972d0e91af1 72
Jellehierck 15:421d3d9c563b 73 double emg3;
Jellehierck 26:7e81c7db6e7a 74 double emg3_env;
Jellehierck 15:421d3d9c563b 75 double emg3_MVC;
Jellehierck 15:421d3d9c563b 76 double emg3_MVC_stdev;
Jellehierck 15:421d3d9c563b 77 double emg3_rest;
Jellehierck 15:421d3d9c563b 78 double emg3_rest_stdev;
Jellehierck 26:7e81c7db6e7a 79 double emg3_factor;
Jellehierck 26:7e81c7db6e7a 80 double emg3_th;
Jellehierck 26:7e81c7db6e7a 81 double emg3_out;
Jellehierck 15:421d3d9c563b 82 vector<double> emg3_cal;
Jellehierck 25:a1be4cf2ab0b 83 int emg3_cal_size;
Jellehierck 15:421d3d9c563b 84
Jellehierck 15:421d3d9c563b 85 // Initialize tickers and timeouts
Jellehierck 4:09a01d2db8f7 86 Ticker tickSample;
Jellehierck 15:421d3d9c563b 87 Ticker tickSampleCalibration;
Jellehierck 24:540c284e881d 88 Ticker tickGlobal; // Set global ticker
Jellehierck 22:9079c6c0d898 89 Timer timerCalibration;
Jellehierck 4:09a01d2db8f7 90
Jellehierck 15:421d3d9c563b 91 /*
Jellehierck 15:421d3d9c563b 92 ------ GLOBAL VARIABLES ------
Jellehierck 15:421d3d9c563b 93 */
Jellehierck 11:042170a9b93a 94 const double Fs = 500; // Sampling frequency (s)
Jellehierck 11:042170a9b93a 95 const double Tcal = 10.0f; // Calibration duration (s)
Jellehierck 15:421d3d9c563b 96 int trim_cal = 1; // Trim transient behaviour of calibration (s)
Jellehierck 4:09a01d2db8f7 97
Jellehierck 15:421d3d9c563b 98 // Calculate global variables
Jellehierck 15:421d3d9c563b 99 const double Ts = 1/Fs; // Sampling time (s)
Jellehierck 15:421d3d9c563b 100 int trim_cal_i = trim_cal * Fs - 1; // Determine iterator of transient behaviour trim
Jellehierck 15:421d3d9c563b 101
Jellehierck 15:421d3d9c563b 102 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 19:94dc52f8a59e 103 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 104 BiQuad bq2_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 105 BiQuad bq3_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 106 BiQuadChain bqc1_notch;
Jellehierck 19:94dc52f8a59e 107 BiQuadChain bqc2_notch;
Jellehierck 19:94dc52f8a59e 108 BiQuadChain bqc3_notch;
Jellehierck 1:059cca298369 109
Jellehierck 15:421d3d9c563b 110 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 19:94dc52f8a59e 111 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 112 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 113 BiQuad bq2_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 114 BiQuad bq2_H2 = bq1_H2;
Jellehierck 19:94dc52f8a59e 115 BiQuad bq3_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 116 BiQuad bq3_H2 = bq1_H2;
Jellehierck 20:0e9218673aa8 117 BiQuadChain bqc1_high;
Jellehierck 19:94dc52f8a59e 118 BiQuadChain bqc2_high;
Jellehierck 19:94dc52f8a59e 119 BiQuadChain bqc3_high;
IsaRobin 0:6972d0e91af1 120
Jellehierck 15:421d3d9c563b 121 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 19:94dc52f8a59e 122 BiQuad bq1_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 123 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 124 BiQuad bq2_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 125 BiQuad bq2_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 126 BiQuad bq3_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 127 BiQuad bq3_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 128 BiQuadChain bqc1_low;
Jellehierck 19:94dc52f8a59e 129 BiQuadChain bqc2_low;
Jellehierck 19:94dc52f8a59e 130 BiQuadChain bqc3_low;
Jellehierck 2:d3e9788ab1b3 131
Jellehierck 15:421d3d9c563b 132 /*
Jellehierck 15:421d3d9c563b 133 ------ HELPER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 134 */
Jellehierck 15:421d3d9c563b 135
Jellehierck 15:421d3d9c563b 136 // Return mean of vector
Jellehierck 8:ea3de43c9e8b 137 double getMean(const vector<double> &vect)
Jellehierck 7:7a088536f1c9 138 {
Jellehierck 8:ea3de43c9e8b 139 double sum = 0.0;
Jellehierck 8:ea3de43c9e8b 140 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 141
Jellehierck 8:ea3de43c9e8b 142 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 143 sum += vect[i];
Jellehierck 8:ea3de43c9e8b 144 }
Jellehierck 8:ea3de43c9e8b 145 return sum/vect_n;
Jellehierck 8:ea3de43c9e8b 146 }
Jellehierck 8:ea3de43c9e8b 147
Jellehierck 15:421d3d9c563b 148 // Return standard deviation of vector
Jellehierck 8:ea3de43c9e8b 149 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 8:ea3de43c9e8b 150 {
Jellehierck 8:ea3de43c9e8b 151 double sum2 = 0.0;
Jellehierck 8:ea3de43c9e8b 152 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 153
Jellehierck 8:ea3de43c9e8b 154 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 155 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 8:ea3de43c9e8b 156 }
Jellehierck 8:ea3de43c9e8b 157 double output = sqrt( sum2 / vect_n );
Jellehierck 8:ea3de43c9e8b 158 return output;
Jellehierck 7:7a088536f1c9 159 }
Jellehierck 7:7a088536f1c9 160
Jellehierck 26:7e81c7db6e7a 161 // Rescale values to certain range
Jellehierck 26:7e81c7db6e7a 162 double rescale(double input, double out_min, double out_max, double in_min, double in_max)
Jellehierck 26:7e81c7db6e7a 163 {
Jellehierck 26:7e81c7db6e7a 164 double output = out_min + ((input-in_min)/(in_max-in_min))*(out_max-out_min); // Based on MATLAB rescale function
Jellehierck 26:7e81c7db6e7a 165 return output;
Jellehierck 26:7e81c7db6e7a 166 }
Jellehierck 26:7e81c7db6e7a 167
Jellehierck 25:a1be4cf2ab0b 168 // Handle button press
Jellehierck 25:a1be4cf2ab0b 169 void button1Press()
Jellehierck 25:a1be4cf2ab0b 170 {
Jellehierck 25:a1be4cf2ab0b 171 button1_pressed = true;
Jellehierck 25:a1be4cf2ab0b 172 }
Jellehierck 25:a1be4cf2ab0b 173
Jellehierck 25:a1be4cf2ab0b 174 // Handle button press
Jellehierck 25:a1be4cf2ab0b 175 void button2Press()
Jellehierck 25:a1be4cf2ab0b 176 {
Jellehierck 25:a1be4cf2ab0b 177 button2_pressed = true;
Jellehierck 25:a1be4cf2ab0b 178 }
Jellehierck 25:a1be4cf2ab0b 179
Jellehierck 15:421d3d9c563b 180 // Check filter stability
Jellehierck 6:5437cc97e1e6 181 bool checkBQChainStable()
Jellehierck 6:5437cc97e1e6 182 {
Jellehierck 19:94dc52f8a59e 183 bool n_stable = bqc1_notch.stable();
Jellehierck 19:94dc52f8a59e 184 bool hp_stable = bqc1_high.stable();
Jellehierck 19:94dc52f8a59e 185 bool l_stable = bqc1_low.stable();
Jellehierck 6:5437cc97e1e6 186
Jellehierck 11:042170a9b93a 187 if (n_stable && hp_stable && l_stable) {
Jellehierck 6:5437cc97e1e6 188 return true;
Jellehierck 6:5437cc97e1e6 189 } else {
Jellehierck 6:5437cc97e1e6 190 return false;
Jellehierck 6:5437cc97e1e6 191 }
Jellehierck 6:5437cc97e1e6 192 }
Jellehierck 6:5437cc97e1e6 193
Jellehierck 15:421d3d9c563b 194 /*
Jellehierck 15:421d3d9c563b 195 ------ TICKER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 196 */
Jellehierck 25:a1be4cf2ab0b 197 void sampleSignal()
Jellehierck 7:7a088536f1c9 198 {
Jellehierck 25:a1be4cf2ab0b 199 if (sampleNow == true) {
Jellehierck 25:a1be4cf2ab0b 200 // Read EMG inputs
Jellehierck 25:a1be4cf2ab0b 201 emg1 = emg1_in.read();
Jellehierck 25:a1be4cf2ab0b 202 emg2 = emg2_in.read();
Jellehierck 25:a1be4cf2ab0b 203 emg3 = emg3_in.read();
Jellehierck 25:a1be4cf2ab0b 204
Jellehierck 7:7a088536f1c9 205
Jellehierck 25:a1be4cf2ab0b 206 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 207 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 208 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 209 emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 25:a1be4cf2ab0b 210
Jellehierck 25:a1be4cf2ab0b 211 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 212 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 213 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 214 emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 215
Jellehierck 25:a1be4cf2ab0b 216 double emg3_n = bqc3_notch.step( emg3 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 217 double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 218 double emg3_rectify = fabs( emg3_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 219 emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 220
Jellehierck 25:a1be4cf2ab0b 221 scope.set(0, emg1_n);
Jellehierck 25:a1be4cf2ab0b 222 scope.set(1, emg2_n);
Jellehierck 20:0e9218673aa8 223
Jellehierck 25:a1be4cf2ab0b 224 scope.set(2, emg1_env );
Jellehierck 25:a1be4cf2ab0b 225 scope.set(3, emg2_env );
Jellehierck 25:a1be4cf2ab0b 226 scope.send();
Jellehierck 26:7e81c7db6e7a 227
Jellehierck 25:a1be4cf2ab0b 228 if (calibrateNow) {
Jellehierck 25:a1be4cf2ab0b 229 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 25:a1be4cf2ab0b 230 emg1_cal_size = emg1_cal.size();
Jellehierck 25:a1be4cf2ab0b 231 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 25:a1be4cf2ab0b 232 emg2_cal_size = emg1_cal.size();
Jellehierck 25:a1be4cf2ab0b 233 emg3_cal.push_back(emg3_env); // Add values to calibration vector
Jellehierck 25:a1be4cf2ab0b 234 emg3_cal_size = emg1_cal.size();
Jellehierck 25:a1be4cf2ab0b 235 }
Jellehierck 25:a1be4cf2ab0b 236 }
Jellehierck 7:7a088536f1c9 237 }
Jellehierck 7:7a088536f1c9 238
Jellehierck 15:421d3d9c563b 239 /*
Jellehierck 25:a1be4cf2ab0b 240 ------ EMG CALIBRATION STATES ------
Jellehierck 15:421d3d9c563b 241 */
Jellehierck 15:421d3d9c563b 242
Jellehierck 25:a1be4cf2ab0b 243 /* ALL STATES HAVE THE FOLLOWING FORM:
Jellehierck 25:a1be4cf2ab0b 244 void do_state_function() {
Jellehierck 25:a1be4cf2ab0b 245 // Entry function
Jellehierck 25:a1be4cf2ab0b 246 if ( emg_state_changed == true ) {
Jellehierck 25:a1be4cf2ab0b 247 emg_state_changed == false;
Jellehierck 25:a1be4cf2ab0b 248 // More functions
Jellehierck 25:a1be4cf2ab0b 249 }
Jellehierck 25:a1be4cf2ab0b 250
Jellehierck 25:a1be4cf2ab0b 251 // Do stuff until end condition is met
Jellehierck 25:a1be4cf2ab0b 252 doStuff();
Jellehierck 25:a1be4cf2ab0b 253
Jellehierck 25:a1be4cf2ab0b 254 // State transition guard
Jellehierck 25:a1be4cf2ab0b 255 if ( endCondition == true ) {
Jellehierck 25:a1be4cf2ab0b 256 emg_curr_state == next_state;
Jellehierck 25:a1be4cf2ab0b 257 emg_state_changed == true;
Jellehierck 25:a1be4cf2ab0b 258 // More functions
Jellehierck 25:a1be4cf2ab0b 259 }
Jellehierck 25:a1be4cf2ab0b 260 }
Jellehierck 25:a1be4cf2ab0b 261 */
Jellehierck 25:a1be4cf2ab0b 262
Jellehierck 25:a1be4cf2ab0b 263 // Finish up calibration
Jellehierck 22:9079c6c0d898 264 void calibrationFinished()
Jellehierck 7:7a088536f1c9 265 {
Jellehierck 22:9079c6c0d898 266 switch( emg_curr_state ) {
Jellehierck 22:9079c6c0d898 267 case emg_cal_MVC:
Jellehierck 22:9079c6c0d898 268 emg1_MVC = getMean(emg1_cal); // Store MVC globally
Jellehierck 23:8a0a0b959af1 269 emg1_MVC_stdev = getStdev(emg1_cal, emg1_MVC); // Store MVC stdev globally
Jellehierck 21:e4569b47945e 270
Jellehierck 22:9079c6c0d898 271 emg2_MVC = getMean(emg2_cal); // Store MVC globally
Jellehierck 23:8a0a0b959af1 272 emg2_MVC_stdev = getStdev(emg2_cal, emg2_MVC); // Store MVC stdev globally
Jellehierck 25:a1be4cf2ab0b 273
Jellehierck 25:a1be4cf2ab0b 274 emg3_MVC = getMean(emg3_cal); // Store MVC globally
Jellehierck 25:a1be4cf2ab0b 275 emg3_MVC_stdev = getStdev(emg3_cal, emg3_MVC); // Store MVC stdev globally
Jellehierck 25:a1be4cf2ab0b 276
Jellehierck 25:a1be4cf2ab0b 277
Jellehierck 25:a1be4cf2ab0b 278 emg_MVC_cal_done = true;
Jellehierck 22:9079c6c0d898 279 break;
Jellehierck 22:9079c6c0d898 280 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 281 emg1_rest = getMean(emg1_cal); // Store rest EMG globally
Jellehierck 23:8a0a0b959af1 282 emg1_rest_stdev = getStdev(emg1_cal, emg1_rest); // Store rest stdev globally
Jellehierck 20:0e9218673aa8 283
Jellehierck 23:8a0a0b959af1 284 emg2_rest = getMean(emg2_cal); // Store rest EMG globally
Jellehierck 23:8a0a0b959af1 285 emg2_rest_stdev = getStdev(emg2_cal, emg2_rest); // Store MVC stdev globally
Jellehierck 25:a1be4cf2ab0b 286
Jellehierck 25:a1be4cf2ab0b 287 emg3_rest = getMean(emg3_cal); // Store rest EMG globally
Jellehierck 25:a1be4cf2ab0b 288 emg3_rest_stdev = getStdev(emg3_cal, emg3_rest); // Store MVC stdev globally
Jellehierck 25:a1be4cf2ab0b 289
Jellehierck 25:a1be4cf2ab0b 290
Jellehierck 25:a1be4cf2ab0b 291 emg_rest_cal_done = true;
Jellehierck 22:9079c6c0d898 292 break;
Jellehierck 22:9079c6c0d898 293 }
Jellehierck 23:8a0a0b959af1 294 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 23:8a0a0b959af1 295 vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow
Jellehierck 25:a1be4cf2ab0b 296 vector<double>().swap(emg3_cal); // Empty vector to prevent memory overflow
Jellehierck 25:a1be4cf2ab0b 297 }
Jellehierck 25:a1be4cf2ab0b 298
Jellehierck 25:a1be4cf2ab0b 299 // EMG Waiting state
Jellehierck 25:a1be4cf2ab0b 300 void do_emg_wait()
Jellehierck 25:a1be4cf2ab0b 301 {
Jellehierck 25:a1be4cf2ab0b 302 // Entry function
Jellehierck 25:a1be4cf2ab0b 303 if ( emg_state_changed == true ) {
Jellehierck 25:a1be4cf2ab0b 304 emg_state_changed = false;
Jellehierck 25:a1be4cf2ab0b 305 // pc.printf("State: emg_wait\r\n");
Jellehierck 25:a1be4cf2ab0b 306 }
Jellehierck 25:a1be4cf2ab0b 307
Jellehierck 25:a1be4cf2ab0b 308 // Do stuff until end condition is met
Jellehierck 25:a1be4cf2ab0b 309
Jellehierck 25:a1be4cf2ab0b 310 // State transition guard
Jellehierck 25:a1be4cf2ab0b 311 if ( button1_pressed ) {
Jellehierck 25:a1be4cf2ab0b 312 button1_pressed = false;
Jellehierck 25:a1be4cf2ab0b 313 emg_curr_state = emg_cal_MVC;
Jellehierck 25:a1be4cf2ab0b 314 emg_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 315 } else if ( button2_pressed ) {
Jellehierck 25:a1be4cf2ab0b 316 button2_pressed = false;
Jellehierck 25:a1be4cf2ab0b 317 emg_curr_state = emg_cal_rest;
Jellehierck 25:a1be4cf2ab0b 318 emg_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 319 } else if ( emg_MVC_cal_done && emg_rest_cal_done ) {
Jellehierck 26:7e81c7db6e7a 320 emg_curr_state = emg_operation;
Jellehierck 25:a1be4cf2ab0b 321 emg_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 322 }
Jellehierck 7:7a088536f1c9 323 }
Jellehierck 7:7a088536f1c9 324
Jellehierck 21:e4569b47945e 325 // Run calibration of EMG
Jellehierck 21:e4569b47945e 326 void do_emg_cal()
Jellehierck 21:e4569b47945e 327 {
Jellehierck 22:9079c6c0d898 328 if ( emg_state_changed == true ) {
Jellehierck 25:a1be4cf2ab0b 329 emg_state_changed = false;
Jellehierck 25:a1be4cf2ab0b 330 // pc.printf("Starting calibration :");
Jellehierck 21:e4569b47945e 331 led_b = 0; // Turn on calibration led
Jellehierck 22:9079c6c0d898 332 timerCalibration.reset();
Jellehierck 22:9079c6c0d898 333 timerCalibration.start();
Jellehierck 25:a1be4cf2ab0b 334 sampleNow = true; // Enable signal sampling in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 335 calibrateNow = true;
Jellehierck 26:7e81c7db6e7a 336
Jellehierck 25:a1be4cf2ab0b 337 emg1_cal.reserve(Fs * Tcal);
Jellehierck 25:a1be4cf2ab0b 338 emg2_cal.reserve(Fs * Tcal);
Jellehierck 25:a1be4cf2ab0b 339 emg3_cal.reserve(Fs * Tcal);
Jellehierck 22:9079c6c0d898 340
Jellehierck 22:9079c6c0d898 341 switch( emg_curr_state ) {
Jellehierck 21:e4569b47945e 342 case emg_cal_MVC:
Jellehierck 25:a1be4cf2ab0b 343 // pc.printf("MVC\r\n");
Jellehierck 21:e4569b47945e 344 break;
Jellehierck 21:e4569b47945e 345 case emg_cal_rest:
Jellehierck 25:a1be4cf2ab0b 346 // pc.printf("Rest\r\n");
Jellehierck 21:e4569b47945e 347 break;
Jellehierck 21:e4569b47945e 348 }
Jellehierck 22:9079c6c0d898 349 }
Jellehierck 7:7a088536f1c9 350
Jellehierck 23:8a0a0b959af1 351 // Allemaal dingen doen tot de end conditions true zijn
Jellehierck 23:8a0a0b959af1 352
Jellehierck 24:540c284e881d 353 if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished
Jellehierck 25:a1be4cf2ab0b 354 sampleNow = false; // Disable signal sampling in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 355 calibrateNow = false; // Disable calibration sampling
Jellehierck 23:8a0a0b959af1 356
Jellehierck 23:8a0a0b959af1 357 calibrationFinished(); // Process calibration data
Jellehierck 23:8a0a0b959af1 358 led_b = 1; // Turn off calibration led
Jellehierck 23:8a0a0b959af1 359
Jellehierck 25:a1be4cf2ab0b 360 emg_curr_state = emg_wait; // Set next state
Jellehierck 25:a1be4cf2ab0b 361 emg_state_changed = true; // State has changed (to run
Jellehierck 25:a1be4cf2ab0b 362
Jellehierck 25:a1be4cf2ab0b 363 // pc.printf("Calibration step finished");
Jellehierck 25:a1be4cf2ab0b 364 }
Jellehierck 25:a1be4cf2ab0b 365 }
Jellehierck 23:8a0a0b959af1 366
Jellehierck 26:7e81c7db6e7a 367 void do_emg_operation()
Jellehierck 26:7e81c7db6e7a 368 {
Jellehierck 25:a1be4cf2ab0b 369 // Entry function
Jellehierck 25:a1be4cf2ab0b 370 if ( emg_state_changed == true ) {
Jellehierck 26:7e81c7db6e7a 371 emg_state_changed = false;
Jellehierck 26:7e81c7db6e7a 372 double margin_percentage = 10; // Set up % margin for rest
Jellehierck 26:7e81c7db6e7a 373
Jellehierck 26:7e81c7db6e7a 374 emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 375 emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 376 emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 377 emg2_th = emg2_rest * emg2_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 378 emg3_factor = 1 / emg3_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 379 emg3_th = emg3_rest * emg3_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 25:a1be4cf2ab0b 380 }
Jellehierck 25:a1be4cf2ab0b 381
Jellehierck 25:a1be4cf2ab0b 382 // Do stuff until end condition is met
Jellehierck 26:7e81c7db6e7a 383
Jellehierck 26:7e81c7db6e7a 384 double emg1_norm = emg1_env * emg1_factor;
Jellehierck 26:7e81c7db6e7a 385 double emg2_norm = emg2_env * emg2_factor;
Jellehierck 26:7e81c7db6e7a 386 double emg3_norm = emg3_env * emg3_factor;
Jellehierck 26:7e81c7db6e7a 387
Jellehierck 26:7e81c7db6e7a 388 if ( emg1_norm < emg1_th ) {
Jellehierck 26:7e81c7db6e7a 389 emg1_out = 0.0;
Jellehierck 26:7e81c7db6e7a 390 } else if ( emg1_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 391 emg1_out = 1.0;
Jellehierck 26:7e81c7db6e7a 392 } else {
Jellehierck 26:7e81c7db6e7a 393 emg1_out = rescale(emg1_norm, emg1_th, 1, 0, 1);
Jellehierck 26:7e81c7db6e7a 394 }
Jellehierck 26:7e81c7db6e7a 395
Jellehierck 26:7e81c7db6e7a 396 if ( emg2_norm < emg2_th ) {
Jellehierck 26:7e81c7db6e7a 397 emg2_out = 0.0;
Jellehierck 26:7e81c7db6e7a 398 } else if ( emg2_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 399 emg2_out = 1.0;
Jellehierck 26:7e81c7db6e7a 400 } else {
Jellehierck 26:7e81c7db6e7a 401 emg2_out = rescale(emg2_norm, emg2_th, 1, 0, 1);
Jellehierck 26:7e81c7db6e7a 402 }
Jellehierck 26:7e81c7db6e7a 403
Jellehierck 26:7e81c7db6e7a 404 if ( emg3_norm < emg3_th ) {
Jellehierck 26:7e81c7db6e7a 405 emg3_out = 0.0;
Jellehierck 26:7e81c7db6e7a 406 } else if ( emg3_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 407 emg3_out = 1.0;
Jellehierck 26:7e81c7db6e7a 408 } else {
Jellehierck 26:7e81c7db6e7a 409 emg3_out = rescale(emg3_norm, emg3_th, 1, 0, 1);
Jellehierck 26:7e81c7db6e7a 410 }
Jellehierck 25:a1be4cf2ab0b 411
Jellehierck 25:a1be4cf2ab0b 412 // State transition guard
Jellehierck 26:7e81c7db6e7a 413 if ( false ) {
Jellehierck 26:7e81c7db6e7a 414 emg_curr_state = emg_wait;
Jellehierck 26:7e81c7db6e7a 415 emg_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 416 // More functions
Jellehierck 23:8a0a0b959af1 417 }
Jellehierck 23:8a0a0b959af1 418 }
Jellehierck 23:8a0a0b959af1 419
Jellehierck 23:8a0a0b959af1 420 /*
Jellehierck 23:8a0a0b959af1 421 ------ EMG SUBSTATE MACHINE ------
Jellehierck 23:8a0a0b959af1 422 */
Jellehierck 23:8a0a0b959af1 423 void emg_state_machine()
Jellehierck 23:8a0a0b959af1 424 {
Jellehierck 23:8a0a0b959af1 425 switch(emg_curr_state) {
Jellehierck 23:8a0a0b959af1 426 case emg_wait:
Jellehierck 25:a1be4cf2ab0b 427 do_emg_wait();
Jellehierck 23:8a0a0b959af1 428 break;
Jellehierck 23:8a0a0b959af1 429 case emg_cal_MVC:
Jellehierck 23:8a0a0b959af1 430 do_emg_cal();
Jellehierck 23:8a0a0b959af1 431 break;
Jellehierck 23:8a0a0b959af1 432 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 433 do_emg_cal();
Jellehierck 23:8a0a0b959af1 434 break;
Jellehierck 23:8a0a0b959af1 435 case emg_operation:
Jellehierck 26:7e81c7db6e7a 436 do_emg_operation();
Jellehierck 23:8a0a0b959af1 437 break;
Jellehierck 23:8a0a0b959af1 438 }
Jellehierck 23:8a0a0b959af1 439 }
Jellehierck 23:8a0a0b959af1 440
Jellehierck 25:a1be4cf2ab0b 441 // Global loop of program
Jellehierck 25:a1be4cf2ab0b 442 void tickGlobalFunc()
Jellehierck 25:a1be4cf2ab0b 443 {
Jellehierck 25:a1be4cf2ab0b 444 sampleSignal();
Jellehierck 25:a1be4cf2ab0b 445 emg_state_machine();
Jellehierck 25:a1be4cf2ab0b 446 // controller();
Jellehierck 25:a1be4cf2ab0b 447 // outputToMotors();
Jellehierck 25:a1be4cf2ab0b 448 }
Jellehierck 25:a1be4cf2ab0b 449
Jellehierck 23:8a0a0b959af1 450 void main()
Jellehierck 23:8a0a0b959af1 451 {
Jellehierck 23:8a0a0b959af1 452 pc.baud(115200); // MODSERIAL rate
Jellehierck 23:8a0a0b959af1 453 pc.printf("Starting\r\n");
Jellehierck 23:8a0a0b959af1 454
Jellehierck 23:8a0a0b959af1 455 // tickSample.attach(&sample, Ts); // Initialize sample ticker
Jellehierck 23:8a0a0b959af1 456
Jellehierck 23:8a0a0b959af1 457 // Create BQ chains to reduce computations
Jellehierck 23:8a0a0b959af1 458 bqc1_notch.add( &bq1_notch );
Jellehierck 23:8a0a0b959af1 459 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 23:8a0a0b959af1 460 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 23:8a0a0b959af1 461
Jellehierck 23:8a0a0b959af1 462 bqc2_notch.add( &bq2_notch );
Jellehierck 23:8a0a0b959af1 463 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 23:8a0a0b959af1 464 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 23:8a0a0b959af1 465
Jellehierck 23:8a0a0b959af1 466 bqc3_notch.add( &bq3_notch );
Jellehierck 23:8a0a0b959af1 467 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 23:8a0a0b959af1 468 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 23:8a0a0b959af1 469
Jellehierck 23:8a0a0b959af1 470 led_b = 1; // Turn blue led off at startup
Jellehierck 23:8a0a0b959af1 471 led_g = 1; // Turn green led off at startup
Jellehierck 23:8a0a0b959af1 472 led_r = 1; // Turn red led off at startup
Jellehierck 23:8a0a0b959af1 473
Jellehierck 23:8a0a0b959af1 474 // If any filter chain is unstable, red led will light up
Jellehierck 25:a1be4cf2ab0b 475 if (checkBQChainStable()) {
Jellehierck 23:8a0a0b959af1 476 led_r = 1; // LED off
Jellehierck 23:8a0a0b959af1 477 } else {
Jellehierck 23:8a0a0b959af1 478 led_r = 0; // LED on
Jellehierck 6:5437cc97e1e6 479 }
Jellehierck 25:a1be4cf2ab0b 480 emg_curr_state = emg_wait;
Jellehierck 6:5437cc97e1e6 481
Jellehierck 25:a1be4cf2ab0b 482 tickGlobal.attach( &tickGlobalFunc, Ts );
Jellehierck 25:a1be4cf2ab0b 483
Jellehierck 25:a1be4cf2ab0b 484 button1.fall( &button1Press ); // Run MVC calibration on button press
Jellehierck 25:a1be4cf2ab0b 485 button2.fall( &button2Press ); // Run rest calibration on button press
Jellehierck 8:ea3de43c9e8b 486
Jellehierck 23:8a0a0b959af1 487 while(true) {
Jellehierck 7:7a088536f1c9 488
Jellehierck 23:8a0a0b959af1 489 // Show that system is running
Jellehierck 23:8a0a0b959af1 490 // led_g = !led_g;
Jellehierck 25:a1be4cf2ab0b 491 pc.printf("currentState: %i vectors size: %i %i %i\r\n", emg_curr_state, emg1_cal_size, emg2_cal_size, emg3_cal_size);
Jellehierck 23:8a0a0b959af1 492 wait(1.0f);
Jellehierck 23:8a0a0b959af1 493 }
Jellehierck 23:8a0a0b959af1 494 }