De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@25:a1be4cf2ab0b, 2019-10-25 (annotated)
- Committer:
- Jellehierck
- Date:
- Fri Oct 25 13:55:49 2019 +0000
- Revision:
- 25:a1be4cf2ab0b
- Parent:
- 24:540c284e881d
- Child:
- 26:7e81c7db6e7a
EMG State machine is working except the make scale function
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 | 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 | 25:a1be4cf2ab0b | 32 | enum EMG_States { emg_wait, emg_cal_MVC, emg_cal_rest, emg_make_scale, 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 | 12:70f0710400c2 | 50 | double emg1_MVC; |
Jellehierck | 12:70f0710400c2 | 51 | double emg1_MVC_stdev; |
Jellehierck | 12:70f0710400c2 | 52 | double emg1_rest; |
Jellehierck | 12:70f0710400c2 | 53 | double emg1_rest_stdev; |
Jellehierck | 7:7a088536f1c9 | 54 | vector<double> emg1_cal; |
Jellehierck | 25:a1be4cf2ab0b | 55 | int emg1_cal_size; |
Jellehierck | 7:7a088536f1c9 | 56 | |
Jellehierck | 15:421d3d9c563b | 57 | double emg2; |
Jellehierck | 15:421d3d9c563b | 58 | double emg2_MVC; |
Jellehierck | 15:421d3d9c563b | 59 | double emg2_MVC_stdev; |
Jellehierck | 15:421d3d9c563b | 60 | double emg2_rest; |
Jellehierck | 15:421d3d9c563b | 61 | double emg2_rest_stdev; |
Jellehierck | 15:421d3d9c563b | 62 | vector<double> emg2_cal; |
Jellehierck | 25:a1be4cf2ab0b | 63 | int emg2_cal_size; |
IsaRobin | 0:6972d0e91af1 | 64 | |
Jellehierck | 15:421d3d9c563b | 65 | double emg3; |
Jellehierck | 15:421d3d9c563b | 66 | double emg3_MVC; |
Jellehierck | 15:421d3d9c563b | 67 | double emg3_MVC_stdev; |
Jellehierck | 15:421d3d9c563b | 68 | double emg3_rest; |
Jellehierck | 15:421d3d9c563b | 69 | double emg3_rest_stdev; |
Jellehierck | 15:421d3d9c563b | 70 | vector<double> emg3_cal; |
Jellehierck | 25:a1be4cf2ab0b | 71 | int emg3_cal_size; |
Jellehierck | 15:421d3d9c563b | 72 | |
Jellehierck | 15:421d3d9c563b | 73 | // Initialize tickers and timeouts |
Jellehierck | 4:09a01d2db8f7 | 74 | Ticker tickSample; |
Jellehierck | 15:421d3d9c563b | 75 | Ticker tickSampleCalibration; |
Jellehierck | 24:540c284e881d | 76 | Ticker tickGlobal; // Set global ticker |
Jellehierck | 22:9079c6c0d898 | 77 | Timer timerCalibration; |
Jellehierck | 4:09a01d2db8f7 | 78 | |
Jellehierck | 15:421d3d9c563b | 79 | /* |
Jellehierck | 15:421d3d9c563b | 80 | ------ GLOBAL VARIABLES ------ |
Jellehierck | 15:421d3d9c563b | 81 | */ |
Jellehierck | 11:042170a9b93a | 82 | const double Fs = 500; // Sampling frequency (s) |
Jellehierck | 11:042170a9b93a | 83 | const double Tcal = 10.0f; // Calibration duration (s) |
Jellehierck | 15:421d3d9c563b | 84 | int trim_cal = 1; // Trim transient behaviour of calibration (s) |
Jellehierck | 4:09a01d2db8f7 | 85 | |
Jellehierck | 15:421d3d9c563b | 86 | // Calculate global variables |
Jellehierck | 15:421d3d9c563b | 87 | const double Ts = 1/Fs; // Sampling time (s) |
Jellehierck | 15:421d3d9c563b | 88 | int trim_cal_i = trim_cal * Fs - 1; // Determine iterator of transient behaviour trim |
Jellehierck | 15:421d3d9c563b | 89 | |
Jellehierck | 15:421d3d9c563b | 90 | // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB: |
Jellehierck | 19:94dc52f8a59e | 91 | BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21 |
Jellehierck | 19:94dc52f8a59e | 92 | BiQuad bq2_notch = bq1_notch; |
Jellehierck | 19:94dc52f8a59e | 93 | BiQuad bq3_notch = bq1_notch; |
Jellehierck | 19:94dc52f8a59e | 94 | BiQuadChain bqc1_notch; |
Jellehierck | 19:94dc52f8a59e | 95 | BiQuadChain bqc2_notch; |
Jellehierck | 19:94dc52f8a59e | 96 | BiQuadChain bqc3_notch; |
Jellehierck | 1:059cca298369 | 97 | |
Jellehierck | 15:421d3d9c563b | 98 | // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB |
Jellehierck | 19:94dc52f8a59e | 99 | BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21 |
Jellehierck | 19:94dc52f8a59e | 100 | BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22 |
Jellehierck | 19:94dc52f8a59e | 101 | BiQuad bq2_H1 = bq1_H1; |
Jellehierck | 19:94dc52f8a59e | 102 | BiQuad bq2_H2 = bq1_H2; |
Jellehierck | 19:94dc52f8a59e | 103 | BiQuad bq3_H1 = bq1_H1; |
Jellehierck | 19:94dc52f8a59e | 104 | BiQuad bq3_H2 = bq1_H2; |
Jellehierck | 20:0e9218673aa8 | 105 | BiQuadChain bqc1_high; |
Jellehierck | 19:94dc52f8a59e | 106 | BiQuadChain bqc2_high; |
Jellehierck | 19:94dc52f8a59e | 107 | BiQuadChain bqc3_high; |
IsaRobin | 0:6972d0e91af1 | 108 | |
Jellehierck | 15:421d3d9c563b | 109 | // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB: |
Jellehierck | 19:94dc52f8a59e | 110 | 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 | 111 | BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22 |
Jellehierck | 19:94dc52f8a59e | 112 | BiQuad bq2_L1 = bq1_L1; |
Jellehierck | 19:94dc52f8a59e | 113 | BiQuad bq2_L2 = bq1_L2; |
Jellehierck | 19:94dc52f8a59e | 114 | BiQuad bq3_L1 = bq1_L1; |
Jellehierck | 19:94dc52f8a59e | 115 | BiQuad bq3_L2 = bq1_L2; |
Jellehierck | 19:94dc52f8a59e | 116 | BiQuadChain bqc1_low; |
Jellehierck | 19:94dc52f8a59e | 117 | BiQuadChain bqc2_low; |
Jellehierck | 19:94dc52f8a59e | 118 | BiQuadChain bqc3_low; |
Jellehierck | 2:d3e9788ab1b3 | 119 | |
Jellehierck | 15:421d3d9c563b | 120 | /* |
Jellehierck | 15:421d3d9c563b | 121 | ------ HELPER FUNCTIONS ------ |
Jellehierck | 15:421d3d9c563b | 122 | */ |
Jellehierck | 15:421d3d9c563b | 123 | |
Jellehierck | 15:421d3d9c563b | 124 | // Return mean of vector |
Jellehierck | 8:ea3de43c9e8b | 125 | double getMean(const vector<double> &vect) |
Jellehierck | 7:7a088536f1c9 | 126 | { |
Jellehierck | 8:ea3de43c9e8b | 127 | double sum = 0.0; |
Jellehierck | 8:ea3de43c9e8b | 128 | int vect_n = vect.size(); |
Jellehierck | 8:ea3de43c9e8b | 129 | |
Jellehierck | 8:ea3de43c9e8b | 130 | for ( int i = 0; i < vect_n; i++ ) { |
Jellehierck | 8:ea3de43c9e8b | 131 | sum += vect[i]; |
Jellehierck | 8:ea3de43c9e8b | 132 | } |
Jellehierck | 8:ea3de43c9e8b | 133 | return sum/vect_n; |
Jellehierck | 8:ea3de43c9e8b | 134 | } |
Jellehierck | 8:ea3de43c9e8b | 135 | |
Jellehierck | 15:421d3d9c563b | 136 | // Return standard deviation of vector |
Jellehierck | 8:ea3de43c9e8b | 137 | double getStdev(const vector<double> &vect, const double vect_mean) |
Jellehierck | 8:ea3de43c9e8b | 138 | { |
Jellehierck | 8:ea3de43c9e8b | 139 | double sum2 = 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 | sum2 += pow( vect[i] - vect_mean, 2 ); |
Jellehierck | 8:ea3de43c9e8b | 144 | } |
Jellehierck | 8:ea3de43c9e8b | 145 | double output = sqrt( sum2 / vect_n ); |
Jellehierck | 8:ea3de43c9e8b | 146 | return output; |
Jellehierck | 7:7a088536f1c9 | 147 | } |
Jellehierck | 7:7a088536f1c9 | 148 | |
Jellehierck | 25:a1be4cf2ab0b | 149 | // Handle button press |
Jellehierck | 25:a1be4cf2ab0b | 150 | void button1Press() |
Jellehierck | 25:a1be4cf2ab0b | 151 | { |
Jellehierck | 25:a1be4cf2ab0b | 152 | button1_pressed = true; |
Jellehierck | 25:a1be4cf2ab0b | 153 | } |
Jellehierck | 25:a1be4cf2ab0b | 154 | |
Jellehierck | 25:a1be4cf2ab0b | 155 | // Handle button press |
Jellehierck | 25:a1be4cf2ab0b | 156 | void button2Press() |
Jellehierck | 25:a1be4cf2ab0b | 157 | { |
Jellehierck | 25:a1be4cf2ab0b | 158 | button2_pressed = true; |
Jellehierck | 25:a1be4cf2ab0b | 159 | } |
Jellehierck | 25:a1be4cf2ab0b | 160 | |
Jellehierck | 15:421d3d9c563b | 161 | // Check filter stability |
Jellehierck | 6:5437cc97e1e6 | 162 | bool checkBQChainStable() |
Jellehierck | 6:5437cc97e1e6 | 163 | { |
Jellehierck | 19:94dc52f8a59e | 164 | bool n_stable = bqc1_notch.stable(); |
Jellehierck | 19:94dc52f8a59e | 165 | bool hp_stable = bqc1_high.stable(); |
Jellehierck | 19:94dc52f8a59e | 166 | bool l_stable = bqc1_low.stable(); |
Jellehierck | 6:5437cc97e1e6 | 167 | |
Jellehierck | 11:042170a9b93a | 168 | if (n_stable && hp_stable && l_stable) { |
Jellehierck | 6:5437cc97e1e6 | 169 | return true; |
Jellehierck | 6:5437cc97e1e6 | 170 | } else { |
Jellehierck | 6:5437cc97e1e6 | 171 | return false; |
Jellehierck | 6:5437cc97e1e6 | 172 | } |
Jellehierck | 6:5437cc97e1e6 | 173 | } |
Jellehierck | 6:5437cc97e1e6 | 174 | |
Jellehierck | 15:421d3d9c563b | 175 | /* |
Jellehierck | 15:421d3d9c563b | 176 | ------ TICKER FUNCTIONS ------ |
Jellehierck | 15:421d3d9c563b | 177 | */ |
Jellehierck | 25:a1be4cf2ab0b | 178 | void sampleSignal() |
Jellehierck | 7:7a088536f1c9 | 179 | { |
Jellehierck | 25:a1be4cf2ab0b | 180 | if (sampleNow == true) { |
Jellehierck | 25:a1be4cf2ab0b | 181 | // Read EMG inputs |
Jellehierck | 25:a1be4cf2ab0b | 182 | emg1 = emg1_in.read(); |
Jellehierck | 25:a1be4cf2ab0b | 183 | emg2 = emg2_in.read(); |
Jellehierck | 25:a1be4cf2ab0b | 184 | emg3 = emg3_in.read(); |
Jellehierck | 25:a1be4cf2ab0b | 185 | |
Jellehierck | 7:7a088536f1c9 | 186 | |
Jellehierck | 25:a1be4cf2ab0b | 187 | double emg1_n = bqc1_notch.step( emg1 ); // Filter notch |
Jellehierck | 25:a1be4cf2ab0b | 188 | double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass |
Jellehierck | 25:a1be4cf2ab0b | 189 | double emg1_rectify = fabs( emg1_hp ); // Rectify |
Jellehierck | 25:a1be4cf2ab0b | 190 | double emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope) |
Jellehierck | 25:a1be4cf2ab0b | 191 | |
Jellehierck | 25:a1be4cf2ab0b | 192 | double emg2_n = bqc2_notch.step( emg2 ); // Filter notch |
Jellehierck | 25:a1be4cf2ab0b | 193 | double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass |
Jellehierck | 25:a1be4cf2ab0b | 194 | double emg2_rectify = fabs( emg2_hp ); // Rectify |
Jellehierck | 25:a1be4cf2ab0b | 195 | double emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope) |
Jellehierck | 20:0e9218673aa8 | 196 | |
Jellehierck | 25:a1be4cf2ab0b | 197 | double emg3_n = bqc3_notch.step( emg3 ); // Filter notch |
Jellehierck | 25:a1be4cf2ab0b | 198 | double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass |
Jellehierck | 25:a1be4cf2ab0b | 199 | double emg3_rectify = fabs( emg3_hp ); // Rectify |
Jellehierck | 25:a1be4cf2ab0b | 200 | double emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope) |
Jellehierck | 20:0e9218673aa8 | 201 | |
Jellehierck | 25:a1be4cf2ab0b | 202 | scope.set(0, emg1_n); |
Jellehierck | 25:a1be4cf2ab0b | 203 | scope.set(1, emg2_n); |
Jellehierck | 20:0e9218673aa8 | 204 | |
Jellehierck | 25:a1be4cf2ab0b | 205 | scope.set(2, emg1_env ); |
Jellehierck | 25:a1be4cf2ab0b | 206 | scope.set(3, emg2_env ); |
Jellehierck | 25:a1be4cf2ab0b | 207 | scope.send(); |
Jellehierck | 25:a1be4cf2ab0b | 208 | |
Jellehierck | 25:a1be4cf2ab0b | 209 | if (calibrateNow) { |
Jellehierck | 25:a1be4cf2ab0b | 210 | emg1_cal.push_back(emg1_env); // Add values to calibration vector |
Jellehierck | 25:a1be4cf2ab0b | 211 | emg1_cal_size = emg1_cal.size(); |
Jellehierck | 25:a1be4cf2ab0b | 212 | emg2_cal.push_back(emg2_env); // Add values to calibration vector |
Jellehierck | 25:a1be4cf2ab0b | 213 | emg2_cal_size = emg1_cal.size(); |
Jellehierck | 25:a1be4cf2ab0b | 214 | emg3_cal.push_back(emg3_env); // Add values to calibration vector |
Jellehierck | 25:a1be4cf2ab0b | 215 | emg3_cal_size = emg1_cal.size(); |
Jellehierck | 25:a1be4cf2ab0b | 216 | } |
Jellehierck | 25:a1be4cf2ab0b | 217 | } |
Jellehierck | 7:7a088536f1c9 | 218 | } |
Jellehierck | 7:7a088536f1c9 | 219 | |
Jellehierck | 15:421d3d9c563b | 220 | /* |
Jellehierck | 25:a1be4cf2ab0b | 221 | ------ EMG CALIBRATION STATES ------ |
Jellehierck | 15:421d3d9c563b | 222 | */ |
Jellehierck | 15:421d3d9c563b | 223 | |
Jellehierck | 25:a1be4cf2ab0b | 224 | /* ALL STATES HAVE THE FOLLOWING FORM: |
Jellehierck | 25:a1be4cf2ab0b | 225 | void do_state_function() { |
Jellehierck | 25:a1be4cf2ab0b | 226 | // Entry function |
Jellehierck | 25:a1be4cf2ab0b | 227 | if ( emg_state_changed == true ) { |
Jellehierck | 25:a1be4cf2ab0b | 228 | emg_state_changed == false; |
Jellehierck | 25:a1be4cf2ab0b | 229 | // More functions |
Jellehierck | 25:a1be4cf2ab0b | 230 | } |
Jellehierck | 25:a1be4cf2ab0b | 231 | |
Jellehierck | 25:a1be4cf2ab0b | 232 | // Do stuff until end condition is met |
Jellehierck | 25:a1be4cf2ab0b | 233 | doStuff(); |
Jellehierck | 25:a1be4cf2ab0b | 234 | |
Jellehierck | 25:a1be4cf2ab0b | 235 | // State transition guard |
Jellehierck | 25:a1be4cf2ab0b | 236 | if ( endCondition == true ) { |
Jellehierck | 25:a1be4cf2ab0b | 237 | emg_curr_state == next_state; |
Jellehierck | 25:a1be4cf2ab0b | 238 | emg_state_changed == true; |
Jellehierck | 25:a1be4cf2ab0b | 239 | // More functions |
Jellehierck | 25:a1be4cf2ab0b | 240 | } |
Jellehierck | 25:a1be4cf2ab0b | 241 | } |
Jellehierck | 25:a1be4cf2ab0b | 242 | */ |
Jellehierck | 25:a1be4cf2ab0b | 243 | |
Jellehierck | 25:a1be4cf2ab0b | 244 | // Finish up calibration |
Jellehierck | 22:9079c6c0d898 | 245 | void calibrationFinished() |
Jellehierck | 7:7a088536f1c9 | 246 | { |
Jellehierck | 22:9079c6c0d898 | 247 | switch( emg_curr_state ) { |
Jellehierck | 22:9079c6c0d898 | 248 | case emg_cal_MVC: |
Jellehierck | 22:9079c6c0d898 | 249 | emg1_MVC = getMean(emg1_cal); // Store MVC globally |
Jellehierck | 23:8a0a0b959af1 | 250 | emg1_MVC_stdev = getStdev(emg1_cal, emg1_MVC); // Store MVC stdev globally |
Jellehierck | 21:e4569b47945e | 251 | |
Jellehierck | 22:9079c6c0d898 | 252 | emg2_MVC = getMean(emg2_cal); // Store MVC globally |
Jellehierck | 23:8a0a0b959af1 | 253 | emg2_MVC_stdev = getStdev(emg2_cal, emg2_MVC); // Store MVC stdev globally |
Jellehierck | 25:a1be4cf2ab0b | 254 | |
Jellehierck | 25:a1be4cf2ab0b | 255 | emg3_MVC = getMean(emg3_cal); // Store MVC globally |
Jellehierck | 25:a1be4cf2ab0b | 256 | emg3_MVC_stdev = getStdev(emg3_cal, emg3_MVC); // Store MVC stdev globally |
Jellehierck | 25:a1be4cf2ab0b | 257 | |
Jellehierck | 25:a1be4cf2ab0b | 258 | |
Jellehierck | 25:a1be4cf2ab0b | 259 | emg_MVC_cal_done = true; |
Jellehierck | 22:9079c6c0d898 | 260 | break; |
Jellehierck | 22:9079c6c0d898 | 261 | case emg_cal_rest: |
Jellehierck | 23:8a0a0b959af1 | 262 | emg1_rest = getMean(emg1_cal); // Store rest EMG globally |
Jellehierck | 23:8a0a0b959af1 | 263 | emg1_rest_stdev = getStdev(emg1_cal, emg1_rest); // Store rest stdev globally |
Jellehierck | 20:0e9218673aa8 | 264 | |
Jellehierck | 23:8a0a0b959af1 | 265 | emg2_rest = getMean(emg2_cal); // Store rest EMG globally |
Jellehierck | 23:8a0a0b959af1 | 266 | emg2_rest_stdev = getStdev(emg2_cal, emg2_rest); // Store MVC stdev globally |
Jellehierck | 25:a1be4cf2ab0b | 267 | |
Jellehierck | 25:a1be4cf2ab0b | 268 | emg3_rest = getMean(emg3_cal); // Store rest EMG globally |
Jellehierck | 25:a1be4cf2ab0b | 269 | emg3_rest_stdev = getStdev(emg3_cal, emg3_rest); // Store MVC stdev globally |
Jellehierck | 25:a1be4cf2ab0b | 270 | |
Jellehierck | 25:a1be4cf2ab0b | 271 | |
Jellehierck | 25:a1be4cf2ab0b | 272 | emg_rest_cal_done = true; |
Jellehierck | 22:9079c6c0d898 | 273 | break; |
Jellehierck | 22:9079c6c0d898 | 274 | } |
Jellehierck | 23:8a0a0b959af1 | 275 | vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow |
Jellehierck | 23:8a0a0b959af1 | 276 | vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow |
Jellehierck | 25:a1be4cf2ab0b | 277 | vector<double>().swap(emg3_cal); // Empty vector to prevent memory overflow |
Jellehierck | 25:a1be4cf2ab0b | 278 | } |
Jellehierck | 25:a1be4cf2ab0b | 279 | |
Jellehierck | 25:a1be4cf2ab0b | 280 | // EMG Waiting state |
Jellehierck | 25:a1be4cf2ab0b | 281 | void do_emg_wait() |
Jellehierck | 25:a1be4cf2ab0b | 282 | { |
Jellehierck | 25:a1be4cf2ab0b | 283 | // Entry function |
Jellehierck | 25:a1be4cf2ab0b | 284 | if ( emg_state_changed == true ) { |
Jellehierck | 25:a1be4cf2ab0b | 285 | emg_state_changed = false; |
Jellehierck | 25:a1be4cf2ab0b | 286 | // pc.printf("State: emg_wait\r\n"); |
Jellehierck | 25:a1be4cf2ab0b | 287 | } |
Jellehierck | 25:a1be4cf2ab0b | 288 | |
Jellehierck | 25:a1be4cf2ab0b | 289 | // Do stuff until end condition is met |
Jellehierck | 25:a1be4cf2ab0b | 290 | |
Jellehierck | 25:a1be4cf2ab0b | 291 | // State transition guard |
Jellehierck | 25:a1be4cf2ab0b | 292 | if ( button1_pressed ) { |
Jellehierck | 25:a1be4cf2ab0b | 293 | button1_pressed = false; |
Jellehierck | 25:a1be4cf2ab0b | 294 | emg_curr_state = emg_cal_MVC; |
Jellehierck | 25:a1be4cf2ab0b | 295 | emg_state_changed = true; |
Jellehierck | 25:a1be4cf2ab0b | 296 | } else if ( button2_pressed ) { |
Jellehierck | 25:a1be4cf2ab0b | 297 | button2_pressed = false; |
Jellehierck | 25:a1be4cf2ab0b | 298 | emg_curr_state = emg_cal_rest; |
Jellehierck | 25:a1be4cf2ab0b | 299 | emg_state_changed = true; |
Jellehierck | 25:a1be4cf2ab0b | 300 | } else if ( emg_MVC_cal_done && emg_rest_cal_done ) { |
Jellehierck | 25:a1be4cf2ab0b | 301 | emg_curr_state = emg_make_scale; |
Jellehierck | 25:a1be4cf2ab0b | 302 | emg_state_changed = true; |
Jellehierck | 25:a1be4cf2ab0b | 303 | } |
Jellehierck | 7:7a088536f1c9 | 304 | } |
Jellehierck | 7:7a088536f1c9 | 305 | |
Jellehierck | 21:e4569b47945e | 306 | // Run calibration of EMG |
Jellehierck | 21:e4569b47945e | 307 | void do_emg_cal() |
Jellehierck | 21:e4569b47945e | 308 | { |
Jellehierck | 22:9079c6c0d898 | 309 | if ( emg_state_changed == true ) { |
Jellehierck | 25:a1be4cf2ab0b | 310 | emg_state_changed = false; |
Jellehierck | 25:a1be4cf2ab0b | 311 | // pc.printf("Starting calibration :"); |
Jellehierck | 21:e4569b47945e | 312 | led_b = 0; // Turn on calibration led |
Jellehierck | 22:9079c6c0d898 | 313 | timerCalibration.reset(); |
Jellehierck | 22:9079c6c0d898 | 314 | timerCalibration.start(); |
Jellehierck | 25:a1be4cf2ab0b | 315 | sampleNow = true; // Enable signal sampling in sampleSignal() |
Jellehierck | 25:a1be4cf2ab0b | 316 | calibrateNow = true; |
Jellehierck | 25:a1be4cf2ab0b | 317 | |
Jellehierck | 25:a1be4cf2ab0b | 318 | emg1_cal.reserve(Fs * Tcal); |
Jellehierck | 25:a1be4cf2ab0b | 319 | emg2_cal.reserve(Fs * Tcal); |
Jellehierck | 25:a1be4cf2ab0b | 320 | emg3_cal.reserve(Fs * Tcal); |
Jellehierck | 22:9079c6c0d898 | 321 | |
Jellehierck | 22:9079c6c0d898 | 322 | switch( emg_curr_state ) { |
Jellehierck | 21:e4569b47945e | 323 | case emg_cal_MVC: |
Jellehierck | 25:a1be4cf2ab0b | 324 | // pc.printf("MVC\r\n"); |
Jellehierck | 21:e4569b47945e | 325 | break; |
Jellehierck | 21:e4569b47945e | 326 | case emg_cal_rest: |
Jellehierck | 25:a1be4cf2ab0b | 327 | // pc.printf("Rest\r\n"); |
Jellehierck | 21:e4569b47945e | 328 | break; |
Jellehierck | 21:e4569b47945e | 329 | } |
Jellehierck | 22:9079c6c0d898 | 330 | } |
Jellehierck | 7:7a088536f1c9 | 331 | |
Jellehierck | 23:8a0a0b959af1 | 332 | // Allemaal dingen doen tot de end conditions true zijn |
Jellehierck | 23:8a0a0b959af1 | 333 | |
Jellehierck | 24:540c284e881d | 334 | if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished |
Jellehierck | 25:a1be4cf2ab0b | 335 | sampleNow = false; // Disable signal sampling in sampleSignal() |
Jellehierck | 25:a1be4cf2ab0b | 336 | calibrateNow = false; // Disable calibration sampling |
Jellehierck | 23:8a0a0b959af1 | 337 | |
Jellehierck | 23:8a0a0b959af1 | 338 | calibrationFinished(); // Process calibration data |
Jellehierck | 23:8a0a0b959af1 | 339 | led_b = 1; // Turn off calibration led |
Jellehierck | 23:8a0a0b959af1 | 340 | |
Jellehierck | 25:a1be4cf2ab0b | 341 | emg_curr_state = emg_wait; // Set next state |
Jellehierck | 25:a1be4cf2ab0b | 342 | emg_state_changed = true; // State has changed (to run |
Jellehierck | 25:a1be4cf2ab0b | 343 | |
Jellehierck | 25:a1be4cf2ab0b | 344 | // pc.printf("Calibration step finished"); |
Jellehierck | 25:a1be4cf2ab0b | 345 | } |
Jellehierck | 25:a1be4cf2ab0b | 346 | } |
Jellehierck | 23:8a0a0b959af1 | 347 | |
Jellehierck | 25:a1be4cf2ab0b | 348 | void do_emg_make_scale() { |
Jellehierck | 25:a1be4cf2ab0b | 349 | // Entry function |
Jellehierck | 25:a1be4cf2ab0b | 350 | if ( emg_state_changed == true ) { |
Jellehierck | 25:a1be4cf2ab0b | 351 | emg_state_changed == false; |
Jellehierck | 25:a1be4cf2ab0b | 352 | // More functions |
Jellehierck | 25:a1be4cf2ab0b | 353 | } |
Jellehierck | 25:a1be4cf2ab0b | 354 | |
Jellehierck | 25:a1be4cf2ab0b | 355 | // Do stuff until end condition is met |
Jellehierck | 25:a1be4cf2ab0b | 356 | doStuff(); |
Jellehierck | 25:a1be4cf2ab0b | 357 | |
Jellehierck | 25:a1be4cf2ab0b | 358 | // State transition guard |
Jellehierck | 25:a1be4cf2ab0b | 359 | if ( endCondition == true ) { |
Jellehierck | 25:a1be4cf2ab0b | 360 | emg_curr_state == next_state; |
Jellehierck | 25:a1be4cf2ab0b | 361 | emg_state_changed == true; |
Jellehierck | 25:a1be4cf2ab0b | 362 | // More functions |
Jellehierck | 23:8a0a0b959af1 | 363 | } |
Jellehierck | 23:8a0a0b959af1 | 364 | } |
Jellehierck | 23:8a0a0b959af1 | 365 | |
Jellehierck | 23:8a0a0b959af1 | 366 | // Determine scale factors for operation mode |
Jellehierck | 23:8a0a0b959af1 | 367 | void makeScale() |
Jellehierck | 23:8a0a0b959af1 | 368 | { |
Jellehierck | 23:8a0a0b959af1 | 369 | double margin_percentage = 10; // Set up % margin for rest |
Jellehierck | 23:8a0a0b959af1 | 370 | double factor1 = 1 / emg1_MVC; // Factor to normalize MVC |
Jellehierck | 23:8a0a0b959af1 | 371 | double emg1_th = emg1_rest * factor1 + margin_percentage/100; // Set normalized rest threshold |
Jellehierck | 23:8a0a0b959af1 | 372 | |
Jellehierck | 25:a1be4cf2ab0b | 373 | // pc.printf("Factor: %f TH: %f\r\n", factor1, emg1_th); |
Jellehierck | 23:8a0a0b959af1 | 374 | } |
Jellehierck | 23:8a0a0b959af1 | 375 | |
Jellehierck | 23:8a0a0b959af1 | 376 | /* |
Jellehierck | 23:8a0a0b959af1 | 377 | ------ EMG SUBSTATE MACHINE ------ |
Jellehierck | 23:8a0a0b959af1 | 378 | */ |
Jellehierck | 23:8a0a0b959af1 | 379 | void emg_state_machine() |
Jellehierck | 23:8a0a0b959af1 | 380 | { |
Jellehierck | 23:8a0a0b959af1 | 381 | switch(emg_curr_state) { |
Jellehierck | 23:8a0a0b959af1 | 382 | case emg_wait: |
Jellehierck | 25:a1be4cf2ab0b | 383 | do_emg_wait(); |
Jellehierck | 23:8a0a0b959af1 | 384 | break; |
Jellehierck | 23:8a0a0b959af1 | 385 | case emg_cal_MVC: |
Jellehierck | 23:8a0a0b959af1 | 386 | do_emg_cal(); |
Jellehierck | 23:8a0a0b959af1 | 387 | break; |
Jellehierck | 23:8a0a0b959af1 | 388 | case emg_cal_rest: |
Jellehierck | 23:8a0a0b959af1 | 389 | do_emg_cal(); |
Jellehierck | 23:8a0a0b959af1 | 390 | break; |
Jellehierck | 23:8a0a0b959af1 | 391 | case emg_make_scale: |
Jellehierck | 25:a1be4cf2ab0b | 392 | do_emg_make_scale(); |
Jellehierck | 23:8a0a0b959af1 | 393 | break; |
Jellehierck | 23:8a0a0b959af1 | 394 | case emg_operation: |
Jellehierck | 23:8a0a0b959af1 | 395 | //do_emg_operation(); |
Jellehierck | 23:8a0a0b959af1 | 396 | break; |
Jellehierck | 23:8a0a0b959af1 | 397 | } |
Jellehierck | 23:8a0a0b959af1 | 398 | } |
Jellehierck | 23:8a0a0b959af1 | 399 | |
Jellehierck | 25:a1be4cf2ab0b | 400 | // Global loop of program |
Jellehierck | 25:a1be4cf2ab0b | 401 | void tickGlobalFunc() |
Jellehierck | 25:a1be4cf2ab0b | 402 | { |
Jellehierck | 25:a1be4cf2ab0b | 403 | sampleSignal(); |
Jellehierck | 25:a1be4cf2ab0b | 404 | emg_state_machine(); |
Jellehierck | 25:a1be4cf2ab0b | 405 | // controller(); |
Jellehierck | 25:a1be4cf2ab0b | 406 | // outputToMotors(); |
Jellehierck | 25:a1be4cf2ab0b | 407 | } |
Jellehierck | 25:a1be4cf2ab0b | 408 | |
Jellehierck | 23:8a0a0b959af1 | 409 | void main() |
Jellehierck | 23:8a0a0b959af1 | 410 | { |
Jellehierck | 23:8a0a0b959af1 | 411 | pc.baud(115200); // MODSERIAL rate |
Jellehierck | 23:8a0a0b959af1 | 412 | pc.printf("Starting\r\n"); |
Jellehierck | 23:8a0a0b959af1 | 413 | |
Jellehierck | 23:8a0a0b959af1 | 414 | // tickSample.attach(&sample, Ts); // Initialize sample ticker |
Jellehierck | 23:8a0a0b959af1 | 415 | |
Jellehierck | 23:8a0a0b959af1 | 416 | // Create BQ chains to reduce computations |
Jellehierck | 23:8a0a0b959af1 | 417 | bqc1_notch.add( &bq1_notch ); |
Jellehierck | 23:8a0a0b959af1 | 418 | bqc1_high.add( &bq1_H1 ).add( &bq1_H2 ); |
Jellehierck | 23:8a0a0b959af1 | 419 | bqc1_low.add( &bq1_L1 ).add( &bq1_L2 ); |
Jellehierck | 23:8a0a0b959af1 | 420 | |
Jellehierck | 23:8a0a0b959af1 | 421 | bqc2_notch.add( &bq2_notch ); |
Jellehierck | 23:8a0a0b959af1 | 422 | bqc2_high.add( &bq2_H1 ).add( &bq2_H2 ); |
Jellehierck | 23:8a0a0b959af1 | 423 | bqc2_low.add( &bq2_L1 ).add( &bq2_L2 ); |
Jellehierck | 23:8a0a0b959af1 | 424 | |
Jellehierck | 23:8a0a0b959af1 | 425 | bqc3_notch.add( &bq3_notch ); |
Jellehierck | 23:8a0a0b959af1 | 426 | bqc3_high.add( &bq3_H1 ).add( &bq3_H2 ); |
Jellehierck | 23:8a0a0b959af1 | 427 | bqc3_low.add( &bq3_L1 ).add( &bq3_L2 ); |
Jellehierck | 23:8a0a0b959af1 | 428 | |
Jellehierck | 23:8a0a0b959af1 | 429 | led_b = 1; // Turn blue led off at startup |
Jellehierck | 23:8a0a0b959af1 | 430 | led_g = 1; // Turn green led off at startup |
Jellehierck | 23:8a0a0b959af1 | 431 | led_r = 1; // Turn red led off at startup |
Jellehierck | 23:8a0a0b959af1 | 432 | |
Jellehierck | 23:8a0a0b959af1 | 433 | // If any filter chain is unstable, red led will light up |
Jellehierck | 25:a1be4cf2ab0b | 434 | if (checkBQChainStable()) { |
Jellehierck | 23:8a0a0b959af1 | 435 | led_r = 1; // LED off |
Jellehierck | 23:8a0a0b959af1 | 436 | } else { |
Jellehierck | 23:8a0a0b959af1 | 437 | led_r = 0; // LED on |
Jellehierck | 6:5437cc97e1e6 | 438 | } |
Jellehierck | 25:a1be4cf2ab0b | 439 | emg_curr_state = emg_wait; |
Jellehierck | 6:5437cc97e1e6 | 440 | |
Jellehierck | 25:a1be4cf2ab0b | 441 | tickGlobal.attach( &tickGlobalFunc, Ts ); |
Jellehierck | 25:a1be4cf2ab0b | 442 | |
Jellehierck | 25:a1be4cf2ab0b | 443 | button1.fall( &button1Press ); // Run MVC calibration on button press |
Jellehierck | 25:a1be4cf2ab0b | 444 | button2.fall( &button2Press ); // Run rest calibration on button press |
Jellehierck | 8:ea3de43c9e8b | 445 | |
Jellehierck | 23:8a0a0b959af1 | 446 | while(true) { |
Jellehierck | 7:7a088536f1c9 | 447 | |
Jellehierck | 23:8a0a0b959af1 | 448 | // Show that system is running |
Jellehierck | 23:8a0a0b959af1 | 449 | // led_g = !led_g; |
Jellehierck | 25:a1be4cf2ab0b | 450 | 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 | 451 | wait(1.0f); |
Jellehierck | 23:8a0a0b959af1 | 452 | } |
Jellehierck | 23:8a0a0b959af1 | 453 | } |