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@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?

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 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 }