De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@9:f6a935be28e1, 2019-10-21 (annotated)
- Committer:
- Jellehierck
- Date:
- Mon Oct 21 11:57:25 2019 +0000
- Revision:
- 9:f6a935be28e1
- Parent:
- 8:ea3de43c9e8b
Vector removed, replaced with array methods
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 | 2:d3e9788ab1b3 | 13 | // PC serial connection |
Jellehierck | 4:09a01d2db8f7 | 14 | HIDScope scope( 2 ); |
Jellehierck | 8:ea3de43c9e8b | 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 | 8:ea3de43c9e8b | 25 | DigitalOut led_b(LED_BLUE); |
Jellehierck | 8:ea3de43c9e8b | 26 | |
Jellehierck | 8:ea3de43c9e8b | 27 | // Buttons |
Jellehierck | 8:ea3de43c9e8b | 28 | InterruptIn button1(D11); |
Jellehierck | 8:ea3de43c9e8b | 29 | InterruptIn button2(D10); |
Jellehierck | 4:09a01d2db8f7 | 30 | |
IsaRobin | 0:6972d0e91af1 | 31 | //variablen voor EMG |
Jellehierck | 9:f6a935be28e1 | 32 | volatile double emg1; |
Jellehierck | 9:f6a935be28e1 | 33 | volatile double emg2; |
Jellehierck | 9:f6a935be28e1 | 34 | volatile double emg3; |
IsaRobin | 0:6972d0e91af1 | 35 | |
Jellehierck | 4:09a01d2db8f7 | 36 | // Initialize tickers |
Jellehierck | 4:09a01d2db8f7 | 37 | Ticker tickSample; |
Jellehierck | 7:7a088536f1c9 | 38 | Timeout timeoutCalibrationMVC; |
Jellehierck | 7:7a088536f1c9 | 39 | Ticker tickSampleCalibration; |
Jellehierck | 4:09a01d2db8f7 | 40 | |
Jellehierck | 9:f6a935be28e1 | 41 | // Initialize values |
Jellehierck | 9:f6a935be28e1 | 42 | const double Fs = 100; // sampling frequency (Hz) |
Jellehierck | 9:f6a935be28e1 | 43 | const double Ts = 1/Fs; // sampling time (s) |
Jellehierck | 9:f6a935be28e1 | 44 | const double T_cal = 5.0f; // Calibration duration (s) |
Jellehierck | 9:f6a935be28e1 | 45 | |
Jellehierck | 9:f6a935be28e1 | 46 | |
Jellehierck | 9:f6a935be28e1 | 47 | int i_cal = 0; // Global iterator of calibration |
Jellehierck | 9:f6a935be28e1 | 48 | const int n_cal = Fs * T_cal; // Number of elements of calibration |
Jellehierck | 9:f6a935be28e1 | 49 | double emg1_cal[n_cal]; // Initialize calibration array |
Jellehierck | 4:09a01d2db8f7 | 50 | |
Jellehierck | 3:c0ece64850db | 51 | // Notch filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB in the following form: |
Jellehierck | 3:c0ece64850db | 52 | // b01 b11 b21 a01 a11 a21 |
Jellehierck | 3:c0ece64850db | 53 | BiQuad bq_notch(0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); |
Jellehierck | 1:059cca298369 | 54 | |
Jellehierck | 3:c0ece64850db | 55 | // Highpass filter coefficients (butter 4th order @10Hz 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_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); |
Jellehierck | 3:c0ece64850db | 59 | BiQuad bq_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); |
Jellehierck | 4:09a01d2db8f7 | 60 | BiQuadChain bqc_notch_high; // Used to chain two 2nd other filters into a 4th order filter |
IsaRobin | 0:6972d0e91af1 | 61 | |
Jellehierck | 3:c0ece64850db | 62 | // Lowpass filter coefficients (butter 4th order @5Hz cutoff) from MATLAB in the following form: |
Jellehierck | 3:c0ece64850db | 63 | // b01 b11 b21 a01 a11 a21 |
Jellehierck | 3:c0ece64850db | 64 | // b02 b12 b22 a02 a12 a22 |
Jellehierck | 3:c0ece64850db | 65 | BiQuad bq_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138); |
Jellehierck | 3:c0ece64850db | 66 | BiQuad bq_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); |
Jellehierck | 3:c0ece64850db | 67 | BiQuadChain bqc_low; // Used to chain two 2nd other filters into a 4th order filter |
Jellehierck | 2:d3e9788ab1b3 | 68 | |
Jellehierck | 9:f6a935be28e1 | 69 | double getMean(double vect[n_cal]) |
Jellehierck | 7:7a088536f1c9 | 70 | { |
Jellehierck | 8:ea3de43c9e8b | 71 | double sum = 0.0; |
Jellehierck | 9:f6a935be28e1 | 72 | int vect_n = n_cal; |
Jellehierck | 8:ea3de43c9e8b | 73 | |
Jellehierck | 8:ea3de43c9e8b | 74 | for ( int i = 0; i < vect_n; i++ ) { |
Jellehierck | 8:ea3de43c9e8b | 75 | sum += vect[i]; |
Jellehierck | 8:ea3de43c9e8b | 76 | } |
Jellehierck | 8:ea3de43c9e8b | 77 | return sum/vect_n; |
Jellehierck | 8:ea3de43c9e8b | 78 | } |
Jellehierck | 8:ea3de43c9e8b | 79 | |
Jellehierck | 9:f6a935be28e1 | 80 | double getStdev(double vect[n_cal], double vect_mean) |
Jellehierck | 8:ea3de43c9e8b | 81 | { |
Jellehierck | 8:ea3de43c9e8b | 82 | double sum2 = 0.0; |
Jellehierck | 9:f6a935be28e1 | 83 | int vect_n = n_cal; |
Jellehierck | 8:ea3de43c9e8b | 84 | |
Jellehierck | 8:ea3de43c9e8b | 85 | for ( int i = 0; i < vect_n; i++ ) { |
Jellehierck | 8:ea3de43c9e8b | 86 | sum2 += pow( vect[i] - vect_mean, 2 ); |
Jellehierck | 8:ea3de43c9e8b | 87 | } |
Jellehierck | 8:ea3de43c9e8b | 88 | double output = sqrt( sum2 / vect_n ); |
Jellehierck | 8:ea3de43c9e8b | 89 | return output; |
Jellehierck | 7:7a088536f1c9 | 90 | } |
Jellehierck | 7:7a088536f1c9 | 91 | |
Jellehierck | 6:5437cc97e1e6 | 92 | // Check if filters are stable |
Jellehierck | 6:5437cc97e1e6 | 93 | bool checkBQChainStable() |
Jellehierck | 6:5437cc97e1e6 | 94 | { |
Jellehierck | 6:5437cc97e1e6 | 95 | bool n_hp_stable = bqc_notch_high.stable(); |
Jellehierck | 6:5437cc97e1e6 | 96 | bool l_stable = bqc_low.stable(); |
Jellehierck | 6:5437cc97e1e6 | 97 | |
Jellehierck | 6:5437cc97e1e6 | 98 | if (n_hp_stable && l_stable) { |
Jellehierck | 6:5437cc97e1e6 | 99 | return true; |
Jellehierck | 6:5437cc97e1e6 | 100 | } else { |
Jellehierck | 6:5437cc97e1e6 | 101 | return false; |
Jellehierck | 6:5437cc97e1e6 | 102 | } |
Jellehierck | 6:5437cc97e1e6 | 103 | } |
Jellehierck | 6:5437cc97e1e6 | 104 | |
Jellehierck | 9:f6a935be28e1 | 105 | /* |
Jellehierck | 6:5437cc97e1e6 | 106 | // Read samples, filter samples and output to HIDScope |
Jellehierck | 2:d3e9788ab1b3 | 107 | void sample() |
Jellehierck | 2:d3e9788ab1b3 | 108 | { |
Jellehierck | 4:09a01d2db8f7 | 109 | // Read EMG inputs |
Jellehierck | 2:d3e9788ab1b3 | 110 | emg1 = emg1_in.read(); |
Jellehierck | 2:d3e9788ab1b3 | 111 | emg2 = emg2_in.read(); |
Jellehierck | 2:d3e9788ab1b3 | 112 | emg3 = emg3_in.read(); |
Jellehierck | 4:09a01d2db8f7 | 113 | |
Jellehierck | 4:09a01d2db8f7 | 114 | // Output raw EMG input |
Jellehierck | 4:09a01d2db8f7 | 115 | scope.set(0, emg1 ); |
Jellehierck | 6:5437cc97e1e6 | 116 | |
Jellehierck | 5:3d65f89e3755 | 117 | // Filter notch and highpass |
Jellehierck | 5:3d65f89e3755 | 118 | double emg1_n_hp = bqc_notch_high.step( emg1 ); |
Jellehierck | 6:5437cc97e1e6 | 119 | |
Jellehierck | 5:3d65f89e3755 | 120 | // Rectify |
Jellehierck | 5:3d65f89e3755 | 121 | double emg1_rectify = fabs( emg1_n_hp ); |
Jellehierck | 6:5437cc97e1e6 | 122 | |
Jellehierck | 5:3d65f89e3755 | 123 | // Filter lowpass (completes envelope) |
Jellehierck | 5:3d65f89e3755 | 124 | double emg1_env = bqc_low.step( emg1_rectify ); |
Jellehierck | 4:09a01d2db8f7 | 125 | |
Jellehierck | 4:09a01d2db8f7 | 126 | // Output EMG after filters |
Jellehierck | 5:3d65f89e3755 | 127 | scope.set(1, emg1_env ); |
Jellehierck | 4:09a01d2db8f7 | 128 | scope.send(); |
Jellehierck | 9:f6a935be28e1 | 129 | } |
Jellehierck | 9:f6a935be28e1 | 130 | */ |
Jellehierck | 7:7a088536f1c9 | 131 | |
Jellehierck | 9:f6a935be28e1 | 132 | void calibrationMVCFinished() |
Jellehierck | 9:f6a935be28e1 | 133 | { |
Jellehierck | 9:f6a935be28e1 | 134 | // pc.printf("Stop calibration"); |
Jellehierck | 9:f6a935be28e1 | 135 | tickSampleCalibration.detach(); |
Jellehierck | 9:f6a935be28e1 | 136 | double emg1_mean = getMean(emg1_cal); |
Jellehierck | 9:f6a935be28e1 | 137 | double emg1_stdev = getStdev(emg1_cal, emg1_mean); |
Jellehierck | 7:7a088536f1c9 | 138 | |
Jellehierck | 9:f6a935be28e1 | 139 | led_b = 1; |
Jellehierck | 9:f6a935be28e1 | 140 | |
Jellehierck | 9:f6a935be28e1 | 141 | // pc.printf("EMG Mean: %f stdev: %f\r\n", emg1_mean, emg1_stdev); |
Jellehierck | 2:d3e9788ab1b3 | 142 | } |
IsaRobin | 0:6972d0e91af1 | 143 | |
Jellehierck | 7:7a088536f1c9 | 144 | void sampleCalibration() |
Jellehierck | 7:7a088536f1c9 | 145 | { |
Jellehierck | 9:f6a935be28e1 | 146 | if (i_cal >= n_cal-1) { |
Jellehierck | 9:f6a935be28e1 | 147 | calibrationMVCFinished(); |
Jellehierck | 9:f6a935be28e1 | 148 | } |
Jellehierck | 7:7a088536f1c9 | 149 | // Read EMG inputs |
Jellehierck | 7:7a088536f1c9 | 150 | emg1 = emg1_in.read(); |
Jellehierck | 7:7a088536f1c9 | 151 | emg2 = emg2_in.read(); |
Jellehierck | 7:7a088536f1c9 | 152 | emg3 = emg3_in.read(); |
Jellehierck | 7:7a088536f1c9 | 153 | |
Jellehierck | 7:7a088536f1c9 | 154 | // Output raw EMG input |
Jellehierck | 7:7a088536f1c9 | 155 | scope.set(0, emg1 ); |
Jellehierck | 7:7a088536f1c9 | 156 | |
Jellehierck | 7:7a088536f1c9 | 157 | double emg1_n_hp = bqc_notch_high.step( emg1 ); // Filter notch and highpass |
Jellehierck | 7:7a088536f1c9 | 158 | double emg1_rectify = fabs( emg1_n_hp ); // Filter lowpass (completes envelope) |
Jellehierck | 7:7a088536f1c9 | 159 | double emg1_env = bqc_low.step( emg1_rectify ); // Filter lowpass (completes envelope) |
Jellehierck | 7:7a088536f1c9 | 160 | |
Jellehierck | 7:7a088536f1c9 | 161 | // Output EMG after filters |
Jellehierck | 7:7a088536f1c9 | 162 | scope.set(1, emg1_env ); |
Jellehierck | 7:7a088536f1c9 | 163 | scope.send(); |
Jellehierck | 7:7a088536f1c9 | 164 | |
Jellehierck | 9:f6a935be28e1 | 165 | emg1_cal[i_cal] = emg1_env; |
Jellehierck | 9:f6a935be28e1 | 166 | i_cal++; |
Jellehierck | 7:7a088536f1c9 | 167 | |
Jellehierck | 7:7a088536f1c9 | 168 | } |
Jellehierck | 7:7a088536f1c9 | 169 | |
Jellehierck | 7:7a088536f1c9 | 170 | void calibrationMVC() |
Jellehierck | 7:7a088536f1c9 | 171 | { |
Jellehierck | 9:f6a935be28e1 | 172 | |
Jellehierck | 7:7a088536f1c9 | 173 | tickSampleCalibration.attach( &sampleCalibration, Ts ); |
Jellehierck | 8:ea3de43c9e8b | 174 | led_b = 0; |
Jellehierck | 7:7a088536f1c9 | 175 | } |
Jellehierck | 7:7a088536f1c9 | 176 | |
Jellehierck | 7:7a088536f1c9 | 177 | |
Jellehierck | 7:7a088536f1c9 | 178 | |
Jellehierck | 5:3d65f89e3755 | 179 | void main() |
Jellehierck | 4:09a01d2db8f7 | 180 | { |
Jellehierck | 9:f6a935be28e1 | 181 | pc.baud(115200); |
Jellehierck | 8:ea3de43c9e8b | 182 | pc.printf("Starting\r\n"); |
Jellehierck | 9:f6a935be28e1 | 183 | |
Jellehierck | 6:5437cc97e1e6 | 184 | // Initialize sample ticker |
Jellehierck | 8:ea3de43c9e8b | 185 | // tickSample.attach(&sample, Ts); |
Jellehierck | 6:5437cc97e1e6 | 186 | |
Jellehierck | 6:5437cc97e1e6 | 187 | // Create BQ chains to reduce computations |
Jellehierck | 5:3d65f89e3755 | 188 | bqc_notch_high.add( &bq_notch ).add( &bq_H1 ).add( &bq_H2 ); |
Jellehierck | 5:3d65f89e3755 | 189 | bqc_low.add( &bq_L1 ).add( &bq_L2 ); |
Jellehierck | 4:09a01d2db8f7 | 190 | |
Jellehierck | 8:ea3de43c9e8b | 191 | led_b = 1; // Turn led off at startup |
Jellehierck | 8:ea3de43c9e8b | 192 | led_g = 1; |
Jellehierck | 8:ea3de43c9e8b | 193 | |
Jellehierck | 6:5437cc97e1e6 | 194 | // If any filter chain is unstable, red led will light up |
Jellehierck | 6:5437cc97e1e6 | 195 | if (checkBQChainStable) { |
Jellehierck | 6:5437cc97e1e6 | 196 | led_r = 1; // LED off |
Jellehierck | 6:5437cc97e1e6 | 197 | } else { |
Jellehierck | 6:5437cc97e1e6 | 198 | led_r = 0; // LED on |
Jellehierck | 6:5437cc97e1e6 | 199 | } |
Jellehierck | 6:5437cc97e1e6 | 200 | |
Jellehierck | 8:ea3de43c9e8b | 201 | button1.fall( &calibrationMVC ); |
Jellehierck | 8:ea3de43c9e8b | 202 | |
Jellehierck | 4:09a01d2db8f7 | 203 | while(true) { |
Jellehierck | 7:7a088536f1c9 | 204 | |
Jellehierck | 6:5437cc97e1e6 | 205 | // Show that system is running |
Jellehierck | 8:ea3de43c9e8b | 206 | // led_g = !led_g; |
Jellehierck | 4:09a01d2db8f7 | 207 | wait(0.5); |
Jellehierck | 4:09a01d2db8f7 | 208 | } |
Jellehierck | 4:09a01d2db8f7 | 209 | } |