De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 37:806c7c8381a7
- Parent:
- 36:ec2bb2a02856
- Child:
- 38:8b597ab8344f
--- a/main.cpp Tue Oct 29 16:23:41 2019 +0000 +++ b/main.cpp Wed Oct 30 14:13:27 2019 +0000 @@ -1,204 +1,55 @@ -//c++ script for filtering of measured EMG signals +/* +------------------------------ ADD LIBRARIES ------------------------------ +*/ #include "mbed.h" //Base library -#include "HIDScope.h" // to see if program is working and EMG is filtered properly -// #include "QEI.h"// is needed for the encoder #include "MODSERIAL.h"// in order for connection with the pc -#include "BiQuad.h" -// #include "FastPWM.h" -// #include "Arduino.h" //misschien handig omdat we het EMG arduino board gebruiken (?) -// #include "EMGFilters.h" -#include <vector> // For easy array management -#include <numeric> // For manipulating array data /* ------- DEFINE MBED CONNECTIONS ------ +------------------------------ DEFINE MBED CONNECTIONS ------------------------------ */ // PC serial connection -HIDScope scope( 4 ); MODSERIAL pc(USBTX, USBRX); -// LED -DigitalOut led_g(LED_GREEN); -DigitalOut led_r(LED_RED); -DigitalOut led_b(LED_BLUE); - // Buttons InterruptIn button1(D11); InterruptIn button2(D10); -InterruptIn button3(SW3); - -// EMG Substates -enum EMG_States { emg_wait, emg_cal_MVC, emg_cal_rest, emg_operation }; // Define EMG substates -EMG_States emg_curr_state; // Initialize EMG substate variable -bool emg_state_changed = true; - -bool sampleNow = false; -bool calibrateNow = false; -bool emg_MVC_cal_done = false; -bool emg_rest_cal_done = false; - -bool button1_pressed = false; -bool button2_pressed = false; - -// Global variables for EMG reading -AnalogIn emg1_in (A1); // Right biceps, x axis -AnalogIn emg2_in (A2); // Left biceps, y axis -AnalogIn emg3_in (A3); // Third muscle, TBD - -double emg1; -double emg1_env; -double emg1_MVC; -double emg1_rest; -double emg1_factor; -double emg1_th; -double emg1_out; -double emg1_out_prev; -double emg1_dt; -double emg1_dt_prev; -double emg1_dtdt; -double emg1_norm; -vector<double> emg1_cal; -int emg1_cal_size; -int emg1_dir = 1; - -double emg2; -double emg2_env; -double emg2_MVC; -double emg2_rest; -double emg2_factor; -double emg2_th; -double emg2_out; -double emg2_norm; -vector<double> emg2_cal; -int emg2_cal_size; -int emg2_dir = 1; - -double emg3; -double emg3_env; -double emg3_MVC; -double emg3_rest; -double emg3_factor; -double emg3_th; -double emg3_out; -double emg3_norm; -vector<double> emg3_cal; -int emg3_cal_size; -int emg3_dir = 1; - -// Initialize tickers and timeouts -Ticker tickSample; -Ticker tickSampleCalibration; -Ticker tickGlobal; // Set global ticker -Timer timerCalibration; +InterruptIn switch2(SW2); +InterruptIn switch3(SW3); /* ------- GLOBAL VARIABLES ------ -*/ -const double Fs = 500; // Sampling frequency (s) -const double Tcal = 10.0f; // Calibration duration (s) -int trim_cal = 1; // Trim transient behaviour of calibration (s) - -// Calculate global variables -const double Ts = 1/Fs; // Sampling time (s) -int trim_cal_i = trim_cal * Fs - 1; // Determine iterator of transient behaviour trim - -// Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB: -BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21 -BiQuad bq2_notch = bq1_notch; -BiQuad bq3_notch = bq1_notch; -BiQuadChain bqc1_notch; -BiQuadChain bqc2_notch; -BiQuadChain bqc3_notch; - -// Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB -BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21 -BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22 -BiQuad bq2_H1 = bq1_H1; -BiQuad bq2_H2 = bq1_H2; -BiQuad bq3_H1 = bq1_H1; -BiQuad bq3_H2 = bq1_H2; -BiQuadChain bqc1_high; -BiQuadChain bqc2_high; -BiQuadChain bqc3_high; - -// Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB: -BiQuad bq1_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138); // b01 b11 b21 a01 a11 a21 -BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22 -BiQuad bq2_L1 = bq1_L1; -BiQuad bq2_L2 = bq1_L2; -BiQuad bq3_L1 = bq1_L1; -BiQuad bq3_L2 = bq1_L2; -BiQuadChain bqc1_low; -BiQuadChain bqc2_low; -BiQuadChain bqc3_low; - -/* ------- HELPER FUNCTIONS ------ +------------------------------ GLOBAL VARIABLES ------------------------------ */ -// Return max value of vector -double getMax(const vector<double> &vect) -{ - double curr_max = 0.0; - int vect_n = vect.size(); +// State machine variables +enum GLOBAL_States { global_failure, global_wait, global_cal_emg, global_cal_motor, global_operation, global_demo }; // Define global states +GLOBAL_States global_curr_state = global_wait; // Initialize global state to waiting state +bool global_state_changed = true; // Enable entry functions +bool failure_mode = false; - for (int i = 0; i < vect_n; i++) { - if (vect[i] > curr_max) { - curr_max = vect[i]; - }; - } - return curr_max; -} - -// Return mean of vector -double getMean(const vector<double> &vect) -{ - double sum = 0.0; - int vect_n = vect.size(); - - for ( int i = 0; i < vect_n; i++ ) { - sum += vect[i]; - } - return sum/vect_n; -} +bool cal_emg_done = false; +bool cal_motor_done = false; -// Return standard deviation of vector -double getStdev(const vector<double> &vect, const double vect_mean) -{ - double sum2 = 0.0; - int vect_n = vect.size(); - - for ( int i = 0; i < vect_n; i++ ) { - sum2 += pow( vect[i] - vect_mean, 2 ); - } - double output = sqrt( sum2 / vect_n ); - return output; -} +// Button press interrupts (to prevent bounce) +bool button1_pressed = false; +bool button2_pressed = false; +bool switch2_pressed = false; -// Rescale values to certain range -double rescale(double input, double out_min, double out_max, double in_min, double in_max) -{ - double output = out_min + ((input-in_min)/(in_max-in_min))*(out_max-out_min); // Based on MATLAB rescale function - return output; -} +// Global program variables +double Fs = 500.0; +double Ts = 1/Fs; -// Check filter stability -bool checkBQChainStable() -{ - bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains - bool hp_stable = bqc1_high.stable(); - bool l_stable = bqc1_low.stable(); - - if (n_stable && hp_stable && l_stable) { - return true; - } else { - return false; - } -} +double Tcal_test = 5.0; /* ------- BUTTON FUNCTIONS ------ +------------------------------ HELPER FUNCTIONS ------------------------------ +*/ +void doStuff() {} // Empty placeholder function, needs to be deleted at end of project + + + +/* +------------------------------ BUTTON FUNCTIONS ------------------------------ */ // Handle button press @@ -213,79 +64,32 @@ button2_pressed = true; } -// Toggle EMG direction -void toggleEMG1Dir() +void switch2Press() { - switch( emg1_dir ) { - case -1: - emg1_dir = 1; - break; - case 1: - emg1_dir = -1; - break; - } + switch2_pressed = true; } -// Toggle EMG direction -void toggleEMG2Dir() +void switch3Press() { - switch( emg1_dir ) { - case -1: - emg1_dir = 1; - break; - case 1: - emg1_dir = -1; - break; - } + global_curr_state = global_failure; + global_state_changed = true; } /* ------- TICKER FUNCTIONS ------ +------------------------------ TICKER, TIMER & TIMEOUT FUNCTIONS ------------------------------ */ -void sampleSignal() -{ - if (sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations - // Read EMG inputs - emg1 = emg1_in.read(); - emg2 = emg2_in.read(); - emg3 = emg3_in.read(); - - - double emg1_n = bqc1_notch.step( emg1 ); // Filter notch - double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass - double emg1_rectify = fabs( emg1_hp ); // Rectify - emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope) - - double emg2_n = bqc2_notch.step( emg2 ); // Filter notch - double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass - double emg2_rectify = fabs( emg2_hp ); // Rectify - emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope) - - double emg3_n = bqc3_notch.step( emg3 ); // Filter notch - double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass - double emg3_rectify = fabs( emg3_hp ); // Rectify - emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope) - - if (calibrateNow == true) { // Only add values to EMG vectors if calibration flag is true - emg1_cal.push_back(emg1_env); // Add values to calibration vector - // emg1_cal_size = emg1_cal.size(); // Used for debugging - emg2_cal.push_back(emg2_env); // Add values to calibration vector - // emg2_cal_size = emg1_cal.size(); // Used for debugging - emg3_cal.push_back(emg3_env); // Add values to calibration vector - // emg3_cal_size = emg1_cal.size(); // Used for debugging - } - } -} +// Initialize tickers and timeouts +Ticker tickGlobal; // Set global ticker +Timer timerStateMachineTest; // Set testing timer /* ------- EMG CALIBRATION STATES ------ +------------------------------ GLOBAL STATE FUNCTIONS ------------------------------ */ - /* ALL STATES HAVE THE FOLLOWING FORM: void do_state_function() { // Entry function - if ( emg_state_changed == true ) { - emg_state_changed == false; + if ( global_state_changed == true ) { + global_state_changed = false; // More functions } @@ -294,263 +98,202 @@ // State transition guard if ( endCondition == true ) { - emg_curr_state == next_state; - emg_state_changed == true; + global_curr_state = next_state; + global_state_changed = true; // More functions } } */ -// Finish up calibration -void calibrationFinished() +// FAILURE MODE +void do_global_failure() { - switch( emg_curr_state ) { - case emg_cal_MVC: - emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally - emg2_MVC = getMax(emg2_cal); // Store max value of MVC globally - emg3_MVC = getMax(emg3_cal); // Store max value of MVC globally + // Entry function + if ( global_state_changed == true ) { + global_state_changed = false; - emg_MVC_cal_done = true; // To set up transition guard to operation mode - break; - case emg_cal_rest: - emg1_rest = getMean(emg1_cal); // Store rest EMG globally - emg2_rest = getMean(emg2_cal); // Store rest EMG globally - emg3_rest = getMean(emg3_cal); // Store rest EMG globally - emg_rest_cal_done = true; // To set up transition guard to operation mode - break; + failure_mode = true; // Set failure mode } - vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow - vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow - vector<double>().swap(emg3_cal); // Empty vector to prevent memory overflow + + // Do stuff until end condition is met + + // State transition guard + if ( false ) { // Never move to other state + global_curr_state = global_wait; + global_state_changed = true; + } } -// EMG Waiting state -void do_emg_wait() +// DEMO MODE +void do_global_demo() { // Entry function - if ( emg_state_changed == true ) { - emg_state_changed = false; // Disable entry functions + if ( global_state_changed == true ) { + global_state_changed = false; + // More functions + } + + // Do stuff until end condition is met + doStuff(); - button1.fall( &button1Press ); // Change to state MVC calibration on button1 press - button2.fall( &button2Press ); // Change to state rest calibration on button2 press + // State transition guard + if ( switch2_pressed == true ) { + switch2_pressed = false; + global_curr_state = global_wait; + global_state_changed = true; + } +} + +// WAIT MODE +void do_global_wait() +{ + // Entry function + if ( global_state_changed == true ) { + global_state_changed = false; } // Do nothing until end condition is met - // State transition guard. Possible next states: - // 1. emg_cal_MVC (button1 pressed) - // 2. emg_cal_rest (button2 pressed) - // 3. emg_operation (both calibrations have run) - if ( button1_pressed ) { - button1_pressed = false; // Disable button pressed function until next button press - button1.fall( NULL ); // Disable interrupt during calibration - button2.fall( NULL ); // Disable interrupt during calibration - emg_curr_state = emg_cal_MVC; // Set next state - emg_state_changed = true; // Enable entry functions + // State transition guard + if ( switch2_pressed == true ) { // DEMO MODE + switch2_pressed = false; + global_curr_state = global_demo; + global_state_changed = true; - } else if ( button2_pressed ) { - button2_pressed = false; // Disable button pressed function until next button press - button1.fall( NULL ); // Disable interrupt during calibration - button2.fall( NULL ); // Disable interrupt during calibration - emg_curr_state = emg_cal_rest; // Set next state - emg_state_changed = true; // Enable entry functions + } else if ( button1_pressed == true ) { // EMG CALIBRATION + button1_pressed = false; + global_curr_state = global_cal_emg; + global_state_changed = true; - } else if ( emg_MVC_cal_done && emg_rest_cal_done ) { - button1.fall( NULL ); // Disable interrupt during operation - button2.fall( NULL ); // Disable interrupt during operation - emg_curr_state = emg_operation; // Set next state - emg_state_changed = true; // Enable entry functions + } else if ( button2_pressed == true ) { // MOTOR CALIBRATION + button2_pressed = false; + global_curr_state = global_cal_motor; + global_state_changed = true; } } -// Run calibration of EMG -void do_emg_cal() +// EMG CALIBRATION MODE +void do_global_cal_emg() { - // Entry functions - if ( emg_state_changed == true ) { - emg_state_changed = false; // Disable entry functions - led_b = 0; // Turn on calibration led - - timerCalibration.reset(); - timerCalibration.start(); // Sets up timer to stop calibration after Tcal seconds - sampleNow = true; // Enable signal sampling in sampleSignal() - calibrateNow = true; // Enable calibration vector functionality in sampleSignal() - - emg1_cal.reserve(Fs * Tcal); // Initialize vector lengths to prevent memory overflow - emg2_cal.reserve(Fs * Tcal); // Idem - emg3_cal.reserve(Fs * Tcal); // Idem + // Entry function + if ( global_state_changed == true ) { + global_state_changed = false; } // Do stuff until end condition is met - // Set HIDScope outputs - scope.set(0, emg1 ); - scope.set(1, emg1_env ); - //scope.set(2, emg2_env ); - //scope.set(3, emg3_env ); - scope.send(); + doStuff(); // State transition guard - if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished - sampleNow = false; // Disable signal sampling in sampleSignal() - calibrateNow = false; // Disable calibration sampling - - calibrationFinished(); // Process calibration data - led_b = 1; // Turn off calibration led - - emg_curr_state = emg_wait; // Set next state - emg_state_changed = true; // State has changed (to run + if ( cal_motor_done == true ) { // OPERATION MODE + cal_emg_done = true; + global_curr_state = global_operation; + global_state_changed = true; + } else if ( button1_pressed == true ) { // WAIT MODE + button1_pressed = false; + cal_emg_done = true; + global_curr_state = global_wait; + global_state_changed = true; } } -void do_emg_operation() +// MOTOR CALIBRATION MODE +void do_global_cal_motor() { // Entry function - if ( emg_state_changed == true ) { - emg_state_changed = false; // Disable entry functions - double margin_percentage = 5; // Set up % margin for rest - - emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC - emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold - emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC - emg2_th = emg2_rest * emg2_factor + margin_percentage/100; // Set normalized rest threshold - emg3_factor = 1 / emg3_MVC; // Factor to normalize MVC - emg3_th = emg3_rest * emg3_factor + margin_percentage/100; // Set normalized rest threshold - - - // ------- TO DO: MAKE SURE THESE BUTTONS DO NOT BOUNCE (e.g. with button1.rise() ) ------ - //button1.fall( &toggleEMG1Dir ); // Change to state MVC calibration on button1 press - //button2.fall( &toggleEMG2Dir ); // Change to state rest calibration on button2 press - - sampleNow = true; // Enable signal sampling in sampleSignal() - calibrateNow = false; // Disable calibration vector functionality in sampleSignal() + if ( global_state_changed == true ) { + global_state_changed = false; } // Do stuff until end condition is met - emg1_norm = emg1_env * emg1_factor; // Normalize EMG signal with calibrated factor - emg2_norm = emg2_env * emg2_factor; // Idem - emg3_norm = emg3_env * emg3_factor; // Idem - - emg1_out_prev = emg1_out; // Set previous emg_out signal - emg1_dt_prev = emg1_dt; // Set previous emg_out_dt signal - // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES) - if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored) - emg1_out = 0.0; - } else if ( emg1_norm > 1.0f ) { // If above MVC (e.g. due to filtering), emg_out = 1 (max value) - emg1_out = 1.0; - } else { // If in between threshold and MVC, scale EMG signal accordingly - // Inputs may be in range [emg_th, 1] - // Outputs are scaled to range [0, 1] - emg1_out = rescale(emg1_norm, 0, 1, emg1_th, 1); - } - emg1_dt = (emg1_out - emg1_out_prev) / Ts; // Calculate derivative of filtered normalized output signal - emg1_dtdt = (emg1_dt - emg1_dt_prev) / Ts; // Calculate acceleration of filtered normalized output signal - emg1_out = emg1_out * emg1_dir; // Set direction of EMG output - - // Idem for emg2 - if ( emg2_norm < emg2_th ) { - emg2_out = 0.0; - } else if ( emg2_norm > 1.0f ) { - emg2_out = 1.0; - } else { - emg2_out = rescale(emg2_norm, 0, 1, emg2_th, 1); - } - emg2_out = emg2_out * emg2_dir; // Set direction of EMG output - - // Idem for emg3 - if ( emg3_norm < emg3_th ) { - emg3_out = 0.0; - } else if ( emg3_norm > 1.0f ) { - emg3_out = 1.0; - } else { - emg3_out = rescale(emg3_norm, 0, 1, emg3_th, 1); - } - - // Set HIDScope outputs - scope.set(0, emg1 ); - scope.set(1, emg1_out ); - scope.set(2, emg1_dt ); - scope.set(3, emg1_dtdt ); - //scope.set(2, emg2_out ); - //scope.set(3, emg3_out ); - scope.send(); - - led_g = !led_g; - + doStuff(); // State transition guard - if ( false ) { - emg_curr_state = emg_wait; // Set next state - emg_state_changed = true; // Enable entry function + if ( cal_emg_done == true ) { // OPERATION MODE + cal_motor_done = true; + global_curr_state = global_operation; + global_state_changed = true; + } else if ( button2_pressed == true ) { // WAIT MODE + button2_pressed = false; + cal_motor_done = true; + global_curr_state = global_wait; + global_state_changed = true; } } +// OPERATION MODE +void do_global_operation() +{ + // Entry function + if ( global_state_changed == true ) { + global_state_changed = false; + } + + // Do stuff until end condition is met + doStuff(); + + // State transition guard + if ( false ) { // Always stay in operation mode (can be changed) + global_curr_state = global_wait; + global_state_changed = true; + } +} /* ------- EMG SUBSTATE MACHINE ------ +------------------------------ GLOBAL STATE MACHINE ------------------------------ */ -void emg_state_machine() +void global_state_machine() { - switch(emg_curr_state) { - case emg_wait: - do_emg_wait(); + switch(global_curr_state) { + case global_failure: + do_global_failure(); break; - case emg_cal_MVC: - do_emg_cal(); + case global_wait: + do_global_wait(); + break; + case global_cal_emg: + do_global_cal_emg(); break; - case emg_cal_rest: - do_emg_cal(); + case global_cal_motor: + do_global_cal_motor(); break; - case emg_operation: - do_emg_operation(); + case global_operation: + do_global_operation(); + break; + case global_demo: + do_global_demo(); break; } } -// Global loop of program + +/* +------------------------------ GLOBAL PROGRAM LOOP ------------------------------ +*/ void tickGlobalFunc() { - sampleSignal(); - emg_state_machine(); + // sampleSignalsAndInputs(); + global_state_machine(); // controller(); // outputToMotors(); } +/* +------------------------------ MAIN FUNCTION ------------------------------ +*/ void main() { pc.baud(115200); // MODSERIAL rate pc.printf("Starting\r\n"); - // tickSample.attach(&sample, Ts); // Initialize sample ticker - - // Create BQ chains to reduce computations - bqc1_notch.add( &bq1_notch ); - bqc1_high.add( &bq1_H1 ).add( &bq1_H2 ); - bqc1_low.add( &bq1_L1 ).add( &bq1_L2 ); - - bqc2_notch.add( &bq2_notch ); - bqc2_high.add( &bq2_H1 ).add( &bq2_H2 ); - bqc2_low.add( &bq2_L1 ).add( &bq2_L2 ); - - bqc3_notch.add( &bq3_notch ); - bqc3_high.add( &bq3_H1 ).add( &bq3_H2 ); - bqc3_low.add( &bq3_L1 ).add( &bq3_L2 ); - - led_b = 1; // Turn blue led off at startup - led_g = 1; // Turn green led off at startup - led_r = 1; // Turn red led off at startup - - // If any filter chain is unstable, red led will light up - if (checkBQChainStable()) { - led_r = 1; // LED off - } else { - led_r = 0; // LED on - } - - emg_curr_state = emg_wait; // Start off in EMG Wait state + global_curr_state = global_wait; // Start off in EMG Wait state tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker + button1.fall( &button1Press ); + button2.fall( &button2Press ); + switch2.fall( &switch2Press ); + switch3.fall( &switch3Press ); + while(true) { - pc.printf("emg_state: %i emg1_env: %f emg1_out: %f emg1_th: %f emg1_factor: %f\r\n", emg_curr_state, emg1_env, emg1_out, emg1_th, emg1_factor); - pc.printf(" emg1_MVC: %f emg1_rest: %f \r\n", emg1_MVC, emg1_rest); + pc.printf("Global state: %i \r\n", global_curr_state); wait(0.5f); } } \ No newline at end of file