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De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 38:8b597ab8344f
- Parent:
- 37:806c7c8381a7
- Child:
- 39:f9042483b921
--- a/main.cpp Wed Oct 30 14:13:27 2019 +0000 +++ b/main.cpp Wed Oct 30 15:49:09 2019 +0000 @@ -1,14 +1,18 @@ /* ------------------------------ ADD LIBRARIES ------------------------------ */ -#include "mbed.h" //Base library -#include "MODSERIAL.h"// in order for connection with the pc +#include "mbed.h" // Base library +#include "HIDScope.h" // Scope connection to PC +#include "MODSERIAL.h" // Serial connection to PC +#include "BiQuad.h" // Biquad filter management +#include <vector> // Array management /* ------------------------------ DEFINE MBED CONNECTIONS ------------------------------ */ -// PC serial connection +// PC connections +HIDScope scope( 4 ); MODSERIAL pc(USBTX, USBRX); // Buttons @@ -17,36 +21,102 @@ InterruptIn switch2(SW2); InterruptIn switch3(SW3); +// LEDs +DigitalOut led_g(LED_GREEN); +DigitalOut led_r(LED_RED); +DigitalOut led_b(LED_BLUE); + +// Analog EMG inputs +AnalogIn emg1_in (A1); // Right biceps -> x axis +AnalogIn emg2_in (A2); // Left biceps -> y axis +AnalogIn emg3_in (A3); // Third muscle -> TBD + /* ------------------------------- GLOBAL VARIABLES ------------------------------ +------------------------------ INITIALIZE TICKERS, TIMERS & TIMEOUTS ------------------------------ +*/ +Ticker tickGlobal; // Set global ticker +Timer timerCalibration; // Set EMG Calibration timer + +/* +------------------------------ INITIALIZE GLOBAL VARIABLES ------------------------------ */ // State machine variables -enum GLOBAL_States { global_failure, global_wait, global_cal_emg, global_cal_motor, global_operation, global_demo }; // Define global states +enum GLOBAL_States { global_failure, global_wait, global_emg_cal, global_motor_cal, 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; -bool cal_emg_done = false; -bool cal_motor_done = false; +bool emg_cal_done = false; +bool motor_cal_done = false; + +// EMG Substate variables +enum EMG_States { emg_wait, emg_cal_MVC, emg_cal_rest, emg_operation }; // Define EMG substates +EMG_States emg_curr_state = emg_wait; // Initialize EMG substate variable +bool emg_state_changed = true; + +bool emg_sampleNow = false; +bool emg_calibrateNow = false; +bool emg_MVC_cal_done = false; +bool emg_rest_cal_done = false; // Button press interrupts (to prevent bounce) bool button1_pressed = false; bool button2_pressed = false; bool switch2_pressed = false; -// Global program variables -double Fs = 500.0; -double Ts = 1/Fs; - -double Tcal_test = 5.0; +// Global constants +const double Fs = 500.0; +const double Ts = 1/Fs; /* ------------------------------ HELPER FUNCTIONS ------------------------------ */ -void doStuff() {} // Empty placeholder function, needs to be deleted at end of project +// Empty placeholder function, needs to be deleted at end of project +void doStuff() {} + +// Return max value of vector +double getMax(const vector<double> &vect) +{ + double curr_max = 0.0; + int vect_n = vect.size(); + 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; +} +// 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; +} + +// Rescale double 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; +} /* ------------------------------ BUTTON FUNCTIONS ------------------------------ @@ -76,11 +146,301 @@ } /* ------------------------------- TICKER, TIMER & TIMEOUT FUNCTIONS ------------------------------ +------------------------------ EMG GLOBAL VARIABLES & CONSTANTS ------------------------------ +*/ + +// Set global constant values for EMG reading & analysis +const double Tcal = 10.0f; // Calibration duration (s) + +// Initialize variables for EMG reading & analysis +double emg1; +double emg1_env; +double emg1_MVC; +double emg1_rest; +double emg1_factor;//delete +double emg1_th; +double emg1_out; +double emg1_norm; //delete +vector<double> emg1_cal; +int emg1_cal_size; //delete +int emg1_dir = 1; +double emg1_out_prev; +double emg1_dt; //delete +double emg1_dt_prev; +double emg1_dtdt; //delete + +double emg2; +double emg2_env; +double emg2_MVC; +double emg2_rest; +double emg2_factor;//delete +double emg2_th; +double emg2_out; +double emg2_norm;//delete +vector<double> emg2_cal; +int emg2_cal_size;//delete +int emg2_dir = 1; + +double emg3; +double emg3_env; +double emg3_MVC; +double emg3_rest; +double emg3_factor;//delete +double emg3_th; +double emg3_out; +double emg3_norm;//delete +vector<double> emg3_cal; +int emg3_cal_size;//delete +int emg3_dir = 1; + +/* +------------------------------ EMG FILTERS ------------------------------ +*/ + +// 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; + +// Function to 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; + } +} +/* +------------------------------ EMG SUBSTATE FUNCTIONS ------------------------------ */ -// Initialize tickers and timeouts -Ticker tickGlobal; // Set global ticker -Timer timerStateMachineTest; // Set testing timer + +// EMG Waiting state +void do_emg_wait() +{ + // Entry function + if ( emg_state_changed == true ) { + emg_state_changed = false; // Disable entry functions + + button1.fall( &button1Press ); // Change to state MVC calibration on button1 press + button2.fall( &button2Press ); // Change to state rest calibration on button2 press + } + + // Do nothing until end condition is met + + // State transition guard + if ( button1_pressed ) { // MVC calibration + 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 + + } else if ( button2_pressed ) { // Rest calibration + 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 ( emg_MVC_cal_done && emg_rest_cal_done ) { // Operation mode + 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 + } +} + +// EMG Calibration state +void do_emg_cal() +{ + // 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 + emg_sampleNow = true; // Enable signal sampling in sampleSignals() + emg_calibrateNow = true; // Enable calibration vector functionality in sampleSignals() + + emg1_cal.reserve(Fs * Tcal); // Initialize vector lengths to prevent memory overflow + emg2_cal.reserve(Fs * Tcal); // Idem + emg3_cal.reserve(Fs * Tcal); // Idem + } + + // 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(); + + // State transition guard + if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished + emg_sampleNow = false; // Disable signal sampling in sampleSignals() + emg_calibrateNow = false; // Disable calibration sampling + led_b = 1; // Turn off calibration led + + // Extract EMG scale data from calibration + switch( emg_curr_state ) { + case emg_cal_MVC: + emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally + emg2_MVC = getMax(emg2_cal); + emg3_MVC = getMax(emg3_cal); + + emg_MVC_cal_done = true; // Set up transition to EMG operation mode + break; + case emg_cal_rest: + emg1_rest = getMean(emg1_cal); // Store mean of EMG in rest globally + emg2_rest = getMean(emg2_cal); + emg3_rest = getMean(emg3_cal); + emg_rest_cal_done = true; // Set up transition to EMG operation mode + break; + } + vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow + vector<double>().swap(emg2_cal); + vector<double>().swap(emg3_cal); + + emg_curr_state = emg_wait; // Set next substate + emg_state_changed = true; // Enable substate entry function + } +} + +// EMG Operation state +void do_emg_operation() +{ + // 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 + + emg_sampleNow = true; // Enable signal sampling in sampleSignals() + emg_calibrateNow = false; // Disable calibration vector functionality in sampleSignals() + } + + // 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; + + // State transition guard + if ( false ) { + emg_curr_state = emg_wait; // Set next state + emg_state_changed = true; // Enable entry function + } +} + +/* +------------------------------ EMG SUBSTATE MACHINE ------------------------------ +*/ + +void emg_state_machine() +{ + switch(emg_curr_state) { + case emg_wait: + do_emg_wait(); + break; + case emg_cal_MVC: + do_emg_cal(); + break; + case emg_cal_rest: + do_emg_cal(); + break; + case emg_operation: + do_emg_operation(); + break; + } +} /* ------------------------------ GLOBAL STATE FUNCTIONS ------------------------------ @@ -162,18 +522,18 @@ } else if ( button1_pressed == true ) { // EMG CALIBRATION button1_pressed = false; - global_curr_state = global_cal_emg; + global_curr_state = global_emg_cal; global_state_changed = true; } else if ( button2_pressed == true ) { // MOTOR CALIBRATION button2_pressed = false; - global_curr_state = global_cal_motor; + global_curr_state = global_motor_cal; global_state_changed = true; } } // EMG CALIBRATION MODE -void do_global_cal_emg() +void do_global_emg_cal() { // Entry function if ( global_state_changed == true ) { @@ -184,20 +544,20 @@ doStuff(); // State transition guard - if ( cal_motor_done == true ) { // OPERATION MODE - cal_emg_done = true; + if ( motor_cal_done == true ) { // OPERATION MODE + emg_cal_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; + emg_cal_done = true; global_curr_state = global_wait; global_state_changed = true; } } // MOTOR CALIBRATION MODE -void do_global_cal_motor() +void do_global_motor_cal() { // Entry function if ( global_state_changed == true ) { @@ -208,13 +568,13 @@ doStuff(); // State transition guard - if ( cal_emg_done == true ) { // OPERATION MODE - cal_motor_done = true; + if ( emg_cal_done == true ) { // OPERATION MODE + motor_cal_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; + motor_cal_done = true; global_curr_state = global_wait; global_state_changed = true; } @@ -249,11 +609,12 @@ case global_wait: do_global_wait(); break; - case global_cal_emg: - do_global_cal_emg(); + case global_emg_cal: + do_global_emg_cal(); + emg_state_machine(); break; - case global_cal_motor: - do_global_cal_motor(); + case global_motor_cal: + do_global_motor_cal(); break; case global_operation: do_global_operation(); @@ -264,13 +625,50 @@ } } +/* +------------------------------ READ SAMPLES ------------------------------ +*/ +void sampleSignals() +{ + if (emg_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 (emg_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 + } + } +} /* ------------------------------ GLOBAL PROGRAM LOOP ------------------------------ */ void tickGlobalFunc() { - // sampleSignalsAndInputs(); + sampleSignals(); global_state_machine(); // controller(); // outputToMotors(); @@ -287,13 +685,32 @@ global_curr_state = global_wait; // Start off in EMG Wait state tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker + // ---------- Attach filters ---------- + 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 ); + + // ---------- Attach buttons ---------- button1.fall( &button1Press ); button2.fall( &button2Press ); switch2.fall( &switch2Press ); switch3.fall( &switch3Press ); + + // ---------- Turn OFF LEDs ---------- + led_b = 1; + led_g = 1; + led_r = 1; while(true) { - pc.printf("Global state: %i \r\n", global_curr_state); + pc.printf("Global state: %i EMG substate: %i\r\n", global_curr_state, emg_curr_state); wait(0.5f); } } \ No newline at end of file