De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- Jellehierck
- Date:
- 2019-10-21
- Revision:
- 12:70f0710400c2
- Parent:
- 11:042170a9b93a
- Child:
- 13:2724d2e747f1
- Child:
- 15:421d3d9c563b
File content as of revision 12:70f0710400c2:
//c++ script for filtering of measured EMG signals #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 // PC serial connection HIDScope scope( 3 ); MODSERIAL pc(USBTX, USBRX); //EMG inputs definieren AnalogIn emg1_in (A1); //emg van rechterbicep, voor de x-richting AnalogIn emg2_in (A2); //emg van linkerbicep, voor de y-richting AnalogIn emg3_in (A3); //emg van een derde (nog te bepalen) spier, voor het vernaderen van de richting // 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); //variablen voor EMG double emg1; double emg2; double emg3; double emg1_MVC; double emg1_MVC_stdev; double emg1_rest; double emg1_rest_stdev; vector<double> emg1_cal; // Initialize tickers Ticker tickSample; Timeout timeoutCalibrationMVC; Timeout timeoutCalibrationRest; Ticker tickSampleCalibration; // Sample rate const double Fs = 500; // Sampling frequency (s) const double Ts = 1/Fs; // Sampling time (s) const double Tcal = 10.0f; // Calibration duration (s) int trim_cal = 1; // Trim the beginning of the calibration vector to reduce transient behaviour by X seconds int trim_cal_i = trim_cal * Fs - 1; // Notch filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB in the following form: // b01 b11 b21 a01 a11 a21 BiQuad bq_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); BiQuadChain bqc_notch; // Highpass filter coefficients (butter 4th order @10Hz cutoff) from MATLAB in the following form: // b01 b11 b21 a01 a11 a21 // b02 b12 b22 a02 a12 a22 BiQuad bq_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); BiQuad bq_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); BiQuadChain bqc_high; // Used to chain two 2nd other filters into a 4th order filter // Lowpass filter coefficients (butter 4th order @5Hz cutoff) from MATLAB in the following form: // b01 b11 b21 a01 a11 a21 // b02 b12 b22 a02 a12 a22 BiQuad bq_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138); BiQuad bq_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); BiQuadChain bqc_low; // Used to chain two 2nd other filters into a 4th order filter 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; } 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; } // Check if filters are stable bool checkBQChainStable() { bool n_stable = bqc_notch.stable(); bool hp_stable = bqc_high.stable(); bool l_stable = bqc_low.stable(); if (n_stable && hp_stable && l_stable) { return true; } else { return false; } } /* // Read samples, filter samples and output to HIDScope void sample() { // Read EMG inputs emg1 = emg1_in.read(); emg2 = emg2_in.read(); emg3 = emg3_in.read(); // Output raw EMG input scope.set(0, emg1 ); // Filter notch and highpass double emg1_n_hp = bqc_notch_high.step( emg1 ); // Rectify double emg1_rectify = fabs( emg1_n_hp ); // Filter lowpass (completes envelope) double emg1_env = bqc_low.step( emg1_rectify ); // Output EMG after filters scope.set(1, emg1_env ); scope.send(); } */ void sampleCalibration() { // Read EMG inputs emg1 = emg1_in.read(); emg2 = emg2_in.read(); emg3 = emg3_in.read(); // Output raw EMG input scope.set(0, emg1 ); double emg1_n = bqc_notch.step( emg1 ); // Filter notch scope.set(1, emg1_n); double emg1_hp = bqc_high.step( emg1_n ); // Filter highpass double emg1_rectify = fabs( emg1_hp ); // Rectify double emg1_env = bqc_low.step( emg1_rectify ); // Filter lowpass (completes envelope) // Output EMG after filters scope.set(2, emg1_env ); scope.send(); emg1_cal.push_back(emg1_env); } void calibrationMVCFinished() { tickSampleCalibration.detach(); emg1_MVC = getMean(emg1_cal); emg1_MVC_stdev = getStdev(emg1_cal, emg1_MVC); emg1_cal.clear(); led_b = 1; } void calibrationMVC() { timeoutCalibrationMVC.attach( &calibrationMVCFinished, Tcal); tickSampleCalibration.attach( &sampleCalibration, Ts ); led_b = 0; } void calibrationRestFinished() { tickSampleCalibration.detach(); emg1_rest = getMean(emg1_cal); emg1_rest_stdev = getStdev(emg1_cal, emg1_rest); emg1_cal.clear(); led_b = 1; } void calibrationRest() { timeoutCalibrationRest.attach( &calibrationRestFinished, Tcal); tickSampleCalibration.attach( &sampleCalibration, Ts ); led_b = 0; } void makeScale() { double margin_percentage = 10; double factor1 = 1 / emg1_MVC; double emg1_th = emg1_rest * factor1 + margin_percentage/100; pc.printf("Factor: %f TH: %f\r\n", factor1, emg1_th); } void main() { pc.baud(115200); pc.printf("Starting\r\n"); // Initialize sample ticker // tickSample.attach(&sample, Ts); // Create BQ chains to reduce computations bqc_notch.add( &bq_notch ); bqc_high.add( &bq_H1 ).add( &bq_H2 ); bqc_low.add( &bq_L1 ).add( &bq_L2 ); led_b = 1; // Turn led off at startup led_g = 1; // If any filter chain is unstable, red led will light up if (checkBQChainStable) { led_r = 1; // LED off } else { led_r = 0; // LED on } button1.fall( &calibrationMVC ); button2.fall( &calibrationRest ); button3.fall( &makeScale ); while(true) { // Show that system is running // led_g = !led_g; pc.printf("EMG MVC: %f stdev: %f\r\nEMG Rest: %f stdev: %f\r\n", emg1_MVC, emg1_MVC_stdev, emg1_rest, emg1_rest_stdev); wait(0.5); } }