De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- Jellehierck
- Date:
- 2019-10-25
- Revision:
- 23:8a0a0b959af1
- Parent:
- 22:9079c6c0d898
- Child:
- 24:540c284e881d
File content as of revision 23:8a0a0b959af1:
//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 /* ------ 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_check_cal, emg_make_scale, emg_operation }; // Define EMG substates EMG_States emg_curr_state; // Initialize EMG substate variable bool emg_state_changed; // 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_MVC; double emg1_MVC_stdev; double emg1_rest; double emg1_rest_stdev; vector<double> emg1_cal; double emg2; double emg2_MVC; double emg2_MVC_stdev; double emg2_rest; double emg2_rest_stdev; vector<double> emg2_cal; double emg3; double emg3_MVC; double emg3_MVC_stdev; double emg3_rest; double emg3_rest_stdev; vector<double> emg3_cal; // Initialize tickers and timeouts Ticker tickSample; Ticker tickSampleCalibration; Timer timerCalibration; Timeout timeoutCalibrationMVC; Timeout timeoutCalibrationRest; /* ------ 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 ------ */ // 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; } // Check filter stability bool checkBQChainStable() { bool n_stable = bqc1_notch.stable(); bool hp_stable = bqc1_high.stable(); bool l_stable = bqc1_low.stable(); if (n_stable && hp_stable && l_stable) { return true; } else { return false; } } /* ------ TICKER FUNCTIONS ------ */ /* // 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 = bqc1_notch_high.step( emg1 ); // Rectify double emg1_rectify = fabs( emg1_n_hp ); // Filter lowpass (completes envelope) double emg1_env = bqc1_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 ); // scope.set(1, emg2 ); 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 double 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 double emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope) scope.set(0, emg1_n); scope.set(1, emg2_n); scope.set(2, emg1_env ); scope.set(3, emg2_env ); scope.send(); // IF STATEMENT TOEVOEGEN VOOR CALIBRATIE emg1_cal.push_back(emg1_env); // Add values to calibration vector emg2_cal.push_back(emg2_env); // Add values to calibration vector } /* ------ EMG CALIBRATION FUNCTIONS ------ */ // Finish up calibration of MVC void calibrationFinished() { switch( emg_curr_state ) { case emg_cal_MVC: emg1_MVC = getMean(emg1_cal); // Store MVC globally emg1_MVC_stdev = getStdev(emg1_cal, emg1_MVC); // Store MVC stdev globally emg2_MVC = getMean(emg2_cal); // Store MVC globally emg2_MVC_stdev = getStdev(emg2_cal, emg2_MVC); // Store MVC stdev globally break; case emg_cal_rest: emg1_rest = getMean(emg1_cal); // Store rest EMG globally emg1_rest_stdev = getStdev(emg1_cal, emg1_rest); // Store rest stdev globally emg2_rest = getMean(emg2_cal); // Store rest EMG globally emg2_rest_stdev = getStdev(emg2_cal, emg2_rest); // Store MVC stdev globally break; } vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow } // Finish up calibration in rest void calibrationRestFinished() { tickSampleCalibration.detach(); // Stop calibration ticker to remove interrupt emg1_rest = getMean(emg1_cal); // Store rest globally emg1_rest_stdev = getStdev(emg1_cal, emg1_rest);// Store rest stdev globally emg1_cal.clear(); // Empty vector to prevent memory overflow emg2_rest = getMean(emg2_cal); // Store rest globally emg2_rest_stdev = getStdev(emg2_cal, emg2_rest);// Store rest stdev globally emg2_cal.clear(); // Empty vector to prevent memory overflow led_b = 1; // Turn off calibration led } // Run calibration of EMG void do_emg_cal() { if ( emg_state_changed == true ) { emg_state_changed == false; led_b = 0; // Turn on calibration led timerCalibration.reset(); timerCalibration.start(); switch( emg_curr_state ) { case emg_cal_MVC: timeoutCalibrationMVC.attach( &calibrationMVCFinished, Tcal); // Stop MVC calibration after interval tickSampleCalibration.attach( &sampleCalibration, Ts ); // Start sample ticker break; case emg_cal_rest: timeoutCalibrationRest.attach( &calibrationRestFinished, Tcal); // Stop rest calibration after interval tickSampleCalibration.attach( &sampleCalibration, Ts ); // Start sample ticker break; } } // Allemaal dingen doen tot de end conditions true zijn if ( timerCalibration.read() >= Tcal ) { tickSampleCalibration.detach(); // Stop calibration ticker to remove interrupt calibrationFinished(); // Process calibration data led_b = 1; // Turn off calibration led emg_curr_state == emg_wait; stateChanged == true; pc.printf("Calibration step finished"); } } /* // Run calibration in rest void calibrationRest() { timeoutCalibrationRest.attach( &calibrationRestFinished, Tcal); // Stop rest calibration after interval tickSampleCalibration.attach( &sampleCalibration, Ts ); // Start sample ticker led_b = 0; // Turn on calibration led } */ // Determine scale factors for operation mode void makeScale() { double margin_percentage = 10; // Set up % margin for rest double factor1 = 1 / emg1_MVC; // Factor to normalize MVC double emg1_th = emg1_rest * factor1 + margin_percentage/100; // Set normalized rest threshold pc.printf("Factor: %f TH: %f\r\n", factor1, emg1_th); } /* ------ 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_check_cal: //do_emg_check_cal(); break; case emg_make_scale: //do_make_scale(); break; case emg_operation: //do_emg_operation(); break; } } 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 } button1.fall( &calibrationMVC ); // Run MVC calibration on button press button2.fall( &calibrationRest ); // Run rest calibration on button press button3.fall( &makeScale ); // Create scale factors and close calibration at button press while(true) { // Show that system is running // led_g = !led_g; pc.printf("Vector emg1_cal: %i vector emg2_cal: %i\r\n", emg1_cal.size(), emg2_cal.size()); wait(1.0f); } }