De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- Jellehierck
- Date:
- 2019-10-28
- Revision:
- 30:bac3b60d6283
- Parent:
- 29:f51683a6cbbf
- Child:
- 31:b5188b6d45db
File content as of revision 30:bac3b60d6283:
//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_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_MVC_stdev; double emg1_rest; double emg1_rest_stdev; double emg1_factor; double emg1_th; double emg1_out; vector<double> emg1_cal; int emg1_cal_size; double emg2; double emg2_env; double emg2_MVC; double emg2_MVC_stdev; double emg2_rest; double emg2_rest_stdev; double emg2_factor; double emg2_th; double emg2_out; vector<double> emg2_cal; int emg2_cal_size; double emg3; double emg3_env; double emg3_MVC; double emg3_MVC_stdev; double emg3_rest; double emg3_rest_stdev; double emg3_factor; double emg3_th; double emg3_out; vector<double> emg3_cal; int emg3_cal_size; // Initialize tickers and timeouts Ticker tickSample; Ticker tickSampleCalibration; Ticker tickGlobal; // Set global ticker Timer timerCalibration; /* ------ 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; } // 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; } // Handle button press void button1Press() { button1_pressed = true; } // Handle button press void button2Press() { button2_pressed = true; } // 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; } } /* ------ TICKER 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) // Set HIDScope outputs scope.set(0, emg1_n ); // One notch filtered EMG to check 50Hz disturbance scope.set(1, emg1_env ); scope.set(2, emg2_env ); scope.set(3, emg2_env ); scope.send(); 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 } } } /* ------ EMG CALIBRATION STATES ------ */ /* ALL STATES HAVE THE FOLLOWING FORM: void do_state_function() { // Entry function if ( emg_state_changed == true ) { emg_state_changed == false; // More functions } // Do stuff until end condition is met doStuff(); // State transition guard if ( endCondition == true ) { emg_curr_state == next_state; emg_state_changed == true; // More functions } } */ // Finish up calibration 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 emg3_MVC = getMean(emg3_cal); // Store MVC globally emg3_MVC_stdev = getStdev(emg3_cal, emg3_MVC); // Store MVC stdev globally 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 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 emg3_rest = getMean(emg3_cal); // Store rest EMG globally emg3_rest_stdev = getStdev(emg3_cal, emg3_rest); // Store MVC stdev globally emg_rest_cal_done = true; // To set up transition guard to operation mode break; } 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 } // 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. 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 } 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 ( 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 } } // Run calibration of EMG 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 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); emg3_cal.reserve(Fs * Tcal); } // Do nothing until end condition is met // 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 } } void do_emg_operation() { // Entry function if ( emg_state_changed == true ) { emg_state_changed = false; // Disable entry functions double margin_percentage = 10; // 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 sampleNow = true; // Enable signal sampling in sampleSignal() calibrateNow = false; // Disable calibration vector functionality in sampleSignal() } // Do stuff until end condition is met double emg1_norm = emg1_env * emg1_factor; // Normalize EMG signal with calibrated factor double emg2_norm = emg2_env * emg2_factor; // Idem double emg3_norm = emg3_env * emg3_factor; // Idem // 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 (due to filtering perhaps), 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, emg1_th, 1, 0, 1); } // 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, emg2_th, 1, 0, 1); } // 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, emg3_th, 1, 0, 1); } // Set HIDScope outputs scope.set(0, emg1_env ); // One envelope for reference scope.set(1, emg1_out ); 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 loop of program void tickGlobalFunc() { sampleSignal(); emg_state_machine(); // controller(); // outputToMotors(); } 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 tickGlobal.attach( &tickGlobalFunc, Ts ); while(true) { // Show that system is running // led_g = !led_g; // pc.printf("currentState: %i vectors size: %i %i %i\r\n", emg_curr_state, emg1_cal_size, emg2_cal_size, emg3_cal_size); 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); wait(0.5f); } }