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De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- Jellehierck
- Date:
- 2019-10-30
- Revision:
- 39:f9042483b921
- Parent:
- 38:8b597ab8344f
- Child:
- 40:c6dffb676350
File content as of revision 39:f9042483b921:
/* ------------------------------ ADD LIBRARIES ------------------------------ */ #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 connections HIDScope scope( 4 ); MODSERIAL pc(USBTX, USBRX); // Buttons InterruptIn button1(D11); InterruptIn button2(D10); 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 /* ------------------------------ 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_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 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 constants const double Fs = 500.0; const double Ts = 1/Fs; /* ------------------------------ HELPER FUNCTIONS ------------------------------ */ // 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 ------------------------------ */ // Handle button press void button1Press() { button1_pressed = true; } // Handle button press void button2Press() { button2_pressed = true; } void switch2Press() { switch2_pressed = true; } void switch3Press() { global_curr_state = global_failure; global_state_changed = true; } /* ------------------------------ 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 ------------------------------ */ // 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: // In case of MVC calibration 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: // In case of rest calibration 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 // Compute scale factors for all EMG signals 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_cal_done = true; // Let the global substate machine know that EMG calibration is finished } // This state only runs its entry functions ONCE and then exits the EMG substate machine // State transition guard if ( false ) { // EMG substate machine is terminated after running this state once, so there is no transition to next EMG substate 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 ------------------------------ */ /* ALL STATES HAVE THE FOLLOWING FORM: void do_state_function() { // Entry function if ( global_state_changed == true ) { global_state_changed = false; // More functions } // Do stuff until end condition is met doStuff(); // State transition guard if ( endCondition == true ) { global_curr_state = next_state; global_state_changed = true; // More functions } } */ // FAILURE MODE void do_global_failure() { // Entry function if ( global_state_changed == true ) { global_state_changed = false; failure_mode = true; // Set failure mode } // 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; } } // DEMO MODE void do_global_demo() { // Entry function if ( global_state_changed == true ) { global_state_changed = false; // More functions } // Do stuff until end condition is met doStuff(); // 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 if ( switch2_pressed == true ) { // DEMO MODE switch2_pressed = false; global_curr_state = global_demo; global_state_changed = true; } else if ( button1_pressed == true ) { // EMG CALIBRATION button1_pressed = false; global_curr_state = global_emg_cal; global_state_changed = true; } else if ( button2_pressed == true ) { // MOTOR CALIBRATION button2_pressed = false; global_curr_state = global_motor_cal; global_state_changed = true; } else if ( emg_cal_done && motor_cal_done ) { // OPERATION MODE global_curr_state = global_operation; global_state_changed = true; } } // EMG CALIBRATION MODE void do_global_emg_cal() { // Entry function if ( global_state_changed == true ) { global_state_changed = false; } // Run EMG state machine until emg_cal_done flag is true emg_state_machine(); // State transition guard if ( emg_cal_done == true ) { // WAIT MODE global_curr_state = global_wait; global_state_changed = true; } } // MOTOR CALIBRATION MODE void do_global_motor_cal() { // Entry function if ( global_state_changed == true ) { global_state_changed = false; } // Do stuff until end condition is met doStuff(); // State transition guard 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; motor_cal_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; emg_sampleNow = true; // Enable signal sampling in sampleSignals() emg_calibrateNow = false; // Disable calibration functionality in sampleSignals() } // Do stuff until end condition is met emg1_norm = emg1_env * emg1_factor; // Normalize current 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 ) { // Always stay in operation mode (can be changed) global_curr_state = global_wait; global_state_changed = true; } } /* ------------------------------ GLOBAL STATE MACHINE ------------------------------ */ void global_state_machine() { switch(global_curr_state) { case global_failure: do_global_failure(); break; case global_wait: do_global_wait(); break; case global_emg_cal: do_global_emg_cal(); break; case global_motor_cal: do_global_motor_cal(); break; case global_operation: do_global_operation(); break; case global_demo: do_global_demo(); break; } } /* ------------------------------ 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() { sampleSignals(); global_state_machine(); // controller(); // outputToMotors(); } /* ------------------------------ MAIN FUNCTION ------------------------------ */ int main() { pc.baud(115200); // MODSERIAL rate pc.printf("Starting\r\n"); 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 EMG substate: %i\r\n", global_curr_state, emg_curr_state); wait(0.5f); } }