De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@1:059cca298369, 2019-10-20 (annotated)
- Committer:
- Jellehierck
- Date:
- Sun Oct 20 18:28:59 2019 +0000
- Revision:
- 1:059cca298369
- Parent:
- 0:6972d0e91af1
- Child:
- 2:d3e9788ab1b3
Added filter values, rewrote variable names (not finished)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
IsaRobin | 0:6972d0e91af1 | 1 | //c++ script for filtering of measured EMG signals |
IsaRobin | 0:6972d0e91af1 | 2 | #include "mbed.h" //Base library |
IsaRobin | 0:6972d0e91af1 | 3 | #include "HIDScope.h" // to see if program is working and EMG is filtered properly |
IsaRobin | 0:6972d0e91af1 | 4 | #include "QEI.h"// is needed for the encoder |
IsaRobin | 0:6972d0e91af1 | 5 | #include "MODSERIAL.h"// in order for connection with the pc |
IsaRobin | 0:6972d0e91af1 | 6 | #include "BiQuad.h" |
IsaRobin | 0:6972d0e91af1 | 7 | #include "FastPWM.h" |
IsaRobin | 0:6972d0e91af1 | 8 | #include "Arduino.h" //misschien handig omdat we het EMG arduino board gebruiken (?) |
IsaRobin | 0:6972d0e91af1 | 9 | #include "EMGFilters.h" |
IsaRobin | 0:6972d0e91af1 | 10 | #include <vector> // For easy array management |
IsaRobin | 0:6972d0e91af1 | 11 | |
IsaRobin | 0:6972d0e91af1 | 12 | // PC connection |
IsaRobin | 0:6972d0e91af1 | 13 | MODSERIAL pc(USBTX, USBRX); |
IsaRobin | 0:6972d0e91af1 | 14 | |
IsaRobin | 0:6972d0e91af1 | 15 | //EMG inputs definieren |
IsaRobin | 0:6972d0e91af1 | 16 | AnalogIn emg1_in (A1); //emg van rechterbicep, voor de x-richting |
IsaRobin | 0:6972d0e91af1 | 17 | AnalogIn emg2_in (A2); //emg van linkerbicep, voor de y-richting |
IsaRobin | 0:6972d0e91af1 | 18 | AnalogIn emg3_in (A3); //emg van een derde (nog te bepalen) spier, voor het vernaderen van de richting |
IsaRobin | 0:6972d0e91af1 | 19 | |
IsaRobin | 0:6972d0e91af1 | 20 | //variablen voor EMG |
IsaRobin | 0:6972d0e91af1 | 21 | double emg1; |
IsaRobin | 0:6972d0e91af1 | 22 | double emg2; |
IsaRobin | 0:6972d0e91af1 | 23 | double emg3; |
IsaRobin | 0:6972d0e91af1 | 24 | double notch1; |
IsaRobin | 0:6972d0e91af1 | 25 | double notch2; |
IsaRobin | 0:6972d0e91af1 | 26 | double notch3; |
IsaRobin | 0:6972d0e91af1 | 27 | double highpass1; |
IsaRobin | 0:6972d0e91af1 | 28 | double highpass2; |
IsaRobin | 0:6972d0e91af1 | 29 | double highpass3; |
IsaRobin | 0:6972d0e91af1 | 30 | double lowpass1; |
IsaRobin | 0:6972d0e91af1 | 31 | double lowpass2; |
IsaRobin | 0:6972d0e91af1 | 32 | double lowpass3; |
IsaRobin | 0:6972d0e91af1 | 33 | double rectify1; |
IsaRobin | 0:6972d0e91af1 | 34 | double rectify2; |
IsaRobin | 0:6972d0e91af1 | 35 | double rectify3; |
IsaRobin | 0:6972d0e91af1 | 36 | |
IsaRobin | 0:6972d0e91af1 | 37 | //values for EMG, dit moet nog aangepast worden aan de hand van de in matlab verkregen coefficienten |
Jellehierck | 1:059cca298369 | 38 | // Notch (iirnotch Q factor 35 @50Hz) from MATLAB: 0.995636295063941 -1.89829218816065 0.995636295063941 1 -1.89829218816065 0.991272590127882 |
Jellehierck | 1:059cca298369 | 39 | const double n_b0 = 0.995636295063941; |
Jellehierck | 1:059cca298369 | 40 | const double n_b1 = -1.89829218816065; |
Jellehierck | 1:059cca298369 | 41 | const double n_b2 = 0.995636295063941; |
Jellehierck | 1:059cca298369 | 42 | const double n_a0 = 1; |
Jellehierck | 1:059cca298369 | 43 | const double n_a1 = -1.89829218816065; |
Jellehierck | 1:059cca298369 | 44 | const double n_a2 = 0.991272590127882; |
Jellehierck | 1:059cca298369 | 45 | |
Jellehierck | 1:059cca298369 | 46 | // Highpass (butter 4th order @10Hz cutoff) from MATLAB: 0.922946103200875 -1.84589220640175 0.922946103200875 1 -1.88920703055163 0.892769008131025 |
Jellehierck | 1:059cca298369 | 47 | const double h_b0 = 0.922946103200875; |
Jellehierck | 1:059cca298369 | 48 | const double h_b1 = -1.84589220640175; |
Jellehierck | 1:059cca298369 | 49 | const double h_b2 = 0.922946103200875; |
Jellehierck | 1:059cca298369 | 50 | const double h_a0 = 1; |
Jellehierck | 1:059cca298369 | 51 | const double h_a1 = -1.88920703055163; |
Jellehierck | 1:059cca298369 | 52 | const double h_02 = 0.892769008131025; |
Jellehierck | 1:059cca298369 | 53 | |
Jellehierck | 1:059cca298369 | 54 | // Lowpass (butter 4th order @5Hz cutoff) from MATLAB: 5.32116245737504e-08 1.06423249147501e-07 5.32116245737504e-08 1 -1.94396715039462 0.944882378004138 |
Jellehierck | 1:059cca298369 | 55 | const double l_b0 = 5.32116245737504e-08; |
Jellehierck | 1:059cca298369 | 56 | const double l_b1 = 1.06423249147501e-07; |
Jellehierck | 1:059cca298369 | 57 | const double l_b2 = 5.32116245737504e-08; |
Jellehierck | 1:059cca298369 | 58 | const double l_a0 = 1; |
Jellehierck | 1:059cca298369 | 59 | const double l_a1 = -1.94396715039462; |
Jellehierck | 1:059cca298369 | 60 | const double l_a2 = 0.944882378004138; |
Jellehierck | 1:059cca298369 | 61 | |
IsaRobin | 0:6972d0e91af1 | 62 | |
IsaRobin | 0:6972d0e91af1 | 63 | //BiQuad values, dit moet nog aangepast worden aan de hand van de in matlab verkregen coefficienten |
IsaRobin | 0:6972d0e91af1 | 64 | BiQuadChain notch; |
Jellehierck | 1:059cca298369 | 65 | BiQuad bq_n1( n1, n2, n3, n4, n5, n6); |
Jellehierck | 1:059cca298369 | 66 | BiQuad bq_n2( n1, n2, n3, n4, n5, n6); |
Jellehierck | 1:059cca298369 | 67 | BiQuad bq_n3( n1, n2, n3, n4, n5, n6); |
IsaRobin | 0:6972d0e91af1 | 68 | BiQuadChain highpass; |
Jellehierck | 1:059cca298369 | 69 | BiQuad bq_h1( h1, h2, h3, h4, h5, h6); |
Jellehierck | 1:059cca298369 | 70 | BiQuad bq_h2( h1, h2, h3, h4, h5, h6); |
Jellehierck | 1:059cca298369 | 71 | BiQuad bq_h3( h1, h2, h3, h4, h5, h6); |
IsaRobin | 0:6972d0e91af1 | 72 | BiQuadChain lowpass; |
Jellehierck | 1:059cca298369 | 73 | BiQuad bq_l1( l1, l2, l3, l4, l5, l6); |
Jellehierck | 1:059cca298369 | 74 | BiQuad bq_l2( l1, l2, l3, l4, l5, l6); |
Jellehierck | 1:059cca298369 | 75 | BiQuad bq_l3( l1, l2, l3, l4, l5, l6); |
IsaRobin | 0:6972d0e91af1 | 76 | |
IsaRobin | 0:6972d0e91af1 | 77 | //filteren van het EMG signaal |
IsaRobin | 0:6972d0e91af1 | 78 | //eerst dus EMG signaal uitlezen |
IsaRobin | 0:6972d0e91af1 | 79 | emg1 = emg1_in.read(); |
IsaRobin | 0:6972d0e91af1 | 80 | emg2 = emg2_in.read(); |
IsaRobin | 0:6972d0e91af1 | 81 | emg3 = emg3_in.read(); |
IsaRobin | 0:6972d0e91af1 | 82 | |
IsaRobin | 0:6972d0e91af1 | 83 | //notch filter toepassen |
IsaRobin | 0:6972d0e91af1 | 84 | notch1 = N1.step(emg1); |
IsaRobin | 0:6972d0e91af1 | 85 | notch2 = N2.step(emg2); |
IsaRobin | 0:6972d0e91af1 | 86 | notch3 = N3.step(emg3); |
IsaRobin | 0:6972d0e91af1 | 87 | |
IsaRobin | 0:6972d0e91af1 | 88 | //high pass filter |
IsaRobin | 0:6972d0e91af1 | 89 | high1 = H1.step(notch1); |
IsaRobin | 0:6972d0e91af1 | 90 | high2 = H2.step(notch2); |
IsaRobin | 0:6972d0e91af1 | 91 | high3 = H3.step(notch3); |
IsaRobin | 0:6972d0e91af1 | 92 | |
IsaRobin | 0:6972d0e91af1 | 93 | //rectify toepassen, oftewel absolute waarde van EMG signaal nemen |
IsaRobin | 0:6972d0e91af1 | 94 | absolute1 = fabs(high1); |
IsaRobin | 0:6972d0e91af1 | 95 | absolute2 = fabs(high2); |
IsaRobin | 0:6972d0e91af1 | 96 | absolute3 = fabs(high3); |
IsaRobin | 0:6972d0e91af1 | 97 | |
IsaRobin | 0:6972d0e91af1 | 98 | //low pass filter |
IsaRobin | 0:6972d0e91af1 | 99 | low1 = L1.step(absolute1); |
IsaRobin | 0:6972d0e91af1 | 100 | low2 = L2.step(absolute2); |
IsaRobin | 0:6972d0e91af1 | 101 | low3 = L3.step(absolute3); |