De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@6:5437cc97e1e6, 2019-10-20 (annotated)
- Committer:
- Jellehierck
- Date:
- Sun Oct 20 19:53:00 2019 +0000
- Revision:
- 6:5437cc97e1e6
- Parent:
- 5:3d65f89e3755
- Child:
- 7:7a088536f1c9
Added filter stability check, cleaned up code a bit
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 |
Jellehierck | 2:d3e9788ab1b3 | 4 | // #include "QEI.h"// is needed for the encoder |
Jellehierck | 2:d3e9788ab1b3 | 5 | // #include "MODSERIAL.h"// in order for connection with the pc |
Jellehierck | 2:d3e9788ab1b3 | 6 | #include "BiQuad.h" |
Jellehierck | 2:d3e9788ab1b3 | 7 | // #include "FastPWM.h" |
Jellehierck | 2:d3e9788ab1b3 | 8 | // #include "Arduino.h" //misschien handig omdat we het EMG arduino board gebruiken (?) |
Jellehierck | 2:d3e9788ab1b3 | 9 | // #include "EMGFilters.h" |
IsaRobin | 0:6972d0e91af1 | 10 | #include <vector> // For easy array management |
IsaRobin | 0:6972d0e91af1 | 11 | |
Jellehierck | 2:d3e9788ab1b3 | 12 | // PC serial connection |
Jellehierck | 4:09a01d2db8f7 | 13 | HIDScope scope( 2 ); |
Jellehierck | 2:d3e9788ab1b3 | 14 | // MODSERIAL pc(USBTX, USBRX); |
IsaRobin | 0:6972d0e91af1 | 15 | |
IsaRobin | 0:6972d0e91af1 | 16 | //EMG inputs definieren |
IsaRobin | 0:6972d0e91af1 | 17 | AnalogIn emg1_in (A1); //emg van rechterbicep, voor de x-richting |
IsaRobin | 0:6972d0e91af1 | 18 | AnalogIn emg2_in (A2); //emg van linkerbicep, voor de y-richting |
IsaRobin | 0:6972d0e91af1 | 19 | AnalogIn emg3_in (A3); //emg van een derde (nog te bepalen) spier, voor het vernaderen van de richting |
IsaRobin | 0:6972d0e91af1 | 20 | |
Jellehierck | 4:09a01d2db8f7 | 21 | // LED |
Jellehierck | 6:5437cc97e1e6 | 22 | DigitalOut led_g(LED_GREEN); |
Jellehierck | 6:5437cc97e1e6 | 23 | DigitalOut led_r(LED_RED); |
Jellehierck | 4:09a01d2db8f7 | 24 | |
IsaRobin | 0:6972d0e91af1 | 25 | //variablen voor EMG |
IsaRobin | 0:6972d0e91af1 | 26 | double emg1; |
IsaRobin | 0:6972d0e91af1 | 27 | double emg2; |
IsaRobin | 0:6972d0e91af1 | 28 | double emg3; |
IsaRobin | 0:6972d0e91af1 | 29 | double notch1; |
IsaRobin | 0:6972d0e91af1 | 30 | double notch2; |
IsaRobin | 0:6972d0e91af1 | 31 | double notch3; |
IsaRobin | 0:6972d0e91af1 | 32 | double highpass1; |
IsaRobin | 0:6972d0e91af1 | 33 | double highpass2; |
IsaRobin | 0:6972d0e91af1 | 34 | double highpass3; |
IsaRobin | 0:6972d0e91af1 | 35 | double lowpass1; |
IsaRobin | 0:6972d0e91af1 | 36 | double lowpass2; |
IsaRobin | 0:6972d0e91af1 | 37 | double lowpass3; |
IsaRobin | 0:6972d0e91af1 | 38 | double rectify1; |
IsaRobin | 0:6972d0e91af1 | 39 | double rectify2; |
IsaRobin | 0:6972d0e91af1 | 40 | double rectify3; |
IsaRobin | 0:6972d0e91af1 | 41 | |
Jellehierck | 4:09a01d2db8f7 | 42 | // Initialize tickers |
Jellehierck | 4:09a01d2db8f7 | 43 | Ticker tickSample; |
Jellehierck | 4:09a01d2db8f7 | 44 | |
Jellehierck | 4:09a01d2db8f7 | 45 | // Sample rate |
Jellehierck | 4:09a01d2db8f7 | 46 | const double Fs = 500; //Hz |
Jellehierck | 4:09a01d2db8f7 | 47 | |
Jellehierck | 3:c0ece64850db | 48 | // Notch filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB in the following form: |
Jellehierck | 3:c0ece64850db | 49 | // b01 b11 b21 a01 a11 a21 |
Jellehierck | 3:c0ece64850db | 50 | BiQuad bq_notch(0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); |
Jellehierck | 1:059cca298369 | 51 | |
Jellehierck | 3:c0ece64850db | 52 | // Highpass filter coefficients (butter 4th order @10Hz cutoff) from MATLAB in the following form: |
Jellehierck | 3:c0ece64850db | 53 | // b01 b11 b21 a01 a11 a21 |
Jellehierck | 3:c0ece64850db | 54 | // b02 b12 b22 a02 a12 a22 |
Jellehierck | 3:c0ece64850db | 55 | BiQuad bq_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); |
Jellehierck | 3:c0ece64850db | 56 | BiQuad bq_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); |
Jellehierck | 4:09a01d2db8f7 | 57 | BiQuadChain bqc_notch_high; // Used to chain two 2nd other filters into a 4th order filter |
IsaRobin | 0:6972d0e91af1 | 58 | |
Jellehierck | 3:c0ece64850db | 59 | // Lowpass filter coefficients (butter 4th order @5Hz cutoff) from MATLAB in the following form: |
Jellehierck | 3:c0ece64850db | 60 | // b01 b11 b21 a01 a11 a21 |
Jellehierck | 3:c0ece64850db | 61 | // b02 b12 b22 a02 a12 a22 |
Jellehierck | 3:c0ece64850db | 62 | BiQuad bq_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138); |
Jellehierck | 3:c0ece64850db | 63 | BiQuad bq_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); |
Jellehierck | 3:c0ece64850db | 64 | BiQuadChain bqc_low; // Used to chain two 2nd other filters into a 4th order filter |
Jellehierck | 2:d3e9788ab1b3 | 65 | |
Jellehierck | 6:5437cc97e1e6 | 66 | // Check if filters are stable |
Jellehierck | 6:5437cc97e1e6 | 67 | bool checkBQChainStable() |
Jellehierck | 6:5437cc97e1e6 | 68 | { |
Jellehierck | 6:5437cc97e1e6 | 69 | bool n_hp_stable = bqc_notch_high.stable(); |
Jellehierck | 6:5437cc97e1e6 | 70 | bool l_stable = bqc_low.stable(); |
Jellehierck | 6:5437cc97e1e6 | 71 | |
Jellehierck | 6:5437cc97e1e6 | 72 | if (n_hp_stable && l_stable) { |
Jellehierck | 6:5437cc97e1e6 | 73 | return true; |
Jellehierck | 6:5437cc97e1e6 | 74 | } else { |
Jellehierck | 6:5437cc97e1e6 | 75 | return false; |
Jellehierck | 6:5437cc97e1e6 | 76 | } |
Jellehierck | 6:5437cc97e1e6 | 77 | } |
Jellehierck | 6:5437cc97e1e6 | 78 | |
Jellehierck | 6:5437cc97e1e6 | 79 | |
Jellehierck | 6:5437cc97e1e6 | 80 | // Read samples, filter samples and output to HIDScope |
Jellehierck | 2:d3e9788ab1b3 | 81 | void sample() |
Jellehierck | 2:d3e9788ab1b3 | 82 | { |
Jellehierck | 4:09a01d2db8f7 | 83 | // Read EMG inputs |
Jellehierck | 2:d3e9788ab1b3 | 84 | emg1 = emg1_in.read(); |
Jellehierck | 2:d3e9788ab1b3 | 85 | emg2 = emg2_in.read(); |
Jellehierck | 2:d3e9788ab1b3 | 86 | emg3 = emg3_in.read(); |
Jellehierck | 4:09a01d2db8f7 | 87 | |
Jellehierck | 4:09a01d2db8f7 | 88 | // Output raw EMG input |
Jellehierck | 4:09a01d2db8f7 | 89 | scope.set(0, emg1 ); |
Jellehierck | 6:5437cc97e1e6 | 90 | |
Jellehierck | 5:3d65f89e3755 | 91 | // Filter notch and highpass |
Jellehierck | 5:3d65f89e3755 | 92 | double emg1_n_hp = bqc_notch_high.step( emg1 ); |
Jellehierck | 6:5437cc97e1e6 | 93 | |
Jellehierck | 5:3d65f89e3755 | 94 | // Rectify |
Jellehierck | 5:3d65f89e3755 | 95 | double emg1_rectify = fabs( emg1_n_hp ); |
Jellehierck | 6:5437cc97e1e6 | 96 | |
Jellehierck | 5:3d65f89e3755 | 97 | // Filter lowpass (completes envelope) |
Jellehierck | 5:3d65f89e3755 | 98 | double emg1_env = bqc_low.step( emg1_rectify ); |
Jellehierck | 4:09a01d2db8f7 | 99 | |
Jellehierck | 4:09a01d2db8f7 | 100 | // Output EMG after filters |
Jellehierck | 5:3d65f89e3755 | 101 | scope.set(1, emg1_env ); |
Jellehierck | 4:09a01d2db8f7 | 102 | scope.send(); |
Jellehierck | 2:d3e9788ab1b3 | 103 | } |
IsaRobin | 0:6972d0e91af1 | 104 | |
Jellehierck | 5:3d65f89e3755 | 105 | void main() |
Jellehierck | 4:09a01d2db8f7 | 106 | { |
Jellehierck | 6:5437cc97e1e6 | 107 | // Initialize sample ticker |
Jellehierck | 4:09a01d2db8f7 | 108 | const double Ts = 1/Fs; |
Jellehierck | 4:09a01d2db8f7 | 109 | tickSample.attach(&sample, Ts); |
Jellehierck | 6:5437cc97e1e6 | 110 | |
Jellehierck | 6:5437cc97e1e6 | 111 | // Create BQ chains to reduce computations |
Jellehierck | 5:3d65f89e3755 | 112 | bqc_notch_high.add( &bq_notch ).add( &bq_H1 ).add( &bq_H2 ); |
Jellehierck | 5:3d65f89e3755 | 113 | bqc_low.add( &bq_L1 ).add( &bq_L2 ); |
Jellehierck | 4:09a01d2db8f7 | 114 | |
Jellehierck | 6:5437cc97e1e6 | 115 | // If any filter chain is unstable, red led will light up |
Jellehierck | 6:5437cc97e1e6 | 116 | if (checkBQChainStable) { |
Jellehierck | 6:5437cc97e1e6 | 117 | led_r = 1; // LED off |
Jellehierck | 6:5437cc97e1e6 | 118 | } else { |
Jellehierck | 6:5437cc97e1e6 | 119 | led_r = 0; // LED on |
Jellehierck | 6:5437cc97e1e6 | 120 | } |
Jellehierck | 6:5437cc97e1e6 | 121 | |
Jellehierck | 4:09a01d2db8f7 | 122 | while(true) { |
Jellehierck | 6:5437cc97e1e6 | 123 | |
Jellehierck | 6:5437cc97e1e6 | 124 | // Show that system is running |
Jellehierck | 6:5437cc97e1e6 | 125 | led_g = !led_g; |
Jellehierck | 4:09a01d2db8f7 | 126 | wait(0.5); |
Jellehierck | 4:09a01d2db8f7 | 127 | } |
Jellehierck | 4:09a01d2db8f7 | 128 | } |