group14 - k9 / Mbed 2 deprecated robot_2

2nd draft

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed Servo

Fork of robot_mockup by Martijn Kern

main.cpp@44:145827f5b091, 2015-10-23 (annotated)

Committer:
Vigilance88
Date:
Fri Oct 23 10:12:47 2015 +0000
Revision:
44:145827f5b091
Parent:
42:b9d26b1218b0
Child:
45:198654304238
started with threshold detection

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
Vigilance88 18:44905b008f44 3 #include "MODSERIAL.h"
Vigilance88 18:44905b008f44 4 #include "biquadFilter.h"
Vigilance88 18:44905b008f44 5 #include "QEI.h"
Vigilance88 21:d6a46315d5f5 6 #include "math.h"
Vigilance88 26:fe3a5469dd6b 7 #include <string>
Vigilance88 21:d6a46315d5f5 8
Vigilance88 21:d6a46315d5f5 9 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 10 -------------------------------- BIOROBOTICS GROUP 14 ----------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 11 --------------------------------------------------------------------------------------------------------------------*/
vsluiter 0:32bb76391d89 12
Vigilance88 18:44905b008f44 13 //Define important constants in memory
Vigilance88 21:d6a46315d5f5 14 #define PI 3.14159265
Vigilance88 18:44905b008f44 15 #define SAMPLE_RATE 0.002 //500 Hz EMG sample rate
Vigilance88 18:44905b008f44 16 #define CONTROL_RATE 0.01 //100 Hz Control rate
Vigilance88 21:d6a46315d5f5 17 #define ENCODER1_CPR 4200 //encoders have 64 (X4), 32 (X2) counts per revolution of motor shaft
Vigilance88 21:d6a46315d5f5 18 #define ENCODER2_CPR 4200 //gearbox 1:131.25 -> 4200 counts per revolution of the output shaft (X2),
Vigilance88 26:fe3a5469dd6b 19 #define PWM_PERIOD 0.0001 //10k Hz pwm motor frequency. Higher -> too hot, lower -> motor doesnt respond correctly
Vigilance88 21:d6a46315d5f5 20 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 21 ---- OBJECTS ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 22 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 23
Vigilance88 18:44905b008f44 24 MODSERIAL pc(USBTX,USBRX); //serial communication
Vigilance88 18:44905b008f44 25
Vigilance88 36:4d4fc200171b 26 //Debug LEDs
Vigilance88 25:49ccdc98639a 27 DigitalOut red(LED_RED);
Vigilance88 25:49ccdc98639a 28 DigitalOut green(LED_GREEN);
Vigilance88 25:49ccdc98639a 29 DigitalOut blue(LED_BLUE);
Vigilance88 25:49ccdc98639a 30
Vigilance88 21:d6a46315d5f5 31 //EMG shields
Vigilance88 18:44905b008f44 32 AnalogIn emg1(A0); //Analog input - Biceps EMG
Vigilance88 18:44905b008f44 33 AnalogIn emg2(A1); //Analog input - Triceps EMG
Vigilance88 18:44905b008f44 34 AnalogIn emg3(A2); //Analog input - Flexor EMG
Vigilance88 18:44905b008f44 35 AnalogIn emg4(A3); //Analog input - Extensor EMG
Vigilance88 18:44905b008f44 36
Vigilance88 18:44905b008f44 37 Ticker sample_timer; //Ticker for EMG sampling
Vigilance88 18:44905b008f44 38 Ticker control_timer; //Ticker for control loop
Vigilance88 18:44905b008f44 39 HIDScope scope(4); //Scope 4 channels
Vigilance88 18:44905b008f44 40
Vigilance88 18:44905b008f44 41 // AnalogIn potmeter(A4); //potmeters
Vigilance88 18:44905b008f44 42 // AnalogIn potmeter2(A5); //
Vigilance88 18:44905b008f44 43
Vigilance88 21:d6a46315d5f5 44 //Encoders
Vigilance88 18:44905b008f44 45 QEI Encoder1(D13,D12,NC,32); //channel A and B from encoder, counts = Encoder.getPulses();
Vigilance88 18:44905b008f44 46 QEI Encoder2(D10,D9,NC,32); //channel A and B from encoder,
Vigilance88 21:d6a46315d5f5 47
Vigilance88 21:d6a46315d5f5 48 //Speed and Direction of motors - D4 (dir) and D5(speed) = motor 2, D7(dir) and D6(speed) = motor 1
Vigilance88 21:d6a46315d5f5 49 PwmOut pwm_motor1(D6); //PWM motor 1
Vigilance88 21:d6a46315d5f5 50 PwmOut pwm_motor2(D5); //PWM motor 2
Vigilance88 26:fe3a5469dd6b 51
Vigilance88 18:44905b008f44 52 DigitalOut dir_motor1(D7); //Direction motor 1
Vigilance88 18:44905b008f44 53 DigitalOut dir_motor2(D4); //Direction motor 2
Vigilance88 18:44905b008f44 54
Vigilance88 24:56db31267f10 55 //Limit Switches
Vigilance88 28:743485bb51e4 56 InterruptIn shoulder_limit(D2); //using FRDM buttons
Vigilance88 28:743485bb51e4 57 InterruptIn elbow_limit(D3); //using FRDM buttons
Vigilance88 26:fe3a5469dd6b 58
Vigilance88 26:fe3a5469dd6b 59 //Other buttons
Vigilance88 26:fe3a5469dd6b 60 DigitalIn button1(PTA4); //using FRDM buttons
Vigilance88 26:fe3a5469dd6b 61 DigitalIn button2(PTC6); //using FRDM buttons
Vigilance88 26:fe3a5469dd6b 62
Vigilance88 26:fe3a5469dd6b 63 /*Text colors ASCII code: Set Attribute Mode <ESC>[{attr1};...;{attrn}m
Vigilance88 26:fe3a5469dd6b 64
Vigilance88 26:fe3a5469dd6b 65 \ 0 3 3 - ESC
Vigilance88 26:fe3a5469dd6b 66 [ 3 0 m - black
Vigilance88 26:fe3a5469dd6b 67 [ 3 1 m - red
Vigilance88 26:fe3a5469dd6b 68 [ 3 2 m - green
Vigilance88 26:fe3a5469dd6b 69 [ 3 3 m - yellow
Vigilance88 26:fe3a5469dd6b 70 [ 3 4 m - blue
Vigilance88 26:fe3a5469dd6b 71 [ 3 5 m - magenta
Vigilance88 26:fe3a5469dd6b 72 [ 3 6 m - cyan
Vigilance88 26:fe3a5469dd6b 73 [ 3 7 m - white
Vigilance88 26:fe3a5469dd6b 74 [ 0 m - reset attributes
Vigilance88 26:fe3a5469dd6b 75
Vigilance88 26:fe3a5469dd6b 76 Put the text you want to color between GREEN_ and _GREEN
Vigilance88 26:fe3a5469dd6b 77 */
Vigilance88 26:fe3a5469dd6b 78 string GREEN_ = "\033[32m"; //esc - green
Vigilance88 26:fe3a5469dd6b 79 string _GREEN = "\033[0m"; //esc - reset
Vigilance88 24:56db31267f10 80
Vigilance88 21:d6a46315d5f5 81
Vigilance88 21:d6a46315d5f5 82 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 83 ---- DECLARE VARIABLES -----------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 84 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 85
Vigilance88 36:4d4fc200171b 86 //EMG variables: raw EMG - filtered EMG - maximum voluntary contraction - minimum amplitude during relaxation.
Vigilance88 36:4d4fc200171b 87 //minimum declared as 1 so the comparison with EMG during calibration works correctly - function emg_min()
Vigilance88 38:c8ac615d0c8f 88 double emg_biceps; double biceps_power; double bicepsMVC = 0; double bicepsmin=0;
Vigilance88 38:c8ac615d0c8f 89 double emg_triceps; double triceps_power; double tricepsMVC = 0; double tricepsmin=0;
Vigilance88 38:c8ac615d0c8f 90 double emg_flexor; double flexor_power; double flexorMVC = 0; double flexormin=0;
Vigilance88 38:c8ac615d0c8f 91 double emg_extens; double extens_power; double extensMVC = 0; double extensmin=0;
Vigilance88 39:e77f844d10d9 92 //Normalize and compare variables
Vigilance88 39:e77f844d10d9 93 double biceps, triceps, flexor, extens; //Storage for normalized emg
Vigilance88 39:e77f844d10d9 94 double xdir, ydir; //EMG reference position directions
Vigilance88 39:e77f844d10d9 95 double xpower, ypower; //EMG reference magnitude
Vigilance88 39:e77f844d10d9 96 double dx, dy; //integration of EMG (velocity) to position
Vigilance88 44:145827f5b091 97 //Threshold moving average
Vigilance88 44:145827f5b091 98 const int window=100; //00 samples
Vigilance88 44:145827f5b091 99 int i=0; //buffer index
Vigilance88 44:145827f5b091 100 double movavg1[window]; //moving average arrays
Vigilance88 44:145827f5b091 101 double movavg2[window];
Vigilance88 44:145827f5b091 102 double movavg3[window];
Vigilance88 44:145827f5b091 103 double movavg4[window];
Vigilance88 44:145827f5b091 104
Vigilance88 36:4d4fc200171b 105 int muscle; //Muscle selector for MVC measurement, 1 = first emg etc.
Vigilance88 26:fe3a5469dd6b 106 double calibrate_time; //Elapsed time for each MVC measurement
Vigilance88 25:49ccdc98639a 107
Vigilance88 24:56db31267f10 108 //PID variables
Vigilance88 36:4d4fc200171b 109 double u1; double u2; //Output of PID controller (PWM value for motor 1 and 2)
Vigilance88 36:4d4fc200171b 110 double m1_error=0; double m1_e_int=0; double m1_e_prev=0; //Error, integrated error, previous error
Vigilance88 36:4d4fc200171b 111 const double m1_kp=8; const double m1_ki=0.125; const double m1_kd=0.5; //Proportional, integral and derivative gains.
Vigilance88 24:56db31267f10 112
Vigilance88 36:4d4fc200171b 113 double m2_error=0; double m2_e_int=0; double m2_e_prev=0; //Error, integrated error, previous error
Vigilance88 36:4d4fc200171b 114 const double m2_kp=8; const double m2_ki=0.125; const double m2_kd=0.5; //Proportional, integral and derivative gains.
Vigilance88 24:56db31267f10 115
Vigilance88 36:4d4fc200171b 116 //Calibration bools, checks if elbow/shoulder limits are hit
Vigilance88 32:76c4d7bb2022 117 bool done1 = false;
Vigilance88 32:76c4d7bb2022 118 bool done2 = false;
Vigilance88 32:76c4d7bb2022 119
Vigilance88 24:56db31267f10 120 //highpass filter 20 Hz
Vigilance88 24:56db31267f10 121 const double high_b0 = 0.956543225556877;
Vigilance88 24:56db31267f10 122 const double high_b1 = -1.91308645113754;
Vigilance88 24:56db31267f10 123 const double high_b2 = 0.956543225556877;
Vigilance88 24:56db31267f10 124 const double high_a1 = -1.91197067426073;
Vigilance88 24:56db31267f10 125 const double high_a2 = 0.9149758348014341;
Vigilance88 24:56db31267f10 126
Vigilance88 24:56db31267f10 127 //notchfilter 50Hz
Vigilance88 36:4d4fc200171b 128 /*
Vigilance88 24:56db31267f10 129 Method = Butterworth
Vigilance88 24:56db31267f10 130 Biquad = Yes
Vigilance88 24:56db31267f10 131 Stable = Yes
Vigilance88 24:56db31267f10 132 Sampling Frequency = 500Hz
Vigilance88 24:56db31267f10 133 Filter Order = 2
Vigilance88 24:56db31267f10 134
Vigilance88 24:56db31267f10 135 Band Frequencies (Hz) Att/Ripple (dB) Biquad #1 Biquad #2
Vigilance88 24:56db31267f10 136
Vigilance88 24:56db31267f10 137 1 0, 48 0.001 Gain = 1.000000 Gain = 0.973674
Vigilance88 24:56db31267f10 138 2 49, 51 -60.000 B = [ 1.00000000000, -1.61816176147, 1.00000000000] B = [ 1.00000000000, -1.61816176147, 1.00000000000]
Vigilance88 24:56db31267f10 139 3 52, 250 0.001 A = [ 1.00000000000, -1.58071559235, 0.97319685401] A = [ 1.00000000000, -1.61244708381, 0.97415116257]
Vigilance88 24:56db31267f10 140 */
Vigilance88 24:56db31267f10 141
Vigilance88 24:56db31267f10 142 //biquad 1
Vigilance88 24:56db31267f10 143 const double notch1gain = 1.000000;
Vigilance88 24:56db31267f10 144 const double notch1_b0 = 1;
Vigilance88 24:56db31267f10 145 const double notch1_b1 = -1.61816176147 * notch1gain;
Vigilance88 24:56db31267f10 146 const double notch1_b2 = 1.00000000000 * notch1gain;
Vigilance88 24:56db31267f10 147 const double notch1_a1 = -1.58071559235 * notch1gain;
Vigilance88 24:56db31267f10 148 const double notch1_a2 = 0.97319685401 * notch1gain;
Vigilance88 24:56db31267f10 149
Vigilance88 24:56db31267f10 150 //biquad 2
Vigilance88 24:56db31267f10 151 const double notch2gain = 0.973674;
Vigilance88 24:56db31267f10 152 const double notch2_b0 = 1 * notch2gain;
Vigilance88 24:56db31267f10 153 const double notch2_b1 = -1.61816176147 * notch2gain;
Vigilance88 24:56db31267f10 154 const double notch2_b2 = 1.00000000000 * notch2gain;
Vigilance88 24:56db31267f10 155 const double notch2_a1 = -1.61244708381 * notch2gain;
Vigilance88 24:56db31267f10 156 const double notch2_a2 = 0.97415116257 * notch2gain;
Vigilance88 24:56db31267f10 157
Vigilance88 26:fe3a5469dd6b 158 //lowpass filter 7 Hz - envelope
Vigilance88 24:56db31267f10 159 const double low_b0 = 0.000119046743110057;
Vigilance88 24:56db31267f10 160 const double low_b1 = 0.000238093486220118;
Vigilance88 24:56db31267f10 161 const double low_b2 = 0.000119046743110057;
Vigilance88 24:56db31267f10 162 const double low_a1 = -1.968902268531908;
Vigilance88 24:56db31267f10 163 const double low_a2 = 0.9693784555043481;
Vigilance88 21:d6a46315d5f5 164
Vigilance88 36:4d4fc200171b 165 //Forward Kinematics
Vigilance88 36:4d4fc200171b 166 const double l1 = 0.25; const double l2 = 0.25; //Arm lengths
Vigilance88 36:4d4fc200171b 167 double current_x; double current_y; //Current position
Vigilance88 36:4d4fc200171b 168 double theta1; double theta2; //Current angles
Vigilance88 36:4d4fc200171b 169 double rpc; //Encoder resolution: radians per count
Vigilance88 36:4d4fc200171b 170
Vigilance88 36:4d4fc200171b 171 //Reference position
Vigilance88 28:743485bb51e4 172 double x; double y;
Vigilance88 36:4d4fc200171b 173
Vigilance88 39:e77f844d10d9 174 //Select whether to use Trig or DLS method, emg true or false
Vigilance88 38:c8ac615d0c8f 175 int control_method;
Vigilance88 39:e77f844d10d9 176 bool emg_control;
Vigilance88 38:c8ac615d0c8f 177
Vigilance88 36:4d4fc200171b 178 //Inverse Kinematics - Trig / Gonio method.
Vigilance88 36:4d4fc200171b 179 //First convert reference position to angle needed, then compare that angle to current angle.
Vigilance88 36:4d4fc200171b 180 double dtheta1; double dtheta2; //reference angles
Vigilance88 36:4d4fc200171b 181 double costheta1; double sintheta1; //helper variables
Vigilance88 36:4d4fc200171b 182 double costheta2; double sintheta2; //
Vigilance88 36:4d4fc200171b 183
Vigilance88 36:4d4fc200171b 184 //Inverse Kinematics - Damped least squares method.
Vigilance88 36:4d4fc200171b 185 //Angle error is directly calculated from position error: dq = [DLS matrix] * position_error
Vigilance88 36:4d4fc200171b 186 // |DLS1 DLS2|
Vigilance88 36:4d4fc200171b 187 double dls1, dls2, dls3, dls4; //DLS matrix: |DLS3 DLS4|
Vigilance88 36:4d4fc200171b 188 double q1_error, q2_error; //Angle errors
Vigilance88 36:4d4fc200171b 189 double x_error; double y_error; //Position errors
Vigilance88 36:4d4fc200171b 190 double lambda=0.1; //Damping constant
Vigilance88 21:d6a46315d5f5 191
Vigilance88 41:55face19e06b 192 //Mechanical Limits
Vigilance88 41:55face19e06b 193 int theta1_cal, theta2_cal; //Pulse counts at mechanical limits.
Vigilance88 41:55face19e06b 194 double theta1_lower=0.698132, theta1_upper=2.35619; //motor1: lower limit 40 degrees, upper limit 135
Vigilance88 41:55face19e06b 195 double theta2_lower=0.750492, theta2_upper=2.40855; //motor2: lower limit 43 degrees, upper limit 138 degrees.
Vigilance88 41:55face19e06b 196
Vigilance88 21:d6a46315d5f5 197 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 198 ---- Filters ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 199 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 24:56db31267f10 200
Vigilance88 24:56db31267f10 201 //Using biquadFilter library
Vigilance88 24:56db31267f10 202 //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered.
Vigilance88 26:fe3a5469dd6b 203 //Biceps
Vigilance88 24:56db31267f10 204 biquadFilter highpass( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 24:56db31267f10 205 biquadFilter notch1( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 24:56db31267f10 206 biquadFilter notch2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 24:56db31267f10 207 biquadFilter lowpass( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 208
Vigilance88 26:fe3a5469dd6b 209 //Triceps
Vigilance88 25:49ccdc98639a 210 biquadFilter highpass2( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 211 biquadFilter notch1_2( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 212 biquadFilter notch2_2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 213 biquadFilter lowpass2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 214
Vigilance88 26:fe3a5469dd6b 215 //Flexor
Vigilance88 25:49ccdc98639a 216 biquadFilter highpass3( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 217 biquadFilter notch1_3( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 218 biquadFilter notch2_3( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 219 biquadFilter lowpass3( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 220
Vigilance88 26:fe3a5469dd6b 221 //Extensor
Vigilance88 25:49ccdc98639a 222 biquadFilter highpass4( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 223 biquadFilter notch1_4( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 224 biquadFilter notch2_4( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 225 biquadFilter lowpass4( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 226
Vigilance88 26:fe3a5469dd6b 227 //PID filter (lowpass ??? Hz)
Vigilance88 29:948b0b14f6be 228 biquadFilter derfilter( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // derivative filter
Vigilance88 24:56db31267f10 229
Vigilance88 40:d62f96ed44c0 230
Vigilance88 24:56db31267f10 231 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 232 ---- DECLARE FUNCTION NAMES ------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 233 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 26:fe3a5469dd6b 234
Vigilance88 26:fe3a5469dd6b 235 void sample_filter(void); //Sampling and filtering
Vigilance88 26:fe3a5469dd6b 236 void control(); //Control - reference -> error -> pid -> motor output
Vigilance88 37:4d7b7ced20ef 237 void dlscontrol(); //Damped Least Squares method
Vigilance88 37:4d7b7ced20ef 238 void calibrate_emg(); //Instructions + measurement of Min and MVC of each muscle
Vigilance88 26:fe3a5469dd6b 239 void emg_mvc(); //Helper funcion for storing MVC value
Vigilance88 37:4d7b7ced20ef 240 void emg_min(); //Helper function for storing Min value
Vigilance88 26:fe3a5469dd6b 241 void calibrate_arm(void); //Calibration of the arm with limit switches
Vigilance88 26:fe3a5469dd6b 242 void start_sampling(void); //Attaches the sample_filter function to a 500Hz ticker
Vigilance88 26:fe3a5469dd6b 243 void stop_sampling(void); //Stops sample_filter
Vigilance88 26:fe3a5469dd6b 244 void start_control(void); //Attaches the control function to a 100Hz ticker
Vigilance88 37:4d7b7ced20ef 245 void start_dlscontrol(void);//Attaches DLS control function to a 100Hz ticker
Vigilance88 26:fe3a5469dd6b 246 void stop_control(void); //Stops control function
Vigilance88 37:4d7b7ced20ef 247
Vigilance88 26:fe3a5469dd6b 248
Vigilance88 26:fe3a5469dd6b 249 //Keeps the input between min and max value
Vigilance88 24:56db31267f10 250 void keep_in_range(double * in, double min, double max);
Vigilance88 26:fe3a5469dd6b 251
Vigilance88 26:fe3a5469dd6b 252 //Reusable PID controller, previous and integral error need to be passed by reference
Vigilance88 21:d6a46315d5f5 253 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev);
Vigilance88 18:44905b008f44 254
Vigilance88 26:fe3a5469dd6b 255 //Menu functions
Vigilance88 21:d6a46315d5f5 256 void mainMenu();
Vigilance88 21:d6a46315d5f5 257 void caliMenu();
Vigilance88 28:743485bb51e4 258 void controlMenu();
Vigilance88 29:948b0b14f6be 259 void controlButtons();
Vigilance88 26:fe3a5469dd6b 260 void clearTerminal();
Vigilance88 28:743485bb51e4 261 void emgInstructions();
Vigilance88 28:743485bb51e4 262 void titleBox();
Vigilance88 26:fe3a5469dd6b 263
Vigilance88 32:76c4d7bb2022 264 //Limit switches - power off motors if switches hit (rising edge interrupt)
Vigilance88 32:76c4d7bb2022 265 void shoulder();
Vigilance88 32:76c4d7bb2022 266 void elbow();
Vigilance88 21:d6a46315d5f5 267
Vigilance88 21:d6a46315d5f5 268 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 269 ---- MAIN LOOP -------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 270 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 271
Vigilance88 21:d6a46315d5f5 272 int main()
Vigilance88 21:d6a46315d5f5 273 {
Vigilance88 29:948b0b14f6be 274 pc.baud(115200); //serial baudrate
Vigilance88 30:a9fdd3202ca2 275 red=1; green=1; blue=1; //Make sure debug LEDs are off
Vigilance88 26:fe3a5469dd6b 276
Vigilance88 26:fe3a5469dd6b 277 //Set PwmOut frequency to 10k Hz
Vigilance88 42:b9d26b1218b0 278 pwm_motor1.period(0.001);
Vigilance88 42:b9d26b1218b0 279 pwm_motor2.period(0.001);
Vigilance88 26:fe3a5469dd6b 280
Vigilance88 26:fe3a5469dd6b 281 clearTerminal(); //Clear the putty window
Vigilance88 26:fe3a5469dd6b 282
Vigilance88 24:56db31267f10 283 // make a menu, user has to initiate next step
Vigilance88 28:743485bb51e4 284 titleBox();
Vigilance88 26:fe3a5469dd6b 285 mainMenu();
Vigilance88 36:4d4fc200171b 286
Vigilance88 30:a9fdd3202ca2 287 //set initial reference position
Vigilance88 37:4d7b7ced20ef 288 //x = 0.5;
Vigilance88 37:4d7b7ced20ef 289 //y = 0;
Vigilance88 21:d6a46315d5f5 290
Vigilance88 21:d6a46315d5f5 291 //maybe some stop commands when a button is pressed: detach from timers.
Vigilance88 21:d6a46315d5f5 292 //stop_control();
Vigilance88 34:d6ec7c634763 293 //start_sampling();
Vigilance88 32:76c4d7bb2022 294
Vigilance88 32:76c4d7bb2022 295 char command=0;
Vigilance88 27:d1814e271a95 296
Vigilance88 28:743485bb51e4 297 while(command != 'Q' && command != 'q')
Vigilance88 28:743485bb51e4 298 {
Vigilance88 28:743485bb51e4 299 if(pc.readable()){
Vigilance88 28:743485bb51e4 300 command = pc.getc();
Vigilance88 28:743485bb51e4 301
Vigilance88 28:743485bb51e4 302 switch(command){
Vigilance88 28:743485bb51e4 303
Vigilance88 28:743485bb51e4 304 case 'c':
Vigilance88 28:743485bb51e4 305 case 'C':
Vigilance88 28:743485bb51e4 306 pc.printf("\n\r => You chose calibration.\r\n\n");
Vigilance88 28:743485bb51e4 307 caliMenu();
Vigilance88 28:743485bb51e4 308
Vigilance88 28:743485bb51e4 309 char command2=0;
Vigilance88 28:743485bb51e4 310
Vigilance88 28:743485bb51e4 311 while(command2 != 'B' && command2 != 'b'){
Vigilance88 28:743485bb51e4 312 command2 = pc.getc();
Vigilance88 28:743485bb51e4 313 switch(command2){
Vigilance88 28:743485bb51e4 314 case 'a':
Vigilance88 28:743485bb51e4 315 case 'A':
Vigilance88 28:743485bb51e4 316 pc.printf("\n\r => Arm Calibration Starting... please wait \n\r");
Vigilance88 28:743485bb51e4 317 calibrate_arm();
Vigilance88 28:743485bb51e4 318 wait(1);
Vigilance88 28:743485bb51e4 319 caliMenu();
Vigilance88 28:743485bb51e4 320 break;
Vigilance88 28:743485bb51e4 321
Vigilance88 28:743485bb51e4 322 case 'e':
Vigilance88 28:743485bb51e4 323 case 'E':
Vigilance88 28:743485bb51e4 324 pc.printf("\n\r => EMG Calibration Starting... please wait \n\r");
Vigilance88 28:743485bb51e4 325 wait(1);
Vigilance88 28:743485bb51e4 326 emgInstructions();
Vigilance88 28:743485bb51e4 327 calibrate_emg();
Vigilance88 32:76c4d7bb2022 328 pc.printf("\n\r------------------------- \n\r");
Vigilance88 28:743485bb51e4 329 pc.printf("\n\r EMG Calibration complete \n\r");
Vigilance88 32:76c4d7bb2022 330 pc.printf("\n\r------------------------- \n\r");
Vigilance88 28:743485bb51e4 331 caliMenu();
Vigilance88 28:743485bb51e4 332 break;
Vigilance88 28:743485bb51e4 333
Vigilance88 28:743485bb51e4 334 case 'b':
Vigilance88 28:743485bb51e4 335 case 'B':
Vigilance88 28:743485bb51e4 336 pc.printf("\n\r => Going back to main menu.. \n\r");
Vigilance88 28:743485bb51e4 337 mainMenu();
Vigilance88 28:743485bb51e4 338 break;
Vigilance88 28:743485bb51e4 339 }//end switch
Vigilance88 28:743485bb51e4 340
Vigilance88 28:743485bb51e4 341 }//end while
Vigilance88 28:743485bb51e4 342 break;
Vigilance88 35:7d9fca0b1545 343 case 't':
Vigilance88 35:7d9fca0b1545 344 case 'T':
Vigilance88 39:e77f844d10d9 345 pc.printf("=> You chose TRIG button control \r\n\n");
Vigilance88 28:743485bb51e4 346 wait(1);
Vigilance88 28:743485bb51e4 347 start_sampling();
Vigilance88 28:743485bb51e4 348 wait(1);
Vigilance88 39:e77f844d10d9 349 emg_control=false;
Vigilance88 38:c8ac615d0c8f 350 control_method=1;
Vigilance88 28:743485bb51e4 351 start_control();
Vigilance88 28:743485bb51e4 352 wait(1);
Vigilance88 29:948b0b14f6be 353 controlButtons();
Vigilance88 28:743485bb51e4 354 break;
Vigilance88 35:7d9fca0b1545 355 case 'd':
Vigilance88 35:7d9fca0b1545 356 case 'D':
Vigilance88 39:e77f844d10d9 357 pc.printf("=> You chose DLS button control \r\n\n");
Vigilance88 35:7d9fca0b1545 358 wait(1);
Vigilance88 35:7d9fca0b1545 359 start_sampling();
Vigilance88 35:7d9fca0b1545 360 wait(1);
Vigilance88 39:e77f844d10d9 361 emg_control=false;
Vigilance88 38:c8ac615d0c8f 362 control_method=2;
Vigilance88 38:c8ac615d0c8f 363 start_control();
Vigilance88 35:7d9fca0b1545 364 wait(1);
Vigilance88 35:7d9fca0b1545 365 controlButtons();
Vigilance88 35:7d9fca0b1545 366 break;
Vigilance88 39:e77f844d10d9 367 case 'e':
Vigilance88 39:e77f844d10d9 368 case 'E':
Vigilance88 39:e77f844d10d9 369 pc.printf("=> You chose EMG DLS control \r\n\n");
Vigilance88 39:e77f844d10d9 370 wait(1);
Vigilance88 39:e77f844d10d9 371 start_sampling();
Vigilance88 41:55face19e06b 372 x=0; y=0;
Vigilance88 39:e77f844d10d9 373 wait(1);
Vigilance88 39:e77f844d10d9 374 emg_control=true;
Vigilance88 39:e77f844d10d9 375 control_method=2;
Vigilance88 39:e77f844d10d9 376 start_control();
Vigilance88 39:e77f844d10d9 377 wait(1);
Vigilance88 39:e77f844d10d9 378 controlButtons();
Vigilance88 39:e77f844d10d9 379 break;
Vigilance88 28:743485bb51e4 380 case 'R':
Vigilance88 28:743485bb51e4 381 red=!red;
Vigilance88 28:743485bb51e4 382 pc.printf("=> Red LED triggered \n\r");
Vigilance88 28:743485bb51e4 383 break;
Vigilance88 28:743485bb51e4 384 case 'G':
Vigilance88 28:743485bb51e4 385 green=!green;
Vigilance88 28:743485bb51e4 386 pc.printf("=> Green LED triggered \n\r");
Vigilance88 28:743485bb51e4 387 break;
Vigilance88 28:743485bb51e4 388 case 'B':
Vigilance88 28:743485bb51e4 389 blue=!blue;
Vigilance88 28:743485bb51e4 390 pc.printf("=> Blue LED triggered \n\r");
Vigilance88 28:743485bb51e4 391 break;
Vigilance88 28:743485bb51e4 392 case 'q':
Vigilance88 28:743485bb51e4 393 case 'Q':
Vigilance88 28:743485bb51e4 394
Vigilance88 28:743485bb51e4 395 break;
Vigilance88 28:743485bb51e4 396 default:
Vigilance88 28:743485bb51e4 397 pc.printf("=> Invalid Input \n\r");
Vigilance88 28:743485bb51e4 398 break;
Vigilance88 28:743485bb51e4 399 } //end switch
Vigilance88 28:743485bb51e4 400 } // end if pc readable
Vigilance88 28:743485bb51e4 401
Vigilance88 28:743485bb51e4 402 } // end while loop
Vigilance88 28:743485bb51e4 403
Vigilance88 28:743485bb51e4 404
Vigilance88 28:743485bb51e4 405
Vigilance88 28:743485bb51e4 406 //When end of while loop reached (user chose quit program) - detach all timers and stop motors.
Vigilance88 28:743485bb51e4 407
Vigilance88 28:743485bb51e4 408 pc.printf("\r\n------------------------------ \n\r");
Vigilance88 28:743485bb51e4 409 pc.printf("Program Offline \n\r");
Vigilance88 28:743485bb51e4 410 pc.printf("Reset to start\r\n");
Vigilance88 28:743485bb51e4 411 pc.printf("------------------------------ \n\r");
Vigilance88 28:743485bb51e4 412 }
Vigilance88 28:743485bb51e4 413 //end of main
Vigilance88 28:743485bb51e4 414
Vigilance88 28:743485bb51e4 415 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 416 ---- FUNCTIONS -------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 417 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 28:743485bb51e4 418
Vigilance88 29:948b0b14f6be 419 void controlButtons()
Vigilance88 28:743485bb51e4 420 {
Vigilance88 28:743485bb51e4 421 controlMenu();
Vigilance88 28:743485bb51e4 422 char c=0;
Vigilance88 28:743485bb51e4 423 while(c != 'Q' && c != 'q') {
Vigilance88 27:d1814e271a95 424
Vigilance88 27:d1814e271a95 425 if( pc.readable() ){
Vigilance88 27:d1814e271a95 426 c = pc.getc();
Vigilance88 27:d1814e271a95 427 switch (c)
Vigilance88 27:d1814e271a95 428 {
Vigilance88 38:c8ac615d0c8f 429 case 'd' :
Vigilance88 27:d1814e271a95 430 x = x + 0.01;
Vigilance88 32:76c4d7bb2022 431
Vigilance88 27:d1814e271a95 432 break;
Vigilance88 27:d1814e271a95 433
Vigilance88 38:c8ac615d0c8f 434 case 'a' :
Vigilance88 27:d1814e271a95 435 x-=0.01;
Vigilance88 32:76c4d7bb2022 436
Vigilance88 27:d1814e271a95 437 break;
Vigilance88 27:d1814e271a95 438
Vigilance88 38:c8ac615d0c8f 439 case 'w' :
Vigilance88 27:d1814e271a95 440 y+=0.01;
Vigilance88 32:76c4d7bb2022 441
Vigilance88 27:d1814e271a95 442 break;
Vigilance88 27:d1814e271a95 443
Vigilance88 27:d1814e271a95 444
Vigilance88 38:c8ac615d0c8f 445 case 's' :
Vigilance88 27:d1814e271a95 446 y-=0.01;
Vigilance88 32:76c4d7bb2022 447
Vigilance88 27:d1814e271a95 448 break;
Vigilance88 27:d1814e271a95 449
Vigilance88 27:d1814e271a95 450 case 'q' :
Vigilance88 28:743485bb51e4 451 case 'Q' :
Vigilance88 28:743485bb51e4 452 pc.printf("=> Quitting control... \r\n"); wait(1);
Vigilance88 28:743485bb51e4 453 stop_sampling();
Vigilance88 28:743485bb51e4 454 stop_control();
Vigilance88 28:743485bb51e4 455 pwm_motor1=0; pwm_motor2=0;
Vigilance88 28:743485bb51e4 456 pc.printf("Sampling and Control detached \n\r"); wait(1);
Vigilance88 28:743485bb51e4 457 pc.printf("Returning to Main Menu \r\n\n"); wait(1);
Vigilance88 28:743485bb51e4 458 mainMenu();
Vigilance88 28:743485bb51e4 459
Vigilance88 27:d1814e271a95 460 //running = false;
Vigilance88 27:d1814e271a95 461 break;
Vigilance88 27:d1814e271a95 462 }//end switch
Vigilance88 28:743485bb51e4 463 if(c!='q' && c!='Q'){
Vigilance88 27:d1814e271a95 464 pc.printf("Reference position: %f and %f \r\n",x,y);
Vigilance88 27:d1814e271a95 465 pc.printf("Current position: %f and %f \r\n",current_x,current_y);
Vigilance88 36:4d4fc200171b 466 pc.printf("Pos Error: %f and %f \r\n",x_error,y_error);
Vigilance88 27:d1814e271a95 467 pc.printf("Current angles: %f and %f \r\n",theta1,theta2);
Vigilance88 36:4d4fc200171b 468 pc.printf("DLS1: %f and DLS2 %f and DLS3 %f and DLS4: %f \r\n",dls1,dls2,dls3,dls4);
Vigilance88 35:7d9fca0b1545 469 pc.printf("Error in angles: %f and %f \r\n",q1_error,q2_error);
Vigilance88 27:d1814e271a95 470 pc.printf("PID output: %f and %f \r\n",u1,u2);
Vigilance88 27:d1814e271a95 471 pc.printf("----------------------------------------\r\n\n");
Vigilance88 27:d1814e271a95 472 }
Vigilance88 28:743485bb51e4 473 }
Vigilance88 27:d1814e271a95 474 //end if
Vigilance88 21:d6a46315d5f5 475 }
Vigilance88 21:d6a46315d5f5 476 //end of while loop
Vigilance88 30:a9fdd3202ca2 477 }
Vigilance88 18:44905b008f44 478
Vigilance88 21:d6a46315d5f5 479 //Sample and Filter
Vigilance88 21:d6a46315d5f5 480 void sample_filter(void)
Vigilance88 18:44905b008f44 481 {
Vigilance88 32:76c4d7bb2022 482 emg_biceps = emg1.read(); //Biceps
Vigilance88 32:76c4d7bb2022 483 emg_triceps = emg2.read(); //Triceps
Vigilance88 32:76c4d7bb2022 484 emg_flexor = emg3.read(); //Flexor
Vigilance88 32:76c4d7bb2022 485 emg_extens = emg4.read(); //Extensor
Vigilance88 21:d6a46315d5f5 486
Vigilance88 21:d6a46315d5f5 487 //Filter: high-pass -> notch -> rectify -> lowpass or moving average
Vigilance88 22:1ba637601dc3 488 // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad?
Vigilance88 25:49ccdc98639a 489 biceps_power = highpass.step(emg_biceps); triceps_power = highpass2.step(emg_triceps); flexor_power = highpass3.step(emg_flexor); extens_power = highpass4.step(emg_extens);
Vigilance88 25:49ccdc98639a 490 biceps_power = notch1.step(biceps_power); triceps_power = notch1_2.step(triceps_power); flexor_power = notch1_3.step(flexor_power); extens_power = notch1_4.step(extens_power);
Vigilance88 25:49ccdc98639a 491 biceps_power = notch2.step(biceps_power); triceps_power = notch2_2.step(triceps_power); flexor_power = notch2_3.step(flexor_power); extens_power = notch2_4.step(extens_power);
Vigilance88 21:d6a46315d5f5 492 biceps_power = abs(biceps_power); triceps_power = abs(triceps_power); flexor_power = abs(flexor_power); extens_power = abs(extens_power);
Vigilance88 25:49ccdc98639a 493 biceps_power = lowpass.step(biceps_power); triceps_power = lowpass2.step(triceps_power); flexor_power = lowpass3.step(flexor_power); extens_power = lowpass4.step(extens_power);
Vigilance88 34:d6ec7c634763 494
Vigilance88 25:49ccdc98639a 495
Vigilance88 32:76c4d7bb2022 496 scope.set(0,biceps_power);
Vigilance88 32:76c4d7bb2022 497 scope.set(1,triceps_power);
Vigilance88 38:c8ac615d0c8f 498 //scope.set(2,flexor_power);
Vigilance88 38:c8ac615d0c8f 499 //scope.set(3,extens_power);
Vigilance88 29:948b0b14f6be 500 scope.send();
Vigilance88 44:145827f5b091 501
Vigilance88 18:44905b008f44 502 }
Vigilance88 18:44905b008f44 503
Vigilance88 27:d1814e271a95 504
Vigilance88 32:76c4d7bb2022 505 void shoulder(){
Vigilance88 41:55face19e06b 506 pwm_motor1=0;
Vigilance88 41:55face19e06b 507 //Encoder1.reset();
Vigilance88 32:76c4d7bb2022 508 done1 = true;
Vigilance88 32:76c4d7bb2022 509 pc.printf("Shoulder Limit hit - shutting down motor 1\r\n");
Vigilance88 36:4d4fc200171b 510 //mechanical angle limits -> pulses. If 40 degrees -> counts = floor( 40 * (4200/360) )
Vigilance88 41:55face19e06b 511 theta1_cal = floor(theta1_lower * (4200/(2*PI)));
Vigilance88 41:55face19e06b 512 Encoder1.setPulses(theta1_cal); //edited QEI library: added setPulses()
Vigilance88 36:4d4fc200171b 513
Vigilance88 32:76c4d7bb2022 514 }
Vigilance88 32:76c4d7bb2022 515
Vigilance88 32:76c4d7bb2022 516 void elbow(){
Vigilance88 41:55face19e06b 517 pwm_motor2=0;
Vigilance88 41:55face19e06b 518 //Encoder2.reset();
Vigilance88 32:76c4d7bb2022 519 done2 = true;
Vigilance88 32:76c4d7bb2022 520 pc.printf("Elbow Limit hit - shutting down motor 2\r\n");
Vigilance88 41:55face19e06b 521 //Mechanical limit 43 degrees -> 43*(4200/360) = 350
Vigilance88 41:55face19e06b 522 theta2_cal = floor(theta2_lower * (4200/(2*PI)));
Vigilance88 41:55face19e06b 523 Encoder2.setPulses(theta2_cal); //edited QEI library: added setPulses()
Vigilance88 42:b9d26b1218b0 524
Vigilance88 32:76c4d7bb2022 525 }
Vigilance88 32:76c4d7bb2022 526
Vigilance88 18:44905b008f44 527 //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position.
Vigilance88 19:0a3ee31dcdb4 528 void calibrate_arm(void)
Vigilance88 19:0a3ee31dcdb4 529 {
Vigilance88 28:743485bb51e4 530 pc.printf("Calibrate_arm() entered\r\n");
Vigilance88 32:76c4d7bb2022 531 red=0; blue=0; //Debug light is purple during arm calibration
Vigilance88 32:76c4d7bb2022 532
Vigilance88 32:76c4d7bb2022 533 done1 = false;
Vigilance88 32:76c4d7bb2022 534 done2 = false;
Vigilance88 26:fe3a5469dd6b 535 bool calibrating = true;
Vigilance88 32:76c4d7bb2022 536
Vigilance88 27:d1814e271a95 537 pc.printf("To start arm calibration, press any key =>");
Vigilance88 27:d1814e271a95 538 pc.getc();
Vigilance88 27:d1814e271a95 539 pc.printf("\r\n Calibrating... \r\n");
Vigilance88 36:4d4fc200171b 540 dir_motor1=0; //cw
Vigilance88 36:4d4fc200171b 541 dir_motor2=1; //cw
Vigilance88 36:4d4fc200171b 542
Vigilance88 27:d1814e271a95 543
Vigilance88 26:fe3a5469dd6b 544
Vigilance88 26:fe3a5469dd6b 545 while(calibrating){
Vigilance88 32:76c4d7bb2022 546 shoulder_limit.rise(&shoulder);
Vigilance88 32:76c4d7bb2022 547 elbow_limit.rise(&elbow);
Vigilance88 36:4d4fc200171b 548 while(!done1){
Vigilance88 44:145827f5b091 549 pwm_motor1.write(0.1); //move upper arm slowly cw
Vigilance88 36:4d4fc200171b 550 }
Vigilance88 27:d1814e271a95 551 if(done1==true){
Vigilance88 44:145827f5b091 552 pwm_motor2.write(0.1); //move forearm slowly cw
Vigilance88 27:d1814e271a95 553 }
Vigilance88 27:d1814e271a95 554
Vigilance88 26:fe3a5469dd6b 555 if(done1 && done2){
Vigilance88 26:fe3a5469dd6b 556 calibrating=false; //Leave while loop when both limits are reached
Vigilance88 26:fe3a5469dd6b 557 red=1; blue=1; //Turn debug light off when calibration complete
Vigilance88 26:fe3a5469dd6b 558 }
Vigilance88 27:d1814e271a95 559
Vigilance88 27:d1814e271a95 560 }//end while
Vigilance88 32:76c4d7bb2022 561
Vigilance88 27:d1814e271a95 562 //TO DO:
Vigilance88 36:4d4fc200171b 563
Vigilance88 27:d1814e271a95 564 //pc.printf("Elbow Limit hit - shutting down motor 2. Current pulsecount: %i \r\n",Encoder1.getPulses());
Vigilance88 31:7b8b8459bddc 565
Vigilance88 42:b9d26b1218b0 566 //set reference position to mechanical limits
Vigilance88 42:b9d26b1218b0 567 x = 0.2220;
Vigilance88 42:b9d26b1218b0 568 y = 0.4088;
Vigilance88 42:b9d26b1218b0 569
Vigilance88 27:d1814e271a95 570 wait(1);
Vigilance88 28:743485bb51e4 571 pc.printf("\n\r ------------------------ \n\r");
Vigilance88 27:d1814e271a95 572 pc.printf("Arm Calibration Complete\r\n");
Vigilance88 28:743485bb51e4 573 pc.printf(" ------------------------ \n\r");
Vigilance88 26:fe3a5469dd6b 574
Vigilance88 19:0a3ee31dcdb4 575 }
Vigilance88 19:0a3ee31dcdb4 576
Vigilance88 21:d6a46315d5f5 577 //EMG Maximum Voluntary Contraction measurement
Vigilance88 25:49ccdc98639a 578 void emg_mvc()
Vigilance88 25:49ccdc98639a 579 {
Vigilance88 24:56db31267f10 580 //double sampletime=0;
Vigilance88 24:56db31267f10 581 //sampletime=+SAMPLE_RATE;
Vigilance88 24:56db31267f10 582 //
Vigilance88 24:56db31267f10 583 // if(sampletime<5)
Vigilance88 25:49ccdc98639a 584 //int muscle=1;
Vigilance88 25:49ccdc98639a 585 //for(int index=0; index<2500;index++){ //measure 5 seconds@500hz = 2500 samples
Vigilance88 25:49ccdc98639a 586
Vigilance88 24:56db31267f10 587 if(muscle==1){
Vigilance88 24:56db31267f10 588
Vigilance88 24:56db31267f10 589 if(biceps_power>bicepsMVC){
Vigilance88 26:fe3a5469dd6b 590 //printf("+ ");
Vigilance88 26:fe3a5469dd6b 591 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 21:d6a46315d5f5 592 bicepsMVC=biceps_power;
Vigilance88 24:56db31267f10 593 }
Vigilance88 25:49ccdc98639a 594 else
Vigilance88 25:49ccdc98639a 595 printf("- ");
Vigilance88 24:56db31267f10 596 }
Vigilance88 24:56db31267f10 597
Vigilance88 24:56db31267f10 598 if(muscle==2){
Vigilance88 24:56db31267f10 599
Vigilance88 24:56db31267f10 600 if(triceps_power>tricepsMVC){
Vigilance88 26:fe3a5469dd6b 601 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 602 tricepsMVC=triceps_power;
Vigilance88 24:56db31267f10 603 }
Vigilance88 26:fe3a5469dd6b 604 else
Vigilance88 26:fe3a5469dd6b 605 printf("- ");
Vigilance88 24:56db31267f10 606 }
Vigilance88 24:56db31267f10 607
Vigilance88 24:56db31267f10 608 if(muscle==3){
Vigilance88 24:56db31267f10 609
Vigilance88 24:56db31267f10 610 if(flexor_power>flexorMVC){
Vigilance88 26:fe3a5469dd6b 611 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 612 flexorMVC=flexor_power;
Vigilance88 24:56db31267f10 613 }
Vigilance88 26:fe3a5469dd6b 614 else
Vigilance88 26:fe3a5469dd6b 615 printf("- ");
Vigilance88 24:56db31267f10 616 }
Vigilance88 24:56db31267f10 617
Vigilance88 24:56db31267f10 618 if(muscle==4){
Vigilance88 24:56db31267f10 619
Vigilance88 24:56db31267f10 620 if(extens_power>extensMVC){
Vigilance88 26:fe3a5469dd6b 621 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 622 extensMVC=extens_power;
Vigilance88 24:56db31267f10 623 }
Vigilance88 26:fe3a5469dd6b 624 else
Vigilance88 26:fe3a5469dd6b 625 printf("- ");
Vigilance88 24:56db31267f10 626 }
Vigilance88 25:49ccdc98639a 627
Vigilance88 25:49ccdc98639a 628 //}
Vigilance88 25:49ccdc98639a 629 calibrate_time = calibrate_time + 0.002;
Vigilance88 36:4d4fc200171b 630
Vigilance88 25:49ccdc98639a 631 }
Vigilance88 25:49ccdc98639a 632
Vigilance88 35:7d9fca0b1545 633 void emg_min()
Vigilance88 35:7d9fca0b1545 634 {
Vigilance88 35:7d9fca0b1545 635
Vigilance88 38:c8ac615d0c8f 636 if(biceps_power>bicepsmin){
Vigilance88 35:7d9fca0b1545 637 bicepsmin=biceps_power;
Vigilance88 35:7d9fca0b1545 638 }
Vigilance88 35:7d9fca0b1545 639
Vigilance88 38:c8ac615d0c8f 640 if(triceps_power>tricepsmin){
Vigilance88 35:7d9fca0b1545 641 tricepsmin=triceps_power;
Vigilance88 35:7d9fca0b1545 642 }
Vigilance88 35:7d9fca0b1545 643
Vigilance88 38:c8ac615d0c8f 644 if(flexor_power>flexormin){
Vigilance88 35:7d9fca0b1545 645 flexormin=flexor_power;
Vigilance88 35:7d9fca0b1545 646 }
Vigilance88 35:7d9fca0b1545 647
Vigilance88 38:c8ac615d0c8f 648 if(extens_power > extensmin){
Vigilance88 35:7d9fca0b1545 649 extensmin = extens_power;
Vigilance88 35:7d9fca0b1545 650 }
Vigilance88 35:7d9fca0b1545 651
Vigilance88 35:7d9fca0b1545 652 calibrate_time = calibrate_time + 0.002;
Vigilance88 35:7d9fca0b1545 653
Vigilance88 35:7d9fca0b1545 654 }
Vigilance88 35:7d9fca0b1545 655
Vigilance88 25:49ccdc98639a 656 //EMG calibration
Vigilance88 25:49ccdc98639a 657 void calibrate_emg()
Vigilance88 25:49ccdc98639a 658 {
Vigilance88 25:49ccdc98639a 659 Ticker timer;
Vigilance88 25:49ccdc98639a 660
Vigilance88 38:c8ac615d0c8f 661 pc.printf("Starting sampling, to allow hidscope to normalize\r\n");
Vigilance88 38:c8ac615d0c8f 662 start_sampling();
Vigilance88 25:49ccdc98639a 663 wait(1);
Vigilance88 38:c8ac615d0c8f 664 pc.printf("Start minimum measurement, relax all muscles.\r\n");
Vigilance88 35:7d9fca0b1545 665 wait(1);
Vigilance88 35:7d9fca0b1545 666 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 35:7d9fca0b1545 667 char input;
Vigilance88 35:7d9fca0b1545 668 input=pc.getc();
Vigilance88 35:7d9fca0b1545 669 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 670 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 671 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 672
Vigilance88 38:c8ac615d0c8f 673
Vigilance88 36:4d4fc200171b 674
Vigilance88 35:7d9fca0b1545 675 timer.attach(&emg_min,SAMPLE_RATE);
Vigilance88 35:7d9fca0b1545 676 wait(5);
Vigilance88 35:7d9fca0b1545 677 timer.detach();
Vigilance88 35:7d9fca0b1545 678 pc.printf("\r\n Measurement complete."); wait(1);
Vigilance88 35:7d9fca0b1545 679 pc.printf("\r\n Biceps min = %f \r\n",bicepsmin); wait(1);
Vigilance88 35:7d9fca0b1545 680 pc.printf("\r\n Triceps min = %f \r\n",tricepsmin); wait(1);
Vigilance88 35:7d9fca0b1545 681 pc.printf("\r\n Flexor min = %f \r\n",flexormin); wait(1);
Vigilance88 35:7d9fca0b1545 682 pc.printf("\r\n Extensor min = %f \r\n",extensmin); wait(1);
Vigilance88 35:7d9fca0b1545 683
Vigilance88 35:7d9fca0b1545 684 calibrate_time=0;
Vigilance88 35:7d9fca0b1545 685 pc.printf("\r\n Now we will measure maximum amplitudes \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 686 pc.printf("+ means current sample is higher than stored MVC\r\n");
Vigilance88 25:49ccdc98639a 687 pc.printf("- means current sample is lower than stored MVC\r\n");
Vigilance88 26:fe3a5469dd6b 688 wait(2);
Vigilance88 28:743485bb51e4 689 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 690 pc.printf(" Biceps is first.\r\n ");
Vigilance88 28:743485bb51e4 691 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 692 wait(1);
Vigilance88 25:49ccdc98639a 693 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 694 input=pc.getc();
Vigilance88 25:49ccdc98639a 695 pc.putc(input);
Vigilance88 25:49ccdc98639a 696 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 697 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 698 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 699
Vigilance88 25:49ccdc98639a 700 start_sampling();
Vigilance88 25:49ccdc98639a 701 muscle=1;
Vigilance88 27:d1814e271a95 702 timer.attach(&emg_mvc,SAMPLE_RATE);
Vigilance88 25:49ccdc98639a 703 wait(5);
Vigilance88 25:49ccdc98639a 704 timer.detach();
Vigilance88 26:fe3a5469dd6b 705
Vigilance88 26:fe3a5469dd6b 706 pc.printf("\r\n Measurement complete."); wait(1);
Vigilance88 26:fe3a5469dd6b 707 pc.printf("\r\n Biceps MVC = %f \r\n",bicepsMVC); wait(1);
Vigilance88 26:fe3a5469dd6b 708 pc.printf("Calibrate_emg() exited \r\n"); wait(1);
Vigilance88 26:fe3a5469dd6b 709 pc.printf("Measured time: %f seconds \r\n\n",calibrate_time);
Vigilance88 25:49ccdc98639a 710 calibrate_time=0;
Vigilance88 25:49ccdc98639a 711
Vigilance88 25:49ccdc98639a 712 // Triceps:
Vigilance88 26:fe3a5469dd6b 713 muscle=2;
Vigilance88 28:743485bb51e4 714 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 715 pc.printf(" Triceps is next.\r\n ");
Vigilance88 28:743485bb51e4 716 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 717 wait(1);
Vigilance88 28:743485bb51e4 718
Vigilance88 25:49ccdc98639a 719 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 720 input=pc.getc();
Vigilance88 25:49ccdc98639a 721 pc.putc(input);
Vigilance88 25:49ccdc98639a 722 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 723 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 724 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 725 start_sampling();
Vigilance88 25:49ccdc98639a 726 timer.attach(&emg_mvc,0.002);
Vigilance88 25:49ccdc98639a 727 wait(5);
Vigilance88 25:49ccdc98639a 728 timer.detach();
Vigilance88 25:49ccdc98639a 729 pc.printf("\r\n Triceps MVC = %f \r\n",tricepsMVC);
Vigilance88 25:49ccdc98639a 730
Vigilance88 25:49ccdc98639a 731 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 25:49ccdc98639a 732 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 25:49ccdc98639a 733 calibrate_time=0;
Vigilance88 25:49ccdc98639a 734
Vigilance88 25:49ccdc98639a 735 //Flexor:
Vigilance88 26:fe3a5469dd6b 736 muscle=3;
Vigilance88 35:7d9fca0b1545 737 pc.printf("\r\n----------------\r\n ");
Vigilance88 35:7d9fca0b1545 738 pc.printf(" Flexor is next.\r\n ");
Vigilance88 35:7d9fca0b1545 739 pc.printf("----------------\r\n ");
Vigilance88 35:7d9fca0b1545 740 wait(1);
Vigilance88 35:7d9fca0b1545 741
Vigilance88 35:7d9fca0b1545 742 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 35:7d9fca0b1545 743 input=pc.getc();
Vigilance88 35:7d9fca0b1545 744 pc.putc(input);
Vigilance88 35:7d9fca0b1545 745 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 746 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 747 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 748 start_sampling();
Vigilance88 35:7d9fca0b1545 749 timer.attach(&emg_mvc,0.002);
Vigilance88 35:7d9fca0b1545 750 wait(5);
Vigilance88 35:7d9fca0b1545 751 timer.detach();
Vigilance88 35:7d9fca0b1545 752 pc.printf("\r\n Flexor MVC = %f \r\n",flexorMVC);
Vigilance88 35:7d9fca0b1545 753
Vigilance88 35:7d9fca0b1545 754 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 35:7d9fca0b1545 755 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 35:7d9fca0b1545 756 calibrate_time=0;
Vigilance88 35:7d9fca0b1545 757
Vigilance88 25:49ccdc98639a 758 //Extensor:
Vigilance88 35:7d9fca0b1545 759
Vigilance88 26:fe3a5469dd6b 760 muscle=4;
Vigilance88 35:7d9fca0b1545 761 pc.printf("\r\n----------------\r\n ");
Vigilance88 35:7d9fca0b1545 762 pc.printf(" Extensor is next.\r\n ");
Vigilance88 35:7d9fca0b1545 763 pc.printf("----------------\r\n ");
Vigilance88 35:7d9fca0b1545 764 wait(1);
Vigilance88 35:7d9fca0b1545 765
Vigilance88 35:7d9fca0b1545 766 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 35:7d9fca0b1545 767 input=pc.getc();
Vigilance88 35:7d9fca0b1545 768 pc.putc(input);
Vigilance88 35:7d9fca0b1545 769 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 770 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 771 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 772 start_sampling();
Vigilance88 35:7d9fca0b1545 773 timer.attach(&emg_mvc,0.002);
Vigilance88 35:7d9fca0b1545 774 wait(5);
Vigilance88 35:7d9fca0b1545 775 timer.detach();
Vigilance88 35:7d9fca0b1545 776 pc.printf("\r\n Extensor MVC = %f \r\n",extensMVC);
Vigilance88 25:49ccdc98639a 777
Vigilance88 35:7d9fca0b1545 778 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 35:7d9fca0b1545 779 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 35:7d9fca0b1545 780 calibrate_time=0;
Vigilance88 26:fe3a5469dd6b 781 //Stop sampling, detach ticker
Vigilance88 25:49ccdc98639a 782 stop_sampling();
Vigilance88 24:56db31267f10 783
Vigilance88 18:44905b008f44 784 }
Vigilance88 18:44905b008f44 785
Vigilance88 18:44905b008f44 786
Vigilance88 18:44905b008f44 787 //Input error and Kp, Kd, Ki, output control signal
Vigilance88 20:0ede3818e08e 788 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev)
vsluiter 2:e314bb3b2d99 789 {
Vigilance88 20:0ede3818e08e 790 // Derivative
Vigilance88 24:56db31267f10 791 double e_der = (error-e_prev)/ CONTROL_RATE;
Vigilance88 21:d6a46315d5f5 792 e_der = derfilter.step(e_der);
Vigilance88 21:d6a46315d5f5 793 e_prev = error;
Vigilance88 20:0ede3818e08e 794 // Integral
Vigilance88 24:56db31267f10 795 e_int = e_int + CONTROL_RATE * error;
Vigilance88 20:0ede3818e08e 796 // PID
Vigilance88 21:d6a46315d5f5 797 return kp*error + ki*e_int + kd * e_der;
Vigilance88 20:0ede3818e08e 798
Vigilance88 18:44905b008f44 799 }
Vigilance88 18:44905b008f44 800
Vigilance88 20:0ede3818e08e 801 //Analyze filtered EMG, calculate reference position from EMG, compare reference position with current position,convert to angles, send error through pid(), send PWM and DIR to motors
Vigilance88 18:44905b008f44 802 void control()
Vigilance88 39:e77f844d10d9 803 {
Vigilance88 39:e77f844d10d9 804 if(emg_control=true){
Vigilance88 39:e77f844d10d9 805 //TODO some idle time with static reference before EMG kicks in
Vigilance88 39:e77f844d10d9 806 //emg_control_time += CONTROL_RATE;
Vigilance88 39:e77f844d10d9 807 // if emg_control_time < 5 seconds, reference is x=0; y=0;
Vigilance88 41:55face19e06b 808
Vigilance88 30:a9fdd3202ca2 809 //normalize emg to value between 0-1
Vigilance88 38:c8ac615d0c8f 810 biceps = (biceps_power - bicepsmin) / (bicepsMVC - bicepsmin);
Vigilance88 38:c8ac615d0c8f 811 triceps = (triceps_power - tricepsmin) / (tricepsMVC - tricepsmin);
Vigilance88 38:c8ac615d0c8f 812 flexor = (flexor_power - flexormin) / (flexorMVC - flexormin);
Vigilance88 38:c8ac615d0c8f 813 extens = (extens_power - extensmin) / (extensMVC - extensmin);
Vigilance88 39:e77f844d10d9 814 //make sure values stay between 0-1 over time
Vigilance88 39:e77f844d10d9 815 keep_in_range(&biceps,0,1);
Vigilance88 39:e77f844d10d9 816 keep_in_range(&triceps,0,1);
Vigilance88 39:e77f844d10d9 817 keep_in_range(&flexor,0,1);
Vigilance88 39:e77f844d10d9 818 keep_in_range(&extens,0,1);
Vigilance88 39:e77f844d10d9 819
Vigilance88 38:c8ac615d0c8f 820
Vigilance88 38:c8ac615d0c8f 821 scope.set(2,biceps);
Vigilance88 38:c8ac615d0c8f 822 scope.set(3,triceps);
Vigilance88 38:c8ac615d0c8f 823 scope.send();
Vigilance88 38:c8ac615d0c8f 824
Vigilance88 44:145827f5b091 825 //threshold detection! buffer or two thresholds? If average of 100 samples > threshold, then muscle considered on.
Vigilance88 44:145827f5b091 826 /*
Vigilance88 30:a9fdd3202ca2 827
Vigilance88 44:145827f5b091 828 movavg1[i]=biceps; //fill array with 100 normalized samples
Vigilance88 44:145827f5b091 829 movavg2[i]=triceps;
Vigilance88 44:145827f5b091 830 movavg3[i]=flexor;
Vigilance88 44:145827f5b091 831 movavg4[i]=extens;
Vigilance88 44:145827f5b091 832 i++;
Vigilance88 44:145827f5b091 833 if(i==window){ //if array full,set i to 0
Vigilance88 44:145827f5b091 834 i=0;
Vigilance88 44:145827f5b091 835 }
Vigilance88 44:145827f5b091 836
Vigilance88 44:145827f5b091 837 for(int j = 0; j < window; j++){ // sum all values in the array
Vigilance88 44:145827f5b091 838 th1 += movavg1[j];
Vigilance88 44:145827f5b091 839 th2 += movavg2[j];
Vigilance88 44:145827f5b091 840 th3 += movavg3[j];
Vigilance88 44:145827f5b091 841 th4 += movavg4[j];
Vigilance88 44:145827f5b091 842 }
Vigilance88 44:145827f5b091 843 th1 = th1/window; //divide sum by number of samples -> average
Vigilance88 44:145827f5b091 844 */
Vigilance88 32:76c4d7bb2022 845
Vigilance88 39:e77f844d10d9 846 //analyze emg (= velocity)
Vigilance88 39:e77f844d10d9 847 if (biceps>triceps && biceps > 0.2){
Vigilance88 30:a9fdd3202ca2 848 xdir = 0;
Vigilance88 39:e77f844d10d9 849 xpower = biceps;}
Vigilance88 39:e77f844d10d9 850 else if (triceps>biceps && triceps>0.2){
Vigilance88 30:a9fdd3202ca2 851 xdir = 1;
Vigilance88 39:e77f844d10d9 852 xpower = triceps;}
Vigilance88 30:a9fdd3202ca2 853 else
Vigilance88 30:a9fdd3202ca2 854 xpower=0;
Vigilance88 30:a9fdd3202ca2 855
Vigilance88 39:e77f844d10d9 856 if (flexor>extens && flexor > 0.2){
Vigilance88 30:a9fdd3202ca2 857 ydir = 0;
Vigilance88 30:a9fdd3202ca2 858 ypower = flexor;
Vigilance88 30:a9fdd3202ca2 859 }
Vigilance88 39:e77f844d10d9 860 else if (extens>flexor && extens > 0.2){
Vigilance88 30:a9fdd3202ca2 861 ydir = 1;
Vigilance88 39:e77f844d10d9 862 ypower = extens;
Vigilance88 30:a9fdd3202ca2 863 }
Vigilance88 30:a9fdd3202ca2 864 else
Vigilance88 30:a9fdd3202ca2 865 ypower = 0;
Vigilance88 30:a9fdd3202ca2 866
Vigilance88 38:c8ac615d0c8f 867 //power: the longer a signal is active, the further the reference goes. So integrate to determine reference position
Vigilance88 39:e77f844d10d9 868 dx = xpower * CONTROL_RATE * 0.1; //factor to slow or speed up
Vigilance88 39:e77f844d10d9 869 dy = ypower * CONTROL_RATE * 0.1;
Vigilance88 18:44905b008f44 870
Vigilance88 30:a9fdd3202ca2 871 //But: direction! Sum dx and dy but make sure xdir and ydir are considered.
Vigilance88 30:a9fdd3202ca2 872 if (xdir>0)
Vigilance88 30:a9fdd3202ca2 873 x += dx;
Vigilance88 30:a9fdd3202ca2 874 else
Vigilance88 30:a9fdd3202ca2 875 x += -dx;
Vigilance88 30:a9fdd3202ca2 876
Vigilance88 30:a9fdd3202ca2 877 if (ydir>0)
Vigilance88 30:a9fdd3202ca2 878 y += dy;
Vigilance88 30:a9fdd3202ca2 879 else
Vigilance88 30:a9fdd3202ca2 880 y += -dy;
Vigilance88 30:a9fdd3202ca2 881
Vigilance88 39:e77f844d10d9 882 //now we have x and y -> reference position.
Vigilance88 39:e77f844d10d9 883 }//end emg_control if
Vigilance88 30:a9fdd3202ca2 884
Vigilance88 27:d1814e271a95 885 //Current position - Encoder counts -> current angle -> Forward Kinematics
Vigilance88 27:d1814e271a95 886 rpc=(2*PI)/ENCODER1_CPR; //radians per count (resolution) - 2pi divided by 4200
Vigilance88 27:d1814e271a95 887 theta1 = Encoder1.getPulses() * rpc; //multiply resolution with number of counts
Vigilance88 27:d1814e271a95 888 theta2 = Encoder2.getPulses() * rpc;
Vigilance88 27:d1814e271a95 889 current_x = l1 * cos(theta1) + l2 * cos(theta1 + theta2);
Vigilance88 27:d1814e271a95 890 current_y = l1 * sin(theta1) + l2 * sin(theta1 + theta2);
Vigilance88 27:d1814e271a95 891
Vigilance88 27:d1814e271a95 892
Vigilance88 18:44905b008f44 893 //calculate error (refpos-currentpos) currentpos = forward kinematics
Vigilance88 27:d1814e271a95 894 x_error = x - current_x;
Vigilance88 27:d1814e271a95 895 y_error = y - current_y;
Vigilance88 27:d1814e271a95 896
Vigilance88 27:d1814e271a95 897
Vigilance88 38:c8ac615d0c8f 898 if (control_method==1){
Vigilance88 27:d1814e271a95 899 //inverse kinematics (refpos to refangle)
Vigilance88 18:44905b008f44 900
Vigilance88 27:d1814e271a95 901 costheta2 = (pow(x,2) + pow(y,2) - pow(l1,2) - pow(l2,2)) / (2*l1*l2) ;
Vigilance88 30:a9fdd3202ca2 902 sintheta2 = sqrt( abs( 1 - pow(costheta2,2) ) );
Vigilance88 27:d1814e271a95 903
Vigilance88 27:d1814e271a95 904
Vigilance88 27:d1814e271a95 905 dtheta2 = atan2(sintheta2,costheta2);
Vigilance88 27:d1814e271a95 906
Vigilance88 32:76c4d7bb2022 907 double k1 = l1 + l2*costheta2;
Vigilance88 32:76c4d7bb2022 908 double k2 = l2*sintheta2;
Vigilance88 32:76c4d7bb2022 909
Vigilance88 32:76c4d7bb2022 910 dtheta1 = atan2(y, x) - atan2(k2, k1);
Vigilance88 32:76c4d7bb2022 911
Vigilance88 32:76c4d7bb2022 912 /* alternative:
Vigilance88 27:d1814e271a95 913 costheta1 = ( x * (l1 + l2 * costheta2) + y * l2 * sintheta2 ) / ( pow(x,2) + pow(y,2) );
Vigilance88 30:a9fdd3202ca2 914 sintheta1 = sqrt( abs( 1 - pow(costheta1,2) ) );
Vigilance88 27:d1814e271a95 915
Vigilance88 27:d1814e271a95 916 dtheta1 = atan2(sintheta1,costheta1);
Vigilance88 32:76c4d7bb2022 917 */
Vigilance88 27:d1814e271a95 918
Vigilance88 27:d1814e271a95 919 //Angle error
Vigilance88 27:d1814e271a95 920 m1_error = dtheta1-theta1;
Vigilance88 27:d1814e271a95 921 m2_error = dtheta2-theta2;
Vigilance88 39:e77f844d10d9 922 }// end control method 1
Vigilance88 27:d1814e271a95 923
Vigilance88 38:c8ac615d0c8f 924 if(control_method==2){
Vigilance88 37:4d7b7ced20ef 925 //inverse kinematics (error in position to error in angles)
Vigilance88 37:4d7b7ced20ef 926 dls1= -(l2*pow(lambda,2)*sin(theta1 + theta2) + l1*pow(lambda,2)*sin(theta1) + l1*pow(l2,2)*pow(cos(theta1 + theta2),2)*sin(theta1) - l1*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1))/(pow(lambda,4) + 2*pow(l2,2)*pow(lambda,2)*pow(cos(theta1 + theta2),2) + 2*pow(l2,2)*pow(lambda,2)*pow(sin(theta1 + theta2),2) + pow(l1,2)*pow(lambda,2)*pow(cos(theta1),2) + pow(l1,2)*pow(lambda,2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(cos(theta1 + theta2),2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(sin(theta1 + theta2),2)*pow(cos(theta1),2) + 2*l1*l2*pow(lambda,2)*cos(theta1 + theta2)*cos(theta1) + 2*l1*l2*pow(lambda,2)*sin(theta1 + theta2)*sin(theta1) - 2*pow(l1,2)*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1)*sin(theta1));
Vigilance88 37:4d7b7ced20ef 927 dls2= (l2*pow(lambda,2)*cos(theta1 + theta2) + l1*pow(lambda,2)*cos(theta1) + l1*pow(l2,2)*pow(sin(theta1 + theta2),2)*cos(theta1) - l1*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*sin(theta1))/(pow(lambda,4) + 2*pow(l2,2)*pow(lambda,2)*pow(cos(theta1 + theta2),2) + 2*pow(l2,2)*pow(lambda,2)*pow(sin(theta1 + theta2),2) + pow(l1,2)*pow(lambda,2)*pow(cos(theta1),2) + pow(l1,2)*pow(lambda,2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(cos(theta1 + theta2),2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(sin(theta1 + theta2),2)*pow(cos(theta1),2) + 2*l1*l2*pow(lambda,2)*cos(theta1 + theta2)*cos(theta1) + 2*l1*l2*pow(lambda,2)*sin(theta1 + theta2)*sin(theta1) - 2*pow(l1,2)*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1)*sin(theta1));
Vigilance88 37:4d7b7ced20ef 928 dls3= -(l2*pow(lambda,2)*sin(theta1 + theta2) - l1*pow(l2,2)*pow(cos(theta1 + theta2),2)*sin(theta1) + pow(l1,2)*l2*sin(theta1 + theta2)*pow(cos(theta1),2) - pow(l1,2)*l2*cos(theta1 + theta2)*cos(theta1)*sin(theta1) + l1*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1))/(pow(lambda,4) + 2*pow(l2,2)*pow(lambda,2)*pow(cos(theta1 + theta2),2) + 2*pow(l2,2)*pow(lambda,2)*pow(sin(theta1 + theta2),2) + pow(l1,2)*pow(lambda,2)*pow(cos(theta1),2) + pow(l1,2)*pow(lambda,2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(cos(theta1 + theta2),2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(sin(theta1 + theta2),2)*pow(cos(theta1),2) + 2*l1*l2*pow(lambda,2)*cos(theta1 + theta2)*cos(theta1) + 2*l1*l2*pow(lambda,2)*sin(theta1 + theta2)*sin(theta1) - 2*pow(l1,2)*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1)*sin(theta1));
Vigilance88 37:4d7b7ced20ef 929 dls4= (l2*pow(lambda,2)*cos(theta1 + theta2) - l1*pow(l2,2)*pow(sin(theta1 + theta2),2)*cos(theta1) + pow(l1,2)*l2*cos(theta1 + theta2)*pow(sin(theta1),2) - pow(l1,2)*l2*sin(theta1 + theta2)*cos(theta1)*sin(theta1) + l1*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*sin(theta1))/(pow(lambda,4) + 2*pow(l2,2)*pow(lambda,2)*pow(cos(theta1 + theta2),2) + 2*pow(l2,2)*pow(lambda,2)*pow(sin(theta1 + theta2),2) + pow(l1,2)*pow(lambda,2)*pow(cos(theta1),2) + pow(l1,2)*pow(lambda,2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(cos(theta1 + theta2),2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(sin(theta1 + theta2),2)*pow(cos(theta1),2) + 2*l1*l2*pow(lambda,2)*cos(theta1 + theta2)*cos(theta1) + 2*l1*l2*pow(lambda,2)*sin(theta1 + theta2)*sin(theta1) - 2*pow(l1,2)*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1)*sin(theta1));
Vigilance88 37:4d7b7ced20ef 930
Vigilance88 37:4d7b7ced20ef 931 q1_error = dls1 * x_error + dls2 * y_error;
Vigilance88 37:4d7b7ced20ef 932 q2_error = dls3 * x_error + dls4 * y_error;
Vigilance88 37:4d7b7ced20ef 933
Vigilance88 37:4d7b7ced20ef 934 //Angle error
Vigilance88 37:4d7b7ced20ef 935 m1_error = q1_error;
Vigilance88 37:4d7b7ced20ef 936 m2_error = q2_error;
Vigilance88 39:e77f844d10d9 937 }//end control method 2
Vigilance88 39:e77f844d10d9 938
Vigilance88 41:55face19e06b 939 /*
Vigilance88 39:e77f844d10d9 940 //Set limits to the error!
Vigilance88 41:55face19e06b 941 motor1: lower limit 40 degrees, upper limit 135
Vigilance88 41:55face19e06b 942 motor2: lower 43 degrees, upper limit 138 degrees. */
Vigilance88 41:55face19e06b 943
Vigilance88 41:55face19e06b 944 //lower limits: Negative error not allowed to go further.
Vigilance88 41:55face19e06b 945 if (theta1 < theta1_lower){
Vigilance88 41:55face19e06b 946 if (m1_error > 0)
Vigilance88 41:55face19e06b 947 m1_error = m1_error;
Vigilance88 39:e77f844d10d9 948 else
Vigilance88 41:55face19e06b 949 m1_error = 0; }
Vigilance88 41:55face19e06b 950 if (theta2 < theta2_lower){
Vigilance88 41:55face19e06b 951 if (m2_error > 0)
Vigilance88 41:55face19e06b 952 m2_error = m2_error;
Vigilance88 41:55face19e06b 953 else
Vigilance88 41:55face19e06b 954 m2_error = 0;
Vigilance88 41:55face19e06b 955 }
Vigilance88 39:e77f844d10d9 956 //upper limit: Positive error not allowed to go further
Vigilance88 41:55face19e06b 957 if (theta1 > theta1_upper){
Vigilance88 41:55face19e06b 958 if (m1_error < 0 )
Vigilance88 41:55face19e06b 959 m1_error = m1_error;
Vigilance88 39:e77f844d10d9 960 else
Vigilance88 41:55face19e06b 961 m1_error = 0;
Vigilance88 41:55face19e06b 962 }
Vigilance88 41:55face19e06b 963 if (theta2 > theta2_upper){
Vigilance88 41:55face19e06b 964 if (m2_error < 0 )
Vigilance88 41:55face19e06b 965 m2_error = m2_error;
Vigilance88 41:55face19e06b 966 else
Vigilance88 41:55face19e06b 967 m2_error = 0;
Vigilance88 41:55face19e06b 968 }
Vigilance88 39:e77f844d10d9 969
Vigilance88 18:44905b008f44 970 //PID controller
Vigilance88 24:56db31267f10 971
Vigilance88 24:56db31267f10 972 u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1
Vigilance88 24:56db31267f10 973 u2=pid(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2
Vigilance88 21:d6a46315d5f5 974
Vigilance88 27:d1814e271a95 975 keep_in_range(&u1,-0.6,0.6); //keep u between -1 and 1, sign = direction, PWM = 0-1
Vigilance88 27:d1814e271a95 976 keep_in_range(&u2,-0.6,0.6);
Vigilance88 21:d6a46315d5f5 977
Vigilance88 21:d6a46315d5f5 978 //send PWM and DIR to motor 1
Vigilance88 21:d6a46315d5f5 979 dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below.
Vigilance88 21:d6a46315d5f5 980 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 981
Vigilance88 21:d6a46315d5f5 982 //send PWM and DIR to motor 2
Vigilance88 27:d1814e271a95 983 dir_motor2 = u2>0 ? 0 : 1; //conditional statement, same as if else below
Vigilance88 25:49ccdc98639a 984 pwm_motor2.write(abs(u2));
Vigilance88 21:d6a46315d5f5 985
Vigilance88 21:d6a46315d5f5 986 /*if(u1 > 0)
Vigilance88 21:d6a46315d5f5 987 {
Vigilance88 21:d6a46315d5f5 988 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 989 else{
Vigilance88 21:d6a46315d5f5 990 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 991 }
Vigilance88 21:d6a46315d5f5 992 }
Vigilance88 21:d6a46315d5f5 993 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 994
Vigilance88 21:d6a46315d5f5 995
Vigilance88 21:d6a46315d5f5 996 if(u2 > 0)
Vigilance88 21:d6a46315d5f5 997 {
Vigilance88 21:d6a46315d5f5 998 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 999 else{
Vigilance88 21:d6a46315d5f5 1000 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 1001 }
Vigilance88 21:d6a46315d5f5 1002 }
Vigilance88 21:d6a46315d5f5 1003 pwm_motor1.write(abs(u2));*/
Vigilance88 21:d6a46315d5f5 1004
Vigilance88 18:44905b008f44 1005 }
Vigilance88 18:44905b008f44 1006
Vigilance88 38:c8ac615d0c8f 1007
Vigilance88 32:76c4d7bb2022 1008
Vigilance88 26:fe3a5469dd6b 1009 void mainMenu()
Vigilance88 26:fe3a5469dd6b 1010 {
Vigilance88 38:c8ac615d0c8f 1011 //Title Box
Vigilance88 26:fe3a5469dd6b 1012 pc.putc(201);
Vigilance88 26:fe3a5469dd6b 1013 for(int j=0;j<33;j++){
Vigilance88 26:fe3a5469dd6b 1014 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 1015 }
Vigilance88 26:fe3a5469dd6b 1016 pc.putc(187);
Vigilance88 26:fe3a5469dd6b 1017 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1018 pc.putc(186); pc.printf(" Main Menu "); pc.putc(186);
Vigilance88 26:fe3a5469dd6b 1019 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 1020 pc.putc(200);
Vigilance88 26:fe3a5469dd6b 1021 for(int k=0;k<33;k++){
Vigilance88 26:fe3a5469dd6b 1022 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 1023 }
Vigilance88 26:fe3a5469dd6b 1024 pc.putc(188);
Vigilance88 26:fe3a5469dd6b 1025
Vigilance88 26:fe3a5469dd6b 1026 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 1027 //endbox
Vigilance88 28:743485bb51e4 1028 wait(1);
Vigilance88 28:743485bb51e4 1029 pc.printf("[C]alibration\r\n"); wait(0.2);
Vigilance88 40:d62f96ed44c0 1030 pc.printf("[T]RIG Control with WASD\r\n"); wait(0.2);
Vigilance88 40:d62f96ed44c0 1031 pc.printf("[D]LS Control with WASD\r\n"); wait(0.2);
Vigilance88 40:d62f96ed44c0 1032 pc.printf("[E]MG Control - DLS \r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 1033 pc.printf("[Q]uit Robot Program\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 1034 pc.printf("[R]ed LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 1035 pc.printf("[G]reen LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 1036 pc.printf("[B]lue LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 1037 pc.printf("Please make a choice => \r\n");
Vigilance88 26:fe3a5469dd6b 1038 }
Vigilance88 24:56db31267f10 1039
Vigilance88 24:56db31267f10 1040 //Start sampling
Vigilance88 24:56db31267f10 1041 void start_sampling(void)
Vigilance88 24:56db31267f10 1042 {
Vigilance88 24:56db31267f10 1043 sample_timer.attach(&sample_filter,SAMPLE_RATE); //500 Hz EMG
Vigilance88 26:fe3a5469dd6b 1044
Vigilance88 26:fe3a5469dd6b 1045 //Debug LED will be green when sampling is active
Vigilance88 26:fe3a5469dd6b 1046 green=0;
Vigilance88 25:49ccdc98639a 1047 pc.printf("||- started sampling -|| \r\n");
Vigilance88 24:56db31267f10 1048 }
Vigilance88 24:56db31267f10 1049
Vigilance88 24:56db31267f10 1050 //stop sampling
Vigilance88 24:56db31267f10 1051 void stop_sampling(void)
Vigilance88 24:56db31267f10 1052 {
Vigilance88 24:56db31267f10 1053 sample_timer.detach();
Vigilance88 26:fe3a5469dd6b 1054
Vigilance88 26:fe3a5469dd6b 1055 //Debug LED will be turned off when sampling stops
Vigilance88 26:fe3a5469dd6b 1056 green=1;
Vigilance88 25:49ccdc98639a 1057 pc.printf("||- stopped sampling -|| \r\n");
Vigilance88 24:56db31267f10 1058 }
Vigilance88 24:56db31267f10 1059
Vigilance88 18:44905b008f44 1060 //Start control
Vigilance88 18:44905b008f44 1061 void start_control(void)
Vigilance88 18:44905b008f44 1062 {
Vigilance88 35:7d9fca0b1545 1063 control_timer.attach(&control,CONTROL_RATE); //100 Hz control
Vigilance88 35:7d9fca0b1545 1064
Vigilance88 35:7d9fca0b1545 1065 //Debug LED will be blue when control is on. If sampling and control are on -> blue + green = cyan.
Vigilance88 35:7d9fca0b1545 1066 blue=0;
Vigilance88 35:7d9fca0b1545 1067 pc.printf("||- started control -|| \r\n");
Vigilance88 35:7d9fca0b1545 1068 }
Vigilance88 35:7d9fca0b1545 1069
Vigilance88 18:44905b008f44 1070 //stop control
Vigilance88 18:44905b008f44 1071 void stop_control(void)
Vigilance88 18:44905b008f44 1072 {
Vigilance88 18:44905b008f44 1073 control_timer.detach();
Vigilance88 26:fe3a5469dd6b 1074
Vigilance88 26:fe3a5469dd6b 1075 //Debug LED will be off when control is off
Vigilance88 26:fe3a5469dd6b 1076 blue=1;
Vigilance88 26:fe3a5469dd6b 1077 pc.printf("||- stopped control -|| \r\n");
vsluiter 2:e314bb3b2d99 1078 }
vsluiter 0:32bb76391d89 1079
Vigilance88 21:d6a46315d5f5 1080
Vigilance88 26:fe3a5469dd6b 1081 //Clears the putty (or other terminal) window
Vigilance88 26:fe3a5469dd6b 1082 void clearTerminal()
Vigilance88 26:fe3a5469dd6b 1083 {
Vigilance88 26:fe3a5469dd6b 1084 pc.putc(27);
Vigilance88 26:fe3a5469dd6b 1085 pc.printf("[2J"); // clear screen
Vigilance88 26:fe3a5469dd6b 1086 pc.putc(27); // ESC
Vigilance88 26:fe3a5469dd6b 1087 pc.printf("[H"); // cursor to home
Vigilance88 26:fe3a5469dd6b 1088 }
Vigilance88 21:d6a46315d5f5 1089
Vigilance88 30:a9fdd3202ca2 1090
Vigilance88 30:a9fdd3202ca2 1091 void controlMenu()
Vigilance88 30:a9fdd3202ca2 1092 {
Vigilance88 30:a9fdd3202ca2 1093 //Title Box
Vigilance88 30:a9fdd3202ca2 1094 pc.putc(201);
Vigilance88 30:a9fdd3202ca2 1095 for(int j=0;j<33;j++){
Vigilance88 30:a9fdd3202ca2 1096 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 1097 }
Vigilance88 30:a9fdd3202ca2 1098 pc.putc(187);
Vigilance88 30:a9fdd3202ca2 1099 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1100 pc.putc(186); pc.printf(" Control Menu "); pc.putc(186);
Vigilance88 30:a9fdd3202ca2 1101 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1102 pc.putc(200);
Vigilance88 30:a9fdd3202ca2 1103 for(int k=0;k<33;k++){
Vigilance88 30:a9fdd3202ca2 1104 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 1105 }
Vigilance88 30:a9fdd3202ca2 1106 pc.putc(188);
Vigilance88 30:a9fdd3202ca2 1107
Vigilance88 30:a9fdd3202ca2 1108 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1109 //endbox
Vigilance88 38:c8ac615d0c8f 1110 pc.printf("A) Move Arm Left\r\n");
Vigilance88 38:c8ac615d0c8f 1111 pc.printf("D) Move Arm Right\r\n");
Vigilance88 38:c8ac615d0c8f 1112 pc.printf("W) Move Arm Up\r\n");
Vigilance88 38:c8ac615d0c8f 1113 pc.printf("S) Move Arm Down\r\n");
Vigilance88 30:a9fdd3202ca2 1114 pc.printf("q) Exit \r\n");
Vigilance88 30:a9fdd3202ca2 1115 pc.printf("Please make a choice => \r\n");
Vigilance88 30:a9fdd3202ca2 1116 }
Vigilance88 30:a9fdd3202ca2 1117
Vigilance88 28:743485bb51e4 1118 void caliMenu(){
Vigilance88 28:743485bb51e4 1119
Vigilance88 28:743485bb51e4 1120 //Title Box
Vigilance88 28:743485bb51e4 1121 pc.putc(201);
Vigilance88 28:743485bb51e4 1122 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 1123 pc.putc(205);
Vigilance88 28:743485bb51e4 1124 }
Vigilance88 28:743485bb51e4 1125 pc.putc(187);
Vigilance88 28:743485bb51e4 1126 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1127 pc.putc(186); pc.printf(" Calibration Menu "); pc.putc(186);
Vigilance88 28:743485bb51e4 1128 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1129 pc.putc(200);
Vigilance88 28:743485bb51e4 1130 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 1131 pc.putc(205);
Vigilance88 28:743485bb51e4 1132 }
Vigilance88 28:743485bb51e4 1133 pc.putc(188);
Vigilance88 28:743485bb51e4 1134
Vigilance88 28:743485bb51e4 1135 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1136 //endbox
Vigilance88 28:743485bb51e4 1137
Vigilance88 28:743485bb51e4 1138 pc.printf("[A]rm Calibration\r\n");
Vigilance88 28:743485bb51e4 1139 pc.printf("[E]MG Calibration\r\n");
Vigilance88 28:743485bb51e4 1140 pc.printf("[B]ack to main menu\r\n");
Vigilance88 28:743485bb51e4 1141 pc.printf("Please make a choice => \r\n");
Vigilance88 28:743485bb51e4 1142
Vigilance88 28:743485bb51e4 1143 }
Vigilance88 28:743485bb51e4 1144
Vigilance88 28:743485bb51e4 1145 void titleBox(){
Vigilance88 28:743485bb51e4 1146
Vigilance88 28:743485bb51e4 1147 //Title Box
Vigilance88 28:743485bb51e4 1148 pc.putc(201);
Vigilance88 28:743485bb51e4 1149 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 1150 pc.putc(205);
Vigilance88 28:743485bb51e4 1151 }
Vigilance88 28:743485bb51e4 1152 pc.putc(187);
Vigilance88 28:743485bb51e4 1153 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1154 pc.putc(186); pc.printf(" BioRobotics M9 - Group 14 "); pc.putc(186);
Vigilance88 28:743485bb51e4 1155 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1156 pc.putc(186); pc.printf(" Robot powered ON "); pc.putc(186);
Vigilance88 28:743485bb51e4 1157 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1158 pc.putc(200);
Vigilance88 28:743485bb51e4 1159 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 1160 pc.putc(205);
Vigilance88 28:743485bb51e4 1161 }
Vigilance88 28:743485bb51e4 1162 pc.putc(188);
Vigilance88 28:743485bb51e4 1163
Vigilance88 28:743485bb51e4 1164 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1165 //endbox
Vigilance88 28:743485bb51e4 1166 }
Vigilance88 28:743485bb51e4 1167
Vigilance88 28:743485bb51e4 1168 void emgInstructions(){
Vigilance88 36:4d4fc200171b 1169 pc.printf("\r\nPrepare the skin before applying electrodes: \n\r");
Vigilance88 28:743485bb51e4 1170 pc.printf("-> Shave electrode locations if needed and clean with alcohol \n\r"); wait(1);
Vigilance88 38:c8ac615d0c8f 1171 pc.printf("\r\n Check whether EMG signal looks normal. \n\r "); wait(1);
Vigilance88 38:c8ac615d0c8f 1172 pc.printf("\r\n To calibrate the EMG signals we will measure: \n\r ");
Vigilance88 38:c8ac615d0c8f 1173 pc.printf("- Minimum amplitude, while relaxing all muscles. \n\r ");
Vigilance88 38:c8ac615d0c8f 1174 pc.printf("- Maximum Voluntary Contraction of each muscle. \n\r"); wait(2);
Vigilance88 38:c8ac615d0c8f 1175 pc.printf("\r\nFor the MVC you need to flex the mentioned muscle as much as possible for 5 seconds \n\r"); wait(1);
Vigilance88 36:4d4fc200171b 1176 pc.printf("The measurements will begin once you confirm you're ready [Hit any key] \n\r \n\r"); wait(1);
Vigilance88 28:743485bb51e4 1177 }
Vigilance88 28:743485bb51e4 1178
Vigilance88 21:d6a46315d5f5 1179 //keeps input limited between min max
Vigilance88 24:56db31267f10 1180 void keep_in_range(double * in, double min, double max)
Vigilance88 18:44905b008f44 1181 {
Vigilance88 18:44905b008f44 1182 *in > min ? *in < max? : *in = max: *in = min;
vsluiter 0:32bb76391d89 1183 }