2nd draft
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed Servo
Fork of robot_mockup by
main.cpp@41:55face19e06b, 2015-10-23 (annotated)
- Committer:
- Vigilance88
- Date:
- Fri Oct 23 09:14:22 2015 +0000
- Revision:
- 41:55face19e06b
- Parent:
- 40:d62f96ed44c0
- Child:
- 42:b9d26b1218b0
added mechanical limits
Who changed what in which revision?
User | Revision | Line number | New 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 | 39:e77f844d10d9 | 97 | |
Vigilance88 | 36:4d4fc200171b | 98 | int muscle; //Muscle selector for MVC measurement, 1 = first emg etc. |
Vigilance88 | 26:fe3a5469dd6b | 99 | double calibrate_time; //Elapsed time for each MVC measurement |
Vigilance88 | 25:49ccdc98639a | 100 | |
Vigilance88 | 24:56db31267f10 | 101 | //PID variables |
Vigilance88 | 36:4d4fc200171b | 102 | double u1; double u2; //Output of PID controller (PWM value for motor 1 and 2) |
Vigilance88 | 36:4d4fc200171b | 103 | double m1_error=0; double m1_e_int=0; double m1_e_prev=0; //Error, integrated error, previous error |
Vigilance88 | 36:4d4fc200171b | 104 | 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 | 105 | |
Vigilance88 | 36:4d4fc200171b | 106 | double m2_error=0; double m2_e_int=0; double m2_e_prev=0; //Error, integrated error, previous error |
Vigilance88 | 36:4d4fc200171b | 107 | 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 | 108 | |
Vigilance88 | 36:4d4fc200171b | 109 | //Calibration bools, checks if elbow/shoulder limits are hit |
Vigilance88 | 32:76c4d7bb2022 | 110 | bool done1 = false; |
Vigilance88 | 32:76c4d7bb2022 | 111 | bool done2 = false; |
Vigilance88 | 32:76c4d7bb2022 | 112 | |
Vigilance88 | 24:56db31267f10 | 113 | //highpass filter 20 Hz |
Vigilance88 | 24:56db31267f10 | 114 | const double high_b0 = 0.956543225556877; |
Vigilance88 | 24:56db31267f10 | 115 | const double high_b1 = -1.91308645113754; |
Vigilance88 | 24:56db31267f10 | 116 | const double high_b2 = 0.956543225556877; |
Vigilance88 | 24:56db31267f10 | 117 | const double high_a1 = -1.91197067426073; |
Vigilance88 | 24:56db31267f10 | 118 | const double high_a2 = 0.9149758348014341; |
Vigilance88 | 24:56db31267f10 | 119 | |
Vigilance88 | 24:56db31267f10 | 120 | //notchfilter 50Hz |
Vigilance88 | 36:4d4fc200171b | 121 | /* |
Vigilance88 | 24:56db31267f10 | 122 | Method = Butterworth |
Vigilance88 | 24:56db31267f10 | 123 | Biquad = Yes |
Vigilance88 | 24:56db31267f10 | 124 | Stable = Yes |
Vigilance88 | 24:56db31267f10 | 125 | Sampling Frequency = 500Hz |
Vigilance88 | 24:56db31267f10 | 126 | Filter Order = 2 |
Vigilance88 | 24:56db31267f10 | 127 | |
Vigilance88 | 24:56db31267f10 | 128 | Band Frequencies (Hz) Att/Ripple (dB) Biquad #1 Biquad #2 |
Vigilance88 | 24:56db31267f10 | 129 | |
Vigilance88 | 24:56db31267f10 | 130 | 1 0, 48 0.001 Gain = 1.000000 Gain = 0.973674 |
Vigilance88 | 24:56db31267f10 | 131 | 2 49, 51 -60.000 B = [ 1.00000000000, -1.61816176147, 1.00000000000] B = [ 1.00000000000, -1.61816176147, 1.00000000000] |
Vigilance88 | 24:56db31267f10 | 132 | 3 52, 250 0.001 A = [ 1.00000000000, -1.58071559235, 0.97319685401] A = [ 1.00000000000, -1.61244708381, 0.97415116257] |
Vigilance88 | 24:56db31267f10 | 133 | */ |
Vigilance88 | 24:56db31267f10 | 134 | |
Vigilance88 | 24:56db31267f10 | 135 | //biquad 1 |
Vigilance88 | 24:56db31267f10 | 136 | const double notch1gain = 1.000000; |
Vigilance88 | 24:56db31267f10 | 137 | const double notch1_b0 = 1; |
Vigilance88 | 24:56db31267f10 | 138 | const double notch1_b1 = -1.61816176147 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 139 | const double notch1_b2 = 1.00000000000 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 140 | const double notch1_a1 = -1.58071559235 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 141 | const double notch1_a2 = 0.97319685401 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 142 | |
Vigilance88 | 24:56db31267f10 | 143 | //biquad 2 |
Vigilance88 | 24:56db31267f10 | 144 | const double notch2gain = 0.973674; |
Vigilance88 | 24:56db31267f10 | 145 | const double notch2_b0 = 1 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 146 | const double notch2_b1 = -1.61816176147 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 147 | const double notch2_b2 = 1.00000000000 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 148 | const double notch2_a1 = -1.61244708381 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 149 | const double notch2_a2 = 0.97415116257 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 150 | |
Vigilance88 | 26:fe3a5469dd6b | 151 | //lowpass filter 7 Hz - envelope |
Vigilance88 | 24:56db31267f10 | 152 | const double low_b0 = 0.000119046743110057; |
Vigilance88 | 24:56db31267f10 | 153 | const double low_b1 = 0.000238093486220118; |
Vigilance88 | 24:56db31267f10 | 154 | const double low_b2 = 0.000119046743110057; |
Vigilance88 | 24:56db31267f10 | 155 | const double low_a1 = -1.968902268531908; |
Vigilance88 | 24:56db31267f10 | 156 | const double low_a2 = 0.9693784555043481; |
Vigilance88 | 21:d6a46315d5f5 | 157 | |
Vigilance88 | 36:4d4fc200171b | 158 | //Forward Kinematics |
Vigilance88 | 36:4d4fc200171b | 159 | const double l1 = 0.25; const double l2 = 0.25; //Arm lengths |
Vigilance88 | 36:4d4fc200171b | 160 | double current_x; double current_y; //Current position |
Vigilance88 | 36:4d4fc200171b | 161 | double theta1; double theta2; //Current angles |
Vigilance88 | 36:4d4fc200171b | 162 | double rpc; //Encoder resolution: radians per count |
Vigilance88 | 36:4d4fc200171b | 163 | |
Vigilance88 | 36:4d4fc200171b | 164 | //Reference position |
Vigilance88 | 28:743485bb51e4 | 165 | double x; double y; |
Vigilance88 | 36:4d4fc200171b | 166 | |
Vigilance88 | 39:e77f844d10d9 | 167 | //Select whether to use Trig or DLS method, emg true or false |
Vigilance88 | 38:c8ac615d0c8f | 168 | int control_method; |
Vigilance88 | 39:e77f844d10d9 | 169 | bool emg_control; |
Vigilance88 | 38:c8ac615d0c8f | 170 | |
Vigilance88 | 36:4d4fc200171b | 171 | //Inverse Kinematics - Trig / Gonio method. |
Vigilance88 | 36:4d4fc200171b | 172 | //First convert reference position to angle needed, then compare that angle to current angle. |
Vigilance88 | 36:4d4fc200171b | 173 | double dtheta1; double dtheta2; //reference angles |
Vigilance88 | 36:4d4fc200171b | 174 | double costheta1; double sintheta1; //helper variables |
Vigilance88 | 36:4d4fc200171b | 175 | double costheta2; double sintheta2; // |
Vigilance88 | 36:4d4fc200171b | 176 | |
Vigilance88 | 36:4d4fc200171b | 177 | //Inverse Kinematics - Damped least squares method. |
Vigilance88 | 36:4d4fc200171b | 178 | //Angle error is directly calculated from position error: dq = [DLS matrix] * position_error |
Vigilance88 | 36:4d4fc200171b | 179 | // |DLS1 DLS2| |
Vigilance88 | 36:4d4fc200171b | 180 | double dls1, dls2, dls3, dls4; //DLS matrix: |DLS3 DLS4| |
Vigilance88 | 36:4d4fc200171b | 181 | double q1_error, q2_error; //Angle errors |
Vigilance88 | 36:4d4fc200171b | 182 | double x_error; double y_error; //Position errors |
Vigilance88 | 36:4d4fc200171b | 183 | double lambda=0.1; //Damping constant |
Vigilance88 | 21:d6a46315d5f5 | 184 | |
Vigilance88 | 41:55face19e06b | 185 | //Mechanical Limits |
Vigilance88 | 41:55face19e06b | 186 | int theta1_cal, theta2_cal; //Pulse counts at mechanical limits. |
Vigilance88 | 41:55face19e06b | 187 | double theta1_lower=0.698132, theta1_upper=2.35619; //motor1: lower limit 40 degrees, upper limit 135 |
Vigilance88 | 41:55face19e06b | 188 | double theta2_lower=0.750492, theta2_upper=2.40855; //motor2: lower limit 43 degrees, upper limit 138 degrees. |
Vigilance88 | 41:55face19e06b | 189 | |
Vigilance88 | 21:d6a46315d5f5 | 190 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 24:56db31267f10 | 191 | ---- Filters --------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 192 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 24:56db31267f10 | 193 | |
Vigilance88 | 24:56db31267f10 | 194 | //Using biquadFilter library |
Vigilance88 | 24:56db31267f10 | 195 | //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered. |
Vigilance88 | 26:fe3a5469dd6b | 196 | //Biceps |
Vigilance88 | 24:56db31267f10 | 197 | biquadFilter highpass( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 24:56db31267f10 | 198 | biquadFilter notch1( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 24:56db31267f10 | 199 | biquadFilter notch2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 24:56db31267f10 | 200 | biquadFilter lowpass( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 201 | |
Vigilance88 | 26:fe3a5469dd6b | 202 | //Triceps |
Vigilance88 | 25:49ccdc98639a | 203 | biquadFilter highpass2( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 26:fe3a5469dd6b | 204 | biquadFilter notch1_2( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 26:fe3a5469dd6b | 205 | biquadFilter notch2_2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 25:49ccdc98639a | 206 | biquadFilter lowpass2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 207 | |
Vigilance88 | 26:fe3a5469dd6b | 208 | //Flexor |
Vigilance88 | 25:49ccdc98639a | 209 | biquadFilter highpass3( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 26:fe3a5469dd6b | 210 | biquadFilter notch1_3( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 26:fe3a5469dd6b | 211 | biquadFilter notch2_3( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 25:49ccdc98639a | 212 | biquadFilter lowpass3( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 213 | |
Vigilance88 | 26:fe3a5469dd6b | 214 | //Extensor |
Vigilance88 | 25:49ccdc98639a | 215 | biquadFilter highpass4( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 26:fe3a5469dd6b | 216 | biquadFilter notch1_4( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 26:fe3a5469dd6b | 217 | biquadFilter notch2_4( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 25:49ccdc98639a | 218 | biquadFilter lowpass4( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 219 | |
Vigilance88 | 26:fe3a5469dd6b | 220 | //PID filter (lowpass ??? Hz) |
Vigilance88 | 29:948b0b14f6be | 221 | biquadFilter derfilter( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // derivative filter |
Vigilance88 | 24:56db31267f10 | 222 | |
Vigilance88 | 40:d62f96ed44c0 | 223 | |
Vigilance88 | 24:56db31267f10 | 224 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 24:56db31267f10 | 225 | ---- DECLARE FUNCTION NAMES ------------------------------------------------------------------------------------------ |
Vigilance88 | 24:56db31267f10 | 226 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 26:fe3a5469dd6b | 227 | |
Vigilance88 | 26:fe3a5469dd6b | 228 | void sample_filter(void); //Sampling and filtering |
Vigilance88 | 26:fe3a5469dd6b | 229 | void control(); //Control - reference -> error -> pid -> motor output |
Vigilance88 | 37:4d7b7ced20ef | 230 | void dlscontrol(); //Damped Least Squares method |
Vigilance88 | 37:4d7b7ced20ef | 231 | void calibrate_emg(); //Instructions + measurement of Min and MVC of each muscle |
Vigilance88 | 26:fe3a5469dd6b | 232 | void emg_mvc(); //Helper funcion for storing MVC value |
Vigilance88 | 37:4d7b7ced20ef | 233 | void emg_min(); //Helper function for storing Min value |
Vigilance88 | 26:fe3a5469dd6b | 234 | void calibrate_arm(void); //Calibration of the arm with limit switches |
Vigilance88 | 26:fe3a5469dd6b | 235 | void start_sampling(void); //Attaches the sample_filter function to a 500Hz ticker |
Vigilance88 | 26:fe3a5469dd6b | 236 | void stop_sampling(void); //Stops sample_filter |
Vigilance88 | 26:fe3a5469dd6b | 237 | void start_control(void); //Attaches the control function to a 100Hz ticker |
Vigilance88 | 37:4d7b7ced20ef | 238 | void start_dlscontrol(void);//Attaches DLS control function to a 100Hz ticker |
Vigilance88 | 26:fe3a5469dd6b | 239 | void stop_control(void); //Stops control function |
Vigilance88 | 37:4d7b7ced20ef | 240 | |
Vigilance88 | 26:fe3a5469dd6b | 241 | |
Vigilance88 | 26:fe3a5469dd6b | 242 | //Keeps the input between min and max value |
Vigilance88 | 24:56db31267f10 | 243 | void keep_in_range(double * in, double min, double max); |
Vigilance88 | 26:fe3a5469dd6b | 244 | |
Vigilance88 | 26:fe3a5469dd6b | 245 | //Reusable PID controller, previous and integral error need to be passed by reference |
Vigilance88 | 21:d6a46315d5f5 | 246 | double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev); |
Vigilance88 | 18:44905b008f44 | 247 | |
Vigilance88 | 26:fe3a5469dd6b | 248 | //Menu functions |
Vigilance88 | 21:d6a46315d5f5 | 249 | void mainMenu(); |
Vigilance88 | 21:d6a46315d5f5 | 250 | void caliMenu(); |
Vigilance88 | 28:743485bb51e4 | 251 | void controlMenu(); |
Vigilance88 | 29:948b0b14f6be | 252 | void controlButtons(); |
Vigilance88 | 26:fe3a5469dd6b | 253 | void clearTerminal(); |
Vigilance88 | 28:743485bb51e4 | 254 | void emgInstructions(); |
Vigilance88 | 28:743485bb51e4 | 255 | void titleBox(); |
Vigilance88 | 26:fe3a5469dd6b | 256 | |
Vigilance88 | 32:76c4d7bb2022 | 257 | //Limit switches - power off motors if switches hit (rising edge interrupt) |
Vigilance88 | 32:76c4d7bb2022 | 258 | void shoulder(); |
Vigilance88 | 32:76c4d7bb2022 | 259 | void elbow(); |
Vigilance88 | 21:d6a46315d5f5 | 260 | |
Vigilance88 | 21:d6a46315d5f5 | 261 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 262 | ---- MAIN LOOP ------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 263 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 264 | |
Vigilance88 | 21:d6a46315d5f5 | 265 | int main() |
Vigilance88 | 21:d6a46315d5f5 | 266 | { |
Vigilance88 | 29:948b0b14f6be | 267 | pc.baud(115200); //serial baudrate |
Vigilance88 | 30:a9fdd3202ca2 | 268 | red=1; green=1; blue=1; //Make sure debug LEDs are off |
Vigilance88 | 26:fe3a5469dd6b | 269 | |
Vigilance88 | 26:fe3a5469dd6b | 270 | //Set PwmOut frequency to 10k Hz |
Vigilance88 | 37:4d7b7ced20ef | 271 | //pwm_motor1.period(0.0001); |
Vigilance88 | 37:4d7b7ced20ef | 272 | //pwm_motor2.period(0.0001); |
Vigilance88 | 26:fe3a5469dd6b | 273 | |
Vigilance88 | 26:fe3a5469dd6b | 274 | clearTerminal(); //Clear the putty window |
Vigilance88 | 26:fe3a5469dd6b | 275 | |
Vigilance88 | 24:56db31267f10 | 276 | // make a menu, user has to initiate next step |
Vigilance88 | 28:743485bb51e4 | 277 | titleBox(); |
Vigilance88 | 26:fe3a5469dd6b | 278 | mainMenu(); |
Vigilance88 | 36:4d4fc200171b | 279 | |
Vigilance88 | 30:a9fdd3202ca2 | 280 | //set initial reference position |
Vigilance88 | 37:4d7b7ced20ef | 281 | //x = 0.5; |
Vigilance88 | 37:4d7b7ced20ef | 282 | //y = 0; |
Vigilance88 | 21:d6a46315d5f5 | 283 | |
Vigilance88 | 21:d6a46315d5f5 | 284 | //maybe some stop commands when a button is pressed: detach from timers. |
Vigilance88 | 21:d6a46315d5f5 | 285 | //stop_control(); |
Vigilance88 | 34:d6ec7c634763 | 286 | //start_sampling(); |
Vigilance88 | 32:76c4d7bb2022 | 287 | |
Vigilance88 | 32:76c4d7bb2022 | 288 | char command=0; |
Vigilance88 | 27:d1814e271a95 | 289 | |
Vigilance88 | 28:743485bb51e4 | 290 | while(command != 'Q' && command != 'q') |
Vigilance88 | 28:743485bb51e4 | 291 | { |
Vigilance88 | 28:743485bb51e4 | 292 | if(pc.readable()){ |
Vigilance88 | 28:743485bb51e4 | 293 | command = pc.getc(); |
Vigilance88 | 28:743485bb51e4 | 294 | |
Vigilance88 | 28:743485bb51e4 | 295 | switch(command){ |
Vigilance88 | 28:743485bb51e4 | 296 | |
Vigilance88 | 28:743485bb51e4 | 297 | case 'c': |
Vigilance88 | 28:743485bb51e4 | 298 | case 'C': |
Vigilance88 | 28:743485bb51e4 | 299 | pc.printf("\n\r => You chose calibration.\r\n\n"); |
Vigilance88 | 28:743485bb51e4 | 300 | caliMenu(); |
Vigilance88 | 28:743485bb51e4 | 301 | |
Vigilance88 | 28:743485bb51e4 | 302 | char command2=0; |
Vigilance88 | 28:743485bb51e4 | 303 | |
Vigilance88 | 28:743485bb51e4 | 304 | while(command2 != 'B' && command2 != 'b'){ |
Vigilance88 | 28:743485bb51e4 | 305 | command2 = pc.getc(); |
Vigilance88 | 28:743485bb51e4 | 306 | switch(command2){ |
Vigilance88 | 28:743485bb51e4 | 307 | case 'a': |
Vigilance88 | 28:743485bb51e4 | 308 | case 'A': |
Vigilance88 | 28:743485bb51e4 | 309 | pc.printf("\n\r => Arm Calibration Starting... please wait \n\r"); |
Vigilance88 | 28:743485bb51e4 | 310 | calibrate_arm(); |
Vigilance88 | 28:743485bb51e4 | 311 | wait(1); |
Vigilance88 | 28:743485bb51e4 | 312 | caliMenu(); |
Vigilance88 | 28:743485bb51e4 | 313 | break; |
Vigilance88 | 28:743485bb51e4 | 314 | |
Vigilance88 | 28:743485bb51e4 | 315 | case 'e': |
Vigilance88 | 28:743485bb51e4 | 316 | case 'E': |
Vigilance88 | 28:743485bb51e4 | 317 | pc.printf("\n\r => EMG Calibration Starting... please wait \n\r"); |
Vigilance88 | 28:743485bb51e4 | 318 | wait(1); |
Vigilance88 | 28:743485bb51e4 | 319 | emgInstructions(); |
Vigilance88 | 28:743485bb51e4 | 320 | calibrate_emg(); |
Vigilance88 | 32:76c4d7bb2022 | 321 | pc.printf("\n\r------------------------- \n\r"); |
Vigilance88 | 28:743485bb51e4 | 322 | pc.printf("\n\r EMG Calibration complete \n\r"); |
Vigilance88 | 32:76c4d7bb2022 | 323 | pc.printf("\n\r------------------------- \n\r"); |
Vigilance88 | 28:743485bb51e4 | 324 | caliMenu(); |
Vigilance88 | 28:743485bb51e4 | 325 | break; |
Vigilance88 | 28:743485bb51e4 | 326 | |
Vigilance88 | 28:743485bb51e4 | 327 | case 'b': |
Vigilance88 | 28:743485bb51e4 | 328 | case 'B': |
Vigilance88 | 28:743485bb51e4 | 329 | pc.printf("\n\r => Going back to main menu.. \n\r"); |
Vigilance88 | 28:743485bb51e4 | 330 | mainMenu(); |
Vigilance88 | 28:743485bb51e4 | 331 | break; |
Vigilance88 | 28:743485bb51e4 | 332 | }//end switch |
Vigilance88 | 28:743485bb51e4 | 333 | |
Vigilance88 | 28:743485bb51e4 | 334 | }//end while |
Vigilance88 | 28:743485bb51e4 | 335 | break; |
Vigilance88 | 35:7d9fca0b1545 | 336 | case 't': |
Vigilance88 | 35:7d9fca0b1545 | 337 | case 'T': |
Vigilance88 | 39:e77f844d10d9 | 338 | pc.printf("=> You chose TRIG button control \r\n\n"); |
Vigilance88 | 28:743485bb51e4 | 339 | wait(1); |
Vigilance88 | 28:743485bb51e4 | 340 | start_sampling(); |
Vigilance88 | 28:743485bb51e4 | 341 | wait(1); |
Vigilance88 | 39:e77f844d10d9 | 342 | emg_control=false; |
Vigilance88 | 38:c8ac615d0c8f | 343 | control_method=1; |
Vigilance88 | 28:743485bb51e4 | 344 | start_control(); |
Vigilance88 | 28:743485bb51e4 | 345 | wait(1); |
Vigilance88 | 29:948b0b14f6be | 346 | controlButtons(); |
Vigilance88 | 28:743485bb51e4 | 347 | break; |
Vigilance88 | 35:7d9fca0b1545 | 348 | case 'd': |
Vigilance88 | 35:7d9fca0b1545 | 349 | case 'D': |
Vigilance88 | 39:e77f844d10d9 | 350 | pc.printf("=> You chose DLS button control \r\n\n"); |
Vigilance88 | 35:7d9fca0b1545 | 351 | wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 352 | start_sampling(); |
Vigilance88 | 35:7d9fca0b1545 | 353 | wait(1); |
Vigilance88 | 39:e77f844d10d9 | 354 | emg_control=false; |
Vigilance88 | 38:c8ac615d0c8f | 355 | control_method=2; |
Vigilance88 | 38:c8ac615d0c8f | 356 | start_control(); |
Vigilance88 | 35:7d9fca0b1545 | 357 | wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 358 | controlButtons(); |
Vigilance88 | 35:7d9fca0b1545 | 359 | break; |
Vigilance88 | 39:e77f844d10d9 | 360 | case 'e': |
Vigilance88 | 39:e77f844d10d9 | 361 | case 'E': |
Vigilance88 | 39:e77f844d10d9 | 362 | pc.printf("=> You chose EMG DLS control \r\n\n"); |
Vigilance88 | 39:e77f844d10d9 | 363 | wait(1); |
Vigilance88 | 39:e77f844d10d9 | 364 | start_sampling(); |
Vigilance88 | 41:55face19e06b | 365 | x=0; y=0; |
Vigilance88 | 39:e77f844d10d9 | 366 | wait(1); |
Vigilance88 | 39:e77f844d10d9 | 367 | emg_control=true; |
Vigilance88 | 39:e77f844d10d9 | 368 | control_method=2; |
Vigilance88 | 39:e77f844d10d9 | 369 | start_control(); |
Vigilance88 | 39:e77f844d10d9 | 370 | wait(1); |
Vigilance88 | 39:e77f844d10d9 | 371 | controlButtons(); |
Vigilance88 | 39:e77f844d10d9 | 372 | break; |
Vigilance88 | 28:743485bb51e4 | 373 | case 'R': |
Vigilance88 | 28:743485bb51e4 | 374 | red=!red; |
Vigilance88 | 28:743485bb51e4 | 375 | pc.printf("=> Red LED triggered \n\r"); |
Vigilance88 | 28:743485bb51e4 | 376 | break; |
Vigilance88 | 28:743485bb51e4 | 377 | case 'G': |
Vigilance88 | 28:743485bb51e4 | 378 | green=!green; |
Vigilance88 | 28:743485bb51e4 | 379 | pc.printf("=> Green LED triggered \n\r"); |
Vigilance88 | 28:743485bb51e4 | 380 | break; |
Vigilance88 | 28:743485bb51e4 | 381 | case 'B': |
Vigilance88 | 28:743485bb51e4 | 382 | blue=!blue; |
Vigilance88 | 28:743485bb51e4 | 383 | pc.printf("=> Blue LED triggered \n\r"); |
Vigilance88 | 28:743485bb51e4 | 384 | break; |
Vigilance88 | 28:743485bb51e4 | 385 | case 'q': |
Vigilance88 | 28:743485bb51e4 | 386 | case 'Q': |
Vigilance88 | 28:743485bb51e4 | 387 | |
Vigilance88 | 28:743485bb51e4 | 388 | break; |
Vigilance88 | 28:743485bb51e4 | 389 | default: |
Vigilance88 | 28:743485bb51e4 | 390 | pc.printf("=> Invalid Input \n\r"); |
Vigilance88 | 28:743485bb51e4 | 391 | break; |
Vigilance88 | 28:743485bb51e4 | 392 | } //end switch |
Vigilance88 | 28:743485bb51e4 | 393 | } // end if pc readable |
Vigilance88 | 28:743485bb51e4 | 394 | |
Vigilance88 | 28:743485bb51e4 | 395 | } // end while loop |
Vigilance88 | 28:743485bb51e4 | 396 | |
Vigilance88 | 28:743485bb51e4 | 397 | |
Vigilance88 | 28:743485bb51e4 | 398 | |
Vigilance88 | 28:743485bb51e4 | 399 | //When end of while loop reached (user chose quit program) - detach all timers and stop motors. |
Vigilance88 | 28:743485bb51e4 | 400 | |
Vigilance88 | 28:743485bb51e4 | 401 | pc.printf("\r\n------------------------------ \n\r"); |
Vigilance88 | 28:743485bb51e4 | 402 | pc.printf("Program Offline \n\r"); |
Vigilance88 | 28:743485bb51e4 | 403 | pc.printf("Reset to start\r\n"); |
Vigilance88 | 28:743485bb51e4 | 404 | pc.printf("------------------------------ \n\r"); |
Vigilance88 | 28:743485bb51e4 | 405 | } |
Vigilance88 | 28:743485bb51e4 | 406 | //end of main |
Vigilance88 | 28:743485bb51e4 | 407 | |
Vigilance88 | 28:743485bb51e4 | 408 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 28:743485bb51e4 | 409 | ---- FUNCTIONS ------------------------------------------------------------------------------------------------------- |
Vigilance88 | 28:743485bb51e4 | 410 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 28:743485bb51e4 | 411 | |
Vigilance88 | 29:948b0b14f6be | 412 | void controlButtons() |
Vigilance88 | 28:743485bb51e4 | 413 | { |
Vigilance88 | 28:743485bb51e4 | 414 | controlMenu(); |
Vigilance88 | 28:743485bb51e4 | 415 | char c=0; |
Vigilance88 | 28:743485bb51e4 | 416 | while(c != 'Q' && c != 'q') { |
Vigilance88 | 27:d1814e271a95 | 417 | |
Vigilance88 | 27:d1814e271a95 | 418 | if( pc.readable() ){ |
Vigilance88 | 27:d1814e271a95 | 419 | c = pc.getc(); |
Vigilance88 | 27:d1814e271a95 | 420 | switch (c) |
Vigilance88 | 27:d1814e271a95 | 421 | { |
Vigilance88 | 38:c8ac615d0c8f | 422 | case 'd' : |
Vigilance88 | 27:d1814e271a95 | 423 | x = x + 0.01; |
Vigilance88 | 32:76c4d7bb2022 | 424 | |
Vigilance88 | 27:d1814e271a95 | 425 | break; |
Vigilance88 | 27:d1814e271a95 | 426 | |
Vigilance88 | 38:c8ac615d0c8f | 427 | case 'a' : |
Vigilance88 | 27:d1814e271a95 | 428 | x-=0.01; |
Vigilance88 | 32:76c4d7bb2022 | 429 | |
Vigilance88 | 27:d1814e271a95 | 430 | break; |
Vigilance88 | 27:d1814e271a95 | 431 | |
Vigilance88 | 38:c8ac615d0c8f | 432 | case 'w' : |
Vigilance88 | 27:d1814e271a95 | 433 | y+=0.01; |
Vigilance88 | 32:76c4d7bb2022 | 434 | |
Vigilance88 | 27:d1814e271a95 | 435 | break; |
Vigilance88 | 27:d1814e271a95 | 436 | |
Vigilance88 | 27:d1814e271a95 | 437 | |
Vigilance88 | 38:c8ac615d0c8f | 438 | case 's' : |
Vigilance88 | 27:d1814e271a95 | 439 | y-=0.01; |
Vigilance88 | 32:76c4d7bb2022 | 440 | |
Vigilance88 | 27:d1814e271a95 | 441 | break; |
Vigilance88 | 27:d1814e271a95 | 442 | |
Vigilance88 | 27:d1814e271a95 | 443 | case 'q' : |
Vigilance88 | 28:743485bb51e4 | 444 | case 'Q' : |
Vigilance88 | 28:743485bb51e4 | 445 | pc.printf("=> Quitting control... \r\n"); wait(1); |
Vigilance88 | 28:743485bb51e4 | 446 | stop_sampling(); |
Vigilance88 | 28:743485bb51e4 | 447 | stop_control(); |
Vigilance88 | 28:743485bb51e4 | 448 | pwm_motor1=0; pwm_motor2=0; |
Vigilance88 | 28:743485bb51e4 | 449 | pc.printf("Sampling and Control detached \n\r"); wait(1); |
Vigilance88 | 28:743485bb51e4 | 450 | pc.printf("Returning to Main Menu \r\n\n"); wait(1); |
Vigilance88 | 28:743485bb51e4 | 451 | mainMenu(); |
Vigilance88 | 28:743485bb51e4 | 452 | |
Vigilance88 | 27:d1814e271a95 | 453 | //running = false; |
Vigilance88 | 27:d1814e271a95 | 454 | break; |
Vigilance88 | 27:d1814e271a95 | 455 | }//end switch |
Vigilance88 | 28:743485bb51e4 | 456 | if(c!='q' && c!='Q'){ |
Vigilance88 | 27:d1814e271a95 | 457 | pc.printf("Reference position: %f and %f \r\n",x,y); |
Vigilance88 | 27:d1814e271a95 | 458 | pc.printf("Current position: %f and %f \r\n",current_x,current_y); |
Vigilance88 | 36:4d4fc200171b | 459 | pc.printf("Pos Error: %f and %f \r\n",x_error,y_error); |
Vigilance88 | 27:d1814e271a95 | 460 | pc.printf("Current angles: %f and %f \r\n",theta1,theta2); |
Vigilance88 | 36:4d4fc200171b | 461 | pc.printf("DLS1: %f and DLS2 %f and DLS3 %f and DLS4: %f \r\n",dls1,dls2,dls3,dls4); |
Vigilance88 | 35:7d9fca0b1545 | 462 | pc.printf("Error in angles: %f and %f \r\n",q1_error,q2_error); |
Vigilance88 | 27:d1814e271a95 | 463 | pc.printf("PID output: %f and %f \r\n",u1,u2); |
Vigilance88 | 27:d1814e271a95 | 464 | pc.printf("----------------------------------------\r\n\n"); |
Vigilance88 | 27:d1814e271a95 | 465 | } |
Vigilance88 | 28:743485bb51e4 | 466 | } |
Vigilance88 | 27:d1814e271a95 | 467 | //end if |
Vigilance88 | 21:d6a46315d5f5 | 468 | } |
Vigilance88 | 21:d6a46315d5f5 | 469 | //end of while loop |
Vigilance88 | 30:a9fdd3202ca2 | 470 | } |
Vigilance88 | 18:44905b008f44 | 471 | |
Vigilance88 | 21:d6a46315d5f5 | 472 | //Sample and Filter |
Vigilance88 | 21:d6a46315d5f5 | 473 | void sample_filter(void) |
Vigilance88 | 18:44905b008f44 | 474 | { |
Vigilance88 | 32:76c4d7bb2022 | 475 | emg_biceps = emg1.read(); //Biceps |
Vigilance88 | 32:76c4d7bb2022 | 476 | emg_triceps = emg2.read(); //Triceps |
Vigilance88 | 32:76c4d7bb2022 | 477 | emg_flexor = emg3.read(); //Flexor |
Vigilance88 | 32:76c4d7bb2022 | 478 | emg_extens = emg4.read(); //Extensor |
Vigilance88 | 21:d6a46315d5f5 | 479 | |
Vigilance88 | 21:d6a46315d5f5 | 480 | //Filter: high-pass -> notch -> rectify -> lowpass or moving average |
Vigilance88 | 22:1ba637601dc3 | 481 | // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad? |
Vigilance88 | 25:49ccdc98639a | 482 | 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 | 483 | 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 | 484 | 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 | 485 | biceps_power = abs(biceps_power); triceps_power = abs(triceps_power); flexor_power = abs(flexor_power); extens_power = abs(extens_power); |
Vigilance88 | 25:49ccdc98639a | 486 | 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 | 487 | |
Vigilance88 | 25:49ccdc98639a | 488 | |
Vigilance88 | 32:76c4d7bb2022 | 489 | scope.set(0,biceps_power); |
Vigilance88 | 32:76c4d7bb2022 | 490 | scope.set(1,triceps_power); |
Vigilance88 | 38:c8ac615d0c8f | 491 | //scope.set(2,flexor_power); |
Vigilance88 | 38:c8ac615d0c8f | 492 | //scope.set(3,extens_power); |
Vigilance88 | 29:948b0b14f6be | 493 | scope.send(); |
Vigilance88 | 32:76c4d7bb2022 | 494 | |
Vigilance88 | 32:76c4d7bb2022 | 495 | // on - offset. If above a value it is on. |
Vigilance88 | 32:76c4d7bb2022 | 496 | |
Vigilance88 | 32:76c4d7bb2022 | 497 | |
Vigilance88 | 21:d6a46315d5f5 | 498 | /* alternative for lowpass filter: moving average |
Vigilance88 | 21:d6a46315d5f5 | 499 | window=30; //30 samples |
Vigilance88 | 21:d6a46315d5f5 | 500 | int i=0; //buffer index |
Vigilance88 | 21:d6a46315d5f5 | 501 | bicepsbuffer[i]=biceps_power //fill array |
Vigilance88 | 21:d6a46315d5f5 | 502 | |
Vigilance88 | 21:d6a46315d5f5 | 503 | i++; |
Vigilance88 | 21:d6a46315d5f5 | 504 | if(i==window){ |
Vigilance88 | 21:d6a46315d5f5 | 505 | i=0; |
Vigilance88 | 21:d6a46315d5f5 | 506 | } |
Vigilance88 | 21:d6a46315d5f5 | 507 | |
Vigilance88 | 24:56db31267f10 | 508 | for(int x = 0; x < window; x++){ |
Vigilance88 | 24:56db31267f10 | 509 | avg1 += bicepsbuffer[x]; |
Vigilance88 | 24:56db31267f10 | 510 | } |
Vigilance88 | 24:56db31267f10 | 511 | avg1 = avg1/window; |
Vigilance88 | 21:d6a46315d5f5 | 512 | */ |
Vigilance88 | 21:d6a46315d5f5 | 513 | |
Vigilance88 | 18:44905b008f44 | 514 | } |
Vigilance88 | 18:44905b008f44 | 515 | |
Vigilance88 | 27:d1814e271a95 | 516 | |
Vigilance88 | 32:76c4d7bb2022 | 517 | void shoulder(){ |
Vigilance88 | 41:55face19e06b | 518 | pwm_motor1=0; |
Vigilance88 | 41:55face19e06b | 519 | //Encoder1.reset(); |
Vigilance88 | 32:76c4d7bb2022 | 520 | done1 = true; |
Vigilance88 | 32:76c4d7bb2022 | 521 | pc.printf("Shoulder Limit hit - shutting down motor 1\r\n"); |
Vigilance88 | 36:4d4fc200171b | 522 | //mechanical angle limits -> pulses. If 40 degrees -> counts = floor( 40 * (4200/360) ) |
Vigilance88 | 41:55face19e06b | 523 | theta1_cal = floor(theta1_lower * (4200/(2*PI))); |
Vigilance88 | 41:55face19e06b | 524 | Encoder1.setPulses(theta1_cal); //edited QEI library: added setPulses() |
Vigilance88 | 36:4d4fc200171b | 525 | |
Vigilance88 | 32:76c4d7bb2022 | 526 | } |
Vigilance88 | 32:76c4d7bb2022 | 527 | |
Vigilance88 | 32:76c4d7bb2022 | 528 | void elbow(){ |
Vigilance88 | 41:55face19e06b | 529 | pwm_motor2=0; |
Vigilance88 | 41:55face19e06b | 530 | //Encoder2.reset(); |
Vigilance88 | 32:76c4d7bb2022 | 531 | done2 = true; |
Vigilance88 | 32:76c4d7bb2022 | 532 | pc.printf("Elbow Limit hit - shutting down motor 2\r\n"); |
Vigilance88 | 41:55face19e06b | 533 | //Mechanical limit 43 degrees -> 43*(4200/360) = 350 |
Vigilance88 | 41:55face19e06b | 534 | theta2_cal = floor(theta2_lower * (4200/(2*PI))); |
Vigilance88 | 41:55face19e06b | 535 | Encoder2.setPulses(theta2_cal); //edited QEI library: added setPulses() |
Vigilance88 | 32:76c4d7bb2022 | 536 | } |
Vigilance88 | 32:76c4d7bb2022 | 537 | |
Vigilance88 | 18:44905b008f44 | 538 | //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position. |
Vigilance88 | 19:0a3ee31dcdb4 | 539 | void calibrate_arm(void) |
Vigilance88 | 19:0a3ee31dcdb4 | 540 | { |
Vigilance88 | 28:743485bb51e4 | 541 | pc.printf("Calibrate_arm() entered\r\n"); |
Vigilance88 | 32:76c4d7bb2022 | 542 | red=0; blue=0; //Debug light is purple during arm calibration |
Vigilance88 | 32:76c4d7bb2022 | 543 | |
Vigilance88 | 32:76c4d7bb2022 | 544 | done1 = false; |
Vigilance88 | 32:76c4d7bb2022 | 545 | done2 = false; |
Vigilance88 | 26:fe3a5469dd6b | 546 | bool calibrating = true; |
Vigilance88 | 32:76c4d7bb2022 | 547 | |
Vigilance88 | 27:d1814e271a95 | 548 | pc.printf("To start arm calibration, press any key =>"); |
Vigilance88 | 27:d1814e271a95 | 549 | pc.getc(); |
Vigilance88 | 27:d1814e271a95 | 550 | pc.printf("\r\n Calibrating... \r\n"); |
Vigilance88 | 36:4d4fc200171b | 551 | dir_motor1=0; //cw |
Vigilance88 | 36:4d4fc200171b | 552 | dir_motor2=1; //cw |
Vigilance88 | 36:4d4fc200171b | 553 | |
Vigilance88 | 27:d1814e271a95 | 554 | |
Vigilance88 | 26:fe3a5469dd6b | 555 | |
Vigilance88 | 26:fe3a5469dd6b | 556 | while(calibrating){ |
Vigilance88 | 32:76c4d7bb2022 | 557 | shoulder_limit.rise(&shoulder); |
Vigilance88 | 32:76c4d7bb2022 | 558 | elbow_limit.rise(&elbow); |
Vigilance88 | 36:4d4fc200171b | 559 | while(!done1){ |
Vigilance88 | 36:4d4fc200171b | 560 | pwm_motor1.write(0.2); //move upper arm slowly cw |
Vigilance88 | 36:4d4fc200171b | 561 | } |
Vigilance88 | 27:d1814e271a95 | 562 | if(done1==true){ |
Vigilance88 | 27:d1814e271a95 | 563 | pwm_motor2.write(0.2); //move forearm slowly cw |
Vigilance88 | 27:d1814e271a95 | 564 | } |
Vigilance88 | 27:d1814e271a95 | 565 | |
Vigilance88 | 26:fe3a5469dd6b | 566 | if(done1 && done2){ |
Vigilance88 | 26:fe3a5469dd6b | 567 | calibrating=false; //Leave while loop when both limits are reached |
Vigilance88 | 26:fe3a5469dd6b | 568 | red=1; blue=1; //Turn debug light off when calibration complete |
Vigilance88 | 26:fe3a5469dd6b | 569 | } |
Vigilance88 | 27:d1814e271a95 | 570 | |
Vigilance88 | 27:d1814e271a95 | 571 | }//end while |
Vigilance88 | 32:76c4d7bb2022 | 572 | |
Vigilance88 | 27:d1814e271a95 | 573 | //TO DO: |
Vigilance88 | 36:4d4fc200171b | 574 | |
Vigilance88 | 27:d1814e271a95 | 575 | //pc.printf("Elbow Limit hit - shutting down motor 2. Current pulsecount: %i \r\n",Encoder1.getPulses()); |
Vigilance88 | 31:7b8b8459bddc | 576 | |
Vigilance88 | 27:d1814e271a95 | 577 | wait(1); |
Vigilance88 | 28:743485bb51e4 | 578 | pc.printf("\n\r ------------------------ \n\r"); |
Vigilance88 | 27:d1814e271a95 | 579 | pc.printf("Arm Calibration Complete\r\n"); |
Vigilance88 | 28:743485bb51e4 | 580 | pc.printf(" ------------------------ \n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 581 | |
Vigilance88 | 19:0a3ee31dcdb4 | 582 | } |
Vigilance88 | 19:0a3ee31dcdb4 | 583 | |
Vigilance88 | 21:d6a46315d5f5 | 584 | //EMG Maximum Voluntary Contraction measurement |
Vigilance88 | 25:49ccdc98639a | 585 | void emg_mvc() |
Vigilance88 | 25:49ccdc98639a | 586 | { |
Vigilance88 | 24:56db31267f10 | 587 | //double sampletime=0; |
Vigilance88 | 24:56db31267f10 | 588 | //sampletime=+SAMPLE_RATE; |
Vigilance88 | 24:56db31267f10 | 589 | // |
Vigilance88 | 24:56db31267f10 | 590 | // if(sampletime<5) |
Vigilance88 | 25:49ccdc98639a | 591 | //int muscle=1; |
Vigilance88 | 25:49ccdc98639a | 592 | //for(int index=0; index<2500;index++){ //measure 5 seconds@500hz = 2500 samples |
Vigilance88 | 25:49ccdc98639a | 593 | |
Vigilance88 | 24:56db31267f10 | 594 | if(muscle==1){ |
Vigilance88 | 24:56db31267f10 | 595 | |
Vigilance88 | 24:56db31267f10 | 596 | if(biceps_power>bicepsMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 597 | //printf("+ "); |
Vigilance88 | 26:fe3a5469dd6b | 598 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 21:d6a46315d5f5 | 599 | bicepsMVC=biceps_power; |
Vigilance88 | 24:56db31267f10 | 600 | } |
Vigilance88 | 25:49ccdc98639a | 601 | else |
Vigilance88 | 25:49ccdc98639a | 602 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 603 | } |
Vigilance88 | 24:56db31267f10 | 604 | |
Vigilance88 | 24:56db31267f10 | 605 | if(muscle==2){ |
Vigilance88 | 24:56db31267f10 | 606 | |
Vigilance88 | 24:56db31267f10 | 607 | if(triceps_power>tricepsMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 608 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 24:56db31267f10 | 609 | tricepsMVC=triceps_power; |
Vigilance88 | 24:56db31267f10 | 610 | } |
Vigilance88 | 26:fe3a5469dd6b | 611 | else |
Vigilance88 | 26:fe3a5469dd6b | 612 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 613 | } |
Vigilance88 | 24:56db31267f10 | 614 | |
Vigilance88 | 24:56db31267f10 | 615 | if(muscle==3){ |
Vigilance88 | 24:56db31267f10 | 616 | |
Vigilance88 | 24:56db31267f10 | 617 | if(flexor_power>flexorMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 618 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 24:56db31267f10 | 619 | flexorMVC=flexor_power; |
Vigilance88 | 24:56db31267f10 | 620 | } |
Vigilance88 | 26:fe3a5469dd6b | 621 | else |
Vigilance88 | 26:fe3a5469dd6b | 622 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 623 | } |
Vigilance88 | 24:56db31267f10 | 624 | |
Vigilance88 | 24:56db31267f10 | 625 | if(muscle==4){ |
Vigilance88 | 24:56db31267f10 | 626 | |
Vigilance88 | 24:56db31267f10 | 627 | if(extens_power>extensMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 628 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 24:56db31267f10 | 629 | extensMVC=extens_power; |
Vigilance88 | 24:56db31267f10 | 630 | } |
Vigilance88 | 26:fe3a5469dd6b | 631 | else |
Vigilance88 | 26:fe3a5469dd6b | 632 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 633 | } |
Vigilance88 | 25:49ccdc98639a | 634 | |
Vigilance88 | 25:49ccdc98639a | 635 | //} |
Vigilance88 | 25:49ccdc98639a | 636 | calibrate_time = calibrate_time + 0.002; |
Vigilance88 | 36:4d4fc200171b | 637 | |
Vigilance88 | 25:49ccdc98639a | 638 | } |
Vigilance88 | 25:49ccdc98639a | 639 | |
Vigilance88 | 35:7d9fca0b1545 | 640 | void emg_min() |
Vigilance88 | 35:7d9fca0b1545 | 641 | { |
Vigilance88 | 35:7d9fca0b1545 | 642 | |
Vigilance88 | 38:c8ac615d0c8f | 643 | if(biceps_power>bicepsmin){ |
Vigilance88 | 35:7d9fca0b1545 | 644 | bicepsmin=biceps_power; |
Vigilance88 | 35:7d9fca0b1545 | 645 | } |
Vigilance88 | 35:7d9fca0b1545 | 646 | |
Vigilance88 | 38:c8ac615d0c8f | 647 | if(triceps_power>tricepsmin){ |
Vigilance88 | 35:7d9fca0b1545 | 648 | tricepsmin=triceps_power; |
Vigilance88 | 35:7d9fca0b1545 | 649 | } |
Vigilance88 | 35:7d9fca0b1545 | 650 | |
Vigilance88 | 38:c8ac615d0c8f | 651 | if(flexor_power>flexormin){ |
Vigilance88 | 35:7d9fca0b1545 | 652 | flexormin=flexor_power; |
Vigilance88 | 35:7d9fca0b1545 | 653 | } |
Vigilance88 | 35:7d9fca0b1545 | 654 | |
Vigilance88 | 38:c8ac615d0c8f | 655 | if(extens_power > extensmin){ |
Vigilance88 | 35:7d9fca0b1545 | 656 | extensmin = extens_power; |
Vigilance88 | 35:7d9fca0b1545 | 657 | } |
Vigilance88 | 35:7d9fca0b1545 | 658 | |
Vigilance88 | 35:7d9fca0b1545 | 659 | calibrate_time = calibrate_time + 0.002; |
Vigilance88 | 35:7d9fca0b1545 | 660 | |
Vigilance88 | 35:7d9fca0b1545 | 661 | } |
Vigilance88 | 35:7d9fca0b1545 | 662 | |
Vigilance88 | 25:49ccdc98639a | 663 | //EMG calibration |
Vigilance88 | 25:49ccdc98639a | 664 | void calibrate_emg() |
Vigilance88 | 25:49ccdc98639a | 665 | { |
Vigilance88 | 25:49ccdc98639a | 666 | Ticker timer; |
Vigilance88 | 25:49ccdc98639a | 667 | |
Vigilance88 | 38:c8ac615d0c8f | 668 | pc.printf("Starting sampling, to allow hidscope to normalize\r\n"); |
Vigilance88 | 38:c8ac615d0c8f | 669 | start_sampling(); |
Vigilance88 | 25:49ccdc98639a | 670 | wait(1); |
Vigilance88 | 38:c8ac615d0c8f | 671 | pc.printf("Start minimum measurement, relax all muscles.\r\n"); |
Vigilance88 | 35:7d9fca0b1545 | 672 | wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 673 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 674 | char input; |
Vigilance88 | 35:7d9fca0b1545 | 675 | input=pc.getc(); |
Vigilance88 | 35:7d9fca0b1545 | 676 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 677 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 678 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 679 | |
Vigilance88 | 38:c8ac615d0c8f | 680 | |
Vigilance88 | 36:4d4fc200171b | 681 | |
Vigilance88 | 35:7d9fca0b1545 | 682 | timer.attach(&emg_min,SAMPLE_RATE); |
Vigilance88 | 35:7d9fca0b1545 | 683 | wait(5); |
Vigilance88 | 35:7d9fca0b1545 | 684 | timer.detach(); |
Vigilance88 | 35:7d9fca0b1545 | 685 | pc.printf("\r\n Measurement complete."); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 686 | pc.printf("\r\n Biceps min = %f \r\n",bicepsmin); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 687 | pc.printf("\r\n Triceps min = %f \r\n",tricepsmin); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 688 | pc.printf("\r\n Flexor min = %f \r\n",flexormin); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 689 | pc.printf("\r\n Extensor min = %f \r\n",extensmin); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 690 | |
Vigilance88 | 35:7d9fca0b1545 | 691 | calibrate_time=0; |
Vigilance88 | 35:7d9fca0b1545 | 692 | pc.printf("\r\n Now we will measure maximum amplitudes \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 693 | pc.printf("+ means current sample is higher than stored MVC\r\n"); |
Vigilance88 | 25:49ccdc98639a | 694 | pc.printf("- means current sample is lower than stored MVC\r\n"); |
Vigilance88 | 26:fe3a5469dd6b | 695 | wait(2); |
Vigilance88 | 28:743485bb51e4 | 696 | pc.printf("\r\n----------------\r\n "); |
Vigilance88 | 28:743485bb51e4 | 697 | pc.printf(" Biceps is first.\r\n "); |
Vigilance88 | 28:743485bb51e4 | 698 | pc.printf("----------------\r\n "); |
Vigilance88 | 28:743485bb51e4 | 699 | wait(1); |
Vigilance88 | 25:49ccdc98639a | 700 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 25:49ccdc98639a | 701 | input=pc.getc(); |
Vigilance88 | 25:49ccdc98639a | 702 | pc.putc(input); |
Vigilance88 | 25:49ccdc98639a | 703 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 704 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 705 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 706 | |
Vigilance88 | 25:49ccdc98639a | 707 | start_sampling(); |
Vigilance88 | 25:49ccdc98639a | 708 | muscle=1; |
Vigilance88 | 27:d1814e271a95 | 709 | timer.attach(&emg_mvc,SAMPLE_RATE); |
Vigilance88 | 25:49ccdc98639a | 710 | wait(5); |
Vigilance88 | 25:49ccdc98639a | 711 | timer.detach(); |
Vigilance88 | 26:fe3a5469dd6b | 712 | |
Vigilance88 | 26:fe3a5469dd6b | 713 | pc.printf("\r\n Measurement complete."); wait(1); |
Vigilance88 | 26:fe3a5469dd6b | 714 | pc.printf("\r\n Biceps MVC = %f \r\n",bicepsMVC); wait(1); |
Vigilance88 | 26:fe3a5469dd6b | 715 | pc.printf("Calibrate_emg() exited \r\n"); wait(1); |
Vigilance88 | 26:fe3a5469dd6b | 716 | pc.printf("Measured time: %f seconds \r\n\n",calibrate_time); |
Vigilance88 | 25:49ccdc98639a | 717 | calibrate_time=0; |
Vigilance88 | 25:49ccdc98639a | 718 | |
Vigilance88 | 25:49ccdc98639a | 719 | // Triceps: |
Vigilance88 | 26:fe3a5469dd6b | 720 | muscle=2; |
Vigilance88 | 28:743485bb51e4 | 721 | pc.printf("\r\n----------------\r\n "); |
Vigilance88 | 28:743485bb51e4 | 722 | pc.printf(" Triceps is next.\r\n "); |
Vigilance88 | 28:743485bb51e4 | 723 | pc.printf("----------------\r\n "); |
Vigilance88 | 28:743485bb51e4 | 724 | wait(1); |
Vigilance88 | 28:743485bb51e4 | 725 | |
Vigilance88 | 25:49ccdc98639a | 726 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 25:49ccdc98639a | 727 | input=pc.getc(); |
Vigilance88 | 25:49ccdc98639a | 728 | pc.putc(input); |
Vigilance88 | 25:49ccdc98639a | 729 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 730 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 731 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 732 | start_sampling(); |
Vigilance88 | 25:49ccdc98639a | 733 | timer.attach(&emg_mvc,0.002); |
Vigilance88 | 25:49ccdc98639a | 734 | wait(5); |
Vigilance88 | 25:49ccdc98639a | 735 | timer.detach(); |
Vigilance88 | 25:49ccdc98639a | 736 | pc.printf("\r\n Triceps MVC = %f \r\n",tricepsMVC); |
Vigilance88 | 25:49ccdc98639a | 737 | |
Vigilance88 | 25:49ccdc98639a | 738 | pc.printf("Calibrate_emg() exited \r\n"); |
Vigilance88 | 25:49ccdc98639a | 739 | pc.printf("Measured time: %f seconds \r\n",calibrate_time); |
Vigilance88 | 25:49ccdc98639a | 740 | calibrate_time=0; |
Vigilance88 | 25:49ccdc98639a | 741 | |
Vigilance88 | 25:49ccdc98639a | 742 | //Flexor: |
Vigilance88 | 26:fe3a5469dd6b | 743 | muscle=3; |
Vigilance88 | 35:7d9fca0b1545 | 744 | pc.printf("\r\n----------------\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 745 | pc.printf(" Flexor is next.\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 746 | pc.printf("----------------\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 747 | wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 748 | |
Vigilance88 | 35:7d9fca0b1545 | 749 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 750 | input=pc.getc(); |
Vigilance88 | 35:7d9fca0b1545 | 751 | pc.putc(input); |
Vigilance88 | 35:7d9fca0b1545 | 752 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 753 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 754 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 755 | start_sampling(); |
Vigilance88 | 35:7d9fca0b1545 | 756 | timer.attach(&emg_mvc,0.002); |
Vigilance88 | 35:7d9fca0b1545 | 757 | wait(5); |
Vigilance88 | 35:7d9fca0b1545 | 758 | timer.detach(); |
Vigilance88 | 35:7d9fca0b1545 | 759 | pc.printf("\r\n Flexor MVC = %f \r\n",flexorMVC); |
Vigilance88 | 35:7d9fca0b1545 | 760 | |
Vigilance88 | 35:7d9fca0b1545 | 761 | pc.printf("Calibrate_emg() exited \r\n"); |
Vigilance88 | 35:7d9fca0b1545 | 762 | pc.printf("Measured time: %f seconds \r\n",calibrate_time); |
Vigilance88 | 35:7d9fca0b1545 | 763 | calibrate_time=0; |
Vigilance88 | 35:7d9fca0b1545 | 764 | |
Vigilance88 | 25:49ccdc98639a | 765 | //Extensor: |
Vigilance88 | 35:7d9fca0b1545 | 766 | |
Vigilance88 | 26:fe3a5469dd6b | 767 | muscle=4; |
Vigilance88 | 35:7d9fca0b1545 | 768 | pc.printf("\r\n----------------\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 769 | pc.printf(" Extensor is next.\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 770 | pc.printf("----------------\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 771 | wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 772 | |
Vigilance88 | 35:7d9fca0b1545 | 773 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 774 | input=pc.getc(); |
Vigilance88 | 35:7d9fca0b1545 | 775 | pc.putc(input); |
Vigilance88 | 35:7d9fca0b1545 | 776 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 777 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 778 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 779 | start_sampling(); |
Vigilance88 | 35:7d9fca0b1545 | 780 | timer.attach(&emg_mvc,0.002); |
Vigilance88 | 35:7d9fca0b1545 | 781 | wait(5); |
Vigilance88 | 35:7d9fca0b1545 | 782 | timer.detach(); |
Vigilance88 | 35:7d9fca0b1545 | 783 | pc.printf("\r\n Extensor MVC = %f \r\n",extensMVC); |
Vigilance88 | 25:49ccdc98639a | 784 | |
Vigilance88 | 35:7d9fca0b1545 | 785 | pc.printf("Calibrate_emg() exited \r\n"); |
Vigilance88 | 35:7d9fca0b1545 | 786 | pc.printf("Measured time: %f seconds \r\n",calibrate_time); |
Vigilance88 | 35:7d9fca0b1545 | 787 | calibrate_time=0; |
Vigilance88 | 26:fe3a5469dd6b | 788 | //Stop sampling, detach ticker |
Vigilance88 | 25:49ccdc98639a | 789 | stop_sampling(); |
Vigilance88 | 24:56db31267f10 | 790 | |
Vigilance88 | 18:44905b008f44 | 791 | } |
Vigilance88 | 18:44905b008f44 | 792 | |
Vigilance88 | 18:44905b008f44 | 793 | |
Vigilance88 | 18:44905b008f44 | 794 | //Input error and Kp, Kd, Ki, output control signal |
Vigilance88 | 20:0ede3818e08e | 795 | double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev) |
vsluiter | 2:e314bb3b2d99 | 796 | { |
Vigilance88 | 20:0ede3818e08e | 797 | // Derivative |
Vigilance88 | 24:56db31267f10 | 798 | double e_der = (error-e_prev)/ CONTROL_RATE; |
Vigilance88 | 21:d6a46315d5f5 | 799 | e_der = derfilter.step(e_der); |
Vigilance88 | 21:d6a46315d5f5 | 800 | e_prev = error; |
Vigilance88 | 20:0ede3818e08e | 801 | // Integral |
Vigilance88 | 24:56db31267f10 | 802 | e_int = e_int + CONTROL_RATE * error; |
Vigilance88 | 20:0ede3818e08e | 803 | // PID |
Vigilance88 | 21:d6a46315d5f5 | 804 | return kp*error + ki*e_int + kd * e_der; |
Vigilance88 | 20:0ede3818e08e | 805 | |
Vigilance88 | 18:44905b008f44 | 806 | } |
Vigilance88 | 18:44905b008f44 | 807 | |
Vigilance88 | 20:0ede3818e08e | 808 | //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 | 809 | void control() |
Vigilance88 | 39:e77f844d10d9 | 810 | { |
Vigilance88 | 39:e77f844d10d9 | 811 | if(emg_control=true){ |
Vigilance88 | 39:e77f844d10d9 | 812 | //TODO some idle time with static reference before EMG kicks in |
Vigilance88 | 39:e77f844d10d9 | 813 | //emg_control_time += CONTROL_RATE; |
Vigilance88 | 39:e77f844d10d9 | 814 | // if emg_control_time < 5 seconds, reference is x=0; y=0; |
Vigilance88 | 41:55face19e06b | 815 | |
Vigilance88 | 30:a9fdd3202ca2 | 816 | //normalize emg to value between 0-1 |
Vigilance88 | 38:c8ac615d0c8f | 817 | biceps = (biceps_power - bicepsmin) / (bicepsMVC - bicepsmin); |
Vigilance88 | 38:c8ac615d0c8f | 818 | triceps = (triceps_power - tricepsmin) / (tricepsMVC - tricepsmin); |
Vigilance88 | 38:c8ac615d0c8f | 819 | flexor = (flexor_power - flexormin) / (flexorMVC - flexormin); |
Vigilance88 | 38:c8ac615d0c8f | 820 | extens = (extens_power - extensmin) / (extensMVC - extensmin); |
Vigilance88 | 39:e77f844d10d9 | 821 | //make sure values stay between 0-1 over time |
Vigilance88 | 39:e77f844d10d9 | 822 | keep_in_range(&biceps,0,1); |
Vigilance88 | 39:e77f844d10d9 | 823 | keep_in_range(&triceps,0,1); |
Vigilance88 | 39:e77f844d10d9 | 824 | keep_in_range(&flexor,0,1); |
Vigilance88 | 39:e77f844d10d9 | 825 | keep_in_range(&extens,0,1); |
Vigilance88 | 39:e77f844d10d9 | 826 | |
Vigilance88 | 38:c8ac615d0c8f | 827 | |
Vigilance88 | 38:c8ac615d0c8f | 828 | scope.set(2,biceps); |
Vigilance88 | 38:c8ac615d0c8f | 829 | scope.set(3,triceps); |
Vigilance88 | 38:c8ac615d0c8f | 830 | scope.send(); |
Vigilance88 | 38:c8ac615d0c8f | 831 | |
Vigilance88 | 30:a9fdd3202ca2 | 832 | |
Vigilance88 | 40:d62f96ed44c0 | 833 | //threshold detection! buffer or two thresholds? |
Vigilance88 | 39:e77f844d10d9 | 834 | //TODO |
Vigilance88 | 32:76c4d7bb2022 | 835 | |
Vigilance88 | 39:e77f844d10d9 | 836 | //analyze emg (= velocity) |
Vigilance88 | 39:e77f844d10d9 | 837 | if (biceps>triceps && biceps > 0.2){ |
Vigilance88 | 30:a9fdd3202ca2 | 838 | xdir = 0; |
Vigilance88 | 39:e77f844d10d9 | 839 | xpower = biceps;} |
Vigilance88 | 39:e77f844d10d9 | 840 | else if (triceps>biceps && triceps>0.2){ |
Vigilance88 | 30:a9fdd3202ca2 | 841 | xdir = 1; |
Vigilance88 | 39:e77f844d10d9 | 842 | xpower = triceps;} |
Vigilance88 | 30:a9fdd3202ca2 | 843 | else |
Vigilance88 | 30:a9fdd3202ca2 | 844 | xpower=0; |
Vigilance88 | 30:a9fdd3202ca2 | 845 | |
Vigilance88 | 39:e77f844d10d9 | 846 | if (flexor>extens && flexor > 0.2){ |
Vigilance88 | 30:a9fdd3202ca2 | 847 | ydir = 0; |
Vigilance88 | 30:a9fdd3202ca2 | 848 | ypower = flexor; |
Vigilance88 | 30:a9fdd3202ca2 | 849 | } |
Vigilance88 | 39:e77f844d10d9 | 850 | else if (extens>flexor && extens > 0.2){ |
Vigilance88 | 30:a9fdd3202ca2 | 851 | ydir = 1; |
Vigilance88 | 39:e77f844d10d9 | 852 | ypower = extens; |
Vigilance88 | 30:a9fdd3202ca2 | 853 | } |
Vigilance88 | 30:a9fdd3202ca2 | 854 | else |
Vigilance88 | 30:a9fdd3202ca2 | 855 | ypower = 0; |
Vigilance88 | 30:a9fdd3202ca2 | 856 | |
Vigilance88 | 38:c8ac615d0c8f | 857 | //power: the longer a signal is active, the further the reference goes. So integrate to determine reference position |
Vigilance88 | 39:e77f844d10d9 | 858 | dx = xpower * CONTROL_RATE * 0.1; //factor to slow or speed up |
Vigilance88 | 39:e77f844d10d9 | 859 | dy = ypower * CONTROL_RATE * 0.1; |
Vigilance88 | 18:44905b008f44 | 860 | |
Vigilance88 | 30:a9fdd3202ca2 | 861 | //But: direction! Sum dx and dy but make sure xdir and ydir are considered. |
Vigilance88 | 30:a9fdd3202ca2 | 862 | if (xdir>0) |
Vigilance88 | 30:a9fdd3202ca2 | 863 | x += dx; |
Vigilance88 | 30:a9fdd3202ca2 | 864 | else |
Vigilance88 | 30:a9fdd3202ca2 | 865 | x += -dx; |
Vigilance88 | 30:a9fdd3202ca2 | 866 | |
Vigilance88 | 30:a9fdd3202ca2 | 867 | if (ydir>0) |
Vigilance88 | 30:a9fdd3202ca2 | 868 | y += dy; |
Vigilance88 | 30:a9fdd3202ca2 | 869 | else |
Vigilance88 | 30:a9fdd3202ca2 | 870 | y += -dy; |
Vigilance88 | 30:a9fdd3202ca2 | 871 | |
Vigilance88 | 39:e77f844d10d9 | 872 | //now we have x and y -> reference position. |
Vigilance88 | 39:e77f844d10d9 | 873 | }//end emg_control if |
Vigilance88 | 30:a9fdd3202ca2 | 874 | |
Vigilance88 | 27:d1814e271a95 | 875 | //Current position - Encoder counts -> current angle -> Forward Kinematics |
Vigilance88 | 27:d1814e271a95 | 876 | rpc=(2*PI)/ENCODER1_CPR; //radians per count (resolution) - 2pi divided by 4200 |
Vigilance88 | 27:d1814e271a95 | 877 | theta1 = Encoder1.getPulses() * rpc; //multiply resolution with number of counts |
Vigilance88 | 27:d1814e271a95 | 878 | theta2 = Encoder2.getPulses() * rpc; |
Vigilance88 | 27:d1814e271a95 | 879 | current_x = l1 * cos(theta1) + l2 * cos(theta1 + theta2); |
Vigilance88 | 27:d1814e271a95 | 880 | current_y = l1 * sin(theta1) + l2 * sin(theta1 + theta2); |
Vigilance88 | 27:d1814e271a95 | 881 | |
Vigilance88 | 27:d1814e271a95 | 882 | |
Vigilance88 | 18:44905b008f44 | 883 | //calculate error (refpos-currentpos) currentpos = forward kinematics |
Vigilance88 | 27:d1814e271a95 | 884 | x_error = x - current_x; |
Vigilance88 | 27:d1814e271a95 | 885 | y_error = y - current_y; |
Vigilance88 | 27:d1814e271a95 | 886 | |
Vigilance88 | 27:d1814e271a95 | 887 | |
Vigilance88 | 38:c8ac615d0c8f | 888 | if (control_method==1){ |
Vigilance88 | 27:d1814e271a95 | 889 | //inverse kinematics (refpos to refangle) |
Vigilance88 | 18:44905b008f44 | 890 | |
Vigilance88 | 27:d1814e271a95 | 891 | costheta2 = (pow(x,2) + pow(y,2) - pow(l1,2) - pow(l2,2)) / (2*l1*l2) ; |
Vigilance88 | 30:a9fdd3202ca2 | 892 | sintheta2 = sqrt( abs( 1 - pow(costheta2,2) ) ); |
Vigilance88 | 27:d1814e271a95 | 893 | |
Vigilance88 | 27:d1814e271a95 | 894 | |
Vigilance88 | 27:d1814e271a95 | 895 | dtheta2 = atan2(sintheta2,costheta2); |
Vigilance88 | 27:d1814e271a95 | 896 | |
Vigilance88 | 32:76c4d7bb2022 | 897 | double k1 = l1 + l2*costheta2; |
Vigilance88 | 32:76c4d7bb2022 | 898 | double k2 = l2*sintheta2; |
Vigilance88 | 32:76c4d7bb2022 | 899 | |
Vigilance88 | 32:76c4d7bb2022 | 900 | dtheta1 = atan2(y, x) - atan2(k2, k1); |
Vigilance88 | 32:76c4d7bb2022 | 901 | |
Vigilance88 | 32:76c4d7bb2022 | 902 | /* alternative: |
Vigilance88 | 27:d1814e271a95 | 903 | costheta1 = ( x * (l1 + l2 * costheta2) + y * l2 * sintheta2 ) / ( pow(x,2) + pow(y,2) ); |
Vigilance88 | 30:a9fdd3202ca2 | 904 | sintheta1 = sqrt( abs( 1 - pow(costheta1,2) ) ); |
Vigilance88 | 27:d1814e271a95 | 905 | |
Vigilance88 | 27:d1814e271a95 | 906 | dtheta1 = atan2(sintheta1,costheta1); |
Vigilance88 | 32:76c4d7bb2022 | 907 | */ |
Vigilance88 | 27:d1814e271a95 | 908 | |
Vigilance88 | 27:d1814e271a95 | 909 | //Angle error |
Vigilance88 | 27:d1814e271a95 | 910 | m1_error = dtheta1-theta1; |
Vigilance88 | 27:d1814e271a95 | 911 | m2_error = dtheta2-theta2; |
Vigilance88 | 39:e77f844d10d9 | 912 | }// end control method 1 |
Vigilance88 | 27:d1814e271a95 | 913 | |
Vigilance88 | 38:c8ac615d0c8f | 914 | if(control_method==2){ |
Vigilance88 | 37:4d7b7ced20ef | 915 | //inverse kinematics (error in position to error in angles) |
Vigilance88 | 37:4d7b7ced20ef | 916 | 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 | 917 | 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 | 918 | 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 | 919 | 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 | 920 | |
Vigilance88 | 37:4d7b7ced20ef | 921 | q1_error = dls1 * x_error + dls2 * y_error; |
Vigilance88 | 37:4d7b7ced20ef | 922 | q2_error = dls3 * x_error + dls4 * y_error; |
Vigilance88 | 37:4d7b7ced20ef | 923 | |
Vigilance88 | 37:4d7b7ced20ef | 924 | //Angle error |
Vigilance88 | 37:4d7b7ced20ef | 925 | m1_error = q1_error; |
Vigilance88 | 37:4d7b7ced20ef | 926 | m2_error = q2_error; |
Vigilance88 | 39:e77f844d10d9 | 927 | }//end control method 2 |
Vigilance88 | 39:e77f844d10d9 | 928 | |
Vigilance88 | 41:55face19e06b | 929 | /* |
Vigilance88 | 39:e77f844d10d9 | 930 | //Set limits to the error! |
Vigilance88 | 41:55face19e06b | 931 | motor1: lower limit 40 degrees, upper limit 135 |
Vigilance88 | 41:55face19e06b | 932 | motor2: lower 43 degrees, upper limit 138 degrees. */ |
Vigilance88 | 41:55face19e06b | 933 | |
Vigilance88 | 41:55face19e06b | 934 | //lower limits: Negative error not allowed to go further. |
Vigilance88 | 41:55face19e06b | 935 | if (theta1 < theta1_lower){ |
Vigilance88 | 41:55face19e06b | 936 | if (m1_error > 0) |
Vigilance88 | 41:55face19e06b | 937 | m1_error = m1_error; |
Vigilance88 | 39:e77f844d10d9 | 938 | else |
Vigilance88 | 41:55face19e06b | 939 | m1_error = 0; } |
Vigilance88 | 41:55face19e06b | 940 | if (theta2 < theta2_lower){ |
Vigilance88 | 41:55face19e06b | 941 | if (m2_error > 0) |
Vigilance88 | 41:55face19e06b | 942 | m2_error = m2_error; |
Vigilance88 | 41:55face19e06b | 943 | else |
Vigilance88 | 41:55face19e06b | 944 | m2_error = 0; |
Vigilance88 | 41:55face19e06b | 945 | } |
Vigilance88 | 39:e77f844d10d9 | 946 | //upper limit: Positive error not allowed to go further |
Vigilance88 | 41:55face19e06b | 947 | if (theta1 > theta1_upper){ |
Vigilance88 | 41:55face19e06b | 948 | if (m1_error < 0 ) |
Vigilance88 | 41:55face19e06b | 949 | m1_error = m1_error; |
Vigilance88 | 39:e77f844d10d9 | 950 | else |
Vigilance88 | 41:55face19e06b | 951 | m1_error = 0; |
Vigilance88 | 41:55face19e06b | 952 | } |
Vigilance88 | 41:55face19e06b | 953 | if (theta2 > theta2_upper){ |
Vigilance88 | 41:55face19e06b | 954 | if (m2_error < 0 ) |
Vigilance88 | 41:55face19e06b | 955 | m2_error = m2_error; |
Vigilance88 | 41:55face19e06b | 956 | else |
Vigilance88 | 41:55face19e06b | 957 | m2_error = 0; |
Vigilance88 | 41:55face19e06b | 958 | } |
Vigilance88 | 39:e77f844d10d9 | 959 | |
Vigilance88 | 18:44905b008f44 | 960 | //PID controller |
Vigilance88 | 24:56db31267f10 | 961 | |
Vigilance88 | 24:56db31267f10 | 962 | u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1 |
Vigilance88 | 24:56db31267f10 | 963 | u2=pid(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2 |
Vigilance88 | 21:d6a46315d5f5 | 964 | |
Vigilance88 | 27:d1814e271a95 | 965 | keep_in_range(&u1,-0.6,0.6); //keep u between -1 and 1, sign = direction, PWM = 0-1 |
Vigilance88 | 27:d1814e271a95 | 966 | keep_in_range(&u2,-0.6,0.6); |
Vigilance88 | 21:d6a46315d5f5 | 967 | |
Vigilance88 | 21:d6a46315d5f5 | 968 | //send PWM and DIR to motor 1 |
Vigilance88 | 21:d6a46315d5f5 | 969 | dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below. |
Vigilance88 | 21:d6a46315d5f5 | 970 | pwm_motor1.write(abs(u1)); |
Vigilance88 | 21:d6a46315d5f5 | 971 | |
Vigilance88 | 21:d6a46315d5f5 | 972 | //send PWM and DIR to motor 2 |
Vigilance88 | 27:d1814e271a95 | 973 | dir_motor2 = u2>0 ? 0 : 1; //conditional statement, same as if else below |
Vigilance88 | 25:49ccdc98639a | 974 | pwm_motor2.write(abs(u2)); |
Vigilance88 | 21:d6a46315d5f5 | 975 | |
Vigilance88 | 21:d6a46315d5f5 | 976 | /*if(u1 > 0) |
Vigilance88 | 21:d6a46315d5f5 | 977 | { |
Vigilance88 | 21:d6a46315d5f5 | 978 | dir_motor1 = 0; |
Vigilance88 | 21:d6a46315d5f5 | 979 | else{ |
Vigilance88 | 21:d6a46315d5f5 | 980 | dir_motor1 = 1; |
Vigilance88 | 21:d6a46315d5f5 | 981 | } |
Vigilance88 | 21:d6a46315d5f5 | 982 | } |
Vigilance88 | 21:d6a46315d5f5 | 983 | pwm_motor1.write(abs(u1)); |
Vigilance88 | 21:d6a46315d5f5 | 984 | |
Vigilance88 | 21:d6a46315d5f5 | 985 | |
Vigilance88 | 21:d6a46315d5f5 | 986 | if(u2 > 0) |
Vigilance88 | 21:d6a46315d5f5 | 987 | { |
Vigilance88 | 21:d6a46315d5f5 | 988 | dir_motor1 = 1; |
Vigilance88 | 21:d6a46315d5f5 | 989 | else{ |
Vigilance88 | 21:d6a46315d5f5 | 990 | dir_motor1 = 0; |
Vigilance88 | 21:d6a46315d5f5 | 991 | } |
Vigilance88 | 21:d6a46315d5f5 | 992 | } |
Vigilance88 | 21:d6a46315d5f5 | 993 | pwm_motor1.write(abs(u2));*/ |
Vigilance88 | 21:d6a46315d5f5 | 994 | |
Vigilance88 | 18:44905b008f44 | 995 | } |
Vigilance88 | 18:44905b008f44 | 996 | |
Vigilance88 | 38:c8ac615d0c8f | 997 | |
Vigilance88 | 32:76c4d7bb2022 | 998 | |
Vigilance88 | 26:fe3a5469dd6b | 999 | void mainMenu() |
Vigilance88 | 26:fe3a5469dd6b | 1000 | { |
Vigilance88 | 38:c8ac615d0c8f | 1001 | //Title Box |
Vigilance88 | 26:fe3a5469dd6b | 1002 | pc.putc(201); |
Vigilance88 | 26:fe3a5469dd6b | 1003 | for(int j=0;j<33;j++){ |
Vigilance88 | 26:fe3a5469dd6b | 1004 | pc.putc(205); |
Vigilance88 | 26:fe3a5469dd6b | 1005 | } |
Vigilance88 | 26:fe3a5469dd6b | 1006 | pc.putc(187); |
Vigilance88 | 26:fe3a5469dd6b | 1007 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1008 | pc.putc(186); pc.printf(" Main Menu "); pc.putc(186); |
Vigilance88 | 26:fe3a5469dd6b | 1009 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 1010 | pc.putc(200); |
Vigilance88 | 26:fe3a5469dd6b | 1011 | for(int k=0;k<33;k++){ |
Vigilance88 | 26:fe3a5469dd6b | 1012 | pc.putc(205); |
Vigilance88 | 26:fe3a5469dd6b | 1013 | } |
Vigilance88 | 26:fe3a5469dd6b | 1014 | pc.putc(188); |
Vigilance88 | 26:fe3a5469dd6b | 1015 | |
Vigilance88 | 26:fe3a5469dd6b | 1016 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 1017 | //endbox |
Vigilance88 | 28:743485bb51e4 | 1018 | wait(1); |
Vigilance88 | 28:743485bb51e4 | 1019 | pc.printf("[C]alibration\r\n"); wait(0.2); |
Vigilance88 | 40:d62f96ed44c0 | 1020 | pc.printf("[T]RIG Control with WASD\r\n"); wait(0.2); |
Vigilance88 | 40:d62f96ed44c0 | 1021 | pc.printf("[D]LS Control with WASD\r\n"); wait(0.2); |
Vigilance88 | 40:d62f96ed44c0 | 1022 | pc.printf("[E]MG Control - DLS \r\n"); wait(0.2); |
Vigilance88 | 28:743485bb51e4 | 1023 | pc.printf("[Q]uit Robot Program\r\n"); wait(0.2); |
Vigilance88 | 28:743485bb51e4 | 1024 | pc.printf("[R]ed LED\r\n"); wait(0.2); |
Vigilance88 | 28:743485bb51e4 | 1025 | pc.printf("[G]reen LED\r\n"); wait(0.2); |
Vigilance88 | 28:743485bb51e4 | 1026 | pc.printf("[B]lue LED\r\n"); wait(0.2); |
Vigilance88 | 28:743485bb51e4 | 1027 | pc.printf("Please make a choice => \r\n"); |
Vigilance88 | 26:fe3a5469dd6b | 1028 | } |
Vigilance88 | 24:56db31267f10 | 1029 | |
Vigilance88 | 24:56db31267f10 | 1030 | //Start sampling |
Vigilance88 | 24:56db31267f10 | 1031 | void start_sampling(void) |
Vigilance88 | 24:56db31267f10 | 1032 | { |
Vigilance88 | 24:56db31267f10 | 1033 | sample_timer.attach(&sample_filter,SAMPLE_RATE); //500 Hz EMG |
Vigilance88 | 26:fe3a5469dd6b | 1034 | |
Vigilance88 | 26:fe3a5469dd6b | 1035 | //Debug LED will be green when sampling is active |
Vigilance88 | 26:fe3a5469dd6b | 1036 | green=0; |
Vigilance88 | 25:49ccdc98639a | 1037 | pc.printf("||- started sampling -|| \r\n"); |
Vigilance88 | 24:56db31267f10 | 1038 | } |
Vigilance88 | 24:56db31267f10 | 1039 | |
Vigilance88 | 24:56db31267f10 | 1040 | //stop sampling |
Vigilance88 | 24:56db31267f10 | 1041 | void stop_sampling(void) |
Vigilance88 | 24:56db31267f10 | 1042 | { |
Vigilance88 | 24:56db31267f10 | 1043 | sample_timer.detach(); |
Vigilance88 | 26:fe3a5469dd6b | 1044 | |
Vigilance88 | 26:fe3a5469dd6b | 1045 | //Debug LED will be turned off when sampling stops |
Vigilance88 | 26:fe3a5469dd6b | 1046 | green=1; |
Vigilance88 | 25:49ccdc98639a | 1047 | pc.printf("||- stopped sampling -|| \r\n"); |
Vigilance88 | 24:56db31267f10 | 1048 | } |
Vigilance88 | 24:56db31267f10 | 1049 | |
Vigilance88 | 18:44905b008f44 | 1050 | //Start control |
Vigilance88 | 18:44905b008f44 | 1051 | void start_control(void) |
Vigilance88 | 18:44905b008f44 | 1052 | { |
Vigilance88 | 35:7d9fca0b1545 | 1053 | control_timer.attach(&control,CONTROL_RATE); //100 Hz control |
Vigilance88 | 35:7d9fca0b1545 | 1054 | |
Vigilance88 | 35:7d9fca0b1545 | 1055 | //Debug LED will be blue when control is on. If sampling and control are on -> blue + green = cyan. |
Vigilance88 | 35:7d9fca0b1545 | 1056 | blue=0; |
Vigilance88 | 35:7d9fca0b1545 | 1057 | pc.printf("||- started control -|| \r\n"); |
Vigilance88 | 35:7d9fca0b1545 | 1058 | } |
Vigilance88 | 35:7d9fca0b1545 | 1059 | |
Vigilance88 | 18:44905b008f44 | 1060 | //stop control |
Vigilance88 | 18:44905b008f44 | 1061 | void stop_control(void) |
Vigilance88 | 18:44905b008f44 | 1062 | { |
Vigilance88 | 18:44905b008f44 | 1063 | control_timer.detach(); |
Vigilance88 | 26:fe3a5469dd6b | 1064 | |
Vigilance88 | 26:fe3a5469dd6b | 1065 | //Debug LED will be off when control is off |
Vigilance88 | 26:fe3a5469dd6b | 1066 | blue=1; |
Vigilance88 | 26:fe3a5469dd6b | 1067 | pc.printf("||- stopped control -|| \r\n"); |
vsluiter | 2:e314bb3b2d99 | 1068 | } |
vsluiter | 0:32bb76391d89 | 1069 | |
Vigilance88 | 21:d6a46315d5f5 | 1070 | |
Vigilance88 | 26:fe3a5469dd6b | 1071 | //Clears the putty (or other terminal) window |
Vigilance88 | 26:fe3a5469dd6b | 1072 | void clearTerminal() |
Vigilance88 | 26:fe3a5469dd6b | 1073 | { |
Vigilance88 | 26:fe3a5469dd6b | 1074 | pc.putc(27); |
Vigilance88 | 26:fe3a5469dd6b | 1075 | pc.printf("[2J"); // clear screen |
Vigilance88 | 26:fe3a5469dd6b | 1076 | pc.putc(27); // ESC |
Vigilance88 | 26:fe3a5469dd6b | 1077 | pc.printf("[H"); // cursor to home |
Vigilance88 | 26:fe3a5469dd6b | 1078 | } |
Vigilance88 | 21:d6a46315d5f5 | 1079 | |
Vigilance88 | 30:a9fdd3202ca2 | 1080 | |
Vigilance88 | 30:a9fdd3202ca2 | 1081 | void controlMenu() |
Vigilance88 | 30:a9fdd3202ca2 | 1082 | { |
Vigilance88 | 30:a9fdd3202ca2 | 1083 | //Title Box |
Vigilance88 | 30:a9fdd3202ca2 | 1084 | pc.putc(201); |
Vigilance88 | 30:a9fdd3202ca2 | 1085 | for(int j=0;j<33;j++){ |
Vigilance88 | 30:a9fdd3202ca2 | 1086 | pc.putc(205); |
Vigilance88 | 30:a9fdd3202ca2 | 1087 | } |
Vigilance88 | 30:a9fdd3202ca2 | 1088 | pc.putc(187); |
Vigilance88 | 30:a9fdd3202ca2 | 1089 | pc.printf("\n\r"); |
Vigilance88 | 30:a9fdd3202ca2 | 1090 | pc.putc(186); pc.printf(" Control Menu "); pc.putc(186); |
Vigilance88 | 30:a9fdd3202ca2 | 1091 | pc.printf("\n\r"); |
Vigilance88 | 30:a9fdd3202ca2 | 1092 | pc.putc(200); |
Vigilance88 | 30:a9fdd3202ca2 | 1093 | for(int k=0;k<33;k++){ |
Vigilance88 | 30:a9fdd3202ca2 | 1094 | pc.putc(205); |
Vigilance88 | 30:a9fdd3202ca2 | 1095 | } |
Vigilance88 | 30:a9fdd3202ca2 | 1096 | pc.putc(188); |
Vigilance88 | 30:a9fdd3202ca2 | 1097 | |
Vigilance88 | 30:a9fdd3202ca2 | 1098 | pc.printf("\n\r"); |
Vigilance88 | 30:a9fdd3202ca2 | 1099 | //endbox |
Vigilance88 | 38:c8ac615d0c8f | 1100 | pc.printf("A) Move Arm Left\r\n"); |
Vigilance88 | 38:c8ac615d0c8f | 1101 | pc.printf("D) Move Arm Right\r\n"); |
Vigilance88 | 38:c8ac615d0c8f | 1102 | pc.printf("W) Move Arm Up\r\n"); |
Vigilance88 | 38:c8ac615d0c8f | 1103 | pc.printf("S) Move Arm Down\r\n"); |
Vigilance88 | 30:a9fdd3202ca2 | 1104 | pc.printf("q) Exit \r\n"); |
Vigilance88 | 30:a9fdd3202ca2 | 1105 | pc.printf("Please make a choice => \r\n"); |
Vigilance88 | 30:a9fdd3202ca2 | 1106 | } |
Vigilance88 | 30:a9fdd3202ca2 | 1107 | |
Vigilance88 | 28:743485bb51e4 | 1108 | void caliMenu(){ |
Vigilance88 | 28:743485bb51e4 | 1109 | |
Vigilance88 | 28:743485bb51e4 | 1110 | //Title Box |
Vigilance88 | 28:743485bb51e4 | 1111 | pc.putc(201); |
Vigilance88 | 28:743485bb51e4 | 1112 | for(int j=0;j<33;j++){ |
Vigilance88 | 28:743485bb51e4 | 1113 | pc.putc(205); |
Vigilance88 | 28:743485bb51e4 | 1114 | } |
Vigilance88 | 28:743485bb51e4 | 1115 | pc.putc(187); |
Vigilance88 | 28:743485bb51e4 | 1116 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1117 | pc.putc(186); pc.printf(" Calibration Menu "); pc.putc(186); |
Vigilance88 | 28:743485bb51e4 | 1118 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1119 | pc.putc(200); |
Vigilance88 | 28:743485bb51e4 | 1120 | for(int k=0;k<33;k++){ |
Vigilance88 | 28:743485bb51e4 | 1121 | pc.putc(205); |
Vigilance88 | 28:743485bb51e4 | 1122 | } |
Vigilance88 | 28:743485bb51e4 | 1123 | pc.putc(188); |
Vigilance88 | 28:743485bb51e4 | 1124 | |
Vigilance88 | 28:743485bb51e4 | 1125 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1126 | //endbox |
Vigilance88 | 28:743485bb51e4 | 1127 | |
Vigilance88 | 28:743485bb51e4 | 1128 | pc.printf("[A]rm Calibration\r\n"); |
Vigilance88 | 28:743485bb51e4 | 1129 | pc.printf("[E]MG Calibration\r\n"); |
Vigilance88 | 28:743485bb51e4 | 1130 | pc.printf("[B]ack to main menu\r\n"); |
Vigilance88 | 28:743485bb51e4 | 1131 | pc.printf("Please make a choice => \r\n"); |
Vigilance88 | 28:743485bb51e4 | 1132 | |
Vigilance88 | 28:743485bb51e4 | 1133 | } |
Vigilance88 | 28:743485bb51e4 | 1134 | |
Vigilance88 | 28:743485bb51e4 | 1135 | void titleBox(){ |
Vigilance88 | 28:743485bb51e4 | 1136 | |
Vigilance88 | 28:743485bb51e4 | 1137 | //Title Box |
Vigilance88 | 28:743485bb51e4 | 1138 | pc.putc(201); |
Vigilance88 | 28:743485bb51e4 | 1139 | for(int j=0;j<33;j++){ |
Vigilance88 | 28:743485bb51e4 | 1140 | pc.putc(205); |
Vigilance88 | 28:743485bb51e4 | 1141 | } |
Vigilance88 | 28:743485bb51e4 | 1142 | pc.putc(187); |
Vigilance88 | 28:743485bb51e4 | 1143 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1144 | pc.putc(186); pc.printf(" BioRobotics M9 - Group 14 "); pc.putc(186); |
Vigilance88 | 28:743485bb51e4 | 1145 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1146 | pc.putc(186); pc.printf(" Robot powered ON "); pc.putc(186); |
Vigilance88 | 28:743485bb51e4 | 1147 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1148 | pc.putc(200); |
Vigilance88 | 28:743485bb51e4 | 1149 | for(int k=0;k<33;k++){ |
Vigilance88 | 28:743485bb51e4 | 1150 | pc.putc(205); |
Vigilance88 | 28:743485bb51e4 | 1151 | } |
Vigilance88 | 28:743485bb51e4 | 1152 | pc.putc(188); |
Vigilance88 | 28:743485bb51e4 | 1153 | |
Vigilance88 | 28:743485bb51e4 | 1154 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1155 | //endbox |
Vigilance88 | 28:743485bb51e4 | 1156 | } |
Vigilance88 | 28:743485bb51e4 | 1157 | |
Vigilance88 | 28:743485bb51e4 | 1158 | void emgInstructions(){ |
Vigilance88 | 36:4d4fc200171b | 1159 | pc.printf("\r\nPrepare the skin before applying electrodes: \n\r"); |
Vigilance88 | 28:743485bb51e4 | 1160 | pc.printf("-> Shave electrode locations if needed and clean with alcohol \n\r"); wait(1); |
Vigilance88 | 38:c8ac615d0c8f | 1161 | pc.printf("\r\n Check whether EMG signal looks normal. \n\r "); wait(1); |
Vigilance88 | 38:c8ac615d0c8f | 1162 | pc.printf("\r\n To calibrate the EMG signals we will measure: \n\r "); |
Vigilance88 | 38:c8ac615d0c8f | 1163 | pc.printf("- Minimum amplitude, while relaxing all muscles. \n\r "); |
Vigilance88 | 38:c8ac615d0c8f | 1164 | pc.printf("- Maximum Voluntary Contraction of each muscle. \n\r"); wait(2); |
Vigilance88 | 38:c8ac615d0c8f | 1165 | 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 | 1166 | pc.printf("The measurements will begin once you confirm you're ready [Hit any key] \n\r \n\r"); wait(1); |
Vigilance88 | 28:743485bb51e4 | 1167 | } |
Vigilance88 | 28:743485bb51e4 | 1168 | |
Vigilance88 | 21:d6a46315d5f5 | 1169 | //keeps input limited between min max |
Vigilance88 | 24:56db31267f10 | 1170 | void keep_in_range(double * in, double min, double max) |
Vigilance88 | 18:44905b008f44 | 1171 | { |
Vigilance88 | 18:44905b008f44 | 1172 | *in > min ? *in < max? : *in = max: *in = min; |
vsluiter | 0:32bb76391d89 | 1173 | } |