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@31:7b8b8459bddc, 2015-10-21 (annotated)

Committer:
Vigilance88
Date:
Wed Oct 21 10:41:59 2015 +0000
Revision:
31:7b8b8459bddc
Parent:
30:a9fdd3202ca2
Child:
32:76c4d7bb2022
minor comment changes

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 25:49ccdc98639a 26 //Debug legs
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 26:fe3a5469dd6b 86 //EMG variables: raw EMG - filtered EMG - maximum voluntary contraction
Vigilance88 24:56db31267f10 87 double emg_biceps; double biceps_power; double bicepsMVC = 0;
Vigilance88 24:56db31267f10 88 double emg_triceps; double triceps_power; double tricepsMVC = 0;
Vigilance88 24:56db31267f10 89 double emg_flexor; double flexor_power; double flexorMVC = 0;
Vigilance88 24:56db31267f10 90 double emg_extens; double extens_power; double extensMVC = 0;
Vigilance88 24:56db31267f10 91
Vigilance88 26:fe3a5469dd6b 92 int muscle; //Muscle selector for MVC measurement
Vigilance88 26:fe3a5469dd6b 93 double calibrate_time; //Elapsed time for each MVC measurement
Vigilance88 25:49ccdc98639a 94
Vigilance88 24:56db31267f10 95 //PID variables
Vigilance88 24:56db31267f10 96 double u1; double u2; //Output of PID controller (PWM value for motor 1 and 2)
Vigilance88 24:56db31267f10 97 double m1_error=0; double m1_e_int=0; double m1_e_prev=0; //Error, integrated error, previous error
Vigilance88 29:948b0b14f6be 98 const double m1_kp=0.001; const double m1_ki=0.0125; const double m1_kd=0.1; //Proportional, integral and derivative gains.
Vigilance88 24:56db31267f10 99
Vigilance88 26:fe3a5469dd6b 100 double m2_error=0; double m2_e_int=0; double m2_e_prev=0; //Error, integrated error, previous error
Vigilance88 29:948b0b14f6be 101 const double m2_kp=0.001; const double m2_ki=0.0125; const double m2_kd=0.1; //Proportional, integral and derivative gains.
Vigilance88 24:56db31267f10 102
Vigilance88 24:56db31267f10 103 //highpass filter 20 Hz
Vigilance88 24:56db31267f10 104 const double high_b0 = 0.956543225556877;
Vigilance88 24:56db31267f10 105 const double high_b1 = -1.91308645113754;
Vigilance88 24:56db31267f10 106 const double high_b2 = 0.956543225556877;
Vigilance88 24:56db31267f10 107 const double high_a1 = -1.91197067426073;
Vigilance88 24:56db31267f10 108 const double high_a2 = 0.9149758348014341;
Vigilance88 24:56db31267f10 109
Vigilance88 24:56db31267f10 110 //notchfilter 50Hz
Vigilance88 24:56db31267f10 111 /* ** Primary Filter (H1)**
Vigilance88 24:56db31267f10 112 Filter Arithmetic = Floating Point (Double Precision)
Vigilance88 24:56db31267f10 113 Architecture = IIR
Vigilance88 24:56db31267f10 114 Response = Bandstop
Vigilance88 24:56db31267f10 115 Method = Butterworth
Vigilance88 24:56db31267f10 116 Biquad = Yes
Vigilance88 24:56db31267f10 117 Stable = Yes
Vigilance88 24:56db31267f10 118 Sampling Frequency = 500Hz
Vigilance88 24:56db31267f10 119 Filter Order = 2
Vigilance88 24:56db31267f10 120
Vigilance88 24:56db31267f10 121 Band Frequencies (Hz) Att/Ripple (dB) Biquad #1 Biquad #2
Vigilance88 24:56db31267f10 122
Vigilance88 24:56db31267f10 123 1 0, 48 0.001 Gain = 1.000000 Gain = 0.973674
Vigilance88 24:56db31267f10 124 2 49, 51 -60.000 B = [ 1.00000000000, -1.61816176147, 1.00000000000] B = [ 1.00000000000, -1.61816176147, 1.00000000000]
Vigilance88 24:56db31267f10 125 3 52, 250 0.001 A = [ 1.00000000000, -1.58071559235, 0.97319685401] A = [ 1.00000000000, -1.61244708381, 0.97415116257]
Vigilance88 24:56db31267f10 126 */
Vigilance88 24:56db31267f10 127
Vigilance88 24:56db31267f10 128 //biquad 1
Vigilance88 24:56db31267f10 129 const double notch1gain = 1.000000;
Vigilance88 24:56db31267f10 130 const double notch1_b0 = 1;
Vigilance88 24:56db31267f10 131 const double notch1_b1 = -1.61816176147 * notch1gain;
Vigilance88 24:56db31267f10 132 const double notch1_b2 = 1.00000000000 * notch1gain;
Vigilance88 24:56db31267f10 133 const double notch1_a1 = -1.58071559235 * notch1gain;
Vigilance88 24:56db31267f10 134 const double notch1_a2 = 0.97319685401 * notch1gain;
Vigilance88 24:56db31267f10 135
Vigilance88 24:56db31267f10 136 //biquad 2
Vigilance88 24:56db31267f10 137 const double notch2gain = 0.973674;
Vigilance88 24:56db31267f10 138 const double notch2_b0 = 1 * notch2gain;
Vigilance88 24:56db31267f10 139 const double notch2_b1 = -1.61816176147 * notch2gain;
Vigilance88 24:56db31267f10 140 const double notch2_b2 = 1.00000000000 * notch2gain;
Vigilance88 24:56db31267f10 141 const double notch2_a1 = -1.61244708381 * notch2gain;
Vigilance88 24:56db31267f10 142 const double notch2_a2 = 0.97415116257 * notch2gain;
Vigilance88 24:56db31267f10 143
Vigilance88 26:fe3a5469dd6b 144 //lowpass filter 7 Hz - envelope
Vigilance88 24:56db31267f10 145 const double low_b0 = 0.000119046743110057;
Vigilance88 24:56db31267f10 146 const double low_b1 = 0.000238093486220118;
Vigilance88 24:56db31267f10 147 const double low_b2 = 0.000119046743110057;
Vigilance88 24:56db31267f10 148 const double low_a1 = -1.968902268531908;
Vigilance88 24:56db31267f10 149 const double low_a2 = 0.9693784555043481;
Vigilance88 21:d6a46315d5f5 150
Vigilance88 29:948b0b14f6be 151 //Forward and Inverse Kinematics
Vigilance88 28:743485bb51e4 152 const double l1 = 0.25; const double l2 = 0.25;
Vigilance88 28:743485bb51e4 153 double current_x; double current_y;
Vigilance88 28:743485bb51e4 154 double theta1; double theta2;
Vigilance88 28:743485bb51e4 155 double dtheta1; double dtheta2;
Vigilance88 28:743485bb51e4 156 double rpc;
Vigilance88 28:743485bb51e4 157 double x; double y;
Vigilance88 28:743485bb51e4 158 double x_error; double y_error;
Vigilance88 28:743485bb51e4 159 double costheta1; double sintheta1;
Vigilance88 28:743485bb51e4 160 double costheta2; double sintheta2;
Vigilance88 21:d6a46315d5f5 161
Vigilance88 21:d6a46315d5f5 162 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 163 ---- Filters ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 164 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 24:56db31267f10 165
Vigilance88 24:56db31267f10 166 //Using biquadFilter library
Vigilance88 24:56db31267f10 167 //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered.
Vigilance88 26:fe3a5469dd6b 168 //Biceps
Vigilance88 24:56db31267f10 169 biquadFilter highpass( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 24:56db31267f10 170 biquadFilter notch1( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 24:56db31267f10 171 biquadFilter notch2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 24:56db31267f10 172 biquadFilter lowpass( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 173
Vigilance88 26:fe3a5469dd6b 174 //Triceps
Vigilance88 25:49ccdc98639a 175 biquadFilter highpass2( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 176 biquadFilter notch1_2( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 177 biquadFilter notch2_2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 178 biquadFilter lowpass2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 179
Vigilance88 26:fe3a5469dd6b 180 //Flexor
Vigilance88 25:49ccdc98639a 181 biquadFilter highpass3( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 182 biquadFilter notch1_3( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 183 biquadFilter notch2_3( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 184 biquadFilter lowpass3( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 185
Vigilance88 26:fe3a5469dd6b 186 //Extensor
Vigilance88 25:49ccdc98639a 187 biquadFilter highpass4( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 188 biquadFilter notch1_4( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 189 biquadFilter notch2_4( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 190 biquadFilter lowpass4( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 191
Vigilance88 26:fe3a5469dd6b 192 //PID filter (lowpass ??? Hz)
Vigilance88 29:948b0b14f6be 193 biquadFilter derfilter( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // derivative filter
Vigilance88 24:56db31267f10 194
Vigilance88 24:56db31267f10 195 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 196 ---- DECLARE FUNCTION NAMES ------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 197 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 26:fe3a5469dd6b 198
Vigilance88 26:fe3a5469dd6b 199 void sample_filter(void); //Sampling and filtering
Vigilance88 26:fe3a5469dd6b 200 void control(); //Control - reference -> error -> pid -> motor output
Vigilance88 26:fe3a5469dd6b 201 void calibrate_emg(); //Instructions + measurement of MVC of each muscle
Vigilance88 26:fe3a5469dd6b 202 void emg_mvc(); //Helper funcion for storing MVC value
Vigilance88 26:fe3a5469dd6b 203 void calibrate_arm(void); //Calibration of the arm with limit switches
Vigilance88 26:fe3a5469dd6b 204 void start_sampling(void); //Attaches the sample_filter function to a 500Hz ticker
Vigilance88 26:fe3a5469dd6b 205 void stop_sampling(void); //Stops sample_filter
Vigilance88 26:fe3a5469dd6b 206 void start_control(void); //Attaches the control function to a 100Hz ticker
Vigilance88 26:fe3a5469dd6b 207 void stop_control(void); //Stops control function
Vigilance88 26:fe3a5469dd6b 208
Vigilance88 26:fe3a5469dd6b 209 //Keeps the input between min and max value
Vigilance88 24:56db31267f10 210 void keep_in_range(double * in, double min, double max);
Vigilance88 26:fe3a5469dd6b 211
Vigilance88 26:fe3a5469dd6b 212 //Reusable PID controller, previous and integral error need to be passed by reference
Vigilance88 21:d6a46315d5f5 213 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev);
Vigilance88 18:44905b008f44 214
Vigilance88 26:fe3a5469dd6b 215 //Menu functions
Vigilance88 21:d6a46315d5f5 216 void mainMenu();
Vigilance88 21:d6a46315d5f5 217 void caliMenu();
Vigilance88 28:743485bb51e4 218 void controlMenu();
Vigilance88 29:948b0b14f6be 219 void controlButtons();
Vigilance88 26:fe3a5469dd6b 220 void clearTerminal();
Vigilance88 28:743485bb51e4 221 void emgInstructions();
Vigilance88 28:743485bb51e4 222 void titleBox();
Vigilance88 26:fe3a5469dd6b 223
Vigilance88 21:d6a46315d5f5 224
Vigilance88 21:d6a46315d5f5 225 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 226 ---- MAIN LOOP -------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 227 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 228
Vigilance88 21:d6a46315d5f5 229 int main()
Vigilance88 21:d6a46315d5f5 230 {
Vigilance88 29:948b0b14f6be 231 pc.baud(115200); //serial baudrate
Vigilance88 30:a9fdd3202ca2 232 red=1; green=1; blue=1; //Make sure debug LEDs are off
Vigilance88 26:fe3a5469dd6b 233
Vigilance88 26:fe3a5469dd6b 234 //Set PwmOut frequency to 10k Hz
Vigilance88 28:743485bb51e4 235 //pwm_motor1.period(PWM_PERIOD);
Vigilance88 28:743485bb51e4 236 //pwm_motor2.period(PWM_PERIOD);
Vigilance88 26:fe3a5469dd6b 237
Vigilance88 26:fe3a5469dd6b 238 clearTerminal(); //Clear the putty window
Vigilance88 26:fe3a5469dd6b 239
Vigilance88 24:56db31267f10 240 // make a menu, user has to initiate next step
Vigilance88 28:743485bb51e4 241 titleBox();
Vigilance88 26:fe3a5469dd6b 242 mainMenu();
Vigilance88 25:49ccdc98639a 243 //caliMenu(); // Menu function
Vigilance88 25:49ccdc98639a 244 //calibrate_arm(); //Start Calibration
Vigilance88 25:49ccdc98639a 245
Vigilance88 27:d1814e271a95 246 //calibrate_emg();
Vigilance88 28:743485bb51e4 247
Vigilance88 30:a9fdd3202ca2 248 //set initial reference position
Vigilance88 30:a9fdd3202ca2 249 x=0.5; y=0;
Vigilance88 28:743485bb51e4 250
Vigilance88 28:743485bb51e4 251 //start_control(); //100 Hz control
Vigilance88 21:d6a46315d5f5 252
Vigilance88 21:d6a46315d5f5 253 //maybe some stop commands when a button is pressed: detach from timers.
Vigilance88 21:d6a46315d5f5 254 //stop_control();
Vigilance88 29:948b0b14f6be 255 start_sampling();
Vigilance88 29:948b0b14f6be 256 wait(60);
Vigilance88 28:743485bb51e4 257 //char c;
Vigilance88 28:743485bb51e4 258
Vigilance88 28:743485bb51e4 259
Vigilance88 28:743485bb51e4 260
Vigilance88 28:743485bb51e4 261 char command;
Vigilance88 27:d1814e271a95 262
Vigilance88 28:743485bb51e4 263 while(command != 'Q' && command != 'q')
Vigilance88 28:743485bb51e4 264 {
Vigilance88 28:743485bb51e4 265 if(pc.readable()){
Vigilance88 28:743485bb51e4 266 command = pc.getc();
Vigilance88 28:743485bb51e4 267
Vigilance88 28:743485bb51e4 268 switch(command){
Vigilance88 28:743485bb51e4 269
Vigilance88 28:743485bb51e4 270 case 'c':
Vigilance88 28:743485bb51e4 271 case 'C':
Vigilance88 28:743485bb51e4 272 pc.printf("\n\r => You chose calibration.\r\n\n");
Vigilance88 28:743485bb51e4 273 caliMenu();
Vigilance88 28:743485bb51e4 274
Vigilance88 28:743485bb51e4 275 char command2=0;
Vigilance88 28:743485bb51e4 276
Vigilance88 28:743485bb51e4 277 while(command2 != 'B' && command2 != 'b'){
Vigilance88 28:743485bb51e4 278 command2 = pc.getc();
Vigilance88 28:743485bb51e4 279 switch(command2){
Vigilance88 28:743485bb51e4 280 case 'a':
Vigilance88 28:743485bb51e4 281 case 'A':
Vigilance88 28:743485bb51e4 282 pc.printf("\n\r => Arm Calibration Starting... please wait \n\r");
Vigilance88 28:743485bb51e4 283 calibrate_arm();
Vigilance88 28:743485bb51e4 284 wait(1);
Vigilance88 28:743485bb51e4 285 caliMenu();
Vigilance88 28:743485bb51e4 286 break;
Vigilance88 28:743485bb51e4 287
Vigilance88 28:743485bb51e4 288 case 'e':
Vigilance88 28:743485bb51e4 289 case 'E':
Vigilance88 28:743485bb51e4 290 pc.printf("\n\r => EMG Calibration Starting... please wait \n\r");
Vigilance88 28:743485bb51e4 291 wait(1);
Vigilance88 28:743485bb51e4 292 emgInstructions();
Vigilance88 28:743485bb51e4 293 calibrate_emg();
Vigilance88 28:743485bb51e4 294 pc.printf("\n\r ------------------------ \n\r");
Vigilance88 28:743485bb51e4 295 pc.printf("\n\r EMG Calibration complete \n\r");
Vigilance88 28:743485bb51e4 296 pc.printf("\n\r ------------------------ \n\r");
Vigilance88 28:743485bb51e4 297 caliMenu();
Vigilance88 28:743485bb51e4 298 break;
Vigilance88 28:743485bb51e4 299
Vigilance88 28:743485bb51e4 300 case 'b':
Vigilance88 28:743485bb51e4 301 case 'B':
Vigilance88 28:743485bb51e4 302 pc.printf("\n\r => Going back to main menu.. \n\r");
Vigilance88 28:743485bb51e4 303 mainMenu();
Vigilance88 28:743485bb51e4 304 break;
Vigilance88 28:743485bb51e4 305 }//end switch
Vigilance88 28:743485bb51e4 306
Vigilance88 28:743485bb51e4 307 }//end while
Vigilance88 28:743485bb51e4 308 break;
Vigilance88 28:743485bb51e4 309 case 's':
Vigilance88 28:743485bb51e4 310 case 'S':
Vigilance88 28:743485bb51e4 311 pc.printf("=> You chose control \r\n\n");
Vigilance88 28:743485bb51e4 312 wait(1);
Vigilance88 28:743485bb51e4 313 start_sampling();
Vigilance88 28:743485bb51e4 314 wait(1);
Vigilance88 28:743485bb51e4 315 start_control();
Vigilance88 28:743485bb51e4 316 wait(1);
Vigilance88 29:948b0b14f6be 317 controlButtons();
Vigilance88 28:743485bb51e4 318 break;
Vigilance88 28:743485bb51e4 319 case 'R':
Vigilance88 28:743485bb51e4 320 red=!red;
Vigilance88 28:743485bb51e4 321 pc.printf("=> Red LED triggered \n\r");
Vigilance88 28:743485bb51e4 322 break;
Vigilance88 28:743485bb51e4 323 case 'G':
Vigilance88 28:743485bb51e4 324 green=!green;
Vigilance88 28:743485bb51e4 325 pc.printf("=> Green LED triggered \n\r");
Vigilance88 28:743485bb51e4 326 break;
Vigilance88 28:743485bb51e4 327 case 'B':
Vigilance88 28:743485bb51e4 328 blue=!blue;
Vigilance88 28:743485bb51e4 329 pc.printf("=> Blue LED triggered \n\r");
Vigilance88 28:743485bb51e4 330 break;
Vigilance88 28:743485bb51e4 331 case 'q':
Vigilance88 28:743485bb51e4 332 case 'Q':
Vigilance88 28:743485bb51e4 333
Vigilance88 28:743485bb51e4 334 break;
Vigilance88 28:743485bb51e4 335 default:
Vigilance88 28:743485bb51e4 336 pc.printf("=> Invalid Input \n\r");
Vigilance88 28:743485bb51e4 337 break;
Vigilance88 28:743485bb51e4 338 } //end switch
Vigilance88 28:743485bb51e4 339 } // end if pc readable
Vigilance88 28:743485bb51e4 340
Vigilance88 28:743485bb51e4 341 } // end while loop
Vigilance88 28:743485bb51e4 342
Vigilance88 28:743485bb51e4 343
Vigilance88 28:743485bb51e4 344
Vigilance88 28:743485bb51e4 345 //When end of while loop reached (user chose quit program) - detach all timers and stop motors.
Vigilance88 28:743485bb51e4 346
Vigilance88 28:743485bb51e4 347 pc.printf("\r\n------------------------------ \n\r");
Vigilance88 28:743485bb51e4 348 pc.printf("Program Offline \n\r");
Vigilance88 28:743485bb51e4 349 pc.printf("Reset to start\r\n");
Vigilance88 28:743485bb51e4 350 pc.printf("------------------------------ \n\r");
Vigilance88 28:743485bb51e4 351 }
Vigilance88 28:743485bb51e4 352 //end of main
Vigilance88 28:743485bb51e4 353
Vigilance88 28:743485bb51e4 354 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 355 ---- FUNCTIONS -------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 356 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 28:743485bb51e4 357
Vigilance88 29:948b0b14f6be 358 void controlButtons()
Vigilance88 28:743485bb51e4 359 {
Vigilance88 28:743485bb51e4 360 controlMenu();
Vigilance88 28:743485bb51e4 361 char c=0;
Vigilance88 28:743485bb51e4 362 while(c != 'Q' && c != 'q') {
Vigilance88 27:d1814e271a95 363
Vigilance88 27:d1814e271a95 364 if( pc.readable() ){
Vigilance88 27:d1814e271a95 365 c = pc.getc();
Vigilance88 27:d1814e271a95 366 switch (c)
Vigilance88 27:d1814e271a95 367 {
Vigilance88 27:d1814e271a95 368 case '1' :
Vigilance88 27:d1814e271a95 369 x = x + 0.01;
Vigilance88 27:d1814e271a95 370 //controlMenu();
Vigilance88 27:d1814e271a95 371 //running=false;
Vigilance88 27:d1814e271a95 372 break;
Vigilance88 27:d1814e271a95 373
Vigilance88 27:d1814e271a95 374 case '2' :
Vigilance88 27:d1814e271a95 375 x-=0.01;
Vigilance88 27:d1814e271a95 376 //controlMenu();
Vigilance88 27:d1814e271a95 377 //running=false;
Vigilance88 27:d1814e271a95 378 break;
Vigilance88 27:d1814e271a95 379
Vigilance88 27:d1814e271a95 380 case '3' :
Vigilance88 27:d1814e271a95 381 y+=0.01;
Vigilance88 27:d1814e271a95 382 //controlMenu();
Vigilance88 27:d1814e271a95 383 //running=false;
Vigilance88 27:d1814e271a95 384 break;
Vigilance88 27:d1814e271a95 385
Vigilance88 27:d1814e271a95 386
Vigilance88 27:d1814e271a95 387 case '4' :
Vigilance88 27:d1814e271a95 388 y-=0.01;
Vigilance88 27:d1814e271a95 389 //controlMenu();
Vigilance88 27:d1814e271a95 390 //running=false;
Vigilance88 27:d1814e271a95 391 break;
Vigilance88 27:d1814e271a95 392
Vigilance88 27:d1814e271a95 393 case 'q' :
Vigilance88 28:743485bb51e4 394 case 'Q' :
Vigilance88 28:743485bb51e4 395 pc.printf("=> Quitting control... \r\n"); wait(1);
Vigilance88 28:743485bb51e4 396 stop_sampling();
Vigilance88 28:743485bb51e4 397 stop_control();
Vigilance88 28:743485bb51e4 398 pwm_motor1=0; pwm_motor2=0;
Vigilance88 28:743485bb51e4 399 pc.printf("Sampling and Control detached \n\r"); wait(1);
Vigilance88 28:743485bb51e4 400 pc.printf("Returning to Main Menu \r\n\n"); wait(1);
Vigilance88 28:743485bb51e4 401 mainMenu();
Vigilance88 28:743485bb51e4 402
Vigilance88 27:d1814e271a95 403 //running = false;
Vigilance88 27:d1814e271a95 404 break;
Vigilance88 27:d1814e271a95 405 }//end switch
Vigilance88 28:743485bb51e4 406 if(c!='q' && c!='Q'){
Vigilance88 27:d1814e271a95 407 pc.printf("Reference position: %f and %f \r\n",x,y);
Vigilance88 27:d1814e271a95 408 pc.printf("Current position: %f and %f \r\n",current_x,current_y);
Vigilance88 27:d1814e271a95 409 pc.printf("Current angles: %f and %f \r\n",theta1,theta2);
Vigilance88 27:d1814e271a95 410 pc.printf("Error in angles: %f and %f \r\n",dtheta1,dtheta2);
Vigilance88 27:d1814e271a95 411 pc.printf("PID output: %f and %f \r\n",u1,u2);
Vigilance88 27:d1814e271a95 412 pc.printf("----------------------------------------\r\n\n");
Vigilance88 27:d1814e271a95 413 }
Vigilance88 28:743485bb51e4 414 }
Vigilance88 27:d1814e271a95 415 //end if
Vigilance88 21:d6a46315d5f5 416 }
Vigilance88 21:d6a46315d5f5 417 //end of while loop
Vigilance88 30:a9fdd3202ca2 418 }
Vigilance88 18:44905b008f44 419
Vigilance88 21:d6a46315d5f5 420 //Sample and Filter
Vigilance88 21:d6a46315d5f5 421 void sample_filter(void)
Vigilance88 18:44905b008f44 422 {
Vigilance88 21:d6a46315d5f5 423 double emg_biceps = emg1.read(); //Biceps
Vigilance88 21:d6a46315d5f5 424 double emg_triceps = emg2.read(); //Triceps
Vigilance88 21:d6a46315d5f5 425 double emg_flexor = emg3.read(); //Flexor
Vigilance88 21:d6a46315d5f5 426 double emg_extens = emg4.read(); //Extensor
Vigilance88 21:d6a46315d5f5 427
Vigilance88 21:d6a46315d5f5 428 //Filter: high-pass -> notch -> rectify -> lowpass or moving average
Vigilance88 22:1ba637601dc3 429 // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad?
Vigilance88 25:49ccdc98639a 430 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 431 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 432 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 433 biceps_power = abs(biceps_power); triceps_power = abs(triceps_power); flexor_power = abs(flexor_power); extens_power = abs(extens_power);
Vigilance88 25:49ccdc98639a 434 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 25:49ccdc98639a 435
Vigilance88 29:948b0b14f6be 436 scope.set(0,emg_biceps);
Vigilance88 29:948b0b14f6be 437 scope.set(1,biceps_power);
Vigilance88 29:948b0b14f6be 438 scope.set(2,biceps_power);
Vigilance88 29:948b0b14f6be 439 scope.set(3,biceps_power);
Vigilance88 29:948b0b14f6be 440 scope.send();
Vigilance88 21:d6a46315d5f5 441 /* alternative for lowpass filter: moving average
Vigilance88 21:d6a46315d5f5 442 window=30; //30 samples
Vigilance88 21:d6a46315d5f5 443 int i=0; //buffer index
Vigilance88 21:d6a46315d5f5 444 bicepsbuffer[i]=biceps_power //fill array
Vigilance88 21:d6a46315d5f5 445
Vigilance88 21:d6a46315d5f5 446 i++;
Vigilance88 21:d6a46315d5f5 447 if(i==window){
Vigilance88 21:d6a46315d5f5 448 i=0;
Vigilance88 21:d6a46315d5f5 449 }
Vigilance88 21:d6a46315d5f5 450
Vigilance88 24:56db31267f10 451 for(int x = 0; x < window; x++){
Vigilance88 24:56db31267f10 452 avg1 += bicepsbuffer[x];
Vigilance88 24:56db31267f10 453 }
Vigilance88 24:56db31267f10 454 avg1 = avg1/window;
Vigilance88 21:d6a46315d5f5 455 */
Vigilance88 21:d6a46315d5f5 456
Vigilance88 18:44905b008f44 457 }
Vigilance88 18:44905b008f44 458
Vigilance88 27:d1814e271a95 459
Vigilance88 18:44905b008f44 460 //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position.
Vigilance88 19:0a3ee31dcdb4 461 void calibrate_arm(void)
Vigilance88 19:0a3ee31dcdb4 462 {
Vigilance88 28:743485bb51e4 463 pc.printf("Calibrate_arm() entered\r\n");
Vigilance88 26:fe3a5469dd6b 464 bool calibrating = true;
Vigilance88 26:fe3a5469dd6b 465 bool done1 = false;
Vigilance88 26:fe3a5469dd6b 466 bool done2 = false;
Vigilance88 27:d1814e271a95 467 pc.printf("To start arm calibration, press any key =>");
Vigilance88 27:d1814e271a95 468 pc.getc();
Vigilance88 27:d1814e271a95 469 pc.printf("\r\n Calibrating... \r\n");
Vigilance88 26:fe3a5469dd6b 470 dir_motor1=1; //cw
Vigilance88 27:d1814e271a95 471 dir_motor2=0; //cw
Vigilance88 27:d1814e271a95 472 pwm_motor1.write(0.2); //move upper arm slowly cw
Vigilance88 27:d1814e271a95 473
Vigilance88 26:fe3a5469dd6b 474
Vigilance88 26:fe3a5469dd6b 475 while(calibrating){
Vigilance88 27:d1814e271a95 476 red=0; blue=0; //Debug light is purple during arm calibration
Vigilance88 27:d1814e271a95 477
Vigilance88 27:d1814e271a95 478 if(done1==true){
Vigilance88 27:d1814e271a95 479 pwm_motor2.write(0.2); //move forearm slowly cw
Vigilance88 27:d1814e271a95 480 }
Vigilance88 27:d1814e271a95 481
Vigilance88 26:fe3a5469dd6b 482 //when limit switches are hit, stop motor and reset encoder
Vigilance88 26:fe3a5469dd6b 483 if(shoulder_limit.read() < 0.5){ //polling
Vigilance88 26:fe3a5469dd6b 484 pwm_motor1.write(0);
Vigilance88 26:fe3a5469dd6b 485 Encoder1.reset();
Vigilance88 26:fe3a5469dd6b 486 done1 = true;
Vigilance88 27:d1814e271a95 487 pc.printf("Shoulder Limit hit - shutting down motor 1\r\n");
Vigilance88 26:fe3a5469dd6b 488 }
Vigilance88 26:fe3a5469dd6b 489 if(elbow_limit.read() < 0.5){ //polling
Vigilance88 26:fe3a5469dd6b 490 pwm_motor2.write(0);
Vigilance88 26:fe3a5469dd6b 491 Encoder2.reset();
Vigilance88 26:fe3a5469dd6b 492 done2 = true;
Vigilance88 27:d1814e271a95 493 pc.printf("Elbow Limit hit - shutting down motor 2. \r\n");
Vigilance88 26:fe3a5469dd6b 494 }
Vigilance88 26:fe3a5469dd6b 495 if(done1 && done2){
Vigilance88 26:fe3a5469dd6b 496 calibrating=false; //Leave while loop when both limits are reached
Vigilance88 26:fe3a5469dd6b 497 red=1; blue=1; //Turn debug light off when calibration complete
Vigilance88 26:fe3a5469dd6b 498 }
Vigilance88 27:d1814e271a95 499
Vigilance88 27:d1814e271a95 500 }//end while
Vigilance88 25:49ccdc98639a 501
Vigilance88 27:d1814e271a95 502 //TO DO:
Vigilance88 27:d1814e271a95 503 //mechanical angle limits -> pulses. If 40 degrees -> counts = floor( 40 / (2*pi/4200) )
Vigilance88 27:d1814e271a95 504 //Encoder1.setPulses(100); //edited QEI library: added setPulses()
Vigilance88 27:d1814e271a95 505 //Encoder2.setPulses(100); //edited QEI library: added setPulses()
Vigilance88 27:d1814e271a95 506 //pc.printf("Elbow Limit hit - shutting down motor 2. Current pulsecount: %i \r\n",Encoder1.getPulses());
Vigilance88 31:7b8b8459bddc 507
Vigilance88 27:d1814e271a95 508 wait(1);
Vigilance88 28:743485bb51e4 509 pc.printf("\n\r ------------------------ \n\r");
Vigilance88 27:d1814e271a95 510 pc.printf("Arm Calibration Complete\r\n");
Vigilance88 28:743485bb51e4 511 pc.printf(" ------------------------ \n\r");
Vigilance88 26:fe3a5469dd6b 512
Vigilance88 19:0a3ee31dcdb4 513 }
Vigilance88 19:0a3ee31dcdb4 514
Vigilance88 21:d6a46315d5f5 515 //EMG Maximum Voluntary Contraction measurement
Vigilance88 25:49ccdc98639a 516 void emg_mvc()
Vigilance88 25:49ccdc98639a 517 {
Vigilance88 24:56db31267f10 518 //double sampletime=0;
Vigilance88 24:56db31267f10 519 //sampletime=+SAMPLE_RATE;
Vigilance88 24:56db31267f10 520 //
Vigilance88 24:56db31267f10 521 // if(sampletime<5)
Vigilance88 25:49ccdc98639a 522 //int muscle=1;
Vigilance88 25:49ccdc98639a 523 //for(int index=0; index<2500;index++){ //measure 5 seconds@500hz = 2500 samples
Vigilance88 25:49ccdc98639a 524
Vigilance88 24:56db31267f10 525 if(muscle==1){
Vigilance88 24:56db31267f10 526
Vigilance88 24:56db31267f10 527 if(biceps_power>bicepsMVC){
Vigilance88 26:fe3a5469dd6b 528 //printf("+ ");
Vigilance88 26:fe3a5469dd6b 529 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 21:d6a46315d5f5 530 bicepsMVC=biceps_power;
Vigilance88 24:56db31267f10 531 }
Vigilance88 25:49ccdc98639a 532 else
Vigilance88 25:49ccdc98639a 533 printf("- ");
Vigilance88 24:56db31267f10 534 }
Vigilance88 24:56db31267f10 535
Vigilance88 24:56db31267f10 536 if(muscle==2){
Vigilance88 24:56db31267f10 537
Vigilance88 24:56db31267f10 538 if(triceps_power>tricepsMVC){
Vigilance88 26:fe3a5469dd6b 539 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 540 tricepsMVC=triceps_power;
Vigilance88 24:56db31267f10 541 }
Vigilance88 26:fe3a5469dd6b 542 else
Vigilance88 26:fe3a5469dd6b 543 printf("- ");
Vigilance88 24:56db31267f10 544 }
Vigilance88 24:56db31267f10 545
Vigilance88 24:56db31267f10 546 if(muscle==3){
Vigilance88 24:56db31267f10 547
Vigilance88 24:56db31267f10 548 if(flexor_power>flexorMVC){
Vigilance88 26:fe3a5469dd6b 549 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 550 flexorMVC=flexor_power;
Vigilance88 24:56db31267f10 551 }
Vigilance88 26:fe3a5469dd6b 552 else
Vigilance88 26:fe3a5469dd6b 553 printf("- ");
Vigilance88 24:56db31267f10 554 }
Vigilance88 24:56db31267f10 555
Vigilance88 24:56db31267f10 556 if(muscle==4){
Vigilance88 24:56db31267f10 557
Vigilance88 24:56db31267f10 558 if(extens_power>extensMVC){
Vigilance88 26:fe3a5469dd6b 559 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 560 extensMVC=extens_power;
Vigilance88 24:56db31267f10 561 }
Vigilance88 26:fe3a5469dd6b 562 else
Vigilance88 26:fe3a5469dd6b 563 printf("- ");
Vigilance88 24:56db31267f10 564 }
Vigilance88 25:49ccdc98639a 565
Vigilance88 25:49ccdc98639a 566 //}
Vigilance88 25:49ccdc98639a 567 calibrate_time = calibrate_time + 0.002;
Vigilance88 25:49ccdc98639a 568
Vigilance88 25:49ccdc98639a 569
Vigilance88 25:49ccdc98639a 570
Vigilance88 25:49ccdc98639a 571 }
Vigilance88 25:49ccdc98639a 572
Vigilance88 25:49ccdc98639a 573 //EMG calibration
Vigilance88 25:49ccdc98639a 574 void calibrate_emg()
Vigilance88 25:49ccdc98639a 575 {
Vigilance88 25:49ccdc98639a 576 Ticker timer;
Vigilance88 25:49ccdc98639a 577
Vigilance88 25:49ccdc98639a 578 pc.printf("Testcode calibration \r\n");
Vigilance88 25:49ccdc98639a 579 wait(1);
Vigilance88 25:49ccdc98639a 580 pc.printf("+ means current sample is higher than stored MVC\r\n");
Vigilance88 25:49ccdc98639a 581 pc.printf("- means current sample is lower than stored MVC\r\n");
Vigilance88 26:fe3a5469dd6b 582 wait(2);
Vigilance88 28:743485bb51e4 583 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 584 pc.printf(" Biceps is first.\r\n ");
Vigilance88 28:743485bb51e4 585 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 586 wait(1);
Vigilance88 25:49ccdc98639a 587 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 588 char input;
Vigilance88 25:49ccdc98639a 589 input=pc.getc();
Vigilance88 25:49ccdc98639a 590 pc.putc(input);
Vigilance88 25:49ccdc98639a 591 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 592 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 593 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 594
Vigilance88 25:49ccdc98639a 595 start_sampling();
Vigilance88 25:49ccdc98639a 596 muscle=1;
Vigilance88 27:d1814e271a95 597 timer.attach(&emg_mvc,SAMPLE_RATE);
Vigilance88 25:49ccdc98639a 598 wait(5);
Vigilance88 25:49ccdc98639a 599 timer.detach();
Vigilance88 26:fe3a5469dd6b 600
Vigilance88 26:fe3a5469dd6b 601 pc.printf("\r\n Measurement complete."); wait(1);
Vigilance88 26:fe3a5469dd6b 602 pc.printf("\r\n Biceps MVC = %f \r\n",bicepsMVC); wait(1);
Vigilance88 26:fe3a5469dd6b 603 pc.printf("Calibrate_emg() exited \r\n"); wait(1);
Vigilance88 26:fe3a5469dd6b 604 pc.printf("Measured time: %f seconds \r\n\n",calibrate_time);
Vigilance88 25:49ccdc98639a 605 calibrate_time=0;
Vigilance88 25:49ccdc98639a 606
Vigilance88 25:49ccdc98639a 607 // Triceps:
Vigilance88 26:fe3a5469dd6b 608 muscle=2;
Vigilance88 28:743485bb51e4 609 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 610 pc.printf(" Triceps is next.\r\n ");
Vigilance88 28:743485bb51e4 611 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 612 wait(1);
Vigilance88 28:743485bb51e4 613
Vigilance88 25:49ccdc98639a 614 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 615 input=pc.getc();
Vigilance88 25:49ccdc98639a 616 pc.putc(input);
Vigilance88 25:49ccdc98639a 617 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 618 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 619 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 620 start_sampling();
Vigilance88 25:49ccdc98639a 621 muscle=1;
Vigilance88 25:49ccdc98639a 622 timer.attach(&emg_mvc,0.002);
Vigilance88 25:49ccdc98639a 623 wait(5);
Vigilance88 25:49ccdc98639a 624 timer.detach();
Vigilance88 25:49ccdc98639a 625 pc.printf("\r\n Triceps MVC = %f \r\n",tricepsMVC);
Vigilance88 25:49ccdc98639a 626
Vigilance88 25:49ccdc98639a 627 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 25:49ccdc98639a 628 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 25:49ccdc98639a 629 calibrate_time=0;
Vigilance88 25:49ccdc98639a 630
Vigilance88 25:49ccdc98639a 631 //Flexor:
Vigilance88 26:fe3a5469dd6b 632 muscle=3;
Vigilance88 25:49ccdc98639a 633 //Extensor:
Vigilance88 26:fe3a5469dd6b 634 muscle=4;
Vigilance88 25:49ccdc98639a 635
Vigilance88 26:fe3a5469dd6b 636 //Stop sampling, detach ticker
Vigilance88 25:49ccdc98639a 637 stop_sampling();
Vigilance88 24:56db31267f10 638
Vigilance88 18:44905b008f44 639 }
Vigilance88 18:44905b008f44 640
Vigilance88 18:44905b008f44 641
Vigilance88 18:44905b008f44 642 //Input error and Kp, Kd, Ki, output control signal
Vigilance88 20:0ede3818e08e 643 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev)
vsluiter 2:e314bb3b2d99 644 {
Vigilance88 20:0ede3818e08e 645 // Derivative
Vigilance88 24:56db31267f10 646 double e_der = (error-e_prev)/ CONTROL_RATE;
Vigilance88 21:d6a46315d5f5 647 e_der = derfilter.step(e_der);
Vigilance88 21:d6a46315d5f5 648 e_prev = error;
Vigilance88 20:0ede3818e08e 649 // Integral
Vigilance88 24:56db31267f10 650 e_int = e_int + CONTROL_RATE * error;
Vigilance88 20:0ede3818e08e 651 // PID
Vigilance88 21:d6a46315d5f5 652 return kp*error + ki*e_int + kd * e_der;
Vigilance88 20:0ede3818e08e 653
Vigilance88 18:44905b008f44 654 }
Vigilance88 18:44905b008f44 655
Vigilance88 20:0ede3818e08e 656 //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 657 void control()
Vigilance88 18:44905b008f44 658 {
Vigilance88 30:a9fdd3202ca2 659 /*
Vigilance88 30:a9fdd3202ca2 660
Vigilance88 30:a9fdd3202ca2 661 //normalize emg to value between 0-1
Vigilance88 30:a9fdd3202ca2 662 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 663 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 664 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 665 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 666
Vigilance88 30:a9fdd3202ca2 667 //analyze emg (= velocity)
Vigilance88 30:a9fdd3202ca2 668 if (biceps>triceps && biceps > 0.1)
Vigilance88 30:a9fdd3202ca2 669 xdir = 0;
Vigilance88 30:a9fdd3202ca2 670 xpower = biceps;
Vigilance88 30:a9fdd3202ca2 671 else if (triceps>biceps && triceps>0.1)
Vigilance88 30:a9fdd3202ca2 672 xdir = 1;
Vigilance88 30:a9fdd3202ca2 673 xpower = triceps;
Vigilance88 30:a9fdd3202ca2 674 else
Vigilance88 30:a9fdd3202ca2 675 xpower=0;
Vigilance88 30:a9fdd3202ca2 676
Vigilance88 30:a9fdd3202ca2 677 if (flexor>extensor && flexor > 0.1){
Vigilance88 30:a9fdd3202ca2 678 ydir = 0;
Vigilance88 30:a9fdd3202ca2 679 ypower = flexor;
Vigilance88 30:a9fdd3202ca2 680 }
Vigilance88 30:a9fdd3202ca2 681 else if (extensor>flexor && extensor > 0.1){
Vigilance88 30:a9fdd3202ca2 682 ydir = 1;
Vigilance88 30:a9fdd3202ca2 683 ypower = extensor;
Vigilance88 30:a9fdd3202ca2 684 }
Vigilance88 30:a9fdd3202ca2 685 else
Vigilance88 30:a9fdd3202ca2 686 ypower = 0;
Vigilance88 30:a9fdd3202ca2 687
Vigilance88 30:a9fdd3202ca2 688 //We have power: the longer a signal is active, the further you go. So integrate to determine reference position
Vigilance88 30:a9fdd3202ca2 689 dx = xpower * CONTROL_RATE;
Vigilance88 30:a9fdd3202ca2 690 dy = ypower * CONTROL_RATE;
Vigilance88 18:44905b008f44 691
Vigilance88 30:a9fdd3202ca2 692 //But: direction! Sum dx and dy but make sure xdir and ydir are considered.
Vigilance88 30:a9fdd3202ca2 693 if (xdir>0)
Vigilance88 30:a9fdd3202ca2 694 x += dx;
Vigilance88 30:a9fdd3202ca2 695 else
Vigilance88 30:a9fdd3202ca2 696 x += -dx;
Vigilance88 30:a9fdd3202ca2 697
Vigilance88 30:a9fdd3202ca2 698 if (ydir>0)
Vigilance88 30:a9fdd3202ca2 699 y += dy;
Vigilance88 30:a9fdd3202ca2 700 else
Vigilance88 30:a9fdd3202ca2 701 y += -dy;
Vigilance88 30:a9fdd3202ca2 702
Vigilance88 30:a9fdd3202ca2 703 //now we have x and y -> reference position.
Vigilance88 30:a9fdd3202ca2 704
Vigilance88 30:a9fdd3202ca2 705 //Set limits to the error!
Vigilance88 30:a9fdd3202ca2 706 //lower limit: Negative error not allowed to go further.
Vigilance88 30:a9fdd3202ca2 707 if (theta1 < limitangle)
Vigilance88 30:a9fdd3202ca2 708 if (error1 > 0)
Vigilance88 30:a9fdd3202ca2 709 error1 = error1;
Vigilance88 30:a9fdd3202ca2 710 else
Vigilance88 30:a9fdd3202ca2 711 error1 = 0;
Vigilance88 30:a9fdd3202ca2 712 if (theta2 < limitangle)
Vigilance88 30:a9fdd3202ca2 713 same as above
Vigilance88 30:a9fdd3202ca2 714
Vigilance88 30:a9fdd3202ca2 715 //upper limit: Positive error not allowed to go further
Vigilance88 30:a9fdd3202ca2 716 if (theta1 > limitangle)
Vigilance88 30:a9fdd3202ca2 717 if (error1 < 0 )
Vigilance88 30:a9fdd3202ca2 718 error1 = error1;
Vigilance88 30:a9fdd3202ca2 719 else
Vigilance88 30:a9fdd3202ca2 720 error1 = 0;
Vigilance88 30:a9fdd3202ca2 721 if (theta2 > limitangle)
Vigilance88 30:a9fdd3202ca2 722 same as above
Vigilance88 18:44905b008f44 723
Vigilance88 30:a9fdd3202ca2 724
Vigilance88 30:a9fdd3202ca2 725 */
Vigilance88 30:a9fdd3202ca2 726
Vigilance88 27:d1814e271a95 727 //Current position - Encoder counts -> current angle -> Forward Kinematics
Vigilance88 27:d1814e271a95 728 rpc=(2*PI)/ENCODER1_CPR; //radians per count (resolution) - 2pi divided by 4200
Vigilance88 27:d1814e271a95 729 theta1 = Encoder1.getPulses() * rpc; //multiply resolution with number of counts
Vigilance88 27:d1814e271a95 730 theta2 = Encoder2.getPulses() * rpc;
Vigilance88 27:d1814e271a95 731 current_x = l1 * cos(theta1) + l2 * cos(theta1 + theta2);
Vigilance88 27:d1814e271a95 732 current_y = l1 * sin(theta1) + l2 * sin(theta1 + theta2);
Vigilance88 27:d1814e271a95 733
Vigilance88 27:d1814e271a95 734
Vigilance88 18:44905b008f44 735 //calculate error (refpos-currentpos) currentpos = forward kinematics
Vigilance88 27:d1814e271a95 736 x_error = x - current_x;
Vigilance88 27:d1814e271a95 737 y_error = y - current_y;
Vigilance88 27:d1814e271a95 738
Vigilance88 27:d1814e271a95 739
Vigilance88 27:d1814e271a95 740 //inverse kinematics (refpos to refangle)
Vigilance88 18:44905b008f44 741
Vigilance88 27:d1814e271a95 742 costheta2 = (pow(x,2) + pow(y,2) - pow(l1,2) - pow(l2,2)) / (2*l1*l2) ;
Vigilance88 30:a9fdd3202ca2 743 sintheta2 = sqrt( abs( 1 - pow(costheta2,2) ) );
Vigilance88 27:d1814e271a95 744
Vigilance88 27:d1814e271a95 745
Vigilance88 27:d1814e271a95 746 dtheta2 = atan2(sintheta2,costheta2);
Vigilance88 27:d1814e271a95 747
Vigilance88 27:d1814e271a95 748 costheta1 = ( x * (l1 + l2 * costheta2) + y * l2 * sintheta2 ) / ( pow(x,2) + pow(y,2) );
Vigilance88 30:a9fdd3202ca2 749 sintheta1 = sqrt( abs( 1 - pow(costheta1,2) ) );
Vigilance88 27:d1814e271a95 750
Vigilance88 27:d1814e271a95 751 dtheta1 = atan2(sintheta1,costheta1);
Vigilance88 27:d1814e271a95 752
Vigilance88 27:d1814e271a95 753
Vigilance88 27:d1814e271a95 754 //Angle error
Vigilance88 27:d1814e271a95 755 m1_error = dtheta1-theta1;
Vigilance88 27:d1814e271a95 756 m2_error = dtheta2-theta2;
Vigilance88 27:d1814e271a95 757
Vigilance88 18:44905b008f44 758
Vigilance88 18:44905b008f44 759 //PID controller
Vigilance88 24:56db31267f10 760
Vigilance88 24:56db31267f10 761 u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1
Vigilance88 24:56db31267f10 762 u2=pid(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2
Vigilance88 21:d6a46315d5f5 763
Vigilance88 27:d1814e271a95 764 keep_in_range(&u1,-0.6,0.6); //keep u between -1 and 1, sign = direction, PWM = 0-1
Vigilance88 27:d1814e271a95 765 keep_in_range(&u2,-0.6,0.6);
Vigilance88 21:d6a46315d5f5 766
Vigilance88 21:d6a46315d5f5 767 //send PWM and DIR to motor 1
Vigilance88 21:d6a46315d5f5 768 dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below.
Vigilance88 21:d6a46315d5f5 769 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 770
Vigilance88 21:d6a46315d5f5 771 //send PWM and DIR to motor 2
Vigilance88 27:d1814e271a95 772 dir_motor2 = u2>0 ? 0 : 1; //conditional statement, same as if else below
Vigilance88 25:49ccdc98639a 773 pwm_motor2.write(abs(u2));
Vigilance88 21:d6a46315d5f5 774
Vigilance88 21:d6a46315d5f5 775 /*if(u1 > 0)
Vigilance88 21:d6a46315d5f5 776 {
Vigilance88 21:d6a46315d5f5 777 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 778 else{
Vigilance88 21:d6a46315d5f5 779 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 780 }
Vigilance88 21:d6a46315d5f5 781 }
Vigilance88 21:d6a46315d5f5 782 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 783
Vigilance88 21:d6a46315d5f5 784
Vigilance88 21:d6a46315d5f5 785 if(u2 > 0)
Vigilance88 21:d6a46315d5f5 786 {
Vigilance88 21:d6a46315d5f5 787 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 788 else{
Vigilance88 21:d6a46315d5f5 789 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 790 }
Vigilance88 21:d6a46315d5f5 791 }
Vigilance88 21:d6a46315d5f5 792 pwm_motor1.write(abs(u2));*/
Vigilance88 21:d6a46315d5f5 793
Vigilance88 18:44905b008f44 794 }
Vigilance88 18:44905b008f44 795
Vigilance88 26:fe3a5469dd6b 796 void mainMenu()
Vigilance88 26:fe3a5469dd6b 797 {
Vigilance88 28:743485bb51e4 798 //Title Box
Vigilance88 26:fe3a5469dd6b 799 pc.putc(201);
Vigilance88 26:fe3a5469dd6b 800 for(int j=0;j<33;j++){
Vigilance88 26:fe3a5469dd6b 801 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 802 }
Vigilance88 26:fe3a5469dd6b 803 pc.putc(187);
Vigilance88 26:fe3a5469dd6b 804 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 805 pc.putc(186); pc.printf(" Main Menu "); pc.putc(186);
Vigilance88 26:fe3a5469dd6b 806 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 807 pc.putc(200);
Vigilance88 26:fe3a5469dd6b 808 for(int k=0;k<33;k++){
Vigilance88 26:fe3a5469dd6b 809 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 810 }
Vigilance88 26:fe3a5469dd6b 811 pc.putc(188);
Vigilance88 26:fe3a5469dd6b 812
Vigilance88 26:fe3a5469dd6b 813 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 814 //endbox
Vigilance88 28:743485bb51e4 815 wait(1);
Vigilance88 28:743485bb51e4 816 pc.printf("[C]alibration\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 817 pc.printf("[S]tart Control with buttons\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 818 pc.printf("[Q]uit Robot Program\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 819 pc.printf("[R]ed LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 820 pc.printf("[G]reen LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 821 pc.printf("[B]lue LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 822 pc.printf("Please make a choice => \r\n");
Vigilance88 26:fe3a5469dd6b 823 }
Vigilance88 24:56db31267f10 824
Vigilance88 24:56db31267f10 825 //Start sampling
Vigilance88 24:56db31267f10 826 void start_sampling(void)
Vigilance88 24:56db31267f10 827 {
Vigilance88 24:56db31267f10 828 sample_timer.attach(&sample_filter,SAMPLE_RATE); //500 Hz EMG
Vigilance88 26:fe3a5469dd6b 829
Vigilance88 26:fe3a5469dd6b 830 //Debug LED will be green when sampling is active
Vigilance88 26:fe3a5469dd6b 831 green=0;
Vigilance88 25:49ccdc98639a 832 pc.printf("||- started sampling -|| \r\n");
Vigilance88 24:56db31267f10 833 }
Vigilance88 24:56db31267f10 834
Vigilance88 24:56db31267f10 835 //stop sampling
Vigilance88 24:56db31267f10 836 void stop_sampling(void)
Vigilance88 24:56db31267f10 837 {
Vigilance88 24:56db31267f10 838 sample_timer.detach();
Vigilance88 26:fe3a5469dd6b 839
Vigilance88 26:fe3a5469dd6b 840 //Debug LED will be turned off when sampling stops
Vigilance88 26:fe3a5469dd6b 841 green=1;
Vigilance88 25:49ccdc98639a 842 pc.printf("||- stopped sampling -|| \r\n");
Vigilance88 24:56db31267f10 843 }
Vigilance88 24:56db31267f10 844
Vigilance88 18:44905b008f44 845 //Start control
Vigilance88 18:44905b008f44 846 void start_control(void)
Vigilance88 18:44905b008f44 847 {
Vigilance88 27:d1814e271a95 848 control_timer.attach(&control,CONTROL_RATE); //100 Hz control
Vigilance88 26:fe3a5469dd6b 849
Vigilance88 26:fe3a5469dd6b 850 //Debug LED will be blue when control is on. If sampling and control are on -> blue + green = cyan.
Vigilance88 26:fe3a5469dd6b 851 blue=0;
Vigilance88 26:fe3a5469dd6b 852 pc.printf("||- started control -|| \r\n");
Vigilance88 18:44905b008f44 853 }
Vigilance88 18:44905b008f44 854
Vigilance88 18:44905b008f44 855 //stop control
Vigilance88 18:44905b008f44 856 void stop_control(void)
Vigilance88 18:44905b008f44 857 {
Vigilance88 18:44905b008f44 858 control_timer.detach();
Vigilance88 26:fe3a5469dd6b 859
Vigilance88 26:fe3a5469dd6b 860 //Debug LED will be off when control is off
Vigilance88 26:fe3a5469dd6b 861 blue=1;
Vigilance88 26:fe3a5469dd6b 862 pc.printf("||- stopped control -|| \r\n");
vsluiter 2:e314bb3b2d99 863 }
vsluiter 0:32bb76391d89 864
Vigilance88 21:d6a46315d5f5 865
Vigilance88 21:d6a46315d5f5 866 void calibrate()
vsluiter 0:32bb76391d89 867 {
Vigilance88 21:d6a46315d5f5 868
Vigilance88 21:d6a46315d5f5 869 }
tomlankhorst 15:0da764eea774 870
Vigilance88 26:fe3a5469dd6b 871 //Clears the putty (or other terminal) window
Vigilance88 26:fe3a5469dd6b 872 void clearTerminal()
Vigilance88 26:fe3a5469dd6b 873 {
Vigilance88 26:fe3a5469dd6b 874 pc.putc(27);
Vigilance88 26:fe3a5469dd6b 875 pc.printf("[2J"); // clear screen
Vigilance88 26:fe3a5469dd6b 876 pc.putc(27); // ESC
Vigilance88 26:fe3a5469dd6b 877 pc.printf("[H"); // cursor to home
Vigilance88 26:fe3a5469dd6b 878 }
Vigilance88 21:d6a46315d5f5 879
Vigilance88 30:a9fdd3202ca2 880
Vigilance88 30:a9fdd3202ca2 881 void controlMenu()
Vigilance88 30:a9fdd3202ca2 882 {
Vigilance88 30:a9fdd3202ca2 883 //Title Box
Vigilance88 30:a9fdd3202ca2 884 pc.putc(201);
Vigilance88 30:a9fdd3202ca2 885 for(int j=0;j<33;j++){
Vigilance88 30:a9fdd3202ca2 886 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 887 }
Vigilance88 30:a9fdd3202ca2 888 pc.putc(187);
Vigilance88 30:a9fdd3202ca2 889 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 890 pc.putc(186); pc.printf(" Control Menu "); pc.putc(186);
Vigilance88 30:a9fdd3202ca2 891 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 892 pc.putc(200);
Vigilance88 30:a9fdd3202ca2 893 for(int k=0;k<33;k++){
Vigilance88 30:a9fdd3202ca2 894 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 895 }
Vigilance88 30:a9fdd3202ca2 896 pc.putc(188);
Vigilance88 30:a9fdd3202ca2 897
Vigilance88 30:a9fdd3202ca2 898 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 899 //endbox
Vigilance88 30:a9fdd3202ca2 900 pc.printf("1) Move Arm Left\r\n");
Vigilance88 30:a9fdd3202ca2 901 pc.printf("2) Move Arm Right\r\n");
Vigilance88 30:a9fdd3202ca2 902 pc.printf("3) Move Arm Up\r\n");
Vigilance88 30:a9fdd3202ca2 903 pc.printf("4) Move Arm Down\r\n");
Vigilance88 30:a9fdd3202ca2 904 pc.printf("q) Exit \r\n");
Vigilance88 30:a9fdd3202ca2 905 pc.printf("Please make a choice => \r\n");
Vigilance88 30:a9fdd3202ca2 906 }
Vigilance88 30:a9fdd3202ca2 907
Vigilance88 28:743485bb51e4 908 void caliMenu(){
Vigilance88 28:743485bb51e4 909
Vigilance88 28:743485bb51e4 910 //Title Box
Vigilance88 28:743485bb51e4 911 pc.putc(201);
Vigilance88 28:743485bb51e4 912 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 913 pc.putc(205);
Vigilance88 28:743485bb51e4 914 }
Vigilance88 28:743485bb51e4 915 pc.putc(187);
Vigilance88 28:743485bb51e4 916 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 917 pc.putc(186); pc.printf(" Calibration Menu "); pc.putc(186);
Vigilance88 28:743485bb51e4 918 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 919 pc.putc(200);
Vigilance88 28:743485bb51e4 920 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 921 pc.putc(205);
Vigilance88 28:743485bb51e4 922 }
Vigilance88 28:743485bb51e4 923 pc.putc(188);
Vigilance88 28:743485bb51e4 924
Vigilance88 28:743485bb51e4 925 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 926 //endbox
Vigilance88 28:743485bb51e4 927
Vigilance88 28:743485bb51e4 928 pc.printf("[A]rm Calibration\r\n");
Vigilance88 28:743485bb51e4 929 pc.printf("[E]MG Calibration\r\n");
Vigilance88 28:743485bb51e4 930 pc.printf("[B]ack to main menu\r\n");
Vigilance88 28:743485bb51e4 931 pc.printf("Please make a choice => \r\n");
Vigilance88 28:743485bb51e4 932
Vigilance88 28:743485bb51e4 933 }
Vigilance88 28:743485bb51e4 934
Vigilance88 28:743485bb51e4 935 void titleBox(){
Vigilance88 28:743485bb51e4 936
Vigilance88 28:743485bb51e4 937 //Title Box
Vigilance88 28:743485bb51e4 938 pc.putc(201);
Vigilance88 28:743485bb51e4 939 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 940 pc.putc(205);
Vigilance88 28:743485bb51e4 941 }
Vigilance88 28:743485bb51e4 942 pc.putc(187);
Vigilance88 28:743485bb51e4 943 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 944 pc.putc(186); pc.printf(" BioRobotics M9 - Group 14 "); pc.putc(186);
Vigilance88 28:743485bb51e4 945 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 946 pc.putc(186); pc.printf(" Robot powered ON "); pc.putc(186);
Vigilance88 28:743485bb51e4 947 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 948 pc.putc(200);
Vigilance88 28:743485bb51e4 949 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 950 pc.putc(205);
Vigilance88 28:743485bb51e4 951 }
Vigilance88 28:743485bb51e4 952 pc.putc(188);
Vigilance88 28:743485bb51e4 953
Vigilance88 28:743485bb51e4 954 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 955 //endbox
Vigilance88 28:743485bb51e4 956 }
Vigilance88 28:743485bb51e4 957
Vigilance88 28:743485bb51e4 958 void emgInstructions(){
Vigilance88 28:743485bb51e4 959 pc.printf("\r\nPrepare the skin before applying electrodes: \n\r"); wait(1);
Vigilance88 28:743485bb51e4 960 pc.printf("-> Shave electrode locations if needed and clean with alcohol \n\r"); wait(1);
Vigilance88 28:743485bb51e4 961 pc.printf("\n\r Relax for a few minutes after electrodes are placed and check if EMG signal looks normal \n\r "); wait(1);
Vigilance88 28:743485bb51e4 962 pc.printf("\n\r To calibrate the EMG signals we will measure the Maximum Voluntary Contraction of each muscle \n\r"); wait(1);
Vigilance88 28:743485bb51e4 963 pc.printf("You will need to flex the mentioned muscle as much as possible for 5 seconds \n\r"); wait(1);
Vigilance88 28:743485bb51e4 964 pc.printf("The measurement will begin once you confirm you're ready [Hit any key] \n\r \n\r"); wait(1);
Vigilance88 28:743485bb51e4 965 }
Vigilance88 28:743485bb51e4 966
Vigilance88 21:d6a46315d5f5 967 //keeps input limited between min max
Vigilance88 24:56db31267f10 968 void keep_in_range(double * in, double min, double max)
Vigilance88 18:44905b008f44 969 {
Vigilance88 18:44905b008f44 970 *in > min ? *in < max? : *in = max: *in = min;
vsluiter 0:32bb76391d89 971 }