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@61:8226830f3272, 2015-10-28 (annotated)

Committer:
Vigilance88
Date:
Wed Oct 28 10:37:29 2015 +0000
Revision:
61:8226830f3272
Parent:
60:6541eec8d6ad
Child:
62:e400138d625e
added emg control time if then

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 54:4cda9af56bed 5 #include "Servo.h"
Vigilance88 18:44905b008f44 6 #include "QEI.h"
Vigilance88 21:d6a46315d5f5 7 #include "math.h"
Vigilance88 26:fe3a5469dd6b 8 #include <string>
Vigilance88 21:d6a46315d5f5 9
Vigilance88 21:d6a46315d5f5 10 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 11 -------------------------------- BIOROBOTICS GROUP 14 ----------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 12 --------------------------------------------------------------------------------------------------------------------*/
vsluiter 0:32bb76391d89 13
Vigilance88 18:44905b008f44 14 //Define important constants in memory
Vigilance88 21:d6a46315d5f5 15 #define PI 3.14159265
Vigilance88 18:44905b008f44 16 #define SAMPLE_RATE 0.002 //500 Hz EMG sample rate
Vigilance88 57:d6192801fd6d 17 #define CONTROL_RATE 0.01 //100 Hz Control rate
Vigilance88 56:5ff9e5c1ed44 18 #define SERVO_RATE 0.05 //50 Hz Servo Control rate
Vigilance88 56:5ff9e5c1ed44 19 #define ENCODER_CPR 4200 //both motor encoders have 64 (X4), 32 (X2) counts per revolution of motor shaft
Vigilance88 49:6515c045cfd6 20 //gearbox 1:131.25 -> 4200 counts per revolution of the output shaft (X2),
Vigilance88 26:fe3a5469dd6b 21 #define PWM_PERIOD 0.0001 //10k Hz pwm motor frequency. Higher -> too hot, lower -> motor doesnt respond correctly
Vigilance88 21:d6a46315d5f5 22 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 23 ---- OBJECTS ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 24 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 25
Vigilance88 18:44905b008f44 26 MODSERIAL pc(USBTX,USBRX); //serial communication
Vigilance88 18:44905b008f44 27
Vigilance88 36:4d4fc200171b 28 //Debug LEDs
Vigilance88 25:49ccdc98639a 29 DigitalOut red(LED_RED);
Vigilance88 25:49ccdc98639a 30 DigitalOut green(LED_GREEN);
Vigilance88 25:49ccdc98639a 31 DigitalOut blue(LED_BLUE);
Vigilance88 25:49ccdc98639a 32
Vigilance88 21:d6a46315d5f5 33 //EMG shields
Vigilance88 18:44905b008f44 34 AnalogIn emg1(A0); //Analog input - Biceps EMG
Vigilance88 18:44905b008f44 35 AnalogIn emg2(A1); //Analog input - Triceps EMG
Vigilance88 18:44905b008f44 36 AnalogIn emg3(A2); //Analog input - Flexor EMG
Vigilance88 18:44905b008f44 37 AnalogIn emg4(A3); //Analog input - Extensor EMG
Vigilance88 18:44905b008f44 38
Vigilance88 18:44905b008f44 39 Ticker sample_timer; //Ticker for EMG sampling
Vigilance88 18:44905b008f44 40 Ticker control_timer; //Ticker for control loop
Vigilance88 56:5ff9e5c1ed44 41 Ticker servo_timer; //Ticker for servo control
Vigilance88 56:5ff9e5c1ed44 42 Ticker debug_timer;
Vigilance88 57:d6192801fd6d 43 //HIDScope scope(2); //Scope 4 channels
Vigilance88 18:44905b008f44 44
Vigilance88 18:44905b008f44 45 // AnalogIn potmeter(A4); //potmeters
Vigilance88 18:44905b008f44 46 // AnalogIn potmeter2(A5); //
Vigilance88 18:44905b008f44 47
Vigilance88 21:d6a46315d5f5 48 //Encoders
Vigilance88 18:44905b008f44 49 QEI Encoder1(D13,D12,NC,32); //channel A and B from encoder, counts = Encoder.getPulses();
Vigilance88 18:44905b008f44 50 QEI Encoder2(D10,D9,NC,32); //channel A and B from encoder,
Vigilance88 21:d6a46315d5f5 51
Vigilance88 21:d6a46315d5f5 52 //Speed and Direction of motors - D4 (dir) and D5(speed) = motor 2, D7(dir) and D6(speed) = motor 1
Vigilance88 21:d6a46315d5f5 53 PwmOut pwm_motor1(D6); //PWM motor 1
Vigilance88 21:d6a46315d5f5 54 PwmOut pwm_motor2(D5); //PWM motor 2
Vigilance88 53:bf0d97487e84 55 Servo servoPwm(D11); //PWM servomotor
Vigilance88 26:fe3a5469dd6b 56
Vigilance88 18:44905b008f44 57 DigitalOut dir_motor1(D7); //Direction motor 1
Vigilance88 18:44905b008f44 58 DigitalOut dir_motor2(D4); //Direction motor 2
Vigilance88 18:44905b008f44 59
Vigilance88 24:56db31267f10 60 //Limit Switches
Vigilance88 58:db11481da856 61 InterruptIn shoulder_limit(D2); //using BioShield buttons
Vigilance88 58:db11481da856 62 InterruptIn elbow_limit(D3); //using BioShield buttons
Vigilance88 26:fe3a5469dd6b 63
Vigilance88 26:fe3a5469dd6b 64 //Other buttons
Vigilance88 58:db11481da856 65 InterruptIn debugbtn(PTA4); //using FRDM buttons - debug on or off
Vigilance88 26:fe3a5469dd6b 66 DigitalIn button2(PTC6); //using FRDM buttons
Vigilance88 26:fe3a5469dd6b 67
Vigilance88 26:fe3a5469dd6b 68 /*Text colors ASCII code: Set Attribute Mode <ESC>[{attr1};...;{attrn}m
Vigilance88 26:fe3a5469dd6b 69
Vigilance88 26:fe3a5469dd6b 70 \ 0 3 3 - ESC
Vigilance88 26:fe3a5469dd6b 71 [ 3 0 m - black
Vigilance88 26:fe3a5469dd6b 72 [ 3 1 m - red
Vigilance88 26:fe3a5469dd6b 73 [ 3 2 m - green
Vigilance88 26:fe3a5469dd6b 74 [ 3 3 m - yellow
Vigilance88 26:fe3a5469dd6b 75 [ 3 4 m - blue
Vigilance88 26:fe3a5469dd6b 76 [ 3 5 m - magenta
Vigilance88 26:fe3a5469dd6b 77 [ 3 6 m - cyan
Vigilance88 26:fe3a5469dd6b 78 [ 3 7 m - white
Vigilance88 26:fe3a5469dd6b 79 [ 0 m - reset attributes
Vigilance88 26:fe3a5469dd6b 80
Vigilance88 26:fe3a5469dd6b 81 Put the text you want to color between GREEN_ and _GREEN
Vigilance88 26:fe3a5469dd6b 82 */
Vigilance88 26:fe3a5469dd6b 83 string GREEN_ = "\033[32m"; //esc - green
Vigilance88 26:fe3a5469dd6b 84 string _GREEN = "\033[0m"; //esc - reset
Vigilance88 24:56db31267f10 85
Vigilance88 21:d6a46315d5f5 86
Vigilance88 21:d6a46315d5f5 87 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 88 ---- DECLARE VARIABLES -----------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 89 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 59:ca85ce2b1ffc 90 volatile bool debug = false;
Vigilance88 21:d6a46315d5f5 91
Vigilance88 47:c52f9b4c90c4 92 //EMG variables: raw EMG - filtered EMG - maximum voluntary contraction - max amplitude during relaxation.
Vigilance88 61:8226830f3272 93 double emg_biceps; double biceps_power; double bicepsMVC = 0.1227; double bicepsmin=0.024;
Vigilance88 61:8226830f3272 94 double emg_triceps; double triceps_power; double tricepsMVC = 0.094; double tricepsmin=0.023;
Vigilance88 61:8226830f3272 95 double emg_flexor; double flexor_power; double flexorMVC = 0.096; double flexormin=0.041;
Vigilance88 61:8226830f3272 96 double emg_extens; double extens_power; double extensMVC = 0.124; double extensmin=0.037;
Vigilance88 47:c52f9b4c90c4 97
Vigilance88 39:e77f844d10d9 98 //Normalize and compare variables
Vigilance88 39:e77f844d10d9 99 double biceps, triceps, flexor, extens; //Storage for normalized emg
Vigilance88 39:e77f844d10d9 100 double xdir, ydir; //EMG reference position directions
Vigilance88 39:e77f844d10d9 101 double xpower, ypower; //EMG reference magnitude
Vigilance88 47:c52f9b4c90c4 102 double dx, dy; //Integral
Vigilance88 47:c52f9b4c90c4 103 double emg_control_time; //Elapsed time in EMG control
Vigilance88 46:c8c5c455dd51 104
Vigilance88 44:145827f5b091 105 //Threshold moving average
Vigilance88 61:8226830f3272 106 const int window=50; //100 samples
Vigilance88 47:c52f9b4c90c4 107 int i=0; //movavg array index
Vigilance88 47:c52f9b4c90c4 108 double movavg1[window]; //moving average arrays with size of window
Vigilance88 44:145827f5b091 109 double movavg2[window];
Vigilance88 44:145827f5b091 110 double movavg3[window];
Vigilance88 44:145827f5b091 111 double movavg4[window];
Vigilance88 47:c52f9b4c90c4 112 double biceps_avg, triceps_avg,flexor_avg, extens_avg; //sum divided by window size
Vigilance88 46:c8c5c455dd51 113
Vigilance88 36:4d4fc200171b 114 int muscle; //Muscle selector for MVC measurement, 1 = first emg etc.
Vigilance88 47:c52f9b4c90c4 115 double calibrate_time; //Elapsed time for each measurement
Vigilance88 25:49ccdc98639a 116
Vigilance88 24:56db31267f10 117 //PID variables
Vigilance88 36:4d4fc200171b 118 double u1; double u2; //Output of PID controller (PWM value for motor 1 and 2)
Vigilance88 47:c52f9b4c90c4 119 double m1_error=0; double m1_e_int=0; double m1_e_prev=0; //Error, integrated error, previous error motor 1
Vigilance88 55:726fdab812a9 120 const double m1_kp=5; const double m1_ki=0.1; const double m1_kd=0.3; //Proportional, integral and derivative gains.
Vigilance88 24:56db31267f10 121
Vigilance88 47:c52f9b4c90c4 122 double m2_error=0; double m2_e_int=0; double m2_e_prev=0; //Error, integrated error, previous error motor 2
Vigilance88 55:726fdab812a9 123 const double m2_kp=5; const double m2_ki=0.1; const double m2_kd=0.3; //Proportional, integral and derivative gains.
Vigilance88 24:56db31267f10 124
Vigilance88 36:4d4fc200171b 125 //Calibration bools, checks if elbow/shoulder limits are hit
Vigilance88 47:c52f9b4c90c4 126 volatile bool done1 = false;
Vigilance88 47:c52f9b4c90c4 127 volatile bool done2 = false;
Vigilance88 47:c52f9b4c90c4 128 volatile bool calibrating = false;
Vigilance88 32:76c4d7bb2022 129
Vigilance88 24:56db31267f10 130 //highpass filter 20 Hz
Vigilance88 24:56db31267f10 131 const double high_b0 = 0.956543225556877;
Vigilance88 24:56db31267f10 132 const double high_b1 = -1.91308645113754;
Vigilance88 24:56db31267f10 133 const double high_b2 = 0.956543225556877;
Vigilance88 24:56db31267f10 134 const double high_a1 = -1.91197067426073;
Vigilance88 24:56db31267f10 135 const double high_a2 = 0.9149758348014341;
Vigilance88 24:56db31267f10 136
Vigilance88 24:56db31267f10 137 //notchfilter 50Hz
Vigilance88 36:4d4fc200171b 138 /*
Vigilance88 24:56db31267f10 139 Method = Butterworth
Vigilance88 24:56db31267f10 140 Biquad = Yes
Vigilance88 24:56db31267f10 141 Stable = Yes
Vigilance88 24:56db31267f10 142 Sampling Frequency = 500Hz
Vigilance88 24:56db31267f10 143 Filter Order = 2
Vigilance88 24:56db31267f10 144
Vigilance88 24:56db31267f10 145 Band Frequencies (Hz) Att/Ripple (dB) Biquad #1 Biquad #2
Vigilance88 24:56db31267f10 146
Vigilance88 24:56db31267f10 147 1 0, 48 0.001 Gain = 1.000000 Gain = 0.973674
Vigilance88 24:56db31267f10 148 2 49, 51 -60.000 B = [ 1.00000000000, -1.61816176147, 1.00000000000] B = [ 1.00000000000, -1.61816176147, 1.00000000000]
Vigilance88 24:56db31267f10 149 3 52, 250 0.001 A = [ 1.00000000000, -1.58071559235, 0.97319685401] A = [ 1.00000000000, -1.61244708381, 0.97415116257]
Vigilance88 24:56db31267f10 150 */
Vigilance88 24:56db31267f10 151
Vigilance88 24:56db31267f10 152 //biquad 1
Vigilance88 24:56db31267f10 153 const double notch1gain = 1.000000;
Vigilance88 24:56db31267f10 154 const double notch1_b0 = 1;
Vigilance88 24:56db31267f10 155 const double notch1_b1 = -1.61816176147 * notch1gain;
Vigilance88 24:56db31267f10 156 const double notch1_b2 = 1.00000000000 * notch1gain;
Vigilance88 24:56db31267f10 157 const double notch1_a1 = -1.58071559235 * notch1gain;
Vigilance88 24:56db31267f10 158 const double notch1_a2 = 0.97319685401 * notch1gain;
Vigilance88 24:56db31267f10 159
Vigilance88 24:56db31267f10 160 //biquad 2
Vigilance88 24:56db31267f10 161 const double notch2gain = 0.973674;
Vigilance88 24:56db31267f10 162 const double notch2_b0 = 1 * notch2gain;
Vigilance88 24:56db31267f10 163 const double notch2_b1 = -1.61816176147 * notch2gain;
Vigilance88 24:56db31267f10 164 const double notch2_b2 = 1.00000000000 * notch2gain;
Vigilance88 24:56db31267f10 165 const double notch2_a1 = -1.61244708381 * notch2gain;
Vigilance88 24:56db31267f10 166 const double notch2_a2 = 0.97415116257 * notch2gain;
Vigilance88 24:56db31267f10 167
Vigilance88 26:fe3a5469dd6b 168 //lowpass filter 7 Hz - envelope
Vigilance88 24:56db31267f10 169 const double low_b0 = 0.000119046743110057;
Vigilance88 24:56db31267f10 170 const double low_b1 = 0.000238093486220118;
Vigilance88 24:56db31267f10 171 const double low_b2 = 0.000119046743110057;
Vigilance88 24:56db31267f10 172 const double low_a1 = -1.968902268531908;
Vigilance88 24:56db31267f10 173 const double low_a2 = 0.9693784555043481;
Vigilance88 21:d6a46315d5f5 174
Vigilance88 51:e4a0ce7ff4b8 175 //Derivative lowpass filter 60 Hz - remove error noise
Vigilance88 51:e4a0ce7ff4b8 176 const double derlow_b0 = 0.027859766117136;
Vigilance88 51:e4a0ce7ff4b8 177 const double derlow_b1 = 0.0557195322342721;
Vigilance88 51:e4a0ce7ff4b8 178 const double derlow_b2 = 0.027859766117136;
Vigilance88 51:e4a0ce7ff4b8 179 const double derlow_a1 = -1.47548044359265;
Vigilance88 51:e4a0ce7ff4b8 180 const double derlow_a2 = 0.58691950806119;
Vigilance88 51:e4a0ce7ff4b8 181
Vigilance88 36:4d4fc200171b 182 //Forward Kinematics
Vigilance88 36:4d4fc200171b 183 const double l1 = 0.25; const double l2 = 0.25; //Arm lengths
Vigilance88 36:4d4fc200171b 184 double current_x; double current_y; //Current position
Vigilance88 54:4cda9af56bed 185 double theta1; double theta2; double theta3; //Current angles
Vigilance88 56:5ff9e5c1ed44 186 double deltatheta1; double deltatheta2; //Change in angles compared to mechanical lower limit - for servo
Vigilance88 54:4cda9af56bed 187 double servopos; //servo position in usec
Vigilance88 36:4d4fc200171b 188 double rpc; //Encoder resolution: radians per count
Vigilance88 36:4d4fc200171b 189
Vigilance88 36:4d4fc200171b 190 //Reference position
Vigilance88 28:743485bb51e4 191 double x; double y;
Vigilance88 36:4d4fc200171b 192
Vigilance88 39:e77f844d10d9 193 //Select whether to use Trig or DLS method, emg true or false
Vigilance88 38:c8ac615d0c8f 194 int control_method;
Vigilance88 39:e77f844d10d9 195 bool emg_control;
Vigilance88 38:c8ac615d0c8f 196
Vigilance88 36:4d4fc200171b 197 //Inverse Kinematics - Trig / Gonio method.
Vigilance88 36:4d4fc200171b 198 //First convert reference position to angle needed, then compare that angle to current angle.
Vigilance88 56:5ff9e5c1ed44 199 double reftheta1; double reftheta2; //reference angles
Vigilance88 36:4d4fc200171b 200 double costheta1; double sintheta1; //helper variables
Vigilance88 36:4d4fc200171b 201 double costheta2; double sintheta2; //
Vigilance88 36:4d4fc200171b 202
Vigilance88 36:4d4fc200171b 203 //Inverse Kinematics - Damped least squares method.
Vigilance88 36:4d4fc200171b 204 //Angle error is directly calculated from position error: dq = [DLS matrix] * position_error
Vigilance88 36:4d4fc200171b 205 // |DLS1 DLS2|
Vigilance88 36:4d4fc200171b 206 double dls1, dls2, dls3, dls4; //DLS matrix: |DLS3 DLS4|
Vigilance88 36:4d4fc200171b 207 double q1_error, q2_error; //Angle errors
Vigilance88 47:c52f9b4c90c4 208 double x_error, y_error; //Position errors
Vigilance88 36:4d4fc200171b 209 double lambda=0.1; //Damping constant
Vigilance88 58:db11481da856 210 double powlambda2, powlambda4;
Vigilance88 58:db11481da856 211 double powl1, powl2;
Vigilance88 58:db11481da856 212 double sintheta1theta2, costheta1theta2;
Vigilance88 21:d6a46315d5f5 213
Vigilance88 41:55face19e06b 214 //Mechanical Limits
Vigilance88 41:55face19e06b 215 int theta1_cal, theta2_cal; //Pulse counts at mechanical limits.
Vigilance88 41:55face19e06b 216 double theta1_lower=0.698132, theta1_upper=2.35619; //motor1: lower limit 40 degrees, upper limit 135
Vigilance88 41:55face19e06b 217 double theta2_lower=0.750492, theta2_upper=2.40855; //motor2: lower limit 43 degrees, upper limit 138 degrees.
Vigilance88 41:55face19e06b 218
Vigilance88 21:d6a46315d5f5 219 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 220 ---- Filters ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 221 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 24:56db31267f10 222
Vigilance88 24:56db31267f10 223 //Using biquadFilter library
Vigilance88 24:56db31267f10 224 //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered.
Vigilance88 26:fe3a5469dd6b 225 //Biceps
Vigilance88 24:56db31267f10 226 biquadFilter highpass( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 24:56db31267f10 227 biquadFilter notch1( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 24:56db31267f10 228 biquadFilter notch2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 24:56db31267f10 229 biquadFilter lowpass( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 230
Vigilance88 26:fe3a5469dd6b 231 //Triceps
Vigilance88 25:49ccdc98639a 232 biquadFilter highpass2( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 233 biquadFilter notch1_2( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 234 biquadFilter notch2_2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 235 biquadFilter lowpass2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 236
Vigilance88 26:fe3a5469dd6b 237 //Flexor
Vigilance88 25:49ccdc98639a 238 biquadFilter highpass3( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 239 biquadFilter notch1_3( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 240 biquadFilter notch2_3( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 241 biquadFilter lowpass3( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 242
Vigilance88 26:fe3a5469dd6b 243 //Extensor
Vigilance88 25:49ccdc98639a 244 biquadFilter highpass4( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 245 biquadFilter notch1_4( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 246 biquadFilter notch2_4( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 247 biquadFilter lowpass4( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 248
Vigilance88 51:e4a0ce7ff4b8 249 //PID filter (lowpass 60 Hz)
Vigilance88 51:e4a0ce7ff4b8 250 biquadFilter derfilter1( derlow_a1 , derlow_a2 , derlow_b0 , derlow_b1 , derlow_b2 ); // derivative filter
Vigilance88 51:e4a0ce7ff4b8 251 biquadFilter derfilter2( derlow_a1 , derlow_a2 , derlow_b0 , derlow_b1 , derlow_b2 ); // derivative filter
Vigilance88 40:d62f96ed44c0 252
Vigilance88 24:56db31267f10 253 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 254 ---- DECLARE FUNCTION NAMES ------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 255 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 26:fe3a5469dd6b 256
Vigilance88 26:fe3a5469dd6b 257 void sample_filter(void); //Sampling and filtering
Vigilance88 26:fe3a5469dd6b 258 void control(); //Control - reference -> error -> pid -> motor output
Vigilance88 56:5ff9e5c1ed44 259 void servo_control(); //Mouse alignment with servo
Vigilance88 37:4d7b7ced20ef 260 void calibrate_emg(); //Instructions + measurement of Min and MVC of each muscle
Vigilance88 26:fe3a5469dd6b 261 void emg_mvc(); //Helper funcion for storing MVC value
Vigilance88 37:4d7b7ced20ef 262 void emg_min(); //Helper function for storing Min value
Vigilance88 26:fe3a5469dd6b 263 void calibrate_arm(void); //Calibration of the arm with limit switches
Vigilance88 26:fe3a5469dd6b 264 void start_sampling(void); //Attaches the sample_filter function to a 500Hz ticker
Vigilance88 26:fe3a5469dd6b 265 void stop_sampling(void); //Stops sample_filter
Vigilance88 26:fe3a5469dd6b 266 void start_control(void); //Attaches the control function to a 100Hz ticker
Vigilance88 26:fe3a5469dd6b 267 void stop_control(void); //Stops control function
Vigilance88 37:4d7b7ced20ef 268
Vigilance88 26:fe3a5469dd6b 269 //Keeps the input between min and max value
Vigilance88 24:56db31267f10 270 void keep_in_range(double * in, double min, double max);
Vigilance88 26:fe3a5469dd6b 271
Vigilance88 26:fe3a5469dd6b 272 //Reusable PID controller, previous and integral error need to be passed by reference
Vigilance88 21:d6a46315d5f5 273 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev);
Vigilance88 47:c52f9b4c90c4 274 double pid2(double error, double kp, double ki, double kd,double &e_int, double &e_prev);
Vigilance88 18:44905b008f44 275
Vigilance88 26:fe3a5469dd6b 276 //Menu functions
Vigilance88 56:5ff9e5c1ed44 277 void debugging();
Vigilance88 58:db11481da856 278 void debug_trigger();
Vigilance88 21:d6a46315d5f5 279 void mainMenu();
Vigilance88 21:d6a46315d5f5 280 void caliMenu();
Vigilance88 28:743485bb51e4 281 void controlMenu();
Vigilance88 29:948b0b14f6be 282 void controlButtons();
Vigilance88 26:fe3a5469dd6b 283 void clearTerminal();
Vigilance88 28:743485bb51e4 284 void emgInstructions();
Vigilance88 28:743485bb51e4 285 void titleBox();
Vigilance88 26:fe3a5469dd6b 286
Vigilance88 32:76c4d7bb2022 287 //Limit switches - power off motors if switches hit (rising edge interrupt)
Vigilance88 47:c52f9b4c90c4 288 void calibrate(void);
Vigilance88 32:76c4d7bb2022 289 void shoulder();
Vigilance88 32:76c4d7bb2022 290 void elbow();
Vigilance88 21:d6a46315d5f5 291
Vigilance88 21:d6a46315d5f5 292 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 293 ---- MAIN LOOP -------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 294 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 56:5ff9e5c1ed44 295
Vigilance88 21:d6a46315d5f5 296 int main()
Vigilance88 21:d6a46315d5f5 297 {
Vigilance88 29:948b0b14f6be 298 pc.baud(115200); //serial baudrate
Vigilance88 30:a9fdd3202ca2 299 red=1; green=1; blue=1; //Make sure debug LEDs are off
Vigilance88 26:fe3a5469dd6b 300
Vigilance88 56:5ff9e5c1ed44 301 servoPwm.Enable(600,20000); //Start position servo, PWM period in usecs
Vigilance88 53:bf0d97487e84 302
Vigilance88 50:54f71544964c 303 //theta1_cal = floor(theta1_lower * (4200/(2*PI)));
Vigilance88 50:54f71544964c 304 //Encoder1.setPulses(theta1_cal); //edited QEI library: added setPulses()
Vigilance88 46:c8c5c455dd51 305
Vigilance88 46:c8c5c455dd51 306 //Mechanical limit 43 degrees -> 43*(4200/360) = 350
Vigilance88 50:54f71544964c 307 //theta2_cal = floor(theta2_lower * (4200/(2*PI)));
Vigilance88 50:54f71544964c 308 //Encoder2.setPulses(theta2_cal);
Vigilance88 46:c8c5c455dd51 309
Vigilance88 50:54f71544964c 310 //x = 0.2220;
Vigilance88 50:54f71544964c 311 //y = 0.4088;
Vigilance88 46:c8c5c455dd51 312
Vigilance88 26:fe3a5469dd6b 313 //Set PwmOut frequency to 10k Hz
Vigilance88 42:b9d26b1218b0 314 pwm_motor1.period(0.001);
Vigilance88 42:b9d26b1218b0 315 pwm_motor2.period(0.001);
Vigilance88 26:fe3a5469dd6b 316
Vigilance88 58:db11481da856 317 debugbtn.fall(&debug_trigger);
Vigilance88 58:db11481da856 318
Vigilance88 26:fe3a5469dd6b 319 clearTerminal(); //Clear the putty window
Vigilance88 26:fe3a5469dd6b 320
Vigilance88 24:56db31267f10 321 // make a menu, user has to initiate next step
Vigilance88 28:743485bb51e4 322 titleBox();
Vigilance88 26:fe3a5469dd6b 323 mainMenu();
Vigilance88 47:c52f9b4c90c4 324
Vigilance88 32:76c4d7bb2022 325 char command=0;
Vigilance88 27:d1814e271a95 326
Vigilance88 28:743485bb51e4 327 while(command != 'Q' && command != 'q')
Vigilance88 28:743485bb51e4 328 {
Vigilance88 28:743485bb51e4 329 if(pc.readable()){
Vigilance88 28:743485bb51e4 330 command = pc.getc();
Vigilance88 28:743485bb51e4 331
Vigilance88 28:743485bb51e4 332 switch(command){
Vigilance88 28:743485bb51e4 333
Vigilance88 28:743485bb51e4 334 case 'c':
Vigilance88 47:c52f9b4c90c4 335 case 'C': {
Vigilance88 28:743485bb51e4 336 pc.printf("\n\r => You chose calibration.\r\n\n");
Vigilance88 28:743485bb51e4 337 caliMenu();
Vigilance88 28:743485bb51e4 338
Vigilance88 28:743485bb51e4 339 char command2=0;
Vigilance88 28:743485bb51e4 340
Vigilance88 56:5ff9e5c1ed44 341 while(command2 != 'B' && command2 != 'b'){
Vigilance88 56:5ff9e5c1ed44 342 command2 = pc.getc();
Vigilance88 28:743485bb51e4 343 switch(command2){
Vigilance88 28:743485bb51e4 344 case 'a':
Vigilance88 28:743485bb51e4 345 case 'A':
Vigilance88 28:743485bb51e4 346 pc.printf("\n\r => Arm Calibration Starting... please wait \n\r");
Vigilance88 56:5ff9e5c1ed44 347 calibrate_arm(); wait(1);
Vigilance88 28:743485bb51e4 348 caliMenu();
Vigilance88 28:743485bb51e4 349 break;
Vigilance88 28:743485bb51e4 350
Vigilance88 28:743485bb51e4 351 case 'e':
Vigilance88 28:743485bb51e4 352 case 'E':
Vigilance88 28:743485bb51e4 353 pc.printf("\n\r => EMG Calibration Starting... please wait \n\r");
Vigilance88 28:743485bb51e4 354 wait(1);
Vigilance88 28:743485bb51e4 355 emgInstructions();
Vigilance88 28:743485bb51e4 356 calibrate_emg();
Vigilance88 32:76c4d7bb2022 357 pc.printf("\n\r------------------------- \n\r");
Vigilance88 28:743485bb51e4 358 pc.printf("\n\r EMG Calibration complete \n\r");
Vigilance88 32:76c4d7bb2022 359 pc.printf("\n\r------------------------- \n\r");
Vigilance88 28:743485bb51e4 360 caliMenu();
Vigilance88 28:743485bb51e4 361 break;
Vigilance88 28:743485bb51e4 362
Vigilance88 28:743485bb51e4 363 case 'b':
Vigilance88 28:743485bb51e4 364 case 'B':
Vigilance88 28:743485bb51e4 365 pc.printf("\n\r => Going back to main menu.. \n\r");
Vigilance88 28:743485bb51e4 366 mainMenu();
Vigilance88 28:743485bb51e4 367 break;
Vigilance88 28:743485bb51e4 368 }//end switch
Vigilance88 28:743485bb51e4 369
Vigilance88 56:5ff9e5c1ed44 370 }//end while
Vigilance88 56:5ff9e5c1ed44 371 break;
Vigilance88 47:c52f9b4c90c4 372 }//end case c C
Vigilance88 35:7d9fca0b1545 373 case 't':
Vigilance88 35:7d9fca0b1545 374 case 'T':
Vigilance88 56:5ff9e5c1ed44 375 pc.printf("=> You chose TRIG button control \r\n\n"); wait(1);
Vigilance88 56:5ff9e5c1ed44 376 start_sampling(); wait(1);
Vigilance88 39:e77f844d10d9 377 emg_control=false;
Vigilance88 38:c8ac615d0c8f 378 control_method=1;
Vigilance88 56:5ff9e5c1ed44 379 start_control(); wait(1);
Vigilance88 56:5ff9e5c1ed44 380 if(debug)
Vigilance88 56:5ff9e5c1ed44 381 {
Vigilance88 56:5ff9e5c1ed44 382 debug_timer.attach(&debugging,1);
Vigilance88 56:5ff9e5c1ed44 383 }
Vigilance88 29:948b0b14f6be 384 controlButtons();
Vigilance88 28:743485bb51e4 385 break;
Vigilance88 35:7d9fca0b1545 386 case 'd':
Vigilance88 35:7d9fca0b1545 387 case 'D':
Vigilance88 56:5ff9e5c1ed44 388 pc.printf("=> You chose DLS button control \r\n\n"); wait(1);
Vigilance88 56:5ff9e5c1ed44 389 start_sampling(); wait(1);
Vigilance88 39:e77f844d10d9 390 emg_control=false;
Vigilance88 38:c8ac615d0c8f 391 control_method=2;
Vigilance88 56:5ff9e5c1ed44 392 start_control(); wait(1);
Vigilance88 56:5ff9e5c1ed44 393 if(debug)
Vigilance88 56:5ff9e5c1ed44 394 {
Vigilance88 56:5ff9e5c1ed44 395 debug_timer.attach(&debugging,1);
Vigilance88 56:5ff9e5c1ed44 396 }
Vigilance88 35:7d9fca0b1545 397 controlButtons();
Vigilance88 35:7d9fca0b1545 398 break;
Vigilance88 39:e77f844d10d9 399 case 'e':
Vigilance88 39:e77f844d10d9 400 case 'E':
Vigilance88 56:5ff9e5c1ed44 401 pc.printf("=> You chose EMG DLS control \r\n\n"); wait(1);
Vigilance88 56:5ff9e5c1ed44 402 start_sampling(); wait(1);
Vigilance88 46:c8c5c455dd51 403 emg_control_time = 0;
Vigilance88 39:e77f844d10d9 404 emg_control=true;
Vigilance88 39:e77f844d10d9 405 control_method=2;
Vigilance88 56:5ff9e5c1ed44 406 start_control(); wait(1);
Vigilance88 58:db11481da856 407
Vigilance88 56:5ff9e5c1ed44 408 controlButtons();
Vigilance88 47:c52f9b4c90c4 409
Vigilance88 39:e77f844d10d9 410 break;
Vigilance88 28:743485bb51e4 411 case 'R':
Vigilance88 28:743485bb51e4 412 red=!red;
Vigilance88 28:743485bb51e4 413 pc.printf("=> Red LED triggered \n\r");
Vigilance88 28:743485bb51e4 414 break;
Vigilance88 28:743485bb51e4 415 case 'G':
Vigilance88 28:743485bb51e4 416 green=!green;
Vigilance88 28:743485bb51e4 417 pc.printf("=> Green LED triggered \n\r");
Vigilance88 28:743485bb51e4 418 break;
Vigilance88 28:743485bb51e4 419 case 'B':
Vigilance88 28:743485bb51e4 420 blue=!blue;
Vigilance88 28:743485bb51e4 421 pc.printf("=> Blue LED triggered \n\r");
Vigilance88 28:743485bb51e4 422 break;
Vigilance88 28:743485bb51e4 423 case 'q':
Vigilance88 28:743485bb51e4 424 case 'Q':
Vigilance88 28:743485bb51e4 425
Vigilance88 28:743485bb51e4 426 break;
Vigilance88 28:743485bb51e4 427 default:
Vigilance88 28:743485bb51e4 428 pc.printf("=> Invalid Input \n\r");
Vigilance88 28:743485bb51e4 429 break;
Vigilance88 28:743485bb51e4 430 } //end switch
Vigilance88 28:743485bb51e4 431 } // end if pc readable
Vigilance88 28:743485bb51e4 432
Vigilance88 28:743485bb51e4 433 } // end while loop
Vigilance88 28:743485bb51e4 434
Vigilance88 47:c52f9b4c90c4 435 //When end of while loop reached (user chose quit program).
Vigilance88 28:743485bb51e4 436
Vigilance88 28:743485bb51e4 437 pc.printf("\r\n------------------------------ \n\r");
Vigilance88 28:743485bb51e4 438 pc.printf("Program Offline \n\r");
Vigilance88 28:743485bb51e4 439 pc.printf("Reset to start\r\n");
Vigilance88 28:743485bb51e4 440 pc.printf("------------------------------ \n\r");
Vigilance88 28:743485bb51e4 441 }
Vigilance88 28:743485bb51e4 442 //end of main
Vigilance88 28:743485bb51e4 443
Vigilance88 28:743485bb51e4 444 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 445 ---- FUNCTIONS -------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 446 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 28:743485bb51e4 447
Vigilance88 56:5ff9e5c1ed44 448 //Debug function: prints important variables to check if things are calculating correctly - find errors
Vigilance88 58:db11481da856 449
Vigilance88 58:db11481da856 450 void debug_trigger(){
Vigilance88 58:db11481da856 451 debug=!debug;
Vigilance88 59:ca85ce2b1ffc 452 printf("Debug triggered: %s \r\n", debug ? "ON" : "OFF");
Vigilance88 58:db11481da856 453 }
Vigilance88 58:db11481da856 454
Vigilance88 56:5ff9e5c1ed44 455 void debugging()
Vigilance88 56:5ff9e5c1ed44 456 {
Vigilance88 58:db11481da856 457 if(debug==true){
Vigilance88 56:5ff9e5c1ed44 458 //Debugging values:
Vigilance88 56:5ff9e5c1ed44 459 pc.printf("\r\nRef pos: %f and %f \r\n",x,y);
Vigilance88 61:8226830f3272 460 //pc.printf("Cur pos: %f and %f \r\n",current_x,current_y);
Vigilance88 61:8226830f3272 461 //pc.printf("Pos Error: %f and %f \r\n",x_error,y_error);
Vigilance88 57:d6192801fd6d 462 //pc.printf("Cur angles: %f and %f \r\n",theta1,theta2);
Vigilance88 57:d6192801fd6d 463 //pc.printf("DLS1: %f and DLS2 %f and DLS3 %f and DLS4: %f \r\n",dls1,dls2,dls3,dls4);
Vigilance88 61:8226830f3272 464 //pc.printf("Error angles: %f and %f \r\n",m1_error,m2_error);
Vigilance88 61:8226830f3272 465 //pc.printf("PID output: %f and %f \r\n",u1,u2);
Vigilance88 56:5ff9e5c1ed44 466 pc.printf("----------------------------------------\r\n");
Vigilance88 56:5ff9e5c1ed44 467 pc.printf("Buffer1: %f \r\n",biceps_avg);
Vigilance88 56:5ff9e5c1ed44 468 pc.printf("Buffer2: %f \r\n",triceps_avg);
Vigilance88 56:5ff9e5c1ed44 469 pc.printf("Buffer3: %f \r\n",flexor_avg);
Vigilance88 56:5ff9e5c1ed44 470 pc.printf("Buffer4: %f \r\n",extens_avg);
Vigilance88 61:8226830f3272 471 //pc.printf("----------------------------------------\r\n");
Vigilance88 61:8226830f3272 472 //pc.printf("Theta3: %f \r\n",theta3);
Vigilance88 61:8226830f3272 473 //pc.printf("Servopos us: %f \r\n",servopos);
Vigilance88 56:5ff9e5c1ed44 474 pc.printf("----------------------------------------\r\n");
Vigilance88 56:5ff9e5c1ed44 475
Vigilance88 58:db11481da856 476 }
Vigilance88 56:5ff9e5c1ed44 477 }
Vigilance88 56:5ff9e5c1ed44 478
Vigilance88 56:5ff9e5c1ed44 479 //Calculates how much servo needs to move to keep mouse aligned
Vigilance88 56:5ff9e5c1ed44 480 void servo_control(){
Vigilance88 56:5ff9e5c1ed44 481 //Servo alignment
Vigilance88 56:5ff9e5c1ed44 482 //When shoulder or elbow angle increases from starting position --> servo needs to turn counterclockwise to keep mouse aligned.
Vigilance88 56:5ff9e5c1ed44 483 deltatheta1 = theta1 - theta1_lower;
Vigilance88 56:5ff9e5c1ed44 484 deltatheta2 = theta2 - theta2_lower;
Vigilance88 56:5ff9e5c1ed44 485 theta3 = deltatheta1 + deltatheta2;
Vigilance88 60:6541eec8d6ad 486 servopos = (2100/PI)*theta3 + 600;
Vigilance88 56:5ff9e5c1ed44 487 servoPwm.SetPosition(servopos);
Vigilance88 56:5ff9e5c1ed44 488
Vigilance88 56:5ff9e5c1ed44 489 //old:
Vigilance88 56:5ff9e5c1ed44 490 //theta3 = 1.5*PI - deltatheta1 - deltatheta2;
Vigilance88 56:5ff9e5c1ed44 491 //servopos = -(2100/PI)*theta3 + 2700;
Vigilance88 56:5ff9e5c1ed44 492 }
Vigilance88 56:5ff9e5c1ed44 493
Vigilance88 47:c52f9b4c90c4 494 //Use WASD keys to change reference position, x is a and d, y is w and s.
Vigilance88 29:948b0b14f6be 495 void controlButtons()
Vigilance88 28:743485bb51e4 496 {
Vigilance88 28:743485bb51e4 497 controlMenu();
Vigilance88 58:db11481da856 498 debug_timer.attach(&debugging,1);
Vigilance88 28:743485bb51e4 499 char c=0;
Vigilance88 28:743485bb51e4 500 while(c != 'Q' && c != 'q') {
Vigilance88 56:5ff9e5c1ed44 501
Vigilance88 27:d1814e271a95 502
Vigilance88 51:e4a0ce7ff4b8 503 if( pc.readable() ){
Vigilance88 27:d1814e271a95 504 c = pc.getc();
Vigilance88 27:d1814e271a95 505 switch (c)
Vigilance88 27:d1814e271a95 506 {
Vigilance88 38:c8ac615d0c8f 507 case 'd' :
Vigilance88 27:d1814e271a95 508 x = x + 0.01;
Vigilance88 32:76c4d7bb2022 509
Vigilance88 27:d1814e271a95 510 break;
Vigilance88 27:d1814e271a95 511
Vigilance88 38:c8ac615d0c8f 512 case 'a' :
Vigilance88 27:d1814e271a95 513 x-=0.01;
Vigilance88 32:76c4d7bb2022 514
Vigilance88 27:d1814e271a95 515 break;
Vigilance88 27:d1814e271a95 516
Vigilance88 38:c8ac615d0c8f 517 case 'w' :
Vigilance88 27:d1814e271a95 518 y+=0.01;
Vigilance88 32:76c4d7bb2022 519
Vigilance88 27:d1814e271a95 520 break;
Vigilance88 27:d1814e271a95 521
Vigilance88 27:d1814e271a95 522
Vigilance88 38:c8ac615d0c8f 523 case 's' :
Vigilance88 27:d1814e271a95 524 y-=0.01;
Vigilance88 32:76c4d7bb2022 525
Vigilance88 27:d1814e271a95 526 break;
Vigilance88 27:d1814e271a95 527
Vigilance88 56:5ff9e5c1ed44 528 case 'g' :
Vigilance88 56:5ff9e5c1ed44 529 debug=true;
Vigilance88 56:5ff9e5c1ed44 530 break;
Vigilance88 27:d1814e271a95 531 case 'q' :
Vigilance88 28:743485bb51e4 532 case 'Q' :
Vigilance88 28:743485bb51e4 533 pc.printf("=> Quitting control... \r\n"); wait(1);
Vigilance88 28:743485bb51e4 534 stop_sampling();
Vigilance88 28:743485bb51e4 535 stop_control();
Vigilance88 56:5ff9e5c1ed44 536 debug_timer.detach();
Vigilance88 28:743485bb51e4 537 pc.printf("Sampling and Control detached \n\r"); wait(1);
Vigilance88 28:743485bb51e4 538 pc.printf("Returning to Main Menu \r\n\n"); wait(1);
Vigilance88 28:743485bb51e4 539 mainMenu();
Vigilance88 47:c52f9b4c90c4 540
Vigilance88 27:d1814e271a95 541 break;
Vigilance88 27:d1814e271a95 542 }//end switch
Vigilance88 55:726fdab812a9 543 /* if(c!='q' && c!='Q'){
Vigilance88 55:726fdab812a9 544 pc.printf("Reference position: %f and %f \r\n",x,y);
Vigilance88 55:726fdab812a9 545 pc.printf("Current position: %f and %f \r\n",current_x,current_y);
Vigilance88 55:726fdab812a9 546 pc.printf("Pos Error: %f and %f \r\n",x_error,y_error);
Vigilance88 55:726fdab812a9 547 pc.printf("Current angles: %f and %f \r\n",theta1,theta2);
Vigilance88 55:726fdab812a9 548 pc.printf("DLS1: %f and DLS2 %f and DLS3 %f and DLS4: %f \r\n",dls1,dls2,dls3,dls4);
Vigilance88 55:726fdab812a9 549 pc.printf("Error in angles: %f and %f \r\n",q1_error,q2_error);
Vigilance88 55:726fdab812a9 550 pc.printf("PID output: %f and %f \r\n",u1,u2);
Vigilance88 55:726fdab812a9 551 pc.printf("----------------------------------------\r\n");
Vigilance88 55:726fdab812a9 552 pc.printf("Buffer 1: %f \r\n",biceps_avg);
Vigilance88 55:726fdab812a9 553 pc.printf("Buffer 2: %f \r\n",triceps_avg);
Vigilance88 55:726fdab812a9 554 pc.printf("Buffer 3: %f \r\n",flexor_avg);
Vigilance88 55:726fdab812a9 555 pc.printf("Buffer 4: %f \r\n",extens_avg);
Vigilance88 55:726fdab812a9 556 pc.printf("----------------------------------------\r\n");
Vigilance88 55:726fdab812a9 557 pc.printf("Theta 3: %f \r\n",theta3);
Vigilance88 55:726fdab812a9 558 pc.printf("Servoposition (us): %f \r\n",servopos);
Vigilance88 55:726fdab812a9 559 pc.printf("----------------------------------------\r\n");
Vigilance88 55:726fdab812a9 560 }*/
Vigilance88 28:743485bb51e4 561 }
Vigilance88 47:c52f9b4c90c4 562 //end if pc readable
Vigilance88 51:e4a0ce7ff4b8 563
Vigilance88 50:54f71544964c 564
Vigilance88 21:d6a46315d5f5 565 }
Vigilance88 21:d6a46315d5f5 566 //end of while loop
Vigilance88 30:a9fdd3202ca2 567 }
Vigilance88 18:44905b008f44 568
Vigilance88 21:d6a46315d5f5 569 //Sample and Filter
Vigilance88 21:d6a46315d5f5 570 void sample_filter(void)
Vigilance88 18:44905b008f44 571 {
Vigilance88 32:76c4d7bb2022 572 emg_biceps = emg1.read(); //Biceps
Vigilance88 32:76c4d7bb2022 573 emg_triceps = emg2.read(); //Triceps
Vigilance88 32:76c4d7bb2022 574 emg_flexor = emg3.read(); //Flexor
Vigilance88 32:76c4d7bb2022 575 emg_extens = emg4.read(); //Extensor
Vigilance88 21:d6a46315d5f5 576
Vigilance88 21:d6a46315d5f5 577 //Filter: high-pass -> notch -> rectify -> lowpass or moving average
Vigilance88 22:1ba637601dc3 578 // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad?
Vigilance88 25:49ccdc98639a 579 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 580 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 581 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 582 biceps_power = abs(biceps_power); triceps_power = abs(triceps_power); flexor_power = abs(flexor_power); extens_power = abs(extens_power);
Vigilance88 25:49ccdc98639a 583 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 584
Vigilance88 52:8a8c53dc8547 585 //send filtered emg to scope
Vigilance88 55:726fdab812a9 586 /*scope.set(0,biceps_power);
Vigilance88 55:726fdab812a9 587 scope.set(1,triceps_power);
Vigilance88 55:726fdab812a9 588 scope.set(2,flexor_power);
Vigilance88 55:726fdab812a9 589 scope.set(3,extens_power);
Vigilance88 55:726fdab812a9 590 scope.send();
Vigilance88 55:726fdab812a9 591 */
Vigilance88 55:726fdab812a9 592 //send normalized emg to scope
Vigilance88 55:726fdab812a9 593 //scope.set(0,biceps);
Vigilance88 55:726fdab812a9 594 //scope.set(1,triceps);
Vigilance88 55:726fdab812a9 595 //scope.set(2,flexor);
Vigilance88 55:726fdab812a9 596 //scope.set(3,extens);
Vigilance88 50:54f71544964c 597 //scope.send();
Vigilance88 44:145827f5b091 598
Vigilance88 18:44905b008f44 599 }
Vigilance88 18:44905b008f44 600
Vigilance88 32:76c4d7bb2022 601
Vigilance88 32:76c4d7bb2022 602
Vigilance88 18:44905b008f44 603 //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position.
Vigilance88 19:0a3ee31dcdb4 604 void calibrate_arm(void)
Vigilance88 19:0a3ee31dcdb4 605 {
Vigilance88 28:743485bb51e4 606 pc.printf("Calibrate_arm() entered\r\n");
Vigilance88 47:c52f9b4c90c4 607
Vigilance88 47:c52f9b4c90c4 608 calibrating = true;
Vigilance88 32:76c4d7bb2022 609 done1 = false;
Vigilance88 32:76c4d7bb2022 610 done2 = false;
Vigilance88 32:76c4d7bb2022 611
Vigilance88 27:d1814e271a95 612 pc.printf("To start arm calibration, press any key =>");
Vigilance88 47:c52f9b4c90c4 613 pc.getc();
Vigilance88 27:d1814e271a95 614 pc.printf("\r\n Calibrating... \r\n");
Vigilance88 47:c52f9b4c90c4 615 red=0; blue=0; //Debug light is purple during arm calibration
Vigilance88 47:c52f9b4c90c4 616
Vigilance88 36:4d4fc200171b 617 dir_motor1=0; //cw
Vigilance88 36:4d4fc200171b 618 dir_motor2=1; //cw
Vigilance88 36:4d4fc200171b 619
Vigilance88 47:c52f9b4c90c4 620 control_timer.attach(&calibrate,CONTROL_RATE);
Vigilance88 26:fe3a5469dd6b 621
Vigilance88 26:fe3a5469dd6b 622 while(calibrating){
Vigilance88 47:c52f9b4c90c4 623 shoulder_limit.fall(&shoulder);
Vigilance88 47:c52f9b4c90c4 624 elbow_limit.fall(&elbow);
Vigilance88 47:c52f9b4c90c4 625 if(done1 && done2){
Vigilance88 47:c52f9b4c90c4 626 pwm_motor2=0;
Vigilance88 47:c52f9b4c90c4 627 control_timer.detach(); //Leave while loop when both limits are reached
Vigilance88 47:c52f9b4c90c4 628 red=1; blue=1; //Turn debug light off when calibration complete
Vigilance88 47:c52f9b4c90c4 629 //set reference position to mechanical limits
Vigilance88 47:c52f9b4c90c4 630 calibrating=false;
Vigilance88 27:d1814e271a95 631
Vigilance88 47:c52f9b4c90c4 632 x = l1 * cos(theta1_lower) + l2 * cos(theta1_lower + theta2_lower);
Vigilance88 47:c52f9b4c90c4 633 y = l1 * sin(theta1_lower) + l2 * sin(theta1_lower + theta2_lower);
Vigilance88 47:c52f9b4c90c4 634 //x = 0.2220;
Vigilance88 47:c52f9b4c90c4 635 //y = 0.4088;
Vigilance88 47:c52f9b4c90c4 636 }
Vigilance88 47:c52f9b4c90c4 637 }
Vigilance88 47:c52f9b4c90c4 638 pc.printf("Current pulsecount motor 1: %i, motor 2: %i \r\n",Encoder1.getPulses(),Encoder2.getPulses());
Vigilance88 47:c52f9b4c90c4 639 pc.printf("Current reference. X: %f, Y: %f \r\n",x,y);
Vigilance88 47:c52f9b4c90c4 640 wait(1);
Vigilance88 47:c52f9b4c90c4 641 pc.printf("\n\r-------------------------- \n\r");
Vigilance88 47:c52f9b4c90c4 642 pc.printf(" Arm Calibration Complete\r\n");
Vigilance88 47:c52f9b4c90c4 643 pc.printf("-------------------------- \n\r");
Vigilance88 47:c52f9b4c90c4 644
Vigilance88 19:0a3ee31dcdb4 645 }
Vigilance88 19:0a3ee31dcdb4 646
Vigilance88 58:db11481da856 647 //Limit switch - if hit: set pulsecount of encoder to angle of lower mechanical limit
Vigilance88 58:db11481da856 648 void shoulder()
Vigilance88 58:db11481da856 649 {
Vigilance88 58:db11481da856 650 pwm_motor1=0;
Vigilance88 58:db11481da856 651 done1 = true;
Vigilance88 58:db11481da856 652 pc.printf("Shoulder Limit hit - shutting down motor 1\r\n");
Vigilance88 58:db11481da856 653 //mechanical angle limits -> pulses. If 40 degrees -> counts = floor( 40 * (4200/360) )
Vigilance88 58:db11481da856 654 theta1_cal = floor(theta1_lower * (4200/(2*PI)));
Vigilance88 58:db11481da856 655 Encoder1.setPulses(theta1_cal); //edited QEI library: added setPulses(int p)
Vigilance88 25:49ccdc98639a 656 }
Vigilance88 25:49ccdc98639a 657
Vigilance88 58:db11481da856 658 void elbow(){
Vigilance88 58:db11481da856 659 pwm_motor2=0;
Vigilance88 58:db11481da856 660 done2 = true;
Vigilance88 58:db11481da856 661 pc.printf("Elbow Limit hit - shutting down motor 2\r\n");
Vigilance88 58:db11481da856 662
Vigilance88 58:db11481da856 663 //Mechanical limit 43 degrees -> 43*(4200/360) = 350
Vigilance88 58:db11481da856 664 theta2_cal = floor(theta2_lower * (4200/(2*PI)));
Vigilance88 58:db11481da856 665 Encoder2.setPulses(theta2_cal); //edited QEI library: added setPulses(int p)
Vigilance88 58:db11481da856 666 }
Vigilance88 35:7d9fca0b1545 667
Vigilance88 58:db11481da856 668 //Run motors slowly clockwise to mechanical limit. Attached to 100Hz ticker
Vigilance88 58:db11481da856 669 void calibrate(void){
Vigilance88 58:db11481da856 670 if(done1==false){ //if motor 1 limit has not been hit yet
Vigilance88 58:db11481da856 671 pwm_motor1=0.4; //move upper arm slowly cw
Vigilance88 58:db11481da856 672 pc.printf("Motor 1 running %f \r\n");
Vigilance88 58:db11481da856 673 }
Vigilance88 58:db11481da856 674 if(done1==true && done2==false){ //if limit motor 1 has been hit
Vigilance88 58:db11481da856 675 pwm_motor1=0; //stop motor1
Vigilance88 58:db11481da856 676 pwm_motor2=0.4; //start moving forearm slowly cw
Vigilance88 58:db11481da856 677 pc.printf("Motor 2 running %f \r\n");
Vigilance88 58:db11481da856 678 }
Vigilance88 35:7d9fca0b1545 679 }
Vigilance88 35:7d9fca0b1545 680
Vigilance88 25:49ccdc98639a 681 //EMG calibration
Vigilance88 25:49ccdc98639a 682 void calibrate_emg()
Vigilance88 25:49ccdc98639a 683 {
Vigilance88 25:49ccdc98639a 684 Ticker timer;
Vigilance88 25:49ccdc98639a 685
Vigilance88 38:c8ac615d0c8f 686 pc.printf("Starting sampling, to allow hidscope to normalize\r\n");
Vigilance88 38:c8ac615d0c8f 687 start_sampling();
Vigilance88 25:49ccdc98639a 688 wait(1);
Vigilance88 48:a1f97eb8c020 689
Vigilance88 48:a1f97eb8c020 690 /******************* All muscles: minimum measurement *************************/
Vigilance88 48:a1f97eb8c020 691 pc.printf("Start of minimum measurement, relax all muscles.\r\n");
Vigilance88 35:7d9fca0b1545 692 wait(1);
Vigilance88 35:7d9fca0b1545 693 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 35:7d9fca0b1545 694 char input;
Vigilance88 35:7d9fca0b1545 695 input=pc.getc();
Vigilance88 35:7d9fca0b1545 696 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 697 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 698 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 699
Vigilance88 35:7d9fca0b1545 700 timer.attach(&emg_min,SAMPLE_RATE);
Vigilance88 56:5ff9e5c1ed44 701 wait(3);
Vigilance88 35:7d9fca0b1545 702 timer.detach();
Vigilance88 35:7d9fca0b1545 703 pc.printf("\r\n Measurement complete."); wait(1);
Vigilance88 35:7d9fca0b1545 704 pc.printf("\r\n Biceps min = %f \r\n",bicepsmin); wait(1);
Vigilance88 35:7d9fca0b1545 705 pc.printf("\r\n Triceps min = %f \r\n",tricepsmin); wait(1);
Vigilance88 35:7d9fca0b1545 706 pc.printf("\r\n Flexor min = %f \r\n",flexormin); wait(1);
Vigilance88 35:7d9fca0b1545 707 pc.printf("\r\n Extensor min = %f \r\n",extensmin); wait(1);
Vigilance88 48:a1f97eb8c020 708 /******************************** Done ****************************************/
Vigilance88 35:7d9fca0b1545 709
Vigilance88 48:a1f97eb8c020 710 pc.printf("\r\n Now we will measure maximum amplitudes \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 711 pc.printf("+ means current sample is higher than stored MVC\r\n");
Vigilance88 25:49ccdc98639a 712 pc.printf("- means current sample is lower than stored MVC\r\n");
Vigilance88 48:a1f97eb8c020 713 wait(1);
Vigilance88 48:a1f97eb8c020 714 calibrate_time=0;
Vigilance88 48:a1f97eb8c020 715
Vigilance88 48:a1f97eb8c020 716 /********************* 1st channel: MVC measurement ***************************/
Vigilance88 28:743485bb51e4 717 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 718 pc.printf(" Biceps is first.\r\n ");
Vigilance88 28:743485bb51e4 719 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 720 wait(1);
Vigilance88 25:49ccdc98639a 721 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 722 input=pc.getc();
Vigilance88 25:49ccdc98639a 723 pc.putc(input);
Vigilance88 25:49ccdc98639a 724 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 725 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 726 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 727
Vigilance88 25:49ccdc98639a 728 muscle=1;
Vigilance88 27:d1814e271a95 729 timer.attach(&emg_mvc,SAMPLE_RATE);
Vigilance88 56:5ff9e5c1ed44 730 wait(3);
Vigilance88 25:49ccdc98639a 731 timer.detach();
Vigilance88 26:fe3a5469dd6b 732
Vigilance88 26:fe3a5469dd6b 733 pc.printf("\r\n Measurement complete."); wait(1);
Vigilance88 26:fe3a5469dd6b 734 pc.printf("\r\n Biceps MVC = %f \r\n",bicepsMVC); wait(1);
Vigilance88 26:fe3a5469dd6b 735 pc.printf("Calibrate_emg() exited \r\n"); wait(1);
Vigilance88 26:fe3a5469dd6b 736 pc.printf("Measured time: %f seconds \r\n\n",calibrate_time);
Vigilance88 25:49ccdc98639a 737 calibrate_time=0;
Vigilance88 48:a1f97eb8c020 738 /******************************** Done ****************************************/
Vigilance88 25:49ccdc98639a 739
Vigilance88 48:a1f97eb8c020 740 /********************* 2nd channel: MVC measurement ***************************/
Vigilance88 26:fe3a5469dd6b 741 muscle=2;
Vigilance88 28:743485bb51e4 742 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 743 pc.printf(" Triceps is next.\r\n ");
Vigilance88 28:743485bb51e4 744 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 745 wait(1);
Vigilance88 28:743485bb51e4 746
Vigilance88 25:49ccdc98639a 747 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 748 input=pc.getc();
Vigilance88 25:49ccdc98639a 749 pc.putc(input);
Vigilance88 25:49ccdc98639a 750 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 751 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 752 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 48:a1f97eb8c020 753
Vigilance88 25:49ccdc98639a 754 timer.attach(&emg_mvc,0.002);
Vigilance88 56:5ff9e5c1ed44 755 wait(3);
Vigilance88 25:49ccdc98639a 756 timer.detach();
Vigilance88 25:49ccdc98639a 757 pc.printf("\r\n Triceps MVC = %f \r\n",tricepsMVC);
Vigilance88 25:49ccdc98639a 758
Vigilance88 25:49ccdc98639a 759 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 25:49ccdc98639a 760 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 25:49ccdc98639a 761 calibrate_time=0;
Vigilance88 48:a1f97eb8c020 762 /******************************** Done ****************************************/
Vigilance88 48:a1f97eb8c020 763
Vigilance88 48:a1f97eb8c020 764 /********************* 3rd channel: MVC measurement ***************************/
Vigilance88 26:fe3a5469dd6b 765 muscle=3;
Vigilance88 35:7d9fca0b1545 766 pc.printf("\r\n----------------\r\n ");
Vigilance88 35:7d9fca0b1545 767 pc.printf(" Flexor is next.\r\n ");
Vigilance88 35:7d9fca0b1545 768 pc.printf("----------------\r\n ");
Vigilance88 35:7d9fca0b1545 769 wait(1);
Vigilance88 35:7d9fca0b1545 770
Vigilance88 35:7d9fca0b1545 771 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 35:7d9fca0b1545 772 input=pc.getc();
Vigilance88 35:7d9fca0b1545 773 pc.putc(input);
Vigilance88 35:7d9fca0b1545 774 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 775 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 776 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 48:a1f97eb8c020 777
Vigilance88 35:7d9fca0b1545 778 timer.attach(&emg_mvc,0.002);
Vigilance88 56:5ff9e5c1ed44 779 wait(3);
Vigilance88 35:7d9fca0b1545 780 timer.detach();
Vigilance88 35:7d9fca0b1545 781 pc.printf("\r\n Flexor MVC = %f \r\n",flexorMVC);
Vigilance88 35:7d9fca0b1545 782
Vigilance88 35:7d9fca0b1545 783 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 35:7d9fca0b1545 784 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 35:7d9fca0b1545 785 calibrate_time=0;
Vigilance88 48:a1f97eb8c020 786 /******************************** Done ****************************************/
Vigilance88 35:7d9fca0b1545 787
Vigilance88 48:a1f97eb8c020 788 /********************* 4th channel: MVC measurement ***************************/
Vigilance88 26:fe3a5469dd6b 789 muscle=4;
Vigilance88 35:7d9fca0b1545 790 pc.printf("\r\n----------------\r\n ");
Vigilance88 35:7d9fca0b1545 791 pc.printf(" Extensor is next.\r\n ");
Vigilance88 35:7d9fca0b1545 792 pc.printf("----------------\r\n ");
Vigilance88 35:7d9fca0b1545 793 wait(1);
Vigilance88 35:7d9fca0b1545 794
Vigilance88 35:7d9fca0b1545 795 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 35:7d9fca0b1545 796 input=pc.getc();
Vigilance88 35:7d9fca0b1545 797 pc.putc(input);
Vigilance88 35:7d9fca0b1545 798 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 799 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 800 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 48:a1f97eb8c020 801
Vigilance88 35:7d9fca0b1545 802 timer.attach(&emg_mvc,0.002);
Vigilance88 56:5ff9e5c1ed44 803 wait(3);
Vigilance88 35:7d9fca0b1545 804 timer.detach();
Vigilance88 35:7d9fca0b1545 805 pc.printf("\r\n Extensor MVC = %f \r\n",extensMVC);
Vigilance88 25:49ccdc98639a 806
Vigilance88 35:7d9fca0b1545 807 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 35:7d9fca0b1545 808 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 35:7d9fca0b1545 809 calibrate_time=0;
Vigilance88 48:a1f97eb8c020 810 /******************************** Done ****************************************/
Vigilance88 48:a1f97eb8c020 811
Vigilance88 48:a1f97eb8c020 812 //Stop sampling: detach ticker
Vigilance88 25:49ccdc98639a 813 stop_sampling();
Vigilance88 24:56db31267f10 814
Vigilance88 18:44905b008f44 815 }
Vigilance88 18:44905b008f44 816
Vigilance88 18:44905b008f44 817
Vigilance88 58:db11481da856 818 //EMG Maximum Voluntary Contraction measurement
Vigilance88 58:db11481da856 819 void emg_mvc()
Vigilance88 58:db11481da856 820 {
Vigilance88 58:db11481da856 821 if(muscle==1){
Vigilance88 58:db11481da856 822
Vigilance88 58:db11481da856 823 if(biceps_power>bicepsMVC){
Vigilance88 58:db11481da856 824 //printf("+ ");
Vigilance88 58:db11481da856 825 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 58:db11481da856 826 bicepsMVC=biceps_power;
Vigilance88 58:db11481da856 827 }
Vigilance88 58:db11481da856 828 else
Vigilance88 58:db11481da856 829 printf("- ");
Vigilance88 58:db11481da856 830 }
Vigilance88 58:db11481da856 831
Vigilance88 58:db11481da856 832 if(muscle==2){
Vigilance88 58:db11481da856 833
Vigilance88 58:db11481da856 834 if(triceps_power>tricepsMVC){
Vigilance88 58:db11481da856 835 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 58:db11481da856 836 tricepsMVC=triceps_power;
Vigilance88 58:db11481da856 837 }
Vigilance88 58:db11481da856 838 else
Vigilance88 58:db11481da856 839 printf("- ");
Vigilance88 58:db11481da856 840 }
Vigilance88 58:db11481da856 841
Vigilance88 58:db11481da856 842 if(muscle==3){
Vigilance88 58:db11481da856 843
Vigilance88 58:db11481da856 844 if(flexor_power>flexorMVC){
Vigilance88 58:db11481da856 845 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 58:db11481da856 846 flexorMVC=flexor_power;
Vigilance88 58:db11481da856 847 }
Vigilance88 58:db11481da856 848 else
Vigilance88 58:db11481da856 849 printf("- ");
Vigilance88 58:db11481da856 850 }
Vigilance88 58:db11481da856 851
Vigilance88 58:db11481da856 852 if(muscle==4){
Vigilance88 58:db11481da856 853
Vigilance88 58:db11481da856 854 if(extens_power>extensMVC){
Vigilance88 58:db11481da856 855 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 58:db11481da856 856 extensMVC=extens_power;
Vigilance88 58:db11481da856 857 }
Vigilance88 58:db11481da856 858 else
Vigilance88 58:db11481da856 859 printf("- ");
Vigilance88 58:db11481da856 860 }
Vigilance88 58:db11481da856 861
Vigilance88 58:db11481da856 862 //}
Vigilance88 58:db11481da856 863 calibrate_time = calibrate_time + 0.002;
Vigilance88 58:db11481da856 864
Vigilance88 58:db11481da856 865 }
Vigilance88 58:db11481da856 866
Vigilance88 58:db11481da856 867 void emg_min()
Vigilance88 58:db11481da856 868 {
Vigilance88 58:db11481da856 869 if(biceps_power>bicepsmin){
Vigilance88 58:db11481da856 870 bicepsmin=biceps_power;
Vigilance88 58:db11481da856 871 }
Vigilance88 58:db11481da856 872
Vigilance88 58:db11481da856 873 if(triceps_power>tricepsmin){
Vigilance88 58:db11481da856 874 tricepsmin=triceps_power;
Vigilance88 58:db11481da856 875 }
Vigilance88 58:db11481da856 876
Vigilance88 58:db11481da856 877 if(flexor_power>flexormin){
Vigilance88 58:db11481da856 878 flexormin=flexor_power;
Vigilance88 58:db11481da856 879 }
Vigilance88 58:db11481da856 880
Vigilance88 58:db11481da856 881 if(extens_power > extensmin){
Vigilance88 58:db11481da856 882 extensmin = extens_power;
Vigilance88 58:db11481da856 883 }
Vigilance88 58:db11481da856 884
Vigilance88 58:db11481da856 885 calibrate_time = calibrate_time + 0.002;
Vigilance88 58:db11481da856 886
Vigilance88 58:db11481da856 887 }
Vigilance88 58:db11481da856 888
Vigilance88 58:db11481da856 889
Vigilance88 48:a1f97eb8c020 890 //PID motor 1 - Input error and Kp, Kd, Ki, output control signal
Vigilance88 20:0ede3818e08e 891 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev)
vsluiter 2:e314bb3b2d99 892 {
Vigilance88 20:0ede3818e08e 893 // Derivative
Vigilance88 24:56db31267f10 894 double e_der = (error-e_prev)/ CONTROL_RATE;
Vigilance88 56:5ff9e5c1ed44 895 e_der = derfilter1.step(e_der); //derfilter1 - seperate 60hz low-pass biquad for this PID
Vigilance88 21:d6a46315d5f5 896 e_prev = error;
Vigilance88 20:0ede3818e08e 897 // Integral
Vigilance88 24:56db31267f10 898 e_int = e_int + CONTROL_RATE * error;
Vigilance88 20:0ede3818e08e 899 // PID
Vigilance88 21:d6a46315d5f5 900 return kp*error + ki*e_int + kd * e_der;
Vigilance88 20:0ede3818e08e 901
Vigilance88 18:44905b008f44 902 }
Vigilance88 18:44905b008f44 903
Vigilance88 48:a1f97eb8c020 904 //PID for motor 2 - needed because of biquadfilter memory variables?
Vigilance88 46:c8c5c455dd51 905 double pid2(double error, double kp, double ki, double kd,double &e_int, double &e_prev)
Vigilance88 46:c8c5c455dd51 906 {
Vigilance88 46:c8c5c455dd51 907 // Derivative
Vigilance88 46:c8c5c455dd51 908 double e_der = (error-e_prev)/ CONTROL_RATE;
Vigilance88 56:5ff9e5c1ed44 909 e_der = derfilter2.step(e_der); //derfilter2 - seperate 60hz low-pass biquad for this PID
Vigilance88 46:c8c5c455dd51 910 e_prev = error;
Vigilance88 46:c8c5c455dd51 911 // Integral
Vigilance88 46:c8c5c455dd51 912 e_int = e_int + CONTROL_RATE * error;
Vigilance88 46:c8c5c455dd51 913 // PID
Vigilance88 46:c8c5c455dd51 914 return kp*error + ki*e_int + kd * e_der;
Vigilance88 46:c8c5c455dd51 915
Vigilance88 46:c8c5c455dd51 916 }
Vigilance88 46:c8c5c455dd51 917
Vigilance88 46:c8c5c455dd51 918
Vigilance88 20:0ede3818e08e 919 //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 920 void control()
Vigilance88 50:54f71544964c 921 {
Vigilance88 48:a1f97eb8c020 922
Vigilance88 48:a1f97eb8c020 923 /********************* START OF EMG REFERENCE CALCULATION ***************************/
Vigilance88 46:c8c5c455dd51 924 if(emg_control==true){
Vigilance88 50:54f71544964c 925 //TODO some idle time with static reference before EMG kicks in. or go to reference in the first 5 seconds.
Vigilance88 61:8226830f3272 926
Vigilance88 30:a9fdd3202ca2 927 //normalize emg to value between 0-1
Vigilance88 38:c8ac615d0c8f 928 biceps = (biceps_power - bicepsmin) / (bicepsMVC - bicepsmin);
Vigilance88 38:c8ac615d0c8f 929 triceps = (triceps_power - tricepsmin) / (tricepsMVC - tricepsmin);
Vigilance88 38:c8ac615d0c8f 930 flexor = (flexor_power - flexormin) / (flexorMVC - flexormin);
Vigilance88 38:c8ac615d0c8f 931 extens = (extens_power - extensmin) / (extensMVC - extensmin);
Vigilance88 39:e77f844d10d9 932 //make sure values stay between 0-1 over time
Vigilance88 39:e77f844d10d9 933 keep_in_range(&biceps,0,1);
Vigilance88 39:e77f844d10d9 934 keep_in_range(&triceps,0,1);
Vigilance88 39:e77f844d10d9 935 keep_in_range(&flexor,0,1);
Vigilance88 39:e77f844d10d9 936 keep_in_range(&extens,0,1);
Vigilance88 39:e77f844d10d9 937
Vigilance88 38:c8ac615d0c8f 938
Vigilance88 52:8a8c53dc8547 939 //threshold detection! buffer or two thresholds? If average of 100 samples > threshold, then muscle considered on.
Vigilance88 44:145827f5b091 940 movavg1[i]=biceps; //fill array with 100 normalized samples
Vigilance88 44:145827f5b091 941 movavg2[i]=triceps;
Vigilance88 44:145827f5b091 942 movavg3[i]=flexor;
Vigilance88 44:145827f5b091 943 movavg4[i]=extens;
Vigilance88 44:145827f5b091 944 i++;
Vigilance88 44:145827f5b091 945 if(i==window){ //if array full,set i to 0
Vigilance88 44:145827f5b091 946 i=0;
Vigilance88 44:145827f5b091 947 }
Vigilance88 44:145827f5b091 948
Vigilance88 50:54f71544964c 949
Vigilance88 50:54f71544964c 950 //Sum all values in the array. The sum needs to be overwritten or it will continue to sum the next 100 samples on top it
Vigilance88 50:54f71544964c 951 //and will grow out of control.
Vigilance88 50:54f71544964c 952 //So the variable name for the sum in the for loop is not really correct since the average is calculated after the loop.
Vigilance88 50:54f71544964c 953 for(int j = 0; j < window; j++){
Vigilance88 50:54f71544964c 954 biceps_avg += movavg1[j];
Vigilance88 50:54f71544964c 955 triceps_avg += movavg2[j];
Vigilance88 50:54f71544964c 956 flexor_avg += movavg3[j];
Vigilance88 50:54f71544964c 957 extens_avg += movavg4[j];
Vigilance88 44:145827f5b091 958 }
Vigilance88 50:54f71544964c 959 biceps_avg = biceps_avg/window; //divide sum by number of samples -> average
Vigilance88 50:54f71544964c 960 triceps_avg = triceps_avg/window;
Vigilance88 50:54f71544964c 961 flexor_avg = flexor_avg/window;
Vigilance88 50:54f71544964c 962 extens_avg = extens_avg/window;
Vigilance88 46:c8c5c455dd51 963
Vigilance88 61:8226830f3272 964 emg_control_time += CONTROL_RATE;
Vigilance88 61:8226830f3272 965 if(emg_control_time < 5){
Vigilance88 61:8226830f3272 966 x=0; y=0.4;
Vigilance88 61:8226830f3272 967 }
Vigilance88 61:8226830f3272 968 else{
Vigilance88 48:a1f97eb8c020 969
Vigilance88 48:a1f97eb8c020 970 //Compare muscle amplitudes and determine their influence on x and y reference position.
Vigilance88 53:bf0d97487e84 971 if (biceps_avg>triceps_avg && biceps_avg > 0.2){
Vigilance88 48:a1f97eb8c020 972 xdir = 0;
Vigilance88 53:bf0d97487e84 973 xpower = biceps_avg;}
Vigilance88 53:bf0d97487e84 974 else if (triceps_avg>biceps_avg && triceps_avg>0.2){
Vigilance88 30:a9fdd3202ca2 975 xdir = 1;
Vigilance88 53:bf0d97487e84 976 xpower = triceps_avg;}
Vigilance88 30:a9fdd3202ca2 977 else
Vigilance88 30:a9fdd3202ca2 978 xpower=0;
Vigilance88 30:a9fdd3202ca2 979
Vigilance88 53:bf0d97487e84 980 if (flexor_avg>extens_avg && flexor_avg > 0.2){
Vigilance88 30:a9fdd3202ca2 981 ydir = 0;
Vigilance88 53:bf0d97487e84 982 ypower = flexor_avg;
Vigilance88 30:a9fdd3202ca2 983 }
Vigilance88 53:bf0d97487e84 984 else if (extens_avg>flexor_avg && extens_avg > 0.2){
Vigilance88 30:a9fdd3202ca2 985 ydir = 1;
Vigilance88 53:bf0d97487e84 986 ypower = extens_avg;
Vigilance88 30:a9fdd3202ca2 987 }
Vigilance88 30:a9fdd3202ca2 988 else
Vigilance88 30:a9fdd3202ca2 989 ypower = 0;
Vigilance88 30:a9fdd3202ca2 990
Vigilance88 38:c8ac615d0c8f 991 //power: the longer a signal is active, the further the reference goes. So integrate to determine reference position
Vigilance88 61:8226830f3272 992 dx = xpower * CONTROL_RATE * 0.1; //last value is a factor to control how fast the reference (so also end effector) changes
Vigilance88 61:8226830f3272 993 dy = ypower * CONTROL_RATE * 0.1;
Vigilance88 18:44905b008f44 994
Vigilance88 48:a1f97eb8c020 995 //Direction! Sum dx and dy but make sure xdir and ydir are considered.
Vigilance88 48:a1f97eb8c020 996 if (xdir>0) //if x direction of sample is positive, add it to reference position
Vigilance88 48:a1f97eb8c020 997 x += dx;
Vigilance88 48:a1f97eb8c020 998 else //if x direction of sample is negative, substract it from reference position
Vigilance88 30:a9fdd3202ca2 999 x += -dx;
Vigilance88 30:a9fdd3202ca2 1000
Vigilance88 48:a1f97eb8c020 1001 if (ydir>0) //if y direction of sample is positive, add it to reference position
Vigilance88 30:a9fdd3202ca2 1002 y += dy;
Vigilance88 30:a9fdd3202ca2 1003 else
Vigilance88 48:a1f97eb8c020 1004 y += -dy; //if y direction of sample is negative, substract it from reference position
Vigilance88 61:8226830f3272 1005 }//end else control time>5
Vigilance88 48:a1f97eb8c020 1006
Vigilance88 48:a1f97eb8c020 1007 //now we have x and y -> reference position.
Vigilance88 61:8226830f3272 1008 //keep_in_range(&x,-0.4,0.22);
Vigilance88 61:8226830f3272 1009 //keep_in_range(&y,0,0.5);
Vigilance88 61:8226830f3272 1010
Vigilance88 39:e77f844d10d9 1011 }//end emg_control if
Vigilance88 48:a1f97eb8c020 1012 /******************************** END OF EMG REFERENCE CALCULATION ****************************************/
Vigilance88 48:a1f97eb8c020 1013
Vigilance88 30:a9fdd3202ca2 1014
Vigilance88 27:d1814e271a95 1015 //Current position - Encoder counts -> current angle -> Forward Kinematics
Vigilance88 49:6515c045cfd6 1016 rpc=(2*PI)/ENCODER_CPR; //radians per count (resolution) - 2pi divided by 4200
Vigilance88 48:a1f97eb8c020 1017 theta1 = Encoder1.getPulses() * rpc; //multiply resolution with number of counts to get current angles
Vigilance88 27:d1814e271a95 1018 theta2 = Encoder2.getPulses() * rpc;
Vigilance88 48:a1f97eb8c020 1019 current_x = l1 * cos(theta1) + l2 * cos(theta1 + theta2); //Forward kinematics for current position
Vigilance88 27:d1814e271a95 1020 current_y = l1 * sin(theta1) + l2 * sin(theta1 + theta2);
Vigilance88 27:d1814e271a95 1021
Vigilance88 27:d1814e271a95 1022
Vigilance88 48:a1f97eb8c020 1023 //calculate error (refpos-currentpos)
Vigilance88 27:d1814e271a95 1024 x_error = x - current_x;
Vigilance88 27:d1814e271a95 1025 y_error = y - current_y;
Vigilance88 27:d1814e271a95 1026
Vigilance88 48:a1f97eb8c020 1027 /******************************** START OF TRIG INVERSE KINEMATICS ****************************************/
Vigilance88 38:c8ac615d0c8f 1028 if (control_method==1){
Vigilance88 27:d1814e271a95 1029 //inverse kinematics (refpos to refangle)
Vigilance88 18:44905b008f44 1030
Vigilance88 27:d1814e271a95 1031 costheta2 = (pow(x,2) + pow(y,2) - pow(l1,2) - pow(l2,2)) / (2*l1*l2) ;
Vigilance88 50:54f71544964c 1032 //absolute in sqrt to avoid imaginary numbers -> bigger steady state error when reference out of workspace
Vigilance88 50:54f71544964c 1033 sintheta2 = sqrt( abs( 1 - pow(costheta2,2) ) );
Vigilance88 27:d1814e271a95 1034
Vigilance88 48:a1f97eb8c020 1035 //Reference angle 2
Vigilance88 56:5ff9e5c1ed44 1036 reftheta2 = atan2(sintheta2,costheta2);
Vigilance88 27:d1814e271a95 1037
Vigilance88 32:76c4d7bb2022 1038 double k1 = l1 + l2*costheta2;
Vigilance88 32:76c4d7bb2022 1039 double k2 = l2*sintheta2;
Vigilance88 32:76c4d7bb2022 1040
Vigilance88 48:a1f97eb8c020 1041 //Reference angle 1
Vigilance88 56:5ff9e5c1ed44 1042 reftheta1 = atan2(y, x) - atan2(k2, k1);
Vigilance88 32:76c4d7bb2022 1043
Vigilance88 32:76c4d7bb2022 1044 /* alternative:
Vigilance88 27:d1814e271a95 1045 costheta1 = ( x * (l1 + l2 * costheta2) + y * l2 * sintheta2 ) / ( pow(x,2) + pow(y,2) );
Vigilance88 30:a9fdd3202ca2 1046 sintheta1 = sqrt( abs( 1 - pow(costheta1,2) ) );
Vigilance88 27:d1814e271a95 1047
Vigilance88 56:5ff9e5c1ed44 1048 reftheta1 = atan2(sintheta1,costheta1);
Vigilance88 32:76c4d7bb2022 1049 */
Vigilance88 27:d1814e271a95 1050
Vigilance88 27:d1814e271a95 1051 //Angle error
Vigilance88 56:5ff9e5c1ed44 1052 m1_error = reftheta1-theta1;
Vigilance88 56:5ff9e5c1ed44 1053 m2_error = reftheta2-theta2;
Vigilance88 39:e77f844d10d9 1054 }// end control method 1
Vigilance88 48:a1f97eb8c020 1055 /******************************** END OF TRIG INVERSE KINEMATICS ****************************************/
Vigilance88 27:d1814e271a95 1056
Vigilance88 48:a1f97eb8c020 1057
Vigilance88 48:a1f97eb8c020 1058 /******************************** START OF DLS INVERSE KINEMATICS ****************************************/
Vigilance88 38:c8ac615d0c8f 1059 if(control_method==2){
Vigilance88 37:4d7b7ced20ef 1060 //inverse kinematics (error in position to error in angles)
Vigilance88 57:d6192801fd6d 1061 powlambda2 = pow(lambda,2);
Vigilance88 57:d6192801fd6d 1062 powlambda4 = pow(lambda,4);
Vigilance88 58:db11481da856 1063 powl2 = pow(l2,2);
Vigilance88 58:db11481da856 1064 powl1 = pow(l1,2);
Vigilance88 58:db11481da856 1065 sintheta1theta2 = sin(theta1 + theta2);
Vigilance88 58:db11481da856 1066 costheta1theta2 = cos(theta1 + theta2);
Vigilance88 58:db11481da856 1067 dls1= -(l2*powlambda2*sintheta1theta2 + l1*powlambda2*sin(theta1) + l1*powl2*pow(costheta1theta2,2)*sin(theta1) - l1*powl2*costheta1theta2*sintheta1theta2*cos(theta1))/(powlambda4 + 2*powl2*powlambda2*pow(costheta1theta2,2) + 2*powl2*powlambda2*pow(sintheta1theta2,2) + powl1*powlambda2*pow(cos(theta1),2) + powl1*powlambda2*pow(sin(theta1),2) + powl1*powl2*pow(costheta1theta2,2)*pow(sin(theta1),2) + powl1*powl2*pow(sintheta1theta2,2)*pow(cos(theta1),2) + 2*l1*l2*powlambda2*costheta1theta2*cos(theta1) + 2*l1*l2*powlambda2*sintheta1theta2*sin(theta1) - 2*powl1*powl2*costheta1theta2*sintheta1theta2*cos(theta1)*sin(theta1));
Vigilance88 58:db11481da856 1068 dls2= (l2*powlambda2*costheta1theta2 + l1*powlambda2*cos(theta1) + l1*powl2*pow(sintheta1theta2,2)*cos(theta1) - l1*powl2*costheta1theta2*sintheta1theta2*sin(theta1))/(powlambda4 + 2*powl2*powlambda2*pow(costheta1theta2,2) + 2*powl2*powlambda2*pow(sintheta1theta2,2) + powl1*powlambda2*pow(cos(theta1),2) + powl1*powlambda2*pow(sin(theta1),2) + powl1*powl2*pow(costheta1theta2,2)*pow(sin(theta1),2) + powl1*powl2*pow(sintheta1theta2,2)*pow(cos(theta1),2) + 2*l1*l2*powlambda2*costheta1theta2*cos(theta1) + 2*l1*l2*powlambda2*sintheta1theta2*sin(theta1) - 2*powl1*powl2*costheta1theta2*sintheta1theta2*cos(theta1)*sin(theta1));
Vigilance88 58:db11481da856 1069 dls3= -(l2*powlambda2*sintheta1theta2 - l1*powl2*pow(costheta1theta2,2)*sin(theta1) + powl1*l2*sintheta1theta2*pow(cos(theta1),2) - powl1*l2*costheta1theta2*cos(theta1)*sin(theta1) + l1*powl2*costheta1theta2*sintheta1theta2*cos(theta1))/(powlambda4 + 2*powl2*powlambda2*pow(costheta1theta2,2) + 2*powl2*powlambda2*pow(sintheta1theta2,2) + powl1*powlambda2*pow(cos(theta1),2) + powl1*powlambda2*pow(sin(theta1),2) + powl1*powl2*pow(costheta1theta2,2)*pow(sin(theta1),2) + powl1*powl2*pow(sintheta1theta2,2)*pow(cos(theta1),2) + 2*l1*l2*powlambda2*costheta1theta2*cos(theta1) + 2*l1*l2*powlambda2*sintheta1theta2*sin(theta1) - 2*powl1*powl2*costheta1theta2*sintheta1theta2*cos(theta1)*sin(theta1));
Vigilance88 58:db11481da856 1070 dls4= (l2*powlambda2*costheta1theta2 - l1*powl2*pow(sintheta1theta2,2)*cos(theta1) + powl1*l2*costheta1theta2*pow(sin(theta1),2) - powl1*l2*sintheta1theta2*cos(theta1)*sin(theta1) + l1*powl2*costheta1theta2*sintheta1theta2*sin(theta1))/(powlambda4 + 2*powl2*powlambda2*pow(costheta1theta2,2) + 2*powl2*powlambda2*pow(sintheta1theta2,2) + powl1*powlambda2*pow(cos(theta1),2) + powl1*powlambda2*pow(sin(theta1),2) + powl1*powl2*pow(costheta1theta2,2)*pow(sin(theta1),2) + powl1*powl2*pow(sintheta1theta2,2)*pow(cos(theta1),2) + 2*l1*l2*powlambda2*costheta1theta2*cos(theta1) + 2*l1*l2*powlambda2*sintheta1theta2*sin(theta1) - 2*powl1*powl2*costheta1theta2*sintheta1theta2*cos(theta1)*sin(theta1));
Vigilance88 37:4d7b7ced20ef 1071
Vigilance88 37:4d7b7ced20ef 1072 q1_error = dls1 * x_error + dls2 * y_error;
Vigilance88 37:4d7b7ced20ef 1073 q2_error = dls3 * x_error + dls4 * y_error;
Vigilance88 37:4d7b7ced20ef 1074
Vigilance88 37:4d7b7ced20ef 1075 //Angle error
Vigilance88 37:4d7b7ced20ef 1076 m1_error = q1_error;
Vigilance88 37:4d7b7ced20ef 1077 m2_error = q2_error;
Vigilance88 39:e77f844d10d9 1078 }//end control method 2
Vigilance88 48:a1f97eb8c020 1079 /******************************** END OF DLS INVERSE KINEMATICS ****************************************/
Vigilance88 39:e77f844d10d9 1080
Vigilance88 48:a1f97eb8c020 1081
Vigilance88 48:a1f97eb8c020 1082 /* Set limits to the error!
Vigilance88 48:a1f97eb8c020 1083 motor1: lower limit 40 degrees, upper limit 135
Vigilance88 48:a1f97eb8c020 1084 motor2: lower 43 degrees, upper limit 138 degrees. */
Vigilance88 41:55face19e06b 1085
Vigilance88 48:a1f97eb8c020 1086 //lower limits: Negative error not allowed to go further. NEEDS MORE TESTING
Vigilance88 41:55face19e06b 1087 if (theta1 < theta1_lower){
Vigilance88 41:55face19e06b 1088 if (m1_error > 0)
Vigilance88 41:55face19e06b 1089 m1_error = m1_error;
Vigilance88 39:e77f844d10d9 1090 else
Vigilance88 41:55face19e06b 1091 m1_error = 0; }
Vigilance88 41:55face19e06b 1092 if (theta2 < theta2_lower){
Vigilance88 41:55face19e06b 1093 if (m2_error > 0)
Vigilance88 41:55face19e06b 1094 m2_error = m2_error;
Vigilance88 41:55face19e06b 1095 else
Vigilance88 41:55face19e06b 1096 m2_error = 0;
Vigilance88 41:55face19e06b 1097 }
Vigilance88 39:e77f844d10d9 1098 //upper limit: Positive error not allowed to go further
Vigilance88 41:55face19e06b 1099 if (theta1 > theta1_upper){
Vigilance88 41:55face19e06b 1100 if (m1_error < 0 )
Vigilance88 41:55face19e06b 1101 m1_error = m1_error;
Vigilance88 39:e77f844d10d9 1102 else
Vigilance88 41:55face19e06b 1103 m1_error = 0;
Vigilance88 41:55face19e06b 1104 }
Vigilance88 41:55face19e06b 1105 if (theta2 > theta2_upper){
Vigilance88 41:55face19e06b 1106 if (m2_error < 0 )
Vigilance88 41:55face19e06b 1107 m2_error = m2_error;
Vigilance88 41:55face19e06b 1108 else
Vigilance88 41:55face19e06b 1109 m2_error = 0;
Vigilance88 41:55face19e06b 1110 }
Vigilance88 39:e77f844d10d9 1111
Vigilance88 18:44905b008f44 1112 //PID controller
Vigilance88 24:56db31267f10 1113 u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1
Vigilance88 46:c8c5c455dd51 1114 u2=pid2(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2
Vigilance88 21:d6a46315d5f5 1115
Vigilance88 48:a1f97eb8c020 1116 //keep u between limits, sign = direction, PWM = 0-1
Vigilance88 55:726fdab812a9 1117 keep_in_range(&u1,-0.7,0.7);
Vigilance88 55:726fdab812a9 1118 keep_in_range(&u2,-0.7,0.7);
Vigilance88 21:d6a46315d5f5 1119
Vigilance88 21:d6a46315d5f5 1120 //send PWM and DIR to motor 1
Vigilance88 21:d6a46315d5f5 1121 dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below.
Vigilance88 21:d6a46315d5f5 1122 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 1123
Vigilance88 21:d6a46315d5f5 1124 //send PWM and DIR to motor 2
Vigilance88 27:d1814e271a95 1125 dir_motor2 = u2>0 ? 0 : 1; //conditional statement, same as if else below
Vigilance88 25:49ccdc98639a 1126 pwm_motor2.write(abs(u2));
Vigilance88 21:d6a46315d5f5 1127
Vigilance88 53:bf0d97487e84 1128
Vigilance88 55:726fdab812a9 1129
Vigilance88 21:d6a46315d5f5 1130 /*if(u1 > 0)
Vigilance88 21:d6a46315d5f5 1131 {
Vigilance88 21:d6a46315d5f5 1132 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 1133 else{
Vigilance88 21:d6a46315d5f5 1134 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 1135 }
Vigilance88 21:d6a46315d5f5 1136 }
Vigilance88 21:d6a46315d5f5 1137 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 1138
Vigilance88 21:d6a46315d5f5 1139
Vigilance88 21:d6a46315d5f5 1140 if(u2 > 0)
Vigilance88 21:d6a46315d5f5 1141 {
Vigilance88 21:d6a46315d5f5 1142 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 1143 else{
Vigilance88 21:d6a46315d5f5 1144 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 1145 }
Vigilance88 21:d6a46315d5f5 1146 }
Vigilance88 21:d6a46315d5f5 1147 pwm_motor1.write(abs(u2));*/
Vigilance88 21:d6a46315d5f5 1148
Vigilance88 18:44905b008f44 1149 }
Vigilance88 18:44905b008f44 1150
Vigilance88 38:c8ac615d0c8f 1151
Vigilance88 26:fe3a5469dd6b 1152 void mainMenu()
Vigilance88 26:fe3a5469dd6b 1153 {
Vigilance88 38:c8ac615d0c8f 1154 //Title Box
Vigilance88 26:fe3a5469dd6b 1155 pc.putc(201);
Vigilance88 26:fe3a5469dd6b 1156 for(int j=0;j<33;j++){
Vigilance88 26:fe3a5469dd6b 1157 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 1158 }
Vigilance88 26:fe3a5469dd6b 1159 pc.putc(187);
Vigilance88 26:fe3a5469dd6b 1160 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1161 pc.putc(186); pc.printf(" Main Menu "); pc.putc(186);
Vigilance88 26:fe3a5469dd6b 1162 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 1163 pc.putc(200);
Vigilance88 26:fe3a5469dd6b 1164 for(int k=0;k<33;k++){
Vigilance88 26:fe3a5469dd6b 1165 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 1166 }
Vigilance88 26:fe3a5469dd6b 1167 pc.putc(188);
Vigilance88 26:fe3a5469dd6b 1168
Vigilance88 26:fe3a5469dd6b 1169 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 1170 //endbox
Vigilance88 48:a1f97eb8c020 1171
Vigilance88 59:ca85ce2b1ffc 1172 wait(0.2);
Vigilance88 28:743485bb51e4 1173 pc.printf("[C]alibration\r\n"); wait(0.2);
Vigilance88 40:d62f96ed44c0 1174 pc.printf("[T]RIG Control with WASD\r\n"); wait(0.2);
Vigilance88 40:d62f96ed44c0 1175 pc.printf("[D]LS Control with WASD\r\n"); wait(0.2);
Vigilance88 40:d62f96ed44c0 1176 pc.printf("[E]MG Control - DLS \r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 1177 pc.printf("[Q]uit Robot Program\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 1178 pc.printf("Please make a choice => \r\n");
Vigilance88 26:fe3a5469dd6b 1179 }
Vigilance88 24:56db31267f10 1180
Vigilance88 24:56db31267f10 1181 //Start sampling
Vigilance88 24:56db31267f10 1182 void start_sampling(void)
Vigilance88 24:56db31267f10 1183 {
Vigilance88 24:56db31267f10 1184 sample_timer.attach(&sample_filter,SAMPLE_RATE); //500 Hz EMG
Vigilance88 26:fe3a5469dd6b 1185
Vigilance88 26:fe3a5469dd6b 1186 //Debug LED will be green when sampling is active
Vigilance88 26:fe3a5469dd6b 1187 green=0;
Vigilance88 25:49ccdc98639a 1188 pc.printf("||- started sampling -|| \r\n");
Vigilance88 24:56db31267f10 1189 }
Vigilance88 24:56db31267f10 1190
Vigilance88 24:56db31267f10 1191 //stop sampling
Vigilance88 24:56db31267f10 1192 void stop_sampling(void)
Vigilance88 24:56db31267f10 1193 {
Vigilance88 24:56db31267f10 1194 sample_timer.detach();
Vigilance88 26:fe3a5469dd6b 1195
Vigilance88 26:fe3a5469dd6b 1196 //Debug LED will be turned off when sampling stops
Vigilance88 26:fe3a5469dd6b 1197 green=1;
Vigilance88 25:49ccdc98639a 1198 pc.printf("||- stopped sampling -|| \r\n");
Vigilance88 24:56db31267f10 1199 }
Vigilance88 24:56db31267f10 1200
Vigilance88 18:44905b008f44 1201 //Start control
Vigilance88 18:44905b008f44 1202 void start_control(void)
Vigilance88 18:44905b008f44 1203 {
Vigilance88 35:7d9fca0b1545 1204 control_timer.attach(&control,CONTROL_RATE); //100 Hz control
Vigilance88 56:5ff9e5c1ed44 1205 servo_timer.attach(&servo_control, SERVO_RATE); //50 Hz control
Vigilance88 35:7d9fca0b1545 1206
Vigilance88 35:7d9fca0b1545 1207 //Debug LED will be blue when control is on. If sampling and control are on -> blue + green = cyan.
Vigilance88 35:7d9fca0b1545 1208 blue=0;
Vigilance88 35:7d9fca0b1545 1209 pc.printf("||- started control -|| \r\n");
Vigilance88 35:7d9fca0b1545 1210 }
Vigilance88 35:7d9fca0b1545 1211
Vigilance88 18:44905b008f44 1212 //stop control
Vigilance88 18:44905b008f44 1213 void stop_control(void)
Vigilance88 18:44905b008f44 1214 {
Vigilance88 18:44905b008f44 1215 control_timer.detach();
Vigilance88 56:5ff9e5c1ed44 1216 servo_timer.detach();
Vigilance88 53:bf0d97487e84 1217 pwm_motor1=0; pwm_motor2=0;
Vigilance88 26:fe3a5469dd6b 1218 //Debug LED will be off when control is off
Vigilance88 26:fe3a5469dd6b 1219 blue=1;
Vigilance88 26:fe3a5469dd6b 1220 pc.printf("||- stopped control -|| \r\n");
vsluiter 2:e314bb3b2d99 1221 }
vsluiter 0:32bb76391d89 1222
Vigilance88 21:d6a46315d5f5 1223
Vigilance88 26:fe3a5469dd6b 1224 //Clears the putty (or other terminal) window
Vigilance88 26:fe3a5469dd6b 1225 void clearTerminal()
Vigilance88 26:fe3a5469dd6b 1226 {
Vigilance88 26:fe3a5469dd6b 1227 pc.putc(27);
Vigilance88 26:fe3a5469dd6b 1228 pc.printf("[2J"); // clear screen
Vigilance88 26:fe3a5469dd6b 1229 pc.putc(27); // ESC
Vigilance88 26:fe3a5469dd6b 1230 pc.printf("[H"); // cursor to home
Vigilance88 26:fe3a5469dd6b 1231 }
Vigilance88 21:d6a46315d5f5 1232
Vigilance88 30:a9fdd3202ca2 1233
Vigilance88 30:a9fdd3202ca2 1234 void controlMenu()
Vigilance88 30:a9fdd3202ca2 1235 {
Vigilance88 48:a1f97eb8c020 1236 //Title Box
Vigilance88 30:a9fdd3202ca2 1237 pc.putc(201);
Vigilance88 30:a9fdd3202ca2 1238 for(int j=0;j<33;j++){
Vigilance88 30:a9fdd3202ca2 1239 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 1240 }
Vigilance88 30:a9fdd3202ca2 1241 pc.putc(187);
Vigilance88 30:a9fdd3202ca2 1242 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1243 pc.putc(186); pc.printf(" Control Menu "); pc.putc(186);
Vigilance88 30:a9fdd3202ca2 1244 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1245 pc.putc(200);
Vigilance88 30:a9fdd3202ca2 1246 for(int k=0;k<33;k++){
Vigilance88 30:a9fdd3202ca2 1247 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 1248 }
Vigilance88 30:a9fdd3202ca2 1249 pc.putc(188);
Vigilance88 30:a9fdd3202ca2 1250
Vigilance88 30:a9fdd3202ca2 1251 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1252 //endbox
Vigilance88 48:a1f97eb8c020 1253
Vigilance88 38:c8ac615d0c8f 1254 pc.printf("A) Move Arm Left\r\n");
Vigilance88 38:c8ac615d0c8f 1255 pc.printf("D) Move Arm Right\r\n");
Vigilance88 38:c8ac615d0c8f 1256 pc.printf("W) Move Arm Up\r\n");
Vigilance88 38:c8ac615d0c8f 1257 pc.printf("S) Move Arm Down\r\n");
Vigilance88 56:5ff9e5c1ed44 1258 pc.printf("g) Turn debugging on / off \r\n");
Vigilance88 30:a9fdd3202ca2 1259 pc.printf("q) Exit \r\n");
Vigilance88 30:a9fdd3202ca2 1260 pc.printf("Please make a choice => \r\n");
Vigilance88 30:a9fdd3202ca2 1261 }
Vigilance88 30:a9fdd3202ca2 1262
Vigilance88 28:743485bb51e4 1263 void caliMenu(){
Vigilance88 28:743485bb51e4 1264
Vigilance88 48:a1f97eb8c020 1265 //Title Box
Vigilance88 28:743485bb51e4 1266 pc.putc(201);
Vigilance88 28:743485bb51e4 1267 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 1268 pc.putc(205);
Vigilance88 28:743485bb51e4 1269 }
Vigilance88 28:743485bb51e4 1270 pc.putc(187);
Vigilance88 28:743485bb51e4 1271 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1272 pc.putc(186); pc.printf(" Calibration Menu "); pc.putc(186);
Vigilance88 28:743485bb51e4 1273 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1274 pc.putc(200);
Vigilance88 28:743485bb51e4 1275 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 1276 pc.putc(205);
Vigilance88 28:743485bb51e4 1277 }
Vigilance88 28:743485bb51e4 1278 pc.putc(188);
Vigilance88 28:743485bb51e4 1279
Vigilance88 28:743485bb51e4 1280 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1281 //endbox
Vigilance88 28:743485bb51e4 1282
Vigilance88 28:743485bb51e4 1283 pc.printf("[A]rm Calibration\r\n");
Vigilance88 28:743485bb51e4 1284 pc.printf("[E]MG Calibration\r\n");
Vigilance88 28:743485bb51e4 1285 pc.printf("[B]ack to main menu\r\n");
Vigilance88 28:743485bb51e4 1286 pc.printf("Please make a choice => \r\n");
Vigilance88 28:743485bb51e4 1287
Vigilance88 28:743485bb51e4 1288 }
Vigilance88 28:743485bb51e4 1289
Vigilance88 28:743485bb51e4 1290 void titleBox(){
Vigilance88 28:743485bb51e4 1291
Vigilance88 28:743485bb51e4 1292 //Title Box
Vigilance88 28:743485bb51e4 1293 pc.putc(201);
Vigilance88 28:743485bb51e4 1294 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 1295 pc.putc(205);
Vigilance88 28:743485bb51e4 1296 }
Vigilance88 28:743485bb51e4 1297 pc.putc(187);
Vigilance88 28:743485bb51e4 1298 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1299 pc.putc(186); pc.printf(" BioRobotics M9 - Group 14 "); pc.putc(186);
Vigilance88 28:743485bb51e4 1300 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1301 pc.putc(186); pc.printf(" Robot powered ON "); pc.putc(186);
Vigilance88 28:743485bb51e4 1302 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1303 pc.putc(200);
Vigilance88 28:743485bb51e4 1304 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 1305 pc.putc(205);
Vigilance88 28:743485bb51e4 1306 }
Vigilance88 28:743485bb51e4 1307 pc.putc(188);
Vigilance88 28:743485bb51e4 1308
Vigilance88 28:743485bb51e4 1309 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1310 //endbox
Vigilance88 28:743485bb51e4 1311 }
Vigilance88 28:743485bb51e4 1312
Vigilance88 28:743485bb51e4 1313 void emgInstructions(){
Vigilance88 36:4d4fc200171b 1314 pc.printf("\r\nPrepare the skin before applying electrodes: \n\r");
Vigilance88 28:743485bb51e4 1315 pc.printf("-> Shave electrode locations if needed and clean with alcohol \n\r"); wait(1);
Vigilance88 56:5ff9e5c1ed44 1316 pc.printf(" Check whether EMG signal looks normal. \n\r "); wait(1);
Vigilance88 38:c8ac615d0c8f 1317 pc.printf("\r\n To calibrate the EMG signals we will measure: \n\r ");
Vigilance88 38:c8ac615d0c8f 1318 pc.printf("- Minimum amplitude, while relaxing all muscles. \n\r ");
Vigilance88 48:a1f97eb8c020 1319 pc.printf("- Maximum Voluntary Contraction of each muscle. \n\r"); wait(1);
Vigilance88 56:5ff9e5c1ed44 1320 pc.printf("\r\nFor the MVC you need to flex the mentioned muscle as much as possible for 3 seconds \n\r"); wait(0.5);
Vigilance88 48:a1f97eb8c020 1321 pc.printf("The measurements will begin once you confirm you're ready [Hit any key] \n\r \n\r"); wait(0.5);
Vigilance88 28:743485bb51e4 1322 }
Vigilance88 28:743485bb51e4 1323
Vigilance88 21:d6a46315d5f5 1324 //keeps input limited between min max
Vigilance88 24:56db31267f10 1325 void keep_in_range(double * in, double min, double max)
Vigilance88 18:44905b008f44 1326 {
Vigilance88 18:44905b008f44 1327 *in > min ? *in < max? : *in = max: *in = min;
vsluiter 0:32bb76391d89 1328 }