2nd draft
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed Servo
Fork of robot_mockup by
main.cpp@47:c52f9b4c90c4, 2015-10-23 (annotated)
- Committer:
- Vigilance88
- Date:
- Fri Oct 23 20:13:06 2015 +0000
- Revision:
- 47:c52f9b4c90c4
- Parent:
- 46:c8c5c455dd51
- Child:
- 48:a1f97eb8c020
rewrote calibrate_arm, added ticker. need to test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:32bb76391d89 | 1 | #include "mbed.h" |
vsluiter | 11:ce72ec658a95 | 2 | #include "HIDScope.h" |
Vigilance88 | 18:44905b008f44 | 3 | #include "MODSERIAL.h" |
Vigilance88 | 18:44905b008f44 | 4 | #include "biquadFilter.h" |
Vigilance88 | 18:44905b008f44 | 5 | #include "QEI.h" |
Vigilance88 | 21:d6a46315d5f5 | 6 | #include "math.h" |
Vigilance88 | 26:fe3a5469dd6b | 7 | #include <string> |
Vigilance88 | 21:d6a46315d5f5 | 8 | |
Vigilance88 | 21:d6a46315d5f5 | 9 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 10 | -------------------------------- BIOROBOTICS GROUP 14 ---------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 11 | --------------------------------------------------------------------------------------------------------------------*/ |
vsluiter | 0:32bb76391d89 | 12 | |
Vigilance88 | 18:44905b008f44 | 13 | //Define important constants in memory |
Vigilance88 | 21:d6a46315d5f5 | 14 | #define PI 3.14159265 |
Vigilance88 | 18:44905b008f44 | 15 | #define SAMPLE_RATE 0.002 //500 Hz EMG sample rate |
Vigilance88 | 18:44905b008f44 | 16 | #define CONTROL_RATE 0.01 //100 Hz Control rate |
Vigilance88 | 21:d6a46315d5f5 | 17 | #define ENCODER1_CPR 4200 //encoders have 64 (X4), 32 (X2) counts per revolution of motor shaft |
Vigilance88 | 21:d6a46315d5f5 | 18 | #define ENCODER2_CPR 4200 //gearbox 1:131.25 -> 4200 counts per revolution of the output shaft (X2), |
Vigilance88 | 26:fe3a5469dd6b | 19 | #define PWM_PERIOD 0.0001 //10k Hz pwm motor frequency. Higher -> too hot, lower -> motor doesnt respond correctly |
Vigilance88 | 21:d6a46315d5f5 | 20 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 21 | ---- OBJECTS --------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 22 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 23 | |
Vigilance88 | 18:44905b008f44 | 24 | MODSERIAL pc(USBTX,USBRX); //serial communication |
Vigilance88 | 18:44905b008f44 | 25 | |
Vigilance88 | 36:4d4fc200171b | 26 | //Debug LEDs |
Vigilance88 | 25:49ccdc98639a | 27 | DigitalOut red(LED_RED); |
Vigilance88 | 25:49ccdc98639a | 28 | DigitalOut green(LED_GREEN); |
Vigilance88 | 25:49ccdc98639a | 29 | DigitalOut blue(LED_BLUE); |
Vigilance88 | 25:49ccdc98639a | 30 | |
Vigilance88 | 21:d6a46315d5f5 | 31 | //EMG shields |
Vigilance88 | 18:44905b008f44 | 32 | AnalogIn emg1(A0); //Analog input - Biceps EMG |
Vigilance88 | 18:44905b008f44 | 33 | AnalogIn emg2(A1); //Analog input - Triceps EMG |
Vigilance88 | 18:44905b008f44 | 34 | AnalogIn emg3(A2); //Analog input - Flexor EMG |
Vigilance88 | 18:44905b008f44 | 35 | AnalogIn emg4(A3); //Analog input - Extensor EMG |
Vigilance88 | 18:44905b008f44 | 36 | |
Vigilance88 | 18:44905b008f44 | 37 | Ticker sample_timer; //Ticker for EMG sampling |
Vigilance88 | 18:44905b008f44 | 38 | Ticker control_timer; //Ticker for control loop |
Vigilance88 | 18:44905b008f44 | 39 | HIDScope scope(4); //Scope 4 channels |
Vigilance88 | 18:44905b008f44 | 40 | |
Vigilance88 | 18:44905b008f44 | 41 | // AnalogIn potmeter(A4); //potmeters |
Vigilance88 | 18:44905b008f44 | 42 | // AnalogIn potmeter2(A5); // |
Vigilance88 | 18:44905b008f44 | 43 | |
Vigilance88 | 21:d6a46315d5f5 | 44 | //Encoders |
Vigilance88 | 18:44905b008f44 | 45 | QEI Encoder1(D13,D12,NC,32); //channel A and B from encoder, counts = Encoder.getPulses(); |
Vigilance88 | 18:44905b008f44 | 46 | QEI Encoder2(D10,D9,NC,32); //channel A and B from encoder, |
Vigilance88 | 21:d6a46315d5f5 | 47 | |
Vigilance88 | 21:d6a46315d5f5 | 48 | //Speed and Direction of motors - D4 (dir) and D5(speed) = motor 2, D7(dir) and D6(speed) = motor 1 |
Vigilance88 | 21:d6a46315d5f5 | 49 | PwmOut pwm_motor1(D6); //PWM motor 1 |
Vigilance88 | 21:d6a46315d5f5 | 50 | PwmOut pwm_motor2(D5); //PWM motor 2 |
Vigilance88 | 26:fe3a5469dd6b | 51 | |
Vigilance88 | 18:44905b008f44 | 52 | DigitalOut dir_motor1(D7); //Direction motor 1 |
Vigilance88 | 18:44905b008f44 | 53 | DigitalOut dir_motor2(D4); //Direction motor 2 |
Vigilance88 | 18:44905b008f44 | 54 | |
Vigilance88 | 24:56db31267f10 | 55 | //Limit Switches |
Vigilance88 | 28:743485bb51e4 | 56 | InterruptIn shoulder_limit(D2); //using FRDM buttons |
Vigilance88 | 28:743485bb51e4 | 57 | InterruptIn elbow_limit(D3); //using FRDM buttons |
Vigilance88 | 26:fe3a5469dd6b | 58 | |
Vigilance88 | 26:fe3a5469dd6b | 59 | //Other buttons |
Vigilance88 | 26:fe3a5469dd6b | 60 | DigitalIn button1(PTA4); //using FRDM buttons |
Vigilance88 | 26:fe3a5469dd6b | 61 | DigitalIn button2(PTC6); //using FRDM buttons |
Vigilance88 | 26:fe3a5469dd6b | 62 | |
Vigilance88 | 26:fe3a5469dd6b | 63 | /*Text colors ASCII code: Set Attribute Mode <ESC>[{attr1};...;{attrn}m |
Vigilance88 | 26:fe3a5469dd6b | 64 | |
Vigilance88 | 26:fe3a5469dd6b | 65 | \ 0 3 3 - ESC |
Vigilance88 | 26:fe3a5469dd6b | 66 | [ 3 0 m - black |
Vigilance88 | 26:fe3a5469dd6b | 67 | [ 3 1 m - red |
Vigilance88 | 26:fe3a5469dd6b | 68 | [ 3 2 m - green |
Vigilance88 | 26:fe3a5469dd6b | 69 | [ 3 3 m - yellow |
Vigilance88 | 26:fe3a5469dd6b | 70 | [ 3 4 m - blue |
Vigilance88 | 26:fe3a5469dd6b | 71 | [ 3 5 m - magenta |
Vigilance88 | 26:fe3a5469dd6b | 72 | [ 3 6 m - cyan |
Vigilance88 | 26:fe3a5469dd6b | 73 | [ 3 7 m - white |
Vigilance88 | 26:fe3a5469dd6b | 74 | [ 0 m - reset attributes |
Vigilance88 | 26:fe3a5469dd6b | 75 | |
Vigilance88 | 26:fe3a5469dd6b | 76 | Put the text you want to color between GREEN_ and _GREEN |
Vigilance88 | 26:fe3a5469dd6b | 77 | */ |
Vigilance88 | 26:fe3a5469dd6b | 78 | string GREEN_ = "\033[32m"; //esc - green |
Vigilance88 | 26:fe3a5469dd6b | 79 | string _GREEN = "\033[0m"; //esc - reset |
Vigilance88 | 24:56db31267f10 | 80 | |
Vigilance88 | 21:d6a46315d5f5 | 81 | |
Vigilance88 | 21:d6a46315d5f5 | 82 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 83 | ---- DECLARE VARIABLES ----------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 84 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 85 | |
Vigilance88 | 47:c52f9b4c90c4 | 86 | //EMG variables: raw EMG - filtered EMG - maximum voluntary contraction - max amplitude during relaxation. |
Vigilance88 | 38:c8ac615d0c8f | 87 | double emg_biceps; double biceps_power; double bicepsMVC = 0; double bicepsmin=0; |
Vigilance88 | 38:c8ac615d0c8f | 88 | double emg_triceps; double triceps_power; double tricepsMVC = 0; double tricepsmin=0; |
Vigilance88 | 38:c8ac615d0c8f | 89 | double emg_flexor; double flexor_power; double flexorMVC = 0; double flexormin=0; |
Vigilance88 | 38:c8ac615d0c8f | 90 | double emg_extens; double extens_power; double extensMVC = 0; double extensmin=0; |
Vigilance88 | 47:c52f9b4c90c4 | 91 | |
Vigilance88 | 39:e77f844d10d9 | 92 | //Normalize and compare variables |
Vigilance88 | 39:e77f844d10d9 | 93 | double biceps, triceps, flexor, extens; //Storage for normalized emg |
Vigilance88 | 39:e77f844d10d9 | 94 | double xdir, ydir; //EMG reference position directions |
Vigilance88 | 39:e77f844d10d9 | 95 | double xpower, ypower; //EMG reference magnitude |
Vigilance88 | 47:c52f9b4c90c4 | 96 | double dx, dy; //Integral |
Vigilance88 | 47:c52f9b4c90c4 | 97 | double emg_control_time; //Elapsed time in EMG control |
Vigilance88 | 46:c8c5c455dd51 | 98 | |
Vigilance88 | 44:145827f5b091 | 99 | //Threshold moving average |
Vigilance88 | 47:c52f9b4c90c4 | 100 | const int window=100; //100 samples |
Vigilance88 | 47:c52f9b4c90c4 | 101 | int i=0; //movavg array index |
Vigilance88 | 47:c52f9b4c90c4 | 102 | double movavg1[window]; //moving average arrays with size of window |
Vigilance88 | 44:145827f5b091 | 103 | double movavg2[window]; |
Vigilance88 | 44:145827f5b091 | 104 | double movavg3[window]; |
Vigilance88 | 44:145827f5b091 | 105 | double movavg4[window]; |
Vigilance88 | 47:c52f9b4c90c4 | 106 | double sum1, sum2, sum3, sum4; //sum of the entire window |
Vigilance88 | 47:c52f9b4c90c4 | 107 | double biceps_avg, triceps_avg,flexor_avg, extens_avg; //sum divided by window size |
Vigilance88 | 46:c8c5c455dd51 | 108 | |
Vigilance88 | 36:4d4fc200171b | 109 | int muscle; //Muscle selector for MVC measurement, 1 = first emg etc. |
Vigilance88 | 47:c52f9b4c90c4 | 110 | double calibrate_time; //Elapsed time for each measurement |
Vigilance88 | 25:49ccdc98639a | 111 | |
Vigilance88 | 24:56db31267f10 | 112 | //PID variables |
Vigilance88 | 36:4d4fc200171b | 113 | double u1; double u2; //Output of PID controller (PWM value for motor 1 and 2) |
Vigilance88 | 47:c52f9b4c90c4 | 114 | double m1_error=0; double m1_e_int=0; double m1_e_prev=0; //Error, integrated error, previous error motor 1 |
Vigilance88 | 47:c52f9b4c90c4 | 115 | const double m1_kp=8; const double m1_ki=0.125; const double m1_kd=0.5; //Proportional, integral and derivative gains. |
Vigilance88 | 24:56db31267f10 | 116 | |
Vigilance88 | 47:c52f9b4c90c4 | 117 | double m2_error=0; double m2_e_int=0; double m2_e_prev=0; //Error, integrated error, previous error motor 2 |
Vigilance88 | 47:c52f9b4c90c4 | 118 | const double m2_kp=8; const double m2_ki=0.125; const double m2_kd=0.5; //Proportional, integral and derivative gains. |
Vigilance88 | 24:56db31267f10 | 119 | |
Vigilance88 | 36:4d4fc200171b | 120 | //Calibration bools, checks if elbow/shoulder limits are hit |
Vigilance88 | 47:c52f9b4c90c4 | 121 | volatile bool done1 = false; |
Vigilance88 | 47:c52f9b4c90c4 | 122 | volatile bool done2 = false; |
Vigilance88 | 47:c52f9b4c90c4 | 123 | volatile bool calibrating = false; |
Vigilance88 | 32:76c4d7bb2022 | 124 | |
Vigilance88 | 24:56db31267f10 | 125 | //highpass filter 20 Hz |
Vigilance88 | 24:56db31267f10 | 126 | const double high_b0 = 0.956543225556877; |
Vigilance88 | 24:56db31267f10 | 127 | const double high_b1 = -1.91308645113754; |
Vigilance88 | 24:56db31267f10 | 128 | const double high_b2 = 0.956543225556877; |
Vigilance88 | 24:56db31267f10 | 129 | const double high_a1 = -1.91197067426073; |
Vigilance88 | 24:56db31267f10 | 130 | const double high_a2 = 0.9149758348014341; |
Vigilance88 | 24:56db31267f10 | 131 | |
Vigilance88 | 24:56db31267f10 | 132 | //notchfilter 50Hz |
Vigilance88 | 36:4d4fc200171b | 133 | /* |
Vigilance88 | 24:56db31267f10 | 134 | Method = Butterworth |
Vigilance88 | 24:56db31267f10 | 135 | Biquad = Yes |
Vigilance88 | 24:56db31267f10 | 136 | Stable = Yes |
Vigilance88 | 24:56db31267f10 | 137 | Sampling Frequency = 500Hz |
Vigilance88 | 24:56db31267f10 | 138 | Filter Order = 2 |
Vigilance88 | 24:56db31267f10 | 139 | |
Vigilance88 | 24:56db31267f10 | 140 | Band Frequencies (Hz) Att/Ripple (dB) Biquad #1 Biquad #2 |
Vigilance88 | 24:56db31267f10 | 141 | |
Vigilance88 | 24:56db31267f10 | 142 | 1 0, 48 0.001 Gain = 1.000000 Gain = 0.973674 |
Vigilance88 | 24:56db31267f10 | 143 | 2 49, 51 -60.000 B = [ 1.00000000000, -1.61816176147, 1.00000000000] B = [ 1.00000000000, -1.61816176147, 1.00000000000] |
Vigilance88 | 24:56db31267f10 | 144 | 3 52, 250 0.001 A = [ 1.00000000000, -1.58071559235, 0.97319685401] A = [ 1.00000000000, -1.61244708381, 0.97415116257] |
Vigilance88 | 24:56db31267f10 | 145 | */ |
Vigilance88 | 24:56db31267f10 | 146 | |
Vigilance88 | 24:56db31267f10 | 147 | //biquad 1 |
Vigilance88 | 24:56db31267f10 | 148 | const double notch1gain = 1.000000; |
Vigilance88 | 24:56db31267f10 | 149 | const double notch1_b0 = 1; |
Vigilance88 | 24:56db31267f10 | 150 | const double notch1_b1 = -1.61816176147 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 151 | const double notch1_b2 = 1.00000000000 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 152 | const double notch1_a1 = -1.58071559235 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 153 | const double notch1_a2 = 0.97319685401 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 154 | |
Vigilance88 | 24:56db31267f10 | 155 | //biquad 2 |
Vigilance88 | 24:56db31267f10 | 156 | const double notch2gain = 0.973674; |
Vigilance88 | 24:56db31267f10 | 157 | const double notch2_b0 = 1 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 158 | const double notch2_b1 = -1.61816176147 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 159 | const double notch2_b2 = 1.00000000000 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 160 | const double notch2_a1 = -1.61244708381 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 161 | const double notch2_a2 = 0.97415116257 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 162 | |
Vigilance88 | 26:fe3a5469dd6b | 163 | //lowpass filter 7 Hz - envelope |
Vigilance88 | 24:56db31267f10 | 164 | const double low_b0 = 0.000119046743110057; |
Vigilance88 | 24:56db31267f10 | 165 | const double low_b1 = 0.000238093486220118; |
Vigilance88 | 24:56db31267f10 | 166 | const double low_b2 = 0.000119046743110057; |
Vigilance88 | 24:56db31267f10 | 167 | const double low_a1 = -1.968902268531908; |
Vigilance88 | 24:56db31267f10 | 168 | const double low_a2 = 0.9693784555043481; |
Vigilance88 | 21:d6a46315d5f5 | 169 | |
Vigilance88 | 36:4d4fc200171b | 170 | //Forward Kinematics |
Vigilance88 | 36:4d4fc200171b | 171 | const double l1 = 0.25; const double l2 = 0.25; //Arm lengths |
Vigilance88 | 36:4d4fc200171b | 172 | double current_x; double current_y; //Current position |
Vigilance88 | 36:4d4fc200171b | 173 | double theta1; double theta2; //Current angles |
Vigilance88 | 36:4d4fc200171b | 174 | double rpc; //Encoder resolution: radians per count |
Vigilance88 | 36:4d4fc200171b | 175 | |
Vigilance88 | 36:4d4fc200171b | 176 | //Reference position |
Vigilance88 | 28:743485bb51e4 | 177 | double x; double y; |
Vigilance88 | 36:4d4fc200171b | 178 | |
Vigilance88 | 39:e77f844d10d9 | 179 | //Select whether to use Trig or DLS method, emg true or false |
Vigilance88 | 38:c8ac615d0c8f | 180 | int control_method; |
Vigilance88 | 39:e77f844d10d9 | 181 | bool emg_control; |
Vigilance88 | 38:c8ac615d0c8f | 182 | |
Vigilance88 | 36:4d4fc200171b | 183 | //Inverse Kinematics - Trig / Gonio method. |
Vigilance88 | 36:4d4fc200171b | 184 | //First convert reference position to angle needed, then compare that angle to current angle. |
Vigilance88 | 36:4d4fc200171b | 185 | double dtheta1; double dtheta2; //reference angles |
Vigilance88 | 36:4d4fc200171b | 186 | double costheta1; double sintheta1; //helper variables |
Vigilance88 | 36:4d4fc200171b | 187 | double costheta2; double sintheta2; // |
Vigilance88 | 36:4d4fc200171b | 188 | |
Vigilance88 | 36:4d4fc200171b | 189 | //Inverse Kinematics - Damped least squares method. |
Vigilance88 | 36:4d4fc200171b | 190 | //Angle error is directly calculated from position error: dq = [DLS matrix] * position_error |
Vigilance88 | 36:4d4fc200171b | 191 | // |DLS1 DLS2| |
Vigilance88 | 36:4d4fc200171b | 192 | double dls1, dls2, dls3, dls4; //DLS matrix: |DLS3 DLS4| |
Vigilance88 | 36:4d4fc200171b | 193 | double q1_error, q2_error; //Angle errors |
Vigilance88 | 47:c52f9b4c90c4 | 194 | double x_error, y_error; //Position errors |
Vigilance88 | 36:4d4fc200171b | 195 | double lambda=0.1; //Damping constant |
Vigilance88 | 21:d6a46315d5f5 | 196 | |
Vigilance88 | 41:55face19e06b | 197 | //Mechanical Limits |
Vigilance88 | 41:55face19e06b | 198 | int theta1_cal, theta2_cal; //Pulse counts at mechanical limits. |
Vigilance88 | 41:55face19e06b | 199 | double theta1_lower=0.698132, theta1_upper=2.35619; //motor1: lower limit 40 degrees, upper limit 135 |
Vigilance88 | 41:55face19e06b | 200 | double theta2_lower=0.750492, theta2_upper=2.40855; //motor2: lower limit 43 degrees, upper limit 138 degrees. |
Vigilance88 | 41:55face19e06b | 201 | |
Vigilance88 | 21:d6a46315d5f5 | 202 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 24:56db31267f10 | 203 | ---- Filters --------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 204 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 24:56db31267f10 | 205 | |
Vigilance88 | 24:56db31267f10 | 206 | //Using biquadFilter library |
Vigilance88 | 24:56db31267f10 | 207 | //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered. |
Vigilance88 | 26:fe3a5469dd6b | 208 | //Biceps |
Vigilance88 | 24:56db31267f10 | 209 | biquadFilter highpass( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 24:56db31267f10 | 210 | biquadFilter notch1( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 24:56db31267f10 | 211 | biquadFilter notch2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 24:56db31267f10 | 212 | biquadFilter lowpass( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 213 | |
Vigilance88 | 26:fe3a5469dd6b | 214 | //Triceps |
Vigilance88 | 25:49ccdc98639a | 215 | biquadFilter highpass2( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 26:fe3a5469dd6b | 216 | biquadFilter notch1_2( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 26:fe3a5469dd6b | 217 | biquadFilter notch2_2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 25:49ccdc98639a | 218 | biquadFilter lowpass2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 219 | |
Vigilance88 | 26:fe3a5469dd6b | 220 | //Flexor |
Vigilance88 | 25:49ccdc98639a | 221 | biquadFilter highpass3( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 26:fe3a5469dd6b | 222 | biquadFilter notch1_3( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 26:fe3a5469dd6b | 223 | biquadFilter notch2_3( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 25:49ccdc98639a | 224 | biquadFilter lowpass3( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 225 | |
Vigilance88 | 26:fe3a5469dd6b | 226 | //Extensor |
Vigilance88 | 25:49ccdc98639a | 227 | biquadFilter highpass4( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 26:fe3a5469dd6b | 228 | biquadFilter notch1_4( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 26:fe3a5469dd6b | 229 | biquadFilter notch2_4( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 25:49ccdc98639a | 230 | biquadFilter lowpass4( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 231 | |
Vigilance88 | 26:fe3a5469dd6b | 232 | //PID filter (lowpass ??? Hz) |
Vigilance88 | 46:c8c5c455dd51 | 233 | biquadFilter derfilter1( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // derivative filter |
Vigilance88 | 46:c8c5c455dd51 | 234 | biquadFilter derfilter2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // derivative filter |
Vigilance88 | 40:d62f96ed44c0 | 235 | |
Vigilance88 | 24:56db31267f10 | 236 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 24:56db31267f10 | 237 | ---- DECLARE FUNCTION NAMES ------------------------------------------------------------------------------------------ |
Vigilance88 | 24:56db31267f10 | 238 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 26:fe3a5469dd6b | 239 | |
Vigilance88 | 26:fe3a5469dd6b | 240 | void sample_filter(void); //Sampling and filtering |
Vigilance88 | 26:fe3a5469dd6b | 241 | void control(); //Control - reference -> error -> pid -> motor output |
Vigilance88 | 37:4d7b7ced20ef | 242 | void dlscontrol(); //Damped Least Squares method |
Vigilance88 | 37:4d7b7ced20ef | 243 | void calibrate_emg(); //Instructions + measurement of Min and MVC of each muscle |
Vigilance88 | 26:fe3a5469dd6b | 244 | void emg_mvc(); //Helper funcion for storing MVC value |
Vigilance88 | 37:4d7b7ced20ef | 245 | void emg_min(); //Helper function for storing Min value |
Vigilance88 | 26:fe3a5469dd6b | 246 | void calibrate_arm(void); //Calibration of the arm with limit switches |
Vigilance88 | 26:fe3a5469dd6b | 247 | void start_sampling(void); //Attaches the sample_filter function to a 500Hz ticker |
Vigilance88 | 26:fe3a5469dd6b | 248 | void stop_sampling(void); //Stops sample_filter |
Vigilance88 | 26:fe3a5469dd6b | 249 | void start_control(void); //Attaches the control function to a 100Hz ticker |
Vigilance88 | 26:fe3a5469dd6b | 250 | void stop_control(void); //Stops control function |
Vigilance88 | 37:4d7b7ced20ef | 251 | |
Vigilance88 | 26:fe3a5469dd6b | 252 | //Keeps the input between min and max value |
Vigilance88 | 24:56db31267f10 | 253 | void keep_in_range(double * in, double min, double max); |
Vigilance88 | 26:fe3a5469dd6b | 254 | |
Vigilance88 | 26:fe3a5469dd6b | 255 | //Reusable PID controller, previous and integral error need to be passed by reference |
Vigilance88 | 21:d6a46315d5f5 | 256 | double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev); |
Vigilance88 | 47:c52f9b4c90c4 | 257 | double pid2(double error, double kp, double ki, double kd,double &e_int, double &e_prev); |
Vigilance88 | 18:44905b008f44 | 258 | |
Vigilance88 | 26:fe3a5469dd6b | 259 | //Menu functions |
Vigilance88 | 21:d6a46315d5f5 | 260 | void mainMenu(); |
Vigilance88 | 21:d6a46315d5f5 | 261 | void caliMenu(); |
Vigilance88 | 28:743485bb51e4 | 262 | void controlMenu(); |
Vigilance88 | 29:948b0b14f6be | 263 | void controlButtons(); |
Vigilance88 | 26:fe3a5469dd6b | 264 | void clearTerminal(); |
Vigilance88 | 28:743485bb51e4 | 265 | void emgInstructions(); |
Vigilance88 | 28:743485bb51e4 | 266 | void titleBox(); |
Vigilance88 | 26:fe3a5469dd6b | 267 | |
Vigilance88 | 32:76c4d7bb2022 | 268 | //Limit switches - power off motors if switches hit (rising edge interrupt) |
Vigilance88 | 47:c52f9b4c90c4 | 269 | void calibrate(void); |
Vigilance88 | 32:76c4d7bb2022 | 270 | void shoulder(); |
Vigilance88 | 32:76c4d7bb2022 | 271 | void elbow(); |
Vigilance88 | 21:d6a46315d5f5 | 272 | |
Vigilance88 | 21:d6a46315d5f5 | 273 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 274 | ---- MAIN LOOP ------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 275 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 276 | |
Vigilance88 | 21:d6a46315d5f5 | 277 | int main() |
Vigilance88 | 21:d6a46315d5f5 | 278 | { |
Vigilance88 | 29:948b0b14f6be | 279 | pc.baud(115200); //serial baudrate |
Vigilance88 | 30:a9fdd3202ca2 | 280 | red=1; green=1; blue=1; //Make sure debug LEDs are off |
Vigilance88 | 26:fe3a5469dd6b | 281 | |
Vigilance88 | 46:c8c5c455dd51 | 282 | theta1_cal = floor(theta1_lower * (4200/(2*PI))); |
Vigilance88 | 46:c8c5c455dd51 | 283 | Encoder1.setPulses(theta1_cal); //edited QEI library: added setPulses() |
Vigilance88 | 46:c8c5c455dd51 | 284 | |
Vigilance88 | 46:c8c5c455dd51 | 285 | //Mechanical limit 43 degrees -> 43*(4200/360) = 350 |
Vigilance88 | 46:c8c5c455dd51 | 286 | theta2_cal = floor(theta2_lower * (4200/(2*PI))); |
Vigilance88 | 46:c8c5c455dd51 | 287 | Encoder2.setPulses(theta2_cal); |
Vigilance88 | 46:c8c5c455dd51 | 288 | |
Vigilance88 | 46:c8c5c455dd51 | 289 | x = 0.2220; |
Vigilance88 | 46:c8c5c455dd51 | 290 | y = 0.4088; |
Vigilance88 | 46:c8c5c455dd51 | 291 | |
Vigilance88 | 26:fe3a5469dd6b | 292 | //Set PwmOut frequency to 10k Hz |
Vigilance88 | 42:b9d26b1218b0 | 293 | pwm_motor1.period(0.001); |
Vigilance88 | 42:b9d26b1218b0 | 294 | pwm_motor2.period(0.001); |
Vigilance88 | 26:fe3a5469dd6b | 295 | |
Vigilance88 | 26:fe3a5469dd6b | 296 | clearTerminal(); //Clear the putty window |
Vigilance88 | 26:fe3a5469dd6b | 297 | |
Vigilance88 | 24:56db31267f10 | 298 | // make a menu, user has to initiate next step |
Vigilance88 | 28:743485bb51e4 | 299 | titleBox(); |
Vigilance88 | 26:fe3a5469dd6b | 300 | mainMenu(); |
Vigilance88 | 47:c52f9b4c90c4 | 301 | |
Vigilance88 | 32:76c4d7bb2022 | 302 | char command=0; |
Vigilance88 | 27:d1814e271a95 | 303 | |
Vigilance88 | 28:743485bb51e4 | 304 | while(command != 'Q' && command != 'q') |
Vigilance88 | 28:743485bb51e4 | 305 | { |
Vigilance88 | 28:743485bb51e4 | 306 | if(pc.readable()){ |
Vigilance88 | 28:743485bb51e4 | 307 | command = pc.getc(); |
Vigilance88 | 28:743485bb51e4 | 308 | |
Vigilance88 | 28:743485bb51e4 | 309 | switch(command){ |
Vigilance88 | 28:743485bb51e4 | 310 | |
Vigilance88 | 28:743485bb51e4 | 311 | case 'c': |
Vigilance88 | 47:c52f9b4c90c4 | 312 | case 'C': { |
Vigilance88 | 28:743485bb51e4 | 313 | pc.printf("\n\r => You chose calibration.\r\n\n"); |
Vigilance88 | 28:743485bb51e4 | 314 | caliMenu(); |
Vigilance88 | 28:743485bb51e4 | 315 | |
Vigilance88 | 28:743485bb51e4 | 316 | char command2=0; |
Vigilance88 | 28:743485bb51e4 | 317 | |
Vigilance88 | 28:743485bb51e4 | 318 | while(command2 != 'B' && command2 != 'b'){ |
Vigilance88 | 28:743485bb51e4 | 319 | command2 = pc.getc(); |
Vigilance88 | 28:743485bb51e4 | 320 | switch(command2){ |
Vigilance88 | 28:743485bb51e4 | 321 | case 'a': |
Vigilance88 | 28:743485bb51e4 | 322 | case 'A': |
Vigilance88 | 28:743485bb51e4 | 323 | pc.printf("\n\r => Arm Calibration Starting... please wait \n\r"); |
Vigilance88 | 28:743485bb51e4 | 324 | calibrate_arm(); |
Vigilance88 | 28:743485bb51e4 | 325 | wait(1); |
Vigilance88 | 28:743485bb51e4 | 326 | caliMenu(); |
Vigilance88 | 28:743485bb51e4 | 327 | break; |
Vigilance88 | 28:743485bb51e4 | 328 | |
Vigilance88 | 28:743485bb51e4 | 329 | case 'e': |
Vigilance88 | 28:743485bb51e4 | 330 | case 'E': |
Vigilance88 | 28:743485bb51e4 | 331 | pc.printf("\n\r => EMG Calibration Starting... please wait \n\r"); |
Vigilance88 | 28:743485bb51e4 | 332 | wait(1); |
Vigilance88 | 28:743485bb51e4 | 333 | emgInstructions(); |
Vigilance88 | 28:743485bb51e4 | 334 | calibrate_emg(); |
Vigilance88 | 32:76c4d7bb2022 | 335 | pc.printf("\n\r------------------------- \n\r"); |
Vigilance88 | 28:743485bb51e4 | 336 | pc.printf("\n\r EMG Calibration complete \n\r"); |
Vigilance88 | 32:76c4d7bb2022 | 337 | pc.printf("\n\r------------------------- \n\r"); |
Vigilance88 | 28:743485bb51e4 | 338 | caliMenu(); |
Vigilance88 | 28:743485bb51e4 | 339 | break; |
Vigilance88 | 28:743485bb51e4 | 340 | |
Vigilance88 | 28:743485bb51e4 | 341 | case 'b': |
Vigilance88 | 28:743485bb51e4 | 342 | case 'B': |
Vigilance88 | 28:743485bb51e4 | 343 | pc.printf("\n\r => Going back to main menu.. \n\r"); |
Vigilance88 | 28:743485bb51e4 | 344 | mainMenu(); |
Vigilance88 | 28:743485bb51e4 | 345 | break; |
Vigilance88 | 28:743485bb51e4 | 346 | }//end switch |
Vigilance88 | 28:743485bb51e4 | 347 | |
Vigilance88 | 28:743485bb51e4 | 348 | }//end while |
Vigilance88 | 28:743485bb51e4 | 349 | break; |
Vigilance88 | 47:c52f9b4c90c4 | 350 | }//end case c C |
Vigilance88 | 35:7d9fca0b1545 | 351 | case 't': |
Vigilance88 | 35:7d9fca0b1545 | 352 | case 'T': |
Vigilance88 | 39:e77f844d10d9 | 353 | pc.printf("=> You chose TRIG button control \r\n\n"); |
Vigilance88 | 28:743485bb51e4 | 354 | wait(1); |
Vigilance88 | 28:743485bb51e4 | 355 | start_sampling(); |
Vigilance88 | 28:743485bb51e4 | 356 | wait(1); |
Vigilance88 | 39:e77f844d10d9 | 357 | emg_control=false; |
Vigilance88 | 38:c8ac615d0c8f | 358 | control_method=1; |
Vigilance88 | 28:743485bb51e4 | 359 | start_control(); |
Vigilance88 | 28:743485bb51e4 | 360 | wait(1); |
Vigilance88 | 29:948b0b14f6be | 361 | controlButtons(); |
Vigilance88 | 28:743485bb51e4 | 362 | break; |
Vigilance88 | 35:7d9fca0b1545 | 363 | case 'd': |
Vigilance88 | 35:7d9fca0b1545 | 364 | case 'D': |
Vigilance88 | 39:e77f844d10d9 | 365 | pc.printf("=> You chose DLS button control \r\n\n"); |
Vigilance88 | 35:7d9fca0b1545 | 366 | wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 367 | start_sampling(); |
Vigilance88 | 35:7d9fca0b1545 | 368 | wait(1); |
Vigilance88 | 39:e77f844d10d9 | 369 | emg_control=false; |
Vigilance88 | 38:c8ac615d0c8f | 370 | control_method=2; |
Vigilance88 | 38:c8ac615d0c8f | 371 | start_control(); |
Vigilance88 | 35:7d9fca0b1545 | 372 | wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 373 | controlButtons(); |
Vigilance88 | 35:7d9fca0b1545 | 374 | break; |
Vigilance88 | 39:e77f844d10d9 | 375 | case 'e': |
Vigilance88 | 39:e77f844d10d9 | 376 | case 'E': |
Vigilance88 | 39:e77f844d10d9 | 377 | pc.printf("=> You chose EMG DLS control \r\n\n"); |
Vigilance88 | 39:e77f844d10d9 | 378 | wait(1); |
Vigilance88 | 39:e77f844d10d9 | 379 | start_sampling(); |
Vigilance88 | 47:c52f9b4c90c4 | 380 | wait(1); |
Vigilance88 | 46:c8c5c455dd51 | 381 | emg_control_time = 0; |
Vigilance88 | 39:e77f844d10d9 | 382 | emg_control=true; |
Vigilance88 | 39:e77f844d10d9 | 383 | control_method=2; |
Vigilance88 | 47:c52f9b4c90c4 | 384 | |
Vigilance88 | 39:e77f844d10d9 | 385 | start_control(); |
Vigilance88 | 39:e77f844d10d9 | 386 | wait(1); |
Vigilance88 | 39:e77f844d10d9 | 387 | controlButtons(); |
Vigilance88 | 39:e77f844d10d9 | 388 | break; |
Vigilance88 | 28:743485bb51e4 | 389 | case 'R': |
Vigilance88 | 28:743485bb51e4 | 390 | red=!red; |
Vigilance88 | 28:743485bb51e4 | 391 | pc.printf("=> Red LED triggered \n\r"); |
Vigilance88 | 28:743485bb51e4 | 392 | break; |
Vigilance88 | 28:743485bb51e4 | 393 | case 'G': |
Vigilance88 | 28:743485bb51e4 | 394 | green=!green; |
Vigilance88 | 28:743485bb51e4 | 395 | pc.printf("=> Green LED triggered \n\r"); |
Vigilance88 | 28:743485bb51e4 | 396 | break; |
Vigilance88 | 28:743485bb51e4 | 397 | case 'B': |
Vigilance88 | 28:743485bb51e4 | 398 | blue=!blue; |
Vigilance88 | 28:743485bb51e4 | 399 | pc.printf("=> Blue LED triggered \n\r"); |
Vigilance88 | 28:743485bb51e4 | 400 | break; |
Vigilance88 | 28:743485bb51e4 | 401 | case 'q': |
Vigilance88 | 28:743485bb51e4 | 402 | case 'Q': |
Vigilance88 | 28:743485bb51e4 | 403 | |
Vigilance88 | 28:743485bb51e4 | 404 | break; |
Vigilance88 | 28:743485bb51e4 | 405 | default: |
Vigilance88 | 28:743485bb51e4 | 406 | pc.printf("=> Invalid Input \n\r"); |
Vigilance88 | 28:743485bb51e4 | 407 | break; |
Vigilance88 | 28:743485bb51e4 | 408 | } //end switch |
Vigilance88 | 28:743485bb51e4 | 409 | } // end if pc readable |
Vigilance88 | 28:743485bb51e4 | 410 | |
Vigilance88 | 28:743485bb51e4 | 411 | } // end while loop |
Vigilance88 | 28:743485bb51e4 | 412 | |
Vigilance88 | 28:743485bb51e4 | 413 | |
Vigilance88 | 28:743485bb51e4 | 414 | |
Vigilance88 | 47:c52f9b4c90c4 | 415 | //When end of while loop reached (user chose quit program). |
Vigilance88 | 28:743485bb51e4 | 416 | |
Vigilance88 | 28:743485bb51e4 | 417 | pc.printf("\r\n------------------------------ \n\r"); |
Vigilance88 | 28:743485bb51e4 | 418 | pc.printf("Program Offline \n\r"); |
Vigilance88 | 28:743485bb51e4 | 419 | pc.printf("Reset to start\r\n"); |
Vigilance88 | 28:743485bb51e4 | 420 | pc.printf("------------------------------ \n\r"); |
Vigilance88 | 28:743485bb51e4 | 421 | } |
Vigilance88 | 28:743485bb51e4 | 422 | //end of main |
Vigilance88 | 28:743485bb51e4 | 423 | |
Vigilance88 | 28:743485bb51e4 | 424 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 28:743485bb51e4 | 425 | ---- FUNCTIONS ------------------------------------------------------------------------------------------------------- |
Vigilance88 | 28:743485bb51e4 | 426 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 28:743485bb51e4 | 427 | |
Vigilance88 | 47:c52f9b4c90c4 | 428 | //Use WASD keys to change reference position, x is a and d, y is w and s. |
Vigilance88 | 29:948b0b14f6be | 429 | void controlButtons() |
Vigilance88 | 28:743485bb51e4 | 430 | { |
Vigilance88 | 28:743485bb51e4 | 431 | controlMenu(); |
Vigilance88 | 28:743485bb51e4 | 432 | char c=0; |
Vigilance88 | 28:743485bb51e4 | 433 | while(c != 'Q' && c != 'q') { |
Vigilance88 | 27:d1814e271a95 | 434 | |
Vigilance88 | 27:d1814e271a95 | 435 | if( pc.readable() ){ |
Vigilance88 | 27:d1814e271a95 | 436 | c = pc.getc(); |
Vigilance88 | 27:d1814e271a95 | 437 | switch (c) |
Vigilance88 | 27:d1814e271a95 | 438 | { |
Vigilance88 | 38:c8ac615d0c8f | 439 | case 'd' : |
Vigilance88 | 27:d1814e271a95 | 440 | x = x + 0.01; |
Vigilance88 | 32:76c4d7bb2022 | 441 | |
Vigilance88 | 27:d1814e271a95 | 442 | break; |
Vigilance88 | 27:d1814e271a95 | 443 | |
Vigilance88 | 38:c8ac615d0c8f | 444 | case 'a' : |
Vigilance88 | 27:d1814e271a95 | 445 | x-=0.01; |
Vigilance88 | 32:76c4d7bb2022 | 446 | |
Vigilance88 | 27:d1814e271a95 | 447 | break; |
Vigilance88 | 27:d1814e271a95 | 448 | |
Vigilance88 | 38:c8ac615d0c8f | 449 | case 'w' : |
Vigilance88 | 27:d1814e271a95 | 450 | y+=0.01; |
Vigilance88 | 32:76c4d7bb2022 | 451 | |
Vigilance88 | 27:d1814e271a95 | 452 | break; |
Vigilance88 | 27:d1814e271a95 | 453 | |
Vigilance88 | 27:d1814e271a95 | 454 | |
Vigilance88 | 38:c8ac615d0c8f | 455 | case 's' : |
Vigilance88 | 27:d1814e271a95 | 456 | y-=0.01; |
Vigilance88 | 32:76c4d7bb2022 | 457 | |
Vigilance88 | 27:d1814e271a95 | 458 | break; |
Vigilance88 | 27:d1814e271a95 | 459 | |
Vigilance88 | 27:d1814e271a95 | 460 | case 'q' : |
Vigilance88 | 28:743485bb51e4 | 461 | case 'Q' : |
Vigilance88 | 28:743485bb51e4 | 462 | pc.printf("=> Quitting control... \r\n"); wait(1); |
Vigilance88 | 28:743485bb51e4 | 463 | stop_sampling(); |
Vigilance88 | 28:743485bb51e4 | 464 | stop_control(); |
Vigilance88 | 28:743485bb51e4 | 465 | pwm_motor1=0; pwm_motor2=0; |
Vigilance88 | 28:743485bb51e4 | 466 | pc.printf("Sampling and Control detached \n\r"); wait(1); |
Vigilance88 | 28:743485bb51e4 | 467 | pc.printf("Returning to Main Menu \r\n\n"); wait(1); |
Vigilance88 | 28:743485bb51e4 | 468 | mainMenu(); |
Vigilance88 | 47:c52f9b4c90c4 | 469 | |
Vigilance88 | 27:d1814e271a95 | 470 | break; |
Vigilance88 | 27:d1814e271a95 | 471 | }//end switch |
Vigilance88 | 47:c52f9b4c90c4 | 472 | |
Vigilance88 | 28:743485bb51e4 | 473 | if(c!='q' && c!='Q'){ |
Vigilance88 | 27:d1814e271a95 | 474 | pc.printf("Reference position: %f and %f \r\n",x,y); |
Vigilance88 | 27:d1814e271a95 | 475 | pc.printf("Current position: %f and %f \r\n",current_x,current_y); |
Vigilance88 | 36:4d4fc200171b | 476 | pc.printf("Pos Error: %f and %f \r\n",x_error,y_error); |
Vigilance88 | 27:d1814e271a95 | 477 | pc.printf("Current angles: %f and %f \r\n",theta1,theta2); |
Vigilance88 | 36:4d4fc200171b | 478 | pc.printf("DLS1: %f and DLS2 %f and DLS3 %f and DLS4: %f \r\n",dls1,dls2,dls3,dls4); |
Vigilance88 | 35:7d9fca0b1545 | 479 | pc.printf("Error in angles: %f and %f \r\n",q1_error,q2_error); |
Vigilance88 | 27:d1814e271a95 | 480 | pc.printf("PID output: %f and %f \r\n",u1,u2); |
Vigilance88 | 27:d1814e271a95 | 481 | pc.printf("----------------------------------------\r\n\n"); |
Vigilance88 | 47:c52f9b4c90c4 | 482 | }//end if |
Vigilance88 | 28:743485bb51e4 | 483 | } |
Vigilance88 | 47:c52f9b4c90c4 | 484 | //end if pc readable |
Vigilance88 | 21:d6a46315d5f5 | 485 | } |
Vigilance88 | 21:d6a46315d5f5 | 486 | //end of while loop |
Vigilance88 | 30:a9fdd3202ca2 | 487 | } |
Vigilance88 | 18:44905b008f44 | 488 | |
Vigilance88 | 21:d6a46315d5f5 | 489 | //Sample and Filter |
Vigilance88 | 21:d6a46315d5f5 | 490 | void sample_filter(void) |
Vigilance88 | 18:44905b008f44 | 491 | { |
Vigilance88 | 32:76c4d7bb2022 | 492 | emg_biceps = emg1.read(); //Biceps |
Vigilance88 | 32:76c4d7bb2022 | 493 | emg_triceps = emg2.read(); //Triceps |
Vigilance88 | 32:76c4d7bb2022 | 494 | emg_flexor = emg3.read(); //Flexor |
Vigilance88 | 32:76c4d7bb2022 | 495 | emg_extens = emg4.read(); //Extensor |
Vigilance88 | 21:d6a46315d5f5 | 496 | |
Vigilance88 | 21:d6a46315d5f5 | 497 | //Filter: high-pass -> notch -> rectify -> lowpass or moving average |
Vigilance88 | 22:1ba637601dc3 | 498 | // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad? |
Vigilance88 | 25:49ccdc98639a | 499 | 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 | 500 | 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 | 501 | 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 | 502 | biceps_power = abs(biceps_power); triceps_power = abs(triceps_power); flexor_power = abs(flexor_power); extens_power = abs(extens_power); |
Vigilance88 | 25:49ccdc98639a | 503 | 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 | 504 | |
Vigilance88 | 25:49ccdc98639a | 505 | |
Vigilance88 | 32:76c4d7bb2022 | 506 | scope.set(0,biceps_power); |
Vigilance88 | 32:76c4d7bb2022 | 507 | scope.set(1,triceps_power); |
Vigilance88 | 38:c8ac615d0c8f | 508 | //scope.set(2,flexor_power); |
Vigilance88 | 38:c8ac615d0c8f | 509 | //scope.set(3,extens_power); |
Vigilance88 | 29:948b0b14f6be | 510 | scope.send(); |
Vigilance88 | 44:145827f5b091 | 511 | |
Vigilance88 | 18:44905b008f44 | 512 | } |
Vigilance88 | 18:44905b008f44 | 513 | |
Vigilance88 | 47:c52f9b4c90c4 | 514 | //Limit switch - if hit: set pulsecount of encoder to angle of lower mechanical limit |
Vigilance88 | 32:76c4d7bb2022 | 515 | void shoulder(){ |
Vigilance88 | 41:55face19e06b | 516 | pwm_motor1=0; |
Vigilance88 | 32:76c4d7bb2022 | 517 | done1 = true; |
Vigilance88 | 32:76c4d7bb2022 | 518 | pc.printf("Shoulder Limit hit - shutting down motor 1\r\n"); |
Vigilance88 | 36:4d4fc200171b | 519 | //mechanical angle limits -> pulses. If 40 degrees -> counts = floor( 40 * (4200/360) ) |
Vigilance88 | 41:55face19e06b | 520 | theta1_cal = floor(theta1_lower * (4200/(2*PI))); |
Vigilance88 | 47:c52f9b4c90c4 | 521 | Encoder1.setPulses(theta1_cal); //edited QEI library: added setPulses(int p) |
Vigilance88 | 36:4d4fc200171b | 522 | |
Vigilance88 | 32:76c4d7bb2022 | 523 | } |
Vigilance88 | 32:76c4d7bb2022 | 524 | |
Vigilance88 | 32:76c4d7bb2022 | 525 | void elbow(){ |
Vigilance88 | 41:55face19e06b | 526 | pwm_motor2=0; |
Vigilance88 | 32:76c4d7bb2022 | 527 | done2 = true; |
Vigilance88 | 32:76c4d7bb2022 | 528 | pc.printf("Elbow Limit hit - shutting down motor 2\r\n"); |
Vigilance88 | 47:c52f9b4c90c4 | 529 | |
Vigilance88 | 41:55face19e06b | 530 | //Mechanical limit 43 degrees -> 43*(4200/360) = 350 |
Vigilance88 | 41:55face19e06b | 531 | theta2_cal = floor(theta2_lower * (4200/(2*PI))); |
Vigilance88 | 47:c52f9b4c90c4 | 532 | Encoder2.setPulses(theta2_cal); //edited QEI library: added setPulses(int p) |
Vigilance88 | 42:b9d26b1218b0 | 533 | |
Vigilance88 | 32:76c4d7bb2022 | 534 | } |
Vigilance88 | 47:c52f9b4c90c4 | 535 | |
Vigilance88 | 47:c52f9b4c90c4 | 536 | //Run motors slowly clockwise to mechanical limit. Attached to 100Hz ticker |
Vigilance88 | 47:c52f9b4c90c4 | 537 | void calibrate(void){ |
Vigilance88 | 47:c52f9b4c90c4 | 538 | if(done1==false){ //if motor 1 limit has not been hit yet |
Vigilance88 | 47:c52f9b4c90c4 | 539 | pwm_motor1=0.1; //move upper arm slowly cw |
Vigilance88 | 47:c52f9b4c90c4 | 540 | pc.printf("Motor 1 running %f \r\n"); |
Vigilance88 | 47:c52f9b4c90c4 | 541 | } |
Vigilance88 | 47:c52f9b4c90c4 | 542 | if(done1==true && done2==false){ //if limit motor 1 has been hit |
Vigilance88 | 47:c52f9b4c90c4 | 543 | pwm_motor1=0; //stop motor1 |
Vigilance88 | 47:c52f9b4c90c4 | 544 | pwm_motor2=0.1; //start moving forearm slowly cw |
Vigilance88 | 47:c52f9b4c90c4 | 545 | pc.printf("Motor 2 running %f \r\n"); |
Vigilance88 | 47:c52f9b4c90c4 | 546 | } |
Vigilance88 | 47:c52f9b4c90c4 | 547 | // if(done1==true && done2==true) //if both limits are hit |
Vigilance88 | 47:c52f9b4c90c4 | 548 | // pwm_motor2=0; //stop motor2 |
Vigilance88 | 47:c52f9b4c90c4 | 549 | // calibrating=false; //stop calibrating |
Vigilance88 | 47:c52f9b4c90c4 | 550 | } |
Vigilance88 | 32:76c4d7bb2022 | 551 | |
Vigilance88 | 18:44905b008f44 | 552 | //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position. |
Vigilance88 | 19:0a3ee31dcdb4 | 553 | void calibrate_arm(void) |
Vigilance88 | 19:0a3ee31dcdb4 | 554 | { |
Vigilance88 | 28:743485bb51e4 | 555 | pc.printf("Calibrate_arm() entered\r\n"); |
Vigilance88 | 47:c52f9b4c90c4 | 556 | |
Vigilance88 | 47:c52f9b4c90c4 | 557 | calibrating = true; |
Vigilance88 | 32:76c4d7bb2022 | 558 | done1 = false; |
Vigilance88 | 32:76c4d7bb2022 | 559 | done2 = false; |
Vigilance88 | 32:76c4d7bb2022 | 560 | |
Vigilance88 | 27:d1814e271a95 | 561 | pc.printf("To start arm calibration, press any key =>"); |
Vigilance88 | 47:c52f9b4c90c4 | 562 | pc.getc(); |
Vigilance88 | 27:d1814e271a95 | 563 | pc.printf("\r\n Calibrating... \r\n"); |
Vigilance88 | 47:c52f9b4c90c4 | 564 | red=0; blue=0; //Debug light is purple during arm calibration |
Vigilance88 | 47:c52f9b4c90c4 | 565 | |
Vigilance88 | 36:4d4fc200171b | 566 | dir_motor1=0; //cw |
Vigilance88 | 36:4d4fc200171b | 567 | dir_motor2=1; //cw |
Vigilance88 | 36:4d4fc200171b | 568 | |
Vigilance88 | 47:c52f9b4c90c4 | 569 | control_timer.attach(&calibrate,CONTROL_RATE); |
Vigilance88 | 26:fe3a5469dd6b | 570 | |
Vigilance88 | 26:fe3a5469dd6b | 571 | while(calibrating){ |
Vigilance88 | 47:c52f9b4c90c4 | 572 | shoulder_limit.fall(&shoulder); |
Vigilance88 | 47:c52f9b4c90c4 | 573 | elbow_limit.fall(&elbow); |
Vigilance88 | 47:c52f9b4c90c4 | 574 | if(done1 && done2){ |
Vigilance88 | 47:c52f9b4c90c4 | 575 | pwm_motor2=0; |
Vigilance88 | 47:c52f9b4c90c4 | 576 | control_timer.detach(); //Leave while loop when both limits are reached |
Vigilance88 | 47:c52f9b4c90c4 | 577 | red=1; blue=1; //Turn debug light off when calibration complete |
Vigilance88 | 47:c52f9b4c90c4 | 578 | //set reference position to mechanical limits |
Vigilance88 | 47:c52f9b4c90c4 | 579 | calibrating=false; |
Vigilance88 | 27:d1814e271a95 | 580 | |
Vigilance88 | 47:c52f9b4c90c4 | 581 | x = l1 * cos(theta1_lower) + l2 * cos(theta1_lower + theta2_lower); |
Vigilance88 | 47:c52f9b4c90c4 | 582 | y = l1 * sin(theta1_lower) + l2 * sin(theta1_lower + theta2_lower); |
Vigilance88 | 47:c52f9b4c90c4 | 583 | //x = 0.2220; |
Vigilance88 | 47:c52f9b4c90c4 | 584 | //y = 0.4088; |
Vigilance88 | 47:c52f9b4c90c4 | 585 | } |
Vigilance88 | 47:c52f9b4c90c4 | 586 | } |
Vigilance88 | 47:c52f9b4c90c4 | 587 | pc.printf("Current pulsecount motor 1: %i, motor 2: %i \r\n",Encoder1.getPulses(),Encoder2.getPulses()); |
Vigilance88 | 47:c52f9b4c90c4 | 588 | pc.printf("Current reference. X: %f, Y: %f \r\n",x,y); |
Vigilance88 | 47:c52f9b4c90c4 | 589 | wait(1); |
Vigilance88 | 47:c52f9b4c90c4 | 590 | pc.printf("\n\r-------------------------- \n\r"); |
Vigilance88 | 47:c52f9b4c90c4 | 591 | pc.printf(" Arm Calibration Complete\r\n"); |
Vigilance88 | 47:c52f9b4c90c4 | 592 | pc.printf("-------------------------- \n\r"); |
Vigilance88 | 47:c52f9b4c90c4 | 593 | |
Vigilance88 | 19:0a3ee31dcdb4 | 594 | } |
Vigilance88 | 19:0a3ee31dcdb4 | 595 | |
Vigilance88 | 21:d6a46315d5f5 | 596 | //EMG Maximum Voluntary Contraction measurement |
Vigilance88 | 25:49ccdc98639a | 597 | void emg_mvc() |
Vigilance88 | 25:49ccdc98639a | 598 | { |
Vigilance88 | 24:56db31267f10 | 599 | if(muscle==1){ |
Vigilance88 | 24:56db31267f10 | 600 | |
Vigilance88 | 24:56db31267f10 | 601 | if(biceps_power>bicepsMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 602 | //printf("+ "); |
Vigilance88 | 26:fe3a5469dd6b | 603 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 21:d6a46315d5f5 | 604 | bicepsMVC=biceps_power; |
Vigilance88 | 24:56db31267f10 | 605 | } |
Vigilance88 | 25:49ccdc98639a | 606 | else |
Vigilance88 | 25:49ccdc98639a | 607 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 608 | } |
Vigilance88 | 24:56db31267f10 | 609 | |
Vigilance88 | 24:56db31267f10 | 610 | if(muscle==2){ |
Vigilance88 | 24:56db31267f10 | 611 | |
Vigilance88 | 24:56db31267f10 | 612 | if(triceps_power>tricepsMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 613 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 24:56db31267f10 | 614 | tricepsMVC=triceps_power; |
Vigilance88 | 24:56db31267f10 | 615 | } |
Vigilance88 | 26:fe3a5469dd6b | 616 | else |
Vigilance88 | 26:fe3a5469dd6b | 617 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 618 | } |
Vigilance88 | 24:56db31267f10 | 619 | |
Vigilance88 | 24:56db31267f10 | 620 | if(muscle==3){ |
Vigilance88 | 24:56db31267f10 | 621 | |
Vigilance88 | 24:56db31267f10 | 622 | if(flexor_power>flexorMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 623 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 24:56db31267f10 | 624 | flexorMVC=flexor_power; |
Vigilance88 | 24:56db31267f10 | 625 | } |
Vigilance88 | 26:fe3a5469dd6b | 626 | else |
Vigilance88 | 26:fe3a5469dd6b | 627 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 628 | } |
Vigilance88 | 24:56db31267f10 | 629 | |
Vigilance88 | 24:56db31267f10 | 630 | if(muscle==4){ |
Vigilance88 | 24:56db31267f10 | 631 | |
Vigilance88 | 24:56db31267f10 | 632 | if(extens_power>extensMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 633 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 24:56db31267f10 | 634 | extensMVC=extens_power; |
Vigilance88 | 24:56db31267f10 | 635 | } |
Vigilance88 | 26:fe3a5469dd6b | 636 | else |
Vigilance88 | 26:fe3a5469dd6b | 637 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 638 | } |
Vigilance88 | 25:49ccdc98639a | 639 | |
Vigilance88 | 25:49ccdc98639a | 640 | //} |
Vigilance88 | 25:49ccdc98639a | 641 | calibrate_time = calibrate_time + 0.002; |
Vigilance88 | 36:4d4fc200171b | 642 | |
Vigilance88 | 25:49ccdc98639a | 643 | } |
Vigilance88 | 25:49ccdc98639a | 644 | |
Vigilance88 | 35:7d9fca0b1545 | 645 | void emg_min() |
Vigilance88 | 35:7d9fca0b1545 | 646 | { |
Vigilance88 | 35:7d9fca0b1545 | 647 | |
Vigilance88 | 38:c8ac615d0c8f | 648 | if(biceps_power>bicepsmin){ |
Vigilance88 | 35:7d9fca0b1545 | 649 | bicepsmin=biceps_power; |
Vigilance88 | 35:7d9fca0b1545 | 650 | } |
Vigilance88 | 35:7d9fca0b1545 | 651 | |
Vigilance88 | 38:c8ac615d0c8f | 652 | if(triceps_power>tricepsmin){ |
Vigilance88 | 35:7d9fca0b1545 | 653 | tricepsmin=triceps_power; |
Vigilance88 | 35:7d9fca0b1545 | 654 | } |
Vigilance88 | 35:7d9fca0b1545 | 655 | |
Vigilance88 | 38:c8ac615d0c8f | 656 | if(flexor_power>flexormin){ |
Vigilance88 | 35:7d9fca0b1545 | 657 | flexormin=flexor_power; |
Vigilance88 | 35:7d9fca0b1545 | 658 | } |
Vigilance88 | 35:7d9fca0b1545 | 659 | |
Vigilance88 | 38:c8ac615d0c8f | 660 | if(extens_power > extensmin){ |
Vigilance88 | 35:7d9fca0b1545 | 661 | extensmin = extens_power; |
Vigilance88 | 35:7d9fca0b1545 | 662 | } |
Vigilance88 | 35:7d9fca0b1545 | 663 | |
Vigilance88 | 35:7d9fca0b1545 | 664 | calibrate_time = calibrate_time + 0.002; |
Vigilance88 | 35:7d9fca0b1545 | 665 | |
Vigilance88 | 35:7d9fca0b1545 | 666 | } |
Vigilance88 | 35:7d9fca0b1545 | 667 | |
Vigilance88 | 25:49ccdc98639a | 668 | //EMG calibration |
Vigilance88 | 25:49ccdc98639a | 669 | void calibrate_emg() |
Vigilance88 | 25:49ccdc98639a | 670 | { |
Vigilance88 | 25:49ccdc98639a | 671 | Ticker timer; |
Vigilance88 | 25:49ccdc98639a | 672 | |
Vigilance88 | 38:c8ac615d0c8f | 673 | pc.printf("Starting sampling, to allow hidscope to normalize\r\n"); |
Vigilance88 | 38:c8ac615d0c8f | 674 | start_sampling(); |
Vigilance88 | 25:49ccdc98639a | 675 | wait(1); |
Vigilance88 | 38:c8ac615d0c8f | 676 | pc.printf("Start minimum measurement, relax all muscles.\r\n"); |
Vigilance88 | 35:7d9fca0b1545 | 677 | wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 678 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 679 | char input; |
Vigilance88 | 35:7d9fca0b1545 | 680 | input=pc.getc(); |
Vigilance88 | 35:7d9fca0b1545 | 681 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 682 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 683 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 684 | |
Vigilance88 | 38:c8ac615d0c8f | 685 | |
Vigilance88 | 36:4d4fc200171b | 686 | |
Vigilance88 | 35:7d9fca0b1545 | 687 | timer.attach(&emg_min,SAMPLE_RATE); |
Vigilance88 | 35:7d9fca0b1545 | 688 | wait(5); |
Vigilance88 | 35:7d9fca0b1545 | 689 | timer.detach(); |
Vigilance88 | 35:7d9fca0b1545 | 690 | pc.printf("\r\n Measurement complete."); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 691 | pc.printf("\r\n Biceps min = %f \r\n",bicepsmin); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 692 | pc.printf("\r\n Triceps min = %f \r\n",tricepsmin); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 693 | pc.printf("\r\n Flexor min = %f \r\n",flexormin); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 694 | pc.printf("\r\n Extensor min = %f \r\n",extensmin); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 695 | |
Vigilance88 | 35:7d9fca0b1545 | 696 | calibrate_time=0; |
Vigilance88 | 35:7d9fca0b1545 | 697 | pc.printf("\r\n Now we will measure maximum amplitudes \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 698 | pc.printf("+ means current sample is higher than stored MVC\r\n"); |
Vigilance88 | 25:49ccdc98639a | 699 | pc.printf("- means current sample is lower than stored MVC\r\n"); |
Vigilance88 | 26:fe3a5469dd6b | 700 | wait(2); |
Vigilance88 | 28:743485bb51e4 | 701 | pc.printf("\r\n----------------\r\n "); |
Vigilance88 | 28:743485bb51e4 | 702 | pc.printf(" Biceps is first.\r\n "); |
Vigilance88 | 28:743485bb51e4 | 703 | pc.printf("----------------\r\n "); |
Vigilance88 | 28:743485bb51e4 | 704 | wait(1); |
Vigilance88 | 25:49ccdc98639a | 705 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 25:49ccdc98639a | 706 | input=pc.getc(); |
Vigilance88 | 25:49ccdc98639a | 707 | pc.putc(input); |
Vigilance88 | 25:49ccdc98639a | 708 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 709 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 710 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 711 | |
Vigilance88 | 25:49ccdc98639a | 712 | start_sampling(); |
Vigilance88 | 25:49ccdc98639a | 713 | muscle=1; |
Vigilance88 | 27:d1814e271a95 | 714 | timer.attach(&emg_mvc,SAMPLE_RATE); |
Vigilance88 | 25:49ccdc98639a | 715 | wait(5); |
Vigilance88 | 25:49ccdc98639a | 716 | timer.detach(); |
Vigilance88 | 26:fe3a5469dd6b | 717 | |
Vigilance88 | 26:fe3a5469dd6b | 718 | pc.printf("\r\n Measurement complete."); wait(1); |
Vigilance88 | 26:fe3a5469dd6b | 719 | pc.printf("\r\n Biceps MVC = %f \r\n",bicepsMVC); wait(1); |
Vigilance88 | 26:fe3a5469dd6b | 720 | pc.printf("Calibrate_emg() exited \r\n"); wait(1); |
Vigilance88 | 26:fe3a5469dd6b | 721 | pc.printf("Measured time: %f seconds \r\n\n",calibrate_time); |
Vigilance88 | 25:49ccdc98639a | 722 | calibrate_time=0; |
Vigilance88 | 25:49ccdc98639a | 723 | |
Vigilance88 | 25:49ccdc98639a | 724 | // Triceps: |
Vigilance88 | 26:fe3a5469dd6b | 725 | muscle=2; |
Vigilance88 | 28:743485bb51e4 | 726 | pc.printf("\r\n----------------\r\n "); |
Vigilance88 | 28:743485bb51e4 | 727 | pc.printf(" Triceps is next.\r\n "); |
Vigilance88 | 28:743485bb51e4 | 728 | pc.printf("----------------\r\n "); |
Vigilance88 | 28:743485bb51e4 | 729 | wait(1); |
Vigilance88 | 28:743485bb51e4 | 730 | |
Vigilance88 | 25:49ccdc98639a | 731 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 25:49ccdc98639a | 732 | input=pc.getc(); |
Vigilance88 | 25:49ccdc98639a | 733 | pc.putc(input); |
Vigilance88 | 25:49ccdc98639a | 734 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 735 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 736 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 737 | start_sampling(); |
Vigilance88 | 25:49ccdc98639a | 738 | timer.attach(&emg_mvc,0.002); |
Vigilance88 | 25:49ccdc98639a | 739 | wait(5); |
Vigilance88 | 25:49ccdc98639a | 740 | timer.detach(); |
Vigilance88 | 25:49ccdc98639a | 741 | pc.printf("\r\n Triceps MVC = %f \r\n",tricepsMVC); |
Vigilance88 | 25:49ccdc98639a | 742 | |
Vigilance88 | 25:49ccdc98639a | 743 | pc.printf("Calibrate_emg() exited \r\n"); |
Vigilance88 | 25:49ccdc98639a | 744 | pc.printf("Measured time: %f seconds \r\n",calibrate_time); |
Vigilance88 | 25:49ccdc98639a | 745 | calibrate_time=0; |
Vigilance88 | 25:49ccdc98639a | 746 | |
Vigilance88 | 25:49ccdc98639a | 747 | //Flexor: |
Vigilance88 | 26:fe3a5469dd6b | 748 | muscle=3; |
Vigilance88 | 35:7d9fca0b1545 | 749 | pc.printf("\r\n----------------\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 750 | pc.printf(" Flexor is next.\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 751 | pc.printf("----------------\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 752 | wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 753 | |
Vigilance88 | 35:7d9fca0b1545 | 754 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 755 | input=pc.getc(); |
Vigilance88 | 35:7d9fca0b1545 | 756 | pc.putc(input); |
Vigilance88 | 35:7d9fca0b1545 | 757 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 758 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 759 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 760 | start_sampling(); |
Vigilance88 | 35:7d9fca0b1545 | 761 | timer.attach(&emg_mvc,0.002); |
Vigilance88 | 35:7d9fca0b1545 | 762 | wait(5); |
Vigilance88 | 35:7d9fca0b1545 | 763 | timer.detach(); |
Vigilance88 | 35:7d9fca0b1545 | 764 | pc.printf("\r\n Flexor MVC = %f \r\n",flexorMVC); |
Vigilance88 | 35:7d9fca0b1545 | 765 | |
Vigilance88 | 35:7d9fca0b1545 | 766 | pc.printf("Calibrate_emg() exited \r\n"); |
Vigilance88 | 35:7d9fca0b1545 | 767 | pc.printf("Measured time: %f seconds \r\n",calibrate_time); |
Vigilance88 | 35:7d9fca0b1545 | 768 | calibrate_time=0; |
Vigilance88 | 35:7d9fca0b1545 | 769 | |
Vigilance88 | 25:49ccdc98639a | 770 | //Extensor: |
Vigilance88 | 35:7d9fca0b1545 | 771 | |
Vigilance88 | 26:fe3a5469dd6b | 772 | muscle=4; |
Vigilance88 | 35:7d9fca0b1545 | 773 | pc.printf("\r\n----------------\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 774 | pc.printf(" Extensor is next.\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 775 | pc.printf("----------------\r\n "); |
Vigilance88 | 35:7d9fca0b1545 | 776 | wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 777 | |
Vigilance88 | 35:7d9fca0b1545 | 778 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 779 | input=pc.getc(); |
Vigilance88 | 35:7d9fca0b1545 | 780 | pc.putc(input); |
Vigilance88 | 35:7d9fca0b1545 | 781 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 782 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 783 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 35:7d9fca0b1545 | 784 | start_sampling(); |
Vigilance88 | 35:7d9fca0b1545 | 785 | timer.attach(&emg_mvc,0.002); |
Vigilance88 | 35:7d9fca0b1545 | 786 | wait(5); |
Vigilance88 | 35:7d9fca0b1545 | 787 | timer.detach(); |
Vigilance88 | 35:7d9fca0b1545 | 788 | pc.printf("\r\n Extensor MVC = %f \r\n",extensMVC); |
Vigilance88 | 25:49ccdc98639a | 789 | |
Vigilance88 | 35:7d9fca0b1545 | 790 | pc.printf("Calibrate_emg() exited \r\n"); |
Vigilance88 | 35:7d9fca0b1545 | 791 | pc.printf("Measured time: %f seconds \r\n",calibrate_time); |
Vigilance88 | 35:7d9fca0b1545 | 792 | calibrate_time=0; |
Vigilance88 | 26:fe3a5469dd6b | 793 | //Stop sampling, detach ticker |
Vigilance88 | 25:49ccdc98639a | 794 | stop_sampling(); |
Vigilance88 | 24:56db31267f10 | 795 | |
Vigilance88 | 18:44905b008f44 | 796 | } |
Vigilance88 | 18:44905b008f44 | 797 | |
Vigilance88 | 18:44905b008f44 | 798 | |
Vigilance88 | 18:44905b008f44 | 799 | //Input error and Kp, Kd, Ki, output control signal |
Vigilance88 | 20:0ede3818e08e | 800 | double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev) |
vsluiter | 2:e314bb3b2d99 | 801 | { |
Vigilance88 | 20:0ede3818e08e | 802 | // Derivative |
Vigilance88 | 24:56db31267f10 | 803 | double e_der = (error-e_prev)/ CONTROL_RATE; |
Vigilance88 | 46:c8c5c455dd51 | 804 | e_der = derfilter1.step(e_der); |
Vigilance88 | 21:d6a46315d5f5 | 805 | e_prev = error; |
Vigilance88 | 20:0ede3818e08e | 806 | // Integral |
Vigilance88 | 24:56db31267f10 | 807 | e_int = e_int + CONTROL_RATE * error; |
Vigilance88 | 20:0ede3818e08e | 808 | // PID |
Vigilance88 | 21:d6a46315d5f5 | 809 | return kp*error + ki*e_int + kd * e_der; |
Vigilance88 | 20:0ede3818e08e | 810 | |
Vigilance88 | 18:44905b008f44 | 811 | } |
Vigilance88 | 18:44905b008f44 | 812 | |
Vigilance88 | 46:c8c5c455dd51 | 813 | //Input error and Kp, Kd, Ki, output control signal |
Vigilance88 | 46:c8c5c455dd51 | 814 | double pid2(double error, double kp, double ki, double kd,double &e_int, double &e_prev) |
Vigilance88 | 46:c8c5c455dd51 | 815 | { |
Vigilance88 | 46:c8c5c455dd51 | 816 | // Derivative |
Vigilance88 | 46:c8c5c455dd51 | 817 | double e_der = (error-e_prev)/ CONTROL_RATE; |
Vigilance88 | 46:c8c5c455dd51 | 818 | e_der = derfilter2.step(e_der); |
Vigilance88 | 46:c8c5c455dd51 | 819 | e_prev = error; |
Vigilance88 | 46:c8c5c455dd51 | 820 | // Integral |
Vigilance88 | 46:c8c5c455dd51 | 821 | e_int = e_int + CONTROL_RATE * error; |
Vigilance88 | 46:c8c5c455dd51 | 822 | // PID |
Vigilance88 | 46:c8c5c455dd51 | 823 | return kp*error + ki*e_int + kd * e_der; |
Vigilance88 | 46:c8c5c455dd51 | 824 | |
Vigilance88 | 46:c8c5c455dd51 | 825 | } |
Vigilance88 | 46:c8c5c455dd51 | 826 | |
Vigilance88 | 46:c8c5c455dd51 | 827 | |
Vigilance88 | 20:0ede3818e08e | 828 | //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 | 829 | void control() |
Vigilance88 | 39:e77f844d10d9 | 830 | { |
Vigilance88 | 46:c8c5c455dd51 | 831 | if(emg_control==true){ |
Vigilance88 | 39:e77f844d10d9 | 832 | //TODO some idle time with static reference before EMG kicks in |
Vigilance88 | 46:c8c5c455dd51 | 833 | emg_control_time += CONTROL_RATE; |
Vigilance88 | 46:c8c5c455dd51 | 834 | //if(emg_control_time < 5){ |
Vigilance88 | 46:c8c5c455dd51 | 835 | // x=0; y=0; |
Vigilance88 | 46:c8c5c455dd51 | 836 | //} |
Vigilance88 | 30:a9fdd3202ca2 | 837 | //normalize emg to value between 0-1 |
Vigilance88 | 38:c8ac615d0c8f | 838 | biceps = (biceps_power - bicepsmin) / (bicepsMVC - bicepsmin); |
Vigilance88 | 38:c8ac615d0c8f | 839 | triceps = (triceps_power - tricepsmin) / (tricepsMVC - tricepsmin); |
Vigilance88 | 38:c8ac615d0c8f | 840 | flexor = (flexor_power - flexormin) / (flexorMVC - flexormin); |
Vigilance88 | 38:c8ac615d0c8f | 841 | extens = (extens_power - extensmin) / (extensMVC - extensmin); |
Vigilance88 | 39:e77f844d10d9 | 842 | //make sure values stay between 0-1 over time |
Vigilance88 | 39:e77f844d10d9 | 843 | keep_in_range(&biceps,0,1); |
Vigilance88 | 39:e77f844d10d9 | 844 | keep_in_range(&triceps,0,1); |
Vigilance88 | 39:e77f844d10d9 | 845 | keep_in_range(&flexor,0,1); |
Vigilance88 | 39:e77f844d10d9 | 846 | keep_in_range(&extens,0,1); |
Vigilance88 | 39:e77f844d10d9 | 847 | |
Vigilance88 | 38:c8ac615d0c8f | 848 | |
Vigilance88 | 38:c8ac615d0c8f | 849 | scope.set(2,biceps); |
Vigilance88 | 38:c8ac615d0c8f | 850 | scope.set(3,triceps); |
Vigilance88 | 38:c8ac615d0c8f | 851 | scope.send(); |
Vigilance88 | 38:c8ac615d0c8f | 852 | |
Vigilance88 | 44:145827f5b091 | 853 | //threshold detection! buffer or two thresholds? If average of 100 samples > threshold, then muscle considered on. |
Vigilance88 | 46:c8c5c455dd51 | 854 | |
Vigilance88 | 46:c8c5c455dd51 | 855 | /* |
Vigilance88 | 44:145827f5b091 | 856 | movavg1[i]=biceps; //fill array with 100 normalized samples |
Vigilance88 | 44:145827f5b091 | 857 | movavg2[i]=triceps; |
Vigilance88 | 44:145827f5b091 | 858 | movavg3[i]=flexor; |
Vigilance88 | 44:145827f5b091 | 859 | movavg4[i]=extens; |
Vigilance88 | 44:145827f5b091 | 860 | i++; |
Vigilance88 | 44:145827f5b091 | 861 | if(i==window){ //if array full,set i to 0 |
Vigilance88 | 44:145827f5b091 | 862 | i=0; |
Vigilance88 | 44:145827f5b091 | 863 | } |
Vigilance88 | 44:145827f5b091 | 864 | |
Vigilance88 | 44:145827f5b091 | 865 | for(int j = 0; j < window; j++){ // sum all values in the array |
Vigilance88 | 45:198654304238 | 866 | sum1 += movavg1[j]; |
Vigilance88 | 45:198654304238 | 867 | sum2 += movavg2[j]; |
Vigilance88 | 45:198654304238 | 868 | sum3 += movavg3[j]; |
Vigilance88 | 45:198654304238 | 869 | sum4 += movavg4[j]; |
Vigilance88 | 44:145827f5b091 | 870 | } |
Vigilance88 | 45:198654304238 | 871 | biceps_avg = sum1/window; //divide sum by number of samples -> average |
Vigilance88 | 45:198654304238 | 872 | triceps_avg = sum2/window; |
Vigilance88 | 45:198654304238 | 873 | flexor_avg = sum3/window; |
Vigilance88 | 45:198654304238 | 874 | extens_avg = sum4/window; |
Vigilance88 | 46:c8c5c455dd51 | 875 | |
Vigilance88 | 44:145827f5b091 | 876 | */ |
Vigilance88 | 39:e77f844d10d9 | 877 | //analyze emg (= velocity) |
Vigilance88 | 39:e77f844d10d9 | 878 | if (biceps>triceps && biceps > 0.2){ |
Vigilance88 | 30:a9fdd3202ca2 | 879 | xdir = 0; |
Vigilance88 | 39:e77f844d10d9 | 880 | xpower = biceps;} |
Vigilance88 | 39:e77f844d10d9 | 881 | else if (triceps>biceps && triceps>0.2){ |
Vigilance88 | 30:a9fdd3202ca2 | 882 | xdir = 1; |
Vigilance88 | 39:e77f844d10d9 | 883 | xpower = triceps;} |
Vigilance88 | 30:a9fdd3202ca2 | 884 | else |
Vigilance88 | 30:a9fdd3202ca2 | 885 | xpower=0; |
Vigilance88 | 30:a9fdd3202ca2 | 886 | |
Vigilance88 | 39:e77f844d10d9 | 887 | if (flexor>extens && flexor > 0.2){ |
Vigilance88 | 30:a9fdd3202ca2 | 888 | ydir = 0; |
Vigilance88 | 30:a9fdd3202ca2 | 889 | ypower = flexor; |
Vigilance88 | 30:a9fdd3202ca2 | 890 | } |
Vigilance88 | 39:e77f844d10d9 | 891 | else if (extens>flexor && extens > 0.2){ |
Vigilance88 | 30:a9fdd3202ca2 | 892 | ydir = 1; |
Vigilance88 | 39:e77f844d10d9 | 893 | ypower = extens; |
Vigilance88 | 30:a9fdd3202ca2 | 894 | } |
Vigilance88 | 30:a9fdd3202ca2 | 895 | else |
Vigilance88 | 30:a9fdd3202ca2 | 896 | ypower = 0; |
Vigilance88 | 30:a9fdd3202ca2 | 897 | |
Vigilance88 | 38:c8ac615d0c8f | 898 | //power: the longer a signal is active, the further the reference goes. So integrate to determine reference position |
Vigilance88 | 39:e77f844d10d9 | 899 | dx = xpower * CONTROL_RATE * 0.1; //factor to slow or speed up |
Vigilance88 | 39:e77f844d10d9 | 900 | dy = ypower * CONTROL_RATE * 0.1; |
Vigilance88 | 18:44905b008f44 | 901 | |
Vigilance88 | 30:a9fdd3202ca2 | 902 | //But: direction! Sum dx and dy but make sure xdir and ydir are considered. |
Vigilance88 | 30:a9fdd3202ca2 | 903 | if (xdir>0) |
Vigilance88 | 30:a9fdd3202ca2 | 904 | x += dx; |
Vigilance88 | 30:a9fdd3202ca2 | 905 | else |
Vigilance88 | 30:a9fdd3202ca2 | 906 | x += -dx; |
Vigilance88 | 30:a9fdd3202ca2 | 907 | |
Vigilance88 | 30:a9fdd3202ca2 | 908 | if (ydir>0) |
Vigilance88 | 30:a9fdd3202ca2 | 909 | y += dy; |
Vigilance88 | 30:a9fdd3202ca2 | 910 | else |
Vigilance88 | 30:a9fdd3202ca2 | 911 | y += -dy; |
Vigilance88 | 30:a9fdd3202ca2 | 912 | |
Vigilance88 | 39:e77f844d10d9 | 913 | //now we have x and y -> reference position. |
Vigilance88 | 39:e77f844d10d9 | 914 | }//end emg_control if |
Vigilance88 | 30:a9fdd3202ca2 | 915 | |
Vigilance88 | 27:d1814e271a95 | 916 | //Current position - Encoder counts -> current angle -> Forward Kinematics |
Vigilance88 | 27:d1814e271a95 | 917 | rpc=(2*PI)/ENCODER1_CPR; //radians per count (resolution) - 2pi divided by 4200 |
Vigilance88 | 27:d1814e271a95 | 918 | theta1 = Encoder1.getPulses() * rpc; //multiply resolution with number of counts |
Vigilance88 | 27:d1814e271a95 | 919 | theta2 = Encoder2.getPulses() * rpc; |
Vigilance88 | 27:d1814e271a95 | 920 | current_x = l1 * cos(theta1) + l2 * cos(theta1 + theta2); |
Vigilance88 | 27:d1814e271a95 | 921 | current_y = l1 * sin(theta1) + l2 * sin(theta1 + theta2); |
Vigilance88 | 27:d1814e271a95 | 922 | |
Vigilance88 | 27:d1814e271a95 | 923 | |
Vigilance88 | 18:44905b008f44 | 924 | //calculate error (refpos-currentpos) currentpos = forward kinematics |
Vigilance88 | 27:d1814e271a95 | 925 | x_error = x - current_x; |
Vigilance88 | 27:d1814e271a95 | 926 | y_error = y - current_y; |
Vigilance88 | 27:d1814e271a95 | 927 | |
Vigilance88 | 27:d1814e271a95 | 928 | |
Vigilance88 | 38:c8ac615d0c8f | 929 | if (control_method==1){ |
Vigilance88 | 27:d1814e271a95 | 930 | //inverse kinematics (refpos to refangle) |
Vigilance88 | 18:44905b008f44 | 931 | |
Vigilance88 | 27:d1814e271a95 | 932 | costheta2 = (pow(x,2) + pow(y,2) - pow(l1,2) - pow(l2,2)) / (2*l1*l2) ; |
Vigilance88 | 30:a9fdd3202ca2 | 933 | sintheta2 = sqrt( abs( 1 - pow(costheta2,2) ) ); |
Vigilance88 | 27:d1814e271a95 | 934 | |
Vigilance88 | 27:d1814e271a95 | 935 | |
Vigilance88 | 27:d1814e271a95 | 936 | dtheta2 = atan2(sintheta2,costheta2); |
Vigilance88 | 27:d1814e271a95 | 937 | |
Vigilance88 | 32:76c4d7bb2022 | 938 | double k1 = l1 + l2*costheta2; |
Vigilance88 | 32:76c4d7bb2022 | 939 | double k2 = l2*sintheta2; |
Vigilance88 | 32:76c4d7bb2022 | 940 | |
Vigilance88 | 32:76c4d7bb2022 | 941 | dtheta1 = atan2(y, x) - atan2(k2, k1); |
Vigilance88 | 32:76c4d7bb2022 | 942 | |
Vigilance88 | 32:76c4d7bb2022 | 943 | /* alternative: |
Vigilance88 | 27:d1814e271a95 | 944 | costheta1 = ( x * (l1 + l2 * costheta2) + y * l2 * sintheta2 ) / ( pow(x,2) + pow(y,2) ); |
Vigilance88 | 30:a9fdd3202ca2 | 945 | sintheta1 = sqrt( abs( 1 - pow(costheta1,2) ) ); |
Vigilance88 | 27:d1814e271a95 | 946 | |
Vigilance88 | 27:d1814e271a95 | 947 | dtheta1 = atan2(sintheta1,costheta1); |
Vigilance88 | 32:76c4d7bb2022 | 948 | */ |
Vigilance88 | 27:d1814e271a95 | 949 | |
Vigilance88 | 27:d1814e271a95 | 950 | //Angle error |
Vigilance88 | 27:d1814e271a95 | 951 | m1_error = dtheta1-theta1; |
Vigilance88 | 27:d1814e271a95 | 952 | m2_error = dtheta2-theta2; |
Vigilance88 | 39:e77f844d10d9 | 953 | }// end control method 1 |
Vigilance88 | 27:d1814e271a95 | 954 | |
Vigilance88 | 38:c8ac615d0c8f | 955 | if(control_method==2){ |
Vigilance88 | 37:4d7b7ced20ef | 956 | //inverse kinematics (error in position to error in angles) |
Vigilance88 | 37:4d7b7ced20ef | 957 | dls1= -(l2*pow(lambda,2)*sin(theta1 + theta2) + l1*pow(lambda,2)*sin(theta1) + l1*pow(l2,2)*pow(cos(theta1 + theta2),2)*sin(theta1) - l1*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1))/(pow(lambda,4) + 2*pow(l2,2)*pow(lambda,2)*pow(cos(theta1 + theta2),2) + 2*pow(l2,2)*pow(lambda,2)*pow(sin(theta1 + theta2),2) + pow(l1,2)*pow(lambda,2)*pow(cos(theta1),2) + pow(l1,2)*pow(lambda,2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(cos(theta1 + theta2),2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(sin(theta1 + theta2),2)*pow(cos(theta1),2) + 2*l1*l2*pow(lambda,2)*cos(theta1 + theta2)*cos(theta1) + 2*l1*l2*pow(lambda,2)*sin(theta1 + theta2)*sin(theta1) - 2*pow(l1,2)*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1)*sin(theta1)); |
Vigilance88 | 37:4d7b7ced20ef | 958 | dls2= (l2*pow(lambda,2)*cos(theta1 + theta2) + l1*pow(lambda,2)*cos(theta1) + l1*pow(l2,2)*pow(sin(theta1 + theta2),2)*cos(theta1) - l1*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*sin(theta1))/(pow(lambda,4) + 2*pow(l2,2)*pow(lambda,2)*pow(cos(theta1 + theta2),2) + 2*pow(l2,2)*pow(lambda,2)*pow(sin(theta1 + theta2),2) + pow(l1,2)*pow(lambda,2)*pow(cos(theta1),2) + pow(l1,2)*pow(lambda,2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(cos(theta1 + theta2),2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(sin(theta1 + theta2),2)*pow(cos(theta1),2) + 2*l1*l2*pow(lambda,2)*cos(theta1 + theta2)*cos(theta1) + 2*l1*l2*pow(lambda,2)*sin(theta1 + theta2)*sin(theta1) - 2*pow(l1,2)*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1)*sin(theta1)); |
Vigilance88 | 37:4d7b7ced20ef | 959 | dls3= -(l2*pow(lambda,2)*sin(theta1 + theta2) - l1*pow(l2,2)*pow(cos(theta1 + theta2),2)*sin(theta1) + pow(l1,2)*l2*sin(theta1 + theta2)*pow(cos(theta1),2) - pow(l1,2)*l2*cos(theta1 + theta2)*cos(theta1)*sin(theta1) + l1*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1))/(pow(lambda,4) + 2*pow(l2,2)*pow(lambda,2)*pow(cos(theta1 + theta2),2) + 2*pow(l2,2)*pow(lambda,2)*pow(sin(theta1 + theta2),2) + pow(l1,2)*pow(lambda,2)*pow(cos(theta1),2) + pow(l1,2)*pow(lambda,2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(cos(theta1 + theta2),2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(sin(theta1 + theta2),2)*pow(cos(theta1),2) + 2*l1*l2*pow(lambda,2)*cos(theta1 + theta2)*cos(theta1) + 2*l1*l2*pow(lambda,2)*sin(theta1 + theta2)*sin(theta1) - 2*pow(l1,2)*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1)*sin(theta1)); |
Vigilance88 | 37:4d7b7ced20ef | 960 | dls4= (l2*pow(lambda,2)*cos(theta1 + theta2) - l1*pow(l2,2)*pow(sin(theta1 + theta2),2)*cos(theta1) + pow(l1,2)*l2*cos(theta1 + theta2)*pow(sin(theta1),2) - pow(l1,2)*l2*sin(theta1 + theta2)*cos(theta1)*sin(theta1) + l1*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*sin(theta1))/(pow(lambda,4) + 2*pow(l2,2)*pow(lambda,2)*pow(cos(theta1 + theta2),2) + 2*pow(l2,2)*pow(lambda,2)*pow(sin(theta1 + theta2),2) + pow(l1,2)*pow(lambda,2)*pow(cos(theta1),2) + pow(l1,2)*pow(lambda,2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(cos(theta1 + theta2),2)*pow(sin(theta1),2) + pow(l1,2)*pow(l2,2)*pow(sin(theta1 + theta2),2)*pow(cos(theta1),2) + 2*l1*l2*pow(lambda,2)*cos(theta1 + theta2)*cos(theta1) + 2*l1*l2*pow(lambda,2)*sin(theta1 + theta2)*sin(theta1) - 2*pow(l1,2)*pow(l2,2)*cos(theta1 + theta2)*sin(theta1 + theta2)*cos(theta1)*sin(theta1)); |
Vigilance88 | 37:4d7b7ced20ef | 961 | |
Vigilance88 | 37:4d7b7ced20ef | 962 | q1_error = dls1 * x_error + dls2 * y_error; |
Vigilance88 | 37:4d7b7ced20ef | 963 | q2_error = dls3 * x_error + dls4 * y_error; |
Vigilance88 | 37:4d7b7ced20ef | 964 | |
Vigilance88 | 37:4d7b7ced20ef | 965 | //Angle error |
Vigilance88 | 37:4d7b7ced20ef | 966 | m1_error = q1_error; |
Vigilance88 | 37:4d7b7ced20ef | 967 | m2_error = q2_error; |
Vigilance88 | 39:e77f844d10d9 | 968 | }//end control method 2 |
Vigilance88 | 39:e77f844d10d9 | 969 | |
Vigilance88 | 41:55face19e06b | 970 | /* |
Vigilance88 | 39:e77f844d10d9 | 971 | //Set limits to the error! |
Vigilance88 | 41:55face19e06b | 972 | motor1: lower limit 40 degrees, upper limit 135 |
Vigilance88 | 41:55face19e06b | 973 | motor2: lower 43 degrees, upper limit 138 degrees. */ |
Vigilance88 | 41:55face19e06b | 974 | |
Vigilance88 | 41:55face19e06b | 975 | //lower limits: Negative error not allowed to go further. |
Vigilance88 | 41:55face19e06b | 976 | if (theta1 < theta1_lower){ |
Vigilance88 | 41:55face19e06b | 977 | if (m1_error > 0) |
Vigilance88 | 41:55face19e06b | 978 | m1_error = m1_error; |
Vigilance88 | 39:e77f844d10d9 | 979 | else |
Vigilance88 | 41:55face19e06b | 980 | m1_error = 0; } |
Vigilance88 | 41:55face19e06b | 981 | if (theta2 < theta2_lower){ |
Vigilance88 | 41:55face19e06b | 982 | if (m2_error > 0) |
Vigilance88 | 41:55face19e06b | 983 | m2_error = m2_error; |
Vigilance88 | 41:55face19e06b | 984 | else |
Vigilance88 | 41:55face19e06b | 985 | m2_error = 0; |
Vigilance88 | 41:55face19e06b | 986 | } |
Vigilance88 | 39:e77f844d10d9 | 987 | //upper limit: Positive error not allowed to go further |
Vigilance88 | 41:55face19e06b | 988 | if (theta1 > theta1_upper){ |
Vigilance88 | 41:55face19e06b | 989 | if (m1_error < 0 ) |
Vigilance88 | 41:55face19e06b | 990 | m1_error = m1_error; |
Vigilance88 | 39:e77f844d10d9 | 991 | else |
Vigilance88 | 41:55face19e06b | 992 | m1_error = 0; |
Vigilance88 | 41:55face19e06b | 993 | } |
Vigilance88 | 41:55face19e06b | 994 | if (theta2 > theta2_upper){ |
Vigilance88 | 41:55face19e06b | 995 | if (m2_error < 0 ) |
Vigilance88 | 41:55face19e06b | 996 | m2_error = m2_error; |
Vigilance88 | 41:55face19e06b | 997 | else |
Vigilance88 | 41:55face19e06b | 998 | m2_error = 0; |
Vigilance88 | 41:55face19e06b | 999 | } |
Vigilance88 | 39:e77f844d10d9 | 1000 | |
Vigilance88 | 18:44905b008f44 | 1001 | //PID controller |
Vigilance88 | 24:56db31267f10 | 1002 | |
Vigilance88 | 24:56db31267f10 | 1003 | u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1 |
Vigilance88 | 46:c8c5c455dd51 | 1004 | u2=pid2(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2 |
Vigilance88 | 21:d6a46315d5f5 | 1005 | |
Vigilance88 | 27:d1814e271a95 | 1006 | keep_in_range(&u1,-0.6,0.6); //keep u between -1 and 1, sign = direction, PWM = 0-1 |
Vigilance88 | 27:d1814e271a95 | 1007 | keep_in_range(&u2,-0.6,0.6); |
Vigilance88 | 21:d6a46315d5f5 | 1008 | |
Vigilance88 | 21:d6a46315d5f5 | 1009 | //send PWM and DIR to motor 1 |
Vigilance88 | 21:d6a46315d5f5 | 1010 | dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below. |
Vigilance88 | 21:d6a46315d5f5 | 1011 | pwm_motor1.write(abs(u1)); |
Vigilance88 | 21:d6a46315d5f5 | 1012 | |
Vigilance88 | 21:d6a46315d5f5 | 1013 | //send PWM and DIR to motor 2 |
Vigilance88 | 27:d1814e271a95 | 1014 | dir_motor2 = u2>0 ? 0 : 1; //conditional statement, same as if else below |
Vigilance88 | 25:49ccdc98639a | 1015 | pwm_motor2.write(abs(u2)); |
Vigilance88 | 21:d6a46315d5f5 | 1016 | |
Vigilance88 | 21:d6a46315d5f5 | 1017 | /*if(u1 > 0) |
Vigilance88 | 21:d6a46315d5f5 | 1018 | { |
Vigilance88 | 21:d6a46315d5f5 | 1019 | dir_motor1 = 0; |
Vigilance88 | 21:d6a46315d5f5 | 1020 | else{ |
Vigilance88 | 21:d6a46315d5f5 | 1021 | dir_motor1 = 1; |
Vigilance88 | 21:d6a46315d5f5 | 1022 | } |
Vigilance88 | 21:d6a46315d5f5 | 1023 | } |
Vigilance88 | 21:d6a46315d5f5 | 1024 | pwm_motor1.write(abs(u1)); |
Vigilance88 | 21:d6a46315d5f5 | 1025 | |
Vigilance88 | 21:d6a46315d5f5 | 1026 | |
Vigilance88 | 21:d6a46315d5f5 | 1027 | if(u2 > 0) |
Vigilance88 | 21:d6a46315d5f5 | 1028 | { |
Vigilance88 | 21:d6a46315d5f5 | 1029 | dir_motor1 = 1; |
Vigilance88 | 21:d6a46315d5f5 | 1030 | else{ |
Vigilance88 | 21:d6a46315d5f5 | 1031 | dir_motor1 = 0; |
Vigilance88 | 21:d6a46315d5f5 | 1032 | } |
Vigilance88 | 21:d6a46315d5f5 | 1033 | } |
Vigilance88 | 21:d6a46315d5f5 | 1034 | pwm_motor1.write(abs(u2));*/ |
Vigilance88 | 21:d6a46315d5f5 | 1035 | |
Vigilance88 | 18:44905b008f44 | 1036 | } |
Vigilance88 | 18:44905b008f44 | 1037 | |
Vigilance88 | 38:c8ac615d0c8f | 1038 | |
Vigilance88 | 32:76c4d7bb2022 | 1039 | |
Vigilance88 | 26:fe3a5469dd6b | 1040 | void mainMenu() |
Vigilance88 | 26:fe3a5469dd6b | 1041 | { |
Vigilance88 | 38:c8ac615d0c8f | 1042 | //Title Box |
Vigilance88 | 26:fe3a5469dd6b | 1043 | pc.putc(201); |
Vigilance88 | 26:fe3a5469dd6b | 1044 | for(int j=0;j<33;j++){ |
Vigilance88 | 26:fe3a5469dd6b | 1045 | pc.putc(205); |
Vigilance88 | 26:fe3a5469dd6b | 1046 | } |
Vigilance88 | 26:fe3a5469dd6b | 1047 | pc.putc(187); |
Vigilance88 | 26:fe3a5469dd6b | 1048 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1049 | pc.putc(186); pc.printf(" Main Menu "); pc.putc(186); |
Vigilance88 | 26:fe3a5469dd6b | 1050 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 1051 | pc.putc(200); |
Vigilance88 | 26:fe3a5469dd6b | 1052 | for(int k=0;k<33;k++){ |
Vigilance88 | 26:fe3a5469dd6b | 1053 | pc.putc(205); |
Vigilance88 | 26:fe3a5469dd6b | 1054 | } |
Vigilance88 | 26:fe3a5469dd6b | 1055 | pc.putc(188); |
Vigilance88 | 26:fe3a5469dd6b | 1056 | |
Vigilance88 | 26:fe3a5469dd6b | 1057 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 1058 | //endbox |
Vigilance88 | 28:743485bb51e4 | 1059 | wait(1); |
Vigilance88 | 28:743485bb51e4 | 1060 | pc.printf("[C]alibration\r\n"); wait(0.2); |
Vigilance88 | 40:d62f96ed44c0 | 1061 | pc.printf("[T]RIG Control with WASD\r\n"); wait(0.2); |
Vigilance88 | 40:d62f96ed44c0 | 1062 | pc.printf("[D]LS Control with WASD\r\n"); wait(0.2); |
Vigilance88 | 40:d62f96ed44c0 | 1063 | pc.printf("[E]MG Control - DLS \r\n"); wait(0.2); |
Vigilance88 | 28:743485bb51e4 | 1064 | pc.printf("[Q]uit Robot Program\r\n"); wait(0.2); |
Vigilance88 | 28:743485bb51e4 | 1065 | pc.printf("[R]ed LED\r\n"); wait(0.2); |
Vigilance88 | 28:743485bb51e4 | 1066 | pc.printf("[G]reen LED\r\n"); wait(0.2); |
Vigilance88 | 28:743485bb51e4 | 1067 | pc.printf("[B]lue LED\r\n"); wait(0.2); |
Vigilance88 | 28:743485bb51e4 | 1068 | pc.printf("Please make a choice => \r\n"); |
Vigilance88 | 26:fe3a5469dd6b | 1069 | } |
Vigilance88 | 24:56db31267f10 | 1070 | |
Vigilance88 | 24:56db31267f10 | 1071 | //Start sampling |
Vigilance88 | 24:56db31267f10 | 1072 | void start_sampling(void) |
Vigilance88 | 24:56db31267f10 | 1073 | { |
Vigilance88 | 24:56db31267f10 | 1074 | sample_timer.attach(&sample_filter,SAMPLE_RATE); //500 Hz EMG |
Vigilance88 | 26:fe3a5469dd6b | 1075 | |
Vigilance88 | 26:fe3a5469dd6b | 1076 | //Debug LED will be green when sampling is active |
Vigilance88 | 26:fe3a5469dd6b | 1077 | green=0; |
Vigilance88 | 25:49ccdc98639a | 1078 | pc.printf("||- started sampling -|| \r\n"); |
Vigilance88 | 24:56db31267f10 | 1079 | } |
Vigilance88 | 24:56db31267f10 | 1080 | |
Vigilance88 | 24:56db31267f10 | 1081 | //stop sampling |
Vigilance88 | 24:56db31267f10 | 1082 | void stop_sampling(void) |
Vigilance88 | 24:56db31267f10 | 1083 | { |
Vigilance88 | 24:56db31267f10 | 1084 | sample_timer.detach(); |
Vigilance88 | 26:fe3a5469dd6b | 1085 | |
Vigilance88 | 26:fe3a5469dd6b | 1086 | //Debug LED will be turned off when sampling stops |
Vigilance88 | 26:fe3a5469dd6b | 1087 | green=1; |
Vigilance88 | 25:49ccdc98639a | 1088 | pc.printf("||- stopped sampling -|| \r\n"); |
Vigilance88 | 24:56db31267f10 | 1089 | } |
Vigilance88 | 24:56db31267f10 | 1090 | |
Vigilance88 | 18:44905b008f44 | 1091 | //Start control |
Vigilance88 | 18:44905b008f44 | 1092 | void start_control(void) |
Vigilance88 | 18:44905b008f44 | 1093 | { |
Vigilance88 | 35:7d9fca0b1545 | 1094 | control_timer.attach(&control,CONTROL_RATE); //100 Hz control |
Vigilance88 | 35:7d9fca0b1545 | 1095 | |
Vigilance88 | 35:7d9fca0b1545 | 1096 | //Debug LED will be blue when control is on. If sampling and control are on -> blue + green = cyan. |
Vigilance88 | 35:7d9fca0b1545 | 1097 | blue=0; |
Vigilance88 | 35:7d9fca0b1545 | 1098 | pc.printf("||- started control -|| \r\n"); |
Vigilance88 | 35:7d9fca0b1545 | 1099 | } |
Vigilance88 | 35:7d9fca0b1545 | 1100 | |
Vigilance88 | 18:44905b008f44 | 1101 | //stop control |
Vigilance88 | 18:44905b008f44 | 1102 | void stop_control(void) |
Vigilance88 | 18:44905b008f44 | 1103 | { |
Vigilance88 | 18:44905b008f44 | 1104 | control_timer.detach(); |
Vigilance88 | 26:fe3a5469dd6b | 1105 | |
Vigilance88 | 26:fe3a5469dd6b | 1106 | //Debug LED will be off when control is off |
Vigilance88 | 26:fe3a5469dd6b | 1107 | blue=1; |
Vigilance88 | 26:fe3a5469dd6b | 1108 | pc.printf("||- stopped control -|| \r\n"); |
vsluiter | 2:e314bb3b2d99 | 1109 | } |
vsluiter | 0:32bb76391d89 | 1110 | |
Vigilance88 | 21:d6a46315d5f5 | 1111 | |
Vigilance88 | 26:fe3a5469dd6b | 1112 | //Clears the putty (or other terminal) window |
Vigilance88 | 26:fe3a5469dd6b | 1113 | void clearTerminal() |
Vigilance88 | 26:fe3a5469dd6b | 1114 | { |
Vigilance88 | 26:fe3a5469dd6b | 1115 | pc.putc(27); |
Vigilance88 | 26:fe3a5469dd6b | 1116 | pc.printf("[2J"); // clear screen |
Vigilance88 | 26:fe3a5469dd6b | 1117 | pc.putc(27); // ESC |
Vigilance88 | 26:fe3a5469dd6b | 1118 | pc.printf("[H"); // cursor to home |
Vigilance88 | 26:fe3a5469dd6b | 1119 | } |
Vigilance88 | 21:d6a46315d5f5 | 1120 | |
Vigilance88 | 30:a9fdd3202ca2 | 1121 | |
Vigilance88 | 30:a9fdd3202ca2 | 1122 | void controlMenu() |
Vigilance88 | 30:a9fdd3202ca2 | 1123 | { |
Vigilance88 | 30:a9fdd3202ca2 | 1124 | //Title Box |
Vigilance88 | 30:a9fdd3202ca2 | 1125 | pc.putc(201); |
Vigilance88 | 30:a9fdd3202ca2 | 1126 | for(int j=0;j<33;j++){ |
Vigilance88 | 30:a9fdd3202ca2 | 1127 | pc.putc(205); |
Vigilance88 | 30:a9fdd3202ca2 | 1128 | } |
Vigilance88 | 30:a9fdd3202ca2 | 1129 | pc.putc(187); |
Vigilance88 | 30:a9fdd3202ca2 | 1130 | pc.printf("\n\r"); |
Vigilance88 | 30:a9fdd3202ca2 | 1131 | pc.putc(186); pc.printf(" Control Menu "); pc.putc(186); |
Vigilance88 | 30:a9fdd3202ca2 | 1132 | pc.printf("\n\r"); |
Vigilance88 | 30:a9fdd3202ca2 | 1133 | pc.putc(200); |
Vigilance88 | 30:a9fdd3202ca2 | 1134 | for(int k=0;k<33;k++){ |
Vigilance88 | 30:a9fdd3202ca2 | 1135 | pc.putc(205); |
Vigilance88 | 30:a9fdd3202ca2 | 1136 | } |
Vigilance88 | 30:a9fdd3202ca2 | 1137 | pc.putc(188); |
Vigilance88 | 30:a9fdd3202ca2 | 1138 | |
Vigilance88 | 30:a9fdd3202ca2 | 1139 | pc.printf("\n\r"); |
Vigilance88 | 30:a9fdd3202ca2 | 1140 | //endbox |
Vigilance88 | 38:c8ac615d0c8f | 1141 | pc.printf("A) Move Arm Left\r\n"); |
Vigilance88 | 38:c8ac615d0c8f | 1142 | pc.printf("D) Move Arm Right\r\n"); |
Vigilance88 | 38:c8ac615d0c8f | 1143 | pc.printf("W) Move Arm Up\r\n"); |
Vigilance88 | 38:c8ac615d0c8f | 1144 | pc.printf("S) Move Arm Down\r\n"); |
Vigilance88 | 30:a9fdd3202ca2 | 1145 | pc.printf("q) Exit \r\n"); |
Vigilance88 | 30:a9fdd3202ca2 | 1146 | pc.printf("Please make a choice => \r\n"); |
Vigilance88 | 30:a9fdd3202ca2 | 1147 | } |
Vigilance88 | 30:a9fdd3202ca2 | 1148 | |
Vigilance88 | 28:743485bb51e4 | 1149 | void caliMenu(){ |
Vigilance88 | 28:743485bb51e4 | 1150 | |
Vigilance88 | 28:743485bb51e4 | 1151 | //Title Box |
Vigilance88 | 28:743485bb51e4 | 1152 | pc.putc(201); |
Vigilance88 | 28:743485bb51e4 | 1153 | for(int j=0;j<33;j++){ |
Vigilance88 | 28:743485bb51e4 | 1154 | pc.putc(205); |
Vigilance88 | 28:743485bb51e4 | 1155 | } |
Vigilance88 | 28:743485bb51e4 | 1156 | pc.putc(187); |
Vigilance88 | 28:743485bb51e4 | 1157 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1158 | pc.putc(186); pc.printf(" Calibration Menu "); pc.putc(186); |
Vigilance88 | 28:743485bb51e4 | 1159 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1160 | pc.putc(200); |
Vigilance88 | 28:743485bb51e4 | 1161 | for(int k=0;k<33;k++){ |
Vigilance88 | 28:743485bb51e4 | 1162 | pc.putc(205); |
Vigilance88 | 28:743485bb51e4 | 1163 | } |
Vigilance88 | 28:743485bb51e4 | 1164 | pc.putc(188); |
Vigilance88 | 28:743485bb51e4 | 1165 | |
Vigilance88 | 28:743485bb51e4 | 1166 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1167 | //endbox |
Vigilance88 | 28:743485bb51e4 | 1168 | |
Vigilance88 | 28:743485bb51e4 | 1169 | pc.printf("[A]rm Calibration\r\n"); |
Vigilance88 | 28:743485bb51e4 | 1170 | pc.printf("[E]MG Calibration\r\n"); |
Vigilance88 | 28:743485bb51e4 | 1171 | pc.printf("[B]ack to main menu\r\n"); |
Vigilance88 | 28:743485bb51e4 | 1172 | pc.printf("Please make a choice => \r\n"); |
Vigilance88 | 28:743485bb51e4 | 1173 | |
Vigilance88 | 28:743485bb51e4 | 1174 | } |
Vigilance88 | 28:743485bb51e4 | 1175 | |
Vigilance88 | 28:743485bb51e4 | 1176 | void titleBox(){ |
Vigilance88 | 28:743485bb51e4 | 1177 | |
Vigilance88 | 28:743485bb51e4 | 1178 | //Title Box |
Vigilance88 | 28:743485bb51e4 | 1179 | pc.putc(201); |
Vigilance88 | 28:743485bb51e4 | 1180 | for(int j=0;j<33;j++){ |
Vigilance88 | 28:743485bb51e4 | 1181 | pc.putc(205); |
Vigilance88 | 28:743485bb51e4 | 1182 | } |
Vigilance88 | 28:743485bb51e4 | 1183 | pc.putc(187); |
Vigilance88 | 28:743485bb51e4 | 1184 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1185 | pc.putc(186); pc.printf(" BioRobotics M9 - Group 14 "); pc.putc(186); |
Vigilance88 | 28:743485bb51e4 | 1186 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1187 | pc.putc(186); pc.printf(" Robot powered ON "); pc.putc(186); |
Vigilance88 | 28:743485bb51e4 | 1188 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1189 | pc.putc(200); |
Vigilance88 | 28:743485bb51e4 | 1190 | for(int k=0;k<33;k++){ |
Vigilance88 | 28:743485bb51e4 | 1191 | pc.putc(205); |
Vigilance88 | 28:743485bb51e4 | 1192 | } |
Vigilance88 | 28:743485bb51e4 | 1193 | pc.putc(188); |
Vigilance88 | 28:743485bb51e4 | 1194 | |
Vigilance88 | 28:743485bb51e4 | 1195 | pc.printf("\n\r"); |
Vigilance88 | 28:743485bb51e4 | 1196 | //endbox |
Vigilance88 | 28:743485bb51e4 | 1197 | } |
Vigilance88 | 28:743485bb51e4 | 1198 | |
Vigilance88 | 28:743485bb51e4 | 1199 | void emgInstructions(){ |
Vigilance88 | 36:4d4fc200171b | 1200 | pc.printf("\r\nPrepare the skin before applying electrodes: \n\r"); |
Vigilance88 | 28:743485bb51e4 | 1201 | pc.printf("-> Shave electrode locations if needed and clean with alcohol \n\r"); wait(1); |
Vigilance88 | 38:c8ac615d0c8f | 1202 | pc.printf("\r\n Check whether EMG signal looks normal. \n\r "); wait(1); |
Vigilance88 | 38:c8ac615d0c8f | 1203 | pc.printf("\r\n To calibrate the EMG signals we will measure: \n\r "); |
Vigilance88 | 38:c8ac615d0c8f | 1204 | pc.printf("- Minimum amplitude, while relaxing all muscles. \n\r "); |
Vigilance88 | 38:c8ac615d0c8f | 1205 | pc.printf("- Maximum Voluntary Contraction of each muscle. \n\r"); wait(2); |
Vigilance88 | 38:c8ac615d0c8f | 1206 | pc.printf("\r\nFor the MVC you need to flex the mentioned muscle as much as possible for 5 seconds \n\r"); wait(1); |
Vigilance88 | 36:4d4fc200171b | 1207 | pc.printf("The measurements will begin once you confirm you're ready [Hit any key] \n\r \n\r"); wait(1); |
Vigilance88 | 28:743485bb51e4 | 1208 | } |
Vigilance88 | 28:743485bb51e4 | 1209 | |
Vigilance88 | 21:d6a46315d5f5 | 1210 | //keeps input limited between min max |
Vigilance88 | 24:56db31267f10 | 1211 | void keep_in_range(double * in, double min, double max) |
Vigilance88 | 18:44905b008f44 | 1212 | { |
Vigilance88 | 18:44905b008f44 | 1213 | *in > min ? *in < max? : *in = max: *in = min; |
vsluiter | 0:32bb76391d89 | 1214 | } |