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@38:c8ac615d0c8f, 2015-10-23 (annotated)

Committer:
Vigilance88
Date:
Fri Oct 23 00:02:19 2015 +0000
Revision:
38:c8ac615d0c8f
Parent:
37:4d7b7ced20ef
Child:
39:e77f844d10d9
normalizing emg works

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
Vigilance88 18:44905b008f44 3 #include "MODSERIAL.h"
Vigilance88 18:44905b008f44 4 #include "biquadFilter.h"
Vigilance88 18:44905b008f44 5 #include "QEI.h"
Vigilance88 21:d6a46315d5f5 6 #include "math.h"
Vigilance88 26:fe3a5469dd6b 7 #include <string>
Vigilance88 21:d6a46315d5f5 8
Vigilance88 21:d6a46315d5f5 9 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 10 -------------------------------- BIOROBOTICS GROUP 14 ----------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 11 --------------------------------------------------------------------------------------------------------------------*/
vsluiter 0:32bb76391d89 12
Vigilance88 18:44905b008f44 13 //Define important constants in memory
Vigilance88 21:d6a46315d5f5 14 #define PI 3.14159265
Vigilance88 18:44905b008f44 15 #define SAMPLE_RATE 0.002 //500 Hz EMG sample rate
Vigilance88 18:44905b008f44 16 #define CONTROL_RATE 0.01 //100 Hz Control rate
Vigilance88 21:d6a46315d5f5 17 #define ENCODER1_CPR 4200 //encoders have 64 (X4), 32 (X2) counts per revolution of motor shaft
Vigilance88 21:d6a46315d5f5 18 #define ENCODER2_CPR 4200 //gearbox 1:131.25 -> 4200 counts per revolution of the output shaft (X2),
Vigilance88 26:fe3a5469dd6b 19 #define PWM_PERIOD 0.0001 //10k Hz pwm motor frequency. Higher -> too hot, lower -> motor doesnt respond correctly
Vigilance88 21:d6a46315d5f5 20 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 21 ---- OBJECTS ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 22 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 23
Vigilance88 18:44905b008f44 24 MODSERIAL pc(USBTX,USBRX); //serial communication
Vigilance88 18:44905b008f44 25
Vigilance88 36:4d4fc200171b 26 //Debug LEDs
Vigilance88 25:49ccdc98639a 27 DigitalOut red(LED_RED);
Vigilance88 25:49ccdc98639a 28 DigitalOut green(LED_GREEN);
Vigilance88 25:49ccdc98639a 29 DigitalOut blue(LED_BLUE);
Vigilance88 25:49ccdc98639a 30
Vigilance88 21:d6a46315d5f5 31 //EMG shields
Vigilance88 18:44905b008f44 32 AnalogIn emg1(A0); //Analog input - Biceps EMG
Vigilance88 18:44905b008f44 33 AnalogIn emg2(A1); //Analog input - Triceps EMG
Vigilance88 18:44905b008f44 34 AnalogIn emg3(A2); //Analog input - Flexor EMG
Vigilance88 18:44905b008f44 35 AnalogIn emg4(A3); //Analog input - Extensor EMG
Vigilance88 18:44905b008f44 36
Vigilance88 18:44905b008f44 37 Ticker sample_timer; //Ticker for EMG sampling
Vigilance88 18:44905b008f44 38 Ticker control_timer; //Ticker for control loop
Vigilance88 18:44905b008f44 39 HIDScope scope(4); //Scope 4 channels
Vigilance88 18:44905b008f44 40
Vigilance88 18:44905b008f44 41 // AnalogIn potmeter(A4); //potmeters
Vigilance88 18:44905b008f44 42 // AnalogIn potmeter2(A5); //
Vigilance88 18:44905b008f44 43
Vigilance88 21:d6a46315d5f5 44 //Encoders
Vigilance88 18:44905b008f44 45 QEI Encoder1(D13,D12,NC,32); //channel A and B from encoder, counts = Encoder.getPulses();
Vigilance88 18:44905b008f44 46 QEI Encoder2(D10,D9,NC,32); //channel A and B from encoder,
Vigilance88 21:d6a46315d5f5 47
Vigilance88 21:d6a46315d5f5 48 //Speed and Direction of motors - D4 (dir) and D5(speed) = motor 2, D7(dir) and D6(speed) = motor 1
Vigilance88 21:d6a46315d5f5 49 PwmOut pwm_motor1(D6); //PWM motor 1
Vigilance88 21:d6a46315d5f5 50 PwmOut pwm_motor2(D5); //PWM motor 2
Vigilance88 26:fe3a5469dd6b 51
Vigilance88 18:44905b008f44 52 DigitalOut dir_motor1(D7); //Direction motor 1
Vigilance88 18:44905b008f44 53 DigitalOut dir_motor2(D4); //Direction motor 2
Vigilance88 18:44905b008f44 54
Vigilance88 24:56db31267f10 55 //Limit Switches
Vigilance88 28:743485bb51e4 56 InterruptIn shoulder_limit(D2); //using FRDM buttons
Vigilance88 28:743485bb51e4 57 InterruptIn elbow_limit(D3); //using FRDM buttons
Vigilance88 26:fe3a5469dd6b 58
Vigilance88 26:fe3a5469dd6b 59 //Other buttons
Vigilance88 26:fe3a5469dd6b 60 DigitalIn button1(PTA4); //using FRDM buttons
Vigilance88 26:fe3a5469dd6b 61 DigitalIn button2(PTC6); //using FRDM buttons
Vigilance88 26:fe3a5469dd6b 62
Vigilance88 26:fe3a5469dd6b 63 /*Text colors ASCII code: Set Attribute Mode <ESC>[{attr1};...;{attrn}m
Vigilance88 26:fe3a5469dd6b 64
Vigilance88 26:fe3a5469dd6b 65 \ 0 3 3 - ESC
Vigilance88 26:fe3a5469dd6b 66 [ 3 0 m - black
Vigilance88 26:fe3a5469dd6b 67 [ 3 1 m - red
Vigilance88 26:fe3a5469dd6b 68 [ 3 2 m - green
Vigilance88 26:fe3a5469dd6b 69 [ 3 3 m - yellow
Vigilance88 26:fe3a5469dd6b 70 [ 3 4 m - blue
Vigilance88 26:fe3a5469dd6b 71 [ 3 5 m - magenta
Vigilance88 26:fe3a5469dd6b 72 [ 3 6 m - cyan
Vigilance88 26:fe3a5469dd6b 73 [ 3 7 m - white
Vigilance88 26:fe3a5469dd6b 74 [ 0 m - reset attributes
Vigilance88 26:fe3a5469dd6b 75
Vigilance88 26:fe3a5469dd6b 76 Put the text you want to color between GREEN_ and _GREEN
Vigilance88 26:fe3a5469dd6b 77 */
Vigilance88 26:fe3a5469dd6b 78 string GREEN_ = "\033[32m"; //esc - green
Vigilance88 26:fe3a5469dd6b 79 string _GREEN = "\033[0m"; //esc - reset
Vigilance88 24:56db31267f10 80
Vigilance88 21:d6a46315d5f5 81
Vigilance88 21:d6a46315d5f5 82 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 83 ---- DECLARE VARIABLES -----------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 84 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 85
Vigilance88 36:4d4fc200171b 86 //EMG variables: raw EMG - filtered EMG - maximum voluntary contraction - minimum amplitude during relaxation.
Vigilance88 36:4d4fc200171b 87 //minimum declared as 1 so the comparison with EMG during calibration works correctly - function emg_min()
Vigilance88 38:c8ac615d0c8f 88 double emg_biceps; double biceps_power; double bicepsMVC = 0; double bicepsmin=0;
Vigilance88 38:c8ac615d0c8f 89 double emg_triceps; double triceps_power; double tricepsMVC = 0; double tricepsmin=0;
Vigilance88 38:c8ac615d0c8f 90 double emg_flexor; double flexor_power; double flexorMVC = 0; double flexormin=0;
Vigilance88 38:c8ac615d0c8f 91 double emg_extens; double extens_power; double extensMVC = 0; double extensmin=0;
Vigilance88 38:c8ac615d0c8f 92 //Normalized emg values
Vigilance88 38:c8ac615d0c8f 93 double biceps, triceps, flexor, extens;
Vigilance88 24:56db31267f10 94
Vigilance88 36:4d4fc200171b 95 int muscle; //Muscle selector for MVC measurement, 1 = first emg etc.
Vigilance88 26:fe3a5469dd6b 96 double calibrate_time; //Elapsed time for each MVC measurement
Vigilance88 25:49ccdc98639a 97
Vigilance88 24:56db31267f10 98 //PID variables
Vigilance88 36:4d4fc200171b 99 double u1; double u2; //Output of PID controller (PWM value for motor 1 and 2)
Vigilance88 36:4d4fc200171b 100 double m1_error=0; double m1_e_int=0; double m1_e_prev=0; //Error, integrated error, previous error
Vigilance88 36:4d4fc200171b 101 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 102
Vigilance88 36:4d4fc200171b 103 double m2_error=0; double m2_e_int=0; double m2_e_prev=0; //Error, integrated error, previous error
Vigilance88 36:4d4fc200171b 104 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 105
Vigilance88 36:4d4fc200171b 106 //Calibration bools, checks if elbow/shoulder limits are hit
Vigilance88 32:76c4d7bb2022 107 bool done1 = false;
Vigilance88 32:76c4d7bb2022 108 bool done2 = false;
Vigilance88 32:76c4d7bb2022 109
Vigilance88 24:56db31267f10 110 //highpass filter 20 Hz
Vigilance88 24:56db31267f10 111 const double high_b0 = 0.956543225556877;
Vigilance88 24:56db31267f10 112 const double high_b1 = -1.91308645113754;
Vigilance88 24:56db31267f10 113 const double high_b2 = 0.956543225556877;
Vigilance88 24:56db31267f10 114 const double high_a1 = -1.91197067426073;
Vigilance88 24:56db31267f10 115 const double high_a2 = 0.9149758348014341;
Vigilance88 24:56db31267f10 116
Vigilance88 24:56db31267f10 117 //notchfilter 50Hz
Vigilance88 36:4d4fc200171b 118 /*
Vigilance88 24:56db31267f10 119 Method = Butterworth
Vigilance88 24:56db31267f10 120 Biquad = Yes
Vigilance88 24:56db31267f10 121 Stable = Yes
Vigilance88 24:56db31267f10 122 Sampling Frequency = 500Hz
Vigilance88 24:56db31267f10 123 Filter Order = 2
Vigilance88 24:56db31267f10 124
Vigilance88 24:56db31267f10 125 Band Frequencies (Hz) Att/Ripple (dB) Biquad #1 Biquad #2
Vigilance88 24:56db31267f10 126
Vigilance88 24:56db31267f10 127 1 0, 48 0.001 Gain = 1.000000 Gain = 0.973674
Vigilance88 24:56db31267f10 128 2 49, 51 -60.000 B = [ 1.00000000000, -1.61816176147, 1.00000000000] B = [ 1.00000000000, -1.61816176147, 1.00000000000]
Vigilance88 24:56db31267f10 129 3 52, 250 0.001 A = [ 1.00000000000, -1.58071559235, 0.97319685401] A = [ 1.00000000000, -1.61244708381, 0.97415116257]
Vigilance88 24:56db31267f10 130 */
Vigilance88 24:56db31267f10 131
Vigilance88 24:56db31267f10 132 //biquad 1
Vigilance88 24:56db31267f10 133 const double notch1gain = 1.000000;
Vigilance88 24:56db31267f10 134 const double notch1_b0 = 1;
Vigilance88 24:56db31267f10 135 const double notch1_b1 = -1.61816176147 * notch1gain;
Vigilance88 24:56db31267f10 136 const double notch1_b2 = 1.00000000000 * notch1gain;
Vigilance88 24:56db31267f10 137 const double notch1_a1 = -1.58071559235 * notch1gain;
Vigilance88 24:56db31267f10 138 const double notch1_a2 = 0.97319685401 * notch1gain;
Vigilance88 24:56db31267f10 139
Vigilance88 24:56db31267f10 140 //biquad 2
Vigilance88 24:56db31267f10 141 const double notch2gain = 0.973674;
Vigilance88 24:56db31267f10 142 const double notch2_b0 = 1 * notch2gain;
Vigilance88 24:56db31267f10 143 const double notch2_b1 = -1.61816176147 * notch2gain;
Vigilance88 24:56db31267f10 144 const double notch2_b2 = 1.00000000000 * notch2gain;
Vigilance88 24:56db31267f10 145 const double notch2_a1 = -1.61244708381 * notch2gain;
Vigilance88 24:56db31267f10 146 const double notch2_a2 = 0.97415116257 * notch2gain;
Vigilance88 24:56db31267f10 147
Vigilance88 26:fe3a5469dd6b 148 //lowpass filter 7 Hz - envelope
Vigilance88 24:56db31267f10 149 const double low_b0 = 0.000119046743110057;
Vigilance88 24:56db31267f10 150 const double low_b1 = 0.000238093486220118;
Vigilance88 24:56db31267f10 151 const double low_b2 = 0.000119046743110057;
Vigilance88 24:56db31267f10 152 const double low_a1 = -1.968902268531908;
Vigilance88 24:56db31267f10 153 const double low_a2 = 0.9693784555043481;
Vigilance88 21:d6a46315d5f5 154
Vigilance88 36:4d4fc200171b 155 //Forward Kinematics
Vigilance88 36:4d4fc200171b 156 const double l1 = 0.25; const double l2 = 0.25; //Arm lengths
Vigilance88 36:4d4fc200171b 157 double current_x; double current_y; //Current position
Vigilance88 36:4d4fc200171b 158 double theta1; double theta2; //Current angles
Vigilance88 36:4d4fc200171b 159 double rpc; //Encoder resolution: radians per count
Vigilance88 36:4d4fc200171b 160
Vigilance88 36:4d4fc200171b 161 //Reference position
Vigilance88 28:743485bb51e4 162 double x; double y;
Vigilance88 36:4d4fc200171b 163
Vigilance88 38:c8ac615d0c8f 164 //Select whether to use Trig or DLS method
Vigilance88 38:c8ac615d0c8f 165 int control_method;
Vigilance88 38:c8ac615d0c8f 166
Vigilance88 36:4d4fc200171b 167 //Inverse Kinematics - Trig / Gonio method.
Vigilance88 36:4d4fc200171b 168 //First convert reference position to angle needed, then compare that angle to current angle.
Vigilance88 36:4d4fc200171b 169 double dtheta1; double dtheta2; //reference angles
Vigilance88 36:4d4fc200171b 170 double costheta1; double sintheta1; //helper variables
Vigilance88 36:4d4fc200171b 171 double costheta2; double sintheta2; //
Vigilance88 36:4d4fc200171b 172
Vigilance88 36:4d4fc200171b 173 //Inverse Kinematics - Damped least squares method.
Vigilance88 36:4d4fc200171b 174 //Angle error is directly calculated from position error: dq = [DLS matrix] * position_error
Vigilance88 36:4d4fc200171b 175 // |DLS1 DLS2|
Vigilance88 36:4d4fc200171b 176 double dls1, dls2, dls3, dls4; //DLS matrix: |DLS3 DLS4|
Vigilance88 36:4d4fc200171b 177 double q1_error, q2_error; //Angle errors
Vigilance88 36:4d4fc200171b 178 double x_error; double y_error; //Position errors
Vigilance88 36:4d4fc200171b 179 double lambda=0.1; //Damping constant
Vigilance88 21:d6a46315d5f5 180
Vigilance88 21:d6a46315d5f5 181 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 182 ---- Filters ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 183 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 24:56db31267f10 184
Vigilance88 24:56db31267f10 185 //Using biquadFilter library
Vigilance88 24:56db31267f10 186 //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered.
Vigilance88 26:fe3a5469dd6b 187 //Biceps
Vigilance88 24:56db31267f10 188 biquadFilter highpass( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 24:56db31267f10 189 biquadFilter notch1( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 24:56db31267f10 190 biquadFilter notch2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 24:56db31267f10 191 biquadFilter lowpass( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 192
Vigilance88 26:fe3a5469dd6b 193 //Triceps
Vigilance88 25:49ccdc98639a 194 biquadFilter highpass2( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 195 biquadFilter notch1_2( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 196 biquadFilter notch2_2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 197 biquadFilter lowpass2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 198
Vigilance88 26:fe3a5469dd6b 199 //Flexor
Vigilance88 25:49ccdc98639a 200 biquadFilter highpass3( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 201 biquadFilter notch1_3( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 202 biquadFilter notch2_3( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 203 biquadFilter lowpass3( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 204
Vigilance88 26:fe3a5469dd6b 205 //Extensor
Vigilance88 25:49ccdc98639a 206 biquadFilter highpass4( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 207 biquadFilter notch1_4( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 208 biquadFilter notch2_4( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 209 biquadFilter lowpass4( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 210
Vigilance88 26:fe3a5469dd6b 211 //PID filter (lowpass ??? Hz)
Vigilance88 29:948b0b14f6be 212 biquadFilter derfilter( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // derivative filter
Vigilance88 24:56db31267f10 213
Vigilance88 24:56db31267f10 214 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 215 ---- DECLARE FUNCTION NAMES ------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 216 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 26:fe3a5469dd6b 217
Vigilance88 26:fe3a5469dd6b 218 void sample_filter(void); //Sampling and filtering
Vigilance88 26:fe3a5469dd6b 219 void control(); //Control - reference -> error -> pid -> motor output
Vigilance88 37:4d7b7ced20ef 220 void dlscontrol(); //Damped Least Squares method
Vigilance88 37:4d7b7ced20ef 221 void calibrate_emg(); //Instructions + measurement of Min and MVC of each muscle
Vigilance88 26:fe3a5469dd6b 222 void emg_mvc(); //Helper funcion for storing MVC value
Vigilance88 37:4d7b7ced20ef 223 void emg_min(); //Helper function for storing Min value
Vigilance88 26:fe3a5469dd6b 224 void calibrate_arm(void); //Calibration of the arm with limit switches
Vigilance88 26:fe3a5469dd6b 225 void start_sampling(void); //Attaches the sample_filter function to a 500Hz ticker
Vigilance88 26:fe3a5469dd6b 226 void stop_sampling(void); //Stops sample_filter
Vigilance88 26:fe3a5469dd6b 227 void start_control(void); //Attaches the control function to a 100Hz ticker
Vigilance88 37:4d7b7ced20ef 228 void start_dlscontrol(void);//Attaches DLS control function to a 100Hz ticker
Vigilance88 26:fe3a5469dd6b 229 void stop_control(void); //Stops control function
Vigilance88 37:4d7b7ced20ef 230
Vigilance88 26:fe3a5469dd6b 231
Vigilance88 26:fe3a5469dd6b 232 //Keeps the input between min and max value
Vigilance88 24:56db31267f10 233 void keep_in_range(double * in, double min, double max);
Vigilance88 26:fe3a5469dd6b 234
Vigilance88 26:fe3a5469dd6b 235 //Reusable PID controller, previous and integral error need to be passed by reference
Vigilance88 21:d6a46315d5f5 236 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev);
Vigilance88 18:44905b008f44 237
Vigilance88 26:fe3a5469dd6b 238 //Menu functions
Vigilance88 21:d6a46315d5f5 239 void mainMenu();
Vigilance88 21:d6a46315d5f5 240 void caliMenu();
Vigilance88 28:743485bb51e4 241 void controlMenu();
Vigilance88 29:948b0b14f6be 242 void controlButtons();
Vigilance88 26:fe3a5469dd6b 243 void clearTerminal();
Vigilance88 28:743485bb51e4 244 void emgInstructions();
Vigilance88 28:743485bb51e4 245 void titleBox();
Vigilance88 26:fe3a5469dd6b 246
Vigilance88 32:76c4d7bb2022 247 //Limit switches - power off motors if switches hit (rising edge interrupt)
Vigilance88 32:76c4d7bb2022 248 void shoulder();
Vigilance88 32:76c4d7bb2022 249 void elbow();
Vigilance88 21:d6a46315d5f5 250
Vigilance88 21:d6a46315d5f5 251 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 252 ---- MAIN LOOP -------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 253 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 254
Vigilance88 21:d6a46315d5f5 255 int main()
Vigilance88 21:d6a46315d5f5 256 {
Vigilance88 29:948b0b14f6be 257 pc.baud(115200); //serial baudrate
Vigilance88 30:a9fdd3202ca2 258 red=1; green=1; blue=1; //Make sure debug LEDs are off
Vigilance88 26:fe3a5469dd6b 259
Vigilance88 26:fe3a5469dd6b 260 //Set PwmOut frequency to 10k Hz
Vigilance88 37:4d7b7ced20ef 261 //pwm_motor1.period(0.0001);
Vigilance88 37:4d7b7ced20ef 262 //pwm_motor2.period(0.0001);
Vigilance88 26:fe3a5469dd6b 263
Vigilance88 26:fe3a5469dd6b 264 clearTerminal(); //Clear the putty window
Vigilance88 26:fe3a5469dd6b 265
Vigilance88 24:56db31267f10 266 // make a menu, user has to initiate next step
Vigilance88 28:743485bb51e4 267 titleBox();
Vigilance88 26:fe3a5469dd6b 268 mainMenu();
Vigilance88 36:4d4fc200171b 269
Vigilance88 30:a9fdd3202ca2 270 //set initial reference position
Vigilance88 37:4d7b7ced20ef 271 //x = 0.5;
Vigilance88 37:4d7b7ced20ef 272 //y = 0;
Vigilance88 21:d6a46315d5f5 273
Vigilance88 21:d6a46315d5f5 274 //maybe some stop commands when a button is pressed: detach from timers.
Vigilance88 21:d6a46315d5f5 275 //stop_control();
Vigilance88 34:d6ec7c634763 276 //start_sampling();
Vigilance88 32:76c4d7bb2022 277
Vigilance88 32:76c4d7bb2022 278 char command=0;
Vigilance88 27:d1814e271a95 279
Vigilance88 28:743485bb51e4 280 while(command != 'Q' && command != 'q')
Vigilance88 28:743485bb51e4 281 {
Vigilance88 28:743485bb51e4 282 if(pc.readable()){
Vigilance88 28:743485bb51e4 283 command = pc.getc();
Vigilance88 28:743485bb51e4 284
Vigilance88 28:743485bb51e4 285 switch(command){
Vigilance88 28:743485bb51e4 286
Vigilance88 28:743485bb51e4 287 case 'c':
Vigilance88 28:743485bb51e4 288 case 'C':
Vigilance88 28:743485bb51e4 289 pc.printf("\n\r => You chose calibration.\r\n\n");
Vigilance88 28:743485bb51e4 290 caliMenu();
Vigilance88 28:743485bb51e4 291
Vigilance88 28:743485bb51e4 292 char command2=0;
Vigilance88 28:743485bb51e4 293
Vigilance88 28:743485bb51e4 294 while(command2 != 'B' && command2 != 'b'){
Vigilance88 28:743485bb51e4 295 command2 = pc.getc();
Vigilance88 28:743485bb51e4 296 switch(command2){
Vigilance88 28:743485bb51e4 297 case 'a':
Vigilance88 28:743485bb51e4 298 case 'A':
Vigilance88 28:743485bb51e4 299 pc.printf("\n\r => Arm Calibration Starting... please wait \n\r");
Vigilance88 28:743485bb51e4 300 calibrate_arm();
Vigilance88 28:743485bb51e4 301 wait(1);
Vigilance88 28:743485bb51e4 302 caliMenu();
Vigilance88 28:743485bb51e4 303 break;
Vigilance88 28:743485bb51e4 304
Vigilance88 28:743485bb51e4 305 case 'e':
Vigilance88 28:743485bb51e4 306 case 'E':
Vigilance88 28:743485bb51e4 307 pc.printf("\n\r => EMG Calibration Starting... please wait \n\r");
Vigilance88 28:743485bb51e4 308 wait(1);
Vigilance88 28:743485bb51e4 309 emgInstructions();
Vigilance88 28:743485bb51e4 310 calibrate_emg();
Vigilance88 32:76c4d7bb2022 311 pc.printf("\n\r------------------------- \n\r");
Vigilance88 28:743485bb51e4 312 pc.printf("\n\r EMG Calibration complete \n\r");
Vigilance88 32:76c4d7bb2022 313 pc.printf("\n\r------------------------- \n\r");
Vigilance88 28:743485bb51e4 314 caliMenu();
Vigilance88 28:743485bb51e4 315 break;
Vigilance88 28:743485bb51e4 316
Vigilance88 28:743485bb51e4 317 case 'b':
Vigilance88 28:743485bb51e4 318 case 'B':
Vigilance88 28:743485bb51e4 319 pc.printf("\n\r => Going back to main menu.. \n\r");
Vigilance88 28:743485bb51e4 320 mainMenu();
Vigilance88 28:743485bb51e4 321 break;
Vigilance88 28:743485bb51e4 322 }//end switch
Vigilance88 28:743485bb51e4 323
Vigilance88 28:743485bb51e4 324 }//end while
Vigilance88 28:743485bb51e4 325 break;
Vigilance88 35:7d9fca0b1545 326 case 't':
Vigilance88 35:7d9fca0b1545 327 case 'T':
Vigilance88 35:7d9fca0b1545 328 pc.printf("=> You chose TRIG control \r\n\n");
Vigilance88 28:743485bb51e4 329 wait(1);
Vigilance88 28:743485bb51e4 330 start_sampling();
Vigilance88 28:743485bb51e4 331 wait(1);
Vigilance88 38:c8ac615d0c8f 332 control_method=1;
Vigilance88 28:743485bb51e4 333 start_control();
Vigilance88 28:743485bb51e4 334 wait(1);
Vigilance88 29:948b0b14f6be 335 controlButtons();
Vigilance88 28:743485bb51e4 336 break;
Vigilance88 35:7d9fca0b1545 337 case 'd':
Vigilance88 35:7d9fca0b1545 338 case 'D':
Vigilance88 35:7d9fca0b1545 339 pc.printf("=> You chose DLS control \r\n\n");
Vigilance88 35:7d9fca0b1545 340 wait(1);
Vigilance88 35:7d9fca0b1545 341 start_sampling();
Vigilance88 35:7d9fca0b1545 342 wait(1);
Vigilance88 38:c8ac615d0c8f 343 control_method=2;
Vigilance88 38:c8ac615d0c8f 344 start_control();
Vigilance88 35:7d9fca0b1545 345 wait(1);
Vigilance88 35:7d9fca0b1545 346 controlButtons();
Vigilance88 35:7d9fca0b1545 347 break;
Vigilance88 28:743485bb51e4 348 case 'R':
Vigilance88 28:743485bb51e4 349 red=!red;
Vigilance88 28:743485bb51e4 350 pc.printf("=> Red LED triggered \n\r");
Vigilance88 28:743485bb51e4 351 break;
Vigilance88 28:743485bb51e4 352 case 'G':
Vigilance88 28:743485bb51e4 353 green=!green;
Vigilance88 28:743485bb51e4 354 pc.printf("=> Green LED triggered \n\r");
Vigilance88 28:743485bb51e4 355 break;
Vigilance88 28:743485bb51e4 356 case 'B':
Vigilance88 28:743485bb51e4 357 blue=!blue;
Vigilance88 28:743485bb51e4 358 pc.printf("=> Blue LED triggered \n\r");
Vigilance88 28:743485bb51e4 359 break;
Vigilance88 28:743485bb51e4 360 case 'q':
Vigilance88 28:743485bb51e4 361 case 'Q':
Vigilance88 28:743485bb51e4 362
Vigilance88 28:743485bb51e4 363 break;
Vigilance88 28:743485bb51e4 364 default:
Vigilance88 28:743485bb51e4 365 pc.printf("=> Invalid Input \n\r");
Vigilance88 28:743485bb51e4 366 break;
Vigilance88 28:743485bb51e4 367 } //end switch
Vigilance88 28:743485bb51e4 368 } // end if pc readable
Vigilance88 28:743485bb51e4 369
Vigilance88 28:743485bb51e4 370 } // end while loop
Vigilance88 28:743485bb51e4 371
Vigilance88 28:743485bb51e4 372
Vigilance88 28:743485bb51e4 373
Vigilance88 28:743485bb51e4 374 //When end of while loop reached (user chose quit program) - detach all timers and stop motors.
Vigilance88 28:743485bb51e4 375
Vigilance88 28:743485bb51e4 376 pc.printf("\r\n------------------------------ \n\r");
Vigilance88 28:743485bb51e4 377 pc.printf("Program Offline \n\r");
Vigilance88 28:743485bb51e4 378 pc.printf("Reset to start\r\n");
Vigilance88 28:743485bb51e4 379 pc.printf("------------------------------ \n\r");
Vigilance88 28:743485bb51e4 380 }
Vigilance88 28:743485bb51e4 381 //end of main
Vigilance88 28:743485bb51e4 382
Vigilance88 28:743485bb51e4 383 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 384 ---- FUNCTIONS -------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 385 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 28:743485bb51e4 386
Vigilance88 29:948b0b14f6be 387 void controlButtons()
Vigilance88 28:743485bb51e4 388 {
Vigilance88 28:743485bb51e4 389 controlMenu();
Vigilance88 28:743485bb51e4 390 char c=0;
Vigilance88 28:743485bb51e4 391 while(c != 'Q' && c != 'q') {
Vigilance88 27:d1814e271a95 392
Vigilance88 27:d1814e271a95 393 if( pc.readable() ){
Vigilance88 27:d1814e271a95 394 c = pc.getc();
Vigilance88 27:d1814e271a95 395 switch (c)
Vigilance88 27:d1814e271a95 396 {
Vigilance88 38:c8ac615d0c8f 397 case 'd' :
Vigilance88 27:d1814e271a95 398 x = x + 0.01;
Vigilance88 32:76c4d7bb2022 399
Vigilance88 27:d1814e271a95 400 break;
Vigilance88 27:d1814e271a95 401
Vigilance88 38:c8ac615d0c8f 402 case 'a' :
Vigilance88 27:d1814e271a95 403 x-=0.01;
Vigilance88 32:76c4d7bb2022 404
Vigilance88 27:d1814e271a95 405 break;
Vigilance88 27:d1814e271a95 406
Vigilance88 38:c8ac615d0c8f 407 case 'w' :
Vigilance88 27:d1814e271a95 408 y+=0.01;
Vigilance88 32:76c4d7bb2022 409
Vigilance88 27:d1814e271a95 410 break;
Vigilance88 27:d1814e271a95 411
Vigilance88 27:d1814e271a95 412
Vigilance88 38:c8ac615d0c8f 413 case 's' :
Vigilance88 27:d1814e271a95 414 y-=0.01;
Vigilance88 32:76c4d7bb2022 415
Vigilance88 27:d1814e271a95 416 break;
Vigilance88 27:d1814e271a95 417
Vigilance88 27:d1814e271a95 418 case 'q' :
Vigilance88 28:743485bb51e4 419 case 'Q' :
Vigilance88 28:743485bb51e4 420 pc.printf("=> Quitting control... \r\n"); wait(1);
Vigilance88 28:743485bb51e4 421 stop_sampling();
Vigilance88 28:743485bb51e4 422 stop_control();
Vigilance88 28:743485bb51e4 423 pwm_motor1=0; pwm_motor2=0;
Vigilance88 28:743485bb51e4 424 pc.printf("Sampling and Control detached \n\r"); wait(1);
Vigilance88 28:743485bb51e4 425 pc.printf("Returning to Main Menu \r\n\n"); wait(1);
Vigilance88 28:743485bb51e4 426 mainMenu();
Vigilance88 28:743485bb51e4 427
Vigilance88 27:d1814e271a95 428 //running = false;
Vigilance88 27:d1814e271a95 429 break;
Vigilance88 27:d1814e271a95 430 }//end switch
Vigilance88 28:743485bb51e4 431 if(c!='q' && c!='Q'){
Vigilance88 27:d1814e271a95 432 pc.printf("Reference position: %f and %f \r\n",x,y);
Vigilance88 27:d1814e271a95 433 pc.printf("Current position: %f and %f \r\n",current_x,current_y);
Vigilance88 36:4d4fc200171b 434 pc.printf("Pos Error: %f and %f \r\n",x_error,y_error);
Vigilance88 27:d1814e271a95 435 pc.printf("Current angles: %f and %f \r\n",theta1,theta2);
Vigilance88 36:4d4fc200171b 436 pc.printf("DLS1: %f and DLS2 %f and DLS3 %f and DLS4: %f \r\n",dls1,dls2,dls3,dls4);
Vigilance88 35:7d9fca0b1545 437 pc.printf("Error in angles: %f and %f \r\n",q1_error,q2_error);
Vigilance88 27:d1814e271a95 438 pc.printf("PID output: %f and %f \r\n",u1,u2);
Vigilance88 27:d1814e271a95 439 pc.printf("----------------------------------------\r\n\n");
Vigilance88 27:d1814e271a95 440 }
Vigilance88 28:743485bb51e4 441 }
Vigilance88 27:d1814e271a95 442 //end if
Vigilance88 21:d6a46315d5f5 443 }
Vigilance88 21:d6a46315d5f5 444 //end of while loop
Vigilance88 30:a9fdd3202ca2 445 }
Vigilance88 18:44905b008f44 446
Vigilance88 21:d6a46315d5f5 447 //Sample and Filter
Vigilance88 21:d6a46315d5f5 448 void sample_filter(void)
Vigilance88 18:44905b008f44 449 {
Vigilance88 32:76c4d7bb2022 450 emg_biceps = emg1.read(); //Biceps
Vigilance88 32:76c4d7bb2022 451 emg_triceps = emg2.read(); //Triceps
Vigilance88 32:76c4d7bb2022 452 emg_flexor = emg3.read(); //Flexor
Vigilance88 32:76c4d7bb2022 453 emg_extens = emg4.read(); //Extensor
Vigilance88 21:d6a46315d5f5 454
Vigilance88 21:d6a46315d5f5 455 //Filter: high-pass -> notch -> rectify -> lowpass or moving average
Vigilance88 22:1ba637601dc3 456 // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad?
Vigilance88 25:49ccdc98639a 457 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 458 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 459 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 460 biceps_power = abs(biceps_power); triceps_power = abs(triceps_power); flexor_power = abs(flexor_power); extens_power = abs(extens_power);
Vigilance88 25:49ccdc98639a 461 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 462
Vigilance88 25:49ccdc98639a 463
Vigilance88 32:76c4d7bb2022 464 scope.set(0,biceps_power);
Vigilance88 32:76c4d7bb2022 465 scope.set(1,triceps_power);
Vigilance88 38:c8ac615d0c8f 466 //scope.set(2,flexor_power);
Vigilance88 38:c8ac615d0c8f 467 //scope.set(3,extens_power);
Vigilance88 29:948b0b14f6be 468 scope.send();
Vigilance88 32:76c4d7bb2022 469
Vigilance88 32:76c4d7bb2022 470 // on - offset. If above a value it is on.
Vigilance88 32:76c4d7bb2022 471
Vigilance88 32:76c4d7bb2022 472
Vigilance88 21:d6a46315d5f5 473 /* alternative for lowpass filter: moving average
Vigilance88 21:d6a46315d5f5 474 window=30; //30 samples
Vigilance88 21:d6a46315d5f5 475 int i=0; //buffer index
Vigilance88 21:d6a46315d5f5 476 bicepsbuffer[i]=biceps_power //fill array
Vigilance88 21:d6a46315d5f5 477
Vigilance88 21:d6a46315d5f5 478 i++;
Vigilance88 21:d6a46315d5f5 479 if(i==window){
Vigilance88 21:d6a46315d5f5 480 i=0;
Vigilance88 21:d6a46315d5f5 481 }
Vigilance88 21:d6a46315d5f5 482
Vigilance88 24:56db31267f10 483 for(int x = 0; x < window; x++){
Vigilance88 24:56db31267f10 484 avg1 += bicepsbuffer[x];
Vigilance88 24:56db31267f10 485 }
Vigilance88 24:56db31267f10 486 avg1 = avg1/window;
Vigilance88 21:d6a46315d5f5 487 */
Vigilance88 21:d6a46315d5f5 488
Vigilance88 18:44905b008f44 489 }
Vigilance88 18:44905b008f44 490
Vigilance88 27:d1814e271a95 491
Vigilance88 32:76c4d7bb2022 492 void shoulder(){
Vigilance88 32:76c4d7bb2022 493 pwm_motor1.write(0);
Vigilance88 32:76c4d7bb2022 494 Encoder1.reset();
Vigilance88 32:76c4d7bb2022 495 done1 = true;
Vigilance88 32:76c4d7bb2022 496 pc.printf("Shoulder Limit hit - shutting down motor 1\r\n");
Vigilance88 36:4d4fc200171b 497 //mechanical angle limits -> pulses. If 40 degrees -> counts = floor( 40 * (4200/360) )
Vigilance88 36:4d4fc200171b 498 //Encoder1.setPulses(467); //edited QEI library: added setPulses()
Vigilance88 36:4d4fc200171b 499
Vigilance88 32:76c4d7bb2022 500 }
Vigilance88 32:76c4d7bb2022 501
Vigilance88 32:76c4d7bb2022 502 void elbow(){
Vigilance88 32:76c4d7bb2022 503 pwm_motor2.write(0);
Vigilance88 32:76c4d7bb2022 504 Encoder2.reset();
Vigilance88 32:76c4d7bb2022 505 done2 = true;
Vigilance88 32:76c4d7bb2022 506 pc.printf("Elbow Limit hit - shutting down motor 2\r\n");
Vigilance88 36:4d4fc200171b 507 //Mechanical limit 30 degrees -> 30*(4200/360) = 350
Vigilance88 36:4d4fc200171b 508
Vigilance88 36:4d4fc200171b 509 //Encoder2.setPulses(350); //edited QEI library: added setPulses()
Vigilance88 32:76c4d7bb2022 510 }
Vigilance88 32:76c4d7bb2022 511
Vigilance88 18:44905b008f44 512 //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position.
Vigilance88 19:0a3ee31dcdb4 513 void calibrate_arm(void)
Vigilance88 19:0a3ee31dcdb4 514 {
Vigilance88 28:743485bb51e4 515 pc.printf("Calibrate_arm() entered\r\n");
Vigilance88 32:76c4d7bb2022 516 red=0; blue=0; //Debug light is purple during arm calibration
Vigilance88 32:76c4d7bb2022 517
Vigilance88 32:76c4d7bb2022 518 done1 = false;
Vigilance88 32:76c4d7bb2022 519 done2 = false;
Vigilance88 26:fe3a5469dd6b 520 bool calibrating = true;
Vigilance88 32:76c4d7bb2022 521
Vigilance88 27:d1814e271a95 522 pc.printf("To start arm calibration, press any key =>");
Vigilance88 27:d1814e271a95 523 pc.getc();
Vigilance88 27:d1814e271a95 524 pc.printf("\r\n Calibrating... \r\n");
Vigilance88 36:4d4fc200171b 525 dir_motor1=0; //cw
Vigilance88 36:4d4fc200171b 526 dir_motor2=1; //cw
Vigilance88 36:4d4fc200171b 527
Vigilance88 27:d1814e271a95 528
Vigilance88 26:fe3a5469dd6b 529
Vigilance88 26:fe3a5469dd6b 530 while(calibrating){
Vigilance88 32:76c4d7bb2022 531 shoulder_limit.rise(&shoulder);
Vigilance88 32:76c4d7bb2022 532 elbow_limit.rise(&elbow);
Vigilance88 36:4d4fc200171b 533 while(!done1){
Vigilance88 36:4d4fc200171b 534 pwm_motor1.write(0.2); //move upper arm slowly cw
Vigilance88 36:4d4fc200171b 535 }
Vigilance88 27:d1814e271a95 536 if(done1==true){
Vigilance88 27:d1814e271a95 537 pwm_motor2.write(0.2); //move forearm slowly cw
Vigilance88 27:d1814e271a95 538 }
Vigilance88 27:d1814e271a95 539
Vigilance88 26:fe3a5469dd6b 540 if(done1 && done2){
Vigilance88 26:fe3a5469dd6b 541 calibrating=false; //Leave while loop when both limits are reached
Vigilance88 26:fe3a5469dd6b 542 red=1; blue=1; //Turn debug light off when calibration complete
Vigilance88 26:fe3a5469dd6b 543 }
Vigilance88 27:d1814e271a95 544
Vigilance88 27:d1814e271a95 545 }//end while
Vigilance88 32:76c4d7bb2022 546
Vigilance88 27:d1814e271a95 547 //TO DO:
Vigilance88 36:4d4fc200171b 548
Vigilance88 27:d1814e271a95 549 //pc.printf("Elbow Limit hit - shutting down motor 2. Current pulsecount: %i \r\n",Encoder1.getPulses());
Vigilance88 31:7b8b8459bddc 550
Vigilance88 27:d1814e271a95 551 wait(1);
Vigilance88 28:743485bb51e4 552 pc.printf("\n\r ------------------------ \n\r");
Vigilance88 27:d1814e271a95 553 pc.printf("Arm Calibration Complete\r\n");
Vigilance88 28:743485bb51e4 554 pc.printf(" ------------------------ \n\r");
Vigilance88 26:fe3a5469dd6b 555
Vigilance88 19:0a3ee31dcdb4 556 }
Vigilance88 19:0a3ee31dcdb4 557
Vigilance88 21:d6a46315d5f5 558 //EMG Maximum Voluntary Contraction measurement
Vigilance88 25:49ccdc98639a 559 void emg_mvc()
Vigilance88 25:49ccdc98639a 560 {
Vigilance88 24:56db31267f10 561 //double sampletime=0;
Vigilance88 24:56db31267f10 562 //sampletime=+SAMPLE_RATE;
Vigilance88 24:56db31267f10 563 //
Vigilance88 24:56db31267f10 564 // if(sampletime<5)
Vigilance88 25:49ccdc98639a 565 //int muscle=1;
Vigilance88 25:49ccdc98639a 566 //for(int index=0; index<2500;index++){ //measure 5 seconds@500hz = 2500 samples
Vigilance88 25:49ccdc98639a 567
Vigilance88 24:56db31267f10 568 if(muscle==1){
Vigilance88 24:56db31267f10 569
Vigilance88 24:56db31267f10 570 if(biceps_power>bicepsMVC){
Vigilance88 26:fe3a5469dd6b 571 //printf("+ ");
Vigilance88 26:fe3a5469dd6b 572 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 21:d6a46315d5f5 573 bicepsMVC=biceps_power;
Vigilance88 24:56db31267f10 574 }
Vigilance88 25:49ccdc98639a 575 else
Vigilance88 25:49ccdc98639a 576 printf("- ");
Vigilance88 24:56db31267f10 577 }
Vigilance88 24:56db31267f10 578
Vigilance88 24:56db31267f10 579 if(muscle==2){
Vigilance88 24:56db31267f10 580
Vigilance88 24:56db31267f10 581 if(triceps_power>tricepsMVC){
Vigilance88 26:fe3a5469dd6b 582 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 583 tricepsMVC=triceps_power;
Vigilance88 24:56db31267f10 584 }
Vigilance88 26:fe3a5469dd6b 585 else
Vigilance88 26:fe3a5469dd6b 586 printf("- ");
Vigilance88 24:56db31267f10 587 }
Vigilance88 24:56db31267f10 588
Vigilance88 24:56db31267f10 589 if(muscle==3){
Vigilance88 24:56db31267f10 590
Vigilance88 24:56db31267f10 591 if(flexor_power>flexorMVC){
Vigilance88 26:fe3a5469dd6b 592 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 593 flexorMVC=flexor_power;
Vigilance88 24:56db31267f10 594 }
Vigilance88 26:fe3a5469dd6b 595 else
Vigilance88 26:fe3a5469dd6b 596 printf("- ");
Vigilance88 24:56db31267f10 597 }
Vigilance88 24:56db31267f10 598
Vigilance88 24:56db31267f10 599 if(muscle==4){
Vigilance88 24:56db31267f10 600
Vigilance88 24:56db31267f10 601 if(extens_power>extensMVC){
Vigilance88 26:fe3a5469dd6b 602 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 603 extensMVC=extens_power;
Vigilance88 24:56db31267f10 604 }
Vigilance88 26:fe3a5469dd6b 605 else
Vigilance88 26:fe3a5469dd6b 606 printf("- ");
Vigilance88 24:56db31267f10 607 }
Vigilance88 25:49ccdc98639a 608
Vigilance88 25:49ccdc98639a 609 //}
Vigilance88 25:49ccdc98639a 610 calibrate_time = calibrate_time + 0.002;
Vigilance88 36:4d4fc200171b 611
Vigilance88 25:49ccdc98639a 612 }
Vigilance88 25:49ccdc98639a 613
Vigilance88 35:7d9fca0b1545 614 void emg_min()
Vigilance88 35:7d9fca0b1545 615 {
Vigilance88 35:7d9fca0b1545 616
Vigilance88 38:c8ac615d0c8f 617 if(biceps_power>bicepsmin){
Vigilance88 35:7d9fca0b1545 618 bicepsmin=biceps_power;
Vigilance88 35:7d9fca0b1545 619 }
Vigilance88 35:7d9fca0b1545 620
Vigilance88 38:c8ac615d0c8f 621 if(triceps_power>tricepsmin){
Vigilance88 35:7d9fca0b1545 622 tricepsmin=triceps_power;
Vigilance88 35:7d9fca0b1545 623 }
Vigilance88 35:7d9fca0b1545 624
Vigilance88 38:c8ac615d0c8f 625 if(flexor_power>flexormin){
Vigilance88 35:7d9fca0b1545 626 flexormin=flexor_power;
Vigilance88 35:7d9fca0b1545 627 }
Vigilance88 35:7d9fca0b1545 628
Vigilance88 38:c8ac615d0c8f 629 if(extens_power > extensmin){
Vigilance88 35:7d9fca0b1545 630 extensmin = extens_power;
Vigilance88 35:7d9fca0b1545 631 }
Vigilance88 35:7d9fca0b1545 632
Vigilance88 35:7d9fca0b1545 633 calibrate_time = calibrate_time + 0.002;
Vigilance88 35:7d9fca0b1545 634
Vigilance88 35:7d9fca0b1545 635 }
Vigilance88 35:7d9fca0b1545 636
Vigilance88 25:49ccdc98639a 637 //EMG calibration
Vigilance88 25:49ccdc98639a 638 void calibrate_emg()
Vigilance88 25:49ccdc98639a 639 {
Vigilance88 25:49ccdc98639a 640 Ticker timer;
Vigilance88 25:49ccdc98639a 641
Vigilance88 38:c8ac615d0c8f 642 pc.printf("Starting sampling, to allow hidscope to normalize\r\n");
Vigilance88 38:c8ac615d0c8f 643 start_sampling();
Vigilance88 25:49ccdc98639a 644 wait(1);
Vigilance88 38:c8ac615d0c8f 645 pc.printf("Start minimum measurement, relax all muscles.\r\n");
Vigilance88 35:7d9fca0b1545 646 wait(1);
Vigilance88 35:7d9fca0b1545 647 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 35:7d9fca0b1545 648 char input;
Vigilance88 35:7d9fca0b1545 649 input=pc.getc();
Vigilance88 35:7d9fca0b1545 650 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 651 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 652 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 653
Vigilance88 38:c8ac615d0c8f 654
Vigilance88 36:4d4fc200171b 655
Vigilance88 35:7d9fca0b1545 656 timer.attach(&emg_min,SAMPLE_RATE);
Vigilance88 35:7d9fca0b1545 657 wait(5);
Vigilance88 35:7d9fca0b1545 658 timer.detach();
Vigilance88 35:7d9fca0b1545 659 pc.printf("\r\n Measurement complete."); wait(1);
Vigilance88 35:7d9fca0b1545 660 pc.printf("\r\n Biceps min = %f \r\n",bicepsmin); wait(1);
Vigilance88 35:7d9fca0b1545 661 pc.printf("\r\n Triceps min = %f \r\n",tricepsmin); wait(1);
Vigilance88 35:7d9fca0b1545 662 pc.printf("\r\n Flexor min = %f \r\n",flexormin); wait(1);
Vigilance88 35:7d9fca0b1545 663 pc.printf("\r\n Extensor min = %f \r\n",extensmin); wait(1);
Vigilance88 35:7d9fca0b1545 664
Vigilance88 35:7d9fca0b1545 665 calibrate_time=0;
Vigilance88 35:7d9fca0b1545 666 pc.printf("\r\n Now we will measure maximum amplitudes \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 667 pc.printf("+ means current sample is higher than stored MVC\r\n");
Vigilance88 25:49ccdc98639a 668 pc.printf("- means current sample is lower than stored MVC\r\n");
Vigilance88 26:fe3a5469dd6b 669 wait(2);
Vigilance88 28:743485bb51e4 670 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 671 pc.printf(" Biceps is first.\r\n ");
Vigilance88 28:743485bb51e4 672 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 673 wait(1);
Vigilance88 25:49ccdc98639a 674 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 675 input=pc.getc();
Vigilance88 25:49ccdc98639a 676 pc.putc(input);
Vigilance88 25:49ccdc98639a 677 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 678 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 679 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 680
Vigilance88 25:49ccdc98639a 681 start_sampling();
Vigilance88 25:49ccdc98639a 682 muscle=1;
Vigilance88 27:d1814e271a95 683 timer.attach(&emg_mvc,SAMPLE_RATE);
Vigilance88 25:49ccdc98639a 684 wait(5);
Vigilance88 25:49ccdc98639a 685 timer.detach();
Vigilance88 26:fe3a5469dd6b 686
Vigilance88 26:fe3a5469dd6b 687 pc.printf("\r\n Measurement complete."); wait(1);
Vigilance88 26:fe3a5469dd6b 688 pc.printf("\r\n Biceps MVC = %f \r\n",bicepsMVC); wait(1);
Vigilance88 26:fe3a5469dd6b 689 pc.printf("Calibrate_emg() exited \r\n"); wait(1);
Vigilance88 26:fe3a5469dd6b 690 pc.printf("Measured time: %f seconds \r\n\n",calibrate_time);
Vigilance88 25:49ccdc98639a 691 calibrate_time=0;
Vigilance88 25:49ccdc98639a 692
Vigilance88 25:49ccdc98639a 693 // Triceps:
Vigilance88 26:fe3a5469dd6b 694 muscle=2;
Vigilance88 28:743485bb51e4 695 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 696 pc.printf(" Triceps is next.\r\n ");
Vigilance88 28:743485bb51e4 697 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 698 wait(1);
Vigilance88 28:743485bb51e4 699
Vigilance88 25:49ccdc98639a 700 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 701 input=pc.getc();
Vigilance88 25:49ccdc98639a 702 pc.putc(input);
Vigilance88 25:49ccdc98639a 703 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 704 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 705 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 706 start_sampling();
Vigilance88 25:49ccdc98639a 707 timer.attach(&emg_mvc,0.002);
Vigilance88 25:49ccdc98639a 708 wait(5);
Vigilance88 25:49ccdc98639a 709 timer.detach();
Vigilance88 25:49ccdc98639a 710 pc.printf("\r\n Triceps MVC = %f \r\n",tricepsMVC);
Vigilance88 25:49ccdc98639a 711
Vigilance88 25:49ccdc98639a 712 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 25:49ccdc98639a 713 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 25:49ccdc98639a 714 calibrate_time=0;
Vigilance88 25:49ccdc98639a 715
Vigilance88 25:49ccdc98639a 716 //Flexor:
Vigilance88 26:fe3a5469dd6b 717 muscle=3;
Vigilance88 35:7d9fca0b1545 718 pc.printf("\r\n----------------\r\n ");
Vigilance88 35:7d9fca0b1545 719 pc.printf(" Flexor is next.\r\n ");
Vigilance88 35:7d9fca0b1545 720 pc.printf("----------------\r\n ");
Vigilance88 35:7d9fca0b1545 721 wait(1);
Vigilance88 35:7d9fca0b1545 722
Vigilance88 35:7d9fca0b1545 723 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 35:7d9fca0b1545 724 input=pc.getc();
Vigilance88 35:7d9fca0b1545 725 pc.putc(input);
Vigilance88 35:7d9fca0b1545 726 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 727 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 728 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 729 start_sampling();
Vigilance88 35:7d9fca0b1545 730 timer.attach(&emg_mvc,0.002);
Vigilance88 35:7d9fca0b1545 731 wait(5);
Vigilance88 35:7d9fca0b1545 732 timer.detach();
Vigilance88 35:7d9fca0b1545 733 pc.printf("\r\n Flexor MVC = %f \r\n",flexorMVC);
Vigilance88 35:7d9fca0b1545 734
Vigilance88 35:7d9fca0b1545 735 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 35:7d9fca0b1545 736 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 35:7d9fca0b1545 737 calibrate_time=0;
Vigilance88 35:7d9fca0b1545 738
Vigilance88 25:49ccdc98639a 739 //Extensor:
Vigilance88 35:7d9fca0b1545 740
Vigilance88 26:fe3a5469dd6b 741 muscle=4;
Vigilance88 35:7d9fca0b1545 742 pc.printf("\r\n----------------\r\n ");
Vigilance88 35:7d9fca0b1545 743 pc.printf(" Extensor is next.\r\n ");
Vigilance88 35:7d9fca0b1545 744 pc.printf("----------------\r\n ");
Vigilance88 35:7d9fca0b1545 745 wait(1);
Vigilance88 35:7d9fca0b1545 746
Vigilance88 35:7d9fca0b1545 747 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 35:7d9fca0b1545 748 input=pc.getc();
Vigilance88 35:7d9fca0b1545 749 pc.putc(input);
Vigilance88 35:7d9fca0b1545 750 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 751 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 752 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 35:7d9fca0b1545 753 start_sampling();
Vigilance88 35:7d9fca0b1545 754 timer.attach(&emg_mvc,0.002);
Vigilance88 35:7d9fca0b1545 755 wait(5);
Vigilance88 35:7d9fca0b1545 756 timer.detach();
Vigilance88 35:7d9fca0b1545 757 pc.printf("\r\n Extensor MVC = %f \r\n",extensMVC);
Vigilance88 25:49ccdc98639a 758
Vigilance88 35:7d9fca0b1545 759 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 35:7d9fca0b1545 760 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 35:7d9fca0b1545 761 calibrate_time=0;
Vigilance88 26:fe3a5469dd6b 762 //Stop sampling, detach ticker
Vigilance88 25:49ccdc98639a 763 stop_sampling();
Vigilance88 24:56db31267f10 764
Vigilance88 18:44905b008f44 765 }
Vigilance88 18:44905b008f44 766
Vigilance88 18:44905b008f44 767
Vigilance88 18:44905b008f44 768 //Input error and Kp, Kd, Ki, output control signal
Vigilance88 20:0ede3818e08e 769 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev)
vsluiter 2:e314bb3b2d99 770 {
Vigilance88 20:0ede3818e08e 771 // Derivative
Vigilance88 24:56db31267f10 772 double e_der = (error-e_prev)/ CONTROL_RATE;
Vigilance88 21:d6a46315d5f5 773 e_der = derfilter.step(e_der);
Vigilance88 21:d6a46315d5f5 774 e_prev = error;
Vigilance88 20:0ede3818e08e 775 // Integral
Vigilance88 24:56db31267f10 776 e_int = e_int + CONTROL_RATE * error;
Vigilance88 20:0ede3818e08e 777 // PID
Vigilance88 21:d6a46315d5f5 778 return kp*error + ki*e_int + kd * e_der;
Vigilance88 20:0ede3818e08e 779
Vigilance88 18:44905b008f44 780 }
Vigilance88 18:44905b008f44 781
Vigilance88 20:0ede3818e08e 782 //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 783 void control()
Vigilance88 18:44905b008f44 784 {
Vigilance88 38:c8ac615d0c8f 785
Vigilance88 30:a9fdd3202ca2 786 //normalize emg to value between 0-1
Vigilance88 38:c8ac615d0c8f 787 biceps = (biceps_power - bicepsmin) / (bicepsMVC - bicepsmin);
Vigilance88 38:c8ac615d0c8f 788 triceps = (triceps_power - tricepsmin) / (tricepsMVC - tricepsmin);
Vigilance88 38:c8ac615d0c8f 789 flexor = (flexor_power - flexormin) / (flexorMVC - flexormin);
Vigilance88 38:c8ac615d0c8f 790 extens = (extens_power - extensmin) / (extensMVC - extensmin);
Vigilance88 38:c8ac615d0c8f 791
Vigilance88 38:c8ac615d0c8f 792 scope.set(2,biceps);
Vigilance88 38:c8ac615d0c8f 793 scope.set(3,triceps);
Vigilance88 38:c8ac615d0c8f 794 scope.send();
Vigilance88 38:c8ac615d0c8f 795
Vigilance88 30:a9fdd3202ca2 796
Vigilance88 32:76c4d7bb2022 797 //threshold detection! buffer?
Vigilance88 38:c8ac615d0c8f 798 //TODO
Vigilance88 32:76c4d7bb2022 799
Vigilance88 38:c8ac615d0c8f 800 /* //analyze emg (= velocity)
Vigilance88 30:a9fdd3202ca2 801 if (biceps>triceps && biceps > 0.1)
Vigilance88 30:a9fdd3202ca2 802 xdir = 0;
Vigilance88 30:a9fdd3202ca2 803 xpower = biceps;
Vigilance88 30:a9fdd3202ca2 804 else if (triceps>biceps && triceps>0.1)
Vigilance88 30:a9fdd3202ca2 805 xdir = 1;
Vigilance88 30:a9fdd3202ca2 806 xpower = triceps;
Vigilance88 30:a9fdd3202ca2 807 else
Vigilance88 30:a9fdd3202ca2 808 xpower=0;
Vigilance88 30:a9fdd3202ca2 809
Vigilance88 30:a9fdd3202ca2 810 if (flexor>extensor && flexor > 0.1){
Vigilance88 30:a9fdd3202ca2 811 ydir = 0;
Vigilance88 30:a9fdd3202ca2 812 ypower = flexor;
Vigilance88 30:a9fdd3202ca2 813 }
Vigilance88 30:a9fdd3202ca2 814 else if (extensor>flexor && extensor > 0.1){
Vigilance88 30:a9fdd3202ca2 815 ydir = 1;
Vigilance88 30:a9fdd3202ca2 816 ypower = extensor;
Vigilance88 30:a9fdd3202ca2 817 }
Vigilance88 30:a9fdd3202ca2 818 else
Vigilance88 30:a9fdd3202ca2 819 ypower = 0;
Vigilance88 30:a9fdd3202ca2 820
Vigilance88 38:c8ac615d0c8f 821 //power: the longer a signal is active, the further the reference goes. So integrate to determine reference position
Vigilance88 30:a9fdd3202ca2 822 dx = xpower * CONTROL_RATE;
Vigilance88 30:a9fdd3202ca2 823 dy = ypower * CONTROL_RATE;
Vigilance88 18:44905b008f44 824
Vigilance88 30:a9fdd3202ca2 825 //But: direction! Sum dx and dy but make sure xdir and ydir are considered.
Vigilance88 30:a9fdd3202ca2 826 if (xdir>0)
Vigilance88 30:a9fdd3202ca2 827 x += dx;
Vigilance88 30:a9fdd3202ca2 828 else
Vigilance88 30:a9fdd3202ca2 829 x += -dx;
Vigilance88 30:a9fdd3202ca2 830
Vigilance88 30:a9fdd3202ca2 831 if (ydir>0)
Vigilance88 30:a9fdd3202ca2 832 y += dy;
Vigilance88 30:a9fdd3202ca2 833 else
Vigilance88 30:a9fdd3202ca2 834 y += -dy;
Vigilance88 30:a9fdd3202ca2 835
Vigilance88 30:a9fdd3202ca2 836 //now we have x and y -> reference position.
Vigilance88 30:a9fdd3202ca2 837
Vigilance88 30:a9fdd3202ca2 838 //Set limits to the error!
Vigilance88 30:a9fdd3202ca2 839 //lower limit: Negative error not allowed to go further.
Vigilance88 30:a9fdd3202ca2 840 if (theta1 < limitangle)
Vigilance88 30:a9fdd3202ca2 841 if (error1 > 0)
Vigilance88 30:a9fdd3202ca2 842 error1 = error1;
Vigilance88 30:a9fdd3202ca2 843 else
Vigilance88 30:a9fdd3202ca2 844 error1 = 0;
Vigilance88 30:a9fdd3202ca2 845 if (theta2 < limitangle)
Vigilance88 30:a9fdd3202ca2 846 same as above
Vigilance88 30:a9fdd3202ca2 847
Vigilance88 30:a9fdd3202ca2 848 //upper limit: Positive error not allowed to go further
Vigilance88 30:a9fdd3202ca2 849 if (theta1 > limitangle)
Vigilance88 30:a9fdd3202ca2 850 if (error1 < 0 )
Vigilance88 30:a9fdd3202ca2 851 error1 = error1;
Vigilance88 30:a9fdd3202ca2 852 else
Vigilance88 30:a9fdd3202ca2 853 error1 = 0;
Vigilance88 30:a9fdd3202ca2 854 if (theta2 > limitangle)
Vigilance88 30:a9fdd3202ca2 855 same as above
Vigilance88 18:44905b008f44 856
Vigilance88 30:a9fdd3202ca2 857
Vigilance88 30:a9fdd3202ca2 858 */
Vigilance88 30:a9fdd3202ca2 859
Vigilance88 27:d1814e271a95 860 //Current position - Encoder counts -> current angle -> Forward Kinematics
Vigilance88 27:d1814e271a95 861 rpc=(2*PI)/ENCODER1_CPR; //radians per count (resolution) - 2pi divided by 4200
Vigilance88 27:d1814e271a95 862 theta1 = Encoder1.getPulses() * rpc; //multiply resolution with number of counts
Vigilance88 27:d1814e271a95 863 theta2 = Encoder2.getPulses() * rpc;
Vigilance88 27:d1814e271a95 864 current_x = l1 * cos(theta1) + l2 * cos(theta1 + theta2);
Vigilance88 27:d1814e271a95 865 current_y = l1 * sin(theta1) + l2 * sin(theta1 + theta2);
Vigilance88 27:d1814e271a95 866
Vigilance88 27:d1814e271a95 867
Vigilance88 18:44905b008f44 868 //calculate error (refpos-currentpos) currentpos = forward kinematics
Vigilance88 27:d1814e271a95 869 x_error = x - current_x;
Vigilance88 27:d1814e271a95 870 y_error = y - current_y;
Vigilance88 27:d1814e271a95 871
Vigilance88 27:d1814e271a95 872
Vigilance88 38:c8ac615d0c8f 873 if (control_method==1){
Vigilance88 27:d1814e271a95 874 //inverse kinematics (refpos to refangle)
Vigilance88 18:44905b008f44 875
Vigilance88 27:d1814e271a95 876 costheta2 = (pow(x,2) + pow(y,2) - pow(l1,2) - pow(l2,2)) / (2*l1*l2) ;
Vigilance88 30:a9fdd3202ca2 877 sintheta2 = sqrt( abs( 1 - pow(costheta2,2) ) );
Vigilance88 27:d1814e271a95 878
Vigilance88 27:d1814e271a95 879
Vigilance88 27:d1814e271a95 880 dtheta2 = atan2(sintheta2,costheta2);
Vigilance88 27:d1814e271a95 881
Vigilance88 32:76c4d7bb2022 882 double k1 = l1 + l2*costheta2;
Vigilance88 32:76c4d7bb2022 883 double k2 = l2*sintheta2;
Vigilance88 32:76c4d7bb2022 884
Vigilance88 32:76c4d7bb2022 885 dtheta1 = atan2(y, x) - atan2(k2, k1);
Vigilance88 32:76c4d7bb2022 886
Vigilance88 32:76c4d7bb2022 887 /* alternative:
Vigilance88 27:d1814e271a95 888 costheta1 = ( x * (l1 + l2 * costheta2) + y * l2 * sintheta2 ) / ( pow(x,2) + pow(y,2) );
Vigilance88 30:a9fdd3202ca2 889 sintheta1 = sqrt( abs( 1 - pow(costheta1,2) ) );
Vigilance88 27:d1814e271a95 890
Vigilance88 27:d1814e271a95 891 dtheta1 = atan2(sintheta1,costheta1);
Vigilance88 32:76c4d7bb2022 892 */
Vigilance88 27:d1814e271a95 893
Vigilance88 27:d1814e271a95 894 //Angle error
Vigilance88 27:d1814e271a95 895 m1_error = dtheta1-theta1;
Vigilance88 27:d1814e271a95 896 m2_error = dtheta2-theta2;
Vigilance88 37:4d7b7ced20ef 897 }
Vigilance88 27:d1814e271a95 898
Vigilance88 38:c8ac615d0c8f 899 if(control_method==2){
Vigilance88 37:4d7b7ced20ef 900 //inverse kinematics (error in position to error in angles)
Vigilance88 37:4d7b7ced20ef 901 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 902 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 903 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 904 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 905
Vigilance88 37:4d7b7ced20ef 906 q1_error = dls1 * x_error + dls2 * y_error;
Vigilance88 37:4d7b7ced20ef 907 q2_error = dls3 * x_error + dls4 * y_error;
Vigilance88 37:4d7b7ced20ef 908
Vigilance88 37:4d7b7ced20ef 909 //Angle error
Vigilance88 37:4d7b7ced20ef 910 m1_error = q1_error;
Vigilance88 37:4d7b7ced20ef 911 m2_error = q2_error;
Vigilance88 37:4d7b7ced20ef 912 }
Vigilance88 18:44905b008f44 913
Vigilance88 18:44905b008f44 914 //PID controller
Vigilance88 24:56db31267f10 915
Vigilance88 24:56db31267f10 916 u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1
Vigilance88 24:56db31267f10 917 u2=pid(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2
Vigilance88 21:d6a46315d5f5 918
Vigilance88 27:d1814e271a95 919 keep_in_range(&u1,-0.6,0.6); //keep u between -1 and 1, sign = direction, PWM = 0-1
Vigilance88 27:d1814e271a95 920 keep_in_range(&u2,-0.6,0.6);
Vigilance88 21:d6a46315d5f5 921
Vigilance88 21:d6a46315d5f5 922 //send PWM and DIR to motor 1
Vigilance88 21:d6a46315d5f5 923 dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below.
Vigilance88 21:d6a46315d5f5 924 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 925
Vigilance88 21:d6a46315d5f5 926 //send PWM and DIR to motor 2
Vigilance88 27:d1814e271a95 927 dir_motor2 = u2>0 ? 0 : 1; //conditional statement, same as if else below
Vigilance88 25:49ccdc98639a 928 pwm_motor2.write(abs(u2));
Vigilance88 21:d6a46315d5f5 929
Vigilance88 21:d6a46315d5f5 930 /*if(u1 > 0)
Vigilance88 21:d6a46315d5f5 931 {
Vigilance88 21:d6a46315d5f5 932 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 933 else{
Vigilance88 21:d6a46315d5f5 934 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 935 }
Vigilance88 21:d6a46315d5f5 936 }
Vigilance88 21:d6a46315d5f5 937 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 938
Vigilance88 21:d6a46315d5f5 939
Vigilance88 21:d6a46315d5f5 940 if(u2 > 0)
Vigilance88 21:d6a46315d5f5 941 {
Vigilance88 21:d6a46315d5f5 942 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 943 else{
Vigilance88 21:d6a46315d5f5 944 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 945 }
Vigilance88 21:d6a46315d5f5 946 }
Vigilance88 21:d6a46315d5f5 947 pwm_motor1.write(abs(u2));*/
Vigilance88 21:d6a46315d5f5 948
Vigilance88 18:44905b008f44 949 }
Vigilance88 18:44905b008f44 950
Vigilance88 38:c8ac615d0c8f 951
Vigilance88 32:76c4d7bb2022 952
Vigilance88 26:fe3a5469dd6b 953 void mainMenu()
Vigilance88 26:fe3a5469dd6b 954 {
Vigilance88 38:c8ac615d0c8f 955 //Title Box
Vigilance88 26:fe3a5469dd6b 956 pc.putc(201);
Vigilance88 26:fe3a5469dd6b 957 for(int j=0;j<33;j++){
Vigilance88 26:fe3a5469dd6b 958 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 959 }
Vigilance88 26:fe3a5469dd6b 960 pc.putc(187);
Vigilance88 26:fe3a5469dd6b 961 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 962 pc.putc(186); pc.printf(" Main Menu "); pc.putc(186);
Vigilance88 26:fe3a5469dd6b 963 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 964 pc.putc(200);
Vigilance88 26:fe3a5469dd6b 965 for(int k=0;k<33;k++){
Vigilance88 26:fe3a5469dd6b 966 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 967 }
Vigilance88 26:fe3a5469dd6b 968 pc.putc(188);
Vigilance88 26:fe3a5469dd6b 969
Vigilance88 26:fe3a5469dd6b 970 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 971 //endbox
Vigilance88 28:743485bb51e4 972 wait(1);
Vigilance88 28:743485bb51e4 973 pc.printf("[C]alibration\r\n"); wait(0.2);
Vigilance88 35:7d9fca0b1545 974 pc.printf("[T]RIG Control with buttons\r\n"); wait(0.2);
Vigilance88 35:7d9fca0b1545 975 pc.printf("[D]LS Control with buttons\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 976 pc.printf("[Q]uit Robot Program\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 977 pc.printf("[R]ed LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 978 pc.printf("[G]reen LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 979 pc.printf("[B]lue LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 980 pc.printf("Please make a choice => \r\n");
Vigilance88 26:fe3a5469dd6b 981 }
Vigilance88 24:56db31267f10 982
Vigilance88 24:56db31267f10 983 //Start sampling
Vigilance88 24:56db31267f10 984 void start_sampling(void)
Vigilance88 24:56db31267f10 985 {
Vigilance88 24:56db31267f10 986 sample_timer.attach(&sample_filter,SAMPLE_RATE); //500 Hz EMG
Vigilance88 26:fe3a5469dd6b 987
Vigilance88 26:fe3a5469dd6b 988 //Debug LED will be green when sampling is active
Vigilance88 26:fe3a5469dd6b 989 green=0;
Vigilance88 25:49ccdc98639a 990 pc.printf("||- started sampling -|| \r\n");
Vigilance88 24:56db31267f10 991 }
Vigilance88 24:56db31267f10 992
Vigilance88 24:56db31267f10 993 //stop sampling
Vigilance88 24:56db31267f10 994 void stop_sampling(void)
Vigilance88 24:56db31267f10 995 {
Vigilance88 24:56db31267f10 996 sample_timer.detach();
Vigilance88 26:fe3a5469dd6b 997
Vigilance88 26:fe3a5469dd6b 998 //Debug LED will be turned off when sampling stops
Vigilance88 26:fe3a5469dd6b 999 green=1;
Vigilance88 25:49ccdc98639a 1000 pc.printf("||- stopped sampling -|| \r\n");
Vigilance88 24:56db31267f10 1001 }
Vigilance88 24:56db31267f10 1002
Vigilance88 18:44905b008f44 1003 //Start control
Vigilance88 18:44905b008f44 1004 void start_control(void)
Vigilance88 18:44905b008f44 1005 {
Vigilance88 35:7d9fca0b1545 1006 control_timer.attach(&control,CONTROL_RATE); //100 Hz control
Vigilance88 35:7d9fca0b1545 1007
Vigilance88 35:7d9fca0b1545 1008 //Debug LED will be blue when control is on. If sampling and control are on -> blue + green = cyan.
Vigilance88 35:7d9fca0b1545 1009 blue=0;
Vigilance88 35:7d9fca0b1545 1010 pc.printf("||- started control -|| \r\n");
Vigilance88 35:7d9fca0b1545 1011 }
Vigilance88 35:7d9fca0b1545 1012
Vigilance88 18:44905b008f44 1013 //stop control
Vigilance88 18:44905b008f44 1014 void stop_control(void)
Vigilance88 18:44905b008f44 1015 {
Vigilance88 18:44905b008f44 1016 control_timer.detach();
Vigilance88 26:fe3a5469dd6b 1017
Vigilance88 26:fe3a5469dd6b 1018 //Debug LED will be off when control is off
Vigilance88 26:fe3a5469dd6b 1019 blue=1;
Vigilance88 26:fe3a5469dd6b 1020 pc.printf("||- stopped control -|| \r\n");
vsluiter 2:e314bb3b2d99 1021 }
vsluiter 0:32bb76391d89 1022
Vigilance88 21:d6a46315d5f5 1023
Vigilance88 26:fe3a5469dd6b 1024 //Clears the putty (or other terminal) window
Vigilance88 26:fe3a5469dd6b 1025 void clearTerminal()
Vigilance88 26:fe3a5469dd6b 1026 {
Vigilance88 26:fe3a5469dd6b 1027 pc.putc(27);
Vigilance88 26:fe3a5469dd6b 1028 pc.printf("[2J"); // clear screen
Vigilance88 26:fe3a5469dd6b 1029 pc.putc(27); // ESC
Vigilance88 26:fe3a5469dd6b 1030 pc.printf("[H"); // cursor to home
Vigilance88 26:fe3a5469dd6b 1031 }
Vigilance88 21:d6a46315d5f5 1032
Vigilance88 30:a9fdd3202ca2 1033
Vigilance88 30:a9fdd3202ca2 1034 void controlMenu()
Vigilance88 30:a9fdd3202ca2 1035 {
Vigilance88 30:a9fdd3202ca2 1036 //Title Box
Vigilance88 30:a9fdd3202ca2 1037 pc.putc(201);
Vigilance88 30:a9fdd3202ca2 1038 for(int j=0;j<33;j++){
Vigilance88 30:a9fdd3202ca2 1039 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 1040 }
Vigilance88 30:a9fdd3202ca2 1041 pc.putc(187);
Vigilance88 30:a9fdd3202ca2 1042 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1043 pc.putc(186); pc.printf(" Control Menu "); pc.putc(186);
Vigilance88 30:a9fdd3202ca2 1044 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1045 pc.putc(200);
Vigilance88 30:a9fdd3202ca2 1046 for(int k=0;k<33;k++){
Vigilance88 30:a9fdd3202ca2 1047 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 1048 }
Vigilance88 30:a9fdd3202ca2 1049 pc.putc(188);
Vigilance88 30:a9fdd3202ca2 1050
Vigilance88 30:a9fdd3202ca2 1051 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1052 //endbox
Vigilance88 38:c8ac615d0c8f 1053 pc.printf("A) Move Arm Left\r\n");
Vigilance88 38:c8ac615d0c8f 1054 pc.printf("D) Move Arm Right\r\n");
Vigilance88 38:c8ac615d0c8f 1055 pc.printf("W) Move Arm Up\r\n");
Vigilance88 38:c8ac615d0c8f 1056 pc.printf("S) Move Arm Down\r\n");
Vigilance88 30:a9fdd3202ca2 1057 pc.printf("q) Exit \r\n");
Vigilance88 30:a9fdd3202ca2 1058 pc.printf("Please make a choice => \r\n");
Vigilance88 30:a9fdd3202ca2 1059 }
Vigilance88 30:a9fdd3202ca2 1060
Vigilance88 28:743485bb51e4 1061 void caliMenu(){
Vigilance88 28:743485bb51e4 1062
Vigilance88 28:743485bb51e4 1063 //Title Box
Vigilance88 28:743485bb51e4 1064 pc.putc(201);
Vigilance88 28:743485bb51e4 1065 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 1066 pc.putc(205);
Vigilance88 28:743485bb51e4 1067 }
Vigilance88 28:743485bb51e4 1068 pc.putc(187);
Vigilance88 28:743485bb51e4 1069 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1070 pc.putc(186); pc.printf(" Calibration Menu "); pc.putc(186);
Vigilance88 28:743485bb51e4 1071 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1072 pc.putc(200);
Vigilance88 28:743485bb51e4 1073 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 1074 pc.putc(205);
Vigilance88 28:743485bb51e4 1075 }
Vigilance88 28:743485bb51e4 1076 pc.putc(188);
Vigilance88 28:743485bb51e4 1077
Vigilance88 28:743485bb51e4 1078 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1079 //endbox
Vigilance88 28:743485bb51e4 1080
Vigilance88 28:743485bb51e4 1081 pc.printf("[A]rm Calibration\r\n");
Vigilance88 28:743485bb51e4 1082 pc.printf("[E]MG Calibration\r\n");
Vigilance88 28:743485bb51e4 1083 pc.printf("[B]ack to main menu\r\n");
Vigilance88 28:743485bb51e4 1084 pc.printf("Please make a choice => \r\n");
Vigilance88 28:743485bb51e4 1085
Vigilance88 28:743485bb51e4 1086 }
Vigilance88 28:743485bb51e4 1087
Vigilance88 28:743485bb51e4 1088 void titleBox(){
Vigilance88 28:743485bb51e4 1089
Vigilance88 28:743485bb51e4 1090 //Title Box
Vigilance88 28:743485bb51e4 1091 pc.putc(201);
Vigilance88 28:743485bb51e4 1092 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 1093 pc.putc(205);
Vigilance88 28:743485bb51e4 1094 }
Vigilance88 28:743485bb51e4 1095 pc.putc(187);
Vigilance88 28:743485bb51e4 1096 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1097 pc.putc(186); pc.printf(" BioRobotics M9 - Group 14 "); pc.putc(186);
Vigilance88 28:743485bb51e4 1098 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1099 pc.putc(186); pc.printf(" Robot powered ON "); pc.putc(186);
Vigilance88 28:743485bb51e4 1100 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1101 pc.putc(200);
Vigilance88 28:743485bb51e4 1102 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 1103 pc.putc(205);
Vigilance88 28:743485bb51e4 1104 }
Vigilance88 28:743485bb51e4 1105 pc.putc(188);
Vigilance88 28:743485bb51e4 1106
Vigilance88 28:743485bb51e4 1107 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1108 //endbox
Vigilance88 28:743485bb51e4 1109 }
Vigilance88 28:743485bb51e4 1110
Vigilance88 28:743485bb51e4 1111 void emgInstructions(){
Vigilance88 36:4d4fc200171b 1112 pc.printf("\r\nPrepare the skin before applying electrodes: \n\r");
Vigilance88 28:743485bb51e4 1113 pc.printf("-> Shave electrode locations if needed and clean with alcohol \n\r"); wait(1);
Vigilance88 38:c8ac615d0c8f 1114 pc.printf("\r\n Check whether EMG signal looks normal. \n\r "); wait(1);
Vigilance88 38:c8ac615d0c8f 1115 pc.printf("\r\n To calibrate the EMG signals we will measure: \n\r ");
Vigilance88 38:c8ac615d0c8f 1116 pc.printf("- Minimum amplitude, while relaxing all muscles. \n\r ");
Vigilance88 38:c8ac615d0c8f 1117 pc.printf("- Maximum Voluntary Contraction of each muscle. \n\r"); wait(2);
Vigilance88 38:c8ac615d0c8f 1118 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 1119 pc.printf("The measurements will begin once you confirm you're ready [Hit any key] \n\r \n\r"); wait(1);
Vigilance88 28:743485bb51e4 1120 }
Vigilance88 28:743485bb51e4 1121
Vigilance88 21:d6a46315d5f5 1122 //keeps input limited between min max
Vigilance88 24:56db31267f10 1123 void keep_in_range(double * in, double min, double max)
Vigilance88 18:44905b008f44 1124 {
Vigilance88 18:44905b008f44 1125 *in > min ? *in < max? : *in = max: *in = min;
vsluiter 0:32bb76391d89 1126 }