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@34:d6ec7c634763, 2015-10-22 (annotated)

Committer:
Vigilance88
Date:
Thu Oct 22 12:59:55 2015 +0000
Revision:
34:d6ec7c634763
Parent:
33:daa6ec305441
Child:
35:7d9fca0b1545
finished dls - changing gains!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
Vigilance88 18:44905b008f44 3 #include "MODSERIAL.h"
Vigilance88 18:44905b008f44 4 #include "biquadFilter.h"
Vigilance88 18:44905b008f44 5 #include "QEI.h"
Vigilance88 21:d6a46315d5f5 6 #include "math.h"
Vigilance88 26:fe3a5469dd6b 7 #include <string>
Vigilance88 21:d6a46315d5f5 8
Vigilance88 21:d6a46315d5f5 9 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 10 -------------------------------- BIOROBOTICS GROUP 14 ----------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 11 --------------------------------------------------------------------------------------------------------------------*/
vsluiter 0:32bb76391d89 12
Vigilance88 18:44905b008f44 13 //Define important constants in memory
Vigilance88 21:d6a46315d5f5 14 #define PI 3.14159265
Vigilance88 18:44905b008f44 15 #define SAMPLE_RATE 0.002 //500 Hz EMG sample rate
Vigilance88 18:44905b008f44 16 #define CONTROL_RATE 0.01 //100 Hz Control rate
Vigilance88 21:d6a46315d5f5 17 #define ENCODER1_CPR 4200 //encoders have 64 (X4), 32 (X2) counts per revolution of motor shaft
Vigilance88 21:d6a46315d5f5 18 #define ENCODER2_CPR 4200 //gearbox 1:131.25 -> 4200 counts per revolution of the output shaft (X2),
Vigilance88 26:fe3a5469dd6b 19 #define PWM_PERIOD 0.0001 //10k Hz pwm motor frequency. Higher -> too hot, lower -> motor doesnt respond correctly
Vigilance88 21:d6a46315d5f5 20 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 21 ---- OBJECTS ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 22 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 23
Vigilance88 18:44905b008f44 24 MODSERIAL pc(USBTX,USBRX); //serial communication
Vigilance88 18:44905b008f44 25
Vigilance88 25:49ccdc98639a 26 //Debug legs
Vigilance88 25:49ccdc98639a 27 DigitalOut red(LED_RED);
Vigilance88 25:49ccdc98639a 28 DigitalOut green(LED_GREEN);
Vigilance88 25:49ccdc98639a 29 DigitalOut blue(LED_BLUE);
Vigilance88 25:49ccdc98639a 30
Vigilance88 21:d6a46315d5f5 31 //EMG shields
Vigilance88 18:44905b008f44 32 AnalogIn emg1(A0); //Analog input - Biceps EMG
Vigilance88 18:44905b008f44 33 AnalogIn emg2(A1); //Analog input - Triceps EMG
Vigilance88 18:44905b008f44 34 AnalogIn emg3(A2); //Analog input - Flexor EMG
Vigilance88 18:44905b008f44 35 AnalogIn emg4(A3); //Analog input - Extensor EMG
Vigilance88 18:44905b008f44 36
Vigilance88 18:44905b008f44 37 Ticker sample_timer; //Ticker for EMG sampling
Vigilance88 18:44905b008f44 38 Ticker control_timer; //Ticker for control loop
Vigilance88 18:44905b008f44 39 HIDScope scope(4); //Scope 4 channels
Vigilance88 18:44905b008f44 40
Vigilance88 18:44905b008f44 41 // AnalogIn potmeter(A4); //potmeters
Vigilance88 18:44905b008f44 42 // AnalogIn potmeter2(A5); //
Vigilance88 18:44905b008f44 43
Vigilance88 21:d6a46315d5f5 44 //Encoders
Vigilance88 18:44905b008f44 45 QEI Encoder1(D13,D12,NC,32); //channel A and B from encoder, counts = Encoder.getPulses();
Vigilance88 18:44905b008f44 46 QEI Encoder2(D10,D9,NC,32); //channel A and B from encoder,
Vigilance88 21:d6a46315d5f5 47
Vigilance88 21:d6a46315d5f5 48 //Speed and Direction of motors - D4 (dir) and D5(speed) = motor 2, D7(dir) and D6(speed) = motor 1
Vigilance88 21:d6a46315d5f5 49 PwmOut pwm_motor1(D6); //PWM motor 1
Vigilance88 21:d6a46315d5f5 50 PwmOut pwm_motor2(D5); //PWM motor 2
Vigilance88 26:fe3a5469dd6b 51
Vigilance88 18:44905b008f44 52 DigitalOut dir_motor1(D7); //Direction motor 1
Vigilance88 18:44905b008f44 53 DigitalOut dir_motor2(D4); //Direction motor 2
Vigilance88 18:44905b008f44 54
Vigilance88 24:56db31267f10 55 //Limit Switches
Vigilance88 28:743485bb51e4 56 InterruptIn shoulder_limit(D2); //using FRDM buttons
Vigilance88 28:743485bb51e4 57 InterruptIn elbow_limit(D3); //using FRDM buttons
Vigilance88 26:fe3a5469dd6b 58
Vigilance88 26:fe3a5469dd6b 59 //Other buttons
Vigilance88 26:fe3a5469dd6b 60 DigitalIn button1(PTA4); //using FRDM buttons
Vigilance88 26:fe3a5469dd6b 61 DigitalIn button2(PTC6); //using FRDM buttons
Vigilance88 26:fe3a5469dd6b 62
Vigilance88 26:fe3a5469dd6b 63 /*Text colors ASCII code: Set Attribute Mode <ESC>[{attr1};...;{attrn}m
Vigilance88 26:fe3a5469dd6b 64
Vigilance88 26:fe3a5469dd6b 65 \ 0 3 3 - ESC
Vigilance88 26:fe3a5469dd6b 66 [ 3 0 m - black
Vigilance88 26:fe3a5469dd6b 67 [ 3 1 m - red
Vigilance88 26:fe3a5469dd6b 68 [ 3 2 m - green
Vigilance88 26:fe3a5469dd6b 69 [ 3 3 m - yellow
Vigilance88 26:fe3a5469dd6b 70 [ 3 4 m - blue
Vigilance88 26:fe3a5469dd6b 71 [ 3 5 m - magenta
Vigilance88 26:fe3a5469dd6b 72 [ 3 6 m - cyan
Vigilance88 26:fe3a5469dd6b 73 [ 3 7 m - white
Vigilance88 26:fe3a5469dd6b 74 [ 0 m - reset attributes
Vigilance88 26:fe3a5469dd6b 75
Vigilance88 26:fe3a5469dd6b 76 Put the text you want to color between GREEN_ and _GREEN
Vigilance88 26:fe3a5469dd6b 77 */
Vigilance88 26:fe3a5469dd6b 78 string GREEN_ = "\033[32m"; //esc - green
Vigilance88 26:fe3a5469dd6b 79 string _GREEN = "\033[0m"; //esc - reset
Vigilance88 24:56db31267f10 80
Vigilance88 21:d6a46315d5f5 81
Vigilance88 21:d6a46315d5f5 82 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 83 ---- DECLARE VARIABLES -----------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 84 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 85
Vigilance88 26:fe3a5469dd6b 86 //EMG variables: raw EMG - filtered EMG - maximum voluntary contraction
Vigilance88 24:56db31267f10 87 double emg_biceps; double biceps_power; double bicepsMVC = 0;
Vigilance88 24:56db31267f10 88 double emg_triceps; double triceps_power; double tricepsMVC = 0;
Vigilance88 24:56db31267f10 89 double emg_flexor; double flexor_power; double flexorMVC = 0;
Vigilance88 24:56db31267f10 90 double emg_extens; double extens_power; double extensMVC = 0;
Vigilance88 24:56db31267f10 91
Vigilance88 26:fe3a5469dd6b 92 int muscle; //Muscle selector for MVC measurement
Vigilance88 26:fe3a5469dd6b 93 double calibrate_time; //Elapsed time for each MVC measurement
Vigilance88 25:49ccdc98639a 94
Vigilance88 24:56db31267f10 95 //PID variables
Vigilance88 24:56db31267f10 96 double u1; double u2; //Output of PID controller (PWM value for motor 1 and 2)
Vigilance88 24:56db31267f10 97 double m1_error=0; double m1_e_int=0; double m1_e_prev=0; //Error, integrated error, previous error
Vigilance88 29:948b0b14f6be 98 const double m1_kp=0.001; const double m1_ki=0.0125; const double m1_kd=0.1; //Proportional, integral and derivative gains.
Vigilance88 24:56db31267f10 99
Vigilance88 26:fe3a5469dd6b 100 double m2_error=0; double m2_e_int=0; double m2_e_prev=0; //Error, integrated error, previous error
Vigilance88 29:948b0b14f6be 101 const double m2_kp=0.001; const double m2_ki=0.0125; const double m2_kd=0.1; //Proportional, integral and derivative gains.
Vigilance88 24:56db31267f10 102
Vigilance88 32:76c4d7bb2022 103 //Calibration, checks if elbow/shoulder are done
Vigilance88 32:76c4d7bb2022 104 bool done1 = false;
Vigilance88 32:76c4d7bb2022 105 bool done2 = false;
Vigilance88 32:76c4d7bb2022 106
Vigilance88 24:56db31267f10 107 //highpass filter 20 Hz
Vigilance88 24:56db31267f10 108 const double high_b0 = 0.956543225556877;
Vigilance88 24:56db31267f10 109 const double high_b1 = -1.91308645113754;
Vigilance88 24:56db31267f10 110 const double high_b2 = 0.956543225556877;
Vigilance88 24:56db31267f10 111 const double high_a1 = -1.91197067426073;
Vigilance88 24:56db31267f10 112 const double high_a2 = 0.9149758348014341;
Vigilance88 24:56db31267f10 113
Vigilance88 24:56db31267f10 114 //notchfilter 50Hz
Vigilance88 24:56db31267f10 115 /* ** Primary Filter (H1)**
Vigilance88 24:56db31267f10 116 Filter Arithmetic = Floating Point (Double Precision)
Vigilance88 24:56db31267f10 117 Architecture = IIR
Vigilance88 24:56db31267f10 118 Response = Bandstop
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 29:948b0b14f6be 155 //Forward and Inverse Kinematics
Vigilance88 28:743485bb51e4 156 const double l1 = 0.25; const double l2 = 0.25;
Vigilance88 28:743485bb51e4 157 double current_x; double current_y;
Vigilance88 28:743485bb51e4 158 double theta1; double theta2;
Vigilance88 28:743485bb51e4 159 double dtheta1; double dtheta2;
Vigilance88 28:743485bb51e4 160 double rpc;
Vigilance88 28:743485bb51e4 161 double x; double y;
Vigilance88 28:743485bb51e4 162 double x_error; double y_error;
Vigilance88 28:743485bb51e4 163 double costheta1; double sintheta1;
Vigilance88 28:743485bb51e4 164 double costheta2; double sintheta2;
Vigilance88 32:76c4d7bb2022 165 double dls1, dls2, dls3, dls4;
Vigilance88 32:76c4d7bb2022 166 double q1_error, q2_error;
Vigilance88 32:76c4d7bb2022 167 double lambda=0.1;
Vigilance88 21:d6a46315d5f5 168
Vigilance88 21:d6a46315d5f5 169 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 170 ---- Filters ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 171 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 24:56db31267f10 172
Vigilance88 24:56db31267f10 173 //Using biquadFilter library
Vigilance88 24:56db31267f10 174 //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered.
Vigilance88 26:fe3a5469dd6b 175 //Biceps
Vigilance88 24:56db31267f10 176 biquadFilter highpass( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 24:56db31267f10 177 biquadFilter notch1( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 24:56db31267f10 178 biquadFilter notch2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 24:56db31267f10 179 biquadFilter lowpass( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 180
Vigilance88 26:fe3a5469dd6b 181 //Triceps
Vigilance88 25:49ccdc98639a 182 biquadFilter highpass2( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 183 biquadFilter notch1_2( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 184 biquadFilter notch2_2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 185 biquadFilter lowpass2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 186
Vigilance88 26:fe3a5469dd6b 187 //Flexor
Vigilance88 25:49ccdc98639a 188 biquadFilter highpass3( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 189 biquadFilter notch1_3( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 190 biquadFilter notch2_3( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 191 biquadFilter lowpass3( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 192
Vigilance88 26:fe3a5469dd6b 193 //Extensor
Vigilance88 25:49ccdc98639a 194 biquadFilter highpass4( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 195 biquadFilter notch1_4( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 196 biquadFilter notch2_4( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 197 biquadFilter lowpass4( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 198
Vigilance88 26:fe3a5469dd6b 199 //PID filter (lowpass ??? Hz)
Vigilance88 29:948b0b14f6be 200 biquadFilter derfilter( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // derivative filter
Vigilance88 24:56db31267f10 201
Vigilance88 24:56db31267f10 202 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 203 ---- DECLARE FUNCTION NAMES ------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 204 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 26:fe3a5469dd6b 205
Vigilance88 26:fe3a5469dd6b 206 void sample_filter(void); //Sampling and filtering
Vigilance88 26:fe3a5469dd6b 207 void control(); //Control - reference -> error -> pid -> motor output
Vigilance88 32:76c4d7bb2022 208 void dlscontrol();
Vigilance88 26:fe3a5469dd6b 209 void calibrate_emg(); //Instructions + measurement of MVC of each muscle
Vigilance88 26:fe3a5469dd6b 210 void emg_mvc(); //Helper funcion for storing MVC value
Vigilance88 26:fe3a5469dd6b 211 void calibrate_arm(void); //Calibration of the arm with limit switches
Vigilance88 26:fe3a5469dd6b 212 void start_sampling(void); //Attaches the sample_filter function to a 500Hz ticker
Vigilance88 26:fe3a5469dd6b 213 void stop_sampling(void); //Stops sample_filter
Vigilance88 26:fe3a5469dd6b 214 void start_control(void); //Attaches the control function to a 100Hz ticker
Vigilance88 26:fe3a5469dd6b 215 void stop_control(void); //Stops control function
Vigilance88 26:fe3a5469dd6b 216
Vigilance88 26:fe3a5469dd6b 217 //Keeps the input between min and max value
Vigilance88 24:56db31267f10 218 void keep_in_range(double * in, double min, double max);
Vigilance88 26:fe3a5469dd6b 219
Vigilance88 26:fe3a5469dd6b 220 //Reusable PID controller, previous and integral error need to be passed by reference
Vigilance88 21:d6a46315d5f5 221 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev);
Vigilance88 18:44905b008f44 222
Vigilance88 26:fe3a5469dd6b 223 //Menu functions
Vigilance88 21:d6a46315d5f5 224 void mainMenu();
Vigilance88 21:d6a46315d5f5 225 void caliMenu();
Vigilance88 28:743485bb51e4 226 void controlMenu();
Vigilance88 29:948b0b14f6be 227 void controlButtons();
Vigilance88 26:fe3a5469dd6b 228 void clearTerminal();
Vigilance88 28:743485bb51e4 229 void emgInstructions();
Vigilance88 28:743485bb51e4 230 void titleBox();
Vigilance88 26:fe3a5469dd6b 231
Vigilance88 32:76c4d7bb2022 232 //Limit switches - power off motors if switches hit (rising edge interrupt)
Vigilance88 32:76c4d7bb2022 233 void shoulder();
Vigilance88 32:76c4d7bb2022 234 void elbow();
Vigilance88 21:d6a46315d5f5 235
Vigilance88 21:d6a46315d5f5 236 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 237 ---- MAIN LOOP -------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 238 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 239
Vigilance88 21:d6a46315d5f5 240 int main()
Vigilance88 21:d6a46315d5f5 241 {
Vigilance88 29:948b0b14f6be 242 pc.baud(115200); //serial baudrate
Vigilance88 30:a9fdd3202ca2 243 red=1; green=1; blue=1; //Make sure debug LEDs are off
Vigilance88 26:fe3a5469dd6b 244
Vigilance88 26:fe3a5469dd6b 245 //Set PwmOut frequency to 10k Hz
Vigilance88 28:743485bb51e4 246 //pwm_motor1.period(PWM_PERIOD);
Vigilance88 28:743485bb51e4 247 //pwm_motor2.period(PWM_PERIOD);
Vigilance88 26:fe3a5469dd6b 248
Vigilance88 26:fe3a5469dd6b 249 clearTerminal(); //Clear the putty window
Vigilance88 26:fe3a5469dd6b 250
Vigilance88 24:56db31267f10 251 // make a menu, user has to initiate next step
Vigilance88 28:743485bb51e4 252 titleBox();
Vigilance88 26:fe3a5469dd6b 253 mainMenu();
Vigilance88 25:49ccdc98639a 254 //caliMenu(); // Menu function
Vigilance88 25:49ccdc98639a 255 //calibrate_arm(); //Start Calibration
Vigilance88 25:49ccdc98639a 256
Vigilance88 27:d1814e271a95 257 //calibrate_emg();
Vigilance88 28:743485bb51e4 258
Vigilance88 30:a9fdd3202ca2 259 //set initial reference position
Vigilance88 30:a9fdd3202ca2 260 x=0.5; y=0;
Vigilance88 28:743485bb51e4 261
Vigilance88 28:743485bb51e4 262 //start_control(); //100 Hz control
Vigilance88 21:d6a46315d5f5 263
Vigilance88 21:d6a46315d5f5 264 //maybe some stop commands when a button is pressed: detach from timers.
Vigilance88 21:d6a46315d5f5 265 //stop_control();
Vigilance88 34:d6ec7c634763 266 //start_sampling();
Vigilance88 32:76c4d7bb2022 267
Vigilance88 28:743485bb51e4 268 //char c;
Vigilance88 28:743485bb51e4 269
Vigilance88 28:743485bb51e4 270
Vigilance88 28:743485bb51e4 271
Vigilance88 32:76c4d7bb2022 272 char command=0;
Vigilance88 27:d1814e271a95 273
Vigilance88 28:743485bb51e4 274 while(command != 'Q' && command != 'q')
Vigilance88 28:743485bb51e4 275 {
Vigilance88 28:743485bb51e4 276 if(pc.readable()){
Vigilance88 28:743485bb51e4 277 command = pc.getc();
Vigilance88 28:743485bb51e4 278
Vigilance88 28:743485bb51e4 279 switch(command){
Vigilance88 28:743485bb51e4 280
Vigilance88 28:743485bb51e4 281 case 'c':
Vigilance88 28:743485bb51e4 282 case 'C':
Vigilance88 28:743485bb51e4 283 pc.printf("\n\r => You chose calibration.\r\n\n");
Vigilance88 28:743485bb51e4 284 caliMenu();
Vigilance88 28:743485bb51e4 285
Vigilance88 28:743485bb51e4 286 char command2=0;
Vigilance88 28:743485bb51e4 287
Vigilance88 28:743485bb51e4 288 while(command2 != 'B' && command2 != 'b'){
Vigilance88 28:743485bb51e4 289 command2 = pc.getc();
Vigilance88 28:743485bb51e4 290 switch(command2){
Vigilance88 28:743485bb51e4 291 case 'a':
Vigilance88 28:743485bb51e4 292 case 'A':
Vigilance88 28:743485bb51e4 293 pc.printf("\n\r => Arm Calibration Starting... please wait \n\r");
Vigilance88 28:743485bb51e4 294 calibrate_arm();
Vigilance88 28:743485bb51e4 295 wait(1);
Vigilance88 28:743485bb51e4 296 caliMenu();
Vigilance88 28:743485bb51e4 297 break;
Vigilance88 28:743485bb51e4 298
Vigilance88 28:743485bb51e4 299 case 'e':
Vigilance88 28:743485bb51e4 300 case 'E':
Vigilance88 28:743485bb51e4 301 pc.printf("\n\r => EMG Calibration Starting... please wait \n\r");
Vigilance88 28:743485bb51e4 302 wait(1);
Vigilance88 28:743485bb51e4 303 emgInstructions();
Vigilance88 28:743485bb51e4 304 calibrate_emg();
Vigilance88 32:76c4d7bb2022 305 pc.printf("\n\r------------------------- \n\r");
Vigilance88 28:743485bb51e4 306 pc.printf("\n\r EMG Calibration complete \n\r");
Vigilance88 32:76c4d7bb2022 307 pc.printf("\n\r------------------------- \n\r");
Vigilance88 28:743485bb51e4 308 caliMenu();
Vigilance88 28:743485bb51e4 309 break;
Vigilance88 28:743485bb51e4 310
Vigilance88 28:743485bb51e4 311 case 'b':
Vigilance88 28:743485bb51e4 312 case 'B':
Vigilance88 28:743485bb51e4 313 pc.printf("\n\r => Going back to main menu.. \n\r");
Vigilance88 28:743485bb51e4 314 mainMenu();
Vigilance88 28:743485bb51e4 315 break;
Vigilance88 28:743485bb51e4 316 }//end switch
Vigilance88 28:743485bb51e4 317
Vigilance88 28:743485bb51e4 318 }//end while
Vigilance88 28:743485bb51e4 319 break;
Vigilance88 28:743485bb51e4 320 case 's':
Vigilance88 28:743485bb51e4 321 case 'S':
Vigilance88 28:743485bb51e4 322 pc.printf("=> You chose control \r\n\n");
Vigilance88 28:743485bb51e4 323 wait(1);
Vigilance88 28:743485bb51e4 324 start_sampling();
Vigilance88 28:743485bb51e4 325 wait(1);
Vigilance88 28:743485bb51e4 326 start_control();
Vigilance88 28:743485bb51e4 327 wait(1);
Vigilance88 29:948b0b14f6be 328 controlButtons();
Vigilance88 28:743485bb51e4 329 break;
Vigilance88 28:743485bb51e4 330 case 'R':
Vigilance88 28:743485bb51e4 331 red=!red;
Vigilance88 28:743485bb51e4 332 pc.printf("=> Red LED triggered \n\r");
Vigilance88 28:743485bb51e4 333 break;
Vigilance88 28:743485bb51e4 334 case 'G':
Vigilance88 28:743485bb51e4 335 green=!green;
Vigilance88 28:743485bb51e4 336 pc.printf("=> Green LED triggered \n\r");
Vigilance88 28:743485bb51e4 337 break;
Vigilance88 28:743485bb51e4 338 case 'B':
Vigilance88 28:743485bb51e4 339 blue=!blue;
Vigilance88 28:743485bb51e4 340 pc.printf("=> Blue LED triggered \n\r");
Vigilance88 28:743485bb51e4 341 break;
Vigilance88 28:743485bb51e4 342 case 'q':
Vigilance88 28:743485bb51e4 343 case 'Q':
Vigilance88 28:743485bb51e4 344
Vigilance88 28:743485bb51e4 345 break;
Vigilance88 28:743485bb51e4 346 default:
Vigilance88 28:743485bb51e4 347 pc.printf("=> Invalid Input \n\r");
Vigilance88 28:743485bb51e4 348 break;
Vigilance88 28:743485bb51e4 349 } //end switch
Vigilance88 28:743485bb51e4 350 } // end if pc readable
Vigilance88 28:743485bb51e4 351
Vigilance88 28:743485bb51e4 352 } // end while loop
Vigilance88 28:743485bb51e4 353
Vigilance88 28:743485bb51e4 354
Vigilance88 28:743485bb51e4 355
Vigilance88 28:743485bb51e4 356 //When end of while loop reached (user chose quit program) - detach all timers and stop motors.
Vigilance88 28:743485bb51e4 357
Vigilance88 28:743485bb51e4 358 pc.printf("\r\n------------------------------ \n\r");
Vigilance88 28:743485bb51e4 359 pc.printf("Program Offline \n\r");
Vigilance88 28:743485bb51e4 360 pc.printf("Reset to start\r\n");
Vigilance88 28:743485bb51e4 361 pc.printf("------------------------------ \n\r");
Vigilance88 28:743485bb51e4 362 }
Vigilance88 28:743485bb51e4 363 //end of main
Vigilance88 28:743485bb51e4 364
Vigilance88 28:743485bb51e4 365 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 366 ---- FUNCTIONS -------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 367 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 28:743485bb51e4 368
Vigilance88 29:948b0b14f6be 369 void controlButtons()
Vigilance88 28:743485bb51e4 370 {
Vigilance88 28:743485bb51e4 371 controlMenu();
Vigilance88 28:743485bb51e4 372 char c=0;
Vigilance88 28:743485bb51e4 373 while(c != 'Q' && c != 'q') {
Vigilance88 27:d1814e271a95 374
Vigilance88 27:d1814e271a95 375 if( pc.readable() ){
Vigilance88 27:d1814e271a95 376 c = pc.getc();
Vigilance88 27:d1814e271a95 377 switch (c)
Vigilance88 27:d1814e271a95 378 {
Vigilance88 27:d1814e271a95 379 case '1' :
Vigilance88 27:d1814e271a95 380 x = x + 0.01;
Vigilance88 32:76c4d7bb2022 381
Vigilance88 27:d1814e271a95 382 break;
Vigilance88 27:d1814e271a95 383
Vigilance88 27:d1814e271a95 384 case '2' :
Vigilance88 27:d1814e271a95 385 x-=0.01;
Vigilance88 32:76c4d7bb2022 386
Vigilance88 27:d1814e271a95 387 break;
Vigilance88 27:d1814e271a95 388
Vigilance88 27:d1814e271a95 389 case '3' :
Vigilance88 27:d1814e271a95 390 y+=0.01;
Vigilance88 32:76c4d7bb2022 391
Vigilance88 27:d1814e271a95 392 break;
Vigilance88 27:d1814e271a95 393
Vigilance88 27:d1814e271a95 394
Vigilance88 27:d1814e271a95 395 case '4' :
Vigilance88 27:d1814e271a95 396 y-=0.01;
Vigilance88 32:76c4d7bb2022 397
Vigilance88 27:d1814e271a95 398 break;
Vigilance88 27:d1814e271a95 399
Vigilance88 27:d1814e271a95 400 case 'q' :
Vigilance88 28:743485bb51e4 401 case 'Q' :
Vigilance88 28:743485bb51e4 402 pc.printf("=> Quitting control... \r\n"); wait(1);
Vigilance88 28:743485bb51e4 403 stop_sampling();
Vigilance88 28:743485bb51e4 404 stop_control();
Vigilance88 28:743485bb51e4 405 pwm_motor1=0; pwm_motor2=0;
Vigilance88 28:743485bb51e4 406 pc.printf("Sampling and Control detached \n\r"); wait(1);
Vigilance88 28:743485bb51e4 407 pc.printf("Returning to Main Menu \r\n\n"); wait(1);
Vigilance88 28:743485bb51e4 408 mainMenu();
Vigilance88 28:743485bb51e4 409
Vigilance88 27:d1814e271a95 410 //running = false;
Vigilance88 27:d1814e271a95 411 break;
Vigilance88 27:d1814e271a95 412 }//end switch
Vigilance88 28:743485bb51e4 413 if(c!='q' && c!='Q'){
Vigilance88 27:d1814e271a95 414 pc.printf("Reference position: %f and %f \r\n",x,y);
Vigilance88 27:d1814e271a95 415 pc.printf("Current position: %f and %f \r\n",current_x,current_y);
Vigilance88 27:d1814e271a95 416 pc.printf("Current angles: %f and %f \r\n",theta1,theta2);
Vigilance88 27:d1814e271a95 417 pc.printf("Error in angles: %f and %f \r\n",dtheta1,dtheta2);
Vigilance88 27:d1814e271a95 418 pc.printf("PID output: %f and %f \r\n",u1,u2);
Vigilance88 27:d1814e271a95 419 pc.printf("----------------------------------------\r\n\n");
Vigilance88 27:d1814e271a95 420 }
Vigilance88 28:743485bb51e4 421 }
Vigilance88 27:d1814e271a95 422 //end if
Vigilance88 21:d6a46315d5f5 423 }
Vigilance88 21:d6a46315d5f5 424 //end of while loop
Vigilance88 30:a9fdd3202ca2 425 }
Vigilance88 18:44905b008f44 426
Vigilance88 21:d6a46315d5f5 427 //Sample and Filter
Vigilance88 21:d6a46315d5f5 428 void sample_filter(void)
Vigilance88 18:44905b008f44 429 {
Vigilance88 32:76c4d7bb2022 430 emg_biceps = emg1.read(); //Biceps
Vigilance88 32:76c4d7bb2022 431 emg_triceps = emg2.read(); //Triceps
Vigilance88 32:76c4d7bb2022 432 emg_flexor = emg3.read(); //Flexor
Vigilance88 32:76c4d7bb2022 433 emg_extens = emg4.read(); //Extensor
Vigilance88 21:d6a46315d5f5 434
Vigilance88 21:d6a46315d5f5 435 //Filter: high-pass -> notch -> rectify -> lowpass or moving average
Vigilance88 22:1ba637601dc3 436 // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad?
Vigilance88 25:49ccdc98639a 437 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 438 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 439 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 440 biceps_power = abs(biceps_power); triceps_power = abs(triceps_power); flexor_power = abs(flexor_power); extens_power = abs(extens_power);
Vigilance88 25:49ccdc98639a 441 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 442
Vigilance88 25:49ccdc98639a 443
Vigilance88 32:76c4d7bb2022 444 scope.set(0,biceps_power);
Vigilance88 32:76c4d7bb2022 445 scope.set(1,triceps_power);
Vigilance88 32:76c4d7bb2022 446 scope.set(2,flexor_power);
Vigilance88 32:76c4d7bb2022 447 scope.set(3,extens_power);
Vigilance88 29:948b0b14f6be 448 scope.send();
Vigilance88 32:76c4d7bb2022 449
Vigilance88 32:76c4d7bb2022 450 // on - offset. If above a value it is on.
Vigilance88 32:76c4d7bb2022 451
Vigilance88 32:76c4d7bb2022 452
Vigilance88 21:d6a46315d5f5 453 /* alternative for lowpass filter: moving average
Vigilance88 21:d6a46315d5f5 454 window=30; //30 samples
Vigilance88 21:d6a46315d5f5 455 int i=0; //buffer index
Vigilance88 21:d6a46315d5f5 456 bicepsbuffer[i]=biceps_power //fill array
Vigilance88 21:d6a46315d5f5 457
Vigilance88 21:d6a46315d5f5 458 i++;
Vigilance88 21:d6a46315d5f5 459 if(i==window){
Vigilance88 21:d6a46315d5f5 460 i=0;
Vigilance88 21:d6a46315d5f5 461 }
Vigilance88 21:d6a46315d5f5 462
Vigilance88 24:56db31267f10 463 for(int x = 0; x < window; x++){
Vigilance88 24:56db31267f10 464 avg1 += bicepsbuffer[x];
Vigilance88 24:56db31267f10 465 }
Vigilance88 24:56db31267f10 466 avg1 = avg1/window;
Vigilance88 21:d6a46315d5f5 467 */
Vigilance88 21:d6a46315d5f5 468
Vigilance88 18:44905b008f44 469 }
Vigilance88 18:44905b008f44 470
Vigilance88 27:d1814e271a95 471
Vigilance88 32:76c4d7bb2022 472 void shoulder(){
Vigilance88 32:76c4d7bb2022 473 pwm_motor1.write(0);
Vigilance88 32:76c4d7bb2022 474 Encoder1.reset();
Vigilance88 32:76c4d7bb2022 475 done1 = true;
Vigilance88 32:76c4d7bb2022 476 pc.printf("Shoulder Limit hit - shutting down motor 1\r\n");
Vigilance88 32:76c4d7bb2022 477 }
Vigilance88 32:76c4d7bb2022 478
Vigilance88 32:76c4d7bb2022 479 void elbow(){
Vigilance88 32:76c4d7bb2022 480 pwm_motor2.write(0);
Vigilance88 32:76c4d7bb2022 481 Encoder2.reset();
Vigilance88 32:76c4d7bb2022 482 done2 = true;
Vigilance88 32:76c4d7bb2022 483 pc.printf("Elbow Limit hit - shutting down motor 2\r\n");
Vigilance88 32:76c4d7bb2022 484 }
Vigilance88 32:76c4d7bb2022 485
Vigilance88 18:44905b008f44 486 //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position.
Vigilance88 19:0a3ee31dcdb4 487 void calibrate_arm(void)
Vigilance88 19:0a3ee31dcdb4 488 {
Vigilance88 28:743485bb51e4 489 pc.printf("Calibrate_arm() entered\r\n");
Vigilance88 32:76c4d7bb2022 490 red=0; blue=0; //Debug light is purple during arm calibration
Vigilance88 32:76c4d7bb2022 491
Vigilance88 32:76c4d7bb2022 492 done1 = false;
Vigilance88 32:76c4d7bb2022 493 done2 = false;
Vigilance88 26:fe3a5469dd6b 494 bool calibrating = true;
Vigilance88 32:76c4d7bb2022 495
Vigilance88 27:d1814e271a95 496 pc.printf("To start arm calibration, press any key =>");
Vigilance88 27:d1814e271a95 497 pc.getc();
Vigilance88 27:d1814e271a95 498 pc.printf("\r\n Calibrating... \r\n");
Vigilance88 26:fe3a5469dd6b 499 dir_motor1=1; //cw
Vigilance88 27:d1814e271a95 500 dir_motor2=0; //cw
Vigilance88 27:d1814e271a95 501 pwm_motor1.write(0.2); //move upper arm slowly cw
Vigilance88 27:d1814e271a95 502
Vigilance88 26:fe3a5469dd6b 503
Vigilance88 26:fe3a5469dd6b 504 while(calibrating){
Vigilance88 32:76c4d7bb2022 505 shoulder_limit.rise(&shoulder);
Vigilance88 32:76c4d7bb2022 506 elbow_limit.rise(&elbow);
Vigilance88 27:d1814e271a95 507 if(done1==true){
Vigilance88 27:d1814e271a95 508 pwm_motor2.write(0.2); //move forearm slowly cw
Vigilance88 27:d1814e271a95 509 }
Vigilance88 27:d1814e271a95 510
Vigilance88 26:fe3a5469dd6b 511 if(done1 && done2){
Vigilance88 26:fe3a5469dd6b 512 calibrating=false; //Leave while loop when both limits are reached
Vigilance88 26:fe3a5469dd6b 513 red=1; blue=1; //Turn debug light off when calibration complete
Vigilance88 26:fe3a5469dd6b 514 }
Vigilance88 27:d1814e271a95 515
Vigilance88 27:d1814e271a95 516 }//end while
Vigilance88 32:76c4d7bb2022 517
Vigilance88 27:d1814e271a95 518 //TO DO:
Vigilance88 32:76c4d7bb2022 519 //mechanical angle limits -> pulses. If 40 degrees -> counts = floor( 40 * (2*pi/4200) )
Vigilance88 27:d1814e271a95 520 //Encoder1.setPulses(100); //edited QEI library: added setPulses()
Vigilance88 27:d1814e271a95 521 //Encoder2.setPulses(100); //edited QEI library: added setPulses()
Vigilance88 27:d1814e271a95 522 //pc.printf("Elbow Limit hit - shutting down motor 2. Current pulsecount: %i \r\n",Encoder1.getPulses());
Vigilance88 31:7b8b8459bddc 523
Vigilance88 27:d1814e271a95 524 wait(1);
Vigilance88 28:743485bb51e4 525 pc.printf("\n\r ------------------------ \n\r");
Vigilance88 27:d1814e271a95 526 pc.printf("Arm Calibration Complete\r\n");
Vigilance88 28:743485bb51e4 527 pc.printf(" ------------------------ \n\r");
Vigilance88 26:fe3a5469dd6b 528
Vigilance88 19:0a3ee31dcdb4 529 }
Vigilance88 19:0a3ee31dcdb4 530
Vigilance88 21:d6a46315d5f5 531 //EMG Maximum Voluntary Contraction measurement
Vigilance88 25:49ccdc98639a 532 void emg_mvc()
Vigilance88 25:49ccdc98639a 533 {
Vigilance88 24:56db31267f10 534 //double sampletime=0;
Vigilance88 24:56db31267f10 535 //sampletime=+SAMPLE_RATE;
Vigilance88 24:56db31267f10 536 //
Vigilance88 24:56db31267f10 537 // if(sampletime<5)
Vigilance88 25:49ccdc98639a 538 //int muscle=1;
Vigilance88 25:49ccdc98639a 539 //for(int index=0; index<2500;index++){ //measure 5 seconds@500hz = 2500 samples
Vigilance88 25:49ccdc98639a 540
Vigilance88 24:56db31267f10 541 if(muscle==1){
Vigilance88 24:56db31267f10 542
Vigilance88 24:56db31267f10 543 if(biceps_power>bicepsMVC){
Vigilance88 26:fe3a5469dd6b 544 //printf("+ ");
Vigilance88 26:fe3a5469dd6b 545 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 21:d6a46315d5f5 546 bicepsMVC=biceps_power;
Vigilance88 24:56db31267f10 547 }
Vigilance88 25:49ccdc98639a 548 else
Vigilance88 25:49ccdc98639a 549 printf("- ");
Vigilance88 24:56db31267f10 550 }
Vigilance88 24:56db31267f10 551
Vigilance88 24:56db31267f10 552 if(muscle==2){
Vigilance88 24:56db31267f10 553
Vigilance88 24:56db31267f10 554 if(triceps_power>tricepsMVC){
Vigilance88 26:fe3a5469dd6b 555 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 556 tricepsMVC=triceps_power;
Vigilance88 24:56db31267f10 557 }
Vigilance88 26:fe3a5469dd6b 558 else
Vigilance88 26:fe3a5469dd6b 559 printf("- ");
Vigilance88 24:56db31267f10 560 }
Vigilance88 24:56db31267f10 561
Vigilance88 24:56db31267f10 562 if(muscle==3){
Vigilance88 24:56db31267f10 563
Vigilance88 24:56db31267f10 564 if(flexor_power>flexorMVC){
Vigilance88 26:fe3a5469dd6b 565 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 566 flexorMVC=flexor_power;
Vigilance88 24:56db31267f10 567 }
Vigilance88 26:fe3a5469dd6b 568 else
Vigilance88 26:fe3a5469dd6b 569 printf("- ");
Vigilance88 24:56db31267f10 570 }
Vigilance88 24:56db31267f10 571
Vigilance88 24:56db31267f10 572 if(muscle==4){
Vigilance88 24:56db31267f10 573
Vigilance88 24:56db31267f10 574 if(extens_power>extensMVC){
Vigilance88 26:fe3a5469dd6b 575 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 576 extensMVC=extens_power;
Vigilance88 24:56db31267f10 577 }
Vigilance88 26:fe3a5469dd6b 578 else
Vigilance88 26:fe3a5469dd6b 579 printf("- ");
Vigilance88 24:56db31267f10 580 }
Vigilance88 25:49ccdc98639a 581
Vigilance88 25:49ccdc98639a 582 //}
Vigilance88 25:49ccdc98639a 583 calibrate_time = calibrate_time + 0.002;
Vigilance88 25:49ccdc98639a 584
Vigilance88 25:49ccdc98639a 585
Vigilance88 25:49ccdc98639a 586
Vigilance88 25:49ccdc98639a 587 }
Vigilance88 25:49ccdc98639a 588
Vigilance88 25:49ccdc98639a 589 //EMG calibration
Vigilance88 25:49ccdc98639a 590 void calibrate_emg()
Vigilance88 25:49ccdc98639a 591 {
Vigilance88 25:49ccdc98639a 592 Ticker timer;
Vigilance88 25:49ccdc98639a 593
Vigilance88 25:49ccdc98639a 594 pc.printf("Testcode calibration \r\n");
Vigilance88 25:49ccdc98639a 595 wait(1);
Vigilance88 25:49ccdc98639a 596 pc.printf("+ means current sample is higher than stored MVC\r\n");
Vigilance88 25:49ccdc98639a 597 pc.printf("- means current sample is lower than stored MVC\r\n");
Vigilance88 26:fe3a5469dd6b 598 wait(2);
Vigilance88 28:743485bb51e4 599 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 600 pc.printf(" Biceps is first.\r\n ");
Vigilance88 28:743485bb51e4 601 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 602 wait(1);
Vigilance88 25:49ccdc98639a 603 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 604 char input;
Vigilance88 25:49ccdc98639a 605 input=pc.getc();
Vigilance88 25:49ccdc98639a 606 pc.putc(input);
Vigilance88 25:49ccdc98639a 607 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 608 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 609 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 610
Vigilance88 25:49ccdc98639a 611 start_sampling();
Vigilance88 25:49ccdc98639a 612 muscle=1;
Vigilance88 27:d1814e271a95 613 timer.attach(&emg_mvc,SAMPLE_RATE);
Vigilance88 25:49ccdc98639a 614 wait(5);
Vigilance88 25:49ccdc98639a 615 timer.detach();
Vigilance88 26:fe3a5469dd6b 616
Vigilance88 26:fe3a5469dd6b 617 pc.printf("\r\n Measurement complete."); wait(1);
Vigilance88 26:fe3a5469dd6b 618 pc.printf("\r\n Biceps MVC = %f \r\n",bicepsMVC); wait(1);
Vigilance88 26:fe3a5469dd6b 619 pc.printf("Calibrate_emg() exited \r\n"); wait(1);
Vigilance88 26:fe3a5469dd6b 620 pc.printf("Measured time: %f seconds \r\n\n",calibrate_time);
Vigilance88 25:49ccdc98639a 621 calibrate_time=0;
Vigilance88 25:49ccdc98639a 622
Vigilance88 25:49ccdc98639a 623 // Triceps:
Vigilance88 26:fe3a5469dd6b 624 muscle=2;
Vigilance88 28:743485bb51e4 625 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 626 pc.printf(" Triceps is next.\r\n ");
Vigilance88 28:743485bb51e4 627 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 628 wait(1);
Vigilance88 28:743485bb51e4 629
Vigilance88 25:49ccdc98639a 630 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 631 input=pc.getc();
Vigilance88 25:49ccdc98639a 632 pc.putc(input);
Vigilance88 25:49ccdc98639a 633 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 634 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 635 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 636 start_sampling();
Vigilance88 25:49ccdc98639a 637 muscle=1;
Vigilance88 25:49ccdc98639a 638 timer.attach(&emg_mvc,0.002);
Vigilance88 25:49ccdc98639a 639 wait(5);
Vigilance88 25:49ccdc98639a 640 timer.detach();
Vigilance88 25:49ccdc98639a 641 pc.printf("\r\n Triceps MVC = %f \r\n",tricepsMVC);
Vigilance88 25:49ccdc98639a 642
Vigilance88 25:49ccdc98639a 643 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 25:49ccdc98639a 644 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 25:49ccdc98639a 645 calibrate_time=0;
Vigilance88 25:49ccdc98639a 646
Vigilance88 25:49ccdc98639a 647 //Flexor:
Vigilance88 26:fe3a5469dd6b 648 muscle=3;
Vigilance88 25:49ccdc98639a 649 //Extensor:
Vigilance88 26:fe3a5469dd6b 650 muscle=4;
Vigilance88 25:49ccdc98639a 651
Vigilance88 26:fe3a5469dd6b 652 //Stop sampling, detach ticker
Vigilance88 25:49ccdc98639a 653 stop_sampling();
Vigilance88 24:56db31267f10 654
Vigilance88 18:44905b008f44 655 }
Vigilance88 18:44905b008f44 656
Vigilance88 18:44905b008f44 657
Vigilance88 18:44905b008f44 658 //Input error and Kp, Kd, Ki, output control signal
Vigilance88 20:0ede3818e08e 659 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev)
vsluiter 2:e314bb3b2d99 660 {
Vigilance88 20:0ede3818e08e 661 // Derivative
Vigilance88 24:56db31267f10 662 double e_der = (error-e_prev)/ CONTROL_RATE;
Vigilance88 21:d6a46315d5f5 663 e_der = derfilter.step(e_der);
Vigilance88 21:d6a46315d5f5 664 e_prev = error;
Vigilance88 20:0ede3818e08e 665 // Integral
Vigilance88 24:56db31267f10 666 e_int = e_int + CONTROL_RATE * error;
Vigilance88 20:0ede3818e08e 667 // PID
Vigilance88 21:d6a46315d5f5 668 return kp*error + ki*e_int + kd * e_der;
Vigilance88 20:0ede3818e08e 669
Vigilance88 18:44905b008f44 670 }
Vigilance88 18:44905b008f44 671
Vigilance88 20:0ede3818e08e 672 //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 673 void control()
Vigilance88 18:44905b008f44 674 {
Vigilance88 30:a9fdd3202ca2 675 /*
Vigilance88 30:a9fdd3202ca2 676
Vigilance88 30:a9fdd3202ca2 677 //normalize emg to value between 0-1
Vigilance88 30:a9fdd3202ca2 678 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 679 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 680 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 681 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 682
Vigilance88 32:76c4d7bb2022 683 //threshold detection! buffer?
Vigilance88 32:76c4d7bb2022 684
Vigilance88 30:a9fdd3202ca2 685 //analyze emg (= velocity)
Vigilance88 30:a9fdd3202ca2 686 if (biceps>triceps && biceps > 0.1)
Vigilance88 30:a9fdd3202ca2 687 xdir = 0;
Vigilance88 30:a9fdd3202ca2 688 xpower = biceps;
Vigilance88 30:a9fdd3202ca2 689 else if (triceps>biceps && triceps>0.1)
Vigilance88 30:a9fdd3202ca2 690 xdir = 1;
Vigilance88 30:a9fdd3202ca2 691 xpower = triceps;
Vigilance88 30:a9fdd3202ca2 692 else
Vigilance88 30:a9fdd3202ca2 693 xpower=0;
Vigilance88 30:a9fdd3202ca2 694
Vigilance88 30:a9fdd3202ca2 695 if (flexor>extensor && flexor > 0.1){
Vigilance88 30:a9fdd3202ca2 696 ydir = 0;
Vigilance88 30:a9fdd3202ca2 697 ypower = flexor;
Vigilance88 30:a9fdd3202ca2 698 }
Vigilance88 30:a9fdd3202ca2 699 else if (extensor>flexor && extensor > 0.1){
Vigilance88 30:a9fdd3202ca2 700 ydir = 1;
Vigilance88 30:a9fdd3202ca2 701 ypower = extensor;
Vigilance88 30:a9fdd3202ca2 702 }
Vigilance88 30:a9fdd3202ca2 703 else
Vigilance88 30:a9fdd3202ca2 704 ypower = 0;
Vigilance88 30:a9fdd3202ca2 705
Vigilance88 30:a9fdd3202ca2 706 //We have power: the longer a signal is active, the further you go. So integrate to determine reference position
Vigilance88 30:a9fdd3202ca2 707 dx = xpower * CONTROL_RATE;
Vigilance88 30:a9fdd3202ca2 708 dy = ypower * CONTROL_RATE;
Vigilance88 18:44905b008f44 709
Vigilance88 30:a9fdd3202ca2 710 //But: direction! Sum dx and dy but make sure xdir and ydir are considered.
Vigilance88 30:a9fdd3202ca2 711 if (xdir>0)
Vigilance88 30:a9fdd3202ca2 712 x += dx;
Vigilance88 30:a9fdd3202ca2 713 else
Vigilance88 30:a9fdd3202ca2 714 x += -dx;
Vigilance88 30:a9fdd3202ca2 715
Vigilance88 30:a9fdd3202ca2 716 if (ydir>0)
Vigilance88 30:a9fdd3202ca2 717 y += dy;
Vigilance88 30:a9fdd3202ca2 718 else
Vigilance88 30:a9fdd3202ca2 719 y += -dy;
Vigilance88 30:a9fdd3202ca2 720
Vigilance88 30:a9fdd3202ca2 721 //now we have x and y -> reference position.
Vigilance88 30:a9fdd3202ca2 722
Vigilance88 30:a9fdd3202ca2 723 //Set limits to the error!
Vigilance88 30:a9fdd3202ca2 724 //lower limit: Negative error not allowed to go further.
Vigilance88 30:a9fdd3202ca2 725 if (theta1 < limitangle)
Vigilance88 30:a9fdd3202ca2 726 if (error1 > 0)
Vigilance88 30:a9fdd3202ca2 727 error1 = error1;
Vigilance88 30:a9fdd3202ca2 728 else
Vigilance88 30:a9fdd3202ca2 729 error1 = 0;
Vigilance88 30:a9fdd3202ca2 730 if (theta2 < limitangle)
Vigilance88 30:a9fdd3202ca2 731 same as above
Vigilance88 30:a9fdd3202ca2 732
Vigilance88 30:a9fdd3202ca2 733 //upper limit: Positive error not allowed to go further
Vigilance88 30:a9fdd3202ca2 734 if (theta1 > limitangle)
Vigilance88 30:a9fdd3202ca2 735 if (error1 < 0 )
Vigilance88 30:a9fdd3202ca2 736 error1 = error1;
Vigilance88 30:a9fdd3202ca2 737 else
Vigilance88 30:a9fdd3202ca2 738 error1 = 0;
Vigilance88 30:a9fdd3202ca2 739 if (theta2 > limitangle)
Vigilance88 30:a9fdd3202ca2 740 same as above
Vigilance88 18:44905b008f44 741
Vigilance88 30:a9fdd3202ca2 742
Vigilance88 30:a9fdd3202ca2 743 */
Vigilance88 30:a9fdd3202ca2 744
Vigilance88 27:d1814e271a95 745 //Current position - Encoder counts -> current angle -> Forward Kinematics
Vigilance88 27:d1814e271a95 746 rpc=(2*PI)/ENCODER1_CPR; //radians per count (resolution) - 2pi divided by 4200
Vigilance88 27:d1814e271a95 747 theta1 = Encoder1.getPulses() * rpc; //multiply resolution with number of counts
Vigilance88 27:d1814e271a95 748 theta2 = Encoder2.getPulses() * rpc;
Vigilance88 27:d1814e271a95 749 current_x = l1 * cos(theta1) + l2 * cos(theta1 + theta2);
Vigilance88 27:d1814e271a95 750 current_y = l1 * sin(theta1) + l2 * sin(theta1 + theta2);
Vigilance88 27:d1814e271a95 751
Vigilance88 27:d1814e271a95 752
Vigilance88 18:44905b008f44 753 //calculate error (refpos-currentpos) currentpos = forward kinematics
Vigilance88 27:d1814e271a95 754 x_error = x - current_x;
Vigilance88 27:d1814e271a95 755 y_error = y - current_y;
Vigilance88 27:d1814e271a95 756
Vigilance88 27:d1814e271a95 757
Vigilance88 27:d1814e271a95 758 //inverse kinematics (refpos to refangle)
Vigilance88 18:44905b008f44 759
Vigilance88 27:d1814e271a95 760 costheta2 = (pow(x,2) + pow(y,2) - pow(l1,2) - pow(l2,2)) / (2*l1*l2) ;
Vigilance88 30:a9fdd3202ca2 761 sintheta2 = sqrt( abs( 1 - pow(costheta2,2) ) );
Vigilance88 27:d1814e271a95 762
Vigilance88 27:d1814e271a95 763
Vigilance88 27:d1814e271a95 764 dtheta2 = atan2(sintheta2,costheta2);
Vigilance88 27:d1814e271a95 765
Vigilance88 32:76c4d7bb2022 766 double k1 = l1 + l2*costheta2;
Vigilance88 32:76c4d7bb2022 767 double k2 = l2*sintheta2;
Vigilance88 32:76c4d7bb2022 768
Vigilance88 32:76c4d7bb2022 769 dtheta1 = atan2(y, x) - atan2(k2, k1);
Vigilance88 32:76c4d7bb2022 770
Vigilance88 32:76c4d7bb2022 771 /* alternative:
Vigilance88 27:d1814e271a95 772 costheta1 = ( x * (l1 + l2 * costheta2) + y * l2 * sintheta2 ) / ( pow(x,2) + pow(y,2) );
Vigilance88 30:a9fdd3202ca2 773 sintheta1 = sqrt( abs( 1 - pow(costheta1,2) ) );
Vigilance88 27:d1814e271a95 774
Vigilance88 27:d1814e271a95 775 dtheta1 = atan2(sintheta1,costheta1);
Vigilance88 32:76c4d7bb2022 776 */
Vigilance88 27:d1814e271a95 777
Vigilance88 27:d1814e271a95 778 //Angle error
Vigilance88 27:d1814e271a95 779 m1_error = dtheta1-theta1;
Vigilance88 27:d1814e271a95 780 m2_error = dtheta2-theta2;
Vigilance88 27:d1814e271a95 781
Vigilance88 18:44905b008f44 782
Vigilance88 18:44905b008f44 783 //PID controller
Vigilance88 24:56db31267f10 784
Vigilance88 24:56db31267f10 785 u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1
Vigilance88 24:56db31267f10 786 u2=pid(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2
Vigilance88 21:d6a46315d5f5 787
Vigilance88 27:d1814e271a95 788 keep_in_range(&u1,-0.6,0.6); //keep u between -1 and 1, sign = direction, PWM = 0-1
Vigilance88 27:d1814e271a95 789 keep_in_range(&u2,-0.6,0.6);
Vigilance88 21:d6a46315d5f5 790
Vigilance88 21:d6a46315d5f5 791 //send PWM and DIR to motor 1
Vigilance88 21:d6a46315d5f5 792 dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below.
Vigilance88 21:d6a46315d5f5 793 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 794
Vigilance88 21:d6a46315d5f5 795 //send PWM and DIR to motor 2
Vigilance88 27:d1814e271a95 796 dir_motor2 = u2>0 ? 0 : 1; //conditional statement, same as if else below
Vigilance88 25:49ccdc98639a 797 pwm_motor2.write(abs(u2));
Vigilance88 21:d6a46315d5f5 798
Vigilance88 21:d6a46315d5f5 799 /*if(u1 > 0)
Vigilance88 21:d6a46315d5f5 800 {
Vigilance88 21:d6a46315d5f5 801 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 802 else{
Vigilance88 21:d6a46315d5f5 803 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 804 }
Vigilance88 21:d6a46315d5f5 805 }
Vigilance88 21:d6a46315d5f5 806 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 807
Vigilance88 21:d6a46315d5f5 808
Vigilance88 21:d6a46315d5f5 809 if(u2 > 0)
Vigilance88 21:d6a46315d5f5 810 {
Vigilance88 21:d6a46315d5f5 811 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 812 else{
Vigilance88 21:d6a46315d5f5 813 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 814 }
Vigilance88 21:d6a46315d5f5 815 }
Vigilance88 21:d6a46315d5f5 816 pwm_motor1.write(abs(u2));*/
Vigilance88 21:d6a46315d5f5 817
Vigilance88 18:44905b008f44 818 }
Vigilance88 18:44905b008f44 819
Vigilance88 32:76c4d7bb2022 820 void dlscontrol()
Vigilance88 32:76c4d7bb2022 821 {
Vigilance88 32:76c4d7bb2022 822 /*
Vigilance88 32:76c4d7bb2022 823
Vigilance88 32:76c4d7bb2022 824 //normalize emg to value between 0-1
Vigilance88 32:76c4d7bb2022 825 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 32:76c4d7bb2022 826 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 32:76c4d7bb2022 827 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 32:76c4d7bb2022 828 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 32:76c4d7bb2022 829
Vigilance88 32:76c4d7bb2022 830 //analyze emg (= velocity)
Vigilance88 32:76c4d7bb2022 831 if (biceps>triceps && biceps > 0.1)
Vigilance88 32:76c4d7bb2022 832 xdir = 0;
Vigilance88 32:76c4d7bb2022 833 xpower = biceps;
Vigilance88 32:76c4d7bb2022 834 else if (triceps>biceps && triceps>0.1)
Vigilance88 32:76c4d7bb2022 835 xdir = 1;
Vigilance88 32:76c4d7bb2022 836 xpower = triceps;
Vigilance88 32:76c4d7bb2022 837 else
Vigilance88 32:76c4d7bb2022 838 xpower=0;
Vigilance88 32:76c4d7bb2022 839
Vigilance88 32:76c4d7bb2022 840 if (flexor>extensor && flexor > 0.1){
Vigilance88 32:76c4d7bb2022 841 ydir = 0;
Vigilance88 32:76c4d7bb2022 842 ypower = flexor;
Vigilance88 32:76c4d7bb2022 843 }
Vigilance88 32:76c4d7bb2022 844 else if (extensor>flexor && extensor > 0.1){
Vigilance88 32:76c4d7bb2022 845 ydir = 1;
Vigilance88 32:76c4d7bb2022 846 ypower = extensor;
Vigilance88 32:76c4d7bb2022 847 }
Vigilance88 32:76c4d7bb2022 848 else
Vigilance88 32:76c4d7bb2022 849 ypower = 0;
Vigilance88 32:76c4d7bb2022 850
Vigilance88 32:76c4d7bb2022 851 //We have power: the longer a signal is active, the further you go. So integrate to determine reference position
Vigilance88 32:76c4d7bb2022 852 dx = xpower * CONTROL_RATE;
Vigilance88 32:76c4d7bb2022 853 dy = ypower * CONTROL_RATE;
Vigilance88 32:76c4d7bb2022 854
Vigilance88 32:76c4d7bb2022 855 //But: direction! Sum dx and dy but make sure xdir and ydir are considered.
Vigilance88 32:76c4d7bb2022 856 if (xdir>0)
Vigilance88 32:76c4d7bb2022 857 x += dx;
Vigilance88 32:76c4d7bb2022 858 else
Vigilance88 32:76c4d7bb2022 859 x += -dx;
Vigilance88 32:76c4d7bb2022 860
Vigilance88 32:76c4d7bb2022 861 if (ydir>0)
Vigilance88 32:76c4d7bb2022 862 y += dy;
Vigilance88 32:76c4d7bb2022 863 else
Vigilance88 32:76c4d7bb2022 864 y += -dy;
Vigilance88 32:76c4d7bb2022 865
Vigilance88 32:76c4d7bb2022 866 //now we have x and y -> reference position.
Vigilance88 32:76c4d7bb2022 867
Vigilance88 32:76c4d7bb2022 868 //Set limits to the error!
Vigilance88 32:76c4d7bb2022 869 //lower limit: Negative error not allowed to go further.
Vigilance88 32:76c4d7bb2022 870 if (theta1 < limitangle)
Vigilance88 32:76c4d7bb2022 871 if (error1 > 0)
Vigilance88 32:76c4d7bb2022 872 error1 = error1;
Vigilance88 32:76c4d7bb2022 873 else
Vigilance88 32:76c4d7bb2022 874 error1 = 0;
Vigilance88 32:76c4d7bb2022 875 if (theta2 < limitangle)
Vigilance88 32:76c4d7bb2022 876 same as above
Vigilance88 32:76c4d7bb2022 877
Vigilance88 32:76c4d7bb2022 878 //upper limit: Positive error not allowed to go further
Vigilance88 32:76c4d7bb2022 879 if (theta1 > limitangle)
Vigilance88 32:76c4d7bb2022 880 if (error1 < 0 )
Vigilance88 32:76c4d7bb2022 881 error1 = error1;
Vigilance88 32:76c4d7bb2022 882 else
Vigilance88 32:76c4d7bb2022 883 error1 = 0;
Vigilance88 32:76c4d7bb2022 884 if (theta2 > limitangle)
Vigilance88 32:76c4d7bb2022 885 same as above
Vigilance88 32:76c4d7bb2022 886
Vigilance88 32:76c4d7bb2022 887
Vigilance88 32:76c4d7bb2022 888 */
Vigilance88 32:76c4d7bb2022 889
Vigilance88 32:76c4d7bb2022 890 //Current position - Encoder counts -> current angle -> Forward Kinematics
Vigilance88 32:76c4d7bb2022 891 rpc=(2*PI)/ENCODER1_CPR; //radians per count (resolution) - 2pi divided by 4200
Vigilance88 32:76c4d7bb2022 892 theta1 = Encoder1.getPulses() * rpc; //multiply resolution with number of counts
Vigilance88 32:76c4d7bb2022 893 theta2 = Encoder2.getPulses() * rpc;
Vigilance88 32:76c4d7bb2022 894 current_x = l1 * cos(theta1) + l2 * cos(theta1 + theta2);
Vigilance88 32:76c4d7bb2022 895 current_y = l1 * sin(theta1) + l2 * sin(theta1 + theta2);
Vigilance88 32:76c4d7bb2022 896
Vigilance88 32:76c4d7bb2022 897
Vigilance88 32:76c4d7bb2022 898 //calculate error (refpos-currentpos) currentpos = forward kinematics
Vigilance88 32:76c4d7bb2022 899 x_error = x - current_x;
Vigilance88 32:76c4d7bb2022 900 y_error = y - current_y;
Vigilance88 32:76c4d7bb2022 901
Vigilance88 32:76c4d7bb2022 902
Vigilance88 32:76c4d7bb2022 903 //inverse kinematics (error in position to error in angles)
Vigilance88 32:76c4d7bb2022 904 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 33:daa6ec305441 905 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 34:d6ec7c634763 906 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 34:d6ec7c634763 907 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 32:76c4d7bb2022 908
Vigilance88 32:76c4d7bb2022 909 q1_error = dls1 * x_error + dls2 * y_error;
Vigilance88 32:76c4d7bb2022 910 q2_error = dls3 * x_error + dls4 * y_error;
Vigilance88 32:76c4d7bb2022 911
Vigilance88 32:76c4d7bb2022 912 //Angle error
Vigilance88 32:76c4d7bb2022 913 m1_error = q1_error;
Vigilance88 32:76c4d7bb2022 914 m2_error = q2_error;
Vigilance88 32:76c4d7bb2022 915
Vigilance88 32:76c4d7bb2022 916
Vigilance88 32:76c4d7bb2022 917 //PID controller
Vigilance88 32:76c4d7bb2022 918
Vigilance88 32:76c4d7bb2022 919 u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1
Vigilance88 32:76c4d7bb2022 920 u2=pid(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2
Vigilance88 32:76c4d7bb2022 921
Vigilance88 32:76c4d7bb2022 922 keep_in_range(&u1,-0.6,0.6); //keep u between -1 and 1, sign = direction, PWM = 0-1
Vigilance88 32:76c4d7bb2022 923 keep_in_range(&u2,-0.6,0.6);
Vigilance88 32:76c4d7bb2022 924
Vigilance88 32:76c4d7bb2022 925 //send PWM and DIR to motor 1
Vigilance88 32:76c4d7bb2022 926 dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below.
Vigilance88 32:76c4d7bb2022 927 pwm_motor1.write(abs(u1));
Vigilance88 32:76c4d7bb2022 928
Vigilance88 32:76c4d7bb2022 929 //send PWM and DIR to motor 2
Vigilance88 32:76c4d7bb2022 930 dir_motor2 = u2>0 ? 0 : 1; //conditional statement, same as if else below
Vigilance88 32:76c4d7bb2022 931 pwm_motor2.write(abs(u2));
Vigilance88 32:76c4d7bb2022 932
Vigilance88 32:76c4d7bb2022 933 /*if(u1 > 0)
Vigilance88 32:76c4d7bb2022 934 {
Vigilance88 32:76c4d7bb2022 935 dir_motor1 = 0;
Vigilance88 32:76c4d7bb2022 936 else{
Vigilance88 32:76c4d7bb2022 937 dir_motor1 = 1;
Vigilance88 32:76c4d7bb2022 938 }
Vigilance88 32:76c4d7bb2022 939 }
Vigilance88 32:76c4d7bb2022 940 pwm_motor1.write(abs(u1));
Vigilance88 32:76c4d7bb2022 941
Vigilance88 32:76c4d7bb2022 942
Vigilance88 32:76c4d7bb2022 943 if(u2 > 0)
Vigilance88 32:76c4d7bb2022 944 {
Vigilance88 32:76c4d7bb2022 945 dir_motor1 = 1;
Vigilance88 32:76c4d7bb2022 946 else{
Vigilance88 32:76c4d7bb2022 947 dir_motor1 = 0;
Vigilance88 32:76c4d7bb2022 948 }
Vigilance88 32:76c4d7bb2022 949 }
Vigilance88 32:76c4d7bb2022 950 pwm_motor1.write(abs(u2));*/
Vigilance88 32:76c4d7bb2022 951
Vigilance88 32:76c4d7bb2022 952 }
Vigilance88 32:76c4d7bb2022 953
Vigilance88 26:fe3a5469dd6b 954 void mainMenu()
Vigilance88 26:fe3a5469dd6b 955 {
Vigilance88 28:743485bb51e4 956 //Title Box
Vigilance88 26:fe3a5469dd6b 957 pc.putc(201);
Vigilance88 26:fe3a5469dd6b 958 for(int j=0;j<33;j++){
Vigilance88 26:fe3a5469dd6b 959 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 960 }
Vigilance88 26:fe3a5469dd6b 961 pc.putc(187);
Vigilance88 26:fe3a5469dd6b 962 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 963 pc.putc(186); pc.printf(" Main Menu "); pc.putc(186);
Vigilance88 26:fe3a5469dd6b 964 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 965 pc.putc(200);
Vigilance88 26:fe3a5469dd6b 966 for(int k=0;k<33;k++){
Vigilance88 26:fe3a5469dd6b 967 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 968 }
Vigilance88 26:fe3a5469dd6b 969 pc.putc(188);
Vigilance88 26:fe3a5469dd6b 970
Vigilance88 26:fe3a5469dd6b 971 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 972 //endbox
Vigilance88 28:743485bb51e4 973 wait(1);
Vigilance88 28:743485bb51e4 974 pc.printf("[C]alibration\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 975 pc.printf("[S]tart 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 34:d6ec7c634763 1006 control_timer.attach(&dlscontrol,CONTROL_RATE); //100 Hz control
Vigilance88 26:fe3a5469dd6b 1007
Vigilance88 26:fe3a5469dd6b 1008 //Debug LED will be blue when control is on. If sampling and control are on -> blue + green = cyan.
Vigilance88 26:fe3a5469dd6b 1009 blue=0;
Vigilance88 26:fe3a5469dd6b 1010 pc.printf("||- started control -|| \r\n");
Vigilance88 18:44905b008f44 1011 }
Vigilance88 18:44905b008f44 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 21:d6a46315d5f5 1024 void calibrate()
vsluiter 0:32bb76391d89 1025 {
Vigilance88 21:d6a46315d5f5 1026
Vigilance88 21:d6a46315d5f5 1027 }
tomlankhorst 15:0da764eea774 1028
Vigilance88 26:fe3a5469dd6b 1029 //Clears the putty (or other terminal) window
Vigilance88 26:fe3a5469dd6b 1030 void clearTerminal()
Vigilance88 26:fe3a5469dd6b 1031 {
Vigilance88 26:fe3a5469dd6b 1032 pc.putc(27);
Vigilance88 26:fe3a5469dd6b 1033 pc.printf("[2J"); // clear screen
Vigilance88 26:fe3a5469dd6b 1034 pc.putc(27); // ESC
Vigilance88 26:fe3a5469dd6b 1035 pc.printf("[H"); // cursor to home
Vigilance88 26:fe3a5469dd6b 1036 }
Vigilance88 21:d6a46315d5f5 1037
Vigilance88 30:a9fdd3202ca2 1038
Vigilance88 30:a9fdd3202ca2 1039 void controlMenu()
Vigilance88 30:a9fdd3202ca2 1040 {
Vigilance88 30:a9fdd3202ca2 1041 //Title Box
Vigilance88 30:a9fdd3202ca2 1042 pc.putc(201);
Vigilance88 30:a9fdd3202ca2 1043 for(int j=0;j<33;j++){
Vigilance88 30:a9fdd3202ca2 1044 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 1045 }
Vigilance88 30:a9fdd3202ca2 1046 pc.putc(187);
Vigilance88 30:a9fdd3202ca2 1047 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1048 pc.putc(186); pc.printf(" Control Menu "); pc.putc(186);
Vigilance88 30:a9fdd3202ca2 1049 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1050 pc.putc(200);
Vigilance88 30:a9fdd3202ca2 1051 for(int k=0;k<33;k++){
Vigilance88 30:a9fdd3202ca2 1052 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 1053 }
Vigilance88 30:a9fdd3202ca2 1054 pc.putc(188);
Vigilance88 30:a9fdd3202ca2 1055
Vigilance88 30:a9fdd3202ca2 1056 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 1057 //endbox
Vigilance88 30:a9fdd3202ca2 1058 pc.printf("1) Move Arm Left\r\n");
Vigilance88 30:a9fdd3202ca2 1059 pc.printf("2) Move Arm Right\r\n");
Vigilance88 30:a9fdd3202ca2 1060 pc.printf("3) Move Arm Up\r\n");
Vigilance88 30:a9fdd3202ca2 1061 pc.printf("4) Move Arm Down\r\n");
Vigilance88 30:a9fdd3202ca2 1062 pc.printf("q) Exit \r\n");
Vigilance88 30:a9fdd3202ca2 1063 pc.printf("Please make a choice => \r\n");
Vigilance88 30:a9fdd3202ca2 1064 }
Vigilance88 30:a9fdd3202ca2 1065
Vigilance88 28:743485bb51e4 1066 void caliMenu(){
Vigilance88 28:743485bb51e4 1067
Vigilance88 28:743485bb51e4 1068 //Title Box
Vigilance88 28:743485bb51e4 1069 pc.putc(201);
Vigilance88 28:743485bb51e4 1070 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 1071 pc.putc(205);
Vigilance88 28:743485bb51e4 1072 }
Vigilance88 28:743485bb51e4 1073 pc.putc(187);
Vigilance88 28:743485bb51e4 1074 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1075 pc.putc(186); pc.printf(" Calibration Menu "); pc.putc(186);
Vigilance88 28:743485bb51e4 1076 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1077 pc.putc(200);
Vigilance88 28:743485bb51e4 1078 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 1079 pc.putc(205);
Vigilance88 28:743485bb51e4 1080 }
Vigilance88 28:743485bb51e4 1081 pc.putc(188);
Vigilance88 28:743485bb51e4 1082
Vigilance88 28:743485bb51e4 1083 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1084 //endbox
Vigilance88 28:743485bb51e4 1085
Vigilance88 28:743485bb51e4 1086 pc.printf("[A]rm Calibration\r\n");
Vigilance88 28:743485bb51e4 1087 pc.printf("[E]MG Calibration\r\n");
Vigilance88 28:743485bb51e4 1088 pc.printf("[B]ack to main menu\r\n");
Vigilance88 28:743485bb51e4 1089 pc.printf("Please make a choice => \r\n");
Vigilance88 28:743485bb51e4 1090
Vigilance88 28:743485bb51e4 1091 }
Vigilance88 28:743485bb51e4 1092
Vigilance88 28:743485bb51e4 1093 void titleBox(){
Vigilance88 28:743485bb51e4 1094
Vigilance88 28:743485bb51e4 1095 //Title Box
Vigilance88 28:743485bb51e4 1096 pc.putc(201);
Vigilance88 28:743485bb51e4 1097 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 1098 pc.putc(205);
Vigilance88 28:743485bb51e4 1099 }
Vigilance88 28:743485bb51e4 1100 pc.putc(187);
Vigilance88 28:743485bb51e4 1101 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1102 pc.putc(186); pc.printf(" BioRobotics M9 - Group 14 "); pc.putc(186);
Vigilance88 28:743485bb51e4 1103 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1104 pc.putc(186); pc.printf(" Robot powered ON "); pc.putc(186);
Vigilance88 28:743485bb51e4 1105 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1106 pc.putc(200);
Vigilance88 28:743485bb51e4 1107 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 1108 pc.putc(205);
Vigilance88 28:743485bb51e4 1109 }
Vigilance88 28:743485bb51e4 1110 pc.putc(188);
Vigilance88 28:743485bb51e4 1111
Vigilance88 28:743485bb51e4 1112 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 1113 //endbox
Vigilance88 28:743485bb51e4 1114 }
Vigilance88 28:743485bb51e4 1115
Vigilance88 28:743485bb51e4 1116 void emgInstructions(){
Vigilance88 28:743485bb51e4 1117 pc.printf("\r\nPrepare the skin before applying electrodes: \n\r"); wait(1);
Vigilance88 28:743485bb51e4 1118 pc.printf("-> Shave electrode locations if needed and clean with alcohol \n\r"); wait(1);
Vigilance88 28:743485bb51e4 1119 pc.printf("\n\r Relax for a few minutes after electrodes are placed and check if EMG signal looks normal \n\r "); wait(1);
Vigilance88 28:743485bb51e4 1120 pc.printf("\n\r To calibrate the EMG signals we will measure the Maximum Voluntary Contraction of each muscle \n\r"); wait(1);
Vigilance88 28:743485bb51e4 1121 pc.printf("You will need to flex the mentioned muscle as much as possible for 5 seconds \n\r"); wait(1);
Vigilance88 28:743485bb51e4 1122 pc.printf("The measurement will begin once you confirm you're ready [Hit any key] \n\r \n\r"); wait(1);
Vigilance88 28:743485bb51e4 1123 }
Vigilance88 28:743485bb51e4 1124
Vigilance88 21:d6a46315d5f5 1125 //keeps input limited between min max
Vigilance88 24:56db31267f10 1126 void keep_in_range(double * in, double min, double max)
Vigilance88 18:44905b008f44 1127 {
Vigilance88 18:44905b008f44 1128 *in > min ? *in < max? : *in = max: *in = min;
vsluiter 0:32bb76391d89 1129 }