2nd draft
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed Servo
Fork of robot_mockup by
main.cpp@26:fe3a5469dd6b, 2015-10-18 (annotated)
- Committer:
- Vigilance88
- Date:
- Sun Oct 18 13:13:07 2015 +0000
- Revision:
- 26:fe3a5469dd6b
- Parent:
- 25:49ccdc98639a
- Child:
- 27:d1814e271a95
- added more comments for clarity; - changed calibrate_arm; - updated mainMenu and other visual stuff
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:32bb76391d89 | 1 | #include "mbed.h" |
vsluiter | 11:ce72ec658a95 | 2 | #include "HIDScope.h" |
Vigilance88 | 18:44905b008f44 | 3 | #include "MODSERIAL.h" |
Vigilance88 | 18:44905b008f44 | 4 | #include "biquadFilter.h" |
Vigilance88 | 18:44905b008f44 | 5 | #include "QEI.h" |
Vigilance88 | 21:d6a46315d5f5 | 6 | #include "math.h" |
Vigilance88 | 26:fe3a5469dd6b | 7 | #include <string> |
Vigilance88 | 21:d6a46315d5f5 | 8 | |
Vigilance88 | 21:d6a46315d5f5 | 9 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 10 | -------------------------------- BIOROBOTICS GROUP 14 ---------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 11 | --------------------------------------------------------------------------------------------------------------------*/ |
vsluiter | 0:32bb76391d89 | 12 | |
Vigilance88 | 18:44905b008f44 | 13 | //Define important constants in memory |
Vigilance88 | 21:d6a46315d5f5 | 14 | #define PI 3.14159265 |
Vigilance88 | 18:44905b008f44 | 15 | #define SAMPLE_RATE 0.002 //500 Hz EMG sample rate |
Vigilance88 | 18:44905b008f44 | 16 | #define CONTROL_RATE 0.01 //100 Hz Control rate |
Vigilance88 | 21:d6a46315d5f5 | 17 | #define ENCODER1_CPR 4200 //encoders have 64 (X4), 32 (X2) counts per revolution of motor shaft |
Vigilance88 | 21:d6a46315d5f5 | 18 | #define ENCODER2_CPR 4200 //gearbox 1:131.25 -> 4200 counts per revolution of the output shaft (X2), |
Vigilance88 | 26:fe3a5469dd6b | 19 | #define PWM_PERIOD 0.0001 //10k Hz pwm motor frequency. Higher -> too hot, lower -> motor doesnt respond correctly |
Vigilance88 | 21:d6a46315d5f5 | 20 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 21 | ---- OBJECTS --------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 22 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 23 | |
Vigilance88 | 18:44905b008f44 | 24 | MODSERIAL pc(USBTX,USBRX); //serial communication |
Vigilance88 | 18:44905b008f44 | 25 | |
Vigilance88 | 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 | 26:fe3a5469dd6b | 56 | InterruptIn shoulder_limit(D3); //using FRDM buttons |
Vigilance88 | 26:fe3a5469dd6b | 57 | InterruptIn elbow_limit(D4); //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 | 24:56db31267f10 | 98 | const double m1_kp=0; const double m1_ki=0; const double m1_kd=0; //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 | 24:56db31267f10 | 101 | const double m2_kp=0; const double m2_ki=0; const double m2_kd=0; //Proportional, integral and derivative gains. |
Vigilance88 | 24:56db31267f10 | 102 | |
Vigilance88 | 24:56db31267f10 | 103 | //highpass filter 20 Hz |
Vigilance88 | 24:56db31267f10 | 104 | const double high_b0 = 0.956543225556877; |
Vigilance88 | 24:56db31267f10 | 105 | const double high_b1 = -1.91308645113754; |
Vigilance88 | 24:56db31267f10 | 106 | const double high_b2 = 0.956543225556877; |
Vigilance88 | 24:56db31267f10 | 107 | const double high_a1 = -1.91197067426073; |
Vigilance88 | 24:56db31267f10 | 108 | const double high_a2 = 0.9149758348014341; |
Vigilance88 | 24:56db31267f10 | 109 | |
Vigilance88 | 24:56db31267f10 | 110 | //notchfilter 50Hz |
Vigilance88 | 24:56db31267f10 | 111 | /* ** Primary Filter (H1)** |
Vigilance88 | 24:56db31267f10 | 112 | Filter Arithmetic = Floating Point (Double Precision) |
Vigilance88 | 24:56db31267f10 | 113 | Architecture = IIR |
Vigilance88 | 24:56db31267f10 | 114 | Response = Bandstop |
Vigilance88 | 24:56db31267f10 | 115 | Method = Butterworth |
Vigilance88 | 24:56db31267f10 | 116 | Biquad = Yes |
Vigilance88 | 24:56db31267f10 | 117 | Stable = Yes |
Vigilance88 | 24:56db31267f10 | 118 | Sampling Frequency = 500Hz |
Vigilance88 | 24:56db31267f10 | 119 | Filter Order = 2 |
Vigilance88 | 24:56db31267f10 | 120 | |
Vigilance88 | 24:56db31267f10 | 121 | Band Frequencies (Hz) Att/Ripple (dB) Biquad #1 Biquad #2 |
Vigilance88 | 24:56db31267f10 | 122 | |
Vigilance88 | 24:56db31267f10 | 123 | 1 0, 48 0.001 Gain = 1.000000 Gain = 0.973674 |
Vigilance88 | 24:56db31267f10 | 124 | 2 49, 51 -60.000 B = [ 1.00000000000, -1.61816176147, 1.00000000000] B = [ 1.00000000000, -1.61816176147, 1.00000000000] |
Vigilance88 | 24:56db31267f10 | 125 | 3 52, 250 0.001 A = [ 1.00000000000, -1.58071559235, 0.97319685401] A = [ 1.00000000000, -1.61244708381, 0.97415116257] |
Vigilance88 | 24:56db31267f10 | 126 | */ |
Vigilance88 | 24:56db31267f10 | 127 | |
Vigilance88 | 24:56db31267f10 | 128 | //biquad 1 |
Vigilance88 | 24:56db31267f10 | 129 | const double notch1gain = 1.000000; |
Vigilance88 | 24:56db31267f10 | 130 | const double notch1_b0 = 1; |
Vigilance88 | 24:56db31267f10 | 131 | const double notch1_b1 = -1.61816176147 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 132 | const double notch1_b2 = 1.00000000000 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 133 | const double notch1_a1 = -1.58071559235 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 134 | const double notch1_a2 = 0.97319685401 * notch1gain; |
Vigilance88 | 24:56db31267f10 | 135 | |
Vigilance88 | 24:56db31267f10 | 136 | //biquad 2 |
Vigilance88 | 24:56db31267f10 | 137 | const double notch2gain = 0.973674; |
Vigilance88 | 24:56db31267f10 | 138 | const double notch2_b0 = 1 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 139 | const double notch2_b1 = -1.61816176147 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 140 | const double notch2_b2 = 1.00000000000 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 141 | const double notch2_a1 = -1.61244708381 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 142 | const double notch2_a2 = 0.97415116257 * notch2gain; |
Vigilance88 | 24:56db31267f10 | 143 | |
Vigilance88 | 26:fe3a5469dd6b | 144 | //lowpass filter 7 Hz - envelope |
Vigilance88 | 24:56db31267f10 | 145 | const double low_b0 = 0.000119046743110057; |
Vigilance88 | 24:56db31267f10 | 146 | const double low_b1 = 0.000238093486220118; |
Vigilance88 | 24:56db31267f10 | 147 | const double low_b2 = 0.000119046743110057; |
Vigilance88 | 24:56db31267f10 | 148 | const double low_a1 = -1.968902268531908; |
Vigilance88 | 24:56db31267f10 | 149 | const double low_a2 = 0.9693784555043481; |
Vigilance88 | 21:d6a46315d5f5 | 150 | |
Vigilance88 | 21:d6a46315d5f5 | 151 | |
Vigilance88 | 21:d6a46315d5f5 | 152 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 24:56db31267f10 | 153 | ---- Filters --------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 154 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 24:56db31267f10 | 155 | |
Vigilance88 | 24:56db31267f10 | 156 | //Using biquadFilter library |
Vigilance88 | 24:56db31267f10 | 157 | //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered. |
Vigilance88 | 26:fe3a5469dd6b | 158 | //Biceps |
Vigilance88 | 24:56db31267f10 | 159 | biquadFilter highpass( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 24:56db31267f10 | 160 | biquadFilter notch1( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 24:56db31267f10 | 161 | biquadFilter notch2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 24:56db31267f10 | 162 | biquadFilter lowpass( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 163 | |
Vigilance88 | 26:fe3a5469dd6b | 164 | //Triceps |
Vigilance88 | 25:49ccdc98639a | 165 | biquadFilter highpass2( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 26:fe3a5469dd6b | 166 | biquadFilter notch1_2( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 26:fe3a5469dd6b | 167 | biquadFilter notch2_2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 25:49ccdc98639a | 168 | biquadFilter lowpass2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 169 | |
Vigilance88 | 26:fe3a5469dd6b | 170 | //Flexor |
Vigilance88 | 25:49ccdc98639a | 171 | biquadFilter highpass3( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 26:fe3a5469dd6b | 172 | biquadFilter notch1_3( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 26:fe3a5469dd6b | 173 | biquadFilter notch2_3( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 25:49ccdc98639a | 174 | biquadFilter lowpass3( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 175 | |
Vigilance88 | 26:fe3a5469dd6b | 176 | //Extensor |
Vigilance88 | 25:49ccdc98639a | 177 | biquadFilter highpass4( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts |
Vigilance88 | 26:fe3a5469dd6b | 178 | biquadFilter notch1_4( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference |
Vigilance88 | 26:fe3a5469dd6b | 179 | biquadFilter notch2_4( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); // |
Vigilance88 | 25:49ccdc98639a | 180 | biquadFilter lowpass4( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope |
Vigilance88 | 25:49ccdc98639a | 181 | |
Vigilance88 | 26:fe3a5469dd6b | 182 | //PID filter (lowpass ??? Hz) |
Vigilance88 | 24:56db31267f10 | 183 | biquadFilter derfilter( 0.0009446914586925257 , 0.0018893829173850514 , 0.0009446914586925257 , -1.911196288237583 , 0.914975054072353 ); // derivative filter |
Vigilance88 | 24:56db31267f10 | 184 | |
Vigilance88 | 24:56db31267f10 | 185 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 24:56db31267f10 | 186 | ---- DECLARE FUNCTION NAMES ------------------------------------------------------------------------------------------ |
Vigilance88 | 24:56db31267f10 | 187 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 26:fe3a5469dd6b | 188 | |
Vigilance88 | 26:fe3a5469dd6b | 189 | void sample_filter(void); //Sampling and filtering |
Vigilance88 | 26:fe3a5469dd6b | 190 | void control(); //Control - reference -> error -> pid -> motor output |
Vigilance88 | 26:fe3a5469dd6b | 191 | void calibrate_emg(); //Instructions + measurement of MVC of each muscle |
Vigilance88 | 26:fe3a5469dd6b | 192 | void emg_mvc(); //Helper funcion for storing MVC value |
Vigilance88 | 26:fe3a5469dd6b | 193 | void calibrate_arm(void); //Calibration of the arm with limit switches |
Vigilance88 | 26:fe3a5469dd6b | 194 | void start_sampling(void); //Attaches the sample_filter function to a 500Hz ticker |
Vigilance88 | 26:fe3a5469dd6b | 195 | void stop_sampling(void); //Stops sample_filter |
Vigilance88 | 26:fe3a5469dd6b | 196 | void start_control(void); //Attaches the control function to a 100Hz ticker |
Vigilance88 | 26:fe3a5469dd6b | 197 | void stop_control(void); //Stops control function |
Vigilance88 | 26:fe3a5469dd6b | 198 | |
Vigilance88 | 26:fe3a5469dd6b | 199 | //Keeps the input between min and max value |
Vigilance88 | 24:56db31267f10 | 200 | void keep_in_range(double * in, double min, double max); |
Vigilance88 | 26:fe3a5469dd6b | 201 | |
Vigilance88 | 26:fe3a5469dd6b | 202 | //Reusable PID controller, previous and integral error need to be passed by reference |
Vigilance88 | 21:d6a46315d5f5 | 203 | double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev); |
Vigilance88 | 18:44905b008f44 | 204 | |
Vigilance88 | 26:fe3a5469dd6b | 205 | //Menu functions |
Vigilance88 | 21:d6a46315d5f5 | 206 | void mainMenu(); |
Vigilance88 | 21:d6a46315d5f5 | 207 | void caliMenu(); |
Vigilance88 | 26:fe3a5469dd6b | 208 | void clearTerminal(); |
Vigilance88 | 26:fe3a5469dd6b | 209 | |
Vigilance88 | 21:d6a46315d5f5 | 210 | |
Vigilance88 | 21:d6a46315d5f5 | 211 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 212 | ---- MAIN LOOP ------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 213 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 214 | |
Vigilance88 | 21:d6a46315d5f5 | 215 | int main() |
Vigilance88 | 21:d6a46315d5f5 | 216 | { |
Vigilance88 | 26:fe3a5469dd6b | 217 | pc.baud(115200); //terminal baudrate |
Vigilance88 | 26:fe3a5469dd6b | 218 | red=1; green=1; blue=1; //Make sure debug LEDS are off |
Vigilance88 | 26:fe3a5469dd6b | 219 | |
Vigilance88 | 26:fe3a5469dd6b | 220 | //Set PwmOut frequency to 10k Hz |
Vigilance88 | 26:fe3a5469dd6b | 221 | pwm_motor1.period(PWM_PERIOD); |
Vigilance88 | 26:fe3a5469dd6b | 222 | pwm_motor2.period(PWM_PERIOD); |
Vigilance88 | 26:fe3a5469dd6b | 223 | |
Vigilance88 | 26:fe3a5469dd6b | 224 | clearTerminal(); //Clear the putty window |
Vigilance88 | 26:fe3a5469dd6b | 225 | |
Vigilance88 | 24:56db31267f10 | 226 | // make a menu, user has to initiate next step |
Vigilance88 | 26:fe3a5469dd6b | 227 | mainMenu(); |
Vigilance88 | 25:49ccdc98639a | 228 | //caliMenu(); // Menu function |
Vigilance88 | 25:49ccdc98639a | 229 | //calibrate_arm(); //Start Calibration |
Vigilance88 | 25:49ccdc98639a | 230 | |
Vigilance88 | 25:49ccdc98639a | 231 | calibrate_emg(); |
Vigilance88 | 25:49ccdc98639a | 232 | |
Vigilance88 | 25:49ccdc98639a | 233 | //start_control(); //100 Hz control |
Vigilance88 | 21:d6a46315d5f5 | 234 | |
Vigilance88 | 21:d6a46315d5f5 | 235 | //maybe some stop commands when a button is pressed: detach from timers. |
Vigilance88 | 21:d6a46315d5f5 | 236 | //stop_control(); |
Vigilance88 | 21:d6a46315d5f5 | 237 | //stop_sampling(); |
Vigilance88 | 21:d6a46315d5f5 | 238 | |
Vigilance88 | 21:d6a46315d5f5 | 239 | while(1) { |
Vigilance88 | 25:49ccdc98639a | 240 | |
Vigilance88 | 21:d6a46315d5f5 | 241 | } |
Vigilance88 | 21:d6a46315d5f5 | 242 | //end of while loop |
Vigilance88 | 21:d6a46315d5f5 | 243 | } |
Vigilance88 | 21:d6a46315d5f5 | 244 | //end of main |
Vigilance88 | 21:d6a46315d5f5 | 245 | |
Vigilance88 | 21:d6a46315d5f5 | 246 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 247 | ---- FUNCTIONS ------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 248 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 18:44905b008f44 | 249 | |
Vigilance88 | 21:d6a46315d5f5 | 250 | //Sample and Filter |
Vigilance88 | 21:d6a46315d5f5 | 251 | void sample_filter(void) |
Vigilance88 | 18:44905b008f44 | 252 | { |
Vigilance88 | 21:d6a46315d5f5 | 253 | double emg_biceps = emg1.read(); //Biceps |
Vigilance88 | 21:d6a46315d5f5 | 254 | double emg_triceps = emg2.read(); //Triceps |
Vigilance88 | 21:d6a46315d5f5 | 255 | double emg_flexor = emg3.read(); //Flexor |
Vigilance88 | 21:d6a46315d5f5 | 256 | double emg_extens = emg4.read(); //Extensor |
Vigilance88 | 21:d6a46315d5f5 | 257 | |
Vigilance88 | 21:d6a46315d5f5 | 258 | //Filter: high-pass -> notch -> rectify -> lowpass or moving average |
Vigilance88 | 22:1ba637601dc3 | 259 | // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad? |
Vigilance88 | 25:49ccdc98639a | 260 | 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 | 261 | 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 | 262 | 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 | 263 | biceps_power = abs(biceps_power); triceps_power = abs(triceps_power); flexor_power = abs(flexor_power); extens_power = abs(extens_power); |
Vigilance88 | 25:49ccdc98639a | 264 | biceps_power = lowpass.step(biceps_power); triceps_power = lowpass2.step(triceps_power); flexor_power = lowpass3.step(flexor_power); extens_power = lowpass4.step(extens_power); |
Vigilance88 | 25:49ccdc98639a | 265 | |
Vigilance88 | 21:d6a46315d5f5 | 266 | |
Vigilance88 | 21:d6a46315d5f5 | 267 | /* alternative for lowpass filter: moving average |
Vigilance88 | 21:d6a46315d5f5 | 268 | window=30; //30 samples |
Vigilance88 | 21:d6a46315d5f5 | 269 | int i=0; //buffer index |
Vigilance88 | 21:d6a46315d5f5 | 270 | bicepsbuffer[i]=biceps_power //fill array |
Vigilance88 | 21:d6a46315d5f5 | 271 | |
Vigilance88 | 21:d6a46315d5f5 | 272 | i++; |
Vigilance88 | 21:d6a46315d5f5 | 273 | if(i==window){ |
Vigilance88 | 21:d6a46315d5f5 | 274 | i=0; |
Vigilance88 | 21:d6a46315d5f5 | 275 | } |
Vigilance88 | 21:d6a46315d5f5 | 276 | |
Vigilance88 | 24:56db31267f10 | 277 | for(int x = 0; x < window; x++){ |
Vigilance88 | 24:56db31267f10 | 278 | avg1 += bicepsbuffer[x]; |
Vigilance88 | 24:56db31267f10 | 279 | } |
Vigilance88 | 24:56db31267f10 | 280 | avg1 = avg1/window; |
Vigilance88 | 21:d6a46315d5f5 | 281 | */ |
Vigilance88 | 21:d6a46315d5f5 | 282 | |
Vigilance88 | 18:44905b008f44 | 283 | } |
Vigilance88 | 18:44905b008f44 | 284 | |
Vigilance88 | 18:44905b008f44 | 285 | //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position. |
Vigilance88 | 19:0a3ee31dcdb4 | 286 | void calibrate_arm(void) |
Vigilance88 | 19:0a3ee31dcdb4 | 287 | { |
Vigilance88 | 26:fe3a5469dd6b | 288 | red=0; blue=0; //Debug light is purple during arm calibration |
Vigilance88 | 26:fe3a5469dd6b | 289 | bool calibrating = true; |
Vigilance88 | 26:fe3a5469dd6b | 290 | bool done1 = false; |
Vigilance88 | 26:fe3a5469dd6b | 291 | bool done2 = false; |
Vigilance88 | 26:fe3a5469dd6b | 292 | dir_motor1=1; //cw |
Vigilance88 | 26:fe3a5469dd6b | 293 | dir_motor2=1; //cw |
Vigilance88 | 26:fe3a5469dd6b | 294 | pwm_motor1.write(0.2f); //move upper arm slowly cw |
Vigilance88 | 26:fe3a5469dd6b | 295 | pwm_motor2.write(0.2f); //move forearm slowly cw |
Vigilance88 | 26:fe3a5469dd6b | 296 | |
Vigilance88 | 26:fe3a5469dd6b | 297 | while(calibrating){ |
Vigilance88 | 25:49ccdc98639a | 298 | |
Vigilance88 | 26:fe3a5469dd6b | 299 | //when limit switches are hit, stop motor and reset encoder |
Vigilance88 | 26:fe3a5469dd6b | 300 | if(shoulder_limit.read() < 0.5){ //polling |
Vigilance88 | 26:fe3a5469dd6b | 301 | pwm_motor1.write(0); |
Vigilance88 | 26:fe3a5469dd6b | 302 | Encoder1.reset(); |
Vigilance88 | 26:fe3a5469dd6b | 303 | done1 = true; |
Vigilance88 | 26:fe3a5469dd6b | 304 | } |
Vigilance88 | 26:fe3a5469dd6b | 305 | if(elbow_limit.read() < 0.5){ //polling |
Vigilance88 | 26:fe3a5469dd6b | 306 | pwm_motor2.write(0); |
Vigilance88 | 26:fe3a5469dd6b | 307 | Encoder2.reset(); |
Vigilance88 | 26:fe3a5469dd6b | 308 | done2 = true; |
Vigilance88 | 26:fe3a5469dd6b | 309 | } |
Vigilance88 | 26:fe3a5469dd6b | 310 | if(done1 && done2){ |
Vigilance88 | 26:fe3a5469dd6b | 311 | calibrating=false; //Leave while loop when both limits are reached |
Vigilance88 | 26:fe3a5469dd6b | 312 | red=1; blue=1; //Turn debug light off when calibration complete |
Vigilance88 | 26:fe3a5469dd6b | 313 | } |
Vigilance88 | 25:49ccdc98639a | 314 | |
Vigilance88 | 26:fe3a5469dd6b | 315 | }//end while |
Vigilance88 | 26:fe3a5469dd6b | 316 | |
Vigilance88 | 19:0a3ee31dcdb4 | 317 | } |
Vigilance88 | 19:0a3ee31dcdb4 | 318 | |
Vigilance88 | 21:d6a46315d5f5 | 319 | //EMG Maximum Voluntary Contraction measurement |
Vigilance88 | 25:49ccdc98639a | 320 | void emg_mvc() |
Vigilance88 | 25:49ccdc98639a | 321 | { |
Vigilance88 | 24:56db31267f10 | 322 | //double sampletime=0; |
Vigilance88 | 24:56db31267f10 | 323 | //sampletime=+SAMPLE_RATE; |
Vigilance88 | 24:56db31267f10 | 324 | // |
Vigilance88 | 24:56db31267f10 | 325 | // if(sampletime<5) |
Vigilance88 | 25:49ccdc98639a | 326 | //int muscle=1; |
Vigilance88 | 25:49ccdc98639a | 327 | //for(int index=0; index<2500;index++){ //measure 5 seconds@500hz = 2500 samples |
Vigilance88 | 25:49ccdc98639a | 328 | |
Vigilance88 | 24:56db31267f10 | 329 | if(muscle==1){ |
Vigilance88 | 24:56db31267f10 | 330 | |
Vigilance88 | 24:56db31267f10 | 331 | if(biceps_power>bicepsMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 332 | //printf("+ "); |
Vigilance88 | 26:fe3a5469dd6b | 333 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 21:d6a46315d5f5 | 334 | bicepsMVC=biceps_power; |
Vigilance88 | 24:56db31267f10 | 335 | } |
Vigilance88 | 25:49ccdc98639a | 336 | else |
Vigilance88 | 25:49ccdc98639a | 337 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 338 | } |
Vigilance88 | 24:56db31267f10 | 339 | |
Vigilance88 | 24:56db31267f10 | 340 | if(muscle==2){ |
Vigilance88 | 24:56db31267f10 | 341 | |
Vigilance88 | 24:56db31267f10 | 342 | if(triceps_power>tricepsMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 343 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 24:56db31267f10 | 344 | tricepsMVC=triceps_power; |
Vigilance88 | 24:56db31267f10 | 345 | } |
Vigilance88 | 26:fe3a5469dd6b | 346 | else |
Vigilance88 | 26:fe3a5469dd6b | 347 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 348 | } |
Vigilance88 | 24:56db31267f10 | 349 | |
Vigilance88 | 24:56db31267f10 | 350 | if(muscle==3){ |
Vigilance88 | 24:56db31267f10 | 351 | |
Vigilance88 | 24:56db31267f10 | 352 | if(flexor_power>flexorMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 353 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 24:56db31267f10 | 354 | flexorMVC=flexor_power; |
Vigilance88 | 24:56db31267f10 | 355 | } |
Vigilance88 | 26:fe3a5469dd6b | 356 | else |
Vigilance88 | 26:fe3a5469dd6b | 357 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 358 | } |
Vigilance88 | 24:56db31267f10 | 359 | |
Vigilance88 | 24:56db31267f10 | 360 | if(muscle==4){ |
Vigilance88 | 24:56db31267f10 | 361 | |
Vigilance88 | 24:56db31267f10 | 362 | if(extens_power>extensMVC){ |
Vigilance88 | 26:fe3a5469dd6b | 363 | printf("%s+ %s",GREEN_,_GREEN); |
Vigilance88 | 24:56db31267f10 | 364 | extensMVC=extens_power; |
Vigilance88 | 24:56db31267f10 | 365 | } |
Vigilance88 | 26:fe3a5469dd6b | 366 | else |
Vigilance88 | 26:fe3a5469dd6b | 367 | printf("- "); |
Vigilance88 | 24:56db31267f10 | 368 | } |
Vigilance88 | 25:49ccdc98639a | 369 | |
Vigilance88 | 25:49ccdc98639a | 370 | //} |
Vigilance88 | 25:49ccdc98639a | 371 | calibrate_time = calibrate_time + 0.002; |
Vigilance88 | 25:49ccdc98639a | 372 | |
Vigilance88 | 25:49ccdc98639a | 373 | |
Vigilance88 | 25:49ccdc98639a | 374 | |
Vigilance88 | 25:49ccdc98639a | 375 | } |
Vigilance88 | 25:49ccdc98639a | 376 | |
Vigilance88 | 25:49ccdc98639a | 377 | //EMG calibration |
Vigilance88 | 25:49ccdc98639a | 378 | void calibrate_emg() |
Vigilance88 | 25:49ccdc98639a | 379 | { |
Vigilance88 | 25:49ccdc98639a | 380 | Ticker timer; |
Vigilance88 | 25:49ccdc98639a | 381 | |
Vigilance88 | 25:49ccdc98639a | 382 | pc.printf("Testcode calibration \r\n"); |
Vigilance88 | 25:49ccdc98639a | 383 | wait(1); |
Vigilance88 | 25:49ccdc98639a | 384 | pc.printf("+ means current sample is higher than stored MVC\r\n"); |
Vigilance88 | 25:49ccdc98639a | 385 | pc.printf("- means current sample is lower than stored MVC\r\n"); |
Vigilance88 | 26:fe3a5469dd6b | 386 | wait(2); |
Vigilance88 | 25:49ccdc98639a | 387 | pc.printf(" Biceps is first. "); wait(1); |
Vigilance88 | 25:49ccdc98639a | 388 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 25:49ccdc98639a | 389 | char input; |
Vigilance88 | 25:49ccdc98639a | 390 | input=pc.getc(); |
Vigilance88 | 25:49ccdc98639a | 391 | pc.putc(input); |
Vigilance88 | 25:49ccdc98639a | 392 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 393 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 394 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 395 | |
Vigilance88 | 25:49ccdc98639a | 396 | start_sampling(); |
Vigilance88 | 25:49ccdc98639a | 397 | muscle=1; |
Vigilance88 | 25:49ccdc98639a | 398 | timer.attach(&emg_mvc,0.002); |
Vigilance88 | 25:49ccdc98639a | 399 | wait(5); |
Vigilance88 | 25:49ccdc98639a | 400 | timer.detach(); |
Vigilance88 | 26:fe3a5469dd6b | 401 | |
Vigilance88 | 26:fe3a5469dd6b | 402 | pc.printf("\r\n Measurement complete."); wait(1); |
Vigilance88 | 26:fe3a5469dd6b | 403 | pc.printf("\r\n Biceps MVC = %f \r\n",bicepsMVC); wait(1); |
Vigilance88 | 26:fe3a5469dd6b | 404 | pc.printf("Calibrate_emg() exited \r\n"); wait(1); |
Vigilance88 | 26:fe3a5469dd6b | 405 | pc.printf("Measured time: %f seconds \r\n\n",calibrate_time); |
Vigilance88 | 25:49ccdc98639a | 406 | calibrate_time=0; |
Vigilance88 | 25:49ccdc98639a | 407 | |
Vigilance88 | 25:49ccdc98639a | 408 | // Triceps: |
Vigilance88 | 26:fe3a5469dd6b | 409 | muscle=2; |
Vigilance88 | 25:49ccdc98639a | 410 | pc.printf(" Triceps is next "); wait(1); |
Vigilance88 | 25:49ccdc98639a | 411 | pc.printf(" Press any key to begin... "); wait(1); |
Vigilance88 | 25:49ccdc98639a | 412 | input=pc.getc(); |
Vigilance88 | 25:49ccdc98639a | 413 | pc.putc(input); |
Vigilance88 | 25:49ccdc98639a | 414 | pc.printf(" \r\n Starting in 3... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 415 | pc.printf(" \r\n Starting in 2... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 416 | pc.printf(" \r\n Starting in 1... \r\n"); wait(1); |
Vigilance88 | 25:49ccdc98639a | 417 | start_sampling(); |
Vigilance88 | 25:49ccdc98639a | 418 | muscle=1; |
Vigilance88 | 25:49ccdc98639a | 419 | timer.attach(&emg_mvc,0.002); |
Vigilance88 | 25:49ccdc98639a | 420 | wait(5); |
Vigilance88 | 25:49ccdc98639a | 421 | timer.detach(); |
Vigilance88 | 25:49ccdc98639a | 422 | pc.printf("\r\n Triceps MVC = %f \r\n",tricepsMVC); |
Vigilance88 | 25:49ccdc98639a | 423 | |
Vigilance88 | 25:49ccdc98639a | 424 | pc.printf("Calibrate_emg() exited \r\n"); |
Vigilance88 | 25:49ccdc98639a | 425 | pc.printf("Measured time: %f seconds \r\n",calibrate_time); |
Vigilance88 | 25:49ccdc98639a | 426 | calibrate_time=0; |
Vigilance88 | 25:49ccdc98639a | 427 | |
Vigilance88 | 25:49ccdc98639a | 428 | //Flexor: |
Vigilance88 | 26:fe3a5469dd6b | 429 | muscle=3; |
Vigilance88 | 25:49ccdc98639a | 430 | //Extensor: |
Vigilance88 | 26:fe3a5469dd6b | 431 | muscle=4; |
Vigilance88 | 25:49ccdc98639a | 432 | |
Vigilance88 | 26:fe3a5469dd6b | 433 | //Stop sampling, detach ticker |
Vigilance88 | 25:49ccdc98639a | 434 | stop_sampling(); |
Vigilance88 | 24:56db31267f10 | 435 | |
Vigilance88 | 18:44905b008f44 | 436 | } |
Vigilance88 | 18:44905b008f44 | 437 | |
Vigilance88 | 18:44905b008f44 | 438 | |
Vigilance88 | 18:44905b008f44 | 439 | //Input error and Kp, Kd, Ki, output control signal |
Vigilance88 | 20:0ede3818e08e | 440 | double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev) |
vsluiter | 2:e314bb3b2d99 | 441 | { |
Vigilance88 | 20:0ede3818e08e | 442 | // Derivative |
Vigilance88 | 24:56db31267f10 | 443 | double e_der = (error-e_prev)/ CONTROL_RATE; |
Vigilance88 | 21:d6a46315d5f5 | 444 | e_der = derfilter.step(e_der); |
Vigilance88 | 21:d6a46315d5f5 | 445 | e_prev = error; |
Vigilance88 | 20:0ede3818e08e | 446 | // Integral |
Vigilance88 | 24:56db31267f10 | 447 | e_int = e_int + CONTROL_RATE * error; |
Vigilance88 | 20:0ede3818e08e | 448 | // PID |
Vigilance88 | 21:d6a46315d5f5 | 449 | return kp*error + ki*e_int + kd * e_der; |
Vigilance88 | 20:0ede3818e08e | 450 | |
Vigilance88 | 18:44905b008f44 | 451 | } |
Vigilance88 | 18:44905b008f44 | 452 | |
Vigilance88 | 20:0ede3818e08e | 453 | //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 | 454 | void control() |
Vigilance88 | 18:44905b008f44 | 455 | { |
Vigilance88 | 20:0ede3818e08e | 456 | //analyze emg (= velocity, averages?) |
Vigilance88 | 18:44905b008f44 | 457 | |
Vigilance88 | 18:44905b008f44 | 458 | //calculate reference position based on the average emg (integrate) |
Vigilance88 | 18:44905b008f44 | 459 | |
Vigilance88 | 18:44905b008f44 | 460 | //calculate error (refpos-currentpos) currentpos = forward kinematics |
Vigilance88 | 18:44905b008f44 | 461 | |
Vigilance88 | 18:44905b008f44 | 462 | //inverse kinematics (pos error to angle error) |
Vigilance88 | 18:44905b008f44 | 463 | |
Vigilance88 | 18:44905b008f44 | 464 | //PID controller |
Vigilance88 | 24:56db31267f10 | 465 | |
Vigilance88 | 24:56db31267f10 | 466 | u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1 |
Vigilance88 | 24:56db31267f10 | 467 | u2=pid(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2 |
Vigilance88 | 21:d6a46315d5f5 | 468 | |
Vigilance88 | 21:d6a46315d5f5 | 469 | keep_in_range(&u1,-1,1); //keep u between -1 and 1, sign = direction, PWM = 0-1 |
Vigilance88 | 21:d6a46315d5f5 | 470 | keep_in_range(&u2,-1,1); |
Vigilance88 | 21:d6a46315d5f5 | 471 | |
Vigilance88 | 21:d6a46315d5f5 | 472 | //send PWM and DIR to motor 1 |
Vigilance88 | 21:d6a46315d5f5 | 473 | dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below. |
Vigilance88 | 21:d6a46315d5f5 | 474 | pwm_motor1.write(abs(u1)); |
Vigilance88 | 21:d6a46315d5f5 | 475 | |
Vigilance88 | 21:d6a46315d5f5 | 476 | //send PWM and DIR to motor 2 |
Vigilance88 | 25:49ccdc98639a | 477 | dir_motor2 = u2>0 ? 1 : 0; //conditional statement, same as if else below |
Vigilance88 | 25:49ccdc98639a | 478 | pwm_motor2.write(abs(u2)); |
Vigilance88 | 21:d6a46315d5f5 | 479 | |
Vigilance88 | 21:d6a46315d5f5 | 480 | /*if(u1 > 0) |
Vigilance88 | 21:d6a46315d5f5 | 481 | { |
Vigilance88 | 21:d6a46315d5f5 | 482 | dir_motor1 = 0; |
Vigilance88 | 21:d6a46315d5f5 | 483 | else{ |
Vigilance88 | 21:d6a46315d5f5 | 484 | dir_motor1 = 1; |
Vigilance88 | 21:d6a46315d5f5 | 485 | } |
Vigilance88 | 21:d6a46315d5f5 | 486 | } |
Vigilance88 | 21:d6a46315d5f5 | 487 | pwm_motor1.write(abs(u1)); |
Vigilance88 | 21:d6a46315d5f5 | 488 | |
Vigilance88 | 21:d6a46315d5f5 | 489 | |
Vigilance88 | 21:d6a46315d5f5 | 490 | if(u2 > 0) |
Vigilance88 | 21:d6a46315d5f5 | 491 | { |
Vigilance88 | 21:d6a46315d5f5 | 492 | dir_motor1 = 1; |
Vigilance88 | 21:d6a46315d5f5 | 493 | else{ |
Vigilance88 | 21:d6a46315d5f5 | 494 | dir_motor1 = 0; |
Vigilance88 | 21:d6a46315d5f5 | 495 | } |
Vigilance88 | 21:d6a46315d5f5 | 496 | } |
Vigilance88 | 21:d6a46315d5f5 | 497 | pwm_motor1.write(abs(u2));*/ |
Vigilance88 | 21:d6a46315d5f5 | 498 | |
Vigilance88 | 18:44905b008f44 | 499 | } |
Vigilance88 | 18:44905b008f44 | 500 | |
Vigilance88 | 26:fe3a5469dd6b | 501 | void mainMenu() |
Vigilance88 | 26:fe3a5469dd6b | 502 | { |
Vigilance88 | 26:fe3a5469dd6b | 503 | //Title Box |
Vigilance88 | 26:fe3a5469dd6b | 504 | pc.putc(201); |
Vigilance88 | 26:fe3a5469dd6b | 505 | for(int j=0;j<33;j++){ |
Vigilance88 | 26:fe3a5469dd6b | 506 | pc.putc(205); |
Vigilance88 | 26:fe3a5469dd6b | 507 | } |
Vigilance88 | 26:fe3a5469dd6b | 508 | pc.putc(187); |
Vigilance88 | 26:fe3a5469dd6b | 509 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 510 | pc.putc(186); pc.printf(" BioRobotics M9 - Group 14 "); pc.putc(186); |
Vigilance88 | 26:fe3a5469dd6b | 511 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 512 | pc.putc(186); pc.printf(" Robot powered ON "); pc.putc(186); |
Vigilance88 | 26:fe3a5469dd6b | 513 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 514 | pc.putc(200); |
Vigilance88 | 26:fe3a5469dd6b | 515 | for(int k=0;k<33;k++){ |
Vigilance88 | 26:fe3a5469dd6b | 516 | pc.putc(205); |
Vigilance88 | 26:fe3a5469dd6b | 517 | } |
Vigilance88 | 26:fe3a5469dd6b | 518 | pc.putc(188); |
Vigilance88 | 26:fe3a5469dd6b | 519 | |
Vigilance88 | 26:fe3a5469dd6b | 520 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 521 | //endbox |
Vigilance88 | 26:fe3a5469dd6b | 522 | } |
Vigilance88 | 24:56db31267f10 | 523 | void caliMenu(){}; |
Vigilance88 | 24:56db31267f10 | 524 | |
Vigilance88 | 24:56db31267f10 | 525 | //Start sampling |
Vigilance88 | 24:56db31267f10 | 526 | void start_sampling(void) |
Vigilance88 | 24:56db31267f10 | 527 | { |
Vigilance88 | 24:56db31267f10 | 528 | sample_timer.attach(&sample_filter,SAMPLE_RATE); //500 Hz EMG |
Vigilance88 | 26:fe3a5469dd6b | 529 | |
Vigilance88 | 26:fe3a5469dd6b | 530 | //Debug LED will be green when sampling is active |
Vigilance88 | 26:fe3a5469dd6b | 531 | green=0; |
Vigilance88 | 25:49ccdc98639a | 532 | pc.printf("||- started sampling -|| \r\n"); |
Vigilance88 | 24:56db31267f10 | 533 | } |
Vigilance88 | 24:56db31267f10 | 534 | |
Vigilance88 | 24:56db31267f10 | 535 | //stop sampling |
Vigilance88 | 24:56db31267f10 | 536 | void stop_sampling(void) |
Vigilance88 | 24:56db31267f10 | 537 | { |
Vigilance88 | 24:56db31267f10 | 538 | sample_timer.detach(); |
Vigilance88 | 26:fe3a5469dd6b | 539 | |
Vigilance88 | 26:fe3a5469dd6b | 540 | //Debug LED will be turned off when sampling stops |
Vigilance88 | 26:fe3a5469dd6b | 541 | green=1; |
Vigilance88 | 25:49ccdc98639a | 542 | pc.printf("||- stopped sampling -|| \r\n"); |
Vigilance88 | 24:56db31267f10 | 543 | } |
Vigilance88 | 24:56db31267f10 | 544 | |
Vigilance88 | 18:44905b008f44 | 545 | //Start control |
Vigilance88 | 18:44905b008f44 | 546 | void start_control(void) |
Vigilance88 | 18:44905b008f44 | 547 | { |
Vigilance88 | 25:49ccdc98639a | 548 | control_timer.attach(&control,SAMPLE_RATE); //100 Hz control |
Vigilance88 | 26:fe3a5469dd6b | 549 | |
Vigilance88 | 26:fe3a5469dd6b | 550 | //Debug LED will be blue when control is on. If sampling and control are on -> blue + green = cyan. |
Vigilance88 | 26:fe3a5469dd6b | 551 | blue=0; |
Vigilance88 | 26:fe3a5469dd6b | 552 | pc.printf("||- started control -|| \r\n"); |
Vigilance88 | 18:44905b008f44 | 553 | } |
Vigilance88 | 18:44905b008f44 | 554 | |
Vigilance88 | 18:44905b008f44 | 555 | //stop control |
Vigilance88 | 18:44905b008f44 | 556 | void stop_control(void) |
Vigilance88 | 18:44905b008f44 | 557 | { |
Vigilance88 | 18:44905b008f44 | 558 | control_timer.detach(); |
Vigilance88 | 26:fe3a5469dd6b | 559 | |
Vigilance88 | 26:fe3a5469dd6b | 560 | //Debug LED will be off when control is off |
Vigilance88 | 26:fe3a5469dd6b | 561 | blue=1; |
Vigilance88 | 26:fe3a5469dd6b | 562 | pc.printf("||- stopped control -|| \r\n"); |
vsluiter | 2:e314bb3b2d99 | 563 | } |
vsluiter | 0:32bb76391d89 | 564 | |
Vigilance88 | 21:d6a46315d5f5 | 565 | |
Vigilance88 | 21:d6a46315d5f5 | 566 | void calibrate() |
vsluiter | 0:32bb76391d89 | 567 | { |
Vigilance88 | 21:d6a46315d5f5 | 568 | |
Vigilance88 | 21:d6a46315d5f5 | 569 | } |
tomlankhorst | 15:0da764eea774 | 570 | |
Vigilance88 | 26:fe3a5469dd6b | 571 | //Clears the putty (or other terminal) window |
Vigilance88 | 26:fe3a5469dd6b | 572 | void clearTerminal() |
Vigilance88 | 26:fe3a5469dd6b | 573 | { |
Vigilance88 | 26:fe3a5469dd6b | 574 | pc.putc(27); |
Vigilance88 | 26:fe3a5469dd6b | 575 | pc.printf("[2J"); // clear screen |
Vigilance88 | 26:fe3a5469dd6b | 576 | pc.putc(27); // ESC |
Vigilance88 | 26:fe3a5469dd6b | 577 | pc.printf("[H"); // cursor to home |
Vigilance88 | 26:fe3a5469dd6b | 578 | } |
Vigilance88 | 21:d6a46315d5f5 | 579 | |
Vigilance88 | 21:d6a46315d5f5 | 580 | //keeps input limited between min max |
Vigilance88 | 24:56db31267f10 | 581 | void keep_in_range(double * in, double min, double max) |
Vigilance88 | 18:44905b008f44 | 582 | { |
Vigilance88 | 18:44905b008f44 | 583 | *in > min ? *in < max? : *in = max: *in = min; |
vsluiter | 0:32bb76391d89 | 584 | } |