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@30:a9fdd3202ca2, 2015-10-21 (annotated)

Committer:
Vigilance88
Date:
Wed Oct 21 10:30:03 2015 +0000
Revision:
30:a9fdd3202ca2
Parent:
29:948b0b14f6be
Child:
31:7b8b8459bddc
added emg reference in comments

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 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 29:948b0b14f6be 151 //Forward and Inverse Kinematics
Vigilance88 28:743485bb51e4 152 const double l1 = 0.25; const double l2 = 0.25;
Vigilance88 28:743485bb51e4 153 double current_x; double current_y;
Vigilance88 28:743485bb51e4 154 double theta1; double theta2;
Vigilance88 28:743485bb51e4 155 double dtheta1; double dtheta2;
Vigilance88 28:743485bb51e4 156 double rpc;
Vigilance88 28:743485bb51e4 157 double x; double y;
Vigilance88 28:743485bb51e4 158 double x_error; double y_error;
Vigilance88 28:743485bb51e4 159 double costheta1; double sintheta1;
Vigilance88 28:743485bb51e4 160 double costheta2; double sintheta2;
Vigilance88 21:d6a46315d5f5 161
Vigilance88 21:d6a46315d5f5 162 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 163 ---- Filters ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 164 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 24:56db31267f10 165
Vigilance88 24:56db31267f10 166 //Using biquadFilter library
Vigilance88 24:56db31267f10 167 //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered.
Vigilance88 26:fe3a5469dd6b 168 //Biceps
Vigilance88 24:56db31267f10 169 biquadFilter highpass( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 24:56db31267f10 170 biquadFilter notch1( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 24:56db31267f10 171 biquadFilter notch2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 24:56db31267f10 172 biquadFilter lowpass( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 173
Vigilance88 26:fe3a5469dd6b 174 //Triceps
Vigilance88 25:49ccdc98639a 175 biquadFilter highpass2( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 176 biquadFilter notch1_2( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 177 biquadFilter notch2_2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 178 biquadFilter lowpass2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 179
Vigilance88 26:fe3a5469dd6b 180 //Flexor
Vigilance88 25:49ccdc98639a 181 biquadFilter highpass3( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 182 biquadFilter notch1_3( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 183 biquadFilter notch2_3( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 184 biquadFilter lowpass3( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 185
Vigilance88 26:fe3a5469dd6b 186 //Extensor
Vigilance88 25:49ccdc98639a 187 biquadFilter highpass4( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 26:fe3a5469dd6b 188 biquadFilter notch1_4( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 26:fe3a5469dd6b 189 biquadFilter notch2_4( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 190 biquadFilter lowpass4( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 191
Vigilance88 26:fe3a5469dd6b 192 //PID filter (lowpass ??? Hz)
Vigilance88 29:948b0b14f6be 193 biquadFilter derfilter( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // derivative filter
Vigilance88 24:56db31267f10 194
Vigilance88 24:56db31267f10 195 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 196 ---- DECLARE FUNCTION NAMES ------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 197 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 26:fe3a5469dd6b 198
Vigilance88 26:fe3a5469dd6b 199 void sample_filter(void); //Sampling and filtering
Vigilance88 26:fe3a5469dd6b 200 void control(); //Control - reference -> error -> pid -> motor output
Vigilance88 26:fe3a5469dd6b 201 void calibrate_emg(); //Instructions + measurement of MVC of each muscle
Vigilance88 26:fe3a5469dd6b 202 void emg_mvc(); //Helper funcion for storing MVC value
Vigilance88 26:fe3a5469dd6b 203 void calibrate_arm(void); //Calibration of the arm with limit switches
Vigilance88 26:fe3a5469dd6b 204 void start_sampling(void); //Attaches the sample_filter function to a 500Hz ticker
Vigilance88 26:fe3a5469dd6b 205 void stop_sampling(void); //Stops sample_filter
Vigilance88 26:fe3a5469dd6b 206 void start_control(void); //Attaches the control function to a 100Hz ticker
Vigilance88 26:fe3a5469dd6b 207 void stop_control(void); //Stops control function
Vigilance88 26:fe3a5469dd6b 208
Vigilance88 26:fe3a5469dd6b 209 //Keeps the input between min and max value
Vigilance88 24:56db31267f10 210 void keep_in_range(double * in, double min, double max);
Vigilance88 26:fe3a5469dd6b 211
Vigilance88 26:fe3a5469dd6b 212 //Reusable PID controller, previous and integral error need to be passed by reference
Vigilance88 21:d6a46315d5f5 213 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev);
Vigilance88 18:44905b008f44 214
Vigilance88 26:fe3a5469dd6b 215 //Menu functions
Vigilance88 21:d6a46315d5f5 216 void mainMenu();
Vigilance88 21:d6a46315d5f5 217 void caliMenu();
Vigilance88 28:743485bb51e4 218 void controlMenu();
Vigilance88 29:948b0b14f6be 219 void controlButtons();
Vigilance88 26:fe3a5469dd6b 220 void clearTerminal();
Vigilance88 28:743485bb51e4 221 void emgInstructions();
Vigilance88 28:743485bb51e4 222 void titleBox();
Vigilance88 26:fe3a5469dd6b 223
Vigilance88 21:d6a46315d5f5 224
Vigilance88 21:d6a46315d5f5 225 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 226 ---- MAIN LOOP -------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 227 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 228
Vigilance88 21:d6a46315d5f5 229 int main()
Vigilance88 21:d6a46315d5f5 230 {
Vigilance88 29:948b0b14f6be 231 pc.baud(115200); //serial baudrate
Vigilance88 30:a9fdd3202ca2 232 red=1; green=1; blue=1; //Make sure debug LEDs are off
Vigilance88 26:fe3a5469dd6b 233
Vigilance88 26:fe3a5469dd6b 234 //Set PwmOut frequency to 10k Hz
Vigilance88 28:743485bb51e4 235 //pwm_motor1.period(PWM_PERIOD);
Vigilance88 28:743485bb51e4 236 //pwm_motor2.period(PWM_PERIOD);
Vigilance88 26:fe3a5469dd6b 237
Vigilance88 26:fe3a5469dd6b 238 clearTerminal(); //Clear the putty window
Vigilance88 26:fe3a5469dd6b 239
Vigilance88 24:56db31267f10 240 // make a menu, user has to initiate next step
Vigilance88 28:743485bb51e4 241 titleBox();
Vigilance88 26:fe3a5469dd6b 242 mainMenu();
Vigilance88 25:49ccdc98639a 243 //caliMenu(); // Menu function
Vigilance88 25:49ccdc98639a 244 //calibrate_arm(); //Start Calibration
Vigilance88 25:49ccdc98639a 245
Vigilance88 27:d1814e271a95 246 //calibrate_emg();
Vigilance88 28:743485bb51e4 247
Vigilance88 30:a9fdd3202ca2 248 //set initial reference position
Vigilance88 30:a9fdd3202ca2 249 x=0.5; y=0;
Vigilance88 28:743485bb51e4 250
Vigilance88 28:743485bb51e4 251 //start_control(); //100 Hz control
Vigilance88 21:d6a46315d5f5 252
Vigilance88 21:d6a46315d5f5 253 //maybe some stop commands when a button is pressed: detach from timers.
Vigilance88 21:d6a46315d5f5 254 //stop_control();
Vigilance88 29:948b0b14f6be 255 start_sampling();
Vigilance88 29:948b0b14f6be 256 wait(60);
Vigilance88 28:743485bb51e4 257 //char c;
Vigilance88 28:743485bb51e4 258
Vigilance88 28:743485bb51e4 259
Vigilance88 28:743485bb51e4 260
Vigilance88 28:743485bb51e4 261 char command;
Vigilance88 27:d1814e271a95 262
Vigilance88 28:743485bb51e4 263 while(command != 'Q' && command != 'q')
Vigilance88 28:743485bb51e4 264 {
Vigilance88 28:743485bb51e4 265 if(pc.readable()){
Vigilance88 28:743485bb51e4 266 command = pc.getc();
Vigilance88 28:743485bb51e4 267
Vigilance88 28:743485bb51e4 268 switch(command){
Vigilance88 28:743485bb51e4 269
Vigilance88 28:743485bb51e4 270 case 'c':
Vigilance88 28:743485bb51e4 271 case 'C':
Vigilance88 28:743485bb51e4 272 pc.printf("\n\r => You chose calibration.\r\n\n");
Vigilance88 28:743485bb51e4 273 caliMenu();
Vigilance88 28:743485bb51e4 274
Vigilance88 28:743485bb51e4 275 char command2=0;
Vigilance88 28:743485bb51e4 276
Vigilance88 28:743485bb51e4 277 while(command2 != 'B' && command2 != 'b'){
Vigilance88 28:743485bb51e4 278 command2 = pc.getc();
Vigilance88 28:743485bb51e4 279 switch(command2){
Vigilance88 28:743485bb51e4 280 case 'a':
Vigilance88 28:743485bb51e4 281 case 'A':
Vigilance88 28:743485bb51e4 282 pc.printf("\n\r => Arm Calibration Starting... please wait \n\r");
Vigilance88 28:743485bb51e4 283 calibrate_arm();
Vigilance88 28:743485bb51e4 284 wait(1);
Vigilance88 28:743485bb51e4 285 caliMenu();
Vigilance88 28:743485bb51e4 286 break;
Vigilance88 28:743485bb51e4 287
Vigilance88 28:743485bb51e4 288 case 'e':
Vigilance88 28:743485bb51e4 289 case 'E':
Vigilance88 28:743485bb51e4 290 pc.printf("\n\r => EMG Calibration Starting... please wait \n\r");
Vigilance88 28:743485bb51e4 291 wait(1);
Vigilance88 28:743485bb51e4 292 emgInstructions();
Vigilance88 28:743485bb51e4 293 calibrate_emg();
Vigilance88 28:743485bb51e4 294 pc.printf("\n\r ------------------------ \n\r");
Vigilance88 28:743485bb51e4 295 pc.printf("\n\r EMG Calibration complete \n\r");
Vigilance88 28:743485bb51e4 296 pc.printf("\n\r ------------------------ \n\r");
Vigilance88 28:743485bb51e4 297 caliMenu();
Vigilance88 28:743485bb51e4 298 break;
Vigilance88 28:743485bb51e4 299
Vigilance88 28:743485bb51e4 300 case 'b':
Vigilance88 28:743485bb51e4 301 case 'B':
Vigilance88 28:743485bb51e4 302 pc.printf("\n\r => Going back to main menu.. \n\r");
Vigilance88 28:743485bb51e4 303 mainMenu();
Vigilance88 28:743485bb51e4 304 break;
Vigilance88 28:743485bb51e4 305 }//end switch
Vigilance88 28:743485bb51e4 306
Vigilance88 28:743485bb51e4 307 }//end while
Vigilance88 28:743485bb51e4 308 break;
Vigilance88 28:743485bb51e4 309 case 's':
Vigilance88 28:743485bb51e4 310 case 'S':
Vigilance88 28:743485bb51e4 311 pc.printf("=> You chose control \r\n\n");
Vigilance88 28:743485bb51e4 312 wait(1);
Vigilance88 28:743485bb51e4 313 start_sampling();
Vigilance88 28:743485bb51e4 314 wait(1);
Vigilance88 28:743485bb51e4 315 start_control();
Vigilance88 28:743485bb51e4 316 wait(1);
Vigilance88 29:948b0b14f6be 317 controlButtons();
Vigilance88 28:743485bb51e4 318 break;
Vigilance88 28:743485bb51e4 319 case 'R':
Vigilance88 28:743485bb51e4 320 red=!red;
Vigilance88 28:743485bb51e4 321 pc.printf("=> Red LED triggered \n\r");
Vigilance88 28:743485bb51e4 322 break;
Vigilance88 28:743485bb51e4 323 case 'G':
Vigilance88 28:743485bb51e4 324 green=!green;
Vigilance88 28:743485bb51e4 325 pc.printf("=> Green LED triggered \n\r");
Vigilance88 28:743485bb51e4 326 break;
Vigilance88 28:743485bb51e4 327 case 'B':
Vigilance88 28:743485bb51e4 328 blue=!blue;
Vigilance88 28:743485bb51e4 329 pc.printf("=> Blue LED triggered \n\r");
Vigilance88 28:743485bb51e4 330 break;
Vigilance88 28:743485bb51e4 331 case 'q':
Vigilance88 28:743485bb51e4 332 case 'Q':
Vigilance88 28:743485bb51e4 333
Vigilance88 28:743485bb51e4 334 break;
Vigilance88 28:743485bb51e4 335 default:
Vigilance88 28:743485bb51e4 336 pc.printf("=> Invalid Input \n\r");
Vigilance88 28:743485bb51e4 337 break;
Vigilance88 28:743485bb51e4 338 } //end switch
Vigilance88 28:743485bb51e4 339 } // end if pc readable
Vigilance88 28:743485bb51e4 340
Vigilance88 28:743485bb51e4 341 } // end while loop
Vigilance88 28:743485bb51e4 342
Vigilance88 28:743485bb51e4 343
Vigilance88 28:743485bb51e4 344
Vigilance88 28:743485bb51e4 345 //When end of while loop reached (user chose quit program) - detach all timers and stop motors.
Vigilance88 28:743485bb51e4 346
Vigilance88 28:743485bb51e4 347 pc.printf("\r\n------------------------------ \n\r");
Vigilance88 28:743485bb51e4 348 pc.printf("Program Offline \n\r");
Vigilance88 28:743485bb51e4 349 pc.printf("Reset to start\r\n");
Vigilance88 28:743485bb51e4 350 pc.printf("------------------------------ \n\r");
Vigilance88 28:743485bb51e4 351 }
Vigilance88 28:743485bb51e4 352 //end of main
Vigilance88 28:743485bb51e4 353
Vigilance88 28:743485bb51e4 354 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 355 ---- FUNCTIONS -------------------------------------------------------------------------------------------------------
Vigilance88 28:743485bb51e4 356 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 28:743485bb51e4 357
Vigilance88 29:948b0b14f6be 358 void controlButtons()
Vigilance88 28:743485bb51e4 359 {
Vigilance88 28:743485bb51e4 360 controlMenu();
Vigilance88 28:743485bb51e4 361 char c=0;
Vigilance88 28:743485bb51e4 362 while(c != 'Q' && c != 'q') {
Vigilance88 27:d1814e271a95 363
Vigilance88 27:d1814e271a95 364 if( pc.readable() ){
Vigilance88 27:d1814e271a95 365 c = pc.getc();
Vigilance88 27:d1814e271a95 366 switch (c)
Vigilance88 27:d1814e271a95 367 {
Vigilance88 27:d1814e271a95 368 case '1' :
Vigilance88 27:d1814e271a95 369 x = x + 0.01;
Vigilance88 27:d1814e271a95 370 //controlMenu();
Vigilance88 27:d1814e271a95 371 //running=false;
Vigilance88 27:d1814e271a95 372 break;
Vigilance88 27:d1814e271a95 373
Vigilance88 27:d1814e271a95 374 case '2' :
Vigilance88 27:d1814e271a95 375 x-=0.01;
Vigilance88 27:d1814e271a95 376 //controlMenu();
Vigilance88 27:d1814e271a95 377 //running=false;
Vigilance88 27:d1814e271a95 378 break;
Vigilance88 27:d1814e271a95 379
Vigilance88 27:d1814e271a95 380 case '3' :
Vigilance88 27:d1814e271a95 381 y+=0.01;
Vigilance88 27:d1814e271a95 382 //controlMenu();
Vigilance88 27:d1814e271a95 383 //running=false;
Vigilance88 27:d1814e271a95 384 break;
Vigilance88 27:d1814e271a95 385
Vigilance88 27:d1814e271a95 386
Vigilance88 27:d1814e271a95 387 case '4' :
Vigilance88 27:d1814e271a95 388 y-=0.01;
Vigilance88 27:d1814e271a95 389 //controlMenu();
Vigilance88 27:d1814e271a95 390 //running=false;
Vigilance88 27:d1814e271a95 391 break;
Vigilance88 27:d1814e271a95 392
Vigilance88 27:d1814e271a95 393 case 'q' :
Vigilance88 28:743485bb51e4 394 case 'Q' :
Vigilance88 28:743485bb51e4 395 pc.printf("=> Quitting control... \r\n"); wait(1);
Vigilance88 28:743485bb51e4 396 stop_sampling();
Vigilance88 28:743485bb51e4 397 stop_control();
Vigilance88 28:743485bb51e4 398 pwm_motor1=0; pwm_motor2=0;
Vigilance88 28:743485bb51e4 399 pc.printf("Sampling and Control detached \n\r"); wait(1);
Vigilance88 28:743485bb51e4 400 pc.printf("Returning to Main Menu \r\n\n"); wait(1);
Vigilance88 28:743485bb51e4 401 mainMenu();
Vigilance88 28:743485bb51e4 402
Vigilance88 27:d1814e271a95 403 //running = false;
Vigilance88 27:d1814e271a95 404 break;
Vigilance88 27:d1814e271a95 405 }//end switch
Vigilance88 28:743485bb51e4 406 if(c!='q' && c!='Q'){
Vigilance88 27:d1814e271a95 407 pc.printf("Reference position: %f and %f \r\n",x,y);
Vigilance88 27:d1814e271a95 408 pc.printf("Current position: %f and %f \r\n",current_x,current_y);
Vigilance88 27:d1814e271a95 409 pc.printf("Current angles: %f and %f \r\n",theta1,theta2);
Vigilance88 27:d1814e271a95 410 pc.printf("Error in angles: %f and %f \r\n",dtheta1,dtheta2);
Vigilance88 27:d1814e271a95 411 pc.printf("PID output: %f and %f \r\n",u1,u2);
Vigilance88 27:d1814e271a95 412 pc.printf("----------------------------------------\r\n\n");
Vigilance88 27:d1814e271a95 413 }
Vigilance88 28:743485bb51e4 414 }
Vigilance88 27:d1814e271a95 415 //end if
Vigilance88 21:d6a46315d5f5 416 }
Vigilance88 21:d6a46315d5f5 417 //end of while loop
Vigilance88 30:a9fdd3202ca2 418 }
Vigilance88 18:44905b008f44 419
Vigilance88 21:d6a46315d5f5 420 //Sample and Filter
Vigilance88 21:d6a46315d5f5 421 void sample_filter(void)
Vigilance88 18:44905b008f44 422 {
Vigilance88 21:d6a46315d5f5 423 double emg_biceps = emg1.read(); //Biceps
Vigilance88 21:d6a46315d5f5 424 double emg_triceps = emg2.read(); //Triceps
Vigilance88 21:d6a46315d5f5 425 double emg_flexor = emg3.read(); //Flexor
Vigilance88 21:d6a46315d5f5 426 double emg_extens = emg4.read(); //Extensor
Vigilance88 21:d6a46315d5f5 427
Vigilance88 21:d6a46315d5f5 428 //Filter: high-pass -> notch -> rectify -> lowpass or moving average
Vigilance88 22:1ba637601dc3 429 // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad?
Vigilance88 25:49ccdc98639a 430 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 431 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 432 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 433 biceps_power = abs(biceps_power); triceps_power = abs(triceps_power); flexor_power = abs(flexor_power); extens_power = abs(extens_power);
Vigilance88 25:49ccdc98639a 434 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 435
Vigilance88 29:948b0b14f6be 436 scope.set(0,emg_biceps);
Vigilance88 29:948b0b14f6be 437 scope.set(1,biceps_power);
Vigilance88 29:948b0b14f6be 438 scope.set(2,biceps_power);
Vigilance88 29:948b0b14f6be 439 scope.set(3,biceps_power);
Vigilance88 29:948b0b14f6be 440 scope.send();
Vigilance88 21:d6a46315d5f5 441 /* alternative for lowpass filter: moving average
Vigilance88 21:d6a46315d5f5 442 window=30; //30 samples
Vigilance88 21:d6a46315d5f5 443 int i=0; //buffer index
Vigilance88 21:d6a46315d5f5 444 bicepsbuffer[i]=biceps_power //fill array
Vigilance88 21:d6a46315d5f5 445
Vigilance88 21:d6a46315d5f5 446 i++;
Vigilance88 21:d6a46315d5f5 447 if(i==window){
Vigilance88 21:d6a46315d5f5 448 i=0;
Vigilance88 21:d6a46315d5f5 449 }
Vigilance88 21:d6a46315d5f5 450
Vigilance88 24:56db31267f10 451 for(int x = 0; x < window; x++){
Vigilance88 24:56db31267f10 452 avg1 += bicepsbuffer[x];
Vigilance88 24:56db31267f10 453 }
Vigilance88 24:56db31267f10 454 avg1 = avg1/window;
Vigilance88 21:d6a46315d5f5 455 */
Vigilance88 21:d6a46315d5f5 456
Vigilance88 18:44905b008f44 457 }
Vigilance88 18:44905b008f44 458
Vigilance88 27:d1814e271a95 459
Vigilance88 18:44905b008f44 460 //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position.
Vigilance88 19:0a3ee31dcdb4 461 void calibrate_arm(void)
Vigilance88 19:0a3ee31dcdb4 462 {
Vigilance88 28:743485bb51e4 463 pc.printf("Calibrate_arm() entered\r\n");
Vigilance88 26:fe3a5469dd6b 464 bool calibrating = true;
Vigilance88 26:fe3a5469dd6b 465 bool done1 = false;
Vigilance88 26:fe3a5469dd6b 466 bool done2 = false;
Vigilance88 27:d1814e271a95 467 pc.printf("To start arm calibration, press any key =>");
Vigilance88 27:d1814e271a95 468 pc.getc();
Vigilance88 27:d1814e271a95 469 pc.printf("\r\n Calibrating... \r\n");
Vigilance88 26:fe3a5469dd6b 470 dir_motor1=1; //cw
Vigilance88 27:d1814e271a95 471 dir_motor2=0; //cw
Vigilance88 27:d1814e271a95 472 pwm_motor1.write(0.2); //move upper arm slowly cw
Vigilance88 27:d1814e271a95 473
Vigilance88 26:fe3a5469dd6b 474
Vigilance88 26:fe3a5469dd6b 475 while(calibrating){
Vigilance88 27:d1814e271a95 476 red=0; blue=0; //Debug light is purple during arm calibration
Vigilance88 27:d1814e271a95 477
Vigilance88 27:d1814e271a95 478 if(done1==true){
Vigilance88 27:d1814e271a95 479 pwm_motor2.write(0.2); //move forearm slowly cw
Vigilance88 27:d1814e271a95 480 }
Vigilance88 27:d1814e271a95 481
Vigilance88 26:fe3a5469dd6b 482 //when limit switches are hit, stop motor and reset encoder
Vigilance88 26:fe3a5469dd6b 483 if(shoulder_limit.read() < 0.5){ //polling
Vigilance88 26:fe3a5469dd6b 484 pwm_motor1.write(0);
Vigilance88 26:fe3a5469dd6b 485 Encoder1.reset();
Vigilance88 26:fe3a5469dd6b 486 done1 = true;
Vigilance88 27:d1814e271a95 487 pc.printf("Shoulder Limit hit - shutting down motor 1\r\n");
Vigilance88 26:fe3a5469dd6b 488 }
Vigilance88 26:fe3a5469dd6b 489 if(elbow_limit.read() < 0.5){ //polling
Vigilance88 26:fe3a5469dd6b 490 pwm_motor2.write(0);
Vigilance88 26:fe3a5469dd6b 491 Encoder2.reset();
Vigilance88 26:fe3a5469dd6b 492 done2 = true;
Vigilance88 27:d1814e271a95 493 pc.printf("Elbow Limit hit - shutting down motor 2. \r\n");
Vigilance88 26:fe3a5469dd6b 494 }
Vigilance88 26:fe3a5469dd6b 495 if(done1 && done2){
Vigilance88 26:fe3a5469dd6b 496 calibrating=false; //Leave while loop when both limits are reached
Vigilance88 26:fe3a5469dd6b 497 red=1; blue=1; //Turn debug light off when calibration complete
Vigilance88 26:fe3a5469dd6b 498 }
Vigilance88 27:d1814e271a95 499
Vigilance88 27:d1814e271a95 500 }//end while
Vigilance88 25:49ccdc98639a 501
Vigilance88 27:d1814e271a95 502 //TO DO:
Vigilance88 27:d1814e271a95 503 //mechanical angle limits -> pulses. If 40 degrees -> counts = floor( 40 / (2*pi/4200) )
Vigilance88 27:d1814e271a95 504 //Encoder1.setPulses(100); //edited QEI library: added setPulses()
Vigilance88 27:d1814e271a95 505 //Encoder2.setPulses(100); //edited QEI library: added setPulses()
Vigilance88 27:d1814e271a95 506 //pc.printf("Elbow Limit hit - shutting down motor 2. Current pulsecount: %i \r\n",Encoder1.getPulses());
Vigilance88 27:d1814e271a95 507 wait(1);
Vigilance88 28:743485bb51e4 508 pc.printf("\n\r ------------------------ \n\r");
Vigilance88 27:d1814e271a95 509 pc.printf("Arm Calibration Complete\r\n");
Vigilance88 28:743485bb51e4 510 pc.printf(" ------------------------ \n\r");
Vigilance88 26:fe3a5469dd6b 511
Vigilance88 19:0a3ee31dcdb4 512 }
Vigilance88 19:0a3ee31dcdb4 513
Vigilance88 21:d6a46315d5f5 514 //EMG Maximum Voluntary Contraction measurement
Vigilance88 25:49ccdc98639a 515 void emg_mvc()
Vigilance88 25:49ccdc98639a 516 {
Vigilance88 24:56db31267f10 517 //double sampletime=0;
Vigilance88 24:56db31267f10 518 //sampletime=+SAMPLE_RATE;
Vigilance88 24:56db31267f10 519 //
Vigilance88 24:56db31267f10 520 // if(sampletime<5)
Vigilance88 25:49ccdc98639a 521 //int muscle=1;
Vigilance88 25:49ccdc98639a 522 //for(int index=0; index<2500;index++){ //measure 5 seconds@500hz = 2500 samples
Vigilance88 25:49ccdc98639a 523
Vigilance88 24:56db31267f10 524 if(muscle==1){
Vigilance88 24:56db31267f10 525
Vigilance88 24:56db31267f10 526 if(biceps_power>bicepsMVC){
Vigilance88 26:fe3a5469dd6b 527 //printf("+ ");
Vigilance88 26:fe3a5469dd6b 528 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 21:d6a46315d5f5 529 bicepsMVC=biceps_power;
Vigilance88 24:56db31267f10 530 }
Vigilance88 25:49ccdc98639a 531 else
Vigilance88 25:49ccdc98639a 532 printf("- ");
Vigilance88 24:56db31267f10 533 }
Vigilance88 24:56db31267f10 534
Vigilance88 24:56db31267f10 535 if(muscle==2){
Vigilance88 24:56db31267f10 536
Vigilance88 24:56db31267f10 537 if(triceps_power>tricepsMVC){
Vigilance88 26:fe3a5469dd6b 538 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 539 tricepsMVC=triceps_power;
Vigilance88 24:56db31267f10 540 }
Vigilance88 26:fe3a5469dd6b 541 else
Vigilance88 26:fe3a5469dd6b 542 printf("- ");
Vigilance88 24:56db31267f10 543 }
Vigilance88 24:56db31267f10 544
Vigilance88 24:56db31267f10 545 if(muscle==3){
Vigilance88 24:56db31267f10 546
Vigilance88 24:56db31267f10 547 if(flexor_power>flexorMVC){
Vigilance88 26:fe3a5469dd6b 548 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 549 flexorMVC=flexor_power;
Vigilance88 24:56db31267f10 550 }
Vigilance88 26:fe3a5469dd6b 551 else
Vigilance88 26:fe3a5469dd6b 552 printf("- ");
Vigilance88 24:56db31267f10 553 }
Vigilance88 24:56db31267f10 554
Vigilance88 24:56db31267f10 555 if(muscle==4){
Vigilance88 24:56db31267f10 556
Vigilance88 24:56db31267f10 557 if(extens_power>extensMVC){
Vigilance88 26:fe3a5469dd6b 558 printf("%s+ %s",GREEN_,_GREEN);
Vigilance88 24:56db31267f10 559 extensMVC=extens_power;
Vigilance88 24:56db31267f10 560 }
Vigilance88 26:fe3a5469dd6b 561 else
Vigilance88 26:fe3a5469dd6b 562 printf("- ");
Vigilance88 24:56db31267f10 563 }
Vigilance88 25:49ccdc98639a 564
Vigilance88 25:49ccdc98639a 565 //}
Vigilance88 25:49ccdc98639a 566 calibrate_time = calibrate_time + 0.002;
Vigilance88 25:49ccdc98639a 567
Vigilance88 25:49ccdc98639a 568
Vigilance88 25:49ccdc98639a 569
Vigilance88 25:49ccdc98639a 570 }
Vigilance88 25:49ccdc98639a 571
Vigilance88 25:49ccdc98639a 572 //EMG calibration
Vigilance88 25:49ccdc98639a 573 void calibrate_emg()
Vigilance88 25:49ccdc98639a 574 {
Vigilance88 25:49ccdc98639a 575 Ticker timer;
Vigilance88 25:49ccdc98639a 576
Vigilance88 25:49ccdc98639a 577 pc.printf("Testcode calibration \r\n");
Vigilance88 25:49ccdc98639a 578 wait(1);
Vigilance88 25:49ccdc98639a 579 pc.printf("+ means current sample is higher than stored MVC\r\n");
Vigilance88 25:49ccdc98639a 580 pc.printf("- means current sample is lower than stored MVC\r\n");
Vigilance88 26:fe3a5469dd6b 581 wait(2);
Vigilance88 28:743485bb51e4 582 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 583 pc.printf(" Biceps is first.\r\n ");
Vigilance88 28:743485bb51e4 584 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 585 wait(1);
Vigilance88 25:49ccdc98639a 586 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 587 char input;
Vigilance88 25:49ccdc98639a 588 input=pc.getc();
Vigilance88 25:49ccdc98639a 589 pc.putc(input);
Vigilance88 25:49ccdc98639a 590 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 591 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 592 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 593
Vigilance88 25:49ccdc98639a 594 start_sampling();
Vigilance88 25:49ccdc98639a 595 muscle=1;
Vigilance88 27:d1814e271a95 596 timer.attach(&emg_mvc,SAMPLE_RATE);
Vigilance88 25:49ccdc98639a 597 wait(5);
Vigilance88 25:49ccdc98639a 598 timer.detach();
Vigilance88 26:fe3a5469dd6b 599
Vigilance88 26:fe3a5469dd6b 600 pc.printf("\r\n Measurement complete."); wait(1);
Vigilance88 26:fe3a5469dd6b 601 pc.printf("\r\n Biceps MVC = %f \r\n",bicepsMVC); wait(1);
Vigilance88 26:fe3a5469dd6b 602 pc.printf("Calibrate_emg() exited \r\n"); wait(1);
Vigilance88 26:fe3a5469dd6b 603 pc.printf("Measured time: %f seconds \r\n\n",calibrate_time);
Vigilance88 25:49ccdc98639a 604 calibrate_time=0;
Vigilance88 25:49ccdc98639a 605
Vigilance88 25:49ccdc98639a 606 // Triceps:
Vigilance88 26:fe3a5469dd6b 607 muscle=2;
Vigilance88 28:743485bb51e4 608 pc.printf("\r\n----------------\r\n ");
Vigilance88 28:743485bb51e4 609 pc.printf(" Triceps is next.\r\n ");
Vigilance88 28:743485bb51e4 610 pc.printf("----------------\r\n ");
Vigilance88 28:743485bb51e4 611 wait(1);
Vigilance88 28:743485bb51e4 612
Vigilance88 25:49ccdc98639a 613 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 614 input=pc.getc();
Vigilance88 25:49ccdc98639a 615 pc.putc(input);
Vigilance88 25:49ccdc98639a 616 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 617 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 618 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 619 start_sampling();
Vigilance88 25:49ccdc98639a 620 muscle=1;
Vigilance88 25:49ccdc98639a 621 timer.attach(&emg_mvc,0.002);
Vigilance88 25:49ccdc98639a 622 wait(5);
Vigilance88 25:49ccdc98639a 623 timer.detach();
Vigilance88 25:49ccdc98639a 624 pc.printf("\r\n Triceps MVC = %f \r\n",tricepsMVC);
Vigilance88 25:49ccdc98639a 625
Vigilance88 25:49ccdc98639a 626 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 25:49ccdc98639a 627 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 25:49ccdc98639a 628 calibrate_time=0;
Vigilance88 25:49ccdc98639a 629
Vigilance88 25:49ccdc98639a 630 //Flexor:
Vigilance88 26:fe3a5469dd6b 631 muscle=3;
Vigilance88 25:49ccdc98639a 632 //Extensor:
Vigilance88 26:fe3a5469dd6b 633 muscle=4;
Vigilance88 25:49ccdc98639a 634
Vigilance88 26:fe3a5469dd6b 635 //Stop sampling, detach ticker
Vigilance88 25:49ccdc98639a 636 stop_sampling();
Vigilance88 24:56db31267f10 637
Vigilance88 18:44905b008f44 638 }
Vigilance88 18:44905b008f44 639
Vigilance88 18:44905b008f44 640
Vigilance88 18:44905b008f44 641 //Input error and Kp, Kd, Ki, output control signal
Vigilance88 20:0ede3818e08e 642 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev)
vsluiter 2:e314bb3b2d99 643 {
Vigilance88 20:0ede3818e08e 644 // Derivative
Vigilance88 24:56db31267f10 645 double e_der = (error-e_prev)/ CONTROL_RATE;
Vigilance88 21:d6a46315d5f5 646 e_der = derfilter.step(e_der);
Vigilance88 21:d6a46315d5f5 647 e_prev = error;
Vigilance88 20:0ede3818e08e 648 // Integral
Vigilance88 24:56db31267f10 649 e_int = e_int + CONTROL_RATE * error;
Vigilance88 20:0ede3818e08e 650 // PID
Vigilance88 21:d6a46315d5f5 651 return kp*error + ki*e_int + kd * e_der;
Vigilance88 20:0ede3818e08e 652
Vigilance88 18:44905b008f44 653 }
Vigilance88 18:44905b008f44 654
Vigilance88 20:0ede3818e08e 655 //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 656 void control()
Vigilance88 18:44905b008f44 657 {
Vigilance88 30:a9fdd3202ca2 658 /*
Vigilance88 30:a9fdd3202ca2 659
Vigilance88 30:a9fdd3202ca2 660 //normalize emg to value between 0-1
Vigilance88 30:a9fdd3202ca2 661 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 662 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 663 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 664 biceps = (biceps - bicepsmin) / (bicepsmvc - bicepsmin)
Vigilance88 30:a9fdd3202ca2 665
Vigilance88 30:a9fdd3202ca2 666 //analyze emg (= velocity)
Vigilance88 30:a9fdd3202ca2 667 if (biceps>triceps && biceps > 0.1)
Vigilance88 30:a9fdd3202ca2 668 xdir = 0;
Vigilance88 30:a9fdd3202ca2 669 xpower = biceps;
Vigilance88 30:a9fdd3202ca2 670 else if (triceps>biceps && triceps>0.1)
Vigilance88 30:a9fdd3202ca2 671 xdir = 1;
Vigilance88 30:a9fdd3202ca2 672 xpower = triceps;
Vigilance88 30:a9fdd3202ca2 673 else
Vigilance88 30:a9fdd3202ca2 674 xpower=0;
Vigilance88 30:a9fdd3202ca2 675
Vigilance88 30:a9fdd3202ca2 676 if (flexor>extensor && flexor > 0.1){
Vigilance88 30:a9fdd3202ca2 677 ydir = 0;
Vigilance88 30:a9fdd3202ca2 678 ypower = flexor;
Vigilance88 30:a9fdd3202ca2 679 }
Vigilance88 30:a9fdd3202ca2 680 else if (extensor>flexor && extensor > 0.1){
Vigilance88 30:a9fdd3202ca2 681 ydir = 1;
Vigilance88 30:a9fdd3202ca2 682 ypower = extensor;
Vigilance88 30:a9fdd3202ca2 683 }
Vigilance88 30:a9fdd3202ca2 684 else
Vigilance88 30:a9fdd3202ca2 685 ypower = 0;
Vigilance88 30:a9fdd3202ca2 686
Vigilance88 30:a9fdd3202ca2 687 //We have power: the longer a signal is active, the further you go. So integrate to determine reference position
Vigilance88 30:a9fdd3202ca2 688 dx = xpower * CONTROL_RATE;
Vigilance88 30:a9fdd3202ca2 689 dy = ypower * CONTROL_RATE;
Vigilance88 18:44905b008f44 690
Vigilance88 30:a9fdd3202ca2 691 //But: direction! Sum dx and dy but make sure xdir and ydir are considered.
Vigilance88 30:a9fdd3202ca2 692 if (xdir>0)
Vigilance88 30:a9fdd3202ca2 693 x += dx;
Vigilance88 30:a9fdd3202ca2 694 else
Vigilance88 30:a9fdd3202ca2 695 x += -dx;
Vigilance88 30:a9fdd3202ca2 696
Vigilance88 30:a9fdd3202ca2 697 if (ydir>0)
Vigilance88 30:a9fdd3202ca2 698 y += dy;
Vigilance88 30:a9fdd3202ca2 699 else
Vigilance88 30:a9fdd3202ca2 700 y += -dy;
Vigilance88 30:a9fdd3202ca2 701
Vigilance88 30:a9fdd3202ca2 702 //now we have x and y -> reference position.
Vigilance88 30:a9fdd3202ca2 703
Vigilance88 30:a9fdd3202ca2 704 //Set limits to the error!
Vigilance88 30:a9fdd3202ca2 705 //lower limit: Negative error not allowed to go further.
Vigilance88 30:a9fdd3202ca2 706 if (theta1 < limitangle)
Vigilance88 30:a9fdd3202ca2 707 if (error1 > 0)
Vigilance88 30:a9fdd3202ca2 708 error1 = error1;
Vigilance88 30:a9fdd3202ca2 709 else
Vigilance88 30:a9fdd3202ca2 710 error1 = 0;
Vigilance88 30:a9fdd3202ca2 711 if (theta2 < limitangle)
Vigilance88 30:a9fdd3202ca2 712 same as above
Vigilance88 30:a9fdd3202ca2 713
Vigilance88 30:a9fdd3202ca2 714 //upper limit: Positive error not allowed to go further
Vigilance88 30:a9fdd3202ca2 715 if (theta1 > limitangle)
Vigilance88 30:a9fdd3202ca2 716 if (error1 < 0 )
Vigilance88 30:a9fdd3202ca2 717 error1 = error1;
Vigilance88 30:a9fdd3202ca2 718 else
Vigilance88 30:a9fdd3202ca2 719 error1 = 0;
Vigilance88 30:a9fdd3202ca2 720 if (theta2 > limitangle)
Vigilance88 30:a9fdd3202ca2 721 same as above
Vigilance88 18:44905b008f44 722
Vigilance88 30:a9fdd3202ca2 723
Vigilance88 30:a9fdd3202ca2 724 */
Vigilance88 30:a9fdd3202ca2 725
Vigilance88 27:d1814e271a95 726 //Current position - Encoder counts -> current angle -> Forward Kinematics
Vigilance88 27:d1814e271a95 727 rpc=(2*PI)/ENCODER1_CPR; //radians per count (resolution) - 2pi divided by 4200
Vigilance88 27:d1814e271a95 728 theta1 = Encoder1.getPulses() * rpc; //multiply resolution with number of counts
Vigilance88 27:d1814e271a95 729 theta2 = Encoder2.getPulses() * rpc;
Vigilance88 27:d1814e271a95 730 current_x = l1 * cos(theta1) + l2 * cos(theta1 + theta2);
Vigilance88 27:d1814e271a95 731 current_y = l1 * sin(theta1) + l2 * sin(theta1 + theta2);
Vigilance88 27:d1814e271a95 732
Vigilance88 27:d1814e271a95 733
Vigilance88 18:44905b008f44 734 //calculate error (refpos-currentpos) currentpos = forward kinematics
Vigilance88 27:d1814e271a95 735 x_error = x - current_x;
Vigilance88 27:d1814e271a95 736 y_error = y - current_y;
Vigilance88 27:d1814e271a95 737
Vigilance88 27:d1814e271a95 738
Vigilance88 27:d1814e271a95 739 //inverse kinematics (refpos to refangle)
Vigilance88 18:44905b008f44 740
Vigilance88 27:d1814e271a95 741 costheta2 = (pow(x,2) + pow(y,2) - pow(l1,2) - pow(l2,2)) / (2*l1*l2) ;
Vigilance88 30:a9fdd3202ca2 742 sintheta2 = sqrt( abs( 1 - pow(costheta2,2) ) );
Vigilance88 27:d1814e271a95 743
Vigilance88 27:d1814e271a95 744
Vigilance88 27:d1814e271a95 745 dtheta2 = atan2(sintheta2,costheta2);
Vigilance88 27:d1814e271a95 746
Vigilance88 27:d1814e271a95 747 costheta1 = ( x * (l1 + l2 * costheta2) + y * l2 * sintheta2 ) / ( pow(x,2) + pow(y,2) );
Vigilance88 30:a9fdd3202ca2 748 sintheta1 = sqrt( abs( 1 - pow(costheta1,2) ) );
Vigilance88 27:d1814e271a95 749
Vigilance88 27:d1814e271a95 750 dtheta1 = atan2(sintheta1,costheta1);
Vigilance88 27:d1814e271a95 751
Vigilance88 27:d1814e271a95 752
Vigilance88 27:d1814e271a95 753 //Angle error
Vigilance88 27:d1814e271a95 754 m1_error = dtheta1-theta1;
Vigilance88 27:d1814e271a95 755 m2_error = dtheta2-theta2;
Vigilance88 27:d1814e271a95 756
Vigilance88 18:44905b008f44 757
Vigilance88 18:44905b008f44 758 //PID controller
Vigilance88 24:56db31267f10 759
Vigilance88 24:56db31267f10 760 u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1
Vigilance88 24:56db31267f10 761 u2=pid(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2
Vigilance88 21:d6a46315d5f5 762
Vigilance88 27:d1814e271a95 763 keep_in_range(&u1,-0.6,0.6); //keep u between -1 and 1, sign = direction, PWM = 0-1
Vigilance88 27:d1814e271a95 764 keep_in_range(&u2,-0.6,0.6);
Vigilance88 21:d6a46315d5f5 765
Vigilance88 21:d6a46315d5f5 766 //send PWM and DIR to motor 1
Vigilance88 21:d6a46315d5f5 767 dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below.
Vigilance88 21:d6a46315d5f5 768 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 769
Vigilance88 21:d6a46315d5f5 770 //send PWM and DIR to motor 2
Vigilance88 27:d1814e271a95 771 dir_motor2 = u2>0 ? 0 : 1; //conditional statement, same as if else below
Vigilance88 25:49ccdc98639a 772 pwm_motor2.write(abs(u2));
Vigilance88 21:d6a46315d5f5 773
Vigilance88 21:d6a46315d5f5 774 /*if(u1 > 0)
Vigilance88 21:d6a46315d5f5 775 {
Vigilance88 21:d6a46315d5f5 776 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 777 else{
Vigilance88 21:d6a46315d5f5 778 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 779 }
Vigilance88 21:d6a46315d5f5 780 }
Vigilance88 21:d6a46315d5f5 781 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 782
Vigilance88 21:d6a46315d5f5 783
Vigilance88 21:d6a46315d5f5 784 if(u2 > 0)
Vigilance88 21:d6a46315d5f5 785 {
Vigilance88 21:d6a46315d5f5 786 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 787 else{
Vigilance88 21:d6a46315d5f5 788 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 789 }
Vigilance88 21:d6a46315d5f5 790 }
Vigilance88 21:d6a46315d5f5 791 pwm_motor1.write(abs(u2));*/
Vigilance88 21:d6a46315d5f5 792
Vigilance88 18:44905b008f44 793 }
Vigilance88 18:44905b008f44 794
Vigilance88 26:fe3a5469dd6b 795 void mainMenu()
Vigilance88 26:fe3a5469dd6b 796 {
Vigilance88 28:743485bb51e4 797 //Title Box
Vigilance88 26:fe3a5469dd6b 798 pc.putc(201);
Vigilance88 26:fe3a5469dd6b 799 for(int j=0;j<33;j++){
Vigilance88 26:fe3a5469dd6b 800 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 801 }
Vigilance88 26:fe3a5469dd6b 802 pc.putc(187);
Vigilance88 26:fe3a5469dd6b 803 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 804 pc.putc(186); pc.printf(" Main Menu "); pc.putc(186);
Vigilance88 26:fe3a5469dd6b 805 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 806 pc.putc(200);
Vigilance88 26:fe3a5469dd6b 807 for(int k=0;k<33;k++){
Vigilance88 26:fe3a5469dd6b 808 pc.putc(205);
Vigilance88 26:fe3a5469dd6b 809 }
Vigilance88 26:fe3a5469dd6b 810 pc.putc(188);
Vigilance88 26:fe3a5469dd6b 811
Vigilance88 26:fe3a5469dd6b 812 pc.printf("\n\r");
Vigilance88 26:fe3a5469dd6b 813 //endbox
Vigilance88 28:743485bb51e4 814 wait(1);
Vigilance88 28:743485bb51e4 815 pc.printf("[C]alibration\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 816 pc.printf("[S]tart Control with buttons\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 817 pc.printf("[Q]uit Robot Program\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 818 pc.printf("[R]ed LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 819 pc.printf("[G]reen LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 820 pc.printf("[B]lue LED\r\n"); wait(0.2);
Vigilance88 28:743485bb51e4 821 pc.printf("Please make a choice => \r\n");
Vigilance88 26:fe3a5469dd6b 822 }
Vigilance88 24:56db31267f10 823
Vigilance88 24:56db31267f10 824 //Start sampling
Vigilance88 24:56db31267f10 825 void start_sampling(void)
Vigilance88 24:56db31267f10 826 {
Vigilance88 24:56db31267f10 827 sample_timer.attach(&sample_filter,SAMPLE_RATE); //500 Hz EMG
Vigilance88 26:fe3a5469dd6b 828
Vigilance88 26:fe3a5469dd6b 829 //Debug LED will be green when sampling is active
Vigilance88 26:fe3a5469dd6b 830 green=0;
Vigilance88 25:49ccdc98639a 831 pc.printf("||- started sampling -|| \r\n");
Vigilance88 24:56db31267f10 832 }
Vigilance88 24:56db31267f10 833
Vigilance88 24:56db31267f10 834 //stop sampling
Vigilance88 24:56db31267f10 835 void stop_sampling(void)
Vigilance88 24:56db31267f10 836 {
Vigilance88 24:56db31267f10 837 sample_timer.detach();
Vigilance88 26:fe3a5469dd6b 838
Vigilance88 26:fe3a5469dd6b 839 //Debug LED will be turned off when sampling stops
Vigilance88 26:fe3a5469dd6b 840 green=1;
Vigilance88 25:49ccdc98639a 841 pc.printf("||- stopped sampling -|| \r\n");
Vigilance88 24:56db31267f10 842 }
Vigilance88 24:56db31267f10 843
Vigilance88 18:44905b008f44 844 //Start control
Vigilance88 18:44905b008f44 845 void start_control(void)
Vigilance88 18:44905b008f44 846 {
Vigilance88 27:d1814e271a95 847 control_timer.attach(&control,CONTROL_RATE); //100 Hz control
Vigilance88 26:fe3a5469dd6b 848
Vigilance88 26:fe3a5469dd6b 849 //Debug LED will be blue when control is on. If sampling and control are on -> blue + green = cyan.
Vigilance88 26:fe3a5469dd6b 850 blue=0;
Vigilance88 26:fe3a5469dd6b 851 pc.printf("||- started control -|| \r\n");
Vigilance88 18:44905b008f44 852 }
Vigilance88 18:44905b008f44 853
Vigilance88 18:44905b008f44 854 //stop control
Vigilance88 18:44905b008f44 855 void stop_control(void)
Vigilance88 18:44905b008f44 856 {
Vigilance88 18:44905b008f44 857 control_timer.detach();
Vigilance88 26:fe3a5469dd6b 858
Vigilance88 26:fe3a5469dd6b 859 //Debug LED will be off when control is off
Vigilance88 26:fe3a5469dd6b 860 blue=1;
Vigilance88 26:fe3a5469dd6b 861 pc.printf("||- stopped control -|| \r\n");
vsluiter 2:e314bb3b2d99 862 }
vsluiter 0:32bb76391d89 863
Vigilance88 21:d6a46315d5f5 864
Vigilance88 21:d6a46315d5f5 865 void calibrate()
vsluiter 0:32bb76391d89 866 {
Vigilance88 21:d6a46315d5f5 867
Vigilance88 21:d6a46315d5f5 868 }
tomlankhorst 15:0da764eea774 869
Vigilance88 26:fe3a5469dd6b 870 //Clears the putty (or other terminal) window
Vigilance88 26:fe3a5469dd6b 871 void clearTerminal()
Vigilance88 26:fe3a5469dd6b 872 {
Vigilance88 26:fe3a5469dd6b 873 pc.putc(27);
Vigilance88 26:fe3a5469dd6b 874 pc.printf("[2J"); // clear screen
Vigilance88 26:fe3a5469dd6b 875 pc.putc(27); // ESC
Vigilance88 26:fe3a5469dd6b 876 pc.printf("[H"); // cursor to home
Vigilance88 26:fe3a5469dd6b 877 }
Vigilance88 21:d6a46315d5f5 878
Vigilance88 30:a9fdd3202ca2 879
Vigilance88 30:a9fdd3202ca2 880 void controlMenu()
Vigilance88 30:a9fdd3202ca2 881 {
Vigilance88 30:a9fdd3202ca2 882 //Title Box
Vigilance88 30:a9fdd3202ca2 883 pc.putc(201);
Vigilance88 30:a9fdd3202ca2 884 for(int j=0;j<33;j++){
Vigilance88 30:a9fdd3202ca2 885 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 886 }
Vigilance88 30:a9fdd3202ca2 887 pc.putc(187);
Vigilance88 30:a9fdd3202ca2 888 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 889 pc.putc(186); pc.printf(" Control Menu "); pc.putc(186);
Vigilance88 30:a9fdd3202ca2 890 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 891 pc.putc(200);
Vigilance88 30:a9fdd3202ca2 892 for(int k=0;k<33;k++){
Vigilance88 30:a9fdd3202ca2 893 pc.putc(205);
Vigilance88 30:a9fdd3202ca2 894 }
Vigilance88 30:a9fdd3202ca2 895 pc.putc(188);
Vigilance88 30:a9fdd3202ca2 896
Vigilance88 30:a9fdd3202ca2 897 pc.printf("\n\r");
Vigilance88 30:a9fdd3202ca2 898 //endbox
Vigilance88 30:a9fdd3202ca2 899 pc.printf("1) Move Arm Left\r\n");
Vigilance88 30:a9fdd3202ca2 900 pc.printf("2) Move Arm Right\r\n");
Vigilance88 30:a9fdd3202ca2 901 pc.printf("3) Move Arm Up\r\n");
Vigilance88 30:a9fdd3202ca2 902 pc.printf("4) Move Arm Down\r\n");
Vigilance88 30:a9fdd3202ca2 903 pc.printf("q) Exit \r\n");
Vigilance88 30:a9fdd3202ca2 904 pc.printf("Please make a choice => \r\n");
Vigilance88 30:a9fdd3202ca2 905 }
Vigilance88 30:a9fdd3202ca2 906
Vigilance88 28:743485bb51e4 907 void caliMenu(){
Vigilance88 28:743485bb51e4 908
Vigilance88 28:743485bb51e4 909 //Title Box
Vigilance88 28:743485bb51e4 910 pc.putc(201);
Vigilance88 28:743485bb51e4 911 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 912 pc.putc(205);
Vigilance88 28:743485bb51e4 913 }
Vigilance88 28:743485bb51e4 914 pc.putc(187);
Vigilance88 28:743485bb51e4 915 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 916 pc.putc(186); pc.printf(" Calibration Menu "); pc.putc(186);
Vigilance88 28:743485bb51e4 917 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 918 pc.putc(200);
Vigilance88 28:743485bb51e4 919 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 920 pc.putc(205);
Vigilance88 28:743485bb51e4 921 }
Vigilance88 28:743485bb51e4 922 pc.putc(188);
Vigilance88 28:743485bb51e4 923
Vigilance88 28:743485bb51e4 924 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 925 //endbox
Vigilance88 28:743485bb51e4 926
Vigilance88 28:743485bb51e4 927 pc.printf("[A]rm Calibration\r\n");
Vigilance88 28:743485bb51e4 928 pc.printf("[E]MG Calibration\r\n");
Vigilance88 28:743485bb51e4 929 pc.printf("[B]ack to main menu\r\n");
Vigilance88 28:743485bb51e4 930 pc.printf("Please make a choice => \r\n");
Vigilance88 28:743485bb51e4 931
Vigilance88 28:743485bb51e4 932 }
Vigilance88 28:743485bb51e4 933
Vigilance88 28:743485bb51e4 934 void titleBox(){
Vigilance88 28:743485bb51e4 935
Vigilance88 28:743485bb51e4 936 //Title Box
Vigilance88 28:743485bb51e4 937 pc.putc(201);
Vigilance88 28:743485bb51e4 938 for(int j=0;j<33;j++){
Vigilance88 28:743485bb51e4 939 pc.putc(205);
Vigilance88 28:743485bb51e4 940 }
Vigilance88 28:743485bb51e4 941 pc.putc(187);
Vigilance88 28:743485bb51e4 942 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 943 pc.putc(186); pc.printf(" BioRobotics M9 - Group 14 "); pc.putc(186);
Vigilance88 28:743485bb51e4 944 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 945 pc.putc(186); pc.printf(" Robot powered ON "); pc.putc(186);
Vigilance88 28:743485bb51e4 946 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 947 pc.putc(200);
Vigilance88 28:743485bb51e4 948 for(int k=0;k<33;k++){
Vigilance88 28:743485bb51e4 949 pc.putc(205);
Vigilance88 28:743485bb51e4 950 }
Vigilance88 28:743485bb51e4 951 pc.putc(188);
Vigilance88 28:743485bb51e4 952
Vigilance88 28:743485bb51e4 953 pc.printf("\n\r");
Vigilance88 28:743485bb51e4 954 //endbox
Vigilance88 28:743485bb51e4 955 }
Vigilance88 28:743485bb51e4 956
Vigilance88 28:743485bb51e4 957 void emgInstructions(){
Vigilance88 28:743485bb51e4 958 pc.printf("\r\nPrepare the skin before applying electrodes: \n\r"); wait(1);
Vigilance88 28:743485bb51e4 959 pc.printf("-> Shave electrode locations if needed and clean with alcohol \n\r"); wait(1);
Vigilance88 28:743485bb51e4 960 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 961 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 962 pc.printf("You will need to flex the mentioned muscle as much as possible for 5 seconds \n\r"); wait(1);
Vigilance88 28:743485bb51e4 963 pc.printf("The measurement will begin once you confirm you're ready [Hit any key] \n\r \n\r"); wait(1);
Vigilance88 28:743485bb51e4 964 }
Vigilance88 28:743485bb51e4 965
Vigilance88 21:d6a46315d5f5 966 //keeps input limited between min max
Vigilance88 24:56db31267f10 967 void keep_in_range(double * in, double min, double max)
Vigilance88 18:44905b008f44 968 {
Vigilance88 18:44905b008f44 969 *in > min ? *in < max? : *in = max: *in = min;
vsluiter 0:32bb76391d89 970 }