group14 - k9 / Mbed 2 deprecated testPID

testcode pid

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of testPID by Martijn Kern

main.cpp@25:49ccdc98639a, 2015-10-16 (annotated)

Committer:
Vigilance88
Date:
Fri Oct 16 13:46:39 2015 +0000
Revision:
25:49ccdc98639a
Parent:
24:56db31267f10
Child:
26:fe3a5469dd6b
calibrate emg toegevoegd

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 21:d6a46315d5f5 7
Vigilance88 21:d6a46315d5f5 8 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 9 -------------------------------- BIOROBOTICS GROUP 14 ----------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 10 --------------------------------------------------------------------------------------------------------------------*/
vsluiter 0:32bb76391d89 11
Vigilance88 18:44905b008f44 12 //Define important constants in memory
Vigilance88 21:d6a46315d5f5 13 #define PI 3.14159265
Vigilance88 18:44905b008f44 14 #define SAMPLE_RATE 0.002 //500 Hz EMG sample rate
Vigilance88 18:44905b008f44 15 #define CONTROL_RATE 0.01 //100 Hz Control rate
Vigilance88 21:d6a46315d5f5 16 #define ENCODER1_CPR 4200 //encoders have 64 (X4), 32 (X2) counts per revolution of motor shaft
Vigilance88 21:d6a46315d5f5 17 #define ENCODER2_CPR 4200 //gearbox 1:131.25 -> 4200 counts per revolution of the output shaft (X2),
Vigilance88 18:44905b008f44 18
Vigilance88 21:d6a46315d5f5 19 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 20 ---- OBJECTS ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 21 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 22
Vigilance88 18:44905b008f44 23 MODSERIAL pc(USBTX,USBRX); //serial communication
Vigilance88 18:44905b008f44 24 DigitalIn button(PTA1); //buttons
Vigilance88 18:44905b008f44 25 DigitalIn button1(PTB9); //
Vigilance88 18:44905b008f44 26
Vigilance88 25:49ccdc98639a 27 //Debug legs
Vigilance88 25:49ccdc98639a 28 DigitalOut red(LED_RED);
Vigilance88 25:49ccdc98639a 29 DigitalOut green(LED_GREEN);
Vigilance88 25:49ccdc98639a 30 DigitalOut blue(LED_BLUE);
Vigilance88 25:49ccdc98639a 31
Vigilance88 21:d6a46315d5f5 32 //EMG shields
Vigilance88 18:44905b008f44 33 AnalogIn emg1(A0); //Analog input - Biceps EMG
Vigilance88 18:44905b008f44 34 AnalogIn emg2(A1); //Analog input - Triceps EMG
Vigilance88 18:44905b008f44 35 AnalogIn emg3(A2); //Analog input - Flexor EMG
Vigilance88 18:44905b008f44 36 AnalogIn emg4(A3); //Analog input - Extensor EMG
Vigilance88 18:44905b008f44 37
Vigilance88 18:44905b008f44 38 Ticker sample_timer; //Ticker for EMG sampling
Vigilance88 18:44905b008f44 39 Ticker control_timer; //Ticker for control loop
Vigilance88 18:44905b008f44 40 HIDScope scope(4); //Scope 4 channels
Vigilance88 18:44905b008f44 41
Vigilance88 18:44905b008f44 42 // AnalogIn potmeter(A4); //potmeters
Vigilance88 18:44905b008f44 43 // AnalogIn potmeter2(A5); //
Vigilance88 18:44905b008f44 44
Vigilance88 21:d6a46315d5f5 45 //Encoders
Vigilance88 18:44905b008f44 46 QEI Encoder1(D13,D12,NC,32); //channel A and B from encoder, counts = Encoder.getPulses();
Vigilance88 18:44905b008f44 47 QEI Encoder2(D10,D9,NC,32); //channel A and B from encoder,
Vigilance88 21:d6a46315d5f5 48
Vigilance88 21:d6a46315d5f5 49 //Speed and Direction of motors - D4 (dir) and D5(speed) = motor 2, D7(dir) and D6(speed) = motor 1
Vigilance88 21:d6a46315d5f5 50 PwmOut pwm_motor1(D6); //PWM motor 1
Vigilance88 21:d6a46315d5f5 51 PwmOut pwm_motor2(D5); //PWM motor 2
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 25:49ccdc98639a 56 DigitalIn shoulder_limit(PTA4); //using FRDM buttons
Vigilance88 25:49ccdc98639a 57 DigitalIn elbow_limit(PTC6); //using FRDM buttons
Vigilance88 24:56db31267f10 58
Vigilance88 21:d6a46315d5f5 59
Vigilance88 21:d6a46315d5f5 60 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 61 ---- DECLARE VARIABLES -----------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 62 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 63
Vigilance88 21:d6a46315d5f5 64 //EMG variables
Vigilance88 24:56db31267f10 65 double emg_biceps; double biceps_power; double bicepsMVC = 0;
Vigilance88 24:56db31267f10 66 double emg_triceps; double triceps_power; double tricepsMVC = 0;
Vigilance88 24:56db31267f10 67 double emg_flexor; double flexor_power; double flexorMVC = 0;
Vigilance88 24:56db31267f10 68 double emg_extens; double extens_power; double extensMVC = 0;
Vigilance88 24:56db31267f10 69
Vigilance88 25:49ccdc98639a 70 int muscle;
Vigilance88 25:49ccdc98639a 71 double calibrate_time;
Vigilance88 25:49ccdc98639a 72
Vigilance88 24:56db31267f10 73 //PID variables
Vigilance88 24:56db31267f10 74 double u1; double u2; //Output of PID controller (PWM value for motor 1 and 2)
Vigilance88 24:56db31267f10 75 double m1_error=0; double m1_e_int=0; double m1_e_prev=0; //Error, integrated error, previous error
Vigilance88 24:56db31267f10 76 const double m1_kp=0; const double m1_ki=0; const double m1_kd=0; //Proportional, integral and derivative gains.
Vigilance88 24:56db31267f10 77
Vigilance88 24:56db31267f10 78 double m2_error=0; double m2_e_int=0; double m2_e_prev=0; //Error, integrated error, previous error
Vigilance88 24:56db31267f10 79 const double m2_kp=0; const double m2_ki=0; const double m2_kd=0; //Proportional, integral and derivative gains.
Vigilance88 24:56db31267f10 80
Vigilance88 24:56db31267f10 81 //highpass filter 20 Hz
Vigilance88 24:56db31267f10 82 const double high_b0 = 0.956543225556877;
Vigilance88 24:56db31267f10 83 const double high_b1 = -1.91308645113754;
Vigilance88 24:56db31267f10 84 const double high_b2 = 0.956543225556877;
Vigilance88 24:56db31267f10 85 const double high_a1 = -1.91197067426073;
Vigilance88 24:56db31267f10 86 const double high_a2 = 0.9149758348014341;
Vigilance88 24:56db31267f10 87
Vigilance88 24:56db31267f10 88 //notchfilter 50Hz
Vigilance88 24:56db31267f10 89 /* ** Primary Filter (H1)**
Vigilance88 24:56db31267f10 90 Filter Arithmetic = Floating Point (Double Precision)
Vigilance88 24:56db31267f10 91 Architecture = IIR
Vigilance88 24:56db31267f10 92 Response = Bandstop
Vigilance88 24:56db31267f10 93 Method = Butterworth
Vigilance88 24:56db31267f10 94 Biquad = Yes
Vigilance88 24:56db31267f10 95 Stable = Yes
Vigilance88 24:56db31267f10 96 Sampling Frequency = 500Hz
Vigilance88 24:56db31267f10 97 Filter Order = 2
Vigilance88 24:56db31267f10 98
Vigilance88 24:56db31267f10 99 Band Frequencies (Hz) Att/Ripple (dB) Biquad #1 Biquad #2
Vigilance88 24:56db31267f10 100
Vigilance88 24:56db31267f10 101 1 0, 48 0.001 Gain = 1.000000 Gain = 0.973674
Vigilance88 24:56db31267f10 102 2 49, 51 -60.000 B = [ 1.00000000000, -1.61816176147, 1.00000000000] B = [ 1.00000000000, -1.61816176147, 1.00000000000]
Vigilance88 24:56db31267f10 103 3 52, 250 0.001 A = [ 1.00000000000, -1.58071559235, 0.97319685401] A = [ 1.00000000000, -1.61244708381, 0.97415116257]
Vigilance88 24:56db31267f10 104 */
Vigilance88 24:56db31267f10 105
Vigilance88 24:56db31267f10 106 //biquad 1
Vigilance88 24:56db31267f10 107 const double notch1gain = 1.000000;
Vigilance88 24:56db31267f10 108 const double notch1_b0 = 1;
Vigilance88 24:56db31267f10 109 const double notch1_b1 = -1.61816176147 * notch1gain;
Vigilance88 24:56db31267f10 110 const double notch1_b2 = 1.00000000000 * notch1gain;
Vigilance88 24:56db31267f10 111 const double notch1_a1 = -1.58071559235 * notch1gain;
Vigilance88 24:56db31267f10 112 const double notch1_a2 = 0.97319685401 * notch1gain;
Vigilance88 24:56db31267f10 113
Vigilance88 24:56db31267f10 114 //biquad 2
Vigilance88 24:56db31267f10 115 const double notch2gain = 0.973674;
Vigilance88 24:56db31267f10 116 const double notch2_b0 = 1 * notch2gain;
Vigilance88 24:56db31267f10 117 const double notch2_b1 = -1.61816176147 * notch2gain;
Vigilance88 24:56db31267f10 118 const double notch2_b2 = 1.00000000000 * notch2gain;
Vigilance88 24:56db31267f10 119 const double notch2_a1 = -1.61244708381 * notch2gain;
Vigilance88 24:56db31267f10 120 const double notch2_a2 = 0.97415116257 * notch2gain;
Vigilance88 24:56db31267f10 121
Vigilance88 24:56db31267f10 122 //lowpass filter 7 Hz - envelop
Vigilance88 24:56db31267f10 123 const double low_b0 = 0.000119046743110057;
Vigilance88 24:56db31267f10 124 const double low_b1 = 0.000238093486220118;
Vigilance88 24:56db31267f10 125 const double low_b2 = 0.000119046743110057;
Vigilance88 24:56db31267f10 126 const double low_a1 = -1.968902268531908;
Vigilance88 24:56db31267f10 127 const double low_a2 = 0.9693784555043481;
Vigilance88 21:d6a46315d5f5 128
Vigilance88 21:d6a46315d5f5 129
Vigilance88 21:d6a46315d5f5 130
Vigilance88 21:d6a46315d5f5 131 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 132 ---- Filters ---------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 133 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 24:56db31267f10 134
Vigilance88 24:56db31267f10 135 //Using biquadFilter library
Vigilance88 24:56db31267f10 136 //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered.
Vigilance88 24:56db31267f10 137 biquadFilter highpass( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 24:56db31267f10 138 biquadFilter notch1( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 24:56db31267f10 139 biquadFilter notch2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 24:56db31267f10 140 biquadFilter lowpass( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 141
Vigilance88 25:49ccdc98639a 142 biquadFilter highpass2( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 25:49ccdc98639a 143 biquadFilter notch1_2( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 25:49ccdc98639a 144 biquadFilter notch2_2( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 145 biquadFilter lowpass2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 146
Vigilance88 25:49ccdc98639a 147 biquadFilter highpass3( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 25:49ccdc98639a 148 biquadFilter notch1_3( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 25:49ccdc98639a 149 biquadFilter notch2_3( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 150 biquadFilter lowpass3( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 151
Vigilance88 25:49ccdc98639a 152 biquadFilter highpass4( high_a1 , high_a2 , high_b0 , high_b1 , high_b2 ); // removes DC and movement artefacts
Vigilance88 25:49ccdc98639a 153 biquadFilter notch1_4( notch1_a1 , notch1_a2 , notch1_b0 , notch1_b1 , notch1_b2 ); // removes 49-51 Hz power interference
Vigilance88 25:49ccdc98639a 154 biquadFilter notch2_4( notch2_a1 , notch2_a2 , notch2_b0 , notch2_b1 , notch2_b2 ); //
Vigilance88 25:49ccdc98639a 155 biquadFilter lowpass4( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // EMG envelope
Vigilance88 25:49ccdc98639a 156
Vigilance88 24:56db31267f10 157 biquadFilter derfilter( 0.0009446914586925257 , 0.0018893829173850514 , 0.0009446914586925257 , -1.911196288237583 , 0.914975054072353 ); // derivative filter
Vigilance88 24:56db31267f10 158
Vigilance88 24:56db31267f10 159 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 160 ---- DECLARE FUNCTION NAMES ------------------------------------------------------------------------------------------
Vigilance88 24:56db31267f10 161 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 24:56db31267f10 162 void keep_in_range(double * in, double min, double max);
Vigilance88 21:d6a46315d5f5 163 void sample_filter(void);
Vigilance88 21:d6a46315d5f5 164 void control();
Vigilance88 25:49ccdc98639a 165 void calibrate_emg();
Vigilance88 25:49ccdc98639a 166 void emg_mvc();
Vigilance88 21:d6a46315d5f5 167 void calibrate_arm(void);
Vigilance88 21:d6a46315d5f5 168 void start_sampling(void);
Vigilance88 21:d6a46315d5f5 169 void stop_sampling(void);
Vigilance88 21:d6a46315d5f5 170 void start_control(void);
Vigilance88 21:d6a46315d5f5 171 void stop_control(void);
Vigilance88 21:d6a46315d5f5 172 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev);
Vigilance88 18:44905b008f44 173
Vigilance88 21:d6a46315d5f5 174 void mainMenu();
Vigilance88 21:d6a46315d5f5 175 void caliMenu();
Vigilance88 21:d6a46315d5f5 176
Vigilance88 21:d6a46315d5f5 177 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 178 ---- MAIN LOOP -------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 179 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 21:d6a46315d5f5 180
Vigilance88 21:d6a46315d5f5 181 int main()
Vigilance88 21:d6a46315d5f5 182 {
Vigilance88 24:56db31267f10 183 pc.baud(115200);
Vigilance88 25:49ccdc98639a 184 red=1; green=1; blue=1;
Vigilance88 24:56db31267f10 185 // make a menu, user has to initiate next step
Vigilance88 25:49ccdc98639a 186 //mainMenu();
Vigilance88 25:49ccdc98639a 187 //caliMenu(); // Menu function
Vigilance88 25:49ccdc98639a 188 //calibrate_arm(); //Start Calibration
Vigilance88 25:49ccdc98639a 189
Vigilance88 25:49ccdc98639a 190 calibrate_emg();
Vigilance88 25:49ccdc98639a 191
Vigilance88 25:49ccdc98639a 192 //start_control(); //100 Hz control
Vigilance88 21:d6a46315d5f5 193
Vigilance88 21:d6a46315d5f5 194 //maybe some stop commands when a button is pressed: detach from timers.
Vigilance88 21:d6a46315d5f5 195 //stop_control();
Vigilance88 21:d6a46315d5f5 196 //stop_sampling();
Vigilance88 21:d6a46315d5f5 197
Vigilance88 21:d6a46315d5f5 198 while(1) {
Vigilance88 25:49ccdc98639a 199
Vigilance88 21:d6a46315d5f5 200 }
Vigilance88 21:d6a46315d5f5 201 //end of while loop
Vigilance88 21:d6a46315d5f5 202 }
Vigilance88 21:d6a46315d5f5 203 //end of main
Vigilance88 21:d6a46315d5f5 204
Vigilance88 21:d6a46315d5f5 205 /*--------------------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 206 ---- FUNCTIONS -------------------------------------------------------------------------------------------------------
Vigilance88 21:d6a46315d5f5 207 --------------------------------------------------------------------------------------------------------------------*/
Vigilance88 18:44905b008f44 208
Vigilance88 21:d6a46315d5f5 209 //Sample and Filter
Vigilance88 21:d6a46315d5f5 210 void sample_filter(void)
Vigilance88 18:44905b008f44 211 {
Vigilance88 21:d6a46315d5f5 212 double emg_biceps = emg1.read(); //Biceps
Vigilance88 21:d6a46315d5f5 213 double emg_triceps = emg2.read(); //Triceps
Vigilance88 21:d6a46315d5f5 214 double emg_flexor = emg3.read(); //Flexor
Vigilance88 21:d6a46315d5f5 215 double emg_extens = emg4.read(); //Extensor
Vigilance88 21:d6a46315d5f5 216
Vigilance88 21:d6a46315d5f5 217 //Filter: high-pass -> notch -> rectify -> lowpass or moving average
Vigilance88 22:1ba637601dc3 218 // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad?
Vigilance88 25:49ccdc98639a 219 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 220 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 221 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 222 biceps_power = abs(biceps_power); triceps_power = abs(triceps_power); flexor_power = abs(flexor_power); extens_power = abs(extens_power);
Vigilance88 25:49ccdc98639a 223 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 224
Vigilance88 21:d6a46315d5f5 225
Vigilance88 21:d6a46315d5f5 226 /* alternative for lowpass filter: moving average
Vigilance88 21:d6a46315d5f5 227 window=30; //30 samples
Vigilance88 21:d6a46315d5f5 228 int i=0; //buffer index
Vigilance88 21:d6a46315d5f5 229 bicepsbuffer[i]=biceps_power //fill array
Vigilance88 21:d6a46315d5f5 230
Vigilance88 21:d6a46315d5f5 231 i++;
Vigilance88 21:d6a46315d5f5 232 if(i==window){
Vigilance88 21:d6a46315d5f5 233 i=0;
Vigilance88 21:d6a46315d5f5 234 }
Vigilance88 21:d6a46315d5f5 235
Vigilance88 24:56db31267f10 236 for(int x = 0; x < window; x++){
Vigilance88 24:56db31267f10 237 avg1 += bicepsbuffer[x];
Vigilance88 24:56db31267f10 238 }
Vigilance88 24:56db31267f10 239 avg1 = avg1/window;
Vigilance88 21:d6a46315d5f5 240 */
Vigilance88 21:d6a46315d5f5 241
Vigilance88 18:44905b008f44 242 }
Vigilance88 18:44905b008f44 243
Vigilance88 18:44905b008f44 244 //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position.
Vigilance88 19:0a3ee31dcdb4 245 void calibrate_arm(void)
Vigilance88 19:0a3ee31dcdb4 246 {
Vigilance88 25:49ccdc98639a 247 //const double hit = 0.5;
Vigilance88 22:1ba637601dc3 248 dir_motor1=1; //ccw
Vigilance88 22:1ba637601dc3 249 dir_motor2=1; //ccw
Vigilance88 25:49ccdc98639a 250 pwm_motor1.write(0.2f); //move upper arm slowly ccw
Vigilance88 25:49ccdc98639a 251 pwm_motor2.write(0.2f); //move forearm slowly ccw
Vigilance88 25:49ccdc98639a 252
Vigilance88 25:49ccdc98639a 253 if(shoulder_limit.read() < 0.5){ //when limit switches are hit, stop motor and reset encoder
Vigilance88 25:49ccdc98639a 254 pwm_motor1.write(0);
Vigilance88 25:49ccdc98639a 255 Encoder1.reset();
Vigilance88 25:49ccdc98639a 256 }
Vigilance88 25:49ccdc98639a 257 if(elbow_limit.read() < 0.5){
Vigilance88 25:49ccdc98639a 258 pwm_motor2.write(0);
Vigilance88 25:49ccdc98639a 259 Encoder2.reset();
Vigilance88 25:49ccdc98639a 260 }
Vigilance88 25:49ccdc98639a 261
Vigilance88 25:49ccdc98639a 262 /* while(shoulder_limit != hit){
Vigilance88 22:1ba637601dc3 263 pwm_motor1.write(0.4);
Vigilance88 24:56db31267f10 264 }
Vigilance88 24:56db31267f10 265 Encoder1.reset();
Vigilance88 24:56db31267f10 266
Vigilance88 24:56db31267f10 267 while(elbow_limit != hit){
Vigilance88 22:1ba637601dc3 268 pwm_motor2.write(0.4);
Vigilance88 22:1ba637601dc3 269 }
Vigilance88 24:56db31267f10 270 Encoder2.reset();
Vigilance88 25:49ccdc98639a 271 */
Vigilance88 19:0a3ee31dcdb4 272 }
Vigilance88 19:0a3ee31dcdb4 273
Vigilance88 21:d6a46315d5f5 274 //EMG Maximum Voluntary Contraction measurement
Vigilance88 25:49ccdc98639a 275 void emg_mvc()
Vigilance88 25:49ccdc98639a 276 {
Vigilance88 24:56db31267f10 277 //double sampletime=0;
Vigilance88 24:56db31267f10 278 //sampletime=+SAMPLE_RATE;
Vigilance88 24:56db31267f10 279 //
Vigilance88 24:56db31267f10 280 // if(sampletime<5)
Vigilance88 25:49ccdc98639a 281 //int muscle=1;
Vigilance88 25:49ccdc98639a 282 //for(int index=0; index<2500;index++){ //measure 5 seconds@500hz = 2500 samples
Vigilance88 25:49ccdc98639a 283
Vigilance88 24:56db31267f10 284 if(muscle==1){
Vigilance88 24:56db31267f10 285
Vigilance88 24:56db31267f10 286 if(biceps_power>bicepsMVC){
Vigilance88 25:49ccdc98639a 287 printf("+ ");
Vigilance88 21:d6a46315d5f5 288 bicepsMVC=biceps_power;
Vigilance88 24:56db31267f10 289 }
Vigilance88 25:49ccdc98639a 290 else
Vigilance88 25:49ccdc98639a 291 printf("- ");
Vigilance88 24:56db31267f10 292 }
Vigilance88 24:56db31267f10 293
Vigilance88 24:56db31267f10 294 if(muscle==2){
Vigilance88 24:56db31267f10 295
Vigilance88 24:56db31267f10 296 if(triceps_power>tricepsMVC){
Vigilance88 24:56db31267f10 297 tricepsMVC=triceps_power;
Vigilance88 24:56db31267f10 298 }
Vigilance88 24:56db31267f10 299 }
Vigilance88 24:56db31267f10 300
Vigilance88 24:56db31267f10 301 if(muscle==3){
Vigilance88 24:56db31267f10 302
Vigilance88 24:56db31267f10 303 if(flexor_power>flexorMVC){
Vigilance88 24:56db31267f10 304 flexorMVC=flexor_power;
Vigilance88 24:56db31267f10 305 }
Vigilance88 24:56db31267f10 306 }
Vigilance88 24:56db31267f10 307
Vigilance88 24:56db31267f10 308 if(muscle==4){
Vigilance88 24:56db31267f10 309
Vigilance88 24:56db31267f10 310 if(extens_power>extensMVC){
Vigilance88 24:56db31267f10 311 extensMVC=extens_power;
Vigilance88 24:56db31267f10 312 }
Vigilance88 24:56db31267f10 313 }
Vigilance88 25:49ccdc98639a 314
Vigilance88 25:49ccdc98639a 315 //}
Vigilance88 25:49ccdc98639a 316 calibrate_time = calibrate_time + 0.002;
Vigilance88 25:49ccdc98639a 317
Vigilance88 25:49ccdc98639a 318
Vigilance88 25:49ccdc98639a 319
Vigilance88 25:49ccdc98639a 320 }
Vigilance88 25:49ccdc98639a 321
Vigilance88 25:49ccdc98639a 322 //EMG calibration
Vigilance88 25:49ccdc98639a 323 void calibrate_emg()
Vigilance88 25:49ccdc98639a 324 {
Vigilance88 25:49ccdc98639a 325 Ticker timer;
Vigilance88 25:49ccdc98639a 326
Vigilance88 25:49ccdc98639a 327 pc.printf("|-- Robot Started --| \r\n");
Vigilance88 25:49ccdc98639a 328 pc.printf("Testcode calibration \r\n");
Vigilance88 25:49ccdc98639a 329 wait(1);
Vigilance88 25:49ccdc98639a 330 pc.printf("+ means current sample is higher than stored MVC\r\n");
Vigilance88 25:49ccdc98639a 331 pc.printf("- means current sample is lower than stored MVC\r\n");
Vigilance88 25:49ccdc98639a 332 wait(3);
Vigilance88 25:49ccdc98639a 333 pc.printf(" Biceps is first. "); wait(1);
Vigilance88 25:49ccdc98639a 334 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 335 char input;
Vigilance88 25:49ccdc98639a 336 input=pc.getc();
Vigilance88 25:49ccdc98639a 337 pc.putc(input);
Vigilance88 25:49ccdc98639a 338 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 339 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 340 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 341
Vigilance88 25:49ccdc98639a 342 start_sampling();
Vigilance88 25:49ccdc98639a 343 muscle=1;
Vigilance88 25:49ccdc98639a 344 timer.attach(&emg_mvc,0.002);
Vigilance88 25:49ccdc98639a 345 wait(5);
Vigilance88 25:49ccdc98639a 346 timer.detach();
Vigilance88 25:49ccdc98639a 347 pc.printf("\r\n MVC = %f \r\n",bicepsMVC);
Vigilance88 25:49ccdc98639a 348
Vigilance88 25:49ccdc98639a 349 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 25:49ccdc98639a 350 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 25:49ccdc98639a 351 calibrate_time=0;
Vigilance88 25:49ccdc98639a 352
Vigilance88 25:49ccdc98639a 353 // Triceps:
Vigilance88 25:49ccdc98639a 354 pc.printf(" Triceps is next "); wait(1);
Vigilance88 25:49ccdc98639a 355 pc.printf(" Press any key to begin... "); wait(1);
Vigilance88 25:49ccdc98639a 356 input=pc.getc();
Vigilance88 25:49ccdc98639a 357 pc.putc(input);
Vigilance88 25:49ccdc98639a 358 pc.printf(" \r\n Starting in 3... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 359 pc.printf(" \r\n Starting in 2... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 360 pc.printf(" \r\n Starting in 1... \r\n"); wait(1);
Vigilance88 25:49ccdc98639a 361 start_sampling();
Vigilance88 25:49ccdc98639a 362 muscle=1;
Vigilance88 25:49ccdc98639a 363 timer.attach(&emg_mvc,0.002);
Vigilance88 25:49ccdc98639a 364 wait(5);
Vigilance88 25:49ccdc98639a 365 timer.detach();
Vigilance88 25:49ccdc98639a 366 pc.printf("\r\n Triceps MVC = %f \r\n",tricepsMVC);
Vigilance88 25:49ccdc98639a 367
Vigilance88 25:49ccdc98639a 368 pc.printf("Calibrate_emg() exited \r\n");
Vigilance88 25:49ccdc98639a 369 pc.printf("Measured time: %f seconds \r\n",calibrate_time);
Vigilance88 25:49ccdc98639a 370 calibrate_time=0;
Vigilance88 25:49ccdc98639a 371
Vigilance88 25:49ccdc98639a 372 //Flexor:
Vigilance88 25:49ccdc98639a 373
Vigilance88 25:49ccdc98639a 374 //Extensor:
Vigilance88 25:49ccdc98639a 375
Vigilance88 25:49ccdc98639a 376 stop_sampling();
Vigilance88 24:56db31267f10 377
Vigilance88 18:44905b008f44 378 }
Vigilance88 18:44905b008f44 379
Vigilance88 18:44905b008f44 380
Vigilance88 18:44905b008f44 381 //Input error and Kp, Kd, Ki, output control signal
Vigilance88 20:0ede3818e08e 382 double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev)
vsluiter 2:e314bb3b2d99 383 {
Vigilance88 20:0ede3818e08e 384 // Derivative
Vigilance88 24:56db31267f10 385 double e_der = (error-e_prev)/ CONTROL_RATE;
Vigilance88 21:d6a46315d5f5 386 e_der = derfilter.step(e_der);
Vigilance88 21:d6a46315d5f5 387 e_prev = error;
Vigilance88 20:0ede3818e08e 388 // Integral
Vigilance88 24:56db31267f10 389 e_int = e_int + CONTROL_RATE * error;
Vigilance88 20:0ede3818e08e 390 // PID
Vigilance88 21:d6a46315d5f5 391 return kp*error + ki*e_int + kd * e_der;
Vigilance88 20:0ede3818e08e 392
Vigilance88 18:44905b008f44 393 }
Vigilance88 18:44905b008f44 394
Vigilance88 20:0ede3818e08e 395 //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 396 void control()
Vigilance88 18:44905b008f44 397 {
Vigilance88 20:0ede3818e08e 398 //analyze emg (= velocity, averages?)
Vigilance88 18:44905b008f44 399
Vigilance88 18:44905b008f44 400 //calculate reference position based on the average emg (integrate)
Vigilance88 18:44905b008f44 401
Vigilance88 18:44905b008f44 402 //calculate error (refpos-currentpos) currentpos = forward kinematics
Vigilance88 18:44905b008f44 403
Vigilance88 18:44905b008f44 404 //inverse kinematics (pos error to angle error)
Vigilance88 18:44905b008f44 405
Vigilance88 18:44905b008f44 406 //PID controller
Vigilance88 24:56db31267f10 407
Vigilance88 24:56db31267f10 408 u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1
Vigilance88 24:56db31267f10 409 u2=pid(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2
Vigilance88 21:d6a46315d5f5 410
Vigilance88 21:d6a46315d5f5 411 keep_in_range(&u1,-1,1); //keep u between -1 and 1, sign = direction, PWM = 0-1
Vigilance88 21:d6a46315d5f5 412 keep_in_range(&u2,-1,1);
Vigilance88 21:d6a46315d5f5 413
Vigilance88 21:d6a46315d5f5 414 //send PWM and DIR to motor 1
Vigilance88 21:d6a46315d5f5 415 dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below.
Vigilance88 21:d6a46315d5f5 416 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 417
Vigilance88 21:d6a46315d5f5 418 //send PWM and DIR to motor 2
Vigilance88 25:49ccdc98639a 419 dir_motor2 = u2>0 ? 1 : 0; //conditional statement, same as if else below
Vigilance88 25:49ccdc98639a 420 pwm_motor2.write(abs(u2));
Vigilance88 21:d6a46315d5f5 421
Vigilance88 21:d6a46315d5f5 422 /*if(u1 > 0)
Vigilance88 21:d6a46315d5f5 423 {
Vigilance88 21:d6a46315d5f5 424 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 425 else{
Vigilance88 21:d6a46315d5f5 426 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 427 }
Vigilance88 21:d6a46315d5f5 428 }
Vigilance88 21:d6a46315d5f5 429 pwm_motor1.write(abs(u1));
Vigilance88 21:d6a46315d5f5 430
Vigilance88 21:d6a46315d5f5 431
Vigilance88 21:d6a46315d5f5 432 if(u2 > 0)
Vigilance88 21:d6a46315d5f5 433 {
Vigilance88 21:d6a46315d5f5 434 dir_motor1 = 1;
Vigilance88 21:d6a46315d5f5 435 else{
Vigilance88 21:d6a46315d5f5 436 dir_motor1 = 0;
Vigilance88 21:d6a46315d5f5 437 }
Vigilance88 21:d6a46315d5f5 438 }
Vigilance88 21:d6a46315d5f5 439 pwm_motor1.write(abs(u2));*/
Vigilance88 21:d6a46315d5f5 440
Vigilance88 18:44905b008f44 441 }
Vigilance88 18:44905b008f44 442
Vigilance88 24:56db31267f10 443 void mainMenu(){};
Vigilance88 24:56db31267f10 444 void caliMenu(){};
Vigilance88 24:56db31267f10 445
Vigilance88 24:56db31267f10 446 //Start sampling
Vigilance88 24:56db31267f10 447 void start_sampling(void)
Vigilance88 24:56db31267f10 448 {
Vigilance88 24:56db31267f10 449 sample_timer.attach(&sample_filter,SAMPLE_RATE); //500 Hz EMG
Vigilance88 25:49ccdc98639a 450 blue=0; green=0;
Vigilance88 25:49ccdc98639a 451 pc.printf("||- started sampling -|| \r\n");
Vigilance88 24:56db31267f10 452 }
Vigilance88 24:56db31267f10 453
Vigilance88 24:56db31267f10 454 //stop sampling
Vigilance88 24:56db31267f10 455 void stop_sampling(void)
Vigilance88 24:56db31267f10 456 {
Vigilance88 24:56db31267f10 457 sample_timer.detach();
Vigilance88 25:49ccdc98639a 458 blue=1; green=1;
Vigilance88 25:49ccdc98639a 459 pc.printf("||- stopped sampling -|| \r\n");
Vigilance88 24:56db31267f10 460 }
Vigilance88 24:56db31267f10 461
Vigilance88 18:44905b008f44 462 //Start control
Vigilance88 18:44905b008f44 463 void start_control(void)
Vigilance88 18:44905b008f44 464 {
Vigilance88 25:49ccdc98639a 465 control_timer.attach(&control,SAMPLE_RATE); //100 Hz control
Vigilance88 18:44905b008f44 466 }
Vigilance88 18:44905b008f44 467
Vigilance88 18:44905b008f44 468 //stop control
Vigilance88 18:44905b008f44 469 void stop_control(void)
Vigilance88 18:44905b008f44 470 {
Vigilance88 18:44905b008f44 471 control_timer.detach();
vsluiter 2:e314bb3b2d99 472 }
vsluiter 0:32bb76391d89 473
Vigilance88 21:d6a46315d5f5 474
Vigilance88 21:d6a46315d5f5 475 void calibrate()
vsluiter 0:32bb76391d89 476 {
Vigilance88 21:d6a46315d5f5 477
Vigilance88 21:d6a46315d5f5 478 }
tomlankhorst 15:0da764eea774 479
Vigilance88 21:d6a46315d5f5 480
Vigilance88 21:d6a46315d5f5 481 //keeps input limited between min max
Vigilance88 24:56db31267f10 482 void keep_in_range(double * in, double min, double max)
Vigilance88 18:44905b008f44 483 {
Vigilance88 18:44905b008f44 484 *in > min ? *in < max? : *in = max: *in = min;
vsluiter 0:32bb76391d89 485 }