pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
main.cpp
- Committer:
- daniQQue
- Date:
- 2016-11-03
- Revision:
- 48:0a16643c9de4
- Parent:
- 47:ddaa59d48aca
File content as of revision 48:0a16643c9de4:
//===================================================================================== //libraries #include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" #include "MODSERIAL.h" //===================================================================================== //Define objects AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++ AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ HIDScope scope(5); //open 5 channels in hidscope MODSERIAL pc(USBTX, USBRX); //pc connection DigitalOut red(LED_RED); DigitalOut green(LED_GREEN); DigitalOut blue(LED_BLUE); DigitalIn button_calibration_biceps (SW3); //button to start calibration biceps DigitalIn button_calibration_triceps (SW2); // button to start calibration tricps //tickers Ticker sample_timer; //ticker Ticker ticker_switch; //ticker Ticker ticker_calibration_biceps; Ticker ticker_calibration_triceps; //motors DigitalOut richting_motor1(D7); ///motor 1 aansluiting op motor 1 PwmOut pwm_motor1(D6); DigitalOut richting_motor2(D4); PwmOut pwm_motor2(D5); //===================================================================================== //define variables //other double cut_off_value_biceps_right =0.04; //gespecificeerd door floortje double cut_off_value_biceps_left=-0.04; double cut_off_value_triceps=-0.04; int switch_signal = 0; //start van de teller wordt op nul gesteld int onoffsignal_biceps; int switch_signal_triceps; float speedmotor1=0.18; float speedmotor2=1.0; //calibration const float percentage_max_triceps=0.25; const float percentage_max_biceps =0.3; double max_biceps; //calibration maximum biceps double max_triceps; //calibration maximum triceps int cw=0; int ccw=1; //======================================= //filter coefficients //b1 = biceps right arm BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); //t1= triceps right arm BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); //b2= biceps left arm BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); //after abs filtering BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); //====================================================================== //voids //====================================================================== //function teller void switch_function() { // maakt simpele functie die 1 bij n optelt if(switch_signal_triceps==1) { switch_signal++; green=!green; red=!red; if (switch_signal%2==0) {pc.printf("If you contract the biceps, the robot will go right \r\n"); pc.printf("If you contract the triceps, the robot will go left \r\n"); pc.printf("\r\n"); } else {pc.printf("If you contract the biceps, the robot will go up \r\n"); pc.printf("If you contract the triceps, the robot will go down \r\n"); pc.printf("\r\n"); } } } //functions which are called in ticker to sample the analog signal void filter(){ //biceps right arm read+filtering double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //triceps right arm read+filtering double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //biceps left arm read+filtering double emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); //creating of on/off signal with the created on/off signals, with if statement for right arm! //signal substraction of filter biceps and triceps. right Biceps + left biceps - double signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left; double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right; //creating of on/off signal with the created on/off signals, with if statement for right arm! if (signal_biceps_sum>cut_off_value_biceps_right) {onoffsignal_biceps=1;} else if (signal_biceps_sum<cut_off_value_biceps_left) { onoffsignal_biceps=-1; } else {onoffsignal_biceps=0;} //creating on/off signal for switch (left arm) if (bicepstriceps_rightarm<cut_off_value_triceps) { switch_signal_triceps=1; } else { switch_signal_triceps=0; } //send signals to scope scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1 scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2 scope.set(3, onoffsignal_biceps); // set emg signal to scope in channel 3 scope.set(4, switch_signal_triceps); scope.send(); //send all the signals to the scope } //============================================================================================================ void calibration_biceps(){ if (button_calibration_biceps==0){ ticker_switch.detach(); pc.printf("start of calibration biceps, contract maximal \n"); red=1; green=1; blue=0; for(int n =0; n<1500;n++) //read for 2000 samples as calibration { double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); if (emg_filtered_biceps_right > max_biceps) //determine what the highest reachable emg signal is { max_biceps = emg_filtered_biceps_right; } wait(0.001f); //to sample at same freq; 1000Hz } cut_off_value_biceps_right=percentage_max_biceps*max_biceps; cut_off_value_biceps_left=-cut_off_value_biceps_right; //toggle lights blue=!blue; pc.printf(" end of calibration\r\n",cut_off_value_biceps_right ); pc.printf(" change of cv biceps: %f ",cut_off_value_biceps_right ); wait(0.2f); if (switch_signal%2==0) {green=0; red=1;} else {green=1; red=0;} } ticker_switch.attach(&switch_function,1.0); } //======================================================================= void calibration_triceps(){ if(button_calibration_triceps==0){ ticker_switch.detach(); red=1; green=1; blue=0; pc.printf("start of calibration triceps\r\n"); for(int n =0; n<1500;n++) //read for 2000 samples as calibration { double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); if (emg_filtered_triceps_right > max_triceps) //determine what the highest reachable emg signal is { max_triceps = emg_filtered_triceps_right; } wait(0.001f); //to sample at same freq; 1000Hz } cut_off_value_triceps=-percentage_max_triceps*max_triceps; pc.printf(" end of calibration\r\n"); pc.printf(" change of cv triceps: %f ",cut_off_value_triceps ); blue=!blue; wait(0.2f); if (switch_signal%2==0) {green=0; red=1;} else {green=1; red=0;} } ticker_switch.attach(&switch_function,1.0); } //======================================================================= //program int main() { pc.baud(115200); green=1; red=0; blue=1; sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds ticker_switch.attach(&switch_function,1.0); ticker_calibration_biceps.attach (&calibration_biceps,2.0); //to call calibration biceps, stop everything else ticker_calibration_triceps.attach(&calibration_triceps,2.0); //to call calibration triceps, stop everything else pc.printf("We will start the demonstration\r\n"); if (switch_signal%2==0) {pc.printf("If you contract the biceps, the robot will go right \r\n"); pc.printf("If you contract the triceps, the robot will go left \r\n"); pc.printf("\r\n"); } else {pc.printf("If you contract the biceps, the robot will go up \r\n"); pc.printf("If you contract the triceps, the robot will go down \r\n"); pc.printf("\r\n"); } //============================================================================================== //endless loop while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt if (onoffsignal_biceps==-1) //left biceps contracted { if (switch_signal%2==0) { richting_motor1 = ccw; //motor 1, left pwm_motor1 = speedmotor1; } else { richting_motor2 = ccw; //motor 2, up pwm_motor2 = speedmotor2; } } else if (onoffsignal_biceps==1) // als d ingedrukt wordt gebeurd het volgende { if (switch_signal%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende { richting_motor1 = cw; //motor 1, right pwm_motor1 = speedmotor1; } else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande { richting_motor2 = cw; //motor 2. down pwm_motor2 = speedmotor2; } } else{ pwm_motor2=0; pwm_motor1=0; } } }