pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
main.cpp
- Committer:
- daniQQue
- Date:
- 2016-11-04
- Revision:
- 57:c546edf67c5c
- Parent:
- 56:a38412383477
- Child:
- 58:c91723359f62
File content as of revision 57:c546edf67c5c:
//======================================================================================================================================================= //libraries #include "mbed.h" //mbed revision 113 #include "HIDScope.h" //Hidscope by Tom Lankhorst #include "BiQuad.h" //BiQuad by Tom Lankhorst #include "MODSERIAL.h" //Modserial #include "QEI.h" //QEI library for the encoders //======================================================================================================================================================= //Define objects //EMG 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++ //Tickers Ticker sample_timer; //ticker for EMG signal sampling, analog becomes digital Ticker ticker_switch; //ticker for switch, every second it is possible to switch Ticker ticker_referenceangle; //ticker for the reference angle Ticker ticker_controllerm1; //ticker for the controller (PID) of motor 1 Ticker ticker_encoder; //ticker for encoderfunction motor 1 Ticker ticker_calibration_biceps; //ticker for calibration biceps Ticker ticker_calibration_triceps; //ticker for calibation triceps //Timer Timer timer; //Monitoring HIDScope scope(5); //open 5 channels in hidscope MODSERIAL pc(USBTX, USBRX); //pc connection DigitalOut red(LED_RED); //LED on K64F board, 1 is out; 0 is on DigitalOut green(LED_GREEN); //LED on K64f board, 1 is out; o is on DigitalOut blue(LED_BLUE); //LED on K64f board, 1 is out; o is on //buttons DigitalIn button_calibration_biceps (SW3); //button to start calibration biceps DigitalIn button_calibration_triceps (SW2); // button to start calibration triceps //motors DigitalOut richting_motor1(D7); //motor 1 connected to motor 1 at k64f board; for turningtable PwmOut pwm_motor1(D6); DigitalOut richting_motor2(D4); //motor 2 connected to motor 2 at k64f board; for linear actuator PwmOut pwm_motor2(D5); //encoders DigitalIn encoder1A(D13); DigitalIn encoder1B(D12); //controller BiQuad PID_controller; //======================================================================================================================================================= //define variables //thresholds double treshold_biceps_right = 0.04; //common values that work. double treshold_biceps_left = -0.04; // tested on multiple persons double treshold_triceps = -0.04; //triceps and left biceps is specified negative, thus negative treshold //calibration variables const float percentage_max_triceps=0.25; //percentage from max to calculate new treshold const float percentage_max_biceps =0.3; //percentage from max to calculate new treshold double max_biceps; //calibration maximum biceps double max_triceps; //calibration maximum triceps //on/off and switch signals int switch_signal = 0; //start of counter, switch made by even and odd numbers int onoffsignal_biceps; //on/off signal created by the bicepssignal. (-1: left biceps contract, 0: nothing contracted, 1: right biceps contracted) int switch_signal_triceps; //motorvariables float speedmotor1=0.18; //speed of motor 1 is 0.18pwm at start float speedmotor2=1.0; //speed of motor 2 is 1.0 pwm at start int cw=0; //clockwise direction int ccw=1; //counterclockwise direction //encoder int counts_encoder1; //variable to count the pulses given by the encoder, 1 indicates motor 1. float rev_counts_motor1; //Calculated revolutions float rev_counts_motor1_rad; //calculated revolutions in rad! const float gearboxratio=131.25; // gearboxratio from encoder to motor const float rev_rond=64.0; // number of revolutions per rotation QEI Encoder1(D13,D12,NC,rev_rond,QEI::X4_ENCODING); //To set the Encoder. //reference volatile float d_ref = 0; const float w_ref = 1.5; volatile double t_start; volatile double w_var; const double Ts = 0.001; //Time for diverse tickers. It is comparable to a frequency of 1000Hz. //controller const double Kp = 0.3823; const double Ki = 0.1279; const double Kd = 0.2519; const double N = 100; volatile double error1; volatile double controlOutput; bool start_motor = true; volatile double starttime; //======================================================================================================================================================= //filter coefficients //b1 = biceps right arm BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of 20 Hz BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of 49-51 Hz //t1= triceps right arm BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of 20 Hz BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of 49-51 Hz //b2= biceps left arm BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of 20 Hz BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of 49-51 Hz //after abs filtering BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of 2 Hz BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of 2 Hz BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of 2 Hz //======================================================================================================================================================= //voids //======================================================================================================================================================= //function teller void switch_function() { // The switch function. Makes it possible to switch between the motors. It simply adds one at switch_signal. if(switch_signal_triceps==1) { switch_signal++; // To monitor what is happening: we will show the text in putty and change led color from red to green or vice versa. 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 and make the on/off and switch signal. //Filter void :// funciton which is called in ticker to sample the analog signal and make the on/off and switch 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); //high pass filter, to remove offset double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); //notch filter, to remove noise double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //rectify the signal, fabs because float double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //low pass filter to envelope the signal //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); //high pass filter, to remove offset double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); //notch filter, to remove noise double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //rectify the signal, fabs because float double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //low pass filter to envelope the signal //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); //high pass filter, to remove offset double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); //notch filter, to remove noise double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //rectify the signal, fabs because float double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); //low pass filter to envelope the signal //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>treshold_biceps_right) {onoffsignal_biceps=1;} else if (signal_biceps_sum<treshold_biceps_left) { onoffsignal_biceps=-1; } else {onoffsignal_biceps=0;} //creating on/off signal for switch (left arm) if (bicepstriceps_rightarm<treshold_triceps) { switch_signal_triceps=1; } else { switch_signal_triceps=0; } //send signals to scope to monitor the EMG signals scope.set(0, emg_filtered_biceps_right); //set emg signal of right biceps to scope in channel 0 scope.set(1, emg_filtered_triceps_right); // set emg signal of right triceps to scope in channel 1 scope.set(2, emg_filtered_biceps_left); // set emg signal of left biceps to scope in channel 2 scope.set(3, onoffsignal_biceps); // set on/off signal for the motors to scope in channel 3 scope.set(4, switch_signal_triceps); // set the switch signal to scope in channel 4 scope.send(); //send all the signals to the scope } //======================================================================================================================================================= //reference void makes the reference that the controllor should follow. There is only a controller for motor 1. void reference(){ if (start_motor == true){ timer.start(); } if (onoffsignal_biceps==-1 && switch_signal%2==0){ //switch even t_start = timer.read_ms(); start_motor = false; //It means that motor 2 is running and therefore the PID controllor should not be working. Therefore the bool is set on false. if (t_start < 1.0){ w_var = t_start*1.5; } else { w_var = 1.5; } d_ref = d_ref + w_var * Ts; } if (d_ref > 12){ d_ref = 12; start_motor = true; //d_ref_const_cw = 1; } else{ d_ref = d_ref; } if (onoffsignal_biceps==1 && switch_signal%2==0){ //switch even //left biceps contracted{ t_start = timer.read_ms(); start_motor = false; if (t_start < 1.0){ w_var = t_start*1.5; } else { w_var = 1.5; } d_ref = d_ref - w_var * Ts; } if (d_ref < -12){ d_ref = -12; start_motor = true; } else{ d_ref = d_ref; } } //======================================================================================================================================================= //This void calculates the error and makes the control output. void m1_controller(){ error1 = d_ref-rev_counts_motor1_rad; controlOutput = PID_controller.step(error1); } //======================================================================================================================================================= //This void calculated the number of rotations that the motor has done in rad. It is put in a void because with the ticker, this ensures that it is updated continuously. void encoders(){ counts_encoder1 = Encoder1.getPulses(); rev_counts_motor1 = (float)counts_encoder1/(gearboxratio*rev_rond); rev_counts_motor1_rad = rev_counts_motor1*6.28318530718; } //======================================================================================================================================================= //The calibration of the Biceps threshold is started by a button. //It determines the maximum reachable EMG signal and takes a percentage of this to determine the new threshold. void calibration_biceps(){ if (button_calibration_biceps==0){ //only runs when button is pressed //detach tickers of other voids that control the switched and motors. To avoid unwanted moving and switching of the motors. ticker_switch.detach(); sample_timer.detach(); //let the user know what is happening, blue led on: calibration is going. pc.printf("start of calibration biceps, contract maximal \r\n"); pc.printf("\r\n"); red=1; green=1; blue=0; //start callibration of biceps for(int n =0; n<1500;n++) //read for 1500 samples as calibration { //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); //high pass filter, to remove offset double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); //notch filter, to remove noise double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //rectify the signal, fabs because float double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //low pass filter to envelope the signal //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); //high pass filter, to remove offset double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); //notch filter, to remove noise double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //rectify the signal, fabs because float double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //low pass filter to envelope the signal //biceps is +, triceps is - double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right; if (bicepstriceps_rightarm > max_biceps) //determine what the highest reachable emg signal is { max_biceps = bicepstriceps_rightarm; } wait(0.001f); //to sample at same freq; 1000Hz } treshold_biceps_right=percentage_max_biceps*max_biceps; //determine new treshold, right biceps is + treshold_biceps_left=-treshold_biceps_right; //determine new treshold, right biceps is - //toggle lights to see the calibration is done. Also show in putty that the calibration is done. blue=!blue; pc.printf(" end of calibration\r\n",treshold_biceps_right ); pc.printf(" change of cv biceps: %f ",treshold_biceps_right ); wait(0.2f); //remind the person of what motor will go on an which direction if (switch_signal%2==0) {green=0; red=1;} else {green=1; red=0;} } //reattach the functions to the tickers that were detached. ticker_switch.attach(&switch_function,1.0); sample_timer.attach(&filter, 0.001); } //======================================================================================================================================================= //The calibration of the Triceps threshold is started by a button. //It determines the maximum reachable EMG signal and takes a percentage of this to determine the new threshold. void calibration_triceps(){ if(button_calibration_triceps==0){ //only runs when button is pressed //detach tickers of other voids that control the switched and motors. To avoid unwanted moving and switching of the motors. ticker_switch.detach(); sample_timer.detach(); //toggel LEDS and let the user know that callibration of triceps is starting. red=1; green=1; blue=0; pc.printf("start of calibration triceps\r\n"); pc.printf("\r\n"); //start calibration of triceps for(int n =0; n<1500;n++) //read for 2000 samples as calibration { //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); //high pass filter, to remove offset double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); //notch filter, to remove noise double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //rectify the signal, fabs because float double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //low pass filter to envelope the signal //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); //high pass filter, to remove offset double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); //notch filter, to remove noise double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //rectify the signal, fabs because float double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //low pass filter to envelope the signal //biceps is +, triceps is - double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right; if (bicepstriceps_rightarm < max_triceps) //determine what the lowest reachable emg of triceps (max in negative part) signal is { max_triceps = bicepstriceps_rightarm; } wait(0.001f); //to sample at same freq; 1000Hz } treshold_triceps=percentage_max_triceps*max_triceps; //calculate the new treshold. This is a negative number due to the sum! //Let the user know that the calibration is done. pc.printf(" end of calibration\r\n"); pc.printf(" change of cv triceps: %f ",treshold_triceps ); blue=!blue; wait(0.2f); if (switch_signal%2==0) {green=0; red=1;} else {green=1; red=0;} } //reattach the functions to the tickers that were detached. sample_timer.attach(&filter, 0.001); ticker_switch.attach(&switch_function,1.0); } //======================================================================================================================================================= //======================================================================================================================================================= //program //======================================================================================================================================================= int main() { pc.baud(115200); //connect with pc with baudrate 115200 green=1; //led is off (1), at beginning red=0; //led is on (0), at beginning //attach tickers to functions sample_timer.attach(&filter, Ts); //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); //it is possible to switch only once in a second, this ensures that the switch is not reacting on one signal multiple times. ticker_referenceangle.attach(&reference, Ts); ticker_controllerm1.attach(&m1_controller, Ts); ticker_encoder.attach(&encoders, Ts); ticker_calibration_biceps.attach (&calibration_biceps,2.0); //to call calibration biceps, stop EMG sampling and switch ticker_calibration_triceps.attach(&calibration_triceps,2.0); //to call calibration triceps, stop EMG sampling and switch //PID controller PID_controller.PIDF(Kp,Ki,Kd,N,Ts); //Encoder //QEI Encoder1(D13,D12, NC, rev_rond,QEI::X4_ENCODING); //Show the user what the starting motor will be and what will happen pc.printf("We will start the demonstration\r\n"); pc.printf("\r\n\r\n\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) { // neverending loop if (onoffsignal_biceps==-1){ //left biceps contracted if (switch_signal%2==0){ //switch even speedmotor1=controlOutput; if (speedmotor1<0){ richting_motor1 = cw; // motor 1, right } else { richting_motor1 = ccw; //motor 1, left } pwm_motor1 = fabs(speedmotor1); //speed of motor 1 } else //switch odd { richting_motor2 = ccw; //motor 2, up pwm_motor2 = speedmotor2;//speed of motor 2 } } else if (onoffsignal_biceps==1) //right biceps contracted { if (switch_signal%2==0) //switch signal even { speedmotor1=controlOutput; if (speedmotor1<0){ richting_motor1 = cw; //motor 1, right } else { richting_motor1 = ccw; //motor 1, left } pwm_motor1 = fabs(speedmotor1); //speed of motor 1 } else //switch signal odd { richting_motor2 = cw; //motor 2, down pwm_motor2 = speedmotor2; //speed motor 2 } } else{ //no contraction of biceps, thus no motoraction. pwm_motor2=0; pwm_motor1=0; start_motor = true; } }//while true closed } //int main closed //=======================================================================================================================================================