Revision 57:c546edf67c5c, committed 2016-11-04

Comitter:

daniQQue

Date:

Fri Nov 04 15:12:52 2016 +0000

Parent:

56:a38412383477

Child:

58:c91723359f62

Commit message:

kallibratie, motors werken, pid controler

Changed in this revision

--- a/main.cpp	Thu Nov 03 16:41:10 2016 +0000
+++ b/main.cpp	Fri Nov 04 15:12:52 2016 +0000
@@ -1,4 +1,4 @@
-//=====================================================================================
+//=======================================================================================================================================================   
 //libraries
 #include "mbed.h"           //mbed revision 113
 #include "HIDScope.h"       //Hidscope by Tom Lankhorst
@@ -7,7 +7,7 @@
 #include "QEI.h"            //QEI library for the encoders
 
 
-//=====================================================================================
+//=======================================================================================================================================================   
 //Define objects
 
 //EMG
@@ -20,7 +20,9 @@
 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      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;
@@ -30,6 +32,11 @@
 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
@@ -40,14 +47,11 @@
 //encoders
 DigitalIn encoder1A(D13);
 DigitalIn encoder1B(D12);
-DigitalIn encoder2A(D11);
-DigitalIn encoder2B(D10);
 
 //controller
 BiQuad PID_controller;
 
-
-//=====================================================================================
+//=======================================================================================================================================================   
 //define variables
 
 //thresholds
@@ -55,9 +59,16 @@
 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; 
+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
@@ -68,53 +79,54 @@
 int ccw=1;              //counterclockwise direction
 
 //encoder
-int counts_encoder1;
-//int counts_encoder2;
-float rev_counts_motor1;
-float rev_counts_motor1_rad;
-const float gearboxratio=131.25;    // gearboxratio van encoder naar motor
-const float rev_rond=64.0;          // aantal revoluties per omgang van de encoder
-QEI Encoder1(D13,D12,NC,rev_rond,QEI::X4_ENCODING);
+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;
+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;
-//=======================================
+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?
-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?
+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?
-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?
+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?
-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?
+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?
-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?
-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?
+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.
@@ -143,9 +155,10 @@
     }    
     }
  
-//======================================================================   
+//=======================================================================================================================================================   
 //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 
@@ -198,16 +211,18 @@
         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
+        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){
+    if (start_motor == true){ 
         timer.start();
     }
     if (onoffsignal_biceps==-1 && switch_signal%2==0){ //switch even      
          t_start = timer.read_ms();
-         start_motor = false;
+         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;
@@ -251,12 +266,15 @@
     }
     
 }
-
+//=======================================================================================================================================================   
+//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);
@@ -264,9 +282,144 @@
     
 }
 
-//======================================================================   
+//=======================================================================================================================================================   
+
+//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()
 {  
 
@@ -275,11 +428,13 @@
 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);
+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);
@@ -304,37 +459,26 @@
       pc.printf("\r\n");
      }
      
-//==============================================================================================
+//=======================================================================================================================================================   
 //endless loop
 
 
     while (true) {                        // neverending loop
         
-/*counts_encoder1 = Encoder1.getPulses();
-rev_counts_motor1=(float)counts_encoder1/(gearboxratio*rev_rond); 
-rev_counts_motor1_rad=rev_counts_motor1*6.28318530718; */
-
-pc.printf("%f %f \r \n", d_ref, rev_counts_motor1_rad);
-//pc.printf("%f ", rev_counts_motor1_rad);
-//pc.printf("%f",w_var);
-//pc.printf("%d\n",start_motor);
-
-
     if (onoffsignal_biceps==-1){  //left biceps contracted                        
     
          if (switch_signal%2==0){ //switch even                    
           
             speedmotor1=controlOutput;
-            //richting_motor1 = ccw;    //motor 1, left
-            //pwm_motor1 = speedmotor1; //speed of motor 1
+
             if (speedmotor1<0){
-                richting_motor1 = cw;
+                richting_motor1 = cw;                   // motor 1, right
                 }
             else   {
-                richting_motor1 = ccw;
+                richting_motor1 = ccw;                  //motor 1, left
                 }
-                pwm_motor1 = fabs(speedmotor1);      //speed of motor 1
-               // pc.printf("%f\r\n", pwm_motor1.read());
+                pwm_motor1 = fabs(speedmotor1);         //speed of motor 1
+               
          } 
             
          
@@ -351,26 +495,25 @@
          if (switch_signal%2==0)                     //switch signal even
          {
            speedmotor1=controlOutput;
-            //richting_motor1 = ccw;    //motor 1, left
-            //pwm_motor1 = speedmotor1; //speed of motor 1
+     
             if (speedmotor1<0){
-                richting_motor1 = cw;
+                richting_motor1 = cw;   //motor 1, right
                 }
             else   {
-                richting_motor1 = ccw;
+                richting_motor1 = ccw;  //motor 1, left
                 }
                 pwm_motor1 = fabs(speedmotor1);      //speed of motor 1
-          // pc.printf("%f\r\n", pwm_motor1.read());
+          
         } 
-         else                         //switch signal odd
+         else                           //switch signal odd
          {
-           richting_motor2 = cw;        //motor 2. down
+           richting_motor2 = cw;        //motor 2, down
            pwm_motor2 = speedmotor2;    //speed motor 2
                 
          }  
     }   
     else{ 
-    //no contraction of biceps   
+    //no contraction of biceps, thus no motoraction.   
     pwm_motor2=0;
     pwm_motor1=0;
     start_motor = true;
@@ -382,4 +525,4 @@
         
 } //int main closed
 
-//=============================================================================================1
\ No newline at end of file
+//=======================================================================================================================================================