Gerber Loman / Mbed 2 deprecated MBR_Script_Group_20

Script of MBR Group 20. Control of robot by EMG and/or potmeters

Dependencies:   Encoder HIDScope MODSERIAL biquadFilter mbed

Fork of Script_Group_20 by Gerber Loman

main.cpp@10:518a8617c86e, 2017-11-01 (annotated)

Committer:
paulineoonk
Date:
Wed Nov 01 14:58:20 2017 +0000
Revision:
10:518a8617c86e
Parent:
9:285499f48cdd
Child:
11:b46a4c48c08f
biquad

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Miriam 0:d5fb29bc0847 1 //libaries
Miriam 0:d5fb29bc0847 2 #include "mbed.h"
Miriam 0:d5fb29bc0847 3 #include "BiQuad.h"
Miriam 0:d5fb29bc0847 4 #include "HIDScope.h"
Miriam 0:d5fb29bc0847 5 #include "encoder.h"
Miriam 0:d5fb29bc0847 6 #include "MODSERIAL.h"
Miriam 0:d5fb29bc0847 7
paulineoonk 3:36e706d6b3d2 8 //globalvariables Motor
paulineoonk 3:36e706d6b3d2 9 Ticker Treecko; //We make a awesome ticker for our control system
paulineoonk 8:c4ec359af35d 10 Ticker printer;
paulineoonk 8:c4ec359af35d 11 //PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed
paulineoonk 8:c4ec359af35d 12 //DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control
Miriam 0:d5fb29bc0847 13
paulineoonk 8:c4ec359af35d 14 //Encoder motor1(D13,D12,true);
paulineoonk 3:36e706d6b3d2 15 MODSERIAL pc(USBTX,USBRX);
paulineoonk 3:36e706d6b3d2 16
paulineoonk 8:c4ec359af35d 17 //double PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
paulineoonk 3:36e706d6b3d2 18 const double Ts = 0.1; // tickettijd/ sample time
paulineoonk 8:c4ec359af35d 19 //double e_prev = 0;
paulineoonk 8:c4ec359af35d 20 //double e_int = 0;
paulineoonk 6:e0e5da2c068f 21 double tijdstap = 0.002;
paulineoonk 8:c4ec359af35d 22 volatile double LBF;
paulineoonk 8:c4ec359af35d 23 volatile double RBF;
paulineoonk 8:c4ec359af35d 24 volatile double LTF;
paulineoonk 8:c4ec359af35d 25 volatile double RTF;
Miriam 0:d5fb29bc0847 26
paulineoonk 7:05c71a859d27 27 //buttons en leds voor calibration
paulineoonk 7:05c71a859d27 28 DigitalIn button1(PTA4);
paulineoonk 9:285499f48cdd 29
paulineoonk 8:c4ec359af35d 30 DigitalOut ledred(LED_RED);
paulineoonk 7:05c71a859d27 31 DigitalOut ledblue(LED_BLUE);
paulineoonk 9:285499f48cdd 32 DigitalOut ledgreen(LED_GREEN);
paulineoonk 8:c4ec359af35d 33
paulineoonk 10:518a8617c86e 34 //MVC for calibration
paulineoonk 10:518a8617c86e 35 double MVCLB = 0; double MVCRB = 0; double MVCLT = 0; double MVCRT = 0;
paulineoonk 10:518a8617c86e 36 //MEAN for calibration - rest
paulineoonk 10:518a8617c86e 37 double RESTMEANLB = 0; double RESTMEANRB =0; double RESTMEANLT = 0; double RESTMEANRT = 0;
paulineoonk 9:285499f48cdd 38
paulineoonk 10:518a8617c86e 39 double emgMEANSUBLB;double emgMEANSUBRB ;double emgMEANSUBLT ;double emgMEANSUBRT ;
paulineoonk 10:518a8617c86e 40 double emgSUMLB;double emgSUMRB;double emgSUMLT;double emgSUMRT;
paulineoonk 10:518a8617c86e 41
paulineoonk 8:c4ec359af35d 42
paulineoonk 7:05c71a859d27 43 bool caldone = false;
paulineoonk 8:c4ec359af35d 44 int CalibrationSample = 1000; //How long will we calibrate? Timersampletime*Calibrationsample
paulineoonk 8:c4ec359af35d 45
paulineoonk 9:285499f48cdd 46 int Timescalibration = 0;
paulineoonk 10:518a8617c86e 47 int TimescalibrationREST = 0;
paulineoonk 10:518a8617c86e 48
Miriam 0:d5fb29bc0847 49
paulineoonk 9:285499f48cdd 50 // Biquad filters voor Left Bicep (LB)
paulineoonk 9:285499f48cdd 51 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 52 BiQuad N1LB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 53 BiQuadChain NFLB;
paulineoonk 9:285499f48cdd 54 BiQuad HP1LB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 55 BiQuad HP2LB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 56 BiQuadChain HPFLB;
paulineoonk 9:285499f48cdd 57 BiQuad LP1LB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 58 BiQuad LP2LB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 59 BiQuadChain LPFLB;
paulineoonk 9:285499f48cdd 60
paulineoonk 9:285499f48cdd 61 // Biquad filters voor Right Bicep (RB)
Miriam 0:d5fb29bc0847 62 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 63 BiQuad N1RB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 64 BiQuadChain NFRB;
paulineoonk 9:285499f48cdd 65 BiQuad HP1RB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 66 BiQuad HP2RB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 67 BiQuadChain HPFRB;
paulineoonk 9:285499f48cdd 68 BiQuad LP1RB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 69 BiQuad LP2RB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 70 BiQuadChain LPFRB;
paulineoonk 9:285499f48cdd 71
paulineoonk 9:285499f48cdd 72 // Biquad filters voor Left Tricep (LT)
paulineoonk 9:285499f48cdd 73 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 74 BiQuad N1LT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 75 BiQuadChain NFLT;
paulineoonk 9:285499f48cdd 76 BiQuad HP1LT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 77 BiQuad HP2LT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 78 BiQuadChain HPFLT;
paulineoonk 9:285499f48cdd 79 BiQuad LP1LT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 80 BiQuad LP2LT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 81 BiQuadChain LPFLT;
paulineoonk 9:285499f48cdd 82
paulineoonk 9:285499f48cdd 83 // Biquad filters voor Left Tricep (RT)
paulineoonk 9:285499f48cdd 84 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 85 BiQuad N1RT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 86 BiQuadChain NFRT;
paulineoonk 9:285499f48cdd 87 BiQuad HP1RT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 88 BiQuad HP2RT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 89 BiQuadChain HPFRT;
paulineoonk 9:285499f48cdd 90 BiQuad LP1RT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 91 BiQuad LP2RT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 92 BiQuadChain LPFRT;
paulineoonk 9:285499f48cdd 93
paulineoonk 9:285499f48cdd 94
paulineoonk 7:05c71a859d27 95
paulineoonk 7:05c71a859d27 96 Timer looptime; //moetuiteindelijk weg
paulineoonk 6:e0e5da2c068f 97
paulineoonk 7:05c71a859d27 98 //filters
paulineoonk 8:c4ec359af35d 99 double emgNotchLB;
paulineoonk 8:c4ec359af35d 100 double emgHPLB;
paulineoonk 8:c4ec359af35d 101 double emgAbsHPLB;
paulineoonk 8:c4ec359af35d 102 double emgLPLB;
paulineoonk 8:c4ec359af35d 103
paulineoonk 8:c4ec359af35d 104 double emgNotchRB;
paulineoonk 8:c4ec359af35d 105 double emgHPRB;
paulineoonk 8:c4ec359af35d 106 double emgAbsHPRB;
paulineoonk 8:c4ec359af35d 107 double emgLPRB;
paulineoonk 7:05c71a859d27 108
paulineoonk 8:c4ec359af35d 109 double emgNotchLT;
paulineoonk 8:c4ec359af35d 110 double emgHPLT;
paulineoonk 8:c4ec359af35d 111 double emgAbsHPLT;
paulineoonk 8:c4ec359af35d 112 double emgLPLT;
paulineoonk 7:05c71a859d27 113
paulineoonk 8:c4ec359af35d 114 double emgNotchRT;
paulineoonk 8:c4ec359af35d 115 double emgHPRT;
paulineoonk 8:c4ec359af35d 116 double emgAbsHPRT;
paulineoonk 8:c4ec359af35d 117 double emgLPRT;
Miriam 0:d5fb29bc0847 118
paulineoonk 3:36e706d6b3d2 119 double f = 500; // frequency
paulineoonk 3:36e706d6b3d2 120 double dt = 1/f; // sample frequency
paulineoonk 8:c4ec359af35d 121
paulineoonk 8:c4ec359af35d 122 AnalogIn emgLB(A0); // EMG lezen
paulineoonk 8:c4ec359af35d 123 AnalogIn emgRB(A1);
paulineoonk 8:c4ec359af35d 124 AnalogIn emgLT(A2);
paulineoonk 8:c4ec359af35d 125 AnalogIn emgRT(A3);
Miriam 0:d5fb29bc0847 126
paulineoonk 9:285499f48cdd 127 //float MVCLB = 0.3;
paulineoonk 9:285499f48cdd 128 //float MVCRB = 0.3;
paulineoonk 9:285499f48cdd 129 //float MVCLT = 0.3;
paulineoonk 9:285499f48cdd 130 //float MVCRT = 0.3;
paulineoonk 8:c4ec359af35d 131
paulineoonk 8:c4ec359af35d 132 void Filteren()
Miriam 0:d5fb29bc0847 133 {
paulineoonk 6:e0e5da2c068f 134 looptime.reset();
paulineoonk 6:e0e5da2c068f 135 looptime.start();
paulineoonk 8:c4ec359af35d 136
paulineoonk 8:c4ec359af35d 137 //EMG 1
paulineoonk 8:c4ec359af35d 138
paulineoonk 10:518a8617c86e 139 emgNotchLB = NFLB.step(emgLB.read() ); // Notch filter
paulineoonk 10:518a8617c86e 140 emgHPLB = HPFLB.step(emgNotchLB); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 141 emgAbsHPLB = abs(emgHPLB); // Take absolute value
paulineoonk 10:518a8617c86e 142 emgLPLB = LPFLB.step(emgAbsHPLB); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 143 emgMEANSUBLB = emgLPLB - RESTMEANLB; //substract the restmean value
paulineoonk 10:518a8617c86e 144 LBF = emgLPLB/MVCLB; // Scale to maximum signal: useful for motor. LBF should now be between 0-1.
paulineoonk 9:285499f48cdd 145
paulineoonk 10:518a8617c86e 146 emgNotchRB = NFRB.step(emgRB.read()); // Notch filter
paulineoonk 10:518a8617c86e 147 emgHPRB = HPFRB.step(emgNotchRB); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 148 emgAbsHPRB = abs(emgHPRB); // Take absolute value
paulineoonk 10:518a8617c86e 149 emgLPRB = LPFRB.step(emgAbsHPRB); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 150 emgMEANSUBLB = emgLPLB - RESTMEANLB;
paulineoonk 9:285499f48cdd 151 RBF = emgLPRB/MVCRB; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 152
paulineoonk 10:518a8617c86e 153 emgNotchLT = NFLT.step(emgLT.read() ); // Notch filter
paulineoonk 10:518a8617c86e 154 emgHPLT = HPFLT.step(emgNotchLT); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 155 emgAbsHPLT = abs(emgHPLT); // Take absolute value
paulineoonk 10:518a8617c86e 156 emgLPLT = LPFLT.step(emgAbsHPLT); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 157 emgMEANSUBLT = emgLPLT - RESTMEANLT; //substract the restmean value
paulineoonk 9:285499f48cdd 158 LTF = emgLPLT/MVCLT; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 159
paulineoonk 10:518a8617c86e 160 emgNotchRT = NFRT.step(emgRT.read() ); // Notch filter
paulineoonk 10:518a8617c86e 161 emgHPRT = HPFRT.step(emgNotchRT); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 162 emgAbsHPRT = abs(emgHPRT); // Take absolute value
paulineoonk 10:518a8617c86e 163 emgLPRT = LPFRT.step(emgAbsHPRT); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 164 emgMEANSUBRT = emgLPRT - RESTMEANRT; //substract the restmean value
paulineoonk 9:285499f48cdd 165 RTF = emgLPRT/MVCRT; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 166
paulineoonk 8:c4ec359af35d 167 //if (emgFiltered >1)
paulineoonk 8:c4ec359af35d 168 //{
paulineoonk 8:c4ec359af35d 169 // emgFiltered=1.00;
paulineoonk 8:c4ec359af35d 170 //}
paulineoonk 8:c4ec359af35d 171 //pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, loop = %f \r\n, emgreadRB = %f , emgFiltered = %f, maxi = %f \r\n, emgreadLT = %f , emgFiltered = %f, maxi = %f \r\n, emgreadRT = %f , emgFiltered = %f, maxi = %f \r\n",emgLB.read(), LBF, maxiLB,looptime.read(),emgRB.read(), RBF, maxiRB,emgLT.read(), LTF, maxiLT, emgRT.read(), RTF, maxiRT);
paulineoonk 6:e0e5da2c068f 172 //int maxwaarde = 4096; // = 64x64
paulineoonk 6:e0e5da2c068f 173 //double refP = emgFiltered*maxwaarde;
paulineoonk 6:e0e5da2c068f 174 //return refP; // value between 0 and 4096
paulineoonk 9:285499f48cdd 175
Miriam 0:d5fb29bc0847 176 }
paulineoonk 9:285499f48cdd 177
paulineoonk 10:518a8617c86e 178 void CalibrationEMG()
paulineoonk 7:05c71a859d27 179 {
paulineoonk 7:05c71a859d27 180 Timescalibration++;
paulineoonk 9:285499f48cdd 181
paulineoonk 10:518a8617c86e 182 if(Timescalibration<2000)
paulineoonk 9:285499f48cdd 183 {
paulineoonk 10:518a8617c86e 184
paulineoonk 10:518a8617c86e 185 emgNotchLB = NFLB.step(emgLB.read() );
paulineoonk 10:518a8617c86e 186 emgHPLB = HPFLB.step(emgNotchLB);
paulineoonk 10:518a8617c86e 187 emgAbsHPLB = abs(emgHPLB);
paulineoonk 10:518a8617c86e 188 emgLPLB = LPFLB.step(emgAbsHPLB);
paulineoonk 10:518a8617c86e 189 emgSUMLB += emgLPLB; //SUM all rest values LB
paulineoonk 10:518a8617c86e 190
paulineoonk 10:518a8617c86e 191 emgNotchRB = NFRB.step(emgRB.read());
paulineoonk 10:518a8617c86e 192 emgHPRB = HPFRB.step(emgNotchRB);
paulineoonk 10:518a8617c86e 193 emgAbsHPRB = abs(emgHPRB);
paulineoonk 10:518a8617c86e 194 emgLPRB = LPFRB.step(emgAbsHPRB);
paulineoonk 10:518a8617c86e 195 emgSUMRB += emgLPRB; //SUM all rest values RB
paulineoonk 10:518a8617c86e 196
paulineoonk 10:518a8617c86e 197 emgNotchLT = NFLT.step(emgLT.read() );
paulineoonk 10:518a8617c86e 198 emgHPLT = HPFLT.step(emgNotchLT);
paulineoonk 10:518a8617c86e 199 emgAbsHPLT = abs(emgHPLT);
paulineoonk 10:518a8617c86e 200 emgLPLT = LPFLT.step(emgAbsHPLT);
paulineoonk 10:518a8617c86e 201 emgSUMLT += emgLPLT; //SUM all rest values LT
paulineoonk 10:518a8617c86e 202
paulineoonk 10:518a8617c86e 203 emgNotchRT = NFRT.step(emgRT.read() );
paulineoonk 10:518a8617c86e 204 emgHPRT = HPFRT.step(emgNotchRT);
paulineoonk 10:518a8617c86e 205 emgAbsHPRT = abs(emgHPRT);
paulineoonk 10:518a8617c86e 206 emgLPRT = LPFRT.step(emgAbsHPRT);
paulineoonk 10:518a8617c86e 207 emgSUMRT += emgLPRT; //SUM all rest values RT
paulineoonk 10:518a8617c86e 208 }
paulineoonk 10:518a8617c86e 209 if(Timescalibration==1999)
paulineoonk 10:518a8617c86e 210 {
paulineoonk 10:518a8617c86e 211 RESTMEANLB = emgSUMLB/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 212 RESTMEANRB = emgSUMRB/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 213 RESTMEANRT = emgSUMRT/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 214 RESTMEANLT = emgSUMLT/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 215 }
paulineoonk 10:518a8617c86e 216 if(Timescalibration>2000 && Timescalibration<6000)
paulineoonk 10:518a8617c86e 217 {
paulineoonk 10:518a8617c86e 218 emgNotchLB = NFLB.step(emgLB.read() );
paulineoonk 10:518a8617c86e 219 emgHPLB = HPFLB.step(emgNotchLB);
paulineoonk 10:518a8617c86e 220 emgAbsHPLB = abs(emgHPLB);
paulineoonk 10:518a8617c86e 221 emgLPLB = LPFLB.step(emgAbsHPLB);
paulineoonk 9:285499f48cdd 222 double emgfinalLB = emgLPLB;
paulineoonk 9:285499f48cdd 223 if (emgfinalLB > MVCLB)
paulineoonk 9:285499f48cdd 224 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 225 MVCLB = emgfinalLB;
paulineoonk 9:285499f48cdd 226 }
paulineoonk 9:285499f48cdd 227 }
paulineoonk 9:285499f48cdd 228
paulineoonk 10:518a8617c86e 229 if(Timescalibration>6000 && Timescalibration<10000)
paulineoonk 9:285499f48cdd 230 {
paulineoonk 10:518a8617c86e 231 emgNotchRB = NFRB.step(emgRB.read());
paulineoonk 10:518a8617c86e 232 emgHPRB = HPFRB.step(emgNotchRB);
paulineoonk 10:518a8617c86e 233 emgAbsHPRB = abs(emgHPRB);
paulineoonk 10:518a8617c86e 234 emgLPRB = LPFRB.step(emgAbsHPRB);
paulineoonk 9:285499f48cdd 235 double emgfinalRB = emgLPRB;
paulineoonk 9:285499f48cdd 236 if (emgfinalRB > MVCRB)
paulineoonk 7:05c71a859d27 237 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 238 MVCRB = emgfinalRB;
paulineoonk 9:285499f48cdd 239 }
paulineoonk 9:285499f48cdd 240 }
paulineoonk 9:285499f48cdd 241
paulineoonk 10:518a8617c86e 242 if(Timescalibration>10000 && Timescalibration<14000)
paulineoonk 9:285499f48cdd 243 {
paulineoonk 10:518a8617c86e 244 emgNotchLT = NFLT.step(emgLT.read() );
paulineoonk 10:518a8617c86e 245 emgHPLT = HPFLT.step(emgNotchLT);
paulineoonk 10:518a8617c86e 246 emgAbsHPLT = abs(emgHPLT);
paulineoonk 10:518a8617c86e 247 emgLPLT = LPFLT.step(emgAbsHPLT);
paulineoonk 9:285499f48cdd 248 double emgfinalLT = emgLPLT;
paulineoonk 9:285499f48cdd 249 if (emgfinalLT > MVCLT)
paulineoonk 9:285499f48cdd 250 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 251 MVCLT = emgfinalLT;
paulineoonk 7:05c71a859d27 252 }
paulineoonk 9:285499f48cdd 253 }
paulineoonk 9:285499f48cdd 254
paulineoonk 10:518a8617c86e 255 if(Timescalibration>14000 && Timescalibration<18000)
paulineoonk 9:285499f48cdd 256 {
paulineoonk 10:518a8617c86e 257 emgNotchRT = NFRT.step(emgRT.read() );
paulineoonk 10:518a8617c86e 258 emgHPRT = HPFRT.step(emgNotchRT);
paulineoonk 10:518a8617c86e 259 emgAbsHPRT = abs(emgHPRT);
paulineoonk 10:518a8617c86e 260 emgLPRT = LPFRT.step(emgAbsHPRT);
paulineoonk 9:285499f48cdd 261 double emgfinalRT = emgLPRT;
paulineoonk 9:285499f48cdd 262 if (emgfinalRT > MVCRT)
paulineoonk 9:285499f48cdd 263 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 264 MVCRT = emgfinalRT;
paulineoonk 9:285499f48cdd 265 }
paulineoonk 9:285499f48cdd 266 }
paulineoonk 9:285499f48cdd 267
paulineoonk 10:518a8617c86e 268 if(Timescalibration>18000)
paulineoonk 7:05c71a859d27 269 {
paulineoonk 7:05c71a859d27 270 caldone=true;
paulineoonk 7:05c71a859d27 271 }
paulineoonk 9:285499f48cdd 272 // pc.printf("maxi waarde = %f emgfinal = %f \r\n",maxi,emgfinal);
paulineoonk 9:285499f48cdd 273 //}
paulineoonk 7:05c71a859d27 274 //PAS ALS DEZE TRUE IS, MOET DE MOTOR PAS BEWEGEN!!!
paulineoonk 7:05c71a859d27 275 //return maxi;
paulineoonk 7:05c71a859d27 276 }
paulineoonk 7:05c71a859d27 277
paulineoonk 9:285499f48cdd 278
paulineoonk 7:05c71a859d27 279
paulineoonk 6:e0e5da2c068f 280 /*
paulineoonk 3:36e706d6b3d2 281 double Encoder ()
paulineoonk 3:36e706d6b3d2 282 {
paulineoonk 3:36e706d6b3d2 283 double Huidigepositie = motor1.getPosition ();
paulineoonk 3:36e706d6b3d2 284 return Huidigepositie; // huidige positie = current position
paulineoonk 3:36e706d6b3d2 285 }
paulineoonk 6:e0e5da2c068f 286
paulineoonk 3:36e706d6b3d2 287 double FeedBackControl(double error, double &e_prev, double &e_int) // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking)
Miriam 0:d5fb29bc0847 288 {
paulineoonk 3:36e706d6b3d2 289 double kp = 0.001; // has jet to be scaled
paulineoonk 3:36e706d6b3d2 290 double Proportional= kp*error;
Miriam 0:d5fb29bc0847 291
paulineoonk 3:36e706d6b3d2 292 double kd = 0.0004; // has jet to be scaled
paulineoonk 3:36e706d6b3d2 293 double VelocityError = (error - e_prev)/Ts;
paulineoonk 3:36e706d6b3d2 294 double Derivative = kd*VelocityError;
Miriam 0:d5fb29bc0847 295 e_prev = error;
Miriam 0:d5fb29bc0847 296
paulineoonk 3:36e706d6b3d2 297 double ki = 0.00005; // has jet to be scaled
Miriam 0:d5fb29bc0847 298 e_int = e_int+Ts*error;
paulineoonk 3:36e706d6b3d2 299 double Integrator = ki*e_int;
Miriam 0:d5fb29bc0847 300
Miriam 0:d5fb29bc0847 301
paulineoonk 3:36e706d6b3d2 302 double motorValue = Proportional + Integrator + Derivative;
Miriam 0:d5fb29bc0847 303 return motorValue;
Miriam 0:d5fb29bc0847 304 }
paulineoonk 6:e0e5da2c068f 305
paulineoonk 3:36e706d6b3d2 306 void SetMotor1(double motorValue)
Miriam 0:d5fb29bc0847 307 {
Miriam 0:d5fb29bc0847 308 if (motorValue >= 0)
Miriam 0:d5fb29bc0847 309 {
Miriam 0:d5fb29bc0847 310 M1D = 0;
Miriam 0:d5fb29bc0847 311 }
Miriam 0:d5fb29bc0847 312 else
Miriam 0:d5fb29bc0847 313 {
Miriam 0:d5fb29bc0847 314 M1D = 1;
Miriam 0:d5fb29bc0847 315 }
Miriam 0:d5fb29bc0847 316
Miriam 0:d5fb29bc0847 317 if (fabs(motorValue) > 1)
Miriam 0:d5fb29bc0847 318 {
Miriam 0:d5fb29bc0847 319 M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
Miriam 0:d5fb29bc0847 320 }
Miriam 0:d5fb29bc0847 321 else
Miriam 0:d5fb29bc0847 322 {
Miriam 0:d5fb29bc0847 323 M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
Miriam 0:d5fb29bc0847 324 }
Miriam 0:d5fb29bc0847 325 }
paulineoonk 7:05c71a859d27 326 */
paulineoonk 3:36e706d6b3d2 327 void MeasureAndControl ()
Miriam 0:d5fb29bc0847 328 {
paulineoonk 3:36e706d6b3d2 329 // hier the control of the control system
paulineoonk 7:05c71a859d27 330
paulineoonk 9:285499f48cdd 331 if(caldone==false)
paulineoonk 9:285499f48cdd 332 {
paulineoonk 9:285499f48cdd 333 if(button1.read()==false)
paulineoonk 9:285499f48cdd 334 {
paulineoonk 10:518a8617c86e 335 CalibrationEMG();
paulineoonk 9:285499f48cdd 336 }
paulineoonk 9:285499f48cdd 337 }
paulineoonk 9:285499f48cdd 338 if (caldone==true)
paulineoonk 7:05c71a859d27 339
paulineoonk 9:285499f48cdd 340 {
paulineoonk 8:c4ec359af35d 341 Filteren();
paulineoonk 7:05c71a859d27 342 //rest
paulineoonk 9:285499f48cdd 343 }
paulineoonk 7:05c71a859d27 344
paulineoonk 4:5607088ef6f5 345 //double Huidigepositie = Encoder();
paulineoonk 4:5607088ef6f5 346 //double error = (refP - Huidigepositie);// make an error
paulineoonk 4:5607088ef6f5 347 //double motorValue = FeedBackControl(error, e_prev, e_int);
paulineoonk 7:05c71a859d27 348 //double motorValue = refP;
paulineoonk 7:05c71a859d27 349 //SetMotor1(motorValue);
Miriam 0:d5fb29bc0847 350 }
Miriam 0:d5fb29bc0847 351
paulineoonk 8:c4ec359af35d 352 void Tickerfunctie()
paulineoonk 8:c4ec359af35d 353 {
paulineoonk 10:518a8617c86e 354 pc.printf("emgreadRB = %f , emgFiltered = %f, maxi = %f meanrest = %f\r\n",emgRB.read(), RBF, MVCRB, RESTMEANLB);
paulineoonk 10:518a8617c86e 355 pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, loop = %f meanrest = %f \r\n",emgLB.read(), LBF, MVCLB,RESTMEANRB);
paulineoonk 10:518a8617c86e 356 pc.printf("emgreadRT = %f , emgFilteredRT = %f, maxiRT = %f meanrest = %f \r\n",emgRT.read(), RTF, MVCRT,RESTMEANRT);
paulineoonk 10:518a8617c86e 357 pc.printf("emgreadLT = %f , emgFilteredLT = %f, maxiLT = %f meanrest = %f \r\n",emgLT.read(), LTF, MVCLT,RESTMEANLT);
paulineoonk 8:c4ec359af35d 358 }
paulineoonk 7:05c71a859d27 359
Miriam 0:d5fb29bc0847 360 int main()
Miriam 0:d5fb29bc0847 361 {
paulineoonk 7:05c71a859d27 362 //voor EMG filteren
paulineoonk 10:518a8617c86e 363 //Left Bicep
paulineoonk 9:285499f48cdd 364 NFLB.add( &N1LB );
paulineoonk 10:518a8617c86e 365 HPFLB.add( &HP1LB ).add( &HP2LB );
paulineoonk 9:285499f48cdd 366 LPFLB.add( &LP1LB ).add( &LP2LB );
paulineoonk 9:285499f48cdd 367
paulineoonk 10:518a8617c86e 368 //Right Bicep
paulineoonk 10:518a8617c86e 369 NFRB.add( &N1RB );
paulineoonk 10:518a8617c86e 370 HPFRB.add( &HP1RB ).add( &HP2RB );
paulineoonk 10:518a8617c86e 371 LPFRB.add( &LP1RB ).add( &LP2RB );
paulineoonk 9:285499f48cdd 372
paulineoonk 10:518a8617c86e 373 //Left Tricep
paulineoonk 10:518a8617c86e 374 NFLT.add( &N1LT );
paulineoonk 10:518a8617c86e 375 HPFLT.add( &HP1LT ).add( &HP2LT );
paulineoonk 10:518a8617c86e 376 LPFLT.add( &LP1LT ).add( &LP2LT );
paulineoonk 10:518a8617c86e 377
paulineoonk 10:518a8617c86e 378 //Right Tricep
paulineoonk 10:518a8617c86e 379 NFRT.add( &N1RT );
paulineoonk 10:518a8617c86e 380 HPFRT.add( &HP1RT ).add( &HP2RT );
paulineoonk 10:518a8617c86e 381 LPFRT.add( &LP1RT ).add( &LP2RT );
paulineoonk 3:36e706d6b3d2 382
paulineoonk 7:05c71a859d27 383 //voor serial
paulineoonk 7:05c71a859d27 384 pc.baud(115200);
paulineoonk 7:05c71a859d27 385
paulineoonk 7:05c71a859d27 386 //motor
paulineoonk 8:c4ec359af35d 387 // M1E.period(PwmPeriod); //set PWMposition at 5000hz
paulineoonk 7:05c71a859d27 388 //Ticker
paulineoonk 7:05c71a859d27 389 Treecko.attach(MeasureAndControl, tijdstap); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende
paulineoonk 3:36e706d6b3d2 390 //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
paulineoonk 9:285499f48cdd 391 printer.attach(Tickerfunctie,0.4);
paulineoonk 3:36e706d6b3d2 392 while(true)
Miriam 0:d5fb29bc0847 393 {
paulineoonk 3:36e706d6b3d2 394 }
paulineoonk 3:36e706d6b3d2 395
paulineoonk 3:36e706d6b3d2 396
paulineoonk 3:36e706d6b3d2 397 }