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@14:a861ba49107c, 2017-11-01 (annotated)

Committer:
paulineoonk
Date:
Wed Nov 01 21:29:46 2017 +0000
Revision:
14:a861ba49107c
Parent:
13:3351f4374885
Child:
15:1cfe58aea10d
Is er iets verandert?; Ja, de state machine is toegevoegd en EMG is hierin verwerkt.; calibratie motor moet positie/snelheid nog wel worden toegevoegd.

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 14:a861ba49107c 8 //State Machine
paulineoonk 14:a861ba49107c 9 enum States (Cal1, Cal2, CalEMG, Home, EMG, Rest, Demo);
paulineoonk 14:a861ba49107c 10 int State, Counter;
paulineoonk 14:a861ba49107c 11 bool Position_controller_on;
paulineoonk 14:a861ba49107c 12 double Looptime = 0.002f;
paulineoonk 14:a861ba49107c 13
paulineoonk 3:36e706d6b3d2 14 //globalvariables Motor
paulineoonk 3:36e706d6b3d2 15 Ticker Treecko; //We make a awesome ticker for our control system
paulineoonk 8:c4ec359af35d 16 Ticker printer;
paulineoonk 8:c4ec359af35d 17 //PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed
paulineoonk 8:c4ec359af35d 18 //DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control
Miriam 0:d5fb29bc0847 19
paulineoonk 8:c4ec359af35d 20 //Encoder motor1(D13,D12,true);
paulineoonk 3:36e706d6b3d2 21 MODSERIAL pc(USBTX,USBRX);
paulineoonk 3:36e706d6b3d2 22
paulineoonk 8:c4ec359af35d 23 //double PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
paulineoonk 3:36e706d6b3d2 24 const double Ts = 0.1; // tickettijd/ sample time
paulineoonk 8:c4ec359af35d 25 //double e_prev = 0;
paulineoonk 8:c4ec359af35d 26 //double e_int = 0;
paulineoonk 6:e0e5da2c068f 27 double tijdstap = 0.002;
paulineoonk 8:c4ec359af35d 28 volatile double LBF;
paulineoonk 8:c4ec359af35d 29 volatile double RBF;
paulineoonk 8:c4ec359af35d 30 volatile double LTF;
paulineoonk 8:c4ec359af35d 31 volatile double RTF;
Miriam 0:d5fb29bc0847 32
paulineoonk 7:05c71a859d27 33 //buttons en leds voor calibration
paulineoonk 7:05c71a859d27 34 DigitalIn button1(PTA4);
paulineoonk 9:285499f48cdd 35
paulineoonk 8:c4ec359af35d 36 DigitalOut ledred(LED_RED);
paulineoonk 7:05c71a859d27 37 DigitalOut ledblue(LED_BLUE);
paulineoonk 9:285499f48cdd 38 DigitalOut ledgreen(LED_GREEN);
paulineoonk 8:c4ec359af35d 39
paulineoonk 10:518a8617c86e 40 //MVC for calibration
paulineoonk 10:518a8617c86e 41 double MVCLB = 0; double MVCRB = 0; double MVCLT = 0; double MVCRT = 0;
paulineoonk 10:518a8617c86e 42 //MEAN for calibration - rest
paulineoonk 10:518a8617c86e 43 double RESTMEANLB = 0; double RESTMEANRB =0; double RESTMEANLT = 0; double RESTMEANRT = 0;
paulineoonk 9:285499f48cdd 44
paulineoonk 10:518a8617c86e 45 double emgMEANSUBLB;double emgMEANSUBRB ;double emgMEANSUBLT ;double emgMEANSUBRT ;
paulineoonk 10:518a8617c86e 46 double emgSUMLB;double emgSUMRB;double emgSUMLT;double emgSUMRT;
paulineoonk 10:518a8617c86e 47
paulineoonk 8:c4ec359af35d 48
paulineoonk 7:05c71a859d27 49 bool caldone = false;
paulineoonk 8:c4ec359af35d 50 int CalibrationSample = 1000; //How long will we calibrate? Timersampletime*Calibrationsample
paulineoonk 8:c4ec359af35d 51
paulineoonk 9:285499f48cdd 52 int Timescalibration = 0;
paulineoonk 10:518a8617c86e 53 int TimescalibrationREST = 0;
paulineoonk 10:518a8617c86e 54
Miriam 0:d5fb29bc0847 55
paulineoonk 9:285499f48cdd 56 // Biquad filters voor Left Bicep (LB)
paulineoonk 9:285499f48cdd 57 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 58 BiQuad N1LB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 59 BiQuadChain NFLB;
paulineoonk 9:285499f48cdd 60 BiQuad HP1LB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 61 BiQuad HP2LB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 62 BiQuadChain HPFLB;
paulineoonk 9:285499f48cdd 63 BiQuad LP1LB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 64 BiQuad LP2LB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 65 BiQuadChain LPFLB;
paulineoonk 9:285499f48cdd 66
paulineoonk 9:285499f48cdd 67 // Biquad filters voor Right Bicep (RB)
Miriam 0:d5fb29bc0847 68 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 69 BiQuad N1RB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 70 BiQuadChain NFRB;
paulineoonk 9:285499f48cdd 71 BiQuad HP1RB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 72 BiQuad HP2RB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 73 BiQuadChain HPFRB;
paulineoonk 9:285499f48cdd 74 BiQuad LP1RB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 75 BiQuad LP2RB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 76 BiQuadChain LPFRB;
paulineoonk 9:285499f48cdd 77
paulineoonk 9:285499f48cdd 78 // Biquad filters voor Left Tricep (LT)
paulineoonk 9:285499f48cdd 79 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 80 BiQuad N1LT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 81 BiQuadChain NFLT;
paulineoonk 9:285499f48cdd 82 BiQuad HP1LT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 83 BiQuad HP2LT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 84 BiQuadChain HPFLT;
paulineoonk 9:285499f48cdd 85 BiQuad LP1LT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 86 BiQuad LP2LT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 87 BiQuadChain LPFLT;
paulineoonk 9:285499f48cdd 88
paulineoonk 9:285499f48cdd 89 // Biquad filters voor Left Tricep (RT)
paulineoonk 9:285499f48cdd 90 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 91 BiQuad N1RT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 92 BiQuadChain NFRT;
paulineoonk 9:285499f48cdd 93 BiQuad HP1RT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 94 BiQuad HP2RT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 95 BiQuadChain HPFRT;
paulineoonk 9:285499f48cdd 96 BiQuad LP1RT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 97 BiQuad LP2RT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 98 BiQuadChain LPFRT;
paulineoonk 9:285499f48cdd 99
paulineoonk 9:285499f48cdd 100
paulineoonk 7:05c71a859d27 101
paulineoonk 7:05c71a859d27 102 Timer looptime; //moetuiteindelijk weg
paulineoonk 6:e0e5da2c068f 103
paulineoonk 7:05c71a859d27 104 //filters
paulineoonk 8:c4ec359af35d 105 double emgNotchLB;
paulineoonk 8:c4ec359af35d 106 double emgHPLB;
paulineoonk 8:c4ec359af35d 107 double emgAbsHPLB;
paulineoonk 8:c4ec359af35d 108 double emgLPLB;
paulineoonk 8:c4ec359af35d 109
paulineoonk 8:c4ec359af35d 110 double emgNotchRB;
paulineoonk 8:c4ec359af35d 111 double emgHPRB;
paulineoonk 8:c4ec359af35d 112 double emgAbsHPRB;
paulineoonk 8:c4ec359af35d 113 double emgLPRB;
paulineoonk 7:05c71a859d27 114
paulineoonk 8:c4ec359af35d 115 double emgNotchLT;
paulineoonk 8:c4ec359af35d 116 double emgHPLT;
paulineoonk 8:c4ec359af35d 117 double emgAbsHPLT;
paulineoonk 8:c4ec359af35d 118 double emgLPLT;
paulineoonk 7:05c71a859d27 119
paulineoonk 8:c4ec359af35d 120 double emgNotchRT;
paulineoonk 8:c4ec359af35d 121 double emgHPRT;
paulineoonk 8:c4ec359af35d 122 double emgAbsHPRT;
paulineoonk 8:c4ec359af35d 123 double emgLPRT;
Miriam 0:d5fb29bc0847 124
paulineoonk 3:36e706d6b3d2 125 double f = 500; // frequency
paulineoonk 3:36e706d6b3d2 126 double dt = 1/f; // sample frequency
paulineoonk 8:c4ec359af35d 127
paulineoonk 8:c4ec359af35d 128 AnalogIn emgLB(A0); // EMG lezen
paulineoonk 8:c4ec359af35d 129 AnalogIn emgRB(A1);
paulineoonk 8:c4ec359af35d 130 AnalogIn emgLT(A2);
paulineoonk 8:c4ec359af35d 131 AnalogIn emgRT(A3);
Miriam 0:d5fb29bc0847 132
paulineoonk 9:285499f48cdd 133 //float MVCLB = 0.3;
paulineoonk 9:285499f48cdd 134 //float MVCRB = 0.3;
paulineoonk 9:285499f48cdd 135 //float MVCLT = 0.3;
paulineoonk 9:285499f48cdd 136 //float MVCRT = 0.3;
paulineoonk 8:c4ec359af35d 137
paulineoonk 11:b46a4c48c08f 138 // variabelen changePosition
paulineoonk 11:b46a4c48c08f 139 int goalx, goaly;
paulineoonk 11:b46a4c48c08f 140
paulineoonk 8:c4ec359af35d 141 void Filteren()
Miriam 0:d5fb29bc0847 142 {
paulineoonk 6:e0e5da2c068f 143 looptime.reset();
paulineoonk 6:e0e5da2c068f 144 looptime.start();
paulineoonk 8:c4ec359af35d 145
paulineoonk 8:c4ec359af35d 146 //EMG 1
paulineoonk 8:c4ec359af35d 147
paulineoonk 10:518a8617c86e 148 emgNotchLB = NFLB.step(emgLB.read() ); // Notch filter
paulineoonk 10:518a8617c86e 149 emgHPLB = HPFLB.step(emgNotchLB); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 150 emgAbsHPLB = abs(emgHPLB); // Take absolute value
paulineoonk 10:518a8617c86e 151 emgLPLB = LPFLB.step(emgAbsHPLB); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 152 emgMEANSUBLB = emgLPLB - RESTMEANLB; //substract the restmean value
paulineoonk 10:518a8617c86e 153 LBF = emgLPLB/MVCLB; // Scale to maximum signal: useful for motor. LBF should now be between 0-1.
paulineoonk 9:285499f48cdd 154
paulineoonk 10:518a8617c86e 155 emgNotchRB = NFRB.step(emgRB.read()); // Notch filter
paulineoonk 10:518a8617c86e 156 emgHPRB = HPFRB.step(emgNotchRB); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 157 emgAbsHPRB = abs(emgHPRB); // Take absolute value
paulineoonk 10:518a8617c86e 158 emgLPRB = LPFRB.step(emgAbsHPRB); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 159 emgMEANSUBLB = emgLPLB - RESTMEANLB;
paulineoonk 9:285499f48cdd 160 RBF = emgLPRB/MVCRB; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 161
paulineoonk 10:518a8617c86e 162 emgNotchLT = NFLT.step(emgLT.read() ); // Notch filter
paulineoonk 10:518a8617c86e 163 emgHPLT = HPFLT.step(emgNotchLT); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 164 emgAbsHPLT = abs(emgHPLT); // Take absolute value
paulineoonk 10:518a8617c86e 165 emgLPLT = LPFLT.step(emgAbsHPLT); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 166 emgMEANSUBLT = emgLPLT - RESTMEANLT; //substract the restmean value
paulineoonk 9:285499f48cdd 167 LTF = emgLPLT/MVCLT; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 168
paulineoonk 10:518a8617c86e 169 emgNotchRT = NFRT.step(emgRT.read() ); // Notch filter
paulineoonk 10:518a8617c86e 170 emgHPRT = HPFRT.step(emgNotchRT); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 171 emgAbsHPRT = abs(emgHPRT); // Take absolute value
paulineoonk 10:518a8617c86e 172 emgLPRT = LPFRT.step(emgAbsHPRT); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 173 emgMEANSUBRT = emgLPRT - RESTMEANRT; //substract the restmean value
paulineoonk 9:285499f48cdd 174 RTF = emgLPRT/MVCRT; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 175
paulineoonk 8:c4ec359af35d 176 //if (emgFiltered >1)
paulineoonk 8:c4ec359af35d 177 //{
paulineoonk 8:c4ec359af35d 178 // emgFiltered=1.00;
paulineoonk 8:c4ec359af35d 179 //}
paulineoonk 8:c4ec359af35d 180 //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 181 //int maxwaarde = 4096; // = 64x64
paulineoonk 6:e0e5da2c068f 182 //double refP = emgFiltered*maxwaarde;
paulineoonk 6:e0e5da2c068f 183 //return refP; // value between 0 and 4096
paulineoonk 9:285499f48cdd 184
Miriam 0:d5fb29bc0847 185 }
paulineoonk 9:285499f48cdd 186
paulineoonk 10:518a8617c86e 187 void CalibrationEMG()
paulineoonk 7:05c71a859d27 188 {
paulineoonk 7:05c71a859d27 189 Timescalibration++;
paulineoonk 9:285499f48cdd 190
paulineoonk 10:518a8617c86e 191 if(Timescalibration<2000)
paulineoonk 9:285499f48cdd 192 {
paulineoonk 10:518a8617c86e 193
paulineoonk 10:518a8617c86e 194 emgNotchLB = NFLB.step(emgLB.read() );
paulineoonk 10:518a8617c86e 195 emgHPLB = HPFLB.step(emgNotchLB);
paulineoonk 10:518a8617c86e 196 emgAbsHPLB = abs(emgHPLB);
paulineoonk 10:518a8617c86e 197 emgLPLB = LPFLB.step(emgAbsHPLB);
paulineoonk 10:518a8617c86e 198 emgSUMLB += emgLPLB; //SUM all rest values LB
paulineoonk 10:518a8617c86e 199
paulineoonk 11:b46a4c48c08f 200 emgNotchRB = NFRB.step(emgRB.read());
paulineoonk 10:518a8617c86e 201 emgHPRB = HPFRB.step(emgNotchRB);
paulineoonk 10:518a8617c86e 202 emgAbsHPRB = abs(emgHPRB);
paulineoonk 10:518a8617c86e 203 emgLPRB = LPFRB.step(emgAbsHPRB);
paulineoonk 10:518a8617c86e 204 emgSUMRB += emgLPRB; //SUM all rest values RB
paulineoonk 10:518a8617c86e 205
paulineoonk 10:518a8617c86e 206 emgNotchLT = NFLT.step(emgLT.read() );
paulineoonk 10:518a8617c86e 207 emgHPLT = HPFLT.step(emgNotchLT);
paulineoonk 10:518a8617c86e 208 emgAbsHPLT = abs(emgHPLT);
paulineoonk 10:518a8617c86e 209 emgLPLT = LPFLT.step(emgAbsHPLT);
paulineoonk 10:518a8617c86e 210 emgSUMLT += emgLPLT; //SUM all rest values LT
paulineoonk 10:518a8617c86e 211
paulineoonk 10:518a8617c86e 212 emgNotchRT = NFRT.step(emgRT.read() );
paulineoonk 10:518a8617c86e 213 emgHPRT = HPFRT.step(emgNotchRT);
paulineoonk 10:518a8617c86e 214 emgAbsHPRT = abs(emgHPRT);
paulineoonk 10:518a8617c86e 215 emgLPRT = LPFRT.step(emgAbsHPRT);
paulineoonk 10:518a8617c86e 216 emgSUMRT += emgLPRT; //SUM all rest values RT
paulineoonk 10:518a8617c86e 217 }
paulineoonk 10:518a8617c86e 218 if(Timescalibration==1999)
paulineoonk 10:518a8617c86e 219 {
paulineoonk 10:518a8617c86e 220 RESTMEANLB = emgSUMLB/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 221 RESTMEANRB = emgSUMRB/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 222 RESTMEANRT = emgSUMRT/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 223 RESTMEANLT = emgSUMLT/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 224 }
paulineoonk 10:518a8617c86e 225 if(Timescalibration>2000 && Timescalibration<6000)
paulineoonk 10:518a8617c86e 226 {
paulineoonk 10:518a8617c86e 227 emgNotchLB = NFLB.step(emgLB.read() );
paulineoonk 10:518a8617c86e 228 emgHPLB = HPFLB.step(emgNotchLB);
paulineoonk 10:518a8617c86e 229 emgAbsHPLB = abs(emgHPLB);
paulineoonk 10:518a8617c86e 230 emgLPLB = LPFLB.step(emgAbsHPLB);
paulineoonk 9:285499f48cdd 231 double emgfinalLB = emgLPLB;
paulineoonk 9:285499f48cdd 232 if (emgfinalLB > MVCLB)
paulineoonk 9:285499f48cdd 233 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 234 MVCLB = emgfinalLB;
paulineoonk 9:285499f48cdd 235 }
paulineoonk 9:285499f48cdd 236 }
paulineoonk 9:285499f48cdd 237
paulineoonk 10:518a8617c86e 238 if(Timescalibration>6000 && Timescalibration<10000)
paulineoonk 9:285499f48cdd 239 {
paulineoonk 10:518a8617c86e 240 emgNotchRB = NFRB.step(emgRB.read());
paulineoonk 10:518a8617c86e 241 emgHPRB = HPFRB.step(emgNotchRB);
paulineoonk 10:518a8617c86e 242 emgAbsHPRB = abs(emgHPRB);
paulineoonk 10:518a8617c86e 243 emgLPRB = LPFRB.step(emgAbsHPRB);
paulineoonk 9:285499f48cdd 244 double emgfinalRB = emgLPRB;
paulineoonk 9:285499f48cdd 245 if (emgfinalRB > MVCRB)
paulineoonk 7:05c71a859d27 246 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 247 MVCRB = emgfinalRB;
paulineoonk 9:285499f48cdd 248 }
paulineoonk 9:285499f48cdd 249 }
paulineoonk 9:285499f48cdd 250
paulineoonk 10:518a8617c86e 251 if(Timescalibration>10000 && Timescalibration<14000)
paulineoonk 9:285499f48cdd 252 {
paulineoonk 10:518a8617c86e 253 emgNotchLT = NFLT.step(emgLT.read() );
paulineoonk 10:518a8617c86e 254 emgHPLT = HPFLT.step(emgNotchLT);
paulineoonk 10:518a8617c86e 255 emgAbsHPLT = abs(emgHPLT);
paulineoonk 10:518a8617c86e 256 emgLPLT = LPFLT.step(emgAbsHPLT);
paulineoonk 9:285499f48cdd 257 double emgfinalLT = emgLPLT;
paulineoonk 9:285499f48cdd 258 if (emgfinalLT > MVCLT)
paulineoonk 9:285499f48cdd 259 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 260 MVCLT = emgfinalLT;
paulineoonk 7:05c71a859d27 261 }
paulineoonk 9:285499f48cdd 262 }
paulineoonk 9:285499f48cdd 263
paulineoonk 10:518a8617c86e 264 if(Timescalibration>14000 && Timescalibration<18000)
paulineoonk 9:285499f48cdd 265 {
paulineoonk 10:518a8617c86e 266 emgNotchRT = NFRT.step(emgRT.read() );
paulineoonk 10:518a8617c86e 267 emgHPRT = HPFRT.step(emgNotchRT);
paulineoonk 10:518a8617c86e 268 emgAbsHPRT = abs(emgHPRT);
paulineoonk 10:518a8617c86e 269 emgLPRT = LPFRT.step(emgAbsHPRT);
paulineoonk 9:285499f48cdd 270 double emgfinalRT = emgLPRT;
paulineoonk 9:285499f48cdd 271 if (emgfinalRT > MVCRT)
paulineoonk 9:285499f48cdd 272 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 273 MVCRT = emgfinalRT;
paulineoonk 9:285499f48cdd 274 }
paulineoonk 9:285499f48cdd 275 }
paulineoonk 9:285499f48cdd 276
paulineoonk 10:518a8617c86e 277 if(Timescalibration>18000)
paulineoonk 7:05c71a859d27 278 {
paulineoonk 7:05c71a859d27 279 caldone=true;
paulineoonk 7:05c71a859d27 280 }
paulineoonk 9:285499f48cdd 281 // pc.printf("maxi waarde = %f emgfinal = %f \r\n",maxi,emgfinal);
paulineoonk 9:285499f48cdd 282 //}
paulineoonk 7:05c71a859d27 283 //PAS ALS DEZE TRUE IS, MOET DE MOTOR PAS BEWEGEN!!!
paulineoonk 7:05c71a859d27 284 //return maxi;
paulineoonk 7:05c71a859d27 285 }
paulineoonk 11:b46a4c48c08f 286
paulineoonk 11:b46a4c48c08f 287 double changePosition ()
paulineoonk 11:b46a4c48c08f 288 {
paulineoonk 11:b46a4c48c08f 289 if (RBF>0.3) {
paulineoonk 11:b46a4c48c08f 290 goalx++; // hoe veel verder gaat hij? 1 cm? 10 cm?
paulineoonk 11:b46a4c48c08f 291 }
paulineoonk 11:b46a4c48c08f 292 if (RTF>0.3) {
paulineoonk 11:b46a4c48c08f 293 goalx--;
paulineoonk 11:b46a4c48c08f 294 }
paulineoonk 11:b46a4c48c08f 295 if (LBF>0.3) {
paulineoonk 11:b46a4c48c08f 296 goaly++;
paulineoonk 11:b46a4c48c08f 297 }
paulineoonk 11:b46a4c48c08f 298 if (LTF>0.3) {
paulineoonk 11:b46a4c48c08f 299 goaly--;
paulineoonk 11:b46a4c48c08f 300 }
paulineoonk 12:65b8d29bdd5d 301 pc.printf("goalx = %i, goaly = %i\r\n",goalx, goaly);
paulineoonk 14:a861ba49107c 302 // DIT MOET NOG HEEL ERG GETUNED WORDEN !!!
paulineoonk 11:b46a4c48c08f 303 }
paulineoonk 7:05c71a859d27 304
paulineoonk 6:e0e5da2c068f 305 /*
paulineoonk 3:36e706d6b3d2 306 double Encoder ()
paulineoonk 3:36e706d6b3d2 307 {
paulineoonk 3:36e706d6b3d2 308 double Huidigepositie = motor1.getPosition ();
paulineoonk 3:36e706d6b3d2 309 return Huidigepositie; // huidige positie = current position
paulineoonk 3:36e706d6b3d2 310 }
paulineoonk 6:e0e5da2c068f 311
paulineoonk 3:36e706d6b3d2 312 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 313 {
paulineoonk 3:36e706d6b3d2 314 double kp = 0.001; // has jet to be scaled
paulineoonk 3:36e706d6b3d2 315 double Proportional= kp*error;
Miriam 0:d5fb29bc0847 316
paulineoonk 3:36e706d6b3d2 317 double kd = 0.0004; // has jet to be scaled
paulineoonk 3:36e706d6b3d2 318 double VelocityError = (error - e_prev)/Ts;
paulineoonk 3:36e706d6b3d2 319 double Derivative = kd*VelocityError;
Miriam 0:d5fb29bc0847 320 e_prev = error;
Miriam 0:d5fb29bc0847 321
paulineoonk 3:36e706d6b3d2 322 double ki = 0.00005; // has jet to be scaled
Miriam 0:d5fb29bc0847 323 e_int = e_int+Ts*error;
paulineoonk 3:36e706d6b3d2 324 double Integrator = ki*e_int;
Miriam 0:d5fb29bc0847 325
Miriam 0:d5fb29bc0847 326
paulineoonk 3:36e706d6b3d2 327 double motorValue = Proportional + Integrator + Derivative;
Miriam 0:d5fb29bc0847 328 return motorValue;
Miriam 0:d5fb29bc0847 329 }
paulineoonk 6:e0e5da2c068f 330
paulineoonk 3:36e706d6b3d2 331 void SetMotor1(double motorValue)
Miriam 0:d5fb29bc0847 332 {
Miriam 0:d5fb29bc0847 333 if (motorValue >= 0)
Miriam 0:d5fb29bc0847 334 {
Miriam 0:d5fb29bc0847 335 M1D = 0;
Miriam 0:d5fb29bc0847 336 }
Miriam 0:d5fb29bc0847 337 else
Miriam 0:d5fb29bc0847 338 {
Miriam 0:d5fb29bc0847 339 M1D = 1;
Miriam 0:d5fb29bc0847 340 }
Miriam 0:d5fb29bc0847 341
Miriam 0:d5fb29bc0847 342 if (fabs(motorValue) > 1)
Miriam 0:d5fb29bc0847 343 {
Miriam 0:d5fb29bc0847 344 M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
Miriam 0:d5fb29bc0847 345 }
Miriam 0:d5fb29bc0847 346 else
Miriam 0:d5fb29bc0847 347 {
Miriam 0:d5fb29bc0847 348 M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
Miriam 0:d5fb29bc0847 349 }
Miriam 0:d5fb29bc0847 350 }
paulineoonk 7:05c71a859d27 351 */
paulineoonk 3:36e706d6b3d2 352 void MeasureAndControl ()
Miriam 0:d5fb29bc0847 353 {
paulineoonk 3:36e706d6b3d2 354 // hier the control of the control system
paulineoonk 7:05c71a859d27 355
paulineoonk 9:285499f48cdd 356 if(caldone==false)
paulineoonk 9:285499f48cdd 357 {
paulineoonk 9:285499f48cdd 358 if(button1.read()==false)
paulineoonk 9:285499f48cdd 359 {
paulineoonk 10:518a8617c86e 360 CalibrationEMG();
paulineoonk 9:285499f48cdd 361 }
paulineoonk 9:285499f48cdd 362 }
paulineoonk 9:285499f48cdd 363 if (caldone==true)
paulineoonk 7:05c71a859d27 364
paulineoonk 9:285499f48cdd 365 {
paulineoonk 8:c4ec359af35d 366 Filteren();
paulineoonk 11:b46a4c48c08f 367 changePosition();
paulineoonk 7:05c71a859d27 368 //rest
paulineoonk 9:285499f48cdd 369 }
paulineoonk 7:05c71a859d27 370
paulineoonk 4:5607088ef6f5 371 //double Huidigepositie = Encoder();
paulineoonk 4:5607088ef6f5 372 //double error = (refP - Huidigepositie);// make an error
paulineoonk 4:5607088ef6f5 373 //double motorValue = FeedBackControl(error, e_prev, e_int);
paulineoonk 7:05c71a859d27 374 //double motorValue = refP;
paulineoonk 7:05c71a859d27 375 //SetMotor1(motorValue);
Miriam 0:d5fb29bc0847 376 }
paulineoonk 14:a861ba49107c 377 void Loop_funtion()
paulineoonk 14:a861ba49107c 378 {
paulineoonk 14:a861ba49107c 379 switch(State){
paulineoonk 14:a861ba49107c 380 case Cal1: //Calibration motor 1
paulineoonk 14:a861ba49107c 381 // naar achteren bewegen( als voorbeeld Arvid), daarna deze waarde opslaan als offset. Dan bewegen naar home middels PID en verschil encodervalue uiterste stand en home1.
paulineoonk 14:a861ba49107c 382 motorValue1 = 0.5f; motorValue2=0;
paulineoonk 14:a861ba49107c 383
paulineoonk 14:a861ba49107c 384
paulineoonk 14:a861ba49107c 385 if (Huidigepositie1== 0)
paulineoonk 14:a861ba49107c 386 {
paulineoonk 14:a861ba49107c 387 SetMotor1(value); //value is waarde encoder voor loodrechte hoeken,.
paulineoonk 14:a861ba49107c 388 if (fabs(huidigepositie1-home1)<0.01) {
paulineoonk 14:a861ba49107c 389 state=Cal2
paulineoonk 14:a861ba49107c 390 }
paulineoonk 14:a861ba49107c 391 }
paulineoonk 14:a861ba49107c 392 else {
paulineoonk 14:a861ba49107c 393 SetMotor1(0);
paulineoonk 14:a861ba49107c 394 Loop_function();
paulineoonk 14:a861ba49107c 395 }
paulineoonk 14:a861ba49107c 396 break;
paulineoonk 14:a861ba49107c 397
paulineoonk 14:a861ba49107c 398 case Cal2: //Calibration motor 2
paulineoonk 14:a861ba49107c 399 if (Huidigepositie2== 0)
paulineoonk 14:a861ba49107c 400 {
paulineoonk 14:a861ba49107c 401 if (encoder2.read)<0.01){
paulineoonk 14:a861ba49107c 402 state=CalEMG;
paulineoonk 14:a861ba49107c 403 }
paulineoonk 14:a861ba49107c 404 else {
paulineoonk 14:a861ba49107c 405 SetMotor2(0);
paulineoonk 14:a861ba49107c 406 Loop_function();
paulineoonk 14:a861ba49107c 407 }
paulineoonk 14:a861ba49107c 408 break;
paulineoonk 14:a861ba49107c 409 case CalEMG: // Calibration EMG
paulineoonk 14:a861ba49107c 410 calibrationEMG(); //calculates average EMGFiltered at rest and measures max signal EMGFiltered.
paulineoonk 14:a861ba49107c 411 state=SelectDevice;
paulineoonk 14:a861ba49107c 412 break;
paulineoonk 14:a861ba49107c 413 case SelectDevice: //Looks at the difference between current position and home. Select aansturen EMG or buttons
paulineoonk 14:a861ba49107c 414 if button=1; {
paulineoonk 14:a861ba49107c 415 state=EMG;
paulineoonk 14:a861ba49107c 416 }
paulineoonk 14:a861ba49107c 417 if button=0; {
paulineoonk 14:a861ba49107c 418 state=Demo;
paulineoonk 14:a861ba49107c 419 }
paulineoonk 14:a861ba49107c 420 break;
paulineoonk 14:a861ba49107c 421 case EMG: //Aansturen met EMG
paulineoonk 14:a861ba49107c 422 Filteren();
paulineoonk 14:a861ba49107c 423 changePosition();
paulineoonk 14:a861ba49107c 424 break;
paulineoonk 14:a861ba49107c 425 case Demo: // Aansturen met toetsenbord
paulineoonk 14:a861ba49107c 426 break;
paulineoonk 14:a861ba49107c 427 }
Miriam 0:d5fb29bc0847 428
paulineoonk 8:c4ec359af35d 429 void Tickerfunctie()
paulineoonk 8:c4ec359af35d 430 {
paulineoonk 13:3351f4374885 431 //if(caldone == false)
paulineoonk 13:3351f4374885 432 //{
paulineoonk 12:65b8d29bdd5d 433 pc.printf("emgreadRB = %f , emgFiltered = %f, maxi = %f meanrest = %f\r\n",emgRB.read(), RBF, MVCRB, RESTMEANLB);
paulineoonk 11:b46a4c48c08f 434 pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, meanrest = %f emgSUMLB %f ,Timescalibration %i\r\n",emgLB.read(), LBF, MVCLB,RESTMEANRB,emgSUMLB, Timescalibration);
paulineoonk 10:518a8617c86e 435 pc.printf("emgreadRT = %f , emgFilteredRT = %f, maxiRT = %f meanrest = %f \r\n",emgRT.read(), RTF, MVCRT,RESTMEANRT);
paulineoonk 10:518a8617c86e 436 pc.printf("emgreadLT = %f , emgFilteredLT = %f, maxiLT = %f meanrest = %f \r\n",emgLT.read(), LTF, MVCLT,RESTMEANLT);
paulineoonk 13:3351f4374885 437 //}
paulineoonk 8:c4ec359af35d 438 }
paulineoonk 7:05c71a859d27 439
Miriam 0:d5fb29bc0847 440 int main()
Miriam 0:d5fb29bc0847 441 {
paulineoonk 7:05c71a859d27 442 //voor EMG filteren
paulineoonk 10:518a8617c86e 443 //Left Bicep
paulineoonk 9:285499f48cdd 444 NFLB.add( &N1LB );
paulineoonk 10:518a8617c86e 445 HPFLB.add( &HP1LB ).add( &HP2LB );
paulineoonk 9:285499f48cdd 446 LPFLB.add( &LP1LB ).add( &LP2LB );
paulineoonk 9:285499f48cdd 447
paulineoonk 10:518a8617c86e 448 //Right Bicep
paulineoonk 10:518a8617c86e 449 NFRB.add( &N1RB );
paulineoonk 10:518a8617c86e 450 HPFRB.add( &HP1RB ).add( &HP2RB );
paulineoonk 10:518a8617c86e 451 LPFRB.add( &LP1RB ).add( &LP2RB );
paulineoonk 9:285499f48cdd 452
paulineoonk 10:518a8617c86e 453 //Left Tricep
paulineoonk 10:518a8617c86e 454 NFLT.add( &N1LT );
paulineoonk 10:518a8617c86e 455 HPFLT.add( &HP1LT ).add( &HP2LT );
paulineoonk 10:518a8617c86e 456 LPFLT.add( &LP1LT ).add( &LP2LT );
paulineoonk 10:518a8617c86e 457
paulineoonk 10:518a8617c86e 458 //Right Tricep
paulineoonk 10:518a8617c86e 459 NFRT.add( &N1RT );
paulineoonk 10:518a8617c86e 460 HPFRT.add( &HP1RT ).add( &HP2RT );
paulineoonk 10:518a8617c86e 461 LPFRT.add( &LP1RT ).add( &LP2RT );
paulineoonk 3:36e706d6b3d2 462
paulineoonk 7:05c71a859d27 463 //voor serial
paulineoonk 7:05c71a859d27 464 pc.baud(115200);
paulineoonk 7:05c71a859d27 465
paulineoonk 7:05c71a859d27 466 //motor
paulineoonk 8:c4ec359af35d 467 // M1E.period(PwmPeriod); //set PWMposition at 5000hz
paulineoonk 7:05c71a859d27 468 //Ticker
paulineoonk 7:05c71a859d27 469 Treecko.attach(MeasureAndControl, tijdstap); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende
paulineoonk 3:36e706d6b3d2 470 //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
paulineoonk 9:285499f48cdd 471 printer.attach(Tickerfunctie,0.4);
paulineoonk 14:a861ba49107c 472
paulineoonk 14:a861ba49107c 473 //State Machine
paulineoonk 14:a861ba49107c 474 State = Cal1;
paulineoonk 14:a861ba49107c 475 Position_controller_on = false;
paulineoonk 14:a861ba49107c 476 Main_loop.attach(&loop_function, looptime);
paulineoonk 3:36e706d6b3d2 477 while(true)
Miriam 0:d5fb29bc0847 478 {
paulineoonk 14:a861ba49107c 479
paulineoonk 3:36e706d6b3d2 480 }
paulineoonk 3:36e706d6b3d2 481
paulineoonk 3:36e706d6b3d2 482
paulineoonk 3:36e706d6b3d2 483 }