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
main.cpp
- Committer:
- paulineoonk
- Date:
- 2017-11-01
- Revision:
- 14:a861ba49107c
- Parent:
- 13:3351f4374885
- Child:
- 15:1cfe58aea10d
File content as of revision 14:a861ba49107c:
//libaries #include "mbed.h" #include "BiQuad.h" #include "HIDScope.h" #include "encoder.h" #include "MODSERIAL.h" //State Machine enum States (Cal1, Cal2, CalEMG, Home, EMG, Rest, Demo); int State, Counter; bool Position_controller_on; double Looptime = 0.002f; //globalvariables Motor Ticker Treecko; //We make a awesome ticker for our control system Ticker printer; //PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed //DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control //Encoder motor1(D13,D12,true); MODSERIAL pc(USBTX,USBRX); //double PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde) const double Ts = 0.1; // tickettijd/ sample time //double e_prev = 0; //double e_int = 0; double tijdstap = 0.002; volatile double LBF; volatile double RBF; volatile double LTF; volatile double RTF; //buttons en leds voor calibration DigitalIn button1(PTA4); DigitalOut ledred(LED_RED); DigitalOut ledblue(LED_BLUE); DigitalOut ledgreen(LED_GREEN); //MVC for calibration double MVCLB = 0; double MVCRB = 0; double MVCLT = 0; double MVCRT = 0; //MEAN for calibration - rest double RESTMEANLB = 0; double RESTMEANRB =0; double RESTMEANLT = 0; double RESTMEANRT = 0; double emgMEANSUBLB;double emgMEANSUBRB ;double emgMEANSUBLT ;double emgMEANSUBRT ; double emgSUMLB;double emgSUMRB;double emgSUMLT;double emgSUMRT; bool caldone = false; int CalibrationSample = 1000; //How long will we calibrate? Timersampletime*Calibrationsample int Timescalibration = 0; int TimescalibrationREST = 0; // Biquad filters voor Left Bicep (LB) // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter BiQuad N1LB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); BiQuadChain NFLB; BiQuad HP1LB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); BiQuad HP2LB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); BiQuadChain HPFLB; BiQuad LP1LB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); BiQuad LP2LB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); BiQuadChain LPFLB; // Biquad filters voor Right Bicep (RB) // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter BiQuad N1RB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); BiQuadChain NFRB; BiQuad HP1RB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); BiQuad HP2RB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); BiQuadChain HPFRB; BiQuad LP1RB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); BiQuad LP2RB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); BiQuadChain LPFRB; // Biquad filters voor Left Tricep (LT) // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter BiQuad N1LT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); BiQuadChain NFLT; BiQuad HP1LT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); BiQuad HP2LT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); BiQuadChain HPFLT; BiQuad LP1LT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); BiQuad LP2LT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); BiQuadChain LPFLT; // Biquad filters voor Left Tricep (RT) // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter BiQuad N1RT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); BiQuadChain NFRT; BiQuad HP1RT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); BiQuad HP2RT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); BiQuadChain HPFRT; BiQuad LP1RT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); BiQuad LP2RT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); BiQuadChain LPFRT; Timer looptime; //moetuiteindelijk weg //filters double emgNotchLB; double emgHPLB; double emgAbsHPLB; double emgLPLB; double emgNotchRB; double emgHPRB; double emgAbsHPRB; double emgLPRB; double emgNotchLT; double emgHPLT; double emgAbsHPLT; double emgLPLT; double emgNotchRT; double emgHPRT; double emgAbsHPRT; double emgLPRT; double f = 500; // frequency double dt = 1/f; // sample frequency AnalogIn emgLB(A0); // EMG lezen AnalogIn emgRB(A1); AnalogIn emgLT(A2); AnalogIn emgRT(A3); //float MVCLB = 0.3; //float MVCRB = 0.3; //float MVCLT = 0.3; //float MVCRT = 0.3; // variabelen changePosition int goalx, goaly; void Filteren() { looptime.reset(); looptime.start(); //EMG 1 emgNotchLB = NFLB.step(emgLB.read() ); // Notch filter emgHPLB = HPFLB.step(emgNotchLB); // High-pass filter: also normalises around 0. emgAbsHPLB = abs(emgHPLB); // Take absolute value emgLPLB = LPFLB.step(emgAbsHPLB); // Low-pass filter: creates envelope emgMEANSUBLB = emgLPLB - RESTMEANLB; //substract the restmean value LBF = emgLPLB/MVCLB; // Scale to maximum signal: useful for motor. LBF should now be between 0-1. emgNotchRB = NFRB.step(emgRB.read()); // Notch filter emgHPRB = HPFRB.step(emgNotchRB); // High-pass filter: also normalises around 0. emgAbsHPRB = abs(emgHPRB); // Take absolute value emgLPRB = LPFRB.step(emgAbsHPRB); // Low-pass filter: creates envelope emgMEANSUBLB = emgLPLB - RESTMEANLB; RBF = emgLPRB/MVCRB; // Scale to maximum signal: useful for motor emgNotchLT = NFLT.step(emgLT.read() ); // Notch filter emgHPLT = HPFLT.step(emgNotchLT); // High-pass filter: also normalises around 0. emgAbsHPLT = abs(emgHPLT); // Take absolute value emgLPLT = LPFLT.step(emgAbsHPLT); // Low-pass filter: creates envelope emgMEANSUBLT = emgLPLT - RESTMEANLT; //substract the restmean value LTF = emgLPLT/MVCLT; // Scale to maximum signal: useful for motor emgNotchRT = NFRT.step(emgRT.read() ); // Notch filter emgHPRT = HPFRT.step(emgNotchRT); // High-pass filter: also normalises around 0. emgAbsHPRT = abs(emgHPRT); // Take absolute value emgLPRT = LPFRT.step(emgAbsHPRT); // Low-pass filter: creates envelope emgMEANSUBRT = emgLPRT - RESTMEANRT; //substract the restmean value RTF = emgLPRT/MVCRT; // Scale to maximum signal: useful for motor //if (emgFiltered >1) //{ // emgFiltered=1.00; //} //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); //int maxwaarde = 4096; // = 64x64 //double refP = emgFiltered*maxwaarde; //return refP; // value between 0 and 4096 } void CalibrationEMG() { Timescalibration++; if(Timescalibration<2000) { emgNotchLB = NFLB.step(emgLB.read() ); emgHPLB = HPFLB.step(emgNotchLB); emgAbsHPLB = abs(emgHPLB); emgLPLB = LPFLB.step(emgAbsHPLB); emgSUMLB += emgLPLB; //SUM all rest values LB emgNotchRB = NFRB.step(emgRB.read()); emgHPRB = HPFRB.step(emgNotchRB); emgAbsHPRB = abs(emgHPRB); emgLPRB = LPFRB.step(emgAbsHPRB); emgSUMRB += emgLPRB; //SUM all rest values RB emgNotchLT = NFLT.step(emgLT.read() ); emgHPLT = HPFLT.step(emgNotchLT); emgAbsHPLT = abs(emgHPLT); emgLPLT = LPFLT.step(emgAbsHPLT); emgSUMLT += emgLPLT; //SUM all rest values LT emgNotchRT = NFRT.step(emgRT.read() ); emgHPRT = HPFRT.step(emgNotchRT); emgAbsHPRT = abs(emgHPRT); emgLPRT = LPFRT.step(emgAbsHPRT); emgSUMRT += emgLPRT; //SUM all rest values RT } if(Timescalibration==1999) { RESTMEANLB = emgSUMLB/Timescalibration; //determine the mean rest value RESTMEANRB = emgSUMRB/Timescalibration; //determine the mean rest value RESTMEANRT = emgSUMRT/Timescalibration; //determine the mean rest value RESTMEANLT = emgSUMLT/Timescalibration; //determine the mean rest value } if(Timescalibration>2000 && Timescalibration<6000) { emgNotchLB = NFLB.step(emgLB.read() ); emgHPLB = HPFLB.step(emgNotchLB); emgAbsHPLB = abs(emgHPLB); emgLPLB = LPFLB.step(emgAbsHPLB); double emgfinalLB = emgLPLB; if (emgfinalLB > MVCLB) { //determine what the highest reachable emg signal is MVCLB = emgfinalLB; } } if(Timescalibration>6000 && Timescalibration<10000) { emgNotchRB = NFRB.step(emgRB.read()); emgHPRB = HPFRB.step(emgNotchRB); emgAbsHPRB = abs(emgHPRB); emgLPRB = LPFRB.step(emgAbsHPRB); double emgfinalRB = emgLPRB; if (emgfinalRB > MVCRB) { //determine what the highest reachable emg signal is MVCRB = emgfinalRB; } } if(Timescalibration>10000 && Timescalibration<14000) { emgNotchLT = NFLT.step(emgLT.read() ); emgHPLT = HPFLT.step(emgNotchLT); emgAbsHPLT = abs(emgHPLT); emgLPLT = LPFLT.step(emgAbsHPLT); double emgfinalLT = emgLPLT; if (emgfinalLT > MVCLT) { //determine what the highest reachable emg signal is MVCLT = emgfinalLT; } } if(Timescalibration>14000 && Timescalibration<18000) { emgNotchRT = NFRT.step(emgRT.read() ); emgHPRT = HPFRT.step(emgNotchRT); emgAbsHPRT = abs(emgHPRT); emgLPRT = LPFRT.step(emgAbsHPRT); double emgfinalRT = emgLPRT; if (emgfinalRT > MVCRT) { //determine what the highest reachable emg signal is MVCRT = emgfinalRT; } } if(Timescalibration>18000) { caldone=true; } // pc.printf("maxi waarde = %f emgfinal = %f \r\n",maxi,emgfinal); //} //PAS ALS DEZE TRUE IS, MOET DE MOTOR PAS BEWEGEN!!! //return maxi; } double changePosition () { if (RBF>0.3) { goalx++; // hoe veel verder gaat hij? 1 cm? 10 cm? } if (RTF>0.3) { goalx--; } if (LBF>0.3) { goaly++; } if (LTF>0.3) { goaly--; } pc.printf("goalx = %i, goaly = %i\r\n",goalx, goaly); // DIT MOET NOG HEEL ERG GETUNED WORDEN !!! } /* double Encoder () { double Huidigepositie = motor1.getPosition (); return Huidigepositie; // huidige positie = current position } 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) { double kp = 0.001; // has jet to be scaled double Proportional= kp*error; double kd = 0.0004; // has jet to be scaled double VelocityError = (error - e_prev)/Ts; double Derivative = kd*VelocityError; e_prev = error; double ki = 0.00005; // has jet to be scaled e_int = e_int+Ts*error; double Integrator = ki*e_int; double motorValue = Proportional + Integrator + Derivative; return motorValue; } void SetMotor1(double motorValue) { if (motorValue >= 0) { M1D = 0; } else { M1D = 1; } if (fabs(motorValue) > 1) { M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) } else { M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 } } */ void MeasureAndControl () { // hier the control of the control system if(caldone==false) { if(button1.read()==false) { CalibrationEMG(); } } if (caldone==true) { Filteren(); changePosition(); //rest } //double Huidigepositie = Encoder(); //double error = (refP - Huidigepositie);// make an error //double motorValue = FeedBackControl(error, e_prev, e_int); //double motorValue = refP; //SetMotor1(motorValue); } void Loop_funtion() { switch(State){ case Cal1: //Calibration motor 1 // 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. motorValue1 = 0.5f; motorValue2=0; if (Huidigepositie1== 0) { SetMotor1(value); //value is waarde encoder voor loodrechte hoeken,. if (fabs(huidigepositie1-home1)<0.01) { state=Cal2 } } else { SetMotor1(0); Loop_function(); } break; case Cal2: //Calibration motor 2 if (Huidigepositie2== 0) { if (encoder2.read)<0.01){ state=CalEMG; } else { SetMotor2(0); Loop_function(); } break; case CalEMG: // Calibration EMG calibrationEMG(); //calculates average EMGFiltered at rest and measures max signal EMGFiltered. state=SelectDevice; break; case SelectDevice: //Looks at the difference between current position and home. Select aansturen EMG or buttons if button=1; { state=EMG; } if button=0; { state=Demo; } break; case EMG: //Aansturen met EMG Filteren(); changePosition(); break; case Demo: // Aansturen met toetsenbord break; } void Tickerfunctie() { //if(caldone == false) //{ pc.printf("emgreadRB = %f , emgFiltered = %f, maxi = %f meanrest = %f\r\n",emgRB.read(), RBF, MVCRB, RESTMEANLB); pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, meanrest = %f emgSUMLB %f ,Timescalibration %i\r\n",emgLB.read(), LBF, MVCLB,RESTMEANRB,emgSUMLB, Timescalibration); pc.printf("emgreadRT = %f , emgFilteredRT = %f, maxiRT = %f meanrest = %f \r\n",emgRT.read(), RTF, MVCRT,RESTMEANRT); pc.printf("emgreadLT = %f , emgFilteredLT = %f, maxiLT = %f meanrest = %f \r\n",emgLT.read(), LTF, MVCLT,RESTMEANLT); //} } int main() { //voor EMG filteren //Left Bicep NFLB.add( &N1LB ); HPFLB.add( &HP1LB ).add( &HP2LB ); LPFLB.add( &LP1LB ).add( &LP2LB ); //Right Bicep NFRB.add( &N1RB ); HPFRB.add( &HP1RB ).add( &HP2RB ); LPFRB.add( &LP1RB ).add( &LP2RB ); //Left Tricep NFLT.add( &N1LT ); HPFLT.add( &HP1LT ).add( &HP2LT ); LPFLT.add( &LP1LT ).add( &LP2LT ); //Right Tricep NFRT.add( &N1RT ); HPFRT.add( &HP1RT ).add( &HP2RT ); LPFRT.add( &LP1RT ).add( &LP2RT ); //voor serial pc.baud(115200); //motor // M1E.period(PwmPeriod); //set PWMposition at 5000hz //Ticker Treecko.attach(MeasureAndControl, tijdstap); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd. printer.attach(Tickerfunctie,0.4); //State Machine State = Cal1; Position_controller_on = false; Main_loop.attach(&loop_function, looptime); while(true) { } }