Margreeth de Breij
Motor programma met EMG
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
frdm_Motor_V2_3
by 
Margreeth de Breij
Diff: main.cpp
- Revision:
- 29:c34c2c3d30a9
- Parent:
- 28:a40884792e0a
--- a/main.cpp Mon Oct 12 16:53:25 2015 +0000
+++ b/main.cpp Tue Oct 13 14:00:41 2015 +0000
@@ -16,8 +16,7 @@
QEI Encoder2(D3, D2, NC, 32); // Encoder Motor 2
QEI Encoder1(D13,D12,NC, 32); // Encoder Motor 1
HIDScope scope(5); // Scope, 4 channels
- DigitalIn Button1(SW3);
- DigitalIn Button2(SW2);
+
// LEDs
DigitalOut LedR(LED_RED);
DigitalOut LedG(LED_GREEN);
@@ -37,11 +36,13 @@
Ticker ScopeTime;
Ticker myControllerTicker2;
Ticker myControllerTicker1;
- Ticker SampleEMG;
+ Ticker SampleEMGLeft;
+ Ticker SampleEMGRight;
Ticker ScopeTimer;
Ticker serial;
- Ticker MovingAverage;
-
+ Ticker MovingAverageLeft;
+ Ticker MovingAverageRight;
+
// Constants
double reference2, reference1;
double position2 = 0, position1 = 0;
@@ -60,9 +61,14 @@
double EMG_left_f5;
double EMG_left_f6;
double EMG_left_abs;
+
double EMG_right_value;
double EMG_right_f1;
double EMG_right_f2;
+ double EMG_right_f3;
+ double EMG_right_f4;
+ double EMG_right_f5;
+ double EMG_right_f6;
double EMG_right_abs;
double Threshold1 = 0.02;
double Threshold2 = 0.06;
@@ -70,6 +76,8 @@
int N = 50;
double MAF_left[50];
double EMG_left_MAF;
+ double MAF_right[50];
+ double EMG_right_MAF;
//Sample time (motor-step)
const double m2_Ts = 0.01, m1_Ts = 0.01;
@@ -87,16 +95,16 @@
// coëfficiënten
const double BiGainEMG_H1 = 0.795375, BiGainEMG_H2 = 0.895763;
- const double EMGH1_a1 = -1.56308931068*BiGainEMG_H1, EMGH1_a2 = 0.61765749583*BiGainEMG_H1, EMGH1_b0 = 1.0*BiGainEMG_H1, EMGH1_b1 = -1.99909075151*BiGainEMG_H1, EMGH1_b2 = 1.0*BiGainEMG_H1; //coefficients for high-pass filter
- const double EMGH2_a1 = -1.75651417587*BiGainEMG_H2, EMGH2_a2 = 0.82183182692*BiGainEMG_H2, EMGH2_b0 = 1.0*BiGainEMG_H2, EMGH2_b1 = -1.99470632157*BiGainEMG_H2, EMGH2_b2 = 1.0*BiGainEMG_H2; //coefficients for high-pass filter
+ const double EMGH1_a1 = -1.56308931068, EMGH1_a2 = 0.61765749583, EMGH1_b0 = 1.0*BiGainEMG_H1, EMGH1_b1 = -1.99909075151*BiGainEMG_H1, EMGH1_b2 = 1.0*BiGainEMG_H1; //coefficients for high-pass filter
+ const double EMGH2_a1 = -1.75651417587, EMGH2_a2 = 0.82183182692, EMGH2_b0 = 1.0*BiGainEMG_H2, EMGH2_b1 = -1.99470632157*BiGainEMG_H2, EMGH2_b2 = 1.0*BiGainEMG_H2; //coefficients for high-pass filter
const double BiGainEMG_L1=0.959332, BiGainEMG_L2 = 0.223396;
- const double EMGL1_a1 = -1.55576653052*BiGainEMG_L1, EMGL1_a2 = 0.61374320375*BiGainEMG_L1, EMGL1_b0 = 1.0*BiGainEMG_L1, EMGL1_b1 = -0.90928276835*BiGainEMG_L1, EMGL1_b2 = 1.0*BiGainEMG_L1; // coefficients for low-pass filter
- const double EMGL2_a1 = -1.79696141922*BiGainEMG_L2, EMGL2_a2 = 0.85096669383*BiGainEMG_L2, EMGL2_b0 = 1.0*BiGainEMG_L2, EMGL2_b1 = -1.75825311060*BiGainEMG_L2, EMGL2_b2 = 1.0*BiGainEMG_L2; // coefficients for low-pass filter
+ const double EMGL1_a1 = -1.55576653052, EMGL1_a2 = 0.61374320375, EMGL1_b0 = 1.0*BiGainEMG_L1, EMGL1_b1 = -0.90928276835*BiGainEMG_L1, EMGL1_b2 = 1.0*BiGainEMG_L1; // coefficients for low-pass filter
+ const double EMGL2_a1 = -1.79696141922, EMGL2_a2 = 0.85096669383, EMGL2_b0 = 1.0*BiGainEMG_L2, EMGL2_b1 = -1.75825311060*BiGainEMG_L2, EMGL2_b2 = 1.0*BiGainEMG_L2; // coefficients for low-pass filter
const double BiGainEMG_N1 = 1.0, BiGainEMG_N2 = 0.965081;
- const double EMGN1_a1 = -1.56858163035*BiGainEMG_N1, EMGN1_a2 = 0.96424138362*BiGainEMG_N1, EMGN1_b0 = 1.0*BiGainEMG_N1, EMGN1_b1 = -1.61854514265*BiGainEMG_N1, EMGN1_b2 = 1.0*BiGainEMG_N1; //coefficients for high-pass filter
- const double EMGN2_a1 = -1.61100357722*BiGainEMG_N2, EMGN2_a2 = 0.96592170538*BiGainEMG_N2, EMGN2_b0 = 1.0*BiGainEMG_N2, EMGN2_b1 = -1.61854514265*BiGainEMG_N2, EMGN2_b2 = 1.0*BiGainEMG_N2; //coefficients for high-pass filter
+ const double EMGN1_a1 = -1.56858163035, EMGN1_a2 = 0.96424138362, EMGN1_b0 = 1.0*BiGainEMG_N1, EMGN1_b1 = -1.61854514265*BiGainEMG_N1, EMGN1_b2 = 1.0*BiGainEMG_N1; //coefficients for notch filter
+ const double EMGN2_a1 = -1.61100357722, EMGN2_a2 = 0.96592170538, EMGN2_b0 = 1.0*BiGainEMG_N2, EMGN2_b1 = -1.61854514265*BiGainEMG_N2, EMGN2_b2 = 1.0*BiGainEMG_N2; //coefficients for notch filter
// Filter variables
double m2_f_v1 = 0, m2_f_v2 = 0;
@@ -109,6 +117,13 @@
biquadFilter EMG_lowpass2 (EMGL2_a1, EMGL2_a2, EMGL2_b0, EMGL2_b1, EMGL2_b2);
biquadFilter EMG_notch1 (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter
biquadFilter EMG_notch2 (EMGN2_a1, EMGN2_a2, EMGN2_b0, EMGN2_b1, EMGN2_b2);
+
+ biquadFilter EMG_highpass1R (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter
+ biquadFilter EMG_highpass2R (EMGH2_a1, EMGH2_a2, EMGH2_b0, EMGH2_b1, EMGH2_b2);
+ biquadFilter EMG_lowpass1R (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter
+ biquadFilter EMG_lowpass2R (EMGL2_a1, EMGL2_a2, EMGL2_b0, EMGL2_b1, EMGL2_b2);
+ biquadFilter EMG_notch1R (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter
+ biquadFilter EMG_notch2R (EMGN2_a1, EMGN2_a2, EMGN2_b0, EMGN2_b1, EMGN2_b2);
//--------------------------------------------------------------------------------------------------------------------------//
// General Functions
@@ -122,6 +137,7 @@
scope.set(2, reference1 - position1);
scope.set(3, position1);
scope.set(4, EMG_left_MAF);
+ scope.set(5, EMG_right_MAF);
scope.send();
}
@@ -150,67 +166,12 @@
return Kp * e + Ki*e_int + Kd*e_der;
}
-// Movingaverage Filter
- void MovingAverageFilter()
- {
- EMG_left_MAF = (MAF_left[0]+MAF_left[1]+MAF_left[2]+MAF_left[3]+MAF_left[4]+MAF_left[5]+MAF_left[6]+MAF_left[7]+MAF_left[8]+MAF_left[9]+MAF_left[10]+MAF_left[11]+MAF_left[12]+MAF_left[13]+MAF_left[14]+MAF_left[15]+MAF_left[16]+MAF_left[17]+MAF_left[18]+MAF_left[19]+MAF_left[20]+MAF_left[21]+MAF_left[22]+MAF_left[23]+MAF_left[24]+MAF_left[25]+MAF_left[26]+MAF_left[27]+MAF_left[28]+MAF_left[29]+MAF_left[30]+MAF_left[31]+MAF_left[32]+MAF_left[33]+MAF_left[34]+MAF_left[35]+MAF_left[36]+MAF_left[37]+MAF_left[38]+MAF_left[39]+MAF_left[40]+MAF_left[41]+MAF_left[42]+MAF_left[43]+MAF_left[44]+MAF_left[45]+MAF_left[46]+MAF_left[47]+MAF_left[48]+MAF_left[49])/N;
- MAF_left[49] = MAF_left[48];
- MAF_left[48] = MAF_left[47];
- MAF_left[47] = MAF_left[46];
- MAF_left[46] = MAF_left[45];
- MAF_left[45] = MAF_left[44];
- MAF_left[44] = MAF_left[43];
- MAF_left[43] = MAF_left[42];
- MAF_left[42] = MAF_left[41];
- MAF_left[41] = MAF_left[40];
- MAF_left[40] = MAF_left[39];
- MAF_left[39] = MAF_left[38];
- MAF_left[38] = MAF_left[37];
- MAF_left[37] = MAF_left[36];
- MAF_left[36] = MAF_left[35];
- MAF_left[35] = MAF_left[34];
- MAF_left[34] = MAF_left[33];
- MAF_left[33] = MAF_left[32];
- MAF_left[32] = MAF_left[31];
- MAF_left[31] = MAF_left[30];
- MAF_left[30] = MAF_left[29];
- MAF_left[29] = MAF_left[28];
- MAF_left[28] = MAF_left[27];
- MAF_left[27] = MAF_left[26];
- MAF_left[26] = MAF_left[25];
- MAF_left[25] = MAF_left[24];
- MAF_left[24] = MAF_left[23];
- MAF_left[23] = MAF_left[22];
- MAF_left[22] = MAF_left[21];
- MAF_left[21] = MAF_left[20];
- MAF_left[20] = MAF_left[19];
- MAF_left[19] = MAF_left[18];
- MAF_left[18] = MAF_left[17];
- MAF_left[17] = MAF_left[16];
- MAF_left[16] = MAF_left[15];
- MAF_left[15] = MAF_left[14];
- MAF_left[14] = MAF_left[13];
- MAF_left[13] = MAF_left[12];
- MAF_left[12] = MAF_left[11];
- MAF_left[11] = MAF_left[10];
- MAF_left[10] = MAF_left[9];
- MAF_left[9] = MAF_left[8];
- MAF_left[8] = MAF_left[7];
- MAF_left[7] = MAF_left[6];
- MAF_left[6] = MAF_left[5];
- MAF_left[5] = MAF_left[4];
- MAF_left[4] = MAF_left[3];
- MAF_left[3] = MAF_left[2];
- MAF_left[2] = MAF_left[1];
- MAF_left[1] = MAF_left[0];
- MAF_left[0] = EMG_left_f6;
- }
//--------------------------------------------------------------------------------------------------------------------------//
//EMG functions
//--------------------------------------------------------------------------------------------------------------------------//
// EMG filtering function
-void EMGfilter() // Both EMG signals are filtered in one function and with the same filters
+void EMGfilterLeft()
{
EMG_left_value = EMG_left.read();
EMG_left_f1 = EMG_highpass1.step(EMG_left_value);
@@ -220,13 +181,37 @@
EMG_left_f4 = EMG_lowpass2.step(EMG_left_f3);
EMG_left_f5 = EMG_notch1.step(EMG_left_f4);
EMG_left_f6 = EMG_notch1.step(EMG_left_f5);
-
-// EMG_right_value = EMG_right.read();
-// EMG_right_f1 = EMG_highpass.step(EMG_right_value);
-// EMG_right_f1 = EMG_lowpass.step(EMG_right_f1);
-// EMG_right_abs = fabs(EMG_right_f2);
+}
+
+void EMGfilterRight()
+{
+ EMG_right_value = EMG_right.read();
+ EMG_right_f1 = EMG_highpass1R.step(EMG_right_value);
+ EMG_right_f2 = EMG_highpass2R.step(EMG_right_f1);
+ EMG_right_abs = fabs(EMG_right_f2);
+ EMG_right_f3 = EMG_lowpass1R.step(EMG_right_abs);
+ EMG_right_f4 = EMG_lowpass2R.step(EMG_right_f3);
+ EMG_right_f5 = EMG_notch1R.step(EMG_right_f4);
+ EMG_right_f6 = EMG_notch1R.step(EMG_right_f5);
}
+// Movingaverage Filter
+void MovingAverageFilterLeft()
+ {
+ EMG_left_MAF = (MAF_left[0]+MAF_left[1]+MAF_left[2]+MAF_left[3]+MAF_left[4]+MAF_left[5]+MAF_left[6]+MAF_left[7]+MAF_left[8]+MAF_left[9]+MAF_left[10]+MAF_left[11]+MAF_left[12]+MAF_left[13]+MAF_left[14]+MAF_left[15]+MAF_left[16]+MAF_left[17]+MAF_left[18]+MAF_left[19]+MAF_left[20]+MAF_left[21]+MAF_left[22]+MAF_left[23]+MAF_left[24]+MAF_left[25]+MAF_left[26]+MAF_left[27]+MAF_left[28]+MAF_left[29]+MAF_left[30]+MAF_left[31]+MAF_left[32]+MAF_left[33]+MAF_left[34]+MAF_left[35]+MAF_left[36]+MAF_left[37]+MAF_left[38]+MAF_left[39]+MAF_left[40]+MAF_left[41]+MAF_left[42]+MAF_left[43]+MAF_left[44]+MAF_left[45]+MAF_left[46]+MAF_left[47]+MAF_left[48]+MAF_left[49])/N;
+ MAF_left[49] = MAF_left[48], MAF_left[48] = MAF_left[47], MAF_left[47] = MAF_left[46], MAF_left[46] = MAF_left[45], MAF_left[45] = MAF_left[44], MAF_left[44] = MAF_left[43], MAF_left[43] = MAF_left[42], MAF_left[42] = MAF_left[41], MAF_left[41] = MAF_left[40], MAF_left[40] = MAF_left[39], MAF_left[39] = MAF_left[38], MAF_left[38] = MAF_left[37], MAF_left[37] = MAF_left[36], MAF_left[36] = MAF_left[35], MAF_left[35] = MAF_left[34], MAF_left[34] = MAF_left[33], MAF_left[33] = MAF_left[32], MAF_left[32] = MAF_left[31], MAF_left[31] = MAF_left[30], MAF_left[30] = MAF_left[29], MAF_left[29] = MAF_left[28], MAF_left[28] = MAF_left[27], MAF_left[27] = MAF_left[26], MAF_left[26] = MAF_left[25];
+ MAF_left[25] = MAF_left[24], MAF_left[24] = MAF_left[23], MAF_left[23] = MAF_left[22], MAF_left[22] = MAF_left[21], MAF_left[21] = MAF_left[20], MAF_left[20] = MAF_left[19], MAF_left[19] = MAF_left[18], MAF_left[18] = MAF_left[17], MAF_left[17] = MAF_left[16], MAF_left[16] = MAF_left[15], MAF_left[15] = MAF_left[14], MAF_left[14] = MAF_left[13], MAF_left[13] = MAF_left[12], MAF_left[12] = MAF_left[11], MAF_left[11] = MAF_left[10], MAF_left[10] = MAF_left[9], MAF_left[9] = MAF_left[8], MAF_left[8] = MAF_left[7], MAF_left[7] = MAF_left[6], MAF_left[6] = MAF_left[5], MAF_left[5] = MAF_left[4], MAF_left[4] = MAF_left[3], MAF_left[3] = MAF_left[2], MAF_left[2] = MAF_left[1], MAF_left[1] = MAF_left[0];
+ MAF_left[0] = EMG_left_f6;
+ }
+
+ void MovingAverageFilterRight()
+ {
+ EMG_right_MAF = (MAF_right[0]+MAF_right[1]+MAF_right[2]+MAF_right[3]+MAF_right[4]+MAF_right[5]+MAF_right[6]+MAF_right[7]+MAF_right[8]+MAF_right[9]+MAF_right[10]+MAF_right[11]+MAF_right[12]+MAF_right[13]+MAF_right[14]+MAF_right[15]+MAF_right[16]+MAF_right[17]+MAF_right[18]+MAF_right[19]+MAF_right[20]+MAF_right[21]+MAF_right[22]+MAF_right[23]+MAF_right[24]+MAF_right[25]+MAF_right[26]+MAF_right[27]+MAF_right[28]+MAF_right[29]+MAF_right[30]+MAF_right[31]+MAF_right[32]+MAF_right[33]+MAF_right[34]+MAF_right[35]+MAF_right[36]+MAF_right[37]+MAF_right[38]+MAF_right[39]+MAF_right[40]+MAF_right[41]+MAF_right[42]+MAF_right[43]+MAF_right[44]+MAF_right[45]+MAF_right[46]+MAF_right[47]+MAF_right[48]+MAF_right[49])/N;
+ MAF_right[49] = MAF_right[48], MAF_right[48] = MAF_right[47], MAF_right[47] = MAF_right[46], MAF_right[46] = MAF_right[45], MAF_right[45] = MAF_right[44], MAF_right[44] = MAF_right[43], MAF_right[43] = MAF_right[42], MAF_right[42] = MAF_right[41], MAF_right[41] = MAF_right[40], MAF_right[40] = MAF_right[39], MAF_right[39] = MAF_right[38], MAF_right[38] = MAF_right[37], MAF_right[37] = MAF_right[36], MAF_right[36] = MAF_right[35], MAF_right[35] = MAF_right[34], MAF_right[34] = MAF_right[33], MAF_right[33] = MAF_right[32], MAF_right[32] = MAF_right[31], MAF_right[31] = MAF_right[30], MAF_right[30] = MAF_right[29], MAF_right[29] = MAF_right[28], MAF_right[28] = MAF_right[27], MAF_right[27] = MAF_right[26], MAF_right[26] = MAF_right[25];
+ MAF_right[25] = MAF_right[24], MAF_right[24] = MAF_right[23], MAF_right[23] = MAF_right[22], MAF_right[22] = MAF_right[21], MAF_right[21] = MAF_right[20], MAF_right[20] = MAF_right[19], MAF_right[19] = MAF_right[18], MAF_right[18] = MAF_right[17], MAF_right[17] = MAF_right[16], MAF_right[16] = MAF_right[15], MAF_right[15] = MAF_right[14], MAF_right[14] = MAF_right[13], MAF_right[13] = MAF_right[12], MAF_right[12] = MAF_right[11], MAF_right[11] = MAF_right[10], MAF_right[10] = MAF_right[9], MAF_right[9] = MAF_right[8], MAF_right[8] = MAF_right[7], MAF_right[7] = MAF_right[6], MAF_right[6] = MAF_right[5], MAF_right[5] = MAF_right[4], MAF_right[4] = MAF_right[3], MAF_right[3] = MAF_right[2], MAF_right[2] = MAF_right[1], MAF_right[1] = MAF_right[0];
+ MAF_right[0] = EMG_right_f6;
+ }
+
//--------------------------------------------------------------------------------------------------------------------------//
// Motor control functions
//--------------------------------------------------------------------------------------------------------------------------//
@@ -294,16 +279,18 @@
ScopeTime.attach(&ScopeSend, 0.01f); // 100 Hz, Scope
myControllerTicker2.attach(&motor2_Controller, 0.01f ); // 100 Hz, Motor 2
myControllerTicker1.attach(&motor1_Controller, 0.01f ); // 100 Hz, Motor 1
- SampleEMG.attach(&EMGfilter, 0.01f);
- MovingAverage.attach(&MovingAverageFilter, 0.01f);
+ SampleEMGLeft.attach(&EMGfilterLeft, 0.01f);
+ SampleEMGRight.attach(&EMGfilterRight, 0.01f);
+ MovingAverageLeft.attach(&MovingAverageFilterLeft, 0.01f);
+ MovingAverageRight.attach(&MovingAverageFilterRight, 0.01f);
//--------------------------------------------------------------------------------------------------------------------------//
// Control Program
//--------------------------------------------------------------------------------------------------------------------------//
while(true)
{
- char c = pc.getc();
+ //char c = pc.getc();
// 1 Program UP
- if(c == 'e') //if ((EMG_right_abs >= Threshold1) && (EMG_left_abs >= Threshold1))
+ if ((EMG_right_MAF >= Threshold1) && (EMG_left_MAF >= Threshold1)) //if(c == 'e') //
{
count = count + 1;
if(count > 2)
@@ -313,21 +300,21 @@
}
// 1 Program DOWN
- if(c == 'd') // Hoe gaat dit aangestuurd worden?
- {
- count = count - 1;
- if(count < 0)
- {
- count = 0;
- }
- }
+ // if(c == 'd') // Hoe gaat dit aangestuurd worden?
+ // {
+ // count = count - 1;
+ // if(count < 0)
+ // {
+ // count = 0;
+ // }
+ // }
// PROGRAM 0: Motor 2 control and indirect control of motor 1, Green LED
if(count == 0)
{
LedR = LedB = 1;
LedG = 0;
- if(c == 'r') //if ((EMG_right_abs >= Threshold1) && (EMG_left_abs <= Threshold1)) //
+ if ((EMG_right_MAF >= Threshold1) && (EMG_left_MAF <= Threshold1)) //if(c == 'r') //
{
m2_ref = m2_ref + Stapgrootte;
m1_ref = m1_ref - Stapgrootte;
@@ -337,7 +324,7 @@
m1_ref = -1*Grens1;
}
}
- if (c == 'f') //&& (EMG_right_abs < Threshold1))
+ if(EMG_right_MAF < Threshold1) && (EMG_left_MAF > Threshold1)) //if (c == 'f') //
{
m2_ref = m2_ref - Stapgrootte;
m1_ref = m1_ref + Stapgrootte;
@@ -353,7 +340,7 @@
{
LedG = LedB = 1;
LedR = 0;
- if(c == 't') //if ((EMG_right_abs >= Threshold1) && (EMG_left_abs <= Threshold1)) //
+ if ((EMG_right_MAF >= Threshold1) && (EMG_left_MAF <= Threshold1)) // if(c == 't') //
{
m1_ref = m1_ref + Stapgrootte;
if (m1_ref > Grens1)
@@ -361,7 +348,7 @@
m1_ref = Grens1;
}
}
- if(c == 'g') //if ((EMG_left_abs > Threshold1) && (EMG_right_abs < Threshold1))
+ if ((EMG_left_MAF > Threshold1) && (EMG_right_MAF < Threshold1)) //if(c == 'g') //
{
m1_ref = m1_ref - Stapgrootte;
if (m1_ref < -1*Grens1)