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project script
Dependencies: HIDScope MODSERIAL biquadFilter mbed
Fork of Milestone_sample by
main.cpp
- Committer:
- MarijkeZondag
- Date:
- 2018-10-29
- Revision:
- 22:5d956c93b3ae
- Parent:
- 21:1da43fdbd254
- Child:
- 23:97a976a8f0fc
File content as of revision 22:5d956c93b3ae:
#include "mbed.h" #include "MODSERIAL.h" #include "BiQuad.h" #include "HIDScope.h" #include <math.h> //ATTENTION: set mBed to version 151 // set QEI to version 0, (gebruiken wij (nog) niet, is voor encoder) // set MODSERIAL to version 44 // set HIDScope to version 7 // set biquadFilter to version 7 AnalogIn emg0_in (A0); //First raw EMG signal input AnalogIn emg1_in (A1); //Second raw EMG signal input AnalogIn emg2_in (A2); //Third raw EMG signal input InterruptIn button1 (D10); //Is this one available? We need to make a map of which pins are used for what. InterruptIn button2 (D11); DigitalOut directionpin1 (D4); //Motor direction pin DigitalOut directionpin2 (D7); DigitalOut ledr (LED_RED); DigitalOut ledb (LED_BLUE); DigitalOut ledg (LED_GREEN); PwmOut pwmpin1 (D5); //Pulse width modulation --> speed motor PwmOut pwmpin2 (D6); //MODSERIAL pc(USBTX, USBRX); //Serial communication to see if the code works step by step, turn on if hidscope is off HIDScope scope( 6 ); //HIDScope set to 3x2 channels for 3 muscles, raw data + filtered //Tickers Ticker HIDScope_tick; //Ticker for HIDScope Ticker filter_tick; //Ticker for EMG filter Ticker MovAg_tick; //Ticker to calculate Moving Average //Global variables const float T = 0.002f; //Ticker period //EMG filter double emg0_filt, emg1_filt, emg2_filt; //Variables for filtered EMG data channel 0, 1 and 2 double emg0_raw, emg1_raw, emg2_raw; double emg0_filt_x, emg1_filt_x, emg2_filt_x; const int windowsize = 150; //Size of the array over which the moving average (MovAg) is calculated. (random number) double sum, sum1, sum2, sum3; //variables used to sum elements in array double StoreArray0[windowsize], StoreArray1[windowsize], StoreArray2[windowsize]; //Empty arrays to calculate MoveAg double movAg0, movAg1, movAg2; //outcome of MovAg (moet dit een array zijn??) //Calibration variables int x = -1; //Start switch, colour LED is blue. int emg_cal = 0; //if emg_cal is set to 1, motors can begin to work in this code (!!) const int sizeCal = 1500; //size of the dataset used for calibration, eerst 2000 double StoreCal0[sizeCal], StoreCal1[sizeCal], StoreCal2[sizeCal]; //arrays to put the dataset of the calibration in double Mean0,Mean1,Mean2; //average of maximum tightening double Threshold0, Threshold1, Threshold2; //Biquad //Variables for the biquad band filters (alle 3 dezelfde maar je kan niet 3x 'emg0band' aanroepen ofzo) BiQuadChain emg0filter; BiQuad emg0band1( 7.29441e-01, -1.89276e-08, -7.29450e-01, -1.64507e-01, -7.26543e-01 ); BiQuad emg0band2( 1.00000e+00, 1.99999e+00, 9.99994e-01, 1.72349e+00, 7.79616e-01 ); BiQuad emg0band3( 1.00000e+00, -1.99999e+00, 9.99994e-01, -1.93552e+00, 9.39358e-01 ); BiQuad notch1( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 ); //Notch filter biquad coefficients BiQuadChain emg1filter; BiQuad emg1band1( 7.29441e-01, -1.89276e-08, -7.29450e-01, -1.64507e-01, -7.26543e-01 ); BiQuad emg1band2( 1.00000e+00, 1.99999e+00, 9.99994e-01, 1.72349e+00, 7.79616e-01 ); BiQuad emg1band3( 1.00000e+00, -1.99999e+00, 9.99994e-01, -1.93552e+00, 9.39358e-01 ); BiQuad notch2( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 ); //Notch filter BiQuadChain emg2filter; BiQuad emg2band1( 7.29441e-01, -1.89276e-08, -7.29450e-01, -1.64507e-01, -7.26543e-01 ); BiQuad emg2band2( 1.00000e+00, 1.99999e+00, 9.99994e-01, 1.72349e+00, 7.79616e-01 ); BiQuad emg2band3( 1.00000e+00, -1.99999e+00, 9.99994e-01, -1.93552e+00, 9.39358e-01 ); BiQuad notch3( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 ); //Notch filter //Functions void switch_to_calibrate() { x++; //Every time function gets called, x increases. Every button press --> new calibration state. //Starts with x = -1. So when function gets called 1 time, x = 0. In the end, x = 4 will reset to -1. if(x==0) //If x = 0, led is red { ledr = 0; ledb = 1; ledg = 1; } else if (x==1) //If x = 1, led is blue { ledr = 1; ledb = 0; ledg = 1; } else if (x==2) //If x = 2, led is green { ledr = 1; ledb = 1; ledg = 0; } else //If x = 3 or 4, led is white { ledr = 0; ledb = 0; ledg = 0; } if(x==4) //Reset back to x = -1 { x = -1; } } void calibrate(void) { switch(x) { case 0: //If calibration state 0: { sum = 0.0; for(int j = 0; j<=sizeCal-1; j++) //Array filled with datapoints from the EMGfilter signal of muscle 0 { StoreCal0[j] = emg0_filt; sum+=StoreCal0[j]; wait(0.001f); //Does there need to be a wait? } Mean0 = sum/sizeCal; //Calculate mean of the datapoints in the calibration set (2000 samples) Threshold0 = Mean0/2; //Threshold calculation = 0.5*mean break; //Stop. Threshold is calculated, we will use this further in the code } case 1: //If calibration state 1: { sum = 0.0; for(int j = 0; j<=sizeCal-1; j++) //Array filled with datapoints from the EMGfilter signal of muscle 1 { StoreCal1[j] = emg1_filt; sum+=StoreCal1[j]; wait(0.001f); } Mean1 = sum/sizeCal; Threshold1 = Mean1/2; break; } case 2: //If calibration state 2: { sum = 0.0; for(int j = 0; j<=sizeCal-1; j++) //Array filled with datapoints from the EMGfilter signal of muscle 2 { StoreCal1[j] = emg2_filt; sum+=StoreCal2[j]; wait(0.001f); } Mean2 = sum/sizeCal; Threshold2 = Mean2/2; break; } case 3: //EMG is calibrated, robot can be set to Home position. { emg_cal = 1; //This is the setting for which the motors can begin turning in this code (!!) wait(0.001f); break; } default: //Ensures nothing happens if x is not 0,1 or 2. { break; } } } void HIDScope_sample() { /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */ scope.set(0,emg0_raw); //scope.set(1,emg0_filt); scope.set(1,movAg0); //als moving average werkt scope.set(2,emg1_raw); //scope.set(3,emg1_filt); scope.set(3,movAg1); //als moving average werkt scope.set(4,emg2_raw); //scope.set(5,emg2_filt); scope.set(5,movAg2); //als moving average werkt scope.send(); //Send data to HIDScope server } void EMGFilter0() { emg0_raw = emg0_in.read(); //give name to raw EMG0 data emg0_filt_x = emg0filter.step(emg0_raw); //Use biquad chain to filter raw EMG data emg0_filt = abs(emg0_filt_x); //rectifier. LET OP: volgorde filter: band-notch-rectifier. Eerst band-rect-notch, stel er komt iets raars uit, dan Notch uit de biquad chain halen en aparte chain voor aanmaken. } void EMGFilter1() { emg1_raw = emg1_in.read(); //give name to raw EMG1 data emg1_filt_x = emg1filter.step(emg1_raw); //Use biquad chain to filter raw EMG data emg1_filt = abs(emg1_filt_x); //rectifier. LET OP: volgorde filter: band-notch-rectifier. Eerst band-rect-notch. } void EMGFilter2() { emg2_raw = emg2_in.read(); //Give name to raw EMG1 data emg2_filt_x = emg2filter.step(emg2_raw); //Use biquad chain to filter raw EMG data emg2_filt = abs(emg2_filt_x); //Rectifier. LET OP: volgorde filter: band-notch-rectifier. } void MovAg() //Calculate moving average (MovAg), klopt nog niet!! { for (int i = windowsize-1; i>=0; i--) //Make arrays for the last datapoints of the filtered signals { StoreArray0[i] = StoreArray0[i-1]; //Shifts the i'th element one place to the right, this makes it "rolling or moving" average. StoreArray1[i] = StoreArray1[i-1]; StoreArray2[i] = StoreArray2[i-1]; } StoreArray0[0] = emg0_filt; //Stores the latest datapoint of the filtered signal in the first element of the array StoreArray1[0] = emg1_filt; StoreArray2[0] = emg2_filt; sum1 = 0.0; sum2 = 0.0; sum3 = 0.0; for(int a = 0; a<= windowsize-1; a++) //Sums the elements in the arrays { sum1 += StoreArray0[a]; sum2 += StoreArray1[a]; sum3 += StoreArray2[a]; } movAg0 = sum1/windowsize; //calculates an average in the array movAg1 = sum2/windowsize; movAg2 = sum3/windowsize; //serial getallen sturen, als het 1 getal is gaat hier wat fout, als het een reeks is dan gaat er bij de input naar HIDscope wat fout. } void emg_filtered() //Call all filter functions { EMGFilter0(); EMGFilter1(); EMGFilter2(); } int main() { //pc.baud(115200); //pc.printf("Hello World!\r\n"); //Serial communication only works if hidscope is turned off. emg0filter.add( &emg0band1 ).add( &emg0band2 ).add( &emg0band3 ).add( ¬ch1 ); //attach biquad elements to chain emg1filter.add( &emg1band1 ).add( &emg1band2 ).add( &emg1band3 ).add( ¬ch2 ); emg2filter.add( &emg2band1 ).add( &emg2band2 ).add( &emg2band3 ).add( ¬ch3 ); filter_tick.attach(&emg_filtered,T); //EMG signals filtered every T sec. MovAg_tick.attach(&MovAg,T); //Moving average calculation every T sec. HIDScope_tick.attach(&HIDScope_sample,T); //EMG signals raw + filtered to HIDScope every T sec. ledr = 1; //Begin led = blue, press button for first state of calibration --> led will turn red ledb = 0; ledg = 1; button1.rise(switch_to_calibrate); //Switch state of calibration (which muscle) wait(0.2f); button2.rise(calibrate); //Calibrate threshold for 3 muscles wait(0.2f); pwmpin1.period_us(60); //60 microseconds PWM period, 16.7 kHz if(emg_cal==1) //After calibration is finished, emg_cal will be 1. Otherwise 0. { //while (true) // { if(movAg0>Threshold0) //If the filtered EMG signal of muscle 0 is higher than the threshold, motor1 will turn in 1 direction { pwmpin1 = 1; directionpin1.write(1); ledr = 1; //Blue ledb = 0; ledg = 1; } else //If it is not higher than the threshold, the motor will not turn at all. { pwmpin1 = 0; ledr = 0; //white ledb = 0; ledg = 0; } if(movAg1>Threshold1) //If the filtered EMG signal of muscle 1 is higher than the threshold, motor2 will turn in 1 direction { pwmpin2 = 1; directionpin2.write(1); ledr = 0; //red ledb = 1; ledg = 1; } else //If not higher than the threshold, motor will not turn at all { pwmpin2 = 0; ledr = 0; //white ledb = 0; ledg = 0; } if(movAg2>Threshold2) //If the filtered EMG signal of muscle 2 is higher than the threshold, motor 1 and 2 will turn { pwmpin1 = 1; pwmpin2 = 2; directionpin1.write(1); directionpin2.write(1); ledr = 1; //green ledb = 1; ledg = 0; } else //If not higher than the threshold, motors will not turn at all { pwmpin1 = 0; pwmpin2 = 0; ledr = 0; //white ledb = 0; ledg = 0; } //} } }