Miriam van der Hoek
1 motor draait op gefilterd emg signaal. simpele start.
Dependencies: Encoder HIDScope MODSERIAL biquadFilter mbed
Revision 0:69faee47383f, committed 2017-10-30
- Comitter:
- Miriam
- Date:
- Mon Oct 30 18:57:06 2017 +0000
- Commit message:
- owjeahhh doet dingen!!! motor draait op emg. dikke win!
Changed in this revision
diff -r 000000000000 -r 69faee47383f Encoder.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder.lib Mon Oct 30 18:57:06 2017 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/vsluiter/code/Encoder/#18b000b443af
diff -r 000000000000 -r 69faee47383f HIDScope.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Mon Oct 30 18:57:06 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/tomlankhorst/code/HIDScope/#d23c6edecc49
diff -r 000000000000 -r 69faee47383f MODSERIAL.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Mon Oct 30 18:57:06 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Sissors/code/MODSERIAL/#a3b2bc878529
diff -r 000000000000 -r 69faee47383f biquadFilter.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/biquadFilter.lib Mon Oct 30 18:57:06 2017 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/tomlankhorst/code/biquadFilter/#26861979d305
diff -r 000000000000 -r 69faee47383f main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 30 18:57:06 2017 +0000
@@ -0,0 +1,92 @@
+//libaries
+#include "mbed.h"
+#include "BiQuad.h"
+#include "HIDScope.h"
+#include "encoder.h"
+#include "MODSERIAL.h"
+
+//globalvariables Motor
+Ticker Treecko; //We make a awesome ticker for our control system
+Ticker Gekkie;
+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)
+double e_prev = 0;
+double e_int = 0;
+double tijdstap = 0.002;
+volatile double emgFiltered;
+
+
+//globalvariables filter
+double maxi = 0.30; //is voor iedereen verschillend --> moet calibreren // max signal after filtering, 0.1-0.12
+
+// Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
+BiQuad N1( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
+BiQuadChain NF;
+BiQuad HP1( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
+BiQuad HP2( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
+BiQuadChain HPF;
+BiQuad LP1( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
+BiQuad LP2( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
+BiQuadChain LPF;
+Timer looptime;
+
+//hierdoubles neerzetten
+
+double f = 500; // frequency
+double dt = 1/f; // sample frequency
+AnalogIn emg(A0); // EMG lezen
+
+void GetReferencePosition()
+{
+ looptime.reset();
+ looptime.start();
+ double emgNotch = NF.step(emg.read() ); // Notch filter
+ double emgHP = HPF.step(emgNotch); // High-pass filter: also normalises around 0.
+ double emgAbsHP = abs(emgHP); // Take absolute value
+ double emgLP = LPF.step(emgAbsHP); // Low-pass filter: creates envelope
+ double emgMax = maxi; //(emgLP); // moet waarde 'schatten' voor de max, want je leest de data live. voorbeeld: 0.1, maar mogelijk 0.2 kiezen voor veiligheidsfactor. Dan gaat motor alleen maximaal op 1/2 vermogen.
+ emgFiltered = emgLP/emgMax; // Scale to maximum signal: useful for motor
+
+
+ //pc.baud(115200);
+ //pc.printf("emgread = %f , emgFiltered = %f, loop = %f \r\n",emg.read(), emgFiltered, looptime.read());
+
+}
+
+void Motortje ()
+{
+ double k;
+ if (emgFiltered <= .4)
+ {
+ k = 0;
+ }
+ else
+ {
+ k = 0.8;
+ }
+
+ //M1D = !M1D;
+ M1E = k; //Set brightness of let (0,1)
+ pc.baud(115200);
+ pc.printf("emgFiltered = %f \r\n", emgFiltered);
+}
+
+int main()
+{
+ NF.add( &N1 );
+ HPF.add( &HP1 ).add( &HP2 );
+ LPF.add( &LP1 ).add( &LP2 );
+ M1E.period(PwmPeriod); //Set PWM period at 5000 Hz
+ M1D = false; // true is met de klok mee evenals false?
+
+ Treecko.attach(&GetReferencePosition, 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.
+ Gekkie.attach(&Motortje, tijdstap);
+
+
+}
\ No newline at end of file
diff -r 000000000000 -r 69faee47383f mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Oct 30 18:57:06 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/fb8e0ae1cceb \ No newline at end of file