Revision 3:511a14a12629, committed 2016-10-27

Comitter:

RiP

Date:

Thu Oct 27 08:43:37 2016 +0000

Parent:

2:625837aa7a56

Commit message:

merged EMG and Motor Control(PID)

Changed in this revision

diff -r 625837aa7a56 -r 511a14a12629 biquadFilter.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/biquadFilter.lib	Thu Oct 27 08:43:37 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/tomlankhorst/code/biquadFilter/#26861979d305

diff -r 625837aa7a56 -r 511a14a12629 main.cpp
--- a/main.cpp	Thu Oct 27 07:54:43 2016 +0000
+++ b/main.cpp	Thu Oct 27 08:43:37 2016 +0000
@@ -2,121 +2,304 @@
 #include "FastPWM.h"
 #include "MODSERIAL.h"
 #include "QEI.h"
-#include "HIDScope.h"  //make sure hidscope cable is also attached
-
-
-// in gebruik: D(0,1,4,5,6,7,10,11,12,13) 
+#include "HIDScope.h"       //make sure hidscope cable is also attached
+#include "BiQuad.h"
 
-DigitalOut motor1dir(D7); //direction of motor 1, attach at m1, set to 0: cw
-FastPWM motor1(D6);     // speed of motor 1
-FastPWM motor2(D5);     //speed of motor 2
-DigitalOut motor2dir(D4);   //direction of motor 2, attach at m2, set to 0: ccw 
+MODSERIAL pc(USBTX,USBRX);
+HIDScope scope(3);          // the amount of scopes to send to the computer
 
-Ticker control; //Ticker for processing encoder input
-volatile bool controller_go=false;
-
-HIDScope scope(3); // aantal scopes in hidscope opzetten
+// in gebruik: D(0,1,4,5,6,7,8,10,11,12,13) A(0,1,2)
 
-  
-double m1_pwm=0;    //variable for PWM control motor 1
-double m2_pwm=0;    //variable for PWM control motor 2
-
-const double m1_Kp = 2.5, m1_Ki = 1.0, m1_Kd = 1.0, m1_N = 100; // controller constants motor 1
-double m1_v1 = 0, m1_v2 = 0; // Memory variables
-const double m1_Ts = 0.01; // Controller sample time
+//Define the button interrupt for the calibration
+InterruptIn button_calibrate(PTA4);
 
-const double m2_Kp = 2.5, m2_Ki = 1.0, m2_Kd = 1.0, m2_N = 100; // controller constants motor 2
-double m2_v1 = 0, m2_v2 = 0; // Memory variables
-const double m2_Ts = 0.01; // Controller sample time
+AnalogIn    emg1( A0 );     // first emg input
+AnalogIn    emg2( A1 );     // second emg input
+AnalogIn    emg3( A2 );     // third emg input
 
-const double pi=3.14159265359;
-const double res = 64/(1/131.25*2*pi);     // resolution on gearbox shaft per pulse
-const double V_max=9.0;                    // maximum voltage supplied by trafo
-const double minRadius=0.3;                // minimum radius of arm
-const double maxRadius=0.6;                // maximum radius of arm
-const double pulleyDiameter=0.0398;        // pulley diameter
-const double minAngle=-1.25;               // minimum angle for limiting controller
+DigitalOut motor1dir(D7);   //direction of motor 1, attach at m1, set to 0: cw
+FastPWM motor1(D6);         // speed of motor 1
+FastPWM motor2(D5);         //speed of motor 2
+DigitalOut motor2dir(D4);   //direction of motor 2, attach at m2, set to 0: ccw
 
 QEI Encoder1(D13,D12,NC,64,QEI::X4_ENCODING); //defining encoder
 QEI Encoder2(D11,D10,NC,64,QEI::X4_ENCODING); //defining encoder
 
-double timer=0.001;  // needed for testing
+//Define the Tickers
+Ticker      pos_timer;                      // the timer which is used to print the position every second
+Ticker      sample_timer;                   // the timer which is used to decide when a sample needs to be taken
+Ticker      control; //Ticker for processing encoder input
+
+//Initialize all variables
+volatile bool sampletimer = false;          // a variable which is changed when a sample needs to be taken
+volatile bool controller_go=false;
+
+double threshold = 0.04;                    // the threshold which the emg signals need to surpass to do something
+double samplefreq=0.002;                    // every 0.002 sec a sample will be taken this is a frequency of 500 Hz
+double emg02;                               // the first emg signal
+double emg12;                               // the second emg signal
+double emg22;                               // the third emg signal
+double ref_x=0.0000;                        // the x reference position
+double ref_y=0.0000;                        // the y reference position
+double old_ref_x;                           // the old x reference
+double old_ref_y;                           // the old y reference
+double speed=0.00002;                       // the variable with which a speed is reached of 1cm/s
+double theta=0.0;                           // angle of the arm
+double radius=0.0;                          // radius of the arm
+
+const double minRadius=0.3;                 // minimum radius of arm
+const double maxRadius=0.6;                 // maximum radius of arm
+const double minAngle=-1.25;                // minimum angle for limiting controller
+const double min_y=-0.28;                   // minimum height which the spatula can reach
+char key;                                   // variable to place the keyboard input
+
+double m1_pwm=0;                            //variable for PWM control motor 1
+double m2_pwm=0;                            //variable for PWM control motor 2
+
+const double m1_Kp = 2.5, m1_Ki = 1.0, m1_Kd = 1.0, m1_N = 100; // controller constants motor 1
+double m1_v1 = 0, m1_v2 = 0;                // Memory variables
+const double m1_Ts = 0.01;                  // Controller sample time
+
+const double m2_Kp = 2.5, m2_Ki = 1.0, m2_Kd = 1.0, m2_N = 100; // controller constants motor 2
+double m2_v1 = 0, m2_v2 = 0;                // Memory variables
+const double m2_Ts = 0.01;                  // Controller sample time
+
+const double pi=3.14159265359;
+const double res = 64/(1/131.25*2*pi);      // resolution on gearbox shaft per pulse
+const double V_max=9.0;                     // maximum voltage supplied by trafo
+const double pulleyDiameter=0.0398;         // pulley diameter
+
+double timer=0.001;                         // needed for testing
+
+//Define the needed Biquad chains
+BiQuadChain bqc11;
+BiQuadChain bqc13;
+BiQuadChain bqc21;
+BiQuadChain bqc23;
+BiQuadChain bqc31;
+BiQuadChain bqc33;
 
-MODSERIAL pc(USBTX,USBRX);
+//Define the BiQuads for the filter of the first emg signal
+//Notch filter
+BiQuad bq111(0.9795,   -1.5849,    0.9795,    1.0000,   -1.5849,    0.9589);
+BiQuad bq112(0.9833,   -1.5912,    0.9833,    1.0000,   -1.5793,    0.9787);
+BiQuad bq113(0.9957,   -1.6111,    0.9957,    1.0000,   -1.6224,    0.9798);
+//High pass filter
+//BiQuad bq121( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 ); //Old biquad values
+BiQuad bq121( 0.8956,   -1.7911,    0.8956,    1.0000,   -1.7814,    0.7941);
+BiQuad bq122( 0.9192,   -1.8385,    0.9192,    1.0000,   -1.8319,    0.8450);
+BiQuad bq123( 0.9649,   -1.9298,    0.9649,    1.0000,   -1.9266,    0.9403);
+//Low pass filter
+BiQuad bq131( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
+
+//Define the BiQuads for the filter of the second emg signal
+//Notch filter
+BiQuad bq211 = bq111;
+BiQuad bq212 = bq112;
+BiQuad bq213 = bq113;
+//High pass filter
+BiQuad bq221 = bq121;
+BiQuad bq222 = bq122;
+BiQuad bq223 = bq123;
+//Low pass filter
+BiQuad bq231 = bq131;
 
-void activate_controller(){controller_go=true;} //activate go flag
+//Define the BiQuads for the filter of the third emg signal
+//notch filter
+BiQuad bq311 = bq111;
+BiQuad bq312 = bq112;
+BiQuad bq313 = bq113;
+//High pass filter
+BiQuad bq321 = bq121;
+BiQuad bq323 = bq122;
+BiQuad bq322 = bq123;
+//low pass filter
+BiQuad bq331 = bq131;
+
+void sampleflag()
+{
+    if (sampletimer==true) {
+        // this if statement is used to see if the code takes too long before it is called again
+        pc.printf("rate too high error in sampleflag\n\r");
+    }
+    //This sets the go flag for when the function sample needs to be called
+    sampletimer=true;
+}
+
+void activate_controller()
+{
+    if (sampletimer==true) {
+        // this if statement is used to see if the code takes too long before it is called again
+        pc.printf("rate too high error in activate_controller\n\r");
+    }
+    controller_go=true;   //activate go flag
+}
 
 double PID( double err, const double Kp, const double Ki, const double Kd,
-const double Ts, const double N, double &v1, double &v2 ) { //discrete PIDF filter
+            const double Ts, const double N, double &v1, double &v2 )   //discrete PIDF filter
+{
     const double a1 =-4/(N*Ts+2),
-        a2=-(N*Ts-2)/(N*Ts+2),
-        b0=(4*Kp + 4*Kd*N + 2*Ki*Ts+2*Kp*N*Ts+Ki*N*pow(Ts,2))/(2*N*Ts+4),
-        b1=(Ki*N*pow(Ts,2)-4*Kp-4*Kd*N)/(N*Ts+2),
-        b2=(4*Kp+4*Kd*N-2*Ki*Ts-2*Kp*N*Ts+Ki*N*pow(Ts,2))/(2*N*Ts+4);
+                 a2=-(N*Ts-2)/(N*Ts+2),
+                 b0=(4*Kp + 4*Kd*N + 2*Ki*Ts+2*Kp*N*Ts+Ki*N*pow(Ts,2))/(2*N*Ts+4),
+                 b1=(Ki*N*pow(Ts,2)-4*Kp-4*Kd*N)/(N*Ts+2),
+                 b2=(4*Kp+4*Kd*N-2*Ki*Ts-2*Kp*N*Ts+Ki*N*pow(Ts,2))/(2*N*Ts+4);
 
     double v=err-a1*v1-a2*v2;
     double u=b0*v+b1*v1+b2*v2;
-    v2=v1; v1=v;
+    v2=v1;
+    v1=v;
     return u;
 }
 
- 
- void controller(){ //function for executing controller action              
-        
-        double theta = sin(0.5*pi*timer); // just for testing
-        double radius = 0.3;              // just for testing
-        //converting radius and theta to gearbox angle 
-        double ref_angle1=16*theta;        
-        double ref_angle2=(-radius+minRadius)/pi/pulleyDiameter;
-        
-                
-        double angle1 = Encoder1.getPulses()/res;   //get number of pulses (counterclockwise is positive)
-        double angle2 = Encoder2.getPulses()/res;   //get number of pulses
-        m1_pwm = (PID(ref_angle1-angle1,m1_Kp,m1_Ki,m1_Kd,m1_Ts,m1_N,m1_v1,m1_v2))/V_max; 
-        //divide by voltage to get pwm duty cycle percentage)
-        m2_pwm = (PID(ref_angle2-angle2,m2_Kp,m2_Ki,m2_Kd,m2_Ts,m2_N,m2_v1,m2_v2))/V_max;    
-        
-        //limit pwm value and change motor direction when pwm becomes either negative or positive
-        if (m1_pwm >=0.0f && m1_pwm <=1.0f){
-            motor1dir=0;
-            motor1.write(m1_pwm);
-        }
-        else if (m1_pwm < 0.0f && m1_pwm >= -1.0f){ 
-            motor1dir=1;
-            motor1.write(-m1_pwm);
-        }
-        
-        if (m2_pwm >=0.0f && m2_pwm <=1.0f){
-            motor1dir=0;
-            motor1.write(m2_pwm);
-        }
-        else if (m2_pwm < 0.0f && m2_pwm >= -1.0f){ 
-            motor1dir=1;
-            motor1.write(-m2_pwm);
-        }
-              
-        //hidsopce to check what the code does exactly
-        scope.set(0,angle1);
-        scope.set(1,ref_angle1-angle1); //error
-        scope.set(2,m1_pwm);
-        scope.send();
-        
-        timer=timer+0.001;
-     }     
+void calibrate()
+{
+    //This resets the reference signals so that the robot can be calibrated
+    ref_x=0.0000;
+    ref_y=0.0000;
+}
+
+void sample()
+{
+    //This checks if a key is pressed and changes the variable key in the pressed key
+    if (pc.readable()==1) {
+        key=pc.getc();
+    }
+    //Read the emg signals and filter it
+
+    emg02=bqc13.step(fabs(bqc11.step(emg1.read())));    //filtered signal 0
+    emg12=bqc23.step(fabs(bqc21.step(emg2.read())));    //filtered signal 1
+    emg22=bqc33.step(fabs(bqc31.step(emg3.read())));    //filtered signal 2
+
+    //remember what the reference was
+    old_ref_x=ref_x;
+    old_ref_y=ref_y;
+    //look if the emg signals go over the threshold and change the reference accordingly
+    if (emg02>threshold&&emg12>threshold&&emg22>threshold || key=='d') {
+        ref_x=ref_x-speed;
+        ref_y=ref_y-speed;
+
+    } else if (emg02>threshold&&emg12>threshold || key == 'a' ) {
+        ref_x=ref_x-speed;
+
+    } else if (emg02>threshold&&emg22>threshold || key == 's') {
+        ref_y=ref_y-speed;
+
+    } else if (emg12>threshold&&emg22>threshold || key == 'e' ) {
+        ref_x=ref_x+speed;
+        ref_y=ref_y+speed;
+
+    } else if (emg12>threshold || key == 'q' ) {
+        ref_x=ref_x+speed;
+
+    } else if (emg22>threshold || key == 'w') {
+        ref_y=ref_y+speed;
+    }
+
+    // convert the x and y reference to the theta and radius reference
+    theta=atan(ref_y/(ref_x+minRadius));
+    radius=sqrt(pow(ref_x+minRadius,2)+pow(ref_y,2));
 
+    //look if the new reference is outside the possible range and revert back to the old reference if it is outside  the range
+    if (theta < minAngle) {
+        ref_x=old_ref_x;
+        ref_y=old_ref_y;
+    } else if (radius < minRadius) {
+        ref_x=old_ref_x;
+        ref_y=old_ref_y;
+    } else if ( radius > maxRadius) {
+        ref_x=old_ref_x;
+        ref_y=old_ref_y;
+    } else if (ref_y<min_y) {
+        ref_x=old_ref_x;
+        ref_y=old_ref_y;
+    }
+}
 
-int main(){
+void controller()  //function for executing controller action
+{
+
+    double theta = sin(0.5*pi*timer); // just for testing
+    double radius = 0.3;              // just for testing
+    //converting radius and theta to gearbox angle
+    double ref_angle1=16*theta;
+    double ref_angle2=(-radius+minRadius)/pi/pulleyDiameter;
+
+    double angle1 = Encoder1.getPulses()/res;   //get number of pulses (counterclockwise is positive)
+    double angle2 = Encoder2.getPulses()/res;   //get number of pulses
+
+    //divide by voltage to get pwm duty cycle percentage)
+    m1_pwm = (PID(ref_angle1-angle1,m1_Kp,m1_Ki,m1_Kd,m1_Ts,m1_N,m1_v1,m1_v2))/V_max;
+    m2_pwm = (PID(ref_angle2-angle2,m2_Kp,m2_Ki,m2_Kd,m2_Ts,m2_N,m2_v1,m2_v2))/V_max;
+
+    //limit pwm value and change motor direction when pwm becomes either negative or positive
+    if (m1_pwm >=0.0f && m1_pwm <=1.0f) {
+        motor1dir=0;
+        motor1.write(m1_pwm);
+    } else if (m1_pwm < 0.0f && m1_pwm >= -1.0f) {
+        motor1dir=1;
+        motor1.write(-m1_pwm);
+    }
+
+    if (m2_pwm >=0.0f && m2_pwm <=1.0f) {
+        motor1dir=0;
+        motor1.write(m2_pwm);
+    } else if (m2_pwm < 0.0f && m2_pwm >= -1.0f) {
+        motor1dir=1;
+        motor1.write(-m2_pwm);
+    }
+
+    //hidsopce to check what the code does exactly
+    scope.set(0,angle1);
+    scope.set(1,ref_angle1-angle1); //error
+    scope.set(2,m1_pwm);
+    scope.send();
+
+    timer=timer+0.001;
+}
+
+void my_pos()
+{
+    //This function is attached to a ticker so that the reference position is printed every second.
+    pc.printf("x_pos=%.4f\ty_pos=%.4f\tradius=%.4f\tangle=%.4f\n\r",ref_x,ref_y,radius,theta);
+
+}
+
+int main()
+{
+    pc.printf("RESET\n\r");
     pc.baud(115200);
     motor1.period(0.02f); //period of pwm signal for motor 1
     motor2.period(0.02f); // period of pwm signal for motor 2
-    motor1dir=0; // setting direction to ccw 
+    motor1dir=0; // setting direction to ccw
     motor2dir=0; // setting direction to ccw
     control.attach(&activate_controller,m1_Ts); //Ticker for processing encoder input
-    pc.printf("RESET\n\r");
+
+    //Attach the Biquads to the Biquad chains
+    bqc11.add( &bq111 ).add( &bq112 ).add( &bq113 ).add( &bq121 ).add( &bq122 ).add( &bq123 );
+    bqc13.add( &bq131);
+    bqc21.add( &bq211 ).add( &bq212 ).add( &bq213 ).add( &bq221 ).add( &bq222 ).add( &bq223 );
+    bqc23.add( &bq231);
+    bqc31.add( &bq311 ).add( &bq312 ).add( &bq313 ).add( &bq321 ).add( &bq322 ).add( &bq323 );
+    bqc33.add( &bq331);
+
+    //Attach the 'sample' function to the timer 'sample_timer'.
+    //this ensures that 'sample' is executed every 0.002 seconds = 500 Hz
+    sample_timer.attach(&sampleflag, samplefreq);
+    //Attach the function calibrate to the button interrupt
+    button_calibrate.fall(&calibrate);
+    //Attach the function my_pos to the timer pos_timer.
+    //This ensures that the position is printed every second.
+    pos_timer.attach(&my_pos, 1);
     while (true) {
-        if(controller_go){  // go flag
-            controller_go=false;
+        //Only take a sample when the go flag is true.
+        if (sampletimer==true) {
+            sample();
+            sampletimer = false;            //change sampletimer to false if sample() has finished
+        }
+
+        if(controller_go) { // go flag
             controller();
+            controller_go=false;            //change controller_go to false if controller() has finished
         }
     }
 }
\ No newline at end of file