to send emg signal to motor with test programm
Dependencies: HIDScope biquadFilter mbed
Fork of EMGvoorjan by
main.cpp@32:3832f732f17a, 2017-10-26 (annotated)
- Committer:
- Roytsg
- Date:
- Thu Oct 26 07:49:21 2017 +0000
- Revision:
- 32:3832f732f17a
- Parent:
- 30:4c6321941515
- Child:
- 33:84d986230e15
EMG Signaal werkt ligt mooi tussen de 0 en 1;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:32bb76391d89 | 1 | #include "mbed.h" |
vsluiter | 11:ce72ec658a95 | 2 | #include "HIDScope.h" |
Roytsg | 21:77998ce2c0dd | 3 | #include "BiQuad.h" |
Roytsg | 28:4b22455930ff | 4 | #include "math.h" |
Roytsg | 24:fe3825337233 | 5 | |
vsluiter | 4:8b298dfada81 | 6 | //Define objects |
Roytsg | 28:4b22455930ff | 7 | AnalogIn emg( A0 ); //EMG |
Roytsg | 28:4b22455930ff | 8 | AnalogIn emg1( A1 ); //EMG |
Roytsg | 29:a48b63e60a40 | 9 | HIDScope scope( 6 ); // aantal scopes dat gemaakt kan worden |
Roytsg | 28:4b22455930ff | 10 | DigitalOut ledB(LED_BLUE); |
Roytsg | 28:4b22455930ff | 11 | DigitalOut ledG(LED_GREEN); |
Roytsg | 28:4b22455930ff | 12 | DigitalIn TestButton(PTA4); // button naast het ledje |
Roytsg | 28:4b22455930ff | 13 | DigitalIn onoff(PTC6); // button aan de andere kant |
Roytsg | 28:4b22455930ff | 14 | Ticker emgSampleTicker; // Ticker voor de sample frequency |
Roytsg | 29:a48b63e60a40 | 15 | DigitalOut motor2MagnitudePin(D5); // magnitude motor 2 |
Roytsg | 29:a48b63e60a40 | 16 | DigitalOut motor2DirectionPin(D4); // direction of the motor 2 |
Roytsg | 29:a48b63e60a40 | 17 | InterruptIn MotorOn(D10); |
vsluiter | 2:e314bb3b2d99 | 18 | |
Roytsg | 28:4b22455930ff | 19 | |
Roytsg | 28:4b22455930ff | 20 | int P= 200; // aantal test punten voor de moving average |
Roytsg | 28:4b22455930ff | 21 | double A[200]; // de vector waar punten in worden opgeslagen voor de moving average moet even groot zijn als P |
Roytsg | 28:4b22455930ff | 22 | int k = 0; // counter voor de configuratie |
Roytsg | 28:4b22455930ff | 23 | double Vvector[200]; // vector voor de Vwaarde configuratie |
Roytsg | 28:4b22455930ff | 24 | double Vwaarde[2]; // vector voor waardes van V |
Roytsg | 28:4b22455930ff | 25 | int x = 0; // x waarde voor de Vwaarde |
Roytsg | 29:a48b63e60a40 | 26 | double movmean; |
Roytsg | 30:4c6321941515 | 27 | int MotorLock = 0; |
Roytsg | 30:4c6321941515 | 28 | double EMGInput; |
Roytsg | 32:3832f732f17a | 29 | float ErrorZero = 3; |
Roytsg | 24:fe3825337233 | 30 | |
Roytsg | 28:4b22455930ff | 31 | // Filters |
Roytsg | 28:4b22455930ff | 32 | BiQuadChain bqc; |
Roytsg | 28:4b22455930ff | 33 | BiQuad bq1( 0.6844323315947305,1.368864663189461, 0.6844323315947305,1.2243497755555954,0.5133795508233265); //lp? |
Roytsg | 28:4b22455930ff | 34 | BiQuad bq2( 0.6844323315947306, -1.3688646631894612, 0.6844323315947306, -1.2243497755555959, 0.5133795508233266); //hp? |
Roytsg | 28:4b22455930ff | 35 | BiQuad bq3( 0.7566897754116633, -1.2243497755555959, 0.7566897754116633, -1.2243497755555959, 0.5133795508233266); // notch? |
vsluiter | 0:32bb76391d89 | 36 | |
Roytsg | 28:4b22455930ff | 37 | |
Roytsg | 21:77998ce2c0dd | 38 | |
Roytsg | 28:4b22455930ff | 39 | // sample function voor plotten van de emg signalen en moving average |
Roytsg | 21:77998ce2c0dd | 40 | void emgSample() { |
Roytsg | 21:77998ce2c0dd | 41 | |
Roytsg | 28:4b22455930ff | 42 | double emgFiltered = bqc.step( emg.read() ); // gefilterde waarde van het emg signaal |
Roytsg | 28:4b22455930ff | 43 | double emgabs = abs(emgFiltered); // absolute waarde van het gefilterde signaal |
Roytsg | 28:4b22455930ff | 44 | scope.set(0, emgFiltered ); // stuurt de waarden naar de grafiek |
Roytsg | 28:4b22455930ff | 45 | scope.set(1, emgabs ); // stuurt de waarden naar de grafiek |
Roytsg | 32:3832f732f17a | 46 | Vwaarde[0] = 0.01; |
Roytsg | 24:fe3825337233 | 47 | |
Roytsg | 28:4b22455930ff | 48 | // deze for-loop maakt de vector voor de moving average |
Roytsg | 27:674193a62e06 | 49 | for(int i = P-1; i >= 0; i--){ |
Roytsg | 26:97a8adc9b895 | 50 | if (i == 0) { |
Roytsg | 26:97a8adc9b895 | 51 | A[i] = emgabs; |
Roytsg | 26:97a8adc9b895 | 52 | } |
Roytsg | 26:97a8adc9b895 | 53 | else { |
Roytsg | 26:97a8adc9b895 | 54 | A[i] = A[i-1]; |
Roytsg | 26:97a8adc9b895 | 55 | } |
Roytsg | 28:4b22455930ff | 56 | } |
Roytsg | 26:97a8adc9b895 | 57 | double sum = 0; |
Roytsg | 28:4b22455930ff | 58 | // deze for-loop sommeert de array |
Roytsg | 27:674193a62e06 | 59 | for (int n = 0; n < P-1; n++) { |
Roytsg | 26:97a8adc9b895 | 60 | sum = sum + A[n]; |
Roytsg | 26:97a8adc9b895 | 61 | } |
Roytsg | 24:fe3825337233 | 62 | |
Roytsg | 29:a48b63e60a40 | 63 | movmean = sum/P; //dit is de moving average waarde |
Roytsg | 24:fe3825337233 | 64 | |
Roytsg | 28:4b22455930ff | 65 | // hier wordt het test programma opgestart, zodat zero waarde kan worden gekregen |
Roytsg | 28:4b22455930ff | 66 | if (TestButton==0 & k<200) { |
Roytsg | 28:4b22455930ff | 67 | Vvector[k] = movmean; |
Roytsg | 28:4b22455930ff | 68 | ledB = !ledB; |
Roytsg | 28:4b22455930ff | 69 | k++; |
Roytsg | 28:4b22455930ff | 70 | } |
Roytsg | 28:4b22455930ff | 71 | else if (k==200) { // hier moet de test klaar zijn |
Roytsg | 28:4b22455930ff | 72 | double sumZ = 0; |
Roytsg | 28:4b22455930ff | 73 | for (int n = 0; n < 199; n++) { |
Roytsg | 28:4b22455930ff | 74 | sumZ = sumZ + Vvector[n]; |
Roytsg | 28:4b22455930ff | 75 | } // neemt de som van de zerovector array |
Roytsg | 28:4b22455930ff | 76 | Vwaarde[x] = sumZ/200; // dit is het gemiddelde voor een betrouwbare value |
Roytsg | 28:4b22455930ff | 77 | scope.set(3,Vwaarde[0]); //stuurt de zeroV waarde naar het plotje |
Roytsg | 28:4b22455930ff | 78 | if (x == 1) { |
Roytsg | 28:4b22455930ff | 79 | scope.set(4,Vwaarde[1]); //stuurt de maxV waarde naar het plotje |
Roytsg | 28:4b22455930ff | 80 | } |
Roytsg | 28:4b22455930ff | 81 | k++; |
Roytsg | 28:4b22455930ff | 82 | ledB = 1; |
Roytsg | 28:4b22455930ff | 83 | ledG = !ledG; |
Roytsg | 28:4b22455930ff | 84 | } |
Roytsg | 28:4b22455930ff | 85 | else if (k == 201 && onoff ==0) {// dit is om het ledje uit te doen en om het mogelijk te maken de test opnieuw te doen |
Roytsg | 28:4b22455930ff | 86 | ledG = !ledG; |
Roytsg | 28:4b22455930ff | 87 | k = 0; |
Roytsg | 28:4b22455930ff | 88 | if (x==0) { |
Roytsg | 28:4b22455930ff | 89 | x++; |
Roytsg | 28:4b22455930ff | 90 | } |
Roytsg | 28:4b22455930ff | 91 | else if (x==1) { |
Roytsg | 28:4b22455930ff | 92 | x=0; |
Roytsg | 28:4b22455930ff | 93 | } |
Roytsg | 28:4b22455930ff | 94 | } |
Roytsg | 32:3832f732f17a | 95 | scope.set(2, movmean); // stuurt de moving average naar de plot |
Roytsg | 32:3832f732f17a | 96 | |
Roytsg | 32:3832f732f17a | 97 | if (movmean > Vwaarde[1]) { |
Roytsg | 32:3832f732f17a | 98 | movmean = Vwaarde[1]; // zorgt ervoor dat emg nooit > 1 kan zijn |
Roytsg | 32:3832f732f17a | 99 | } |
Roytsg | 32:3832f732f17a | 100 | |
Roytsg | 30:4c6321941515 | 101 | double EMGInputRaw = (movmean - Vwaarde[0]*ErrorZero)/(Vwaarde[1] - Vwaarde[0]*ErrorZero); |
Roytsg | 30:4c6321941515 | 102 | if (EMGInputRaw < 0) { |
Roytsg | 30:4c6321941515 | 103 | EMGInput = 0; |
Roytsg | 30:4c6321941515 | 104 | } |
Roytsg | 30:4c6321941515 | 105 | else { |
Roytsg | 30:4c6321941515 | 106 | EMGInput = EMGInputRaw; |
Roytsg | 30:4c6321941515 | 107 | } |
Roytsg | 29:a48b63e60a40 | 108 | scope.set(5,EMGInput); |
Roytsg | 32:3832f732f17a | 109 | |
Roytsg | 28:4b22455930ff | 110 | |
Roytsg | 21:77998ce2c0dd | 111 | scope.send(); |
Roytsg | 21:77998ce2c0dd | 112 | } |
Roytsg | 21:77998ce2c0dd | 113 | |
Roytsg | 29:a48b63e60a40 | 114 | float GetReferenceVelocity() |
Roytsg | 29:a48b63e60a40 | 115 | { |
Roytsg | 29:a48b63e60a40 | 116 | // Returns reference velocity in rad/s. |
Roytsg | 29:a48b63e60a40 | 117 | // Positive value means clockwise rotation. |
Roytsg | 29:a48b63e60a40 | 118 | const float maxVelocity=8.4; // in rad/s of course! |
Roytsg | 29:a48b63e60a40 | 119 | float referenceVelocity; // in rad/s |
Roytsg | 30:4c6321941515 | 120 | referenceVelocity = (EMGInput * maxVelocity) * MotorLock; |
Roytsg | 29:a48b63e60a40 | 121 | return referenceVelocity; |
Roytsg | 29:a48b63e60a40 | 122 | } |
Roytsg | 21:77998ce2c0dd | 123 | |
Roytsg | 29:a48b63e60a40 | 124 | void SetMotor2(float motorValue) |
Roytsg | 29:a48b63e60a40 | 125 | { |
Roytsg | 29:a48b63e60a40 | 126 | // Given -1<=motorValue<=1, this sets the PWM and direction |
Roytsg | 29:a48b63e60a40 | 127 | // bits for motor 1. Positive value makes motor rotating |
Roytsg | 29:a48b63e60a40 | 128 | // clockwise. motorValues outside range are truncated to |
Roytsg | 29:a48b63e60a40 | 129 | // within range |
Roytsg | 29:a48b63e60a40 | 130 | if (fabs(motorValue)>1) motor2MagnitudePin = 1; |
Roytsg | 29:a48b63e60a40 | 131 | else motor2MagnitudePin = fabs(motorValue); |
Roytsg | 29:a48b63e60a40 | 132 | } |
Roytsg | 29:a48b63e60a40 | 133 | float FeedForwardControl(float referenceVelocity) { |
Roytsg | 29:a48b63e60a40 | 134 | // very simple linear feed-forward control |
Roytsg | 29:a48b63e60a40 | 135 | const float MotorGain=8.4; // unit: (rad/s) / PWM |
Roytsg | 29:a48b63e60a40 | 136 | float motorValue = referenceVelocity / MotorGain; |
Roytsg | 29:a48b63e60a40 | 137 | return motorValue; |
Roytsg | 29:a48b63e60a40 | 138 | } |
Roytsg | 29:a48b63e60a40 | 139 | |
Roytsg | 29:a48b63e60a40 | 140 | void MotorLocker() { |
Roytsg | 29:a48b63e60a40 | 141 | if (MotorLock == 0) { |
Roytsg | 29:a48b63e60a40 | 142 | MotorLock = 1; |
Roytsg | 29:a48b63e60a40 | 143 | } |
Roytsg | 29:a48b63e60a40 | 144 | else if (MotorLock == 1) { |
Roytsg | 29:a48b63e60a40 | 145 | MotorLock = 0; |
Roytsg | 29:a48b63e60a40 | 146 | } |
Roytsg | 29:a48b63e60a40 | 147 | } |
Roytsg | 28:4b22455930ff | 148 | |
vsluiter | 0:32bb76391d89 | 149 | int main() |
Roytsg | 28:4b22455930ff | 150 | { |
Roytsg | 28:4b22455930ff | 151 | ledB = 1; |
Roytsg | 28:4b22455930ff | 152 | ledG = 1; |
Roytsg | 28:4b22455930ff | 153 | bqc.add( &bq1 ).add( &bq2 ).add( &bq3 ); // hier wordt het filter gemaakt |
Roytsg | 28:4b22455930ff | 154 | emgSampleTicker.attach( &emgSample, 0.002 ); //dit bepaald de sample frequency en is nu 500 Hz |
Roytsg | 29:a48b63e60a40 | 155 | |
Roytsg | 28:4b22455930ff | 156 | |
Roytsg | 29:a48b63e60a40 | 157 | while(1) { |
Roytsg | 29:a48b63e60a40 | 158 | MotorOn.rise(&MotorLocker); |
Roytsg | 29:a48b63e60a40 | 159 | motor2DirectionPin = 1; |
Roytsg | 29:a48b63e60a40 | 160 | SetMotor2(FeedForwardControl(GetReferenceVelocity())); |
Roytsg | 29:a48b63e60a40 | 161 | } |
vsluiter | 0:32bb76391d89 | 162 | } |