to send emg signal to motor with test programm
Dependencies: HIDScope biquadFilter mbed
Fork of TestProgramm by
main.cpp@30:4c6321941515, 2017-10-25 (annotated)
- Committer:
- Roytsg
- Date:
- Wed Oct 25 12:38:09 2017 +0000
- Revision:
- 30:4c6321941515
- Parent:
- 29:a48b63e60a40
- Child:
- 31:620950f7e514
- Child:
- 32:3832f732f17a
motor is aan stuurbaar met spier, motorlock werkt, errorzero naar 1.5 gezet anders is het moeilijk om de motor aan te sturen
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 | 28:4b22455930ff | 5 | #include "Serial.h" |
vsluiter | 0:32bb76391d89 | 6 | |
Roytsg | 24:fe3825337233 | 7 | |
vsluiter | 4:8b298dfada81 | 8 | //Define objects |
Roytsg | 28:4b22455930ff | 9 | AnalogIn emg( A0 ); //EMG |
Roytsg | 28:4b22455930ff | 10 | AnalogIn emg1( A1 ); //EMG |
Roytsg | 29:a48b63e60a40 | 11 | HIDScope scope( 6 ); // aantal scopes dat gemaakt kan worden |
Roytsg | 28:4b22455930ff | 12 | DigitalOut ledB(LED_BLUE); |
Roytsg | 28:4b22455930ff | 13 | DigitalOut ledG(LED_GREEN); |
Roytsg | 28:4b22455930ff | 14 | DigitalIn TestButton(PTA4); // button naast het ledje |
Roytsg | 28:4b22455930ff | 15 | DigitalIn onoff(PTC6); // button aan de andere kant |
Roytsg | 28:4b22455930ff | 16 | Ticker emgSampleTicker; // Ticker voor de sample frequency |
Roytsg | 29:a48b63e60a40 | 17 | DigitalOut motor2MagnitudePin(D5); // magnitude motor 2 |
Roytsg | 29:a48b63e60a40 | 18 | DigitalOut motor2DirectionPin(D4); // direction of the motor 2 |
Roytsg | 29:a48b63e60a40 | 19 | InterruptIn MotorOn(D10); |
vsluiter | 2:e314bb3b2d99 | 20 | |
Roytsg | 28:4b22455930ff | 21 | |
Roytsg | 28:4b22455930ff | 22 | int P= 200; // aantal test punten voor de moving average |
Roytsg | 28:4b22455930ff | 23 | double A[200]; // de vector waar punten in worden opgeslagen voor de moving average moet even groot zijn als P |
Roytsg | 28:4b22455930ff | 24 | int k = 0; // counter voor de configuratie |
Roytsg | 28:4b22455930ff | 25 | double Vvector[200]; // vector voor de Vwaarde configuratie |
Roytsg | 28:4b22455930ff | 26 | double Vwaarde[2]; // vector voor waardes van V |
Roytsg | 28:4b22455930ff | 27 | int x = 0; // x waarde voor de Vwaarde |
Roytsg | 29:a48b63e60a40 | 28 | double movmean; |
Roytsg | 30:4c6321941515 | 29 | int MotorLock = 0; |
Roytsg | 30:4c6321941515 | 30 | double EMGInput; |
Roytsg | 30:4c6321941515 | 31 | float ErrorZero = 1.5; |
Roytsg | 24:fe3825337233 | 32 | |
Roytsg | 28:4b22455930ff | 33 | // Filters |
Roytsg | 28:4b22455930ff | 34 | BiQuadChain bqc; |
Roytsg | 28:4b22455930ff | 35 | BiQuad bq1( 0.6844323315947305,1.368864663189461, 0.6844323315947305,1.2243497755555954,0.5133795508233265); //lp? |
Roytsg | 28:4b22455930ff | 36 | BiQuad bq2( 0.6844323315947306, -1.3688646631894612, 0.6844323315947306, -1.2243497755555959, 0.5133795508233266); //hp? |
Roytsg | 28:4b22455930ff | 37 | BiQuad bq3( 0.7566897754116633, -1.2243497755555959, 0.7566897754116633, -1.2243497755555959, 0.5133795508233266); // notch? |
vsluiter | 0:32bb76391d89 | 38 | |
Roytsg | 28:4b22455930ff | 39 | |
Roytsg | 21:77998ce2c0dd | 40 | |
Roytsg | 28:4b22455930ff | 41 | // sample function voor plotten van de emg signalen en moving average |
Roytsg | 21:77998ce2c0dd | 42 | void emgSample() { |
Roytsg | 21:77998ce2c0dd | 43 | |
Roytsg | 28:4b22455930ff | 44 | double emgFiltered = bqc.step( emg.read() ); // gefilterde waarde van het emg signaal |
Roytsg | 28:4b22455930ff | 45 | double emgabs = abs(emgFiltered); // absolute waarde van het gefilterde signaal |
Roytsg | 28:4b22455930ff | 46 | scope.set(0, emgFiltered ); // stuurt de waarden naar de grafiek |
Roytsg | 28:4b22455930ff | 47 | scope.set(1, emgabs ); // stuurt de waarden naar de grafiek |
Roytsg | 24:fe3825337233 | 48 | |
Roytsg | 28:4b22455930ff | 49 | // deze for-loop maakt de vector voor de moving average |
Roytsg | 27:674193a62e06 | 50 | for(int i = P-1; i >= 0; i--){ |
Roytsg | 26:97a8adc9b895 | 51 | if (i == 0) { |
Roytsg | 26:97a8adc9b895 | 52 | A[i] = emgabs; |
Roytsg | 26:97a8adc9b895 | 53 | } |
Roytsg | 26:97a8adc9b895 | 54 | else { |
Roytsg | 26:97a8adc9b895 | 55 | A[i] = A[i-1]; |
Roytsg | 26:97a8adc9b895 | 56 | } |
Roytsg | 28:4b22455930ff | 57 | } |
Roytsg | 26:97a8adc9b895 | 58 | double sum = 0; |
Roytsg | 28:4b22455930ff | 59 | // deze for-loop sommeert de array |
Roytsg | 27:674193a62e06 | 60 | for (int n = 0; n < P-1; n++) { |
Roytsg | 26:97a8adc9b895 | 61 | sum = sum + A[n]; |
Roytsg | 26:97a8adc9b895 | 62 | } |
Roytsg | 24:fe3825337233 | 63 | |
Roytsg | 29:a48b63e60a40 | 64 | movmean = sum/P; //dit is de moving average waarde |
Roytsg | 24:fe3825337233 | 65 | |
Roytsg | 28:4b22455930ff | 66 | // hier wordt het test programma opgestart, zodat zero waarde kan worden gekregen |
Roytsg | 28:4b22455930ff | 67 | if (TestButton==0 & k<200) { |
Roytsg | 28:4b22455930ff | 68 | Vvector[k] = movmean; |
Roytsg | 28:4b22455930ff | 69 | ledB = !ledB; |
Roytsg | 28:4b22455930ff | 70 | k++; |
Roytsg | 28:4b22455930ff | 71 | } |
Roytsg | 28:4b22455930ff | 72 | else if (k==200) { // hier moet de test klaar zijn |
Roytsg | 28:4b22455930ff | 73 | double sumZ = 0; |
Roytsg | 28:4b22455930ff | 74 | for (int n = 0; n < 199; n++) { |
Roytsg | 28:4b22455930ff | 75 | sumZ = sumZ + Vvector[n]; |
Roytsg | 28:4b22455930ff | 76 | } // neemt de som van de zerovector array |
Roytsg | 28:4b22455930ff | 77 | Vwaarde[x] = sumZ/200; // dit is het gemiddelde voor een betrouwbare value |
Roytsg | 28:4b22455930ff | 78 | scope.set(3,Vwaarde[0]); //stuurt de zeroV waarde naar het plotje |
Roytsg | 28:4b22455930ff | 79 | if (x == 1) { |
Roytsg | 28:4b22455930ff | 80 | scope.set(4,Vwaarde[1]); //stuurt de maxV waarde naar het plotje |
Roytsg | 28:4b22455930ff | 81 | } |
Roytsg | 28:4b22455930ff | 82 | k++; |
Roytsg | 28:4b22455930ff | 83 | ledB = 1; |
Roytsg | 28:4b22455930ff | 84 | ledG = !ledG; |
Roytsg | 28:4b22455930ff | 85 | } |
Roytsg | 28:4b22455930ff | 86 | 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 | 87 | ledG = !ledG; |
Roytsg | 28:4b22455930ff | 88 | k = 0; |
Roytsg | 28:4b22455930ff | 89 | if (x==0) { |
Roytsg | 28:4b22455930ff | 90 | x++; |
Roytsg | 28:4b22455930ff | 91 | } |
Roytsg | 28:4b22455930ff | 92 | else if (x==1) { |
Roytsg | 28:4b22455930ff | 93 | x=0; |
Roytsg | 28:4b22455930ff | 94 | } |
Roytsg | 28:4b22455930ff | 95 | } |
Roytsg | 30:4c6321941515 | 96 | double EMGInputRaw = (movmean - Vwaarde[0]*ErrorZero)/(Vwaarde[1] - Vwaarde[0]*ErrorZero); |
Roytsg | 30:4c6321941515 | 97 | if (EMGInputRaw < 0) { |
Roytsg | 30:4c6321941515 | 98 | EMGInput = 0; |
Roytsg | 30:4c6321941515 | 99 | } |
Roytsg | 30:4c6321941515 | 100 | else { |
Roytsg | 30:4c6321941515 | 101 | EMGInput = EMGInputRaw; |
Roytsg | 30:4c6321941515 | 102 | } |
Roytsg | 29:a48b63e60a40 | 103 | scope.set(5,EMGInput); |
Roytsg | 28:4b22455930ff | 104 | scope.set(2, movmean); // stuurt de moving average naar de plot |
Roytsg | 28:4b22455930ff | 105 | |
Roytsg | 21:77998ce2c0dd | 106 | scope.send(); |
Roytsg | 21:77998ce2c0dd | 107 | } |
Roytsg | 21:77998ce2c0dd | 108 | |
Roytsg | 29:a48b63e60a40 | 109 | float GetReferenceVelocity() |
Roytsg | 29:a48b63e60a40 | 110 | { |
Roytsg | 29:a48b63e60a40 | 111 | // Returns reference velocity in rad/s. |
Roytsg | 29:a48b63e60a40 | 112 | // Positive value means clockwise rotation. |
Roytsg | 29:a48b63e60a40 | 113 | const float maxVelocity=8.4; // in rad/s of course! |
Roytsg | 29:a48b63e60a40 | 114 | float referenceVelocity; // in rad/s |
Roytsg | 30:4c6321941515 | 115 | referenceVelocity = (EMGInput * maxVelocity) * MotorLock; |
Roytsg | 29:a48b63e60a40 | 116 | return referenceVelocity; |
Roytsg | 29:a48b63e60a40 | 117 | } |
Roytsg | 21:77998ce2c0dd | 118 | |
Roytsg | 29:a48b63e60a40 | 119 | void SetMotor2(float motorValue) |
Roytsg | 29:a48b63e60a40 | 120 | { |
Roytsg | 29:a48b63e60a40 | 121 | // Given -1<=motorValue<=1, this sets the PWM and direction |
Roytsg | 29:a48b63e60a40 | 122 | // bits for motor 1. Positive value makes motor rotating |
Roytsg | 29:a48b63e60a40 | 123 | // clockwise. motorValues outside range are truncated to |
Roytsg | 29:a48b63e60a40 | 124 | // within range |
Roytsg | 29:a48b63e60a40 | 125 | if (fabs(motorValue)>1) motor2MagnitudePin = 1; |
Roytsg | 29:a48b63e60a40 | 126 | else motor2MagnitudePin = fabs(motorValue); |
Roytsg | 29:a48b63e60a40 | 127 | } |
Roytsg | 29:a48b63e60a40 | 128 | float FeedForwardControl(float referenceVelocity) { |
Roytsg | 29:a48b63e60a40 | 129 | // very simple linear feed-forward control |
Roytsg | 29:a48b63e60a40 | 130 | const float MotorGain=8.4; // unit: (rad/s) / PWM |
Roytsg | 29:a48b63e60a40 | 131 | float motorValue = referenceVelocity / MotorGain; |
Roytsg | 29:a48b63e60a40 | 132 | return motorValue; |
Roytsg | 29:a48b63e60a40 | 133 | } |
Roytsg | 29:a48b63e60a40 | 134 | |
Roytsg | 29:a48b63e60a40 | 135 | void MotorLocker() { |
Roytsg | 29:a48b63e60a40 | 136 | if (MotorLock == 0) { |
Roytsg | 29:a48b63e60a40 | 137 | MotorLock = 1; |
Roytsg | 29:a48b63e60a40 | 138 | } |
Roytsg | 29:a48b63e60a40 | 139 | else if (MotorLock == 1) { |
Roytsg | 29:a48b63e60a40 | 140 | MotorLock = 0; |
Roytsg | 29:a48b63e60a40 | 141 | } |
Roytsg | 29:a48b63e60a40 | 142 | } |
Roytsg | 28:4b22455930ff | 143 | |
vsluiter | 0:32bb76391d89 | 144 | int main() |
Roytsg | 28:4b22455930ff | 145 | { |
Roytsg | 28:4b22455930ff | 146 | ledB = 1; |
Roytsg | 28:4b22455930ff | 147 | ledG = 1; |
Roytsg | 28:4b22455930ff | 148 | bqc.add( &bq1 ).add( &bq2 ).add( &bq3 ); // hier wordt het filter gemaakt |
Roytsg | 28:4b22455930ff | 149 | emgSampleTicker.attach( &emgSample, 0.002 ); //dit bepaald de sample frequency en is nu 500 Hz |
Roytsg | 29:a48b63e60a40 | 150 | |
Roytsg | 28:4b22455930ff | 151 | |
Roytsg | 29:a48b63e60a40 | 152 | while(1) { |
Roytsg | 29:a48b63e60a40 | 153 | MotorOn.rise(&MotorLocker); |
Roytsg | 29:a48b63e60a40 | 154 | motor2DirectionPin = 1; |
Roytsg | 29:a48b63e60a40 | 155 | SetMotor2(FeedForwardControl(GetReferenceVelocity())); |
Roytsg | 29:a48b63e60a40 | 156 | } |
vsluiter | 0:32bb76391d89 | 157 | } |