K K / Mbed 2 deprecated revised_XY_table_code

Code for controlling the Magna table

Dependencies:   HIDScope MODSERIAL mbed-dsp mbed

main.cpp@7:20757784f5bf, 2016-01-21 (annotated)

Committer:
Technical_Muffin
Date:
Thu Jan 21 09:51:38 2016 +0000
Revision:
7:20757784f5bf
Parent:
6:d03e4fa3a2a5
Child:
8:69b7085f5343
proportional control option included.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Technical_Muffin 0:34751b6a7dc9 1 /*Code originally by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table
Technical_Muffin 0:34751b6a7dc9 2 Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
Technical_Muffin 2:083d74325bfb 3 Biceps = 1 = lower right arm(wrist flexors)
Technical_Muffin 2:083d74325bfb 4 Triceps = 2 = upper right arm(wrist extensors)
Technical_Muffin 3:3d5ad874add0 5 Pectoralis Major = 3 = upper left arm(wrist extensors)
Technical_Muffin 3:3d5ad874add0 6 Deltoid posterior = 4 = lower left arm(wrist flexors)
Technical_Muffin 2:083d74325bfb 7 The "x" and "y" at the end of variables stand for the X-movement or Y-movement respectivly.
Technical_Muffin 2:083d74325bfb 8 The code has been revised to work with the new board and also has a secondary way of controlling it using a joystick
Technical_Muffin 0:34751b6a7dc9 9 */
Technical_Muffin 0:34751b6a7dc9 10
Technical_Muffin 0:34751b6a7dc9 11 #include "mbed.h"
Technical_Muffin 0:34751b6a7dc9 12 #include "MODSERIAL.h"
Technical_Muffin 0:34751b6a7dc9 13 #include "arm_math.h"
Technical_Muffin 0:34751b6a7dc9 14 #include "HIDScope.h"
Technical_Muffin 7:20757784f5bf 15 //factors proportional control
Technical_Muffin 7:20757784f5bf 16 #define K_Gain 150 //Gain of the filtered EMG signal
Technical_Muffin 7:20757784f5bf 17 #define Damp 5 //Deceleration of the motor
Technical_Muffin 7:20757784f5bf 18 #define Mass 1 // Mass value
Technical_Muffin 7:20757784f5bf 19 #define dt 0.01 //Sample frequency
Technical_Muffin 7:20757784f5bf 20 //thresholds
Technical_Muffin 4:61bdf601e7b0 21 #define EMG_tresh1 0.015
Technical_Muffin 4:61bdf601e7b0 22 #define EMG_tresh2 0.015
Technical_Muffin 4:61bdf601e7b0 23 #define EMG_tresh3 0.015
Technical_Muffin 4:61bdf601e7b0 24 #define EMG_tresh4 0.015
Technical_Muffin 0:34751b6a7dc9 25
Technical_Muffin 7:20757784f5bf 26 //button for control switching
Technical_Muffin 7:20757784f5bf 27 InterruptIn button1(PTC6);
Technical_Muffin 7:20757784f5bf 28
Technical_Muffin 0:34751b6a7dc9 29 MODSERIAL pc(USBTX,USBRX);
Technical_Muffin 0:34751b6a7dc9 30 //joystick control
Technical_Muffin 0:34751b6a7dc9 31 AnalogIn X_control(A1);
Technical_Muffin 0:34751b6a7dc9 32 AnalogIn Y_control(A0);
Technical_Muffin 0:34751b6a7dc9 33 //Motor control 1
Technical_Muffin 0:34751b6a7dc9 34 DigitalOut Diry(D12);
Technical_Muffin 0:34751b6a7dc9 35 PwmOut Stepy(PTA1);
Technical_Muffin 0:34751b6a7dc9 36 DigitalOut Enabley(PTC3);
Technical_Muffin 0:34751b6a7dc9 37
Technical_Muffin 0:34751b6a7dc9 38 //motor control 2
Technical_Muffin 0:34751b6a7dc9 39 DigitalOut Dirx(PTC17);
Technical_Muffin 0:34751b6a7dc9 40 PwmOut Stepx(PTD1);
Technical_Muffin 0:34751b6a7dc9 41 DigitalOut Enablex(D0);
Technical_Muffin 0:34751b6a7dc9 42
Technical_Muffin 0:34751b6a7dc9 43 //Microstepping 1
Technical_Muffin 0:34751b6a7dc9 44 DigitalOut MS11(D11);
Technical_Muffin 0:34751b6a7dc9 45 DigitalOut MS21(D10);
Technical_Muffin 0:34751b6a7dc9 46 DigitalOut MS31(D9);
Technical_Muffin 0:34751b6a7dc9 47 //Microstepping 2
Technical_Muffin 0:34751b6a7dc9 48 DigitalOut MS12(PTC2);
Technical_Muffin 0:34751b6a7dc9 49 DigitalOut MS22(PTA2);
Technical_Muffin 0:34751b6a7dc9 50 DigitalOut MS32(PTB23);
Technical_Muffin 0:34751b6a7dc9 51
Technical_Muffin 0:34751b6a7dc9 52 DigitalOut Ledr(LED1);
Technical_Muffin 0:34751b6a7dc9 53 DigitalOut Ledg(LED2);
Technical_Muffin 0:34751b6a7dc9 54 DigitalOut Ledb(LED3);
Technical_Muffin 0:34751b6a7dc9 55
Technical_Muffin 0:34751b6a7dc9 56 //EMG inputs
Technical_Muffin 4:61bdf601e7b0 57 AnalogIn emg1(A2); //biceps or wrist flexors bottom emg board
Technical_Muffin 4:61bdf601e7b0 58 AnalogIn emg2(A3); //triceps or wirst extensors
Technical_Muffin 4:61bdf601e7b0 59 AnalogIn emg3(A4); //Pectoralis major or wrist extensors
Technical_Muffin 4:61bdf601e7b0 60 AnalogIn emg4(A5); //Deltoid or wrist flexors top emg board
Technical_Muffin 0:34751b6a7dc9 61
Technical_Muffin 0:34751b6a7dc9 62 HIDScope scope(4);
Technical_Muffin 0:34751b6a7dc9 63 Ticker scopeTimer;
Technical_Muffin 0:34751b6a7dc9 64 Ticker emgtimer;
Technical_Muffin 0:34751b6a7dc9 65 Ticker looptimer1;
Technical_Muffin 0:34751b6a7dc9 66 Ticker looptimer2;
Technical_Muffin 0:34751b6a7dc9 67
Technical_Muffin 0:34751b6a7dc9 68 //Variables for motor control
Technical_Muffin 0:34751b6a7dc9 69 float setpoint = 3200; //Frequentie setpoint
Technical_Muffin 0:34751b6a7dc9 70 float step_freq1 = 1;
Technical_Muffin 0:34751b6a7dc9 71 float step_freq2 = 1;
Technical_Muffin 0:34751b6a7dc9 72
Technical_Muffin 0:34751b6a7dc9 73 //EMG filter
Technical_Muffin 0:34751b6a7dc9 74 arm_biquad_casd_df1_inst_f32 lowpass1_biceps;
Technical_Muffin 0:34751b6a7dc9 75 arm_biquad_casd_df1_inst_f32 lowpass1_triceps;
Technical_Muffin 0:34751b6a7dc9 76 arm_biquad_casd_df1_inst_f32 lowpass1_pect;
Technical_Muffin 0:34751b6a7dc9 77 arm_biquad_casd_df1_inst_f32 lowpass1_deltoid;
Technical_Muffin 0:34751b6a7dc9 78
Technical_Muffin 0:34751b6a7dc9 79 arm_biquad_casd_df1_inst_f32 lowpass2_biceps;
Technical_Muffin 0:34751b6a7dc9 80 arm_biquad_casd_df1_inst_f32 lowpass2_triceps;
Technical_Muffin 0:34751b6a7dc9 81 arm_biquad_casd_df1_inst_f32 lowpass2_pect;
Technical_Muffin 0:34751b6a7dc9 82 arm_biquad_casd_df1_inst_f32 lowpass2_deltoid;
Technical_Muffin 0:34751b6a7dc9 83
Technical_Muffin 4:61bdf601e7b0 84 arm_biquad_casd_df1_inst_f32 highpass_biceps;
Technical_Muffin 4:61bdf601e7b0 85 arm_biquad_casd_df1_inst_f32 highpass_triceps;
Technical_Muffin 4:61bdf601e7b0 86 arm_biquad_casd_df1_inst_f32 highpass_pect;
Technical_Muffin 4:61bdf601e7b0 87 arm_biquad_casd_df1_inst_f32 highpass_deltoid;
Technical_Muffin 4:61bdf601e7b0 88
Technical_Muffin 1:c8ad338ba312 89 //used as extra filter for wrist motion
Technical_Muffin 1:c8ad338ba312 90 arm_biquad_casd_df1_inst_f32 bandstop_biceps;
Technical_Muffin 1:c8ad338ba312 91 arm_biquad_casd_df1_inst_f32 bandstop_triceps;
Technical_Muffin 1:c8ad338ba312 92 arm_biquad_casd_df1_inst_f32 bandstop_pect;
Technical_Muffin 1:c8ad338ba312 93 arm_biquad_casd_df1_inst_f32 bandstop_deltoid;
Technical_Muffin 1:c8ad338ba312 94
Technical_Muffin 1:c8ad338ba312 95 //lowpass 1 filter settings: Fc = 49 Hz, Fs = 100 Hz, Gain = -3 dB
Technical_Muffin 1:c8ad338ba312 96 //lowpass 2 filter settings: Fc = 0.8 Hz, Fs = 100 Hz, Gain = -3 dB
Technical_Muffin 1:c8ad338ba312 97 float lowpass1_const[] = {0.956543225556877,1.91308645111375,0.956543225556877,-1.91119706742607,-0.914975834801434};
Technical_Muffin 1:c8ad338ba312 98 float lowpass2_const[] = {0.000609854718717299,0.00121970943743460,0.000609854718717299,1.92894226325203,-0.931381682126903};
Technical_Muffin 1:c8ad338ba312 99 //highpass filter settings: Fc = 20 Hz, Fs = 100 Hz
Technical_Muffin 1:c8ad338ba312 100 float highpass_const[] = {0.391335772501769,-0.782671545003538,0.391335772501769,0.369527377351241,-0.195815712655833};
Technical_Muffin 1:c8ad338ba312 101 //bandstop filter settings Fc=[29Hz 36Hz], Fs= 100Hz
Technical_Muffin 1:c8ad338ba312 102 float bandstop_const[] = {0.732022476556623, 0.681064744276583,0.732022476556623,-0.535944148680739,-0.713976335521464,1,0.930387749130681,1,-1.04147956553087,-0.752398361226849};
Technical_Muffin 4:61bdf601e7b0 103
Technical_Muffin 1:c8ad338ba312 104 /*
Technical_Muffin 1:c8ad338ba312 105 //values are usable for triceps and biceps continuous motion, not for wrist motion.
Technical_Muffin 0:34751b6a7dc9 106 //lowpass 1 filter settings: Fc = 45 Hz, Fs = 100 Hz, Gain = -3 dB
Technical_Muffin 0:34751b6a7dc9 107 //lowpass 2 filter settings: Fc = 0.3 Hz, Fs = 100 Hz, Gain = -3 dB
Technical_Muffin 0:34751b6a7dc9 108 float lowpass1_const[] = {0.800592403464570,1.60118480692914,0.800592403464570,-1.56101807580072,-0.641351538057563};
Technical_Muffin 0:34751b6a7dc9 109 float lowpass2_const[] = {8.76555487540147e-05, 0.000175311097508029, 8.76555487540147e-05 , 1.97334424978130, -0.973694871976315};
Technical_Muffin 0:34751b6a7dc9 110 //highpass filter settings: Fc = 20 Hz, Fs = 100 Hz
Technical_Muffin 0:34751b6a7dc9 111
Technical_Muffin 0:34751b6a7dc9 112 float highpass_const[] = {0.391335772501769 ,-0.782671545003538, 0.391335772501769,0.369527377351241, -0.195815712655833};
Technical_Muffin 0:34751b6a7dc9 113
Technical_Muffin 1:c8ad338ba312 114 */
Technical_Muffin 0:34751b6a7dc9 115
Technical_Muffin 0:34751b6a7dc9 116
Technical_Muffin 0:34751b6a7dc9 117 //state values
Technical_Muffin 0:34751b6a7dc9 118 float lowpass1_biceps_states[4];
Technical_Muffin 0:34751b6a7dc9 119 float lowpass2_biceps_states[4];
Technical_Muffin 0:34751b6a7dc9 120 float highpass_biceps_states[4];
Technical_Muffin 1:c8ad338ba312 121 float bandstop_biceps_states[8];
Technical_Muffin 1:c8ad338ba312 122
Technical_Muffin 0:34751b6a7dc9 123 float lowpass1_triceps_states[4];
Technical_Muffin 0:34751b6a7dc9 124 float lowpass2_triceps_states[4];
Technical_Muffin 0:34751b6a7dc9 125 float highpass_triceps_states[4];
Technical_Muffin 1:c8ad338ba312 126 float bandstop_triceps_states[8];
Technical_Muffin 1:c8ad338ba312 127
Technical_Muffin 0:34751b6a7dc9 128 float lowpass1_pect_states[4];
Technical_Muffin 0:34751b6a7dc9 129 float lowpass2_pect_states[4];
Technical_Muffin 0:34751b6a7dc9 130 float highpass_pect_states[4];
Technical_Muffin 1:c8ad338ba312 131 float bandstop_pect_states[8];
Technical_Muffin 1:c8ad338ba312 132
Technical_Muffin 0:34751b6a7dc9 133 float lowpass1_deltoid_states[4];
Technical_Muffin 0:34751b6a7dc9 134 float lowpass2_deltoid_states[4];
Technical_Muffin 0:34751b6a7dc9 135 float highpass_deltoid_states[4];
Technical_Muffin 1:c8ad338ba312 136 float bandstop_deltoid_states[8];
Technical_Muffin 1:c8ad338ba312 137
Technical_Muffin 0:34751b6a7dc9 138
Technical_Muffin 4:61bdf601e7b0 139 //global variables
Technical_Muffin 0:34751b6a7dc9 140 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
Technical_Muffin 0:34751b6a7dc9 141 float speed_old1, speed_old2, speed_old3, speed_old4;
Technical_Muffin 0:34751b6a7dc9 142 float acc1, acc2, acc3, acc4;
Technical_Muffin 0:34751b6a7dc9 143 float force1, force2, force3, force4;
Technical_Muffin 0:34751b6a7dc9 144 float speed1, speed2, speed3, speed4;
Technical_Muffin 0:34751b6a7dc9 145 float damping1, damping2, damping3, damping4;
Technical_Muffin 0:34751b6a7dc9 146 float emg_x, emg_y;
Technical_Muffin 0:34751b6a7dc9 147 float cx = 0;
Technical_Muffin 0:34751b6a7dc9 148 float cy = 0;
Technical_Muffin 0:34751b6a7dc9 149 float errorx = 0.2;
Technical_Muffin 0:34751b6a7dc9 150 float errory = 0.2;
Technical_Muffin 0:34751b6a7dc9 151 float Ps_x = 0;
Technical_Muffin 0:34751b6a7dc9 152 float Ps_y = 0;
Technical_Muffin 0:34751b6a7dc9 153 float hstep_freqx = 1;
Technical_Muffin 0:34751b6a7dc9 154 float hstep_freqy = 1;
Technical_Muffin 0:34751b6a7dc9 155 float emg_y_abs = 0;
Technical_Muffin 0:34751b6a7dc9 156 float emg_x_abs = 0;
Technical_Muffin 7:20757784f5bf 157 bool proportional = 1;
Technical_Muffin 0:34751b6a7dc9 158
Technical_Muffin 0:34751b6a7dc9 159 void looper_emg()
Technical_Muffin 0:34751b6a7dc9 160 {
Technical_Muffin 0:34751b6a7dc9 161 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
Technical_Muffin 0:34751b6a7dc9 162 emg_value1_f32 = emg1.read();
Technical_Muffin 0:34751b6a7dc9 163 emg_value2_f32 = emg2.read();
Technical_Muffin 0:34751b6a7dc9 164 emg_value3_f32 = emg3.read();
Technical_Muffin 0:34751b6a7dc9 165 emg_value4_f32 = emg4.read();
Technical_Muffin 0:34751b6a7dc9 166
Technical_Muffin 4:61bdf601e7b0 167 //Biquad process emg biceps
Technical_Muffin 1:c8ad338ba312 168 arm_biquad_cascade_df1_f32(&bandstop_biceps, &emg_value1_f32, &filtered_biceps, 1 );//used for wrist motion
Technical_Muffin 1:c8ad338ba312 169 arm_biquad_cascade_df1_f32(&lowpass1_biceps, &filtered_biceps, &filtered_biceps, 1 );
Technical_Muffin 0:34751b6a7dc9 170 arm_biquad_cascade_df1_f32(&highpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
Technical_Muffin 0:34751b6a7dc9 171 filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented.
Technical_Muffin 0:34751b6a7dc9 172 arm_biquad_cascade_df1_f32(&lowpass2_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
Technical_Muffin 0:34751b6a7dc9 173
Technical_Muffin 4:61bdf601e7b0 174 //Biquad process emg triceps
Technical_Muffin 1:c8ad338ba312 175 arm_biquad_cascade_df1_f32(&bandstop_triceps, &emg_value2_f32, &filtered_triceps, 1 ); //used for wrist motion
Technical_Muffin 1:c8ad338ba312 176 arm_biquad_cascade_df1_f32(&lowpass1_triceps, &filtered_triceps, &filtered_triceps, 1 );
Technical_Muffin 0:34751b6a7dc9 177 arm_biquad_cascade_df1_f32(&highpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
Technical_Muffin 0:34751b6a7dc9 178 filtered_triceps = fabs(filtered_triceps);
Technical_Muffin 0:34751b6a7dc9 179 arm_biquad_cascade_df1_f32(&lowpass2_triceps, &filtered_triceps, &filtered_triceps, 1 );
Technical_Muffin 0:34751b6a7dc9 180
Technical_Muffin 4:61bdf601e7b0 181 //Biquad process emg pectoralis major
Technical_Muffin 1:c8ad338ba312 182 arm_biquad_cascade_df1_f32(&bandstop_pect, &emg_value3_f32, &filtered_pect, 1 );//used for wrist motion
Technical_Muffin 1:c8ad338ba312 183 arm_biquad_cascade_df1_f32(&lowpass1_pect, &filtered_pect, &filtered_pect, 1 );
Technical_Muffin 0:34751b6a7dc9 184 arm_biquad_cascade_df1_f32(&highpass_pect, &filtered_pect, &filtered_pect, 1 );
Technical_Muffin 1:c8ad338ba312 185 filtered_pect = fabs(filtered_pect);
Technical_Muffin 1:c8ad338ba312 186 arm_biquad_cascade_df1_f32(&lowpass2_pect, &filtered_pect, &filtered_pect, 1 );
Technical_Muffin 0:34751b6a7dc9 187
Technical_Muffin 4:61bdf601e7b0 188 //Biquad process emg deltoid
Technical_Muffin 1:c8ad338ba312 189 arm_biquad_cascade_df1_f32(&bandstop_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );//used for wrist motion
Technical_Muffin 1:c8ad338ba312 190 arm_biquad_cascade_df1_f32(&lowpass1_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
Technical_Muffin 0:34751b6a7dc9 191 arm_biquad_cascade_df1_f32(&highpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
Technical_Muffin 1:c8ad338ba312 192 filtered_deltoid = fabs(filtered_deltoid);
Technical_Muffin 1:c8ad338ba312 193 arm_biquad_cascade_df1_f32(&lowpass2_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
Technical_Muffin 1:c8ad338ba312 194
Technical_Muffin 4:61bdf601e7b0 195 // send value to PC for control
Technical_Muffin 0:34751b6a7dc9 196
Technical_Muffin 3:3d5ad874add0 197 scope.set(0,filtered_biceps); //Filtered EMG signals
Technical_Muffin 3:3d5ad874add0 198 scope.set(1,filtered_triceps);
Technical_Muffin 3:3d5ad874add0 199 scope.set(2,filtered_pect);
Technical_Muffin 3:3d5ad874add0 200 scope.set(3,filtered_deltoid);
Technical_Muffin 0:34751b6a7dc9 201 scope.send();
Technical_Muffin 0:34751b6a7dc9 202
Technical_Muffin 0:34751b6a7dc9 203 }
Technical_Muffin 0:34751b6a7dc9 204
Technical_Muffin 0:34751b6a7dc9 205
Technical_Muffin 0:34751b6a7dc9 206 void looper_motory()
Technical_Muffin 0:34751b6a7dc9 207 {
Technical_Muffin 0:34751b6a7dc9 208
Technical_Muffin 4:61bdf601e7b0 209 emg_y = (filtered_biceps - filtered_triceps);
Technical_Muffin 6:d03e4fa3a2a5 210
Technical_Muffin 7:20757784f5bf 211 switch(proportional)
Technical_Muffin 7:20757784f5bf 212 {
Technical_Muffin 7:20757784f5bf 213 case 0:
Technical_Muffin 7:20757784f5bf 214 //proportional control
Technical_Muffin 7:20757784f5bf 215 emg_y_abs = fabs(emg_y);
Technical_Muffin 7:20757784f5bf 216 force1 = emg_y_abs*K_Gain;
Technical_Muffin 7:20757784f5bf 217 force1 = force1 - damping1;
Technical_Muffin 7:20757784f5bf 218 acc1 = force1/Mass;
Technical_Muffin 7:20757784f5bf 219 speed1 = speed_old1 + (acc1 * dt);
Technical_Muffin 7:20757784f5bf 220 damping1 = speed1 * Damp;
Technical_Muffin 7:20757784f5bf 221 step_freq1 = setpoint * speed1;
Technical_Muffin 7:20757784f5bf 222 Stepy.period(1.0/step_freq1);
Technical_Muffin 7:20757784f5bf 223 speed_old1 = speed1;
Technical_Muffin 7:20757784f5bf 224
Technical_Muffin 7:20757784f5bf 225 //Speed limit
Technical_Muffin 7:20757784f5bf 226 if (speed1 > 1) {
Technical_Muffin 7:20757784f5bf 227 speed1 = 1;
Technical_Muffin 7:20757784f5bf 228 step_freq1 = setpoint;
Technical_Muffin 7:20757784f5bf 229 }
Technical_Muffin 7:20757784f5bf 230 break;
Technical_Muffin 7:20757784f5bf 231 case 1:
Technical_Muffin 7:20757784f5bf 232 //precision control
Technical_Muffin 7:20757784f5bf 233 Stepy.period(0.000625);//frequency of 1600 Hz
Technical_Muffin 7:20757784f5bf 234 break;
Technical_Muffin 7:20757784f5bf 235 default:
Technical_Muffin 7:20757784f5bf 236 }
Technical_Muffin 6:d03e4fa3a2a5 237 if (emg_y > 0) {//downward movement
Technical_Muffin 5:19f8766b63da 238 Diry = 0;
Technical_Muffin 4:61bdf601e7b0 239 }
Technical_Muffin 6:d03e4fa3a2a5 240 if (emg_y < 0) {//upward movement
Technical_Muffin 5:19f8766b63da 241 Diry = 1;
Technical_Muffin 4:61bdf601e7b0 242 }
Technical_Muffin 6:d03e4fa3a2a5 243
Technical_Muffin 4:61bdf601e7b0 244 //EMG treshold
Technical_Muffin 4:61bdf601e7b0 245 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
Technical_Muffin 4:61bdf601e7b0 246 Enabley = 1; //Enable = 1 turns the motor off.
Technical_Muffin 4:61bdf601e7b0 247 } else {
Technical_Muffin 4:61bdf601e7b0 248 Enabley = 0;
Technical_Muffin 4:61bdf601e7b0 249 }
Technical_Muffin 0:34751b6a7dc9 250 }
Technical_Muffin 1:c8ad338ba312 251
Technical_Muffin 0:34751b6a7dc9 252 void looper_motorx()
Technical_Muffin 0:34751b6a7dc9 253 {
Technical_Muffin 0:34751b6a7dc9 254
Technical_Muffin 3:3d5ad874add0 255 emg_x = (filtered_pect - filtered_deltoid);
Technical_Muffin 7:20757784f5bf 256 switch(proportional)
Technical_Muffin 7:20757784f5bf 257 {
Technical_Muffin 7:20757784f5bf 258 case 0:
Technical_Muffin 7:20757784f5bf 259 //proportional control
Technical_Muffin 7:20757784f5bf 260 Ledr=0;
Technical_Muffin 7:20757784f5bf 261 emg_x_abs = fabs(emg_x);
Technical_Muffin 7:20757784f5bf 262 force2 = emg_x_abs*K_Gain;
Technical_Muffin 7:20757784f5bf 263 force2 = force2 - damping2;
Technical_Muffin 7:20757784f5bf 264 acc2 = force2/Mass;
Technical_Muffin 7:20757784f5bf 265 speed2 = speed_old2 + (acc2 * dt);
Technical_Muffin 7:20757784f5bf 266 damping2 = speed2 * Damp;
Technical_Muffin 7:20757784f5bf 267 step_freq2 = setpoint * speed2;
Technical_Muffin 7:20757784f5bf 268 Stepx.period(1.0/step_freq2);
Technical_Muffin 7:20757784f5bf 269 speed_old2 = speed2;
Technical_Muffin 7:20757784f5bf 270
Technical_Muffin 7:20757784f5bf 271 //speed limit
Technical_Muffin 7:20757784f5bf 272 if (speed2 > 1) {
Technical_Muffin 7:20757784f5bf 273 speed2 = 1;
Technical_Muffin 7:20757784f5bf 274 step_freq2 = setpoint;
Technical_Muffin 7:20757784f5bf 275 }
Technical_Muffin 7:20757784f5bf 276 break;
Technical_Muffin 7:20757784f5bf 277
Technical_Muffin 7:20757784f5bf 278 case 1:
Technical_Muffin 7:20757784f5bf 279 //precision control
Technical_Muffin 7:20757784f5bf 280 Ledr=1;
Technical_Muffin 7:20757784f5bf 281 Stepx.period(0.000625);//frequency of 1600 Hz
Technical_Muffin 7:20757784f5bf 282 break;
Technical_Muffin 7:20757784f5bf 283 default:
Technical_Muffin 7:20757784f5bf 284 }
Technical_Muffin 6:d03e4fa3a2a5 285 if (emg_x > 0) {//left movement
Technical_Muffin 5:19f8766b63da 286 Dirx = 0;
Technical_Muffin 0:34751b6a7dc9 287 }
Technical_Muffin 6:d03e4fa3a2a5 288 if (emg_x < 0) {//right movement
Technical_Muffin 5:19f8766b63da 289 Dirx = 1;
Technical_Muffin 0:34751b6a7dc9 290 }
Technical_Muffin 6:d03e4fa3a2a5 291
Technical_Muffin 0:34751b6a7dc9 292 //EMG treshold
Technical_Muffin 0:34751b6a7dc9 293 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
Technical_Muffin 0:34751b6a7dc9 294 Enablex = 1; //Enable = 1 turns the motor off.
Technical_Muffin 0:34751b6a7dc9 295 } else {
Technical_Muffin 0:34751b6a7dc9 296 Enablex = 0;
Technical_Muffin 0:34751b6a7dc9 297 }
Technical_Muffin 4:61bdf601e7b0 298 }
Technical_Muffin 0:34751b6a7dc9 299
Technical_Muffin 7:20757784f5bf 300 void changecontrol(){
Technical_Muffin 7:20757784f5bf 301 proportional = !proportional;//code for changing speed control
Technical_Muffin 7:20757784f5bf 302 }
Technical_Muffin 7:20757784f5bf 303
Technical_Muffin 7:20757784f5bf 304
Technical_Muffin 0:34751b6a7dc9 305 int main()
Technical_Muffin 0:34751b6a7dc9 306 {
Technical_Muffin 0:34751b6a7dc9 307 pc.baud(115200);
Technical_Muffin 0:34751b6a7dc9 308 Ledr=1;
Technical_Muffin 0:34751b6a7dc9 309 Ledg=1;
Technical_Muffin 0:34751b6a7dc9 310 Ledb=1;
Technical_Muffin 0:34751b6a7dc9 311
Technical_Muffin 0:34751b6a7dc9 312 MS11=1;//higher microstepping in combination with a higher step frequency reduces the vibration significantly
Technical_Muffin 0:34751b6a7dc9 313 MS21=1;//it is now in 16th step mode, which seems to work really well and smooth without causing major vibrations
Technical_Muffin 0:34751b6a7dc9 314 MS31=1;
Technical_Muffin 0:34751b6a7dc9 315 MS12=1;
Technical_Muffin 0:34751b6a7dc9 316 MS22=1;
Technical_Muffin 0:34751b6a7dc9 317 MS32=1;
Technical_Muffin 1:c8ad338ba312 318 Stepy.write(0.5f);
Technical_Muffin 0:34751b6a7dc9 319 Enabley.write(1);
Technical_Muffin 0:34751b6a7dc9 320 Stepx.write(0.5f);
Technical_Muffin 0:34751b6a7dc9 321 Enablex.write(1);
Technical_Muffin 7:20757784f5bf 322 //Stepy.period(0.000625);//use period change for speed adjustments
Technical_Muffin 7:20757784f5bf 323 //Stepx.period(0.000625);//frequency of 1600 Hz
Technical_Muffin 0:34751b6a7dc9 324
Technical_Muffin 2:083d74325bfb 325
Technical_Muffin 2:083d74325bfb 326 /*//code for controlling the mechanism with a joystick
Technical_Muffin 0:34751b6a7dc9 327 float Left_value = 0.6;
Technical_Muffin 0:34751b6a7dc9 328 float Right_value = 0.9;
Technical_Muffin 0:34751b6a7dc9 329 float Up_value = 0.6;
Technical_Muffin 0:34751b6a7dc9 330 float Down_value = 0.9;
Technical_Muffin 2:083d74325bfb 331
Technical_Muffin 2:083d74325bfb 332 while(1){
Technical_Muffin 0:34751b6a7dc9 333 if (X_control.read() < Left_value){
Technical_Muffin 0:34751b6a7dc9 334 Dirx.write(0);
Technical_Muffin 0:34751b6a7dc9 335 Enablex.write(0);
Technical_Muffin 0:34751b6a7dc9 336 }
Technical_Muffin 0:34751b6a7dc9 337 else if (X_control.read() > Right_value){
Technical_Muffin 0:34751b6a7dc9 338 Dirx.write(1);
Technical_Muffin 0:34751b6a7dc9 339 Enablex.write(0);
Technical_Muffin 0:34751b6a7dc9 340 }
Technical_Muffin 0:34751b6a7dc9 341 else{
Technical_Muffin 0:34751b6a7dc9 342 Enablex.write(1);
Technical_Muffin 0:34751b6a7dc9 343 }
Technical_Muffin 0:34751b6a7dc9 344 if (Y_control.read() < Up_value){
Technical_Muffin 0:34751b6a7dc9 345 Diry.write(0);
Technical_Muffin 0:34751b6a7dc9 346 Enabley.write(0);
Technical_Muffin 0:34751b6a7dc9 347 }
Technical_Muffin 0:34751b6a7dc9 348 else if (Y_control.read() > Down_value){
Technical_Muffin 0:34751b6a7dc9 349 Diry.write(1);
Technical_Muffin 0:34751b6a7dc9 350 Enabley.write(0);
Technical_Muffin 0:34751b6a7dc9 351 }
Technical_Muffin 0:34751b6a7dc9 352 else{
Technical_Muffin 0:34751b6a7dc9 353 Enabley.write(1);
Technical_Muffin 0:34751b6a7dc9 354 }
Technical_Muffin 0:34751b6a7dc9 355 pc.printf("X value is %f and Y value is %f\n", X_control.read(), Y_control.read());
Technical_Muffin 0:34751b6a7dc9 356 }*/
Technical_Muffin 0:34751b6a7dc9 357
Technical_Muffin 0:34751b6a7dc9 358 //biceps
Technical_Muffin 0:34751b6a7dc9 359 arm_biquad_cascade_df1_init_f32(&lowpass1_biceps, 1 , lowpass1_const, lowpass1_biceps_states);
Technical_Muffin 0:34751b6a7dc9 360 arm_biquad_cascade_df1_init_f32(&lowpass2_biceps, 1 , lowpass2_const, lowpass2_biceps_states);
Technical_Muffin 0:34751b6a7dc9 361 arm_biquad_cascade_df1_init_f32(&highpass_biceps, 1 , highpass_const, highpass_biceps_states);
Technical_Muffin 1:c8ad338ba312 362 arm_biquad_cascade_df1_init_f32(&bandstop_biceps, 2 , bandstop_const, bandstop_biceps_states);
Technical_Muffin 0:34751b6a7dc9 363 //triceps
Technical_Muffin 0:34751b6a7dc9 364 arm_biquad_cascade_df1_init_f32(&lowpass1_triceps, 1 , lowpass1_const, lowpass1_triceps_states);
Technical_Muffin 0:34751b6a7dc9 365 arm_biquad_cascade_df1_init_f32(&lowpass2_triceps, 1 , lowpass2_const, lowpass2_triceps_states);
Technical_Muffin 1:c8ad338ba312 366 arm_biquad_cascade_df1_init_f32(&highpass_triceps, 1 , highpass_const, highpass_triceps_states);
Technical_Muffin 1:c8ad338ba312 367 arm_biquad_cascade_df1_init_f32(&bandstop_triceps, 2 , bandstop_const, bandstop_triceps_states);
Technical_Muffin 1:c8ad338ba312 368 //pectoralis major
Technical_Muffin 0:34751b6a7dc9 369 arm_biquad_cascade_df1_init_f32(&lowpass1_pect, 1 , lowpass1_const, lowpass1_pect_states);
Technical_Muffin 0:34751b6a7dc9 370 arm_biquad_cascade_df1_init_f32(&lowpass2_pect, 1 , lowpass2_const, lowpass2_pect_states);
Technical_Muffin 0:34751b6a7dc9 371 arm_biquad_cascade_df1_init_f32(&highpass_pect, 1 , highpass_const, highpass_pect_states);
Technical_Muffin 1:c8ad338ba312 372 arm_biquad_cascade_df1_init_f32(&bandstop_pect, 2 , bandstop_const, bandstop_pect_states);
Technical_Muffin 1:c8ad338ba312 373
Technical_Muffin 0:34751b6a7dc9 374 //deltoid
Technical_Muffin 0:34751b6a7dc9 375 arm_biquad_cascade_df1_init_f32(&lowpass1_deltoid, 1 , lowpass1_const, lowpass1_deltoid_states);
Technical_Muffin 0:34751b6a7dc9 376 arm_biquad_cascade_df1_init_f32(&lowpass2_deltoid, 1 , lowpass2_const, lowpass2_deltoid_states);
Technical_Muffin 1:c8ad338ba312 377 arm_biquad_cascade_df1_init_f32(&highpass_deltoid, 1 , highpass_const, highpass_deltoid_states);
Technical_Muffin 1:c8ad338ba312 378 arm_biquad_cascade_df1_init_f32(&bandstop_deltoid, 2 , bandstop_const, bandstop_deltoid_states);
Technical_Muffin 1:c8ad338ba312 379
Technical_Muffin 0:34751b6a7dc9 380 emgtimer.attach(looper_emg, 0.01);
Technical_Muffin 0:34751b6a7dc9 381
Technical_Muffin 1:c8ad338ba312 382 looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor
Technical_Muffin 0:34751b6a7dc9 383
Technical_Muffin 5:19f8766b63da 384 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
Technical_Muffin 0:34751b6a7dc9 385
Technical_Muffin 7:20757784f5bf 386 while(1){
Technical_Muffin 7:20757784f5bf 387 button1.fall(changecontrol);
Technical_Muffin 7:20757784f5bf 388 };
Technical_Muffin 0:34751b6a7dc9 389 }