K K / Mbed 2 deprecated revised_XY_table_code

Code for controlling the Magna table

Dependencies:   HIDScope MODSERIAL mbed-dsp mbed

main.cpp@6:d03e4fa3a2a5, 2016-01-13 (annotated)

Committer:
Technical_Muffin
Date:
Wed Jan 13 09:15:12 2016 +0000
Revision:
6:d03e4fa3a2a5
Parent:
5:19f8766b63da
Child:
7:20757784f5bf
All old code remove, to make it clean looking.

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 0:34751b6a7dc9 15
Technical_Muffin 4:61bdf601e7b0 16 #define EMG_tresh1 0.015
Technical_Muffin 4:61bdf601e7b0 17 #define EMG_tresh2 0.015
Technical_Muffin 4:61bdf601e7b0 18 #define EMG_tresh3 0.015
Technical_Muffin 4:61bdf601e7b0 19 #define EMG_tresh4 0.015
Technical_Muffin 0:34751b6a7dc9 20
Technical_Muffin 0:34751b6a7dc9 21 MODSERIAL pc(USBTX,USBRX);
Technical_Muffin 0:34751b6a7dc9 22 //joystick control
Technical_Muffin 0:34751b6a7dc9 23 AnalogIn X_control(A1);
Technical_Muffin 0:34751b6a7dc9 24 AnalogIn Y_control(A0);
Technical_Muffin 0:34751b6a7dc9 25 //Motor control 1
Technical_Muffin 0:34751b6a7dc9 26 DigitalOut Diry(D12);
Technical_Muffin 0:34751b6a7dc9 27 PwmOut Stepy(PTA1);
Technical_Muffin 0:34751b6a7dc9 28 DigitalOut Enabley(PTC3);
Technical_Muffin 0:34751b6a7dc9 29
Technical_Muffin 0:34751b6a7dc9 30 //motor control 2
Technical_Muffin 0:34751b6a7dc9 31 DigitalOut Dirx(PTC17);
Technical_Muffin 0:34751b6a7dc9 32 PwmOut Stepx(PTD1);
Technical_Muffin 0:34751b6a7dc9 33 DigitalOut Enablex(D0);
Technical_Muffin 0:34751b6a7dc9 34
Technical_Muffin 0:34751b6a7dc9 35 //Microstepping 1
Technical_Muffin 0:34751b6a7dc9 36 DigitalOut MS11(D11);
Technical_Muffin 0:34751b6a7dc9 37 DigitalOut MS21(D10);
Technical_Muffin 0:34751b6a7dc9 38 DigitalOut MS31(D9);
Technical_Muffin 0:34751b6a7dc9 39 //Microstepping 2
Technical_Muffin 0:34751b6a7dc9 40 DigitalOut MS12(PTC2);
Technical_Muffin 0:34751b6a7dc9 41 DigitalOut MS22(PTA2);
Technical_Muffin 0:34751b6a7dc9 42 DigitalOut MS32(PTB23);
Technical_Muffin 0:34751b6a7dc9 43
Technical_Muffin 0:34751b6a7dc9 44 DigitalOut Ledr(LED1);
Technical_Muffin 0:34751b6a7dc9 45 DigitalOut Ledg(LED2);
Technical_Muffin 0:34751b6a7dc9 46 DigitalOut Ledb(LED3);
Technical_Muffin 0:34751b6a7dc9 47
Technical_Muffin 0:34751b6a7dc9 48 //EMG inputs
Technical_Muffin 4:61bdf601e7b0 49 AnalogIn emg1(A2); //biceps or wrist flexors bottom emg board
Technical_Muffin 4:61bdf601e7b0 50 AnalogIn emg2(A3); //triceps or wirst extensors
Technical_Muffin 4:61bdf601e7b0 51 AnalogIn emg3(A4); //Pectoralis major or wrist extensors
Technical_Muffin 4:61bdf601e7b0 52 AnalogIn emg4(A5); //Deltoid or wrist flexors top emg board
Technical_Muffin 0:34751b6a7dc9 53
Technical_Muffin 0:34751b6a7dc9 54 HIDScope scope(4);
Technical_Muffin 0:34751b6a7dc9 55 Ticker scopeTimer;
Technical_Muffin 0:34751b6a7dc9 56 Ticker emgtimer;
Technical_Muffin 0:34751b6a7dc9 57 Ticker looptimer1;
Technical_Muffin 0:34751b6a7dc9 58 Ticker looptimer2;
Technical_Muffin 0:34751b6a7dc9 59
Technical_Muffin 0:34751b6a7dc9 60 //Variables for motor control
Technical_Muffin 0:34751b6a7dc9 61 float setpoint = 3200; //Frequentie setpoint
Technical_Muffin 0:34751b6a7dc9 62 float step_freq1 = 1;
Technical_Muffin 0:34751b6a7dc9 63 float step_freq2 = 1;
Technical_Muffin 0:34751b6a7dc9 64
Technical_Muffin 0:34751b6a7dc9 65 //EMG filter
Technical_Muffin 0:34751b6a7dc9 66 arm_biquad_casd_df1_inst_f32 lowpass1_biceps;
Technical_Muffin 0:34751b6a7dc9 67 arm_biquad_casd_df1_inst_f32 lowpass1_triceps;
Technical_Muffin 0:34751b6a7dc9 68 arm_biquad_casd_df1_inst_f32 lowpass1_pect;
Technical_Muffin 0:34751b6a7dc9 69 arm_biquad_casd_df1_inst_f32 lowpass1_deltoid;
Technical_Muffin 0:34751b6a7dc9 70
Technical_Muffin 0:34751b6a7dc9 71 arm_biquad_casd_df1_inst_f32 lowpass2_biceps;
Technical_Muffin 0:34751b6a7dc9 72 arm_biquad_casd_df1_inst_f32 lowpass2_triceps;
Technical_Muffin 0:34751b6a7dc9 73 arm_biquad_casd_df1_inst_f32 lowpass2_pect;
Technical_Muffin 0:34751b6a7dc9 74 arm_biquad_casd_df1_inst_f32 lowpass2_deltoid;
Technical_Muffin 0:34751b6a7dc9 75
Technical_Muffin 4:61bdf601e7b0 76 arm_biquad_casd_df1_inst_f32 highpass_biceps;
Technical_Muffin 4:61bdf601e7b0 77 arm_biquad_casd_df1_inst_f32 highpass_triceps;
Technical_Muffin 4:61bdf601e7b0 78 arm_biquad_casd_df1_inst_f32 highpass_pect;
Technical_Muffin 4:61bdf601e7b0 79 arm_biquad_casd_df1_inst_f32 highpass_deltoid;
Technical_Muffin 4:61bdf601e7b0 80
Technical_Muffin 1:c8ad338ba312 81 //used as extra filter for wrist motion
Technical_Muffin 1:c8ad338ba312 82 arm_biquad_casd_df1_inst_f32 bandstop_biceps;
Technical_Muffin 1:c8ad338ba312 83 arm_biquad_casd_df1_inst_f32 bandstop_triceps;
Technical_Muffin 1:c8ad338ba312 84 arm_biquad_casd_df1_inst_f32 bandstop_pect;
Technical_Muffin 1:c8ad338ba312 85 arm_biquad_casd_df1_inst_f32 bandstop_deltoid;
Technical_Muffin 1:c8ad338ba312 86
Technical_Muffin 1:c8ad338ba312 87 //lowpass 1 filter settings: Fc = 49 Hz, Fs = 100 Hz, Gain = -3 dB
Technical_Muffin 1:c8ad338ba312 88 //lowpass 2 filter settings: Fc = 0.8 Hz, Fs = 100 Hz, Gain = -3 dB
Technical_Muffin 1:c8ad338ba312 89 float lowpass1_const[] = {0.956543225556877,1.91308645111375,0.956543225556877,-1.91119706742607,-0.914975834801434};
Technical_Muffin 1:c8ad338ba312 90 float lowpass2_const[] = {0.000609854718717299,0.00121970943743460,0.000609854718717299,1.92894226325203,-0.931381682126903};
Technical_Muffin 1:c8ad338ba312 91 //highpass filter settings: Fc = 20 Hz, Fs = 100 Hz
Technical_Muffin 1:c8ad338ba312 92 float highpass_const[] = {0.391335772501769,-0.782671545003538,0.391335772501769,0.369527377351241,-0.195815712655833};
Technical_Muffin 1:c8ad338ba312 93 //bandstop filter settings Fc=[29Hz 36Hz], Fs= 100Hz
Technical_Muffin 1:c8ad338ba312 94 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 95
Technical_Muffin 1:c8ad338ba312 96 /*
Technical_Muffin 1:c8ad338ba312 97 //values are usable for triceps and biceps continuous motion, not for wrist motion.
Technical_Muffin 0:34751b6a7dc9 98 //lowpass 1 filter settings: Fc = 45 Hz, Fs = 100 Hz, Gain = -3 dB
Technical_Muffin 0:34751b6a7dc9 99 //lowpass 2 filter settings: Fc = 0.3 Hz, Fs = 100 Hz, Gain = -3 dB
Technical_Muffin 0:34751b6a7dc9 100 float lowpass1_const[] = {0.800592403464570,1.60118480692914,0.800592403464570,-1.56101807580072,-0.641351538057563};
Technical_Muffin 0:34751b6a7dc9 101 float lowpass2_const[] = {8.76555487540147e-05, 0.000175311097508029, 8.76555487540147e-05 , 1.97334424978130, -0.973694871976315};
Technical_Muffin 0:34751b6a7dc9 102 //highpass filter settings: Fc = 20 Hz, Fs = 100 Hz
Technical_Muffin 0:34751b6a7dc9 103
Technical_Muffin 0:34751b6a7dc9 104 float highpass_const[] = {0.391335772501769 ,-0.782671545003538, 0.391335772501769,0.369527377351241, -0.195815712655833};
Technical_Muffin 0:34751b6a7dc9 105
Technical_Muffin 1:c8ad338ba312 106 */
Technical_Muffin 0:34751b6a7dc9 107
Technical_Muffin 0:34751b6a7dc9 108
Technical_Muffin 0:34751b6a7dc9 109 //state values
Technical_Muffin 0:34751b6a7dc9 110 float lowpass1_biceps_states[4];
Technical_Muffin 0:34751b6a7dc9 111 float lowpass2_biceps_states[4];
Technical_Muffin 0:34751b6a7dc9 112 float highpass_biceps_states[4];
Technical_Muffin 1:c8ad338ba312 113 float bandstop_biceps_states[8];
Technical_Muffin 1:c8ad338ba312 114
Technical_Muffin 0:34751b6a7dc9 115 float lowpass1_triceps_states[4];
Technical_Muffin 0:34751b6a7dc9 116 float lowpass2_triceps_states[4];
Technical_Muffin 0:34751b6a7dc9 117 float highpass_triceps_states[4];
Technical_Muffin 1:c8ad338ba312 118 float bandstop_triceps_states[8];
Technical_Muffin 1:c8ad338ba312 119
Technical_Muffin 0:34751b6a7dc9 120 float lowpass1_pect_states[4];
Technical_Muffin 0:34751b6a7dc9 121 float lowpass2_pect_states[4];
Technical_Muffin 0:34751b6a7dc9 122 float highpass_pect_states[4];
Technical_Muffin 1:c8ad338ba312 123 float bandstop_pect_states[8];
Technical_Muffin 1:c8ad338ba312 124
Technical_Muffin 0:34751b6a7dc9 125 float lowpass1_deltoid_states[4];
Technical_Muffin 0:34751b6a7dc9 126 float lowpass2_deltoid_states[4];
Technical_Muffin 0:34751b6a7dc9 127 float highpass_deltoid_states[4];
Technical_Muffin 1:c8ad338ba312 128 float bandstop_deltoid_states[8];
Technical_Muffin 1:c8ad338ba312 129
Technical_Muffin 0:34751b6a7dc9 130
Technical_Muffin 4:61bdf601e7b0 131 //global variables
Technical_Muffin 0:34751b6a7dc9 132 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
Technical_Muffin 0:34751b6a7dc9 133 float speed_old1, speed_old2, speed_old3, speed_old4;
Technical_Muffin 0:34751b6a7dc9 134 float acc1, acc2, acc3, acc4;
Technical_Muffin 0:34751b6a7dc9 135 float force1, force2, force3, force4;
Technical_Muffin 0:34751b6a7dc9 136 float speed1, speed2, speed3, speed4;
Technical_Muffin 0:34751b6a7dc9 137 float damping1, damping2, damping3, damping4;
Technical_Muffin 0:34751b6a7dc9 138 float emg_x, emg_y;
Technical_Muffin 0:34751b6a7dc9 139 float cx = 0;
Technical_Muffin 0:34751b6a7dc9 140 float cy = 0;
Technical_Muffin 0:34751b6a7dc9 141 float errorx = 0.2;
Technical_Muffin 0:34751b6a7dc9 142 float errory = 0.2;
Technical_Muffin 0:34751b6a7dc9 143 float Ps_x = 0;
Technical_Muffin 0:34751b6a7dc9 144 float Ps_y = 0;
Technical_Muffin 0:34751b6a7dc9 145 float hstep_freqx = 1;
Technical_Muffin 0:34751b6a7dc9 146 float hstep_freqy = 1;
Technical_Muffin 0:34751b6a7dc9 147 float emg_y_abs = 0;
Technical_Muffin 0:34751b6a7dc9 148 float emg_x_abs = 0;
Technical_Muffin 0:34751b6a7dc9 149
Technical_Muffin 0:34751b6a7dc9 150 void looper_emg()
Technical_Muffin 0:34751b6a7dc9 151 {
Technical_Muffin 0:34751b6a7dc9 152 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
Technical_Muffin 0:34751b6a7dc9 153 emg_value1_f32 = emg1.read();
Technical_Muffin 0:34751b6a7dc9 154 emg_value2_f32 = emg2.read();
Technical_Muffin 0:34751b6a7dc9 155 emg_value3_f32 = emg3.read();
Technical_Muffin 0:34751b6a7dc9 156 emg_value4_f32 = emg4.read();
Technical_Muffin 0:34751b6a7dc9 157
Technical_Muffin 4:61bdf601e7b0 158 //Biquad process emg biceps
Technical_Muffin 1:c8ad338ba312 159 arm_biquad_cascade_df1_f32(&bandstop_biceps, &emg_value1_f32, &filtered_biceps, 1 );//used for wrist motion
Technical_Muffin 1:c8ad338ba312 160 arm_biquad_cascade_df1_f32(&lowpass1_biceps, &filtered_biceps, &filtered_biceps, 1 );
Technical_Muffin 0:34751b6a7dc9 161 arm_biquad_cascade_df1_f32(&highpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
Technical_Muffin 0:34751b6a7dc9 162 filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented.
Technical_Muffin 0:34751b6a7dc9 163 arm_biquad_cascade_df1_f32(&lowpass2_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
Technical_Muffin 0:34751b6a7dc9 164
Technical_Muffin 4:61bdf601e7b0 165 //Biquad process emg triceps
Technical_Muffin 1:c8ad338ba312 166 arm_biquad_cascade_df1_f32(&bandstop_triceps, &emg_value2_f32, &filtered_triceps, 1 ); //used for wrist motion
Technical_Muffin 1:c8ad338ba312 167 arm_biquad_cascade_df1_f32(&lowpass1_triceps, &filtered_triceps, &filtered_triceps, 1 );
Technical_Muffin 0:34751b6a7dc9 168 arm_biquad_cascade_df1_f32(&highpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
Technical_Muffin 0:34751b6a7dc9 169 filtered_triceps = fabs(filtered_triceps);
Technical_Muffin 0:34751b6a7dc9 170 arm_biquad_cascade_df1_f32(&lowpass2_triceps, &filtered_triceps, &filtered_triceps, 1 );
Technical_Muffin 0:34751b6a7dc9 171
Technical_Muffin 4:61bdf601e7b0 172 //Biquad process emg pectoralis major
Technical_Muffin 1:c8ad338ba312 173 arm_biquad_cascade_df1_f32(&bandstop_pect, &emg_value3_f32, &filtered_pect, 1 );//used for wrist motion
Technical_Muffin 1:c8ad338ba312 174 arm_biquad_cascade_df1_f32(&lowpass1_pect, &filtered_pect, &filtered_pect, 1 );
Technical_Muffin 0:34751b6a7dc9 175 arm_biquad_cascade_df1_f32(&highpass_pect, &filtered_pect, &filtered_pect, 1 );
Technical_Muffin 1:c8ad338ba312 176 filtered_pect = fabs(filtered_pect);
Technical_Muffin 1:c8ad338ba312 177 arm_biquad_cascade_df1_f32(&lowpass2_pect, &filtered_pect, &filtered_pect, 1 );
Technical_Muffin 0:34751b6a7dc9 178
Technical_Muffin 4:61bdf601e7b0 179 //Biquad process emg deltoid
Technical_Muffin 1:c8ad338ba312 180 arm_biquad_cascade_df1_f32(&bandstop_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );//used for wrist motion
Technical_Muffin 1:c8ad338ba312 181 arm_biquad_cascade_df1_f32(&lowpass1_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
Technical_Muffin 0:34751b6a7dc9 182 arm_biquad_cascade_df1_f32(&highpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
Technical_Muffin 1:c8ad338ba312 183 filtered_deltoid = fabs(filtered_deltoid);
Technical_Muffin 1:c8ad338ba312 184 arm_biquad_cascade_df1_f32(&lowpass2_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
Technical_Muffin 1:c8ad338ba312 185
Technical_Muffin 4:61bdf601e7b0 186 // send value to PC for control
Technical_Muffin 0:34751b6a7dc9 187
Technical_Muffin 3:3d5ad874add0 188 scope.set(0,filtered_biceps); //Filtered EMG signals
Technical_Muffin 3:3d5ad874add0 189 scope.set(1,filtered_triceps);
Technical_Muffin 3:3d5ad874add0 190 scope.set(2,filtered_pect);
Technical_Muffin 3:3d5ad874add0 191 scope.set(3,filtered_deltoid);
Technical_Muffin 0:34751b6a7dc9 192 scope.send();
Technical_Muffin 0:34751b6a7dc9 193
Technical_Muffin 0:34751b6a7dc9 194 }
Technical_Muffin 0:34751b6a7dc9 195
Technical_Muffin 0:34751b6a7dc9 196
Technical_Muffin 0:34751b6a7dc9 197 void looper_motory()
Technical_Muffin 0:34751b6a7dc9 198 {
Technical_Muffin 0:34751b6a7dc9 199
Technical_Muffin 4:61bdf601e7b0 200 emg_y = (filtered_biceps - filtered_triceps);
Technical_Muffin 6:d03e4fa3a2a5 201
Technical_Muffin 6:d03e4fa3a2a5 202 if (emg_y > 0) {//downward movement
Technical_Muffin 5:19f8766b63da 203 Diry = 0;
Technical_Muffin 4:61bdf601e7b0 204 }
Technical_Muffin 6:d03e4fa3a2a5 205 if (emg_y < 0) {//upward movement
Technical_Muffin 5:19f8766b63da 206 Diry = 1;
Technical_Muffin 4:61bdf601e7b0 207 }
Technical_Muffin 6:d03e4fa3a2a5 208
Technical_Muffin 4:61bdf601e7b0 209 //EMG treshold
Technical_Muffin 4:61bdf601e7b0 210 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
Technical_Muffin 4:61bdf601e7b0 211 Enabley = 1; //Enable = 1 turns the motor off.
Technical_Muffin 4:61bdf601e7b0 212 } else {
Technical_Muffin 4:61bdf601e7b0 213 Enabley = 0;
Technical_Muffin 4:61bdf601e7b0 214 }
Technical_Muffin 0:34751b6a7dc9 215 }
Technical_Muffin 1:c8ad338ba312 216
Technical_Muffin 0:34751b6a7dc9 217 void looper_motorx()
Technical_Muffin 0:34751b6a7dc9 218 {
Technical_Muffin 0:34751b6a7dc9 219
Technical_Muffin 3:3d5ad874add0 220 emg_x = (filtered_pect - filtered_deltoid);
Technical_Muffin 6:d03e4fa3a2a5 221
Technical_Muffin 6:d03e4fa3a2a5 222 if (emg_x > 0) {//left movement
Technical_Muffin 5:19f8766b63da 223 Dirx = 0;
Technical_Muffin 0:34751b6a7dc9 224 }
Technical_Muffin 6:d03e4fa3a2a5 225 if (emg_x < 0) {//right movement
Technical_Muffin 5:19f8766b63da 226 Dirx = 1;
Technical_Muffin 0:34751b6a7dc9 227 }
Technical_Muffin 6:d03e4fa3a2a5 228
Technical_Muffin 0:34751b6a7dc9 229 //EMG treshold
Technical_Muffin 0:34751b6a7dc9 230 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
Technical_Muffin 0:34751b6a7dc9 231 Enablex = 1; //Enable = 1 turns the motor off.
Technical_Muffin 0:34751b6a7dc9 232 } else {
Technical_Muffin 0:34751b6a7dc9 233 Enablex = 0;
Technical_Muffin 0:34751b6a7dc9 234 }
Technical_Muffin 4:61bdf601e7b0 235 }
Technical_Muffin 0:34751b6a7dc9 236
Technical_Muffin 0:34751b6a7dc9 237 int main()
Technical_Muffin 0:34751b6a7dc9 238 {
Technical_Muffin 0:34751b6a7dc9 239 pc.baud(115200);
Technical_Muffin 0:34751b6a7dc9 240 Ledr=1;
Technical_Muffin 0:34751b6a7dc9 241 Ledg=1;
Technical_Muffin 0:34751b6a7dc9 242 Ledb=1;
Technical_Muffin 0:34751b6a7dc9 243
Technical_Muffin 0:34751b6a7dc9 244 MS11=1;//higher microstepping in combination with a higher step frequency reduces the vibration significantly
Technical_Muffin 0:34751b6a7dc9 245 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 246 MS31=1;
Technical_Muffin 0:34751b6a7dc9 247 MS12=1;
Technical_Muffin 0:34751b6a7dc9 248 MS22=1;
Technical_Muffin 0:34751b6a7dc9 249 MS32=1;
Technical_Muffin 1:c8ad338ba312 250 Stepy.write(0.5f);
Technical_Muffin 0:34751b6a7dc9 251 Enabley.write(1);
Technical_Muffin 0:34751b6a7dc9 252 Stepx.write(0.5f);
Technical_Muffin 0:34751b6a7dc9 253 Enablex.write(1);
Technical_Muffin 0:34751b6a7dc9 254 Stepy.period(0.000625);//use period change for speed adjustments
Technical_Muffin 0:34751b6a7dc9 255 Stepx.period(0.000625);//frequency of 1600 Hz
Technical_Muffin 0:34751b6a7dc9 256
Technical_Muffin 2:083d74325bfb 257
Technical_Muffin 2:083d74325bfb 258 /*//code for controlling the mechanism with a joystick
Technical_Muffin 0:34751b6a7dc9 259 float Left_value = 0.6;
Technical_Muffin 0:34751b6a7dc9 260 float Right_value = 0.9;
Technical_Muffin 0:34751b6a7dc9 261 float Up_value = 0.6;
Technical_Muffin 0:34751b6a7dc9 262 float Down_value = 0.9;
Technical_Muffin 2:083d74325bfb 263
Technical_Muffin 2:083d74325bfb 264 while(1){
Technical_Muffin 0:34751b6a7dc9 265 if (X_control.read() < Left_value){
Technical_Muffin 0:34751b6a7dc9 266 Dirx.write(0);
Technical_Muffin 0:34751b6a7dc9 267 Enablex.write(0);
Technical_Muffin 0:34751b6a7dc9 268 }
Technical_Muffin 0:34751b6a7dc9 269 else if (X_control.read() > Right_value){
Technical_Muffin 0:34751b6a7dc9 270 Dirx.write(1);
Technical_Muffin 0:34751b6a7dc9 271 Enablex.write(0);
Technical_Muffin 0:34751b6a7dc9 272 }
Technical_Muffin 0:34751b6a7dc9 273 else{
Technical_Muffin 0:34751b6a7dc9 274 Enablex.write(1);
Technical_Muffin 0:34751b6a7dc9 275 }
Technical_Muffin 0:34751b6a7dc9 276 if (Y_control.read() < Up_value){
Technical_Muffin 0:34751b6a7dc9 277 Diry.write(0);
Technical_Muffin 0:34751b6a7dc9 278 Enabley.write(0);
Technical_Muffin 0:34751b6a7dc9 279 }
Technical_Muffin 0:34751b6a7dc9 280 else if (Y_control.read() > Down_value){
Technical_Muffin 0:34751b6a7dc9 281 Diry.write(1);
Technical_Muffin 0:34751b6a7dc9 282 Enabley.write(0);
Technical_Muffin 0:34751b6a7dc9 283 }
Technical_Muffin 0:34751b6a7dc9 284 else{
Technical_Muffin 0:34751b6a7dc9 285 Enabley.write(1);
Technical_Muffin 0:34751b6a7dc9 286 }
Technical_Muffin 0:34751b6a7dc9 287 pc.printf("X value is %f and Y value is %f\n", X_control.read(), Y_control.read());
Technical_Muffin 0:34751b6a7dc9 288 }*/
Technical_Muffin 0:34751b6a7dc9 289
Technical_Muffin 0:34751b6a7dc9 290 //biceps
Technical_Muffin 0:34751b6a7dc9 291 arm_biquad_cascade_df1_init_f32(&lowpass1_biceps, 1 , lowpass1_const, lowpass1_biceps_states);
Technical_Muffin 0:34751b6a7dc9 292 arm_biquad_cascade_df1_init_f32(&lowpass2_biceps, 1 , lowpass2_const, lowpass2_biceps_states);
Technical_Muffin 0:34751b6a7dc9 293 arm_biquad_cascade_df1_init_f32(&highpass_biceps, 1 , highpass_const, highpass_biceps_states);
Technical_Muffin 1:c8ad338ba312 294 arm_biquad_cascade_df1_init_f32(&bandstop_biceps, 2 , bandstop_const, bandstop_biceps_states);
Technical_Muffin 0:34751b6a7dc9 295 //triceps
Technical_Muffin 0:34751b6a7dc9 296 arm_biquad_cascade_df1_init_f32(&lowpass1_triceps, 1 , lowpass1_const, lowpass1_triceps_states);
Technical_Muffin 0:34751b6a7dc9 297 arm_biquad_cascade_df1_init_f32(&lowpass2_triceps, 1 , lowpass2_const, lowpass2_triceps_states);
Technical_Muffin 1:c8ad338ba312 298 arm_biquad_cascade_df1_init_f32(&highpass_triceps, 1 , highpass_const, highpass_triceps_states);
Technical_Muffin 1:c8ad338ba312 299 arm_biquad_cascade_df1_init_f32(&bandstop_triceps, 2 , bandstop_const, bandstop_triceps_states);
Technical_Muffin 1:c8ad338ba312 300 //pectoralis major
Technical_Muffin 0:34751b6a7dc9 301 arm_biquad_cascade_df1_init_f32(&lowpass1_pect, 1 , lowpass1_const, lowpass1_pect_states);
Technical_Muffin 0:34751b6a7dc9 302 arm_biquad_cascade_df1_init_f32(&lowpass2_pect, 1 , lowpass2_const, lowpass2_pect_states);
Technical_Muffin 0:34751b6a7dc9 303 arm_biquad_cascade_df1_init_f32(&highpass_pect, 1 , highpass_const, highpass_pect_states);
Technical_Muffin 1:c8ad338ba312 304 arm_biquad_cascade_df1_init_f32(&bandstop_pect, 2 , bandstop_const, bandstop_pect_states);
Technical_Muffin 1:c8ad338ba312 305
Technical_Muffin 0:34751b6a7dc9 306 //deltoid
Technical_Muffin 0:34751b6a7dc9 307 arm_biquad_cascade_df1_init_f32(&lowpass1_deltoid, 1 , lowpass1_const, lowpass1_deltoid_states);
Technical_Muffin 0:34751b6a7dc9 308 arm_biquad_cascade_df1_init_f32(&lowpass2_deltoid, 1 , lowpass2_const, lowpass2_deltoid_states);
Technical_Muffin 1:c8ad338ba312 309 arm_biquad_cascade_df1_init_f32(&highpass_deltoid, 1 , highpass_const, highpass_deltoid_states);
Technical_Muffin 1:c8ad338ba312 310 arm_biquad_cascade_df1_init_f32(&bandstop_deltoid, 2 , bandstop_const, bandstop_deltoid_states);
Technical_Muffin 1:c8ad338ba312 311
Technical_Muffin 0:34751b6a7dc9 312 emgtimer.attach(looper_emg, 0.01);
Technical_Muffin 0:34751b6a7dc9 313
Technical_Muffin 1:c8ad338ba312 314 looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor
Technical_Muffin 0:34751b6a7dc9 315
Technical_Muffin 5:19f8766b63da 316 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
Technical_Muffin 0:34751b6a7dc9 317
Technical_Muffin 0:34751b6a7dc9 318 while(1){};
Technical_Muffin 0:34751b6a7dc9 319 }