File content as of revision 7:20757784f5bf:

/*Code originally by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table
Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
Biceps =            1 = lower right arm(wrist flexors)
Triceps =           2 = upper right arm(wrist extensors)
Pectoralis Major =  3 = upper left arm(wrist extensors)
Deltoid posterior = 4 = lower left arm(wrist flexors)
The "x" and "y" at the end of variables stand for the X-movement or Y-movement respectivly.
The code has been revised to work with the new board and also has a secondary way of controlling it using a joystick
*/

#include "mbed.h"
#include "MODSERIAL.h"
#include "arm_math.h"
#include "HIDScope.h"
//factors proportional control
#define K_Gain      150   //Gain of the filtered EMG signal
#define Damp        5    //Deceleration of the motor
#define Mass        1    // Mass value
#define dt          0.01 //Sample frequency
//thresholds
#define EMG_tresh1   0.015
#define EMG_tresh2   0.015
#define EMG_tresh3   0.015
#define EMG_tresh4   0.015

//button for control switching
InterruptIn button1(PTC6);

MODSERIAL pc(USBTX,USBRX);
//joystick control
AnalogIn X_control(A1);
AnalogIn Y_control(A0);
//Motor control 1
DigitalOut Diry(D12);
PwmOut Stepy(PTA1);
DigitalOut Enabley(PTC3);

//motor control 2
DigitalOut Dirx(PTC17);
PwmOut Stepx(PTD1);
DigitalOut Enablex(D0);

//Microstepping 1
DigitalOut MS11(D11);
DigitalOut MS21(D10);
DigitalOut MS31(D9);
//Microstepping 2
DigitalOut MS12(PTC2);
DigitalOut MS22(PTA2);
DigitalOut MS32(PTB23);

DigitalOut Ledr(LED1);
DigitalOut Ledg(LED2);
DigitalOut Ledb(LED3);

//EMG inputs
AnalogIn emg1(A2); //biceps or wrist flexors bottom emg board
AnalogIn emg2(A3); //triceps or wirst extensors
AnalogIn emg3(A4); //Pectoralis major or wrist extensors
AnalogIn emg4(A5); //Deltoid or wrist flexors top emg board

HIDScope scope(4);
Ticker   scopeTimer;
    Ticker emgtimer;
    Ticker looptimer1;
    Ticker looptimer2;

//Variables for motor control
float setpoint = 3200; //Frequentie setpoint
float step_freq1 = 1;
float step_freq2 = 1;

//EMG filter
arm_biquad_casd_df1_inst_f32 lowpass1_biceps;
arm_biquad_casd_df1_inst_f32 lowpass1_triceps;
arm_biquad_casd_df1_inst_f32 lowpass1_pect;
arm_biquad_casd_df1_inst_f32 lowpass1_deltoid;

arm_biquad_casd_df1_inst_f32 lowpass2_biceps;
arm_biquad_casd_df1_inst_f32 lowpass2_triceps;
arm_biquad_casd_df1_inst_f32 lowpass2_pect;
arm_biquad_casd_df1_inst_f32 lowpass2_deltoid;

arm_biquad_casd_df1_inst_f32 highpass_biceps;
arm_biquad_casd_df1_inst_f32 highpass_triceps;
arm_biquad_casd_df1_inst_f32 highpass_pect;
arm_biquad_casd_df1_inst_f32 highpass_deltoid;

//used as extra filter for wrist motion
arm_biquad_casd_df1_inst_f32 bandstop_biceps;
arm_biquad_casd_df1_inst_f32 bandstop_triceps;
arm_biquad_casd_df1_inst_f32 bandstop_pect;
arm_biquad_casd_df1_inst_f32 bandstop_deltoid;

//lowpass 1 filter settings: Fc = 49 Hz, Fs = 100 Hz, Gain = -3 dB
//lowpass 2 filter settings: Fc = 0.8 Hz, Fs = 100 Hz, Gain = -3 dB
float lowpass1_const[] = {0.956543225556877,1.91308645111375,0.956543225556877,-1.91119706742607,-0.914975834801434};
float lowpass2_const[] = {0.000609854718717299,0.00121970943743460,0.000609854718717299,1.92894226325203,-0.931381682126903};
//highpass filter settings: Fc = 20 Hz, Fs = 100 Hz
float highpass_const[] = {0.391335772501769,-0.782671545003538,0.391335772501769,0.369527377351241,-0.195815712655833};
//bandstop filter settings Fc=[29Hz 36Hz], Fs= 100Hz
float bandstop_const[] = {0.732022476556623, 0.681064744276583,0.732022476556623,-0.535944148680739,-0.713976335521464,1,0.930387749130681,1,-1.04147956553087,-0.752398361226849};

/*
//values are usable for triceps and biceps continuous motion, not for wrist motion.
//lowpass 1 filter settings: Fc = 45 Hz, Fs = 100 Hz, Gain = -3 dB
//lowpass 2 filter settings: Fc = 0.3 Hz, Fs = 100 Hz, Gain = -3 dB
float lowpass1_const[] = {0.800592403464570,1.60118480692914,0.800592403464570,-1.56101807580072,-0.641351538057563};
float lowpass2_const[] = {8.76555487540147e-05,  0.000175311097508029,  8.76555487540147e-05 , 1.97334424978130, -0.973694871976315};
//highpass filter settings: Fc = 20 Hz, Fs = 100 Hz

float highpass_const[] = {0.391335772501769 ,-0.782671545003538,  0.391335772501769,0.369527377351241,  -0.195815712655833};

*/


//state values
float lowpass1_biceps_states[4];
float lowpass2_biceps_states[4];
float highpass_biceps_states[4];
float bandstop_biceps_states[8];

float lowpass1_triceps_states[4];
float lowpass2_triceps_states[4];
float highpass_triceps_states[4];
float bandstop_triceps_states[8];

float lowpass1_pect_states[4];
float lowpass2_pect_states[4];
float highpass_pect_states[4];
float bandstop_pect_states[8];

float lowpass1_deltoid_states[4];
float lowpass2_deltoid_states[4];
float highpass_deltoid_states[4];
float bandstop_deltoid_states[8];


//global variables
float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
float speed_old1, speed_old2, speed_old3, speed_old4;
float acc1, acc2, acc3, acc4;
float force1, force2, force3, force4;
float speed1, speed2, speed3, speed4;
float damping1, damping2, damping3, damping4;
float emg_x, emg_y;
float cx = 0;
float cy = 0;
float errorx = 0.2;
float errory = 0.2;
float Ps_x = 0;
float Ps_y = 0;
float hstep_freqx = 1;
float hstep_freqy = 1;
float emg_y_abs = 0;
float emg_x_abs = 0;
bool proportional = 1;

void looper_emg()
{
    float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
    emg_value1_f32 = emg1.read();
    emg_value2_f32 = emg2.read();
    emg_value3_f32 = emg3.read();
    emg_value4_f32 = emg4.read();
    
    //Biquad process emg biceps
    arm_biquad_cascade_df1_f32(&bandstop_biceps, &emg_value1_f32, &filtered_biceps, 1 );//used for wrist motion
    arm_biquad_cascade_df1_f32(&lowpass1_biceps, &filtered_biceps, &filtered_biceps, 1 );
    arm_biquad_cascade_df1_f32(&highpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
    filtered_biceps = fabs(filtered_biceps);                                                //Rectifier, The Gain is already implemented.
    arm_biquad_cascade_df1_f32(&lowpass2_biceps, &filtered_biceps, &filtered_biceps, 1 );    //low pass filter

    //Biquad process emg triceps
   arm_biquad_cascade_df1_f32(&bandstop_triceps, &emg_value2_f32, &filtered_triceps, 1 );    //used for wrist motion
   arm_biquad_cascade_df1_f32(&lowpass1_triceps, &filtered_triceps, &filtered_triceps, 1 );
   arm_biquad_cascade_df1_f32(&highpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
   filtered_triceps = fabs(filtered_triceps);
   arm_biquad_cascade_df1_f32(&lowpass2_triceps, &filtered_triceps, &filtered_triceps, 1 );

    //Biquad process emg pectoralis major
    arm_biquad_cascade_df1_f32(&bandstop_pect, &emg_value3_f32, &filtered_pect, 1 );//used for wrist motion
    arm_biquad_cascade_df1_f32(&lowpass1_pect, &filtered_pect, &filtered_pect, 1 );
    arm_biquad_cascade_df1_f32(&highpass_pect, &filtered_pect, &filtered_pect, 1 );
    filtered_pect = fabs(filtered_pect);
    arm_biquad_cascade_df1_f32(&lowpass2_pect, &filtered_pect, &filtered_pect, 1 );

    //Biquad process emg deltoid
    arm_biquad_cascade_df1_f32(&bandstop_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );//used for wrist motion
    arm_biquad_cascade_df1_f32(&lowpass1_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
    arm_biquad_cascade_df1_f32(&highpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
    filtered_deltoid = fabs(filtered_deltoid);
    arm_biquad_cascade_df1_f32(&lowpass2_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
 
// send value to PC for control

    scope.set(0,filtered_biceps); //Filtered EMG signals
    scope.set(1,filtered_triceps);
    scope.set(2,filtered_pect);
    scope.set(3,filtered_deltoid);
    scope.send();
    
}

 
void looper_motory()
{

    emg_y = (filtered_biceps - filtered_triceps);
    
    switch(proportional)
    {
        case 0:
    //proportional control
    emg_y_abs = fabs(emg_y);
    force1 = emg_y_abs*K_Gain;
    force1 = force1 - damping1;
    acc1 = force1/Mass;
    speed1 = speed_old1 + (acc1 * dt);
    damping1 = speed1 * Damp;
    step_freq1 = setpoint * speed1;
    Stepy.period(1.0/step_freq1);
    speed_old1 = speed1;
    
        //Speed limit
    if (speed1 > 1) {
        speed1 = 1;
        step_freq1 = setpoint;
    }
        break;
    case 1:
    //precision control
    Stepy.period(0.000625);//frequency of 1600 Hz
    break;
    default:
    }
    if (emg_y > 0) {//downward movement
        Diry = 0;
    }
    if (emg_y < 0) {//upward movement
        Diry = 1;
    }

    //EMG treshold
    if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
        Enabley = 1; //Enable = 1 turns the motor off.
    } else {
        Enabley = 0;
    }
}

void looper_motorx()
{

    emg_x = (filtered_pect - filtered_deltoid);
    switch(proportional)
    {
        case 0:
        //proportional control
        Ledr=0;
        emg_x_abs = fabs(emg_x);
        force2 = emg_x_abs*K_Gain;
        force2 = force2 - damping2;
        acc2 = force2/Mass;
        speed2 = speed_old2 + (acc2 * dt);
        damping2 = speed2 * Damp;
        step_freq2 = setpoint * speed2;
        Stepx.period(1.0/step_freq2);
        speed_old2 = speed2;
    
        //speed limit
        if (speed2 > 1) {
            speed2 = 1;
            step_freq2 = setpoint;
        }   
        break;
    
        case 1:
        //precision control 
        Ledr=1;
        Stepx.period(0.000625);//frequency of 1600 Hz
        break;
        default:
        }
    if (emg_x > 0) {//left movement
        Dirx = 0;
    }
    if (emg_x < 0) {//right movement
        Dirx = 1;
    }

    //EMG treshold
    if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
        Enablex = 1; //Enable = 1 turns the motor off.
    } else {
        Enablex = 0;
    }
}

void changecontrol(){
        proportional = !proportional;//code for changing speed control
        }


int main()
{
    pc.baud(115200);
    Ledr=1;
    Ledg=1;
    Ledb=1;
   
    MS11=1;//higher microstepping in combination with a higher step frequency reduces the vibration significantly
    MS21=1;//it is now in 16th step mode, which seems to work really well and smooth without causing major vibrations
    MS31=1;
    MS12=1;
    MS22=1;
    MS32=1;
Stepy.write(0.5f);
Enabley.write(1);
Stepx.write(0.5f);
Enablex.write(1);
//Stepy.period(0.000625);//use period change for speed adjustments
//Stepx.period(0.000625);//frequency of 1600 Hz


/*//code for controlling the mechanism with a joystick
float Left_value = 0.6;
float Right_value = 0.9;
float Up_value = 0.6;
float Down_value = 0.9;

while(1){
    if (X_control.read() < Left_value){
     Dirx.write(0);
     Enablex.write(0);
     }
else if (X_control.read() > Right_value){
     Dirx.write(1);
     Enablex.write(0);
     }
else{
    Enablex.write(1);
}         
if (Y_control.read() < Up_value){
     Diry.write(0);
     Enabley.write(0);
     }
else if (Y_control.read() > Down_value){
     Diry.write(1);
     Enabley.write(0);
     }
else{
    Enabley.write(1);
}
        pc.printf("X value is %f and Y value is %f\n", X_control.read(), Y_control.read());
}*/

    //biceps
    arm_biquad_cascade_df1_init_f32(&lowpass1_biceps, 1 , lowpass1_const, lowpass1_biceps_states);
    arm_biquad_cascade_df1_init_f32(&lowpass2_biceps, 1 , lowpass2_const, lowpass2_biceps_states);
    arm_biquad_cascade_df1_init_f32(&highpass_biceps, 1 , highpass_const, highpass_biceps_states);
    arm_biquad_cascade_df1_init_f32(&bandstop_biceps, 2 , bandstop_const, bandstop_biceps_states);
    //triceps
    arm_biquad_cascade_df1_init_f32(&lowpass1_triceps, 1 , lowpass1_const, lowpass1_triceps_states);
    arm_biquad_cascade_df1_init_f32(&lowpass2_triceps, 1 , lowpass2_const, lowpass2_triceps_states);
    arm_biquad_cascade_df1_init_f32(&highpass_triceps, 1 , highpass_const, highpass_triceps_states);
    arm_biquad_cascade_df1_init_f32(&bandstop_triceps, 2 , bandstop_const, bandstop_triceps_states);
    //pectoralis major
    arm_biquad_cascade_df1_init_f32(&lowpass1_pect, 1 , lowpass1_const, lowpass1_pect_states);
    arm_biquad_cascade_df1_init_f32(&lowpass2_pect, 1 , lowpass2_const, lowpass2_pect_states);
    arm_biquad_cascade_df1_init_f32(&highpass_pect, 1 , highpass_const, highpass_pect_states);
    arm_biquad_cascade_df1_init_f32(&bandstop_pect, 2 , bandstop_const, bandstop_pect_states);

    //deltoid
    arm_biquad_cascade_df1_init_f32(&lowpass1_deltoid, 1 , lowpass1_const, lowpass1_deltoid_states);
    arm_biquad_cascade_df1_init_f32(&lowpass2_deltoid, 1 , lowpass2_const, lowpass2_deltoid_states);
    arm_biquad_cascade_df1_init_f32(&highpass_deltoid, 1 , highpass_const, highpass_deltoid_states);
    arm_biquad_cascade_df1_init_f32(&bandstop_deltoid, 2 , bandstop_const, bandstop_deltoid_states);

    emgtimer.attach(looper_emg, 0.01);

    looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor

    looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor

    while(1){
        button1.fall(changecontrol);
        };
}