Diff: main.cpp

Revision:

9:ad4bd1b16eed

Parent:

8:7fd9ac522ea9

Child:

10:193942c3900a

--- a/main.cpp	Wed Apr 17 14:57:37 2019 +0000
+++ b/main.cpp	Fri Apr 19 09:30:32 2019 +0000
@@ -56,9 +56,9 @@
 DigitalOut myservo3(D10); //wijsvinger
 
 float Periodlength = 0.02; // de MG996R heeft een PWM periode van 20 ms
-float servo_position1; // in percentage van 0 tot 1, 0 is met de klok mee, 1 is tegen de klok in.
-float servo_position2;
-float servo_position3;
+double servo_position1; // in percentage van 0 tot 1, 0 is met de klok mee, 1 is tegen de klok in.
+double servo_position2;
+double servo_position3;
 
 // Vinger posities
 float Duim_krom = 0.05;
@@ -78,6 +78,105 @@
 float Input2;
 int count = 0;
 
+//------------- EMG gloabals -------------//
+// Tickers
+Ticker sample_ticker; //ticker voor filteren met 1000Hz
+Ticker threshold_check_ticker; //ticker voor het checken van de threshold met 1000Hz
+Timer timer_calibration; //timer voor EMG Kalibratie
+double ts = 0.001; //tijdsstap !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+double calibration_time = 37; //Kalibratie tijd
+
+//Input
+AnalogIn    emg1( A1 ); //Duim
+AnalogIn    emg2( A2 ); //Bicep
+AnalogIn    emg3( A3 ); //Dorsaal
+AnalogIn    emg4( A4 ); //Palmair
+
+// GLOBALS EMG
+//Gefilterde EMG signalen
+volatile double emg1_filtered, emg2_filtered, emg3_filtered, emg4_filtered;
+
+bool thresholdreach1 = false;
+bool thresholdreach2 = false;
+bool thresholdreach3 = false;
+bool thresholdreach4 = false;
+
+volatile double temp_highest_emg1 = 0; //Hoogste waarde gevonden tijdens kalibratie
+volatile double temp_highest_emg2 = 0;
+volatile double temp_highest_emg3 = 0;
+volatile double temp_highest_emg4 = 0;
+
+//Percentage van de hoogste waarde waar de bovenste treshold gezet moet worden
+double Duim_p_t = 0.5; 
+double Bicep_p_t = 0.4; 
+double Dorsaal_p_t = 0.6; 
+double Palmair_p_t = 0.5;
+
+//Percentage van de hoogste waarde waar de onderste treshold gezet moet worden
+double Duim_p_tL = 0.5; 
+double Bicep_p_tL = 0.4; 
+double Dorsaal_p_tL = 0.5; 
+double Palmair_p_tL = 0.5;
+
+// Waarde bovenste treshold waar het signaal overheen moet om de arm te activeren
+volatile double threshold1;
+volatile double threshold2;
+volatile double threshold3;
+volatile double threshold4;
+
+// Waarde onderste treshold waar het signaal onder moet om de arm te deactiveren
+volatile double threshold1L;
+volatile double threshold2L;
+volatile double threshold3L;
+volatile double threshold4L;
+
+// thresholdreads bools
+int Duim;
+int Bicep;
+int Dorsaal;
+int Palmair;
+
+// filters
+//EMG1!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//Highpass vierde orde cutoff 20Hz, Band filter om 49, 50, 51Hz eruit te filteren
+BiQuadChain highp1;
+BiQuad highp1_1( 0.8485, -1.6969, 0.8485, 1.0000, -1.7783, 0.7924 );
+BiQuad highp1_2( 1.0000, -2.0000, 1.0000, 1.0000, -1.8934, 0.9085 );
+BiQuad notch1_1( 0.9907, -1.8843, 0.9907, 1.0000, -1.8843, 0.9813 );
+
+//Lowpass first order cutoff 0.4Hz
+BiQuad lowp1( 0.0013, 0.0013, 0, 1.0000, -0.9975, 0 );
+
+//EMG2!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//Highpass vierde orde cutoff 20Hz, Band filter om 49, 50, 51Hz eruit te filteren
+BiQuadChain highp2;
+BiQuad highp2_1( 0.8485, -1.6969, 0.8485, 1.0000, -1.7783, 0.7924 );
+BiQuad highp2_2( 1.0000, -2.0000, 1.0000, 1.0000, -1.8934, 0.9085 );
+BiQuad notch2_1( 0.9907, -1.8843, 0.9907, 1.0000, -1.8843, 0.9813 );
+
+//Lowpass first order cutoff 0.4Hz
+BiQuad lowp2( 0.0013, 0.0013, 0, 1.0000, -0.9975, 0 );
+
+//EMG3!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//Highpass vierde orde cutoff 20Hz, Band filter om 49, 50, 51Hz eruit te filteren
+BiQuadChain highp3;
+BiQuad highp3_1( 0.8485, -1.6969, 0.8485, 1.0000, -1.7783, 0.7924 );
+BiQuad highp3_2( 1.0000, -2.0000, 1.0000, 1.0000, -1.8934, 0.9085 );
+BiQuad notch3_1( 0.9907, -1.8843, 0.9907, 1.0000, -1.8843, 0.9813 );
+
+//Lowpass first order cutoff 0.4Hz
+BiQuad lowp3( 0.0013, 0.0013, 0, 1.0000, -0.9975, 0 );
+
+//EMG4!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//Highpass vierde orde cutoff 20Hz, Band filter om 49, 50, 51Hz eruit te filteren
+BiQuadChain highp4;
+BiQuad highp4_1( 0.8485, -1.6969, 0.8485, 1.0000, -1.7783, 0.7924 );
+BiQuad highp4_2( 1.0000, -2.0000, 1.0000, 1.0000, -1.8934, 0.9085 );
+BiQuad notch4_1( 0.9907, -1.8843, 0.9907, 1.0000, -1.8843, 0.9813 );
+
+//Lowpass first order cutoff 0.4Hz
+BiQuad lowp4( 0.0013, 0.0013, 0, 1.0000, -0.9975, 0 );
+
 //Kinematica
 double stap1;
 double stap2;
@@ -113,6 +212,128 @@
 double Kd2 = 1;
 double Ts = 0.0005;      // Sample time in seconds
 
+
+// ~~~~~~~~~~~~~~~~~~~EMG FUNCTIONS~~~~~~~~~~~~~~~~~~
+void emgsample()
+{
+    
+    // EMG signaal lezen
+    double emgread1 = emg1.read();
+    double emgread2 = emg2.read();
+    double emgread3 = emg3.read();
+    double emgread4 = emg4.read();
+    
+    // Vierde orde highpass filter + notch filter
+    double emg1_highpassed = highp1.step(emgread1);
+    double emg2_highpassed = highp2.step(emgread2);
+    double emg3_highpassed = highp3.step(emgread3);
+    double emg4_highpassed = highp4.step(emgread4);
+
+    //Rectificatie
+    double emg1_abs = abs(emg1_highpassed);
+    double emg2_abs = abs(emg2_highpassed);
+    double emg3_abs = abs(emg3_highpassed);
+    double emg4_abs = abs(emg4_highpassed);
+
+    //All EMG abs into lowpass
+    emg1_filtered = lowp1.step(emg1_abs);
+    emg2_filtered = lowp2.step(emg2_abs);
+    emg3_filtered = lowp3.step(emg3_abs);
+    emg4_filtered = lowp4.step(emg4_abs);
+
+}
+
+//Check of emg_filtered boven de threshold is
+void threshold_check()
+{
+
+// EMG1 Check    
+if (thresholdreach1 == false){            //Als emg_filtered nog niet boven de bovenste threshold is geweest
+    //bovenste threshold check
+    if(emg1_filtered>threshold1) {
+        Duim = 1;
+        thresholdreach1 = true;
+        
+    } else {
+        Duim= 0;
+    }
+    }
+else{                                   //Als emg_filtered boven de bovenste threshold is geweest
+    //onderste threshold check
+    if(emg1_filtered<threshold1L) {
+        Duim = 0;
+        thresholdreach1 = false;
+        
+    } else {
+        Duim= 1;
+    }
+    }
+
+// EMG2 Check    
+if (thresholdreach2 == false){            //Als emg_filtered nog niet boven de bovenste threshold is geweest
+    //bovenste threshold check
+    if(emg2_filtered>threshold2) {
+        Bicep = 1;
+        thresholdreach2 = true;
+    } else {
+        Bicep= 0;
+    }
+    }
+else{                                   //Als emg_filtered boven de bovenste threshold is geweest
+    //onderste threshold check
+    if(emg2_filtered<threshold2L) {
+        Bicep = 0;
+        thresholdreach2 = false;
+        
+    } else {
+        Bicep= 1;
+    }
+    }
+
+// EMG3 Check    
+if (thresholdreach3 == false){            //Als emg_filtered nog niet boven de bovenste threshold is geweest
+    //bovenste threshold check
+    if(emg3_filtered>threshold3) {
+        Dorsaal = 1;
+        thresholdreach3 = true;
+    } else {
+        Dorsaal= 0;
+    }
+    }
+else{                                   //Als emg_filtered boven de bovenste threshold is geweest
+    //onderste threshold check
+    if(emg3_filtered<threshold3L) {
+        Dorsaal = 0;
+        thresholdreach3 = false;
+        
+    } else {
+        Dorsaal= 1;
+    }
+    }
+
+// EMG4 Check    
+if (thresholdreach4 == false){            //Als emg_filtered nog niet boven de bovenste threshold is geweest
+    //bovenste threshold check
+    if(emg4_filtered>threshold4) {
+        Palmair = 1;
+        thresholdreach4 = true;
+    } else {
+        Palmair= 0;
+    }
+    }
+else{                                   //Als emg_filtered boven de bovenste threshold is geweest
+    //onderste threshold check
+    if(emg4_filtered<threshold4L) {
+        Palmair = 0;
+        thresholdreach4 = false;
+        
+    } else {
+        Palmair= 1;
+    }
+    }
+
+    }
+
 // Functies Kinematica
 float Kinematics1(float EMG1)
 {
@@ -345,6 +566,15 @@
     pwm1 =(Pot1*2)-1;
 }
 
+void sample()
+{
+pc.printf("Duim Right = %i\r\n", Duim);
+pc.printf("Bicep Right = %i\r\n",Bicep);
+pc.printf("Dorsaal Left = %i\r\n", Dorsaal);
+pc.printf("Palmair Left = %i\r\n", Palmair);           
+        
+}
+
 // StateMachine
 
 enum states {MOTORS_OFF,CALIBRATION,HOMING1,HOMING2,DEMO,MOVEMENT,FREEZE};
@@ -385,12 +615,52 @@
                 led1 = 0;
                 led2 = 0;
                 led3 = 1;
+                sample_ticker.attach(&emgsample, 0.001);            // Leest het ruwe EMG signaal af met een frequentie van 1000Hz
+                timer_calibration.reset();
+                timer_calibration.start();
+                while(timer_calibration<20) {                           //Duim
+                    if(timer_calibration>0 && timer_calibration<20) {
+                        led1=!led1;
+                        if(emg1_filtered>temp_highest_emg1) {
+                            temp_highest_emg1= emg1_filtered;
+                            pc.printf("Highest value Duim= %f \r\n", temp_highest_emg1);
+                        }
 
-                wait(1);
+                        if(emg2_filtered>temp_highest_emg2) {
+                            temp_highest_emg2= emg2_filtered;
+                            pc.printf("Highest value Bicep= %f \r\n", temp_highest_emg2);
+                        }
+
+                        if(emg3_filtered>temp_highest_emg3) {
+                            temp_highest_emg3= emg3_filtered;
+                            pc.printf("Highest value Dorsaal= %f \r\n", temp_highest_emg3);
+                        }
+
+                        if(emg4_filtered>temp_highest_emg4) {
+                            temp_highest_emg4= emg4_filtered;
+                            pc.printf("Highest value Palmair= %f \r\n", temp_highest_emg4);
+                        }
+
+                    }
+                    led1=1;
+                    led2=1;
+                    led3=1;
+
+                }
+                pc.printf("threshold calculation\r\n");
+                threshold1 = temp_highest_emg1*Duim_p_t;
+                threshold2 = temp_highest_emg2*Bicep_p_t;
+                threshold3 = temp_highest_emg3*Dorsaal_p_t;
+                threshold4 = temp_highest_emg4*Palmair_p_t;
+
+                threshold1L = temp_highest_emg1*Duim_p_tL;
+                threshold2L = temp_highest_emg2*Bicep_p_tL;
+                threshold3L = temp_highest_emg3*Dorsaal_p_tL;
+                threshold4L = temp_highest_emg4*Palmair_p_tL;
                 stateChanged = false;
 
             }
-
+            sample_ticker.detach();
             // State transition logic: automatisch terug naar motors off.
 
             currentState = HOMING1;