Wil je hier nog je PID controler kort uitleggen? Is sneller denk ik. Rest is gedaan volgens mij. Hier zit kall in.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of another_try_from_scratch_on_emg by
Diff: main.cpp
- Revision:
- 49:818a0e90ed9c
- Parent:
- 47:ddaa59d48aca
- Child:
- 50:2c03357de7cc
--- a/main.cpp Thu Nov 03 08:43:08 2016 +0000 +++ b/main.cpp Thu Nov 03 09:23:48 2016 +0000 @@ -1,82 +1,92 @@ - //===================================================================================== //libraries -#include "mbed.h" -#include "HIDScope.h" -#include "BiQuad.h" -#include "MODSERIAL.h" +#include "mbed.h" //mbed revision 113 +#include "HIDScope.h" //Hidscope by Tom Lankhorst +#include "BiQuad.h" //BiQuad by Tom Lankhorst +#include "MODSERIAL.h" //Modserial //===================================================================================== //Define objects + +//EMG AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++ AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ -Ticker sample_timer; //ticker -Ticker ticker_switch; //ticker + +//Tickers +Ticker sample_timer; //ticker for EMG signal sampling, analog becomes digital +Ticker ticker_switch; //ticker for switch, every second it is possible to switch + +//Monitoring HIDScope scope(5); //open 5 channels in hidscope MODSERIAL pc(USBTX, USBRX); //pc connection -DigitalOut red(LED_RED); -DigitalOut green(LED_GREEN); +DigitalOut red(LED_RED); //LED on K64F board, 1 is out; 0 is on +DigitalOut green(LED_GREEN); //LED on K64f board, 1 is out; o is on //motors -DigitalOut richting_motor1(D7); ///motor 1 aansluiting op motor 1 +DigitalOut richting_motor1(D7); //motor 1 connected to motor 1 at k64f board; for turningtable PwmOut pwm_motor1(D6); -DigitalOut richting_motor2(D4); +DigitalOut richting_motor2(D4); ///motor 2 connected to motor 2 at k64f board; for linear actuator PwmOut pwm_motor2(D5); //===================================================================================== //define variables -//other -double cut_off_value_biceps_right =0.04; //gespecificeerd door floortje -double cut_off_value_biceps_left=-0.04; -double cut_off_value_triceps=-0.04; -int switch_signal = 0; //start van de teller wordt op nul gesteld - -int onoffsignal_biceps; +//tresholds +double treshold_biceps_right =0.04; //common values that work. +double treshold_biceps_left=-0.04; // tested on multiple persons +double treshold_triceps=-0.04; //triceps and left biceps is specified negative, thus negative treshold + +//on/off and switch signals +int switch_signal = 0; //start of counter, switch made by even and odd numbers +int onoffsignal_biceps; int switch_signal_triceps; -float speedmotor1=0.18; -float speedmotor2=1.0; +//motorvariables +float speedmotor1=0.18; //speed of motor 1 is 0.18pwm at start +float speedmotor2=1.0; //speed of motor 2 is 1.0 pwm at start -int cw=0; -int ccw=1; +int cw=0; //clockwise direction +int ccw=1; //counterclockwise direction //======================================= //filter coefficients //b1 = biceps right arm -BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); -BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); +BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of? +BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of? //t1= triceps right arm -BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); -BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); +BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of? +BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of? //b2= biceps left arm -BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); -BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); +BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of? +BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of? //after abs filtering -BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); -BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); -BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); +BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of? +BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of? +BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of? //====================================================================== //voids //====================================================================== //function teller -void switch_function() { // maakt simpele functie die 1 bij n optelt +void switch_function() { // The switch function. Makes it possible to switch between the motors. It simply adds one at switch_signal. if(switch_signal_triceps==1) { switch_signal++; + + // To monitor what is happening: we will show the text in putty and change led color from red to green or vice versa. + green=!green; red=!red; if (switch_signal%2==0) - {pc.printf("If you contract the biceps, the robot will go right \r\n"); + {pc.printf("If you contract the biceps, the robot will go right \r\n"); pc.printf("If you contract the triceps, the robot will go left \r\n"); pc.printf("\r\n"); } @@ -90,30 +100,31 @@ } } - -//functions which are called in ticker to sample the analog signal + +//====================================================================== +//functions which are called in ticker to sample the analog signal and make the on/off and switch signal. void filter(){ //biceps right arm read+filtering - double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes - double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); - double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); - double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float - double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); + double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes + double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); //high pass filter, to remove offset + double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); //notch filter, to remove noise + double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //rectify the signal, fabs because float + double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //low pass filter to envelope the signal //triceps right arm read+filtering - double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes - double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); - double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); - double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float - double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); + double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes + double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); //high pass filter, to remove offset + double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); //notch filter, to remove noise + double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //rectify the signal, fabs because float + double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //low pass filter to envelope the signal //biceps left arm read+filtering - double emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes - double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); - double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); - double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float - double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); + double emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes + double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); //high pass filter, to remove offset + double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); //notch filter, to remove noise + double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //rectify the signal, fabs because float + double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); //low pass filter to envelope the signal //creating of on/off signal with the created on/off signals, with if statement for right arm! //signal substraction of filter biceps and triceps. right Biceps + left biceps - @@ -121,50 +132,50 @@ double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right; //creating of on/off signal with the created on/off signals, with if statement for right arm! - if (signal_biceps_sum>cut_off_value_biceps_right) - {onoffsignal_biceps=1;} + if (signal_biceps_sum>treshold_biceps_right) + {onoffsignal_biceps=1;} - else if (signal_biceps_sum<cut_off_value_biceps_left) - { - onoffsignal_biceps=-1; - } + else if (signal_biceps_sum<treshold_biceps_left) + { onoffsignal_biceps=-1; } - else - {onoffsignal_biceps=0;} + else + {onoffsignal_biceps=0;} //creating on/off signal for switch (left arm) - if (bicepstriceps_rightarm<cut_off_value_triceps) - { - switch_signal_triceps=1; - } + if (bicepstriceps_rightarm<treshold_triceps) + { switch_signal_triceps=1; } else - { - switch_signal_triceps=0; - } - //send signals to scope - scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 - scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1 - scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2 - scope.set(3, onoffsignal_biceps); // set emg signal to scope in channel 3 - scope.set(4, switch_signal_triceps); + { switch_signal_triceps=0; } + + //send signals to scope to monitor the EMG signals + scope.set(0, emg_filtered_biceps_right); //set emg signal of right biceps to scope in channel 0 + scope.set(1, emg_filtered_triceps_right); // set emg signal of right triceps to scope in channel 1 + scope.set(2, emg_filtered_biceps_left); // set emg signal of left biceps to scope in channel 2 + scope.set(3, onoffsignal_biceps); // set on/off signal for the motors to scope in channel 3 + scope.set(4, switch_signal_triceps); // set the switch signal to scope in channel 4 scope.send(); //send all the signals to the scope } - +//====================================================================== //program - +//====================================================================== int main() { -pc.baud(115200); -green=1; -red=0; +pc.baud(115200); //connect with pc with baudrate 115200 +green=1; //led is off (1), at beginning +red=0; //led is on (0), at beginning + +//attach tickers to functions sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds ticker_switch.attach(&switch_function,1.0); +//Show the user what the starting motor will be and what will happen pc.printf("We will start the demonstration\r\n"); +pc.printf("\r\n\r\n\r\n"); + if (switch_signal%2==0) {pc.printf("If you contract the biceps, the robot will go right \r\n"); @@ -183,47 +194,48 @@ //endless loop - while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt - + while (true) { // neverending loop if (onoffsignal_biceps==-1) //left biceps contracted { - if (switch_signal%2==0) + if (switch_signal%2==0) //switch even { - richting_motor1 = ccw; //motor 1, left - pwm_motor1 = speedmotor1; + richting_motor1 = ccw; //motor 1, left + pwm_motor1 = speedmotor1; //speed of motor 1 } - else + else //switch odd { - richting_motor2 = ccw; //motor 2, up - pwm_motor2 = speedmotor2; + richting_motor2 = ccw; //motor 2, up + pwm_motor2 = speedmotor2;//speed of motor 2 } } - else if (onoffsignal_biceps==1) // als d ingedrukt wordt gebeurd het volgende + else if (onoffsignal_biceps==1) //right biceps contracted { - if (switch_signal%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende + if (switch_signal%2==0) //switch signal even { - richting_motor1 = cw; //motor 1, right - pwm_motor1 = speedmotor1; + richting_motor1 = cw; //motor 1, right + pwm_motor1 = speedmotor1; //speed motor 1 } - else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande + else //switch signal odd { - richting_motor2 = cw; //motor 2. down - pwm_motor2 = speedmotor2; + richting_motor2 = cw; //motor 2. down + pwm_motor2 = speedmotor2; //speed motor 2 } } - else{ - + else{ + //no contraction of biceps pwm_motor2=0; pwm_motor1=0; } -} +}//while true closed -} \ No newline at end of file +} //int main closed + +//=============================================================================================1 \ No newline at end of file