change at hidscope
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of emg_import by
main.cpp
- Committer:
- daniQQue
- Date:
- 2016-11-01
- Revision:
- 47:9b1f09b4d15c
- Parent:
- 46:f3c205dfb749
- Child:
- 48:d6894723d9bf
File content as of revision 47:9b1f09b4d15c:
//libraries #include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" #include "MODSERIAL.h" #include "QEI.h" //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++ //Encoder DigitalIn encoder1A(D13); DigitalIn encoder1B(D12); DigitalIn encoder2A(D11); DigitalIn encoder2B(D10); //callibration buttons DigitalIn button_calibration_biceps (SW3); //button to start calibration biceps DigitalIn button_calibration_triceps (SW2); // button to start calibration tricps //tickers Ticker sample_timer; //ticker Ticker switch_function; //ticker Ticker ticker_calibration_biceps; Ticker ticker_calibration_triceps; //everything for monitoring HIDScope scope(5); //open 5 channels in hidscope MODSERIAL pc(USBTX, USBRX); //pc connection DigitalOut red(LED_RED); DigitalOut green(LED_GREEN); DigitalOut blue(LED_BLUE); //motors DigitalOut richting_motor1(D4); PwmOut pwm_motor1(D5); DigitalOut richting_motor2(D7); PwmOut pwm_motor2(D6); //define variables //for motorcontrol const int cw = 0; // motor should turn clockwise const int ccw =1; // motor should turn counterclockwise const float gearboxratio=131.25; // gearboxratio from encoder to motor const float rev_rond=64.0; // revolutions per round of encoder int onoffsignal_biceps=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation int switch_signal_triceps=0; // switching between motors. volatile double cut_off_value_biceps_right = 0.04; //tested, normal values. Can be changed by calibration volatile double cut_off_value_biceps_left = -0.04; //volatiles becaused changen in interrupt volatile double cut_off_value_triceps=-0.03; double signal_biceps_sum; double bicepstriceps_rightarm; int motorswitch=0; //encoders double rev_counts_motor1=0; double rev_counts_motor2=0; double counts_encoder1; double counts_encoder2; //variables and constants for calibration const float percentage_max_triceps=0.3; const float percentage_max_biceps =0.3; double max_biceps; //calibration maximum biceps double max_triceps; //calibration maximum triceps //biceps arm 1, right arm double emg_biceps_right; double emg_filtered_high_biceps_right; double emg_abs_biceps_right; double emg_filtered_biceps_right; double emg_filtered_high_notch_1_biceps_right; //double emg_filtered_high_notch_1_2_biceps_right; //triceps arm 1, right arm double emg_triceps_right; double emg_filtered_high_triceps_right; double emg_abs_triceps_right; double emg_filtered_triceps_right; double emg_filtered_high_notch_1_triceps_right; //biceps arm 1, left arm double emg_biceps_left; double emg_filtered_high_biceps_left; double emg_abs_biceps_left; double emg_filtered_biceps_left; double emg_filtered_high_notch_1_biceps_left; //before abs filtering //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); //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); //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); //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); //function teller void SwitchN() { // maakt simpele functie die 1 bij n optelt if(switch_signal_triceps==1) { motorswitch++; if (motorswitch%2==0) {pc.printf("If you contract the right arm, the robot will go right \r\n"); pc.printf("If you contract biceps of the left arm, the robot will go left \r\n"); pc.printf("\r\n"); green=0; red=1; } else {pc.printf("If you contract the biceps of right arm, the robot will go up \r\n"); pc.printf("If you contract the biceps of left arm, the robot will go down \r\n"); pc.printf("\r\n"); green=1; red=0; } } } //functions which are called in ticker to sample the analog signal //callibration void calibration_biceps(){ if (button_calibration_biceps==0){ pc.printf("start of calibration biceps, contract maximal \n"); red=1; green=1; blue=0; for(int n =0; n<1500;n++) //read for 2000 samples as calibration { emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); if (emg_filtered_biceps_right > max_biceps) //determine what the highest reachable emg signal is { max_biceps = emg_filtered_biceps_right; } wait(0.001f); //to sample at same freq; 1000Hz } cut_off_value_biceps_right=percentage_max_biceps*max_biceps; cut_off_value_biceps_left=-cut_off_value_biceps_right; //toggle lights blue=!blue; pc.printf(" end of calibration\r\n",cut_off_value_biceps_right ); pc.printf(" change of cv biceps: %f ",cut_off_value_biceps_right ); wait(0.2f); if (motorswitch%2==0) {green=0; red=1;} else {green=1; red=0;} } } void calibration_triceps(){ if(button_calibration_triceps==0){ red=1; green=1; blue=0; pc.printf("start of calibration triceps\r\n"); for(int n =0; n<1500;n++) //read for 2000 samples as calibration { emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); if (emg_filtered_triceps_right > max_triceps) //determine what the highest reachable emg signal is { max_triceps = emg_filtered_triceps_right; } wait(0.001f); //to sample at same freq; 1000Hz } cut_off_value_triceps=-percentage_max_triceps*max_triceps; pc.printf(" end of calibration\r\n"); pc.printf(" change of cv triceps: %f ",cut_off_value_triceps ); blue=!blue; wait(0.2f); if (motorswitch%2==0) {green=0; red=1;} else {green=1; red=0;} } } void filter(){ //biceps right arm read+filtering emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //triceps right arm read+filtering emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //biceps left arm read+filtering emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); //signal substraction of filter biceps and triceps. right Biceps + left biceps - signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left; 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;} else if (signal_biceps_sum<cut_off_value_biceps_left) { onoffsignal_biceps=-1; } else {onoffsignal_biceps=0;} //creating on/off signal for switch (left arm) if (bicepstriceps_rightarm<cut_off_value_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); scope.send(); //send all the signals to the scope } //program int main() { pc.baud(115200); //connect with pc with baudrate 115200 QEI Encoder1(D12,D13, NC, rev_rond,QEI::X4_ENCODING); // maakt een encoder aan! D12/D13 ingangen, rev_rond zijn aantal pulsen per revolutie! Bovenaan in te stellen. QEI Encoder2(D10,D11, NC, rev_rond,QEI::X4_ENCODING); 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 switch_function.attach(&SwitchN,1.0); //switch is every second available ticker_calibration_biceps.attach (&calibration_biceps,2.0); //to call calibration biceps, stop everything else ticker_calibration_triceps.attach(&calibration_triceps,2.0); //to call calibration triceps, stop everything else if (motorswitch%2==0) { pc.printf("If you contract the right arm, the robot will go right \r\n"); pc.printf("If you contract biceps of the left arm, the robot will go left \r\n"); pc.printf("\r\n"); green=0; red=1; blue=1; } else {pc.printf("If you contract the biceps of right arm, the robot will go up \r\n"); pc.printf("If you contract the biceps of left arm, the robot will go down \r\n"); pc.printf("\r\n"); green=1; red=0; blue=1; } //endless loop while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt //encoder aan counts_encoder1 = Encoder1.getPulses(); rev_counts_motor1=counts_encoder1/(gearboxratio*rev_rond); counts_encoder2 = Encoder2.getPulses(); rev_counts_motor2=counts_encoder2/(gearboxratio*rev_rond); //motor control with muscles. if (onoffsignal_biceps==-1) // als s ingedrukt wordt gebeurd het volgende { if (motorswitch%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande { richting_motor1 = ccw; pwm_motor1 = 0.5; pc.printf("ccw m1\r\n"); } else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande { richting_motor2 = ccw; pwm_motor2 = 1; } } else if (onoffsignal_biceps==1) // als d ingedrukt wordt gebeurd het volgende { if (motorswitch%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende { richting_motor1 = cw; pwm_motor1 = 0.5; pc.printf("cw 1 aan\r\n"); } else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande { richting_motor2 = cw; pwm_motor2 = 1; } } else{ pwm_motor2=0; pwm_motor1=0; } pc.printf("rev_counts_motor1= %f \r\n",rev_counts_motor1); pc.printf("counts_encoder 1= %f \r\n",counts_encoder1); } }