Janet Huisman / Mbed 2 deprecated Motor_Control_EMG

Motor_Control_EMG

Dependencies:   HIDScope MODSERIAL QEI Servo biquadFilter mbed

Fork of Motor_Control_buttons by Janet Huisman

main.cpp@18:f28d7ba60eb4, 2016-11-01 (annotated)

Committer:
huismaja
Date:
Tue Nov 01 13:20:45 2016 +0000
Revision:
18:f28d7ba60eb4
Parent:
17:4cfa7951bfa2
Child:
19:2a74dd8dc4fa
working for 3 emg signals (2 biceps + 1 triceps)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
huismaja 13:746240466172 1 #include "mbed.h" //Include the mbed library
huismaja 13:746240466172 2 #include "MODSERIAL.h" //Include the MODSERIAL library for communication with the pc
huismaja 13:746240466172 3 #include "Servo.h" //Include the Servo library for controlling the gripper
huismaja 13:746240466172 4 #include "QEI.h" //Include the QEI library for reading the encoder data of the DC-motors
huismaja 13:746240466172 5 //#include "HIDScope.h" //Include the HIDScope library for plotting the emg data
huismaja 13:746240466172 6 #include "BiQuad.h" //Include the BiQuad library for filtering the emg signal
huismaja 13:746240466172 7
huismaja 14:63f2a5165ffd 8 MODSERIAL pc(USBTX, USBRX); //Make a connection with the PC
huismaja 15:c43f0dfe7cdf 9 //HIDScope scope(4); //Create a 4-channel HIDScope object
huismaja 13:746240466172 10
huismaja 13:746240466172 11 const double pi = 3.1415926535897; //Declare the value of pi
huismaja 13:746240466172 12
huismaja 13:746240466172 13 double speed_rotation=pi/5; //Set the rotation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec
huismaja 13:746240466172 14 double speed_translation=pi/5; //Set the translation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec
huismaja 13:746240466172 15 double speedM1=speed_rotation/8.4; //Map the rotation speed from (0-8.4) to (0-1) by dividing by 8.4
huismaja 13:746240466172 16 double speedM2=speed_translation/8.4; //Map the translation speed from (0-8.4) to (0-1) by dividing by 8.4
huismaja 0:6c8444d06e97 17
huismaja 10:cf579c3eaf01 18 QEI encoder_M1 (D9, D10, NC, 8400); //Define an encoder for motor 1 called encoder_M1
huismaja 10:cf579c3eaf01 19 QEI encoder_M2 (D11, D12, NC, 8400); //Define an encoder for motor 2 called encoder_M2
huismaja 9:cca4d4084775 20
huismaja 10:cf579c3eaf01 21 Ticker encoder_M1_ticker; //Create a ticker for reading the encoder data of encoder_M1
huismaja 10:cf579c3eaf01 22 Ticker encoder_M2_ticker; //Create a ticker for reading the encoder data of encoder_M2
huismaja 6:98121d2d76a6 23
huismaja 12:35a81d6c6505 24 DigitalOut Direction_M2(D4); //To control the rotation direction of the arm
huismaja 12:35a81d6c6505 25 PwmOut Speed_M2(D5); //To control the rotation speed of the arm
huismaja 12:35a81d6c6505 26 PwmOut Speed_M1(D6); //To control the translation direction of the arm
huismaja 12:35a81d6c6505 27 DigitalOut Direction_M1(D7); //To control the translation speed of the arm
huismaja 10:cf579c3eaf01 28 Servo gripper_servo(D13); //To control the gripper
huismaja 0:6c8444d06e97 29
huismaja 13:746240466172 30 InterruptIn Switch_1(SW3); //Switch 1 to control the rotation to the left
huismaja 13:746240466172 31 InterruptIn Switch_2(SW2); //Switch 2 to control the rotation to the right
huismaja 13:746240466172 32 InterruptIn Switch_3(D2); //Switch 3 to control the translation of the arm
huismaja 13:746240466172 33 InterruptIn Switch_4(D3); //Switch 4 to control the gripper
huismaja 13:746240466172 34
huismaja 18:f28d7ba60eb4 35 DigitalOut red(LED_RED);
huismaja 18:f28d7ba60eb4 36 DigitalOut blue(LED_BLUE);
huismaja 18:f28d7ba60eb4 37
huismaja 13:746240466172 38 AnalogIn emg_1(A0); //Analog of EMG 1
huismaja 18:f28d7ba60eb4 39 AnalogIn emg_2(A1); //Analog of EMG 2
huismaja 18:f28d7ba60eb4 40 AnalogIn emg_3(A2); //Analog of EMG 3
huismaja 18:f28d7ba60eb4 41 //AnalogIn emg_4(A3); //Analog of EMG 4
huismaja 13:746240466172 42
huismaja 13:746240466172 43 double emg_1_value = 0; //Initially the emg_1 value is zero
huismaja 13:746240466172 44 double emg_2_value = 0; //Initially the emg_2 value is zero
huismaja 13:746240466172 45 double emg_3_value = 0; //Initially the emg_3 value is zero
huismaja 13:746240466172 46 double emg_4_value = 0; //Initially the emg_4 value is zero
huismaja 13:746240466172 47
huismaja 14:63f2a5165ffd 48 double signalpart1=0;
huismaja 14:63f2a5165ffd 49 double signalpart2=0;
huismaja 14:63f2a5165ffd 50 double signalpart3=0;
huismaja 14:63f2a5165ffd 51 double signalpart4=0;
huismaja 13:746240466172 52 double emg_1_filtered = 0; //Initially the emg_1_filtered signal is zero
huismaja 13:746240466172 53 double emg_2_filtered = 0; //Initially the emg_2_filtered signal is zero
huismaja 13:746240466172 54 double emg_3_filtered = 0; //Initially the emg_3_filtered signal is zero
huismaja 13:746240466172 55 double emg_4_filtered = 0; //Initially the emg_4_filtered signal is zero
huismaja 14:63f2a5165ffd 56 double maximum_calibration_value_1=0;
huismaja 14:63f2a5165ffd 57 double maximum_calibration_value_2=0;
huismaja 15:c43f0dfe7cdf 58 double maximum_calibration_value_3=0;
huismaja 15:c43f0dfe7cdf 59 double maximum_calibration_value_4=0;
huismaja 16:196abf318ea4 60 bool calibration_rotation_done=0;
huismaja 18:f28d7ba60eb4 61 bool calibration_translation_gripper_done=0;
huismaja 14:63f2a5165ffd 62
huismaja 14:63f2a5165ffd 63 volatile double emg_1_threshold = 0.2; //Set the threshold for emg 1
huismaja 14:63f2a5165ffd 64 volatile double emg_2_threshold = 0.2; //Set the threshold for emg 2
huismaja 14:63f2a5165ffd 65 volatile double emg_3_threshold = 0.2; //Set the threshold for emg 3
huismaja 14:63f2a5165ffd 66 volatile double emg_4_threshold = 0.2; //Set the threshold for emg 4
huismaja 13:746240466172 67
huismaja 13:746240466172 68 Ticker filter_EMG_ticker; //Create a ticker for the filtering of all emg signals
huismaja 16:196abf318ea4 69 Ticker calibration_rotation_ticker;
huismaja 16:196abf318ea4 70 Ticker calibration_translation_gripper_ticker;
huismaja 13:746240466172 71 Ticker check_threshold_crossing_ticker; //Create a ticker for checking if the threshold is crossed
huismaja 13:746240466172 72 Ticker check_goflags_ticker; //Create a ticker for checking if the go-flags are set true
huismaja 13:746240466172 73
huismaja 15:c43f0dfe7cdf 74 BiQuad highpass1(0.9565, -1.9131, 0.9565, -1.9112, 0.9150);
huismaja 14:63f2a5165ffd 75 BiQuad notch_low1(1.0000, -1.9023, 1.0000, -1.8795, 0.9819);
huismaja 14:63f2a5165ffd 76 BiQuad notch_high1(1.0000, -1.9023, 1.0000, -1.8913, 0.9829);
huismaja 15:c43f0dfe7cdf 77 BiQuad lowpass1(0.00003913, 0.00007826, 0.00003913, -1.9822, 0.9824);
huismaja 18:f28d7ba60eb4 78
huismaja 18:f28d7ba60eb4 79 BiQuad highpass2(0.9565, -1.9131, 0.9565, -1.9112, 0.9150);
huismaja 18:f28d7ba60eb4 80 BiQuad notch_low2(1.0000, -1.9023, 1.0000, -1.8795, 0.9819);
huismaja 18:f28d7ba60eb4 81 BiQuad notch_high2(1.0000, -1.9023, 1.0000, -1.8913, 0.9829);
huismaja 18:f28d7ba60eb4 82 BiQuad lowpass2(0.00003913, 0.00007826, 0.00003913, -1.9822, 0.9824);
huismaja 14:63f2a5165ffd 83
huismaja 18:f28d7ba60eb4 84 BiQuad highpass3(0.9565, -1.9131, 0.9565, -1.9112, 0.9150);
huismaja 18:f28d7ba60eb4 85 BiQuad notch_low3(1.0000, -1.9023, 1.0000, -1.8795, 0.9819);
huismaja 18:f28d7ba60eb4 86 BiQuad notch_high3(1.0000, -1.9023, 1.0000, -1.8913, 0.9829);
huismaja 18:f28d7ba60eb4 87 BiQuad lowpass3(0.00003913, 0.00007826, 0.00003913, -1.9822, 0.9824);
huismaja 18:f28d7ba60eb4 88
huismaja 15:c43f0dfe7cdf 89 //BiQuad highpass4(0.9565, -1.9131, 0.9565, -1.9112, 0.9150);
huismaja 15:c43f0dfe7cdf 90 //BiQuad notch_low4(1.0000, -1.9023, 1.0000, -1.8795, 0.9819);
huismaja 15:c43f0dfe7cdf 91 //BiQuad notch_high4(1.0000, -1.9023, 1.0000, -1.8913, 0.9829);
huismaja 15:c43f0dfe7cdf 92 //BiQuad lowpass4(0.00003913, 0.00007826, 0.00003913, -1.9822, 0.9824);
huismaja 2:b20570f160c6 93
huismaja 5:9b5edadc023b 94 int counter_rotation_left=0; //To count the number of times the rotation_left switch (switch_1) has been pushed
huismaja 5:9b5edadc023b 95 int counter_rotation_right=0; //To count the number of times the rotation_right switch (switch_2) has been pushed
huismaja 5:9b5edadc023b 96 int counter_translation=0; //To count the number of times the translation switch (switch_3) has been pushed
huismaja 5:9b5edadc023b 97 int counter_gripper=0; //To count the number of times the gripper switch (switch_4) has been pushed
huismaja 5:9b5edadc023b 98
huismaja 17:4cfa7951bfa2 99 bool emg_1_activated = 0; //Initially the emg_1 has not crossed the threshold
huismaja 17:4cfa7951bfa2 100 bool emg_2_activated = 0; //Initially the emg_2 has not crossed the threshold
huismaja 17:4cfa7951bfa2 101 bool emg_3_activated = 0; //Initially the emg_3 has not crossed the threshold
huismaja 17:4cfa7951bfa2 102 bool emg_4_activated = 0; //Initially the emg_4 has not crossed the threshold
huismaja 13:746240466172 103
huismaja 17:4cfa7951bfa2 104 volatile bool rotation_left_go = 0; //Create a go-flag for the rotation_left and set it to false
huismaja 17:4cfa7951bfa2 105 volatile bool rotation_right_go = 0; //Create a go-flag for the rotation_right and set it to false
huismaja 17:4cfa7951bfa2 106 volatile bool translation_go = 0; //Create a go-flag for the translation and set it to false
huismaja 17:4cfa7951bfa2 107 volatile bool gripper_go = 0; //Create a go-flag for the gripper and set it to false
huismaja 0:6c8444d06e97 108
huismaja 13:746240466172 109 float angle_M1=0; //The measured angle of motor 1 is initially zero
huismaja 13:746240466172 110 float angle_M2=0; //The measured angle of motor 2 is initially zero
huismaja 9:cca4d4084775 111
huismaja 13:746240466172 112 void read_position_M1 (){ //Function to read the position of motor 1
huismaja 13:746240466172 113 int pulses_M1 = -encoder_M1.getPulses(); //Read the encoder data and store it in pulses_M1
huismaja 13:746240466172 114 angle_M1 = float(pulses_M1)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses
huismaja 13:746240466172 115 // pc.printf("%i \t%f \t", pulses_M1, angle_M1);
huismaja 13:746240466172 116 }
huismaja 13:746240466172 117
huismaja 13:746240466172 118 void read_position_M2 (){ //Function to read the position of motor 2
huismaja 12:35a81d6c6505 119 int pulses_M2 = -encoder_M2.getPulses(); //Read the encoder data and store it in pulses_M2
huismaja 12:35a81d6c6505 120 angle_M2 = float(pulses_M2)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses
huismaja 13:746240466172 121 // pc.printf("%i \t%f \n", pulses_M2, angle_M2);
huismaja 9:cca4d4084775 122 }
huismaja 9:cca4d4084775 123
huismaja 11:b1ad5267a6bd 124 void activate_rotation_left (){ //To activate the rotation_left
huismaja 11:b1ad5267a6bd 125 counter_rotation_left++; //Increase the counter_rotation_left that counts the number of time switch 1 has been pressed
huismaja 11:b1ad5267a6bd 126 if (counter_rotation_left > 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1 etc.
huismaja 11:b1ad5267a6bd 127 counter_rotation_left=1;
huismaja 11:b1ad5267a6bd 128 }
huismaja 17:4cfa7951bfa2 129 rotation_left_go = 1; //After increasing the counter, set the rotation_left go-flag to true
huismaja 11:b1ad5267a6bd 130 }
huismaja 11:b1ad5267a6bd 131
huismaja 10:cf579c3eaf01 132 void rotation_left (){ //Function to control the rotation to the left
huismaja 10:cf579c3eaf01 133 switch (counter_rotation_left){ //Create a switch statement
huismaja 10:cf579c3eaf01 134 case 1: //For activating the rotation to the left
huismaja 13:746240466172 135 Direction_M1 = 1; //The arm will rotate to the left
huismaja 10:cf579c3eaf01 136 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 137 pc.printf("The arm will now rotate to the left with %f rad/sec \n", speedM1);
huismaja 12:35a81d6c6505 138 wait(0.1f);
huismaja 3:0a4bfcb3f339 139 break;
huismaja 10:cf579c3eaf01 140 case 2: //For stopping the rotation to the left
huismaja 13:746240466172 141 Direction_M1 = 1; //The arm will rotate to the left
huismaja 10:cf579c3eaf01 142 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 143 pc.printf("The arm will now stop rotating to the left \n");
huismaja 12:35a81d6c6505 144 wait(0.1f);
huismaja 3:0a4bfcb3f339 145 break;
huismaja 3:0a4bfcb3f339 146 }
huismaja 11:b1ad5267a6bd 147 }
huismaja 3:0a4bfcb3f339 148
huismaja 11:b1ad5267a6bd 149 void activate_rotation_right (){ //To activate the rotation_right
huismaja 11:b1ad5267a6bd 150 counter_rotation_right++; //Increase the counter_rotation_right that counts the number of time switch 2 has been pressed
huismaja 11:b1ad5267a6bd 151 if (counter_rotation_right> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1
huismaja 11:b1ad5267a6bd 152 counter_rotation_right=1;
huismaja 3:0a4bfcb3f339 153 }
huismaja 17:4cfa7951bfa2 154 rotation_right_go = 1; //After increasing the counter, set the rotation_right go-flag to true
huismaja 3:0a4bfcb3f339 155 }
huismaja 3:0a4bfcb3f339 156
huismaja 10:cf579c3eaf01 157 void rotation_right (){ //Function to control the rotation to the left
huismaja 10:cf579c3eaf01 158 switch (counter_rotation_right){ //Create a switch statement
huismaja 10:cf579c3eaf01 159 case 1: //For activation the rotation to the right
huismaja 13:746240466172 160 Direction_M1 = 0; //The arm will rotate to the right
huismaja 8:9c58ca13076e 161 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 162 pc.printf("The arm will now rotate to the right with %f rad/sec \n", speedM1);
huismaja 12:35a81d6c6505 163 wait(0.1f);
huismaja 3:0a4bfcb3f339 164 break;
huismaja 5:9b5edadc023b 165 case 2: //For stopping the rotation to the right
huismaja 13:746240466172 166 Direction_M1 = 0; //The arm will rotate to the right
huismaja 5:9b5edadc023b 167 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 168 pc.printf("The arm will now stop rotating to the right \n");
huismaja 12:35a81d6c6505 169 wait(0.1f);
huismaja 3:0a4bfcb3f339 170 break;
huismaja 3:0a4bfcb3f339 171 }
huismaja 3:0a4bfcb3f339 172 }
huismaja 3:0a4bfcb3f339 173
huismaja 11:b1ad5267a6bd 174 void activate_translation (){ //To activate the translation
huismaja 11:b1ad5267a6bd 175 counter_translation++; //Increase the counter_translation that counts the number of time switch 3 has been pressed
huismaja 11:b1ad5267a6bd 176 if (counter_translation > 4){ //Because there are 4 cases in the switch statement, case 5 = case 1
huismaja 11:b1ad5267a6bd 177 counter_translation=1;
huismaja 3:0a4bfcb3f339 178 }
huismaja 17:4cfa7951bfa2 179 translation_go = 1; //After increasing the counter, set the translation go-flag to true
huismaja 3:0a4bfcb3f339 180 }
huismaja 3:0a4bfcb3f339 181
huismaja 10:cf579c3eaf01 182 void translation (){ //Function to control the translation
huismaja 10:cf579c3eaf01 183 switch (counter_translation){ //Create a switch statement
huismaja 8:9c58ca13076e 184 case 1: //For activating the elongation of the arm
huismaja 8:9c58ca13076e 185 Direction_M2 = 1; //The arm will get longer
huismaja 10:cf579c3eaf01 186 Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec
huismaja 5:9b5edadc023b 187 pc.printf("The arm will now get longer \n");
huismaja 12:35a81d6c6505 188 wait(0.1f);
huismaja 5:9b5edadc023b 189 break;
huismaja 8:9c58ca13076e 190 case 2: //For stopping the elongation of the arm
huismaja 8:9c58ca13076e 191 Direction_M2 = 1; //The arm will get longer
huismaja 8:9c58ca13076e 192 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 193 pc.printf("The arm will now stop getting longer \n");
huismaja 12:35a81d6c6505 194 wait(0.1f);
huismaja 5:9b5edadc023b 195 break;
huismaja 8:9c58ca13076e 196 case 3: //For activating the shortening of the arm
huismaja 8:9c58ca13076e 197 Direction_M2 = 0; //The arm will get shorter
huismaja 10:cf579c3eaf01 198 Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec
huismaja 5:9b5edadc023b 199 pc.printf("The arm will now get shorter \n");
huismaja 12:35a81d6c6505 200 wait(0.1f);
huismaja 5:9b5edadc023b 201 break;
huismaja 8:9c58ca13076e 202 case 4: //For stopping the shortening of the arm
huismaja 8:9c58ca13076e 203 Direction_M2 = 0; //The arm will get shorter
huismaja 8:9c58ca13076e 204 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 205 pc.printf("The arm will now stop getting shorter \n");
huismaja 12:35a81d6c6505 206 wait(0.1f);
huismaja 5:9b5edadc023b 207 break;
huismaja 5:9b5edadc023b 208 }
huismaja 11:b1ad5267a6bd 209 }
huismaja 5:9b5edadc023b 210
huismaja 11:b1ad5267a6bd 211 void activate_gripper (){ //To activate the gripper
huismaja 11:b1ad5267a6bd 212 counter_gripper++; //Increase the couter_gripper that counts the number of time switch 4 has been pressed
huismaja 11:b1ad5267a6bd 213 if (counter_gripper> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1
huismaja 11:b1ad5267a6bd 214 counter_gripper=1;
huismaja 5:9b5edadc023b 215 }
huismaja 17:4cfa7951bfa2 216 gripper_go = 1; //After increasing the counter, set the gripper go-flag to true
huismaja 5:9b5edadc023b 217 }
huismaja 5:9b5edadc023b 218
huismaja 10:cf579c3eaf01 219 void gripper (){ //Function to control the gripper
huismaja 10:cf579c3eaf01 220 switch (counter_gripper){ //Create a switch statement
huismaja 10:cf579c3eaf01 221 case 1: //For closing the gripper
huismaja 10:cf579c3eaf01 222 gripper_servo = 0; //The gripper is now closed
huismaja 5:9b5edadc023b 223 pc.printf("The gripper will now close \n");
huismaja 12:35a81d6c6505 224 wait(0.1f);
huismaja 4:84bd5ead83f9 225 break;
huismaja 10:cf579c3eaf01 226 case 2: //For opening the gripper
huismaja 13:746240466172 227 gripper_servo = 0.3; //The gripper is now open
huismaja 5:9b5edadc023b 228 pc.printf("The gripper will now open \n");
huismaja 12:35a81d6c6505 229 wait(0.1f);
huismaja 4:84bd5ead83f9 230 break;
huismaja 4:84bd5ead83f9 231 }
huismaja 4:84bd5ead83f9 232 }
huismaja 17:4cfa7951bfa2 233
huismaja 16:196abf318ea4 234 void calibration_rotation(){
huismaja 17:4cfa7951bfa2 235 if(Switch_1.read()== 0) {
huismaja 17:4cfa7951bfa2 236 for(int n=0; n<3000; n++){
huismaja 15:c43f0dfe7cdf 237 signalpart1 = highpass1.step(emg_1.read());
huismaja 14:63f2a5165ffd 238 signalpart2 = notch_low1.step(signalpart1);
huismaja 14:63f2a5165ffd 239 signalpart3 = notch_high1.step(signalpart2);
huismaja 14:63f2a5165ffd 240 signalpart4 = fabs(signalpart3);
huismaja 15:c43f0dfe7cdf 241 emg_1_filtered = lowpass1.step(signalpart4);
huismaja 14:63f2a5165ffd 242 if (emg_1_filtered > maximum_calibration_value_1) {
huismaja 14:63f2a5165ffd 243 maximum_calibration_value_1 = emg_1_filtered;
huismaja 14:63f2a5165ffd 244 }
huismaja 18:f28d7ba60eb4 245 emg_1_threshold = maximum_calibration_value_1*0.7; //Set the threshold for emg 1
huismaja 15:c43f0dfe7cdf 246
huismaja 18:f28d7ba60eb4 247 signalpart1 = highpass2.step(emg_2.read());
huismaja 18:f28d7ba60eb4 248 signalpart2 = notch_low2.step(signalpart1);
huismaja 18:f28d7ba60eb4 249 signalpart3 = notch_high2.step(signalpart2);
huismaja 18:f28d7ba60eb4 250 signalpart4 = fabs(signalpart3);
huismaja 18:f28d7ba60eb4 251 emg_2_filtered = lowpass2.step(signalpart4);
huismaja 18:f28d7ba60eb4 252 if (emg_2_filtered > maximum_calibration_value_2) {
huismaja 18:f28d7ba60eb4 253 maximum_calibration_value_2 = emg_2_filtered;
huismaja 18:f28d7ba60eb4 254 }
huismaja 18:f28d7ba60eb4 255 emg_2_threshold = maximum_calibration_value_2*0.7; //Set the threshold for emg 2
huismaja 14:63f2a5165ffd 256 }
huismaja 18:f28d7ba60eb4 257 red = 0;
huismaja 17:4cfa7951bfa2 258 calibration_rotation_done=1;
huismaja 17:4cfa7951bfa2 259 }
huismaja 14:63f2a5165ffd 260 }
huismaja 14:63f2a5165ffd 261
huismaja 18:f28d7ba60eb4 262 void calibration_translation_gripper(){
huismaja 18:f28d7ba60eb4 263 if(Switch_2.read()== 0) {
huismaja 18:f28d7ba60eb4 264 for(int n=0; n<3000; n++){
huismaja 18:f28d7ba60eb4 265 signalpart1 = highpass3.step(emg_3.read());
huismaja 18:f28d7ba60eb4 266 signalpart2 = notch_low3.step(signalpart1);
huismaja 18:f28d7ba60eb4 267 signalpart3 = notch_high3.step(signalpart2);
huismaja 18:f28d7ba60eb4 268 signalpart4 = fabs(signalpart3);
huismaja 18:f28d7ba60eb4 269 emg_3_filtered = lowpass3.step(signalpart4);
huismaja 18:f28d7ba60eb4 270 if (emg_3_filtered > maximum_calibration_value_3) {
huismaja 18:f28d7ba60eb4 271 maximum_calibration_value_3 = emg_3_filtered;
huismaja 18:f28d7ba60eb4 272 }
huismaja 18:f28d7ba60eb4 273 emg_3_threshold = maximum_calibration_value_3*0.4; //Set the threshold for emg 2
huismaja 18:f28d7ba60eb4 274
huismaja 16:196abf318ea4 275 // signalpart1 = highpass4.step(emg_4.read());
huismaja 16:196abf318ea4 276 // signalpart2 = notch_low4.step(signalpart1);
huismaja 16:196abf318ea4 277 // signalpart3 = notch_high4.step(signalpart2);
huismaja 16:196abf318ea4 278 // signalpart4 = fabs(signalpart3);
huismaja 16:196abf318ea4 279 // emg_4_filtered = lowpass4.step(signalpart4);
huismaja 16:196abf318ea4 280 // if (emg_4_filtered > maximum_calibration_value_4) {
huismaja 16:196abf318ea4 281 // maximum_calibration_value_4 = emg_4_filtered;
huismaja 16:196abf318ea4 282 // }
huismaja 18:f28d7ba60eb4 283 // emg_4_threshold = maximum_calibration_value_4*0.4; //Set the threshold for emg 4
huismaja 18:f28d7ba60eb4 284 }
huismaja 18:f28d7ba60eb4 285 blue = 0;
huismaja 18:f28d7ba60eb4 286 calibration_translation_gripper_done=1;
huismaja 18:f28d7ba60eb4 287 }
huismaja 18:f28d7ba60eb4 288 }
huismaja 16:196abf318ea4 289
huismaja 14:63f2a5165ffd 290 void filter_emg(){
huismaja 16:196abf318ea4 291 if(calibration_rotation_done==1 && calibration_translation_gripper_done==1) {
huismaja 15:c43f0dfe7cdf 292 signalpart1 = highpass1.step(emg_1.read());
huismaja 14:63f2a5165ffd 293 signalpart2 = notch_low1.step(signalpart1);
huismaja 14:63f2a5165ffd 294 signalpart3 = notch_high1.step(signalpart2);
huismaja 14:63f2a5165ffd 295 signalpart4 = fabs(signalpart3);
huismaja 15:c43f0dfe7cdf 296 emg_1_filtered = lowpass1.step(signalpart4);
huismaja 18:f28d7ba60eb4 297 // pc.printf("%f \n", emg_1_filtered);
huismaja 18:f28d7ba60eb4 298
huismaja 17:4cfa7951bfa2 299 // pc.printf("%f \t %f \n", emg_1_filtered, emg_1_threshold);
huismaja 17:4cfa7951bfa2 300
huismaja 18:f28d7ba60eb4 301 signalpart1 = highpass2.step(emg_2.read());
huismaja 18:f28d7ba60eb4 302 signalpart2 = notch_low2.step(signalpart1);
huismaja 18:f28d7ba60eb4 303 signalpart3 = notch_high2.step(signalpart2);
huismaja 18:f28d7ba60eb4 304 signalpart4 = fabs(signalpart3);
huismaja 18:f28d7ba60eb4 305 emg_2_filtered = lowpass2.step(signalpart4);
huismaja 18:f28d7ba60eb4 306 // pc.printf("%f \n", emg_2_filtered);
huismaja 16:196abf318ea4 307
huismaja 18:f28d7ba60eb4 308 signalpart1 = highpass3.step(emg_3.read());
huismaja 18:f28d7ba60eb4 309 signalpart2 = notch_low3.step(signalpart1);
huismaja 18:f28d7ba60eb4 310 signalpart3 = notch_high3.step(signalpart2);
huismaja 18:f28d7ba60eb4 311 signalpart4 = fabs(signalpart3);
huismaja 18:f28d7ba60eb4 312 emg_3_filtered = lowpass3.step(signalpart4);
huismaja 18:f28d7ba60eb4 313 // pc.printf("%f \n", emg_3_filtered);
huismaja 17:4cfa7951bfa2 314
huismaja 17:4cfa7951bfa2 315 // signalpart1 = highpass4.step(emg_4.read());
huismaja 16:196abf318ea4 316 // signalpart2 = notch_low4.step(signalpart1);
huismaja 16:196abf318ea4 317 // signalpart3 = notch_high4.step(signalpart2);
huismaja 16:196abf318ea4 318 // signalpart4 = fabs(signalpart3);
huismaja 16:196abf318ea4 319 // emg_4_filtered = lowpass4.step(signalpart4);
huismaja 16:196abf318ea4 320 //// pc.printf("%f \n", emg_4_filtered);
huismaja 14:63f2a5165ffd 321
huismaja 14:63f2a5165ffd 322 // scope.set(0,emg_1_filtered);
huismaja 14:63f2a5165ffd 323 // scope.set(1,emg_2_filtered);
huismaja 16:196abf318ea4 324 // scope.set(2,emg_3_filtered);
huismaja 16:196abf318ea4 325 // scope.set(3,emg_4_filtered);
huismaja 14:63f2a5165ffd 326 // scope.send();
huismaja 14:63f2a5165ffd 327 }
huismaja 14:63f2a5165ffd 328 }
huismaja 4:84bd5ead83f9 329
huismaja 13:746240466172 330 void check_threshold_crossing (){ //Function to check if the emg thresholds are crossed
huismaja 16:196abf318ea4 331 if(calibration_rotation_done==1 && calibration_translation_gripper_done==1) {
huismaja 17:4cfa7951bfa2 332 if(emg_1_filtered >= emg_1_threshold && emg_1_activated == 0) { //If the filtered emg 1 signal is above the threshold value and if the activate_rotation_left function is not activated yet
huismaja 17:4cfa7951bfa2 333 emg_1_activated = 1;
huismaja 16:196abf318ea4 334 activate_rotation_left(); //Execute the activate_rotation_left function
huismaja 16:196abf318ea4 335 wait(0.1f);
huismaja 16:196abf318ea4 336 } else if (emg_1_filtered <= emg_1_threshold) {
huismaja 17:4cfa7951bfa2 337 emg_1_activated = 0;
huismaja 16:196abf318ea4 338 }
huismaja 18:f28d7ba60eb4 339 if(emg_2_filtered >= emg_2_threshold && emg_2_activated == false) { //If the filtered emg 2 signal is above the threshold value and if the activate_rotation_right function is not activated yet
huismaja 18:f28d7ba60eb4 340 activate_rotation_right(); //Execute the activate_rotation_right function
huismaja 18:f28d7ba60eb4 341 emg_2_activated = true; //Declare that the activate_rotation_right function is now activated
huismaja 18:f28d7ba60eb4 342 wait(0.1f);
huismaja 18:f28d7ba60eb4 343 } else if (emg_2_filtered <= emg_2_threshold) { //If the filtered emg 2 signal gets below the threshold value
huismaja 18:f28d7ba60eb4 344 emg_2_activated = false; //The activate_rotation_right function is now deactivated and can be activated again
huismaja 18:f28d7ba60eb4 345 }
huismaja 18:f28d7ba60eb4 346 if(emg_3_filtered >= emg_3_threshold && emg_3_activated == 0) { //If the filtered emg 3 signal is above the threshold value and if the activate_translation function is not activated yet
huismaja 18:f28d7ba60eb4 347 activate_translation(); //Execute the activate_translation function
huismaja 18:f28d7ba60eb4 348 emg_3_activated = 1; //Declare that the activate_translation function is now activated
huismaja 18:f28d7ba60eb4 349 } else if (emg_3_filtered <= emg_3_threshold) { //If the filtered emg 3 signal gets below the threshold value
huismaja 18:f28d7ba60eb4 350 emg_3_activated = 0; //The activate_translation function is now deactivated and can be activated again
huismaja 18:f28d7ba60eb4 351 }
huismaja 16:196abf318ea4 352 // if(emg_4_filtered >= emg_4_threshold && emg_4_activated == false) { //If the filtered emg 4 signal is above the threshold value and if the activate_gripper function is not activated yet
huismaja 16:196abf318ea4 353 // activate_gripper(); //Execute the activate_gripper function
huismaja 16:196abf318ea4 354 // emg_4_activated = true; //Declare that the activate_gripper function is now activated
huismaja 16:196abf318ea4 355 // } else if (emg_4_filtered <= emg_4_threshold) { //If the filtered emg 4 signal gets below the threshold value
huismaja 16:196abf318ea4 356 // emg_4_activated = false; //The activate_gripper function is now deactivated and can be activated again
huismaja 16:196abf318ea4 357 // }
huismaja 15:c43f0dfe7cdf 358 }
huismaja 13:746240466172 359 }
huismaja 13:746240466172 360
huismaja 13:746240466172 361 void check_goflags (){ //Function to check if the go-flags are activated
huismaja 17:4cfa7951bfa2 362 if (rotation_left_go == 1) { //If the rotation_left go-flag is true
huismaja 17:4cfa7951bfa2 363 rotation_left_go = 0; //Set the rotation_left go-flag to false
huismaja 13:746240466172 364 rotation_left(); //Execute the rotation_left function
huismaja 13:746240466172 365 }
huismaja 17:4cfa7951bfa2 366 if (rotation_right_go == 1) { //If the rotation_right go-flag is true
huismaja 17:4cfa7951bfa2 367 rotation_right_go = 0; //Set the rotation_right go-flag to false
huismaja 13:746240466172 368 rotation_right(); //Execute the rotation_right function
huismaja 13:746240466172 369 }
huismaja 17:4cfa7951bfa2 370 if (translation_go == 1) { //If the translation go-flag is true
huismaja 17:4cfa7951bfa2 371 translation_go = 0; //Set the translation go-flag to false
huismaja 13:746240466172 372 translation(); //Execute the translation function
huismaja 13:746240466172 373 }
huismaja 17:4cfa7951bfa2 374 if (gripper_go == 1) { //If the gripper go-flag is true
huismaja 17:4cfa7951bfa2 375 gripper_go = 0; //Set the gripper go-flag to false
huismaja 13:746240466172 376 gripper(); //Execute the gripper function
huismaja 13:746240466172 377 }
huismaja 13:746240466172 378 }
huismaja 13:746240466172 379
huismaja 13:746240466172 380 int main (){
huismaja 10:cf579c3eaf01 381 pc.baud(115200); //Set the boud rate for serial communication
huismaja 10:cf579c3eaf01 382 pc.printf("RESET \n"); //Print "RESET"
huismaja 1:0d55a4bf2269 383
huismaja 18:f28d7ba60eb4 384 red=1;
huismaja 18:f28d7ba60eb4 385 blue=1;
huismaja 5:9b5edadc023b 386 Direction_M1 = 1; //The arm will initially get longer
huismaja 5:9b5edadc023b 387 Speed_M1 = 0; //The first motor is initially turned off
huismaja 13:746240466172 388 Direction_M2 = 1; //The arm will initially turn left
huismaja 6:98121d2d76a6 389 Speed_M2 = 0; //The second motor is initially turned off
huismaja 13:746240466172 390 gripper_servo = 0.3; //The gripper is initially open
huismaja 10:cf579c3eaf01 391 encoder_M1.reset(); //Reset the encoder for motor 1
huismaja 10:cf579c3eaf01 392 encoder_M2.reset(); //Reset the encoder for motor 2
huismaja 1:0d55a4bf2269 393
huismaja 10:cf579c3eaf01 394 encoder_M1_ticker.attach(&read_position_M1,0.01); //Connect the encoder_M1_ticker to the read_position_M1 function and execute at 100Hz
huismaja 10:cf579c3eaf01 395 encoder_M2_ticker.attach(&read_position_M2,0.01); //Connect the encoder_M2_ticker to the read_position_M2 function and execute at 100Hz
huismaja 10:cf579c3eaf01 396
huismaja 13:746240466172 397 // Switch_1.rise(&activate_rotation_left); //Use switch_1 to activate the counter_rotation_left go-flag
huismaja 15:c43f0dfe7cdf 398 // Switch_2.rise(&activate_rotation_right); //Use switch_2 to activate the counter_rotation_right go-flag
huismaja 17:4cfa7951bfa2 399 // Switch_3.rise(&activate_translation); //Use switch_3 to activate the counter_translation go-flag
huismaja 17:4cfa7951bfa2 400 // Switch_4.rise(&activate_gripper); //Use switch_4 to activate the counter_gripper go-flag
huismaja 5:9b5edadc023b 401
huismaja 14:63f2a5165ffd 402 filter_EMG_ticker.attach(&filter_emg, 0.001); //Connect the filter_EMG_ticker to the filter_EMG funtion and execute at 1000Hz
huismaja 16:196abf318ea4 403 calibration_rotation_ticker.attach(&calibration_rotation, 0.001);
huismaja 18:f28d7ba60eb4 404 calibration_translation_gripper_ticker.attach(&calibration_translation_gripper, 0.001);
huismaja 14:63f2a5165ffd 405 check_threshold_crossing_ticker.attach(&check_threshold_crossing, 0.01); //Connect the check_threshold_crossing_ticker to the check_threshold_crossing function at 100Hz
huismaja 13:746240466172 406 check_goflags_ticker.attach(&check_goflags, 0.01); //Connect the check_goflags_ticker to the check_goflags
huismaja 13:746240466172 407
huismaja 17:4cfa7951bfa2 408 while (1){} //Create a while loop to let the main loop run indefinitly
huismaja 0:6c8444d06e97 409 }