Janet Huisman / Mbed 2 deprecated Motor_Control_EMG

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Dependencies:   HIDScope MODSERIAL QEI Servo biquadFilter mbed

Fork of Motor_Control_buttons by Janet Huisman

main.cpp@16:196abf318ea4, 2016-10-31 (annotated)

Committer:
huismaja
Date:
Mon Oct 31 14:27:19 2016 +0000
Revision:
16:196abf318ea4
Parent:
15:c43f0dfe7cdf
Child:
17:4cfa7951bfa2
working for 2 EMG signals (tested with motor) --> only biceps

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 13:746240466172 35 AnalogIn emg_1(A0); //Analog of EMG 1
huismaja 15:c43f0dfe7cdf 36 AnalogIn emg_2(A1); //Analog of EMG 2
huismaja 14:63f2a5165ffd 37 //AnalogIn emg_3(A2); //Analog of EMG 3
huismaja 14:63f2a5165ffd 38 //AnalogIn emg_4(A3); //Analog of EMG 4
huismaja 13:746240466172 39
huismaja 13:746240466172 40 double emg_1_value = 0; //Initially the emg_1 value is zero
huismaja 13:746240466172 41 double emg_2_value = 0; //Initially the emg_2 value is zero
huismaja 13:746240466172 42 double emg_3_value = 0; //Initially the emg_3 value is zero
huismaja 13:746240466172 43 double emg_4_value = 0; //Initially the emg_4 value is zero
huismaja 13:746240466172 44
huismaja 14:63f2a5165ffd 45 double signalpart1=0;
huismaja 14:63f2a5165ffd 46 double signalpart2=0;
huismaja 14:63f2a5165ffd 47 double signalpart3=0;
huismaja 14:63f2a5165ffd 48 double signalpart4=0;
huismaja 13:746240466172 49 double emg_1_filtered = 0; //Initially the emg_1_filtered signal is zero
huismaja 13:746240466172 50 double emg_2_filtered = 0; //Initially the emg_2_filtered signal is zero
huismaja 13:746240466172 51 double emg_3_filtered = 0; //Initially the emg_3_filtered signal is zero
huismaja 13:746240466172 52 double emg_4_filtered = 0; //Initially the emg_4_filtered signal is zero
huismaja 14:63f2a5165ffd 53 double maximum_calibration_value_1=0;
huismaja 14:63f2a5165ffd 54 double maximum_calibration_value_2=0;
huismaja 15:c43f0dfe7cdf 55 double maximum_calibration_value_3=0;
huismaja 15:c43f0dfe7cdf 56 double maximum_calibration_value_4=0;
huismaja 16:196abf318ea4 57 bool calibration_rotation_done=0;
huismaja 16:196abf318ea4 58 bool calibration_translation_gripper_done=1;
huismaja 14:63f2a5165ffd 59
huismaja 14:63f2a5165ffd 60 volatile double emg_1_threshold = 0.2; //Set the threshold for emg 1
huismaja 14:63f2a5165ffd 61 volatile double emg_2_threshold = 0.2; //Set the threshold for emg 2
huismaja 14:63f2a5165ffd 62 volatile double emg_3_threshold = 0.2; //Set the threshold for emg 3
huismaja 14:63f2a5165ffd 63 volatile double emg_4_threshold = 0.2; //Set the threshold for emg 4
huismaja 13:746240466172 64
huismaja 13:746240466172 65 Ticker filter_EMG_ticker; //Create a ticker for the filtering of all emg signals
huismaja 16:196abf318ea4 66 Ticker calibration_rotation_ticker;
huismaja 16:196abf318ea4 67 Ticker calibration_translation_gripper_ticker;
huismaja 13:746240466172 68 Ticker check_threshold_crossing_ticker; //Create a ticker for checking if the threshold is crossed
huismaja 13:746240466172 69 Ticker check_goflags_ticker; //Create a ticker for checking if the go-flags are set true
huismaja 13:746240466172 70
huismaja 15:c43f0dfe7cdf 71 BiQuad highpass1(0.9565, -1.9131, 0.9565, -1.9112, 0.9150);
huismaja 14:63f2a5165ffd 72 BiQuad notch_low1(1.0000, -1.9023, 1.0000, -1.8795, 0.9819);
huismaja 14:63f2a5165ffd 73 BiQuad notch_high1(1.0000, -1.9023, 1.0000, -1.8913, 0.9829);
huismaja 15:c43f0dfe7cdf 74 BiQuad lowpass1(0.00003913, 0.00007826, 0.00003913, -1.9822, 0.9824);
huismaja 15:c43f0dfe7cdf 75
huismaja 15:c43f0dfe7cdf 76 BiQuad highpass2(0.9565, -1.9131, 0.9565, -1.9112, 0.9150);
huismaja 15:c43f0dfe7cdf 77 BiQuad notch_low2(1.0000, -1.9023, 1.0000, -1.8795, 0.9819);
huismaja 15:c43f0dfe7cdf 78 BiQuad notch_high2(1.0000, -1.9023, 1.0000, -1.8913, 0.9829);
huismaja 15:c43f0dfe7cdf 79 BiQuad lowpass2(0.00003913, 0.00007826, 0.00003913, -1.9822, 0.9824);
huismaja 14:63f2a5165ffd 80
huismaja 15:c43f0dfe7cdf 81 //BiQuad highpass3(0.9565, -1.9131, 0.9565, -1.9112, 0.9150);
huismaja 15:c43f0dfe7cdf 82 //BiQuad notch_low3(1.0000, -1.9023, 1.0000, -1.8795, 0.9819);
huismaja 15:c43f0dfe7cdf 83 //BiQuad notch_high3(1.0000, -1.9023, 1.0000, -1.8913, 0.9829);
huismaja 15:c43f0dfe7cdf 84 //BiQuad lowpass3(0.00003913, 0.00007826, 0.00003913, -1.9822, 0.9824);
huismaja 16:196abf318ea4 85 //
huismaja 15:c43f0dfe7cdf 86 //BiQuad highpass4(0.9565, -1.9131, 0.9565, -1.9112, 0.9150);
huismaja 15:c43f0dfe7cdf 87 //BiQuad notch_low4(1.0000, -1.9023, 1.0000, -1.8795, 0.9819);
huismaja 15:c43f0dfe7cdf 88 //BiQuad notch_high4(1.0000, -1.9023, 1.0000, -1.8913, 0.9829);
huismaja 15:c43f0dfe7cdf 89 //BiQuad lowpass4(0.00003913, 0.00007826, 0.00003913, -1.9822, 0.9824);
huismaja 2:b20570f160c6 90
huismaja 5:9b5edadc023b 91 int counter_rotation_left=0; //To count the number of times the rotation_left switch (switch_1) has been pushed
huismaja 5:9b5edadc023b 92 int counter_rotation_right=0; //To count the number of times the rotation_right switch (switch_2) has been pushed
huismaja 5:9b5edadc023b 93 int counter_translation=0; //To count the number of times the translation switch (switch_3) has been pushed
huismaja 5:9b5edadc023b 94 int counter_gripper=0; //To count the number of times the gripper switch (switch_4) has been pushed
huismaja 5:9b5edadc023b 95
huismaja 13:746240466172 96 bool emg_1_activated = false; //Initially the emg_1 has not crossed the threshold
huismaja 13:746240466172 97 bool emg_2_activated = false; //Initially the emg_2 has not crossed the threshold
huismaja 13:746240466172 98 bool emg_3_activated = false; //Initially the emg_3 has not crossed the threshold
huismaja 13:746240466172 99 bool emg_4_activated = false; //Initially the emg_4 has not crossed the threshold
huismaja 13:746240466172 100
huismaja 11:b1ad5267a6bd 101 volatile bool rotation_left_go = false; //Create a go-flag for the rotation_left and set it to false
huismaja 11:b1ad5267a6bd 102 volatile bool rotation_right_go = false; //Create a go-flag for the rotation_right and set it to false
huismaja 11:b1ad5267a6bd 103 volatile bool translation_go = false; //Create a go-flag for the translation and set it to false
huismaja 11:b1ad5267a6bd 104 volatile bool gripper_go = false; //Create a go-flag for the gripper and set it to false
huismaja 0:6c8444d06e97 105
huismaja 13:746240466172 106 float angle_M1=0; //The measured angle of motor 1 is initially zero
huismaja 13:746240466172 107 float angle_M2=0; //The measured angle of motor 2 is initially zero
huismaja 9:cca4d4084775 108
huismaja 13:746240466172 109 void read_position_M1 (){ //Function to read the position of motor 1
huismaja 13:746240466172 110 int pulses_M1 = -encoder_M1.getPulses(); //Read the encoder data and store it in pulses_M1
huismaja 13:746240466172 111 angle_M1 = float(pulses_M1)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses
huismaja 13:746240466172 112 // pc.printf("%i \t%f \t", pulses_M1, angle_M1);
huismaja 13:746240466172 113 }
huismaja 13:746240466172 114
huismaja 13:746240466172 115 void read_position_M2 (){ //Function to read the position of motor 2
huismaja 12:35a81d6c6505 116 int pulses_M2 = -encoder_M2.getPulses(); //Read the encoder data and store it in pulses_M2
huismaja 12:35a81d6c6505 117 angle_M2 = float(pulses_M2)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses
huismaja 13:746240466172 118 // pc.printf("%i \t%f \n", pulses_M2, angle_M2);
huismaja 9:cca4d4084775 119 }
huismaja 9:cca4d4084775 120
huismaja 11:b1ad5267a6bd 121 void activate_rotation_left (){ //To activate the rotation_left
huismaja 11:b1ad5267a6bd 122 counter_rotation_left++; //Increase the counter_rotation_left that counts the number of time switch 1 has been pressed
huismaja 11:b1ad5267a6bd 123 if (counter_rotation_left > 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1 etc.
huismaja 11:b1ad5267a6bd 124 counter_rotation_left=1;
huismaja 11:b1ad5267a6bd 125 }
huismaja 11:b1ad5267a6bd 126 rotation_left_go = true; //After increasing the counter, set the rotation_left go-flag to true
huismaja 11:b1ad5267a6bd 127 }
huismaja 11:b1ad5267a6bd 128
huismaja 10:cf579c3eaf01 129 void rotation_left (){ //Function to control the rotation to the left
huismaja 10:cf579c3eaf01 130 switch (counter_rotation_left){ //Create a switch statement
huismaja 10:cf579c3eaf01 131 case 1: //For activating the rotation to the left
huismaja 13:746240466172 132 Direction_M1 = 1; //The arm will rotate to the left
huismaja 10:cf579c3eaf01 133 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 134 pc.printf("The arm will now rotate to the left with %f rad/sec \n", speedM1);
huismaja 12:35a81d6c6505 135 wait(0.1f);
huismaja 3:0a4bfcb3f339 136 break;
huismaja 10:cf579c3eaf01 137 case 2: //For stopping the rotation to the left
huismaja 13:746240466172 138 Direction_M1 = 1; //The arm will rotate to the left
huismaja 10:cf579c3eaf01 139 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 140 pc.printf("The arm will now stop rotating to the left \n");
huismaja 12:35a81d6c6505 141 wait(0.1f);
huismaja 3:0a4bfcb3f339 142 break;
huismaja 3:0a4bfcb3f339 143 }
huismaja 11:b1ad5267a6bd 144 }
huismaja 3:0a4bfcb3f339 145
huismaja 11:b1ad5267a6bd 146 void activate_rotation_right (){ //To activate the rotation_right
huismaja 11:b1ad5267a6bd 147 counter_rotation_right++; //Increase the counter_rotation_right that counts the number of time switch 2 has been pressed
huismaja 11:b1ad5267a6bd 148 if (counter_rotation_right> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1
huismaja 11:b1ad5267a6bd 149 counter_rotation_right=1;
huismaja 3:0a4bfcb3f339 150 }
huismaja 11:b1ad5267a6bd 151 rotation_right_go = true; //After increasing the counter, set the rotation_right go-flag to true
huismaja 3:0a4bfcb3f339 152 }
huismaja 3:0a4bfcb3f339 153
huismaja 10:cf579c3eaf01 154 void rotation_right (){ //Function to control the rotation to the left
huismaja 10:cf579c3eaf01 155 switch (counter_rotation_right){ //Create a switch statement
huismaja 10:cf579c3eaf01 156 case 1: //For activation the rotation to the right
huismaja 13:746240466172 157 Direction_M1 = 0; //The arm will rotate to the right
huismaja 8:9c58ca13076e 158 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 159 pc.printf("The arm will now rotate to the right with %f rad/sec \n", speedM1);
huismaja 12:35a81d6c6505 160 wait(0.1f);
huismaja 3:0a4bfcb3f339 161 break;
huismaja 5:9b5edadc023b 162 case 2: //For stopping the rotation to the right
huismaja 13:746240466172 163 Direction_M1 = 0; //The arm will rotate to the right
huismaja 5:9b5edadc023b 164 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 165 pc.printf("The arm will now stop rotating to the right \n");
huismaja 12:35a81d6c6505 166 wait(0.1f);
huismaja 3:0a4bfcb3f339 167 break;
huismaja 3:0a4bfcb3f339 168 }
huismaja 3:0a4bfcb3f339 169 }
huismaja 3:0a4bfcb3f339 170
huismaja 11:b1ad5267a6bd 171 void activate_translation (){ //To activate the translation
huismaja 11:b1ad5267a6bd 172 counter_translation++; //Increase the counter_translation that counts the number of time switch 3 has been pressed
huismaja 11:b1ad5267a6bd 173 if (counter_translation > 4){ //Because there are 4 cases in the switch statement, case 5 = case 1
huismaja 11:b1ad5267a6bd 174 counter_translation=1;
huismaja 3:0a4bfcb3f339 175 }
huismaja 11:b1ad5267a6bd 176 translation_go = true; //After increasing the counter, set the translation go-flag to true
huismaja 3:0a4bfcb3f339 177 }
huismaja 3:0a4bfcb3f339 178
huismaja 10:cf579c3eaf01 179 void translation (){ //Function to control the translation
huismaja 10:cf579c3eaf01 180 switch (counter_translation){ //Create a switch statement
huismaja 8:9c58ca13076e 181 case 1: //For activating the elongation of the arm
huismaja 8:9c58ca13076e 182 Direction_M2 = 1; //The arm will get longer
huismaja 10:cf579c3eaf01 183 Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec
huismaja 5:9b5edadc023b 184 pc.printf("The arm will now get longer \n");
huismaja 12:35a81d6c6505 185 wait(0.1f);
huismaja 5:9b5edadc023b 186 break;
huismaja 8:9c58ca13076e 187 case 2: //For stopping the elongation of the arm
huismaja 8:9c58ca13076e 188 Direction_M2 = 1; //The arm will get longer
huismaja 8:9c58ca13076e 189 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 190 pc.printf("The arm will now stop getting longer \n");
huismaja 12:35a81d6c6505 191 wait(0.1f);
huismaja 5:9b5edadc023b 192 break;
huismaja 8:9c58ca13076e 193 case 3: //For activating the shortening of the arm
huismaja 8:9c58ca13076e 194 Direction_M2 = 0; //The arm will get shorter
huismaja 10:cf579c3eaf01 195 Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec
huismaja 5:9b5edadc023b 196 pc.printf("The arm will now get shorter \n");
huismaja 12:35a81d6c6505 197 wait(0.1f);
huismaja 5:9b5edadc023b 198 break;
huismaja 8:9c58ca13076e 199 case 4: //For stopping the shortening of the arm
huismaja 8:9c58ca13076e 200 Direction_M2 = 0; //The arm will get shorter
huismaja 8:9c58ca13076e 201 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 202 pc.printf("The arm will now stop getting shorter \n");
huismaja 12:35a81d6c6505 203 wait(0.1f);
huismaja 5:9b5edadc023b 204 break;
huismaja 5:9b5edadc023b 205 }
huismaja 11:b1ad5267a6bd 206 }
huismaja 5:9b5edadc023b 207
huismaja 11:b1ad5267a6bd 208 void activate_gripper (){ //To activate the gripper
huismaja 11:b1ad5267a6bd 209 counter_gripper++; //Increase the couter_gripper that counts the number of time switch 4 has been pressed
huismaja 11:b1ad5267a6bd 210 if (counter_gripper> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1
huismaja 11:b1ad5267a6bd 211 counter_gripper=1;
huismaja 5:9b5edadc023b 212 }
huismaja 11:b1ad5267a6bd 213 gripper_go = true; //After increasing the counter, set the gripper go-flag to true
huismaja 5:9b5edadc023b 214 }
huismaja 5:9b5edadc023b 215
huismaja 10:cf579c3eaf01 216 void gripper (){ //Function to control the gripper
huismaja 10:cf579c3eaf01 217 switch (counter_gripper){ //Create a switch statement
huismaja 10:cf579c3eaf01 218 case 1: //For closing the gripper
huismaja 10:cf579c3eaf01 219 gripper_servo = 0; //The gripper is now closed
huismaja 5:9b5edadc023b 220 pc.printf("The gripper will now close \n");
huismaja 12:35a81d6c6505 221 wait(0.1f);
huismaja 4:84bd5ead83f9 222 break;
huismaja 10:cf579c3eaf01 223 case 2: //For opening the gripper
huismaja 13:746240466172 224 gripper_servo = 0.3; //The gripper is now open
huismaja 5:9b5edadc023b 225 pc.printf("The gripper will now open \n");
huismaja 12:35a81d6c6505 226 wait(0.1f);
huismaja 4:84bd5ead83f9 227 break;
huismaja 4:84bd5ead83f9 228 }
huismaja 4:84bd5ead83f9 229 }
huismaja 16:196abf318ea4 230 void calibration_rotation(){
huismaja 14:63f2a5165ffd 231 if(Switch_1.read()== false) {
huismaja 14:63f2a5165ffd 232 for(int n=0; n<5000; n++){
huismaja 15:c43f0dfe7cdf 233 signalpart1 = highpass1.step(emg_1.read());
huismaja 14:63f2a5165ffd 234 signalpart2 = notch_low1.step(signalpart1);
huismaja 14:63f2a5165ffd 235 signalpart3 = notch_high1.step(signalpart2);
huismaja 14:63f2a5165ffd 236 signalpart4 = fabs(signalpart3);
huismaja 15:c43f0dfe7cdf 237 emg_1_filtered = lowpass1.step(signalpart4);
huismaja 14:63f2a5165ffd 238 if (emg_1_filtered > maximum_calibration_value_1) {
huismaja 14:63f2a5165ffd 239 maximum_calibration_value_1 = emg_1_filtered;
huismaja 14:63f2a5165ffd 240 }
huismaja 15:c43f0dfe7cdf 241 emg_1_threshold = maximum_calibration_value_1*0.7; //Set the threshold for emg 1
huismaja 15:c43f0dfe7cdf 242
huismaja 15:c43f0dfe7cdf 243 signalpart1 = highpass2.step(emg_2.read());
huismaja 15:c43f0dfe7cdf 244 signalpart2 = notch_low2.step(signalpart1);
huismaja 15:c43f0dfe7cdf 245 signalpart3 = notch_high2.step(signalpart2);
huismaja 15:c43f0dfe7cdf 246 signalpart4 = fabs(signalpart3);
huismaja 15:c43f0dfe7cdf 247 emg_2_filtered = lowpass2.step(signalpart4);
huismaja 15:c43f0dfe7cdf 248 if (emg_2_filtered > maximum_calibration_value_2) {
huismaja 15:c43f0dfe7cdf 249 maximum_calibration_value_2 = emg_2_filtered;
huismaja 15:c43f0dfe7cdf 250 }
huismaja 15:c43f0dfe7cdf 251 emg_2_threshold = maximum_calibration_value_2*0.7; //Set the threshold for emg 2
huismaja 14:63f2a5165ffd 252 }
huismaja 16:196abf318ea4 253 pc.printf("%f \t %f \n",maximum_calibration_value_1, maximum_calibration_value_2);
huismaja 16:196abf318ea4 254 calibration_rotation_done=1;
huismaja 14:63f2a5165ffd 255 }
huismaja 14:63f2a5165ffd 256 }
huismaja 14:63f2a5165ffd 257
huismaja 16:196abf318ea4 258 //void calibration_translation_gripper(){
huismaja 16:196abf318ea4 259 // if(Switch_2.read()== false) {
huismaja 16:196abf318ea4 260 // for(int n=0; n<5000; n++){
huismaja 16:196abf318ea4 261 // signalpart1 = highpass3.step(emg_3.read());
huismaja 16:196abf318ea4 262 // signalpart2 = notch_low3.step(signalpart1);
huismaja 16:196abf318ea4 263 // signalpart3 = notch_high3.step(signalpart2);
huismaja 16:196abf318ea4 264 // signalpart4 = fabs(signalpart3);
huismaja 16:196abf318ea4 265 // emg_3_filtered = lowpass3.step(signalpart4);
huismaja 16:196abf318ea4 266 // if (emg_3_filtered > maximum_calibration_value_3) {
huismaja 16:196abf318ea4 267 // maximum_calibration_value_3 = emg_3_filtered;
huismaja 16:196abf318ea4 268 // }
huismaja 16:196abf318ea4 269 // emg_3_threshold = maximum_calibration_value_3*0.7; //Set the threshold for emg 2
huismaja 16:196abf318ea4 270 //
huismaja 16:196abf318ea4 271 // signalpart1 = highpass4.step(emg_4.read());
huismaja 16:196abf318ea4 272 // signalpart2 = notch_low4.step(signalpart1);
huismaja 16:196abf318ea4 273 // signalpart3 = notch_high4.step(signalpart2);
huismaja 16:196abf318ea4 274 // signalpart4 = fabs(signalpart3);
huismaja 16:196abf318ea4 275 // emg_4_filtered = lowpass4.step(signalpart4);
huismaja 16:196abf318ea4 276 // if (emg_4_filtered > maximum_calibration_value_4) {
huismaja 16:196abf318ea4 277 // maximum_calibration_value_4 = emg_4_filtered;
huismaja 16:196abf318ea4 278 // }
huismaja 16:196abf318ea4 279 // emg_4_threshold = maximum_calibration_value_4*0.7; //Set the threshold for emg 4
huismaja 16:196abf318ea4 280 // }
huismaja 16:196abf318ea4 281 //
huismaja 16:196abf318ea4 282 // printf("%f \t %f \n", maximum_calibration_value_3, maximum_calibration_value_4);
huismaja 16:196abf318ea4 283 // calibration_translation_gripper_done=1;
huismaja 16:196abf318ea4 284 // }
huismaja 16:196abf318ea4 285 //}
huismaja 16:196abf318ea4 286
huismaja 14:63f2a5165ffd 287 void filter_emg(){
huismaja 16:196abf318ea4 288 if(calibration_rotation_done==1 && calibration_translation_gripper_done==1) {
huismaja 15:c43f0dfe7cdf 289 signalpart1 = highpass1.step(emg_1.read());
huismaja 14:63f2a5165ffd 290 signalpart2 = notch_low1.step(signalpart1);
huismaja 14:63f2a5165ffd 291 signalpart3 = notch_high1.step(signalpart2);
huismaja 14:63f2a5165ffd 292 signalpart4 = fabs(signalpart3);
huismaja 15:c43f0dfe7cdf 293 emg_1_filtered = lowpass1.step(signalpart4);
huismaja 14:63f2a5165ffd 294 // pc.printf("%f \n", emg_1_filtered);
huismaja 14:63f2a5165ffd 295
huismaja 15:c43f0dfe7cdf 296 signalpart1 = highpass2.step(emg_2.read());
huismaja 15:c43f0dfe7cdf 297 signalpart2 = notch_low2.step(signalpart1);
huismaja 15:c43f0dfe7cdf 298 signalpart3 = notch_high2.step(signalpart2);
huismaja 15:c43f0dfe7cdf 299 signalpart4 = fabs(signalpart3);
huismaja 15:c43f0dfe7cdf 300 emg_2_filtered = lowpass2.step(signalpart4);
huismaja 16:196abf318ea4 301 // pc.printf("%f \n", emg_2_filtered);
huismaja 16:196abf318ea4 302
huismaja 16:196abf318ea4 303 // signalpart1 = highpass3.step(emg_3.read());
huismaja 16:196abf318ea4 304 // signalpart2 = notch_low3.step(signalpart1);
huismaja 16:196abf318ea4 305 // signalpart3 = notch_high3.step(signalpart2);
huismaja 16:196abf318ea4 306 // signalpart4 = fabs(signalpart3);
huismaja 16:196abf318ea4 307 // emg_3_filtered = lowpass3.step(signalpart4);
huismaja 16:196abf318ea4 308 //// pc.printf("%f \n", emg_3_filtered);
huismaja 16:196abf318ea4 309 //
huismaja 16:196abf318ea4 310 // signalpart1 = highpass4.step(emg_2.read());
huismaja 16:196abf318ea4 311 // signalpart2 = notch_low4.step(signalpart1);
huismaja 16:196abf318ea4 312 // signalpart3 = notch_high4.step(signalpart2);
huismaja 16:196abf318ea4 313 // signalpart4 = fabs(signalpart3);
huismaja 16:196abf318ea4 314 // emg_4_filtered = lowpass4.step(signalpart4);
huismaja 16:196abf318ea4 315 //// pc.printf("%f \n", emg_4_filtered);
huismaja 14:63f2a5165ffd 316
huismaja 14:63f2a5165ffd 317 // scope.set(0,emg_1_filtered);
huismaja 14:63f2a5165ffd 318 // scope.set(1,emg_2_filtered);
huismaja 16:196abf318ea4 319 // scope.set(2,emg_3_filtered);
huismaja 16:196abf318ea4 320 // scope.set(3,emg_4_filtered);
huismaja 14:63f2a5165ffd 321 // scope.send();
huismaja 14:63f2a5165ffd 322 }
huismaja 14:63f2a5165ffd 323 }
huismaja 4:84bd5ead83f9 324
huismaja 13:746240466172 325 void check_threshold_crossing (){ //Function to check if the emg thresholds are crossed
huismaja 16:196abf318ea4 326 if(calibration_rotation_done==1 && calibration_translation_gripper_done==1) {
huismaja 16:196abf318ea4 327 if(emg_1_filtered >= emg_1_threshold && emg_1_activated == false) { //If the filtered emg 1 signal is above the threshold value and if the activate_rotation_left function is not activated yet
huismaja 16:196abf318ea4 328 emg_1_activated = true;
huismaja 16:196abf318ea4 329 activate_rotation_left(); //Execute the activate_rotation_left function
huismaja 16:196abf318ea4 330 wait(0.1f);
huismaja 16:196abf318ea4 331 } else if (emg_1_filtered <= emg_1_threshold) {
huismaja 16:196abf318ea4 332 emg_1_activated = false;
huismaja 16:196abf318ea4 333 }
huismaja 16:196abf318ea4 334 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 16:196abf318ea4 335 activate_rotation_right(); //Execute the activate_rotation_right function
huismaja 16:196abf318ea4 336 emg_2_activated = true; //Declare that the activate_rotation_right function is now activated
huismaja 16:196abf318ea4 337 wait(0.1f);
huismaja 16:196abf318ea4 338 } else if (emg_2_filtered <= emg_2_threshold) { //If the filtered emg 2 signal gets below the threshold value
huismaja 16:196abf318ea4 339 emg_2_activated = false; //The activate_rotation_right function is now deactivated and can be activated again
huismaja 16:196abf318ea4 340 }
huismaja 16:196abf318ea4 341 // if(emg_3_filtered >= emg_3_threshold && emg_3_activated == false) { //If the filtered emg 3 signal is above the threshold value and if the activate_translation function is not activated yet
huismaja 16:196abf318ea4 342 // activate_translation(); //Execute the activate_translation function
huismaja 16:196abf318ea4 343 // emg_3_activated = true; //Declare that the activate_translation function is now activated
huismaja 16:196abf318ea4 344 // } else if (emg_3_filtered <= emg_3_threshold) { //If the filtered emg 3 signal gets below the threshold value
huismaja 16:196abf318ea4 345 // emg_3_activated = false; //The activate_translation function is now deactivated and can be activated again
huismaja 16:196abf318ea4 346 // }
huismaja 16:196abf318ea4 347 // 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 348 // activate_gripper(); //Execute the activate_gripper function
huismaja 16:196abf318ea4 349 // emg_4_activated = true; //Declare that the activate_gripper function is now activated
huismaja 16:196abf318ea4 350 // } else if (emg_4_filtered <= emg_4_threshold) { //If the filtered emg 4 signal gets below the threshold value
huismaja 16:196abf318ea4 351 // emg_4_activated = false; //The activate_gripper function is now deactivated and can be activated again
huismaja 16:196abf318ea4 352 // }
huismaja 15:c43f0dfe7cdf 353 }
huismaja 13:746240466172 354 }
huismaja 13:746240466172 355
huismaja 13:746240466172 356 void check_goflags (){ //Function to check if the go-flags are activated
huismaja 13:746240466172 357 if (rotation_left_go == true) { //If the rotation_left go-flag is true
huismaja 13:746240466172 358 rotation_left_go = false; //Set the rotation_left go-flag to false
huismaja 13:746240466172 359 rotation_left(); //Execute the rotation_left function
huismaja 13:746240466172 360 }
huismaja 13:746240466172 361 if (rotation_right_go == true) { //If the rotation_right go-flag is true
huismaja 13:746240466172 362 rotation_right_go = false; //Set the rotation_right go-flag to false
huismaja 13:746240466172 363 rotation_right(); //Execute the rotation_right function
huismaja 13:746240466172 364 }
huismaja 13:746240466172 365 if (translation_go == true) { //If the translation go-flag is true
huismaja 13:746240466172 366 translation_go = false; //Set the translation go-flag to false
huismaja 13:746240466172 367 translation(); //Execute the translation function
huismaja 13:746240466172 368 }
huismaja 13:746240466172 369 if (gripper_go == true) { //If the gripper go-flag is true
huismaja 13:746240466172 370 gripper_go = false; //Set the gripper go-flag to false
huismaja 13:746240466172 371 gripper(); //Execute the gripper function
huismaja 13:746240466172 372 }
huismaja 13:746240466172 373 }
huismaja 13:746240466172 374
huismaja 13:746240466172 375 int main (){
huismaja 10:cf579c3eaf01 376 pc.baud(115200); //Set the boud rate for serial communication
huismaja 10:cf579c3eaf01 377 pc.printf("RESET \n"); //Print "RESET"
huismaja 1:0d55a4bf2269 378
huismaja 5:9b5edadc023b 379 Direction_M1 = 1; //The arm will initially get longer
huismaja 5:9b5edadc023b 380 Speed_M1 = 0; //The first motor is initially turned off
huismaja 13:746240466172 381 Direction_M2 = 1; //The arm will initially turn left
huismaja 6:98121d2d76a6 382 Speed_M2 = 0; //The second motor is initially turned off
huismaja 13:746240466172 383 gripper_servo = 0.3; //The gripper is initially open
huismaja 10:cf579c3eaf01 384 encoder_M1.reset(); //Reset the encoder for motor 1
huismaja 10:cf579c3eaf01 385 encoder_M2.reset(); //Reset the encoder for motor 2
huismaja 1:0d55a4bf2269 386
huismaja 10:cf579c3eaf01 387 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 388 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 389
huismaja 13:746240466172 390 // Switch_1.rise(&activate_rotation_left); //Use switch_1 to activate the counter_rotation_left go-flag
huismaja 15:c43f0dfe7cdf 391 // Switch_2.rise(&activate_rotation_right); //Use switch_2 to activate the counter_rotation_right go-flag
huismaja 11:b1ad5267a6bd 392 Switch_3.rise(&activate_translation); //Use switch_3 to activate the counter_translation go-flag
huismaja 11:b1ad5267a6bd 393 Switch_4.rise(&activate_gripper); //Use switch_4 to activate the counter_gripper go-flag
huismaja 5:9b5edadc023b 394
huismaja 14:63f2a5165ffd 395 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 396 calibration_rotation_ticker.attach(&calibration_rotation, 0.001);
huismaja 16:196abf318ea4 397 // calibration_translation_gripper_ticker.attach(&calibration_translation_gripper, 0.001);
huismaja 14:63f2a5165ffd 398 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 399 check_goflags_ticker.attach(&check_goflags, 0.01); //Connect the check_goflags_ticker to the check_goflags
huismaja 13:746240466172 400
huismaja 13:746240466172 401 while (true){} //Create a while loop to let the main loop run indefinitly
huismaja 0:6c8444d06e97 402 }