Jesse Kaiser / Mbed 2 deprecated EMGcontrol_XY_Table

4 directional EMG control of the XY table. Made during my bachelor end assignment.

Dependencies:   C12832_lcd HIDScope mbed-dsp mbed

main.cpp@49:056c4de3591e, 2015-06-09 (annotated)

Committer:
jessekaiser
Date:
Tue Jun 09 09:18:25 2015 +0000
Revision:
49:056c4de3591e
Parent:
48:05adf4978828
Child:
50:5e08b74bf023
Dir poort aangepast. Eindconcept1. Werkt niet, waarschijnlijk door appl. board

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 48:05adf4978828 1 /*Code by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table
jessekaiser 48:05adf4978828 2 Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
jessekaiser 48:05adf4978828 3 Biceps = 1
jessekaiser 48:05adf4978828 4 Triceps = 2
jessekaiser 48:05adf4978828 5 Pectoralis Major = 3
jessekaiser 48:05adf4978828 6 Deltoid = 4
jessekaiser 48:05adf4978828 7 The "x" and "y" at the end of variables stand for the X-Spindle or Y-Spindle respectivly.
jessekaiser 48:05adf4978828 8 */
jessekaiser 48:05adf4978828 9
jessekaiser 0:3acdd563582f 10 #include "mbed.h"
jessekaiser 10:7f94cd65c910 11 #include "C12832_lcd.h"
jessekaiser 48:05adf4978828 12 #include "arm_math.h"
jessekaiser 48:05adf4978828 13 #include "HIDScope.h"
jessekaiser 0:3acdd563582f 14
jessekaiser 48:05adf4978828 15 #define K_Gain 14 //Gain of the filtered EMG signal
jessekaiser 48:05adf4978828 16 #define Damp 5 //Deceleration of the motor
jessekaiser 48:05adf4978828 17 #define Mass 1 // Mass value
jessekaiser 48:05adf4978828 18 #define dt 0.002 //Sample frequency
jessekaiser 48:05adf4978828 19 #define MAX_bi 0.09 //Can be used for normalisation of the EMG signal of the biceps
jessekaiser 48:05adf4978828 20 #define MAX_tri 0.09
jessekaiser 48:05adf4978828 21 #define MAX_pect 0.09
jessekaiser 48:05adf4978828 22 #define MAX_delt 0.09
jessekaiser 48:05adf4978828 23 #define MIN_freq 500 //The motor turns off below this frequency
jessekaiser 48:05adf4978828 24 #define EMG_tresh 0.02
jessekaiser 31:372ff8d49430 25
jessekaiser 48:05adf4978828 26 //Motor control
jessekaiser 49:056c4de3591e 27 DigitalOut Dirx(p22);
jessekaiser 49:056c4de3591e 28 DigitalOut Diry(p24);
jessekaiser 48:05adf4978828 29 PwmOut Stepx(p21);
jessekaiser 49:056c4de3591e 30 PwmOut Stepy(p23);
jessekaiser 48:05adf4978828 31
jessekaiser 48:05adf4978828 32 //Signal to and from computer
jessekaiser 48:05adf4978828 33 Serial pc(USBTX, USBRX);
jessekaiser 48:05adf4978828 34
jessekaiser 48:05adf4978828 35 DigitalOut Enablex(p24); //Connected to green led
jessekaiser 48:05adf4978828 36 DigitalOut Enabley(p25); //Connected to blue led
jessekaiser 48:05adf4978828 37
jessekaiser 48:05adf4978828 38 //Microstepping
jessekaiser 0:3acdd563582f 39 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 40 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 41 DigitalOut MS3(p29);
jessekaiser 48:05adf4978828 42
jessekaiser 48:05adf4978828 43 //Potmeter and EMG
jessekaiser 10:7f94cd65c910 44 AnalogIn Pot1(p19);
jessekaiser 31:372ff8d49430 45 AnalogIn Pot2(p20);
jessekaiser 48:05adf4978828 46
jessekaiser 48:05adf4978828 47 AnalogIn emg1(p15); //EMG bordje bovenop, biceps
jessekaiser 48:05adf4978828 48 AnalogIn emg2(p16); //triceps
jessekaiser 48:05adf4978828 49 AnalogIn emg3(p17);
jessekaiser 48:05adf4978828 50 AnalogIn emg4(p18);
jessekaiser 48:05adf4978828 51
jessekaiser 48:05adf4978828 52 HIDScope scope(4);
jessekaiser 48:05adf4978828 53 Ticker scopeTimer;
jessekaiser 48:05adf4978828 54
jessekaiser 48:05adf4978828 55 //lcd
jessekaiser 30:0a8f849e0292 56 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 57
jessekaiser 48:05adf4978828 58 //Variables for motor control
jessekaiser 48:05adf4978828 59 float setpoint = 1000; //Frequentie setpint
jessekaiser 48:05adf4978828 60 float step_freq1 = 1;
jessekaiser 48:05adf4978828 61 float step_freq2 = 1;
jessekaiser 48:05adf4978828 62 float step_freq3 = 1;
jessekaiser 48:05adf4978828 63 float step_freq4 = 1;
jessekaiser 48:05adf4978828 64
jessekaiser 48:05adf4978828 65 //EMG filter
jessekaiser 48:05adf4978828 66 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 48:05adf4978828 67 arm_biquad_casd_df1_inst_f32 lowpass_triceps;
jessekaiser 48:05adf4978828 68 arm_biquad_casd_df1_inst_f32 lowpass_pect;
jessekaiser 48:05adf4978828 69 arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
jessekaiser 48:05adf4978828 70 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 48:05adf4978828 71 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 48:05adf4978828 72 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 48:05adf4978828 73 arm_biquad_casd_df1_inst_f32 highnotch_triceps;
jessekaiser 48:05adf4978828 74 arm_biquad_casd_df1_inst_f32 highnotch_pect;
jessekaiser 48:05adf4978828 75 arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
jessekaiser 48:05adf4978828 76 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
jessekaiser 48:05adf4978828 77 float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 48:05adf4978828 78
jessekaiser 48:05adf4978828 79 //state values
jessekaiser 48:05adf4978828 80 float lowpass_biceps_states[4];
jessekaiser 48:05adf4978828 81 float highnotch_biceps_states[8];
jessekaiser 48:05adf4978828 82 float lowpass_triceps_states[4];
jessekaiser 48:05adf4978828 83 float highnotch_triceps_states[8];
jessekaiser 48:05adf4978828 84 float lowpass_pect_states[4];
jessekaiser 48:05adf4978828 85 float highnotch_pect_states[8];
jessekaiser 48:05adf4978828 86 float lowpass_deltoid_states[4];
jessekaiser 48:05adf4978828 87 float highnotch_deltoid_states[8];
jessekaiser 48:05adf4978828 88
jessekaiser 48:05adf4978828 89 //global variabels
jessekaiser 48:05adf4978828 90 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
jessekaiser 48:05adf4978828 91 float speed_old1, speed_old2, speed_old3, speed_old4;
jessekaiser 48:05adf4978828 92 float acc1, acc2, acc3, acc4;
jessekaiser 48:05adf4978828 93 float force1, force2, force3, force4;
jessekaiser 48:05adf4978828 94 float speed1, speed2, speed3, speed4;
jessekaiser 48:05adf4978828 95 float damping1, damping2, damping3, damping4;
jessekaiser 48:05adf4978828 96
jessekaiser 48:05adf4978828 97 void looper_emg()
jessekaiser 48:05adf4978828 98 {
jessekaiser 48:05adf4978828 99 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
jessekaiser 48:05adf4978828 100 emg_value1_f32 = emg1.read();
jessekaiser 48:05adf4978828 101 emg_value2_f32 = emg2.read();
jessekaiser 48:05adf4978828 102 emg_value3_f32 = emg3.read();
jessekaiser 48:05adf4978828 103 emg_value4_f32 = emg4.read();
jessekaiser 48:05adf4978828 104
jessekaiser 48:05adf4978828 105 //process emg biceps
jessekaiser 48:05adf4978828 106 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 48:05adf4978828 107 filtered_biceps = fabs(filtered_biceps); //Rectifier
jessekaiser 48:05adf4978828 108 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 48:05adf4978828 109
jessekaiser 48:05adf4978828 110 //process emg triceps
jessekaiser 48:05adf4978828 111 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 48:05adf4978828 112 filtered_triceps = fabs(filtered_triceps);
jessekaiser 48:05adf4978828 113 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 48:05adf4978828 114
jessekaiser 48:05adf4978828 115 //process emg pectoralis major
jessekaiser 48:05adf4978828 116 arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
jessekaiser 48:05adf4978828 117 filtered_pect = fabs(filtered_pect);
jessekaiser 48:05adf4978828 118 arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
jessekaiser 48:05adf4978828 119
jessekaiser 48:05adf4978828 120 //process emg deltoid
jessekaiser 48:05adf4978828 121 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
jessekaiser 48:05adf4978828 122 filtered_deltoid = fabs(filtered_deltoid);
jessekaiser 48:05adf4978828 123 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
jessekaiser 48:05adf4978828 124
jessekaiser 48:05adf4978828 125 /*send value to PC. */
jessekaiser 48:05adf4978828 126 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 48:05adf4978828 127 scope.set(1,filtered_triceps);
jessekaiser 48:05adf4978828 128 scope.set(2,filtered_pect);
jessekaiser 48:05adf4978828 129 scope.set(3,filtered_deltoid);
jessekaiser 48:05adf4978828 130 }
jessekaiser 48:05adf4978828 131
jessekaiser 48:05adf4978828 132 void looper_motory()
jessekaiser 48:05adf4978828 133 {
jessekaiser 48:05adf4978828 134 //Vooruit
jessekaiser 48:05adf4978828 135 force1 = K_Gain*(filtered_biceps/MAX_bi);
jessekaiser 48:05adf4978828 136 force1 = force1 - damping1;
jessekaiser 48:05adf4978828 137 acc1 = force1/Mass;
jessekaiser 48:05adf4978828 138 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 48:05adf4978828 139 damping1 = speed1 * Damp;
jessekaiser 48:05adf4978828 140 step_freq1 = (setpoint*speed1);
jessekaiser 48:05adf4978828 141 speed_old1 = speed1;
jessekaiser 48:05adf4978828 142
jessekaiser 48:05adf4978828 143 //Achteruit triceps
jessekaiser 48:05adf4978828 144 force2 = K_Gain*(filtered_triceps/MAX_tri);
jessekaiser 48:05adf4978828 145 force2 = force2 - damping2;
jessekaiser 48:05adf4978828 146 acc2 = force2/Mass;
jessekaiser 48:05adf4978828 147 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 48:05adf4978828 148 damping2 = speed2 * Damp;
jessekaiser 48:05adf4978828 149 step_freq2 = (setpoint*speed2);
jessekaiser 48:05adf4978828 150 speed_old2 = speed2;
jessekaiser 48:05adf4978828 151 if (filtered_biceps > filtered_triceps) {
jessekaiser 48:05adf4978828 152 Diry = 0;
jessekaiser 48:05adf4978828 153 speed2 = 0.01;
jessekaiser 48:05adf4978828 154 speed_old2 = 0.01;
jessekaiser 48:05adf4978828 155 Stepy.period(1.0/step_freq1);
jessekaiser 48:05adf4978828 156 } if (filtered_triceps > filtered_biceps) {
jessekaiser 48:05adf4978828 157 Diry = 1;
jessekaiser 48:05adf4978828 158 speed1 = 0.01;
jessekaiser 48:05adf4978828 159 speed_old1 = 0.01;
jessekaiser 48:05adf4978828 160 Stepy.period(1.0/step_freq2);
jessekaiser 48:05adf4978828 161 }
jessekaiser 48:05adf4978828 162 //Speed limit
jessekaiser 48:05adf4978828 163 if (speed1 > 1) {
jessekaiser 48:05adf4978828 164 speed1 = 1;
jessekaiser 48:05adf4978828 165 step_freq1 = setpoint;
jessekaiser 48:05adf4978828 166 }
jessekaiser 48:05adf4978828 167 if (speed2 > 1) {
jessekaiser 48:05adf4978828 168 speed2 = 1;
jessekaiser 48:05adf4978828 169 step_freq2 = setpoint;
jessekaiser 48:05adf4978828 170 }
jessekaiser 48:05adf4978828 171 //EMG treshold
jessekaiser 48:05adf4978828 172 if (filtered_biceps < EMG_tresh && filtered_triceps < EMG_tresh) {
jessekaiser 48:05adf4978828 173 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 48:05adf4978828 174 speed1 = 0.01;
jessekaiser 48:05adf4978828 175 speed_old1 = 0.01;
jessekaiser 48:05adf4978828 176 speed2 = 0.01;
jessekaiser 48:05adf4978828 177 speed_old2 = 0.01;
jessekaiser 48:05adf4978828 178 } else {
jessekaiser 48:05adf4978828 179 Enabley = 0;
jessekaiser 48:05adf4978828 180 }
jessekaiser 48:05adf4978828 181
jessekaiser 48:05adf4978828 182 }
jessekaiser 48:05adf4978828 183
jessekaiser 48:05adf4978828 184 void looper_motorx()
jessekaiser 48:05adf4978828 185 {
jessekaiser 48:05adf4978828 186 //To the left
jessekaiser 48:05adf4978828 187 force3 = K_Gain*(filtered_pect/MAX_pect);
jessekaiser 48:05adf4978828 188 force3 = force3 - damping3;
jessekaiser 48:05adf4978828 189 acc3 = force3/Mass;
jessekaiser 48:05adf4978828 190 speed3 = speed_old3 + (acc3 * dt);
jessekaiser 48:05adf4978828 191 damping3 = speed3 * Damp;
jessekaiser 48:05adf4978828 192 step_freq3 = (setpoint*speed3);
jessekaiser 48:05adf4978828 193 speed_old3 = speed3;
jessekaiser 48:05adf4978828 194
jessekaiser 48:05adf4978828 195 //To the right
jessekaiser 48:05adf4978828 196 force4 = K_Gain*(filtered_deltoid/MAX_delt);
jessekaiser 48:05adf4978828 197 force4 = force4 - damping4;
jessekaiser 48:05adf4978828 198 acc4 = force4/Mass;
jessekaiser 48:05adf4978828 199 speed4 = speed_old4 + (acc4 * dt);
jessekaiser 48:05adf4978828 200 damping4 = speed4 * Damp;
jessekaiser 48:05adf4978828 201 step_freq4 = (setpoint*speed4);
jessekaiser 48:05adf4978828 202 speed_old4 = speed4;
jessekaiser 48:05adf4978828 203 if (filtered_pect > filtered_deltoid) {
jessekaiser 48:05adf4978828 204 Dirx = 0;
jessekaiser 48:05adf4978828 205 speed4 = 0.01;
jessekaiser 48:05adf4978828 206 speed_old4 = 0.01;
jessekaiser 48:05adf4978828 207 Stepx.period(1.0/step_freq3);
jessekaiser 48:05adf4978828 208 } if (filtered_deltoid > filtered_pect) {
jessekaiser 48:05adf4978828 209 Dirx = 1;
jessekaiser 48:05adf4978828 210 speed3 = 0.01;
jessekaiser 48:05adf4978828 211 speed_old3 = 0.01;
jessekaiser 48:05adf4978828 212 Stepx.period(1.0/step_freq4);
jessekaiser 48:05adf4978828 213 }
jessekaiser 48:05adf4978828 214 //Speed limit
jessekaiser 48:05adf4978828 215 if (speed3 > 1) {
jessekaiser 48:05adf4978828 216 speed3 = 1;
jessekaiser 48:05adf4978828 217 step_freq3 = setpoint;
jessekaiser 48:05adf4978828 218 }
jessekaiser 48:05adf4978828 219 if (speed4 > 1) {
jessekaiser 48:05adf4978828 220 speed4 = 1;
jessekaiser 48:05adf4978828 221 step_freq4 = setpoint;
jessekaiser 48:05adf4978828 222 }
jessekaiser 48:05adf4978828 223 //EMG treshold
jessekaiser 48:05adf4978828 224 if (filtered_pect < EMG_tresh && filtered_deltoid < EMG_tresh) {
jessekaiser 48:05adf4978828 225 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 48:05adf4978828 226 speed3 = 0.01;
jessekaiser 48:05adf4978828 227 speed_old3 = 0.01;
jessekaiser 48:05adf4978828 228 speed4 = 0.01;
jessekaiser 48:05adf4978828 229 speed_old4 = 0.01;
jessekaiser 48:05adf4978828 230 } else {
jessekaiser 48:05adf4978828 231 Enablex = 0;
jessekaiser 48:05adf4978828 232 }
jessekaiser 48:05adf4978828 233
jessekaiser 48:05adf4978828 234 }
jessekaiser 41:a666a531d52e 235 int main()
jessekaiser 41:a666a531d52e 236 {
jessekaiser 48:05adf4978828 237 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 48:05adf4978828 238 scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 48:05adf4978828 239
jessekaiser 48:05adf4978828 240 Ticker emgtimer; //biceps
jessekaiser 48:05adf4978828 241 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 48:05adf4978828 242 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 48:05adf4978828 243 //triceps
jessekaiser 48:05adf4978828 244 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 48:05adf4978828 245 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 48:05adf4978828 246 //pectoralis major
jessekaiser 48:05adf4978828 247 arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
jessekaiser 48:05adf4978828 248 arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
jessekaiser 48:05adf4978828 249 //deltoid
jessekaiser 48:05adf4978828 250 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 48:05adf4978828 251 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
jessekaiser 48:05adf4978828 252 emgtimer.attach(looper_emg, 0.002);
jessekaiser 48:05adf4978828 253
jessekaiser 48:05adf4978828 254 Ticker looptimer;
jessekaiser 48:05adf4978828 255 looptimer.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
jessekaiser 49:056c4de3591e 256 looptimer.attach(looper_motory, 0.01); //Y-Spindle motor
jessekaiser 48:05adf4978828 257
jessekaiser 48:05adf4978828 258 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 44:d5aa53e4778c 259 MS1 = 1;
jessekaiser 45:f5d74c7f8fbf 260 MS2 = 0;
jessekaiser 44:d5aa53e4778c 261 MS3 = 0;
jessekaiser 48:05adf4978828 262 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 48:05adf4978828 263 Stepy.write(0.5);
jessekaiser 48:05adf4978828 264
jessekaiser 44:d5aa53e4778c 265 while (1) {
jessekaiser 23:4d050e85e863 266
jessekaiser 48:05adf4978828 267 //lcd.printf("Bi %.2f ,Tri %.2f \n", filtered_biceps, filtered_triceps); Filtered EMG values
jessekaiser 48:05adf4978828 268 lcd.printf("1 %.0f, 2 %.0f, 3 %.0f, 4 %.0f \n", step_freq1, step_freq2, step_freq3, step_freq4); //step_freq value of every EMG sensor
jessekaiser 48:05adf4978828 269 wait(0.01);
jessekaiser 0:3acdd563582f 270 }
jessekaiser 48:05adf4978828 271 }