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@20:07723b8348e3, 2015-05-01 (annotated)

Committer:
jessekaiser
Date:
Fri May 01 12:24:34 2015 +0000
Revision:
20:07723b8348e3
Parent:
19:f0875bc3b72f 
Met filter, maar filter werkt nog niet goed genoeg

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 0:3acdd563582f 1 #include "mbed.h"
jessekaiser 10:7f94cd65c910 2 #include "C12832_lcd.h"
jessekaiser 18:71a01477e264 3 #include "arm_math.h"
jessekaiser 0:3acdd563582f 4
jessekaiser 15:ae8b209e8493 5 #define P_GAIN 0.998
jessekaiser 11:74ae4e5e11ab 6
jessekaiser 0:3acdd563582f 7 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 8 PwmOut Step(p22);
jessekaiser 15:ae8b209e8493 9 DigitalOut Enable(p14);
jessekaiser 0:3acdd563582f 10 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 11 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 12 DigitalOut MS3(p29);
jessekaiser 10:7f94cd65c910 13 AnalogIn Pot1(p19);
jessekaiser 13:c4e80f6e7113 14 AnalogIn Pot2(p20);
jessekaiser 16:cdb6d66c2c4e 15 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 16
jessekaiser 10:7f94cd65c910 17 BusIn Joystick(p12,p13,p14,p15,p16);
jessekaiser 10:7f94cd65c910 18 DigitalIn Up(p15);
jessekaiser 10:7f94cd65c910 19 DigitalIn Down(p12);
jessekaiser 18:71a01477e264 20
jessekaiser 20:07723b8348e3 21 float setpoint = 7000; //Frequentie
jessekaiser 20:07723b8348e3 22 float step_freq = 1;
jessekaiser 20:07723b8348e3 23
jessekaiser 18:71a01477e264 24
jessekaiser 18:71a01477e264 25 // Filter
jessekaiser 19:f0875bc3b72f 26 arm_biquad_casd_df1_inst_f32 lowpass_pot;
jessekaiser 18:71a01477e264 27
jessekaiser 18:71a01477e264 28 //lowpass filter settings: Fc = 2 Hz, Fs = 100 Hz, Gain = 6 dB
jessekaiser 18:71a01477e264 29 float lowpass_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
jessekaiser 18:71a01477e264 30
jessekaiser 18:71a01477e264 31 //state values
jessekaiser 19:f0875bc3b72f 32 float lowpass_pot_states[4];
jessekaiser 19:f0875bc3b72f 33 //globale variabele
jessekaiser 19:f0875bc3b72f 34 float filtered_pot;
jessekaiser 20:07723b8348e3 35 float filtered_average_pot;
jessekaiser 19:f0875bc3b72f 36 float pot_value1_f32;
jessekaiser 20:07723b8348e3 37
jessekaiser 20:07723b8348e3 38 //Gemiddelde van de waarde nemen
jessekaiser 20:07723b8348e3 39 /*void average_pot(float filtered_pot,float *average)
jessekaiser 20:07723b8348e3 40 {
jessekaiser 20:07723b8348e3 41 static float total=0;
jessekaiser 20:07723b8348e3 42 static float number=0;
jessekaiser 20:07723b8348e3 43 total = total + filtered_pot;
jessekaiser 20:07723b8348e3 44 number = number + 1;
jessekaiser 20:07723b8348e3 45 if ( number == 50) {
jessekaiser 20:07723b8348e3 46 *average = total/50;
jessekaiser 20:07723b8348e3 47 total = 0;
jessekaiser 20:07723b8348e3 48 number = 0;
jessekaiser 20:07723b8348e3 49 }
jessekaiser 20:07723b8348e3 50 }*/
jessekaiser 20:07723b8348e3 51
jessekaiser 18:71a01477e264 52 void looper()
jessekaiser 18:71a01477e264 53 {
jessekaiser 18:71a01477e264 54 /*variable to store value in*/
jessekaiser 20:07723b8348e3 55 // uint16_t pot_value1;
jessekaiser 19:f0875bc3b72f 56
jessekaiser 20:07723b8348e3 57
jessekaiser 18:71a01477e264 58 /*put raw emg value both in red and in emg_value*/
jessekaiser 19:f0875bc3b72f 59 //pot_value1 = Pot1.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
jessekaiser 19:f0875bc3b72f 60 pot_value1_f32 = Pot1.read() - 0.500;
jessekaiser 18:71a01477e264 61
jessekaiser 18:71a01477e264 62 //process emg biceps
jessekaiser 19:f0875bc3b72f 63
jessekaiser 19:f0875bc3b72f 64 arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 );
jessekaiser 20:07723b8348e3 65 //average_pot(filtered_pot,&filtered_average_pot);
jessekaiser 19:f0875bc3b72f 66
jessekaiser 19:f0875bc3b72f 67 }
jessekaiser 20:07723b8348e3 68 void looper_motor()
jessekaiser 20:07723b8348e3 69 {
jessekaiser 20:07723b8348e3 70 float new_step_freq;
jessekaiser 20:07723b8348e3 71 new_step_freq = (setpoint*pot_value1_f32*2);
jessekaiser 20:07723b8348e3 72 step_freq = abs(new_step_freq); //Geeft een frequentie in 100 stappen.
jessekaiser 20:07723b8348e3 73 Step.period(1.0/step_freq);
jessekaiser 20:07723b8348e3 74 }
jessekaiser 20:07723b8348e3 75 int main()
jessekaiser 20:07723b8348e3 76 {
jessekaiser 20:07723b8348e3 77 Ticker log_timer;
jessekaiser 20:07723b8348e3 78 //set up filters. Use external array for constants
jessekaiser 20:07723b8348e3 79 arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states);
jessekaiser 20:07723b8348e3 80 log_timer.attach(looper, 0.01);
jessekaiser 20:07723b8348e3 81
jessekaiser 20:07723b8348e3 82 Ticker looptimer;
jessekaiser 20:07723b8348e3 83 looptimer.attach(looper_motor, 0.01);
jessekaiser 20:07723b8348e3 84
jessekaiser 20:07723b8348e3 85 MS1 = 1;
jessekaiser 20:07723b8348e3 86 MS2 = 0;
jessekaiser 20:07723b8348e3 87 MS3 = 0;
jessekaiser 20:07723b8348e3 88 Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 20:07723b8348e3 89 Step.write(0.5); // Duty cycle van 50%
jessekaiser 19:f0875bc3b72f 90
jessekaiser 16:cdb6d66c2c4e 91
jessekaiser 20:07723b8348e3 92 while (1) {
jessekaiser 19:f0875bc3b72f 93
jessekaiser 20:07723b8348e3 94 if (pot_value1_f32 < 0) { //Directie controle.
jessekaiser 20:07723b8348e3 95 Dir = 0;
jessekaiser 20:07723b8348e3 96 } else if (pot_value1_f32 > 0) {
jessekaiser 20:07723b8348e3 97 Dir = 1;
jessekaiser 20:07723b8348e3 98 }
jessekaiser 20:07723b8348e3 99 wait(0.01);
jessekaiser 20:07723b8348e3 100 lcd.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd, zonder decimalen
jessekaiser 19:f0875bc3b72f 101
jessekaiser 20:07723b8348e3 102 }
jessekaiser 19:f0875bc3b72f 103 }