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@33:3c9f8c1e9adf, 2015-05-22 (annotated)

Committer:
jessekaiser
Date:
Fri May 22 08:43:27 2015 +0000
Revision:
33:3c9f8c1e9adf
Parent:
32:46b18f465600
Child:
34:025b324d15d6
Proportional control werkt. Overbodige code verwijderd.

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 23:4d050e85e863 3 #include "arm_math.h"
jessekaiser 23:4d050e85e863 4 #include "HIDScope.h"
jessekaiser 0:3acdd563582f 5
jessekaiser 33:3c9f8c1e9adf 6 #define K_Gain 65 //Gain of the filtered EMG signal
jessekaiser 33:3c9f8c1e9adf 7 #define Damp 2 //Deceleration of the motr
jessekaiser 33:3c9f8c1e9adf 8 #define Mass 1 // Mass value
jessekaiser 33:3c9f8c1e9adf 9 #define dt 0.002 //Sample frequency
jessekaiser 33:3c9f8c1e9adf 10 #define MAX_emg
jessekaiser 33:3c9f8c1e9adf 11 #define MIN_freq 900
jessekaiser 31:372ff8d49430 12
jessekaiser 23:4d050e85e863 13 //Motor control
jessekaiser 0:3acdd563582f 14 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 15 PwmOut Step(p22);
jessekaiser 23:4d050e85e863 16
jessekaiser 23:4d050e85e863 17 //Signal to and from computer
jessekaiser 23:4d050e85e863 18 Serial pc(USBTX, USBRX);
jessekaiser 23:4d050e85e863 19
jessekaiser 24:c4c5d30a3938 20 DigitalOut Enable(p25);
jessekaiser 23:4d050e85e863 21
jessekaiser 23:4d050e85e863 22 //Microstepping
jessekaiser 0:3acdd563582f 23 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 24 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 25 DigitalOut MS3(p29);
jessekaiser 23:4d050e85e863 26
jessekaiser 23:4d050e85e863 27 //Potmeter and EMG
jessekaiser 10:7f94cd65c910 28 AnalogIn Pot1(p19);
jessekaiser 31:372ff8d49430 29 AnalogIn Pot2(p20);
jessekaiser 25:144eb5822aa7 30 AnalogIn emg0(p17);
jessekaiser 28:593929bbdb98 31 HIDScope scope(2);
jessekaiser 29:83f005c637be 32 Ticker scopeTimer;
jessekaiser 25:144eb5822aa7 33
jessekaiser 23:4d050e85e863 34 //lcd
jessekaiser 30:0a8f849e0292 35 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 36
jessekaiser 23:4d050e85e863 37 //Variables for motor control
jessekaiser 32:46b18f465600 38 float setpoint = 9000; //Frequentie
jessekaiser 23:4d050e85e863 39 float step_freq = 1;
jessekaiser 23:4d050e85e863 40
jessekaiser 23:4d050e85e863 41
jessekaiser 23:4d050e85e863 42 // Filters
jessekaiser 23:4d050e85e863 43 arm_biquad_casd_df1_inst_f32 lowpass_pot;
jessekaiser 23:4d050e85e863 44 arm_biquad_casd_df1_inst_f32 lowpass_step;
jessekaiser 23:4d050e85e863 45
jessekaiser 29:83f005c637be 46 //lowpass filter settings: Fc = 1 Hz, Fs = 100 Hz, Gain = -3 dB onepole-lp
jessekaiser 27:c7b1851c9bb7 47 float lowpass_const[] = {0.0201, 0.0402 , 0.0201, 1.5610, -0.6414};
jessekaiser 31:372ff8d49430 48 //Lowpass filter potmeter: Fc = 0.5 Hz, Fs = 500 Hz,
jessekaiser 27:c7b1851c9bb7 49 //float lowpass_const[] = {0.000009825916403675327, 0.000019651832807350654, 0.000009825916403675327, 1.991114207740345, -0.9911535114059596};
jessekaiser 23:4d050e85e863 50
jessekaiser 23:4d050e85e863 51 //EMG filter
jessekaiser 23:4d050e85e863 52 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 23:4d050e85e863 53 //lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 23:4d050e85e863 54 float lowpass2_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 23:4d050e85e863 55 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 31:372ff8d49430 56 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB
jessekaiser 31:372ff8d49430 57 float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 23:4d050e85e863 58
jessekaiser 23:4d050e85e863 59 //state values
jessekaiser 23:4d050e85e863 60 float lowpass_biceps_states[4];
jessekaiser 23:4d050e85e863 61 float highnotch_biceps_states[8];
jessekaiser 23:4d050e85e863 62 float lowpass_pot_states[4];
jessekaiser 23:4d050e85e863 63
jessekaiser 23:4d050e85e863 64 //global variabels
jessekaiser 23:4d050e85e863 65 float filtered_biceps;
jessekaiser 29:83f005c637be 66 float filtered_average_bi;
jessekaiser 32:46b18f465600 67 float filt_avg_bi_old;
jessekaiser 23:4d050e85e863 68 float filtered_pot;
jessekaiser 23:4d050e85e863 69 float pot_value1_f32;
jessekaiser 31:372ff8d49430 70 float speed_old;
jessekaiser 31:372ff8d49430 71 float acc;
jessekaiser 31:372ff8d49430 72 float force;
jessekaiser 32:46b18f465600 73 float speed;
jessekaiser 32:46b18f465600 74 float speed_old;
jessekaiser 32:46b18f465600 75 float D;
jessekaiser 32:46b18f465600 76
jessekaiser 23:4d050e85e863 77 void looper_emg()
jessekaiser 23:4d050e85e863 78 {
jessekaiser 23:4d050e85e863 79 /*variable to store value in*/
jessekaiser 25:144eb5822aa7 80 volatile uint16_t emg_value1;
jessekaiser 23:4d050e85e863 81
jessekaiser 23:4d050e85e863 82 float emg_value1_f32;
jessekaiser 31:372ff8d49430 83
jessekaiser 23:4d050e85e863 84 /*put raw emg value both in red and in emg_value*/
jessekaiser 33:3c9f8c1e9adf 85 emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) (KAN weg?)
jessekaiser 23:4d050e85e863 86 emg_value1_f32 = emg0.read();
jessekaiser 23:4d050e85e863 87
jessekaiser 23:4d050e85e863 88 //process emg biceps
jessekaiser 23:4d050e85e863 89 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
jessekaiser 31:372ff8d49430 90 filtered_biceps = fabs(filtered_biceps);
jessekaiser 23:4d050e85e863 91 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
jessekaiser 29:83f005c637be 92 average_biceps(filtered_biceps,&filtered_average_bi);
jessekaiser 23:4d050e85e863 93
jessekaiser 23:4d050e85e863 94 /*send value to PC. */
jessekaiser 33:3c9f8c1e9adf 95 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 23:4d050e85e863 96 }
jessekaiser 26:b88ff19ff5dc 97
jessekaiser 31:372ff8d49430 98 void looper_motor()
jessekaiser 31:372ff8d49430 99 {
jessekaiser 31:372ff8d49430 100 Dir = 0;
jessekaiser 31:372ff8d49430 101 force = K_Gain*filtered_biceps;
jessekaiser 31:372ff8d49430 102 force = force - D;
jessekaiser 31:372ff8d49430 103 acc = force/Mass;
jessekaiser 32:46b18f465600 104 speed = speed_old + (acc * dt);
jessekaiser 32:46b18f465600 105 D = speed * Damp;
jessekaiser 32:46b18f465600 106 step_freq = (setpoint*speed);
jessekaiser 31:372ff8d49430 107 Step.period(1.0/step_freq);
jessekaiser 32:46b18f465600 108 speed_old = speed;
jessekaiser 31:372ff8d49430 109
jessekaiser 33:3c9f8c1e9adf 110 if (step_freq < MIN_freq) {
jessekaiser 31:372ff8d49430 111 Enable = 1;
jessekaiser 31:372ff8d49430 112 } else {
jessekaiser 31:372ff8d49430 113 Enable = 0;
jessekaiser 31:372ff8d49430 114 }
jessekaiser 23:4d050e85e863 115 }
jessekaiser 31:372ff8d49430 116
jessekaiser 0:3acdd563582f 117 int main()
jessekaiser 0:3acdd563582f 118 {
jessekaiser 31:372ff8d49430 119 // Attach the HIDScope::send method from the scope object to the timer at 50Hz. Hier wordt de sample freq aangegeven.
jessekaiser 31:372ff8d49430 120 scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 31:372ff8d49430 121
jessekaiser 28:593929bbdb98 122 Ticker emgtimer;
jessekaiser 25:144eb5822aa7 123 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 25:144eb5822aa7 124 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 30:0a8f849e0292 125 emgtimer.attach(looper_emg, 0.002);
jessekaiser 23:4d050e85e863 126
jessekaiser 30:0a8f849e0292 127 Ticker looptimer;
jessekaiser 33:3c9f8c1e9adf 128 looptimer.attach(looper_motor, 0.01); //Uitzoeken waarom deze frequentie!
jessekaiser 33:3c9f8c1e9adf 129
jessekaiser 33:3c9f8c1e9adf 130 //Microstepping control
jessekaiser 4:e4341e3524dc 131 MS1 = 1;
jessekaiser 23:4d050e85e863 132 MS2 = 0;
jessekaiser 2:92a63245d11c 133 MS3 = 0;
jessekaiser 9:649229691351 134 Step.write(0.5); // Duty cycle van 50%
jessekaiser 23:4d050e85e863 135
jessekaiser 0:3acdd563582f 136 while (1) {
jessekaiser 23:4d050e85e863 137
jessekaiser 30:0a8f849e0292 138 lcd.printf("Freq %.0f Hz \n", step_freq); //snelheid meting op lcd
jessekaiser 28:593929bbdb98 139 wait(0.01);
jessekaiser 0:3acdd563582f 140 }
jessekaiser 26:b88ff19ff5dc 141 }