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@72:4d01b79ad332, 2015-06-22 (annotated)

Committer:
jessekaiser
Date:
Mon Jun 22 08:41:15 2015 +0000
Revision:
72:4d01b79ad332
Parent:
71:aee1289bc16a
Child:
73:8cc2826ab1c4
Eindconcept 11;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 56:6ea03cce1175 1 /*Code by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table
jessekaiser 56:6ea03cce1175 2 Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
jessekaiser 56:6ea03cce1175 3 Biceps = 1
jessekaiser 56:6ea03cce1175 4 Triceps = 2
jessekaiser 56:6ea03cce1175 5 Pectoralis Major = 3
jessekaiser 56:6ea03cce1175 6 Deltoid = 4
jessekaiser 56:6ea03cce1175 7 The "x" and "y" at the end of variables stand for the X-Spindle or Y-Spindle respectivly.
jessekaiser 56:6ea03cce1175 8 */
jessekaiser 56:6ea03cce1175 9
jessekaiser 0:3acdd563582f 10 #include "mbed.h"
jessekaiser 10:7f94cd65c910 11 #include "C12832_lcd.h"
jessekaiser 56:6ea03cce1175 12 #include "arm_math.h"
jessekaiser 57:0a278c60d28b 13 //#include "HIDScope.h"
jessekaiser 0:3acdd563582f 14
jessekaiser 69:a1ba54587b35 15 #define P_Gain 0.99
jessekaiser 71:aee1289bc16a 16 #define K_Gain 150 //Gain of the filtered EMG signal
jessekaiser 71:aee1289bc16a 17 #define Damp 5 //Deceleration of the motor
jessekaiser 71:aee1289bc16a 18 #define Mass 1 // Mass value
jessekaiser 71:aee1289bc16a 19 #define dt 0.01 //Sample frequency
jessekaiser 67:fba5b64bb295 20 #define EMG_tresh1 0.01
jessekaiser 67:fba5b64bb295 21 #define EMG_tresh2 0.01
jessekaiser 60:664f9b907c02 22 #define EMG_tresh3 0.01
jessekaiser 60:664f9b907c02 23 #define EMG_tresh4 0.01
jessekaiser 69:a1ba54587b35 24 #define H_Gain 3.5
jessekaiser 69:a1ba54587b35 25 #define Pt_x 0.50
jessekaiser 69:a1ba54587b35 26 #define Pt_y 0.50
jessekaiser 71:aee1289bc16a 27 #define error_tresh 0.01
jessekaiser 31:372ff8d49430 28
jessekaiser 56:6ea03cce1175 29 //Motor control
jessekaiser 56:6ea03cce1175 30 DigitalOut Dirx(p21);
jessekaiser 56:6ea03cce1175 31 PwmOut Stepx(p22);
jessekaiser 56:6ea03cce1175 32 DigitalOut Diry(p23);
jessekaiser 56:6ea03cce1175 33 PwmOut Stepy(p24);
jessekaiser 56:6ea03cce1175 34
jessekaiser 56:6ea03cce1175 35 //Signal to and from computer
jessekaiser 56:6ea03cce1175 36 Serial pc(USBTX, USBRX);
jessekaiser 56:6ea03cce1175 37
jessekaiser 56:6ea03cce1175 38 //Position sensors
jessekaiser 56:6ea03cce1175 39 AnalogIn Posx(p19);
jessekaiser 58:3ea066215c31 40 AnalogIn Posy(p20);
jessekaiser 58:3ea066215c31 41 DigitalOut Enablex(p25);
jessekaiser 58:3ea066215c31 42 DigitalOut Enabley(p26);
jessekaiser 56:6ea03cce1175 43
jessekaiser 56:6ea03cce1175 44 //Microstepping
jessekaiser 0:3acdd563582f 45 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 46 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 47 DigitalOut MS3(p29);
jessekaiser 56:6ea03cce1175 48
jessekaiser 57:0a278c60d28b 49 //EMG inputs
jessekaiser 72:4d01b79ad332 50 AnalogIn emg1(p15);
jessekaiser 72:4d01b79ad332 51 AnalogIn emg2(p16);
jessekaiser 56:6ea03cce1175 52 AnalogIn emg3(p17);
jessekaiser 56:6ea03cce1175 53 AnalogIn emg4(p18);
jessekaiser 56:6ea03cce1175 54
jessekaiser 57:0a278c60d28b 55 //HIDScope scope(4);
jessekaiser 57:0a278c60d28b 56 //Ticker scopeTimer;
jessekaiser 56:6ea03cce1175 57
jessekaiser 71:aee1289bc16a 58 //lcd screen
jessekaiser 30:0a8f849e0292 59 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 60
jessekaiser 56:6ea03cce1175 61 //Variables for motor control
jessekaiser 60:664f9b907c02 62 float setpoint = 2000; //Frequentie setpoint
jessekaiser 56:6ea03cce1175 63 float step_freq1 = 1;
jessekaiser 56:6ea03cce1175 64 float step_freq2 = 1;
jessekaiser 69:a1ba54587b35 65
jessekaiser 56:6ea03cce1175 66
jessekaiser 56:6ea03cce1175 67 //EMG filter
jessekaiser 56:6ea03cce1175 68 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 56:6ea03cce1175 69 arm_biquad_casd_df1_inst_f32 lowpass_triceps;
jessekaiser 56:6ea03cce1175 70 arm_biquad_casd_df1_inst_f32 lowpass_pect;
jessekaiser 56:6ea03cce1175 71 arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
jessekaiser 71:aee1289bc16a 72 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz
jessekaiser 56:6ea03cce1175 73 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 56:6ea03cce1175 74 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 56:6ea03cce1175 75 arm_biquad_casd_df1_inst_f32 highnotch_triceps;
jessekaiser 56:6ea03cce1175 76 arm_biquad_casd_df1_inst_f32 highnotch_pect;
jessekaiser 56:6ea03cce1175 77 arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
jessekaiser 56:6ea03cce1175 78 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
jessekaiser 56:6ea03cce1175 79 float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 56:6ea03cce1175 80
jessekaiser 56:6ea03cce1175 81 //state values
jessekaiser 56:6ea03cce1175 82 float lowpass_biceps_states[4];
jessekaiser 56:6ea03cce1175 83 float highnotch_biceps_states[8];
jessekaiser 56:6ea03cce1175 84 float lowpass_triceps_states[4];
jessekaiser 56:6ea03cce1175 85 float highnotch_triceps_states[8];
jessekaiser 56:6ea03cce1175 86 float lowpass_pect_states[4];
jessekaiser 56:6ea03cce1175 87 float highnotch_pect_states[8];
jessekaiser 56:6ea03cce1175 88 float lowpass_deltoid_states[4];
jessekaiser 56:6ea03cce1175 89 float highnotch_deltoid_states[8];
jessekaiser 56:6ea03cce1175 90
jessekaiser 56:6ea03cce1175 91 //global variabels
jessekaiser 56:6ea03cce1175 92 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
jessekaiser 72:4d01b79ad332 93 float speed_old1, speed_old2;
jessekaiser 72:4d01b79ad332 94 float acc1, acc2;
jessekaiser 72:4d01b79ad332 95 float force1, force2;
jessekaiser 72:4d01b79ad332 96 float speed1, speed2;
jessekaiser 72:4d01b79ad332 97 float damping1, damping2;
jessekaiser 60:664f9b907c02 98 float emg_x, emg_y;
jessekaiser 61:99f3ae6e053b 99 float cx = 0;
jessekaiser 61:99f3ae6e053b 100 float cy = 0;
jessekaiser 61:99f3ae6e053b 101 float errorx = 0.2;
jessekaiser 61:99f3ae6e053b 102 float errory = 0.2;
jessekaiser 61:99f3ae6e053b 103 float Ps_x = 0;
jessekaiser 61:99f3ae6e053b 104 float Ps_y = 0;
jessekaiser 62:509622cce1c6 105 float hstep_freqx = 1;
jessekaiser 62:509622cce1c6 106 float hstep_freqy = 1;
jessekaiser 69:a1ba54587b35 107 float emg_y_abs = 0;
jessekaiser 69:a1ba54587b35 108 float emg_x_abs = 0;
jessekaiser 56:6ea03cce1175 109
jessekaiser 56:6ea03cce1175 110 void looper_emg()
jessekaiser 56:6ea03cce1175 111 {
jessekaiser 56:6ea03cce1175 112 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
jessekaiser 56:6ea03cce1175 113 emg_value1_f32 = emg1.read();
jessekaiser 56:6ea03cce1175 114 emg_value2_f32 = emg2.read();
jessekaiser 56:6ea03cce1175 115 emg_value3_f32 = emg3.read();
jessekaiser 56:6ea03cce1175 116 emg_value4_f32 = emg4.read();
jessekaiser 56:6ea03cce1175 117
jessekaiser 56:6ea03cce1175 118 //process emg biceps
jessekaiser 56:6ea03cce1175 119 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 60:664f9b907c02 120 filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented.
jessekaiser 56:6ea03cce1175 121 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 56:6ea03cce1175 122
jessekaiser 56:6ea03cce1175 123 //process emg triceps
jessekaiser 56:6ea03cce1175 124 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 60:664f9b907c02 125 filtered_triceps = fabs(filtered_triceps);
jessekaiser 56:6ea03cce1175 126 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 56:6ea03cce1175 127
jessekaiser 56:6ea03cce1175 128 //process emg pectoralis major
jessekaiser 56:6ea03cce1175 129 arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
jessekaiser 60:664f9b907c02 130 filtered_pect = fabs(filtered_pect);
jessekaiser 56:6ea03cce1175 131 arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
jessekaiser 56:6ea03cce1175 132
jessekaiser 56:6ea03cce1175 133 //process emg deltoid
jessekaiser 56:6ea03cce1175 134 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
jessekaiser 60:664f9b907c02 135 filtered_deltoid = fabs(filtered_deltoid);
jessekaiser 56:6ea03cce1175 136 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
jessekaiser 56:6ea03cce1175 137
jessekaiser 58:3ea066215c31 138 /*send value to PC.
jessekaiser 56:6ea03cce1175 139 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 56:6ea03cce1175 140 scope.set(1,filtered_triceps);
jessekaiser 56:6ea03cce1175 141 scope.set(2,filtered_pect);
jessekaiser 57:0a278c60d28b 142 scope.set(3,filtered_deltoid);*/
jessekaiser 56:6ea03cce1175 143 }
jessekaiser 56:6ea03cce1175 144
jessekaiser 72:4d01b79ad332 145 /*void looper_motor()
jessekaiser 69:a1ba54587b35 146 {
jessekaiser 69:a1ba54587b35 147
jessekaiser 67:fba5b64bb295 148 emg_y = (filtered_biceps - filtered_triceps);
jessekaiser 67:fba5b64bb295 149 emg_y_abs = fabs(emg_y);
jessekaiser 67:fba5b64bb295 150 force1 = emg_y_abs*K_Gain;
jessekaiser 60:664f9b907c02 151 force1 = force1 - damping1;
jessekaiser 60:664f9b907c02 152 acc1 = force1/Mass;
jessekaiser 60:664f9b907c02 153 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 60:664f9b907c02 154 damping1 = speed1 * Damp;
jessekaiser 60:664f9b907c02 155 step_freq1 = setpoint * speed1;
jessekaiser 60:664f9b907c02 156 Stepy.period(1.0/step_freq1);
jessekaiser 60:664f9b907c02 157 speed_old1 = speed1;
jessekaiser 60:664f9b907c02 158
jessekaiser 66:c094d1868b30 159 if (emg_y > 0) {
jessekaiser 60:664f9b907c02 160 Diry = 1;
jessekaiser 60:664f9b907c02 161 }
jessekaiser 60:664f9b907c02 162
jessekaiser 66:c094d1868b30 163 if (emg_y < 0) {
jessekaiser 60:664f9b907c02 164 Diry = 0;
jessekaiser 60:664f9b907c02 165 }
jessekaiser 60:664f9b907c02 166 //Speed limit
jessekaiser 60:664f9b907c02 167 if (speed1 > 1) {
jessekaiser 60:664f9b907c02 168 speed1 = 1;
jessekaiser 60:664f9b907c02 169 step_freq1 = setpoint;
jessekaiser 60:664f9b907c02 170 }
jessekaiser 60:664f9b907c02 171 //EMG treshold
jessekaiser 60:664f9b907c02 172 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
jessekaiser 60:664f9b907c02 173 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 174 } else {
jessekaiser 60:664f9b907c02 175 Enabley = 0;
jessekaiser 60:664f9b907c02 176 }
jessekaiser 71:aee1289bc16a 177 wait(0.01);
jessekaiser 72:4d01b79ad332 178
jessekaiser 71:aee1289bc16a 179 emg_x = (filtered_pect - filtered_deltoid);
jessekaiser 71:aee1289bc16a 180 emg_x_abs = fabs(emg_x);
jessekaiser 71:aee1289bc16a 181 force2 = emg_x_abs*K_Gain;
jessekaiser 71:aee1289bc16a 182 force2 = force2 - damping2;
jessekaiser 71:aee1289bc16a 183 acc2 = force2/Mass;
jessekaiser 71:aee1289bc16a 184 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 71:aee1289bc16a 185 damping2 = speed2 * Damp;
jessekaiser 71:aee1289bc16a 186 step_freq2 = setpoint * speed2;
jessekaiser 71:aee1289bc16a 187 Stepx.period(1.0/step_freq2);
jessekaiser 71:aee1289bc16a 188 speed_old2 = speed2;
jessekaiser 60:664f9b907c02 189
jessekaiser 71:aee1289bc16a 190 if (emg_x > 0) {
jessekaiser 71:aee1289bc16a 191 Dirx = 0;
jessekaiser 71:aee1289bc16a 192 }
jessekaiser 71:aee1289bc16a 193 if (emg_x < 0) {
jessekaiser 71:aee1289bc16a 194 Dirx = 1;
jessekaiser 71:aee1289bc16a 195 }
jessekaiser 71:aee1289bc16a 196 //Speed limit
jessekaiser 71:aee1289bc16a 197 if (speed2 > 1) {
jessekaiser 71:aee1289bc16a 198 speed2 = 1;
jessekaiser 71:aee1289bc16a 199 step_freq2 = setpoint;
jessekaiser 71:aee1289bc16a 200 }
jessekaiser 71:aee1289bc16a 201 //EMG treshold
jessekaiser 71:aee1289bc16a 202 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
jessekaiser 71:aee1289bc16a 203 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 71:aee1289bc16a 204 } else {
jessekaiser 71:aee1289bc16a 205 Enablex = 0;
jessekaiser 71:aee1289bc16a 206 }
jessekaiser 71:aee1289bc16a 207 wait(0.01);
jessekaiser 60:664f9b907c02 208 }
jessekaiser 60:664f9b907c02 209
jessekaiser 71:aee1289bc16a 210
jessekaiser 71:aee1289bc16a 211
jessekaiser 72:4d01b79ad332 212 void looper_motorx()
jessekaiser 60:664f9b907c02 213 {
jessekaiser 69:a1ba54587b35 214
jessekaiser 67:fba5b64bb295 215 emg_x = (filtered_pect - filtered_deltoid);
jessekaiser 67:fba5b64bb295 216 emg_x_abs = fabs(emg_x);
jessekaiser 67:fba5b64bb295 217 force2 = emg_x_abs*K_Gain;
jessekaiser 60:664f9b907c02 218 force2 = force2 - damping2;
jessekaiser 60:664f9b907c02 219 acc2 = force2/Mass;
jessekaiser 60:664f9b907c02 220 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 60:664f9b907c02 221 damping2 = speed2 * Damp;
jessekaiser 60:664f9b907c02 222 step_freq2 = setpoint * speed2;
jessekaiser 60:664f9b907c02 223 Stepx.period(1.0/step_freq2);
jessekaiser 60:664f9b907c02 224 speed_old2 = speed2;
jessekaiser 60:664f9b907c02 225
jessekaiser 66:c094d1868b30 226 if (emg_x > 0) {
jessekaiser 60:664f9b907c02 227 Dirx = 0;
jessekaiser 60:664f9b907c02 228 }
jessekaiser 66:c094d1868b30 229 if (emg_x < 0) {
jessekaiser 60:664f9b907c02 230 Dirx = 1;
jessekaiser 60:664f9b907c02 231 }
jessekaiser 60:664f9b907c02 232 //Speed limit
jessekaiser 60:664f9b907c02 233 if (speed2 > 1) {
jessekaiser 60:664f9b907c02 234 speed2 = 1;
jessekaiser 60:664f9b907c02 235 step_freq2 = setpoint;
jessekaiser 60:664f9b907c02 236 }
jessekaiser 60:664f9b907c02 237 //EMG treshold
jessekaiser 60:664f9b907c02 238 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
jessekaiser 60:664f9b907c02 239 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 240 } else {
jessekaiser 60:664f9b907c02 241 Enablex = 0;
jessekaiser 60:664f9b907c02 242 }
jessekaiser 60:664f9b907c02 243
jessekaiser 71:aee1289bc16a 244 }*/
jessekaiser 59:ba22a8c26dee 245
jessekaiser 59:ba22a8c26dee 246 int main()
jessekaiser 56:6ea03cce1175 247 {
jessekaiser 59:ba22a8c26dee 248 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 59:ba22a8c26dee 249 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 72:4d01b79ad332 250
jessekaiser 71:aee1289bc16a 251 MS1 = 1;
jessekaiser 71:aee1289bc16a 252 MS2 = 0;
jessekaiser 71:aee1289bc16a 253 MS3 = 0;
jessekaiser 69:a1ba54587b35 254
jessekaiser 71:aee1289bc16a 255 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 71:aee1289bc16a 256 Stepy.write(0.5);
jessekaiser 59:ba22a8c26dee 257
jessekaiser 71:aee1289bc16a 258 Enablex = 1;
jessekaiser 71:aee1289bc16a 259 Enabley = 1;
jessekaiser 71:aee1289bc16a 260 wait(1);
jessekaiser 71:aee1289bc16a 261 lcd.printf("Start homing");
jessekaiser 71:aee1289bc16a 262 wait(2);
jessekaiser 71:aee1289bc16a 263 lcd.cls();
jessekaiser 71:aee1289bc16a 264 wait(1);
jessekaiser 71:aee1289bc16a 265 Enablex = 0;
jessekaiser 71:aee1289bc16a 266 Enabley = 0;
jessekaiser 72:4d01b79ad332 267
jessekaiser 72:4d01b79ad332 268 //Homing of the motor, so you start from the same position every time.
jessekaiser 71:aee1289bc16a 269 while(errorx > error_tresh || errory > error_tresh) {
jessekaiser 69:a1ba54587b35 270
jessekaiser 71:aee1289bc16a 271 Ps_x = Posx.read();
jessekaiser 71:aee1289bc16a 272 Ps_y = Posy.read();
jessekaiser 71:aee1289bc16a 273 errorx = fabs(Pt_x - Ps_x);
jessekaiser 71:aee1289bc16a 274 errory = fabs(Ps_y - Pt_y);
jessekaiser 72:4d01b79ad332 275 lcd.printf("%.2f %.2f \n", Stepx.read(), Stepy.read());
jessekaiser 71:aee1289bc16a 276
jessekaiser 69:a1ba54587b35 277
jessekaiser 71:aee1289bc16a 278 if (Ps_x < 0.50 && errorx > error_tresh) {
jessekaiser 71:aee1289bc16a 279 Dirx = 0;
jessekaiser 71:aee1289bc16a 280 cx = errorx * H_Gain;
jessekaiser 71:aee1289bc16a 281 float hnew_step_freqx;
jessekaiser 71:aee1289bc16a 282 hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
jessekaiser 71:aee1289bc16a 283 hstep_freqx = hnew_step_freqx;
jessekaiser 71:aee1289bc16a 284 Stepx.period(1.0/hstep_freqx);
jessekaiser 71:aee1289bc16a 285 wait(0.01);
jessekaiser 71:aee1289bc16a 286 }
jessekaiser 71:aee1289bc16a 287 if (Ps_y > 0.50 && errory > error_tresh) {
jessekaiser 71:aee1289bc16a 288 Diry = 0;
jessekaiser 71:aee1289bc16a 289 cy = errory * H_Gain;
jessekaiser 71:aee1289bc16a 290 float hnew_step_freqy;
jessekaiser 71:aee1289bc16a 291 hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
jessekaiser 71:aee1289bc16a 292 hstep_freqy = hnew_step_freqy;
jessekaiser 71:aee1289bc16a 293 Stepy.period(1.0/hstep_freqy);
jessekaiser 71:aee1289bc16a 294 wait(0.01);
jessekaiser 71:aee1289bc16a 295 }
jessekaiser 69:a1ba54587b35 296
jessekaiser 71:aee1289bc16a 297 if (Ps_x > 0.50 && errorx > error_tresh) {
jessekaiser 71:aee1289bc16a 298 Dirx = 1;
jessekaiser 71:aee1289bc16a 299 cx = errorx * H_Gain;
jessekaiser 71:aee1289bc16a 300 float hnew_step_freqx;
jessekaiser 71:aee1289bc16a 301 hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
jessekaiser 71:aee1289bc16a 302 hstep_freqx = hnew_step_freqx;
jessekaiser 71:aee1289bc16a 303 Stepx.period(1.0/hstep_freqx);
jessekaiser 71:aee1289bc16a 304 wait(0.01);
jessekaiser 71:aee1289bc16a 305 }
jessekaiser 71:aee1289bc16a 306 if (Ps_y < 0.50 && errory > error_tresh) {
jessekaiser 71:aee1289bc16a 307 Diry = 1;
jessekaiser 71:aee1289bc16a 308 cy = errory * H_Gain;
jessekaiser 71:aee1289bc16a 309 float hnew_step_freqy;
jessekaiser 71:aee1289bc16a 310 hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
jessekaiser 71:aee1289bc16a 311 hstep_freqy = hnew_step_freqy;
jessekaiser 71:aee1289bc16a 312 Stepy.period(1.0/hstep_freqy);
jessekaiser 71:aee1289bc16a 313 wait(0.01);
jessekaiser 71:aee1289bc16a 314 }
jessekaiser 69:a1ba54587b35 315
jessekaiser 71:aee1289bc16a 316 }
jessekaiser 71:aee1289bc16a 317 lcd.printf("Done");
jessekaiser 71:aee1289bc16a 318 wait(2);
jessekaiser 71:aee1289bc16a 319 lcd.cls();
jessekaiser 71:aee1289bc16a 320 wait(1);
jessekaiser 71:aee1289bc16a 321 Enablex = 1;
jessekaiser 71:aee1289bc16a 322 Enabley = 1;
jessekaiser 71:aee1289bc16a 323 wait(3);
jessekaiser 71:aee1289bc16a 324 lcd.printf("Start EMG Control");
jessekaiser 71:aee1289bc16a 325 wait(2);
jessekaiser 71:aee1289bc16a 326 lcd.cls();
jessekaiser 71:aee1289bc16a 327 wait(1);
jessekaiser 71:aee1289bc16a 328 Enablex = 0;
jessekaiser 71:aee1289bc16a 329 Enabley = 0;
jessekaiser 72:4d01b79ad332 330
jessekaiser 69:a1ba54587b35 331 MS1 = 1;
jessekaiser 69:a1ba54587b35 332 MS2 = 0;
jessekaiser 69:a1ba54587b35 333 MS3 = 0;
jessekaiser 69:a1ba54587b35 334 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 69:a1ba54587b35 335 Stepy.write(0.5);
jessekaiser 69:a1ba54587b35 336
jessekaiser 66:c094d1868b30 337 Ticker emgtimer; //biceps
jessekaiser 69:a1ba54587b35 338 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 69:a1ba54587b35 339 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 69:a1ba54587b35 340 //triceps
jessekaiser 69:a1ba54587b35 341 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 69:a1ba54587b35 342 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 69:a1ba54587b35 343 //pectoralis major
jessekaiser 69:a1ba54587b35 344 arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
jessekaiser 69:a1ba54587b35 345 arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
jessekaiser 69:a1ba54587b35 346 //deltoid
jessekaiser 69:a1ba54587b35 347 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 69:a1ba54587b35 348 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
jessekaiser 69:a1ba54587b35 349 emgtimer.attach(looper_emg, 0.01);
jessekaiser 59:ba22a8c26dee 350
jessekaiser 72:4d01b79ad332 351 //Ticker looptimer1;
jessekaiser 71:aee1289bc16a 352 //looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
jessekaiser 61:99f3ae6e053b 353
jessekaiser 72:4d01b79ad332 354 //Ticker looptimer2;
jessekaiser 72:4d01b79ad332 355 //looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
jessekaiser 69:a1ba54587b35 356
jessekaiser 69:a1ba54587b35 357 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 59:ba22a8c26dee 358
jessekaiser 58:3ea066215c31 359
jessekaiser 69:a1ba54587b35 360
jessekaiser 69:a1ba54587b35 361 while (1) {
jessekaiser 61:99f3ae6e053b 362
jessekaiser 72:4d01b79ad332 363
jessekaiser 72:4d01b79ad332 364 emg_y = (filtered_biceps - filtered_triceps);
jessekaiser 72:4d01b79ad332 365 emg_y_abs = fabs(emg_y);
jessekaiser 72:4d01b79ad332 366 force1 = emg_y_abs*K_Gain;
jessekaiser 72:4d01b79ad332 367 force1 = force1 - damping1;
jessekaiser 72:4d01b79ad332 368 acc1 = force1/Mass;
jessekaiser 72:4d01b79ad332 369 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 72:4d01b79ad332 370 damping1 = speed1 * Damp;
jessekaiser 72:4d01b79ad332 371 step_freq1 = setpoint * speed1;
jessekaiser 72:4d01b79ad332 372
jessekaiser 72:4d01b79ad332 373 Stepy.period(1.0/step_freq1);
jessekaiser 72:4d01b79ad332 374 speed_old1 = speed1;
jessekaiser 72:4d01b79ad332 375
jessekaiser 72:4d01b79ad332 376 if (emg_y > 0) {
jessekaiser 72:4d01b79ad332 377 Diry = 1;
jessekaiser 72:4d01b79ad332 378 }
jessekaiser 72:4d01b79ad332 379
jessekaiser 72:4d01b79ad332 380 if (emg_y < 0) {
jessekaiser 72:4d01b79ad332 381 Diry = 0;
jessekaiser 72:4d01b79ad332 382 }
jessekaiser 72:4d01b79ad332 383 //Speed limit
jessekaiser 72:4d01b79ad332 384 if (speed1 > 1) {
jessekaiser 72:4d01b79ad332 385 speed1 = 1;
jessekaiser 72:4d01b79ad332 386 step_freq1 = setpoint;
jessekaiser 72:4d01b79ad332 387 }
jessekaiser 72:4d01b79ad332 388 //EMG treshold
jessekaiser 72:4d01b79ad332 389 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
jessekaiser 72:4d01b79ad332 390 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 72:4d01b79ad332 391 } else {
jessekaiser 72:4d01b79ad332 392 Enabley = 0;
jessekaiser 72:4d01b79ad332 393 }
jessekaiser 72:4d01b79ad332 394 wait(0.01);
jessekaiser 72:4d01b79ad332 395
jessekaiser 72:4d01b79ad332 396
jessekaiser 72:4d01b79ad332 397 emg_x = (filtered_pect - filtered_deltoid);
jessekaiser 72:4d01b79ad332 398 emg_x_abs = fabs(emg_x);
jessekaiser 72:4d01b79ad332 399 force2 = emg_x_abs*K_Gain;
jessekaiser 72:4d01b79ad332 400 force2 = force2 - damping2;
jessekaiser 72:4d01b79ad332 401 acc2 = force2/Mass;
jessekaiser 72:4d01b79ad332 402 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 72:4d01b79ad332 403 damping2 = speed2 * Damp;
jessekaiser 72:4d01b79ad332 404 step_freq2 = setpoint * speed2;
jessekaiser 72:4d01b79ad332 405
jessekaiser 72:4d01b79ad332 406 Stepx.period(1.0/step_freq2);
jessekaiser 72:4d01b79ad332 407 speed_old2 = speed2;
jessekaiser 72:4d01b79ad332 408
jessekaiser 72:4d01b79ad332 409 if (emg_x > 0) {
jessekaiser 72:4d01b79ad332 410 Dirx = 0;
jessekaiser 72:4d01b79ad332 411 }
jessekaiser 72:4d01b79ad332 412 if (emg_x < 0) {
jessekaiser 72:4d01b79ad332 413 Dirx = 1;
jessekaiser 72:4d01b79ad332 414 }
jessekaiser 72:4d01b79ad332 415 //Speed limit
jessekaiser 72:4d01b79ad332 416 if (speed2 > 1) {
jessekaiser 72:4d01b79ad332 417 speed2 = 1;
jessekaiser 72:4d01b79ad332 418 step_freq2 = setpoint;
jessekaiser 72:4d01b79ad332 419 }
jessekaiser 72:4d01b79ad332 420 //EMG treshold
jessekaiser 72:4d01b79ad332 421 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
jessekaiser 72:4d01b79ad332 422 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 72:4d01b79ad332 423 } else {
jessekaiser 72:4d01b79ad332 424 Enablex = 0;
jessekaiser 72:4d01b79ad332 425 }
jessekaiser 72:4d01b79ad332 426 wait(0.01);
jessekaiser 72:4d01b79ad332 427
jessekaiser 69:a1ba54587b35 428 //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
jessekaiser 71:aee1289bc16a 429 lcd.printf("%.2f %.2f %.2f %.2f \n", Stepx.read(), step_freq1, Stepy.read(), step_freq2);
jessekaiser 71:aee1289bc16a 430 wait(0.01);
jessekaiser 61:99f3ae6e053b 431
jessekaiser 69:a1ba54587b35 432 }
jessekaiser 56:6ea03cce1175 433 }