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@28:593929bbdb98, 2015-05-19 (annotated)

Committer:
jessekaiser
Date:
Tue May 19 15:16:50 2015 +0000
Revision:
28:593929bbdb98
Parent:
27:c7b1851c9bb7
Child:
29:83f005c637be
Kleine aanpassingen gedaan. Er zijn nu 2 aardig goede filters.

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 23:4d050e85e863 6 //Motor control
jessekaiser 0:3acdd563582f 7 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 8 PwmOut Step(p22);
jessekaiser 23:4d050e85e863 9
jessekaiser 23:4d050e85e863 10 //Signal to and from computer
jessekaiser 23:4d050e85e863 11 Serial pc(USBTX, USBRX);
jessekaiser 23:4d050e85e863 12
jessekaiser 24:c4c5d30a3938 13 DigitalOut Enable(p25);
jessekaiser 23:4d050e85e863 14
jessekaiser 23:4d050e85e863 15 //Microstepping
jessekaiser 0:3acdd563582f 16 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 17 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 18 DigitalOut MS3(p29);
jessekaiser 23:4d050e85e863 19
jessekaiser 23:4d050e85e863 20 //Potmeter and EMG
jessekaiser 10:7f94cd65c910 21 AnalogIn Pot1(p19);
jessekaiser 25:144eb5822aa7 22 AnalogIn emg0(p17);
jessekaiser 28:593929bbdb98 23 HIDScope scope(2);
jessekaiser 25:144eb5822aa7 24
jessekaiser 23:4d050e85e863 25 //lcd
jessekaiser 23:4d050e85e863 26 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 27
jessekaiser 23:4d050e85e863 28 //Variables for motor control
jessekaiser 27:c7b1851c9bb7 29 float setpoint = 6500; //Frequentie
jessekaiser 23:4d050e85e863 30 float step_freq = 1;
jessekaiser 23:4d050e85e863 31
jessekaiser 23:4d050e85e863 32
jessekaiser 23:4d050e85e863 33 // Filters
jessekaiser 23:4d050e85e863 34 arm_biquad_casd_df1_inst_f32 lowpass_pot;
jessekaiser 23:4d050e85e863 35 arm_biquad_casd_df1_inst_f32 lowpass_step;
jessekaiser 23:4d050e85e863 36
jessekaiser 28:593929bbdb98 37 //lowpass filter potmeter: Fcn = 0.1 Hz, Fs = 100 Hz
jessekaiser 27:c7b1851c9bb7 38 float lowpass_const[] = {0.0201, 0.0402 , 0.0201, 1.5610, -0.6414};
jessekaiser 27:c7b1851c9bb7 39 //Lowpass filter potmeter: Fc = 0.5 Hz, Fs = 500 Hz,
jessekaiser 27:c7b1851c9bb7 40 //float lowpass_const[] = {0.000009825916403675327, 0.000019651832807350654, 0.000009825916403675327, 1.991114207740345, -0.9911535114059596};
jessekaiser 28:593929bbdb98 41 //lowpass filter potmeter: Fcn = 0.05 Hz, Fs = 500
jessekaiser 28:593929bbdb98 42 //float lowpass_const[] = {0.0055, 0.0111, 0.0055, 1.7786, -0.8008};
jessekaiser 23:4d050e85e863 43
jessekaiser 23:4d050e85e863 44 //EMG filter
jessekaiser 23:4d050e85e863 45 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 23:4d050e85e863 46 //lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 23:4d050e85e863 47 float lowpass2_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 23:4d050e85e863 48 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 23:4d050e85e863 49 //highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB
jessekaiser 23:4d050e85e863 50 float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 23:4d050e85e863 51
jessekaiser 23:4d050e85e863 52
jessekaiser 23:4d050e85e863 53 //state values
jessekaiser 23:4d050e85e863 54 float lowpass_biceps_states[4];
jessekaiser 23:4d050e85e863 55 float highnotch_biceps_states[8];
jessekaiser 23:4d050e85e863 56 float lowpass_pot_states[4];
jessekaiser 23:4d050e85e863 57
jessekaiser 23:4d050e85e863 58 //global variabels
jessekaiser 23:4d050e85e863 59 float filtered_biceps;
jessekaiser 23:4d050e85e863 60 float filtered_pot;
jessekaiser 23:4d050e85e863 61 float filtered_average_pot;
jessekaiser 23:4d050e85e863 62 float filtered_step;
jessekaiser 23:4d050e85e863 63 float pot_value1_f32;
jessekaiser 23:4d050e85e863 64
jessekaiser 24:c4c5d30a3938 65
jessekaiser 23:4d050e85e863 66 void looper_emg()
jessekaiser 23:4d050e85e863 67 {
jessekaiser 23:4d050e85e863 68 /*variable to store value in*/
jessekaiser 25:144eb5822aa7 69 volatile uint16_t emg_value1;
jessekaiser 23:4d050e85e863 70
jessekaiser 23:4d050e85e863 71 float emg_value1_f32;
jessekaiser 23:4d050e85e863 72
jessekaiser 23:4d050e85e863 73 /*put raw emg value both in red and in emg_value*/
jessekaiser 25:144eb5822aa7 74 emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
jessekaiser 23:4d050e85e863 75 emg_value1_f32 = emg0.read();
jessekaiser 23:4d050e85e863 76
jessekaiser 23:4d050e85e863 77 //process emg biceps
jessekaiser 23:4d050e85e863 78 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
jessekaiser 23:4d050e85e863 79 filtered_biceps = fabs(filtered_biceps);
jessekaiser 23:4d050e85e863 80 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
jessekaiser 23:4d050e85e863 81
jessekaiser 23:4d050e85e863 82 /*send value to PC. */
jessekaiser 24:c4c5d30a3938 83 //scope.set(0,emg_value1); //Raw EMG signal biceps
jessekaiser 24:c4c5d30a3938 84 //scope.set(1,filtered_biceps); //Filtered signal
jessekaiser 28:593929bbdb98 85 // scope.send();
jessekaiser 23:4d050e85e863 86 }
jessekaiser 23:4d050e85e863 87 void looper_pot()
jessekaiser 23:4d050e85e863 88 {
jessekaiser 23:4d050e85e863 89
jessekaiser 23:4d050e85e863 90 pot_value1_f32 = Pot1.read() - 0.500;
jessekaiser 23:4d050e85e863 91
jessekaiser 23:4d050e85e863 92 //process input
jessekaiser 23:4d050e85e863 93 arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 );
jessekaiser 28:593929bbdb98 94 scope.set(0, filtered_pot);
jessekaiser 28:593929bbdb98 95 scope.set(1, Pot1.read());
jessekaiser 28:593929bbdb98 96 scope.send();
jessekaiser 23:4d050e85e863 97 }
jessekaiser 23:4d050e85e863 98
jessekaiser 27:c7b1851c9bb7 99
jessekaiser 23:4d050e85e863 100 void looper_motor()
jessekaiser 23:4d050e85e863 101 {
jessekaiser 23:4d050e85e863 102 float new_step_freq;
jessekaiser 27:c7b1851c9bb7 103 new_step_freq = (setpoint*filtered_pot*2);
jessekaiser 23:4d050e85e863 104 step_freq = abs(new_step_freq); //Gives the PWM frequenty to the motor.
jessekaiser 28:593929bbdb98 105
jessekaiser 26:b88ff19ff5dc 106
jessekaiser 27:c7b1851c9bb7 107 if (step_freq < 850) {
jessekaiser 26:b88ff19ff5dc 108 Enable = 1;
jessekaiser 26:b88ff19ff5dc 109 } else {
jessekaiser 26:b88ff19ff5dc 110 Enable = 0;
jessekaiser 26:b88ff19ff5dc 111 }
jessekaiser 27:c7b1851c9bb7 112 Step.period(1.0/(100 + step_freq));
jessekaiser 26:b88ff19ff5dc 113
jessekaiser 23:4d050e85e863 114 }
jessekaiser 0:3acdd563582f 115 int main()
jessekaiser 0:3acdd563582f 116 {
jessekaiser 26:b88ff19ff5dc 117 Ticker log_timer;
jessekaiser 23:4d050e85e863 118 //set up filters. Use external array for constants
jessekaiser 23:4d050e85e863 119 arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states);
jessekaiser 26:b88ff19ff5dc 120 log_timer.attach(looper_pot, 0.01);
jessekaiser 26:b88ff19ff5dc 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 28:593929bbdb98 125 emgtimer.attach(looper_emg, 0.005);
jessekaiser 23:4d050e85e863 126
jessekaiser 23:4d050e85e863 127 Ticker looptimer;
jessekaiser 23:4d050e85e863 128 looptimer.attach(looper_motor, 0.01);
jessekaiser 23:4d050e85e863 129
jessekaiser 4:e4341e3524dc 130 MS1 = 1;
jessekaiser 23:4d050e85e863 131 MS2 = 0;
jessekaiser 2:92a63245d11c 132 MS3 = 0;
jessekaiser 27:c7b1851c9bb7 133 //Step.period(1/step_freq);
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 27:c7b1851c9bb7 138 if (filtered_pot < 0) { //Directie controle.
jessekaiser 23:4d050e85e863 139 Dir = 0;
jessekaiser 23:4d050e85e863 140 } else {
jessekaiser 23:4d050e85e863 141 Dir = 1;
jessekaiser 23:4d050e85e863 142 }
jessekaiser 27:c7b1851c9bb7 143 Step.write(0.5);
jessekaiser 27:c7b1851c9bb7 144 lcd.printf("Freq %.0f Hz Filt %.4f \n", step_freq, filtered_pot); //snelheid meting op lcd
jessekaiser 28:593929bbdb98 145 //pc.printf(" %.4f \n", filtered_pot);
jessekaiser 26:b88ff19ff5dc 146 //lcd.printf("filt %.3f raw %.3f \n", filtered_biceps, emg0.read());
jessekaiser 25:144eb5822aa7 147 //pc.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
jessekaiser 28:593929bbdb98 148 wait(0.01);
jessekaiser 23:4d050e85e863 149
jessekaiser 10:7f94cd65c910 150
jessekaiser 0:3acdd563582f 151 }
jessekaiser 26:b88ff19ff5dc 152 }