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@64:5a66361c8318, 2015-06-18 (annotated)

Committer:
jessekaiser
Date:
Thu Jun 18 11:19:10 2015 +0000
Revision:
64:5a66361c8318
Parent:
63:e336c16c8957
Child:
65:821683c7eb98
Homing 3

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 62:509622cce1c6 15 #define P_Gain 0.995
jessekaiser 60:664f9b907c02 16 #define K_Gain 50 //Gain of the filtered EMG signal
jessekaiser 56:6ea03cce1175 17 #define Damp 5 //Deceleration of the motor
jessekaiser 56:6ea03cce1175 18 #define Mass 1 // Mass value
jessekaiser 60:664f9b907c02 19 #define dt 0.01 //Sample frequency
jessekaiser 60:664f9b907c02 20 #define MAX_bi 0.40 //Can be used for normalisation of the EMG signal of the biceps
jessekaiser 60:664f9b907c02 21 #define MAX_tri 0.60
jessekaiser 60:664f9b907c02 22 #define MAX_pect 0.48
jessekaiser 60:664f9b907c02 23 #define MAX_delt 1.07
jessekaiser 60:664f9b907c02 24 #define EMG_tresh1 0.02
jessekaiser 60:664f9b907c02 25 #define EMG_tresh2 0.02
jessekaiser 60:664f9b907c02 26 #define EMG_tresh3 0.01
jessekaiser 60:664f9b907c02 27 #define EMG_tresh4 0.01
jessekaiser 62:509622cce1c6 28 #define H_Gain 2
jessekaiser 64:5a66361c8318 29 #define Pt_x 44
jessekaiser 64:5a66361c8318 30 #define Pt_y 10
jessekaiser 31:372ff8d49430 31
jessekaiser 56:6ea03cce1175 32 //Motor control
jessekaiser 56:6ea03cce1175 33 DigitalOut Dirx(p21);
jessekaiser 56:6ea03cce1175 34 PwmOut Stepx(p22);
jessekaiser 56:6ea03cce1175 35 DigitalOut Diry(p23);
jessekaiser 56:6ea03cce1175 36 PwmOut Stepy(p24);
jessekaiser 56:6ea03cce1175 37
jessekaiser 56:6ea03cce1175 38 //Signal to and from computer
jessekaiser 56:6ea03cce1175 39 Serial pc(USBTX, USBRX);
jessekaiser 56:6ea03cce1175 40
jessekaiser 56:6ea03cce1175 41 //Position sensors
jessekaiser 56:6ea03cce1175 42 AnalogIn Posx(p19);
jessekaiser 58:3ea066215c31 43 AnalogIn Posy(p20);
jessekaiser 58:3ea066215c31 44 DigitalOut Enablex(p25);
jessekaiser 58:3ea066215c31 45 DigitalOut Enabley(p26);
jessekaiser 56:6ea03cce1175 46
jessekaiser 56:6ea03cce1175 47 //Microstepping
jessekaiser 0:3acdd563582f 48 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 49 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 50 DigitalOut MS3(p29);
jessekaiser 56:6ea03cce1175 51
jessekaiser 57:0a278c60d28b 52 //EMG inputs
jessekaiser 56:6ea03cce1175 53 AnalogIn emg1(p15); //EMG bordje bovenop, biceps
jessekaiser 56:6ea03cce1175 54 AnalogIn emg2(p16); //triceps
jessekaiser 56:6ea03cce1175 55 AnalogIn emg3(p17);
jessekaiser 56:6ea03cce1175 56 AnalogIn emg4(p18);
jessekaiser 56:6ea03cce1175 57
jessekaiser 57:0a278c60d28b 58 //HIDScope scope(4);
jessekaiser 57:0a278c60d28b 59 //Ticker scopeTimer;
jessekaiser 56:6ea03cce1175 60
jessekaiser 56:6ea03cce1175 61 //lcd
jessekaiser 30:0a8f849e0292 62 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 63
jessekaiser 56:6ea03cce1175 64 //Variables for motor control
jessekaiser 60:664f9b907c02 65 float setpoint = 2000; //Frequentie setpoint
jessekaiser 56:6ea03cce1175 66 float step_freq1 = 1;
jessekaiser 56:6ea03cce1175 67 float step_freq2 = 1;
jessekaiser 56:6ea03cce1175 68 float step_freq3 = 1;
jessekaiser 56:6ea03cce1175 69 float step_freq4 = 1;
jessekaiser 56:6ea03cce1175 70
jessekaiser 56:6ea03cce1175 71 //EMG filter
jessekaiser 56:6ea03cce1175 72 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 56:6ea03cce1175 73 arm_biquad_casd_df1_inst_f32 lowpass_triceps;
jessekaiser 56:6ea03cce1175 74 arm_biquad_casd_df1_inst_f32 lowpass_pect;
jessekaiser 56:6ea03cce1175 75 arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
jessekaiser 56:6ea03cce1175 76 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 56:6ea03cce1175 77 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 56:6ea03cce1175 78 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 56:6ea03cce1175 79 arm_biquad_casd_df1_inst_f32 highnotch_triceps;
jessekaiser 56:6ea03cce1175 80 arm_biquad_casd_df1_inst_f32 highnotch_pect;
jessekaiser 56:6ea03cce1175 81 arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
jessekaiser 56:6ea03cce1175 82 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
jessekaiser 56:6ea03cce1175 83 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 84
jessekaiser 56:6ea03cce1175 85 //state values
jessekaiser 56:6ea03cce1175 86 float lowpass_biceps_states[4];
jessekaiser 56:6ea03cce1175 87 float highnotch_biceps_states[8];
jessekaiser 56:6ea03cce1175 88 float lowpass_triceps_states[4];
jessekaiser 56:6ea03cce1175 89 float highnotch_triceps_states[8];
jessekaiser 56:6ea03cce1175 90 float lowpass_pect_states[4];
jessekaiser 56:6ea03cce1175 91 float highnotch_pect_states[8];
jessekaiser 56:6ea03cce1175 92 float lowpass_deltoid_states[4];
jessekaiser 56:6ea03cce1175 93 float highnotch_deltoid_states[8];
jessekaiser 56:6ea03cce1175 94
jessekaiser 56:6ea03cce1175 95 //global variabels
jessekaiser 56:6ea03cce1175 96 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
jessekaiser 56:6ea03cce1175 97 float speed_old1, speed_old2, speed_old3, speed_old4;
jessekaiser 56:6ea03cce1175 98 float acc1, acc2, acc3, acc4;
jessekaiser 56:6ea03cce1175 99 float force1, force2, force3, force4;
jessekaiser 56:6ea03cce1175 100 float speed1, speed2, speed3, speed4;
jessekaiser 56:6ea03cce1175 101 float damping1, damping2, damping3, damping4;
jessekaiser 60:664f9b907c02 102 float emg_x, emg_y;
jessekaiser 61:99f3ae6e053b 103 float cx = 0;
jessekaiser 61:99f3ae6e053b 104 float cy = 0;
jessekaiser 61:99f3ae6e053b 105 float errorx = 0.2;
jessekaiser 61:99f3ae6e053b 106 float errory = 0.2;
jessekaiser 61:99f3ae6e053b 107 float Ps_x = 0;
jessekaiser 61:99f3ae6e053b 108 float Ps_y = 0;
jessekaiser 62:509622cce1c6 109 float hstep_freqx = 1;
jessekaiser 62:509622cce1c6 110 float hstep_freqy = 1;
jessekaiser 56:6ea03cce1175 111
jessekaiser 56:6ea03cce1175 112 void looper_emg()
jessekaiser 56:6ea03cce1175 113 {
jessekaiser 56:6ea03cce1175 114 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
jessekaiser 56:6ea03cce1175 115 emg_value1_f32 = emg1.read();
jessekaiser 56:6ea03cce1175 116 emg_value2_f32 = emg2.read();
jessekaiser 56:6ea03cce1175 117 emg_value3_f32 = emg3.read();
jessekaiser 56:6ea03cce1175 118 emg_value4_f32 = emg4.read();
jessekaiser 56:6ea03cce1175 119
jessekaiser 56:6ea03cce1175 120 //process emg biceps
jessekaiser 56:6ea03cce1175 121 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 60:664f9b907c02 122 filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented.
jessekaiser 56:6ea03cce1175 123 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 56:6ea03cce1175 124
jessekaiser 56:6ea03cce1175 125 //process emg triceps
jessekaiser 56:6ea03cce1175 126 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 60:664f9b907c02 127 filtered_triceps = fabs(filtered_triceps);
jessekaiser 56:6ea03cce1175 128 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 56:6ea03cce1175 129
jessekaiser 56:6ea03cce1175 130 //process emg pectoralis major
jessekaiser 56:6ea03cce1175 131 arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
jessekaiser 60:664f9b907c02 132 filtered_pect = fabs(filtered_pect);
jessekaiser 56:6ea03cce1175 133 arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
jessekaiser 56:6ea03cce1175 134
jessekaiser 56:6ea03cce1175 135 //process emg deltoid
jessekaiser 56:6ea03cce1175 136 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
jessekaiser 60:664f9b907c02 137 filtered_deltoid = fabs(filtered_deltoid);
jessekaiser 56:6ea03cce1175 138 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
jessekaiser 56:6ea03cce1175 139
jessekaiser 58:3ea066215c31 140 /*send value to PC.
jessekaiser 56:6ea03cce1175 141 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 56:6ea03cce1175 142 scope.set(1,filtered_triceps);
jessekaiser 56:6ea03cce1175 143 scope.set(2,filtered_pect);
jessekaiser 57:0a278c60d28b 144 scope.set(3,filtered_deltoid);*/
jessekaiser 56:6ea03cce1175 145 }
jessekaiser 56:6ea03cce1175 146
jessekaiser 60:664f9b907c02 147 void looper_motory()
jessekaiser 60:664f9b907c02 148 {
jessekaiser 60:664f9b907c02 149 emg_y = fabs(filtered_biceps - filtered_triceps);
jessekaiser 60:664f9b907c02 150 force1 = emg_y*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 60:664f9b907c02 159
jessekaiser 60:664f9b907c02 160 if (emg_y > 0 || Posy < 0.20) {
jessekaiser 60:664f9b907c02 161 Diry = 1;
jessekaiser 60:664f9b907c02 162 }
jessekaiser 60:664f9b907c02 163
jessekaiser 60:664f9b907c02 164 if (emg_y < 0 || Posy > 0.70) {
jessekaiser 60:664f9b907c02 165 Diry = 0;
jessekaiser 60:664f9b907c02 166 }
jessekaiser 60:664f9b907c02 167 //Speed limit
jessekaiser 60:664f9b907c02 168 if (speed1 > 1) {
jessekaiser 60:664f9b907c02 169 speed1 = 1;
jessekaiser 60:664f9b907c02 170 step_freq1 = setpoint;
jessekaiser 60:664f9b907c02 171 }
jessekaiser 60:664f9b907c02 172 //EMG treshold
jessekaiser 60:664f9b907c02 173 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
jessekaiser 60:664f9b907c02 174 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 175 } else {
jessekaiser 60:664f9b907c02 176 Enabley = 0;
jessekaiser 60:664f9b907c02 177 }
jessekaiser 60:664f9b907c02 178
jessekaiser 60:664f9b907c02 179 }
jessekaiser 60:664f9b907c02 180
jessekaiser 60:664f9b907c02 181 void looper_motorx()
jessekaiser 60:664f9b907c02 182 {
jessekaiser 60:664f9b907c02 183 emg_x = fabs(filtered_pect - filtered_deltoid);
jessekaiser 60:664f9b907c02 184 force2 = emg_x*K_Gain;
jessekaiser 60:664f9b907c02 185 force2 = force2 - damping2;
jessekaiser 60:664f9b907c02 186 acc2 = force2/Mass;
jessekaiser 60:664f9b907c02 187 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 60:664f9b907c02 188 damping2 = speed2 * Damp;
jessekaiser 60:664f9b907c02 189 step_freq2 = setpoint * speed2;
jessekaiser 60:664f9b907c02 190 Stepx.period(1.0/step_freq2);
jessekaiser 60:664f9b907c02 191 speed_old2 = speed2;
jessekaiser 60:664f9b907c02 192
jessekaiser 60:664f9b907c02 193 if (emg_x > 0 || Posx < 0.30) {
jessekaiser 60:664f9b907c02 194 Dirx = 0;
jessekaiser 60:664f9b907c02 195 }
jessekaiser 60:664f9b907c02 196 if (emg_x < 0 || Posx > 0.86) {
jessekaiser 60:664f9b907c02 197 Dirx = 1;
jessekaiser 60:664f9b907c02 198 }
jessekaiser 60:664f9b907c02 199 //Speed limit
jessekaiser 60:664f9b907c02 200 if (speed2 > 1) {
jessekaiser 60:664f9b907c02 201 speed2 = 1;
jessekaiser 60:664f9b907c02 202 step_freq2 = setpoint;
jessekaiser 60:664f9b907c02 203 }
jessekaiser 60:664f9b907c02 204 //EMG treshold
jessekaiser 60:664f9b907c02 205 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
jessekaiser 60:664f9b907c02 206 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 207 } else {
jessekaiser 60:664f9b907c02 208 Enablex = 0;
jessekaiser 60:664f9b907c02 209 }
jessekaiser 60:664f9b907c02 210
jessekaiser 60:664f9b907c02 211 }
jessekaiser 59:ba22a8c26dee 212
jessekaiser 59:ba22a8c26dee 213 int main()
jessekaiser 56:6ea03cce1175 214 {
jessekaiser 59:ba22a8c26dee 215 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 59:ba22a8c26dee 216 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 62:509622cce1c6 217 //while(1) {
jessekaiser 59:ba22a8c26dee 218 MS1 = 1;
jessekaiser 59:ba22a8c26dee 219 MS2 = 0;
jessekaiser 59:ba22a8c26dee 220 MS3 = 0;
jessekaiser 62:509622cce1c6 221 //Diry = 1;
jessekaiser 62:509622cce1c6 222 //Dirx = 1;
jessekaiser 59:ba22a8c26dee 223 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 59:ba22a8c26dee 224 Stepy.write(0.5);
jessekaiser 62:509622cce1c6 225 //Stepx.period(1/1500);
jessekaiser 63:e336c16c8957 226 //wait(0.01);
jessekaiser 64:5a66361c8318 227 //Stepy.period(1/1500);
jessekaiser 62:509622cce1c6 228 //wait(0.01);
jessekaiser 62:509622cce1c6 229 //}
jessekaiser 63:e336c16c8957 230 Enablex = 1;
jessekaiser 63:e336c16c8957 231 Enabley = 1;
jessekaiser 64:5a66361c8318 232 wait(1);
jessekaiser 62:509622cce1c6 233 lcd.printf("Start homing");
jessekaiser 62:509622cce1c6 234 wait(2);
jessekaiser 62:509622cce1c6 235 lcd.cls();
jessekaiser 62:509622cce1c6 236 wait(1);
jessekaiser 62:509622cce1c6 237 Enablex = 0;
jessekaiser 62:509622cce1c6 238 Enabley = 0;
jessekaiser 64:5a66361c8318 239 while(errorx > 2 && errory > 2) {
jessekaiser 62:509622cce1c6 240 lcd.printf("%.2f %.2f \n", Ps_x, Ps_y);
jessekaiser 59:ba22a8c26dee 241
jessekaiser 64:5a66361c8318 242 Ps_x = Posx.read()* 50;
jessekaiser 64:5a66361c8318 243 Ps_y = Posy.read()* 40;
jessekaiser 62:509622cce1c6 244
jessekaiser 64:5a66361c8318 245 if (Ps_x < 44) {
jessekaiser 61:99f3ae6e053b 246 Dirx = 0;
jessekaiser 61:99f3ae6e053b 247 errorx = Pt_x - Ps_x;
jessekaiser 61:99f3ae6e053b 248 cx = errorx * H_Gain;
jessekaiser 64:5a66361c8318 249
jessekaiser 62:509622cce1c6 250 float hnew_step_freqx;
jessekaiser 62:509622cce1c6 251 hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
jessekaiser 62:509622cce1c6 252 hstep_freqx = hnew_step_freqx;
jessekaiser 62:509622cce1c6 253 Stepx.period(1.0/hstep_freqx);
jessekaiser 62:509622cce1c6 254 wait(0.01);
jessekaiser 64:5a66361c8318 255 } else {
jessekaiser 64:5a66361c8318 256 Enablex = 1;
jessekaiser 61:99f3ae6e053b 257 }
jessekaiser 64:5a66361c8318 258
jessekaiser 64:5a66361c8318 259 if (Ps_y > 10) {
jessekaiser 61:99f3ae6e053b 260 Diry = 0;
jessekaiser 61:99f3ae6e053b 261 errory = Ps_y - Pt_y;
jessekaiser 61:99f3ae6e053b 262 cy = errory * H_Gain;
jessekaiser 64:5a66361c8318 263
jessekaiser 62:509622cce1c6 264 float hnew_step_freqy;
jessekaiser 62:509622cce1c6 265 hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
jessekaiser 62:509622cce1c6 266 hstep_freqy = hnew_step_freqy;
jessekaiser 62:509622cce1c6 267 Stepy.period(1.0/hstep_freqy);
jessekaiser 62:509622cce1c6 268 wait(0.01);
jessekaiser 64:5a66361c8318 269 } else {
jessekaiser 64:5a66361c8318 270 Enabley = 1;
jessekaiser 61:99f3ae6e053b 271 }
jessekaiser 64:5a66361c8318 272
jessekaiser 61:99f3ae6e053b 273 }
jessekaiser 62:509622cce1c6 274 lcd.cls();
jessekaiser 62:509622cce1c6 275 wait(1);
jessekaiser 62:509622cce1c6 276 lcd.printf("Done");
jessekaiser 62:509622cce1c6 277 Enablex = 1;
jessekaiser 61:99f3ae6e053b 278 Enabley = 1;
jessekaiser 64:5a66361c8318 279 wait(3);
jessekaiser 64:5a66361c8318 280 /*Ticker emgtimer; //biceps
jessekaiser 64:5a66361c8318 281 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 64:5a66361c8318 282 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 64:5a66361c8318 283 //triceps
jessekaiser 64:5a66361c8318 284 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 64:5a66361c8318 285 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 64:5a66361c8318 286 //pectoralis major
jessekaiser 64:5a66361c8318 287 arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
jessekaiser 64:5a66361c8318 288 arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
jessekaiser 64:5a66361c8318 289 //deltoid
jessekaiser 64:5a66361c8318 290 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 64:5a66361c8318 291 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
jessekaiser 64:5a66361c8318 292 emgtimer.attach(looper_emg, 0.01);
jessekaiser 59:ba22a8c26dee 293
jessekaiser 64:5a66361c8318 294 Ticker looptimer1;
jessekaiser 64:5a66361c8318 295 looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
jessekaiser 61:99f3ae6e053b 296
jessekaiser 64:5a66361c8318 297 Ticker looptimer2;
jessekaiser 64:5a66361c8318 298 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
jessekaiser 61:99f3ae6e053b 299
jessekaiser 64:5a66361c8318 300 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 64:5a66361c8318 301 MS1 = 1;
jessekaiser 64:5a66361c8318 302 MS2 = 0;
jessekaiser 64:5a66361c8318 303 MS3 = 0;
jessekaiser 64:5a66361c8318 304 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 64:5a66361c8318 305 Stepy.write(0.5);
jessekaiser 59:ba22a8c26dee 306
jessekaiser 58:3ea066215c31 307
jessekaiser 64:5a66361c8318 308 while (1) {
jessekaiser 61:99f3ae6e053b 309
jessekaiser 60:664f9b907c02 310
jessekaiser 64:5a66361c8318 311 //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
jessekaiser 64:5a66361c8318 312 //lcd.printf("%.2f, %.2f %.2f %.2f \n", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values
jessekaiser 64:5a66361c8318 313 //lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2); //step_freq value of every EMG sensor
jessekaiser 64:5a66361c8318 314 lcd.printf("%.2f %.2f \n", force1, force2);
jessekaiser 64:5a66361c8318 315 //lcd.printf("%.2f, %.2f %.2f %.2f \n", gain_biceps, gain_triceps, gain_pect, gain_deltoid);
jessekaiser 64:5a66361c8318 316 //lcd.printf("%.2f, %.2f %.2f %.2f \n", norm_biceps, norm_triceps, norm_pect, norm_deltoid);
jessekaiser 64:5a66361c8318 317 wait(0.01);
jessekaiser 61:99f3ae6e053b 318
jessekaiser 64:5a66361c8318 319 }*/
jessekaiser 56:6ea03cce1175 320 }