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4 directional EMG control of the XY table. Made during my bachelor end assignment.
Dependencies: C12832_lcd HIDScope mbed-dsp mbed
main.cpp@76:627b0537110e, 2015-06-22 (annotated)
- Committer:
- jessekaiser
- Date:
- Mon Jun 22 10:17:32 2015 +0000
- Revision:
- 76:627b0537110e
- Parent:
- 75:9fa809932adf
- Child:
- 77:f3290f86ae4f
Motor-x control 3
Who changed what in which revision?
User | Revision | Line number | New 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 | 76:627b0537110e | 25 | #define Pt_x 0.83 |
jessekaiser | 76:627b0537110e | 26 | |
jessekaiser | 71:aee1289bc16a | 27 | #define error_tresh 0.01 |
jessekaiser | 31:372ff8d49430 | 28 | |
jessekaiser | 56:6ea03cce1175 | 29 | //Motor control |
jessekaiser | 75:9fa809932adf | 30 | DigitalOut Dirx(p25); |
jessekaiser | 75:9fa809932adf | 31 | PwmOut Stepx(p26); |
jessekaiser | 56:6ea03cce1175 | 32 | |
jessekaiser | 56:6ea03cce1175 | 33 | //Signal to and from computer |
jessekaiser | 56:6ea03cce1175 | 34 | Serial pc(USBTX, USBRX); |
jessekaiser | 56:6ea03cce1175 | 35 | |
jessekaiser | 56:6ea03cce1175 | 36 | //Position sensors |
jessekaiser | 75:9fa809932adf | 37 | AnalogIn Posx(p20); |
jessekaiser | 75:9fa809932adf | 38 | DigitalOut Enablex(p30); |
jessekaiser | 56:6ea03cce1175 | 39 | |
jessekaiser | 56:6ea03cce1175 | 40 | //Microstepping |
jessekaiser | 0:3acdd563582f | 41 | DigitalOut MS1(p27); |
jessekaiser | 0:3acdd563582f | 42 | DigitalOut MS2(p28); |
jessekaiser | 0:3acdd563582f | 43 | DigitalOut MS3(p29); |
jessekaiser | 56:6ea03cce1175 | 44 | |
jessekaiser | 57:0a278c60d28b | 45 | //EMG inputs |
jessekaiser | 75:9fa809932adf | 46 | AnalogIn emg1(p19); |
jessekaiser | 75:9fa809932adf | 47 | AnalogIn emg2(p18); |
jessekaiser | 56:6ea03cce1175 | 48 | |
jessekaiser | 57:0a278c60d28b | 49 | //HIDScope scope(4); |
jessekaiser | 57:0a278c60d28b | 50 | //Ticker scopeTimer; |
jessekaiser | 56:6ea03cce1175 | 51 | |
jessekaiser | 71:aee1289bc16a | 52 | //lcd screen |
jessekaiser | 30:0a8f849e0292 | 53 | C12832_LCD lcd; |
jessekaiser | 0:3acdd563582f | 54 | |
jessekaiser | 56:6ea03cce1175 | 55 | //Variables for motor control |
jessekaiser | 60:664f9b907c02 | 56 | float setpoint = 2000; //Frequentie setpoint |
jessekaiser | 74:a9281e4ae9bb | 57 | float step_freq2 = 1; |
jessekaiser | 69:a1ba54587b35 | 58 | |
jessekaiser | 56:6ea03cce1175 | 59 | |
jessekaiser | 56:6ea03cce1175 | 60 | //EMG filter |
jessekaiser | 56:6ea03cce1175 | 61 | arm_biquad_casd_df1_inst_f32 lowpass_biceps; |
jessekaiser | 56:6ea03cce1175 | 62 | arm_biquad_casd_df1_inst_f32 lowpass_triceps; |
jessekaiser | 71:aee1289bc16a | 63 | //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz |
jessekaiser | 56:6ea03cce1175 | 64 | float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751}; |
jessekaiser | 56:6ea03cce1175 | 65 | arm_biquad_casd_df1_inst_f32 highnotch_biceps; |
jessekaiser | 56:6ea03cce1175 | 66 | arm_biquad_casd_df1_inst_f32 highnotch_triceps; |
jessekaiser | 56:6ea03cce1175 | 67 | //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz |
jessekaiser | 56:6ea03cce1175 | 68 | 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 | 69 | |
jessekaiser | 56:6ea03cce1175 | 70 | //state values |
jessekaiser | 56:6ea03cce1175 | 71 | float lowpass_biceps_states[4]; |
jessekaiser | 56:6ea03cce1175 | 72 | float highnotch_biceps_states[8]; |
jessekaiser | 56:6ea03cce1175 | 73 | float lowpass_triceps_states[4]; |
jessekaiser | 56:6ea03cce1175 | 74 | float highnotch_triceps_states[8]; |
jessekaiser | 56:6ea03cce1175 | 75 | |
jessekaiser | 56:6ea03cce1175 | 76 | //global variabels |
jessekaiser | 73:8cc2826ab1c4 | 77 | float filtered_biceps, filtered_triceps; |
jessekaiser | 72:4d01b79ad332 | 78 | float speed_old1, speed_old2; |
jessekaiser | 72:4d01b79ad332 | 79 | float acc1, acc2; |
jessekaiser | 72:4d01b79ad332 | 80 | float force1, force2; |
jessekaiser | 72:4d01b79ad332 | 81 | float speed1, speed2; |
jessekaiser | 72:4d01b79ad332 | 82 | float damping1, damping2; |
jessekaiser | 60:664f9b907c02 | 83 | float emg_x, emg_y; |
jessekaiser | 61:99f3ae6e053b | 84 | float cx = 0; |
jessekaiser | 61:99f3ae6e053b | 85 | float cy = 0; |
jessekaiser | 61:99f3ae6e053b | 86 | float errorx = 0.2; |
jessekaiser | 61:99f3ae6e053b | 87 | float errory = 0.2; |
jessekaiser | 61:99f3ae6e053b | 88 | float Ps_x = 0; |
jessekaiser | 61:99f3ae6e053b | 89 | float Ps_y = 0; |
jessekaiser | 62:509622cce1c6 | 90 | float hstep_freqx = 1; |
jessekaiser | 62:509622cce1c6 | 91 | float hstep_freqy = 1; |
jessekaiser | 69:a1ba54587b35 | 92 | float emg_y_abs = 0; |
jessekaiser | 69:a1ba54587b35 | 93 | float emg_x_abs = 0; |
jessekaiser | 56:6ea03cce1175 | 94 | |
jessekaiser | 56:6ea03cce1175 | 95 | void looper_emg() |
jessekaiser | 56:6ea03cce1175 | 96 | { |
jessekaiser | 73:8cc2826ab1c4 | 97 | float emg_value1_f32, emg_value2_f32; |
jessekaiser | 56:6ea03cce1175 | 98 | emg_value1_f32 = emg1.read(); |
jessekaiser | 56:6ea03cce1175 | 99 | emg_value2_f32 = emg2.read(); |
jessekaiser | 73:8cc2826ab1c4 | 100 | |
jessekaiser | 56:6ea03cce1175 | 101 | //process emg biceps |
jessekaiser | 56:6ea03cce1175 | 102 | arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter |
jessekaiser | 60:664f9b907c02 | 103 | filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented. |
jessekaiser | 56:6ea03cce1175 | 104 | arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter |
jessekaiser | 56:6ea03cce1175 | 105 | |
jessekaiser | 56:6ea03cce1175 | 106 | //process emg triceps |
jessekaiser | 56:6ea03cce1175 | 107 | arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 ); |
jessekaiser | 60:664f9b907c02 | 108 | filtered_triceps = fabs(filtered_triceps); |
jessekaiser | 56:6ea03cce1175 | 109 | arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 ); |
jessekaiser | 56:6ea03cce1175 | 110 | |
jessekaiser | 58:3ea066215c31 | 111 | /*send value to PC. |
jessekaiser | 56:6ea03cce1175 | 112 | scope.set(0,filtered_biceps); //Filtered EMG signal |
jessekaiser | 74:a9281e4ae9bb | 113 | scope.set(1,filtered_triceps); |
jessekaiser | 74:a9281e4ae9bb | 114 | scope.set(2,filtered_pect); |
jessekaiser | 74:a9281e4ae9bb | 115 | scope.set(3,filtered_deltoid);*/ |
jessekaiser | 56:6ea03cce1175 | 116 | } |
jessekaiser | 56:6ea03cce1175 | 117 | |
jessekaiser | 74:a9281e4ae9bb | 118 | |
jessekaiser | 74:a9281e4ae9bb | 119 | void looper_motorx() |
jessekaiser | 69:a1ba54587b35 | 120 | { |
jessekaiser | 69:a1ba54587b35 | 121 | |
jessekaiser | 74:a9281e4ae9bb | 122 | emg_x = (filtered_biceps - filtered_triceps); |
jessekaiser | 74:a9281e4ae9bb | 123 | emg_x_abs = fabs(emg_x); |
jessekaiser | 74:a9281e4ae9bb | 124 | force2 = emg_x_abs*K_Gain; |
jessekaiser | 74:a9281e4ae9bb | 125 | force2 = force2 - damping2; |
jessekaiser | 74:a9281e4ae9bb | 126 | acc2 = force2/Mass; |
jessekaiser | 74:a9281e4ae9bb | 127 | speed2 = speed_old2 + (acc2 * dt); |
jessekaiser | 74:a9281e4ae9bb | 128 | damping2 = speed2 * Damp; |
jessekaiser | 74:a9281e4ae9bb | 129 | step_freq2 = setpoint * speed2; |
jessekaiser | 74:a9281e4ae9bb | 130 | Stepx.period(1.0/step_freq2); |
jessekaiser | 74:a9281e4ae9bb | 131 | speed_old2 = speed2; |
jessekaiser | 60:664f9b907c02 | 132 | |
jessekaiser | 74:a9281e4ae9bb | 133 | if (emg_x > 0) { |
jessekaiser | 74:a9281e4ae9bb | 134 | Dirx = 0; |
jessekaiser | 60:664f9b907c02 | 135 | } |
jessekaiser | 74:a9281e4ae9bb | 136 | if (emg_x < 0) { |
jessekaiser | 74:a9281e4ae9bb | 137 | Dirx = 1; |
jessekaiser | 60:664f9b907c02 | 138 | } |
jessekaiser | 60:664f9b907c02 | 139 | //Speed limit |
jessekaiser | 74:a9281e4ae9bb | 140 | if (speed2 > 1) { |
jessekaiser | 74:a9281e4ae9bb | 141 | speed2 = 1; |
jessekaiser | 74:a9281e4ae9bb | 142 | step_freq2 = setpoint; |
jessekaiser | 60:664f9b907c02 | 143 | } |
jessekaiser | 60:664f9b907c02 | 144 | //EMG treshold |
jessekaiser | 60:664f9b907c02 | 145 | if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) { |
jessekaiser | 74:a9281e4ae9bb | 146 | Enablex = 1; //Enable = 1 turns the motor off. |
jessekaiser | 60:664f9b907c02 | 147 | } else { |
jessekaiser | 74:a9281e4ae9bb | 148 | Enablex = 0; |
jessekaiser | 60:664f9b907c02 | 149 | } |
jessekaiser | 60:664f9b907c02 | 150 | |
jessekaiser | 73:8cc2826ab1c4 | 151 | } |
jessekaiser | 59:ba22a8c26dee | 152 | |
jessekaiser | 59:ba22a8c26dee | 153 | int main() |
jessekaiser | 56:6ea03cce1175 | 154 | { |
jessekaiser | 59:ba22a8c26dee | 155 | // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven. |
jessekaiser | 59:ba22a8c26dee | 156 | // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3); |
jessekaiser | 74:a9281e4ae9bb | 157 | |
jessekaiser | 74:a9281e4ae9bb | 158 | MS1 = 1; |
jessekaiser | 74:a9281e4ae9bb | 159 | MS2 = 0; |
jessekaiser | 74:a9281e4ae9bb | 160 | MS3 = 0; |
jessekaiser | 69:a1ba54587b35 | 161 | |
jessekaiser | 74:a9281e4ae9bb | 162 | Stepx.write(0.5); // Duty cycle of 50% |
jessekaiser | 74:a9281e4ae9bb | 163 | |
jessekaiser | 74:a9281e4ae9bb | 164 | Enablex = 1; |
jessekaiser | 74:a9281e4ae9bb | 165 | wait(1); |
jessekaiser | 76:627b0537110e | 166 | pc.printf("Start homing"); |
jessekaiser | 74:a9281e4ae9bb | 167 | wait(2); |
jessekaiser | 76:627b0537110e | 168 | |
jessekaiser | 74:a9281e4ae9bb | 169 | wait(1); |
jessekaiser | 74:a9281e4ae9bb | 170 | Enablex = 0; |
jessekaiser | 74:a9281e4ae9bb | 171 | |
jessekaiser | 74:a9281e4ae9bb | 172 | //Homing of the motor, so you start from the same position every time. |
jessekaiser | 74:a9281e4ae9bb | 173 | while(errorx > error_tresh) { |
jessekaiser | 74:a9281e4ae9bb | 174 | |
jessekaiser | 74:a9281e4ae9bb | 175 | Ps_x = Posx.read(); |
jessekaiser | 74:a9281e4ae9bb | 176 | errorx = fabs(Pt_x - Ps_x); |
jessekaiser | 76:627b0537110e | 177 | pc.printf("%.2f \n", Stepx.read()); |
jessekaiser | 74:a9281e4ae9bb | 178 | |
jessekaiser | 74:a9281e4ae9bb | 179 | |
jessekaiser | 76:627b0537110e | 180 | if (Ps_x < Pt_x && errorx > error_tresh) { |
jessekaiser | 74:a9281e4ae9bb | 181 | Dirx = 0; |
jessekaiser | 74:a9281e4ae9bb | 182 | cx = errorx * H_Gain; |
jessekaiser | 74:a9281e4ae9bb | 183 | float hnew_step_freqx; |
jessekaiser | 74:a9281e4ae9bb | 184 | hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx); |
jessekaiser | 74:a9281e4ae9bb | 185 | hstep_freqx = hnew_step_freqx; |
jessekaiser | 74:a9281e4ae9bb | 186 | Stepx.period(1.0/hstep_freqx); |
jessekaiser | 74:a9281e4ae9bb | 187 | wait(0.01); |
jessekaiser | 74:a9281e4ae9bb | 188 | } |
jessekaiser | 74:a9281e4ae9bb | 189 | |
jessekaiser | 76:627b0537110e | 190 | if (Ps_x > Pt_x && errorx > error_tresh) { |
jessekaiser | 74:a9281e4ae9bb | 191 | Dirx = 1; |
jessekaiser | 74:a9281e4ae9bb | 192 | cx = errorx * H_Gain; |
jessekaiser | 74:a9281e4ae9bb | 193 | float hnew_step_freqx; |
jessekaiser | 74:a9281e4ae9bb | 194 | hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx); |
jessekaiser | 74:a9281e4ae9bb | 195 | hstep_freqx = hnew_step_freqx; |
jessekaiser | 74:a9281e4ae9bb | 196 | Stepx.period(1.0/hstep_freqx); |
jessekaiser | 74:a9281e4ae9bb | 197 | wait(0.01); |
jessekaiser | 74:a9281e4ae9bb | 198 | } |
jessekaiser | 74:a9281e4ae9bb | 199 | } |
jessekaiser | 76:627b0537110e | 200 | pc.printf("Done"); |
jessekaiser | 74:a9281e4ae9bb | 201 | wait(5); |
jessekaiser | 76:627b0537110e | 202 | |
jessekaiser | 74:a9281e4ae9bb | 203 | wait(1); |
jessekaiser | 74:a9281e4ae9bb | 204 | Enablex = 1; |
jessekaiser | 74:a9281e4ae9bb | 205 | wait(3); |
jessekaiser | 76:627b0537110e | 206 | pc.printf("Start EMG Control"); |
jessekaiser | 74:a9281e4ae9bb | 207 | wait(2); |
jessekaiser | 76:627b0537110e | 208 | |
jessekaiser | 74:a9281e4ae9bb | 209 | wait(1); |
jessekaiser | 74:a9281e4ae9bb | 210 | Enablex = 0; |
jessekaiser | 74:a9281e4ae9bb | 211 | |
jessekaiser | 69:a1ba54587b35 | 212 | MS1 = 1; |
jessekaiser | 69:a1ba54587b35 | 213 | MS2 = 0; |
jessekaiser | 69:a1ba54587b35 | 214 | MS3 = 0; |
jessekaiser | 74:a9281e4ae9bb | 215 | Stepx.write(0.5); // Duty cycle of 50% |
jessekaiser | 74:a9281e4ae9bb | 216 | |
jessekaiser | 74:a9281e4ae9bb | 217 | Ticker emgtimer; //biceps |
jessekaiser | 74:a9281e4ae9bb | 218 | arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states); |
jessekaiser | 74:a9281e4ae9bb | 219 | arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states); |
jessekaiser | 74:a9281e4ae9bb | 220 | //triceps |
jessekaiser | 74:a9281e4ae9bb | 221 | arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states); |
jessekaiser | 74:a9281e4ae9bb | 222 | arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states); |
jessekaiser | 74:a9281e4ae9bb | 223 | emgtimer.attach(looper_emg, 0.01); |
jessekaiser | 59:ba22a8c26dee | 224 | |
jessekaiser | 74:a9281e4ae9bb | 225 | Ticker looptimer1; |
jessekaiser | 74:a9281e4ae9bb | 226 | looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq? |
jessekaiser | 61:99f3ae6e053b | 227 | |
jessekaiser | 74:a9281e4ae9bb | 228 | //Ticker looptimer2; |
jessekaiser | 74:a9281e4ae9bb | 229 | //looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor |
jessekaiser | 69:a1ba54587b35 | 230 | |
jessekaiser | 74:a9281e4ae9bb | 231 | //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0) |
jessekaiser | 59:ba22a8c26dee | 232 | |
jessekaiser | 58:3ea066215c31 | 233 | |
jessekaiser | 69:a1ba54587b35 | 234 | |
jessekaiser | 74:a9281e4ae9bb | 235 | while (1) { |
jessekaiser | 72:4d01b79ad332 | 236 | |
jessekaiser | 76:627b0537110e | 237 | //pc.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read()); |
jessekaiser | 76:627b0537110e | 238 | // pc.printf("%.2f %.2f \n", Stepx.read(), step_freq2); |
jessekaiser | 74:a9281e4ae9bb | 239 | wait(0.01); |
jessekaiser | 72:4d01b79ad332 | 240 | |
jessekaiser | 74:a9281e4ae9bb | 241 | } |
jessekaiser | 74:a9281e4ae9bb | 242 | } |