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@60:664f9b907c02, 2015-06-16 (annotated)

Committer:
jessekaiser
Date:
Tue Jun 16 15:42:59 2015 +0000
Revision:
60:664f9b907c02
Parent:
59:ba22a8c26dee
Child:
61:99f3ae6e053b
Eindconcept 9. Nieuwe control + homing

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 60:664f9b907c02 15 #define K_Gain 50 //Gain of the filtered EMG signal
jessekaiser 56:6ea03cce1175 16 #define Damp 5 //Deceleration of the motor
jessekaiser 56:6ea03cce1175 17 #define Mass 1 // Mass value
jessekaiser 60:664f9b907c02 18 #define dt 0.01 //Sample frequency
jessekaiser 60:664f9b907c02 19 #define MAX_bi 0.40 //Can be used for normalisation of the EMG signal of the biceps
jessekaiser 60:664f9b907c02 20 #define MAX_tri 0.60
jessekaiser 60:664f9b907c02 21 #define MAX_pect 0.48
jessekaiser 60:664f9b907c02 22 #define MAX_delt 1.07
jessekaiser 60:664f9b907c02 23 #define EMG_tresh1 0.02
jessekaiser 60:664f9b907c02 24 #define EMG_tresh2 0.02
jessekaiser 60:664f9b907c02 25 #define EMG_tresh3 0.01
jessekaiser 60:664f9b907c02 26 #define EMG_tresh4 0.01
jessekaiser 31:372ff8d49430 27
jessekaiser 56:6ea03cce1175 28 //Motor control
jessekaiser 56:6ea03cce1175 29 DigitalOut Dirx(p21);
jessekaiser 56:6ea03cce1175 30 PwmOut Stepx(p22);
jessekaiser 56:6ea03cce1175 31 DigitalOut Diry(p23);
jessekaiser 56:6ea03cce1175 32 PwmOut Stepy(p24);
jessekaiser 56:6ea03cce1175 33
jessekaiser 56:6ea03cce1175 34 //Signal to and from computer
jessekaiser 56:6ea03cce1175 35 Serial pc(USBTX, USBRX);
jessekaiser 56:6ea03cce1175 36
jessekaiser 56:6ea03cce1175 37 //Position sensors
jessekaiser 56:6ea03cce1175 38 AnalogIn Posx(p19);
jessekaiser 58:3ea066215c31 39 AnalogIn Posy(p20);
jessekaiser 58:3ea066215c31 40 DigitalOut Enablex(p25);
jessekaiser 58:3ea066215c31 41 DigitalOut Enabley(p26);
jessekaiser 56:6ea03cce1175 42
jessekaiser 56:6ea03cce1175 43 //Microstepping
jessekaiser 0:3acdd563582f 44 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 45 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 46 DigitalOut MS3(p29);
jessekaiser 56:6ea03cce1175 47
jessekaiser 57:0a278c60d28b 48 //EMG inputs
jessekaiser 56:6ea03cce1175 49 AnalogIn emg1(p15); //EMG bordje bovenop, biceps
jessekaiser 56:6ea03cce1175 50 AnalogIn emg2(p16); //triceps
jessekaiser 56:6ea03cce1175 51 AnalogIn emg3(p17);
jessekaiser 56:6ea03cce1175 52 AnalogIn emg4(p18);
jessekaiser 56:6ea03cce1175 53
jessekaiser 57:0a278c60d28b 54 //HIDScope scope(4);
jessekaiser 57:0a278c60d28b 55 //Ticker scopeTimer;
jessekaiser 56:6ea03cce1175 56
jessekaiser 56:6ea03cce1175 57 //lcd
jessekaiser 30:0a8f849e0292 58 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 59
jessekaiser 56:6ea03cce1175 60 //Variables for motor control
jessekaiser 60:664f9b907c02 61 float setpoint = 2000; //Frequentie setpoint
jessekaiser 56:6ea03cce1175 62 float step_freq1 = 1;
jessekaiser 56:6ea03cce1175 63 float step_freq2 = 1;
jessekaiser 56:6ea03cce1175 64 float step_freq3 = 1;
jessekaiser 56:6ea03cce1175 65 float step_freq4 = 1;
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 56:6ea03cce1175 72 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
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 56:6ea03cce1175 93 float speed_old1, speed_old2, speed_old3, speed_old4;
jessekaiser 56:6ea03cce1175 94 float acc1, acc2, acc3, acc4;
jessekaiser 56:6ea03cce1175 95 float force1, force2, force3, force4;
jessekaiser 56:6ea03cce1175 96 float speed1, speed2, speed3, speed4;
jessekaiser 56:6ea03cce1175 97 float damping1, damping2, damping3, damping4;
jessekaiser 60:664f9b907c02 98 float emg_x, emg_y;
jessekaiser 56:6ea03cce1175 99
jessekaiser 56:6ea03cce1175 100 void looper_emg()
jessekaiser 56:6ea03cce1175 101 {
jessekaiser 56:6ea03cce1175 102 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
jessekaiser 56:6ea03cce1175 103 emg_value1_f32 = emg1.read();
jessekaiser 56:6ea03cce1175 104 emg_value2_f32 = emg2.read();
jessekaiser 56:6ea03cce1175 105 emg_value3_f32 = emg3.read();
jessekaiser 56:6ea03cce1175 106 emg_value4_f32 = emg4.read();
jessekaiser 56:6ea03cce1175 107
jessekaiser 56:6ea03cce1175 108 //process emg biceps
jessekaiser 56:6ea03cce1175 109 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 60:664f9b907c02 110 filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented.
jessekaiser 56:6ea03cce1175 111 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 56:6ea03cce1175 112
jessekaiser 56:6ea03cce1175 113 //process emg triceps
jessekaiser 56:6ea03cce1175 114 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 60:664f9b907c02 115 filtered_triceps = fabs(filtered_triceps);
jessekaiser 56:6ea03cce1175 116 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 56:6ea03cce1175 117
jessekaiser 56:6ea03cce1175 118 //process emg pectoralis major
jessekaiser 56:6ea03cce1175 119 arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
jessekaiser 60:664f9b907c02 120 filtered_pect = fabs(filtered_pect);
jessekaiser 56:6ea03cce1175 121 arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
jessekaiser 56:6ea03cce1175 122
jessekaiser 56:6ea03cce1175 123 //process emg deltoid
jessekaiser 56:6ea03cce1175 124 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
jessekaiser 60:664f9b907c02 125 filtered_deltoid = fabs(filtered_deltoid);
jessekaiser 56:6ea03cce1175 126 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
jessekaiser 56:6ea03cce1175 127
jessekaiser 58:3ea066215c31 128 /*send value to PC.
jessekaiser 56:6ea03cce1175 129 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 56:6ea03cce1175 130 scope.set(1,filtered_triceps);
jessekaiser 56:6ea03cce1175 131 scope.set(2,filtered_pect);
jessekaiser 57:0a278c60d28b 132 scope.set(3,filtered_deltoid);*/
jessekaiser 56:6ea03cce1175 133 }
jessekaiser 56:6ea03cce1175 134
jessekaiser 60:664f9b907c02 135 void looper_motory()
jessekaiser 60:664f9b907c02 136 {
jessekaiser 60:664f9b907c02 137 emg_y = fabs(filtered_biceps - filtered_triceps);
jessekaiser 60:664f9b907c02 138 force1 = emg_y*K_Gain;
jessekaiser 60:664f9b907c02 139 force1 = force1 - damping1;
jessekaiser 60:664f9b907c02 140 acc1 = force1/Mass;
jessekaiser 60:664f9b907c02 141 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 60:664f9b907c02 142 damping1 = speed1 * Damp;
jessekaiser 60:664f9b907c02 143 step_freq1 = setpoint * speed1;
jessekaiser 60:664f9b907c02 144 Stepy.period(1.0/step_freq1);
jessekaiser 60:664f9b907c02 145 speed_old1 = speed1;
jessekaiser 60:664f9b907c02 146
jessekaiser 60:664f9b907c02 147
jessekaiser 60:664f9b907c02 148 if (emg_y > 0 || Posy < 0.20) {
jessekaiser 60:664f9b907c02 149 Diry = 1;
jessekaiser 60:664f9b907c02 150 }
jessekaiser 60:664f9b907c02 151
jessekaiser 60:664f9b907c02 152 if (emg_y < 0 || Posy > 0.70) {
jessekaiser 60:664f9b907c02 153 Diry = 0;
jessekaiser 60:664f9b907c02 154 }
jessekaiser 60:664f9b907c02 155 //Speed limit
jessekaiser 60:664f9b907c02 156 if (speed1 > 1) {
jessekaiser 60:664f9b907c02 157 speed1 = 1;
jessekaiser 60:664f9b907c02 158 step_freq1 = setpoint;
jessekaiser 60:664f9b907c02 159 }
jessekaiser 60:664f9b907c02 160 //EMG treshold
jessekaiser 60:664f9b907c02 161 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
jessekaiser 60:664f9b907c02 162 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 163 } else {
jessekaiser 60:664f9b907c02 164 Enabley = 0;
jessekaiser 60:664f9b907c02 165 }
jessekaiser 60:664f9b907c02 166
jessekaiser 60:664f9b907c02 167 }
jessekaiser 60:664f9b907c02 168
jessekaiser 60:664f9b907c02 169 void looper_motorx()
jessekaiser 60:664f9b907c02 170 {
jessekaiser 60:664f9b907c02 171 emg_x = fabs(filtered_pect - filtered_deltoid);
jessekaiser 60:664f9b907c02 172 force2 = emg_x*K_Gain;
jessekaiser 60:664f9b907c02 173 force2 = force2 - damping2;
jessekaiser 60:664f9b907c02 174 acc2 = force2/Mass;
jessekaiser 60:664f9b907c02 175 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 60:664f9b907c02 176 damping2 = speed2 * Damp;
jessekaiser 60:664f9b907c02 177 step_freq2 = setpoint * speed2;
jessekaiser 60:664f9b907c02 178 Stepx.period(1.0/step_freq2);
jessekaiser 60:664f9b907c02 179 speed_old2 = speed2;
jessekaiser 60:664f9b907c02 180
jessekaiser 60:664f9b907c02 181 if (emg_x > 0 || Posx < 0.30) {
jessekaiser 60:664f9b907c02 182 Dirx = 0;
jessekaiser 60:664f9b907c02 183 }
jessekaiser 60:664f9b907c02 184 if (emg_x < 0 || Posx > 0.86) {
jessekaiser 60:664f9b907c02 185 Dirx = 1;
jessekaiser 60:664f9b907c02 186 }
jessekaiser 60:664f9b907c02 187 //Speed limit
jessekaiser 60:664f9b907c02 188 if (speed2 > 1) {
jessekaiser 60:664f9b907c02 189 speed2 = 1;
jessekaiser 60:664f9b907c02 190 step_freq2 = setpoint;
jessekaiser 60:664f9b907c02 191 }
jessekaiser 60:664f9b907c02 192 //EMG treshold
jessekaiser 60:664f9b907c02 193 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
jessekaiser 60:664f9b907c02 194 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 195 } else {
jessekaiser 60:664f9b907c02 196 Enablex = 0;
jessekaiser 60:664f9b907c02 197 }
jessekaiser 60:664f9b907c02 198
jessekaiser 60:664f9b907c02 199 }
jessekaiser 59:ba22a8c26dee 200
jessekaiser 59:ba22a8c26dee 201 int main()
jessekaiser 56:6ea03cce1175 202 {
jessekaiser 60:664f9b907c02 203 float errorx = 0.2;
jessekaiser 60:664f9b907c02 204 float errory = 0.2;
jessekaiser 60:664f9b907c02 205 float Ps_x = Posx.read();
jessekaiser 60:664f9b907c02 206 float Ps_y = Posy.read();
jessekaiser 60:664f9b907c02 207 float cx = 0;
jessekaiser 60:664f9b907c02 208 float cy = 0;
jessekaiser 60:664f9b907c02 209 #define H_Gain 1
jessekaiser 60:664f9b907c02 210 #define Pt_x 0.83
jessekaiser 60:664f9b907c02 211 #define Pt_y 0.25
jessekaiser 60:664f9b907c02 212
jessekaiser 59:ba22a8c26dee 213 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 59:ba22a8c26dee 214 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 60:664f9b907c02 215 while(errorx > 0.05 || errory > 0.05) {
jessekaiser 60:664f9b907c02 216 lcd.printf("%.2f %.2f \n", Stepx.read(), Stepy.read());
jessekaiser 60:664f9b907c02 217 if (Posx.read() < 0.83) {
jessekaiser 60:664f9b907c02 218 Dirx = 0;
jessekaiser 60:664f9b907c02 219 errorx = Pt_x - Ps_x;
jessekaiser 60:664f9b907c02 220 cx = errorx * H_Gain;
jessekaiser 60:664f9b907c02 221 //Stepx.period(1.0/(2000*cx));
jessekaiser 60:664f9b907c02 222 }
jessekaiser 60:664f9b907c02 223 if (Posy.read() > 0.25) {
jessekaiser 60:664f9b907c02 224 Diry = 0;
jessekaiser 60:664f9b907c02 225 errory = Ps_y - Pt_y;
jessekaiser 60:664f9b907c02 226 cy = errory * H_Gain;
jessekaiser 60:664f9b907c02 227 //Stepy.period(1.0/(2000*cy));
jessekaiser 60:664f9b907c02 228 }
jessekaiser 60:664f9b907c02 229
jessekaiser 60:664f9b907c02 230 Stepx.period(1.0/(2000*cx));
jessekaiser 60:664f9b907c02 231 Stepy.period(1.0/(2000*cy));
jessekaiser 60:664f9b907c02 232 wait(0.01);
jessekaiser 60:664f9b907c02 233
jessekaiser 60:664f9b907c02 234 }
jessekaiser 60:664f9b907c02 235
jessekaiser 59:ba22a8c26dee 236 Ticker emgtimer; //biceps
jessekaiser 59:ba22a8c26dee 237 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 59:ba22a8c26dee 238 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 59:ba22a8c26dee 239 //triceps
jessekaiser 59:ba22a8c26dee 240 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 59:ba22a8c26dee 241 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 59:ba22a8c26dee 242 //pectoralis major
jessekaiser 59:ba22a8c26dee 243 arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
jessekaiser 59:ba22a8c26dee 244 arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
jessekaiser 59:ba22a8c26dee 245 //deltoid
jessekaiser 59:ba22a8c26dee 246 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 59:ba22a8c26dee 247 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
jessekaiser 59:ba22a8c26dee 248 emgtimer.attach(looper_emg, 0.01);
jessekaiser 59:ba22a8c26dee 249
jessekaiser 60:664f9b907c02 250 Ticker looptimer1;
jessekaiser 59:ba22a8c26dee 251 looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
jessekaiser 59:ba22a8c26dee 252
jessekaiser 59:ba22a8c26dee 253 Ticker looptimer2;
jessekaiser 60:664f9b907c02 254 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
jessekaiser 59:ba22a8c26dee 255
jessekaiser 59:ba22a8c26dee 256 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 59:ba22a8c26dee 257 MS1 = 1;
jessekaiser 59:ba22a8c26dee 258 MS2 = 0;
jessekaiser 59:ba22a8c26dee 259 MS3 = 0;
jessekaiser 59:ba22a8c26dee 260 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 59:ba22a8c26dee 261 Stepy.write(0.5);
jessekaiser 59:ba22a8c26dee 262
jessekaiser 59:ba22a8c26dee 263
jessekaiser 59:ba22a8c26dee 264 while (1) {
jessekaiser 59:ba22a8c26dee 265
jessekaiser 58:3ea066215c31 266
jessekaiser 57:0a278c60d28b 267 //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
jessekaiser 60:664f9b907c02 268 //lcd.printf("%.2f, %.2f %.2f %.2f \n", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values
jessekaiser 60:664f9b907c02 269 //lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2); //step_freq value of every EMG sensor
jessekaiser 60:664f9b907c02 270 lcd.printf("%.2f %.2f \n", force1, force2);
jessekaiser 58:3ea066215c31 271 //lcd.printf("%.2f, %.2f %.2f %.2f \n", gain_biceps, gain_triceps, gain_pect, gain_deltoid);
jessekaiser 58:3ea066215c31 272 //lcd.printf("%.2f, %.2f %.2f %.2f \n", norm_biceps, norm_triceps, norm_pect, norm_deltoid);
jessekaiser 58:3ea066215c31 273 wait(0.01);
jessekaiser 60:664f9b907c02 274
jessekaiser 0:3acdd563582f 275 }
jessekaiser 56:6ea03cce1175 276 }