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@18:71a01477e264, 2015-05-01 (annotated)

Committer:
jessekaiser
Date:
Fri May 01 10:28:43 2015 +0000
Revision:
18:71a01477e264
Parent:
17:03f523424eb2
Child:
19:f0875bc3b72f
Dikke troep

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 18:71a01477e264 3 #include "arm_math.h"
jessekaiser 0:3acdd563582f 4
jessekaiser 15:ae8b209e8493 5 #define P_GAIN 0.998
jessekaiser 11:74ae4e5e11ab 6
jessekaiser 0:3acdd563582f 7 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 8 PwmOut Step(p22);
jessekaiser 15:ae8b209e8493 9 DigitalOut Enable(p14);
jessekaiser 0:3acdd563582f 10 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 11 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 12 DigitalOut MS3(p29);
jessekaiser 10:7f94cd65c910 13 AnalogIn Pot1(p19);
jessekaiser 13:c4e80f6e7113 14 AnalogIn Pot2(p20);
jessekaiser 16:cdb6d66c2c4e 15 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 16
jessekaiser 10:7f94cd65c910 17 BusIn Joystick(p12,p13,p14,p15,p16);
jessekaiser 10:7f94cd65c910 18 DigitalIn Up(p15);
jessekaiser 10:7f94cd65c910 19 DigitalIn Down(p12);
jessekaiser 18:71a01477e264 20
jessekaiser 18:71a01477e264 21
jessekaiser 18:71a01477e264 22 // Filter
jessekaiser 18:71a01477e264 23 arm_biquad_casd_df1_inst_f32 lowpass_p1;
jessekaiser 18:71a01477e264 24
jessekaiser 18:71a01477e264 25 //lowpass filter settings: Fc = 2 Hz, Fs = 100 Hz, Gain = 6 dB
jessekaiser 18:71a01477e264 26 float lowpass_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
jessekaiser 18:71a01477e264 27
jessekaiser 18:71a01477e264 28 //state values
jessekaiser 18:71a01477e264 29 float lowpass_p1_states[4];
jessekaiser 18:71a01477e264 30 float filtered_p1;
jessekaiser 18:71a01477e264 31
jessekaiser 18:71a01477e264 32 // EMG looper
jessekaiser 18:71a01477e264 33 void looper()
jessekaiser 18:71a01477e264 34 {
jessekaiser 18:71a01477e264 35 /*variable to store value in*/
jessekaiser 18:71a01477e264 36 uint16_t p1;
jessekaiser 18:71a01477e264 37
jessekaiser 18:71a01477e264 38 float p1_f32;
jessekaiser 18:71a01477e264 39 /*put raw emg value both in red and in emg_value*/
jessekaiser 18:71a01477e264 40 p1 = Pot1.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
jessekaiser 18:71a01477e264 41 p1_f32 = Pot1.read()-0.5;
jessekaiser 18:71a01477e264 42
jessekaiser 18:71a01477e264 43 //process emg biceps
jessekaiser 18:71a01477e264 44
jessekaiser 18:71a01477e264 45 arm_biquad_cascade_df1_f32(&lowpass_p1, &filtered_p1, &filtered_p1, 1 );
jessekaiser 18:71a01477e264 46
jessekaiser 18:71a01477e264 47 float setpoint = 7000; //Frequentie
jessekaiser 18:71a01477e264 48 float step_freq = 1;
jessekaiser 0:3acdd563582f 49 int main()
jessekaiser 18:71a01477e264 50 { Ticker log_timer;
jessekaiser 18:71a01477e264 51 //set up filters. Use external array for constants
jessekaiser 18:71a01477e264 52 arm_biquad_cascade_df1_init_f32(&lowpass_p1,1 , lowpass_const, lowpass_p1_states);
jessekaiser 18:71a01477e264 53 log_timer.attach(looper, 0.01);
jessekaiser 15:ae8b209e8493 54 Enable = 0;
jessekaiser 18:71a01477e264 55
jessekaiser 4:e4341e3524dc 56 MS1 = 1;
jessekaiser 16:cdb6d66c2c4e 57 MS2 = 0;
jessekaiser 2:92a63245d11c 58 MS3 = 0;
jessekaiser 18:71a01477e264 59 //float p1;
jessekaiser 18:71a01477e264 60
jessekaiser 16:cdb6d66c2c4e 61
jessekaiser 17:03f523424eb2 62 Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 9:649229691351 63 Step.write(0.5); // Duty cycle van 50%
jessekaiser 16:cdb6d66c2c4e 64 // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder.
jessekaiser 15:ae8b209e8493 65 Enable = 1;
jessekaiser 0:3acdd563582f 66 while (1) {
jessekaiser 18:71a01477e264 67
jessekaiser 18:71a01477e264 68 if (p1_f32 < 0) { //Directie controle.
jessekaiser 17:03f523424eb2 69 Dir = 0;
jessekaiser 18:71a01477e264 70 } else if (p1_f32 > 0) {
jessekaiser 17:03f523424eb2 71 Dir = 1;
jessekaiser 16:cdb6d66c2c4e 72 }
jessekaiser 18:71a01477e264 73 //p1 = Pot1.read() - 0.500; //Offset creëren [-0.500;0.500]
jessekaiser 17:03f523424eb2 74 //Dir = dir1;
jessekaiser 9:649229691351 75 float new_step_freq;
jessekaiser 17:03f523424eb2 76 //new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
jessekaiser 18:71a01477e264 77 new_step_freq = (setpoint*filtered_p1*2);
jessekaiser 17:03f523424eb2 78 step_freq = abs(new_step_freq); //Geeft een frequentie in 100 stappen.
jessekaiser 17:03f523424eb2 79 Step.period(1.0/step_freq);
jessekaiser 18:71a01477e264 80 wait(0.01); //Hier nog ticker inbouwen
jessekaiser 18:71a01477e264 81 lcd.printf("Spd %.0f Hz p1 %.2f \n", step_freq, filtered_p1); //snelheid meting op lcd, zonder decimalen
jessekaiser 10:7f94cd65c910 82
jessekaiser 0:3acdd563582f 83 }