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@73:8cc2826ab1c4, 2015-06-22 (annotated)

Committer:
jessekaiser
Date:
Mon Jun 22 08:51:19 2015 +0000
Revision:
73:8cc2826ab1c4
Parent:
72:4d01b79ad332
Child:
74:a9281e4ae9bb
Motor-y control

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 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 69:a1ba54587b35 25 #define Pt_x 0.50
jessekaiser 69:a1ba54587b35 26 #define Pt_y 0.50
jessekaiser 71:aee1289bc16a 27 #define error_tresh 0.01
jessekaiser 31:372ff8d49430 28
jessekaiser 56:6ea03cce1175 29 //Motor control
jessekaiser 56:6ea03cce1175 30 DigitalOut Diry(p23);
jessekaiser 56:6ea03cce1175 31 PwmOut Stepy(p24);
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 58:3ea066215c31 37 AnalogIn Posy(p20);
jessekaiser 58:3ea066215c31 38 DigitalOut Enabley(p26);
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 72:4d01b79ad332 46 AnalogIn emg1(p15);
jessekaiser 72:4d01b79ad332 47 AnalogIn emg2(p16);
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 56:6ea03cce1175 57 float step_freq1 = 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
jessekaiser 56:6ea03cce1175 102 //process emg biceps
jessekaiser 56:6ea03cce1175 103 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 60:664f9b907c02 104 filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented.
jessekaiser 56:6ea03cce1175 105 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 56:6ea03cce1175 106
jessekaiser 56:6ea03cce1175 107 //process emg triceps
jessekaiser 56:6ea03cce1175 108 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 60:664f9b907c02 109 filtered_triceps = fabs(filtered_triceps);
jessekaiser 56:6ea03cce1175 110 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 56:6ea03cce1175 111
jessekaiser 56:6ea03cce1175 112
jessekaiser 56:6ea03cce1175 113
jessekaiser 58:3ea066215c31 114 /*send value to PC.
jessekaiser 56:6ea03cce1175 115 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 73:8cc2826ab1c4 116 scope.set(1,filtered_triceps);*/
jessekaiser 73:8cc2826ab1c4 117
jessekaiser 56:6ea03cce1175 118 }
jessekaiser 56:6ea03cce1175 119
jessekaiser 73:8cc2826ab1c4 120 void looper_motory()
jessekaiser 69:a1ba54587b35 121 {
jessekaiser 69:a1ba54587b35 122
jessekaiser 67:fba5b64bb295 123 emg_y = (filtered_biceps - filtered_triceps);
jessekaiser 67:fba5b64bb295 124 emg_y_abs = fabs(emg_y);
jessekaiser 67:fba5b64bb295 125 force1 = emg_y_abs*K_Gain;
jessekaiser 60:664f9b907c02 126 force1 = force1 - damping1;
jessekaiser 60:664f9b907c02 127 acc1 = force1/Mass;
jessekaiser 60:664f9b907c02 128 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 60:664f9b907c02 129 damping1 = speed1 * Damp;
jessekaiser 60:664f9b907c02 130 step_freq1 = setpoint * speed1;
jessekaiser 60:664f9b907c02 131 Stepy.period(1.0/step_freq1);
jessekaiser 60:664f9b907c02 132 speed_old1 = speed1;
jessekaiser 60:664f9b907c02 133
jessekaiser 66:c094d1868b30 134 if (emg_y > 0) {
jessekaiser 60:664f9b907c02 135 Diry = 1;
jessekaiser 60:664f9b907c02 136 }
jessekaiser 60:664f9b907c02 137
jessekaiser 66:c094d1868b30 138 if (emg_y < 0) {
jessekaiser 60:664f9b907c02 139 Diry = 0;
jessekaiser 60:664f9b907c02 140 }
jessekaiser 60:664f9b907c02 141 //Speed limit
jessekaiser 60:664f9b907c02 142 if (speed1 > 1) {
jessekaiser 60:664f9b907c02 143 speed1 = 1;
jessekaiser 60:664f9b907c02 144 step_freq1 = setpoint;
jessekaiser 60:664f9b907c02 145 }
jessekaiser 60:664f9b907c02 146 //EMG treshold
jessekaiser 60:664f9b907c02 147 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
jessekaiser 60:664f9b907c02 148 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 149 } else {
jessekaiser 60:664f9b907c02 150 Enabley = 0;
jessekaiser 60:664f9b907c02 151 }
jessekaiser 60:664f9b907c02 152
jessekaiser 71:aee1289bc16a 153
jessekaiser 71:aee1289bc16a 154
jessekaiser 73:8cc2826ab1c4 155 }
jessekaiser 59:ba22a8c26dee 156
jessekaiser 59:ba22a8c26dee 157 int main()
jessekaiser 56:6ea03cce1175 158 {
jessekaiser 59:ba22a8c26dee 159 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 59:ba22a8c26dee 160 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 69:a1ba54587b35 161
jessekaiser 69:a1ba54587b35 162 MS1 = 1;
jessekaiser 69:a1ba54587b35 163 MS2 = 0;
jessekaiser 69:a1ba54587b35 164 MS3 = 0;
jessekaiser 73:8cc2826ab1c4 165
jessekaiser 73:8cc2826ab1c4 166
jessekaiser 69:a1ba54587b35 167 Stepy.write(0.5);
jessekaiser 69:a1ba54587b35 168
jessekaiser 73:8cc2826ab1c4 169
jessekaiser 73:8cc2826ab1c4 170 Enabley = 1;
jessekaiser 73:8cc2826ab1c4 171 wait(1);
jessekaiser 73:8cc2826ab1c4 172 lcd.printf("Start homing");
jessekaiser 73:8cc2826ab1c4 173 wait(2);
jessekaiser 73:8cc2826ab1c4 174 lcd.cls();
jessekaiser 73:8cc2826ab1c4 175 wait(1);
jessekaiser 73:8cc2826ab1c4 176 Enabley = 0;
jessekaiser 73:8cc2826ab1c4 177
jessekaiser 73:8cc2826ab1c4 178 //Homing of the motor, so you start from the same position every time.
jessekaiser 73:8cc2826ab1c4 179 while(errory > error_tresh) {
jessekaiser 73:8cc2826ab1c4 180
jessekaiser 73:8cc2826ab1c4 181 Ps_y = Posy.read();
jessekaiser 73:8cc2826ab1c4 182 errory = fabs(Ps_y - Pt_y);
jessekaiser 73:8cc2826ab1c4 183 lcd.printf("%.2f \n", Stepy.read());
jessekaiser 73:8cc2826ab1c4 184
jessekaiser 73:8cc2826ab1c4 185 if (Ps_y > 0.50 && errory > error_tresh) {
jessekaiser 73:8cc2826ab1c4 186 Diry = 0;
jessekaiser 73:8cc2826ab1c4 187 cy = errory * H_Gain;
jessekaiser 73:8cc2826ab1c4 188 float hnew_step_freqy;
jessekaiser 73:8cc2826ab1c4 189 hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
jessekaiser 73:8cc2826ab1c4 190 hstep_freqy = hnew_step_freqy;
jessekaiser 73:8cc2826ab1c4 191 Stepy.period(1.0/hstep_freqy);
jessekaiser 73:8cc2826ab1c4 192 wait(0.01);
jessekaiser 73:8cc2826ab1c4 193 }
jessekaiser 73:8cc2826ab1c4 194
jessekaiser 59:ba22a8c26dee 195
jessekaiser 73:8cc2826ab1c4 196 if (Ps_y < 0.50 && errory > error_tresh) {
jessekaiser 73:8cc2826ab1c4 197 Diry = 1;
jessekaiser 73:8cc2826ab1c4 198 cy = errory * H_Gain;
jessekaiser 73:8cc2826ab1c4 199 float hnew_step_freqy;
jessekaiser 73:8cc2826ab1c4 200 hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
jessekaiser 73:8cc2826ab1c4 201 hstep_freqy = hnew_step_freqy;
jessekaiser 73:8cc2826ab1c4 202 Stepy.period(1.0/hstep_freqy);
jessekaiser 73:8cc2826ab1c4 203 wait(0.01);
jessekaiser 73:8cc2826ab1c4 204 }
jessekaiser 61:99f3ae6e053b 205
jessekaiser 73:8cc2826ab1c4 206 }
jessekaiser 73:8cc2826ab1c4 207 lcd.printf("Done");
jessekaiser 73:8cc2826ab1c4 208 wait(5);
jessekaiser 73:8cc2826ab1c4 209 lcd.cls();
jessekaiser 73:8cc2826ab1c4 210 wait(1);
jessekaiser 73:8cc2826ab1c4 211
jessekaiser 73:8cc2826ab1c4 212 Enabley = 1;
jessekaiser 73:8cc2826ab1c4 213 wait(3);
jessekaiser 73:8cc2826ab1c4 214 lcd.printf("Start EMG Control");
jessekaiser 73:8cc2826ab1c4 215 wait(2);
jessekaiser 73:8cc2826ab1c4 216 lcd.cls();
jessekaiser 73:8cc2826ab1c4 217 wait(1);
jessekaiser 73:8cc2826ab1c4 218
jessekaiser 73:8cc2826ab1c4 219 Enabley = 0;
jessekaiser 69:a1ba54587b35 220
jessekaiser 73:8cc2826ab1c4 221 MS1 = 1;
jessekaiser 73:8cc2826ab1c4 222 MS2 = 0;
jessekaiser 73:8cc2826ab1c4 223 MS3 = 0;
jessekaiser 73:8cc2826ab1c4 224
jessekaiser 73:8cc2826ab1c4 225 Stepy.write(0.5);
jessekaiser 73:8cc2826ab1c4 226
jessekaiser 73:8cc2826ab1c4 227 Ticker emgtimer; //biceps
jessekaiser 73:8cc2826ab1c4 228 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 73:8cc2826ab1c4 229 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 73:8cc2826ab1c4 230 //triceps
jessekaiser 73:8cc2826ab1c4 231 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 73:8cc2826ab1c4 232 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 73:8cc2826ab1c4 233 emgtimer.attach(looper_emg, 0.01);
jessekaiser 73:8cc2826ab1c4 234
jessekaiser 73:8cc2826ab1c4 235 Ticker looptimer2;
jessekaiser 73:8cc2826ab1c4 236 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
jessekaiser 73:8cc2826ab1c4 237
jessekaiser 73:8cc2826ab1c4 238 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 59:ba22a8c26dee 239
jessekaiser 58:3ea066215c31 240
jessekaiser 69:a1ba54587b35 241
jessekaiser 73:8cc2826ab1c4 242 while (1) {
jessekaiser 72:4d01b79ad332 243
jessekaiser 73:8cc2826ab1c4 244 //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
jessekaiser 73:8cc2826ab1c4 245 lcd.printf("%.2f %.2f %.2f %.2f \n", Stepy.read(), step_freq1);
jessekaiser 73:8cc2826ab1c4 246 wait(0.01);
jessekaiser 72:4d01b79ad332 247
jessekaiser 73:8cc2826ab1c4 248 }
jessekaiser 73:8cc2826ab1c4 249 }