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@75:9fa809932adf, 2015-06-22 (annotated)

Committer:
jessekaiser
Date:
Mon Jun 22 10:04:51 2015 +0000
Revision:
75:9fa809932adf
Parent:
74:a9281e4ae9bb
Child:
76:627b0537110e
Motor-x control 2;

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 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 74:a9281e4ae9bb 166 lcd.printf("Start homing");
jessekaiser 74:a9281e4ae9bb 167 wait(2);
jessekaiser 74:a9281e4ae9bb 168 lcd.cls();
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 74:a9281e4ae9bb 177 lcd.printf("%.2f \n", Stepx.read());
jessekaiser 74:a9281e4ae9bb 178
jessekaiser 74:a9281e4ae9bb 179
jessekaiser 75:9fa809932adf 180 if (Ps_x < 0.83 && 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 75:9fa809932adf 190 if (Ps_x > 0.83 && 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 74:a9281e4ae9bb 200 lcd.printf("Done");
jessekaiser 74:a9281e4ae9bb 201 wait(5);
jessekaiser 74:a9281e4ae9bb 202 lcd.cls();
jessekaiser 74:a9281e4ae9bb 203 wait(1);
jessekaiser 74:a9281e4ae9bb 204 Enablex = 1;
jessekaiser 74:a9281e4ae9bb 205 wait(3);
jessekaiser 74:a9281e4ae9bb 206 lcd.printf("Start EMG Control");
jessekaiser 74:a9281e4ae9bb 207 wait(2);
jessekaiser 74:a9281e4ae9bb 208 lcd.cls();
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 74:a9281e4ae9bb 237 //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
jessekaiser 74:a9281e4ae9bb 238 // lcd.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 }