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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@71:aee1289bc16a, 2015-06-19 (annotated)
- Committer:
- jessekaiser
- Date:
- Fri Jun 19 23:28:40 2015 +0000
- Revision:
- 71:aee1289bc16a
- Parent:
- 70:e84629c7dfed
- Child:
- 72:4d01b79ad332
Eindconcept 10.
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 | 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 Dirx(p21); |
jessekaiser | 56:6ea03cce1175 | 31 | PwmOut Stepx(p22); |
jessekaiser | 56:6ea03cce1175 | 32 | DigitalOut Diry(p23); |
jessekaiser | 56:6ea03cce1175 | 33 | PwmOut Stepy(p24); |
jessekaiser | 56:6ea03cce1175 | 34 | |
jessekaiser | 56:6ea03cce1175 | 35 | //Signal to and from computer |
jessekaiser | 56:6ea03cce1175 | 36 | Serial pc(USBTX, USBRX); |
jessekaiser | 56:6ea03cce1175 | 37 | |
jessekaiser | 56:6ea03cce1175 | 38 | //Position sensors |
jessekaiser | 56:6ea03cce1175 | 39 | AnalogIn Posx(p19); |
jessekaiser | 58:3ea066215c31 | 40 | AnalogIn Posy(p20); |
jessekaiser | 58:3ea066215c31 | 41 | DigitalOut Enablex(p25); |
jessekaiser | 58:3ea066215c31 | 42 | DigitalOut Enabley(p26); |
jessekaiser | 56:6ea03cce1175 | 43 | |
jessekaiser | 56:6ea03cce1175 | 44 | //Microstepping |
jessekaiser | 0:3acdd563582f | 45 | DigitalOut MS1(p27); |
jessekaiser | 0:3acdd563582f | 46 | DigitalOut MS2(p28); |
jessekaiser | 0:3acdd563582f | 47 | DigitalOut MS3(p29); |
jessekaiser | 56:6ea03cce1175 | 48 | |
jessekaiser | 57:0a278c60d28b | 49 | //EMG inputs |
jessekaiser | 71:aee1289bc16a | 50 | AnalogIn emg1(p15); |
jessekaiser | 71:aee1289bc16a | 51 | AnalogIn emg2(p16); |
jessekaiser | 56:6ea03cce1175 | 52 | AnalogIn emg3(p17); |
jessekaiser | 56:6ea03cce1175 | 53 | AnalogIn emg4(p18); |
jessekaiser | 56:6ea03cce1175 | 54 | |
jessekaiser | 57:0a278c60d28b | 55 | //HIDScope scope(4); |
jessekaiser | 57:0a278c60d28b | 56 | //Ticker scopeTimer; |
jessekaiser | 56:6ea03cce1175 | 57 | |
jessekaiser | 71:aee1289bc16a | 58 | //lcd screen |
jessekaiser | 30:0a8f849e0292 | 59 | C12832_LCD lcd; |
jessekaiser | 0:3acdd563582f | 60 | |
jessekaiser | 56:6ea03cce1175 | 61 | //Variables for motor control |
jessekaiser | 60:664f9b907c02 | 62 | float setpoint = 2000; //Frequentie setpoint |
jessekaiser | 56:6ea03cce1175 | 63 | float step_freq1 = 1; |
jessekaiser | 56:6ea03cce1175 | 64 | float step_freq2 = 1; |
jessekaiser | 69:a1ba54587b35 | 65 | |
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 | 71:aee1289bc16a | 72 | //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz |
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 | 71:aee1289bc16a | 93 | float speed_old1, speed_old2 |
jessekaiser | 71:aee1289bc16a | 94 | float acc1, acc2 |
jessekaiser | 71:aee1289bc16a | 95 | float force1, force2 |
jessekaiser | 71:aee1289bc16a | 96 | float speed1, speed2 |
jessekaiser | 71:aee1289bc16a | 97 | float damping1, damping2 |
jessekaiser | 60:664f9b907c02 | 98 | float emg_x, emg_y; |
jessekaiser | 61:99f3ae6e053b | 99 | float cx = 0; |
jessekaiser | 61:99f3ae6e053b | 100 | float cy = 0; |
jessekaiser | 61:99f3ae6e053b | 101 | float errorx = 0.2; |
jessekaiser | 61:99f3ae6e053b | 102 | float errory = 0.2; |
jessekaiser | 61:99f3ae6e053b | 103 | float Ps_x = 0; |
jessekaiser | 61:99f3ae6e053b | 104 | float Ps_y = 0; |
jessekaiser | 62:509622cce1c6 | 105 | float hstep_freqx = 1; |
jessekaiser | 62:509622cce1c6 | 106 | float hstep_freqy = 1; |
jessekaiser | 69:a1ba54587b35 | 107 | float emg_y_abs = 0; |
jessekaiser | 69:a1ba54587b35 | 108 | float emg_x_abs = 0; |
jessekaiser | 56:6ea03cce1175 | 109 | |
jessekaiser | 56:6ea03cce1175 | 110 | void looper_emg() |
jessekaiser | 56:6ea03cce1175 | 111 | { |
jessekaiser | 56:6ea03cce1175 | 112 | float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32; |
jessekaiser | 56:6ea03cce1175 | 113 | emg_value1_f32 = emg1.read(); |
jessekaiser | 56:6ea03cce1175 | 114 | emg_value2_f32 = emg2.read(); |
jessekaiser | 56:6ea03cce1175 | 115 | emg_value3_f32 = emg3.read(); |
jessekaiser | 56:6ea03cce1175 | 116 | emg_value4_f32 = emg4.read(); |
jessekaiser | 56:6ea03cce1175 | 117 | |
jessekaiser | 56:6ea03cce1175 | 118 | //process emg biceps |
jessekaiser | 56:6ea03cce1175 | 119 | arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter |
jessekaiser | 60:664f9b907c02 | 120 | filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented. |
jessekaiser | 56:6ea03cce1175 | 121 | arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter |
jessekaiser | 56:6ea03cce1175 | 122 | |
jessekaiser | 56:6ea03cce1175 | 123 | //process emg triceps |
jessekaiser | 56:6ea03cce1175 | 124 | arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 ); |
jessekaiser | 60:664f9b907c02 | 125 | filtered_triceps = fabs(filtered_triceps); |
jessekaiser | 56:6ea03cce1175 | 126 | arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 ); |
jessekaiser | 56:6ea03cce1175 | 127 | |
jessekaiser | 56:6ea03cce1175 | 128 | //process emg pectoralis major |
jessekaiser | 56:6ea03cce1175 | 129 | arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 ); |
jessekaiser | 60:664f9b907c02 | 130 | filtered_pect = fabs(filtered_pect); |
jessekaiser | 56:6ea03cce1175 | 131 | arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 ); |
jessekaiser | 56:6ea03cce1175 | 132 | |
jessekaiser | 56:6ea03cce1175 | 133 | //process emg deltoid |
jessekaiser | 56:6ea03cce1175 | 134 | arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 ); |
jessekaiser | 60:664f9b907c02 | 135 | filtered_deltoid = fabs(filtered_deltoid); |
jessekaiser | 56:6ea03cce1175 | 136 | arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 ); |
jessekaiser | 56:6ea03cce1175 | 137 | |
jessekaiser | 58:3ea066215c31 | 138 | /*send value to PC. |
jessekaiser | 56:6ea03cce1175 | 139 | scope.set(0,filtered_biceps); //Filtered EMG signal |
jessekaiser | 56:6ea03cce1175 | 140 | scope.set(1,filtered_triceps); |
jessekaiser | 56:6ea03cce1175 | 141 | scope.set(2,filtered_pect); |
jessekaiser | 57:0a278c60d28b | 142 | scope.set(3,filtered_deltoid);*/ |
jessekaiser | 56:6ea03cce1175 | 143 | } |
jessekaiser | 56:6ea03cce1175 | 144 | |
jessekaiser | 60:664f9b907c02 | 145 | void looper_motory() |
jessekaiser | 69:a1ba54587b35 | 146 | { |
jessekaiser | 69:a1ba54587b35 | 147 | |
jessekaiser | 67:fba5b64bb295 | 148 | emg_y = (filtered_biceps - filtered_triceps); |
jessekaiser | 67:fba5b64bb295 | 149 | emg_y_abs = fabs(emg_y); |
jessekaiser | 67:fba5b64bb295 | 150 | force1 = emg_y_abs*K_Gain; |
jessekaiser | 60:664f9b907c02 | 151 | force1 = force1 - damping1; |
jessekaiser | 60:664f9b907c02 | 152 | acc1 = force1/Mass; |
jessekaiser | 60:664f9b907c02 | 153 | speed1 = speed_old1 + (acc1 * dt); |
jessekaiser | 60:664f9b907c02 | 154 | damping1 = speed1 * Damp; |
jessekaiser | 60:664f9b907c02 | 155 | step_freq1 = setpoint * speed1; |
jessekaiser | 60:664f9b907c02 | 156 | Stepy.period(1.0/step_freq1); |
jessekaiser | 60:664f9b907c02 | 157 | speed_old1 = speed1; |
jessekaiser | 60:664f9b907c02 | 158 | |
jessekaiser | 66:c094d1868b30 | 159 | if (emg_y > 0) { |
jessekaiser | 60:664f9b907c02 | 160 | Diry = 1; |
jessekaiser | 60:664f9b907c02 | 161 | } |
jessekaiser | 60:664f9b907c02 | 162 | |
jessekaiser | 66:c094d1868b30 | 163 | if (emg_y < 0) { |
jessekaiser | 60:664f9b907c02 | 164 | Diry = 0; |
jessekaiser | 60:664f9b907c02 | 165 | } |
jessekaiser | 60:664f9b907c02 | 166 | //Speed limit |
jessekaiser | 60:664f9b907c02 | 167 | if (speed1 > 1) { |
jessekaiser | 60:664f9b907c02 | 168 | speed1 = 1; |
jessekaiser | 60:664f9b907c02 | 169 | step_freq1 = setpoint; |
jessekaiser | 60:664f9b907c02 | 170 | } |
jessekaiser | 60:664f9b907c02 | 171 | //EMG treshold |
jessekaiser | 60:664f9b907c02 | 172 | if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) { |
jessekaiser | 60:664f9b907c02 | 173 | Enabley = 1; //Enable = 1 turns the motor off. |
jessekaiser | 60:664f9b907c02 | 174 | } else { |
jessekaiser | 60:664f9b907c02 | 175 | Enabley = 0; |
jessekaiser | 60:664f9b907c02 | 176 | } |
jessekaiser | 71:aee1289bc16a | 177 | wait(0.01); |
jessekaiser | 71:aee1289bc16a | 178 | |
jessekaiser | 71:aee1289bc16a | 179 | emg_x = (filtered_pect - filtered_deltoid); |
jessekaiser | 71:aee1289bc16a | 180 | emg_x_abs = fabs(emg_x); |
jessekaiser | 71:aee1289bc16a | 181 | force2 = emg_x_abs*K_Gain; |
jessekaiser | 71:aee1289bc16a | 182 | force2 = force2 - damping2; |
jessekaiser | 71:aee1289bc16a | 183 | acc2 = force2/Mass; |
jessekaiser | 71:aee1289bc16a | 184 | speed2 = speed_old2 + (acc2 * dt); |
jessekaiser | 71:aee1289bc16a | 185 | damping2 = speed2 * Damp; |
jessekaiser | 71:aee1289bc16a | 186 | step_freq2 = setpoint * speed2; |
jessekaiser | 71:aee1289bc16a | 187 | Stepx.period(1.0/step_freq2); |
jessekaiser | 71:aee1289bc16a | 188 | speed_old2 = speed2; |
jessekaiser | 60:664f9b907c02 | 189 | |
jessekaiser | 71:aee1289bc16a | 190 | if (emg_x > 0) { |
jessekaiser | 71:aee1289bc16a | 191 | Dirx = 0; |
jessekaiser | 71:aee1289bc16a | 192 | } |
jessekaiser | 71:aee1289bc16a | 193 | if (emg_x < 0) { |
jessekaiser | 71:aee1289bc16a | 194 | Dirx = 1; |
jessekaiser | 71:aee1289bc16a | 195 | } |
jessekaiser | 71:aee1289bc16a | 196 | //Speed limit |
jessekaiser | 71:aee1289bc16a | 197 | if (speed2 > 1) { |
jessekaiser | 71:aee1289bc16a | 198 | speed2 = 1; |
jessekaiser | 71:aee1289bc16a | 199 | step_freq2 = setpoint; |
jessekaiser | 71:aee1289bc16a | 200 | } |
jessekaiser | 71:aee1289bc16a | 201 | //EMG treshold |
jessekaiser | 71:aee1289bc16a | 202 | if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) { |
jessekaiser | 71:aee1289bc16a | 203 | Enablex = 1; //Enable = 1 turns the motor off. |
jessekaiser | 71:aee1289bc16a | 204 | } else { |
jessekaiser | 71:aee1289bc16a | 205 | Enablex = 0; |
jessekaiser | 71:aee1289bc16a | 206 | } |
jessekaiser | 71:aee1289bc16a | 207 | wait(0.01); |
jessekaiser | 60:664f9b907c02 | 208 | } |
jessekaiser | 60:664f9b907c02 | 209 | |
jessekaiser | 71:aee1289bc16a | 210 | |
jessekaiser | 71:aee1289bc16a | 211 | |
jessekaiser | 71:aee1289bc16a | 212 | /*void looper_motorx() |
jessekaiser | 60:664f9b907c02 | 213 | { |
jessekaiser | 69:a1ba54587b35 | 214 | |
jessekaiser | 67:fba5b64bb295 | 215 | emg_x = (filtered_pect - filtered_deltoid); |
jessekaiser | 67:fba5b64bb295 | 216 | emg_x_abs = fabs(emg_x); |
jessekaiser | 67:fba5b64bb295 | 217 | force2 = emg_x_abs*K_Gain; |
jessekaiser | 60:664f9b907c02 | 218 | force2 = force2 - damping2; |
jessekaiser | 60:664f9b907c02 | 219 | acc2 = force2/Mass; |
jessekaiser | 60:664f9b907c02 | 220 | speed2 = speed_old2 + (acc2 * dt); |
jessekaiser | 60:664f9b907c02 | 221 | damping2 = speed2 * Damp; |
jessekaiser | 60:664f9b907c02 | 222 | step_freq2 = setpoint * speed2; |
jessekaiser | 60:664f9b907c02 | 223 | Stepx.period(1.0/step_freq2); |
jessekaiser | 60:664f9b907c02 | 224 | speed_old2 = speed2; |
jessekaiser | 60:664f9b907c02 | 225 | |
jessekaiser | 66:c094d1868b30 | 226 | if (emg_x > 0) { |
jessekaiser | 60:664f9b907c02 | 227 | Dirx = 0; |
jessekaiser | 60:664f9b907c02 | 228 | } |
jessekaiser | 66:c094d1868b30 | 229 | if (emg_x < 0) { |
jessekaiser | 60:664f9b907c02 | 230 | Dirx = 1; |
jessekaiser | 60:664f9b907c02 | 231 | } |
jessekaiser | 60:664f9b907c02 | 232 | //Speed limit |
jessekaiser | 60:664f9b907c02 | 233 | if (speed2 > 1) { |
jessekaiser | 60:664f9b907c02 | 234 | speed2 = 1; |
jessekaiser | 60:664f9b907c02 | 235 | step_freq2 = setpoint; |
jessekaiser | 60:664f9b907c02 | 236 | } |
jessekaiser | 60:664f9b907c02 | 237 | //EMG treshold |
jessekaiser | 60:664f9b907c02 | 238 | if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) { |
jessekaiser | 60:664f9b907c02 | 239 | Enablex = 1; //Enable = 1 turns the motor off. |
jessekaiser | 60:664f9b907c02 | 240 | } else { |
jessekaiser | 60:664f9b907c02 | 241 | Enablex = 0; |
jessekaiser | 60:664f9b907c02 | 242 | } |
jessekaiser | 60:664f9b907c02 | 243 | |
jessekaiser | 71:aee1289bc16a | 244 | }*/ |
jessekaiser | 59:ba22a8c26dee | 245 | |
jessekaiser | 59:ba22a8c26dee | 246 | int main() |
jessekaiser | 56:6ea03cce1175 | 247 | { |
jessekaiser | 59:ba22a8c26dee | 248 | // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven. |
jessekaiser | 59:ba22a8c26dee | 249 | // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3); |
jessekaiser | 71:aee1289bc16a | 250 | /* |
jessekaiser | 71:aee1289bc16a | 251 | MS1 = 1; |
jessekaiser | 71:aee1289bc16a | 252 | MS2 = 0; |
jessekaiser | 71:aee1289bc16a | 253 | MS3 = 0; |
jessekaiser | 69:a1ba54587b35 | 254 | |
jessekaiser | 71:aee1289bc16a | 255 | Stepx.write(0.5); // Duty cycle of 50% |
jessekaiser | 71:aee1289bc16a | 256 | Stepy.write(0.5); |
jessekaiser | 59:ba22a8c26dee | 257 | |
jessekaiser | 71:aee1289bc16a | 258 | Enablex = 1; |
jessekaiser | 71:aee1289bc16a | 259 | Enabley = 1; |
jessekaiser | 71:aee1289bc16a | 260 | wait(1); |
jessekaiser | 71:aee1289bc16a | 261 | lcd.printf("Start homing"); |
jessekaiser | 71:aee1289bc16a | 262 | wait(2); |
jessekaiser | 71:aee1289bc16a | 263 | lcd.cls(); |
jessekaiser | 71:aee1289bc16a | 264 | wait(1); |
jessekaiser | 71:aee1289bc16a | 265 | Enablex = 0; |
jessekaiser | 71:aee1289bc16a | 266 | Enabley = 0; |
jessekaiser | 71:aee1289bc16a | 267 | while(errorx > error_tresh || errory > error_tresh) { |
jessekaiser | 69:a1ba54587b35 | 268 | |
jessekaiser | 71:aee1289bc16a | 269 | Ps_x = Posx.read(); |
jessekaiser | 71:aee1289bc16a | 270 | Ps_y = Posy.read(); |
jessekaiser | 71:aee1289bc16a | 271 | errorx = fabs(Pt_x - Ps_x); |
jessekaiser | 71:aee1289bc16a | 272 | errory = fabs(Ps_y - Pt_y); |
jessekaiser | 71:aee1289bc16a | 273 | lcd.printf("%.2f %.2f \n", errorx, errory); |
jessekaiser | 71:aee1289bc16a | 274 | |
jessekaiser | 69:a1ba54587b35 | 275 | |
jessekaiser | 71:aee1289bc16a | 276 | if (Ps_x < 0.50 && errorx > error_tresh) { |
jessekaiser | 71:aee1289bc16a | 277 | Dirx = 0; |
jessekaiser | 71:aee1289bc16a | 278 | cx = errorx * H_Gain; |
jessekaiser | 71:aee1289bc16a | 279 | float hnew_step_freqx; |
jessekaiser | 71:aee1289bc16a | 280 | hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx); |
jessekaiser | 71:aee1289bc16a | 281 | hstep_freqx = hnew_step_freqx; |
jessekaiser | 71:aee1289bc16a | 282 | Stepx.period(1.0/hstep_freqx); |
jessekaiser | 71:aee1289bc16a | 283 | wait(0.01); |
jessekaiser | 71:aee1289bc16a | 284 | } |
jessekaiser | 71:aee1289bc16a | 285 | if (Ps_y > 0.50 && errory > error_tresh) { |
jessekaiser | 71:aee1289bc16a | 286 | Diry = 0; |
jessekaiser | 71:aee1289bc16a | 287 | cy = errory * H_Gain; |
jessekaiser | 71:aee1289bc16a | 288 | float hnew_step_freqy; |
jessekaiser | 71:aee1289bc16a | 289 | hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy); |
jessekaiser | 71:aee1289bc16a | 290 | hstep_freqy = hnew_step_freqy; |
jessekaiser | 71:aee1289bc16a | 291 | Stepy.period(1.0/hstep_freqy); |
jessekaiser | 71:aee1289bc16a | 292 | wait(0.01); |
jessekaiser | 71:aee1289bc16a | 293 | } |
jessekaiser | 69:a1ba54587b35 | 294 | |
jessekaiser | 71:aee1289bc16a | 295 | if (Ps_x > 0.50 && errorx > error_tresh) { |
jessekaiser | 71:aee1289bc16a | 296 | Dirx = 1; |
jessekaiser | 71:aee1289bc16a | 297 | cx = errorx * H_Gain; |
jessekaiser | 71:aee1289bc16a | 298 | float hnew_step_freqx; |
jessekaiser | 71:aee1289bc16a | 299 | hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx); |
jessekaiser | 71:aee1289bc16a | 300 | hstep_freqx = hnew_step_freqx; |
jessekaiser | 71:aee1289bc16a | 301 | Stepx.period(1.0/hstep_freqx); |
jessekaiser | 71:aee1289bc16a | 302 | wait(0.01); |
jessekaiser | 71:aee1289bc16a | 303 | } |
jessekaiser | 71:aee1289bc16a | 304 | if (Ps_y < 0.50 && errory > error_tresh) { |
jessekaiser | 71:aee1289bc16a | 305 | Diry = 1; |
jessekaiser | 71:aee1289bc16a | 306 | cy = errory * H_Gain; |
jessekaiser | 71:aee1289bc16a | 307 | float hnew_step_freqy; |
jessekaiser | 71:aee1289bc16a | 308 | hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy); |
jessekaiser | 71:aee1289bc16a | 309 | hstep_freqy = hnew_step_freqy; |
jessekaiser | 71:aee1289bc16a | 310 | Stepy.period(1.0/hstep_freqy); |
jessekaiser | 71:aee1289bc16a | 311 | wait(0.01); |
jessekaiser | 71:aee1289bc16a | 312 | } |
jessekaiser | 69:a1ba54587b35 | 313 | |
jessekaiser | 71:aee1289bc16a | 314 | } |
jessekaiser | 71:aee1289bc16a | 315 | lcd.printf("Done"); |
jessekaiser | 71:aee1289bc16a | 316 | wait(2); |
jessekaiser | 71:aee1289bc16a | 317 | lcd.cls(); |
jessekaiser | 71:aee1289bc16a | 318 | wait(1); |
jessekaiser | 71:aee1289bc16a | 319 | Enablex = 1; |
jessekaiser | 71:aee1289bc16a | 320 | Enabley = 1; |
jessekaiser | 71:aee1289bc16a | 321 | wait(3); |
jessekaiser | 71:aee1289bc16a | 322 | lcd.printf("Start EMG Control"); |
jessekaiser | 71:aee1289bc16a | 323 | wait(2); |
jessekaiser | 71:aee1289bc16a | 324 | lcd.cls(); |
jessekaiser | 71:aee1289bc16a | 325 | wait(1); |
jessekaiser | 71:aee1289bc16a | 326 | Enablex = 0; |
jessekaiser | 71:aee1289bc16a | 327 | Enabley = 0; |
jessekaiser | 71:aee1289bc16a | 328 | */ |
jessekaiser | 69:a1ba54587b35 | 329 | MS1 = 1; |
jessekaiser | 69:a1ba54587b35 | 330 | MS2 = 0; |
jessekaiser | 69:a1ba54587b35 | 331 | MS3 = 0; |
jessekaiser | 69:a1ba54587b35 | 332 | Stepx.write(0.5); // Duty cycle of 50% |
jessekaiser | 69:a1ba54587b35 | 333 | Stepy.write(0.5); |
jessekaiser | 69:a1ba54587b35 | 334 | |
jessekaiser | 66:c094d1868b30 | 335 | Ticker emgtimer; //biceps |
jessekaiser | 69:a1ba54587b35 | 336 | arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states); |
jessekaiser | 69:a1ba54587b35 | 337 | arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states); |
jessekaiser | 69:a1ba54587b35 | 338 | //triceps |
jessekaiser | 69:a1ba54587b35 | 339 | arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states); |
jessekaiser | 69:a1ba54587b35 | 340 | arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states); |
jessekaiser | 69:a1ba54587b35 | 341 | //pectoralis major |
jessekaiser | 69:a1ba54587b35 | 342 | arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states); |
jessekaiser | 69:a1ba54587b35 | 343 | arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states); |
jessekaiser | 69:a1ba54587b35 | 344 | //deltoid |
jessekaiser | 69:a1ba54587b35 | 345 | arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states); |
jessekaiser | 69:a1ba54587b35 | 346 | arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states); |
jessekaiser | 69:a1ba54587b35 | 347 | emgtimer.attach(looper_emg, 0.01); |
jessekaiser | 59:ba22a8c26dee | 348 | |
jessekaiser | 71:aee1289bc16a | 349 | //Ticker looptimer1; |
jessekaiser | 71:aee1289bc16a | 350 | //looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq? |
jessekaiser | 61:99f3ae6e053b | 351 | |
jessekaiser | 69:a1ba54587b35 | 352 | Ticker looptimer2; |
jessekaiser | 69:a1ba54587b35 | 353 | looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor |
jessekaiser | 69:a1ba54587b35 | 354 | |
jessekaiser | 69:a1ba54587b35 | 355 | //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0) |
jessekaiser | 59:ba22a8c26dee | 356 | |
jessekaiser | 58:3ea066215c31 | 357 | |
jessekaiser | 69:a1ba54587b35 | 358 | |
jessekaiser | 69:a1ba54587b35 | 359 | while (1) { |
jessekaiser | 61:99f3ae6e053b | 360 | |
jessekaiser | 71:aee1289bc16a | 361 | |
jessekaiser | 69:a1ba54587b35 | 362 | //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read()); |
jessekaiser | 69:a1ba54587b35 | 363 | //lcd.printf("%.2f, %.2f %.2f %.2f \n", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values |
jessekaiser | 69:a1ba54587b35 | 364 | //lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2); //step_freq value of every EMG sensor |
jessekaiser | 71:aee1289bc16a | 365 | lcd.printf("%.2f %.2f %.2f %.2f \n", Stepx.read(), step_freq1, Stepy.read(), step_freq2); |
jessekaiser | 71:aee1289bc16a | 366 | wait(0.01); |
jessekaiser | 61:99f3ae6e053b | 367 | |
jessekaiser | 69:a1ba54587b35 | 368 | } |
jessekaiser | 56:6ea03cce1175 | 369 | } |