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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@52:b75248e62240, 2015-06-09 (annotated)
- Committer:
- jessekaiser
- Date:
- Tue Jun 09 13:16:50 2015 +0000
- Revision:
- 52:b75248e62240
- Parent:
- 51:75a8c7191555
- Child:
- 53:f783b3192dbb
Endconcept 4. Averaging of the EMG signal
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jessekaiser | 48:05adf4978828 | 1 | /*Code by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table |
jessekaiser | 48:05adf4978828 | 2 | Some variables are also numbered at the end. The numbers stands for the muscle that controls it. |
jessekaiser | 48:05adf4978828 | 3 | Biceps = 1 |
jessekaiser | 48:05adf4978828 | 4 | Triceps = 2 |
jessekaiser | 48:05adf4978828 | 5 | Pectoralis Major = 3 |
jessekaiser | 48:05adf4978828 | 6 | Deltoid = 4 |
jessekaiser | 51:75a8c7191555 | 7 | The "x" and "y" at the end of variables stand for the X-Spindle or Y-Spindle respectivly. |
jessekaiser | 48:05adf4978828 | 8 | */ |
jessekaiser | 48:05adf4978828 | 9 | |
jessekaiser | 0:3acdd563582f | 10 | #include "mbed.h" |
jessekaiser | 10:7f94cd65c910 | 11 | #include "C12832_lcd.h" |
jessekaiser | 48:05adf4978828 | 12 | #include "arm_math.h" |
jessekaiser | 48:05adf4978828 | 13 | #include "HIDScope.h" |
jessekaiser | 0:3acdd563582f | 14 | |
jessekaiser | 48:05adf4978828 | 15 | #define K_Gain 14 //Gain of the filtered EMG signal |
jessekaiser | 48:05adf4978828 | 16 | #define Damp 5 //Deceleration of the motor |
jessekaiser | 48:05adf4978828 | 17 | #define Mass 1 // Mass value |
jessekaiser | 48:05adf4978828 | 18 | #define dt 0.002 //Sample frequency |
jessekaiser | 51:75a8c7191555 | 19 | #define MAX_bi 0.04 //Can be used for normalisation of the EMG signal of the biceps |
jessekaiser | 51:75a8c7191555 | 20 | #define MAX_tri 0.04 |
jessekaiser | 51:75a8c7191555 | 21 | #define MAX_pect 0.04 |
jessekaiser | 51:75a8c7191555 | 22 | #define MAX_delt 0.04 |
jessekaiser | 48:05adf4978828 | 23 | #define MIN_freq 500 //The motor turns off below this frequency |
jessekaiser | 51:75a8c7191555 | 24 | #define EMG_tresh 0.01 |
jessekaiser | 31:372ff8d49430 | 25 | |
jessekaiser | 48:05adf4978828 | 26 | //Motor control |
jessekaiser | 50:5e08b74bf023 | 27 | DigitalOut Dirx(p21); |
jessekaiser | 50:5e08b74bf023 | 28 | PwmOut Stepx(p22); |
jessekaiser | 50:5e08b74bf023 | 29 | DigitalOut Diry(p23); |
jessekaiser | 50:5e08b74bf023 | 30 | PwmOut Stepy(p24); |
jessekaiser | 48:05adf4978828 | 31 | |
jessekaiser | 48:05adf4978828 | 32 | //Signal to and from computer |
jessekaiser | 48:05adf4978828 | 33 | Serial pc(USBTX, USBRX); |
jessekaiser | 48:05adf4978828 | 34 | |
jessekaiser | 50:5e08b74bf023 | 35 | DigitalOut Enablex(p26); //Connected to green led |
jessekaiser | 51:75a8c7191555 | 36 | DigitalOut Enabley(p25); //Connected to blue led |
jessekaiser | 48:05adf4978828 | 37 | |
jessekaiser | 48:05adf4978828 | 38 | //Microstepping |
jessekaiser | 0:3acdd563582f | 39 | DigitalOut MS1(p27); |
jessekaiser | 0:3acdd563582f | 40 | DigitalOut MS2(p28); |
jessekaiser | 0:3acdd563582f | 41 | DigitalOut MS3(p29); |
jessekaiser | 48:05adf4978828 | 42 | |
jessekaiser | 48:05adf4978828 | 43 | //Potmeter and EMG |
jessekaiser | 10:7f94cd65c910 | 44 | AnalogIn Pot1(p19); |
jessekaiser | 31:372ff8d49430 | 45 | AnalogIn Pot2(p20); |
jessekaiser | 48:05adf4978828 | 46 | |
jessekaiser | 48:05adf4978828 | 47 | AnalogIn emg1(p15); //EMG bordje bovenop, biceps |
jessekaiser | 48:05adf4978828 | 48 | AnalogIn emg2(p16); //triceps |
jessekaiser | 48:05adf4978828 | 49 | AnalogIn emg3(p17); |
jessekaiser | 48:05adf4978828 | 50 | AnalogIn emg4(p18); |
jessekaiser | 48:05adf4978828 | 51 | |
jessekaiser | 48:05adf4978828 | 52 | HIDScope scope(4); |
jessekaiser | 48:05adf4978828 | 53 | Ticker scopeTimer; |
jessekaiser | 48:05adf4978828 | 54 | |
jessekaiser | 48:05adf4978828 | 55 | //lcd |
jessekaiser | 30:0a8f849e0292 | 56 | C12832_LCD lcd; |
jessekaiser | 0:3acdd563582f | 57 | |
jessekaiser | 48:05adf4978828 | 58 | //Variables for motor control |
jessekaiser | 50:5e08b74bf023 | 59 | float setpoint = 1500; //Frequentie setpint |
jessekaiser | 48:05adf4978828 | 60 | float step_freq1 = 1; |
jessekaiser | 48:05adf4978828 | 61 | float step_freq2 = 1; |
jessekaiser | 48:05adf4978828 | 62 | float step_freq3 = 1; |
jessekaiser | 51:75a8c7191555 | 63 | float step_freq4 = 1; |
jessekaiser | 48:05adf4978828 | 64 | |
jessekaiser | 48:05adf4978828 | 65 | //EMG filter |
jessekaiser | 48:05adf4978828 | 66 | arm_biquad_casd_df1_inst_f32 lowpass_biceps; |
jessekaiser | 48:05adf4978828 | 67 | arm_biquad_casd_df1_inst_f32 lowpass_triceps; |
jessekaiser | 48:05adf4978828 | 68 | arm_biquad_casd_df1_inst_f32 lowpass_pect; |
jessekaiser | 48:05adf4978828 | 69 | arm_biquad_casd_df1_inst_f32 lowpass_deltoid; |
jessekaiser | 48:05adf4978828 | 70 | //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB |
jessekaiser | 48:05adf4978828 | 71 | float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751}; |
jessekaiser | 48:05adf4978828 | 72 | arm_biquad_casd_df1_inst_f32 highnotch_biceps; |
jessekaiser | 48:05adf4978828 | 73 | arm_biquad_casd_df1_inst_f32 highnotch_triceps; |
jessekaiser | 48:05adf4978828 | 74 | arm_biquad_casd_df1_inst_f32 highnotch_pect; |
jessekaiser | 48:05adf4978828 | 75 | arm_biquad_casd_df1_inst_f32 highnotch_deltoid; |
jessekaiser | 48:05adf4978828 | 76 | //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz |
jessekaiser | 48:05adf4978828 | 77 | float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533}; |
jessekaiser | 48:05adf4978828 | 78 | |
jessekaiser | 48:05adf4978828 | 79 | //state values |
jessekaiser | 48:05adf4978828 | 80 | float lowpass_biceps_states[4]; |
jessekaiser | 48:05adf4978828 | 81 | float highnotch_biceps_states[8]; |
jessekaiser | 48:05adf4978828 | 82 | float lowpass_triceps_states[4]; |
jessekaiser | 48:05adf4978828 | 83 | float highnotch_triceps_states[8]; |
jessekaiser | 48:05adf4978828 | 84 | float lowpass_pect_states[4]; |
jessekaiser | 48:05adf4978828 | 85 | float highnotch_pect_states[8]; |
jessekaiser | 48:05adf4978828 | 86 | float lowpass_deltoid_states[4]; |
jessekaiser | 48:05adf4978828 | 87 | float highnotch_deltoid_states[8]; |
jessekaiser | 48:05adf4978828 | 88 | |
jessekaiser | 48:05adf4978828 | 89 | //global variabels |
jessekaiser | 48:05adf4978828 | 90 | float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid; |
jessekaiser | 52:b75248e62240 | 91 | float average_bi, average_tri, average_pect, average_delt; |
jessekaiser | 48:05adf4978828 | 92 | float speed_old1, speed_old2, speed_old3, speed_old4; |
jessekaiser | 48:05adf4978828 | 93 | float acc1, acc2, acc3, acc4; |
jessekaiser | 48:05adf4978828 | 94 | float force1, force2, force3, force4; |
jessekaiser | 48:05adf4978828 | 95 | float speed1, speed2, speed3, speed4; |
jessekaiser | 48:05adf4978828 | 96 | float damping1, damping2, damping3, damping4; |
jessekaiser | 48:05adf4978828 | 97 | |
jessekaiser | 52:b75248e62240 | 98 | |
jessekaiser | 52:b75248e62240 | 99 | void average_biceps(float filtered_biceps,float *average) |
jessekaiser | 52:b75248e62240 | 100 | { |
jessekaiser | 52:b75248e62240 | 101 | static float total=0; |
jessekaiser | 52:b75248e62240 | 102 | static float number=0; |
jessekaiser | 52:b75248e62240 | 103 | total = total + filtered_biceps; |
jessekaiser | 52:b75248e62240 | 104 | number = number + 1; |
jessekaiser | 52:b75248e62240 | 105 | if ( number == 50) { |
jessekaiser | 52:b75248e62240 | 106 | *average = total/50; |
jessekaiser | 52:b75248e62240 | 107 | total = 0; |
jessekaiser | 52:b75248e62240 | 108 | number = 0; |
jessekaiser | 52:b75248e62240 | 109 | } |
jessekaiser | 52:b75248e62240 | 110 | } |
jessekaiser | 52:b75248e62240 | 111 | |
jessekaiser | 52:b75248e62240 | 112 | void average_triceps(float filtered_triceps,float *average) |
jessekaiser | 52:b75248e62240 | 113 | { |
jessekaiser | 52:b75248e62240 | 114 | static float total=0; |
jessekaiser | 52:b75248e62240 | 115 | static float number=0; |
jessekaiser | 52:b75248e62240 | 116 | total = total + filtered_triceps; |
jessekaiser | 52:b75248e62240 | 117 | number = number + 1; |
jessekaiser | 52:b75248e62240 | 118 | if ( number == 50) { |
jessekaiser | 52:b75248e62240 | 119 | *average = total/50; |
jessekaiser | 52:b75248e62240 | 120 | total = 0; |
jessekaiser | 52:b75248e62240 | 121 | number = 0; |
jessekaiser | 52:b75248e62240 | 122 | } |
jessekaiser | 52:b75248e62240 | 123 | } |
jessekaiser | 52:b75248e62240 | 124 | |
jessekaiser | 52:b75248e62240 | 125 | void average_pectoralis(float filtered_pect,float *average) |
jessekaiser | 52:b75248e62240 | 126 | { |
jessekaiser | 52:b75248e62240 | 127 | static float total=0; |
jessekaiser | 52:b75248e62240 | 128 | static float number=0; |
jessekaiser | 52:b75248e62240 | 129 | total = total + filtered_pect; |
jessekaiser | 52:b75248e62240 | 130 | number = number + 1; |
jessekaiser | 52:b75248e62240 | 131 | if ( number == 50) { |
jessekaiser | 52:b75248e62240 | 132 | *average = total/50; |
jessekaiser | 52:b75248e62240 | 133 | total = 0; |
jessekaiser | 52:b75248e62240 | 134 | number = 0; |
jessekaiser | 52:b75248e62240 | 135 | } |
jessekaiser | 52:b75248e62240 | 136 | } |
jessekaiser | 52:b75248e62240 | 137 | |
jessekaiser | 52:b75248e62240 | 138 | void average_deltoid(float filtered_deltoid ,float *average) |
jessekaiser | 52:b75248e62240 | 139 | { |
jessekaiser | 52:b75248e62240 | 140 | static float total=0; |
jessekaiser | 52:b75248e62240 | 141 | static float number=0; |
jessekaiser | 52:b75248e62240 | 142 | total = total + filtered_deltoid; |
jessekaiser | 52:b75248e62240 | 143 | number = number + 1; |
jessekaiser | 52:b75248e62240 | 144 | if ( number == 50) { |
jessekaiser | 52:b75248e62240 | 145 | *average = total/50; |
jessekaiser | 52:b75248e62240 | 146 | total = 0; |
jessekaiser | 52:b75248e62240 | 147 | number = 0; |
jessekaiser | 52:b75248e62240 | 148 | } |
jessekaiser | 52:b75248e62240 | 149 | } |
jessekaiser | 52:b75248e62240 | 150 | |
jessekaiser | 48:05adf4978828 | 151 | void looper_emg() |
jessekaiser | 48:05adf4978828 | 152 | { |
jessekaiser | 48:05adf4978828 | 153 | float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32; |
jessekaiser | 48:05adf4978828 | 154 | emg_value1_f32 = emg1.read(); |
jessekaiser | 48:05adf4978828 | 155 | emg_value2_f32 = emg2.read(); |
jessekaiser | 48:05adf4978828 | 156 | emg_value3_f32 = emg3.read(); |
jessekaiser | 48:05adf4978828 | 157 | emg_value4_f32 = emg4.read(); |
jessekaiser | 48:05adf4978828 | 158 | |
jessekaiser | 48:05adf4978828 | 159 | //process emg biceps |
jessekaiser | 48:05adf4978828 | 160 | arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter |
jessekaiser | 48:05adf4978828 | 161 | filtered_biceps = fabs(filtered_biceps); //Rectifier |
jessekaiser | 48:05adf4978828 | 162 | arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter |
jessekaiser | 52:b75248e62240 | 163 | average_biceps(filtered_biceps,&average_bi); |
jessekaiser | 48:05adf4978828 | 164 | //process emg triceps |
jessekaiser | 48:05adf4978828 | 165 | arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 ); |
jessekaiser | 48:05adf4978828 | 166 | filtered_triceps = fabs(filtered_triceps); |
jessekaiser | 48:05adf4978828 | 167 | arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 ); |
jessekaiser | 52:b75248e62240 | 168 | average_triceps(filtered_triceps,&average_tri); |
jessekaiser | 48:05adf4978828 | 169 | //process emg pectoralis major |
jessekaiser | 48:05adf4978828 | 170 | arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 ); |
jessekaiser | 48:05adf4978828 | 171 | filtered_pect = fabs(filtered_pect); |
jessekaiser | 48:05adf4978828 | 172 | arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 ); |
jessekaiser | 52:b75248e62240 | 173 | average_pectoralis(filtered_pect,&average_pect); |
jessekaiser | 48:05adf4978828 | 174 | //process emg deltoid |
jessekaiser | 48:05adf4978828 | 175 | arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 ); |
jessekaiser | 48:05adf4978828 | 176 | filtered_deltoid = fabs(filtered_deltoid); |
jessekaiser | 48:05adf4978828 | 177 | arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 ); |
jessekaiser | 52:b75248e62240 | 178 | average_deltoid(filtered_deltoid,&average_delt); |
jessekaiser | 48:05adf4978828 | 179 | /*send value to PC. */ |
jessekaiser | 48:05adf4978828 | 180 | scope.set(0,filtered_biceps); //Filtered EMG signal |
jessekaiser | 48:05adf4978828 | 181 | scope.set(1,filtered_triceps); |
jessekaiser | 48:05adf4978828 | 182 | scope.set(2,filtered_pect); |
jessekaiser | 51:75a8c7191555 | 183 | scope.set(3,filtered_deltoid); |
jessekaiser | 48:05adf4978828 | 184 | } |
jessekaiser | 48:05adf4978828 | 185 | |
jessekaiser | 48:05adf4978828 | 186 | void looper_motory() |
jessekaiser | 48:05adf4978828 | 187 | { |
jessekaiser | 51:75a8c7191555 | 188 | //Forward |
jessekaiser | 52:b75248e62240 | 189 | force1 = K_Gain*(average_bi/MAX_bi); |
jessekaiser | 48:05adf4978828 | 190 | force1 = force1 - damping1; |
jessekaiser | 48:05adf4978828 | 191 | acc1 = force1/Mass; |
jessekaiser | 48:05adf4978828 | 192 | speed1 = speed_old1 + (acc1 * dt); |
jessekaiser | 48:05adf4978828 | 193 | damping1 = speed1 * Damp; |
jessekaiser | 48:05adf4978828 | 194 | step_freq1 = (setpoint*speed1); |
jessekaiser | 48:05adf4978828 | 195 | speed_old1 = speed1; |
jessekaiser | 51:75a8c7191555 | 196 | |
jessekaiser | 48:05adf4978828 | 197 | //Achteruit triceps |
jessekaiser | 52:b75248e62240 | 198 | force2 = K_Gain*(average_tri/MAX_tri); |
jessekaiser | 48:05adf4978828 | 199 | force2 = force2 - damping2; |
jessekaiser | 48:05adf4978828 | 200 | acc2 = force2/Mass; |
jessekaiser | 48:05adf4978828 | 201 | speed2 = speed_old2 + (acc2 * dt); |
jessekaiser | 48:05adf4978828 | 202 | damping2 = speed2 * Damp; |
jessekaiser | 48:05adf4978828 | 203 | step_freq2 = (setpoint*speed2); |
jessekaiser | 48:05adf4978828 | 204 | speed_old2 = speed2; |
jessekaiser | 48:05adf4978828 | 205 | if (filtered_biceps > filtered_triceps) { |
jessekaiser | 51:75a8c7191555 | 206 | Diry = 1; |
jessekaiser | 48:05adf4978828 | 207 | speed2 = 0.01; |
jessekaiser | 48:05adf4978828 | 208 | speed_old2 = 0.01; |
jessekaiser | 48:05adf4978828 | 209 | Stepy.period(1.0/step_freq1); |
jessekaiser | 51:75a8c7191555 | 210 | } |
jessekaiser | 51:75a8c7191555 | 211 | if (filtered_triceps > filtered_biceps) { |
jessekaiser | 51:75a8c7191555 | 212 | Diry = 0; |
jessekaiser | 48:05adf4978828 | 213 | speed1 = 0.01; |
jessekaiser | 51:75a8c7191555 | 214 | speed_old1 = 0.01; |
jessekaiser | 48:05adf4978828 | 215 | Stepy.period(1.0/step_freq2); |
jessekaiser | 48:05adf4978828 | 216 | } |
jessekaiser | 48:05adf4978828 | 217 | //Speed limit |
jessekaiser | 48:05adf4978828 | 218 | if (speed1 > 1) { |
jessekaiser | 48:05adf4978828 | 219 | speed1 = 1; |
jessekaiser | 48:05adf4978828 | 220 | step_freq1 = setpoint; |
jessekaiser | 48:05adf4978828 | 221 | } |
jessekaiser | 48:05adf4978828 | 222 | if (speed2 > 1) { |
jessekaiser | 48:05adf4978828 | 223 | speed2 = 1; |
jessekaiser | 48:05adf4978828 | 224 | step_freq2 = setpoint; |
jessekaiser | 48:05adf4978828 | 225 | } |
jessekaiser | 48:05adf4978828 | 226 | //EMG treshold |
jessekaiser | 48:05adf4978828 | 227 | if (filtered_biceps < EMG_tresh && filtered_triceps < EMG_tresh) { |
jessekaiser | 51:75a8c7191555 | 228 | Enabley = 1; //Enable = 1 turns the motor off. |
jessekaiser | 48:05adf4978828 | 229 | speed1 = 0.01; |
jessekaiser | 48:05adf4978828 | 230 | speed_old1 = 0.01; |
jessekaiser | 48:05adf4978828 | 231 | speed2 = 0.01; |
jessekaiser | 48:05adf4978828 | 232 | speed_old2 = 0.01; |
jessekaiser | 48:05adf4978828 | 233 | } else { |
jessekaiser | 48:05adf4978828 | 234 | Enabley = 0; |
jessekaiser | 48:05adf4978828 | 235 | } |
jessekaiser | 48:05adf4978828 | 236 | |
jessekaiser | 48:05adf4978828 | 237 | } |
jessekaiser | 48:05adf4978828 | 238 | |
jessekaiser | 48:05adf4978828 | 239 | void looper_motorx() |
jessekaiser | 48:05adf4978828 | 240 | { |
jessekaiser | 48:05adf4978828 | 241 | //To the left |
jessekaiser | 52:b75248e62240 | 242 | force3 = K_Gain*(average_pect/MAX_pect); |
jessekaiser | 48:05adf4978828 | 243 | force3 = force3 - damping3; |
jessekaiser | 48:05adf4978828 | 244 | acc3 = force3/Mass; |
jessekaiser | 48:05adf4978828 | 245 | speed3 = speed_old3 + (acc3 * dt); |
jessekaiser | 48:05adf4978828 | 246 | damping3 = speed3 * Damp; |
jessekaiser | 48:05adf4978828 | 247 | step_freq3 = (setpoint*speed3); |
jessekaiser | 48:05adf4978828 | 248 | speed_old3 = speed3; |
jessekaiser | 51:75a8c7191555 | 249 | |
jessekaiser | 48:05adf4978828 | 250 | //To the right |
jessekaiser | 52:b75248e62240 | 251 | force4 = K_Gain*(average_delt/MAX_delt); |
jessekaiser | 48:05adf4978828 | 252 | force4 = force4 - damping4; |
jessekaiser | 48:05adf4978828 | 253 | acc4 = force4/Mass; |
jessekaiser | 48:05adf4978828 | 254 | speed4 = speed_old4 + (acc4 * dt); |
jessekaiser | 48:05adf4978828 | 255 | damping4 = speed4 * Damp; |
jessekaiser | 48:05adf4978828 | 256 | step_freq4 = (setpoint*speed4); |
jessekaiser | 48:05adf4978828 | 257 | speed_old4 = speed4; |
jessekaiser | 48:05adf4978828 | 258 | if (filtered_pect > filtered_deltoid) { |
jessekaiser | 48:05adf4978828 | 259 | Dirx = 0; |
jessekaiser | 48:05adf4978828 | 260 | speed4 = 0.01; |
jessekaiser | 48:05adf4978828 | 261 | speed_old4 = 0.01; |
jessekaiser | 48:05adf4978828 | 262 | Stepx.period(1.0/step_freq3); |
jessekaiser | 51:75a8c7191555 | 263 | } |
jessekaiser | 51:75a8c7191555 | 264 | if (filtered_deltoid > filtered_pect) { |
jessekaiser | 48:05adf4978828 | 265 | Dirx = 1; |
jessekaiser | 48:05adf4978828 | 266 | speed3 = 0.01; |
jessekaiser | 51:75a8c7191555 | 267 | speed_old3 = 0.01; |
jessekaiser | 48:05adf4978828 | 268 | Stepx.period(1.0/step_freq4); |
jessekaiser | 48:05adf4978828 | 269 | } |
jessekaiser | 48:05adf4978828 | 270 | //Speed limit |
jessekaiser | 48:05adf4978828 | 271 | if (speed3 > 1) { |
jessekaiser | 48:05adf4978828 | 272 | speed3 = 1; |
jessekaiser | 48:05adf4978828 | 273 | step_freq3 = setpoint; |
jessekaiser | 48:05adf4978828 | 274 | } |
jessekaiser | 48:05adf4978828 | 275 | if (speed4 > 1) { |
jessekaiser | 48:05adf4978828 | 276 | speed4 = 1; |
jessekaiser | 48:05adf4978828 | 277 | step_freq4 = setpoint; |
jessekaiser | 48:05adf4978828 | 278 | } |
jessekaiser | 48:05adf4978828 | 279 | //EMG treshold |
jessekaiser | 48:05adf4978828 | 280 | if (filtered_pect < EMG_tresh && filtered_deltoid < EMG_tresh) { |
jessekaiser | 51:75a8c7191555 | 281 | Enablex = 1; //Enable = 1 turns the motor off. |
jessekaiser | 48:05adf4978828 | 282 | speed3 = 0.01; |
jessekaiser | 48:05adf4978828 | 283 | speed_old3 = 0.01; |
jessekaiser | 48:05adf4978828 | 284 | speed4 = 0.01; |
jessekaiser | 48:05adf4978828 | 285 | speed_old4 = 0.01; |
jessekaiser | 48:05adf4978828 | 286 | } else { |
jessekaiser | 48:05adf4978828 | 287 | Enablex = 0; |
jessekaiser | 48:05adf4978828 | 288 | } |
jessekaiser | 48:05adf4978828 | 289 | |
jessekaiser | 48:05adf4978828 | 290 | } |
jessekaiser | 41:a666a531d52e | 291 | int main() |
jessekaiser | 41:a666a531d52e | 292 | { |
jessekaiser | 48:05adf4978828 | 293 | // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven. |
jessekaiser | 48:05adf4978828 | 294 | scopeTimer.attach_us(&scope, &HIDScope::send, 2e3); |
jessekaiser | 48:05adf4978828 | 295 | |
jessekaiser | 48:05adf4978828 | 296 | Ticker emgtimer; //biceps |
jessekaiser | 48:05adf4978828 | 297 | arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states); |
jessekaiser | 48:05adf4978828 | 298 | arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states); |
jessekaiser | 48:05adf4978828 | 299 | //triceps |
jessekaiser | 48:05adf4978828 | 300 | arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states); |
jessekaiser | 48:05adf4978828 | 301 | arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states); |
jessekaiser | 51:75a8c7191555 | 302 | //pectoralis major |
jessekaiser | 48:05adf4978828 | 303 | arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states); |
jessekaiser | 48:05adf4978828 | 304 | arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states); |
jessekaiser | 48:05adf4978828 | 305 | //deltoid |
jessekaiser | 48:05adf4978828 | 306 | arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states); |
jessekaiser | 48:05adf4978828 | 307 | arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states); |
jessekaiser | 48:05adf4978828 | 308 | emgtimer.attach(looper_emg, 0.002); |
jessekaiser | 48:05adf4978828 | 309 | |
jessekaiser | 50:5e08b74bf023 | 310 | Ticker looptimer1; |
jessekaiser | 50:5e08b74bf023 | 311 | looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq? |
jessekaiser | 51:75a8c7191555 | 312 | |
jessekaiser | 50:5e08b74bf023 | 313 | Ticker looptimer2; |
jessekaiser | 50:5e08b74bf023 | 314 | looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor |
jessekaiser | 51:75a8c7191555 | 315 | |
jessekaiser | 48:05adf4978828 | 316 | //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0) |
jessekaiser | 44:d5aa53e4778c | 317 | MS1 = 1; |
jessekaiser | 45:f5d74c7f8fbf | 318 | MS2 = 0; |
jessekaiser | 44:d5aa53e4778c | 319 | MS3 = 0; |
jessekaiser | 48:05adf4978828 | 320 | Stepx.write(0.5); // Duty cycle of 50% |
jessekaiser | 48:05adf4978828 | 321 | Stepy.write(0.5); |
jessekaiser | 48:05adf4978828 | 322 | |
jessekaiser | 44:d5aa53e4778c | 323 | while (1) { |
jessekaiser | 23:4d050e85e863 | 324 | |
jessekaiser | 51:75a8c7191555 | 325 | //lcd.printf("Bi %.2f ,Tri %.2f \n", filtered_biceps, filtered_triceps); Filtered EMG values |
jessekaiser | 51:75a8c7191555 | 326 | //lcd.printf("1 %.0f, 2 %.0f, 3 %.0f, 4 %.0f \n", step_freq1, step_freq2, step_freq3, step_freq4); //step_freq value of every EMG sensor |
jessekaiser | 51:75a8c7191555 | 327 | //wait(0.01); |
jessekaiser | 0:3acdd563582f | 328 | } |
jessekaiser | 48:05adf4978828 | 329 | } |