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@36:d6e0a835bb2d, 2015-05-27 (annotated)

Committer:
jessekaiser
Date:
Wed May 27 14:49:14 2015 +0000
Revision:
36:d6e0a835bb2d
Parent:
35:b0737ee24b43
Child:
37:3b9b18450612
The K_gain and Max_emg are configured for a normalized emg signal and speed should be between 0 and 1. Can go a bit higher.

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 23:4d050e85e863 3 #include "arm_math.h"
jessekaiser 23:4d050e85e863 4 #include "HIDScope.h"
jessekaiser 0:3acdd563582f 5
jessekaiser 36:d6e0a835bb2d 6 #define K_Gain 8 //Gain of the filtered EMG signal
jessekaiser 36:d6e0a835bb2d 7 #define Damp 4 //Deceleration of the motor
jessekaiser 34:025b324d15d6 8 #define Mass 1 // Mass value
jessekaiser 34:025b324d15d6 9 #define dt 0.002 //Sample frequency
jessekaiser 36:d6e0a835bb2d 10 #define MAX_emg 0.05 //Can be used for normalisation of the EMG signal
jessekaiser 34:025b324d15d6 11 #define MIN_freq 900 //The motor turns off below this frequency
jessekaiser 31:372ff8d49430 12
jessekaiser 23:4d050e85e863 13 //Motor control
jessekaiser 0:3acdd563582f 14 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 15 PwmOut Step(p22);
jessekaiser 23:4d050e85e863 16
jessekaiser 23:4d050e85e863 17 //Signal to and from computer
jessekaiser 23:4d050e85e863 18 Serial pc(USBTX, USBRX);
jessekaiser 23:4d050e85e863 19
jessekaiser 24:c4c5d30a3938 20 DigitalOut Enable(p25);
jessekaiser 23:4d050e85e863 21
jessekaiser 23:4d050e85e863 22 //Microstepping
jessekaiser 0:3acdd563582f 23 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 24 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 25 DigitalOut MS3(p29);
jessekaiser 23:4d050e85e863 26
jessekaiser 23:4d050e85e863 27 //Potmeter and EMG
jessekaiser 10:7f94cd65c910 28 AnalogIn Pot1(p19);
jessekaiser 31:372ff8d49430 29 AnalogIn Pot2(p20);
jessekaiser 25:144eb5822aa7 30 AnalogIn emg0(p17);
jessekaiser 35:b0737ee24b43 31 HIDScope scope(1);
jessekaiser 29:83f005c637be 32 Ticker scopeTimer;
jessekaiser 25:144eb5822aa7 33
jessekaiser 23:4d050e85e863 34 //lcd
jessekaiser 30:0a8f849e0292 35 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 36
jessekaiser 23:4d050e85e863 37 //Variables for motor control
jessekaiser 36:d6e0a835bb2d 38 float setpoint = 9000; //Frequentie setpint
jessekaiser 23:4d050e85e863 39 float step_freq = 1;
jessekaiser 23:4d050e85e863 40
jessekaiser 23:4d050e85e863 41 //EMG filter
jessekaiser 23:4d050e85e863 42 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 23:4d050e85e863 43 //lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 34:025b324d15d6 44 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 23:4d050e85e863 45 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 35:b0737ee24b43 46 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
jessekaiser 31:372ff8d49430 47 float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 23:4d050e85e863 48
jessekaiser 23:4d050e85e863 49 //state values
jessekaiser 23:4d050e85e863 50 float lowpass_biceps_states[4];
jessekaiser 23:4d050e85e863 51 float highnotch_biceps_states[8];
jessekaiser 23:4d050e85e863 52 float lowpass_pot_states[4];
jessekaiser 23:4d050e85e863 53
jessekaiser 23:4d050e85e863 54 //global variabels
jessekaiser 23:4d050e85e863 55 float filtered_biceps;
jessekaiser 31:372ff8d49430 56 float speed_old;
jessekaiser 31:372ff8d49430 57 float acc;
jessekaiser 31:372ff8d49430 58 float force;
jessekaiser 32:46b18f465600 59 float speed;
jessekaiser 32:46b18f465600 60 float D;
jessekaiser 32:46b18f465600 61
jessekaiser 23:4d050e85e863 62 void looper_emg()
jessekaiser 23:4d050e85e863 63 {
jessekaiser 36:d6e0a835bb2d 64
jessekaiser 23:4d050e85e863 65
jessekaiser 23:4d050e85e863 66 float emg_value1_f32;
jessekaiser 23:4d050e85e863 67 emg_value1_f32 = emg0.read();
jessekaiser 23:4d050e85e863 68
jessekaiser 23:4d050e85e863 69 //process emg biceps
jessekaiser 23:4d050e85e863 70 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
jessekaiser 31:372ff8d49430 71 filtered_biceps = fabs(filtered_biceps);
jessekaiser 23:4d050e85e863 72 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
jessekaiser 36:d6e0a835bb2d 73
jessekaiser 23:4d050e85e863 74
jessekaiser 23:4d050e85e863 75 /*send value to PC. */
jessekaiser 36:d6e0a835bb2d 76 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 23:4d050e85e863 77 }
jessekaiser 26:b88ff19ff5dc 78
jessekaiser 31:372ff8d49430 79 void looper_motor()
jessekaiser 31:372ff8d49430 80 {
jessekaiser 31:372ff8d49430 81 Dir = 0;
jessekaiser 36:d6e0a835bb2d 82 force = K_Gain*(filtered_biceps/MAX_emg);
jessekaiser 31:372ff8d49430 83 force = force - D;
jessekaiser 31:372ff8d49430 84 acc = force/Mass;
jessekaiser 32:46b18f465600 85 speed = speed_old + (acc * dt);
jessekaiser 32:46b18f465600 86 D = speed * Damp;
jessekaiser 32:46b18f465600 87 step_freq = (setpoint*speed);
jessekaiser 31:372ff8d49430 88 Step.period(1.0/step_freq);
jessekaiser 32:46b18f465600 89 speed_old = speed;
jessekaiser 31:372ff8d49430 90
jessekaiser 33:3c9f8c1e9adf 91 if (step_freq < MIN_freq) {
jessekaiser 31:372ff8d49430 92 Enable = 1;
jessekaiser 31:372ff8d49430 93 } else {
jessekaiser 31:372ff8d49430 94 Enable = 0;
jessekaiser 31:372ff8d49430 95 }
jessekaiser 23:4d050e85e863 96 }
jessekaiser 31:372ff8d49430 97
jessekaiser 0:3acdd563582f 98 int main()
jessekaiser 0:3acdd563582f 99 {
jessekaiser 35:b0737ee24b43 100 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 31:372ff8d49430 101 scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 31:372ff8d49430 102
jessekaiser 28:593929bbdb98 103 Ticker emgtimer;
jessekaiser 25:144eb5822aa7 104 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 25:144eb5822aa7 105 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 30:0a8f849e0292 106 emgtimer.attach(looper_emg, 0.002);
jessekaiser 23:4d050e85e863 107
jessekaiser 30:0a8f849e0292 108 Ticker looptimer;
jessekaiser 33:3c9f8c1e9adf 109 looptimer.attach(looper_motor, 0.01); //Uitzoeken waarom deze frequentie!
jessekaiser 36:d6e0a835bb2d 110
jessekaiser 33:3c9f8c1e9adf 111 //Microstepping control
jessekaiser 4:e4341e3524dc 112 MS1 = 1;
jessekaiser 23:4d050e85e863 113 MS2 = 0;
jessekaiser 2:92a63245d11c 114 MS3 = 0;
jessekaiser 9:649229691351 115 Step.write(0.5); // Duty cycle van 50%
jessekaiser 23:4d050e85e863 116
jessekaiser 0:3acdd563582f 117 while (1) {
jessekaiser 23:4d050e85e863 118
jessekaiser 36:d6e0a835bb2d 119 lcd.printf("Freq %.0f Hz, %.2f \n", step_freq, speed); //snelheid meting op lcd
jessekaiser 36:d6e0a835bb2d 120 //pc.printf("%.3f \n", emg0.read());
jessekaiser 28:593929bbdb98 121 wait(0.01);
jessekaiser 0:3acdd563582f 122 }
jessekaiser 26:b88ff19ff5dc 123 }