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@21:dcc0fd9dbb08, 2015-05-07 (annotated)

Committer:
jessekaiser
Date:
Thu May 07 15:03:15 2015 +0000
Revision:
21:dcc0fd9dbb08
Parent:
15:ae8b209e8493
Child:
22:3122a33793f6
PwmOut filter toegevoegt en EMG voor biceps om te testen

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 21:dcc0fd9dbb08 3 #include "arm_math.h"
jessekaiser 21:dcc0fd9dbb08 4 #include "HIDScope.h"
jessekaiser 0:3acdd563582f 5
jessekaiser 15:ae8b209e8493 6 #define P_GAIN 0.998
jessekaiser 11:74ae4e5e11ab 7
jessekaiser 21:dcc0fd9dbb08 8 //Motor control
jessekaiser 0:3acdd563582f 9 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 10 PwmOut Step(p22);
jessekaiser 21:dcc0fd9dbb08 11
jessekaiser 21:dcc0fd9dbb08 12 //Signal to and from computer
jessekaiser 21:dcc0fd9dbb08 13 Serial pc(USBTX, USBRX);
jessekaiser 21:dcc0fd9dbb08 14
jessekaiser 15:ae8b209e8493 15 DigitalOut Enable(p14);
jessekaiser 21:dcc0fd9dbb08 16
jessekaiser 21:dcc0fd9dbb08 17 //Microstepping
jessekaiser 0:3acdd563582f 18 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 19 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 20 DigitalOut MS3(p29);
jessekaiser 21:dcc0fd9dbb08 21
jessekaiser 21:dcc0fd9dbb08 22 //Potmeter and EMG
jessekaiser 10:7f94cd65c910 23 AnalogIn Pot1(p19);
jessekaiser 21:dcc0fd9dbb08 24 AnalogIn EMG1(p20);
jessekaiser 21:dcc0fd9dbb08 25 HIDScope scope(2);
jessekaiser 21:dcc0fd9dbb08 26 //lcd
jessekaiser 21:dcc0fd9dbb08 27 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 28
jessekaiser 21:dcc0fd9dbb08 29 //Joystick control (probably not necessary
jessekaiser 10:7f94cd65c910 30 BusIn Joystick(p12,p13,p14,p15,p16);
jessekaiser 10:7f94cd65c910 31 DigitalIn Up(p15);
jessekaiser 10:7f94cd65c910 32 DigitalIn Down(p12);
jessekaiser 21:dcc0fd9dbb08 33
jessekaiser 21:dcc0fd9dbb08 34 //Variables for motor control
jessekaiser 21:dcc0fd9dbb08 35 float setpoint = 7000; //Frequentie
jessekaiser 21:dcc0fd9dbb08 36 float step_freq = 1;
jessekaiser 21:dcc0fd9dbb08 37
jessekaiser 21:dcc0fd9dbb08 38
jessekaiser 21:dcc0fd9dbb08 39 // Filters
jessekaiser 21:dcc0fd9dbb08 40 arm_biquad_casd_df1_inst_f32 lowpass_pot;
jessekaiser 21:dcc0fd9dbb08 41 arm_biquad_casd_df1_inst_f32 lowpass_step;
jessekaiser 21:dcc0fd9dbb08 42
jessekaiser 21:dcc0fd9dbb08 43 //lowpass filter settings: Fc = 2 Hz, Fs = 100 Hz, Gain = 6 dB
jessekaiser 21:dcc0fd9dbb08 44 float lowpass_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
jessekaiser 21:dcc0fd9dbb08 45 //lowpass for step_freq: Fc = 2 Hz, Fs = 100, Gain = 6 dB
jessekaiser 21:dcc0fd9dbb08 46 float lowpass1_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
jessekaiser 21:dcc0fd9dbb08 47
jessekaiser 21:dcc0fd9dbb08 48 //EMG filter
jessekaiser 21:dcc0fd9dbb08 49 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 21:dcc0fd9dbb08 50 //lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 21:dcc0fd9dbb08 51 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 21:dcc0fd9dbb08 52 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 21:dcc0fd9dbb08 53 //highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB
jessekaiser 21:dcc0fd9dbb08 54 float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 21:dcc0fd9dbb08 55
jessekaiser 21:dcc0fd9dbb08 56
jessekaiser 21:dcc0fd9dbb08 57 //state values
jessekaiser 21:dcc0fd9dbb08 58 float lowpass_biceps_states[4];
jessekaiser 21:dcc0fd9dbb08 59 float highnotch_biceps_states[8];
jessekaiser 21:dcc0fd9dbb08 60 float lowpass_pot_states[4];
jessekaiser 21:dcc0fd9dbb08 61 float lowpass1_step_states[4];
jessekaiser 21:dcc0fd9dbb08 62
jessekaiser 21:dcc0fd9dbb08 63 //global variabels
jessekaiser 21:dcc0fd9dbb08 64 float filtered_biceps;
jessekaiser 21:dcc0fd9dbb08 65 float filtered_pot;
jessekaiser 21:dcc0fd9dbb08 66 float filtered_average_pot;
jessekaiser 21:dcc0fd9dbb08 67 float filtered_step;
jessekaiser 21:dcc0fd9dbb08 68 float pot_value1_f32;
jessekaiser 21:dcc0fd9dbb08 69
jessekaiser 21:dcc0fd9dbb08 70 //Averaging (look if necessary)
jessekaiser 21:dcc0fd9dbb08 71 /*void average_pot(float filtered_pot,float *average)
jessekaiser 21:dcc0fd9dbb08 72 {
jessekaiser 21:dcc0fd9dbb08 73 static float total=0;
jessekaiser 21:dcc0fd9dbb08 74 static float number=0;
jessekaiser 21:dcc0fd9dbb08 75 total = total + filtered_pot;
jessekaiser 21:dcc0fd9dbb08 76 number = number + 1;
jessekaiser 21:dcc0fd9dbb08 77 if ( number == 50) {
jessekaiser 21:dcc0fd9dbb08 78 *average = total/50;
jessekaiser 21:dcc0fd9dbb08 79 total = 0;
jessekaiser 21:dcc0fd9dbb08 80 number = 0;
jessekaiser 21:dcc0fd9dbb08 81 }
jessekaiser 21:dcc0fd9dbb08 82 }*/
jessekaiser 21:dcc0fd9dbb08 83 void looper_emg()
jessekaiser 21:dcc0fd9dbb08 84 {
jessekaiser 21:dcc0fd9dbb08 85 /*variable to store value in*/
jessekaiser 21:dcc0fd9dbb08 86 uint16_t emg_value1;
jessekaiser 21:dcc0fd9dbb08 87
jessekaiser 21:dcc0fd9dbb08 88 float emg_value1_f32;
jessekaiser 21:dcc0fd9dbb08 89
jessekaiser 21:dcc0fd9dbb08 90 /*put raw emg value both in red and in emg_value*/
jessekaiser 21:dcc0fd9dbb08 91 emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
jessekaiser 21:dcc0fd9dbb08 92 emg_value1_f32 = emg0.read();
jessekaiser 21:dcc0fd9dbb08 93
jessekaiser 21:dcc0fd9dbb08 94 //process emg biceps
jessekaiser 21:dcc0fd9dbb08 95 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
jessekaiser 21:dcc0fd9dbb08 96 filtered_biceps = fabs(filtered_biceps);
jessekaiser 21:dcc0fd9dbb08 97 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
jessekaiser 21:dcc0fd9dbb08 98
jessekaiser 21:dcc0fd9dbb08 99 /*send value to PC. */
jessekaiser 21:dcc0fd9dbb08 100 scope.set(0,emg_value1); //Raw EMG signal biceps
jessekaiser 21:dcc0fd9dbb08 101 scope.set(1,filtered_biceps); //Filtered signal
jessekaiser 21:dcc0fd9dbb08 102 scope.send();
jessekaiser 21:dcc0fd9dbb08 103 }
jessekaiser 21:dcc0fd9dbb08 104 void looper_pot()
jessekaiser 21:dcc0fd9dbb08 105 {
jessekaiser 21:dcc0fd9dbb08 106
jessekaiser 21:dcc0fd9dbb08 107 pot_value1_f32 = Pot1.read() - 0.500;
jessekaiser 21:dcc0fd9dbb08 108
jessekaiser 21:dcc0fd9dbb08 109 //process input
jessekaiser 21:dcc0fd9dbb08 110 arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 );
jessekaiser 21:dcc0fd9dbb08 111 arm_biquad_cascade_df1_f32(&lowpass_step, &step_freq, &filtered_step, 1);
jessekaiser 21:dcc0fd9dbb08 112
jessekaiser 21:dcc0fd9dbb08 113 }
jessekaiser 21:dcc0fd9dbb08 114
jessekaiser 21:dcc0fd9dbb08 115 void looper_motor()
jessekaiser 21:dcc0fd9dbb08 116 {
jessekaiser 21:dcc0fd9dbb08 117 float new_step_freq;
jessekaiser 21:dcc0fd9dbb08 118 new_step_freq = (setpoint*pot_value1_f32*2);
jessekaiser 21:dcc0fd9dbb08 119 step_freq = abs(new_step_freq); //Gives the PWM frequenty to the motor.
jessekaiser 21:dcc0fd9dbb08 120 if (step_freq < 700) {
jessekaiser 21:dcc0fd9dbb08 121 Step.period(0);
jessekaiser 21:dcc0fd9dbb08 122 step_freq = 0;
jessekaiser 21:dcc0fd9dbb08 123 } else {
jessekaiser 21:dcc0fd9dbb08 124 Step.period(1.0/step_freq);
jessekaiser 21:dcc0fd9dbb08 125 }
jessekaiser 21:dcc0fd9dbb08 126 }
jessekaiser 0:3acdd563582f 127 int main()
jessekaiser 0:3acdd563582f 128 {
jessekaiser 21:dcc0fd9dbb08 129 Ticker log_timer;
jessekaiser 21:dcc0fd9dbb08 130 //set up filters. Use external array for constants
jessekaiser 21:dcc0fd9dbb08 131 arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states);
jessekaiser 21:dcc0fd9dbb08 132 log_timer.attach(looper_pot, 0.01);
jessekaiser 21:dcc0fd9dbb08 133
jessekaiser 21:dcc0fd9dbb08 134 Ticker looptimer;
jessekaiser 21:dcc0fd9dbb08 135 arm_biquad_cascade_df1_init_f32(&lowpass_step, 1, lowpass1_const, lowpass1_step_states);
jessekaiser 21:dcc0fd9dbb08 136 looptimer.attach(looper_motor, 0.01);
jessekaiser 21:dcc0fd9dbb08 137
jessekaiser 4:e4341e3524dc 138 MS1 = 1;
jessekaiser 21:dcc0fd9dbb08 139 MS2 = 0;
jessekaiser 2:92a63245d11c 140 MS3 = 0;
jessekaiser 21:dcc0fd9dbb08 141 //Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 9:649229691351 142 Step.write(0.5); // Duty cycle van 50%
jessekaiser 21:dcc0fd9dbb08 143
jessekaiser 21:dcc0fd9dbb08 144
jessekaiser 21:dcc0fd9dbb08 145
jessekaiser 21:dcc0fd9dbb08 146
jessekaiser 0:3acdd563582f 147 while (1) {
jessekaiser 21:dcc0fd9dbb08 148
jessekaiser 21:dcc0fd9dbb08 149 if (pot_value1_f32 < 0) { //Directie controle.
jessekaiser 21:dcc0fd9dbb08 150 Dir = 0;
jessekaiser 21:dcc0fd9dbb08 151 } else {
jessekaiser 21:dcc0fd9dbb08 152 Dir = 1;
jessekaiser 21:dcc0fd9dbb08 153 }
jessekaiser 21:dcc0fd9dbb08 154
jessekaiser 21:dcc0fd9dbb08 155
jessekaiser 21:dcc0fd9dbb08 156 lcd.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
jessekaiser 21:dcc0fd9dbb08 157 pc.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
jessekaiser 21:dcc0fd9dbb08 158 wait(0.01);
jessekaiser 21:dcc0fd9dbb08 159
jessekaiser 10:7f94cd65c910 160
jessekaiser 0:3acdd563582f 161 }
jessekaiser 0:3acdd563582f 162 }