Diff: main.cpp

Revision:

21:dcc0fd9dbb08

Parent:

15:ae8b209e8493

Child:

22:3122a33793f6

--- a/main.cpp	Wed Apr 29 09:42:09 2015 +0000
+++ b/main.cpp	Thu May 07 15:03:15 2015 +0000
@@ -1,44 +1,162 @@
 #include "mbed.h"
 #include "C12832_lcd.h"
+#include "arm_math.h"
+#include "HIDScope.h"
 
 #define P_GAIN 0.998
 
+//Motor control
 DigitalOut Dir(p21);
 PwmOut Step(p22);
+
+//Signal to and from computer
+Serial pc(USBTX, USBRX);
+
 DigitalOut Enable(p14);
+
+//Microstepping
 DigitalOut MS1(p27);
 DigitalOut MS2(p28);
 DigitalOut MS3(p29);
+
+//Potmeter and EMG
 AnalogIn Pot1(p19);
-AnalogIn Pot2(p20);
-//C12832_LCD lcd;
+AnalogIn EMG1(p20);
+HIDScope scope(2);
+//lcd
+C12832_LCD lcd;
 
+//Joystick control (probably not necessary
 BusIn Joystick(p12,p13,p14,p15,p16);
 DigitalIn Up(p15);
 DigitalIn Down(p12);
+
+//Variables for motor control
+float setpoint = 7000; //Frequentie
+float step_freq = 1;
+
+
+// Filters
+arm_biquad_casd_df1_inst_f32 lowpass_pot;
+arm_biquad_casd_df1_inst_f32 lowpass_step;
+
+//lowpass filter settings: Fc = 2 Hz, Fs = 100 Hz, Gain = 6 dB
+float lowpass_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
+//lowpass for step_freq: Fc = 2 Hz, Fs = 100, Gain = 6 dB
+float lowpass1_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
+
+//EMG filter
+arm_biquad_casd_df1_inst_f32 lowpass_biceps;
+//lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
+float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
+arm_biquad_casd_df1_inst_f32 highnotch_biceps;
+//highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB
+float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
+
+
+//state values
+float lowpass_biceps_states[4];
+float highnotch_biceps_states[8];
+float lowpass_pot_states[4];
+float lowpass1_step_states[4];
+
+//global variabels
+float filtered_biceps;
+float filtered_pot;
+float filtered_average_pot;
+float filtered_step;
+float pot_value1_f32;
+
+//Averaging (look if necessary)
+/*void average_pot(float filtered_pot,float *average)
+{
+    static float total=0;
+    static float number=0;
+    total = total + filtered_pot;
+    number = number + 1;
+    if ( number == 50) {
+        *average = total/50;
+        total = 0;
+        number = 0;
+    }
+}*/
+void looper_emg()
+{
+    /*variable to store value in*/
+    uint16_t emg_value1;
+
+    float emg_value1_f32;
+
+    /*put raw emg value both in red and in emg_value*/
+    emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
+    emg_value1_f32 = emg0.read();
+
+    //process emg biceps
+    arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
+    filtered_biceps = fabs(filtered_biceps);
+    arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
+
+    /*send value to PC. */
+    scope.set(0,emg_value1);  //Raw EMG signal biceps
+    scope.set(1,filtered_biceps); //Filtered signal
+    scope.send();
+}
+void looper_pot()
+{
+
+    pot_value1_f32 = Pot1.read() - 0.500;
+
+    //process input
+    arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 );
+    arm_biquad_cascade_df1_f32(&lowpass_step, &step_freq, &filtered_step, 1);
+
+}
+
+void looper_motor()
+{
+    float new_step_freq;
+    new_step_freq = (setpoint*pot_value1_f32*2);
+    step_freq = abs(new_step_freq); //Gives the PWM frequenty to the motor.
+    if (step_freq < 700) {
+        Step.period(0);
+        step_freq = 0;
+    } else {
+        Step.period(1.0/step_freq);
+    }
+}
 int main()
 {
-    Enable = 0;
-    float setpoint = 10000; //Frequentie 
-    float step_freq = 1;
+    Ticker log_timer;
+    //set up filters. Use external array for constants
+    arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states);
+    log_timer.attach(looper_pot, 0.01);
+
+    Ticker looptimer;
+    arm_biquad_cascade_df1_init_f32(&lowpass_step, 1, lowpass1_const, lowpass1_step_states);
+    looptimer.attach(looper_motor, 0.01);
+
     MS1 = 1;
-    MS2 = 1;
+    MS2 = 0;
     MS3 = 0;
-    float p1;
-    float p2; 
-    Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
+    //Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
     Step.write(0.5); // Duty cycle van 50%
-   // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder.
-    Enable = 1;
+
+
+
+
     while (1) {
-        p1 = Pot1.read();
-        Dir = 0;
-        float new_step_freq;
-        new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
-        step_freq = new_step_freq;
-        Step.period(1.0/step_freq);
-        //lcd.printf("Pot1 : %f \n", p1);
-        wait(0.01); //Hier nog ticker inbouwen
+
+        if (pot_value1_f32 < 0) { //Directie controle.
+            Dir = 0;
+        } else {
+            Dir = 1;
+        }
+
+
+        lcd.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
+        pc.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
+        wait(0.01);
+
 
     }
 }
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