File content as of revision 39:191ae0d12bd6:

#include "mbed.h"
#include "C12832_lcd.h"
#include "arm_math.h"
#include "HIDScope.h"

#define K_Gain      16      //Gain of the filtered EMG signal
#define Damp        4       //Deceleration of the motor
#define Mass        1       // Mass value
#define dt          0.002   //Sample frequency
#define MAX_bi      0.08      //Can be used for normalisation of the EMG signal of the biceps
#define MAX_tri     0.06
#define MIN_freq    900     //The motor turns off below this frequency

//Motor control
DigitalOut Dir(p21);
PwmOut Step(p22);

//Signal to and from computer
Serial pc(USBTX, USBRX);

DigitalOut Enable(p25);

//Microstepping
DigitalOut MS1(p27);
DigitalOut MS2(p28);
DigitalOut MS3(p29);

//Potmeter and EMG
AnalogIn Pot1(p19);
AnalogIn Pot2(p20);

AnalogIn emg1(p17); //EMG bordje bovenop, biceps
AnalogIn emg2(p15); //triceps
HIDScope scope(2);
Ticker   scopeTimer;

//lcd
C12832_LCD lcd;

//Variables for motor control
float setpoint = 9000; //Frequentie setpint
float step_freq = 1;

//EMG filter
arm_biquad_casd_df1_inst_f32 lowpass_biceps;
arm_biquad_casd_df1_inst_f32 lowpass_triceps;
//lowpass filter settings: 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;
arm_biquad_casd_df1_inst_f32 highnotch_triceps;
//highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};

//state values
float lowpass_biceps_states[4];
float highnotch_biceps_states[8];
float lowpass_triceps_states[4];
float highnotch_triceps_states[8];

//global variabels
float filtered_biceps;
float filtered_triceps;
float speed_old1;
float speed_old2;
float acc;
float force1;
float force2;
float speed1;
float speed2; 
float D;

void looper_emg()
{


    float emg_value1_f32;
    emg_value1_f32 = emg1.read();

    float emg_value2_f32;
    emg_value2_f32 = emg2.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 );

    //process emg triceps
    arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
    filtered_triceps = fabs(filtered_triceps);
    arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );

    /*send value to PC. */
    scope.set(0,filtered_biceps); //Filtered EMG signal
    scope.set(1,filtered_triceps);
}

void looper_motor()
{
    
        if (filtered_biceps > filtered_triceps) {
            Dir = 0;
            //force2 = 0;
            speed2 = 0;
            force1 = K_Gain*(filtered_biceps/MAX_bi);
            force1 = force1 - D;
            acc = force1/Mass;
            speed1 = speed_old1 + (acc * dt);
            D = speed1 * Damp;
            step_freq = (setpoint*speed1);
            Step.period(1.0/step_freq);
            speed_old1 = speed1;
        } else {
            Dir = 1;
            //force1 = 0;
            speed1 = 0;
            force2 = K_Gain*(filtered_triceps/MAX_tri);
            force2 = force2 - D;
            acc = force2/Mass;
            speed2 = speed_old2 + (acc * dt);
            D = speed2 * Damp;
            step_freq = (setpoint*speed2);
            Step.period(1.0/step_freq);
            speed_old2 = speed2;
           
            
        }
        //Speed limit
        /*if (speed > 1) {
            speed = 1;
            step_freq = setpoint;
        } else {
            step_freq = (setpoint*speed);
        }
        Step.period(1.0/step_freq);
        speed_old = speed;*/
        

        if (step_freq < MIN_freq) {
            Enable = 1;
        } else {
            Enable = 0;
        }
    }

    int main() {
        // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
        scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);

        Ticker emgtimer;
        arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
        arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
        arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
        arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
        emgtimer.attach(looper_emg, 0.002);

        Ticker looptimer;
        looptimer.attach(looper_motor, 0.01); //Uitzoeken waarom deze frequentie!

        //Microstepping control
        MS1 = 1;
        MS2 = 0;
        MS3 = 0;
        Step.write(0.5); // Duty cycle van 50%

        while (1) {

            lcd.printf("Freq %.0f Hz \n", step_freq); //snelheid meting op lcd
            //pc.printf("%.3f \n", emg0.read());
            wait(0.01);
        }
    }