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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
- Committer:
- jessekaiser
- Date:
- 2015-06-19
- Revision:
- 68:2b778b6da923
- Parent:
- 67:fba5b64bb295
- Child:
- 69:a1ba54587b35
File content as of revision 68:2b778b6da923:
/*Code by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table Some variables are also numbered at the end. The numbers stands for the muscle that controls it. Biceps = 1 Triceps = 2 Pectoralis Major = 3 Deltoid = 4 The "x" and "y" at the end of variables stand for the X-Spindle or Y-Spindle respectivly. */ #include "mbed.h" #include "C12832_lcd.h" #include "arm_math.h" //#include "HIDScope.h" #define P_Gain 0.995 #define K_Gain 150 //Gain of the filtered EMG signal #define Damp 5 //Deceleration of the motor #define Mass 1 // Mass value #define dt 0.01 //Sample frequency #define MAX_bi 0.40 //Can be used for normalisation of the EMG signal of the biceps #define MAX_tri 0.60 #define MAX_pect 0.48 #define MAX_delt 1.07 #define EMG_tresh1 0.01 #define EMG_tresh2 0.01 #define EMG_tresh3 0.01 #define EMG_tresh4 0.01 #define H_Gain 3 #define Pt_x 0.88 #define Pt_y 0.25 //Motor control DigitalOut Dirx(p21); PwmOut Stepx(p22); DigitalOut Diry(p23); PwmOut Stepy(p24); //Signal to and from computer Serial pc(USBTX, USBRX); //Position sensors AnalogIn Posx(p19); AnalogIn Posy(p20); DigitalOut Enablex(p25); DigitalOut Enabley(p26); //Microstepping DigitalOut MS1(p27); DigitalOut MS2(p28); DigitalOut MS3(p29); //EMG inputs AnalogIn emg1(p15); //EMG bordje bovenop, biceps AnalogIn emg2(p16); //triceps AnalogIn emg3(p17); AnalogIn emg4(p18); //HIDScope scope(4); //Ticker scopeTimer; //lcd C12832_LCD lcd; //Variables for motor control float setpoint = 2000; //Frequentie setpoint float step_freq1 = 1; float step_freq2 = 1; float step_freq3 = 1; float step_freq4 = 1; //EMG filter arm_biquad_casd_df1_inst_f32 lowpass_biceps; arm_biquad_casd_df1_inst_f32 lowpass_triceps; arm_biquad_casd_df1_inst_f32 lowpass_pect; arm_biquad_casd_df1_inst_f32 lowpass_deltoid; //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; arm_biquad_casd_df1_inst_f32 highnotch_pect; arm_biquad_casd_df1_inst_f32 highnotch_deltoid; //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]; float lowpass_pect_states[4]; float highnotch_pect_states[8]; float lowpass_deltoid_states[4]; float highnotch_deltoid_states[8]; //global variabels float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid; float speed_old1, speed_old2, speed_old3, speed_old4; float acc1, acc2, acc3, acc4; float force1, force2, force3, force4; float speed1, speed2, speed3, speed4; float damping1, damping2, damping3, damping4; float emg_x, emg_y; float cx = 0; float cy = 0; float errorx = 0.2; float errory = 0.2; float Ps_x = 0; float Ps_y = 0; float hstep_freqx = 1; float hstep_freqy = 1; void looper_emg() { float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32; emg_value1_f32 = emg1.read(); emg_value2_f32 = emg2.read(); emg_value3_f32 = emg3.read(); emg_value4_f32 = emg4.read(); //process emg biceps arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented. arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter //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 ); //process emg pectoralis major arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 ); filtered_pect = fabs(filtered_pect); arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 ); //process emg deltoid arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 ); filtered_deltoid = fabs(filtered_deltoid); arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 ); /*send value to PC. scope.set(0,filtered_biceps); //Filtered EMG signal scope.set(1,filtered_triceps); scope.set(2,filtered_pect); scope.set(3,filtered_deltoid);*/ } void looper_motory() { float emg_y_abs; emg_y = (filtered_biceps - filtered_triceps); emg_y_abs = fabs(emg_y); force1 = emg_y_abs*K_Gain; force1 = force1 - damping1; acc1 = force1/Mass; speed1 = speed_old1 + (acc1 * dt); damping1 = speed1 * Damp; step_freq1 = setpoint * speed1; Stepy.period(1.0/step_freq1); speed_old1 = speed1; if (emg_y > 0) { Diry = 1; } if (emg_y < 0) { Diry = 0; } //Speed limit if (speed1 > 1) { speed1 = 1; step_freq1 = setpoint; } //EMG treshold if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) { Enabley = 1; //Enable = 1 turns the motor off. } else { Enabley = 0; } } void looper_motorx() { float emg_x_abs; emg_x = (filtered_pect - filtered_deltoid); emg_x_abs = fabs(emg_x); force2 = emg_x_abs*K_Gain; force2 = force2 - damping2; acc2 = force2/Mass; speed2 = speed_old2 + (acc2 * dt); damping2 = speed2 * Damp; step_freq2 = setpoint * speed2; Stepx.period(1.0/step_freq2); speed_old2 = speed2; if (emg_x > 0) { Dirx = 0; } if (emg_x < 0) { Dirx = 1; } //Speed limit if (speed2 > 1) { speed2 = 1; step_freq2 = setpoint; } //EMG treshold if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) { Enablex = 1; //Enable = 1 turns the motor off. } else { Enablex = 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); MS1 = 1; MS2 = 0; MS3 = 0; Stepx.write(0.5); // Duty cycle of 50% Stepy.write(0.5); Enablex = 1; Enabley = 1; wait(1); lcd.printf("Start homing"); wait(2); lcd.cls(); wait(1); Enablex = 0; Enabley = 0; while(errorx > 0.03 || errory > 0.03) { lcd.printf("%.0f %.2f \n", hstep_freqx, hstep_freqy ); Ps_x = Posx.read(); Ps_y = Posy.read(); errorx = fabs(Pt_x - Ps_x); errory = fabs(Ps_y - Pt_y); if (Ps_x < 0.88 && errorx > 0.03) { Dirx = 0; //errorx = Pt_x - Ps_x; cx = errorx * H_Gain; float hnew_step_freqx; hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx); hstep_freqx = hnew_step_freqx; Stepx.period(1.0/hstep_freqx); wait(0.01); } if (Ps_y > 0.25 && errory > 0.03) { Diry = 0; //errory = Ps_y - Pt_y; cy = errory * H_Gain; float hnew_step_freqy; hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy); hstep_freqy = hnew_step_freqy; Stepy.period(1.0/hstep_freqy); wait(0.01); } if (Ps_x > 0.88 && errorx > 0.03) { Dirx = 1; //errorx = Pt_x - Ps_x; cx = errorx * H_Gain; float hnew_step_freqx; hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx); hstep_freqx = hnew_step_freqx; Stepx.period(1.0/hstep_freqx); wait(0.01); } if (Ps_y < 0.25 && errory > 0.03) { Diry = 1; //errory = Ps_y - Pt_y; cy = errory * H_Gain; float hnew_step_freqy; hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy); hstep_freqy = hnew_step_freqy; Stepy.period(1.0/hstep_freqy); wait(0.01); } } lcd.cls(); wait(1); lcd.printf("Done"); wait(1); lcd.cls(); wait(1); Enablex = 1; Enabley = 1; wait(3); lcd.printf("Start EMG Control"); wait(2); lcd.cls(); wait(1); Enablex = 0; Enabley = 0; Ticker emgtimer; //biceps 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); //triceps 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); //pectoralis major arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states); arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states); //deltoid arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states); arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states); emgtimer.attach(looper_emg, 0.01); Ticker looptimer1; looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq? Ticker looptimer2; looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0) MS1 = 1; MS2 = 0; MS3 = 0; Stepx.write(0.5); // Duty cycle of 50% Stepy.write(0.5); while (1) { //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read()); //lcd.printf("%.2f, %.2f %.2f %.2f \n", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values //lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2); //step_freq value of every EMG sensor lcd.printf("%.0f %.2f \n", Stepy.read(), emg_y); //lcd.printf("%.2f, %.2f %.2f %.2f \n", gain_biceps, gain_triceps, gain_pect, gain_deltoid); //lcd.printf("%.2f, %.2f %.2f %.2f \n", norm_biceps, norm_triceps, norm_pect, norm_deltoid); wait(0.01); } }