![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
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:
- 2015-05-22
- Revision:
- 32:46b18f465600
- Parent:
- 31:372ff8d49430
- Child:
- 33:3c9f8c1e9adf
File content as of revision 32:46b18f465600:
#include "mbed.h" #include "C12832_lcd.h" #include "arm_math.h" #include "HIDScope.h" #define P_Gain 0.995 #define K_Gain 65 //Gain of the filtered EMG signal #define Damp 2 //Deceleration of the motr #define tres_bi 0.05 //Biceps emg treshold #define Mass 1 // Mass value #define dt 0.002 //Sample 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 emg0(p17); HIDScope scope(2); Ticker scopeTimer; //lcd C12832_LCD lcd; //Variables for motor control float setpoint = 9000; //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 = 1 Hz, Fs = 100 Hz, Gain = -3 dB onepole-lp float lowpass_const[] = {0.0201, 0.0402 , 0.0201, 1.5610, -0.6414}; //Lowpass filter potmeter: Fc = 0.5 Hz, Fs = 500 Hz, //float lowpass_const[] = {0.000009825916403675327, 0.000019651832807350654, 0.000009825916403675327, 1.991114207740345, -0.9911535114059596}; //EMG filter arm_biquad_casd_df1_inst_f32 lowpass_biceps; //lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB float lowpass2_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751}; arm_biquad_casd_df1_inst_f32 highnotch_biceps; //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB 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_pot_states[4]; //global variabels float filtered_biceps; float filtered_average_bi; float filt_avg_bi_old; float filtered_pot; float pot_value1_f32; float speed_old; float acc; float force; float speed; float speed_old; float D; void average_biceps(float filtered_biceps,float *average) { static float total=0; static float number=0; total = total + filtered_biceps; number = number + 1; if ( number == 50) { *average = total/50; total = 0; number = 0; } } void looper_emg() { /*variable to store value in*/ volatile 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 ); average_biceps(filtered_biceps,&filtered_average_bi); /*send value to PC. */ scope.set(0,filtered_average_bi); //Raw EMG signal biceps scope.set(1,filtered_biceps); //Filtered signal } /*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 ); }*/ /*void looper_motor() { float new_step_freq; float speed; speed = 0.02*filtered_average_bi + 0.02*filt_avg_bi_old + 0.96*speed_old; //Value between 0 and 1 new_step_freq = (setpoint*speed); step_freq = abs(new_step_freq); //Gives the PWM frequenty to the motor. speed_old = speed; filt_avg_bi_old = filtered_average_bi; if (step_freq < 500 || step_freq > 8000) { Enable = 1; } else { Enable = 0; } Step.period(1.0/(100 + step_freq)); //Step_freq is het aantal Hz. }*/ //Motor accelereren met EMG treshold /*void looper_motor() { float new_step_freq; Dir = 0; if (filtered_average_bi > tres_bi) { Enable = 0; new_step_freq = ((1-P)*setpoint) + (P*step_freq); step_freq = new_step_freq; Step.period(1.0/step_freq); } else { Enable = 1; step_freq = 1; } }*/ void looper_motor() { Dir = 0; force = K_Gain*filtered_biceps; force = force - D; acc = force/Mass; speed = speed_old + (acc * dt); D = speed * Damp; step_freq = (setpoint*speed); Step.period(1.0/step_freq); speed_old = speed; if (step_freq < 800) { Enable = 1; } else { Enable = 0; } } int main() { // Attach the HIDScope::send method from the scope object to the timer at 50Hz. Hier wordt de sample freq aangegeven. scopeTimer.attach_us(&scope, &HIDScope::send, 2e3); /* 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 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); emgtimer.attach(looper_emg, 0.002); Ticker looptimer; looptimer.attach(looper_motor, 0.01); MS1 = 1; MS2 = 0; MS3 = 0; //Step.period(1/step_freq); Step.write(0.5); // Duty cycle van 50% while (1) { lcd.printf("Freq %.0f Hz \n", step_freq); //snelheid meting op lcd //pc.printf(" %.4f \n", Pot1.read()); //lcd.printf("filt %.3f raw %.3f \n", filtered_biceps, emg0.read()); //pc.printf("speed %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd wait(0.01); } }