File content as of revision 73:8cc2826ab1c4:

/*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      0.99
#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 EMG_tresh1   0.01
#define EMG_tresh2   0.01
#define EMG_tresh3   0.01
#define EMG_tresh4   0.01
#define H_Gain  3.5
#define Pt_x    0.50
#define Pt_y    0.50
#define error_tresh 0.01

//Motor control
DigitalOut Diry(p23);
PwmOut Stepy(p24);

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

//Position sensors
AnalogIn Posy(p20);
DigitalOut Enabley(p26);

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

//EMG inputs
AnalogIn emg1(p15);
AnalogIn emg2(p16);

//HIDScope scope(4);
//Ticker   scopeTimer;

//lcd screen
C12832_LCD lcd;

//Variables for motor control
float setpoint = 2000; //Frequentie setpoint
float step_freq1 = 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
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, filtered_triceps;
float speed_old1, speed_old2;
float acc1, acc2;
float force1, force2;
float speed1, speed2;
float damping1, damping2;
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;
float emg_y_abs = 0;
float emg_x_abs = 0;

void looper_emg()
{
    float emg_value1_f32, emg_value2_f32;
    emg_value1_f32 = emg1.read();
    emg_value2_f32 = emg2.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 );



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

}

void looper_motory()
{

    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;
    }



}

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;

   
    Stepy.write(0.5);


    Enabley = 1;
    wait(1);
    lcd.printf("Start homing");
    wait(2);
    lcd.cls();
    wait(1);
    Enabley = 0;

    //Homing of the motor, so you start from the same position every time.
    while(errory > error_tresh) {

        Ps_y = Posy.read();
        errory = fabs(Ps_y - Pt_y);
        lcd.printf("%.2f \n",  Stepy.read());

                   if (Ps_y > 0.50 && errory > error_tresh) {
                   Diry = 0;
                   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_y < 0.50 && errory > error_tresh) {
                   Diry = 1;
                   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.printf("Done");
                   wait(5);
                   lcd.cls();
                   wait(1);
                   
                   Enabley = 1;
                   wait(3);
                   lcd.printf("Start EMG Control");
                   wait(2);
                   lcd.cls();
                   wait(1);
                   
                   Enabley = 0;

                   MS1 = 1;
                   MS2 = 0;
                   MS3 = 0;

                   Stepy.write(0.5);

                   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);
                   emgtimer.attach(looper_emg, 0.01);

                   Ticker looptimer2;
                   looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor

                   //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)



                   while (1) {

                   //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
                   lcd.printf("%.2f %.2f %.2f %.2f  \n", Stepy.read(), step_freq1);
                   wait(0.01);

               }
               }