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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:
- 2015-06-01
- Revision:
- 38:c592354f5080
- Parent:
- 37:3b9b18450612
- Child:
- 39:191ae0d12bd6
File content as of revision 38:c592354f5080:
#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_old; float acc; float force1; float force2; float speed; 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; force1 = K_Gain*(filtered_biceps/MAX_bi); force1 = force1 - D; acc = force1/Mass; speed = speed_old + (acc * dt); D = speed * Damp; } else { Dir = 1; force1 = 0; force2 = K_Gain*(filtered_triceps/MAX_tri); force2 = force2 - D; acc = force2/Mass; speed = speed_old + (acc * dt); D = speed * Damp; } //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, %.2f \n", step_freq, speed); //snelheid meting op lcd //pc.printf("%.3f \n", emg0.read()); wait(0.01); } }