Jesse Kaiser / Mbed 2 deprecated EMGcontrol_XY_Table

4 directional EMG control of the XY table. Made during my bachelor end assignment.

Dependencies:   C12832_lcd HIDScope mbed-dsp mbed

main.cpp@34:025b324d15d6, 2015-05-27 (annotated)

Committer:
jessekaiser
Date:
Wed May 27 12:29:19 2015 +0000
Revision:
34:025b324d15d6
Parent:
33:3c9f8c1e9adf
Child:
35:b0737ee24b43
Nog wat regels weggehaald. Proportionele EMG. LCD doet het opeens niet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 0:3acdd563582f 1 #include "mbed.h"
jessekaiser 10:7f94cd65c910 2 #include "C12832_lcd.h"
jessekaiser 23:4d050e85e863 3 #include "arm_math.h"
jessekaiser 23:4d050e85e863 4 #include "HIDScope.h"
jessekaiser 0:3acdd563582f 5
jessekaiser 33:3c9f8c1e9adf 6 #define K_Gain 65 //Gain of the filtered EMG signal
jessekaiser 34:025b324d15d6 7 #define Damp 2 //Deceleration of the motor
jessekaiser 34:025b324d15d6 8 #define Mass 1 // Mass value
jessekaiser 34:025b324d15d6 9 #define dt 0.002 //Sample frequency
jessekaiser 34:025b324d15d6 10 #define MAX_emg //Can be used for normalisation of the EMG signal
jessekaiser 34:025b324d15d6 11 #define MIN_freq 900 //The motor turns off below this frequency
jessekaiser 31:372ff8d49430 12
jessekaiser 23:4d050e85e863 13 //Motor control
jessekaiser 0:3acdd563582f 14 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 15 PwmOut Step(p22);
jessekaiser 23:4d050e85e863 16
jessekaiser 23:4d050e85e863 17 //Signal to and from computer
jessekaiser 23:4d050e85e863 18 Serial pc(USBTX, USBRX);
jessekaiser 23:4d050e85e863 19
jessekaiser 24:c4c5d30a3938 20 DigitalOut Enable(p25);
jessekaiser 23:4d050e85e863 21
jessekaiser 23:4d050e85e863 22 //Microstepping
jessekaiser 0:3acdd563582f 23 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 24 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 25 DigitalOut MS3(p29);
jessekaiser 23:4d050e85e863 26
jessekaiser 23:4d050e85e863 27 //Potmeter and EMG
jessekaiser 10:7f94cd65c910 28 AnalogIn Pot1(p19);
jessekaiser 31:372ff8d49430 29 AnalogIn Pot2(p20);
jessekaiser 25:144eb5822aa7 30 AnalogIn emg0(p17);
jessekaiser 28:593929bbdb98 31 HIDScope scope(2);
jessekaiser 29:83f005c637be 32 Ticker scopeTimer;
jessekaiser 25:144eb5822aa7 33
jessekaiser 23:4d050e85e863 34 //lcd
jessekaiser 30:0a8f849e0292 35 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 36
jessekaiser 23:4d050e85e863 37 //Variables for motor control
jessekaiser 32:46b18f465600 38 float setpoint = 9000; //Frequentie
jessekaiser 23:4d050e85e863 39 float step_freq = 1;
jessekaiser 23:4d050e85e863 40
jessekaiser 23:4d050e85e863 41 //EMG filter
jessekaiser 23:4d050e85e863 42 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 23:4d050e85e863 43 //lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 34:025b324d15d6 44 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 23:4d050e85e863 45 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 34:025b324d15d6 46 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs =500Hz
jessekaiser 31:372ff8d49430 47 float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 23:4d050e85e863 48
jessekaiser 23:4d050e85e863 49 //state values
jessekaiser 23:4d050e85e863 50 float lowpass_biceps_states[4];
jessekaiser 23:4d050e85e863 51 float highnotch_biceps_states[8];
jessekaiser 23:4d050e85e863 52 float lowpass_pot_states[4];
jessekaiser 23:4d050e85e863 53
jessekaiser 23:4d050e85e863 54 //global variabels
jessekaiser 23:4d050e85e863 55 float filtered_biceps;
jessekaiser 31:372ff8d49430 56 float speed_old;
jessekaiser 31:372ff8d49430 57 float acc;
jessekaiser 31:372ff8d49430 58 float force;
jessekaiser 32:46b18f465600 59 float speed;
jessekaiser 32:46b18f465600 60 float D;
jessekaiser 32:46b18f465600 61
jessekaiser 23:4d050e85e863 62 void looper_emg()
jessekaiser 23:4d050e85e863 63 {
jessekaiser 23:4d050e85e863 64 /*variable to store value in*/
jessekaiser 25:144eb5822aa7 65 volatile uint16_t emg_value1;
jessekaiser 23:4d050e85e863 66
jessekaiser 23:4d050e85e863 67 float emg_value1_f32;
jessekaiser 31:372ff8d49430 68
jessekaiser 23:4d050e85e863 69 /*put raw emg value both in red and in emg_value*/
jessekaiser 33:3c9f8c1e9adf 70 emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) (KAN weg?)
jessekaiser 23:4d050e85e863 71 emg_value1_f32 = emg0.read();
jessekaiser 23:4d050e85e863 72
jessekaiser 23:4d050e85e863 73 //process emg biceps
jessekaiser 23:4d050e85e863 74 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
jessekaiser 31:372ff8d49430 75 filtered_biceps = fabs(filtered_biceps);
jessekaiser 23:4d050e85e863 76 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
jessekaiser 34:025b324d15d6 77
jessekaiser 23:4d050e85e863 78
jessekaiser 23:4d050e85e863 79 /*send value to PC. */
jessekaiser 33:3c9f8c1e9adf 80 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 23:4d050e85e863 81 }
jessekaiser 26:b88ff19ff5dc 82
jessekaiser 31:372ff8d49430 83 void looper_motor()
jessekaiser 31:372ff8d49430 84 {
jessekaiser 31:372ff8d49430 85 Dir = 0;
jessekaiser 31:372ff8d49430 86 force = K_Gain*filtered_biceps;
jessekaiser 31:372ff8d49430 87 force = force - D;
jessekaiser 31:372ff8d49430 88 acc = force/Mass;
jessekaiser 32:46b18f465600 89 speed = speed_old + (acc * dt);
jessekaiser 32:46b18f465600 90 D = speed * Damp;
jessekaiser 32:46b18f465600 91 step_freq = (setpoint*speed);
jessekaiser 31:372ff8d49430 92 Step.period(1.0/step_freq);
jessekaiser 32:46b18f465600 93 speed_old = speed;
jessekaiser 31:372ff8d49430 94
jessekaiser 33:3c9f8c1e9adf 95 if (step_freq < MIN_freq) {
jessekaiser 31:372ff8d49430 96 Enable = 1;
jessekaiser 31:372ff8d49430 97 } else {
jessekaiser 31:372ff8d49430 98 Enable = 0;
jessekaiser 31:372ff8d49430 99 }
jessekaiser 23:4d050e85e863 100 }
jessekaiser 31:372ff8d49430 101
jessekaiser 0:3acdd563582f 102 int main()
jessekaiser 0:3acdd563582f 103 {
jessekaiser 31:372ff8d49430 104 // Attach the HIDScope::send method from the scope object to the timer at 50Hz. Hier wordt de sample freq aangegeven.
jessekaiser 31:372ff8d49430 105 scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 31:372ff8d49430 106
jessekaiser 28:593929bbdb98 107 Ticker emgtimer;
jessekaiser 25:144eb5822aa7 108 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 25:144eb5822aa7 109 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 30:0a8f849e0292 110 emgtimer.attach(looper_emg, 0.002);
jessekaiser 23:4d050e85e863 111
jessekaiser 30:0a8f849e0292 112 Ticker looptimer;
jessekaiser 33:3c9f8c1e9adf 113 looptimer.attach(looper_motor, 0.01); //Uitzoeken waarom deze frequentie!
jessekaiser 33:3c9f8c1e9adf 114
jessekaiser 33:3c9f8c1e9adf 115 //Microstepping control
jessekaiser 4:e4341e3524dc 116 MS1 = 1;
jessekaiser 23:4d050e85e863 117 MS2 = 0;
jessekaiser 2:92a63245d11c 118 MS3 = 0;
jessekaiser 9:649229691351 119 Step.write(0.5); // Duty cycle van 50%
jessekaiser 23:4d050e85e863 120
jessekaiser 0:3acdd563582f 121 while (1) {
jessekaiser 23:4d050e85e863 122
jessekaiser 30:0a8f849e0292 123 lcd.printf("Freq %.0f Hz \n", step_freq); //snelheid meting op lcd
jessekaiser 28:593929bbdb98 124 wait(0.01);
jessekaiser 0:3acdd563582f 125 }
jessekaiser 26:b88ff19ff5dc 126 }