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@57:0a278c60d28b, 2015-06-15 (annotated)

Committer:
jessekaiser
Date:
Mon Jun 15 10:37:57 2015 +0000
Revision:
57:0a278c60d28b
Parent:
56:6ea03cce1175
Child:
58:3ea066215c31
Eindconcept 6.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 56:6ea03cce1175 1 /*Code by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table
jessekaiser 56:6ea03cce1175 2 Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
jessekaiser 56:6ea03cce1175 3 Biceps = 1
jessekaiser 56:6ea03cce1175 4 Triceps = 2
jessekaiser 56:6ea03cce1175 5 Pectoralis Major = 3
jessekaiser 56:6ea03cce1175 6 Deltoid = 4
jessekaiser 56:6ea03cce1175 7 The "x" and "y" at the end of variables stand for the X-Spindle or Y-Spindle respectivly.
jessekaiser 56:6ea03cce1175 8 */
jessekaiser 56:6ea03cce1175 9
jessekaiser 0:3acdd563582f 10 #include "mbed.h"
jessekaiser 10:7f94cd65c910 11 #include "C12832_lcd.h"
jessekaiser 56:6ea03cce1175 12 #include "arm_math.h"
jessekaiser 57:0a278c60d28b 13 //#include "HIDScope.h"
jessekaiser 0:3acdd563582f 14
jessekaiser 57:0a278c60d28b 15 #define K_Gain 60 //Gain of the filtered EMG signal
jessekaiser 56:6ea03cce1175 16 #define Damp 5 //Deceleration of the motor
jessekaiser 56:6ea03cce1175 17 #define Mass 1 // Mass value
jessekaiser 57:0a278c60d28b 18 #define dt 0.10 //Sample frequency
jessekaiser 57:0a278c60d28b 19 #define MAX_bi 0.09 //Can be used for normalisation of the EMG signal of the biceps
jessekaiser 57:0a278c60d28b 20 #define MAX_tri 0.10
jessekaiser 57:0a278c60d28b 21 #define MAX_pect 0.10
jessekaiser 57:0a278c60d28b 22 #define MAX_delt 0.05
jessekaiser 57:0a278c60d28b 23 #define EMG_tresh1 0.03
jessekaiser 57:0a278c60d28b 24 #define EMG_tresh2 0.03
jessekaiser 57:0a278c60d28b 25 #define EMG_tresh3 0.02
jessekaiser 57:0a278c60d28b 26 #define EMG_tresh4 0.03
jessekaiser 31:372ff8d49430 27
jessekaiser 56:6ea03cce1175 28 //Motor control
jessekaiser 56:6ea03cce1175 29 DigitalOut Dirx(p21);
jessekaiser 56:6ea03cce1175 30 PwmOut Stepx(p22);
jessekaiser 56:6ea03cce1175 31 DigitalOut Diry(p23);
jessekaiser 56:6ea03cce1175 32 PwmOut Stepy(p24);
jessekaiser 56:6ea03cce1175 33
jessekaiser 56:6ea03cce1175 34 //Signal to and from computer
jessekaiser 56:6ea03cce1175 35 Serial pc(USBTX, USBRX);
jessekaiser 56:6ea03cce1175 36
jessekaiser 56:6ea03cce1175 37 //Position sensors
jessekaiser 56:6ea03cce1175 38 AnalogIn Posx(p19);
jessekaiser 56:6ea03cce1175 39 AnalogIn Posy(p20);
jessekaiser 57:0a278c60d28b 40 DigitalOut Enablex(p25);
jessekaiser 57:0a278c60d28b 41 DigitalOut Enabley(p26);
jessekaiser 56:6ea03cce1175 42
jessekaiser 56:6ea03cce1175 43 //Microstepping
jessekaiser 0:3acdd563582f 44 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 45 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 46 DigitalOut MS3(p29);
jessekaiser 56:6ea03cce1175 47
jessekaiser 57:0a278c60d28b 48 //EMG inputs
jessekaiser 56:6ea03cce1175 49 AnalogIn emg1(p15); //EMG bordje bovenop, biceps
jessekaiser 56:6ea03cce1175 50 AnalogIn emg2(p16); //triceps
jessekaiser 56:6ea03cce1175 51 AnalogIn emg3(p17);
jessekaiser 56:6ea03cce1175 52 AnalogIn emg4(p18);
jessekaiser 56:6ea03cce1175 53
jessekaiser 57:0a278c60d28b 54 //HIDScope scope(4);
jessekaiser 57:0a278c60d28b 55 //Ticker scopeTimer;
jessekaiser 56:6ea03cce1175 56
jessekaiser 56:6ea03cce1175 57 //lcd
jessekaiser 30:0a8f849e0292 58 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 59
jessekaiser 56:6ea03cce1175 60 //Variables for motor control
jessekaiser 57:0a278c60d28b 61 float setpoint = 1000; //Frequentie setpoint
jessekaiser 56:6ea03cce1175 62 float step_freq1 = 1;
jessekaiser 56:6ea03cce1175 63 float step_freq2 = 1;
jessekaiser 56:6ea03cce1175 64 float step_freq3 = 1;
jessekaiser 56:6ea03cce1175 65 float step_freq4 = 1;
jessekaiser 56:6ea03cce1175 66
jessekaiser 56:6ea03cce1175 67 //EMG filter
jessekaiser 56:6ea03cce1175 68 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 56:6ea03cce1175 69 arm_biquad_casd_df1_inst_f32 lowpass_triceps;
jessekaiser 56:6ea03cce1175 70 arm_biquad_casd_df1_inst_f32 lowpass_pect;
jessekaiser 56:6ea03cce1175 71 arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
jessekaiser 56:6ea03cce1175 72 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 56:6ea03cce1175 73 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 56:6ea03cce1175 74 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 56:6ea03cce1175 75 arm_biquad_casd_df1_inst_f32 highnotch_triceps;
jessekaiser 56:6ea03cce1175 76 arm_biquad_casd_df1_inst_f32 highnotch_pect;
jessekaiser 56:6ea03cce1175 77 arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
jessekaiser 56:6ea03cce1175 78 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
jessekaiser 56:6ea03cce1175 79 float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 56:6ea03cce1175 80
jessekaiser 56:6ea03cce1175 81 //state values
jessekaiser 56:6ea03cce1175 82 float lowpass_biceps_states[4];
jessekaiser 56:6ea03cce1175 83 float highnotch_biceps_states[8];
jessekaiser 56:6ea03cce1175 84 float lowpass_triceps_states[4];
jessekaiser 56:6ea03cce1175 85 float highnotch_triceps_states[8];
jessekaiser 56:6ea03cce1175 86 float lowpass_pect_states[4];
jessekaiser 56:6ea03cce1175 87 float highnotch_pect_states[8];
jessekaiser 56:6ea03cce1175 88 float lowpass_deltoid_states[4];
jessekaiser 56:6ea03cce1175 89 float highnotch_deltoid_states[8];
jessekaiser 56:6ea03cce1175 90
jessekaiser 56:6ea03cce1175 91 //global variabels
jessekaiser 56:6ea03cce1175 92 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
jessekaiser 57:0a278c60d28b 93 float norm_biceps, norm_triceps, norm_pect, norm_deltoid;
jessekaiser 57:0a278c60d28b 94 float gain_biceps, gain_triceps, gain_pect, gain_deltoid;
jessekaiser 56:6ea03cce1175 95 float speed_old1, speed_old2, speed_old3, speed_old4;
jessekaiser 56:6ea03cce1175 96 float acc1, acc2, acc3, acc4;
jessekaiser 56:6ea03cce1175 97 float force1, force2, force3, force4;
jessekaiser 56:6ea03cce1175 98 float speed1, speed2, speed3, speed4;
jessekaiser 56:6ea03cce1175 99 float damping1, damping2, damping3, damping4;
jessekaiser 56:6ea03cce1175 100
jessekaiser 56:6ea03cce1175 101 void looper_emg()
jessekaiser 56:6ea03cce1175 102 {
jessekaiser 56:6ea03cce1175 103 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
jessekaiser 56:6ea03cce1175 104 emg_value1_f32 = emg1.read();
jessekaiser 56:6ea03cce1175 105 emg_value2_f32 = emg2.read();
jessekaiser 56:6ea03cce1175 106 emg_value3_f32 = emg3.read();
jessekaiser 56:6ea03cce1175 107 emg_value4_f32 = emg4.read();
jessekaiser 56:6ea03cce1175 108
jessekaiser 56:6ea03cce1175 109 //process emg biceps
jessekaiser 56:6ea03cce1175 110 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 56:6ea03cce1175 111 filtered_biceps = fabs(filtered_biceps); //Rectifier
jessekaiser 56:6ea03cce1175 112 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 56:6ea03cce1175 113
jessekaiser 56:6ea03cce1175 114 //process emg triceps
jessekaiser 56:6ea03cce1175 115 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 56:6ea03cce1175 116 filtered_triceps = fabs(filtered_triceps);
jessekaiser 56:6ea03cce1175 117 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 56:6ea03cce1175 118
jessekaiser 56:6ea03cce1175 119 //process emg pectoralis major
jessekaiser 56:6ea03cce1175 120 arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
jessekaiser 56:6ea03cce1175 121 filtered_pect = fabs(filtered_pect);
jessekaiser 56:6ea03cce1175 122 arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
jessekaiser 56:6ea03cce1175 123
jessekaiser 56:6ea03cce1175 124 //process emg deltoid
jessekaiser 56:6ea03cce1175 125 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
jessekaiser 56:6ea03cce1175 126 filtered_deltoid = fabs(filtered_deltoid);
jessekaiser 56:6ea03cce1175 127 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
jessekaiser 56:6ea03cce1175 128
jessekaiser 57:0a278c60d28b 129 /*send value to PC.
jessekaiser 56:6ea03cce1175 130 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 56:6ea03cce1175 131 scope.set(1,filtered_triceps);
jessekaiser 56:6ea03cce1175 132 scope.set(2,filtered_pect);
jessekaiser 57:0a278c60d28b 133 scope.set(3,filtered_deltoid);*/
jessekaiser 56:6ea03cce1175 134 }
jessekaiser 56:6ea03cce1175 135
jessekaiser 56:6ea03cce1175 136 void looper_motory()
jessekaiser 56:6ea03cce1175 137 {
jessekaiser 56:6ea03cce1175 138 //Forward
jessekaiser 57:0a278c60d28b 139 norm_biceps = (filtered_biceps/MAX_bi);
jessekaiser 57:0a278c60d28b 140 gain_biceps = K_Gain*norm_biceps;
jessekaiser 57:0a278c60d28b 141 force1 = gain_biceps;
jessekaiser 56:6ea03cce1175 142 force1 = force1 - damping1;
jessekaiser 56:6ea03cce1175 143 acc1 = force1/Mass;
jessekaiser 56:6ea03cce1175 144 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 56:6ea03cce1175 145 damping1 = speed1 * Damp;
jessekaiser 56:6ea03cce1175 146 step_freq1 = (setpoint*speed1);
jessekaiser 56:6ea03cce1175 147 speed_old1 = speed1;
jessekaiser 51:75a8c7191555 148
jessekaiser 56:6ea03cce1175 149 //Achteruit triceps
jessekaiser 57:0a278c60d28b 150 norm_triceps = (filtered_triceps/MAX_tri);
jessekaiser 57:0a278c60d28b 151 gain_triceps = K_Gain*norm_triceps;
jessekaiser 57:0a278c60d28b 152 force2 = gain_triceps;
jessekaiser 56:6ea03cce1175 153 force2 = force2 - damping2;
jessekaiser 56:6ea03cce1175 154 acc2 = force2/Mass;
jessekaiser 56:6ea03cce1175 155 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 56:6ea03cce1175 156 damping2 = speed2 * Damp;
jessekaiser 56:6ea03cce1175 157 step_freq2 = (setpoint*speed2);
jessekaiser 56:6ea03cce1175 158 speed_old2 = speed2;
jessekaiser 57:0a278c60d28b 159
jessekaiser 57:0a278c60d28b 160 if (filtered_biceps > filtered_triceps || Posy < 0.20) {
jessekaiser 56:6ea03cce1175 161 Diry = 1;
jessekaiser 56:6ea03cce1175 162 speed2 = 0.01;
jessekaiser 56:6ea03cce1175 163 speed_old2 = 0.01;
jessekaiser 56:6ea03cce1175 164 Stepy.period(1.0/step_freq1);
jessekaiser 56:6ea03cce1175 165 }
jessekaiser 57:0a278c60d28b 166 if (filtered_triceps > filtered_biceps || Posy > 0.70) {
jessekaiser 56:6ea03cce1175 167 Diry = 0;
jessekaiser 56:6ea03cce1175 168 speed1 = 0.01;
jessekaiser 56:6ea03cce1175 169 speed_old1 = 0.01;
jessekaiser 56:6ea03cce1175 170 Stepy.period(1.0/step_freq2);
jessekaiser 56:6ea03cce1175 171 }
jessekaiser 56:6ea03cce1175 172 //Speed limit
jessekaiser 56:6ea03cce1175 173 if (speed1 > 1) {
jessekaiser 56:6ea03cce1175 174 speed1 = 1;
jessekaiser 56:6ea03cce1175 175 step_freq1 = setpoint;
jessekaiser 56:6ea03cce1175 176 }
jessekaiser 56:6ea03cce1175 177 if (speed2 > 1) {
jessekaiser 56:6ea03cce1175 178 speed2 = 1;
jessekaiser 56:6ea03cce1175 179 step_freq2 = setpoint;
jessekaiser 56:6ea03cce1175 180 }
jessekaiser 56:6ea03cce1175 181 //EMG treshold
jessekaiser 57:0a278c60d28b 182 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
jessekaiser 56:6ea03cce1175 183 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 56:6ea03cce1175 184 speed1 = 0.01;
jessekaiser 56:6ea03cce1175 185 speed_old1 = 0.01;
jessekaiser 56:6ea03cce1175 186 speed2 = 0.01;
jessekaiser 56:6ea03cce1175 187 speed_old2 = 0.01;
jessekaiser 56:6ea03cce1175 188 } else {
jessekaiser 56:6ea03cce1175 189 Enabley = 0;
jessekaiser 56:6ea03cce1175 190 }
jessekaiser 56:6ea03cce1175 191
jessekaiser 56:6ea03cce1175 192 }
jessekaiser 56:6ea03cce1175 193
jessekaiser 56:6ea03cce1175 194 void looper_motorx()
jessekaiser 56:6ea03cce1175 195 {
jessekaiser 56:6ea03cce1175 196 //To the left
jessekaiser 57:0a278c60d28b 197 norm_pect = (filtered_pect/MAX_pect);
jessekaiser 57:0a278c60d28b 198 gain_pect = K_Gain*norm_pect;
jessekaiser 57:0a278c60d28b 199 force3 = gain_pect;
jessekaiser 56:6ea03cce1175 200 force3 = force3 - damping3;
jessekaiser 56:6ea03cce1175 201 acc3 = force3/Mass;
jessekaiser 56:6ea03cce1175 202 speed3 = speed_old3 + (acc3 * dt);
jessekaiser 56:6ea03cce1175 203 damping3 = speed3 * Damp;
jessekaiser 56:6ea03cce1175 204 step_freq3 = (setpoint*speed3);
jessekaiser 56:6ea03cce1175 205 speed_old3 = speed3;
jessekaiser 56:6ea03cce1175 206
jessekaiser 56:6ea03cce1175 207 //To the right
jessekaiser 57:0a278c60d28b 208 norm_deltoid = (filtered_deltoid/MAX_delt);
jessekaiser 57:0a278c60d28b 209 gain_deltoid = K_Gain*norm_deltoid;
jessekaiser 57:0a278c60d28b 210 force4 = gain_deltoid;
jessekaiser 56:6ea03cce1175 211 force4 = force4 - damping4;
jessekaiser 56:6ea03cce1175 212 acc4 = force4/Mass;
jessekaiser 56:6ea03cce1175 213 speed4 = speed_old4 + (acc4 * dt);
jessekaiser 56:6ea03cce1175 214 damping4 = speed4 * Damp;
jessekaiser 56:6ea03cce1175 215 step_freq4 = (setpoint*speed4);
jessekaiser 56:6ea03cce1175 216 speed_old4 = speed4;
jessekaiser 56:6ea03cce1175 217
jessekaiser 57:0a278c60d28b 218 if (filtered_pect > filtered_deltoid || Posx < 0.30) {
jessekaiser 56:6ea03cce1175 219 Dirx = 0;
jessekaiser 56:6ea03cce1175 220 speed4 = 0.01;
jessekaiser 56:6ea03cce1175 221 speed_old4 = 0.01;
jessekaiser 56:6ea03cce1175 222 Stepx.period(1.0/step_freq3);
jessekaiser 56:6ea03cce1175 223 }
jessekaiser 57:0a278c60d28b 224 if (filtered_deltoid > filtered_pect || Posx > 0.86) {
jessekaiser 56:6ea03cce1175 225 Dirx = 1;
jessekaiser 56:6ea03cce1175 226 speed3 = 0.01;
jessekaiser 56:6ea03cce1175 227 speed_old3 = 0.01;
jessekaiser 56:6ea03cce1175 228 Stepx.period(1.0/step_freq4);
jessekaiser 56:6ea03cce1175 229 }
jessekaiser 56:6ea03cce1175 230 //Speed limit
jessekaiser 56:6ea03cce1175 231 if (speed3 > 1) {
jessekaiser 56:6ea03cce1175 232 speed3 = 1;
jessekaiser 56:6ea03cce1175 233 step_freq3 = setpoint;
jessekaiser 56:6ea03cce1175 234 }
jessekaiser 56:6ea03cce1175 235 if (speed4 > 1) {
jessekaiser 56:6ea03cce1175 236 speed4 = 1;
jessekaiser 56:6ea03cce1175 237 step_freq4 = setpoint;
jessekaiser 56:6ea03cce1175 238 }
jessekaiser 56:6ea03cce1175 239 //EMG treshold
jessekaiser 57:0a278c60d28b 240 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
jessekaiser 56:6ea03cce1175 241 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 56:6ea03cce1175 242 speed3 = 0.01;
jessekaiser 56:6ea03cce1175 243 speed_old3 = 0.01;
jessekaiser 56:6ea03cce1175 244 speed4 = 0.01;
jessekaiser 56:6ea03cce1175 245 speed_old4 = 0.01;
jessekaiser 56:6ea03cce1175 246 } else {
jessekaiser 56:6ea03cce1175 247 Enablex = 0;
jessekaiser 56:6ea03cce1175 248 }
jessekaiser 56:6ea03cce1175 249
jessekaiser 56:6ea03cce1175 250 }
jessekaiser 41:a666a531d52e 251 int main()
jessekaiser 41:a666a531d52e 252 {
jessekaiser 56:6ea03cce1175 253 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 57:0a278c60d28b 254 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 56:6ea03cce1175 255
jessekaiser 56:6ea03cce1175 256 Ticker emgtimer; //biceps
jessekaiser 56:6ea03cce1175 257 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 56:6ea03cce1175 258 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 56:6ea03cce1175 259 //triceps
jessekaiser 56:6ea03cce1175 260 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 56:6ea03cce1175 261 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 56:6ea03cce1175 262 //pectoralis major
jessekaiser 56:6ea03cce1175 263 arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
jessekaiser 56:6ea03cce1175 264 arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
jessekaiser 56:6ea03cce1175 265 //deltoid
jessekaiser 56:6ea03cce1175 266 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 56:6ea03cce1175 267 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
jessekaiser 56:6ea03cce1175 268 emgtimer.attach(looper_emg, 0.01);
jessekaiser 56:6ea03cce1175 269
jessekaiser 56:6ea03cce1175 270 Ticker looptimer1;
jessekaiser 56:6ea03cce1175 271 looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
jessekaiser 56:6ea03cce1175 272
jessekaiser 56:6ea03cce1175 273 Ticker looptimer2;
jessekaiser 56:6ea03cce1175 274 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
jessekaiser 56:6ea03cce1175 275
jessekaiser 56:6ea03cce1175 276 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 44:d5aa53e4778c 277 MS1 = 1;
jessekaiser 45:f5d74c7f8fbf 278 MS2 = 0;
jessekaiser 44:d5aa53e4778c 279 MS3 = 0;
jessekaiser 56:6ea03cce1175 280 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 56:6ea03cce1175 281 Stepy.write(0.5);
jessekaiser 57:0a278c60d28b 282
jessekaiser 57:0a278c60d28b 283 //if (Posx < 0.50) {
jessekaiser 57:0a278c60d28b 284 // Stepx.period(1.0/3000); //if the speed and distance is known. The motor can be brought to a home position.
jessekaiser 57:0a278c60d28b 285 //Need to know rpm to m/s.
jessekaiser 57:0a278c60d28b 286
jessekaiser 55:fa6d5ee5c854 287
jessekaiser 44:d5aa53e4778c 288 while (1) {
jessekaiser 54:abb7f76a0473 289
jessekaiser 57:0a278c60d28b 290 //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
jessekaiser 57:0a278c60d28b 291 lcd.printf("%.2f, %.2f %.2f %.2f \n", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values
jessekaiser 56:6ea03cce1175 292 //lcd.printf("1 %.0f, 2 %.0f, 3 %.0f, 4 %.0f \n", step_freq1, step_freq2, step_freq3, step_freq4); //step_freq value of every EMG sensor
jessekaiser 57:0a278c60d28b 293 //lcd.printf("%.2f, %.2f %.2f %.2f \n", gain_biceps, gain_triceps, gain_pect, gain_deltoid);
jessekaiser 57:0a278c60d28b 294 //lcd.printf("%.2f, %.2f %.2f %.2f \n", norm_biceps, norm_triceps, norm_pect, norm_deltoid);
jessekaiser 57:0a278c60d28b 295 wait(0.01);
jessekaiser 0:3acdd563582f 296 }
jessekaiser 56:6ea03cce1175 297 }