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@30:0a8f849e0292, 2015-05-21 (annotated)

Committer:
jessekaiser
Date:
Thu May 21 10:15:37 2015 +0000
Revision:
30:0a8f849e0292
Parent:
29:83f005c637be
Child:
31:372ff8d49430
Motor kan aangestuurd worden met EMG. Maar nog niet soepel

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 23:4d050e85e863 6 //Motor control
jessekaiser 0:3acdd563582f 7 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 8 PwmOut Step(p22);
jessekaiser 23:4d050e85e863 9
jessekaiser 23:4d050e85e863 10 //Signal to and from computer
jessekaiser 23:4d050e85e863 11 Serial pc(USBTX, USBRX);
jessekaiser 23:4d050e85e863 12
jessekaiser 24:c4c5d30a3938 13 DigitalOut Enable(p25);
jessekaiser 23:4d050e85e863 14
jessekaiser 23:4d050e85e863 15 //Microstepping
jessekaiser 0:3acdd563582f 16 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 17 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 18 DigitalOut MS3(p29);
jessekaiser 23:4d050e85e863 19
jessekaiser 23:4d050e85e863 20 //Potmeter and EMG
jessekaiser 10:7f94cd65c910 21 AnalogIn Pot1(p19);
jessekaiser 25:144eb5822aa7 22 AnalogIn emg0(p17);
jessekaiser 28:593929bbdb98 23 HIDScope scope(2);
jessekaiser 29:83f005c637be 24 Ticker scopeTimer;
jessekaiser 25:144eb5822aa7 25
jessekaiser 23:4d050e85e863 26 //lcd
jessekaiser 30:0a8f849e0292 27 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 28
jessekaiser 23:4d050e85e863 29 //Variables for motor control
jessekaiser 27:c7b1851c9bb7 30 float setpoint = 6500; //Frequentie
jessekaiser 23:4d050e85e863 31 float step_freq = 1;
jessekaiser 23:4d050e85e863 32
jessekaiser 23:4d050e85e863 33
jessekaiser 23:4d050e85e863 34 // Filters
jessekaiser 23:4d050e85e863 35 arm_biquad_casd_df1_inst_f32 lowpass_pot;
jessekaiser 23:4d050e85e863 36 arm_biquad_casd_df1_inst_f32 lowpass_step;
jessekaiser 23:4d050e85e863 37
jessekaiser 29:83f005c637be 38 //lowpass filter settings: Fc = 1 Hz, Fs = 100 Hz, Gain = -3 dB onepole-lp
jessekaiser 27:c7b1851c9bb7 39 float lowpass_const[] = {0.0201, 0.0402 , 0.0201, 1.5610, -0.6414};
jessekaiser 27:c7b1851c9bb7 40 //Lowpass filter potmeter: Fc = 0.5 Hz, Fs = 500 Hz,
jessekaiser 27:c7b1851c9bb7 41 //float lowpass_const[] = {0.000009825916403675327, 0.000019651832807350654, 0.000009825916403675327, 1.991114207740345, -0.9911535114059596};
jessekaiser 29:83f005c637be 42 //lowpass for step_freq: Fc = 2 Hz, Fs = 100, Gain = 6 dB
jessekaiser 29:83f005c637be 43 //float lowpass1_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
jessekaiser 23:4d050e85e863 44
jessekaiser 23:4d050e85e863 45 //EMG filter
jessekaiser 23:4d050e85e863 46 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 23:4d050e85e863 47 //lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 23:4d050e85e863 48 float lowpass2_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 23:4d050e85e863 49 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 23:4d050e85e863 50 //highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB
jessekaiser 23:4d050e85e863 51 float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 23:4d050e85e863 52
jessekaiser 23:4d050e85e863 53
jessekaiser 23:4d050e85e863 54 //state values
jessekaiser 23:4d050e85e863 55 float lowpass_biceps_states[4];
jessekaiser 23:4d050e85e863 56 float highnotch_biceps_states[8];
jessekaiser 23:4d050e85e863 57 float lowpass_pot_states[4];
jessekaiser 29:83f005c637be 58 float lowpass1_step_states[4];
jessekaiser 23:4d050e85e863 59
jessekaiser 23:4d050e85e863 60 //global variabels
jessekaiser 23:4d050e85e863 61 float filtered_biceps;
jessekaiser 29:83f005c637be 62 float filtered_average_bi;
jessekaiser 23:4d050e85e863 63 float filtered_pot;
jessekaiser 23:4d050e85e863 64 float filtered_average_pot;
jessekaiser 23:4d050e85e863 65 float filtered_step;
jessekaiser 23:4d050e85e863 66 float pot_value1_f32;
jessekaiser 30:0a8f849e0292 67 float filt_avg_bi_old;
jessekaiser 30:0a8f849e0292 68 float speed_old;
jessekaiser 23:4d050e85e863 69
jessekaiser 29:83f005c637be 70 void average_biceps(float filtered_biceps,float *average)
jessekaiser 29:83f005c637be 71 {
jessekaiser 29:83f005c637be 72 static float total=0;
jessekaiser 29:83f005c637be 73 static float number=0;
jessekaiser 29:83f005c637be 74 total = total + filtered_biceps;
jessekaiser 29:83f005c637be 75 number = number + 1;
jessekaiser 29:83f005c637be 76 if ( number == 50) {
jessekaiser 29:83f005c637be 77 *average = total/50;
jessekaiser 29:83f005c637be 78 total = 0;
jessekaiser 29:83f005c637be 79 number = 0;
jessekaiser 29:83f005c637be 80 }
jessekaiser 29:83f005c637be 81 }
jessekaiser 24:c4c5d30a3938 82
jessekaiser 23:4d050e85e863 83 void looper_emg()
jessekaiser 23:4d050e85e863 84 {
jessekaiser 23:4d050e85e863 85 /*variable to store value in*/
jessekaiser 25:144eb5822aa7 86 volatile uint16_t emg_value1;
jessekaiser 23:4d050e85e863 87
jessekaiser 23:4d050e85e863 88 float emg_value1_f32;
jessekaiser 29:83f005c637be 89
jessekaiser 23:4d050e85e863 90
jessekaiser 23:4d050e85e863 91 /*put raw emg value both in red and in emg_value*/
jessekaiser 25:144eb5822aa7 92 emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
jessekaiser 23:4d050e85e863 93 emg_value1_f32 = emg0.read();
jessekaiser 23:4d050e85e863 94
jessekaiser 23:4d050e85e863 95 //process emg biceps
jessekaiser 23:4d050e85e863 96 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
jessekaiser 29:83f005c637be 97 filtered_biceps = fabs(filtered_biceps)*10;
jessekaiser 23:4d050e85e863 98 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
jessekaiser 29:83f005c637be 99 average_biceps(filtered_biceps,&filtered_average_bi);
jessekaiser 23:4d050e85e863 100
jessekaiser 23:4d050e85e863 101 /*send value to PC. */
jessekaiser 29:83f005c637be 102 scope.set(0,filtered_average_bi); //Raw EMG signal biceps
jessekaiser 29:83f005c637be 103 scope.set(1,filtered_biceps); //Filtered signal
jessekaiser 29:83f005c637be 104
jessekaiser 23:4d050e85e863 105 }
jessekaiser 23:4d050e85e863 106 void looper_pot()
jessekaiser 23:4d050e85e863 107 {
jessekaiser 23:4d050e85e863 108
jessekaiser 23:4d050e85e863 109 pot_value1_f32 = Pot1.read() - 0.500;
jessekaiser 23:4d050e85e863 110
jessekaiser 23:4d050e85e863 111 //process input
jessekaiser 23:4d050e85e863 112 arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 );
jessekaiser 29:83f005c637be 113
jessekaiser 23:4d050e85e863 114 }
jessekaiser 23:4d050e85e863 115
jessekaiser 27:c7b1851c9bb7 116
jessekaiser 23:4d050e85e863 117 void looper_motor()
jessekaiser 23:4d050e85e863 118 {
jessekaiser 23:4d050e85e863 119 float new_step_freq;
jessekaiser 30:0a8f849e0292 120 float speed;
jessekaiser 30:0a8f849e0292 121
jessekaiser 30:0a8f849e0292 122 speed = 0.02*filtered_average_bi + 0.02*filt_avg_bi_old + 0.96*speed_old; //Value between 0 and 1
jessekaiser 30:0a8f849e0292 123 new_step_freq = (setpoint*speed);
jessekaiser 23:4d050e85e863 124 step_freq = abs(new_step_freq); //Gives the PWM frequenty to the motor.
jessekaiser 30:0a8f849e0292 125 speed_old = speed;
jessekaiser 30:0a8f849e0292 126 filt_avg_bi_old = filtered_average_bi;
jessekaiser 26:b88ff19ff5dc 127
jessekaiser 30:0a8f849e0292 128 if (step_freq < 500 || step_freq > 8000) {
jessekaiser 26:b88ff19ff5dc 129 Enable = 1;
jessekaiser 26:b88ff19ff5dc 130 } else {
jessekaiser 26:b88ff19ff5dc 131 Enable = 0;
jessekaiser 26:b88ff19ff5dc 132 }
jessekaiser 30:0a8f849e0292 133 Step.period(1.0/(100 + step_freq)); //Step_freq is het aantal Hz.
jessekaiser 26:b88ff19ff5dc 134
jessekaiser 23:4d050e85e863 135 }
jessekaiser 0:3acdd563582f 136 int main()
jessekaiser 0:3acdd563582f 137 {
jessekaiser 29:83f005c637be 138 // Attach the HIDScope::send method from the scope object to the timer at 50Hz. Hier wordt de sample freq aangegeven.
jessekaiser 30:0a8f849e0292 139 scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 29:83f005c637be 140
jessekaiser 30:0a8f849e0292 141 /* Ticker log_timer;
jessekaiser 23:4d050e85e863 142 //set up filters. Use external array for constants
jessekaiser 23:4d050e85e863 143 arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states);
jessekaiser 29:83f005c637be 144 log_timer.attach(looper_pot, 0.01);*/
jessekaiser 26:b88ff19ff5dc 145
jessekaiser 28:593929bbdb98 146 Ticker emgtimer;
jessekaiser 25:144eb5822aa7 147 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 25:144eb5822aa7 148 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 30:0a8f849e0292 149 emgtimer.attach(looper_emg, 0.002);
jessekaiser 23:4d050e85e863 150
jessekaiser 30:0a8f849e0292 151 Ticker looptimer;
jessekaiser 30:0a8f849e0292 152 looptimer.attach(looper_motor, 0.002);
jessekaiser 23:4d050e85e863 153
jessekaiser 4:e4341e3524dc 154 MS1 = 1;
jessekaiser 23:4d050e85e863 155 MS2 = 0;
jessekaiser 2:92a63245d11c 156 MS3 = 0;
jessekaiser 27:c7b1851c9bb7 157 //Step.period(1/step_freq);
jessekaiser 9:649229691351 158 Step.write(0.5); // Duty cycle van 50%
jessekaiser 23:4d050e85e863 159
jessekaiser 0:3acdd563582f 160 while (1) {
jessekaiser 23:4d050e85e863 161
jessekaiser 30:0a8f849e0292 162 lcd.printf("Freq %.0f Hz \n", step_freq); //snelheid meting op lcd
jessekaiser 29:83f005c637be 163 //pc.printf(" %.4f \n", Pot1.read());
jessekaiser 26:b88ff19ff5dc 164 //lcd.printf("filt %.3f raw %.3f \n", filtered_biceps, emg0.read());
jessekaiser 25:144eb5822aa7 165 //pc.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
jessekaiser 28:593929bbdb98 166 wait(0.01);
jessekaiser 23:4d050e85e863 167
jessekaiser 10:7f94cd65c910 168
jessekaiser 0:3acdd563582f 169 }
jessekaiser 26:b88ff19ff5dc 170 }