4 directional EMG control of the XY table. Made during my bachelor end assignment.
Dependencies: C12832_lcd HIDScope mbed-dsp mbed
main.cpp@32:46b18f465600, 2015-05-22 (annotated)
- Committer:
- jessekaiser
- Date:
- Fri May 22 08:35:28 2015 +0000
- Revision:
- 32:46b18f465600
- Parent:
- 31:372ff8d49430
- Child:
- 33:3c9f8c1e9adf
Proportionele aansturing werkt. Na deze commit wordt ongebruikte code verwijderd.
Who changed what in which revision?
User | Revision | Line number | New 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 | 31:372ff8d49430 | 6 | #define P_Gain 0.995 |
jessekaiser | 32:46b18f465600 | 7 | #define K_Gain 65 //Gain of the filtered EMG signal |
jessekaiser | 32:46b18f465600 | 8 | #define Damp 2 //Deceleration of the motr |
jessekaiser | 31:372ff8d49430 | 9 | #define tres_bi 0.05 //Biceps emg treshold |
jessekaiser | 31:372ff8d49430 | 10 | #define Mass 1 // Mass value |
jessekaiser | 31:372ff8d49430 | 11 | #define dt 0.002 //Sample 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 | |
jessekaiser | 23:4d050e85e863 | 42 | // Filters |
jessekaiser | 23:4d050e85e863 | 43 | arm_biquad_casd_df1_inst_f32 lowpass_pot; |
jessekaiser | 23:4d050e85e863 | 44 | arm_biquad_casd_df1_inst_f32 lowpass_step; |
jessekaiser | 23:4d050e85e863 | 45 | |
jessekaiser | 29:83f005c637be | 46 | //lowpass filter settings: Fc = 1 Hz, Fs = 100 Hz, Gain = -3 dB onepole-lp |
jessekaiser | 27:c7b1851c9bb7 | 47 | float lowpass_const[] = {0.0201, 0.0402 , 0.0201, 1.5610, -0.6414}; |
jessekaiser | 31:372ff8d49430 | 48 | //Lowpass filter potmeter: Fc = 0.5 Hz, Fs = 500 Hz, |
jessekaiser | 27:c7b1851c9bb7 | 49 | //float lowpass_const[] = {0.000009825916403675327, 0.000019651832807350654, 0.000009825916403675327, 1.991114207740345, -0.9911535114059596}; |
jessekaiser | 23:4d050e85e863 | 50 | |
jessekaiser | 23:4d050e85e863 | 51 | //EMG filter |
jessekaiser | 23:4d050e85e863 | 52 | arm_biquad_casd_df1_inst_f32 lowpass_biceps; |
jessekaiser | 23:4d050e85e863 | 53 | //lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB |
jessekaiser | 23:4d050e85e863 | 54 | float lowpass2_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751}; |
jessekaiser | 23:4d050e85e863 | 55 | arm_biquad_casd_df1_inst_f32 highnotch_biceps; |
jessekaiser | 31:372ff8d49430 | 56 | //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB |
jessekaiser | 31:372ff8d49430 | 57 | 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 | 58 | |
jessekaiser | 23:4d050e85e863 | 59 | |
jessekaiser | 23:4d050e85e863 | 60 | //state values |
jessekaiser | 23:4d050e85e863 | 61 | float lowpass_biceps_states[4]; |
jessekaiser | 23:4d050e85e863 | 62 | float highnotch_biceps_states[8]; |
jessekaiser | 23:4d050e85e863 | 63 | float lowpass_pot_states[4]; |
jessekaiser | 23:4d050e85e863 | 64 | |
jessekaiser | 23:4d050e85e863 | 65 | //global variabels |
jessekaiser | 23:4d050e85e863 | 66 | float filtered_biceps; |
jessekaiser | 29:83f005c637be | 67 | float filtered_average_bi; |
jessekaiser | 32:46b18f465600 | 68 | float filt_avg_bi_old; |
jessekaiser | 23:4d050e85e863 | 69 | float filtered_pot; |
jessekaiser | 23:4d050e85e863 | 70 | float pot_value1_f32; |
jessekaiser | 31:372ff8d49430 | 71 | float speed_old; |
jessekaiser | 31:372ff8d49430 | 72 | float acc; |
jessekaiser | 31:372ff8d49430 | 73 | float force; |
jessekaiser | 32:46b18f465600 | 74 | float speed; |
jessekaiser | 32:46b18f465600 | 75 | float speed_old; |
jessekaiser | 32:46b18f465600 | 76 | float D; |
jessekaiser | 32:46b18f465600 | 77 | |
jessekaiser | 23:4d050e85e863 | 78 | |
jessekaiser | 29:83f005c637be | 79 | void average_biceps(float filtered_biceps,float *average) |
jessekaiser | 29:83f005c637be | 80 | { |
jessekaiser | 29:83f005c637be | 81 | static float total=0; |
jessekaiser | 29:83f005c637be | 82 | static float number=0; |
jessekaiser | 29:83f005c637be | 83 | total = total + filtered_biceps; |
jessekaiser | 29:83f005c637be | 84 | number = number + 1; |
jessekaiser | 29:83f005c637be | 85 | if ( number == 50) { |
jessekaiser | 29:83f005c637be | 86 | *average = total/50; |
jessekaiser | 29:83f005c637be | 87 | total = 0; |
jessekaiser | 29:83f005c637be | 88 | number = 0; |
jessekaiser | 29:83f005c637be | 89 | } |
jessekaiser | 29:83f005c637be | 90 | } |
jessekaiser | 24:c4c5d30a3938 | 91 | |
jessekaiser | 23:4d050e85e863 | 92 | void looper_emg() |
jessekaiser | 23:4d050e85e863 | 93 | { |
jessekaiser | 23:4d050e85e863 | 94 | /*variable to store value in*/ |
jessekaiser | 25:144eb5822aa7 | 95 | volatile uint16_t emg_value1; |
jessekaiser | 23:4d050e85e863 | 96 | |
jessekaiser | 23:4d050e85e863 | 97 | float emg_value1_f32; |
jessekaiser | 31:372ff8d49430 | 98 | |
jessekaiser | 23:4d050e85e863 | 99 | |
jessekaiser | 23:4d050e85e863 | 100 | /*put raw emg value both in red and in emg_value*/ |
jessekaiser | 25:144eb5822aa7 | 101 | 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 | 102 | emg_value1_f32 = emg0.read(); |
jessekaiser | 23:4d050e85e863 | 103 | |
jessekaiser | 23:4d050e85e863 | 104 | //process emg biceps |
jessekaiser | 23:4d050e85e863 | 105 | arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); |
jessekaiser | 31:372ff8d49430 | 106 | filtered_biceps = fabs(filtered_biceps); |
jessekaiser | 23:4d050e85e863 | 107 | arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); |
jessekaiser | 29:83f005c637be | 108 | average_biceps(filtered_biceps,&filtered_average_bi); |
jessekaiser | 23:4d050e85e863 | 109 | |
jessekaiser | 23:4d050e85e863 | 110 | /*send value to PC. */ |
jessekaiser | 29:83f005c637be | 111 | scope.set(0,filtered_average_bi); //Raw EMG signal biceps |
jessekaiser | 29:83f005c637be | 112 | scope.set(1,filtered_biceps); //Filtered signal |
jessekaiser | 31:372ff8d49430 | 113 | |
jessekaiser | 23:4d050e85e863 | 114 | } |
jessekaiser | 31:372ff8d49430 | 115 | /*void looper_pot() |
jessekaiser | 23:4d050e85e863 | 116 | { |
jessekaiser | 23:4d050e85e863 | 117 | |
jessekaiser | 23:4d050e85e863 | 118 | pot_value1_f32 = Pot1.read() - 0.500; |
jessekaiser | 23:4d050e85e863 | 119 | |
jessekaiser | 23:4d050e85e863 | 120 | //process input |
jessekaiser | 23:4d050e85e863 | 121 | arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 ); |
jessekaiser | 31:372ff8d49430 | 122 | |
jessekaiser | 31:372ff8d49430 | 123 | }*/ |
jessekaiser | 23:4d050e85e863 | 124 | |
jessekaiser | 27:c7b1851c9bb7 | 125 | |
jessekaiser | 31:372ff8d49430 | 126 | /*void looper_motor() |
jessekaiser | 23:4d050e85e863 | 127 | { |
jessekaiser | 23:4d050e85e863 | 128 | float new_step_freq; |
jessekaiser | 30:0a8f849e0292 | 129 | float speed; |
jessekaiser | 31:372ff8d49430 | 130 | |
jessekaiser | 30:0a8f849e0292 | 131 | speed = 0.02*filtered_average_bi + 0.02*filt_avg_bi_old + 0.96*speed_old; //Value between 0 and 1 |
jessekaiser | 30:0a8f849e0292 | 132 | new_step_freq = (setpoint*speed); |
jessekaiser | 23:4d050e85e863 | 133 | step_freq = abs(new_step_freq); //Gives the PWM frequenty to the motor. |
jessekaiser | 30:0a8f849e0292 | 134 | speed_old = speed; |
jessekaiser | 30:0a8f849e0292 | 135 | filt_avg_bi_old = filtered_average_bi; |
jessekaiser | 26:b88ff19ff5dc | 136 | |
jessekaiser | 30:0a8f849e0292 | 137 | if (step_freq < 500 || step_freq > 8000) { |
jessekaiser | 26:b88ff19ff5dc | 138 | Enable = 1; |
jessekaiser | 26:b88ff19ff5dc | 139 | } else { |
jessekaiser | 26:b88ff19ff5dc | 140 | Enable = 0; |
jessekaiser | 26:b88ff19ff5dc | 141 | } |
jessekaiser | 31:372ff8d49430 | 142 | Step.period(1.0/(100 + step_freq)); //Step_freq is het aantal Hz. |
jessekaiser | 31:372ff8d49430 | 143 | |
jessekaiser | 31:372ff8d49430 | 144 | }*/ |
jessekaiser | 31:372ff8d49430 | 145 | //Motor accelereren met EMG treshold |
jessekaiser | 31:372ff8d49430 | 146 | /*void looper_motor() |
jessekaiser | 31:372ff8d49430 | 147 | { |
jessekaiser | 31:372ff8d49430 | 148 | float new_step_freq; |
jessekaiser | 31:372ff8d49430 | 149 | Dir = 0; |
jessekaiser | 31:372ff8d49430 | 150 | |
jessekaiser | 31:372ff8d49430 | 151 | if (filtered_average_bi > tres_bi) { |
jessekaiser | 31:372ff8d49430 | 152 | Enable = 0; |
jessekaiser | 31:372ff8d49430 | 153 | new_step_freq = ((1-P)*setpoint) + (P*step_freq); |
jessekaiser | 31:372ff8d49430 | 154 | step_freq = new_step_freq; |
jessekaiser | 31:372ff8d49430 | 155 | Step.period(1.0/step_freq); |
jessekaiser | 31:372ff8d49430 | 156 | } else { |
jessekaiser | 31:372ff8d49430 | 157 | Enable = 1; |
jessekaiser | 31:372ff8d49430 | 158 | step_freq = 1; |
jessekaiser | 31:372ff8d49430 | 159 | } |
jessekaiser | 31:372ff8d49430 | 160 | |
jessekaiser | 31:372ff8d49430 | 161 | }*/ |
jessekaiser | 26:b88ff19ff5dc | 162 | |
jessekaiser | 31:372ff8d49430 | 163 | void looper_motor() |
jessekaiser | 31:372ff8d49430 | 164 | { |
jessekaiser | 31:372ff8d49430 | 165 | Dir = 0; |
jessekaiser | 31:372ff8d49430 | 166 | force = K_Gain*filtered_biceps; |
jessekaiser | 31:372ff8d49430 | 167 | force = force - D; |
jessekaiser | 31:372ff8d49430 | 168 | acc = force/Mass; |
jessekaiser | 32:46b18f465600 | 169 | speed = speed_old + (acc * dt); |
jessekaiser | 32:46b18f465600 | 170 | D = speed * Damp; |
jessekaiser | 32:46b18f465600 | 171 | step_freq = (setpoint*speed); |
jessekaiser | 31:372ff8d49430 | 172 | Step.period(1.0/step_freq); |
jessekaiser | 32:46b18f465600 | 173 | speed_old = speed; |
jessekaiser | 31:372ff8d49430 | 174 | |
jessekaiser | 31:372ff8d49430 | 175 | if (step_freq < 800) { |
jessekaiser | 31:372ff8d49430 | 176 | Enable = 1; |
jessekaiser | 31:372ff8d49430 | 177 | } else { |
jessekaiser | 31:372ff8d49430 | 178 | Enable = 0; |
jessekaiser | 31:372ff8d49430 | 179 | } |
jessekaiser | 23:4d050e85e863 | 180 | } |
jessekaiser | 31:372ff8d49430 | 181 | |
jessekaiser | 31:372ff8d49430 | 182 | |
jessekaiser | 0:3acdd563582f | 183 | int main() |
jessekaiser | 0:3acdd563582f | 184 | { |
jessekaiser | 31:372ff8d49430 | 185 | // Attach the HIDScope::send method from the scope object to the timer at 50Hz. Hier wordt de sample freq aangegeven. |
jessekaiser | 31:372ff8d49430 | 186 | scopeTimer.attach_us(&scope, &HIDScope::send, 2e3); |
jessekaiser | 31:372ff8d49430 | 187 | |
jessekaiser | 31:372ff8d49430 | 188 | /* Ticker log_timer; |
jessekaiser | 31:372ff8d49430 | 189 | //set up filters. Use external array for constants |
jessekaiser | 31:372ff8d49430 | 190 | arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states); |
jessekaiser | 31:372ff8d49430 | 191 | log_timer.attach(looper_pot, 0.01);*/ |
jessekaiser | 26:b88ff19ff5dc | 192 | |
jessekaiser | 28:593929bbdb98 | 193 | Ticker emgtimer; |
jessekaiser | 25:144eb5822aa7 | 194 | arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states); |
jessekaiser | 25:144eb5822aa7 | 195 | arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states); |
jessekaiser | 30:0a8f849e0292 | 196 | emgtimer.attach(looper_emg, 0.002); |
jessekaiser | 23:4d050e85e863 | 197 | |
jessekaiser | 30:0a8f849e0292 | 198 | Ticker looptimer; |
jessekaiser | 31:372ff8d49430 | 199 | looptimer.attach(looper_motor, 0.01); |
jessekaiser | 23:4d050e85e863 | 200 | |
jessekaiser | 4:e4341e3524dc | 201 | MS1 = 1; |
jessekaiser | 23:4d050e85e863 | 202 | MS2 = 0; |
jessekaiser | 2:92a63245d11c | 203 | MS3 = 0; |
jessekaiser | 27:c7b1851c9bb7 | 204 | //Step.period(1/step_freq); |
jessekaiser | 9:649229691351 | 205 | Step.write(0.5); // Duty cycle van 50% |
jessekaiser | 23:4d050e85e863 | 206 | |
jessekaiser | 0:3acdd563582f | 207 | while (1) { |
jessekaiser | 23:4d050e85e863 | 208 | |
jessekaiser | 30:0a8f849e0292 | 209 | lcd.printf("Freq %.0f Hz \n", step_freq); //snelheid meting op lcd |
jessekaiser | 29:83f005c637be | 210 | //pc.printf(" %.4f \n", Pot1.read()); |
jessekaiser | 26:b88ff19ff5dc | 211 | //lcd.printf("filt %.3f raw %.3f \n", filtered_biceps, emg0.read()); |
jessekaiser | 32:46b18f465600 | 212 | //pc.printf("speed %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd |
jessekaiser | 28:593929bbdb98 | 213 | wait(0.01); |
jessekaiser | 23:4d050e85e863 | 214 | |
jessekaiser | 10:7f94cd65c910 | 215 | |
jessekaiser | 0:3acdd563582f | 216 | } |
jessekaiser | 26:b88ff19ff5dc | 217 | } |