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@23:4d050e85e863, 2015-05-08 (annotated)

Committer:
jessekaiser
Date:
Fri May 08 12:00:17 2015 +0000
Revision:
23:4d050e85e863
Parent:
15:ae8b209e8493
Child:
24:c4c5d30a3938
Schoonheidsfoutjes eruit;

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 15:ae8b209e8493 6 #define P_GAIN 0.998
jessekaiser 11:74ae4e5e11ab 7
jessekaiser 23:4d050e85e863 8 //Motor control
jessekaiser 0:3acdd563582f 9 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 10 PwmOut Step(p22);
jessekaiser 23:4d050e85e863 11
jessekaiser 23:4d050e85e863 12 //Signal to and from computer
jessekaiser 23:4d050e85e863 13 Serial pc(USBTX, USBRX);
jessekaiser 23:4d050e85e863 14
jessekaiser 15:ae8b209e8493 15 DigitalOut Enable(p14);
jessekaiser 23:4d050e85e863 16
jessekaiser 23:4d050e85e863 17 //Microstepping
jessekaiser 0:3acdd563582f 18 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 19 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 20 DigitalOut MS3(p29);
jessekaiser 23:4d050e85e863 21
jessekaiser 23:4d050e85e863 22 //Potmeter and EMG
jessekaiser 10:7f94cd65c910 23 AnalogIn Pot1(p19);
jessekaiser 23:4d050e85e863 24 AnalogIn emg0(p20);
jessekaiser 23:4d050e85e863 25 HIDScope scope(2);
jessekaiser 23:4d050e85e863 26 //lcd
jessekaiser 23:4d050e85e863 27 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 28
jessekaiser 23:4d050e85e863 29 //Joystick control (probably not necessary
jessekaiser 10:7f94cd65c910 30 BusIn Joystick(p12,p13,p14,p15,p16);
jessekaiser 10:7f94cd65c910 31 DigitalIn Up(p15);
jessekaiser 10:7f94cd65c910 32 DigitalIn Down(p12);
jessekaiser 23:4d050e85e863 33
jessekaiser 23:4d050e85e863 34 //Variables for motor control
jessekaiser 23:4d050e85e863 35 float setpoint = 7000; //Frequentie
jessekaiser 23:4d050e85e863 36 float step_freq = 1;
jessekaiser 23:4d050e85e863 37
jessekaiser 23:4d050e85e863 38
jessekaiser 23:4d050e85e863 39 // Filters
jessekaiser 23:4d050e85e863 40 arm_biquad_casd_df1_inst_f32 lowpass_pot;
jessekaiser 23:4d050e85e863 41 arm_biquad_casd_df1_inst_f32 lowpass_step;
jessekaiser 23:4d050e85e863 42
jessekaiser 23:4d050e85e863 43 //lowpass filter settings: Fc = 2 Hz, Fs = 100 Hz, Gain = 6 dB
jessekaiser 23:4d050e85e863 44 float lowpass_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
jessekaiser 23:4d050e85e863 45 //lowpass for step_freq: Fc = 2 Hz, Fs = 100, Gain = 6 dB
jessekaiser 23:4d050e85e863 46 float lowpass1_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
jessekaiser 23:4d050e85e863 47
jessekaiser 23:4d050e85e863 48 //EMG filter
jessekaiser 23:4d050e85e863 49 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 23:4d050e85e863 50 //lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 23:4d050e85e863 51 float lowpass2_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 23:4d050e85e863 52 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 23:4d050e85e863 53 //highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB
jessekaiser 23:4d050e85e863 54 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 55
jessekaiser 23:4d050e85e863 56
jessekaiser 23:4d050e85e863 57 //state values
jessekaiser 23:4d050e85e863 58 float lowpass_biceps_states[4];
jessekaiser 23:4d050e85e863 59 float highnotch_biceps_states[8];
jessekaiser 23:4d050e85e863 60 float lowpass_pot_states[4];
jessekaiser 23:4d050e85e863 61 float lowpass1_step_states[4];
jessekaiser 23:4d050e85e863 62
jessekaiser 23:4d050e85e863 63 //global variabels
jessekaiser 23:4d050e85e863 64 float filtered_biceps;
jessekaiser 23:4d050e85e863 65 float filtered_pot;
jessekaiser 23:4d050e85e863 66 float filtered_average_pot;
jessekaiser 23:4d050e85e863 67 float filtered_step;
jessekaiser 23:4d050e85e863 68 float pot_value1_f32;
jessekaiser 23:4d050e85e863 69
jessekaiser 23:4d050e85e863 70 //Averaging (look if necessary)
jessekaiser 23:4d050e85e863 71 /*void average_pot(float filtered_pot,float *average)
jessekaiser 23:4d050e85e863 72 {
jessekaiser 23:4d050e85e863 73 static float total=0;
jessekaiser 23:4d050e85e863 74 static float number=0;
jessekaiser 23:4d050e85e863 75 total = total + filtered_pot;
jessekaiser 23:4d050e85e863 76 number = number + 1;
jessekaiser 23:4d050e85e863 77 if ( number == 50) {
jessekaiser 23:4d050e85e863 78 *average = total/50;
jessekaiser 23:4d050e85e863 79 total = 0;
jessekaiser 23:4d050e85e863 80 number = 0;
jessekaiser 23:4d050e85e863 81 }
jessekaiser 23:4d050e85e863 82 }*/
jessekaiser 23:4d050e85e863 83 void looper_emg()
jessekaiser 23:4d050e85e863 84 {
jessekaiser 23:4d050e85e863 85 /*variable to store value in*/
jessekaiser 23:4d050e85e863 86 uint16_t emg_value1;
jessekaiser 23:4d050e85e863 87
jessekaiser 23:4d050e85e863 88 float emg_value1_f32;
jessekaiser 23:4d050e85e863 89
jessekaiser 23:4d050e85e863 90 /*put raw emg value both in red and in emg_value*/
jessekaiser 23:4d050e85e863 91 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 92 emg_value1_f32 = emg0.read();
jessekaiser 23:4d050e85e863 93
jessekaiser 23:4d050e85e863 94 //process emg biceps
jessekaiser 23:4d050e85e863 95 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
jessekaiser 23:4d050e85e863 96 filtered_biceps = fabs(filtered_biceps);
jessekaiser 23:4d050e85e863 97 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
jessekaiser 23:4d050e85e863 98
jessekaiser 23:4d050e85e863 99 /*send value to PC. */
jessekaiser 23:4d050e85e863 100 scope.set(0,emg_value1); //Raw EMG signal biceps
jessekaiser 23:4d050e85e863 101 scope.set(1,filtered_biceps); //Filtered signal
jessekaiser 23:4d050e85e863 102 scope.send();
jessekaiser 23:4d050e85e863 103 }
jessekaiser 23:4d050e85e863 104 void looper_pot()
jessekaiser 23:4d050e85e863 105 {
jessekaiser 23:4d050e85e863 106
jessekaiser 23:4d050e85e863 107 pot_value1_f32 = Pot1.read() - 0.500;
jessekaiser 23:4d050e85e863 108
jessekaiser 23:4d050e85e863 109 //process input
jessekaiser 23:4d050e85e863 110 arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 );
jessekaiser 23:4d050e85e863 111 }
jessekaiser 23:4d050e85e863 112
jessekaiser 23:4d050e85e863 113 void looper_motor()
jessekaiser 23:4d050e85e863 114 {
jessekaiser 23:4d050e85e863 115 float new_step_freq;
jessekaiser 23:4d050e85e863 116 new_step_freq = (setpoint*pot_value1_f32*2);
jessekaiser 23:4d050e85e863 117 step_freq = abs(new_step_freq); //Gives the PWM frequenty to the motor.
jessekaiser 23:4d050e85e863 118 arm_biquad_cascade_df1_f32(&lowpass_step, &step_freq, &filtered_step, 1);
jessekaiser 23:4d050e85e863 119 Step.period(1.0/step_freq);
jessekaiser 23:4d050e85e863 120
jessekaiser 23:4d050e85e863 121 }
jessekaiser 0:3acdd563582f 122 int main()
jessekaiser 0:3acdd563582f 123 {
jessekaiser 23:4d050e85e863 124 Ticker log_timer;
jessekaiser 23:4d050e85e863 125 //set up filters. Use external array for constants
jessekaiser 23:4d050e85e863 126 arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states);
jessekaiser 23:4d050e85e863 127 log_timer.attach(looper_pot, 0.01);
jessekaiser 23:4d050e85e863 128
jessekaiser 23:4d050e85e863 129 Ticker looptimer;
jessekaiser 23:4d050e85e863 130 arm_biquad_cascade_df1_init_f32(&lowpass_step, 1, lowpass1_const, lowpass1_step_states);
jessekaiser 23:4d050e85e863 131 looptimer.attach(looper_motor, 0.01);
jessekaiser 23:4d050e85e863 132
jessekaiser 4:e4341e3524dc 133 MS1 = 1;
jessekaiser 23:4d050e85e863 134 MS2 = 0;
jessekaiser 2:92a63245d11c 135 MS3 = 0;
jessekaiser 23:4d050e85e863 136 //Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 9:649229691351 137 Step.write(0.5); // Duty cycle van 50%
jessekaiser 23:4d050e85e863 138
jessekaiser 0:3acdd563582f 139 while (1) {
jessekaiser 23:4d050e85e863 140
jessekaiser 23:4d050e85e863 141 if (pot_value1_f32 < 0) { //Directie controle.
jessekaiser 23:4d050e85e863 142 Dir = 0;
jessekaiser 23:4d050e85e863 143 } else {
jessekaiser 23:4d050e85e863 144 Dir = 1;
jessekaiser 23:4d050e85e863 145 }
jessekaiser 23:4d050e85e863 146
jessekaiser 23:4d050e85e863 147
jessekaiser 23:4d050e85e863 148 lcd.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
jessekaiser 23:4d050e85e863 149 pc.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
jessekaiser 23:4d050e85e863 150 wait(0.01);
jessekaiser 23:4d050e85e863 151
jessekaiser 10:7f94cd65c910 152
jessekaiser 0:3acdd563582f 153 }
jessekaiser 0:3acdd563582f 154 }