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@84:8b3f18260431, 2015-06-22 (annotated)

Committer:
jessekaiser
Date:
Mon Jun 22 22:53:27 2015 +0000
Revision:
84:8b3f18260431
Parent:
83:067e07db027c
Child:
85:a7493d3dd4ce
Programma gebruikt in rapport

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 83:067e07db027c 2 Some variables are also numbered at the end. The numbers stand 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 80:6f9ddb8bb335 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 69:a1ba54587b35 15 #define P_Gain 0.99
jessekaiser 82:bcd96c98af2d 16 #define K_Gain 150 //Gain of the filtered EMG signal
jessekaiser 82:bcd96c98af2d 17 #define Damp 5 //Deceleration of the motor
jessekaiser 82:bcd96c98af2d 18 #define Mass 1 // Mass value
jessekaiser 82:bcd96c98af2d 19 #define dt 0.01 //Sample frequency
jessekaiser 82:bcd96c98af2d 20 #define MAX_bi 0.40 //Can be used for normalisation of the EMG signal of the biceps
jessekaiser 82:bcd96c98af2d 21 #define MAX_tri 0.60
jessekaiser 82:bcd96c98af2d 22 #define MAX_pect 0.48
jessekaiser 82:bcd96c98af2d 23 #define MAX_delt 1.07
jessekaiser 67:fba5b64bb295 24 #define EMG_tresh1 0.01
jessekaiser 67:fba5b64bb295 25 #define EMG_tresh2 0.01
jessekaiser 60:664f9b907c02 26 #define EMG_tresh3 0.01
jessekaiser 60:664f9b907c02 27 #define EMG_tresh4 0.01
jessekaiser 69:a1ba54587b35 28 #define H_Gain 3.5
jessekaiser 82:bcd96c98af2d 29 #define Pt_x 0.50
jessekaiser 82:bcd96c98af2d 30 #define Pt_y 0.50
jessekaiser 82:bcd96c98af2d 31 #define error_tresh 0.03
jessekaiser 31:372ff8d49430 32
jessekaiser 56:6ea03cce1175 33 //Motor control
jessekaiser 80:6f9ddb8bb335 34 DigitalOut Dirx(p21);
jessekaiser 80:6f9ddb8bb335 35 PwmOut Stepx(p22);
jessekaiser 80:6f9ddb8bb335 36 DigitalOut Diry(p23);
jessekaiser 80:6f9ddb8bb335 37 PwmOut Stepy(p24);
jessekaiser 56:6ea03cce1175 38
jessekaiser 56:6ea03cce1175 39 //Signal to and from computer
jessekaiser 56:6ea03cce1175 40 Serial pc(USBTX, USBRX);
jessekaiser 56:6ea03cce1175 41
jessekaiser 56:6ea03cce1175 42 //Position sensors
jessekaiser 80:6f9ddb8bb335 43 AnalogIn Posx(p19);
jessekaiser 80:6f9ddb8bb335 44 AnalogIn Posy(p20);
jessekaiser 80:6f9ddb8bb335 45 DigitalOut Enablex(p25);
jessekaiser 80:6f9ddb8bb335 46 DigitalOut Enabley(p26);
jessekaiser 56:6ea03cce1175 47
jessekaiser 56:6ea03cce1175 48 //Microstepping
jessekaiser 80:6f9ddb8bb335 49 DigitalOut MS1(p27);
jessekaiser 80:6f9ddb8bb335 50 DigitalOut MS2(p28);
jessekaiser 80:6f9ddb8bb335 51 DigitalOut MS3(p29);
jessekaiser 56:6ea03cce1175 52
jessekaiser 57:0a278c60d28b 53 //EMG inputs
jessekaiser 84:8b3f18260431 54 AnalogIn emg1(p15); //biceps
jessekaiser 82:bcd96c98af2d 55 AnalogIn emg2(p16); //triceps
jessekaiser 84:8b3f18260431 56 AnalogIn emg3(p17); //pectoralis major
jessekaiser 84:8b3f18260431 57 AnalogIn emg4(p18); //deltoid
jessekaiser 56:6ea03cce1175 58
jessekaiser 57:0a278c60d28b 59 //HIDScope scope(4);
jessekaiser 57:0a278c60d28b 60 //Ticker scopeTimer;
jessekaiser 56:6ea03cce1175 61
jessekaiser 82:bcd96c98af2d 62 //lcd
jessekaiser 80:6f9ddb8bb335 63 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 64
jessekaiser 56:6ea03cce1175 65 //Variables for motor control
jessekaiser 60:664f9b907c02 66 float setpoint = 2000; //Frequentie setpoint
jessekaiser 77:f3290f86ae4f 67 float step_freq1 = 1;
jessekaiser 78:9cae6de48b0e 68 float step_freq2 = 1;
jessekaiser 69:a1ba54587b35 69
jessekaiser 56:6ea03cce1175 70
jessekaiser 56:6ea03cce1175 71 //EMG filter
jessekaiser 56:6ea03cce1175 72 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 56:6ea03cce1175 73 arm_biquad_casd_df1_inst_f32 lowpass_triceps;
jessekaiser 78:9cae6de48b0e 74 arm_biquad_casd_df1_inst_f32 lowpass_pect;
jessekaiser 78:9cae6de48b0e 75 arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
jessekaiser 82:bcd96c98af2d 76 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 56:6ea03cce1175 77 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 56:6ea03cce1175 78 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 56:6ea03cce1175 79 arm_biquad_casd_df1_inst_f32 highnotch_triceps;
jessekaiser 78:9cae6de48b0e 80 arm_biquad_casd_df1_inst_f32 highnotch_pect;
jessekaiser 78:9cae6de48b0e 81 arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
jessekaiser 56:6ea03cce1175 82 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
jessekaiser 84:8b3f18260431 83 float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579,
jessekaiser 84:8b3f18260431 84 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 56:6ea03cce1175 85
jessekaiser 56:6ea03cce1175 86 //state values
jessekaiser 56:6ea03cce1175 87 float lowpass_biceps_states[4];
jessekaiser 56:6ea03cce1175 88 float highnotch_biceps_states[8];
jessekaiser 56:6ea03cce1175 89 float lowpass_triceps_states[4];
jessekaiser 56:6ea03cce1175 90 float highnotch_triceps_states[8];
jessekaiser 78:9cae6de48b0e 91 float lowpass_pect_states[4];
jessekaiser 78:9cae6de48b0e 92 float highnotch_pect_states[8];
jessekaiser 78:9cae6de48b0e 93 float lowpass_deltoid_states[4];
jessekaiser 78:9cae6de48b0e 94 float highnotch_deltoid_states[8];
jessekaiser 56:6ea03cce1175 95
jessekaiser 56:6ea03cce1175 96 //global variabels
jessekaiser 78:9cae6de48b0e 97 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
jessekaiser 83:067e07db027c 98 float speed_old1, speed_old2;
jessekaiser 83:067e07db027c 99 float acc1, acc2;
jessekaiser 83:067e07db027c 100 float force1, force2;
jessekaiser 83:067e07db027c 101 float speed1, speed2;
jessekaiser 83:067e07db027c 102 float damping1, damping2;
jessekaiser 60:664f9b907c02 103 float emg_x, emg_y;
jessekaiser 61:99f3ae6e053b 104 float cx = 0;
jessekaiser 61:99f3ae6e053b 105 float cy = 0;
jessekaiser 61:99f3ae6e053b 106 float errorx = 0.2;
jessekaiser 61:99f3ae6e053b 107 float errory = 0.2;
jessekaiser 61:99f3ae6e053b 108 float Ps_x = 0;
jessekaiser 61:99f3ae6e053b 109 float Ps_y = 0;
jessekaiser 62:509622cce1c6 110 float hstep_freqx = 1;
jessekaiser 62:509622cce1c6 111 float hstep_freqy = 1;
jessekaiser 69:a1ba54587b35 112 float emg_y_abs = 0;
jessekaiser 69:a1ba54587b35 113 float emg_x_abs = 0;
jessekaiser 56:6ea03cce1175 114
jessekaiser 56:6ea03cce1175 115 void looper_emg()
jessekaiser 56:6ea03cce1175 116 {
jessekaiser 78:9cae6de48b0e 117 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
jessekaiser 56:6ea03cce1175 118 emg_value1_f32 = emg1.read();
jessekaiser 56:6ea03cce1175 119 emg_value2_f32 = emg2.read();
jessekaiser 78:9cae6de48b0e 120 emg_value3_f32 = emg3.read();
jessekaiser 78:9cae6de48b0e 121 emg_value4_f32 = emg4.read();
jessekaiser 77:f3290f86ae4f 122
jessekaiser 56:6ea03cce1175 123 //process emg biceps
jessekaiser 56:6ea03cce1175 124 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 83:067e07db027c 125 filtered_biceps = fabs(filtered_biceps); //Rectifier
jessekaiser 56:6ea03cce1175 126 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 56:6ea03cce1175 127
jessekaiser 56:6ea03cce1175 128 //process emg triceps
jessekaiser 56:6ea03cce1175 129 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 60:664f9b907c02 130 filtered_triceps = fabs(filtered_triceps);
jessekaiser 56:6ea03cce1175 131 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 56:6ea03cce1175 132
jessekaiser 78:9cae6de48b0e 133 //process emg pectoralis major
jessekaiser 78:9cae6de48b0e 134 arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
jessekaiser 78:9cae6de48b0e 135 filtered_pect = fabs(filtered_pect);
jessekaiser 78:9cae6de48b0e 136 arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
jessekaiser 77:f3290f86ae4f 137
jessekaiser 78:9cae6de48b0e 138 //process emg deltoid
jessekaiser 78:9cae6de48b0e 139 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
jessekaiser 78:9cae6de48b0e 140 filtered_deltoid = fabs(filtered_deltoid);
jessekaiser 78:9cae6de48b0e 141 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
jessekaiser 77:f3290f86ae4f 142
jessekaiser 58:3ea066215c31 143 /*send value to PC.
jessekaiser 56:6ea03cce1175 144 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 78:9cae6de48b0e 145 scope.set(1,filtered_triceps);
jessekaiser 78:9cae6de48b0e 146 scope.set(2,filtered_pect);
jessekaiser 78:9cae6de48b0e 147 scope.set(3,filtered_deltoid);*/
jessekaiser 56:6ea03cce1175 148 }
jessekaiser 56:6ea03cce1175 149
jessekaiser 77:f3290f86ae4f 150 void looper_motory()
jessekaiser 69:a1ba54587b35 151 {
jessekaiser 83:067e07db027c 152 //Motor control
jessekaiser 77:f3290f86ae4f 153 emg_y = (filtered_biceps - filtered_triceps);
jessekaiser 77:f3290f86ae4f 154 emg_y_abs = fabs(emg_y);
jessekaiser 77:f3290f86ae4f 155 force1 = emg_y_abs*K_Gain;
jessekaiser 77:f3290f86ae4f 156 force1 = force1 - damping1;
jessekaiser 77:f3290f86ae4f 157 acc1 = force1/Mass;
jessekaiser 77:f3290f86ae4f 158 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 77:f3290f86ae4f 159 damping1 = speed1 * Damp;
jessekaiser 77:f3290f86ae4f 160 step_freq1 = setpoint * speed1;
jessekaiser 77:f3290f86ae4f 161 Stepy.period(1.0/step_freq1);
jessekaiser 77:f3290f86ae4f 162 speed_old1 = speed1;
jessekaiser 60:664f9b907c02 163
jessekaiser 83:067e07db027c 164 //Direction control. 1 is up.
jessekaiser 77:f3290f86ae4f 165 if (emg_y > 0) {
jessekaiser 77:f3290f86ae4f 166 Diry = 1;
jessekaiser 60:664f9b907c02 167 }
jessekaiser 83:067e07db027c 168 //Direction control. 0 is down.
jessekaiser 77:f3290f86ae4f 169 if (emg_y < 0) {
jessekaiser 77:f3290f86ae4f 170 Diry = 0;
jessekaiser 60:664f9b907c02 171 }
jessekaiser 60:664f9b907c02 172 //Speed limit
jessekaiser 77:f3290f86ae4f 173 if (speed1 > 1) {
jessekaiser 77:f3290f86ae4f 174 speed1 = 1;
jessekaiser 77:f3290f86ae4f 175 step_freq1 = setpoint;
jessekaiser 60:664f9b907c02 176 }
jessekaiser 60:664f9b907c02 177 //EMG treshold
jessekaiser 60:664f9b907c02 178 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
jessekaiser 77:f3290f86ae4f 179 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 180 } else {
jessekaiser 77:f3290f86ae4f 181 Enabley = 0;
jessekaiser 60:664f9b907c02 182 }
jessekaiser 82:bcd96c98af2d 183
jessekaiser 78:9cae6de48b0e 184 }
jessekaiser 60:664f9b907c02 185
jessekaiser 83:067e07db027c 186 void looper_motorx()
jessekaiser 78:9cae6de48b0e 187 {
jessekaiser 83:067e07db027c 188 //Motor control.
jessekaiser 78:9cae6de48b0e 189 emg_x = (filtered_pect - filtered_deltoid);
jessekaiser 78:9cae6de48b0e 190 emg_x_abs = fabs(emg_x);
jessekaiser 78:9cae6de48b0e 191 force2 = emg_x_abs*K_Gain;
jessekaiser 78:9cae6de48b0e 192 force2 = force2 - damping2;
jessekaiser 78:9cae6de48b0e 193 acc2 = force2/Mass;
jessekaiser 78:9cae6de48b0e 194 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 78:9cae6de48b0e 195 damping2 = speed2 * Damp;
jessekaiser 78:9cae6de48b0e 196 step_freq2 = setpoint * speed2;
jessekaiser 78:9cae6de48b0e 197 Stepx.period(1.0/step_freq2);
jessekaiser 78:9cae6de48b0e 198 speed_old2 = speed2;
jessekaiser 83:067e07db027c 199 //Direction control. 0 is to the left.
jessekaiser 78:9cae6de48b0e 200 if (emg_x > 0) {
jessekaiser 78:9cae6de48b0e 201 Dirx = 0;
jessekaiser 78:9cae6de48b0e 202 }
jessekaiser 83:067e07db027c 203 //Direction control. 1 is to the right.
jessekaiser 78:9cae6de48b0e 204 if (emg_x < 0) {
jessekaiser 78:9cae6de48b0e 205 Dirx = 1;
jessekaiser 78:9cae6de48b0e 206 }
jessekaiser 78:9cae6de48b0e 207 //Speed limit
jessekaiser 78:9cae6de48b0e 208 if (speed2 > 1) {
jessekaiser 78:9cae6de48b0e 209 speed2 = 1;
jessekaiser 78:9cae6de48b0e 210 step_freq2 = setpoint;
jessekaiser 78:9cae6de48b0e 211 }
jessekaiser 78:9cae6de48b0e 212 //EMG treshold
jessekaiser 78:9cae6de48b0e 213 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
jessekaiser 78:9cae6de48b0e 214 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 78:9cae6de48b0e 215 } else {
jessekaiser 78:9cae6de48b0e 216 Enablex = 0;
jessekaiser 78:9cae6de48b0e 217 }
jessekaiser 78:9cae6de48b0e 218
jessekaiser 83:067e07db027c 219 }
jessekaiser 59:ba22a8c26dee 220
jessekaiser 59:ba22a8c26dee 221 int main()
jessekaiser 56:6ea03cce1175 222 {
jessekaiser 59:ba22a8c26dee 223 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 59:ba22a8c26dee 224 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 83:067e07db027c 225 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 82:bcd96c98af2d 226 MS1 = 1;
jessekaiser 82:bcd96c98af2d 227 MS2 = 0;
jessekaiser 82:bcd96c98af2d 228 MS3 = 0;
jessekaiser 82:bcd96c98af2d 229
jessekaiser 82:bcd96c98af2d 230 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 82:bcd96c98af2d 231 Stepy.write(0.5);
jessekaiser 78:9cae6de48b0e 232
jessekaiser 82:bcd96c98af2d 233 Enablex = 1;
jessekaiser 82:bcd96c98af2d 234 Enabley = 1;
jessekaiser 82:bcd96c98af2d 235 wait(1);
jessekaiser 82:bcd96c98af2d 236 lcd.printf("Start homing");
jessekaiser 82:bcd96c98af2d 237 wait(2);
jessekaiser 82:bcd96c98af2d 238 lcd.cls();
jessekaiser 82:bcd96c98af2d 239 wait(1);
jessekaiser 82:bcd96c98af2d 240 Enablex = 0;
jessekaiser 82:bcd96c98af2d 241 Enabley = 0;
jessekaiser 83:067e07db027c 242 //Homing loop.
jessekaiser 82:bcd96c98af2d 243 while(errorx > error_tresh || errory > error_tresh) {
jessekaiser 78:9cae6de48b0e 244
jessekaiser 82:bcd96c98af2d 245 Ps_x = Posx.read();
jessekaiser 82:bcd96c98af2d 246 Ps_y = Posy.read();
jessekaiser 82:bcd96c98af2d 247 errorx = fabs(Pt_x - Ps_x);
jessekaiser 82:bcd96c98af2d 248 errory = fabs(Ps_y - Pt_y);
jessekaiser 82:bcd96c98af2d 249 lcd.printf("%.2f %.2f \n", errorx, errory);
jessekaiser 83:067e07db027c 250
jessekaiser 83:067e07db027c 251
jessekaiser 83:067e07db027c 252 if (Ps_x < Pt_x && errorx > error_tresh) {
jessekaiser 82:bcd96c98af2d 253 Dirx = 0;
jessekaiser 82:bcd96c98af2d 254 cx = errorx * H_Gain;
jessekaiser 82:bcd96c98af2d 255 float hnew_step_freqx;
jessekaiser 82:bcd96c98af2d 256 hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
jessekaiser 82:bcd96c98af2d 257 hstep_freqx = hnew_step_freqx;
jessekaiser 82:bcd96c98af2d 258 Stepx.period(1.0/hstep_freqx);
jessekaiser 82:bcd96c98af2d 259 wait(0.01);
jessekaiser 82:bcd96c98af2d 260 }
jessekaiser 83:067e07db027c 261 if (Ps_y > Pt_y && errory > error_tresh) {
jessekaiser 82:bcd96c98af2d 262 Diry = 0;
jessekaiser 82:bcd96c98af2d 263 cy = errory * H_Gain;
jessekaiser 82:bcd96c98af2d 264 float hnew_step_freqy;
jessekaiser 82:bcd96c98af2d 265 hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
jessekaiser 82:bcd96c98af2d 266 hstep_freqy = hnew_step_freqy;
jessekaiser 82:bcd96c98af2d 267 Stepy.period(1.0/hstep_freqy);
jessekaiser 82:bcd96c98af2d 268 wait(0.01);
jessekaiser 82:bcd96c98af2d 269 }
jessekaiser 82:bcd96c98af2d 270
jessekaiser 83:067e07db027c 271 if (Ps_x > Pt_x && errorx > error_tresh) {
jessekaiser 82:bcd96c98af2d 272 Dirx = 1;
jessekaiser 82:bcd96c98af2d 273 cx = errorx * H_Gain;
jessekaiser 82:bcd96c98af2d 274 float hnew_step_freqx;
jessekaiser 82:bcd96c98af2d 275 hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
jessekaiser 82:bcd96c98af2d 276 hstep_freqx = hnew_step_freqx;
jessekaiser 82:bcd96c98af2d 277 Stepx.period(1.0/hstep_freqx);
jessekaiser 82:bcd96c98af2d 278 wait(0.01);
jessekaiser 82:bcd96c98af2d 279 }
jessekaiser 83:067e07db027c 280 if (Ps_y < Pt_y && errory > error_tresh) {
jessekaiser 82:bcd96c98af2d 281 Diry = 1;
jessekaiser 82:bcd96c98af2d 282 cy = errory * H_Gain;
jessekaiser 82:bcd96c98af2d 283 float hnew_step_freqy;
jessekaiser 82:bcd96c98af2d 284 hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
jessekaiser 82:bcd96c98af2d 285 hstep_freqy = hnew_step_freqy;
jessekaiser 82:bcd96c98af2d 286 Stepy.period(1.0/hstep_freqy);
jessekaiser 82:bcd96c98af2d 287 wait(0.01);
jessekaiser 78:9cae6de48b0e 288 }
jessekaiser 82:bcd96c98af2d 289
jessekaiser 82:bcd96c98af2d 290 }
jessekaiser 82:bcd96c98af2d 291 lcd.printf("Done");
jessekaiser 82:bcd96c98af2d 292 wait(2);
jessekaiser 82:bcd96c98af2d 293 lcd.cls();
jessekaiser 82:bcd96c98af2d 294 wait(1);
jessekaiser 82:bcd96c98af2d 295 Enablex = 1;
jessekaiser 82:bcd96c98af2d 296 Enabley = 1;
jessekaiser 82:bcd96c98af2d 297 wait(3);
jessekaiser 82:bcd96c98af2d 298 lcd.printf("Start EMG Control");
jessekaiser 82:bcd96c98af2d 299 wait(2);
jessekaiser 82:bcd96c98af2d 300 lcd.cls();
jessekaiser 82:bcd96c98af2d 301 wait(1);
jessekaiser 82:bcd96c98af2d 302 Enablex = 0;
jessekaiser 82:bcd96c98af2d 303 Enabley = 0;
jessekaiser 82:bcd96c98af2d 304
jessekaiser 78:9cae6de48b0e 305 Ticker emgtimer; //biceps
jessekaiser 78:9cae6de48b0e 306 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 78:9cae6de48b0e 307 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 78:9cae6de48b0e 308 //triceps
jessekaiser 78:9cae6de48b0e 309 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 78:9cae6de48b0e 310 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 78:9cae6de48b0e 311 //pectoralis major
jessekaiser 78:9cae6de48b0e 312 arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
jessekaiser 78:9cae6de48b0e 313 arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
jessekaiser 78:9cae6de48b0e 314 //deltoid
jessekaiser 78:9cae6de48b0e 315 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 78:9cae6de48b0e 316 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
jessekaiser 78:9cae6de48b0e 317 emgtimer.attach(looper_emg, 0.01);
jessekaiser 59:ba22a8c26dee 318
jessekaiser 83:067e07db027c 319 Ticker looptimer1;
jessekaiser 83:067e07db027c 320 looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor
jessekaiser 61:99f3ae6e053b 321
jessekaiser 78:9cae6de48b0e 322 Ticker looptimer2;
jessekaiser 78:9cae6de48b0e 323 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
jessekaiser 69:a1ba54587b35 324
jessekaiser 78:9cae6de48b0e 325 while (1) {
jessekaiser 82:bcd96c98af2d 326
jessekaiser 82:bcd96c98af2d 327 pc.printf("%.2f %.2f %.2f \n", Posy.read(), emg_y, step_freq1); //Send signal values to the computer.
jessekaiser 83:067e07db027c 328 wait(0.01);
jessekaiser 72:4d01b79ad332 329
jessekaiser 78:9cae6de48b0e 330 }
jessekaiser 78:9cae6de48b0e 331 }