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@78:9cae6de48b0e, 2015-06-22 (annotated)

Committer:
jessekaiser
Date:
Mon Jun 22 11:52:27 2015 +0000
Revision:
78:9cae6de48b0e
Parent:
77:f3290f86ae4f
Child:
79:251d73ddbc8b
Motor y 3

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 69:a1ba54587b35 15 #define P_Gain 0.99
jessekaiser 71:aee1289bc16a 16 #define K_Gain 150 //Gain of the filtered EMG signal
jessekaiser 71:aee1289bc16a 17 #define Damp 5 //Deceleration of the motor
jessekaiser 71:aee1289bc16a 18 #define Mass 1 // Mass value
jessekaiser 71:aee1289bc16a 19 #define dt 0.01 //Sample frequency
jessekaiser 67:fba5b64bb295 20 #define EMG_tresh1 0.01
jessekaiser 67:fba5b64bb295 21 #define EMG_tresh2 0.01
jessekaiser 60:664f9b907c02 22 #define EMG_tresh3 0.01
jessekaiser 60:664f9b907c02 23 #define EMG_tresh4 0.01
jessekaiser 69:a1ba54587b35 24 #define H_Gain 3.5
jessekaiser 77:f3290f86ae4f 25 #define Pt_x 0.50
jessekaiser 78:9cae6de48b0e 26 #define Pt_y 0.50
jessekaiser 71:aee1289bc16a 27 #define error_tresh 0.01
jessekaiser 31:372ff8d49430 28
jessekaiser 56:6ea03cce1175 29 //Motor control
jessekaiser 78:9cae6de48b0e 30 DigitalOut Dirx(p21);
jessekaiser 78:9cae6de48b0e 31 PwmOut Stepx(p22);
jessekaiser 77:f3290f86ae4f 32 DigitalOut Diry(p23);
jessekaiser 77:f3290f86ae4f 33 PwmOut Stepy(p24);
jessekaiser 56:6ea03cce1175 34
jessekaiser 56:6ea03cce1175 35 //Signal to and from computer
jessekaiser 56:6ea03cce1175 36 Serial pc(USBTX, USBRX);
jessekaiser 56:6ea03cce1175 37
jessekaiser 56:6ea03cce1175 38 //Position sensors
jessekaiser 78:9cae6de48b0e 39 AnalogIn Posx(p19);
jessekaiser 77:f3290f86ae4f 40 AnalogIn Posy(p20);
jessekaiser 78:9cae6de48b0e 41 DigitalOut Enablex(p25);
jessekaiser 77:f3290f86ae4f 42 DigitalOut Enabley(p26);
jessekaiser 56:6ea03cce1175 43
jessekaiser 56:6ea03cce1175 44 //Microstepping
jessekaiser 0:3acdd563582f 45 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 46 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 47 DigitalOut MS3(p29);
jessekaiser 56:6ea03cce1175 48
jessekaiser 57:0a278c60d28b 49 //EMG inputs
jessekaiser 78:9cae6de48b0e 50 AnalogIn emg1(p15);
jessekaiser 78:9cae6de48b0e 51 AnalogIn emg2(p16);
jessekaiser 78:9cae6de48b0e 52 AnalogIn emg3(p17);
jessekaiser 78:9cae6de48b0e 53 AnalogIn emg4(p18);
jessekaiser 56:6ea03cce1175 54
jessekaiser 57:0a278c60d28b 55 //HIDScope scope(4);
jessekaiser 57:0a278c60d28b 56 //Ticker scopeTimer;
jessekaiser 56:6ea03cce1175 57
jessekaiser 71:aee1289bc16a 58 //lcd screen
jessekaiser 30:0a8f849e0292 59 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 60
jessekaiser 56:6ea03cce1175 61 //Variables for motor control
jessekaiser 60:664f9b907c02 62 float setpoint = 2000; //Frequentie setpoint
jessekaiser 77:f3290f86ae4f 63 float step_freq1 = 1;
jessekaiser 78:9cae6de48b0e 64 float step_freq2 = 1;
jessekaiser 69:a1ba54587b35 65
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 78:9cae6de48b0e 70 arm_biquad_casd_df1_inst_f32 lowpass_pect;
jessekaiser 78:9cae6de48b0e 71 arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
jessekaiser 71:aee1289bc16a 72 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz
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 78:9cae6de48b0e 76 arm_biquad_casd_df1_inst_f32 highnotch_pect;
jessekaiser 78:9cae6de48b0e 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 78:9cae6de48b0e 86 float lowpass_pect_states[4];
jessekaiser 78:9cae6de48b0e 87 float highnotch_pect_states[8];
jessekaiser 78:9cae6de48b0e 88 float lowpass_deltoid_states[4];
jessekaiser 78:9cae6de48b0e 89 float highnotch_deltoid_states[8];
jessekaiser 56:6ea03cce1175 90
jessekaiser 56:6ea03cce1175 91 //global variabels
jessekaiser 78:9cae6de48b0e 92 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
jessekaiser 78:9cae6de48b0e 93 float speed_old1, speed_old;
jessekaiser 72:4d01b79ad332 94 float acc1, acc2;
jessekaiser 72:4d01b79ad332 95 float force1, force2;
jessekaiser 72:4d01b79ad332 96 float speed1, speed2;
jessekaiser 72:4d01b79ad332 97 float damping1, damping2;
jessekaiser 60:664f9b907c02 98 float emg_x, emg_y;
jessekaiser 61:99f3ae6e053b 99 float cx = 0;
jessekaiser 61:99f3ae6e053b 100 float cy = 0;
jessekaiser 61:99f3ae6e053b 101 float errorx = 0.2;
jessekaiser 61:99f3ae6e053b 102 float errory = 0.2;
jessekaiser 61:99f3ae6e053b 103 float Ps_x = 0;
jessekaiser 61:99f3ae6e053b 104 float Ps_y = 0;
jessekaiser 62:509622cce1c6 105 float hstep_freqx = 1;
jessekaiser 62:509622cce1c6 106 float hstep_freqy = 1;
jessekaiser 69:a1ba54587b35 107 float emg_y_abs = 0;
jessekaiser 69:a1ba54587b35 108 float emg_x_abs = 0;
jessekaiser 56:6ea03cce1175 109
jessekaiser 56:6ea03cce1175 110 void looper_emg()
jessekaiser 56:6ea03cce1175 111 {
jessekaiser 78:9cae6de48b0e 112 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
jessekaiser 56:6ea03cce1175 113 emg_value1_f32 = emg1.read();
jessekaiser 56:6ea03cce1175 114 emg_value2_f32 = emg2.read();
jessekaiser 78:9cae6de48b0e 115 emg_value3_f32 = emg3.read();
jessekaiser 78:9cae6de48b0e 116 emg_value4_f32 = emg4.read();
jessekaiser 77:f3290f86ae4f 117
jessekaiser 56:6ea03cce1175 118 //process emg biceps
jessekaiser 56:6ea03cce1175 119 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 60:664f9b907c02 120 filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented.
jessekaiser 56:6ea03cce1175 121 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 56:6ea03cce1175 122
jessekaiser 56:6ea03cce1175 123 //process emg triceps
jessekaiser 56:6ea03cce1175 124 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 60:664f9b907c02 125 filtered_triceps = fabs(filtered_triceps);
jessekaiser 56:6ea03cce1175 126 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 56:6ea03cce1175 127
jessekaiser 78:9cae6de48b0e 128 //process emg pectoralis major
jessekaiser 78:9cae6de48b0e 129 arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
jessekaiser 78:9cae6de48b0e 130 filtered_pect = fabs(filtered_pect);
jessekaiser 78:9cae6de48b0e 131 arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
jessekaiser 77:f3290f86ae4f 132
jessekaiser 78:9cae6de48b0e 133 //process emg deltoid
jessekaiser 78:9cae6de48b0e 134 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
jessekaiser 78:9cae6de48b0e 135 filtered_deltoid = fabs(filtered_deltoid);
jessekaiser 78:9cae6de48b0e 136 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
jessekaiser 77:f3290f86ae4f 137
jessekaiser 58:3ea066215c31 138 /*send value to PC.
jessekaiser 56:6ea03cce1175 139 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 78:9cae6de48b0e 140 scope.set(1,filtered_triceps);
jessekaiser 78:9cae6de48b0e 141 scope.set(2,filtered_pect);
jessekaiser 78:9cae6de48b0e 142 scope.set(3,filtered_deltoid);*/
jessekaiser 56:6ea03cce1175 143 }
jessekaiser 56:6ea03cce1175 144
jessekaiser 77:f3290f86ae4f 145 void looper_motory()
jessekaiser 69:a1ba54587b35 146 {
jessekaiser 69:a1ba54587b35 147
jessekaiser 77:f3290f86ae4f 148 emg_y = (filtered_biceps - filtered_triceps);
jessekaiser 77:f3290f86ae4f 149 emg_y_abs = fabs(emg_y);
jessekaiser 77:f3290f86ae4f 150 force1 = emg_y_abs*K_Gain;
jessekaiser 77:f3290f86ae4f 151 force1 = force1 - damping1;
jessekaiser 77:f3290f86ae4f 152 acc1 = force1/Mass;
jessekaiser 77:f3290f86ae4f 153 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 77:f3290f86ae4f 154 damping1 = speed1 * Damp;
jessekaiser 77:f3290f86ae4f 155 step_freq1 = setpoint * speed1;
jessekaiser 77:f3290f86ae4f 156 Stepy.period(1.0/step_freq1);
jessekaiser 77:f3290f86ae4f 157 speed_old1 = speed1;
jessekaiser 60:664f9b907c02 158
jessekaiser 77:f3290f86ae4f 159 if (emg_y > 0) {
jessekaiser 77:f3290f86ae4f 160 Diry = 1;
jessekaiser 60:664f9b907c02 161 }
jessekaiser 77:f3290f86ae4f 162
jessekaiser 77:f3290f86ae4f 163 if (emg_y < 0) {
jessekaiser 77:f3290f86ae4f 164 Diry = 0;
jessekaiser 60:664f9b907c02 165 }
jessekaiser 60:664f9b907c02 166 //Speed limit
jessekaiser 77:f3290f86ae4f 167 if (speed1 > 1) {
jessekaiser 77:f3290f86ae4f 168 speed1 = 1;
jessekaiser 77:f3290f86ae4f 169 step_freq1 = setpoint;
jessekaiser 60:664f9b907c02 170 }
jessekaiser 60:664f9b907c02 171 //EMG treshold
jessekaiser 60:664f9b907c02 172 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
jessekaiser 77:f3290f86ae4f 173 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 174 } else {
jessekaiser 77:f3290f86ae4f 175 Enabley = 0;
jessekaiser 60:664f9b907c02 176 }
jessekaiser 78:9cae6de48b0e 177 }
jessekaiser 60:664f9b907c02 178
jessekaiser 77:f3290f86ae4f 179
jessekaiser 78:9cae6de48b0e 180 /*void looper_motorx()
jessekaiser 78:9cae6de48b0e 181 {
jessekaiser 77:f3290f86ae4f 182
jessekaiser 78:9cae6de48b0e 183 emg_x = (filtered_pect - filtered_deltoid);
jessekaiser 78:9cae6de48b0e 184 emg_x_abs = fabs(emg_x);
jessekaiser 78:9cae6de48b0e 185 force2 = emg_x_abs*K_Gain;
jessekaiser 78:9cae6de48b0e 186 force2 = force2 - damping2;
jessekaiser 78:9cae6de48b0e 187 acc2 = force2/Mass;
jessekaiser 78:9cae6de48b0e 188 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 78:9cae6de48b0e 189 damping2 = speed2 * Damp;
jessekaiser 78:9cae6de48b0e 190 step_freq2 = setpoint * speed2;
jessekaiser 78:9cae6de48b0e 191 Stepx.period(1.0/step_freq2);
jessekaiser 78:9cae6de48b0e 192 speed_old2 = speed2;
jessekaiser 78:9cae6de48b0e 193
jessekaiser 78:9cae6de48b0e 194 if (emg_x > 0) {
jessekaiser 78:9cae6de48b0e 195 Dirx = 0;
jessekaiser 78:9cae6de48b0e 196 }
jessekaiser 78:9cae6de48b0e 197 if (emg_x < 0) {
jessekaiser 78:9cae6de48b0e 198 Dirx = 1;
jessekaiser 78:9cae6de48b0e 199 }
jessekaiser 78:9cae6de48b0e 200 //Speed limit
jessekaiser 78:9cae6de48b0e 201 if (speed2 > 1) {
jessekaiser 78:9cae6de48b0e 202 speed2 = 1;
jessekaiser 78:9cae6de48b0e 203 step_freq2 = setpoint;
jessekaiser 78:9cae6de48b0e 204 }
jessekaiser 78:9cae6de48b0e 205 //EMG treshold
jessekaiser 78:9cae6de48b0e 206 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
jessekaiser 78:9cae6de48b0e 207 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 78:9cae6de48b0e 208 } else {
jessekaiser 78:9cae6de48b0e 209 Enablex = 0;
jessekaiser 78:9cae6de48b0e 210 }
jessekaiser 78:9cae6de48b0e 211
jessekaiser 78:9cae6de48b0e 212 }*/
jessekaiser 59:ba22a8c26dee 213
jessekaiser 59:ba22a8c26dee 214 int main()
jessekaiser 56:6ea03cce1175 215 {
jessekaiser 59:ba22a8c26dee 216 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 59:ba22a8c26dee 217 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 78:9cae6de48b0e 218 /*
jessekaiser 78:9cae6de48b0e 219 MS1 = 1;
jessekaiser 78:9cae6de48b0e 220 MS2 = 0;
jessekaiser 78:9cae6de48b0e 221 MS3 = 0;
jessekaiser 78:9cae6de48b0e 222
jessekaiser 78:9cae6de48b0e 223 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 78:9cae6de48b0e 224 Stepy.write(0.5);
jessekaiser 78:9cae6de48b0e 225
jessekaiser 78:9cae6de48b0e 226 Enablex = 1;
jessekaiser 78:9cae6de48b0e 227 Enabley = 1;
jessekaiser 78:9cae6de48b0e 228 wait(1);
jessekaiser 78:9cae6de48b0e 229 lcd.printf("Start homing");
jessekaiser 78:9cae6de48b0e 230 wait(2);
jessekaiser 78:9cae6de48b0e 231 lcd.cls();
jessekaiser 78:9cae6de48b0e 232 wait(1);
jessekaiser 78:9cae6de48b0e 233 Enablex = 0;
jessekaiser 78:9cae6de48b0e 234 Enabley = 0;
jessekaiser 78:9cae6de48b0e 235 while(errorx > error_tresh || errory > error_tresh) {
jessekaiser 78:9cae6de48b0e 236
jessekaiser 78:9cae6de48b0e 237 Ps_x = Posx.read();
jessekaiser 78:9cae6de48b0e 238 Ps_y = Posy.read();
jessekaiser 78:9cae6de48b0e 239 errorx = fabs(Pt_x - Ps_x);
jessekaiser 78:9cae6de48b0e 240 errory = fabs(Ps_y - Pt_y);
jessekaiser 78:9cae6de48b0e 241 lcd.printf("%.2f %.2f \n", errorx, errory);
jessekaiser 78:9cae6de48b0e 242
jessekaiser 78:9cae6de48b0e 243
jessekaiser 78:9cae6de48b0e 244 if (Ps_x < 0.50 && errorx > error_tresh) {
jessekaiser 78:9cae6de48b0e 245 Dirx = 0;
jessekaiser 78:9cae6de48b0e 246 cx = errorx * H_Gain;
jessekaiser 78:9cae6de48b0e 247 float hnew_step_freqx;
jessekaiser 78:9cae6de48b0e 248 hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
jessekaiser 78:9cae6de48b0e 249 hstep_freqx = hnew_step_freqx;
jessekaiser 78:9cae6de48b0e 250 Stepx.period(1.0/hstep_freqx);
jessekaiser 78:9cae6de48b0e 251 wait(0.01);
jessekaiser 78:9cae6de48b0e 252 }
jessekaiser 78:9cae6de48b0e 253 if (Ps_y > 0.50 && errory > error_tresh) {
jessekaiser 78:9cae6de48b0e 254 Diry = 0;
jessekaiser 78:9cae6de48b0e 255 cy = errory * H_Gain;
jessekaiser 78:9cae6de48b0e 256 float hnew_step_freqy;
jessekaiser 78:9cae6de48b0e 257 hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
jessekaiser 78:9cae6de48b0e 258 hstep_freqy = hnew_step_freqy;
jessekaiser 78:9cae6de48b0e 259 Stepy.period(1.0/hstep_freqy);
jessekaiser 78:9cae6de48b0e 260 wait(0.01);
jessekaiser 78:9cae6de48b0e 261 }
jessekaiser 78:9cae6de48b0e 262
jessekaiser 78:9cae6de48b0e 263 if (Ps_x > 0.50 && errorx > error_tresh) {
jessekaiser 78:9cae6de48b0e 264 Dirx = 1;
jessekaiser 78:9cae6de48b0e 265 cx = errorx * H_Gain;
jessekaiser 78:9cae6de48b0e 266 float hnew_step_freqx;
jessekaiser 78:9cae6de48b0e 267 hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
jessekaiser 78:9cae6de48b0e 268 hstep_freqx = hnew_step_freqx;
jessekaiser 78:9cae6de48b0e 269 Stepx.period(1.0/hstep_freqx);
jessekaiser 78:9cae6de48b0e 270 wait(0.01);
jessekaiser 78:9cae6de48b0e 271 }
jessekaiser 78:9cae6de48b0e 272 if (Ps_y < 0.50 && errory > error_tresh) {
jessekaiser 78:9cae6de48b0e 273 Diry = 1;
jessekaiser 78:9cae6de48b0e 274 cy = errory * H_Gain;
jessekaiser 78:9cae6de48b0e 275 float hnew_step_freqy;
jessekaiser 78:9cae6de48b0e 276 hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
jessekaiser 78:9cae6de48b0e 277 hstep_freqy = hnew_step_freqy;
jessekaiser 78:9cae6de48b0e 278 Stepy.period(1.0/hstep_freqy);
jessekaiser 78:9cae6de48b0e 279 wait(0.01);
jessekaiser 78:9cae6de48b0e 280 }
jessekaiser 78:9cae6de48b0e 281
jessekaiser 78:9cae6de48b0e 282 }
jessekaiser 78:9cae6de48b0e 283 lcd.printf("Done");
jessekaiser 78:9cae6de48b0e 284 wait(2);
jessekaiser 78:9cae6de48b0e 285 lcd.cls();
jessekaiser 78:9cae6de48b0e 286 wait(1);
jessekaiser 78:9cae6de48b0e 287 Enablex = 1;
jessekaiser 78:9cae6de48b0e 288 Enabley = 1;
jessekaiser 78:9cae6de48b0e 289 wait(3);
jessekaiser 78:9cae6de48b0e 290 lcd.printf("Start EMG Control");
jessekaiser 78:9cae6de48b0e 291 wait(2);
jessekaiser 78:9cae6de48b0e 292 lcd.cls();
jessekaiser 78:9cae6de48b0e 293 wait(1);
jessekaiser 78:9cae6de48b0e 294 Enablex = 0;
jessekaiser 78:9cae6de48b0e 295 Enabley = 0;
jessekaiser 78:9cae6de48b0e 296 */
jessekaiser 69:a1ba54587b35 297 MS1 = 1;
jessekaiser 69:a1ba54587b35 298 MS2 = 0;
jessekaiser 69:a1ba54587b35 299 MS3 = 0;
jessekaiser 78:9cae6de48b0e 300 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 77:f3290f86ae4f 301 Stepy.write(0.5);
jessekaiser 77:f3290f86ae4f 302
jessekaiser 78:9cae6de48b0e 303 Ticker emgtimer; //biceps
jessekaiser 78:9cae6de48b0e 304 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 78:9cae6de48b0e 305 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 78:9cae6de48b0e 306 //triceps
jessekaiser 78:9cae6de48b0e 307 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 78:9cae6de48b0e 308 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 78:9cae6de48b0e 309 //pectoralis major
jessekaiser 78:9cae6de48b0e 310 arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
jessekaiser 78:9cae6de48b0e 311 arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
jessekaiser 78:9cae6de48b0e 312 //deltoid
jessekaiser 78:9cae6de48b0e 313 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 78:9cae6de48b0e 314 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
jessekaiser 78:9cae6de48b0e 315 emgtimer.attach(looper_emg, 0.01);
jessekaiser 59:ba22a8c26dee 316
jessekaiser 78:9cae6de48b0e 317 //Ticker looptimer1;
jessekaiser 78:9cae6de48b0e 318 //looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
jessekaiser 61:99f3ae6e053b 319
jessekaiser 78:9cae6de48b0e 320 Ticker looptimer2;
jessekaiser 78:9cae6de48b0e 321 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
jessekaiser 69:a1ba54587b35 322
jessekaiser 78:9cae6de48b0e 323 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 59:ba22a8c26dee 324
jessekaiser 58:3ea066215c31 325
jessekaiser 69:a1ba54587b35 326
jessekaiser 78:9cae6de48b0e 327 while (1) {
jessekaiser 72:4d01b79ad332 328
jessekaiser 78:9cae6de48b0e 329
jessekaiser 78:9cae6de48b0e 330 //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
jessekaiser 78:9cae6de48b0e 331 //lcd.printf("%.2f, %.2f %.2f %.2f \n", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values
jessekaiser 78:9cae6de48b0e 332 //lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2); //step_freq value of every EMG sensor
jessekaiser 78:9cae6de48b0e 333 pc.printf("%.2f %.2f %.2f \n", Stepy.read(), step_freq1, speed1);
jessekaiser 78:9cae6de48b0e 334 wait(0.01);
jessekaiser 72:4d01b79ad332 335
jessekaiser 78:9cae6de48b0e 336 }
jessekaiser 78:9cae6de48b0e 337 }