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@69:a1ba54587b35, 2015-06-19 (annotated)

Committer:
jessekaiser
Date:
Fri Jun 19 11:25:22 2015 +0000
Revision:
69:a1ba54587b35
Parent:
68:2b778b6da923
Child:
70:e84629c7dfed
Homing + x_motor werkt.

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 67:fba5b64bb295 16 #define K_Gain 150 //Gain of the filtered EMG signal
jessekaiser 66:c094d1868b30 17 #define Damp 5 //Deceleration of the motor
jessekaiser 66:c094d1868b30 18 #define Mass 1 // Mass value
jessekaiser 66:c094d1868b30 19 #define dt 0.01 //Sample frequency
jessekaiser 60:664f9b907c02 20 #define MAX_bi 0.40 //Can be used for normalisation of the EMG signal of the biceps
jessekaiser 60:664f9b907c02 21 #define MAX_tri 0.60
jessekaiser 60:664f9b907c02 22 #define MAX_pect 0.48
jessekaiser 60:664f9b907c02 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 69:a1ba54587b35 29 #define Pt_x 0.50
jessekaiser 69:a1ba54587b35 30 #define Pt_y 0.50
jessekaiser 69:a1ba54587b35 31 #define error_tresh 0.03
jessekaiser 31:372ff8d49430 32
jessekaiser 56:6ea03cce1175 33 //Motor control
jessekaiser 56:6ea03cce1175 34 DigitalOut Dirx(p21);
jessekaiser 56:6ea03cce1175 35 PwmOut Stepx(p22);
jessekaiser 56:6ea03cce1175 36 DigitalOut Diry(p23);
jessekaiser 56:6ea03cce1175 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 56:6ea03cce1175 43 AnalogIn Posx(p19);
jessekaiser 58:3ea066215c31 44 AnalogIn Posy(p20);
jessekaiser 58:3ea066215c31 45 DigitalOut Enablex(p25);
jessekaiser 58:3ea066215c31 46 DigitalOut Enabley(p26);
jessekaiser 56:6ea03cce1175 47
jessekaiser 56:6ea03cce1175 48 //Microstepping
jessekaiser 0:3acdd563582f 49 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 50 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 51 DigitalOut MS3(p29);
jessekaiser 56:6ea03cce1175 52
jessekaiser 57:0a278c60d28b 53 //EMG inputs
jessekaiser 56:6ea03cce1175 54 AnalogIn emg1(p15); //EMG bordje bovenop, biceps
jessekaiser 56:6ea03cce1175 55 AnalogIn emg2(p16); //triceps
jessekaiser 56:6ea03cce1175 56 AnalogIn emg3(p17);
jessekaiser 56:6ea03cce1175 57 AnalogIn emg4(p18);
jessekaiser 56:6ea03cce1175 58
jessekaiser 57:0a278c60d28b 59 //HIDScope scope(4);
jessekaiser 57:0a278c60d28b 60 //Ticker scopeTimer;
jessekaiser 56:6ea03cce1175 61
jessekaiser 56:6ea03cce1175 62 //lcd
jessekaiser 30:0a8f849e0292 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 56:6ea03cce1175 67 float step_freq1 = 1;
jessekaiser 56:6ea03cce1175 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 56:6ea03cce1175 74 arm_biquad_casd_df1_inst_f32 lowpass_pect;
jessekaiser 56:6ea03cce1175 75 arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
jessekaiser 56:6ea03cce1175 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 56:6ea03cce1175 80 arm_biquad_casd_df1_inst_f32 highnotch_pect;
jessekaiser 56:6ea03cce1175 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 56:6ea03cce1175 83 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 84
jessekaiser 56:6ea03cce1175 85 //state values
jessekaiser 56:6ea03cce1175 86 float lowpass_biceps_states[4];
jessekaiser 56:6ea03cce1175 87 float highnotch_biceps_states[8];
jessekaiser 56:6ea03cce1175 88 float lowpass_triceps_states[4];
jessekaiser 56:6ea03cce1175 89 float highnotch_triceps_states[8];
jessekaiser 56:6ea03cce1175 90 float lowpass_pect_states[4];
jessekaiser 56:6ea03cce1175 91 float highnotch_pect_states[8];
jessekaiser 56:6ea03cce1175 92 float lowpass_deltoid_states[4];
jessekaiser 56:6ea03cce1175 93 float highnotch_deltoid_states[8];
jessekaiser 56:6ea03cce1175 94
jessekaiser 56:6ea03cce1175 95 //global variabels
jessekaiser 56:6ea03cce1175 96 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
jessekaiser 56:6ea03cce1175 97 float speed_old1, speed_old2, speed_old3, speed_old4;
jessekaiser 56:6ea03cce1175 98 float acc1, acc2, acc3, acc4;
jessekaiser 56:6ea03cce1175 99 float force1, force2, force3, force4;
jessekaiser 56:6ea03cce1175 100 float speed1, speed2, speed3, speed4;
jessekaiser 56:6ea03cce1175 101 float damping1, damping2, damping3, damping4;
jessekaiser 60:664f9b907c02 102 float emg_x, emg_y;
jessekaiser 61:99f3ae6e053b 103 float cx = 0;
jessekaiser 61:99f3ae6e053b 104 float cy = 0;
jessekaiser 61:99f3ae6e053b 105 float errorx = 0.2;
jessekaiser 61:99f3ae6e053b 106 float errory = 0.2;
jessekaiser 61:99f3ae6e053b 107 float Ps_x = 0;
jessekaiser 61:99f3ae6e053b 108 float Ps_y = 0;
jessekaiser 62:509622cce1c6 109 float hstep_freqx = 1;
jessekaiser 62:509622cce1c6 110 float hstep_freqy = 1;
jessekaiser 69:a1ba54587b35 111 float emg_y_abs = 0;
jessekaiser 69:a1ba54587b35 112 float emg_x_abs = 0;
jessekaiser 56:6ea03cce1175 113
jessekaiser 56:6ea03cce1175 114 void looper_emg()
jessekaiser 56:6ea03cce1175 115 {
jessekaiser 56:6ea03cce1175 116 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
jessekaiser 56:6ea03cce1175 117 emg_value1_f32 = emg1.read();
jessekaiser 56:6ea03cce1175 118 emg_value2_f32 = emg2.read();
jessekaiser 56:6ea03cce1175 119 emg_value3_f32 = emg3.read();
jessekaiser 56:6ea03cce1175 120 emg_value4_f32 = emg4.read();
jessekaiser 56:6ea03cce1175 121
jessekaiser 56:6ea03cce1175 122 //process emg biceps
jessekaiser 56:6ea03cce1175 123 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 60:664f9b907c02 124 filtered_biceps = fabs(filtered_biceps); //Rectifier, The Gain is already implemented.
jessekaiser 56:6ea03cce1175 125 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 56:6ea03cce1175 126
jessekaiser 56:6ea03cce1175 127 //process emg triceps
jessekaiser 56:6ea03cce1175 128 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 60:664f9b907c02 129 filtered_triceps = fabs(filtered_triceps);
jessekaiser 56:6ea03cce1175 130 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 56:6ea03cce1175 131
jessekaiser 56:6ea03cce1175 132 //process emg pectoralis major
jessekaiser 56:6ea03cce1175 133 arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
jessekaiser 60:664f9b907c02 134 filtered_pect = fabs(filtered_pect);
jessekaiser 56:6ea03cce1175 135 arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
jessekaiser 56:6ea03cce1175 136
jessekaiser 56:6ea03cce1175 137 //process emg deltoid
jessekaiser 56:6ea03cce1175 138 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
jessekaiser 60:664f9b907c02 139 filtered_deltoid = fabs(filtered_deltoid);
jessekaiser 56:6ea03cce1175 140 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
jessekaiser 56:6ea03cce1175 141
jessekaiser 58:3ea066215c31 142 /*send value to PC.
jessekaiser 56:6ea03cce1175 143 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 56:6ea03cce1175 144 scope.set(1,filtered_triceps);
jessekaiser 56:6ea03cce1175 145 scope.set(2,filtered_pect);
jessekaiser 57:0a278c60d28b 146 scope.set(3,filtered_deltoid);*/
jessekaiser 56:6ea03cce1175 147 }
jessekaiser 56:6ea03cce1175 148
jessekaiser 60:664f9b907c02 149 void looper_motory()
jessekaiser 69:a1ba54587b35 150 {
jessekaiser 69:a1ba54587b35 151
jessekaiser 67:fba5b64bb295 152 emg_y = (filtered_biceps - filtered_triceps);
jessekaiser 67:fba5b64bb295 153 emg_y_abs = fabs(emg_y);
jessekaiser 67:fba5b64bb295 154 force1 = emg_y_abs*K_Gain;
jessekaiser 60:664f9b907c02 155 force1 = force1 - damping1;
jessekaiser 60:664f9b907c02 156 acc1 = force1/Mass;
jessekaiser 60:664f9b907c02 157 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 60:664f9b907c02 158 damping1 = speed1 * Damp;
jessekaiser 60:664f9b907c02 159 step_freq1 = setpoint * speed1;
jessekaiser 60:664f9b907c02 160 Stepy.period(1.0/step_freq1);
jessekaiser 60:664f9b907c02 161 speed_old1 = speed1;
jessekaiser 60:664f9b907c02 162
jessekaiser 66:c094d1868b30 163 if (emg_y > 0) {
jessekaiser 60:664f9b907c02 164 Diry = 1;
jessekaiser 60:664f9b907c02 165 }
jessekaiser 60:664f9b907c02 166
jessekaiser 66:c094d1868b30 167 if (emg_y < 0) {
jessekaiser 60:664f9b907c02 168 Diry = 0;
jessekaiser 60:664f9b907c02 169 }
jessekaiser 60:664f9b907c02 170 //Speed limit
jessekaiser 60:664f9b907c02 171 if (speed1 > 1) {
jessekaiser 60:664f9b907c02 172 speed1 = 1;
jessekaiser 60:664f9b907c02 173 step_freq1 = setpoint;
jessekaiser 60:664f9b907c02 174 }
jessekaiser 60:664f9b907c02 175 //EMG treshold
jessekaiser 60:664f9b907c02 176 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
jessekaiser 60:664f9b907c02 177 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 178 } else {
jessekaiser 60:664f9b907c02 179 Enabley = 0;
jessekaiser 60:664f9b907c02 180 }
jessekaiser 60:664f9b907c02 181
jessekaiser 60:664f9b907c02 182 }
jessekaiser 60:664f9b907c02 183
jessekaiser 69:a1ba54587b35 184 /*void looper_motorx()
jessekaiser 60:664f9b907c02 185 {
jessekaiser 69:a1ba54587b35 186
jessekaiser 67:fba5b64bb295 187 emg_x = (filtered_pect - filtered_deltoid);
jessekaiser 67:fba5b64bb295 188 emg_x_abs = fabs(emg_x);
jessekaiser 67:fba5b64bb295 189 force2 = emg_x_abs*K_Gain;
jessekaiser 60:664f9b907c02 190 force2 = force2 - damping2;
jessekaiser 60:664f9b907c02 191 acc2 = force2/Mass;
jessekaiser 60:664f9b907c02 192 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 60:664f9b907c02 193 damping2 = speed2 * Damp;
jessekaiser 60:664f9b907c02 194 step_freq2 = setpoint * speed2;
jessekaiser 60:664f9b907c02 195 Stepx.period(1.0/step_freq2);
jessekaiser 60:664f9b907c02 196 speed_old2 = speed2;
jessekaiser 60:664f9b907c02 197
jessekaiser 66:c094d1868b30 198 if (emg_x > 0) {
jessekaiser 60:664f9b907c02 199 Dirx = 0;
jessekaiser 60:664f9b907c02 200 }
jessekaiser 66:c094d1868b30 201 if (emg_x < 0) {
jessekaiser 60:664f9b907c02 202 Dirx = 1;
jessekaiser 60:664f9b907c02 203 }
jessekaiser 60:664f9b907c02 204 //Speed limit
jessekaiser 60:664f9b907c02 205 if (speed2 > 1) {
jessekaiser 60:664f9b907c02 206 speed2 = 1;
jessekaiser 60:664f9b907c02 207 step_freq2 = setpoint;
jessekaiser 60:664f9b907c02 208 }
jessekaiser 60:664f9b907c02 209 //EMG treshold
jessekaiser 60:664f9b907c02 210 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
jessekaiser 60:664f9b907c02 211 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 60:664f9b907c02 212 } else {
jessekaiser 60:664f9b907c02 213 Enablex = 0;
jessekaiser 60:664f9b907c02 214 }
jessekaiser 60:664f9b907c02 215
jessekaiser 69:a1ba54587b35 216 }*/
jessekaiser 59:ba22a8c26dee 217
jessekaiser 59:ba22a8c26dee 218 int main()
jessekaiser 56:6ea03cce1175 219 {
jessekaiser 59:ba22a8c26dee 220 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 59:ba22a8c26dee 221 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 69:a1ba54587b35 222 /*
jessekaiser 59:ba22a8c26dee 223 MS1 = 1;
jessekaiser 59:ba22a8c26dee 224 MS2 = 0;
jessekaiser 59:ba22a8c26dee 225 MS3 = 0;
jessekaiser 69:a1ba54587b35 226
jessekaiser 59:ba22a8c26dee 227 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 59:ba22a8c26dee 228 Stepy.write(0.5);
jessekaiser 69:a1ba54587b35 229
jessekaiser 63:e336c16c8957 230 Enablex = 1;
jessekaiser 63:e336c16c8957 231 Enabley = 1;
jessekaiser 69:a1ba54587b35 232 wait(1);
jessekaiser 62:509622cce1c6 233 lcd.printf("Start homing");
jessekaiser 62:509622cce1c6 234 wait(2);
jessekaiser 62:509622cce1c6 235 lcd.cls();
jessekaiser 62:509622cce1c6 236 wait(1);
jessekaiser 62:509622cce1c6 237 Enablex = 0;
jessekaiser 62:509622cce1c6 238 Enabley = 0;
jessekaiser 69:a1ba54587b35 239 while(errorx > error_tresh || errory > error_tresh) {
jessekaiser 59:ba22a8c26dee 240
jessekaiser 66:c094d1868b30 241 Ps_x = Posx.read();
jessekaiser 66:c094d1868b30 242 Ps_y = Posy.read();
jessekaiser 68:2b778b6da923 243 errorx = fabs(Pt_x - Ps_x);
jessekaiser 68:2b778b6da923 244 errory = fabs(Ps_y - Pt_y);
jessekaiser 69:a1ba54587b35 245 lcd.printf("%.2f %.2f \n", errorx, errory);
jessekaiser 69:a1ba54587b35 246
jessekaiser 69:a1ba54587b35 247
jessekaiser 69:a1ba54587b35 248 if (Ps_x < 0.50 && errorx > error_tresh) {
jessekaiser 61:99f3ae6e053b 249 Dirx = 0;
jessekaiser 68:2b778b6da923 250 //errorx = Pt_x - Ps_x;
jessekaiser 61:99f3ae6e053b 251 cx = errorx * H_Gain;
jessekaiser 69:a1ba54587b35 252
jessekaiser 62:509622cce1c6 253 float hnew_step_freqx;
jessekaiser 62:509622cce1c6 254 hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
jessekaiser 62:509622cce1c6 255 hstep_freqx = hnew_step_freqx;
jessekaiser 62:509622cce1c6 256 Stepx.period(1.0/hstep_freqx);
jessekaiser 62:509622cce1c6 257 wait(0.01);
jessekaiser 66:c094d1868b30 258 }
jessekaiser 69:a1ba54587b35 259 if (Ps_y > 0.50 && errory > error_tresh) {
jessekaiser 61:99f3ae6e053b 260 Diry = 0;
jessekaiser 68:2b778b6da923 261 //errory = Ps_y - Pt_y;
jessekaiser 68:2b778b6da923 262 cy = errory * H_Gain;
jessekaiser 69:a1ba54587b35 263
jessekaiser 68:2b778b6da923 264 float hnew_step_freqy;
jessekaiser 68:2b778b6da923 265 hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
jessekaiser 68:2b778b6da923 266 hstep_freqy = hnew_step_freqy;
jessekaiser 68:2b778b6da923 267 Stepy.period(1.0/hstep_freqy);
jessekaiser 68:2b778b6da923 268 wait(0.01);
jessekaiser 68:2b778b6da923 269 }
jessekaiser 69:a1ba54587b35 270
jessekaiser 69:a1ba54587b35 271 if (Ps_x > 0.50 && errorx > error_tresh) {
jessekaiser 68:2b778b6da923 272 Dirx = 1;
jessekaiser 68:2b778b6da923 273 //errorx = Pt_x - Ps_x;
jessekaiser 68:2b778b6da923 274 cx = errorx * H_Gain;
jessekaiser 69:a1ba54587b35 275
jessekaiser 68:2b778b6da923 276 float hnew_step_freqx;
jessekaiser 68:2b778b6da923 277 hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
jessekaiser 68:2b778b6da923 278 hstep_freqx = hnew_step_freqx;
jessekaiser 68:2b778b6da923 279 Stepx.period(1.0/hstep_freqx);
jessekaiser 68:2b778b6da923 280 wait(0.01);
jessekaiser 68:2b778b6da923 281 }
jessekaiser 69:a1ba54587b35 282 if (Ps_y < 0.50 && errory > error_tresh) {
jessekaiser 68:2b778b6da923 283 Diry = 1;
jessekaiser 68:2b778b6da923 284 //errory = Ps_y - Pt_y;
jessekaiser 61:99f3ae6e053b 285 cy = errory * H_Gain;
jessekaiser 69:a1ba54587b35 286
jessekaiser 62:509622cce1c6 287 float hnew_step_freqy;
jessekaiser 62:509622cce1c6 288 hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
jessekaiser 62:509622cce1c6 289 hstep_freqy = hnew_step_freqy;
jessekaiser 62:509622cce1c6 290 Stepy.period(1.0/hstep_freqy);
jessekaiser 62:509622cce1c6 291 wait(0.01);
jessekaiser 66:c094d1868b30 292 }
jessekaiser 69:a1ba54587b35 293
jessekaiser 61:99f3ae6e053b 294 }
jessekaiser 62:509622cce1c6 295 lcd.printf("Done");
jessekaiser 69:a1ba54587b35 296 wait(2);
jessekaiser 66:c094d1868b30 297 lcd.cls();
jessekaiser 66:c094d1868b30 298 wait(1);
jessekaiser 62:509622cce1c6 299 Enablex = 1;
jessekaiser 61:99f3ae6e053b 300 Enabley = 1;
jessekaiser 64:5a66361c8318 301 wait(3);
jessekaiser 66:c094d1868b30 302 lcd.printf("Start EMG Control");
jessekaiser 66:c094d1868b30 303 wait(2);
jessekaiser 66:c094d1868b30 304 lcd.cls();
jessekaiser 69:a1ba54587b35 305 wait(1);
jessekaiser 66:c094d1868b30 306 Enablex = 0;
jessekaiser 69:a1ba54587b35 307 Enabley = 0;*/
jessekaiser 69:a1ba54587b35 308
jessekaiser 69:a1ba54587b35 309 MS1 = 1;
jessekaiser 69:a1ba54587b35 310 MS2 = 0;
jessekaiser 69:a1ba54587b35 311 MS3 = 0;
jessekaiser 69:a1ba54587b35 312 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 69:a1ba54587b35 313 Stepy.write(0.5);
jessekaiser 69:a1ba54587b35 314
jessekaiser 66:c094d1868b30 315 Ticker emgtimer; //biceps
jessekaiser 69:a1ba54587b35 316 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 69:a1ba54587b35 317 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 69:a1ba54587b35 318 //triceps
jessekaiser 69:a1ba54587b35 319 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 69:a1ba54587b35 320 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 69:a1ba54587b35 321 //pectoralis major
jessekaiser 69:a1ba54587b35 322 arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
jessekaiser 69:a1ba54587b35 323 arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
jessekaiser 69:a1ba54587b35 324 //deltoid
jessekaiser 69:a1ba54587b35 325 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 69:a1ba54587b35 326 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
jessekaiser 69:a1ba54587b35 327 emgtimer.attach(looper_emg, 0.01);
jessekaiser 59:ba22a8c26dee 328
jessekaiser 69:a1ba54587b35 329 //Ticker looptimer1;
jessekaiser 69:a1ba54587b35 330 //looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
jessekaiser 61:99f3ae6e053b 331
jessekaiser 69:a1ba54587b35 332 Ticker looptimer2;
jessekaiser 69:a1ba54587b35 333 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
jessekaiser 69:a1ba54587b35 334
jessekaiser 69:a1ba54587b35 335 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 59:ba22a8c26dee 336
jessekaiser 58:3ea066215c31 337
jessekaiser 69:a1ba54587b35 338
jessekaiser 69:a1ba54587b35 339 while (1) {
jessekaiser 61:99f3ae6e053b 340
jessekaiser 60:664f9b907c02 341
jessekaiser 69:a1ba54587b35 342 //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
jessekaiser 69:a1ba54587b35 343 //lcd.printf("%.2f, %.2f %.2f %.2f \n", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values
jessekaiser 69:a1ba54587b35 344 //lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2); //step_freq value of every EMG sensor
jessekaiser 69:a1ba54587b35 345 lcd.printf("%.2f %.2f %.2f %.2f \n", emg_y_abs, step_freq1, filtered_biceps, filtered_triceps);
jessekaiser 69:a1ba54587b35 346 wait(0.01);
jessekaiser 61:99f3ae6e053b 347
jessekaiser 69:a1ba54587b35 348 }
jessekaiser 56:6ea03cce1175 349 }