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4 directional EMG control of the XY table. Made during my bachelor end assignment.
Dependencies: C12832_lcd HIDScope mbed-dsp mbed
main.cpp@41:a666a531d52e, 2015-06-03 (annotated)
- Committer:
- jessekaiser
- Date:
- Wed Jun 03 14:13:32 2015 +0000
- Revision:
- 41:a666a531d52e
- Parent:
- 40:0cfd96cb25fa
- Child:
- 42:e67627d11789
Stepper motor directie controle met 2 EMG signalen;
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 | 40:0cfd96cb25fa | 6 | #define K_Gain 14 //Gain of the filtered EMG signal |
jessekaiser | 40:0cfd96cb25fa | 7 | #define Damp 5 //Deceleration of the motor |
jessekaiser | 34:025b324d15d6 | 8 | #define Mass 1 // Mass value |
jessekaiser | 34:025b324d15d6 | 9 | #define dt 0.002 //Sample frequency |
jessekaiser | 40:0cfd96cb25fa | 10 | #define MAX_bi 0.09 //Can be used for normalisation of the EMG signal of the biceps |
jessekaiser | 40:0cfd96cb25fa | 11 | #define MAX_tri 0.09 |
jessekaiser | 40:0cfd96cb25fa | 12 | #define MIN_freq 500 //The motor turns off below this frequency |
jessekaiser | 41:a666a531d52e | 13 | #define EMG_tresh 0.02 |
jessekaiser | 31:372ff8d49430 | 14 | |
jessekaiser | 23:4d050e85e863 | 15 | //Motor control |
jessekaiser | 0:3acdd563582f | 16 | DigitalOut Dir(p21); |
jessekaiser | 0:3acdd563582f | 17 | PwmOut Step(p22); |
jessekaiser | 23:4d050e85e863 | 18 | |
jessekaiser | 23:4d050e85e863 | 19 | //Signal to and from computer |
jessekaiser | 23:4d050e85e863 | 20 | Serial pc(USBTX, USBRX); |
jessekaiser | 23:4d050e85e863 | 21 | |
jessekaiser | 24:c4c5d30a3938 | 22 | DigitalOut Enable(p25); |
jessekaiser | 23:4d050e85e863 | 23 | |
jessekaiser | 23:4d050e85e863 | 24 | //Microstepping |
jessekaiser | 0:3acdd563582f | 25 | DigitalOut MS1(p27); |
jessekaiser | 0:3acdd563582f | 26 | DigitalOut MS2(p28); |
jessekaiser | 0:3acdd563582f | 27 | DigitalOut MS3(p29); |
jessekaiser | 23:4d050e85e863 | 28 | |
jessekaiser | 23:4d050e85e863 | 29 | //Potmeter and EMG |
jessekaiser | 10:7f94cd65c910 | 30 | AnalogIn Pot1(p19); |
jessekaiser | 31:372ff8d49430 | 31 | AnalogIn Pot2(p20); |
jessekaiser | 38:c592354f5080 | 32 | |
jessekaiser | 38:c592354f5080 | 33 | AnalogIn emg1(p17); //EMG bordje bovenop, biceps |
jessekaiser | 38:c592354f5080 | 34 | AnalogIn emg2(p15); //triceps |
jessekaiser | 38:c592354f5080 | 35 | HIDScope scope(2); |
jessekaiser | 29:83f005c637be | 36 | Ticker scopeTimer; |
jessekaiser | 25:144eb5822aa7 | 37 | |
jessekaiser | 23:4d050e85e863 | 38 | //lcd |
jessekaiser | 30:0a8f849e0292 | 39 | C12832_LCD lcd; |
jessekaiser | 0:3acdd563582f | 40 | |
jessekaiser | 23:4d050e85e863 | 41 | //Variables for motor control |
jessekaiser | 40:0cfd96cb25fa | 42 | float setpoint = 4400; //Frequentie setpint |
jessekaiser | 41:a666a531d52e | 43 | float step_freq1 = 1; |
jessekaiser | 41:a666a531d52e | 44 | float step_freq2 = 1; |
jessekaiser | 23:4d050e85e863 | 45 | |
jessekaiser | 23:4d050e85e863 | 46 | //EMG filter |
jessekaiser | 23:4d050e85e863 | 47 | arm_biquad_casd_df1_inst_f32 lowpass_biceps; |
jessekaiser | 38:c592354f5080 | 48 | arm_biquad_casd_df1_inst_f32 lowpass_triceps; |
jessekaiser | 38:c592354f5080 | 49 | //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB |
jessekaiser | 34:025b324d15d6 | 50 | float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751}; |
jessekaiser | 23:4d050e85e863 | 51 | arm_biquad_casd_df1_inst_f32 highnotch_biceps; |
jessekaiser | 38:c592354f5080 | 52 | arm_biquad_casd_df1_inst_f32 highnotch_triceps; |
jessekaiser | 35:b0737ee24b43 | 53 | //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz |
jessekaiser | 31:372ff8d49430 | 54 | 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 | 55 | |
jessekaiser | 23:4d050e85e863 | 56 | //state values |
jessekaiser | 23:4d050e85e863 | 57 | float lowpass_biceps_states[4]; |
jessekaiser | 23:4d050e85e863 | 58 | float highnotch_biceps_states[8]; |
jessekaiser | 38:c592354f5080 | 59 | float lowpass_triceps_states[4]; |
jessekaiser | 38:c592354f5080 | 60 | float highnotch_triceps_states[8]; |
jessekaiser | 23:4d050e85e863 | 61 | |
jessekaiser | 23:4d050e85e863 | 62 | //global variabels |
jessekaiser | 23:4d050e85e863 | 63 | float filtered_biceps; |
jessekaiser | 38:c592354f5080 | 64 | float filtered_triceps; |
jessekaiser | 41:a666a531d52e | 65 | float speed_old1; |
jessekaiser | 41:a666a531d52e | 66 | float speed_old2; |
jessekaiser | 41:a666a531d52e | 67 | float acc1; |
jessekaiser | 41:a666a531d52e | 68 | float acc2; |
jessekaiser | 38:c592354f5080 | 69 | float force1; |
jessekaiser | 38:c592354f5080 | 70 | float force2; |
jessekaiser | 41:a666a531d52e | 71 | float speed1; |
jessekaiser | 41:a666a531d52e | 72 | float speed2; |
jessekaiser | 41:a666a531d52e | 73 | float damping1; |
jessekaiser | 41:a666a531d52e | 74 | float damping2; |
jessekaiser | 32:46b18f465600 | 75 | |
jessekaiser | 23:4d050e85e863 | 76 | void looper_emg() |
jessekaiser | 23:4d050e85e863 | 77 | { |
jessekaiser | 36:d6e0a835bb2d | 78 | |
jessekaiser | 23:4d050e85e863 | 79 | |
jessekaiser | 23:4d050e85e863 | 80 | float emg_value1_f32; |
jessekaiser | 38:c592354f5080 | 81 | emg_value1_f32 = emg1.read(); |
jessekaiser | 38:c592354f5080 | 82 | |
jessekaiser | 38:c592354f5080 | 83 | float emg_value2_f32; |
jessekaiser | 38:c592354f5080 | 84 | emg_value2_f32 = emg2.read(); |
jessekaiser | 23:4d050e85e863 | 85 | |
jessekaiser | 23:4d050e85e863 | 86 | //process emg biceps |
jessekaiser | 23:4d050e85e863 | 87 | arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); |
jessekaiser | 31:372ff8d49430 | 88 | filtered_biceps = fabs(filtered_biceps); |
jessekaiser | 23:4d050e85e863 | 89 | arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); |
jessekaiser | 36:d6e0a835bb2d | 90 | |
jessekaiser | 38:c592354f5080 | 91 | //process emg triceps |
jessekaiser | 38:c592354f5080 | 92 | arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 ); |
jessekaiser | 38:c592354f5080 | 93 | filtered_triceps = fabs(filtered_triceps); |
jessekaiser | 38:c592354f5080 | 94 | arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 ); |
jessekaiser | 23:4d050e85e863 | 95 | |
jessekaiser | 23:4d050e85e863 | 96 | /*send value to PC. */ |
jessekaiser | 36:d6e0a835bb2d | 97 | scope.set(0,filtered_biceps); //Filtered EMG signal |
jessekaiser | 38:c592354f5080 | 98 | scope.set(1,filtered_triceps); |
jessekaiser | 23:4d050e85e863 | 99 | } |
jessekaiser | 26:b88ff19ff5dc | 100 | |
jessekaiser | 31:372ff8d49430 | 101 | void looper_motor() |
jessekaiser | 31:372ff8d49430 | 102 | { |
jessekaiser | 41:a666a531d52e | 103 | //Vooruit |
jessekaiser | 41:a666a531d52e | 104 | force1 = K_Gain*(filtered_biceps/MAX_bi); |
jessekaiser | 41:a666a531d52e | 105 | force1 = force1 - damping1; |
jessekaiser | 41:a666a531d52e | 106 | acc1 = force1/Mass; |
jessekaiser | 41:a666a531d52e | 107 | speed1 = speed_old1 + (acc1 * dt); |
jessekaiser | 41:a666a531d52e | 108 | damping1 = speed1 * Damp; |
jessekaiser | 41:a666a531d52e | 109 | step_freq1 = (setpoint*speed1); |
jessekaiser | 41:a666a531d52e | 110 | speed_old1 = speed1; |
jessekaiser | 41:a666a531d52e | 111 | //Achteruit |
jessekaiser | 41:a666a531d52e | 112 | force2 = K_Gain*(filtered_triceps/MAX_tri); |
jessekaiser | 41:a666a531d52e | 113 | force2 = force2 - damping2; |
jessekaiser | 41:a666a531d52e | 114 | acc2 = force2/Mass; |
jessekaiser | 41:a666a531d52e | 115 | speed2 = speed_old2 + (acc2 * dt); |
jessekaiser | 41:a666a531d52e | 116 | damping2 = speed2 * Damp; |
jessekaiser | 41:a666a531d52e | 117 | step_freq2 = (setpoint*speed2); |
jessekaiser | 41:a666a531d52e | 118 | speed_old2 = speed2; |
jessekaiser | 31:372ff8d49430 | 119 | |
jessekaiser | 41:a666a531d52e | 120 | if (filtered_biceps > filtered_triceps) { |
jessekaiser | 41:a666a531d52e | 121 | Dir = 0; |
jessekaiser | 41:a666a531d52e | 122 | Step.period(1.0/step_freq1); |
jessekaiser | 41:a666a531d52e | 123 | |
jessekaiser | 41:a666a531d52e | 124 | } else { |
jessekaiser | 41:a666a531d52e | 125 | Dir = 1; |
jessekaiser | 41:a666a531d52e | 126 | Step.period(1.0/step_freq2); |
jessekaiser | 41:a666a531d52e | 127 | } |
jessekaiser | 41:a666a531d52e | 128 | //Speed limit |
jessekaiser | 41:a666a531d52e | 129 | if (speed1 > 1 || speed2 > 1) { |
jessekaiser | 41:a666a531d52e | 130 | speed1 = 1; |
jessekaiser | 41:a666a531d52e | 131 | speed2 = 1; |
jessekaiser | 41:a666a531d52e | 132 | Step.period(1.0/setpoint); |
jessekaiser | 41:a666a531d52e | 133 | } else { |
jessekaiser | 41:a666a531d52e | 134 | step_freq1 = (setpoint*speed1); |
jessekaiser | 41:a666a531d52e | 135 | step_freq2 = (setpoint*speed2); |
jessekaiser | 41:a666a531d52e | 136 | } |
jessekaiser | 41:a666a531d52e | 137 | //EMG treshold |
jessekaiser | 41:a666a531d52e | 138 | if (filtered_biceps < EMG_tresh && filtered_triceps < EMG_tresh) { |
jessekaiser | 41:a666a531d52e | 139 | Enable = 1; |
jessekaiser | 41:a666a531d52e | 140 | } else { |
jessekaiser | 41:a666a531d52e | 141 | Enable = 0; |
jessekaiser | 38:c592354f5080 | 142 | } |
jessekaiser | 31:372ff8d49430 | 143 | |
jessekaiser | 41:a666a531d52e | 144 | } |
jessekaiser | 41:a666a531d52e | 145 | |
jessekaiser | 41:a666a531d52e | 146 | int main() |
jessekaiser | 41:a666a531d52e | 147 | { |
jessekaiser | 41:a666a531d52e | 148 | // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven. |
jessekaiser | 41:a666a531d52e | 149 | scopeTimer.attach_us(&scope, &HIDScope::send, 2e3); |
jessekaiser | 36:d6e0a835bb2d | 150 | |
jessekaiser | 41:a666a531d52e | 151 | Ticker emgtimer; |
jessekaiser | 41:a666a531d52e | 152 | arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states); |
jessekaiser | 41:a666a531d52e | 153 | arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states); |
jessekaiser | 41:a666a531d52e | 154 | arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states); |
jessekaiser | 41:a666a531d52e | 155 | arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states); |
jessekaiser | 41:a666a531d52e | 156 | emgtimer.attach(looper_emg, 0.002); |
jessekaiser | 23:4d050e85e863 | 157 | |
jessekaiser | 41:a666a531d52e | 158 | Ticker looptimer; |
jessekaiser | 41:a666a531d52e | 159 | looptimer.attach(looper_motor, 0.01); //Uitzoeken waarom deze frequentie! |
jessekaiser | 23:4d050e85e863 | 160 | |
jessekaiser | 41:a666a531d52e | 161 | //Microstepping control |
jessekaiser | 41:a666a531d52e | 162 | MS1 = 1; |
jessekaiser | 41:a666a531d52e | 163 | MS2 = 0; |
jessekaiser | 41:a666a531d52e | 164 | MS3 = 0; |
jessekaiser | 41:a666a531d52e | 165 | Step.write(0.5); // Duty cycle van 50% |
jessekaiser | 38:c592354f5080 | 166 | |
jessekaiser | 41:a666a531d52e | 167 | while (1) { |
jessekaiser | 41:a666a531d52e | 168 | |
jessekaiser | 41:a666a531d52e | 169 | //lcd.printf("Bi %.2f ,Tri %.2f \n", filtered_biceps, filtered_triceps); //snelheid meting op lcd |
jessekaiser | 41:a666a531d52e | 170 | lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2); |
jessekaiser | 41:a666a531d52e | 171 | wait(0.01); |
jessekaiser | 0:3acdd563582f | 172 | } |
jessekaiser | 41:a666a531d52e | 173 | } |