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@52:b75248e62240, 2015-06-09 (annotated)

Committer:
jessekaiser
Date:
Tue Jun 09 13:16:50 2015 +0000
Revision:
52:b75248e62240
Parent:
51:75a8c7191555
Child:
53:f783b3192dbb
Endconcept 4. Averaging of the EMG signal

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 48:05adf4978828 1 /*Code by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table
jessekaiser 48:05adf4978828 2 Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
jessekaiser 48:05adf4978828 3 Biceps = 1
jessekaiser 48:05adf4978828 4 Triceps = 2
jessekaiser 48:05adf4978828 5 Pectoralis Major = 3
jessekaiser 48:05adf4978828 6 Deltoid = 4
jessekaiser 51:75a8c7191555 7 The "x" and "y" at the end of variables stand for the X-Spindle or Y-Spindle respectivly.
jessekaiser 48:05adf4978828 8 */
jessekaiser 48:05adf4978828 9
jessekaiser 0:3acdd563582f 10 #include "mbed.h"
jessekaiser 10:7f94cd65c910 11 #include "C12832_lcd.h"
jessekaiser 48:05adf4978828 12 #include "arm_math.h"
jessekaiser 48:05adf4978828 13 #include "HIDScope.h"
jessekaiser 0:3acdd563582f 14
jessekaiser 48:05adf4978828 15 #define K_Gain 14 //Gain of the filtered EMG signal
jessekaiser 48:05adf4978828 16 #define Damp 5 //Deceleration of the motor
jessekaiser 48:05adf4978828 17 #define Mass 1 // Mass value
jessekaiser 48:05adf4978828 18 #define dt 0.002 //Sample frequency
jessekaiser 51:75a8c7191555 19 #define MAX_bi 0.04 //Can be used for normalisation of the EMG signal of the biceps
jessekaiser 51:75a8c7191555 20 #define MAX_tri 0.04
jessekaiser 51:75a8c7191555 21 #define MAX_pect 0.04
jessekaiser 51:75a8c7191555 22 #define MAX_delt 0.04
jessekaiser 48:05adf4978828 23 #define MIN_freq 500 //The motor turns off below this frequency
jessekaiser 51:75a8c7191555 24 #define EMG_tresh 0.01
jessekaiser 31:372ff8d49430 25
jessekaiser 48:05adf4978828 26 //Motor control
jessekaiser 50:5e08b74bf023 27 DigitalOut Dirx(p21);
jessekaiser 50:5e08b74bf023 28 PwmOut Stepx(p22);
jessekaiser 50:5e08b74bf023 29 DigitalOut Diry(p23);
jessekaiser 50:5e08b74bf023 30 PwmOut Stepy(p24);
jessekaiser 48:05adf4978828 31
jessekaiser 48:05adf4978828 32 //Signal to and from computer
jessekaiser 48:05adf4978828 33 Serial pc(USBTX, USBRX);
jessekaiser 48:05adf4978828 34
jessekaiser 50:5e08b74bf023 35 DigitalOut Enablex(p26); //Connected to green led
jessekaiser 51:75a8c7191555 36 DigitalOut Enabley(p25); //Connected to blue led
jessekaiser 48:05adf4978828 37
jessekaiser 48:05adf4978828 38 //Microstepping
jessekaiser 0:3acdd563582f 39 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 40 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 41 DigitalOut MS3(p29);
jessekaiser 48:05adf4978828 42
jessekaiser 48:05adf4978828 43 //Potmeter and EMG
jessekaiser 10:7f94cd65c910 44 AnalogIn Pot1(p19);
jessekaiser 31:372ff8d49430 45 AnalogIn Pot2(p20);
jessekaiser 48:05adf4978828 46
jessekaiser 48:05adf4978828 47 AnalogIn emg1(p15); //EMG bordje bovenop, biceps
jessekaiser 48:05adf4978828 48 AnalogIn emg2(p16); //triceps
jessekaiser 48:05adf4978828 49 AnalogIn emg3(p17);
jessekaiser 48:05adf4978828 50 AnalogIn emg4(p18);
jessekaiser 48:05adf4978828 51
jessekaiser 48:05adf4978828 52 HIDScope scope(4);
jessekaiser 48:05adf4978828 53 Ticker scopeTimer;
jessekaiser 48:05adf4978828 54
jessekaiser 48:05adf4978828 55 //lcd
jessekaiser 30:0a8f849e0292 56 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 57
jessekaiser 48:05adf4978828 58 //Variables for motor control
jessekaiser 50:5e08b74bf023 59 float setpoint = 1500; //Frequentie setpint
jessekaiser 48:05adf4978828 60 float step_freq1 = 1;
jessekaiser 48:05adf4978828 61 float step_freq2 = 1;
jessekaiser 48:05adf4978828 62 float step_freq3 = 1;
jessekaiser 51:75a8c7191555 63 float step_freq4 = 1;
jessekaiser 48:05adf4978828 64
jessekaiser 48:05adf4978828 65 //EMG filter
jessekaiser 48:05adf4978828 66 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 48:05adf4978828 67 arm_biquad_casd_df1_inst_f32 lowpass_triceps;
jessekaiser 48:05adf4978828 68 arm_biquad_casd_df1_inst_f32 lowpass_pect;
jessekaiser 48:05adf4978828 69 arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
jessekaiser 48:05adf4978828 70 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 48:05adf4978828 71 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 48:05adf4978828 72 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 48:05adf4978828 73 arm_biquad_casd_df1_inst_f32 highnotch_triceps;
jessekaiser 48:05adf4978828 74 arm_biquad_casd_df1_inst_f32 highnotch_pect;
jessekaiser 48:05adf4978828 75 arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
jessekaiser 48:05adf4978828 76 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
jessekaiser 48:05adf4978828 77 float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 48:05adf4978828 78
jessekaiser 48:05adf4978828 79 //state values
jessekaiser 48:05adf4978828 80 float lowpass_biceps_states[4];
jessekaiser 48:05adf4978828 81 float highnotch_biceps_states[8];
jessekaiser 48:05adf4978828 82 float lowpass_triceps_states[4];
jessekaiser 48:05adf4978828 83 float highnotch_triceps_states[8];
jessekaiser 48:05adf4978828 84 float lowpass_pect_states[4];
jessekaiser 48:05adf4978828 85 float highnotch_pect_states[8];
jessekaiser 48:05adf4978828 86 float lowpass_deltoid_states[4];
jessekaiser 48:05adf4978828 87 float highnotch_deltoid_states[8];
jessekaiser 48:05adf4978828 88
jessekaiser 48:05adf4978828 89 //global variabels
jessekaiser 48:05adf4978828 90 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
jessekaiser 52:b75248e62240 91 float average_bi, average_tri, average_pect, average_delt;
jessekaiser 48:05adf4978828 92 float speed_old1, speed_old2, speed_old3, speed_old4;
jessekaiser 48:05adf4978828 93 float acc1, acc2, acc3, acc4;
jessekaiser 48:05adf4978828 94 float force1, force2, force3, force4;
jessekaiser 48:05adf4978828 95 float speed1, speed2, speed3, speed4;
jessekaiser 48:05adf4978828 96 float damping1, damping2, damping3, damping4;
jessekaiser 48:05adf4978828 97
jessekaiser 52:b75248e62240 98
jessekaiser 52:b75248e62240 99 void average_biceps(float filtered_biceps,float *average)
jessekaiser 52:b75248e62240 100 {
jessekaiser 52:b75248e62240 101 static float total=0;
jessekaiser 52:b75248e62240 102 static float number=0;
jessekaiser 52:b75248e62240 103 total = total + filtered_biceps;
jessekaiser 52:b75248e62240 104 number = number + 1;
jessekaiser 52:b75248e62240 105 if ( number == 50) {
jessekaiser 52:b75248e62240 106 *average = total/50;
jessekaiser 52:b75248e62240 107 total = 0;
jessekaiser 52:b75248e62240 108 number = 0;
jessekaiser 52:b75248e62240 109 }
jessekaiser 52:b75248e62240 110 }
jessekaiser 52:b75248e62240 111
jessekaiser 52:b75248e62240 112 void average_triceps(float filtered_triceps,float *average)
jessekaiser 52:b75248e62240 113 {
jessekaiser 52:b75248e62240 114 static float total=0;
jessekaiser 52:b75248e62240 115 static float number=0;
jessekaiser 52:b75248e62240 116 total = total + filtered_triceps;
jessekaiser 52:b75248e62240 117 number = number + 1;
jessekaiser 52:b75248e62240 118 if ( number == 50) {
jessekaiser 52:b75248e62240 119 *average = total/50;
jessekaiser 52:b75248e62240 120 total = 0;
jessekaiser 52:b75248e62240 121 number = 0;
jessekaiser 52:b75248e62240 122 }
jessekaiser 52:b75248e62240 123 }
jessekaiser 52:b75248e62240 124
jessekaiser 52:b75248e62240 125 void average_pectoralis(float filtered_pect,float *average)
jessekaiser 52:b75248e62240 126 {
jessekaiser 52:b75248e62240 127 static float total=0;
jessekaiser 52:b75248e62240 128 static float number=0;
jessekaiser 52:b75248e62240 129 total = total + filtered_pect;
jessekaiser 52:b75248e62240 130 number = number + 1;
jessekaiser 52:b75248e62240 131 if ( number == 50) {
jessekaiser 52:b75248e62240 132 *average = total/50;
jessekaiser 52:b75248e62240 133 total = 0;
jessekaiser 52:b75248e62240 134 number = 0;
jessekaiser 52:b75248e62240 135 }
jessekaiser 52:b75248e62240 136 }
jessekaiser 52:b75248e62240 137
jessekaiser 52:b75248e62240 138 void average_deltoid(float filtered_deltoid ,float *average)
jessekaiser 52:b75248e62240 139 {
jessekaiser 52:b75248e62240 140 static float total=0;
jessekaiser 52:b75248e62240 141 static float number=0;
jessekaiser 52:b75248e62240 142 total = total + filtered_deltoid;
jessekaiser 52:b75248e62240 143 number = number + 1;
jessekaiser 52:b75248e62240 144 if ( number == 50) {
jessekaiser 52:b75248e62240 145 *average = total/50;
jessekaiser 52:b75248e62240 146 total = 0;
jessekaiser 52:b75248e62240 147 number = 0;
jessekaiser 52:b75248e62240 148 }
jessekaiser 52:b75248e62240 149 }
jessekaiser 52:b75248e62240 150
jessekaiser 48:05adf4978828 151 void looper_emg()
jessekaiser 48:05adf4978828 152 {
jessekaiser 48:05adf4978828 153 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
jessekaiser 48:05adf4978828 154 emg_value1_f32 = emg1.read();
jessekaiser 48:05adf4978828 155 emg_value2_f32 = emg2.read();
jessekaiser 48:05adf4978828 156 emg_value3_f32 = emg3.read();
jessekaiser 48:05adf4978828 157 emg_value4_f32 = emg4.read();
jessekaiser 48:05adf4978828 158
jessekaiser 48:05adf4978828 159 //process emg biceps
jessekaiser 48:05adf4978828 160 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 48:05adf4978828 161 filtered_biceps = fabs(filtered_biceps); //Rectifier
jessekaiser 48:05adf4978828 162 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 52:b75248e62240 163 average_biceps(filtered_biceps,&average_bi);
jessekaiser 48:05adf4978828 164 //process emg triceps
jessekaiser 48:05adf4978828 165 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 48:05adf4978828 166 filtered_triceps = fabs(filtered_triceps);
jessekaiser 48:05adf4978828 167 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 52:b75248e62240 168 average_triceps(filtered_triceps,&average_tri);
jessekaiser 48:05adf4978828 169 //process emg pectoralis major
jessekaiser 48:05adf4978828 170 arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
jessekaiser 48:05adf4978828 171 filtered_pect = fabs(filtered_pect);
jessekaiser 48:05adf4978828 172 arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
jessekaiser 52:b75248e62240 173 average_pectoralis(filtered_pect,&average_pect);
jessekaiser 48:05adf4978828 174 //process emg deltoid
jessekaiser 48:05adf4978828 175 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
jessekaiser 48:05adf4978828 176 filtered_deltoid = fabs(filtered_deltoid);
jessekaiser 48:05adf4978828 177 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
jessekaiser 52:b75248e62240 178 average_deltoid(filtered_deltoid,&average_delt);
jessekaiser 48:05adf4978828 179 /*send value to PC. */
jessekaiser 48:05adf4978828 180 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 48:05adf4978828 181 scope.set(1,filtered_triceps);
jessekaiser 48:05adf4978828 182 scope.set(2,filtered_pect);
jessekaiser 51:75a8c7191555 183 scope.set(3,filtered_deltoid);
jessekaiser 48:05adf4978828 184 }
jessekaiser 48:05adf4978828 185
jessekaiser 48:05adf4978828 186 void looper_motory()
jessekaiser 48:05adf4978828 187 {
jessekaiser 51:75a8c7191555 188 //Forward
jessekaiser 52:b75248e62240 189 force1 = K_Gain*(average_bi/MAX_bi);
jessekaiser 48:05adf4978828 190 force1 = force1 - damping1;
jessekaiser 48:05adf4978828 191 acc1 = force1/Mass;
jessekaiser 48:05adf4978828 192 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 48:05adf4978828 193 damping1 = speed1 * Damp;
jessekaiser 48:05adf4978828 194 step_freq1 = (setpoint*speed1);
jessekaiser 48:05adf4978828 195 speed_old1 = speed1;
jessekaiser 51:75a8c7191555 196
jessekaiser 48:05adf4978828 197 //Achteruit triceps
jessekaiser 52:b75248e62240 198 force2 = K_Gain*(average_tri/MAX_tri);
jessekaiser 48:05adf4978828 199 force2 = force2 - damping2;
jessekaiser 48:05adf4978828 200 acc2 = force2/Mass;
jessekaiser 48:05adf4978828 201 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 48:05adf4978828 202 damping2 = speed2 * Damp;
jessekaiser 48:05adf4978828 203 step_freq2 = (setpoint*speed2);
jessekaiser 48:05adf4978828 204 speed_old2 = speed2;
jessekaiser 48:05adf4978828 205 if (filtered_biceps > filtered_triceps) {
jessekaiser 51:75a8c7191555 206 Diry = 1;
jessekaiser 48:05adf4978828 207 speed2 = 0.01;
jessekaiser 48:05adf4978828 208 speed_old2 = 0.01;
jessekaiser 48:05adf4978828 209 Stepy.period(1.0/step_freq1);
jessekaiser 51:75a8c7191555 210 }
jessekaiser 51:75a8c7191555 211 if (filtered_triceps > filtered_biceps) {
jessekaiser 51:75a8c7191555 212 Diry = 0;
jessekaiser 48:05adf4978828 213 speed1 = 0.01;
jessekaiser 51:75a8c7191555 214 speed_old1 = 0.01;
jessekaiser 48:05adf4978828 215 Stepy.period(1.0/step_freq2);
jessekaiser 48:05adf4978828 216 }
jessekaiser 48:05adf4978828 217 //Speed limit
jessekaiser 48:05adf4978828 218 if (speed1 > 1) {
jessekaiser 48:05adf4978828 219 speed1 = 1;
jessekaiser 48:05adf4978828 220 step_freq1 = setpoint;
jessekaiser 48:05adf4978828 221 }
jessekaiser 48:05adf4978828 222 if (speed2 > 1) {
jessekaiser 48:05adf4978828 223 speed2 = 1;
jessekaiser 48:05adf4978828 224 step_freq2 = setpoint;
jessekaiser 48:05adf4978828 225 }
jessekaiser 48:05adf4978828 226 //EMG treshold
jessekaiser 48:05adf4978828 227 if (filtered_biceps < EMG_tresh && filtered_triceps < EMG_tresh) {
jessekaiser 51:75a8c7191555 228 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 48:05adf4978828 229 speed1 = 0.01;
jessekaiser 48:05adf4978828 230 speed_old1 = 0.01;
jessekaiser 48:05adf4978828 231 speed2 = 0.01;
jessekaiser 48:05adf4978828 232 speed_old2 = 0.01;
jessekaiser 48:05adf4978828 233 } else {
jessekaiser 48:05adf4978828 234 Enabley = 0;
jessekaiser 48:05adf4978828 235 }
jessekaiser 48:05adf4978828 236
jessekaiser 48:05adf4978828 237 }
jessekaiser 48:05adf4978828 238
jessekaiser 48:05adf4978828 239 void looper_motorx()
jessekaiser 48:05adf4978828 240 {
jessekaiser 48:05adf4978828 241 //To the left
jessekaiser 52:b75248e62240 242 force3 = K_Gain*(average_pect/MAX_pect);
jessekaiser 48:05adf4978828 243 force3 = force3 - damping3;
jessekaiser 48:05adf4978828 244 acc3 = force3/Mass;
jessekaiser 48:05adf4978828 245 speed3 = speed_old3 + (acc3 * dt);
jessekaiser 48:05adf4978828 246 damping3 = speed3 * Damp;
jessekaiser 48:05adf4978828 247 step_freq3 = (setpoint*speed3);
jessekaiser 48:05adf4978828 248 speed_old3 = speed3;
jessekaiser 51:75a8c7191555 249
jessekaiser 48:05adf4978828 250 //To the right
jessekaiser 52:b75248e62240 251 force4 = K_Gain*(average_delt/MAX_delt);
jessekaiser 48:05adf4978828 252 force4 = force4 - damping4;
jessekaiser 48:05adf4978828 253 acc4 = force4/Mass;
jessekaiser 48:05adf4978828 254 speed4 = speed_old4 + (acc4 * dt);
jessekaiser 48:05adf4978828 255 damping4 = speed4 * Damp;
jessekaiser 48:05adf4978828 256 step_freq4 = (setpoint*speed4);
jessekaiser 48:05adf4978828 257 speed_old4 = speed4;
jessekaiser 48:05adf4978828 258 if (filtered_pect > filtered_deltoid) {
jessekaiser 48:05adf4978828 259 Dirx = 0;
jessekaiser 48:05adf4978828 260 speed4 = 0.01;
jessekaiser 48:05adf4978828 261 speed_old4 = 0.01;
jessekaiser 48:05adf4978828 262 Stepx.period(1.0/step_freq3);
jessekaiser 51:75a8c7191555 263 }
jessekaiser 51:75a8c7191555 264 if (filtered_deltoid > filtered_pect) {
jessekaiser 48:05adf4978828 265 Dirx = 1;
jessekaiser 48:05adf4978828 266 speed3 = 0.01;
jessekaiser 51:75a8c7191555 267 speed_old3 = 0.01;
jessekaiser 48:05adf4978828 268 Stepx.period(1.0/step_freq4);
jessekaiser 48:05adf4978828 269 }
jessekaiser 48:05adf4978828 270 //Speed limit
jessekaiser 48:05adf4978828 271 if (speed3 > 1) {
jessekaiser 48:05adf4978828 272 speed3 = 1;
jessekaiser 48:05adf4978828 273 step_freq3 = setpoint;
jessekaiser 48:05adf4978828 274 }
jessekaiser 48:05adf4978828 275 if (speed4 > 1) {
jessekaiser 48:05adf4978828 276 speed4 = 1;
jessekaiser 48:05adf4978828 277 step_freq4 = setpoint;
jessekaiser 48:05adf4978828 278 }
jessekaiser 48:05adf4978828 279 //EMG treshold
jessekaiser 48:05adf4978828 280 if (filtered_pect < EMG_tresh && filtered_deltoid < EMG_tresh) {
jessekaiser 51:75a8c7191555 281 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 48:05adf4978828 282 speed3 = 0.01;
jessekaiser 48:05adf4978828 283 speed_old3 = 0.01;
jessekaiser 48:05adf4978828 284 speed4 = 0.01;
jessekaiser 48:05adf4978828 285 speed_old4 = 0.01;
jessekaiser 48:05adf4978828 286 } else {
jessekaiser 48:05adf4978828 287 Enablex = 0;
jessekaiser 48:05adf4978828 288 }
jessekaiser 48:05adf4978828 289
jessekaiser 48:05adf4978828 290 }
jessekaiser 41:a666a531d52e 291 int main()
jessekaiser 41:a666a531d52e 292 {
jessekaiser 48:05adf4978828 293 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 48:05adf4978828 294 scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 48:05adf4978828 295
jessekaiser 48:05adf4978828 296 Ticker emgtimer; //biceps
jessekaiser 48:05adf4978828 297 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 48:05adf4978828 298 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 48:05adf4978828 299 //triceps
jessekaiser 48:05adf4978828 300 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 48:05adf4978828 301 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 51:75a8c7191555 302 //pectoralis major
jessekaiser 48:05adf4978828 303 arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
jessekaiser 48:05adf4978828 304 arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
jessekaiser 48:05adf4978828 305 //deltoid
jessekaiser 48:05adf4978828 306 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 48:05adf4978828 307 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
jessekaiser 48:05adf4978828 308 emgtimer.attach(looper_emg, 0.002);
jessekaiser 48:05adf4978828 309
jessekaiser 50:5e08b74bf023 310 Ticker looptimer1;
jessekaiser 50:5e08b74bf023 311 looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
jessekaiser 51:75a8c7191555 312
jessekaiser 50:5e08b74bf023 313 Ticker looptimer2;
jessekaiser 50:5e08b74bf023 314 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
jessekaiser 51:75a8c7191555 315
jessekaiser 48:05adf4978828 316 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 44:d5aa53e4778c 317 MS1 = 1;
jessekaiser 45:f5d74c7f8fbf 318 MS2 = 0;
jessekaiser 44:d5aa53e4778c 319 MS3 = 0;
jessekaiser 48:05adf4978828 320 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 48:05adf4978828 321 Stepy.write(0.5);
jessekaiser 48:05adf4978828 322
jessekaiser 44:d5aa53e4778c 323 while (1) {
jessekaiser 23:4d050e85e863 324
jessekaiser 51:75a8c7191555 325 //lcd.printf("Bi %.2f ,Tri %.2f \n", filtered_biceps, filtered_triceps); Filtered EMG values
jessekaiser 51:75a8c7191555 326 //lcd.printf("1 %.0f, 2 %.0f, 3 %.0f, 4 %.0f \n", step_freq1, step_freq2, step_freq3, step_freq4); //step_freq value of every EMG sensor
jessekaiser 51:75a8c7191555 327 //wait(0.01);
jessekaiser 0:3acdd563582f 328 }
jessekaiser 48:05adf4978828 329 }