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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
Diff: main.cpp
- Revision:
- 31:372ff8d49430
- Parent:
- 30:0a8f849e0292
- Child:
- 32:46b18f465600
diff -r 0a8f849e0292 -r 372ff8d49430 main.cpp --- a/main.cpp Thu May 21 10:15:37 2015 +0000 +++ b/main.cpp Thu May 21 15:38:12 2015 +0000 @@ -3,6 +3,11 @@ #include "arm_math.h" #include "HIDScope.h" +#define P_Gain 0.995 +#define tres_bi 0.05 //Biceps emg treshold +#define Mass 1 // Mass value +#define dt 0.002 //Sample frequency + //Motor control DigitalOut Dir(p21); PwmOut Step(p22); @@ -19,6 +24,7 @@ //Potmeter and EMG AnalogIn Pot1(p19); +AnalogIn Pot2(p20); AnalogIn emg0(p17); HIDScope scope(2); Ticker scopeTimer; @@ -37,7 +43,7 @@ //lowpass filter settings: Fc = 1 Hz, Fs = 100 Hz, Gain = -3 dB onepole-lp float lowpass_const[] = {0.0201, 0.0402 , 0.0201, 1.5610, -0.6414}; -//Lowpass filter potmeter: Fc = 0.5 Hz, Fs = 500 Hz, +//Lowpass filter potmeter: Fc = 0.5 Hz, Fs = 500 Hz, //float lowpass_const[] = {0.000009825916403675327, 0.000019651832807350654, 0.000009825916403675327, 1.991114207740345, -0.9911535114059596}; //lowpass for step_freq: Fc = 2 Hz, Fs = 100, Gain = 6 dB //float lowpass1_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936}; @@ -47,8 +53,8 @@ //lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB float lowpass2_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751}; arm_biquad_casd_df1_inst_f32 highnotch_biceps; -//highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB -float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533}; +//highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB +float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533}; //state values @@ -65,7 +71,14 @@ float filtered_step; float pot_value1_f32; float filt_avg_bi_old; -float speed_old; +float speed_old; +float acc; +float force; +float spd; +float spd_old; +float D = 0; +float Damp; +float K_Gain; void average_biceps(float filtered_biceps,float *average) { @@ -86,7 +99,7 @@ volatile uint16_t emg_value1; float emg_value1_f32; - + /*put raw emg value both in red and in emg_value*/ emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) @@ -94,31 +107,31 @@ //process emg biceps arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); - filtered_biceps = fabs(filtered_biceps)*10; + filtered_biceps = fabs(filtered_biceps); arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); average_biceps(filtered_biceps,&filtered_average_bi); /*send value to PC. */ scope.set(0,filtered_average_bi); //Raw EMG signal biceps scope.set(1,filtered_biceps); //Filtered signal - + } -void looper_pot() +/*void looper_pot() { pot_value1_f32 = Pot1.read() - 0.500; //process input arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 ); - -} + +}*/ -void looper_motor() +/*void looper_motor() { float new_step_freq; float speed; - + speed = 0.02*filtered_average_bi + 0.02*filt_avg_bi_old + 0.96*speed_old; //Value between 0 and 1 new_step_freq = (setpoint*speed); step_freq = abs(new_step_freq); //Gives the PWM frequenty to the motor. @@ -130,18 +143,58 @@ } else { Enable = 0; } - Step.period(1.0/(100 + step_freq)); //Step_freq is het aantal Hz. + Step.period(1.0/(100 + step_freq)); //Step_freq is het aantal Hz. + +}*/ +//Motor accelereren met EMG treshold +/*void looper_motor() +{ + float new_step_freq; + Dir = 0; + + if (filtered_average_bi > tres_bi) { + Enable = 0; + new_step_freq = ((1-P)*setpoint) + (P*step_freq); + step_freq = new_step_freq; + Step.period(1.0/step_freq); + } else { + Enable = 1; + step_freq = 1; + } + +}*/ +void looper_motor() +{ + Dir = 0; + K_Gain = 20*Pot2.read(); + force = K_Gain*filtered_biceps; + force = force - D; + acc = force/Mass; + spd = spd_old + (acc * dt); + Damp = 2*Pot1.read(); + D = spd * Damp; + step_freq = (setpoint*spd); + Step.period(1.0/step_freq); + spd_old = spd; + + if (step_freq < 800) { + Enable = 1; + } else { + Enable = 0; + } } + + int main() { - // Attach the HIDScope::send method from the scope object to the timer at 50Hz. Hier wordt de sample freq aangegeven. - scopeTimer.attach_us(&scope, &HIDScope::send, 2e3); - - /* Ticker log_timer; - //set up filters. Use external array for constants - arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states); - log_timer.attach(looper_pot, 0.01);*/ + // Attach the HIDScope::send method from the scope object to the timer at 50Hz. Hier wordt de sample freq aangegeven. + scopeTimer.attach_us(&scope, &HIDScope::send, 2e3); + + /* Ticker log_timer; + //set up filters. Use external array for constants + arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states); + log_timer.attach(looper_pot, 0.01);*/ Ticker emgtimer; arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states); @@ -149,7 +202,7 @@ emgtimer.attach(looper_emg, 0.002); Ticker looptimer; - looptimer.attach(looper_motor, 0.002); + looptimer.attach(looper_motor, 0.01); MS1 = 1; MS2 = 0;