![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
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:
- 89:7882984abbe8
- Parent:
- 88:c9146d957102
- Child:
- 90:399b877f8a77
diff -r c9146d957102 -r 7882984abbe8 main.cpp --- a/main.cpp Thu Jun 25 10:34:00 2015 +0000 +++ b/main.cpp Thu Jun 25 11:03:22 2015 +0000 @@ -13,7 +13,7 @@ //#include "HIDScope.h" #define P_Gain 0.99 -#define K_Gain 175 //Gain of the filtered EMG signal +#define K_Gain 150 //Gain of the filtered EMG signal #define Damp 5 //Deceleration of the motor #define Mass 1 // Mass value #define dt 0.01 //Sample frequency @@ -31,24 +31,24 @@ #define error_tresh 0.03 //Motor control -DigitalOut Dirx(p21); -PwmOut Stepx(p22); +DigitalOut Dirx(p25); +PwmOut Stepx(p26); DigitalOut Diry(p23); -PwmOut Stepy(p24); +PwmOut Stepy(p28); //Signal to and from computer Serial pc(USBTX, USBRX); //Position sensors -AnalogIn Posx(p19); -AnalogIn Posy(p20); -DigitalOut Enablex(p25); -DigitalOut Enabley(p26); +AnalogIn Posx(p20); +AnalogIn Posy(p19); +DigitalOut Enablex(p27); +DigitalOut Enabley(p39); //Microstepping -DigitalOut MS1(p27); -DigitalOut MS2(p28); -DigitalOut MS3(p29); +DigitalOut MS1(p29); +DigitalOut MS2(p30); +DigitalOut MS3(p31); //EMG inputs AnalogIn emg1(p15); //EMG bordje bovenop, biceps @@ -146,7 +146,7 @@ scope.set(3,filtered_deltoid);*/ } -void looper_motory() +/*void looper_motory() { emg_y = (filtered_biceps - filtered_triceps); @@ -179,9 +179,9 @@ Enabley = 0; } -} +}*/ -/*void looper_motorx() +void looper_motorx() { emg_x = (filtered_pect - filtered_deltoid); @@ -196,10 +196,10 @@ speed_old2 = speed2; if (emg_x > 0) { - Dirx = 0; + Dirx = 1; } if (emg_x < 0) { - Dirx = 1; + Dirx = 0; } //Speed limit if (speed2 > 1) { @@ -213,13 +213,13 @@ Enablex = 0; } -}*/ +} int main() { - // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven. + /* // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven. // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3); -/* + MS1 = 1; MS2 = 0; MS3 = 0; @@ -230,22 +230,34 @@ Enablex = 1; Enabley = 1; wait(1); - lcd.printf("Start homing"); + pc.printf("Start homing"); wait(2); - lcd.cls(); + //lcd.cls(); wait(1); Enablex = 0; Enabley = 0; - while(errorx > error_tresh || errory > error_tresh) { + while(errorx > error_tresh) { Ps_x = Posx.read(); Ps_y = Posy.read(); errorx = fabs(Pt_x - Ps_x); errory = fabs(Ps_y - Pt_y); - lcd.printf("%.2f %.2f \n", errorx, errory); + - - if (Ps_x < 0.50 && errorx > error_tresh) { + + if (Ps_x < Pt_x && errorx > error_tresh) { + Dirx = 1; + //errorx = Pt_x - Ps_x; + cx = errorx * H_Gain; + + float hnew_step_freqx; + hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx); + hstep_freqx = hnew_step_freqx; + Stepx.period(1.0/hstep_freqx); + wait(0.01); + } + + if (Ps_x > Pt_x && errorx > error_tresh) { Dirx = 0; //errorx = Pt_x - Ps_x; cx = errorx * H_Gain; @@ -256,41 +268,7 @@ Stepx.period(1.0/hstep_freqx); wait(0.01); } - if (Ps_y > 0.50 && errory > error_tresh) { - Diry = 0; - //errory = Ps_y - Pt_y; - cy = errory * H_Gain; - - float hnew_step_freqy; - hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy); - hstep_freqy = hnew_step_freqy; - Stepy.period(1.0/hstep_freqy); - wait(0.01); - } - - if (Ps_x > 0.50 && errorx > error_tresh) { - Dirx = 1; - //errorx = Pt_x - Ps_x; - cx = errorx * H_Gain; - - float hnew_step_freqx; - hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx); - hstep_freqx = hnew_step_freqx; - Stepx.period(1.0/hstep_freqx); - wait(0.01); - } - if (Ps_y < 0.50 && errory > error_tresh) { - Diry = 1; - //errory = Ps_y - Pt_y; - cy = errory * H_Gain; - - float hnew_step_freqy; - hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy); - hstep_freqy = hnew_step_freqy; - Stepy.period(1.0/hstep_freqy); - wait(0.01); - } - + pc.printf("%.2f %.2f %.0f %.0f\n", errorx, Ps_x, Dirx, hstep_freqx); } lcd.printf("Done"); wait(2); @@ -326,11 +304,11 @@ arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states); emgtimer.attach(looper_emg, 0.01); - //Ticker looptimer1; - //looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq? + Ticker looptimer1; + looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq? - Ticker looptimer2; - looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor + //Ticker looptimer2; + //looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0) @@ -339,7 +317,7 @@ while (1) { - pc.printf("%.2f %.2f %.2f \n", Posy.read(), emg_y, step_freq1); //Send signal values to the computer. + pc.printf("%.2f %.2f %.2f \n", Posx.read(), emg_x, step_freq2); //Send signal values to the computer. wait(0.01); }