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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:
- 29:83f005c637be
- Parent:
- 28:593929bbdb98
- Child:
- 30:0a8f849e0292
diff -r 593929bbdb98 -r 83f005c637be main.cpp --- a/main.cpp Tue May 19 15:16:50 2015 +0000 +++ b/main.cpp Wed May 20 13:11:05 2015 +0000 @@ -21,9 +21,10 @@ AnalogIn Pot1(p19); AnalogIn emg0(p17); HIDScope scope(2); +Ticker scopeTimer; //lcd -C12832_LCD lcd; +//C12832_LCD lcd; //Variables for motor control float setpoint = 6500; //Frequentie @@ -34,12 +35,12 @@ arm_biquad_casd_df1_inst_f32 lowpass_pot; arm_biquad_casd_df1_inst_f32 lowpass_step; -//lowpass filter potmeter: Fcn = 0.1 Hz, Fs = 100 Hz +//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, //float lowpass_const[] = {0.000009825916403675327, 0.000019651832807350654, 0.000009825916403675327, 1.991114207740345, -0.9911535114059596}; -//lowpass filter potmeter: Fcn = 0.05 Hz, Fs = 500 -//float lowpass_const[] = {0.0055, 0.0111, 0.0055, 1.7786, -0.8008}; +//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}; //EMG filter arm_biquad_casd_df1_inst_f32 lowpass_biceps; @@ -54,14 +55,28 @@ float lowpass_biceps_states[4]; float highnotch_biceps_states[8]; float lowpass_pot_states[4]; +float lowpass1_step_states[4]; //global variabels float filtered_biceps; +float filtered_average_bi; float filtered_pot; float filtered_average_pot; float filtered_step; float pot_value1_f32; +void average_biceps(float filtered_biceps,float *average) +{ + static float total=0; + static float number=0; + total = total + filtered_biceps; + number = number + 1; + if ( number == 50) { + *average = total/50; + total = 0; + number = 0; + } +} void looper_emg() { @@ -69,6 +84,7 @@ 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) @@ -76,13 +92,14 @@ //process emg biceps arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); - filtered_biceps = fabs(filtered_biceps); + filtered_biceps = fabs(filtered_biceps)*10; 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,emg_value1); //Raw EMG signal biceps - //scope.set(1,filtered_biceps); //Filtered signal - // scope.send(); + scope.set(0,filtered_average_bi); //Raw EMG signal biceps + scope.set(1,filtered_biceps); //Filtered signal + } void looper_pot() { @@ -91,9 +108,7 @@ //process input arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 ); - scope.set(0, filtered_pot); - scope.set(1, Pot1.read()); - scope.send(); + } @@ -102,7 +117,7 @@ float new_step_freq; new_step_freq = (setpoint*filtered_pot*2); step_freq = abs(new_step_freq); //Gives the PWM frequenty to the motor. - + //arm_biquad_cascade_df1_f32(&lowpass_step, &step_freq, &filtered_step, 1); if (step_freq < 850) { Enable = 1; @@ -114,18 +129,21 @@ } int main() { - Ticker log_timer; + // 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, 5e3); + + /*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); + log_timer.attach(looper_pot, 0.01);*/ Ticker emgtimer; arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states); arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states); emgtimer.attach(looper_emg, 0.005); - Ticker looptimer; - looptimer.attach(looper_motor, 0.01); + /*Ticker looptimer; + looptimer.attach(looper_motor, 0.01);*/ MS1 = 1; MS2 = 0; @@ -141,8 +159,8 @@ Dir = 1; } Step.write(0.5); - lcd.printf("Freq %.0f Hz Filt %.4f \n", step_freq, filtered_pot); //snelheid meting op lcd - //pc.printf(" %.4f \n", filtered_pot); + //lcd.printf("Freq %.0f Hz Filt %.4f \n", step_freq, filtered_pot); //snelheid meting op lcd + //pc.printf(" %.4f \n", Pot1.read()); //lcd.printf("filt %.3f raw %.3f \n", filtered_biceps, emg0.read()); //pc.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd wait(0.01);