Diff: main.cpp

Revision:

73:8cc2826ab1c4

Parent:

72:4d01b79ad332

Child:

74:a9281e4ae9bb

diff -r 4d01b79ad332 -r 8cc2826ab1c4 main.cpp
--- a/main.cpp	Mon Jun 22 08:41:15 2015 +0000
+++ b/main.cpp	Mon Jun 22 08:51:19 2015 +0000
@@ -27,8 +27,6 @@
 #define error_tresh 0.01
 
 //Motor control
-DigitalOut Dirx(p21);
-PwmOut Stepx(p22);
 DigitalOut Diry(p23);
 PwmOut Stepy(p24);
 
@@ -36,9 +34,7 @@
 Serial pc(USBTX, USBRX);
 
 //Position sensors
-AnalogIn Posx(p19);
 AnalogIn Posy(p20);
-DigitalOut Enablex(p25);
 DigitalOut Enabley(p26);
 
 //Microstepping
@@ -49,8 +45,6 @@
 //EMG inputs
 AnalogIn emg1(p15);
 AnalogIn emg2(p16);
-AnalogIn emg3(p17);
-AnalogIn emg4(p18);
 
 //HIDScope scope(4);
 //Ticker   scopeTimer;
@@ -61,20 +55,15 @@
 //Variables for motor control
 float setpoint = 2000; //Frequentie setpoint
 float step_freq1 = 1;
-float step_freq2 = 1;
 
 
 //EMG filter
 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
 arm_biquad_casd_df1_inst_f32 lowpass_triceps;
-arm_biquad_casd_df1_inst_f32 lowpass_pect;
-arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz
 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
 arm_biquad_casd_df1_inst_f32 highnotch_triceps;
-arm_biquad_casd_df1_inst_f32 highnotch_pect;
-arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
 float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
 
@@ -83,13 +72,9 @@
 float highnotch_biceps_states[8];
 float lowpass_triceps_states[4];
 float highnotch_triceps_states[8];
-float lowpass_pect_states[4];
-float highnotch_pect_states[8];
-float lowpass_deltoid_states[4];
-float highnotch_deltoid_states[8];
 
 //global variabels
-float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
+float filtered_biceps, filtered_triceps;
 float speed_old1, speed_old2;
 float acc1, acc2;
 float force1, force2;
@@ -109,11 +94,10 @@
 
 void looper_emg()
 {
-    float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
+    float emg_value1_f32, emg_value2_f32;
     emg_value1_f32 = emg1.read();
     emg_value2_f32 = emg2.read();
-    emg_value3_f32 = emg3.read();
-    emg_value4_f32 = emg4.read();
+
 
     //process emg biceps
     arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );   //High pass and notch filter
@@ -125,24 +109,15 @@
     filtered_triceps = fabs(filtered_triceps);
     arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
 
-    //process emg pectoralis major
-    arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
-    filtered_pect = fabs(filtered_pect);
-    arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
 
-    //process emg deltoid
-    arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
-    filtered_deltoid = fabs(filtered_deltoid);
-    arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
 
     /*send value to PC.
     scope.set(0,filtered_biceps); //Filtered EMG signal
-    scope.set(1,filtered_triceps);
-    scope.set(2,filtered_pect);
-    scope.set(3,filtered_deltoid);*/
+    scope.set(1,filtered_triceps);*/
+
 }
 
-/*void looper_motor()
+void looper_motory()
 {
 
     emg_y = (filtered_biceps - filtered_triceps);
@@ -174,260 +149,101 @@
     } else {
         Enabley = 0;
     }
-    wait(0.01);
-
-    emg_x = (filtered_pect - filtered_deltoid);
-    emg_x_abs = fabs(emg_x);
-    force2 = emg_x_abs*K_Gain;
-    force2 = force2 - damping2;
-    acc2 = force2/Mass;
-    speed2 = speed_old2 + (acc2 * dt);
-    damping2 = speed2 * Damp;
-    step_freq2 = setpoint * speed2;
-    Stepx.period(1.0/step_freq2);
-    speed_old2 = speed2;
-
-    if (emg_x > 0) {
-        Dirx = 0;
-    }
-    if (emg_x < 0) {
-        Dirx = 1;
-    }
-    //Speed limit
-    if (speed2 > 1) {
-        speed2 = 1;
-        step_freq2 = setpoint;
-    }
-    //EMG treshold
-    if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
-        Enablex = 1; //Enable = 1 turns the motor off.
-    } else {
-        Enablex = 0;
-    }
-    wait(0.01);
-}
 
 
 
-void looper_motorx()
-{
-
-    emg_x = (filtered_pect - filtered_deltoid);
-    emg_x_abs = fabs(emg_x);
-    force2 = emg_x_abs*K_Gain;
-    force2 = force2 - damping2;
-    acc2 = force2/Mass;
-    speed2 = speed_old2 + (acc2 * dt);
-    damping2 = speed2 * Damp;
-    step_freq2 = setpoint * speed2;
-    Stepx.period(1.0/step_freq2);
-    speed_old2 = speed2;
-
-    if (emg_x > 0) {
-        Dirx = 0;
-    }
-    if (emg_x < 0) {
-        Dirx = 1;
-    }
-    //Speed limit
-    if (speed2 > 1) {
-        speed2 = 1;
-        step_freq2 = setpoint;
-    }
-    //EMG treshold
-    if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
-        Enablex = 1; //Enable = 1 turns the motor off.
-    } else {
-        Enablex = 0;
-    }
-
-}*/
+}
 
 int main()
 {
     // 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;
 
-        Stepx.write(0.5); // Duty cycle of 50%
-        Stepy.write(0.5);
-
-        Enablex = 1;
-        Enabley = 1;
-        wait(1);
-        lcd.printf("Start homing");
-        wait(2);
-        lcd.cls();
-        wait(1);
-        Enablex = 0;
-        Enabley = 0;
-
-        //Homing of the motor, so you start from the same position every time.
-        while(errorx > error_tresh || errory > 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", Stepx.read(), Stepy.read());
-
-
-            if (Ps_x < 0.50 && errorx > error_tresh) {
-                Dirx = 0;
-                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 = 0;
-                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;
-                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;
-                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);
-            }
-
-        }
-        lcd.printf("Done");
-        wait(2);
-        lcd.cls();
-        wait(1);
-        Enablex = 1;
-        Enabley = 1;
-        wait(3);
-        lcd.printf("Start EMG Control");
-        wait(2);
-        lcd.cls();
-        wait(1);
-        Enablex = 0;
-        Enabley = 0;
-    
     MS1 = 1;
     MS2 = 0;
     MS3 = 0;
-    Stepx.write(0.5); // Duty cycle of 50%
+
+   
     Stepy.write(0.5);
 
-    Ticker emgtimer;    //biceps
-    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);
-    //triceps
-    arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
-    arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
-    //pectoralis major
-    arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
-    arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
-    //deltoid
-    arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
-    arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
-    emgtimer.attach(looper_emg, 0.01);
+
+    Enabley = 1;
+    wait(1);
+    lcd.printf("Start homing");
+    wait(2);
+    lcd.cls();
+    wait(1);
+    Enabley = 0;
+
+    //Homing of the motor, so you start from the same position every time.
+    while(errory > error_tresh) {
+
+        Ps_y = Posy.read();
+        errory = fabs(Ps_y - Pt_y);
+        lcd.printf("%.2f \n",  Stepy.read());
+
+                   if (Ps_y > 0.50 && errory > error_tresh) {
+                   Diry = 0;
+                   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);
+               }
+
 
-    //Ticker looptimer1;
-    //looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
+                   if (Ps_y < 0.50 && errory > error_tresh) {
+                   Diry = 1;
+                   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);
+               }
 
-    //Ticker looptimer2;
-    //looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
+               }
+                   lcd.printf("Done");
+                   wait(5);
+                   lcd.cls();
+                   wait(1);
+                   
+                   Enabley = 1;
+                   wait(3);
+                   lcd.printf("Start EMG Control");
+                   wait(2);
+                   lcd.cls();
+                   wait(1);
+                   
+                   Enabley = 0;
 
-    //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
+                   MS1 = 1;
+                   MS2 = 0;
+                   MS3 = 0;
+
+                   Stepy.write(0.5);
+
+                   Ticker emgtimer;    //biceps
+                   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);
+                   //triceps
+                   arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
+                   arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
+                   emgtimer.attach(looper_emg, 0.01);
+
+                   Ticker looptimer2;
+                   looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
+
+                   //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
 
 
 
-    while (1) {
-
-       
-        emg_y = (filtered_biceps - filtered_triceps);
-        emg_y_abs = fabs(emg_y);
-        force1 = emg_y_abs*K_Gain;
-        force1 = force1 - damping1;
-        acc1 = force1/Mass;
-        speed1 = speed_old1 + (acc1 * dt);
-        damping1 = speed1 * Damp;
-        step_freq1 = setpoint * speed1;
-      
-        Stepy.period(1.0/step_freq1);
-        speed_old1 = speed1;
-
-        if (emg_y > 0) {
-            Diry = 1;
-        }
+                   while (1) {
 
-        if (emg_y < 0) {
-            Diry = 0;
-        }
-        //Speed limit
-        if (speed1 > 1) {
-            speed1 = 1;
-            step_freq1 = setpoint;
-        }
-        //EMG treshold
-        if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
-            Enabley = 1; //Enable = 1 turns the motor off.
-        } else {
-            Enabley = 0;
-        }
-        wait(0.01);
-        
-       
-        emg_x = (filtered_pect - filtered_deltoid);
-        emg_x_abs = fabs(emg_x);
-        force2 = emg_x_abs*K_Gain;
-        force2 = force2 - damping2;
-        acc2 = force2/Mass;
-        speed2 = speed_old2 + (acc2 * dt);
-        damping2 = speed2 * Damp;
-        step_freq2 = setpoint * speed2;
-     
-        Stepx.period(1.0/step_freq2);
-        speed_old2 = speed2;
-        
-        if (emg_x > 0) {
-            Dirx = 0;
-        }
-        if (emg_x < 0) {
-            Dirx = 1;
-        }
-        //Speed limit
-        if (speed2 > 1) {
-            speed2 = 1;
-            step_freq2 = setpoint;
-        }
-        //EMG treshold
-        if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
-            Enablex = 1; //Enable = 1 turns the motor off.
-        } else {
-            Enablex = 0;
-        }
-        wait(0.01);
+                   //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
+                   lcd.printf("%.2f %.2f %.2f %.2f  \n", Stepy.read(), step_freq1);
+                   wait(0.01);
 
-        //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
-        lcd.printf("%.2f %.2f %.2f %.2f  \n", Stepx.read(), step_freq1, Stepy.read(), step_freq2);
-        wait(0.01);
-
-    }
-}
+               }
+               }