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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:
- 78:9cae6de48b0e
- Parent:
- 77:f3290f86ae4f
- Child:
- 79:251d73ddbc8b
diff -r f3290f86ae4f -r 9cae6de48b0e main.cpp --- a/main.cpp Mon Jun 22 11:07:32 2015 +0000 +++ b/main.cpp Mon Jun 22 11:52:27 2015 +0000 @@ -23,10 +23,12 @@ #define EMG_tresh4 0.01 #define H_Gain 3.5 #define Pt_x 0.50 -#define Pt_y 0.25 +#define Pt_y 0.50 #define error_tresh 0.01 //Motor control +DigitalOut Dirx(p21); +PwmOut Stepx(p22); DigitalOut Diry(p23); PwmOut Stepy(p24); @@ -34,7 +36,9 @@ Serial pc(USBTX, USBRX); //Position sensors +AnalogIn Posx(p19); AnalogIn Posy(p20); +DigitalOut Enablex(p25); DigitalOut Enabley(p26); //Microstepping @@ -43,8 +47,10 @@ DigitalOut MS3(p29); //EMG inputs -AnalogIn emg1(p15); -AnalogIn emg2(p16); +AnalogIn emg1(p15); +AnalogIn emg2(p16); +AnalogIn emg3(p17); +AnalogIn emg4(p18); //HIDScope scope(4); //Ticker scopeTimer; @@ -55,15 +61,20 @@ //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}; @@ -72,10 +83,14 @@ 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; -float speed_old1, speed_old2; +float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid; +float speed_old1, speed_old; float acc1, acc2; float force1, force2; float speed1, speed2; @@ -94,10 +109,11 @@ void looper_emg() { - float emg_value1_f32, emg_value2_f32; + float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_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 @@ -109,12 +125,21 @@ 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(1,filtered_triceps); + scope.set(2,filtered_pect); + scope.set(3,filtered_deltoid);*/ } void looper_motory() @@ -149,101 +174,164 @@ } else { Enabley = 0; } +} +/*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; + 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", errorx, errory); + + + 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); - - 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 > Pt_y && 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 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); - if (Ps_y < 0.25 && 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 looptimer1; + //looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq? - } - 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; -*/ - MS1 = 1; - MS2 = 0; - MS3 = 0; + Ticker looptimer2; + looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor - 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) + //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0) - while (1) { + while (1) { - //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", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values + //lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2); //step_freq value of every EMG sensor + pc.printf("%.2f %.2f %.2f \n", Stepy.read(), step_freq1, speed1); + wait(0.01); - } - } + } +}