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:
- 26:b88ff19ff5dc
- Parent:
- 25:144eb5822aa7
- Child:
- 27:c7b1851c9bb7
diff -r 144eb5822aa7 -r b88ff19ff5dc main.cpp --- a/main.cpp Fri May 08 15:01:30 2015 +0000 +++ b/main.cpp Mon May 11 15:37:58 2015 +0000 @@ -36,10 +36,10 @@ arm_biquad_casd_df1_inst_f32 lowpass_pot; arm_biquad_casd_df1_inst_f32 lowpass_step; -//lowpass filter settings: Fc = 2 Hz, Fs = 100 Hz, Gain = 6 dB -float lowpass_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936}; +//lowpass filter settings: Fc = 0.5 Hz, Fs = 100 Hz, Gain = -3 dB +float lowpass_const[] = {0.06089863257570727, 0, 0, 0.9391013674242927, 0}; //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}; +//float lowpass1_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936}; //EMG filter arm_biquad_casd_df1_inst_f32 lowpass_biceps; @@ -99,36 +99,36 @@ float new_step_freq; new_step_freq = (setpoint*pot_value1_f32*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); - + //arm_biquad_cascade_df1_f32(&lowpass_step, &step_freq, &filtered_step, 1); + if (step_freq < 700) { - Enable = 1; } - else { - Enable = 0; - } + Enable = 1; + } else { + Enable = 0; + } Step.period(1.0/step_freq); - + } int main() { - /*Ticker log_timer; + 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; + 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, 0.01); + emgtimer.attach(looper_emg, 0.002);*/ Ticker looptimer; - arm_biquad_cascade_df1_init_f32(&lowpass_step, 1, lowpass1_const, lowpass1_step_states); + //arm_biquad_cascade_df1_init_f32(&lowpass_step, 1, lowpass1_const, lowpass1_step_states); looptimer.attach(looper_motor, 0.01); MS1 = 1; MS2 = 0; MS3 = 0; - Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer. + Step.period(1./step_freq); Step.write(0.5); // Duty cycle van 50% while (1) { @@ -138,13 +138,13 @@ } else { Dir = 1; } - - //lcd.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd - pc.printf("filt %.3f raw %.3f \n", filtered_biceps, emg0.read()); - lcd.printf("filt %.3f raw %.3f \n", filtered_biceps, emg0.read()); + + lcd.printf("Raw %.4f Hz Filt %.4f \n", Pot1.read(), 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(0.1); + wait(0.01); } -} \ No newline at end of file +}