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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:
- 82:bcd96c98af2d
- Parent:
- 81:4263d0ce34d3
- Child:
- 83:067e07db027c
diff -r 4263d0ce34d3 -r bcd96c98af2d main.cpp --- a/main.cpp Mon Jun 22 15:18:08 2015 +0000 +++ b/main.cpp Mon Jun 22 20:22:57 2015 +0000 @@ -13,18 +13,22 @@ //#include "HIDScope.h" #define P_Gain 0.99 -#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 +#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 +#define MAX_bi 0.40 //Can be used for normalisation of the EMG signal of the biceps +#define MAX_tri 0.60 +#define MAX_pect 0.48 +#define MAX_delt 1.07 #define EMG_tresh1 0.01 #define EMG_tresh2 0.01 #define EMG_tresh3 0.01 #define EMG_tresh4 0.01 #define H_Gain 3.5 -#define Pt_x 0.83 -#define Pt_y 0.25 -#define error_tresh 0.01 +#define Pt_x 0.50 +#define Pt_y 0.50 +#define error_tresh 0.03 //Motor control DigitalOut Dirx(p21); @@ -47,15 +51,15 @@ DigitalOut MS3(p29); //EMG inputs -AnalogIn emg1(p15); -AnalogIn emg2(p16); +AnalogIn emg1(p15); //EMG bordje bovenop, biceps +AnalogIn emg2(p16); //triceps AnalogIn emg3(p17); AnalogIn emg4(p18); //HIDScope scope(4); //Ticker scopeTimer; -//lcd screen +//lcd C12832_LCD lcd; //Variables for motor control @@ -69,7 +73,7 @@ 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 +//lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB 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; @@ -90,11 +94,11 @@ //global variabels float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid; -float speed_old1, speed_old2; -float acc1, acc2; -float force1, force2; -float speed1, speed2; -float damping1, damping2; +float speed_old1, speed_old2, speed_old3, speed_old4; +float acc1, acc2, acc3, acc4; +float force1, force2, force3, force4; +float speed1, speed2, speed3, speed4; +float damping1, damping2, damping3, damping4; float emg_x, emg_y; float cx = 0; float cy = 0; @@ -144,6 +148,7 @@ void looper_motory() { + emg_y = (filtered_biceps - filtered_triceps); emg_y_abs = fabs(emg_y); force1 = emg_y_abs*K_Gain; @@ -173,6 +178,7 @@ } else { Enabley = 0; } + } /*void looper_motorx() @@ -213,86 +219,99 @@ { // 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; +/* + MS1 = 1; + MS2 = 0; + MS3 = 0; + + Stepx.write(0.5); // Duty cycle of 50% + Stepy.write(0.5); - 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) { - Enablex = 1; - Enabley = 1; - wait(1); - lcd.printf("Start homing"); - wait(2); - lcd.cls(); - wait(1); - Enablex = 0; - Enabley = 0; + 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; + //errorx = Pt_x - Ps_x; + cx = errorx * H_Gain; - //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()); - + 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; + //errory = Ps_y - Pt_y; + cy = errory * H_Gain; - if (Ps_x < Pt_x && 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 > 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); - } + 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; - if (Ps_x > Pt_x && 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 < Pt_y && 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); - } + 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; - */ + + } + 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); @@ -307,7 +326,7 @@ arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states); emgtimer.attach(looper_emg, 0.01); - // Ticker looptimer1; + //Ticker looptimer1; //looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq? Ticker looptimer2; @@ -315,11 +334,13 @@ //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0) + + while (1) { - - //pc.printf("x %.2f, y %.2f \n", Ps_y, emg_y); - //lcd.printf("%.2f %.2f %.2f %.2f \n", speed1, step_freq1, speed2, step_freq2); - wait(0.01); + + + pc.printf("%.2f %.2f %.2f \n", Posy.read(), emg_y, step_freq1); //Send signal values to the computer. + wait(0.01); } }