Diff: main.cpp

Revision:

47:150924ff4b2c

Parent:

46:7a7cb589579a

Child:

48:05adf4978828

--- a/main.cpp	Fri Jun 05 12:33:13 2015 +0000
+++ b/main.cpp	Fri Jun 05 13:37:58 2015 +0000
@@ -1,271 +1,55 @@
-/*Code by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table
-Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
-Biceps =            1
-Triceps =           2
-Pectoralis Major =  3
-Deltoid =           4
-The "x" and "y" at the end of variables stand for the X-Spindle or Y-Spindle respectivly. 
-*/
-
 #include "mbed.h"
 #include "C12832_lcd.h"
-#include "arm_math.h"
-#include "HIDScope.h"
 
-#define K_Gain      14      //Gain of the filtered EMG signal
-#define Damp        5       //Deceleration of the motor
-#define Mass        1       // Mass value
-#define dt          0.002   //Sample frequency
-#define MAX_bi      0.09    //Can be used for normalisation of the EMG signal of the biceps
-#define MAX_tri     0.09
-#define MAX_pect    0.09
-#define MAX_delt    0.09
-#define MIN_freq    500     //The motor turns off below this frequency
-#define EMG_tresh   0.02
+#define P_GAIN 0.998
 
-//Motor control
-DigitalOut Dirx(p12);
-DigitalOut Diry(p13);
-PwmOut Stepx(p21);
-PwmOut Stepy(p22);
-
-//Signal to and from computer
-Serial pc(USBTX, USBRX);
-
-DigitalOut Enablex(p24); //Connected to green led
-DigitalOut Enabley(p25); //Connected to blue led 
-
-//Microstepping
+DigitalOut Dir1(p21);
+PwmOut Step1(p22);
+DigitalOut Dir2(p23);
+PwmOut Step2(p24);
+DigitalOut Enable2(p25);
+DigitalOut Enable1(p26);
 DigitalOut MS1(p27);
 DigitalOut MS2(p28);
 DigitalOut MS3(p29);
-
-//Potmeter and EMG
 AnalogIn Pot1(p19);
 AnalogIn Pot2(p20);
-
-AnalogIn emg1(p15); //EMG bordje bovenop, biceps
-AnalogIn emg2(p16); //triceps
-AnalogIn emg3(p17);
-AnalogIn emg4(p18);
-
-HIDScope scope(4);
-Ticker   scopeTimer;
-
-//lcd
 C12832_LCD lcd;
 
-//Variables for motor control
-float setpoint = 4400; //Frequentie setpint
-float step_freq1 = 1;
-float step_freq2 = 1;
-float step_freq3 = 1;
-float step_freq4 = 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, 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;
-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};
-
-//state values
-float lowpass_biceps_states[4];
-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 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;
-
-void looper_emg()
-{
-    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
-    filtered_biceps = fabs(filtered_biceps);                                                //Rectifier
-    arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );    //low pass filter
-
-    //process emg triceps
-    arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
-    filtered_triceps = fabs(filtered_triceps);
-    arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
-
-    //process emg triceps
-    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 triceps
-    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); 
-}
-
-void looper_motory()
-{
-    //Vooruit
-    force1 = K_Gain*(filtered_biceps/MAX_bi);
-    force1 = force1 - damping1;
-    acc1 = force1/Mass;
-    speed1 = speed_old1 + (acc1 * dt);
-    damping1 = speed1 * Damp;
-    step_freq1 = (setpoint*speed1);
-    speed_old1 = speed1;
-    
-    //Achteruit triceps
-    force2 = K_Gain*(filtered_triceps/MAX_tri);
-    force2 = force2 - damping2;
-    acc2 = force2/Mass;
-    speed2 = speed_old2 + (acc2 * dt);
-    damping2 = speed2 * Damp;
-    step_freq2 = (setpoint*speed2);
-    speed_old2 = speed2;
-    if (filtered_biceps > filtered_triceps) {
-        Diry = 0;
-        speed2 = 0.01;
-        speed_old2 = 0.01;
-        Stepy.period(1.0/step_freq1);
-    } if (filtered_triceps > filtered_biceps) {
-        Diry = 1;
-        speed1 = 0.01;
-        speed_old1 = 0.01;  
-        Stepy.period(1.0/step_freq2);
-    }
-    //Speed limit
-    if (speed1 > 1) {
-        speed1 = 1;
-        step_freq1 = setpoint;
-    }
-    if (speed2 > 1) {
-        speed2 = 1;
-        step_freq2 = setpoint;
-    }
-    //EMG treshold
-    if (filtered_biceps < EMG_tresh && filtered_triceps < EMG_tresh) {
-        Enabley = 1; //Enable = 1 turns the motor off. 
-        speed1 = 0.01;
-        speed_old1 = 0.01;
-        speed2 = 0.01;
-        speed_old2 = 0.01;
-    } else {
-        Enabley = 0;
-    }
-
-}
-
-void looper_motorx()
-{
-    //To the left
-    force3 = K_Gain*(filtered_pect/MAX_pect);
-    force3 = force3 - damping3;
-    acc3 = force3/Mass;
-    speed3 = speed_old3 + (acc3 * dt);
-    damping3 = speed3 * Damp;
-    step_freq3 = (setpoint*speed3);
-    speed_old3 = speed3;
-    
-    //To the right
-    force4 = K_Gain*(filtered_deltoid/MAX_delt);
-    force4 = force4 - damping4;
-    acc4 = force4/Mass;
-    speed4 = speed_old4 + (acc4 * dt);
-    damping4 = speed4 * Damp;
-    step_freq4 = (setpoint*speed4);
-    speed_old4 = speed4;
-    if (filtered_pect > filtered_deltoid) {
-        Dirx = 0;
-        speed4 = 0.01;
-        speed_old4 = 0.01;
-        Stepy.period(1.0/step_freq3);
-    } if (filtered_triceps > filtered_biceps) {
-        Dirx = 1;
-        speed3 = 0.01;
-        speed_old3 = 0.01;  
-        Stepy.period(1.0/step_freq4);
-    }
-    //Speed limit
-    if (speed3 > 1) {
-        speed3 = 1;
-        step_freq3 = setpoint;
-    }
-    if (speed4 > 1) {
-        speed4 = 1;
-        step_freq4 = setpoint;
-    }
-    //EMG treshold
-    if (filtered_pect < EMG_tresh && filtered_deltoid < EMG_tresh) {
-        Enablex = 1; //Enable = 1 turns the motor off. 
-        speed3 = 0.01;
-        speed_old3 = 0.01;
-        speed4 = 0.01;
-        speed_old4 = 0.01;
-    } else {
-        Enablex = 0;
-    }
-
-}
+BusIn Joystick(p12,p13,p14,p15,p16);
+DigitalIn Up(p15);
+DigitalIn Down(p12);
 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);
-
-    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, 0.002);
-
-    Ticker looptimer;
-    looptimer.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
-    looptimer.attach(looper_motory, 0.01); //Y-Spindle motor
-    
-    //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
+    Enable1 = 1;
+    Enable2 = 1;
+    float setpoint = 1500; //Frequentie
+    float step_freq1 = 1;
+    float step_freq2 = 1;
     MS1 = 1;
     MS2 = 0;
     MS3 = 0;
-    Stepx.write(0.5); // Duty cycle of 50%
-    Stepy.write(0.5);
-
+    //Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
+    Step1.write(0.5); // Duty cycle van 50%
+    Step2.write(0.5);
+    // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder.
+    Enable1 = 0;
+    Enable2 = 0;
     while (1) {
+        Dir1 = 0; //0 Naar links (grote motor)
+        float new_step_freq1;
+        new_step_freq1 = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq1);
+        step_freq1 = new_step_freq1;
+        Step1.period(1.0/step_freq1);
 
-        //lcd.printf("Bi %.2f ,Tri %.2f \n", filtered_biceps, filtered_triceps); Filtered EMG values 
-        lcd.printf("1 %.0f, 2 %.0f, 3 %.0f, 4 %.0f \n", step_freq1, step_freq2, step_freq3, step_freq4); //step_freq value of every EMG sensor
-        wait(0.01);
+        Dir2 = 0; //0 Naar onder (kleine motor)
+        float new_step_freq2;
+        new_step_freq2 = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq2);
+        step_freq2 = new_step_freq2;
+        Step2.period(1.0/step_freq2);
+
+        lcd.printf("freq : %.0f, %.0f \n", step_freq1, step_freq2);
+        wait(0.01); //Hier nog ticker inbouwen
+
     }
-}
+}
\ No newline at end of file