Er is uitleg bijgeschreven en pwm_percentage heeft een andere naam
Dependencies: Encoder HIDScope MODSERIAL mbed-dsp mbed
Fork of Lampje_EMG_Gr6 by
main.cpp
- Committer:
- irisl
- Date:
- 2014-11-01
- Revision:
- 27:691779624530
- Parent:
- 26:9859a71456fd
- Child:
- 28:c33a0658605e
File content as of revision 27:691779624530:
#include "mbed.h" #include "HIDScope.h" #include "arm_math.h" #include "MODSERIAL.h" #include "encoder.h" #include "PwmOut.h" #define TSAMP 0.005 #define K_P1 (3.5) //voor motor1 is het 3.5 #define K_I1 (0.01 *TSAMP) //voor motor1 is het 0.01 #define K_P2 (0.7) #define K_I2 (0.01 *TSAMP) #define I_LIMIT 1. //#define PI 3.14159265 #define l_arm 0.5 #define M1_PWM PTC8 #define M1_DIR PTC9 #define M2_PWM PTA5 #define M2_DIR PTA4 //Groene kabel moet op de GROUND en blauw op de 3.3v aansluiting Serial pc(USBTX, USBRX); DigitalOut myledred(PTB3); DigitalOut myledgreen(PTB1); DigitalOut myledblue(PTB2); //Define objects AnalogIn emg0(PTB0); //Analog input AnalogIn emg1(PTC2); //Analog input HIDScope scope(4); //motor 25D Encoder motor1(PTD3,PTD5); //wit, geel PwmOut pwm_motor1(M2_PWM); DigitalOut motordir1(M2_DIR); //motor2 37D Encoder motor2(PTD2, PTD0); //wit, geel PwmOut pwm_motor2(M1_PWM); DigitalOut motordir2(M1_DIR); float pwm1_percentage = 0; float pwm2_percentage = 0; int cur_pos_motor1; int prev_pos_motor1 = 0; int cur_pos_motor2; int prev_pos_motor2 = 0; float speed1_rad; float speed2_rad; float pos_motor1_rad; float pos_motor2_rad; int staat1 = 0; int staat2 = 0; volatile float arm_hoogte = 0; volatile float batje_hoek = 0; int wait_iterator1 = 0; int wait_iterator2 = 0; // EMG arm_biquad_casd_df1_inst_f32 lowpass_biceps; 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}; //state values float lowpass_biceps_states[4]; float lowpass_deltoid_states[4]; arm_biquad_casd_df1_inst_f32 highnotch_biceps; arm_biquad_casd_df1_inst_f32 highnotch_deltoid; //highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533}; //state values float highnotch_biceps_states[8]; float highnotch_deltoid_states[8]; //De globale variabele voor het gefilterde EMG signaal float filtered_biceps; float filtered_deltoid; float filtered_average_bi; float filtered_average_del; void average_biceps(float filtered_biceps,float *average) { static float total=0; static float number=0; total = total + filtered_biceps; number = number + 1; if ( number == 250) { *average = total/250; total = 0; number = 0; } } void average_deltoid(float filtered_input,float *average_output) { static float total=0; static float number=0; total = total + filtered_input; number = number + 1; if ( number == 250) { *average_output = total/250; total = 0; number = 0; } } /** Looper function * functions used for Ticker and Timeout should be of type void <name>(void) * i.e. no input arguments, no output arguments. * if you want to change a variable that you use in other places (for example in main) * you will have to make that variable global in order to be able to reach it both from * the function called at interrupt time, and in the main function. * To make a variable global, define it under the includes. * variables that are changed in the interrupt routine (written to) should be made * 'volatile' to let the compiler know that those values may change outside the current context. * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value" * in the example below, the variable is not re-used in the main function, and is thus declared * local in the looper function only. **/ void looper() { /*variable to store value in*/ uint16_t emg_value1; uint16_t emg_value2; float emg_value1_f32; float emg_value2_f32; /*put raw emg value both in red and in emg_value*/ emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) emg_value1_f32 = emg0.read(); emg_value2 = emg1.read_u16(); emg_value2_f32 = emg1.read(); //process emg biceps arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); filtered_biceps = fabs(filtered_biceps); arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); average_biceps(filtered_biceps,&filtered_average_bi); //process emg deltoid arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value2_f32, &filtered_deltoid, 1 ); filtered_deltoid = fabs(filtered_deltoid); arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 ); average_deltoid(filtered_deltoid, &filtered_average_del); /*send value to PC. */ //scope.set(0,emg_value1); //Raw EMG signal biceps //scope.set(1,emg_value2); //Raw EMG signal Deltoid scope.set(0,filtered_biceps); //processed float biceps scope.set(1,filtered_average_bi); //processed float deltoid scope.set(2,filtered_deltoid); //processed float biceps scope.set(3,filtered_average_del); //processed float deltoid scope.send(); } // LED AANSTURING Ticker ledticker; void BlinkRed(int n) { for (int i=0; i<n; i++) { myledred = 0; myledgreen = 0; myledblue = 0; wait(0.1); myledred = 1; myledgreen = 0; myledblue = 0; wait(0.1); } } void greenblink() { if(myledgreen.read()) myledgreen = 0; else myledgreen = 1; } void BlinkGreen() { myledred= 0; myledblue =0; ledticker.attach(&greenblink,.5); /* myled1 = 1; myled2 = 1; myled3 = 1; wait(0.1); myled1 = 0; myled2 = 1; myled3 = 1; wait(0.1);*/ } void stopblinkgreen() { ledticker.detach(); } void BlinkGreen1 () { myledred = 0; myledgreen = 0; myledblue = 0; wait(0.1); myledred = 0; myledgreen = 1; myledblue = 0; wait(0.1); } void BlinkBlue(int n) { for (int i=0; i<n; i++) { myledred = 0; myledgreen = 0; myledblue = 0; wait(0.1); myledred = 0; myledgreen = 0; myledblue = 1; wait(0.1); } } void ShineGreen () { myledred = 0; myledgreen = 1; myledblue = 0; } void ShineBlue () { myledred = 0; myledgreen = 0; myledblue = 1; } void ShineRed () { myledred = 1; myledgreen = 0; myledblue = 0; } // MOTORFUNCTIES void clamp(float* in, float min, float max) // "*" is een pointer (verwijst naar het adres waar een variabele instaat). Dus je slaat niet de variabele op // maar de locatie van de variabele. { *in > min ? /*(*/*in < max? /*niets doen*/ : *in = max/*)*/: *in = min; // a ? b : c --> als a waar is, dan doe je b, en anders c // *in = het getal dat staat op locatie van in --> waarde van new_pwm } float pid1(float setpoint1, float measurement1) { float error1; float out_p1 = 0; static float out_i1 = 0; error1 = (setpoint1 - measurement1); out_p1 = error1*K_P1; out_i1 += error1*K_I1; clamp(&out_i1,-I_LIMIT,I_LIMIT); return out_p1 + out_i1; } float pid2(float setpoint2, float measurement2) { float error2; float out_p2 = 0; static float out_i2 = 0; error2 = (setpoint2 - measurement2); out_p2 = error2*K_P2; out_i2 += error2*K_I2; clamp(&out_i2,-I_LIMIT,I_LIMIT); return out_p2 + out_i2; } float prev_setpoint1 = 0; float setpoint1 = 0; float prev_setpoint2 = 0; float setpoint2 = 0; void batje_links () { speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht) setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; if(setpoint1 > (11.3*2.3*2.0*PI/360)) { //setpoint in graden setpoint1 = (11.3*2.3*2.0*PI/360); } if(setpoint1 < -(11.3*2.3*2.0*PI/360)) { setpoint1 = -(11.3*2.3*2.0*PI/360); } prev_setpoint1 = setpoint1; } void batje_rechts () { speed1_rad = 1.0; //positief is CCW, negatief CW (boven aanzicht) setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; if(setpoint1 > (11.3*2.3*2.0*PI/360)) { //setpoint in graden setpoint1 = (11.3*2.3*2.0*PI/360); } if(setpoint1 < -(11.3*2.3*2.0*PI/360)) { setpoint1 = -(11.3*2.3*2.0*PI/360); } pwm_motor1.write(abs(pwm1_percentage)); prev_setpoint1 = setpoint1; if(setpoint1 >= (11.3*2.3*2.0*PI/360)-0.1) { staat1 = 1; } } void batje_begin_links () { speed1_rad = 1.0; //positief is CCW, negatief CW (boven aanzicht) setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; if(setpoint1 > (0*2.3*2.0*PI/360)) { //setpoint in graden setpoint1 = (0*2.3*2.0*PI/360); } if(setpoint1 < -(0*2.3*2.0*PI/360)) { setpoint1 = -(0*2.3*2.0*PI/360); } prev_setpoint1 = setpoint1; } void batje_begin_rechts () { speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht) setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; if(setpoint1 > (0*2.3*2.0*PI/360)) { //setpoint in graden setpoint1 = (0*2.3*2.0*PI/360); } if(setpoint1 < -(0.0*2.3*2.0*PI/360)) { setpoint1 = -(0.0*2.3*2.0*PI/360); } prev_setpoint1 = setpoint1; } void arm_hoog () //LET OP, PAS VARIABELE NOG AAN DIT IS VOOR TESTEN { speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht) setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; if(setpoint2 > (155.0*2.0*PI/360)) { //setpoint in graden setpoint2 = (155.0*2.0*PI/360); } if(setpoint2 < -(155.0*2.0*PI/360)) { setpoint2 = -(155.0*2.0*PI/360); } prev_setpoint2 = setpoint2; if(setpoint2 >= (155.0*2.0*PI/360)-0.1) { staat2 = 1; } } void arm_mid () { speed2_rad = 4.0; //positief is CCW, negatief CW (boven aanzicht) setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; if(setpoint2 > (155.0*2.0*PI/360)) { //setpoint in graden setpoint2 = (155.0*2.0*PI/360); } if(setpoint2 < -(155.0*2.0*PI/360)) { setpoint2 = -(155.0*2.0*PI/360); } prev_setpoint2 = setpoint2; if(setpoint2 >= (155.0*2.0*PI/360)-0.1) { staat2 = 1; } } void arm_laag () { speed2_rad = 2.0; //positief is CCW, negatief CW (boven aanzicht) setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; if(setpoint2 > (155*2.0*PI/360)) { //setpoint in graden setpoint2 = (155*2.0*PI/360); } if(setpoint2 < -(155.0*2.0*PI/360)) { setpoint2 = -(155.0*2.0*PI/360); } prev_setpoint2 = setpoint2; if(setpoint2 >= (155.0*2.0*PI/360)-0.1) { staat2 = 1; } } void arm_begin () { speed2_rad = 1.0; //positief is CCW, negatief CW (boven aanzicht) setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; if(setpoint2 > (0.0*2.0*PI/360)) { //setpoint in graden setpoint2 = (0.0*2.0*PI/360); } if(setpoint2 < -(0.0*2.0*PI/360)) { setpoint2 = -(0.0*2.0*PI/360); } prev_setpoint2 = setpoint2; } void looper_motor() { //MOTOR1 pc.printf("%d \r\n", motor1.getPosition()); cur_pos_motor1 = motor1.getPosition(); pos_motor1_rad = (float)cur_pos_motor1/(4128.0/(2.0*PI)); //moet 4128 pwm1_percentage = pid1(setpoint1, pos_motor1_rad); if (pwm1_percentage < -1.0) { pwm1_percentage = -1.0; } if (pwm1_percentage > 1.0) { pwm1_percentage = 1.0; } pwm_motor1.write(abs(pwm1_percentage)); if(pwm1_percentage > 0) { motordir1 = 0; } else { motordir1 = 1; } //MOTOR2 cur_pos_motor2 = motor2.getPosition(); pos_motor2_rad = (float)cur_pos_motor2/(3200.0/(2.0*PI)); pwm2_percentage = pid2(setpoint2, pos_motor2_rad); // if (pwm2_percentage < -1.0) { pwm2_percentage = -1.0; } if (pwm2_percentage > 1.0) { pwm2_percentage = 1.0; } pwm_motor2.write(abs(pwm2_percentage)); if(pwm2_percentage > 0) { motordir2 = 0; } else { motordir2 = 1; } //STATES if (batje_hoek == 1) { if(staat1 == 0) { batje_rechts(); wait_iterator1 = 0; } else if(staat1 ==1) { wait_iterator1++; if(wait_iterator1 > 400) { staat1 = 2; batje_begin_rechts(); } } } if (batje_hoek == 2) { if(staat1 == 0) { batje_links(); wait_iterator1 = 0; } else if(staat1 ==1) { wait_iterator1++; if(wait_iterator1 > 400) { staat1 = 2; batje_begin_links (); } } } if(arm_hoogte == 1) { if(staat2 == 0) { arm_laag(); wait_iterator2 = 0; } else if(staat2 == 1) { wait_iterator2++; if(wait_iterator2 > 400) { staat2 = 2; arm_begin(); } } } if(arm_hoogte == 2) { if(staat2 == 0) { arm_mid(); wait_iterator2 = 0; } else if(staat2 == 1) { wait_iterator2++; if(wait_iterator2 > 400) { staat2 = 2; arm_begin(); } } } if(arm_hoogte == 3) { if(staat2 == 0) { arm_hoog(); wait_iterator2 = 0; } else if(staat2 == 1) { wait_iterator2++; if(wait_iterator2 > 400) { staat2 = 2; arm_begin(); } } } } int main() { pwm_motor1.period_us(100); motor1.setPosition(0); pwm_motor2.period_us(100); motor2.setPosition(0); pc.baud(115200); Ticker log_timer; //set up filters. Use external array for constants arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 , lowpass_const, lowpass_biceps_states); arm_biquad_cascade_df1_init_f32(&lowpass_deltoid,1 , lowpass_const, lowpass_deltoid_states); arm_biquad_cascade_df1_init_f32(&highnotch_biceps,2 ,highnotch_const,highnotch_biceps_states); arm_biquad_cascade_df1_init_f32(&highnotch_deltoid,2 ,highnotch_const,highnotch_deltoid_states); /**Here you attach the 'void looper(void)' function to the Ticker object * The looper() function will be called every 0.01 seconds. * Please mind that the parentheses after looper are omitted when using attach. */ log_timer.attach(looper, 0.002); Ticker looptimer; looptimer.attach(looper_motor,TSAMP); while(1) { //Loop /*Empty!*/ /*Everything is handled by the interrupt routine now!*/ while(1) { pc.printf("Span de biceps aan om het instellen te starten.\n"); do { ShineRed(); } while(filtered_average_bi < 0.05 && filtered_average_del <0.05); // In rust, geen meting if (filtered_average_bi > 0.05) { BlinkRed(10); BlinkGreen(); while (1) { pc.printf("In de loop.\n"); if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { stopblinkgreen(); pc.printf("ShineGreen.\n"); ShineGreen(); wait (4); break; } if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { stopblinkgreen(); pc.printf("ShineBlue.\n"); ShineBlue(); batje_hoek = 2; wait(4); break; } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { stopblinkgreen(); pc.printf("ShineRed.\n"); ShineRed(); batje_hoek = 1; wait (4); break; } } BlinkGreen(); while (1) { pc.printf("In de loop.\n"); if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { stopblinkgreen(); pc.printf("ShineGreen.\n"); ShineGreen(); arm_hoogte = 3; wait (4); break; } if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { stopblinkgreen(); pc.printf("ShineBlue.\n"); ShineBlue(); arm_hoogte = 1; wait(4); break; } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { stopblinkgreen(); pc.printf("ShineRed.\n"); ShineRed(); arm_hoogte = 2; wait (4); break; } } } } } }