Diff: main.cpp

Revision:

4:e15fc329b88b

Parent:

3:c768a37620c9

Child:

5:b4abbd3c513c

--- a/main.cpp	Mon Oct 30 10:43:26 2017 +0000
+++ b/main.cpp	Tue Oct 31 14:35:52 2017 +0000
@@ -3,123 +3,157 @@
 #include "PIDControl.h"
 #include "BiQuad.h"
 #include "signalnumber.h"
+#include "Movement.h"
 #include "mbed.h"
 #include "encoder.h"
 #include "Servo.h"
 #include "FastPWM.h"
 
+//This code is for Mbed 2
 //------------------------------------------------------------------------------
 //------------------------------------------------------------------------------
 //------------------------------------------------------------------------------
 MODSERIAL pc(USBTX, USBRX);         //Establish connection
 Ticker MyControllerTicker1;         //Declare Ticker Motor 1
 Ticker MyControllerTicker2;         //Declare Ticker Motor 2
-Ticker MySampleTicker;                //Declare Ticker HIDscope
+Ticker MySampleTicker;              //Declare Ticker HIDscope
 Ticker MyTickerMean;                //Declare Ticker Signalprocessing
 
-InterruptIn But2(PTC6);             //Declare button for calibration
+InterruptIn But2(PTA4);             //Declare button for min calibration
+InterruptIn But1(PTC6);             //Declare button for max calibration
 
 AnglePosition Angle;                //Declare Angle calculater
 PIDControl PID;                     //Declare PID Controller
-SignalNumber Signal;                //Declare Signal determiner
+SignalNumber SignalLeft;            //Declare Signal determiner for Left arm
+SignalNumber SignalRight;           //Declare Signal determiner for Right arm
+Movement MoveLeft;                  //Declare Movement determiner
+Movement MoveRight;
 
-AnalogIn potmeter1(A5);
-AnalogIn potmeter5(A3);             //Set Inputpin
-AnalogIn potmeter2(A4);             //Set Inputpin
-AnalogIn    emg0( A0 );             //Set Inputpin
-AnalogIn    emg1( A1 );             //Set Inputpin
-
+AnalogIn    emg0( A0 );             //Set Inputpin for EMG 0 signal Left 
+AnalogIn    emg1( A1 );             //Set Inputpin for EMG 1 signal Left
+AnalogIn    emg2( A2 );             //Set Inputpin for EMG 2 signal Right
+AnalogIn    emg3( A3 );             //Set Inputpin for EMG 3 signal Right        
+AnalogIn    emg4( A4 );             //Set Inputpin for EMG 4 signal Mode
+AnalogIn    emg5( A5 );             //Set Inputpin for EMG 5 signal Mode
+DigitalOut     M( D9 );             //Set digital in for mode selection
+DigitalOut  Led_red(LED_RED);          
+DigitalOut  Led_green(LED_GREEN);
+DigitalOut  Led_blue(LED_BLUE);  
 
 const float CONTROLLER_TS = 0.02;   //Motor frequency
-const float MEAN_TS = 0.1;          //Mean value frequency
-const float SAMPLE_TS = 0.02;        //BiQuad frequency
+const float MEAN_TS = 0.002;        //Filter frequency
+
+//Testing methods
+/*
+AnalogIn potmeter1(A5);
+AnalogIn potmeter5(A3);             //Set Inputpin for x axis
+AnalogIn potmeter2(A4);             //Set Inputpin for y axis
+*/
+
+//------------------------------------------------------------------------------
+//---------------------------Mode selection-------------------------------------
+//------------------------------------------------------------------------------
+// From the other Mbed there will be send a signal to determine in which mode the system is in
+int mode =0;
+
+//Recieving mode selection from Mbed 1
+void mode_selection(){
+    if(mode ==6){
+        mode=1;   
+    }
+    else{
+        mode++;
+    }
+    pc.printf("mode = %i\r\n", mode);
+}
+
 
 
 //------------------------------------------------------------------------------
 //-----------------------------EMG Signals--------------------------------------
 //------------------------------------------------------------------------------
-const int n = 10;                   //Window size for the mean value, also adjust in signalnumber.cpp
+// Filtering the signal and getting the usefull information out of it.
+const int n = 400;                  //Window size for the mean value, also adjust in signalnumber.cpp
 const int action =50;               //Number of same mean values to change the signalnumber
-const int m = 10;                   //Number of samples for calibration
-int mode;
-float emg_offset;
-float meanx;
+const int m = 300;                  //Number of samples for calibration
+int CaseLeft;                           //Strength of the muscles Left
+int CaseRight;                           //Strength of the muscles Right
+float emg_offsetLeft;                   //Calibtarion value to get zero
+float emg_offsetmaxLeft;                //Calibration value to scale to 1
+float emg_offsetRight;                   //Calibtarion value to get zero
+float emg_offsetmaxRight;                //Calibration value to scale to 1
+float meanxL;                        //Temporary variable for mean value
+float meanxR;
+float kLeft;                      //Scaling factor mean value
+float kRight;                      //Scaling factor mean value
 
-//BiQuad filter
+//BiQuad filter variables
 BiQuad LP1( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad
 BiQuad HP2( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad
 BiQuad NO3( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923,  0.41279762014290533); //Notch filter Biquad 
 BiQuadChain BiQuad_filter;
 
-// Calibration function
-void calibration(){
-    emg_offset = Signal.calibrate(m, potmeter5);
-    pc.printf("offset = %f \r\n", emg_offset);
+void setled(){
+    Led_red=0;
+    Led_green=1;
+    Led_blue=1;
 }
 
-/*
-//Sample function
-void sample()
-{
-    float Signal=((emg0+emg1)/2)-emg_offset;
-    float Signal_filtered= BiQuad_filter.step(Signal);
-    /* scope
-    scope.set(0, emg0.read() );
-    scope.set(1, emg1.read() );
-    scope.set(2, Signal_filtered);
-    scope.send();
-    led = !led;
-    /
+// Calibration function
+void mincalibration(){
+    pc.printf("start cali \r\n");
+    emg_offsetLeft = SignalLeft.calibrate(m,((emg0+emg1)/2));
+    emg_offsetRight = SignalRight.calibrate(m,((emg2+emg3)/2));
+//    pc.printf("calibrated, offset = %f \r\n", emg_offset);
+    Led_green=0;
+    Led_red=0;
 }
-*/
 
+void maxcalibration(){
+    pc.printf("start cali max\r\n");
+    emg_offsetmaxLeft = SignalLeft.calibrate(m,((emg0+emg1)/2))-emg_offsetLeft;
+    emg_offsetmaxRight = SignalRight.calibrate(m,((emg2+emg3)/2))-emg_offsetRight;
+    kLeft = 1/emg_offsetmaxLeft;
+    kRight = 1/emg_offsetmaxRight;
+//    pc.printf("calibrated, offset = %f scale = %f \r\n",emg_offsetmax, k);
+    Led_red=1;
+}
+
+//Filter de EMG signals with a BiQuad filter
 float Filter(float input0, float input1, float offset){
-    float Signal=((input0+input1)/2)-offset;
+    float Signal=input0-offset; //((input0+input1)/2)
     float Signal_filtered= BiQuad_filter.step(Signal);
     return Signal_filtered;
 }
 
+
+//Determine the signalnumbers (i.e. speed) based on the EMG signals
 void signalnumber(){
-    float Signal_filtered = Filter(emg0, emg1, emg_offset);
-    meanx = Signal.getmean(n, Signal_filtered);
-    mode = Signal.getnumber(n, action, Signal_filtered);
-    pc.printf("pot = %d  after filtering = %f   mean = %f  Signalnumber = %i \r\n" , potmeter5,  meanx, mode);
+    //Left
+    float Signal_filteredLeft = fabs(Filter(emg0, emg1, emg_offsetLeft));
+    meanxL = SignalLeft.getmean(n, Signal_filteredLeft)*kLeft;          //Testing variable
+    CaseLeft = SignalLeft.getnumber(n, action, Signal_filteredLeft, kLeft);
+    pc.printf("m %f C %i \r\n",meanxL, CaseLeft);                       //Testing print
+    //Right
+    float Signal_filteredRight = fabs(Filter(emg2, emg3, emg_offsetRight));
+    meanxR = SignalRight.getmean(n, Signal_filteredRight)*kRight;          //Testing variable
+    CaseRight = SignalRight.getnumber(n, action, Signal_filteredRight, kRight);
+    pc.printf("m %f C %i \r\n",meanxR, CaseRight);                       //Testing print
 }
 
-
 //------------------------------------------------------------------------------
 //-------------------------Kinematic Constants----------------------------------
 //------------------------------------------------------------------------------
-const double RAD_PER_PULSE = 0.00074799825*2;
-const double PI = 3.14159265358979323846;
-const float max_rangex = 500.0;
-const float max_rangey = 300.0;
-const float x_offset = 156.15;
-const float y_offset = -76.97;
-const float alpha_offset = -(21.52/180)*PI;
-const float beta_offset  = 0.0;
-const float L1 = 450.0;
-const float L2 = 490.0;
-
-
-//------------------------------------------------------------------------------
-//--------------------------------Servo-----------------------------------------
-//------------------------------------------------------------------------------
-// This will be programmed on a different Mbed
-Servo MyServo(D9);                  //Declare button
-InterruptIn But1(D8);               //Declare used button
-int k=0;                            //Position flag
-
-void servo_control (){
-    if (k==0){
-        MyServo = 0;
-        k=1;
-    }
-    else{
-        MyServo = 2;
-        k=0;
-    }
-}
+const double RAD_PER_PULSE = 0.00074799825*2;       //Number of radials per pulse from the encoder
+const double PI = 3.14159265358979323846;           //Pi
+const float max_rangex = 500.0;                     //Max range on the x axis
+const float max_rangey = 300.0;                     //Max range on the y axis
+const float x_offset = 156.15;                      //Start x position from the shoulder joint
+const float y_offset = -76.97;                      //Start y position from the shoulder joint
+const float alpha_offset = -(21.52/180)*PI;         //Begin angle Alpha at zero zero
+const float beta_offset  = 0.0;                     //Begin angle Beta at zero zero
+const float L1 = 450.0;                             //Length of the first body
+const float L2 = 490.0;                             //Length of the second body
 
 
 //------------------------------------------------------------------------------
@@ -140,13 +174,14 @@
 
 
 void motor1_control(){
-    float reference_alpha = Angle.getbeta(max_rangex, max_rangey, x_offset, y_offset, beta_offset, L1, L2, potmeter1, potmeter2);
+    float *position_math;
+    position_math[0]= MoveLeft.getposition(CaseLeft, mode, 0, max_rangex);
+    position_math[1]= MoveRight.getposition(CaseRight, mode, 1, max_rangey);
+    float reference_alpha = Angle.getbeta(max_rangex, max_rangey, x_offset, y_offset, beta_offset, L1, L2, position_math[0], position_math[1]);
     float position_alpha = RAD_PER_PULSE * encoder1.getPosition();
     float error_alpha = reference_alpha-position_alpha;
     float magnitude1 = PID.get(error_alpha, MOTOR1_KP, MOTOR1_KI, MOTOR1_KD, CONTROLLER_TS, M1_N, M1_v1, M1_v2) / motor1_gain;
     motor1 = fabs(magnitude1);
-//    pc.printf("err_a = %f  alpha = %f   mag1 = %f\r\n", error_alpha, reference_alpha, magnitude1);
-//    pc.printf("\r\n");
     // Determine Motor Direction 
     if (magnitude1  < 0){
         motor1DirectionPin = 1;
@@ -175,13 +210,14 @@
 
 
 void motor2_control(){
-    float reference_beta = Angle.getalpha(max_rangex, max_rangey, x_offset, y_offset, alpha_offset, L1, L2, potmeter1, potmeter2);
+    float *position_math;
+    position_math[0]= MoveLeft.getposition(CaseLeft, mode, 0, max_rangex);
+    position_math[1]= MoveRight.getposition(CaseRight, mode, 1, max_rangey);
+    float reference_beta = Angle.getalpha(max_rangex, max_rangey, x_offset, y_offset, alpha_offset, L1, L2, position_math[0], position_math[1]);
     float position_beta = RAD_PER_PULSE * -encoder2.getPosition();
     float error_beta = reference_beta-position_beta;
     float magnitude2 = PID.get(error_beta, MOTOR2_KP, MOTOR2_KI, MOTOR2_KD, CONTROLLER_TS, M2_N, M1_v1, M1_v2) / motor2_gain;
     motor2 = fabs(magnitude2);
-//    pc.printf("err2 = %f  beta = %f   mag2 = %f\r\n", error_beta, reference_beta, magnitude2);
-//    pc.printf("\r\n");
     //Determine Motor Direction
     if (magnitude2 > 0){
         motor2DirectionPin = 1;
@@ -196,15 +232,17 @@
 
 int main(){
     pc.baud(115200);
+    setled(); 
     BiQuad_filter.add( &LP1 ).add( &HP2 ).add( &NO3);
+    But2.rise(&mincalibration);
+    But1.rise(&maxcalibration);
+//    M.rise(&mode_selection);
     motor1.period(0.0001f);
     motor2.period(0.0001f);
     MyControllerTicker1.attach(&motor1_control, CONTROLLER_TS); 
     MyControllerTicker2.attach(&motor2_control, CONTROLLER_TS);
     MyTickerMean.attach(&signalnumber, MEAN_TS);
-//  MySampleTicker.attach(&sample, SAMPLE_TS);
-    But1.rise(&servo_control);      
-    But2.rise(&calibration);
+
     while(1) {}   
 }