Sem Bertelink / Mbed 2 deprecated MOD09_Biorobotics_Groep_14lol

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@27:d37b3a0e0f2b, 2019-10-29 (annotated)

Committer:
SjorsdeBruin
Date:
Tue Oct 29 14:22:05 2019 +0000
Revision:
27:d37b3a0e0f2b
Parent:
26:088e397ec26f
Child:
28:8c90a46b613e
Werkende EMG Calibratie 2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hendrikvg 17:cacf9e75eda7 1 #include "QEI.h"
Hendrikvg 15:80b3ac2b8448 2 #include "mbed.h"
Hendrikvg 20:ac1b4ffa3323 3 #include "BiQuad.h"
Hendrikvg 14:20f11bb58244 4 #include "FastPWM.h"
Hendrikvg 17:cacf9e75eda7 5 #include "HIDScope.h"
Hendrikvg 16:40183eeadb6d 6 #include "MODSERIAL.h"
Hendrikvg 9:12b9865e7373 7
Hendrikvg 21:394a7a1deb73 8 // Pins
Hendrikvg 21:394a7a1deb73 9 MODSERIAL pc(USBTX, USBRX);
SjorsdeBruin 26:088e397ec26f 10
SjorsdeBruin 26:088e397ec26f 11 QEI encoder_1(D10,D11,NC,8400,QEI::X4_ENCODING);
SjorsdeBruin 26:088e397ec26f 12 QEI encoder_2(D12,D13,NC,8400,QEI::X4_ENCODING);
Hendrikvg 24:a9ec9b836fd9 13
Hendrikvg 21:394a7a1deb73 14 FastPWM PWM_motor_1(D6);
Hendrikvg 23:78898ddfb103 15 FastPWM PWM_motor_2(D5);
Hendrikvg 24:a9ec9b836fd9 16
Hendrikvg 20:ac1b4ffa3323 17 DigitalOut direction_motor_1(D7);
Hendrikvg 23:78898ddfb103 18 DigitalOut direction_motor_2(D4);
SjorsdeBruin 26:088e397ec26f 19
Hendrikvg 24:a9ec9b836fd9 20 DigitalOut led_red(LED1);
Hendrikvg 24:a9ec9b836fd9 21 DigitalOut led_green(LED2);
Hendrikvg 24:a9ec9b836fd9 22 DigitalOut led_blue(LED3);
Hendrikvg 24:a9ec9b836fd9 23
SjorsdeBruin 26:088e397ec26f 24 AnalogIn emg_bl(A0);
SjorsdeBruin 26:088e397ec26f 25 AnalogIn emg_br(A1);
SjorsdeBruin 26:088e397ec26f 26 AnalogIn emg_leg(A2);
Hendrikvg 24:a9ec9b836fd9 27
Hendrikvg 21:394a7a1deb73 28 InterruptIn button_1(SW2);
Hendrikvg 21:394a7a1deb73 29 InterruptIn button_2(SW3);
Hendrikvg 17:cacf9e75eda7 30
Hendrikvg 24:a9ec9b836fd9 31
Hendrikvg 15:80b3ac2b8448 32 // variables
Hendrikvg 21:394a7a1deb73 33 Ticker TickerStateMachine;
Hendrikvg 23:78898ddfb103 34 Ticker motor_control;
Hendrikvg 23:78898ddfb103 35 Ticker write_scope;
Hendrikvg 21:394a7a1deb73 36 Timer sinus_time;
Hendrikvg 24:a9ec9b836fd9 37 Timeout rest_timeout;
Hendrikvg 24:a9ec9b836fd9 38 Timeout mvc_timeout;
SjorsdeBruin 26:088e397ec26f 39 Timeout led_timeout;
Hendrikvg 21:394a7a1deb73 40 enum states {start, motor_calibration, demo_mode, emg_calibration, vertical_movement, horizontal_movement};
Hendrikvg 21:394a7a1deb73 41 states CurrentState = start;
Hendrikvg 21:394a7a1deb73 42 bool StateChanged = true;
Hendrikvg 24:a9ec9b836fd9 43 enum substates {rest_biceps_left, mvc_biceps_left, rest_biceps_right, mvc_biceps_right, rest_biceps_leg, mvc_biceps_leg};
Hendrikvg 24:a9ec9b836fd9 44 substates CurrentSubstate = rest_biceps_left;
Hendrikvg 24:a9ec9b836fd9 45 bool SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 46 volatile bool pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 47 volatile bool pressed_2 = false;
SjorsdeBruin 27:d37b3a0e0f2b 48 HIDScope scope(6);
SjorsdeBruin 26:088e397ec26f 49
SjorsdeBruin 26:088e397ec26f 50 volatile float theta_1;
Hendrikvg 23:78898ddfb103 51 //volatile float theta_error_1;
Hendrikvg 22:6cc93216b323 52 volatile float theta_reference_1;
SjorsdeBruin 26:088e397ec26f 53 volatile float theta_2;
Hendrikvg 23:78898ddfb103 54 //volatile float theta_error_2;
Hendrikvg 23:78898ddfb103 55 volatile float theta_reference_2;
SjorsdeBruin 26:088e397ec26f 56 float Ts = 0.01;
Hendrikvg 23:78898ddfb103 57 float Kp;
Hendrikvg 23:78898ddfb103 58 float Ki;
Hendrikvg 23:78898ddfb103 59 float Kd;
Hendrikvg 20:ac1b4ffa3323 60
SjorsdeBruin 26:088e397ec26f 61
SjorsdeBruin 27:d37b3a0e0f2b 62 BiQuad Lowpass_bl ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 63 BiQuad Highpass_bl ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 64 BiQuad notch_bl (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 27:d37b3a0e0f2b 65 BiQuad Lowpass_br ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 66 BiQuad Highpass_br ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 67 BiQuad notch_br (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 27:d37b3a0e0f2b 68 BiQuad Lowpass_leg ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 69 BiQuad Highpass_leg ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 70 BiQuad notch_leg (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 26:088e397ec26f 71
Hendrikvg 24:a9ec9b836fd9 72 int n = 0;
Hendrikvg 24:a9ec9b836fd9 73
SjorsdeBruin 26:088e397ec26f 74 float emgFiltered_bl;
SjorsdeBruin 26:088e397ec26f 75 float emgFiltered_br;
SjorsdeBruin 26:088e397ec26f 76 float emgFiltered_leg;
SjorsdeBruin 26:088e397ec26f 77 float emg;
SjorsdeBruin 26:088e397ec26f 78 float xmvc_value = 1e-11;
Hendrikvg 24:a9ec9b836fd9 79
Hendrikvg 24:a9ec9b836fd9 80 float sum = 0;
SjorsdeBruin 26:088e397ec26f 81 float xrest_value;
Hendrikvg 24:a9ec9b836fd9 82 float rest_value_bl;
Hendrikvg 24:a9ec9b836fd9 83 float rest_value_br;
Hendrikvg 24:a9ec9b836fd9 84 float rest_value_leg;
Hendrikvg 24:a9ec9b836fd9 85
Hendrikvg 24:a9ec9b836fd9 86 float mvc_value_bl;
Hendrikvg 24:a9ec9b836fd9 87 float mvc_value_br;
Hendrikvg 24:a9ec9b836fd9 88 float mvc_value_leg;
Hendrikvg 24:a9ec9b836fd9 89
Hendrikvg 21:394a7a1deb73 90 // functies
SjorsdeBruin 26:088e397ec26f 91 void ledred()
SjorsdeBruin 26:088e397ec26f 92 {
SjorsdeBruin 26:088e397ec26f 93 led_red = 0;
SjorsdeBruin 26:088e397ec26f 94 led_green = 1;
SjorsdeBruin 26:088e397ec26f 95 led_blue = 1;
SjorsdeBruin 26:088e397ec26f 96 }
SjorsdeBruin 26:088e397ec26f 97 void ledgreen()
SjorsdeBruin 26:088e397ec26f 98 {
SjorsdeBruin 26:088e397ec26f 99 led_green=0;
SjorsdeBruin 26:088e397ec26f 100 led_blue=1;
SjorsdeBruin 26:088e397ec26f 101 led_red=1;
SjorsdeBruin 26:088e397ec26f 102 }
SjorsdeBruin 26:088e397ec26f 103 void ledblue()
SjorsdeBruin 26:088e397ec26f 104 {
SjorsdeBruin 26:088e397ec26f 105 led_green=1;
SjorsdeBruin 26:088e397ec26f 106 led_blue=0;
SjorsdeBruin 26:088e397ec26f 107 led_red=1;
SjorsdeBruin 26:088e397ec26f 108 }
SjorsdeBruin 26:088e397ec26f 109 void ledyellow()
SjorsdeBruin 26:088e397ec26f 110 {
SjorsdeBruin 26:088e397ec26f 111 led_green=0;
SjorsdeBruin 26:088e397ec26f 112 led_blue=1;
SjorsdeBruin 26:088e397ec26f 113 led_red=0;
SjorsdeBruin 26:088e397ec26f 114 }
SjorsdeBruin 26:088e397ec26f 115 void ledmagenta()
SjorsdeBruin 26:088e397ec26f 116 {
SjorsdeBruin 26:088e397ec26f 117 led_green=1;
SjorsdeBruin 26:088e397ec26f 118 led_blue=0;
SjorsdeBruin 26:088e397ec26f 119 led_red=0;
SjorsdeBruin 26:088e397ec26f 120 }
SjorsdeBruin 26:088e397ec26f 121 void ledcyan()
SjorsdeBruin 26:088e397ec26f 122 {
SjorsdeBruin 26:088e397ec26f 123 led_green=0;
SjorsdeBruin 26:088e397ec26f 124 led_blue=0;
SjorsdeBruin 26:088e397ec26f 125 led_red=1;
SjorsdeBruin 26:088e397ec26f 126 }
SjorsdeBruin 26:088e397ec26f 127 void ledwhite()
SjorsdeBruin 26:088e397ec26f 128 {
SjorsdeBruin 26:088e397ec26f 129 led_green=0;
SjorsdeBruin 26:088e397ec26f 130 led_blue=0;
SjorsdeBruin 26:088e397ec26f 131 led_red=0;
SjorsdeBruin 26:088e397ec26f 132 }
SjorsdeBruin 26:088e397ec26f 133 void ledoff()
SjorsdeBruin 26:088e397ec26f 134 {
SjorsdeBruin 26:088e397ec26f 135 led_green=1;
SjorsdeBruin 26:088e397ec26f 136 led_blue=1;
SjorsdeBruin 26:088e397ec26f 137 led_red=1;
SjorsdeBruin 26:088e397ec26f 138 }
SjorsdeBruin 26:088e397ec26f 139
SjorsdeBruin 26:088e397ec26f 140
Hendrikvg 22:6cc93216b323 141 float CalculateError(float theta_reference,float theta)
Hendrikvg 21:394a7a1deb73 142 {
Hendrikvg 22:6cc93216b323 143 float theta_error = theta_reference-theta;
Hendrikvg 21:394a7a1deb73 144 return theta_error;
Hendrikvg 21:394a7a1deb73 145 }
Hendrikvg 20:ac1b4ffa3323 146
Hendrikvg 23:78898ddfb103 147 float Controller(float theta_error, bool motor)
Hendrikvg 21:394a7a1deb73 148 {
Hendrikvg 24:a9ec9b836fd9 149 if (motor == false) {
Hendrikvg 23:78898ddfb103 150 float K = 1;
Hendrikvg 23:78898ddfb103 151 float ti = 0.1;
Hendrikvg 23:78898ddfb103 152 float td = 10;
Hendrikvg 23:78898ddfb103 153 Kp = K*(1+td/ti);
Hendrikvg 23:78898ddfb103 154 Ki = K/ti;
Hendrikvg 23:78898ddfb103 155 Kd = K*td;
Hendrikvg 24:a9ec9b836fd9 156 } else {
Hendrikvg 23:78898ddfb103 157 float K = 1;
Hendrikvg 23:78898ddfb103 158 float ti = 0.1;
Hendrikvg 23:78898ddfb103 159 float td = 10;
Hendrikvg 23:78898ddfb103 160 Kp = K*(1+td/ti);
Hendrikvg 23:78898ddfb103 161 Ki = K/ti;
Hendrikvg 23:78898ddfb103 162 Kd = K*td;
Hendrikvg 23:78898ddfb103 163 }
Hendrikvg 21:394a7a1deb73 164 static float error_integral = 0;
Hendrikvg 21:394a7a1deb73 165 static float error_prev = 0;
Hendrikvg 21:394a7a1deb73 166 static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
Hendrikvg 24:a9ec9b836fd9 167
Hendrikvg 20:ac1b4ffa3323 168 // Proportional part:
Hendrikvg 20:ac1b4ffa3323 169 float torque_p = Kp * theta_error;
Hendrikvg 24:a9ec9b836fd9 170
Hendrikvg 20:ac1b4ffa3323 171 // Integral part:
Hendrikvg 21:394a7a1deb73 172 error_integral = error_integral + theta_error * Ts;
Hendrikvg 21:394a7a1deb73 173 float torque_i = Ki * error_integral;
Hendrikvg 24:a9ec9b836fd9 174
Hendrikvg 20:ac1b4ffa3323 175 // Derivative part:
Hendrikvg 21:394a7a1deb73 176 float error_derivative = (theta_error - error_prev)/Ts;
Hendrikvg 21:394a7a1deb73 177 float filtered_error_derivative = LowPassFilter.step(error_derivative);
Hendrikvg 21:394a7a1deb73 178 float torque_d = Kd * filtered_error_derivative;
Hendrikvg 21:394a7a1deb73 179 error_prev = theta_error;
Hendrikvg 24:a9ec9b836fd9 180
Hendrikvg 20:ac1b4ffa3323 181 // Sum all parts and return it
Hendrikvg 21:394a7a1deb73 182 float torque = torque_p + torque_i + torque_d;
Hendrikvg 21:394a7a1deb73 183 return torque;
Hendrikvg 21:394a7a1deb73 184 }
Hendrikvg 16:40183eeadb6d 185
Hendrikvg 24:a9ec9b836fd9 186 void CalculateDirectionMotor()
Hendrikvg 21:394a7a1deb73 187 {
Hendrikvg 23:78898ddfb103 188 direction_motor_1 = Controller(CalculateError(theta_reference_1,theta_1),0) <= 0.0f;
Hendrikvg 23:78898ddfb103 189 direction_motor_2 = Controller(CalculateError(theta_reference_2,theta_2),1) <= 0.0f;
Hendrikvg 21:394a7a1deb73 190 }
Hendrikvg 20:ac1b4ffa3323 191
Hendrikvg 23:78898ddfb103 192 void ReadEncoder()
Hendrikvg 23:78898ddfb103 193 {
Hendrikvg 23:78898ddfb103 194 theta_1 = ((360.0f/64.0f)*(float)encoder_1.getPulses())/131.25f; // 360/64 voor de 64 CPR Encoder, 131.25 omdat de gear ratio 131.25:1 is. Hiermee is 1 omwenteling 360.
Hendrikvg 23:78898ddfb103 195 theta_2 = ((360.0f/64.0f)*(float)encoder_2.getPulses())/131.25f;
Hendrikvg 23:78898ddfb103 196 }
Hendrikvg 16:40183eeadb6d 197
Hendrikvg 24:a9ec9b836fd9 198 void MotorControl()
Hendrikvg 23:78898ddfb103 199 {
Hendrikvg 21:394a7a1deb73 200 ReadEncoder();
SjorsdeBruin 26:088e397ec26f 201 theta_reference_1 = 360.0f*sin(0.1f*sinus_time.read()*2.0f*3.14f); // voor test, moet weg in eindscript
Hendrikvg 22:6cc93216b323 202 CalculateDirectionMotor();
Hendrikvg 23:78898ddfb103 203 PWM_motor_1.write(fabs(Controller(CalculateError(theta_reference_1,theta_1),0)/360.0f));
Hendrikvg 23:78898ddfb103 204 PWM_motor_2.write(fabs(Controller(CalculateError(theta_reference_2,theta_2),1)/360.0f));
Hendrikvg 21:394a7a1deb73 205 }
Hendrikvg 21:394a7a1deb73 206
Hendrikvg 21:394a7a1deb73 207 void go_next_1()
Hendrikvg 21:394a7a1deb73 208 {
Hendrikvg 24:a9ec9b836fd9 209 pressed_1 = !pressed_1;
Hendrikvg 21:394a7a1deb73 210 }
Hendrikvg 21:394a7a1deb73 211
Hendrikvg 21:394a7a1deb73 212 void go_next_2()
Hendrikvg 21:394a7a1deb73 213 {
Hendrikvg 24:a9ec9b836fd9 214 pressed_2 = !pressed_2;
Hendrikvg 24:a9ec9b836fd9 215 }
Hendrikvg 24:a9ec9b836fd9 216
SjorsdeBruin 27:d37b3a0e0f2b 217 bool emg_switch(float treshold, float emg_input) {
SjorsdeBruin 27:d37b3a0e0f2b 218 if(emg_input > treshold){
SjorsdeBruin 27:d37b3a0e0f2b 219 return true;
SjorsdeBruin 27:d37b3a0e0f2b 220 } else {
SjorsdeBruin 27:d37b3a0e0f2b 221 return false;
SjorsdeBruin 27:d37b3a0e0f2b 222 }
SjorsdeBruin 27:d37b3a0e0f2b 223 }
SjorsdeBruin 27:d37b3a0e0f2b 224
SjorsdeBruin 26:088e397ec26f 225 float EmgCalibration(float emgFiltered, float mvc_value, float rest_value)
Hendrikvg 24:a9ec9b836fd9 226 {
Hendrikvg 24:a9ec9b836fd9 227 float emgCalibrated;
Hendrikvg 24:a9ec9b836fd9 228 if (emgFiltered <= rest_value) {
SjorsdeBruin 27:d37b3a0e0f2b 229 return 0.0f;
SjorsdeBruin 27:d37b3a0e0f2b 230 //emgCalibrated = 0;
Hendrikvg 24:a9ec9b836fd9 231 }
SjorsdeBruin 27:d37b3a0e0f2b 232
Hendrikvg 24:a9ec9b836fd9 233 if (emgFiltered >= mvc_value) {
SjorsdeBruin 27:d37b3a0e0f2b 234 return 1.1f;
SjorsdeBruin 27:d37b3a0e0f2b 235 //emgCalibrated = 1;
Hendrikvg 24:a9ec9b836fd9 236 } else {
Hendrikvg 24:a9ec9b836fd9 237 emgCalibrated = (emgFiltered-rest_value)/(mvc_value-rest_value);
Hendrikvg 24:a9ec9b836fd9 238 }
Hendrikvg 24:a9ec9b836fd9 239 return emgCalibrated;
Hendrikvg 24:a9ec9b836fd9 240 }
Hendrikvg 24:a9ec9b836fd9 241
Hendrikvg 24:a9ec9b836fd9 242 void emgsample()
Hendrikvg 24:a9ec9b836fd9 243 {
SjorsdeBruin 27:d37b3a0e0f2b 244 emgFiltered_bl = Highpass_bl.step(emg_bl.read());
SjorsdeBruin 27:d37b3a0e0f2b 245 emgFiltered_bl = notch_bl.step(emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 246 emgFiltered_bl = fabs(emgFiltered_bl);
SjorsdeBruin 27:d37b3a0e0f2b 247 emgFiltered_bl = Lowpass_bl.step(emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 248
SjorsdeBruin 27:d37b3a0e0f2b 249 emgFiltered_br = Highpass_br.step(emg_br.read());
SjorsdeBruin 27:d37b3a0e0f2b 250 emgFiltered_br = notch_br.step(emgFiltered_br);
Hendrikvg 24:a9ec9b836fd9 251 emgFiltered_br = fabs(emgFiltered_br);
SjorsdeBruin 27:d37b3a0e0f2b 252 emgFiltered_br = Lowpass_br.step(emgFiltered_br);
Hendrikvg 24:a9ec9b836fd9 253
SjorsdeBruin 27:d37b3a0e0f2b 254 emgFiltered_leg = Highpass_leg.step(emg_leg.read());
SjorsdeBruin 27:d37b3a0e0f2b 255 emgFiltered_leg = notch_leg.step(emgFiltered_leg);
Hendrikvg 24:a9ec9b836fd9 256 emgFiltered_leg = fabs(emgFiltered_leg);
SjorsdeBruin 27:d37b3a0e0f2b 257 emgFiltered_leg = Lowpass_leg.step(emgFiltered_leg);
Hendrikvg 24:a9ec9b836fd9 258 }
Hendrikvg 24:a9ec9b836fd9 259
Hendrikvg 24:a9ec9b836fd9 260 void rest()
Hendrikvg 24:a9ec9b836fd9 261 {
SjorsdeBruin 26:088e397ec26f 262 if (CurrentSubstate == rest_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 263 emg = emgFiltered_bl;
SjorsdeBruin 26:088e397ec26f 264 //pc.printf("emg: %f \n\r",emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 265 }
SjorsdeBruin 26:088e397ec26f 266 if (CurrentSubstate == rest_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 267 emg = emgFiltered_br;
Hendrikvg 24:a9ec9b836fd9 268 }
SjorsdeBruin 26:088e397ec26f 269 if (CurrentSubstate == rest_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 270 emg = emgFiltered_leg;
Hendrikvg 24:a9ec9b836fd9 271 }
SjorsdeBruin 26:088e397ec26f 272 if (n < 500) {
SjorsdeBruin 26:088e397ec26f 273 ledred();
Hendrikvg 24:a9ec9b836fd9 274 sum = sum + emg;
SjorsdeBruin 26:088e397ec26f 275 //pc.printf("sum: %f \n\r",sum);
Hendrikvg 24:a9ec9b836fd9 276 n++;
SjorsdeBruin 26:088e397ec26f 277 rest_timeout.attach(rest,0.001f);
Hendrikvg 24:a9ec9b836fd9 278 }
SjorsdeBruin 26:088e397ec26f 279 if (n == 500) {
Hendrikvg 24:a9ec9b836fd9 280 sum = sum + emg;
SjorsdeBruin 26:088e397ec26f 281 //pc.printf("sum: %f \n\r",sum);
Hendrikvg 24:a9ec9b836fd9 282 n++;
SjorsdeBruin 26:088e397ec26f 283 xrest_value = float (sum/n);
SjorsdeBruin 26:088e397ec26f 284 if (CurrentSubstate == rest_biceps_left) {
SjorsdeBruin 26:088e397ec26f 285 rest_value_bl = xrest_value;
SjorsdeBruin 26:088e397ec26f 286 pc.printf("rest_value_bl %f \n\r", rest_value_bl);
Hendrikvg 24:a9ec9b836fd9 287 CurrentSubstate = mvc_biceps_left;
Hendrikvg 24:a9ec9b836fd9 288 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 289 ledblue();
SjorsdeBruin 26:088e397ec26f 290
Hendrikvg 24:a9ec9b836fd9 291 }
SjorsdeBruin 26:088e397ec26f 292 if (CurrentSubstate == rest_biceps_right) {
SjorsdeBruin 26:088e397ec26f 293 rest_value_br = xrest_value;
SjorsdeBruin 26:088e397ec26f 294 pc.printf("rest_value_br %f \n\r", rest_value_br);
Hendrikvg 24:a9ec9b836fd9 295 CurrentSubstate = mvc_biceps_right;
Hendrikvg 24:a9ec9b836fd9 296 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 297 ledmagenta();
Hendrikvg 24:a9ec9b836fd9 298 }
SjorsdeBruin 26:088e397ec26f 299 if (CurrentSubstate == rest_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 300 rest_value_leg = xrest_value;
SjorsdeBruin 26:088e397ec26f 301 pc.printf("rest_value_leg %f \n\r", rest_value_leg);
SjorsdeBruin 26:088e397ec26f 302 pc.printf("rest_value_bl %f \n\r", rest_value_bl);
Hendrikvg 24:a9ec9b836fd9 303 CurrentSubstate = mvc_biceps_leg;
Hendrikvg 24:a9ec9b836fd9 304 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 305 ledwhite();
Hendrikvg 24:a9ec9b836fd9 306 }
Hendrikvg 24:a9ec9b836fd9 307 }
Hendrikvg 24:a9ec9b836fd9 308 }
Hendrikvg 24:a9ec9b836fd9 309
Hendrikvg 24:a9ec9b836fd9 310 void mvc()
Hendrikvg 24:a9ec9b836fd9 311 {
SjorsdeBruin 26:088e397ec26f 312 if (CurrentSubstate == mvc_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 313 emg = emgFiltered_bl;
Hendrikvg 24:a9ec9b836fd9 314 }
SjorsdeBruin 26:088e397ec26f 315 if (CurrentSubstate == mvc_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 316 emg = emgFiltered_br;
Hendrikvg 24:a9ec9b836fd9 317 }
SjorsdeBruin 26:088e397ec26f 318 if (CurrentSubstate == mvc_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 319 emg = emgFiltered_leg;
Hendrikvg 24:a9ec9b836fd9 320 }
SjorsdeBruin 26:088e397ec26f 321 if (emg >= xmvc_value) {
Hendrikvg 24:a9ec9b836fd9 322 xmvc_value = emg;
SjorsdeBruin 26:088e397ec26f 323 }
Hendrikvg 24:a9ec9b836fd9 324 n++;
SjorsdeBruin 26:088e397ec26f 325 if (n < 1000) {
SjorsdeBruin 26:088e397ec26f 326 mvc_timeout.attach(mvc,0.001f);
SjorsdeBruin 26:088e397ec26f 327 ledred();
Hendrikvg 24:a9ec9b836fd9 328 }
SjorsdeBruin 26:088e397ec26f 329 if (n == 1000) {
SjorsdeBruin 26:088e397ec26f 330 if (CurrentSubstate == mvc_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 331 mvc_value_bl = xmvc_value;
SjorsdeBruin 26:088e397ec26f 332 pc.printf("mvc_value_bl %f \n\r", mvc_value_bl);
Hendrikvg 24:a9ec9b836fd9 333 CurrentSubstate = rest_biceps_right;
Hendrikvg 24:a9ec9b836fd9 334 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 335 ledyellow();
Hendrikvg 24:a9ec9b836fd9 336 }
SjorsdeBruin 26:088e397ec26f 337 if (CurrentSubstate == mvc_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 338 mvc_value_br = xmvc_value;
SjorsdeBruin 26:088e397ec26f 339 pc.printf("mvc_value_br %f \n\r", mvc_value_br);
Hendrikvg 24:a9ec9b836fd9 340 CurrentSubstate = rest_biceps_leg;
Hendrikvg 24:a9ec9b836fd9 341 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 342 ledcyan();
Hendrikvg 24:a9ec9b836fd9 343 }
SjorsdeBruin 26:088e397ec26f 344 if (CurrentSubstate == mvc_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 345 mvc_value_leg = xmvc_value;
SjorsdeBruin 26:088e397ec26f 346 pc.printf("mvc_value_leg %f \n\r", mvc_value_leg);
Hendrikvg 24:a9ec9b836fd9 347 CurrentState = vertical_movement;
Hendrikvg 24:a9ec9b836fd9 348 StateChanged = true;
SjorsdeBruin 26:088e397ec26f 349 ledoff();
Hendrikvg 24:a9ec9b836fd9 350 }
Hendrikvg 24:a9ec9b836fd9 351 xmvc_value = 1e-11;
Hendrikvg 24:a9ec9b836fd9 352 }
Hendrikvg 24:a9ec9b836fd9 353 }
Hendrikvg 24:a9ec9b836fd9 354
Hendrikvg 24:a9ec9b836fd9 355 void WriteScope()
Hendrikvg 24:a9ec9b836fd9 356 {
SjorsdeBruin 26:088e397ec26f 357 emgsample();
Hendrikvg 24:a9ec9b836fd9 358 scope.set(0, EmgCalibration(emgFiltered_bl, mvc_value_bl, rest_value_bl));
SjorsdeBruin 26:088e397ec26f 359 scope.set(1, EmgCalibration(emgFiltered_br, mvc_value_br, rest_value_br));
Hendrikvg 24:a9ec9b836fd9 360 scope.set(2, EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg));
SjorsdeBruin 27:d37b3a0e0f2b 361 scope.set(3, emgFiltered_bl);
SjorsdeBruin 27:d37b3a0e0f2b 362 scope.set(4, emgFiltered_br);
SjorsdeBruin 27:d37b3a0e0f2b 363 scope.set(5, emgFiltered_leg);
Hendrikvg 24:a9ec9b836fd9 364 scope.send();
Hendrikvg 24:a9ec9b836fd9 365 }
Hendrikvg 24:a9ec9b836fd9 366
Hendrikvg 24:a9ec9b836fd9 367 void SubstateTransition()
Hendrikvg 24:a9ec9b836fd9 368 {
SjorsdeBruin 26:088e397ec26f 369 if (SubstateChanged == true) {
SjorsdeBruin 26:088e397ec26f 370 SubstateChanged = false;
SjorsdeBruin 26:088e397ec26f 371 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 372 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 373 if (CurrentSubstate == rest_biceps_left) {
SjorsdeBruin 26:088e397ec26f 374 ledgreen();
SjorsdeBruin 26:088e397ec26f 375 pc.printf("groen \n\r");
SjorsdeBruin 26:088e397ec26f 376 pc.printf("Initiating rest_biceps_left\n\r");
SjorsdeBruin 26:088e397ec26f 377 }
SjorsdeBruin 26:088e397ec26f 378 if (CurrentSubstate == mvc_biceps_left) {
SjorsdeBruin 26:088e397ec26f 379 //ledblue();
SjorsdeBruin 26:088e397ec26f 380 pc.printf("Initiating mvc_biceps_left\n\r");
SjorsdeBruin 26:088e397ec26f 381 }
SjorsdeBruin 26:088e397ec26f 382 if (CurrentSubstate == rest_biceps_right) {
SjorsdeBruin 26:088e397ec26f 383 //ledyellow();
SjorsdeBruin 26:088e397ec26f 384 pc.printf("Initiating rest_biceps_right\n\r");
SjorsdeBruin 26:088e397ec26f 385 }
SjorsdeBruin 26:088e397ec26f 386 if (CurrentSubstate == mvc_biceps_right) {
SjorsdeBruin 26:088e397ec26f 387 //ledmagenta();
SjorsdeBruin 26:088e397ec26f 388 pc.printf("Initiating mvc_biceps_right\n\r");
SjorsdeBruin 26:088e397ec26f 389 }
SjorsdeBruin 26:088e397ec26f 390 if (CurrentSubstate == rest_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 391 //ledcyan();
SjorsdeBruin 26:088e397ec26f 392 pc.printf("Initiating rest_biceps_leg\n\r");
SjorsdeBruin 26:088e397ec26f 393 }
SjorsdeBruin 26:088e397ec26f 394 if (CurrentSubstate == mvc_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 395 //ledwhite();
SjorsdeBruin 26:088e397ec26f 396 pc.printf("Initiating mvc_biceps_leg\n\r");
SjorsdeBruin 26:088e397ec26f 397 }
SjorsdeBruin 26:088e397ec26f 398 }
Hendrikvg 21:394a7a1deb73 399 }
Hendrikvg 21:394a7a1deb73 400
Hendrikvg 21:394a7a1deb73 401 void while_start()
Hendrikvg 21:394a7a1deb73 402 {
Hendrikvg 21:394a7a1deb73 403 // Do startup stuff
Hendrikvg 21:394a7a1deb73 404 CurrentState = motor_calibration;
Hendrikvg 21:394a7a1deb73 405 StateChanged = true;
Hendrikvg 21:394a7a1deb73 406 }
Hendrikvg 21:394a7a1deb73 407
Hendrikvg 21:394a7a1deb73 408 void while_motor_calibration()
Hendrikvg 21:394a7a1deb73 409 {
Hendrikvg 21:394a7a1deb73 410 // Do motor calibration stuff
Hendrikvg 24:a9ec9b836fd9 411 if (pressed_1) { // bool aanmaken voor demo (switch oid aanmaken)
Hendrikvg 21:394a7a1deb73 412 CurrentState = demo_mode;
Hendrikvg 21:394a7a1deb73 413 StateChanged = true;
Hendrikvg 21:394a7a1deb73 414 }
Hendrikvg 24:a9ec9b836fd9 415 if (pressed_2) { // bool aanmaken voor EMG (switch oid aanmaken)
Hendrikvg 21:394a7a1deb73 416 CurrentState = emg_calibration;
Hendrikvg 21:394a7a1deb73 417 StateChanged = true;
Hendrikvg 21:394a7a1deb73 418 }
Hendrikvg 21:394a7a1deb73 419 }
Hendrikvg 21:394a7a1deb73 420
Hendrikvg 21:394a7a1deb73 421 void while_demo_mode()
Hendrikvg 21:394a7a1deb73 422 {
Hendrikvg 21:394a7a1deb73 423 // Do demo mode stuff
SjorsdeBruin 26:088e397ec26f 424 if ((pressed_1) || (pressed_2)) {
Hendrikvg 21:394a7a1deb73 425 CurrentState = emg_calibration;
Hendrikvg 21:394a7a1deb73 426 StateChanged = true;
Hendrikvg 21:394a7a1deb73 427 }
Hendrikvg 21:394a7a1deb73 428 }
Hendrikvg 21:394a7a1deb73 429
Hendrikvg 21:394a7a1deb73 430 void while_emg_calibration()
Hendrikvg 21:394a7a1deb73 431 {
Hendrikvg 21:394a7a1deb73 432 // Do emg calibration stuff
Hendrikvg 24:a9ec9b836fd9 433 switch (CurrentSubstate) {
Hendrikvg 24:a9ec9b836fd9 434 case rest_biceps_left:
Hendrikvg 24:a9ec9b836fd9 435 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 436 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 437 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 438 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 439 n = 0;
SjorsdeBruin 26:088e397ec26f 440 sum = 0;
Hendrikvg 24:a9ec9b836fd9 441 rest();
Hendrikvg 24:a9ec9b836fd9 442 }
Hendrikvg 24:a9ec9b836fd9 443 break;
Hendrikvg 24:a9ec9b836fd9 444 case mvc_biceps_left:
Hendrikvg 24:a9ec9b836fd9 445 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 446 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 447 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 448 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 449 n = 0;
Hendrikvg 24:a9ec9b836fd9 450 mvc();
Hendrikvg 24:a9ec9b836fd9 451 }
Hendrikvg 24:a9ec9b836fd9 452 break;
Hendrikvg 24:a9ec9b836fd9 453 case rest_biceps_right:
Hendrikvg 24:a9ec9b836fd9 454 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 455 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 456 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 457 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 458 n = 0;
SjorsdeBruin 26:088e397ec26f 459 sum = 0;
Hendrikvg 24:a9ec9b836fd9 460 rest();
Hendrikvg 24:a9ec9b836fd9 461 }
Hendrikvg 24:a9ec9b836fd9 462 break;
Hendrikvg 24:a9ec9b836fd9 463 case mvc_biceps_right:
Hendrikvg 24:a9ec9b836fd9 464 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 465 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 466 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 467 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 468 n = 0;
Hendrikvg 24:a9ec9b836fd9 469 mvc();
Hendrikvg 24:a9ec9b836fd9 470 }
Hendrikvg 24:a9ec9b836fd9 471 break;
Hendrikvg 24:a9ec9b836fd9 472 case rest_biceps_leg:
Hendrikvg 24:a9ec9b836fd9 473 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 474 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 475 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 476 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 477 n = 0;
SjorsdeBruin 26:088e397ec26f 478 sum = 0;
Hendrikvg 24:a9ec9b836fd9 479 rest();
Hendrikvg 24:a9ec9b836fd9 480 }
Hendrikvg 24:a9ec9b836fd9 481 break;
Hendrikvg 24:a9ec9b836fd9 482 case mvc_biceps_leg:
Hendrikvg 24:a9ec9b836fd9 483 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 484 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 485 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 486 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 487 n = 0;
Hendrikvg 24:a9ec9b836fd9 488 mvc();
Hendrikvg 24:a9ec9b836fd9 489 }
Hendrikvg 24:a9ec9b836fd9 490 break;
Hendrikvg 24:a9ec9b836fd9 491 default:
Hendrikvg 24:a9ec9b836fd9 492 pc.printf("Unknown or unimplemented state reached!\n\r");
Hendrikvg 21:394a7a1deb73 493 }
Hendrikvg 21:394a7a1deb73 494 }
Hendrikvg 21:394a7a1deb73 495
Hendrikvg 21:394a7a1deb73 496 void while_vertical_movement()
Hendrikvg 21:394a7a1deb73 497 {
Hendrikvg 21:394a7a1deb73 498 // Do vertical movement stuff
SjorsdeBruin 26:088e397ec26f 499 if ((pressed_1) || (pressed_2)) { // EMG gebaseerde threshold aanmaken
Hendrikvg 21:394a7a1deb73 500 CurrentState = horizontal_movement;
Hendrikvg 21:394a7a1deb73 501 StateChanged = true;
Hendrikvg 21:394a7a1deb73 502 }
Hendrikvg 21:394a7a1deb73 503 }
Hendrikvg 17:cacf9e75eda7 504
Hendrikvg 21:394a7a1deb73 505 void while_horizontal_movement()
Hendrikvg 21:394a7a1deb73 506 {
Hendrikvg 21:394a7a1deb73 507 // Do horizontal movement stuff
SjorsdeBruin 26:088e397ec26f 508 if ((pressed_1) || (pressed_2)) { // EMG gebaseerde threshold aanmaken
Hendrikvg 21:394a7a1deb73 509 CurrentState = vertical_movement;
Hendrikvg 21:394a7a1deb73 510 StateChanged = true;
Hendrikvg 21:394a7a1deb73 511 }
Hendrikvg 21:394a7a1deb73 512 }
Hendrikvg 21:394a7a1deb73 513
Hendrikvg 21:394a7a1deb73 514 void StateTransition()
Hendrikvg 21:394a7a1deb73 515 {
Hendrikvg 24:a9ec9b836fd9 516 if (StateChanged) {
SjorsdeBruin 26:088e397ec26f 517 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 518 pressed_2 = false;
Hendrikvg 24:a9ec9b836fd9 519 if (CurrentState == start) {
Hendrikvg 21:394a7a1deb73 520 pc.printf("Initiating start.\n\r");
Hendrikvg 21:394a7a1deb73 521 }
Hendrikvg 24:a9ec9b836fd9 522 if (CurrentState == motor_calibration) {
Hendrikvg 21:394a7a1deb73 523 pc.printf("Initiating motor_calibration.\n\r");
Hendrikvg 21:394a7a1deb73 524 }
Hendrikvg 24:a9ec9b836fd9 525 if (CurrentState == demo_mode) {
Hendrikvg 21:394a7a1deb73 526 pc.printf("Initiating demo_mode.\n\r");
Hendrikvg 21:394a7a1deb73 527 }
Hendrikvg 24:a9ec9b836fd9 528 if (CurrentState == emg_calibration) {
Hendrikvg 21:394a7a1deb73 529 pc.printf("Initiating emg_calibration.\n\r");
Hendrikvg 21:394a7a1deb73 530 }
Hendrikvg 24:a9ec9b836fd9 531 if (CurrentState == vertical_movement) {
Hendrikvg 21:394a7a1deb73 532 pc.printf("Initiating vertical_movement.\n\r");
Hendrikvg 21:394a7a1deb73 533 }
Hendrikvg 24:a9ec9b836fd9 534 if (CurrentState == horizontal_movement) {
Hendrikvg 21:394a7a1deb73 535 pc.printf("Initiating horizontal_movement.\n\r");
Hendrikvg 21:394a7a1deb73 536 }
Hendrikvg 21:394a7a1deb73 537 StateChanged = false;
Hendrikvg 21:394a7a1deb73 538 }
Hendrikvg 21:394a7a1deb73 539 }
Hendrikvg 21:394a7a1deb73 540
Hendrikvg 21:394a7a1deb73 541 void StateMachine()
Hendrikvg 21:394a7a1deb73 542 {
Hendrikvg 24:a9ec9b836fd9 543 switch(CurrentState) {
Hendrikvg 21:394a7a1deb73 544 case start:
Hendrikvg 21:394a7a1deb73 545 StateTransition();
Hendrikvg 21:394a7a1deb73 546 while_start();
Hendrikvg 21:394a7a1deb73 547 break;
Hendrikvg 21:394a7a1deb73 548 case motor_calibration:
Hendrikvg 21:394a7a1deb73 549 StateTransition();
Hendrikvg 21:394a7a1deb73 550 while_motor_calibration();
Hendrikvg 21:394a7a1deb73 551 break;
Hendrikvg 21:394a7a1deb73 552 case demo_mode:
Hendrikvg 21:394a7a1deb73 553 StateTransition();
Hendrikvg 21:394a7a1deb73 554 while_demo_mode();
Hendrikvg 21:394a7a1deb73 555 break;
Hendrikvg 21:394a7a1deb73 556 case emg_calibration:
Hendrikvg 21:394a7a1deb73 557 StateTransition();
Hendrikvg 21:394a7a1deb73 558 while_emg_calibration();
Hendrikvg 21:394a7a1deb73 559 break;
Hendrikvg 21:394a7a1deb73 560 case vertical_movement:
Hendrikvg 21:394a7a1deb73 561 StateTransition();
Hendrikvg 21:394a7a1deb73 562 while_vertical_movement();
Hendrikvg 21:394a7a1deb73 563 break;
Hendrikvg 21:394a7a1deb73 564 case horizontal_movement:
Hendrikvg 21:394a7a1deb73 565 StateTransition();
Hendrikvg 21:394a7a1deb73 566 while_horizontal_movement();
Hendrikvg 21:394a7a1deb73 567 break;
Hendrikvg 21:394a7a1deb73 568 default:
Hendrikvg 21:394a7a1deb73 569 pc.printf("Unknown or unimplemented state reached!\n\r");
Hendrikvg 21:394a7a1deb73 570 }
Hendrikvg 21:394a7a1deb73 571 }
Hendrikvg 21:394a7a1deb73 572
Hendrikvg 15:80b3ac2b8448 573 // main
Hendrikvg 24:a9ec9b836fd9 574 int main()
Hendrikvg 24:a9ec9b836fd9 575 {
RobertoO 0:67c50348f842 576 pc.baud(115200);
Hendrikvg 17:cacf9e75eda7 577 pc.printf("Hello World!\n\r");
SjorsdeBruin 26:088e397ec26f 578 ledoff();
Hendrikvg 21:394a7a1deb73 579 button_1.fall(go_next_1);
Hendrikvg 21:394a7a1deb73 580 button_2.fall(go_next_2);
SjorsdeBruin 26:088e397ec26f 581 //sinus_time.start();
SjorsdeBruin 26:088e397ec26f 582 //PWM_motor_1.period_ms(10);
SjorsdeBruin 26:088e397ec26f 583 //motor_control.attach(&MotorControl, Ts);
SjorsdeBruin 27:d37b3a0e0f2b 584 write_scope.attach(&WriteScope, 0.01);
Hendrikvg 21:394a7a1deb73 585 //TickerStateMachine.attach(StateMachine,1.00f);
Hendrikvg 21:394a7a1deb73 586 while(true) {
Hendrikvg 21:394a7a1deb73 587 StateMachine();
Hendrikvg 21:394a7a1deb73 588 }
SjorsdeBruin 26:088e397ec26f 589 }