sibren vuurberg / Mbed 2 deprecated another_try_from_scratch_on_emg

now with PID controler XXXD

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of another_try_from_scratch_on_emg by Daniqe Kottelenberg

main.cpp@26:38dc21b9ba7d, 2016-10-28 (annotated)

Committer:
daniQQue
Date:
Fri Oct 28 08:10:07 2016 +0000
Revision:
26:38dc21b9ba7d
Parent:
25:58f351d9fcc4
Child:
27:b8d61361d709
met kalibratie gestart

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daniQQue 0:34c739fcc3e0 1 //libraries
daniQQue 0:34c739fcc3e0 2 #include "mbed.h"
daniQQue 0:34c739fcc3e0 3 #include "HIDScope.h"
daniQQue 14:5b17697cf775 4 #include "BiQuad.h"
daniQQue 23:123d65f76236 5 #include "MODSERIAL.h"
daniQQue 0:34c739fcc3e0 6
daniQQue 0:34c739fcc3e0 7 //Define objects
daniQQue 21:9b8be3dff01a 8 AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++
daniQQue 21:9b8be3dff01a 9 AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++
daniQQue 23:123d65f76236 10 AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++
daniQQue 26:38dc21b9ba7d 11 DigitalIn button_calibration_biceps (SW3); //button to start calibration biceps
daniQQue 26:38dc21b9ba7d 12 DigitalIn button_calibration_triceps (SW2); // button to start calibration tricps
daniQQue 26:38dc21b9ba7d 13
daniQQue 26:38dc21b9ba7d 14 Ticker sample_timer; //ticker
daniQQue 26:38dc21b9ba7d 15 Ticker switch_function; //ticker
daniQQue 26:38dc21b9ba7d 16 Ticker calibration_ticker //ticker
daniQQue 26:38dc21b9ba7d 17 HIDScope scope(5); //open 3 channels in hidscope
daniQQue 26:38dc21b9ba7d 18 MODSERIAL pc(USBTX, USBRX); //pc connection
daniQQue 23:123d65f76236 19
daniQQue 23:123d65f76236 20 //motors
daniQQue 23:123d65f76236 21 DigitalOut richting_motor1(D4);
daniQQue 23:123d65f76236 22 PwmOut pwm_motor1(D5);
daniQQue 23:123d65f76236 23 DigitalOut richting_motor2(D7);
daniQQue 23:123d65f76236 24 PwmOut pwm_motor2(D6);
daniQQue 26:38dc21b9ba7d 25
daniQQue 26:38dc21b9ba7d 26 //digital out
daniQQue 26:38dc21b9ba7d 27
daniQQue 21:9b8be3dff01a 28 DigitalOut led(LED_GREEN); //led included to check where code is
daniQQue 0:34c739fcc3e0 29
daniQQue 0:34c739fcc3e0 30 //define variables
daniQQue 21:9b8be3dff01a 31 //other
daniQQue 21:9b8be3dff01a 32 int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation
daniQQue 23:123d65f76236 33 int switch_signal_leftarm=0; // switching between motors.
daniQQue 26:38dc21b9ba7d 34 double cut_off_value_biceps =0.06; //gespecificeerd door floortje
daniQQue 26:38dc21b9ba7d 35 double cut_off_value_triceps=-0.03; //gespecificeerd door floorte
daniQQue 26:38dc21b9ba7d 36 double signal_right_arm; //signal right arm
daniQQue 26:38dc21b9ba7d 37 double max_biceps; //calibration maximum biceps
daniQQue 26:38dc21b9ba7d 38 double max_triceps; //calibration maximum triceps
daniQQue 26:38dc21b9ba7d 39 int n = 0; //start van de teller wordt op nul gesteld, om te kunnen switchen
daniQQue 23:123d65f76236 40
daniQQue 21:9b8be3dff01a 41 //biceps arm 1, right arm
daniQQue 15:bb4a6c7836d8 42 double emg_biceps_right;
daniQQue 15:bb4a6c7836d8 43 double emg_filtered_high_biceps_right;
daniQQue 15:bb4a6c7836d8 44 double emg_abs_biceps_right;
daniQQue 15:bb4a6c7836d8 45 double emg_filtered_biceps_right;
daniQQue 21:9b8be3dff01a 46 double emg_filtered_high_notch_1_biceps_right;
daniQQue 21:9b8be3dff01a 47 double emg_filtered_high_notch_1_2_biceps_right;
daniQQue 5:688b1b5530d8 48
daniQQue 21:9b8be3dff01a 49 //triceps arm 1, right arm
daniQQue 21:9b8be3dff01a 50 double emg_triceps_right;
daniQQue 21:9b8be3dff01a 51 double emg_filtered_high_triceps_right;
daniQQue 21:9b8be3dff01a 52 double emg_abs_triceps_right;
daniQQue 21:9b8be3dff01a 53 double emg_filtered_triceps_right;
daniQQue 21:9b8be3dff01a 54 double emg_filtered_high_notch_1_triceps_right;
daniQQue 21:9b8be3dff01a 55 double emg_filtered_high_notch_1_2_triceps_right;
daniQQue 21:9b8be3dff01a 56
daniQQue 23:123d65f76236 57 //biceps arm 1, left arm
daniQQue 23:123d65f76236 58 double emg_biceps_left;
daniQQue 23:123d65f76236 59 double emg_filtered_high_biceps_left;
daniQQue 23:123d65f76236 60 double emg_abs_biceps_left;
daniQQue 23:123d65f76236 61 double emg_filtered_biceps_left;
daniQQue 23:123d65f76236 62 double emg_filtered_high_notch_1_biceps_left;
daniQQue 23:123d65f76236 63 double emg_filtered_high_notch_1_2_biceps_left;
daniQQue 23:123d65f76236 64
daniQQue 21:9b8be3dff01a 65 //before abs filtering
daniQQue 23:123d65f76236 66
daniQQue 23:123d65f76236 67 //b1 = biceps right arm
daniQQue 22:eb8411807cca 68 BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 22:eb8411807cca 69 BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 22:eb8411807cca 70 BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 23:123d65f76236 71
daniQQue 23:123d65f76236 72 //t1= triceps right arm
daniQQue 22:eb8411807cca 73 BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 22:eb8411807cca 74 BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 22:eb8411807cca 75 BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 21:9b8be3dff01a 76
daniQQue 23:123d65f76236 77 //b2= biceps left arm
daniQQue 23:123d65f76236 78 BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 23:123d65f76236 79 BiQuad filternotch1_b2 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 23:123d65f76236 80 BiQuad filternotch2_b2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 23:123d65f76236 81
daniQQue 21:9b8be3dff01a 82 //after abs filtering
daniQQue 22:eb8411807cca 83 BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 22:eb8411807cca 84 BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 23:123d65f76236 85 BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 10:7255b59224cc 86
daniQQue 23:123d65f76236 87 //function teller
daniQQue 23:123d65f76236 88 void SwitchN() { // maakt simpele functie die 1 bij n optelt
daniQQue 23:123d65f76236 89 if(switch_signal_leftarm==1)
daniQQue 23:123d65f76236 90 {
daniQQue 23:123d65f76236 91 n++;
daniQQue 25:58f351d9fcc4 92 wait(0.5f);
daniQQue 23:123d65f76236 93 }
daniQQue 23:123d65f76236 94 }
daniQQue 23:123d65f76236 95
daniQQue 21:9b8be3dff01a 96 //functions which are called in ticker to sample the analog signal
daniQQue 23:123d65f76236 97
daniQQue 0:34c739fcc3e0 98 void filter(){
daniQQue 21:9b8be3dff01a 99 //biceps right arm read+filtering
daniQQue 15:bb4a6c7836d8 100 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 22:eb8411807cca 101 emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 22:eb8411807cca 102 emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 22:eb8411807cca 103 emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
daniQQue 21:9b8be3dff01a 104 emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
daniQQue 22:eb8411807cca 105 emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 21:9b8be3dff01a 106
daniQQue 21:9b8be3dff01a 107 //triceps right arm read+filtering
daniQQue 21:9b8be3dff01a 108 emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 22:eb8411807cca 109 emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
daniQQue 22:eb8411807cca 110 emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
daniQQue 22:eb8411807cca 111 emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right);
daniQQue 21:9b8be3dff01a 112 emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float
daniQQue 22:eb8411807cca 113 emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
daniQQue 7:42d0e38196f1 114
daniQQue 23:123d65f76236 115 //biceps left arm read+filtering
daniQQue 23:123d65f76236 116 emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes
daniQQue 23:123d65f76236 117 emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
daniQQue 23:123d65f76236 118 emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
daniQQue 23:123d65f76236 119 emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left);
daniQQue 23:123d65f76236 120 emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float
daniQQue 23:123d65f76236 121 emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
daniQQue 23:123d65f76236 122
daniQQue 21:9b8be3dff01a 123 //signal substraction of filter biceps and triceps. Biceps +,triceps -
daniQQue 21:9b8be3dff01a 124 signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
daniQQue 21:9b8be3dff01a 125
daniQQue 23:123d65f76236 126 //creating of on/off signal with the created on/off signals, with if statement for right arm!
daniQQue 21:9b8be3dff01a 127 if (signal_right_arm>cut_off_value_biceps)
daniQQue 21:9b8be3dff01a 128 {onoffsignal_rightarm=1;}
daniQQue 7:42d0e38196f1 129
daniQQue 21:9b8be3dff01a 130 else if (signal_right_arm<cut_off_value_triceps)
daniQQue 21:9b8be3dff01a 131 {
daniQQue 21:9b8be3dff01a 132 onoffsignal_rightarm=-1;
daniQQue 21:9b8be3dff01a 133 }
daniQQue 21:9b8be3dff01a 134
daniQQue 21:9b8be3dff01a 135 else
daniQQue 21:9b8be3dff01a 136 {onoffsignal_rightarm=0;}
daniQQue 7:42d0e38196f1 137
daniQQue 23:123d65f76236 138 //creating on/off signal for switch (left arm)
daniQQue 23:123d65f76236 139
daniQQue 23:123d65f76236 140 if (emg_filtered_biceps_left>cut_off_value_biceps)
daniQQue 23:123d65f76236 141 {
daniQQue 23:123d65f76236 142 switch_signal_leftarm=1;
daniQQue 23:123d65f76236 143 }
daniQQue 23:123d65f76236 144
daniQQue 23:123d65f76236 145 else
daniQQue 23:123d65f76236 146 {
daniQQue 23:123d65f76236 147 switch_signal_leftarm=0;
daniQQue 23:123d65f76236 148 }
daniQQue 23:123d65f76236 149
daniQQue 0:34c739fcc3e0 150 //send signals to scope
daniQQue 25:58f351d9fcc4 151 scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 // change into raw signal!
daniQQue 25:58f351d9fcc4 152 scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1// change into raw signal!
daniQQue 25:58f351d9fcc4 153 scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2
daniQQue 25:58f351d9fcc4 154 scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3
daniQQue 23:123d65f76236 155 scope.set(4, switch_signal_leftarm);
daniQQue 23:123d65f76236 156
daniQQue 0:34c739fcc3e0 157 scope.send(); //send all the signals to the scope
daniQQue 0:34c739fcc3e0 158 }
daniQQue 0:34c739fcc3e0 159
daniQQue 26:38dc21b9ba7d 160 //calibration function
daniQQue 26:38dc21b9ba7d 161 void calibration(){
daniQQue 26:38dc21b9ba7d 162 if(button_calibration==0)
daniQQue 26:38dc21b9ba7d 163 {
daniQQue 26:38dc21b9ba7d 164 for(int n =0; n<2000;n++) //read for 5000 samples as calibration
daniQQue 26:38dc21b9ba7d 165 {
daniQQue 26:38dc21b9ba7d 166 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 26:38dc21b9ba7d 167 emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); //highpass
daniQQue 26:38dc21b9ba7d 168 emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right); //fabs because float
daniQQue 26:38dc21b9ba7d 169 emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); //lowpass to envelope
daniQQue 26:38dc21b9ba7d 170
daniQQue 26:38dc21b9ba7d 171 if (emg_filtered_biceps_right > max_right_biceps) //determine what the highest reachable emg signal is
daniQQue 26:38dc21b9ba7d 172 {
daniQQue 26:38dc21b9ba7d 173 max_right_biceps = emg_filtered_biceps_right;
daniQQue 26:38dc21b9ba7d 174 }
daniQQue 26:38dc21b9ba7d 175 }
daniQQue 26:38dc21b9ba7d 176 cut_off_value=0.2*max_right_biceps;
daniQQue 26:38dc21b9ba7d 177 pc.printf(" change of cv %f ",cut_off_value );
daniQQue 26:38dc21b9ba7d 178 }
daniQQue 26:38dc21b9ba7d 179 }
daniQQue 26:38dc21b9ba7d 180
daniQQue 0:34c739fcc3e0 181 //program
daniQQue 0:34c739fcc3e0 182
daniQQue 0:34c739fcc3e0 183 int main()
daniQQue 0:34c739fcc3e0 184 {
daniQQue 23:123d65f76236 185 pc.baud(115200);
daniQQue 0:34c739fcc3e0 186 sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds
daniQQue 25:58f351d9fcc4 187 switch_function.attach(&SwitchN,1);
daniQQue 0:34c739fcc3e0 188 //endless loop
daniQQue 0:34c739fcc3e0 189
daniQQue 23:123d65f76236 190 while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt
daniQQue 23:123d65f76236 191
daniQQue 24:bfc240e381b4 192 if (onoffsignal_rightarm==1) // als s ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 193 {
daniQQue 23:123d65f76236 194 if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
daniQQue 23:123d65f76236 195 {
daniQQue 23:123d65f76236 196 pc.printf("n is even \n\r"); // print lijn "n is even"
daniQQue 23:123d65f76236 197 pc.printf("up \n\r"); // print lijn "up"
daniQQue 24:bfc240e381b4 198 richting_motor1 = 2.5;
daniQQue 23:123d65f76236 199 pwm_motor1 = 1;
daniQQue 23:123d65f76236 200
daniQQue 23:123d65f76236 201 }
daniQQue 23:123d65f76236 202
daniQQue 23:123d65f76236 203 else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 204 {
daniQQue 23:123d65f76236 205 pc.printf("n is odd \n\r"); // print lijn "n is odd"
daniQQue 23:123d65f76236 206 pc.printf("left \n\r"); // print lijn "left"
daniQQue 24:bfc240e381b4 207 richting_motor2 = 2.5;
daniQQue 23:123d65f76236 208 pwm_motor2 = 1;
daniQQue 23:123d65f76236 209
daniQQue 23:123d65f76236 210 }
daniQQue 23:123d65f76236 211
daniQQue 23:123d65f76236 212 }
daniQQue 24:bfc240e381b4 213 else if (onoffsignal_rightarm==-1) // als d ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 214 {
daniQQue 23:123d65f76236 215 if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende
daniQQue 23:123d65f76236 216 {
daniQQue 23:123d65f76236 217 pc.printf("n is even \n\r"); // print lijn "n is even"
daniQQue 23:123d65f76236 218 pc.printf("down \n\r"); // print lijn "down"
daniQQue 24:bfc240e381b4 219 richting_motor1 = 0;
daniQQue 23:123d65f76236 220 pwm_motor1 = 1;
daniQQue 23:123d65f76236 221
daniQQue 23:123d65f76236 222 }
daniQQue 23:123d65f76236 223 else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 224 {
daniQQue 23:123d65f76236 225 pc.printf("n is odd \n\r"); // print lijn "n is odd"
daniQQue 23:123d65f76236 226 pc.printf("right \n\r"); // print lijn "right"
daniQQue 24:bfc240e381b4 227 richting_motor2 = 0;
daniQQue 23:123d65f76236 228 pwm_motor2 = 1;
daniQQue 23:123d65f76236 229
daniQQue 23:123d65f76236 230 }
daniQQue 23:123d65f76236 231 }
daniQQue 23:123d65f76236 232 else{
daniQQue 23:123d65f76236 233 pc.printf("motor staat stil \n\r");
daniQQue 23:123d65f76236 234 pwm_motor2=0;
daniQQue 23:123d65f76236 235 pwm_motor1=0;
daniQQue 23:123d65f76236 236 }
daniQQue 23:123d65f76236 237
daniQQue 23:123d65f76236 238 }
daniQQue 0:34c739fcc3e0 239
daniQQue 0:34c739fcc3e0 240 }