Control up to two motors using filtered EMG signals and a PID controller
Dependencies: FastPWM HIDScope MODSERIAL QEI Matrix biquadFilter controller errorFetch mbed motorConfig refGen MatrixMath inverseKinematics
Fork of Minor_test_serial by
main.cpp@37:633dd1901681, 2017-10-23 (annotated)
- Committer:
- tvlogman
- Date:
- Mon Oct 23 13:50:49 2017 +0000
- Revision:
- 37:633dd1901681
- Parent:
- 36:f3f3327d1d5a
- Child:
- 38:f1d2d42a4bdc
Used EMG signals to control up to two motors and implements filtering;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tvlogman | 33:6f4858b98fe5 | 1 | #include <vector> |
tvlogman | 37:633dd1901681 | 2 | #include <numeric> |
vsluiter | 0:c8f15874531b | 3 | #include "mbed.h" |
vsluiter | 0:c8f15874531b | 4 | #include "MODSERIAL.h" |
tvlogman | 8:0067469c3389 | 5 | #include "HIDScope.h" |
tvlogman | 9:5f0e796c9489 | 6 | #include "QEI.h" |
tvlogman | 15:b76b8cff4d8f | 7 | #include "FastPWM.h" |
tvlogman | 29:9aa4d63a9bd1 | 8 | #include "refGen.h" |
tvlogman | 30:65f0c9ecf810 | 9 | #include "controller.h" |
tvlogman | 31:cc08254ab7b5 | 10 | #include "motorConfig.h" |
tvlogman | 32:1bb406d2b3c3 | 11 | #include "errorFetch.h" |
tvlogman | 34:1a70aa045c8f | 12 | #include "biquadFilter.h" |
tvlogman | 34:1a70aa045c8f | 13 | #include "biquadChain.h" |
tvlogman | 15:b76b8cff4d8f | 14 | |
tvlogman | 33:6f4858b98fe5 | 15 | // ADJUSTABLE PARAMETERS |
tvlogman | 37:633dd1901681 | 16 | // controller ticker time interval |
tvlogman | 37:633dd1901681 | 17 | const float Ts = 0.1; |
tvlogman | 27:a4228ea8fb8f | 18 | |
tvlogman | 34:1a70aa045c8f | 19 | // EMG filter parameters |
tvlogman | 37:633dd1901681 | 20 | // calibration time |
tvlogman | 37:633dd1901681 | 21 | const int calSamples = 100; |
tvlogman | 37:633dd1901681 | 22 | |
tvlogman | 37:633dd1901681 | 23 | volatile float avgEMGvalue = 0; |
tvlogman | 37:633dd1901681 | 24 | |
tvlogman | 34:1a70aa045c8f | 25 | |
tvlogman | 34:1a70aa045c8f | 26 | // high pass |
tvlogman | 34:1a70aa045c8f | 27 | biquadFilter HPbq1(0.9837,-1.9674, 0.9837,1.0000,-1.9769,0.9770); |
tvlogman | 34:1a70aa045c8f | 28 | biquadFilter HPbq2(1.0000, -2.0000, 1.0000, 1.0000, -1.9903, 0.9904); |
tvlogman | 34:1a70aa045c8f | 29 | biquadChain HPbqc(HPbq1, HPbq2); |
tvlogman | 34:1a70aa045c8f | 30 | // low pass |
tvlogman | 36:f3f3327d1d5a | 31 | biquadFilter LPbq1(1.0e-5*1.3294, 1.0e-5*2.6587, 1.0e-5*1.3294, 1.0000, -1.7783, 0.7924); |
tvlogman | 36:f3f3327d1d5a | 32 | biquadFilter LPbq2(1.0000, 2.0000, 1.0000, 1.0000, -1.8934, 0.9085); |
tvlogman | 34:1a70aa045c8f | 33 | biquadChain LPbqc(LPbq1, LPbq2); |
tvlogman | 34:1a70aa045c8f | 34 | |
tvlogman | 27:a4228ea8fb8f | 35 | // Controller parameters |
tvlogman | 28:8cd898ff43a2 | 36 | const float k_p = 1; |
tvlogman | 27:a4228ea8fb8f | 37 | const float k_i = 0; // Still needs a reasonable value |
tvlogman | 27:a4228ea8fb8f | 38 | const float k_d = 0; // Again, still need to pick a reasonable value |
tvlogman | 27:a4228ea8fb8f | 39 | |
tvlogman | 33:6f4858b98fe5 | 40 | // Defining motor gear ratio - for BOTH motors as this is the same in the current configuration |
tvlogman | 33:6f4858b98fe5 | 41 | const float gearRatio = 131; |
tvlogman | 33:6f4858b98fe5 | 42 | |
tvlogman | 37:633dd1901681 | 43 | // LOGISTICS |
tvlogman | 37:633dd1901681 | 44 | // Declaring finite-state-machine states |
tvlogman | 37:633dd1901681 | 45 | enum robotStates {KILLED, ACTIVE, CALIBRATING}; |
tvlogman | 37:633dd1901681 | 46 | volatile robotStates currentState = KILLED; |
tvlogman | 37:633dd1901681 | 47 | volatile bool stateChanged = true; |
tvlogman | 33:6f4858b98fe5 | 48 | |
tvlogman | 33:6f4858b98fe5 | 49 | // Declaring a controller ticker and volatile variables to store encoder counts and revs |
tvlogman | 33:6f4858b98fe5 | 50 | Ticker controllerTicker; |
tvlogman | 33:6f4858b98fe5 | 51 | volatile int m1counts = 0; |
tvlogman | 33:6f4858b98fe5 | 52 | volatile int m2counts = 0; |
tvlogman | 33:6f4858b98fe5 | 53 | volatile float m1revs = 0.00; |
tvlogman | 33:6f4858b98fe5 | 54 | volatile float m2revs = 0.00; |
tvlogman | 33:6f4858b98fe5 | 55 | |
tvlogman | 33:6f4858b98fe5 | 56 | // PWM settings |
tvlogman | 33:6f4858b98fe5 | 57 | float pwmPeriod = 1.0/5000.0; |
tvlogman | 33:6f4858b98fe5 | 58 | int frequency_pwm = 10000; //10kHz PWM |
tvlogman | 33:6f4858b98fe5 | 59 | |
tvlogman | 33:6f4858b98fe5 | 60 | // Initializing encoder |
tvlogman | 32:1bb406d2b3c3 | 61 | QEI Encoder1(D12,D13,NC,64, QEI::X4_ENCODING); |
tvlogman | 32:1bb406d2b3c3 | 62 | QEI Encoder2(D11,D10,NC,64, QEI::X4_ENCODING); |
tvlogman | 10:e23cbcdde7e3 | 63 | MODSERIAL pc(USBTX, USBRX); |
tvlogman | 27:a4228ea8fb8f | 64 | HIDScope scope(5); |
tvlogman | 8:0067469c3389 | 65 | |
tvlogman | 14:664870b5d153 | 66 | // Defining inputs |
tvlogman | 14:664870b5d153 | 67 | InterruptIn sw2(SW2); |
tvlogman | 15:b76b8cff4d8f | 68 | InterruptIn sw3(SW3); |
tvlogman | 16:27430afe663e | 69 | InterruptIn button1(D2); |
tvlogman | 28:8cd898ff43a2 | 70 | InterruptIn button2(D3); |
tvlogman | 37:633dd1901681 | 71 | //AnalogIn pot2(A3); |
tvlogman | 34:1a70aa045c8f | 72 | //AnalogIn emg0( A0 ); |
tvlogman | 32:1bb406d2b3c3 | 73 | //AnalogIn emg1( A1 ); |
tvlogman | 15:b76b8cff4d8f | 74 | |
tvlogman | 37:633dd1901681 | 75 | // Defining LED outputs to indicate robot state-us |
tvlogman | 37:633dd1901681 | 76 | DigitalOut ledG(LED_GREEN); |
tvlogman | 37:633dd1901681 | 77 | DigitalOut ledR(LED_RED); |
tvlogman | 37:633dd1901681 | 78 | DigitalOut ledB(LED_BLUE); |
tvlogman | 37:633dd1901681 | 79 | |
tvlogman | 27:a4228ea8fb8f | 80 | // Setting up HIDscope |
tvlogman | 16:27430afe663e | 81 | volatile float x; |
tvlogman | 27:a4228ea8fb8f | 82 | volatile float y; |
tvlogman | 27:a4228ea8fb8f | 83 | volatile float z; |
tvlogman | 27:a4228ea8fb8f | 84 | volatile float q; |
tvlogman | 27:a4228ea8fb8f | 85 | volatile float k; |
tvlogman | 27:a4228ea8fb8f | 86 | |
tvlogman | 27:a4228ea8fb8f | 87 | void sendDataToPc(float data1, float data2, float data3, float data4, float data5){ |
tvlogman | 27:a4228ea8fb8f | 88 | // Capture data |
tvlogman | 27:a4228ea8fb8f | 89 | x = data1; |
tvlogman | 27:a4228ea8fb8f | 90 | y = data2; |
tvlogman | 27:a4228ea8fb8f | 91 | z = data3; |
tvlogman | 27:a4228ea8fb8f | 92 | q = data4; |
tvlogman | 27:a4228ea8fb8f | 93 | k = data5; |
tvlogman | 27:a4228ea8fb8f | 94 | scope.set(0, x); |
tvlogman | 27:a4228ea8fb8f | 95 | scope.set(1, y); |
tvlogman | 27:a4228ea8fb8f | 96 | scope.set(2, z); |
tvlogman | 27:a4228ea8fb8f | 97 | scope.set(3, q); |
tvlogman | 27:a4228ea8fb8f | 98 | scope.set(4, z); |
tvlogman | 27:a4228ea8fb8f | 99 | scope.send(); // send what's in scope memory to PC |
tvlogman | 27:a4228ea8fb8f | 100 | } |
tvlogman | 14:664870b5d153 | 101 | |
tvlogman | 7:1bffab95fc5f | 102 | |
tvlogman | 33:6f4858b98fe5 | 103 | // REFERENCE PARAMETERS |
tvlogman | 27:a4228ea8fb8f | 104 | int posRevRange = 2; // describes the ends of the position range in complete motor output shaft revolutions in both directions |
tvlogman | 21:d266d1e503ce | 105 | const float maxAngle = 2*3.14*posRevRange; // max angle in radians |
tvlogman | 37:633dd1901681 | 106 | |
tvlogman | 20:4ce3fb543a45 | 107 | |
tvlogman | 27:a4228ea8fb8f | 108 | // Function getReferencePosition returns reference angle based on potmeter 1 |
tvlogman | 33:6f4858b98fe5 | 109 | refGen ref1(A1, maxAngle); |
tvlogman | 37:633dd1901681 | 110 | //refGen ref2(A2, maxAngle); |
tvlogman | 19:f08b5cd2b7ce | 111 | |
tvlogman | 21:d266d1e503ce | 112 | // readEncoder reads counts and revs and logs results to serial window |
tvlogman | 34:1a70aa045c8f | 113 | errorFetch e1(gearRatio, Ts); |
tvlogman | 34:1a70aa045c8f | 114 | //errorFetch e2(gearRatio, Ts); |
tvlogman | 21:d266d1e503ce | 115 | |
tvlogman | 31:cc08254ab7b5 | 116 | // Generate a PID controller with the specified values of k_p, k_d and k_i |
tvlogman | 30:65f0c9ecf810 | 117 | controller motorController1(k_p, k_d, k_i); |
tvlogman | 14:664870b5d153 | 118 | |
tvlogman | 19:f08b5cd2b7ce | 119 | // setMotor1 sets the direction and magnitude pins of motor1 depending on the given motorValue. Negative motorValue means clockwise rotation |
tvlogman | 37:633dd1901681 | 120 | motorConfig motor1(D4,D5); |
tvlogman | 37:633dd1901681 | 121 | motorConfig motor2(D7,D6); |
tvlogman | 37:633dd1901681 | 122 | |
tvlogman | 37:633dd1901681 | 123 | // PROBLEM: if I'm processing the state machine in the endless while loop, how can I adjust robot behavior in the ticker (as it'll keep running)? Do I need to also implement it there? If so, why bother with the while(1) in the main function in the first place? |
tvlogman | 19:f08b5cd2b7ce | 124 | void measureAndControl(){ |
tvlogman | 37:633dd1901681 | 125 | // Read encoders and EMG signal (unnfiltered reference) |
tvlogman | 33:6f4858b98fe5 | 126 | m1counts = Encoder1.getPulses(); |
tvlogman | 33:6f4858b98fe5 | 127 | m2counts = Encoder2.getPulses(); |
tvlogman | 37:633dd1901681 | 128 | float r1_uf = ref1.getReference(); |
tvlogman | 37:633dd1901681 | 129 | //float r2_uf = ref2.getReference(); |
tvlogman | 37:633dd1901681 | 130 | pc.printf("In controller ticker \r\n"); |
tvlogman | 37:633dd1901681 | 131 | // Finite state machine |
tvlogman | 37:633dd1901681 | 132 | switch(currentState){ |
tvlogman | 37:633dd1901681 | 133 | case KILLED: |
tvlogman | 37:633dd1901681 | 134 | { |
tvlogman | 37:633dd1901681 | 135 | // Initialization of KILLED state: cut power to both motors |
tvlogman | 37:633dd1901681 | 136 | if(stateChanged){ |
tvlogman | 37:633dd1901681 | 137 | motor1.kill(); |
tvlogman | 37:633dd1901681 | 138 | //motor2.kill(); |
tvlogman | 37:633dd1901681 | 139 | pc.printf("Killed state \r\n"); |
tvlogman | 37:633dd1901681 | 140 | stateChanged = false; |
tvlogman | 37:633dd1901681 | 141 | } |
tvlogman | 37:633dd1901681 | 142 | |
tvlogman | 37:633dd1901681 | 143 | // Send reference data to pc |
tvlogman | 37:633dd1901681 | 144 | sendDataToPc(r1_uf, r1_uf, r1_uf, r1_uf, r1_uf); // just send the EMG signal value to HIDscope |
tvlogman | 37:633dd1901681 | 145 | |
tvlogman | 37:633dd1901681 | 146 | // Set LED to red |
tvlogman | 37:633dd1901681 | 147 | ledR = 0; |
tvlogman | 37:633dd1901681 | 148 | ledG = 1; |
tvlogman | 37:633dd1901681 | 149 | ledB = 1; |
tvlogman | 37:633dd1901681 | 150 | // need something here to check if "killswitch" has been pressed (?) |
tvlogman | 37:633dd1901681 | 151 | // NOTE: state transition is handled using buttons triggering functions motorConfig::kill() and motorConfig::turnMotorOn |
tvlogman | 37:633dd1901681 | 152 | break; |
tvlogman | 37:633dd1901681 | 153 | } |
tvlogman | 37:633dd1901681 | 154 | case ACTIVE: |
tvlogman | 37:633dd1901681 | 155 | { |
tvlogman | 37:633dd1901681 | 156 | if(stateChanged){ |
tvlogman | 37:633dd1901681 | 157 | pc.printf("Active state \r\n"); |
tvlogman | 37:633dd1901681 | 158 | } |
tvlogman | 37:633dd1901681 | 159 | // Filter reference |
tvlogman | 37:633dd1901681 | 160 | float r1 = HPbqc.applyFilter(r1_uf); |
tvlogman | 37:633dd1901681 | 161 | r1 = fabs(r1); |
tvlogman | 37:633dd1901681 | 162 | r1 = LPbqc.applyFilter(r1); |
tvlogman | 37:633dd1901681 | 163 | |
tvlogman | 37:633dd1901681 | 164 | //float r2 = HPbqc.applyFilter(r2_uf); |
tvlogman | 37:633dd1901681 | 165 | //r2 = fabs(r2); |
tvlogman | 37:633dd1901681 | 166 | //r2 = LPbqc.applyFilter(r2); |
tvlogman | 37:633dd1901681 | 167 | |
tvlogman | 37:633dd1901681 | 168 | |
tvlogman | 37:633dd1901681 | 169 | // Compute error |
tvlogman | 37:633dd1901681 | 170 | e1.fetchError(m1counts, r1); |
tvlogman | 37:633dd1901681 | 171 | //e2.fetchError(m2counts, r2); |
tvlogman | 37:633dd1901681 | 172 | |
tvlogman | 37:633dd1901681 | 173 | // Compute motor value using controller and set motor |
tvlogman | 37:633dd1901681 | 174 | float motorValue = motorController1.control(e1.e_pos, e1.e_int, e1.e_der); |
tvlogman | 37:633dd1901681 | 175 | motor1.setMotor(motorValue); |
tvlogman | 37:633dd1901681 | 176 | |
tvlogman | 37:633dd1901681 | 177 | // Send data to HIDscope |
tvlogman | 37:633dd1901681 | 178 | sendDataToPc(r1_uf, r1, e1.e_pos, e1.e_der, motorValue); |
tvlogman | 37:633dd1901681 | 179 | |
tvlogman | 37:633dd1901681 | 180 | // Set LED to blue |
tvlogman | 37:633dd1901681 | 181 | ledR = 1; |
tvlogman | 37:633dd1901681 | 182 | ledG = 1; |
tvlogman | 37:633dd1901681 | 183 | ledB = 0; |
tvlogman | 37:633dd1901681 | 184 | // NOTE: state transition is handled using buttons triggering functions motorConfig::kill() and motorConfig::turnMotorOn |
tvlogman | 37:633dd1901681 | 185 | break; |
tvlogman | 37:633dd1901681 | 186 | } |
tvlogman | 37:633dd1901681 | 187 | case CALIBRATING: |
tvlogman | 37:633dd1901681 | 188 | { |
tvlogman | 37:633dd1901681 | 189 | // NOTE: maybe wrap this whole calibrating thing in a library? |
tvlogman | 37:633dd1901681 | 190 | |
tvlogman | 37:633dd1901681 | 191 | // Do I need to kill motors here? |
tvlogman | 37:633dd1901681 | 192 | |
tvlogman | 37:633dd1901681 | 193 | |
tvlogman | 37:633dd1901681 | 194 | // Initialization of CALIBRATE state |
tvlogman | 37:633dd1901681 | 195 | static int Ncal = 0; |
tvlogman | 37:633dd1901681 | 196 | std::vector<float> EMGsamples; |
tvlogman | 37:633dd1901681 | 197 | |
tvlogman | 37:633dd1901681 | 198 | if(stateChanged){ |
tvlogman | 37:633dd1901681 | 199 | // Kill motors |
tvlogman | 37:633dd1901681 | 200 | pc.printf("Calibrate state \r\n"); |
tvlogman | 37:633dd1901681 | 201 | motor1.kill(); |
tvlogman | 37:633dd1901681 | 202 | //motor2.kill(); |
tvlogman | 37:633dd1901681 | 203 | |
tvlogman | 37:633dd1901681 | 204 | // Clear sample value vector and reset counter variable |
tvlogman | 37:633dd1901681 | 205 | EMGsamples.clear(); |
tvlogman | 37:633dd1901681 | 206 | Ncal = 0; |
tvlogman | 37:633dd1901681 | 207 | stateChanged = false; |
tvlogman | 37:633dd1901681 | 208 | } |
tvlogman | 37:633dd1901681 | 209 | |
tvlogman | 37:633dd1901681 | 210 | // fill the array with sample data if it is not yet filled |
tvlogman | 37:633dd1901681 | 211 | if(Ncal < calSamples){ |
tvlogman | 37:633dd1901681 | 212 | pc.printf("%.2f \r\n", r1_uf); |
tvlogman | 37:633dd1901681 | 213 | EMGsamples.push_back(r1_uf); |
tvlogman | 37:633dd1901681 | 214 | pc.printf("%.2f \r\n", EMGsamples.end()); |
tvlogman | 37:633dd1901681 | 215 | Ncal++; |
tvlogman | 37:633dd1901681 | 216 | } |
tvlogman | 37:633dd1901681 | 217 | // if array is filled compute the mean value and switch to active state |
tvlogman | 37:633dd1901681 | 218 | else { |
tvlogman | 37:633dd1901681 | 219 | // Set new avgEMGvalue |
tvlogman | 37:633dd1901681 | 220 | avgEMGvalue = std::accumulate(EMGsamples.begin(), EMGsamples.end(), 0)/calSamples; // still needs to return this value |
tvlogman | 37:633dd1901681 | 221 | |
tvlogman | 37:633dd1901681 | 222 | pc.printf("Avg emg value is %.2f changed state to active", avgEMGvalue); |
tvlogman | 37:633dd1901681 | 223 | // State transition logic |
tvlogman | 37:633dd1901681 | 224 | currentState = ACTIVE; |
tvlogman | 37:633dd1901681 | 225 | stateChanged = true; |
tvlogman | 37:633dd1901681 | 226 | Ncal = 0; |
tvlogman | 37:633dd1901681 | 227 | } |
tvlogman | 37:633dd1901681 | 228 | |
tvlogman | 37:633dd1901681 | 229 | // Set LED to green |
tvlogman | 37:633dd1901681 | 230 | ledR = 1; |
tvlogman | 37:633dd1901681 | 231 | ledG = 0; |
tvlogman | 37:633dd1901681 | 232 | ledB = 1; |
tvlogman | 37:633dd1901681 | 233 | sendDataToPc(r1_uf, r1_uf, r1_uf, r1_uf, r1_uf); |
tvlogman | 37:633dd1901681 | 234 | break; |
tvlogman | 37:633dd1901681 | 235 | } |
tvlogman | 37:633dd1901681 | 236 | } |
tvlogman | 37:633dd1901681 | 237 | |
tvlogman | 37:633dd1901681 | 238 | |
tvlogman | 37:633dd1901681 | 239 | |
tvlogman | 15:b76b8cff4d8f | 240 | } |
tvlogman | 15:b76b8cff4d8f | 241 | |
tvlogman | 27:a4228ea8fb8f | 242 | void rSwitchDirection(){ |
tvlogman | 33:6f4858b98fe5 | 243 | ref1.r_direction = !ref1.r_direction; |
tvlogman | 27:a4228ea8fb8f | 244 | pc.printf("Switched reference direction! \r\n"); |
tvlogman | 14:664870b5d153 | 245 | } |
vsluiter | 0:c8f15874531b | 246 | |
tvlogman | 37:633dd1901681 | 247 | void killSwitch(){ |
tvlogman | 37:633dd1901681 | 248 | currentState = KILLED; |
tvlogman | 37:633dd1901681 | 249 | stateChanged = true; |
tvlogman | 37:633dd1901681 | 250 | } |
tvlogman | 37:633dd1901681 | 251 | |
tvlogman | 37:633dd1901681 | 252 | void activateRobot(){ |
tvlogman | 37:633dd1901681 | 253 | currentState = ACTIVE; |
tvlogman | 37:633dd1901681 | 254 | stateChanged = true; |
tvlogman | 37:633dd1901681 | 255 | } |
tvlogman | 37:633dd1901681 | 256 | |
tvlogman | 37:633dd1901681 | 257 | void calibrateRobot(){ |
tvlogman | 37:633dd1901681 | 258 | currentState = CALIBRATING; |
tvlogman | 37:633dd1901681 | 259 | stateChanged = true; |
tvlogman | 37:633dd1901681 | 260 | } |
tvlogman | 21:d266d1e503ce | 261 | |
vsluiter | 0:c8f15874531b | 262 | int main() |
tvlogman | 10:e23cbcdde7e3 | 263 | { |
tvlogman | 37:633dd1901681 | 264 | pc.baud(115200); |
tvlogman | 19:f08b5cd2b7ce | 265 | pc.printf("Main function"); |
tvlogman | 37:633dd1901681 | 266 | // Attaching state change functions to buttons; |
tvlogman | 37:633dd1901681 | 267 | sw2.fall(&killSwitch); |
tvlogman | 37:633dd1901681 | 268 | sw3.fall(&activateRobot); |
tvlogman | 37:633dd1901681 | 269 | button1.rise(&calibrateRobot); |
tvlogman | 27:a4228ea8fb8f | 270 | button2.rise(&rSwitchDirection); |
tvlogman | 37:633dd1901681 | 271 | |
tvlogman | 22:2e473e9798c0 | 272 | controllerTicker.attach(measureAndControl, Ts); |
tvlogman | 19:f08b5cd2b7ce | 273 | pc.printf("Encoder ticker attached and baudrate set"); |
vsluiter | 0:c8f15874531b | 274 | } |
tvlogman | 7:1bffab95fc5f | 275 |