4 directional EMG control of the XY table. Made during my bachelor end assignment.
Dependencies: C12832_lcd HIDScope mbed-dsp mbed
Revision 47:150924ff4b2c, committed 2015-06-05
- Comitter:
- jessekaiser
- Date:
- Fri Jun 05 13:37:58 2015 +0000
- Parent:
- 46:7a7cb589579a
- Child:
- 48:05adf4978828
- Commit message:
- Working Test Setup for 2 motors!
Changed in this revision
--- a/HIDScope.lib Fri Jun 05 12:33:13 2015 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/tomlankhorst/code/HIDScope/#e44574634162
--- a/main.cpp Fri Jun 05 12:33:13 2015 +0000 +++ b/main.cpp Fri Jun 05 13:37:58 2015 +0000 @@ -1,271 +1,55 @@ -/*Code by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table -Some variables are also numbered at the end. The numbers stands for the muscle that controls it. -Biceps = 1 -Triceps = 2 -Pectoralis Major = 3 -Deltoid = 4 -The "x" and "y" at the end of variables stand for the X-Spindle or Y-Spindle respectivly. -*/ - #include "mbed.h" #include "C12832_lcd.h" -#include "arm_math.h" -#include "HIDScope.h" -#define K_Gain 14 //Gain of the filtered EMG signal -#define Damp 5 //Deceleration of the motor -#define Mass 1 // Mass value -#define dt 0.002 //Sample frequency -#define MAX_bi 0.09 //Can be used for normalisation of the EMG signal of the biceps -#define MAX_tri 0.09 -#define MAX_pect 0.09 -#define MAX_delt 0.09 -#define MIN_freq 500 //The motor turns off below this frequency -#define EMG_tresh 0.02 +#define P_GAIN 0.998 -//Motor control -DigitalOut Dirx(p12); -DigitalOut Diry(p13); -PwmOut Stepx(p21); -PwmOut Stepy(p22); - -//Signal to and from computer -Serial pc(USBTX, USBRX); - -DigitalOut Enablex(p24); //Connected to green led -DigitalOut Enabley(p25); //Connected to blue led - -//Microstepping +DigitalOut Dir1(p21); +PwmOut Step1(p22); +DigitalOut Dir2(p23); +PwmOut Step2(p24); +DigitalOut Enable2(p25); +DigitalOut Enable1(p26); DigitalOut MS1(p27); DigitalOut MS2(p28); DigitalOut MS3(p29); - -//Potmeter and EMG AnalogIn Pot1(p19); AnalogIn Pot2(p20); - -AnalogIn emg1(p15); //EMG bordje bovenop, biceps -AnalogIn emg2(p16); //triceps -AnalogIn emg3(p17); -AnalogIn emg4(p18); - -HIDScope scope(4); -Ticker scopeTimer; - -//lcd C12832_LCD lcd; -//Variables for motor control -float setpoint = 4400; //Frequentie setpint -float step_freq1 = 1; -float step_freq2 = 1; -float step_freq3 = 1; -float step_freq4 = 1; - -//EMG filter -arm_biquad_casd_df1_inst_f32 lowpass_biceps; -arm_biquad_casd_df1_inst_f32 lowpass_triceps; -arm_biquad_casd_df1_inst_f32 lowpass_pect; -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}; -arm_biquad_casd_df1_inst_f32 highnotch_biceps; -arm_biquad_casd_df1_inst_f32 highnotch_triceps; -arm_biquad_casd_df1_inst_f32 highnotch_pect; -arm_biquad_casd_df1_inst_f32 highnotch_deltoid; -//highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz -float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533}; - -//state values -float lowpass_biceps_states[4]; -float highnotch_biceps_states[8]; -float lowpass_triceps_states[4]; -float highnotch_triceps_states[8]; -float lowpass_pect_states[4]; -float highnotch_pect_states[8]; -float lowpass_deltoid_states[4]; -float highnotch_deltoid_states[8]; - -//global variabels -float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid; -float speed_old1, speed_old2, speed_old3, speed_old4; -float acc1, acc2, acc3, acc4; -float force1, force2, force3, force4; -float speed1, speed2, speed3, speed4; -float damping1, damping2, damping3, damping4; - -void looper_emg() -{ - float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32; - emg_value1_f32 = emg1.read(); - emg_value2_f32 = emg2.read(); - emg_value3_f32 = emg3.read(); - emg_value4_f32 = emg4.read(); - - //process emg biceps - arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter - filtered_biceps = fabs(filtered_biceps); //Rectifier - arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter - - //process emg triceps - arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 ); - filtered_triceps = fabs(filtered_triceps); - arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 ); - - //process emg triceps - arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 ); - filtered_pect = fabs(filtered_pect); - arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 ); - - //process emg triceps - arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 ); - filtered_deltoid = fabs(filtered_deltoid); - arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 ); - - /*send value to PC. */ - scope.set(0,filtered_biceps); //Filtered EMG signal - scope.set(1,filtered_triceps); - scope.set(2,filtered_pect); - scope.set(3,filtered_deltoid); -} - -void looper_motory() -{ - //Vooruit - force1 = K_Gain*(filtered_biceps/MAX_bi); - force1 = force1 - damping1; - acc1 = force1/Mass; - speed1 = speed_old1 + (acc1 * dt); - damping1 = speed1 * Damp; - step_freq1 = (setpoint*speed1); - speed_old1 = speed1; - - //Achteruit triceps - force2 = K_Gain*(filtered_triceps/MAX_tri); - force2 = force2 - damping2; - acc2 = force2/Mass; - speed2 = speed_old2 + (acc2 * dt); - damping2 = speed2 * Damp; - step_freq2 = (setpoint*speed2); - speed_old2 = speed2; - if (filtered_biceps > filtered_triceps) { - Diry = 0; - speed2 = 0.01; - speed_old2 = 0.01; - Stepy.period(1.0/step_freq1); - } if (filtered_triceps > filtered_biceps) { - Diry = 1; - speed1 = 0.01; - speed_old1 = 0.01; - Stepy.period(1.0/step_freq2); - } - //Speed limit - if (speed1 > 1) { - speed1 = 1; - step_freq1 = setpoint; - } - if (speed2 > 1) { - speed2 = 1; - step_freq2 = setpoint; - } - //EMG treshold - if (filtered_biceps < EMG_tresh && filtered_triceps < EMG_tresh) { - Enabley = 1; //Enable = 1 turns the motor off. - speed1 = 0.01; - speed_old1 = 0.01; - speed2 = 0.01; - speed_old2 = 0.01; - } else { - Enabley = 0; - } - -} - -void looper_motorx() -{ - //To the left - force3 = K_Gain*(filtered_pect/MAX_pect); - force3 = force3 - damping3; - acc3 = force3/Mass; - speed3 = speed_old3 + (acc3 * dt); - damping3 = speed3 * Damp; - step_freq3 = (setpoint*speed3); - speed_old3 = speed3; - - //To the right - force4 = K_Gain*(filtered_deltoid/MAX_delt); - force4 = force4 - damping4; - acc4 = force4/Mass; - speed4 = speed_old4 + (acc4 * dt); - damping4 = speed4 * Damp; - step_freq4 = (setpoint*speed4); - speed_old4 = speed4; - if (filtered_pect > filtered_deltoid) { - Dirx = 0; - speed4 = 0.01; - speed_old4 = 0.01; - Stepy.period(1.0/step_freq3); - } if (filtered_triceps > filtered_biceps) { - Dirx = 1; - speed3 = 0.01; - speed_old3 = 0.01; - Stepy.period(1.0/step_freq4); - } - //Speed limit - if (speed3 > 1) { - speed3 = 1; - step_freq3 = setpoint; - } - if (speed4 > 1) { - speed4 = 1; - step_freq4 = setpoint; - } - //EMG treshold - if (filtered_pect < EMG_tresh && filtered_deltoid < EMG_tresh) { - Enablex = 1; //Enable = 1 turns the motor off. - speed3 = 0.01; - speed_old3 = 0.01; - speed4 = 0.01; - speed_old4 = 0.01; - } else { - Enablex = 0; - } - -} +BusIn Joystick(p12,p13,p14,p15,p16); +DigitalIn Up(p15); +DigitalIn Down(p12); int main() { - // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven. - scopeTimer.attach_us(&scope, &HIDScope::send, 2e3); - - Ticker emgtimer; //biceps - arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states); - arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states); - //triceps - arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states); - arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states); - //pectoralis major - arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states); - arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states); - //deltoid - arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states); - arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states); - emgtimer.attach(looper_emg, 0.002); - - Ticker looptimer; - looptimer.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq? - looptimer.attach(looper_motory, 0.01); //Y-Spindle motor - - //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0) + Enable1 = 1; + Enable2 = 1; + float setpoint = 1500; //Frequentie + float step_freq1 = 1; + float step_freq2 = 1; MS1 = 1; MS2 = 0; MS3 = 0; - Stepx.write(0.5); // Duty cycle of 50% - Stepy.write(0.5); - + //Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer. + Step1.write(0.5); // Duty cycle van 50% + Step2.write(0.5); + // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder. + Enable1 = 0; + Enable2 = 0; while (1) { + Dir1 = 0; //0 Naar links (grote motor) + float new_step_freq1; + new_step_freq1 = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq1); + step_freq1 = new_step_freq1; + Step1.period(1.0/step_freq1); - //lcd.printf("Bi %.2f ,Tri %.2f \n", filtered_biceps, filtered_triceps); Filtered EMG values - lcd.printf("1 %.0f, 2 %.0f, 3 %.0f, 4 %.0f \n", step_freq1, step_freq2, step_freq3, step_freq4); //step_freq value of every EMG sensor - wait(0.01); + Dir2 = 0; //0 Naar onder (kleine motor) + float new_step_freq2; + new_step_freq2 = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq2); + step_freq2 = new_step_freq2; + Step2.period(1.0/step_freq2); + + lcd.printf("freq : %.0f, %.0f \n", step_freq1, step_freq2); + wait(0.01); //Hier nog ticker inbouwen + } -} +} \ No newline at end of file
--- a/mbed-dsp.lib Fri Jun 05 12:33:13 2015 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/teams/mbed-official/code/mbed-dsp/#7a284390b0ce