Jesse Kaiser / Mbed 2 deprecated EMGcontrol_XY_Table

4 directional EMG control of the XY table. Made during my bachelor end assignment.

Dependencies:   C12832_lcd HIDScope mbed-dsp mbed

Files at this revision

API Documentation at this revision

Revision 79:251d73ddbc8b, committed 2015-06-22

Comitter:
jessekaiser
Date:
Mon Jun 22 13:13:55 2015 +0000
Parent:
78:9cae6de48b0e
Child:
80:6f9ddb8bb335
Commit message:
Concept nucleo

Changed in this revision

C12832_lcd.lib Show diff for this revision Revisions of this file
HIDScope.lib Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- a/C12832_lcd.lib	Mon Jun 22 11:52:27 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/users/atthackathon/code/C12832_lcd/#3e64ca073642

--- a/HIDScope.lib	Mon Jun 22 11:52:27 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	Mon Jun 22 11:52:27 2015 +0000
+++ b/main.cpp	Mon Jun 22 13:13:55 2015 +0000
@@ -8,7 +8,7 @@
 */
 
 #include "mbed.h"
-#include "C12832_lcd.h"
+//#include "C12832_lcd.h"
 #include "arm_math.h"
 //#include "HIDScope.h"
 
@@ -22,41 +22,41 @@
 #define EMG_tresh3   0.01
 #define EMG_tresh4   0.01
 #define H_Gain  3.5
-#define Pt_x    0.50
-#define Pt_y    0.50
+#define Pt_x    0.83
+#define Pt_y    0.25
 #define error_tresh 0.01
 
 //Motor control
-DigitalOut Dirx(p21);
-PwmOut Stepx(p22);
-DigitalOut Diry(p23);
-PwmOut Stepy(p24);
+DigitalOut Dirx(PB_8);
+PwmOut Stepx(PB_9);
+DigitalOut Diry(PA_2);
+PwmOut Stepy(PA_3);
 
 //Signal to and from computer
 Serial pc(USBTX, USBRX);
 
 //Position sensors
-AnalogIn Posx(p19);
-AnalogIn Posy(p20);
-DigitalOut Enablex(p25);
-DigitalOut Enabley(p26);
+AnalogIn Posx(PC_0);
+AnalogIn Posy(PC_1);
+DigitalOut Enablex(PB_3);
+DigitalOut Enabley(PA_10);
 
 //Microstepping
-DigitalOut MS1(p27);
-DigitalOut MS2(p28);
-DigitalOut MS3(p29);
+DigitalOut MS1(PB_10);
+DigitalOut MS2(PB_4);
+DigitalOut MS3(PB_5);
 
 //EMG inputs
-AnalogIn emg1(p15); 
-AnalogIn emg2(p16); 
-AnalogIn emg3(p17);
-AnalogIn emg4(p18);
+AnalogIn emg1(PB_0); 
+AnalogIn emg2(PA_4); 
+AnalogIn emg3(PA_1);
+AnalogIn emg4(PA_0);
 
 //HIDScope scope(4);
 //Ticker   scopeTimer;
 
 //lcd screen
-C12832_LCD lcd;
+//C12832_LCD lcd;
 
 //Variables for motor control
 float setpoint = 2000; //Frequentie setpoint
@@ -90,7 +90,7 @@
 
 //global variabels
 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
-float speed_old1, speed_old;
+float speed_old1, speed_old2;
 float acc1, acc2;
 float force1, force2;
 float speed1, speed2;
@@ -177,7 +177,7 @@
 }
 
 
-/*void looper_motorx()
+void looper_motorx()
 {
 
     emg_x = (filtered_pect - filtered_deltoid);
@@ -209,7 +209,7 @@
         Enablex = 0;
     }
 
-}*/
+}
 
 int main()
 {
@@ -226,9 +226,9 @@
         Enablex = 1;
         Enabley = 1;
         wait(1);
-        lcd.printf("Start homing");
+        pc.printf("Start homing");
         wait(2);
-        lcd.cls();
+        //lcd.cls();
         wait(1);
         Enablex = 0;
         Enabley = 0;
@@ -238,19 +238,10 @@
             Ps_y = Posy.read();
             errorx = fabs(Pt_x - Ps_x);
             errory = fabs(Ps_y - Pt_y);
-            lcd.printf("%.2f %.2f \n", errorx, errory);
+            pc.printf("%.2f %.2f \n", errorx, errory);
 
 
-            if (Ps_x < 0.50 && errorx > error_tresh) {
-                Dirx = 0;
-                cx = errorx * H_Gain;
-                float hnew_step_freqx;
-                hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
-                hstep_freqx = hnew_step_freqx;
-                Stepx.period(1.0/hstep_freqx);
-                wait(0.01);
-            }
-            if (Ps_y > 0.50 && errory > error_tresh) {
+            if (Ps_y > Pt_y && errory > error_tresh) {
                 Diry = 0;
                 cy = errory * H_Gain;
                 float hnew_step_freqy;
@@ -260,16 +251,7 @@
                 wait(0.01);
             }
 
-            if (Ps_x > 0.50 && errorx > error_tresh) {
-                Dirx = 1;
-                cx = errorx * H_Gain;
-                float hnew_step_freqx;
-                hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
-                hstep_freqx = hnew_step_freqx;
-                Stepx.period(1.0/hstep_freqx);
-                wait(0.01);
-            }
-            if (Ps_y < 0.50 && errory > error_tresh) {
+            if (Ps_y < Pt_y && errory > error_tresh) {
                 Diry = 1;
                 cy = errory * H_Gain;
                 float hnew_step_freqy;
@@ -280,16 +262,16 @@
             }
 
         }
-        lcd.printf("Done");
+        pc.printf("Done");
         wait(2);
-        lcd.cls();
+        //lcd.cls();
         wait(1);
         Enablex = 1;
         Enabley = 1;
         wait(3);
-        lcd.printf("Start EMG Control");
+        pc.printf("Start EMG Control");
         wait(2);
-        lcd.cls();
+        //lcd.cls();
         wait(1);
         Enablex = 0;
         Enabley = 0;
@@ -314,8 +296,8 @@
     arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
     emgtimer.attach(looper_emg, 0.01);
 
-   //Ticker looptimer1;
-    //looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
+    Ticker looptimer1;
+    looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
 
     Ticker looptimer2;
     looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor

--- a/mbed.bld	Mon Jun 22 11:52:27 2015 +0000
+++ b/mbed.bld	Mon Jun 22 13:13:55 2015 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/433970e64889
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/7cff1c4259d7
\ No newline at end of file