4 directional EMG control of the XY table. Made during my bachelor end assignment.
Dependencies: C12832_lcd HIDScope mbed-dsp mbed
Revision 56:6ea03cce1175, committed 2015-06-11
- Comitter:
- jessekaiser
- Date:
- Thu Jun 11 10:07:53 2015 +0000
- Parent:
- 55:fa6d5ee5c854
- Child:
- 57:0a278c60d28b
- Commit message:
- Endconcept 6. Niks werkt;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Thu Jun 11 10:07:53 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/tomlankhorst/code/HIDScope/#e44574634162
--- a/main.cpp Thu Jun 11 09:22:32 2015 +0000 +++ b/main.cpp Thu Jun 11 10:07:53 2015 +0000 @@ -1,45 +1,279 @@ +/*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 P_GAIN 0.995 +#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 0.04 //Can be used for normalisation of the EMG signal of the biceps +#define MAX_tri 0.04 +#define MAX_pect 0.04 +#define MAX_delt 0.04 +#define MIN_freq 500 //The motor turns off below this frequency +#define EMG_tresh 0.01 -DigitalOut Dir(p23); -PwmOut Step(p24); -AnalogIn Pos1(p17); -AnalogIn Pos2(p18); -DigitalOut Enable(p25); +//Motor control +DigitalOut Dirx(p21); +PwmOut Stepx(p22); +DigitalOut Diry(p23); +PwmOut Stepy(p24); + +//Signal to and from computer +Serial pc(USBTX, USBRX); + +//Position sensors +AnalogIn Posx(p19); +AnalogIn Posy(p20); +DigitalOut Enablex(p25); //Connected to green led +DigitalOut Enabley(p26); //Connected to blue led + +//Microstepping DigitalOut MS1(p27); DigitalOut MS2(p28); DigitalOut MS3(p29); -AnalogIn Pot1(p19); -AnalogIn Pot2(p20); + +//Potmeter and EMG + + +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; -Serial pc(USBTX, USBRX); +//Variables for motor control +float setpoint = 1000; //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 pectoralis major + 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 deltoid + 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() +{ + //Forward + 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 (force1 > force2) { + Diry = 1; + speed2 = 0.01; + speed_old2 = 0.01; + Stepy.period(1.0/step_freq1); + } + if (force2 > force1) { + Diry = 0; + 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 (force3 > force4) { + Dirx = 0; + speed4 = 0.01; + speed_old4 = 0.01; + Stepx.period(1.0/step_freq3); + } + if (force4 > force3) { + Dirx = 1; + speed3 = 0.01; + speed_old3 = 0.01; + Stepx.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; + } + +} int main() { - - float setpoint = 6500; //Frequentie - float step_freq = 1; + // 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, 0.01); + + 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 + + //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0) MS1 = 1; MS2 = 0; MS3 = 0; - - Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer. - Step.write(0.5); // Duty cycle van 50% + Stepx.write(0.5); // Duty cycle of 50% + Stepy.write(0.5); while (1) { - Dir = 1; - float rpm; - float new_step_freq; - new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq); - step_freq = new_step_freq; - Step.period(1.0/step_freq); - rpm = (step_freq/400)*60; - pc.printf("%.2f %.0f \n", Pos1.read(), rpm); - wait(0.01); //Hier nog ticker inbouwen - + lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read()); + //lcd.printf("%.2f, %.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); } -} \ No newline at end of file +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-dsp.lib Thu Jun 11 10:07:53 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/mbed-official/code/mbed-dsp/#7a284390b0ce