Revision 46:7a7cb589579a, committed 2015-06-05

Comitter:

jessekaiser

Date:

Fri Jun 05 12:33:13 2015 +0000

Parent:

45:f5d74c7f8fbf

Child:

47:150924ff4b2c

Commit message:

Code voor controle met 2 motoren en 4 emg signalen.

Changed in this revision

--- a/main.cpp	Fri Jun 05 09:22:43 2015 +0000
+++ b/main.cpp	Fri Jun 05 12:33:13 2015 +0000
@@ -1,3 +1,12 @@
+/*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"
@@ -9,17 +18,22 @@
 #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
 
 //Motor control
-DigitalOut Dir(p21);
-PwmOut Step(p22);
+DigitalOut Dirx(p12);
+DigitalOut Diry(p13);
+PwmOut Stepx(p21);
+PwmOut Stepy(p22);
 
 //Signal to and from computer
 Serial pc(USBTX, USBRX);
 
-DigitalOut Enable(p25);
+DigitalOut Enablex(p24); //Connected to green led
+DigitalOut Enabley(p25); //Connected to blue led 
 
 //Microstepping
 DigitalOut MS1(p27);
@@ -30,9 +44,12 @@
 AnalogIn Pot1(p19);
 AnalogIn Pot2(p20);
 
-AnalogIn emg1(p17); //EMG bordje bovenop, biceps
-AnalogIn emg2(p15); //triceps
-HIDScope scope(2);
+AnalogIn emg1(p15); //EMG bordje bovenop, biceps
+AnalogIn emg2(p16); //triceps
+AnalogIn emg3(p17);
+AnalogIn emg4(p18);
+
+HIDScope scope(4);
 Ticker   scopeTimer;
 
 //lcd
@@ -42,14 +59,20 @@
 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};
 
@@ -58,47 +81,55 @@
 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;
-float filtered_triceps;
-float speed_old1;
-float speed_old2;
-float acc1;
-float acc2;
-float force1;
-float force2;
-float speed1;
-float speed2;
-float damping1;
-float damping2;
+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;
+    float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
     emg_value1_f32 = emg1.read();
-
-    float emg_value2_f32;
     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 );
-    filtered_biceps = fabs(filtered_biceps);
-    arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
+    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_motor()
+void looper_motory()
 {
     //Vooruit
     force1 = K_Gain*(filtered_biceps/MAX_bi);
@@ -118,15 +149,15 @@
     step_freq2 = (setpoint*speed2);
     speed_old2 = speed2;
     if (filtered_biceps > filtered_triceps) {
-        Dir = 0;
+        Diry = 0;
         speed2 = 0.01;
         speed_old2 = 0.01;
-        Step.period(1.0/step_freq1);
+        Stepy.period(1.0/step_freq1);
     } if (filtered_triceps > filtered_biceps) {
-        Dir = 1;
+        Diry = 1;
         speed1 = 0.01;
         speed_old1 = 0.01;  
-        Step.period(1.0/step_freq2);
+        Stepy.period(1.0/step_freq2);
     }
     //Speed limit
     if (speed1 > 1) {
@@ -139,42 +170,102 @@
     }
     //EMG treshold
     if (filtered_biceps < EMG_tresh && filtered_triceps < EMG_tresh) {
-        Enable = 1; //Enable = 1 turns the motor off. 
+        Enabley = 1; //Enable = 1 turns the motor off. 
         speed1 = 0.01;
         speed_old1 = 0.01;
         speed2 = 0.01;
         speed_old2 = 0.01;
     } else {
-        Enable = 0;
+        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;
+    }
+
+}
 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;
+    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_motor, 0.01); //Uitzoeken waarom deze frequentie!
-
-    //Microstepping control
+    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)
     MS1 = 1;
     MS2 = 0;
     MS3 = 0;
-    Step.write(0.5); // Duty cycle van 50%
+    Stepx.write(0.5); // Duty cycle of 50%
+    Stepy.write(0.5);
 
     while (1) {
 
-        //lcd.printf("Bi %.2f ,Tri %.2f \n", filtered_biceps, filtered_triceps); //snelheid meting op lcd
-        lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2);
+        //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);
     }
 }