Revision 78:9cae6de48b0e, committed 2015-06-22

Comitter:

jessekaiser

Date:

Mon Jun 22 11:52:27 2015 +0000

Parent:

77:f3290f86ae4f

Child:

79:251d73ddbc8b

Commit message:

Motor y 3

Changed in this revision

--- a/main.cpp	Mon Jun 22 11:07:32 2015 +0000
+++ b/main.cpp	Mon Jun 22 11:52:27 2015 +0000
@@ -23,10 +23,12 @@
 #define EMG_tresh4   0.01
 #define H_Gain  3.5
 #define Pt_x    0.50
-#define Pt_y    0.25
+#define Pt_y    0.50
 #define error_tresh 0.01
 
 //Motor control
+DigitalOut Dirx(p21);
+PwmOut Stepx(p22);
 DigitalOut Diry(p23);
 PwmOut Stepy(p24);
 
@@ -34,7 +36,9 @@
 Serial pc(USBTX, USBRX);
 
 //Position sensors
+AnalogIn Posx(p19);
 AnalogIn Posy(p20);
+DigitalOut Enablex(p25);
 DigitalOut Enabley(p26);
 
 //Microstepping
@@ -43,8 +47,10 @@
 DigitalOut MS3(p29);
 
 //EMG inputs
-AnalogIn emg1(p15);
-AnalogIn emg2(p16);
+AnalogIn emg1(p15); 
+AnalogIn emg2(p16); 
+AnalogIn emg3(p17);
+AnalogIn emg4(p18);
 
 //HIDScope scope(4);
 //Ticker   scopeTimer;
@@ -55,15 +61,20 @@
 //Variables for motor control
 float setpoint = 2000; //Frequentie setpoint
 float step_freq1 = 1;
+float step_freq2 = 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
 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};
 
@@ -72,10 +83,14 @@
 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;
-float speed_old1, speed_old2;
+float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
+float speed_old1, speed_old;
 float acc1, acc2;
 float force1, force2;
 float speed1, speed2;
@@ -94,10 +109,11 @@
 
 void looper_emg()
 {
-    float emg_value1_f32, emg_value2_f32;
+    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
@@ -109,12 +125,21 @@
     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(1,filtered_triceps);
+    scope.set(2,filtered_pect);
+    scope.set(3,filtered_deltoid);*/
 }
 
 void looper_motory()
@@ -149,101 +174,164 @@
     } else {
         Enabley = 0;
     }
+}
 
 
+/*void looper_motorx()
+{
 
-}
+    emg_x = (filtered_pect - filtered_deltoid);
+    emg_x_abs = fabs(emg_x);
+    force2 = emg_x_abs*K_Gain;
+    force2 = force2 - damping2;
+    acc2 = force2/Mass;
+    speed2 = speed_old2 + (acc2 * dt);
+    damping2 = speed2 * Damp;
+    step_freq2 = setpoint * speed2;
+    Stepx.period(1.0/step_freq2);
+    speed_old2 = speed2;
+
+    if (emg_x > 0) {
+        Dirx = 0;
+    }
+    if (emg_x < 0) {
+        Dirx = 1;
+    }
+    //Speed limit
+    if (speed2 > 1) {
+        speed2 = 1;
+        step_freq2 = setpoint;
+    }
+    //EMG treshold
+    if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
+        Enablex = 1; //Enable = 1 turns the motor off.
+    } 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);
-/*
+    /*
+        MS1 = 1;
+        MS2 = 0;
+        MS3 = 0;
+
+        Stepx.write(0.5); // Duty cycle of 50%
+        Stepy.write(0.5);
+
+        Enablex = 1;
+        Enabley = 1;
+        wait(1);
+        lcd.printf("Start homing");
+        wait(2);
+        lcd.cls();
+        wait(1);
+        Enablex = 0;
+        Enabley = 0;
+        while(errorx > error_tresh || errory > error_tresh) {
+
+            Ps_x = Posx.read();
+            Ps_y = Posy.read();
+            errorx = fabs(Pt_x - Ps_x);
+            errory = fabs(Ps_y - Pt_y);
+            lcd.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) {
+                Diry = 0;
+                cy = errory * H_Gain;
+                float hnew_step_freqy;
+                hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
+                hstep_freqy = hnew_step_freqy;
+                Stepy.period(1.0/hstep_freqy);
+                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) {
+                Diry = 1;
+                cy = errory * H_Gain;
+                float hnew_step_freqy;
+                hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
+                hstep_freqy = hnew_step_freqy;
+                Stepy.period(1.0/hstep_freqy);
+                wait(0.01);
+            }
+
+        }
+        lcd.printf("Done");
+        wait(2);
+        lcd.cls();
+        wait(1);
+        Enablex = 1;
+        Enabley = 1;
+        wait(3);
+        lcd.printf("Start EMG Control");
+        wait(2);
+        lcd.cls();
+        wait(1);
+        Enablex = 0;
+        Enabley = 0;
+    */
     MS1 = 1;
     MS2 = 0;
     MS3 = 0;
-
-   
+    Stepx.write(0.5); // Duty cycle of 50%
     Stepy.write(0.5);
 
-
-    Enabley = 1;
-    wait(1);
-    lcd.printf("Start homing");
-    wait(2);
-    lcd.cls();
-    wait(1);
-    Enabley = 0;
-
-    //Homing of the motor, so you start from the same position every time.
-    while(errory > error_tresh) {
-
-        Ps_y = Posy.read();
-        errory = fabs(Ps_y - Pt_y);
-        lcd.printf("%.2f \n",  Stepy.read());
-
-                   if (Ps_y > Pt_y && errory > error_tresh) {
-                   Diry = 0;
-                   cy = errory * H_Gain;
-                   float hnew_step_freqy;
-                   hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
-                   hstep_freqy = hnew_step_freqy;
-                   Stepy.period(1.0/hstep_freqy);
-                   wait(0.01);
-               }
-
+    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);
 
-                   if (Ps_y < 0.25 && errory > error_tresh) {
-                   Diry = 1;
-                   cy = errory * H_Gain;
-                   float hnew_step_freqy;
-                   hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
-                   hstep_freqy = hnew_step_freqy;
-                   Stepy.period(1.0/hstep_freqy);
-                   wait(0.01);
-               }
+   //Ticker looptimer1;
+    //looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
 
-               }
-                   lcd.printf("Done");
-                   wait(5);
-                   lcd.cls();
-                   wait(1);
-                   
-                   Enabley = 1;
-                   wait(3);
-                   lcd.printf("Start EMG Control");
-                   wait(2);
-                   lcd.cls();
-                   wait(1);
-                   
-                   Enabley = 0;
-*/
-                   MS1 = 1;
-                   MS2 = 0;
-                   MS3 = 0;
+    Ticker looptimer2;
+    looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
 
-                   Stepy.write(0.5);
-
-                   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);
-                   emgtimer.attach(looper_emg, 0.01);
-
-                   Ticker looptimer2;
-                   looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor
-
-                   //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
+    //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
 
 
 
-                   while (1) {
+    while (1) {
 
-                   //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
-                   lcd.printf("%.2f %.2f %.2f %.2f  \n", Stepy.read(), step_freq1);
-                   wait(0.01);
+    
+        //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
+        //lcd.printf("%.2f, %.2f %.2f %.2f \n", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values
+        //lcd.printf("1 %.0f, 2 %.0f \n", step_freq1, step_freq2); //step_freq value of every EMG sensor
+        pc.printf("%.2f %.2f %.2f  \n", Stepy.read(), step_freq1, speed1);
+        wait(0.01);
 
-               }
-               }
+    }
+}