Revision 45:f5d74c7f8fbf, committed 2015-06-05

Comitter:

jessekaiser

Date:

Fri Jun 05 09:22:43 2015 +0000

Parent:

44:d5aa53e4778c

Child:

46:7a7cb589579a

Commit message:

2 directie aansturingen werkt nu! Ook geen pull out torque kwesties meer.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HIDScope.lib	Fri Jun 05 09:22:43 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/tomlankhorst/code/HIDScope/#e44574634162

--- a/main.cpp	Thu Jun 04 14:36:52 2015 +0000
+++ b/main.cpp	Fri Jun 05 09:22:43 2015 +0000
@@ -1,43 +1,180 @@
 #include "mbed.h"
 #include "C12832_lcd.h"
+#include "arm_math.h"
+#include "HIDScope.h"
 
-#define P_GAIN 0.998
+#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 MIN_freq    500     //The motor turns off below this frequency
+#define EMG_tresh   0.02
 
+//Motor control
 DigitalOut Dir(p21);
 PwmOut Step(p22);
-DigitalOut Enable(p14);
+
+//Signal to and from computer
+Serial pc(USBTX, USBRX);
+
+DigitalOut Enable(p25);
+
+//Microstepping
 DigitalOut MS1(p27);
 DigitalOut MS2(p28);
 DigitalOut MS3(p29);
+
+//Potmeter and EMG
 AnalogIn Pot1(p19);
 AnalogIn Pot2(p20);
+
+AnalogIn emg1(p17); //EMG bordje bovenop, biceps
+AnalogIn emg2(p15); //triceps
+HIDScope scope(2);
+Ticker   scopeTimer;
+
+//lcd
 C12832_LCD lcd;
 
-BusIn Joystick(p12,p13,p14,p15,p16);
-DigitalIn Up(p15);
-DigitalIn Down(p12);
+//Variables for motor control
+float setpoint = 4400; //Frequentie setpint
+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;
+//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;
+//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];
+
+//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;
+
+void looper_emg()
+{
+
+
+    float emg_value1_f32;
+    emg_value1_f32 = emg1.read();
+
+    float emg_value2_f32;
+    emg_value2_f32 = emg2.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 );
+
+    //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 );
+
+    /*send value to PC. */
+    scope.set(0,filtered_biceps); //Filtered EMG signal
+    scope.set(1,filtered_triceps);
+}
+
+void looper_motor()
+{
+    //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) {
+        Dir = 0;
+        speed2 = 0.01;
+        speed_old2 = 0.01;
+        Step.period(1.0/step_freq1);
+    } if (filtered_triceps > filtered_biceps) {
+        Dir = 1;
+        speed1 = 0.01;
+        speed_old1 = 0.01;  
+        Step.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) {
+        Enable = 1; //Enable = 1 turns the motor off. 
+        speed1 = 0.01;
+        speed_old1 = 0.01;
+        speed2 = 0.01;
+        speed_old2 = 0.01;
+    } else {
+        Enable = 0;
+    }
+
+}
+
 int main()
 {
-    Enable = 0;
-    float setpoint = 2500; //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;
+    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);
+    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, 0.002);
+
+    Ticker looptimer;
+    looptimer.attach(looper_motor, 0.01); //Uitzoeken waarom deze frequentie!
+
+    //Microstepping control
     MS1 = 1;
-    MS2 = 1;
+    MS2 = 0;
     MS3 = 0;
-    float p1;
-    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%
-   // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder.
-    Enable = 1;
+
     while (1) {
-        p1 = Pot1.read();
-        Dir = 0;
-        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);
-        lcd.printf("freq : %.0f \n", step_freq);
-        wait(0.01); //Hier nog ticker inbouwen
 
+        //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);
+        wait(0.01);
     }
-}
\ No newline at end of file
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-dsp.lib	Fri Jun 05 09:22:43 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/teams/mbed-official/code/mbed-dsp/#7a284390b0ce