Revision 41:a666a531d52e, committed 2015-06-03

Comitter:

jessekaiser

Date:

Wed Jun 03 14:13:32 2015 +0000

Parent:

40:0cfd96cb25fa

Child:

42:e67627d11789

Commit message:

Stepper motor directie controle met 2 EMG signalen;

Changed in this revision

--- a/main.cpp	Wed Jun 03 13:10:34 2015 +0000
+++ b/main.cpp	Wed Jun 03 14:13:32 2015 +0000
@@ -10,6 +10,7 @@
 #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);
@@ -39,7 +40,8 @@
 
 //Variables for motor control
 float setpoint = 4400; //Frequentie setpint
-float step_freq = 1;
+float step_freq1 = 1;
+float step_freq2 = 1;
 
 //EMG filter
 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
@@ -60,12 +62,16 @@
 //global variabels
 float filtered_biceps;
 float filtered_triceps;
-float speed_old;
-float acc;
+float speed_old1;
+float speed_old2;
+float acc1;
+float acc2;
 float force1;
 float force2;
-float speed;
-float D;
+float speed1;
+float speed2;
+float damping1;
+float damping2;
 
 void looper_emg()
 {
@@ -94,67 +100,74 @@
 
 void looper_motor()
 {
-    
-        if (filtered_biceps > filtered_triceps) {
-            Dir = 0;
-            force2 = 0;
-            force1 = K_Gain*(filtered_biceps/MAX_bi);
-            force1 = force1 - D;
-            acc = force1/Mass;
-            speed = speed_old + (acc * dt);
-            D = speed * Damp;
-    
-        } else {
-            Dir = 1;
-            force1 = 0;
-            force2 = K_Gain*(filtered_triceps/MAX_tri);
-            force2 = force2 - D;
-            acc = force2/Mass;
-            speed = speed_old + (acc * dt);
-            D = speed * Damp;
-        }
-        //Speed limit
-        if (speed > 1) {
-            speed = 1;
-            step_freq = setpoint;
-        } else {
-            step_freq = (setpoint*speed);
-        }
-       
+    //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
+    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 < 0.02 && filtered_triceps < 0.02) {
-            Enable = 1;
-        } else {
-            Enable = 0;
-        }
-         Step.period(1.0/step_freq);
-         speed_old = speed;
+    if (filtered_biceps > filtered_triceps) {
+        Dir = 0;
+        Step.period(1.0/step_freq1);
+
+    } else {
+        Dir = 1;
+        Step.period(1.0/step_freq2);
+    }
+    //Speed limit
+    if (speed1 > 1 || speed2 > 1) {
+        speed1 = 1;
+        speed2 = 1;
+        Step.period(1.0/setpoint);
+    } else {
+        step_freq1 = (setpoint*speed1);
+        step_freq2 = (setpoint*speed2);
+    }
+    //EMG treshold
+    if (filtered_biceps < EMG_tresh && filtered_triceps < EMG_tresh) {
+        Enable = 1;
+    } else {
+        Enable = 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);
+}
+
+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;
-        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!
+    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);
 
-        //Microstepping control
-        MS1 = 1;
-        MS2 = 0;
-        MS3 = 0;
-        Step.write(0.5); // Duty cycle van 50%
+    Ticker looptimer;
+    looptimer.attach(looper_motor, 0.01); //Uitzoeken waarom deze frequentie!
 
-        while (1) {
+    //Microstepping control
+    MS1 = 1;
+    MS2 = 0;
+    MS3 = 0;
+    Step.write(0.5); // Duty cycle van 50%
 
-            lcd.printf("Freq %.0f Hz, %.2f \n", step_freq, speed); //snelheid meting op lcd
-            //pc.printf("%.3f \n", emg0.read());
-            wait(0.01);
-        }
+    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);
+        wait(0.01);
     }
+}