Revision 36:d6e0a835bb2d, committed 2015-05-27

Comitter:

jessekaiser

Date:

Wed May 27 14:49:14 2015 +0000

Parent:

35:b0737ee24b43

Child:

37:3b9b18450612

Commit message:

The K_gain and Max_emg are configured for a normalized emg signal and speed should be between 0 and 1. Can go a bit higher.

Changed in this revision

--- a/main.cpp	Wed May 27 14:20:06 2015 +0000
+++ b/main.cpp	Wed May 27 14:49:14 2015 +0000
@@ -3,11 +3,11 @@
 #include "arm_math.h"
 #include "HIDScope.h"
 
-#define K_Gain      65      //Gain of the filtered EMG signal
-#define Damp        2       //Deceleration of the motor
+#define K_Gain      8      //Gain of the filtered EMG signal
+#define Damp        4       //Deceleration of the motor
 #define Mass        1       // Mass value
 #define dt          0.002   //Sample frequency
-#define MAX_emg             //Can be used for normalisation of the EMG signal
+#define MAX_emg     0.05      //Can be used for normalisation of the EMG signal
 #define MIN_freq    900     //The motor turns off below this frequency
 
 //Motor control
@@ -35,7 +35,7 @@
 C12832_LCD lcd;
 
 //Variables for motor control
-float setpoint = 9000; //Frequentie
+float setpoint = 9000; //Frequentie setpint
 float step_freq = 1;
 
 //EMG filter
@@ -61,29 +61,25 @@
 
 void looper_emg()
 {
-    /*variable to store value in*/
-    volatile uint16_t emg_value1;
+
 
     float emg_value1_f32;
-
-    /*put raw emg value both in red and in emg_value*/
-    emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) (KAN weg?)
     emg_value1_f32 = emg0.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 );
- 
+
 
     /*send value to PC. */
-    scope.set(0,emg0.read()); //Filtered EMG signal
+    scope.set(0,filtered_biceps); //Filtered EMG signal
 }
 
 void looper_motor()
 {
     Dir = 0;
-    force = K_Gain*filtered_biceps;
+    force = K_Gain*(filtered_biceps/MAX_emg);
     force = force - D;
     acc = force/Mass;
     speed = speed_old + (acc * dt);
@@ -111,7 +107,7 @@
 
     Ticker looptimer;
     looptimer.attach(looper_motor, 0.01); //Uitzoeken waarom deze frequentie!
-    
+
     //Microstepping control
     MS1 = 1;
     MS2 = 0;
@@ -120,8 +116,8 @@
 
     while (1) {
 
-        lcd.printf("Freq %.0f Hz \n", step_freq); //snelheid meting op lcd
-        //pc.printf("%.3f \n", emg0.read()); 
+        lcd.printf("Freq %.0f Hz, %.2f \n", step_freq, speed); //snelheid meting op lcd
+        //pc.printf("%.3f \n", emg0.read());
         wait(0.01);
     }
 }