Biorobotics 7 / Mbed 2 deprecated Programming_Milestone_EMG_Motor

EMG aansluiten op motor

Dependencies:   FastPWM HIDScope MODSERIAL mbed

main.cpp@1:83531c955134, 2018-10-11 (annotated)

Committer:
MAHCSnijders
Date:
Thu Oct 11 14:17:03 2018 +0000
Revision:
1:83531c955134
Parent:
0:73cf7fc57ab7
Child:
2:9c1bdcf6bc26
Added button interrupts + LED check.; NOT tested yet.; EMG NOT scaled/filtered.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MAHCSnijders 0:73cf7fc57ab7 1 #include "mbed.h"
MAHCSnijders 0:73cf7fc57ab7 2 #include "FastPWM.h"
MAHCSnijders 0:73cf7fc57ab7 3 #include "MODSERIAL.h"
MAHCSnijders 0:73cf7fc57ab7 4 #include "HIDScope.h"
MAHCSnijders 0:73cf7fc57ab7 5
MAHCSnijders 0:73cf7fc57ab7 6 // Define Pins
MAHCSnijders 0:73cf7fc57ab7 7 FastPWM pwmpin1(D5); // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets)
MAHCSnijders 0:73cf7fc57ab7 8 FastPWM pwmpin2(D6); // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets)
MAHCSnijders 0:73cf7fc57ab7 9 DigitalOut directionpin1(D4); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
MAHCSnijders 0:73cf7fc57ab7 10 DigitalOut directionpin2(D7); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
MAHCSnijders 1:83531c955134 11 AnalogIn emg0( A0 ); // EMG on Bicep 1
MAHCSnijders 1:83531c955134 12 AnalogIn emg1( A1 ); // EMG on Bicep 2
MAHCSnijders 1:83531c955134 13 DigitalOut led(LED1); // Check for Sample function
MAHCSnijders 1:83531c955134 14 InterruptIn button1(PTC6); // Interrupt 1 for EMG 1
MAHCSnijders 1:83531c955134 15 DigitalOut ledb1(LED_RED); // Check for button_pressed1 function
MAHCSnijders 1:83531c955134 16 InterruptIn button2(PTA4); // Interrupt 2 for EMG 2
MAHCSnijders 1:83531c955134 17 DigitalOut ledb2(LED_GREEN); // check for button_pressed2 function
MAHCSnijders 0:73cf7fc57ab7 18
MAHCSnijders 0:73cf7fc57ab7 19 // Define variables
MAHCSnijders 0:73cf7fc57ab7 20 Ticker sample_timer; // Ticker for EMG sample function
MAHCSnijders 0:73cf7fc57ab7 21 HIDScope scope( 2 ); // HIDScope for EMG
MAHCSnijders 0:73cf7fc57ab7 22 Ticker motor; // Ticker function for motor function
MAHCSnijders 0:73cf7fc57ab7 23 volatile float u1; // Motor 1 control signal
MAHCSnijders 0:73cf7fc57ab7 24 volatile float u2; // Motor 2 control signal
MAHCSnijders 0:73cf7fc57ab7 25
MAHCSnijders 0:73cf7fc57ab7 26 void sample() // Function for getting EMG signals
MAHCSnijders 0:73cf7fc57ab7 27 {
MAHCSnijders 0:73cf7fc57ab7 28 /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
MAHCSnijders 0:73cf7fc57ab7 29 scope.set(0, emg0.read() );
MAHCSnijders 0:73cf7fc57ab7 30 scope.set(1, emg1.read() );
MAHCSnijders 0:73cf7fc57ab7 31 /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
MAHCSnijders 0:73cf7fc57ab7 32 * Ensure that enough channels are available (HIDScope scope( 2 ))
MAHCSnijders 0:73cf7fc57ab7 33 * Finally, send all channels to the PC at once */
MAHCSnijders 0:73cf7fc57ab7 34 scope.send();
MAHCSnijders 0:73cf7fc57ab7 35 /* To indicate that the function is working, the LED is toggled */
MAHCSnijders 0:73cf7fc57ab7 36 led = !led;
MAHCSnijders 0:73cf7fc57ab7 37 }
MAHCSnijders 0:73cf7fc57ab7 38
MAHCSnijders 1:83531c955134 39 void button_pressed1() // Indicates direction of motor 1 becomes negative
MAHCSnijders 1:83531c955134 40 {
MAHCSnijders 1:83531c955134 41 ledb1 = 0; // Turns on red led as indication of negative direction for motor 1
MAHCSnijders 1:83531c955134 42 u1 = -u1; // Direction for motor 1 becomes negative
MAHCSnijders 1:83531c955134 43 }
MAHCSnijders 1:83531c955134 44
MAHCSnijders 1:83531c955134 45 void button_pressed2() // Indicates direction of motor 2 becomes negative
MAHCSnijders 1:83531c955134 46 {
MAHCSnijders 1:83531c955134 47 ledb2 = 0; // Turns on green led as indication of negative direction for motor 2
MAHCSnijders 1:83531c955134 48 u2 = -u2; // Direction for motor 2 becomes negative
MAHCSnijders 1:83531c955134 49 }
MAHCSnijders 1:83531c955134 50
MAHCSnijders 0:73cf7fc57ab7 51 void motorfunction() // Function for motor control
MAHCSnijders 0:73cf7fc57ab7 52 {
MAHCSnijders 0:73cf7fc57ab7 53 u1 = EMG1_scale; // motor control signal
MAHCSnijders 0:73cf7fc57ab7 54 u2 = EMG2_scale; // motor control signal
MAHCSnijders 0:73cf7fc57ab7 55 directionpin1 = u1 > 0.0f; // either true or false, determines direction (0 or 1)
MAHCSnijders 0:73cf7fc57ab7 56 directionpin2 = u2 > 0.0f; // either true or false, determines direction (0 or 1)
MAHCSnijders 0:73cf7fc57ab7 57 pwmpin1 = fabs(u1); // pwm duty cycle can only be positive, floating point absolute value (if value is >0, there still will be a positive value).
MAHCSnijders 0:73cf7fc57ab7 58 pwmpin2 = fabs(u2); // pwm duty cycle can only be positive, floating point absolute value (if value is >0, there still will be a positive value).
MAHCSnijders 0:73cf7fc57ab7 59 }
MAHCSnijders 0:73cf7fc57ab7 60
MAHCSnijders 0:73cf7fc57ab7 61 int main()
MAHCSnijders 0:73cf7fc57ab7 62 {
MAHCSnijders 0:73cf7fc57ab7 63 sample_timer.attach(&sample, 0.002); // 500 Hz
MAHCSnijders 0:73cf7fc57ab7 64 pwmpin1.period_us(60.0); //60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to be done once)
MAHCSnijders 0:73cf7fc57ab7 65 motor.attach(motorfunction,0.5);
MAHCSnijders 1:83531c955134 66 button1.fall(&button_pressed1); // whenever button 1 falls, execute button_pressed1 function (blinks led red and changes motor direction)
MAHCSnijders 1:83531c955134 67 button2.fall(&button_pressed2); // whenever button 2 falls, execute button_pressed1 function (blinks led green and changes motor direction)
MAHCSnijders 0:73cf7fc57ab7 68 while(1) {}
MAHCSnijders 0:73cf7fc57ab7 69 }