Biorobotics 7 / Mbed 2 deprecated Programming_Milestone_EMG_Motor

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Dependencies:   FastPWM HIDScope MODSERIAL mbed

main.cpp@3:4b3ccfbae1c1, 2018-10-16 (annotated)

Committer:
MAHCSnijders
Date:
Tue Oct 16 11:34:12 2018 +0000
Revision:
3:4b3ccfbae1c1
Parent:
2:9c1bdcf6bc26 
Alles bij elkaar so far

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 2:9c1bdcf6bc26 7 FastPWM pwmpin1(D5); // SPECIFIC PIN (does not need to be plugged in) 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 2:9c1bdcf6bc26 8 FastPWM pwmpin2(D6); // SPECIFIC PIN (does not need to be plugged in) 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 2:9c1bdcf6bc26 9 DigitalOut directionpin1(D4); // SPECIFIC PIN (does not need to be plugged in) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
MAHCSnijders 2:9c1bdcf6bc26 10 DigitalOut directionpin2(D7); // SPECIFIC PIN (does not need to be plugged in) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
MAHCSnijders 2:9c1bdcf6bc26 11 AnalogIn emg0( A0 ); // EMG on Bicep 1a
MAHCSnijders 2:9c1bdcf6bc26 12 AnalogIn emg1( A1 ); // EMG on Bicep 1b
MAHCSnijders 3:4b3ccfbae1c1 13 //AnalogIn emg2( A2 ); // EMG on Bicep 2a CHECK IF THIS WORKS
MAHCSnijders 3:4b3ccfbae1c1 14 //AnalogIn emg3( A3 ); // EMG on Bicep 2b CHECK IF THIS WORKS
MAHCSnijders 2:9c1bdcf6bc26 15 DigitalOut led(LED1); // LED check for Sample function
MAHCSnijders 2:9c1bdcf6bc26 16 InterruptIn button1(PTC6); // Button interrupt for EMG 1
MAHCSnijders 3:4b3ccfbae1c1 17 //InterruptIn button2(PTA4); // Button interrupt for EMG 2
MAHCSnijders 2:9c1bdcf6bc26 18 DigitalOut ledb1(LED_RED); // LED check for button_pressed1 function
MAHCSnijders 3:4b3ccfbae1c1 19 //DigitalOut ledb2(LED_GREEN); // LED check for button_pressed2 function
MAHCSnijders 0:73cf7fc57ab7 20
MAHCSnijders 0:73cf7fc57ab7 21 // Define variables
MAHCSnijders 0:73cf7fc57ab7 22 Ticker sample_timer; // Ticker for EMG sample function
MAHCSnijders 3:4b3ccfbae1c1 23 HIDScope scope( 2 ); // HIDScope for EMG
MAHCSnijders 0:73cf7fc57ab7 24 Ticker motor; // Ticker function for motor function
MAHCSnijders 0:73cf7fc57ab7 25 volatile float u1; // Motor 1 control signal
MAHCSnijders 3:4b3ccfbae1c1 26 //volatile float u2; // Motor 2 control signal
MAHCSnijders 0:73cf7fc57ab7 27
MAHCSnijders 0:73cf7fc57ab7 28 void sample() // Function for getting EMG signals
MAHCSnijders 0:73cf7fc57ab7 29 {
MAHCSnijders 2:9c1bdcf6bc26 30 // 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 31 scope.set(0, emg0.read() );
MAHCSnijders 0:73cf7fc57ab7 32 scope.set(1, emg1.read() );
MAHCSnijders 3:4b3ccfbae1c1 33 // scope.set(0, emg2.read() ); // CHECK IF THIS WORKS
MAHCSnijders 3:4b3ccfbae1c1 34 // scope.set(1, emg3.read() ); // CHECK IF THIS WORKS
MAHCSnijders 2:9c1bdcf6bc26 35 // Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
MAHCSnijders 2:9c1bdcf6bc26 36 // Ensure that enough channels are available (HIDScope scope( 2 ))
MAHCSnijders 2:9c1bdcf6bc26 37 // Finally, send all channels to the PC at once
MAHCSnijders 0:73cf7fc57ab7 38 scope.send();
MAHCSnijders 2:9c1bdcf6bc26 39 // To indicate that the function is working, the LED is toggled
MAHCSnijders 0:73cf7fc57ab7 40 led = !led;
MAHCSnijders 0:73cf7fc57ab7 41 }
MAHCSnijders 0:73cf7fc57ab7 42
MAHCSnijders 2:9c1bdcf6bc26 43 void button_pressed1() // Indicates direction of motor 1 becomes negative
MAHCSnijders 1:83531c955134 44 {
MAHCSnijders 1:83531c955134 45 ledb1 = 0; // Turns on red led as indication of negative direction for motor 1
MAHCSnijders 2:9c1bdcf6bc26 46 directionpin1 = 0; // Direction for motor 1 becomes negative CHECK IF THIS WORKS
MAHCSnijders 1:83531c955134 47 }
MAHCSnijders 1:83531c955134 48
MAHCSnijders 3:4b3ccfbae1c1 49 //void button_pressed2() // Indicates direction of motor 2 becomes negative
MAHCSnijders 3:4b3ccfbae1c1 50 // {
MAHCSnijders 3:4b3ccfbae1c1 51 // ledb2 = 0; // Turns on green led as indication of negative direction for motor 2
MAHCSnijders 3:4b3ccfbae1c1 52 // directionpin2 = 0; // Direction for motor 2 becomes negative CHECK IF THIS WORKS
MAHCSnijders 3:4b3ccfbae1c1 53 // }
MAHCSnijders 1:83531c955134 54
MAHCSnijders 0:73cf7fc57ab7 55 void motorfunction() // Function for motor control
MAHCSnijders 0:73cf7fc57ab7 56 {
MAHCSnijders 3:4b3ccfbae1c1 57 u1 = emg0.read(); // EMG1_scale; // Motor control signal
MAHCSnijders 3:4b3ccfbae1c1 58 // u2 = emg0.read(); // EMG2_scale; // Motor control signal
MAHCSnijders 2:9c1bdcf6bc26 59 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 3:4b3ccfbae1c1 60 // 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 61 }
MAHCSnijders 0:73cf7fc57ab7 62
MAHCSnijders 0:73cf7fc57ab7 63 int main()
MAHCSnijders 0:73cf7fc57ab7 64 {
MAHCSnijders 3:4b3ccfbae1c1 65 led = 0;
MAHCSnijders 3:4b3ccfbae1c1 66 ledb1 = 0;
MAHCSnijders 3:4b3ccfbae1c1 67 // ledb2 = 1;
MAHCSnijders 0:73cf7fc57ab7 68 sample_timer.attach(&sample, 0.002); // 500 Hz
MAHCSnijders 2:9c1bdcf6bc26 69 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 70 motor.attach(motorfunction,0.5);
MAHCSnijders 2:9c1bdcf6bc26 71 button1.fall(&button_pressed1); // Whenever button 1 falls, execute button_pressed1 function (blinks led red and changes motor direction)
MAHCSnijders 3:4b3ccfbae1c1 72 // button2.fall(&button_pressed2); // Whenever button 2 falls, execute button_pressed1 function (blinks led green and changes motor direction)
MAHCSnijders 0:73cf7fc57ab7 73 while(1) {}
MAHCSnijders 0:73cf7fc57ab7 74 }