Biorobotics
Yea it is working. done programinging for a while!
Dependencies: HIDScope QEI mbed
main.cpp@2:e84adf0a960f, 2015-11-02 (annotated)
- Committer:
- yohoo15
- Date:
- Mon Nov 02 15:03:25 2015 +0000
- Revision:
- 2:e84adf0a960f
- Parent:
- 1:267ff9a39ee4
with more comments
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| yohoo15 | 0:0f08f98ae7f8 | 1 | #include "mbed.h" |
| yohoo15 | 0:0f08f98ae7f8 | 2 | //#include "read_filter_emg.h" |
| yohoo15 | 0:0f08f98ae7f8 | 3 | //included for fabs() function |
| yohoo15 | 0:0f08f98ae7f8 | 4 | #include <math.h> |
| yohoo15 | 0:0f08f98ae7f8 | 5 | #include "HIDScope.h" |
| yohoo15 | 0:0f08f98ae7f8 | 6 | #include <iostream> |
| yohoo15 | 0:0f08f98ae7f8 | 7 | #include "QEI.h" |
| yohoo15 | 0:0f08f98ae7f8 | 8 | |
| yohoo15 | 0:0f08f98ae7f8 | 9 | //DigitalOut led_green(LED_GREEN); |
| yohoo15 | 0:0f08f98ae7f8 | 10 | //DigitalOut led_red(LED_RED); |
| yohoo15 | 0:0f08f98ae7f8 | 11 | |
| yohoo15 | 0:0f08f98ae7f8 | 12 | Serial pc(USBTX, USBRX); |
| yohoo15 | 0:0f08f98ae7f8 | 13 | AnalogIn analog_emg_left(A0); |
| yohoo15 | 0:0f08f98ae7f8 | 14 | AnalogIn analog_emg_right(A1); |
| yohoo15 | 0:0f08f98ae7f8 | 15 | |
| yohoo15 | 0:0f08f98ae7f8 | 16 | Ticker HIDScope_timer; |
| yohoo15 | 0:0f08f98ae7f8 | 17 | Ticker Filteren_timer; |
| yohoo15 | 0:0f08f98ae7f8 | 18 | Ticker aansturen; |
| yohoo15 | 0:0f08f98ae7f8 | 19 | |
| yohoo15 | 0:0f08f98ae7f8 | 20 | HIDScope scope(4); |
| yohoo15 | 0:0f08f98ae7f8 | 21 | |
| yohoo15 | 0:0f08f98ae7f8 | 22 | // defining flags |
| yohoo15 | 0:0f08f98ae7f8 | 23 | volatile bool Flag_filteren = false; |
| yohoo15 | 0:0f08f98ae7f8 | 24 | volatile bool Flag_HIDScope = false; |
| yohoo15 | 0:0f08f98ae7f8 | 25 | volatile bool left_movement = false; |
| yohoo15 | 0:0f08f98ae7f8 | 26 | volatile bool right_movement = false; |
| yohoo15 | 0:0f08f98ae7f8 | 27 | |
| yohoo15 | 0:0f08f98ae7f8 | 28 | // making function flags. |
| yohoo15 | 0:0f08f98ae7f8 | 29 | void Go_flag_filteren() |
| yohoo15 | 0:0f08f98ae7f8 | 30 | { |
| yohoo15 | 0:0f08f98ae7f8 | 31 | Flag_filteren = true; |
| yohoo15 | 0:0f08f98ae7f8 | 32 | } |
| yohoo15 | 0:0f08f98ae7f8 | 33 | |
| yohoo15 | 0:0f08f98ae7f8 | 34 | void Go_flag_HIDScope() |
| yohoo15 | 0:0f08f98ae7f8 | 35 | { |
| yohoo15 | 0:0f08f98ae7f8 | 36 | Flag_HIDScope = true; |
| yohoo15 | 0:0f08f98ae7f8 | 37 | } |
| yohoo15 | 0:0f08f98ae7f8 | 38 | |
| yohoo15 | 0:0f08f98ae7f8 | 39 | |
| yohoo15 | 2:e84adf0a960f | 40 | /*************************************************************Begin Filtering **********************************************************************************************************/ |
| yohoo15 | 0:0f08f98ae7f8 | 41 | double input_left = 0 ; |
| yohoo15 | 0:0f08f98ae7f8 | 42 | double input_right = 0 ; |
| yohoo15 | 0:0f08f98ae7f8 | 43 | //double input = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 44 | double filter_signal_hid_left = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 45 | double filter_signal_hid_right = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 46 | //double input_right = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 47 | // defining threshold |
| yohoo15 | 2:e84adf0a960f | 48 | double high_threshold = 900; |
| yohoo15 | 0:0f08f98ae7f8 | 49 | double low_threshold = 125; |
| yohoo15 | 0:0f08f98ae7f8 | 50 | |
| yohoo15 | 2:e84adf0a960f | 51 | //*** making the v for everything and conquer the world *** |
| yohoo15 | 0:0f08f98ae7f8 | 52 | |
| yohoo15 | 0:0f08f98ae7f8 | 53 | //for left |
| yohoo15 | 0:0f08f98ae7f8 | 54 | //for Notchfilter |
| yohoo15 | 0:0f08f98ae7f8 | 55 | double notch_v11=0; |
| yohoo15 | 0:0f08f98ae7f8 | 56 | double notch_v21=0; |
| yohoo15 | 0:0f08f98ae7f8 | 57 | double notch_v12=0; |
| yohoo15 | 0:0f08f98ae7f8 | 58 | double notch_v22=0; |
| yohoo15 | 0:0f08f98ae7f8 | 59 | double notch_v13=0; |
| yohoo15 | 0:0f08f98ae7f8 | 60 | double notch_v23=0; |
| yohoo15 | 0:0f08f98ae7f8 | 61 | |
| yohoo15 | 0:0f08f98ae7f8 | 62 | //for highpass filter |
| yohoo15 | 0:0f08f98ae7f8 | 63 | double high_v11=0; |
| yohoo15 | 0:0f08f98ae7f8 | 64 | double high_v21=0; |
| yohoo15 | 0:0f08f98ae7f8 | 65 | double high_v12=0; |
| yohoo15 | 0:0f08f98ae7f8 | 66 | double high_v22=0; |
| yohoo15 | 0:0f08f98ae7f8 | 67 | double high_v13=0; |
| yohoo15 | 0:0f08f98ae7f8 | 68 | double high_v23=0; |
| yohoo15 | 0:0f08f98ae7f8 | 69 | |
| yohoo15 | 0:0f08f98ae7f8 | 70 | // for lowpasfilter |
| yohoo15 | 0:0f08f98ae7f8 | 71 | double low_v11=0; |
| yohoo15 | 0:0f08f98ae7f8 | 72 | double low_v21=0; |
| yohoo15 | 0:0f08f98ae7f8 | 73 | double low_v12=0; |
| yohoo15 | 0:0f08f98ae7f8 | 74 | double low_v22=0; |
| yohoo15 | 0:0f08f98ae7f8 | 75 | double low_v13=0; |
| yohoo15 | 0:0f08f98ae7f8 | 76 | double low_v23=0; |
| yohoo15 | 0:0f08f98ae7f8 | 77 | |
| yohoo15 | 0:0f08f98ae7f8 | 78 | // for moving average |
| yohoo15 | 0:0f08f98ae7f8 | 79 | double n1 = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 80 | double n2 = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 81 | double n3 = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 82 | double n4 = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 83 | double n5 = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 84 | |
| yohoo15 | 0:0f08f98ae7f8 | 85 | // for right |
| yohoo15 | 0:0f08f98ae7f8 | 86 | //for Notchfilter |
| yohoo15 | 0:0f08f98ae7f8 | 87 | double notch_v11_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 88 | double notch_v21_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 89 | double notch_v12_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 90 | double notch_v22_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 91 | double notch_v13_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 92 | double notch_v23_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 93 | |
| yohoo15 | 0:0f08f98ae7f8 | 94 | //for highpass filter |
| yohoo15 | 0:0f08f98ae7f8 | 95 | double high_v11_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 96 | double high_v21_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 97 | double high_v12_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 98 | double high_v22_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 99 | double high_v13_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 100 | double high_v23_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 101 | |
| yohoo15 | 0:0f08f98ae7f8 | 102 | // for lowpasfilter |
| yohoo15 | 0:0f08f98ae7f8 | 103 | double low_v11_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 104 | double low_v21_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 105 | double low_v12_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 106 | double low_v22_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 107 | double low_v13_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 108 | double low_v23_b=0; |
| yohoo15 | 0:0f08f98ae7f8 | 109 | |
| yohoo15 | 0:0f08f98ae7f8 | 110 | // for moving average |
| yohoo15 | 0:0f08f98ae7f8 | 111 | double n1_b = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 112 | double n2_b = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 113 | double n3_b = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 114 | double n4_b = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 115 | double n5_b = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 116 | |
| yohoo15 | 0:0f08f98ae7f8 | 117 | |
| yohoo15 | 0:0f08f98ae7f8 | 118 | //general biquad filter that can be called in all the filter functions |
| yohoo15 | 0:0f08f98ae7f8 | 119 | double biquad(double u, double &v1, double &v2, const double a1, |
| yohoo15 | 0:0f08f98ae7f8 | 120 | const double a2, const double b0, const double b1, const double b2) |
| yohoo15 | 0:0f08f98ae7f8 | 121 | { |
| yohoo15 | 0:0f08f98ae7f8 | 122 | double v = u - a1*v1 - a2*v2; |
| yohoo15 | 0:0f08f98ae7f8 | 123 | double y = b0*v + b1*v1 + b2*v2; |
| yohoo15 | 0:0f08f98ae7f8 | 124 | //values of v2 and v1 are updated, as they are passed by reference |
| yohoo15 | 0:0f08f98ae7f8 | 125 | //they update globally |
| yohoo15 | 0:0f08f98ae7f8 | 126 | v2 = v1; |
| yohoo15 | 0:0f08f98ae7f8 | 127 | v1 = v; |
| yohoo15 | 0:0f08f98ae7f8 | 128 | return y; |
| yohoo15 | 0:0f08f98ae7f8 | 129 | } |
| yohoo15 | 0:0f08f98ae7f8 | 130 | |
| yohoo15 | 0:0f08f98ae7f8 | 131 | double moving_average(double y, double &n1, double &n2, double &n3, double &n4, double &n5) |
| yohoo15 | 0:0f08f98ae7f8 | 132 | { |
| yohoo15 | 0:0f08f98ae7f8 | 133 | double average = (y + n1 + n2 +n3 + n4 + n5)/5; |
| yohoo15 | 0:0f08f98ae7f8 | 134 | n5 = n4; |
| yohoo15 | 0:0f08f98ae7f8 | 135 | n4 = n3; |
| yohoo15 | 0:0f08f98ae7f8 | 136 | n3 = n2; |
| yohoo15 | 0:0f08f98ae7f8 | 137 | n2 = n1; |
| yohoo15 | 0:0f08f98ae7f8 | 138 | n1 = y; |
| yohoo15 | 0:0f08f98ae7f8 | 139 | |
| yohoo15 | 0:0f08f98ae7f8 | 140 | return average; |
| yohoo15 | 0:0f08f98ae7f8 | 141 | } |
| yohoo15 | 2:e84adf0a960f | 142 | |
| yohoo15 | 0:0f08f98ae7f8 | 143 | */ |
| yohoo15 | 0:0f08f98ae7f8 | 144 | //Specifying filter coefficients highpass |
| yohoo15 | 0:0f08f98ae7f8 | 145 | |
| yohoo15 | 0:0f08f98ae7f8 | 146 | /* notch filter with 3 cascaded biquads*/ |
| yohoo15 | 0:0f08f98ae7f8 | 147 | //first notch biquad |
| yohoo15 | 0:0f08f98ae7f8 | 148 | const double notch1_a1 = -1.55951422433; |
| yohoo15 | 0:0f08f98ae7f8 | 149 | const double notch1_a2 = 0.92705680308; |
| yohoo15 | 0:0f08f98ae7f8 | 150 | const double notch1_b0 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 151 | const double notch1_b1 = -1.61854515325; |
| yohoo15 | 0:0f08f98ae7f8 | 152 | const double notch1_b2 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 153 | |
| yohoo15 | 0:0f08f98ae7f8 | 154 | //second notch biquad |
| yohoo15 | 0:0f08f98ae7f8 | 155 | const double notch2_a1 = -1.54767435801; |
| yohoo15 | 0:0f08f98ae7f8 | 156 | const double notch2_a2 = 0.96124842048; |
| yohoo15 | 0:0f08f98ae7f8 | 157 | const double notch2_b0 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 158 | const double notch2_b1 = -1.61854515325; |
| yohoo15 | 0:0f08f98ae7f8 | 159 | const double notch2_b2 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 160 | |
| yohoo15 | 0:0f08f98ae7f8 | 161 | //third notch biquad |
| yohoo15 | 0:0f08f98ae7f8 | 162 | const double notch3_a1 = -1.62600366964; |
| yohoo15 | 0:0f08f98ae7f8 | 163 | const double notch3_a2 = 0.96453460373; |
| yohoo15 | 0:0f08f98ae7f8 | 164 | const double notch3_b0 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 165 | const double notch3_b1 = -1.61854515325; |
| yohoo15 | 0:0f08f98ae7f8 | 166 | const double notch3_b2 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 167 | |
| yohoo15 | 0:0f08f98ae7f8 | 168 | /* high pass filter consists of three cascaded biquads |
| yohoo15 | 0:0f08f98ae7f8 | 169 | blow coefficients for those three biquads */ |
| yohoo15 | 0:0f08f98ae7f8 | 170 | //first high pass biquad |
| yohoo15 | 0:0f08f98ae7f8 | 171 | const double highp1_a1 = -0.67538034389; |
| yohoo15 | 0:0f08f98ae7f8 | 172 | const double highp1_a2 = 0.12769255668; |
| yohoo15 | 0:0f08f98ae7f8 | 173 | const double highp1_b0 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 174 | const double highp1_b1 = -2.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 175 | const double highp1_b2 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 176 | |
| yohoo15 | 0:0f08f98ae7f8 | 177 | //second high pass biquad |
| yohoo15 | 0:0f08f98ae7f8 | 178 | const double highp2_a1 = -0.76475499450; |
| yohoo15 | 0:0f08f98ae7f8 | 179 | const double highp2_a2 = 0.27692273367; |
| yohoo15 | 0:0f08f98ae7f8 | 180 | const double highp2_b0 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 181 | const double highp2_b1 = -2.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 182 | const double highp2_b2 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 183 | |
| yohoo15 | 0:0f08f98ae7f8 | 184 | //third high pass biquad |
| yohoo15 | 0:0f08f98ae7f8 | 185 | const double highp3_a1 = -0.99216561242; |
| yohoo15 | 0:0f08f98ae7f8 | 186 | const double highp3_a2 = 0.65663360837; |
| yohoo15 | 0:0f08f98ae7f8 | 187 | const double highp3_b0 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 188 | const double highp3_b1 = -2.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 189 | const double highp3_b2 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 190 | |
| yohoo15 | 0:0f08f98ae7f8 | 191 | /* lowpass filter consists of three cascaded biquads |
| yohoo15 | 0:0f08f98ae7f8 | 192 | below the coefficients for those three biquads */ |
| yohoo15 | 0:0f08f98ae7f8 | 193 | //first low pass biquad |
| yohoo15 | 0:0f08f98ae7f8 | 194 | const double lowp1_a1 = -1.05207469728; |
| yohoo15 | 0:0f08f98ae7f8 | 195 | const double lowp1_a2 = 0.28586907478; |
| yohoo15 | 0:0f08f98ae7f8 | 196 | const double lowp1_b0 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 197 | const double lowp1_b1 = 2.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 198 | const double lowp1_b2 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 199 | |
| yohoo15 | 0:0f08f98ae7f8 | 200 | //second low pass biquad |
| yohoo15 | 0:0f08f98ae7f8 | 201 | const double lowp2_a1 = -1.16338171052; |
| yohoo15 | 0:0f08f98ae7f8 | 202 | const double lowp2_a2 = 0.42191097989; |
| yohoo15 | 0:0f08f98ae7f8 | 203 | const double lowp2_b0 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 204 | const double lowp2_b1 = 2.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 205 | const double lowp2_b2 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 206 | |
| yohoo15 | 0:0f08f98ae7f8 | 207 | //third low pass biquad |
| yohoo15 | 0:0f08f98ae7f8 | 208 | const double lowp3_a1 = -1.42439823874; |
| yohoo15 | 0:0f08f98ae7f8 | 209 | const double lowp3_a2 = 0.74093118112; |
| yohoo15 | 0:0f08f98ae7f8 | 210 | const double lowp3_b0 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 211 | const double lowp3_b1 = 2.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 212 | const double lowp3_b2 = 1.00000000000; |
| yohoo15 | 0:0f08f98ae7f8 | 213 | |
| yohoo15 | 0:0f08f98ae7f8 | 214 | |
| yohoo15 | 0:0f08f98ae7f8 | 215 | |
| yohoo15 | 0:0f08f98ae7f8 | 216 | double Filteren_left(double input) |
| yohoo15 | 0:0f08f98ae7f8 | 217 | { |
| yohoo15 | 0:0f08f98ae7f8 | 218 | |
| yohoo15 | 0:0f08f98ae7f8 | 219 | input = input-0.45; //FIRST SUBTRACT MEAN THEN FILTER |
| yohoo15 | 0:0f08f98ae7f8 | 220 | |
| yohoo15 | 0:0f08f98ae7f8 | 221 | // notch filter |
| yohoo15 | 0:0f08f98ae7f8 | 222 | double y1 = biquad(input, notch_v11, notch_v21, notch1_a1, notch1_a2, notch1_b0, notch1_b1, notch1_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 223 | double y2 = biquad(y1, notch_v12, notch_v22, notch2_a1, notch2_a2, notch2_b0, notch2_b1, notch2_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 224 | double y3 = biquad(y2, notch_v13, notch_v23, notch3_a1, notch3_a2, notch3_b0, notch3_b1, notch3_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 225 | |
| yohoo15 | 0:0f08f98ae7f8 | 226 | //higpass filter |
| yohoo15 | 0:0f08f98ae7f8 | 227 | double y4 = biquad(y3, high_v11, high_v21, highp1_a1, highp1_a2, highp1_b0, highp1_b1, highp1_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 228 | double y5 = biquad(y4, high_v12, high_v22, highp2_a1, highp2_a2, highp2_b0, highp2_b1, highp2_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 229 | double y6 = biquad(y5, high_v13, high_v23, highp3_a1, highp3_a2, highp3_b0, highp3_b1, highp3_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 230 | |
| yohoo15 | 0:0f08f98ae7f8 | 231 | //rectivier |
| yohoo15 | 0:0f08f98ae7f8 | 232 | double y7 = fabs(y6); |
| yohoo15 | 0:0f08f98ae7f8 | 233 | |
| yohoo15 | 0:0f08f98ae7f8 | 234 | //lowpas filter cascade |
| yohoo15 | 0:0f08f98ae7f8 | 235 | double y8 = biquad(y7, low_v11, low_v21, lowp1_a1, lowp1_a2, lowp1_b0, lowp1_b1, lowp1_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 236 | double y9 = biquad(y8, low_v12, low_v22, lowp2_a1, lowp2_a2, lowp2_b0, lowp2_b1, lowp2_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 237 | double y10= biquad(y9, low_v13, low_v23, lowp3_a1, lowp3_a2, lowp3_b0, lowp3_b1, lowp3_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 238 | |
| yohoo15 | 0:0f08f98ae7f8 | 239 | // moving average |
| yohoo15 | 0:0f08f98ae7f8 | 240 | double filter_signal = moving_average(y10,n1,n2,n3,n4,n5); |
| yohoo15 | 0:0f08f98ae7f8 | 241 | |
| yohoo15 | 0:0f08f98ae7f8 | 242 | return(filter_signal); |
| yohoo15 | 0:0f08f98ae7f8 | 243 | } |
| yohoo15 | 0:0f08f98ae7f8 | 244 | |
| yohoo15 | 0:0f08f98ae7f8 | 245 | double Filteren_right(double input_b) |
| yohoo15 | 0:0f08f98ae7f8 | 246 | { |
| yohoo15 | 0:0f08f98ae7f8 | 247 | |
| yohoo15 | 0:0f08f98ae7f8 | 248 | input_b = input_b-0.45; //FIRST SUBTRACT MEAN THEN FILTER |
| yohoo15 | 0:0f08f98ae7f8 | 249 | |
| yohoo15 | 0:0f08f98ae7f8 | 250 | // notch filter |
| yohoo15 | 0:0f08f98ae7f8 | 251 | double y1_b = biquad(input_b, notch_v11_b, notch_v21_b, notch1_a1, notch1_a2, notch1_b0, notch1_b1, notch1_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 252 | double y2_b = biquad(y1_b, notch_v12_b, notch_v22_b, notch2_a1, notch2_a2, notch2_b0, notch2_b1, notch2_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 253 | double y3_b = biquad(y2_b, notch_v13_b, notch_v23_b, notch3_a1, notch3_a2, notch3_b0, notch3_b1, notch3_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 254 | |
| yohoo15 | 0:0f08f98ae7f8 | 255 | //higpass filter |
| yohoo15 | 0:0f08f98ae7f8 | 256 | double y4_b = biquad(y3_b, high_v11_b, high_v21_b, highp1_a1, highp1_a2, highp1_b0, highp1_b1, highp1_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 257 | double y5_b = biquad(y4_b, high_v12_b, high_v22_b, highp2_a1, highp2_a2, highp2_b0, highp2_b1, highp2_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 258 | double y6_b = biquad(y5_b, high_v13_b, high_v23_b, highp3_a1, highp3_a2, highp3_b0, highp3_b1, highp3_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 259 | |
| yohoo15 | 0:0f08f98ae7f8 | 260 | //rectivier |
| yohoo15 | 0:0f08f98ae7f8 | 261 | double y7_b = fabs(y6_b); |
| yohoo15 | 0:0f08f98ae7f8 | 262 | |
| yohoo15 | 0:0f08f98ae7f8 | 263 | //lowpas filter cascade |
| yohoo15 | 0:0f08f98ae7f8 | 264 | double y8_b = biquad(y7_b, low_v11_b, low_v21_b, lowp1_a1, lowp1_a2, lowp1_b0, lowp1_b1, lowp1_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 265 | double y9_b = biquad(y8_b, low_v12_b, low_v22_b, lowp2_a1, lowp2_a2, lowp2_b0, lowp2_b1, lowp2_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 266 | double y10_b= biquad(y9_b, low_v13_b, low_v23_b, lowp3_a1, lowp3_a2, lowp3_b0, lowp3_b1, lowp3_b2); |
| yohoo15 | 0:0f08f98ae7f8 | 267 | |
| yohoo15 | 0:0f08f98ae7f8 | 268 | // moving average |
| yohoo15 | 0:0f08f98ae7f8 | 269 | double filter_signal_b = moving_average(y10_b,n1_b,n2_b,n3_b,n4_b,n5_b); |
| yohoo15 | 0:0f08f98ae7f8 | 270 | |
| yohoo15 | 0:0f08f98ae7f8 | 271 | return(filter_signal_b); |
| yohoo15 | 0:0f08f98ae7f8 | 272 | } |
| yohoo15 | 0:0f08f98ae7f8 | 273 | |
| yohoo15 | 2:e84adf0a960f | 274 | |
| yohoo15 | 2:e84adf0a960f | 275 | /*************************************************************END Filtering **********************************************************************************************************/ |
| yohoo15 | 2:e84adf0a960f | 276 | /*-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------*/ |
| yohoo15 | 2:e84adf0a960f | 277 | /*************************************************************BEGIN motor control*****************************************************************************************************/ |
| yohoo15 | 0:0f08f98ae7f8 | 278 | // Define pin for motor control |
| yohoo15 | 0:0f08f98ae7f8 | 279 | DigitalOut directionPin(D4); |
| yohoo15 | 0:0f08f98ae7f8 | 280 | PwmOut PWM(D5); |
| yohoo15 | 0:0f08f98ae7f8 | 281 | DigitalOut directionPin_key(D7); |
| yohoo15 | 0:0f08f98ae7f8 | 282 | PwmOut PWM_key(D6); |
| yohoo15 | 2:e84adf0a960f | 283 | |
| yohoo15 | 2:e84adf0a960f | 284 | Ticker both_timer; // to make a timer to prevent loping of the key press function |
| yohoo15 | 0:0f08f98ae7f8 | 285 | // define rotation direction and begin possition |
| yohoo15 | 0:0f08f98ae7f8 | 286 | const int cw = 1; |
| yohoo15 | 0:0f08f98ae7f8 | 287 | const int ccw = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 288 | |
| yohoo15 | 0:0f08f98ae7f8 | 289 | volatile bool flag_both = false; |
| yohoo15 | 0:0f08f98ae7f8 | 290 | |
| yohoo15 | 0:0f08f98ae7f8 | 291 | // making function flags. |
| yohoo15 | 0:0f08f98ae7f8 | 292 | void Go_flag_both() |
| yohoo15 | 0:0f08f98ae7f8 | 293 | { |
| yohoo15 | 0:0f08f98ae7f8 | 294 | flag_both = true; |
| yohoo15 | 0:0f08f98ae7f8 | 295 | } |
| yohoo15 | 0:0f08f98ae7f8 | 296 | |
| yohoo15 | 0:0f08f98ae7f8 | 297 | |
| yohoo15 | 2:e84adf0a960f | 298 | /********* the old PI controller ***********/ |
| yohoo15 | 0:0f08f98ae7f8 | 299 | |
| yohoo15 | 0:0f08f98ae7f8 | 300 | /* |
| yohoo15 | 0:0f08f98ae7f8 | 301 | |
| yohoo15 | 2:e84adf0a960f | 302 | // Reusable PI controller |
| yohoo15 | 0:0f08f98ae7f8 | 303 | double PI(double error, const double Kp, const double Ki, double Ts, double &e_int) |
| yohoo15 | 0:0f08f98ae7f8 | 304 | { |
| yohoo15 | 0:0f08f98ae7f8 | 305 | |
| yohoo15 | 0:0f08f98ae7f8 | 306 | e_int = e_int + Ts * error; |
| yohoo15 | 0:0f08f98ae7f8 | 307 | |
| yohoo15 | 0:0f08f98ae7f8 | 308 | double PI_output = (Kp * error) + (Ki * e_int); |
| yohoo15 | 0:0f08f98ae7f8 | 309 | return PI_output; |
| yohoo15 | 0:0f08f98ae7f8 | 310 | } |
| yohoo15 | 0:0f08f98ae7f8 | 311 | // Next task, measure the error and apply the output to the plant |
| yohoo15 | 0:0f08f98ae7f8 | 312 | |
| yohoo15 | 0:0f08f98ae7f8 | 313 | // control for movement left right |
| yohoo15 | 0:0f08f98ae7f8 | 314 | void motor1_Controller() |
| yohoo15 | 0:0f08f98ae7f8 | 315 | { |
| yohoo15 | 0:0f08f98ae7f8 | 316 | double reference = setpoint; // setpoint is in pulses |
| yohoo15 | 0:0f08f98ae7f8 | 317 | double position = wheel.getPulses(); |
| yohoo15 | 0:0f08f98ae7f8 | 318 | double error_pulses = (reference - position); // calculate the error in pulses |
| yohoo15 | 0:0f08f98ae7f8 | 319 | double error_rotation = error_pulses / pulses_per_revolution; //calculate how much the rotaions the motor has to turn |
| yohoo15 | 0:0f08f98ae7f8 | 320 | |
| yohoo15 | 0:0f08f98ae7f8 | 321 | double output = abs(PI( error_rotation, motor1_Kp, motor1_Ki, M1_timestep, motor1_error_integraal )); |
| yohoo15 | 0:0f08f98ae7f8 | 322 | |
| yohoo15 | 0:0f08f98ae7f8 | 323 | if(error_pulses > 0) { |
| yohoo15 | 0:0f08f98ae7f8 | 324 | directionPin.write(cw); |
| yohoo15 | 0:0f08f98ae7f8 | 325 | |
| yohoo15 | 0:0f08f98ae7f8 | 326 | } else if(error_pulses < 0) { |
| yohoo15 | 0:0f08f98ae7f8 | 327 | directionPin.write(ccw); |
| yohoo15 | 0:0f08f98ae7f8 | 328 | } else { |
| yohoo15 | 0:0f08f98ae7f8 | 329 | output = 0; |
| yohoo15 | 0:0f08f98ae7f8 | 330 | } |
| yohoo15 | 0:0f08f98ae7f8 | 331 | PWM.write(output); // out of the if loop due to abs output |
| yohoo15 | 0:0f08f98ae7f8 | 332 | |
| yohoo15 | 0:0f08f98ae7f8 | 333 | |
| yohoo15 | 0:0f08f98ae7f8 | 334 | }*/ |
| yohoo15 | 0:0f08f98ae7f8 | 335 | |
| yohoo15 | 0:0f08f98ae7f8 | 336 | /*************************************************************END motor control******************************************************************************************************/ |
| yohoo15 | 1:267ff9a39ee4 | 337 | /*--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------*/ |
| yohoo15 | 1:267ff9a39ee4 | 338 | /*************************************************************BEGIN switch******************************************************************************************************/ |
| yohoo15 | 1:267ff9a39ee4 | 339 | //button to press the key |
| yohoo15 | 1:267ff9a39ee4 | 340 | DigitalIn button_only_key(PTC6); |
| yohoo15 | 1:267ff9a39ee4 | 341 | DigitalIn button_demo(PTA4); |
| yohoo15 | 1:267ff9a39ee4 | 342 | DigitalIn button_song(PTB9); |
| yohoo15 | 1:267ff9a39ee4 | 343 | DigitalIn button_do_nothing(PTD1); |
| yohoo15 | 0:0f08f98ae7f8 | 344 | |
| yohoo15 | 2:e84adf0a960f | 345 | //int to check if the button is pressed, 0 is pressed. |
| yohoo15 | 1:267ff9a39ee4 | 346 | const int Button_only_key_on = 0; |
| yohoo15 | 1:267ff9a39ee4 | 347 | const int Button_demo_on = 0; |
| yohoo15 | 1:267ff9a39ee4 | 348 | const int Button_song_on = 0; |
| yohoo15 | 1:267ff9a39ee4 | 349 | const int Button_do_nothing_on = 0; |
| yohoo15 | 1:267ff9a39ee4 | 350 | |
| yohoo15 | 2:e84adf0a960f | 351 | //To say the buttons is not jet pressed. |
| yohoo15 | 1:267ff9a39ee4 | 352 | volatile bool only_key = false; |
| yohoo15 | 1:267ff9a39ee4 | 353 | volatile bool demo = false ; |
| yohoo15 | 1:267ff9a39ee4 | 354 | |
| yohoo15 | 1:267ff9a39ee4 | 355 | |
| yohoo15 | 1:267ff9a39ee4 | 356 | /*************************************************************END switch******************************************************************************************************/ |
| yohoo15 | 0:0f08f98ae7f8 | 357 | void HIDScope_kijken() |
| yohoo15 | 0:0f08f98ae7f8 | 358 | { |
| yohoo15 | 0:0f08f98ae7f8 | 359 | scope.set(0, analog_emg_left.read()); |
| yohoo15 | 0:0f08f98ae7f8 | 360 | scope.set(1, filter_signal_hid_left); |
| yohoo15 | 0:0f08f98ae7f8 | 361 | scope.set(2, analog_emg_right.read()); |
| yohoo15 | 0:0f08f98ae7f8 | 362 | scope.set(3, filter_signal_hid_right); |
| yohoo15 | 0:0f08f98ae7f8 | 363 | scope.send(); |
| yohoo15 | 0:0f08f98ae7f8 | 364 | } |
| yohoo15 | 0:0f08f98ae7f8 | 365 | |
| yohoo15 | 0:0f08f98ae7f8 | 366 | |
| yohoo15 | 0:0f08f98ae7f8 | 367 | int main() |
| yohoo15 | 0:0f08f98ae7f8 | 368 | { |
| yohoo15 | 0:0f08f98ae7f8 | 369 | pc.printf("at the begin, \n"); |
| yohoo15 | 0:0f08f98ae7f8 | 370 | |
| yohoo15 | 0:0f08f98ae7f8 | 371 | HIDScope_timer.attach(&Go_flag_HIDScope, 0.02);//0.02 had worked |
| yohoo15 | 0:0f08f98ae7f8 | 372 | Filteren_timer.attach(&Go_flag_filteren,0.04);// 0.04 had worked |
| yohoo15 | 0:0f08f98ae7f8 | 373 | both_timer.attach(&Go_flag_both, 2); |
| yohoo15 | 0:0f08f98ae7f8 | 374 | while(1) { |
| yohoo15 | 0:0f08f98ae7f8 | 375 | |
| yohoo15 | 2:e84adf0a960f | 376 | /********************* Code for starting filtering ****************/ |
| yohoo15 | 0:0f08f98ae7f8 | 377 | if(Flag_filteren) { |
| yohoo15 | 0:0f08f98ae7f8 | 378 | Flag_filteren = false; |
| yohoo15 | 0:0f08f98ae7f8 | 379 | // filter left and set bool |
| yohoo15 | 0:0f08f98ae7f8 | 380 | filter_signal_hid_left = Filteren_left(analog_emg_left.read()); |
| yohoo15 | 0:0f08f98ae7f8 | 381 | |
| yohoo15 | 0:0f08f98ae7f8 | 382 | if (filter_signal_hid_left > high_threshold) { |
| yohoo15 | 0:0f08f98ae7f8 | 383 | left_movement = true; |
| yohoo15 | 0:0f08f98ae7f8 | 384 | } else if (filter_signal_hid_left < low_threshold) { |
| yohoo15 | 0:0f08f98ae7f8 | 385 | left_movement = false; |
| yohoo15 | 0:0f08f98ae7f8 | 386 | } |
| yohoo15 | 0:0f08f98ae7f8 | 387 | // make filter right and set bool |
| yohoo15 | 0:0f08f98ae7f8 | 388 | filter_signal_hid_right = Filteren_right(analog_emg_right.read()); |
| yohoo15 | 0:0f08f98ae7f8 | 389 | |
| yohoo15 | 0:0f08f98ae7f8 | 390 | if (filter_signal_hid_right > high_threshold) { |
| yohoo15 | 0:0f08f98ae7f8 | 391 | right_movement = true; |
| yohoo15 | 0:0f08f98ae7f8 | 392 | } else if (filter_signal_hid_right < low_threshold) { |
| yohoo15 | 0:0f08f98ae7f8 | 393 | right_movement = false; |
| yohoo15 | 0:0f08f98ae7f8 | 394 | } |
| yohoo15 | 0:0f08f98ae7f8 | 395 | |
| yohoo15 | 0:0f08f98ae7f8 | 396 | |
| yohoo15 | 0:0f08f98ae7f8 | 397 | } |
| yohoo15 | 0:0f08f98ae7f8 | 398 | |
| yohoo15 | 0:0f08f98ae7f8 | 399 | |
| yohoo15 | 2:e84adf0a960f | 400 | /********************* Code to look how the EMG/ filtered EMG signal looks like on hidsope ****************/ |
| yohoo15 | 0:0f08f98ae7f8 | 401 | if(Flag_HIDScope) { |
| yohoo15 | 0:0f08f98ae7f8 | 402 | Flag_HIDScope = false; |
| yohoo15 | 0:0f08f98ae7f8 | 403 | HIDScope_kijken(); |
| yohoo15 | 0:0f08f98ae7f8 | 404 | |
| yohoo15 | 0:0f08f98ae7f8 | 405 | } |
| yohoo15 | 0:0f08f98ae7f8 | 406 | |
| yohoo15 | 2:e84adf0a960f | 407 | /********************* Code to switch between modes (demo = left/right and keypress are active; only key = only the key press is active ****************/ |
| yohoo15 | 0:0f08f98ae7f8 | 408 | |
| yohoo15 | 1:267ff9a39ee4 | 409 | if (button_only_key.read() == Button_only_key_on){ |
| yohoo15 | 1:267ff9a39ee4 | 410 | demo = false; |
| yohoo15 | 1:267ff9a39ee4 | 411 | only_key = true; |
| yohoo15 | 1:267ff9a39ee4 | 412 | pc.printf("only key /n"); |
| yohoo15 | 1:267ff9a39ee4 | 413 | } |
| yohoo15 | 1:267ff9a39ee4 | 414 | |
| yohoo15 | 1:267ff9a39ee4 | 415 | |
| yohoo15 | 1:267ff9a39ee4 | 416 | if (button_demo.read() == Button_demo_on){ |
| yohoo15 | 1:267ff9a39ee4 | 417 | only_key = false; |
| yohoo15 | 1:267ff9a39ee4 | 418 | demo = true; |
| yohoo15 | 1:267ff9a39ee4 | 419 | pc.printf("demo /n"); |
| yohoo15 | 1:267ff9a39ee4 | 420 | } |
| yohoo15 | 1:267ff9a39ee4 | 421 | |
| yohoo15 | 2:e84adf0a960f | 422 | /********************* Code Demo ****************/ |
| yohoo15 | 1:267ff9a39ee4 | 423 | if(demo){ |
| yohoo15 | 0:0f08f98ae7f8 | 424 | // Pussing buttons to get input signal |
| yohoo15 | 0:0f08f98ae7f8 | 425 | if( left_movement and right_movement == false) { |
| yohoo15 | 0:0f08f98ae7f8 | 426 | directionPin.write(cw); |
| yohoo15 | 0:0f08f98ae7f8 | 427 | PWM.write(1); |
| yohoo15 | 0:0f08f98ae7f8 | 428 | |
| yohoo15 | 0:0f08f98ae7f8 | 429 | } else if(right_movement and left_movement == false ) { |
| yohoo15 | 0:0f08f98ae7f8 | 430 | directionPin.write(ccw); |
| yohoo15 | 0:0f08f98ae7f8 | 431 | PWM.write(1); |
| yohoo15 | 0:0f08f98ae7f8 | 432 | } else { |
| yohoo15 | 0:0f08f98ae7f8 | 433 | PWM.write(0); |
| yohoo15 | 0:0f08f98ae7f8 | 434 | } |
| yohoo15 | 0:0f08f98ae7f8 | 435 | |
| yohoo15 | 0:0f08f98ae7f8 | 436 | if( left_movement and right_movement and flag_both){ |
| yohoo15 | 0:0f08f98ae7f8 | 437 | directionPin_key.write(cw); |
| yohoo15 | 0:0f08f98ae7f8 | 438 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 439 | wait(0.05); |
| yohoo15 | 0:0f08f98ae7f8 | 440 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 441 | wait(0.3); |
| yohoo15 | 0:0f08f98ae7f8 | 442 | directionPin_key.write(ccw); |
| yohoo15 | 0:0f08f98ae7f8 | 443 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 444 | wait(0.039f); |
| yohoo15 | 0:0f08f98ae7f8 | 445 | PWM_key.write(0); |
| yohoo15 | 0:0f08f98ae7f8 | 446 | flag_both = false; |
| yohoo15 | 0:0f08f98ae7f8 | 447 | } |
| yohoo15 | 0:0f08f98ae7f8 | 448 | else{ |
| yohoo15 | 0:0f08f98ae7f8 | 449 | PWM_key.write(0); |
| yohoo15 | 0:0f08f98ae7f8 | 450 | } |
| yohoo15 | 1:267ff9a39ee4 | 451 | } |
| yohoo15 | 1:267ff9a39ee4 | 452 | |
| yohoo15 | 2:e84adf0a960f | 453 | /********************* Code only key ****************/ |
| yohoo15 | 2:e84adf0a960f | 454 | |
| yohoo15 | 1:267ff9a39ee4 | 455 | if(only_key){ |
| yohoo15 | 1:267ff9a39ee4 | 456 | |
| yohoo15 | 1:267ff9a39ee4 | 457 | if(left_movement and flag_both){ |
| yohoo15 | 1:267ff9a39ee4 | 458 | directionPin_key.write(cw); |
| yohoo15 | 1:267ff9a39ee4 | 459 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 460 | wait(0.05); |
| yohoo15 | 1:267ff9a39ee4 | 461 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 462 | wait(0.3); |
| yohoo15 | 1:267ff9a39ee4 | 463 | directionPin_key.write(ccw); |
| yohoo15 | 1:267ff9a39ee4 | 464 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 465 | wait(0.039f); |
| yohoo15 | 1:267ff9a39ee4 | 466 | PWM_key.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 467 | flag_both = false; |
| yohoo15 | 1:267ff9a39ee4 | 468 | |
| yohoo15 | 1:267ff9a39ee4 | 469 | } |
| yohoo15 | 1:267ff9a39ee4 | 470 | } |
| yohoo15 | 2:e84adf0a960f | 471 | /********************* Code to kill the emg controll to set the system at 'stand by'****************/ |
| yohoo15 | 1:267ff9a39ee4 | 472 | if (button_do_nothing.read() == Button_do_nothing_on){ |
| yohoo15 | 2:e84adf0a960f | 473 | demo = false; |
| yohoo15 | 2:e84adf0a960f | 474 | only_key = false; |
| yohoo15 | 1:267ff9a39ee4 | 475 | } |
| yohoo15 | 2:e84adf0a960f | 476 | /********************* Code with pre programed feedforward commands to play the first bit of the dutch song 'Vader Jacob'. ****************/ |
| yohoo15 | 1:267ff9a39ee4 | 477 | if (button_song.read() == Button_song_on){ |
| yohoo15 | 1:267ff9a39ee4 | 478 | |
| yohoo15 | 1:267ff9a39ee4 | 479 | //pressing va |
| yohoo15 | 2:e84adf0a960f | 480 | directionPin_key.write(cw); |
| yohoo15 | 2:e84adf0a960f | 481 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 482 | wait(0.05); |
| yohoo15 | 2:e84adf0a960f | 483 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 484 | wait(0.3); |
| yohoo15 | 2:e84adf0a960f | 485 | directionPin_key.write(ccw); |
| yohoo15 | 2:e84adf0a960f | 486 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 487 | wait(0.039f); |
| yohoo15 | 2:e84adf0a960f | 488 | PWM_key.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 489 | |
| yohoo15 | 1:267ff9a39ee4 | 490 | // go 1 key to right |
| yohoo15 | 1:267ff9a39ee4 | 491 | directionPin.write(cw); |
| yohoo15 | 1:267ff9a39ee4 | 492 | PWM.write(1); |
| yohoo15 | 1:267ff9a39ee4 | 493 | wait(2.2); |
| yohoo15 | 1:267ff9a39ee4 | 494 | PWM.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 495 | |
| yohoo15 | 1:267ff9a39ee4 | 496 | //pressing der |
| yohoo15 | 1:267ff9a39ee4 | 497 | directionPin_key.write(cw); |
| yohoo15 | 2:e84adf0a960f | 498 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 499 | wait(0.05); |
| yohoo15 | 2:e84adf0a960f | 500 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 501 | wait(0.3); |
| yohoo15 | 2:e84adf0a960f | 502 | directionPin_key.write(ccw); |
| yohoo15 | 2:e84adf0a960f | 503 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 504 | wait(0.039f); |
| yohoo15 | 2:e84adf0a960f | 505 | PWM_key.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 506 | |
| yohoo15 | 1:267ff9a39ee4 | 507 | // go 1 key to right |
| yohoo15 | 1:267ff9a39ee4 | 508 | directionPin.write(cw); |
| yohoo15 | 1:267ff9a39ee4 | 509 | PWM.write(1); |
| yohoo15 | 1:267ff9a39ee4 | 510 | wait(2.2); |
| yohoo15 | 1:267ff9a39ee4 | 511 | PWM.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 512 | |
| yohoo15 | 1:267ff9a39ee4 | 513 | //pressing ja |
| yohoo15 | 2:e84adf0a960f | 514 | directionPin_key.write(cw); |
| yohoo15 | 2:e84adf0a960f | 515 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 516 | wait(0.05); |
| yohoo15 | 2:e84adf0a960f | 517 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 518 | wait(0.3); |
| yohoo15 | 2:e84adf0a960f | 519 | directionPin_key.write(ccw); |
| yohoo15 | 2:e84adf0a960f | 520 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 521 | wait(0.039f); |
| yohoo15 | 2:e84adf0a960f | 522 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 523 | |
| yohoo15 | 1:267ff9a39ee4 | 524 | // go 2 key to left |
| yohoo15 | 1:267ff9a39ee4 | 525 | directionPin.write(ccw); |
| yohoo15 | 1:267ff9a39ee4 | 526 | PWM.write(1); |
| yohoo15 | 1:267ff9a39ee4 | 527 | wait(4.5); |
| yohoo15 | 1:267ff9a39ee4 | 528 | PWM.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 529 | |
| yohoo15 | 1:267ff9a39ee4 | 530 | //pressing cob |
| yohoo15 | 1:267ff9a39ee4 | 531 | directionPin_key.write(cw); |
| yohoo15 | 2:e84adf0a960f | 532 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 533 | wait(0.05); |
| yohoo15 | 2:e84adf0a960f | 534 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 535 | wait(0.3); |
| yohoo15 | 2:e84adf0a960f | 536 | directionPin_key.write(ccw); |
| yohoo15 | 2:e84adf0a960f | 537 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 538 | wait(0.039f); |
| yohoo15 | 2:e84adf0a960f | 539 | PWM_key.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 540 | |
| yohoo15 | 2:e84adf0a960f | 541 | wait(0.5); |
| yohoo15 | 1:267ff9a39ee4 | 542 | |
| yohoo15 | 1:267ff9a39ee4 | 543 | //pressing va |
| yohoo15 | 2:e84adf0a960f | 544 | directionPin_key.write(cw); |
| yohoo15 | 2:e84adf0a960f | 545 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 546 | wait(0.05); |
| yohoo15 | 2:e84adf0a960f | 547 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 548 | wait(0.3); |
| yohoo15 | 2:e84adf0a960f | 549 | directionPin_key.write(ccw); |
| yohoo15 | 2:e84adf0a960f | 550 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 551 | wait(0.039f); |
| yohoo15 | 2:e84adf0a960f | 552 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 553 | |
| yohoo15 | 1:267ff9a39ee4 | 554 | // go 1 key to right |
| yohoo15 | 1:267ff9a39ee4 | 555 | directionPin.write(cw); |
| yohoo15 | 1:267ff9a39ee4 | 556 | PWM.write(1); |
| yohoo15 | 1:267ff9a39ee4 | 557 | wait(2.2); |
| yohoo15 | 1:267ff9a39ee4 | 558 | PWM.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 559 | |
| yohoo15 | 1:267ff9a39ee4 | 560 | //pressing der |
| yohoo15 | 2:e84adf0a960f | 561 | directionPin_key.write(cw); |
| yohoo15 | 2:e84adf0a960f | 562 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 563 | wait(0.05); |
| yohoo15 | 2:e84adf0a960f | 564 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 565 | wait(0.3); |
| yohoo15 | 2:e84adf0a960f | 566 | directionPin_key.write(ccw); |
| yohoo15 | 2:e84adf0a960f | 567 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 568 | wait(0.039f); |
| yohoo15 | 2:e84adf0a960f | 569 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 570 | |
| yohoo15 | 1:267ff9a39ee4 | 571 | // go 1 key to right |
| yohoo15 | 1:267ff9a39ee4 | 572 | directionPin.write(cw); |
| yohoo15 | 1:267ff9a39ee4 | 573 | PWM.write(1); |
| yohoo15 | 1:267ff9a39ee4 | 574 | wait(2.2); |
| yohoo15 | 1:267ff9a39ee4 | 575 | PWM.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 576 | |
| yohoo15 | 1:267ff9a39ee4 | 577 | //pressing ja |
| yohoo15 | 2:e84adf0a960f | 578 | directionPin_key.write(cw); |
| yohoo15 | 2:e84adf0a960f | 579 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 580 | wait(0.05); |
| yohoo15 | 2:e84adf0a960f | 581 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 582 | wait(0.3); |
| yohoo15 | 2:e84adf0a960f | 583 | directionPin_key.write(ccw); |
| yohoo15 | 2:e84adf0a960f | 584 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 585 | wait(0.039f); |
| yohoo15 | 2:e84adf0a960f | 586 | PWM_key.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 587 | |
| yohoo15 | 1:267ff9a39ee4 | 588 | // go 2 key to left |
| yohoo15 | 1:267ff9a39ee4 | 589 | directionPin.write(ccw); |
| yohoo15 | 1:267ff9a39ee4 | 590 | PWM.write(1); |
| yohoo15 | 1:267ff9a39ee4 | 591 | wait(4.5); |
| yohoo15 | 1:267ff9a39ee4 | 592 | PWM.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 593 | |
| yohoo15 | 1:267ff9a39ee4 | 594 | //pressing cob |
| yohoo15 | 2:e84adf0a960f | 595 | directionPin_key.write(cw); |
| yohoo15 | 2:e84adf0a960f | 596 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 597 | wait(0.05); |
| yohoo15 | 2:e84adf0a960f | 598 | PWM_key.write(0); |
| yohoo15 | 2:e84adf0a960f | 599 | wait(0.3); |
| yohoo15 | 2:e84adf0a960f | 600 | directionPin_key.write(ccw); |
| yohoo15 | 2:e84adf0a960f | 601 | PWM_key.write(1); |
| yohoo15 | 2:e84adf0a960f | 602 | wait(0.039f); |
| yohoo15 | 2:e84adf0a960f | 603 | PWM_key.write(0); |
| yohoo15 | 1:267ff9a39ee4 | 604 | } |
| yohoo15 | 0:0f08f98ae7f8 | 605 | } |
| yohoo15 | 0:0f08f98ae7f8 | 606 | } |
| yohoo15 | 0:0f08f98ae7f8 | 607 |