Biorobotics / Mbed 2 deprecated EMG_MOTOR_LEFT_RIGHT

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Dependencies:   HIDScope QEI mbed

main.cpp@0:6f71e969a0b5, 2015-10-28 (annotated)

Committer:
yohoo15
Date:
Wed Oct 28 08:11:57 2015 +0000
Revision:
0:6f71e969a0b5
Child:
1:cfcd4825fe81
emg half werkend;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yohoo15 0:6f71e969a0b5 1 #include "mbed.h"
yohoo15 0:6f71e969a0b5 2 //#include "read_filter_emg.h"
yohoo15 0:6f71e969a0b5 3 //included for fabs() function
yohoo15 0:6f71e969a0b5 4 #include <math.h>
yohoo15 0:6f71e969a0b5 5 #include "HIDScope.h"
yohoo15 0:6f71e969a0b5 6 #include <iostream>
yohoo15 0:6f71e969a0b5 7 #include "QEI.h"
yohoo15 0:6f71e969a0b5 8
yohoo15 0:6f71e969a0b5 9
yohoo15 0:6f71e969a0b5 10
yohoo15 0:6f71e969a0b5 11
yohoo15 0:6f71e969a0b5 12 Serial pc(USBTX, USBRX);
yohoo15 0:6f71e969a0b5 13
yohoo15 0:6f71e969a0b5 14 Ticker HIDScope_timer;
yohoo15 0:6f71e969a0b5 15 Ticker Filteren_timer;
yohoo15 0:6f71e969a0b5 16 Ticker aansturen;
yohoo15 0:6f71e969a0b5 17
yohoo15 0:6f71e969a0b5 18 HIDScope scope(4);
yohoo15 0:6f71e969a0b5 19
yohoo15 0:6f71e969a0b5 20 // defining flags
yohoo15 0:6f71e969a0b5 21 volatile bool Flag_filteren = false;
yohoo15 0:6f71e969a0b5 22 volatile bool Flag_HIDScope = false;
yohoo15 0:6f71e969a0b5 23 volatile bool left_movement = false;
yohoo15 0:6f71e969a0b5 24 volatile bool right_movement = false;
yohoo15 0:6f71e969a0b5 25
yohoo15 0:6f71e969a0b5 26 // making function flags.
yohoo15 0:6f71e969a0b5 27 void Go_flag_filteren()
yohoo15 0:6f71e969a0b5 28 {
yohoo15 0:6f71e969a0b5 29 Flag_filteren = true;
yohoo15 0:6f71e969a0b5 30 }
yohoo15 0:6f71e969a0b5 31
yohoo15 0:6f71e969a0b5 32 void Go_flag_HIDScope()
yohoo15 0:6f71e969a0b5 33 {
yohoo15 0:6f71e969a0b5 34 Flag_HIDScope = true;
yohoo15 0:6f71e969a0b5 35 }
yohoo15 0:6f71e969a0b5 36
yohoo15 0:6f71e969a0b5 37 AnalogIn analog_emg_left(A0);
yohoo15 0:6f71e969a0b5 38 AnalogIn analog_emg_right(A1);
yohoo15 0:6f71e969a0b5 39
yohoo15 0:6f71e969a0b5 40 double input_left = 0 ;
yohoo15 0:6f71e969a0b5 41 double input_right = 0 ;
yohoo15 0:6f71e969a0b5 42 //double input = 0;
yohoo15 0:6f71e969a0b5 43 double filter_signal_hid_left = 0;
yohoo15 0:6f71e969a0b5 44 double filter_signal_hid_right = 0;
yohoo15 0:6f71e969a0b5 45 //double input_right = 0;
yohoo15 0:6f71e969a0b5 46 // defining threshold
yohoo15 0:6f71e969a0b5 47 double high_threshold = 1200;
yohoo15 0:6f71e969a0b5 48 double low_threshold = 500;
yohoo15 0:6f71e969a0b5 49
yohoo15 0:6f71e969a0b5 50 //*** making the v for everything and conquer the world***
yohoo15 0:6f71e969a0b5 51
yohoo15 0:6f71e969a0b5 52 //for Notchfilter
yohoo15 0:6f71e969a0b5 53 double notch_v11=0;
yohoo15 0:6f71e969a0b5 54 double notch_v21=0;
yohoo15 0:6f71e969a0b5 55 double notch_v12=0;
yohoo15 0:6f71e969a0b5 56 double notch_v22=0;
yohoo15 0:6f71e969a0b5 57 double notch_v13=0;
yohoo15 0:6f71e969a0b5 58 double notch_v23=0;
yohoo15 0:6f71e969a0b5 59
yohoo15 0:6f71e969a0b5 60 //for highpass filter
yohoo15 0:6f71e969a0b5 61 double high_v11=0;
yohoo15 0:6f71e969a0b5 62 double high_v21=0;
yohoo15 0:6f71e969a0b5 63 double high_v12=0;
yohoo15 0:6f71e969a0b5 64 double high_v22=0;
yohoo15 0:6f71e969a0b5 65 double high_v13=0;
yohoo15 0:6f71e969a0b5 66 double high_v23=0;
yohoo15 0:6f71e969a0b5 67
yohoo15 0:6f71e969a0b5 68 // for lowpasfilter
yohoo15 0:6f71e969a0b5 69 double low_v11=0;
yohoo15 0:6f71e969a0b5 70 double low_v21=0;
yohoo15 0:6f71e969a0b5 71 double low_v12=0;
yohoo15 0:6f71e969a0b5 72 double low_v22=0;
yohoo15 0:6f71e969a0b5 73 double low_v13=0;
yohoo15 0:6f71e969a0b5 74 double low_v23=0;
yohoo15 0:6f71e969a0b5 75
yohoo15 0:6f71e969a0b5 76 // for moving average
yohoo15 0:6f71e969a0b5 77 double n1 = 0;
yohoo15 0:6f71e969a0b5 78 double n2 = 0;
yohoo15 0:6f71e969a0b5 79 double n3 = 0;
yohoo15 0:6f71e969a0b5 80 double n4 = 0;
yohoo15 0:6f71e969a0b5 81 double n5 = 0;
yohoo15 0:6f71e969a0b5 82
yohoo15 0:6f71e969a0b5 83 double filter_left;
yohoo15 0:6f71e969a0b5 84 double filter_right;
yohoo15 0:6f71e969a0b5 85
yohoo15 0:6f71e969a0b5 86 //general biquad filter that can be called in all the filter functions
yohoo15 0:6f71e969a0b5 87 double biquad(double u, double &v1, double &v2, const double a1,
yohoo15 0:6f71e969a0b5 88 const double a2, const double b0, const double b1, const double b2)
yohoo15 0:6f71e969a0b5 89 {
yohoo15 0:6f71e969a0b5 90 double v = u - a1*v1 - a2*v2;
yohoo15 0:6f71e969a0b5 91 double y = b0*v + b1*v1 + b2*v2;
yohoo15 0:6f71e969a0b5 92 //values of v2 and v1 are updated, as they are passed by reference
yohoo15 0:6f71e969a0b5 93 //they update globally
yohoo15 0:6f71e969a0b5 94 v2 = v1;
yohoo15 0:6f71e969a0b5 95 v1 = v;
yohoo15 0:6f71e969a0b5 96 return y;
yohoo15 0:6f71e969a0b5 97 }
yohoo15 0:6f71e969a0b5 98
yohoo15 0:6f71e969a0b5 99 double moving_average(double y, double &n1, double &n2, double &n3, double &n4, double &n5)
yohoo15 0:6f71e969a0b5 100 {
yohoo15 0:6f71e969a0b5 101 double average = (y + n1 + n2 +n3 + n4 + n5)/5;
yohoo15 0:6f71e969a0b5 102 n5 = n4;
yohoo15 0:6f71e969a0b5 103 n4 = n3;
yohoo15 0:6f71e969a0b5 104 n3 = n2;
yohoo15 0:6f71e969a0b5 105 n2 = n1;
yohoo15 0:6f71e969a0b5 106 n1 = y;
yohoo15 0:6f71e969a0b5 107
yohoo15 0:6f71e969a0b5 108 return average;
yohoo15 0:6f71e969a0b5 109 }
yohoo15 0:6f71e969a0b5 110 /*
yohoo15 0:6f71e969a0b5 111 double threshold(double signal, const double lowtreshold, const double hightreshold)
yohoo15 0:6f71e969a0b5 112 {
yohoo15 0:6f71e969a0b5 113 if (signal > hightreshold)
yohoo15 0:6f71e969a0b5 114 left = true;
yohoo15 0:6f71e969a0b5 115 else if (signal <lowtreshold)
yohoo15 0:6f71e969a0b5 116 left = false;
yohoo15 0:6f71e969a0b5 117 }
yohoo15 0:6f71e969a0b5 118 */
yohoo15 0:6f71e969a0b5 119 //Specifying filter coefficients highpass
yohoo15 0:6f71e969a0b5 120
yohoo15 0:6f71e969a0b5 121 /* notch filter with 3 cascaded biquads*/
yohoo15 0:6f71e969a0b5 122 //first notch biquad
yohoo15 0:6f71e969a0b5 123 const double notch1_a1 = -1.55951422433;
yohoo15 0:6f71e969a0b5 124 const double notch1_a2 = 0.92705680308;
yohoo15 0:6f71e969a0b5 125 const double notch1_b0 = 1.00000000000;
yohoo15 0:6f71e969a0b5 126 const double notch1_b1 = -1.61854515325;
yohoo15 0:6f71e969a0b5 127 const double notch1_b2 = 1.00000000000;
yohoo15 0:6f71e969a0b5 128
yohoo15 0:6f71e969a0b5 129 //second notch biquad
yohoo15 0:6f71e969a0b5 130 const double notch2_a1 = -1.54767435801;
yohoo15 0:6f71e969a0b5 131 const double notch2_a2 = 0.96124842048;
yohoo15 0:6f71e969a0b5 132 const double notch2_b0 = 1.00000000000;
yohoo15 0:6f71e969a0b5 133 const double notch2_b1 = -1.61854515325;
yohoo15 0:6f71e969a0b5 134 const double notch2_b2 = 1.00000000000;
yohoo15 0:6f71e969a0b5 135
yohoo15 0:6f71e969a0b5 136 //third notch biquad
yohoo15 0:6f71e969a0b5 137 const double notch3_a1 = -1.62600366964;
yohoo15 0:6f71e969a0b5 138 const double notch3_a2 = 0.96453460373;
yohoo15 0:6f71e969a0b5 139 const double notch3_b0 = 1.00000000000;
yohoo15 0:6f71e969a0b5 140 const double notch3_b1 = -1.61854515325;
yohoo15 0:6f71e969a0b5 141 const double notch3_b2 = 1.00000000000;
yohoo15 0:6f71e969a0b5 142
yohoo15 0:6f71e969a0b5 143 /* high pass filter consists of three cascaded biquads
yohoo15 0:6f71e969a0b5 144 blow coefficients for those three biquads */
yohoo15 0:6f71e969a0b5 145 //first high pass biquad
yohoo15 0:6f71e969a0b5 146 const double highp1_a1 = -0.67538034389;
yohoo15 0:6f71e969a0b5 147 const double highp1_a2 = 0.12769255668;
yohoo15 0:6f71e969a0b5 148 const double highp1_b0 = 1.00000000000;
yohoo15 0:6f71e969a0b5 149 const double highp1_b1 = -2.00000000000;
yohoo15 0:6f71e969a0b5 150 const double highp1_b2 = 1.00000000000;
yohoo15 0:6f71e969a0b5 151
yohoo15 0:6f71e969a0b5 152 //second high pass biquad
yohoo15 0:6f71e969a0b5 153 const double highp2_a1 = -0.76475499450;
yohoo15 0:6f71e969a0b5 154 const double highp2_a2 = 0.27692273367;
yohoo15 0:6f71e969a0b5 155 const double highp2_b0 = 1.00000000000;
yohoo15 0:6f71e969a0b5 156 const double highp2_b1 = -2.00000000000;
yohoo15 0:6f71e969a0b5 157 const double highp2_b2 = 1.00000000000;
yohoo15 0:6f71e969a0b5 158
yohoo15 0:6f71e969a0b5 159 //third high pass biquad
yohoo15 0:6f71e969a0b5 160 const double highp3_a1 = -0.99216561242;
yohoo15 0:6f71e969a0b5 161 const double highp3_a2 = 0.65663360837;
yohoo15 0:6f71e969a0b5 162 const double highp3_b0 = 1.00000000000;
yohoo15 0:6f71e969a0b5 163 const double highp3_b1 = -2.00000000000;
yohoo15 0:6f71e969a0b5 164 const double highp3_b2 = 1.00000000000;
yohoo15 0:6f71e969a0b5 165
yohoo15 0:6f71e969a0b5 166 /* lowpass filter consists of three cascaded biquads
yohoo15 0:6f71e969a0b5 167 below the coefficients for those three biquads */
yohoo15 0:6f71e969a0b5 168 //first low pass biquad
yohoo15 0:6f71e969a0b5 169 const double lowp1_a1 = -1.05207469728;
yohoo15 0:6f71e969a0b5 170 const double lowp1_a2 = 0.28586907478;
yohoo15 0:6f71e969a0b5 171 const double lowp1_b0 = 1.00000000000;
yohoo15 0:6f71e969a0b5 172 const double lowp1_b1 = 2.00000000000;
yohoo15 0:6f71e969a0b5 173 const double lowp1_b2 = 1.00000000000;
yohoo15 0:6f71e969a0b5 174
yohoo15 0:6f71e969a0b5 175 //second low pass biquad
yohoo15 0:6f71e969a0b5 176 const double lowp2_a1 = -1.16338171052;
yohoo15 0:6f71e969a0b5 177 const double lowp2_a2 = 0.42191097989;
yohoo15 0:6f71e969a0b5 178 const double lowp2_b0 = 1.00000000000;
yohoo15 0:6f71e969a0b5 179 const double lowp2_b1 = 2.00000000000;
yohoo15 0:6f71e969a0b5 180 const double lowp2_b2 = 1.00000000000;
yohoo15 0:6f71e969a0b5 181
yohoo15 0:6f71e969a0b5 182 //third low pass biquad
yohoo15 0:6f71e969a0b5 183 const double lowp3_a1 = -1.42439823874;
yohoo15 0:6f71e969a0b5 184 const double lowp3_a2 = 0.74093118112;
yohoo15 0:6f71e969a0b5 185 const double lowp3_b0 = 1.00000000000;
yohoo15 0:6f71e969a0b5 186 const double lowp3_b1 = 2.00000000000;
yohoo15 0:6f71e969a0b5 187 const double lowp3_b2 = 1.00000000000;
yohoo15 0:6f71e969a0b5 188
yohoo15 0:6f71e969a0b5 189
yohoo15 0:6f71e969a0b5 190
yohoo15 0:6f71e969a0b5 191 double Filteren(double input)
yohoo15 0:6f71e969a0b5 192 {
yohoo15 0:6f71e969a0b5 193
yohoo15 0:6f71e969a0b5 194 input = input-0.45; //FIRST SUBTRACT MEAN THEN FILTER
yohoo15 0:6f71e969a0b5 195 //input_right = analog_emg_right.read();
yohoo15 0:6f71e969a0b5 196
yohoo15 0:6f71e969a0b5 197 // notch filter
yohoo15 0:6f71e969a0b5 198 double y1 = biquad(input, notch_v11, notch_v21, notch1_a1, notch1_a2, notch1_b0, notch1_b1, notch1_b2);
yohoo15 0:6f71e969a0b5 199 double y2 = biquad(y1, notch_v12, notch_v22, notch2_a1, notch2_a2, notch2_b0, notch2_b1, notch2_b2);
yohoo15 0:6f71e969a0b5 200 double y3 = biquad(y2, notch_v13, notch_v23, notch3_a1, notch3_a2, notch3_b0, notch3_b1, notch3_b2);
yohoo15 0:6f71e969a0b5 201
yohoo15 0:6f71e969a0b5 202 //higpass filter
yohoo15 0:6f71e969a0b5 203 double y4 = biquad(y3, high_v11, high_v21, highp1_a1, highp1_a2, highp1_b0, highp1_b1, highp1_b2);
yohoo15 0:6f71e969a0b5 204 double y5 = biquad(y4, high_v12, high_v22, highp2_a1, highp2_a2, highp2_b0, highp2_b1, highp2_b2);
yohoo15 0:6f71e969a0b5 205 double y6 = biquad(y5, high_v13, high_v23, highp3_a1, highp3_a2, highp3_b0, highp3_b1, highp3_b2);
yohoo15 0:6f71e969a0b5 206
yohoo15 0:6f71e969a0b5 207 //rectivier
yohoo15 0:6f71e969a0b5 208 double y7 = fabs(y6);
yohoo15 0:6f71e969a0b5 209
yohoo15 0:6f71e969a0b5 210 //lowpas filter cascade
yohoo15 0:6f71e969a0b5 211 double y8 = biquad(y7, low_v11, low_v21, lowp1_a1, lowp1_a2, lowp1_b0, lowp1_b1, lowp1_b2);
yohoo15 0:6f71e969a0b5 212 double y9 = biquad(y8, low_v12, low_v22, lowp2_a1, lowp2_a2, lowp2_b0, lowp2_b1, lowp2_b2);
yohoo15 0:6f71e969a0b5 213 double y10= biquad(y9, low_v13, low_v23, lowp3_a1, lowp3_a2, lowp3_b0, lowp3_b1, lowp3_b2);
yohoo15 0:6f71e969a0b5 214
yohoo15 0:6f71e969a0b5 215 // moving average
yohoo15 0:6f71e969a0b5 216 double filter_signal = moving_average(y10,n1,n2,n3,n4,n5);
yohoo15 0:6f71e969a0b5 217
yohoo15 0:6f71e969a0b5 218 return(filter_signal);
yohoo15 0:6f71e969a0b5 219 }
yohoo15 0:6f71e969a0b5 220
yohoo15 0:6f71e969a0b5 221 /*************************************************************BEGIN motor control******************************************************************************************************/
yohoo15 0:6f71e969a0b5 222 // Define pin for motor control
yohoo15 0:6f71e969a0b5 223 DigitalOut directionPin(D4);
yohoo15 0:6f71e969a0b5 224 PwmOut PWM(D5);
yohoo15 0:6f71e969a0b5 225 DigitalIn buttonccw(PTA4);
yohoo15 0:6f71e969a0b5 226 DigitalIn buttoncw(PTC6);
yohoo15 0:6f71e969a0b5 227
yohoo15 0:6f71e969a0b5 228 QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in)
yohoo15 0:6f71e969a0b5 229 // define ticker
yohoo15 0:6f71e969a0b5 230
yohoo15 0:6f71e969a0b5 231 // define rotation direction and begin possition
yohoo15 0:6f71e969a0b5 232 const int cw = 1;
yohoo15 0:6f71e969a0b5 233 const int ccw = 0;
yohoo15 0:6f71e969a0b5 234 double setpoint = 0; //setpoint is in pulses
yohoo15 0:6f71e969a0b5 235
yohoo15 0:6f71e969a0b5 236
yohoo15 0:6f71e969a0b5 237 // Controller gain proportional and intergrator
yohoo15 0:6f71e969a0b5 238 const double motor1_Kp = 5; // more or les random number.
yohoo15 0:6f71e969a0b5 239 const double motor1_Ki = 0;
yohoo15 0:6f71e969a0b5 240 const double M1_timestep = 0.01; // reason ticker works with 100 Hz.
yohoo15 0:6f71e969a0b5 241 double motor1_error_integraal = 0; // initial value of integral error
yohoo15 0:6f71e969a0b5 242 // Defining pulses per revolution (calculating pulses to rotations in degree.)
yohoo15 0:6f71e969a0b5 243 const double pulses_per_revolution = 4200 ;//8400 counts is aangegeven op de motor for x4. 10 - 30 counts oveshoot. for moter 1(tape)! Motor 2 almost the same(nice)
yohoo15 0:6f71e969a0b5 244 /*
yohoo15 0:6f71e969a0b5 245 double Rotation = -2; // rotation
yohoo15 0:6f71e969a0b5 246 double movement = Rotation * pulses_per_revolution; // times 360 to make Rotations degree.
yohoo15 0:6f71e969a0b5 247 */
yohoo15 0:6f71e969a0b5 248
yohoo15 0:6f71e969a0b5 249 // defining flags
yohoo15 0:6f71e969a0b5 250 volatile bool flag_motor = false;
yohoo15 0:6f71e969a0b5 251
yohoo15 0:6f71e969a0b5 252 // making function flags.
yohoo15 0:6f71e969a0b5 253 void Go_flag_motor()
yohoo15 0:6f71e969a0b5 254 {
yohoo15 0:6f71e969a0b5 255 flag_motor = true;
yohoo15 0:6f71e969a0b5 256 }
yohoo15 0:6f71e969a0b5 257
yohoo15 0:6f71e969a0b5 258
yohoo15 0:6f71e969a0b5 259 // To make a new setpoint
yohoo15 0:6f71e969a0b5 260 double making_setpoint(double direction)
yohoo15 0:6f71e969a0b5 261 {
yohoo15 0:6f71e969a0b5 262 if ( cw == direction) {
yohoo15 0:6f71e969a0b5 263 setpoint = setpoint + (pulses_per_revolution/40000);
yohoo15 0:6f71e969a0b5 264 }
yohoo15 0:6f71e969a0b5 265 if ( ccw == direction) {
yohoo15 0:6f71e969a0b5 266 setpoint = setpoint - (pulses_per_revolution/40000);
yohoo15 0:6f71e969a0b5 267 }
yohoo15 0:6f71e969a0b5 268 return(setpoint);
yohoo15 0:6f71e969a0b5 269
yohoo15 0:6f71e969a0b5 270 }
yohoo15 0:6f71e969a0b5 271
yohoo15 0:6f71e969a0b5 272 // Reusable P controller
yohoo15 0:6f71e969a0b5 273 double PI(double error, const double Kp, const double Ki, double Ts, double &e_int)
yohoo15 0:6f71e969a0b5 274 {
yohoo15 0:6f71e969a0b5 275
yohoo15 0:6f71e969a0b5 276 e_int = e_int + Ts * error;
yohoo15 0:6f71e969a0b5 277
yohoo15 0:6f71e969a0b5 278 double PI_output = (Kp * error) + (Ki * e_int);
yohoo15 0:6f71e969a0b5 279 return PI_output;
yohoo15 0:6f71e969a0b5 280 }
yohoo15 0:6f71e969a0b5 281 // Next task, measure the error and apply the output to the plant
yohoo15 0:6f71e969a0b5 282 void motor1_Controller()
yohoo15 0:6f71e969a0b5 283 {
yohoo15 0:6f71e969a0b5 284 double reference = setpoint; // setpoint is in pulses
yohoo15 0:6f71e969a0b5 285 double position = wheel.getPulses();
yohoo15 0:6f71e969a0b5 286 double error_pulses = (reference - position); // calculate the error in pulses
yohoo15 0:6f71e969a0b5 287 double error_rotation = error_pulses / pulses_per_revolution; //calculate how much the rotaions the motor has to turn
yohoo15 0:6f71e969a0b5 288
yohoo15 0:6f71e969a0b5 289 double output = abs(PI( error_rotation, motor1_Kp, motor1_Ki, M1_timestep, motor1_error_integraal ));
yohoo15 0:6f71e969a0b5 290
yohoo15 0:6f71e969a0b5 291 if(error_pulses > 0) {
yohoo15 0:6f71e969a0b5 292 directionPin.write(cw);
yohoo15 0:6f71e969a0b5 293
yohoo15 0:6f71e969a0b5 294 } else if(error_pulses < 0) {
yohoo15 0:6f71e969a0b5 295 directionPin.write(ccw);
yohoo15 0:6f71e969a0b5 296 } else {
yohoo15 0:6f71e969a0b5 297 output = 0;
yohoo15 0:6f71e969a0b5 298 }
yohoo15 0:6f71e969a0b5 299 PWM.write(output); // out of the if loop due to abs output
yohoo15 0:6f71e969a0b5 300
yohoo15 0:6f71e969a0b5 301
yohoo15 0:6f71e969a0b5 302 }
yohoo15 0:6f71e969a0b5 303
yohoo15 0:6f71e969a0b5 304 /*************************************************************END motor control******************************************************************************************************/
yohoo15 0:6f71e969a0b5 305
yohoo15 0:6f71e969a0b5 306 void HIDScope_kijken()
yohoo15 0:6f71e969a0b5 307 {
yohoo15 0:6f71e969a0b5 308 scope.set(0, analog_emg_left.read());
yohoo15 0:6f71e969a0b5 309 scope.set(1, filter_signal_hid_left);
yohoo15 0:6f71e969a0b5 310 scope.set(2, analog_emg_right.read());
yohoo15 0:6f71e969a0b5 311 scope.set(3, filter_signal_hid_right);
yohoo15 0:6f71e969a0b5 312 scope.send();
yohoo15 0:6f71e969a0b5 313 }
yohoo15 0:6f71e969a0b5 314
yohoo15 0:6f71e969a0b5 315
yohoo15 0:6f71e969a0b5 316 int main()
yohoo15 0:6f71e969a0b5 317 {
yohoo15 0:6f71e969a0b5 318 aansturen.attach( &Go_flag_motor, 0.01f ); // 100 Hz // timer 0.00001f motor keeps spinning
yohoo15 0:6f71e969a0b5 319 HIDScope_timer.attach(&Go_flag_HIDScope, 0.02);
yohoo15 0:6f71e969a0b5 320 Filteren_timer.attach(&Go_flag_filteren,0.04);
yohoo15 0:6f71e969a0b5 321 while(1) {
yohoo15 0:6f71e969a0b5 322 if(Flag_filteren) {
yohoo15 0:6f71e969a0b5 323 Flag_filteren = false;
yohoo15 0:6f71e969a0b5 324 // filter left and set bool
yohoo15 0:6f71e969a0b5 325 filter_signal_hid_left = Filteren(analog_emg_left.read());
yohoo15 0:6f71e969a0b5 326
yohoo15 0:6f71e969a0b5 327 if (filter_signal_hid_left > high_threshold) {
yohoo15 0:6f71e969a0b5 328 left_movement = true;
yohoo15 0:6f71e969a0b5 329 } else if (filter_signal_hid_left < low_threshold) {
yohoo15 0:6f71e969a0b5 330 left_movement = false;
yohoo15 0:6f71e969a0b5 331 }
yohoo15 0:6f71e969a0b5 332 // make filter right and set bool
yohoo15 0:6f71e969a0b5 333 filter_signal_hid_right = Filteren(analog_emg_right.read());
yohoo15 0:6f71e969a0b5 334
yohoo15 0:6f71e969a0b5 335 if (filter_signal_hid_right > high_threshold) {
yohoo15 0:6f71e969a0b5 336 right_movement = true;
yohoo15 0:6f71e969a0b5 337 } else if (filter_signal_hid_right < low_threshold) {
yohoo15 0:6f71e969a0b5 338 right_movement = false;
yohoo15 0:6f71e969a0b5 339 }
yohoo15 0:6f71e969a0b5 340
yohoo15 0:6f71e969a0b5 341
yohoo15 0:6f71e969a0b5 342 }
yohoo15 0:6f71e969a0b5 343
yohoo15 0:6f71e969a0b5 344 if(Flag_HIDScope) {
yohoo15 0:6f71e969a0b5 345 Flag_HIDScope = false;
yohoo15 0:6f71e969a0b5 346 HIDScope_kijken();
yohoo15 0:6f71e969a0b5 347
yohoo15 0:6f71e969a0b5 348 }
yohoo15 0:6f71e969a0b5 349
yohoo15 0:6f71e969a0b5 350 if(flag_motor) {
yohoo15 0:6f71e969a0b5 351 flag_motor = false;
yohoo15 0:6f71e969a0b5 352 motor1_Controller();
yohoo15 0:6f71e969a0b5 353
yohoo15 0:6f71e969a0b5 354 }
yohoo15 0:6f71e969a0b5 355
yohoo15 0:6f71e969a0b5 356
yohoo15 0:6f71e969a0b5 357
yohoo15 0:6f71e969a0b5 358 // Pussing buttons to get input signal
yohoo15 0:6f71e969a0b5 359
yohoo15 0:6f71e969a0b5 360 if(left_movement) {
yohoo15 0:6f71e969a0b5 361 setpoint = making_setpoint(cw);
yohoo15 0:6f71e969a0b5 362
yohoo15 0:6f71e969a0b5 363 }
yohoo15 0:6f71e969a0b5 364 if(right_movement) {
yohoo15 0:6f71e969a0b5 365 setpoint = making_setpoint(ccw);
yohoo15 0:6f71e969a0b5 366 }
yohoo15 0:6f71e969a0b5 367 }
yohoo15 0:6f71e969a0b5 368 }
yohoo15 0:6f71e969a0b5 369
yohoo15 0:6f71e969a0b5 370
yohoo15 0:6f71e969a0b5 371
yohoo15 0:6f71e969a0b5 372