groep 16 / Mbed 2 deprecated Project_total

totale unit

Dependencies:   mbed QEI HIDScope BiQuad4th_order biquadFilter MODSERIAL FastPWM

main.cpp@22:08b3cd7bec7f, 2019-10-29 (annotated)

Committer:
lucvandijk
Date:
Tue Oct 29 12:11:23 2019 +0000
Revision:
22:08b3cd7bec7f
Parent:
21:2c26b74a3e48
Child:
23:d13db573a875
werkt prima, ipv de led in de main kan de motor komen;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
sanou8 21:2c26b74a3e48 3 #include "FilterDesign.h"
sanou8 21:2c26b74a3e48 4 #include "BiQuad.h"
sanou8 21:2c26b74a3e48 5 #include "BiQuad4.h"
sanou8 21:2c26b74a3e48 6 #include "MODSERIAL.h"
sanou8 21:2c26b74a3e48 7
sanou8 21:2c26b74a3e48 8 Serial pc(USBTX,USBRX);
sanou8 21:2c26b74a3e48 9 DigitalIn button(SW3) ;
sanou8 21:2c26b74a3e48 10
vsluiter 0:32bb76391d89 11
vsluiter 4:8b298dfada81 12 //Define objects
tomlankhorst 19:2bf824669684 13 AnalogIn emg0( A0 );
tomlankhorst 19:2bf824669684 14 AnalogIn emg1( A1 );
sanou8 21:2c26b74a3e48 15 AnalogIn potmeter1(PTC11); // Input of two potmeters
sanou8 21:2c26b74a3e48 16 AnalogIn potmeter2(PTC10);
tomlankhorst 19:2bf824669684 17
sanou8 21:2c26b74a3e48 18
sanou8 21:2c26b74a3e48 19 Ticker ticker_calibration; // Ticker to send the EMG signals to screen
sanou8 21:2c26b74a3e48 20 Ticker sample_timer; // Ticker for reading out EMG
tomlankhorst 19:2bf824669684 21 HIDScope scope( 2 );
tomlankhorst 18:21d8e7a81cf5 22 DigitalOut led(LED1);
vsluiter 2:e314bb3b2d99 23
sanou8 21:2c26b74a3e48 24 volatile double emg1_filtered; //measured value of the first emg
sanou8 21:2c26b74a3e48 25 volatile double emg2_filtered; //measured value of the second emg
sanou8 21:2c26b74a3e48 26 volatile double emg1_max ; // calibrated value of first emg
sanou8 21:2c26b74a3e48 27 volatile double emg2_max ;
lucvandijk 22:08b3cd7bec7f 28 volatile double emg1_cal = 0.8;
sanou8 21:2c26b74a3e48 29
sanou8 21:2c26b74a3e48 30 // Read EMG
sanou8 21:2c26b74a3e48 31 //void EMGread()
sanou8 21:2c26b74a3e48 32 //{
sanou8 21:2c26b74a3e48 33 // emg1_filtered = FilterDesign(emg0.read());
sanou8 21:2c26b74a3e48 34 // emg2_filtered = FilterDesign(emg1.read());
sanou8 21:2c26b74a3e48 35 //pc.printf("emg1_cal = %f, emg2_cal = %f \n\r", emg1_filtered, emg2_filtered);
sanou8 21:2c26b74a3e48 36 //}
sanou8 21:2c26b74a3e48 37
sanou8 21:2c26b74a3e48 38
sanou8 21:2c26b74a3e48 39
sanou8 21:2c26b74a3e48 40
sanou8 21:2c26b74a3e48 41 void sample() ;
sanou8 21:2c26b74a3e48 42 void EMGcalibration () ;
sanou8 21:2c26b74a3e48 43
sanou8 21:2c26b74a3e48 44
sanou8 21:2c26b74a3e48 45
vsluiter 0:32bb76391d89 46
vsluiter 0:32bb76391d89 47 int main()
tomlankhorst 19:2bf824669684 48 {
tomlankhorst 14:f83354387756 49 /**Attach the 'sample' function to the timer 'sample_timer'.
tomlankhorst 19:2bf824669684 50 * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
vsluiter 4:8b298dfada81 51 */
sanou8 21:2c26b74a3e48 52
sanou8 21:2c26b74a3e48 53 pc.baud(115200);
sanou8 21:2c26b74a3e48 54 //EMGcalibration();
tomlankhorst 19:2bf824669684 55 sample_timer.attach(&sample, 0.002);
sanou8 21:2c26b74a3e48 56
sanou8 21:2c26b74a3e48 57
tomlankhorst 14:f83354387756 58 /*empty loop, sample() is executed periodically*/
sanou8 21:2c26b74a3e48 59 while(true) {
sanou8 21:2c26b74a3e48 60 if(SW3==0){
sanou8 21:2c26b74a3e48 61 EMGcalibration();
sanou8 21:2c26b74a3e48 62 }
lucvandijk 22:08b3cd7bec7f 63
lucvandijk 22:08b3cd7bec7f 64 led = 1;
lucvandijk 22:08b3cd7bec7f 65
lucvandijk 22:08b3cd7bec7f 66 while(emg1_filtered >= 0.9*emg1_cal){
lucvandijk 22:08b3cd7bec7f 67 led = 0;
lucvandijk 22:08b3cd7bec7f 68 }
lucvandijk 22:08b3cd7bec7f 69 }
sanou8 21:2c26b74a3e48 70 }
sanou8 21:2c26b74a3e48 71
sanou8 21:2c26b74a3e48 72
sanou8 21:2c26b74a3e48 73
sanou8 21:2c26b74a3e48 74
sanou8 21:2c26b74a3e48 75
sanou8 21:2c26b74a3e48 76
sanou8 21:2c26b74a3e48 77 void sample()
sanou8 21:2c26b74a3e48 78 {
sanou8 21:2c26b74a3e48 79 emg1_filtered = FilterDesign(emg0.read());
sanou8 21:2c26b74a3e48 80 emg2_filtered = FilterDesign(emg1.read());
sanou8 21:2c26b74a3e48 81 /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
sanou8 21:2c26b74a3e48 82 scope.set(0, emg1_filtered ) ;
sanou8 21:2c26b74a3e48 83 scope.set(1, emg2_filtered );
sanou8 21:2c26b74a3e48 84 /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
sanou8 21:2c26b74a3e48 85 * Ensure that enough channels are available (HIDScope scope( 2 ))
sanou8 21:2c26b74a3e48 86 * Finally, send all channels to the PC at once */
sanou8 21:2c26b74a3e48 87 scope.send();
sanou8 21:2c26b74a3e48 88 /* To indicate that the function is working, the LED is toggled */
sanou8 21:2c26b74a3e48 89 //pc.printf("%f", emg1_filtered)
sanou8 21:2c26b74a3e48 90 //led = !led;
sanou8 21:2c26b74a3e48 91 }
sanou8 21:2c26b74a3e48 92
sanou8 21:2c26b74a3e48 93 void EMGcalibration ()
sanou8 21:2c26b74a3e48 94 {
sanou8 21:2c26b74a3e48 95
sanou8 21:2c26b74a3e48 96 Timer t;
sanou8 21:2c26b74a3e48 97 t.start();
sanou8 21:2c26b74a3e48 98 do {
sanou8 21:2c26b74a3e48 99 ticker_calibration.attach(&sample, 0.002);
sanou8 21:2c26b74a3e48 100 if(emg1_cal < emg1_filtered){
sanou8 21:2c26b74a3e48 101 emg1_cal = emg1_filtered ;
sanou8 21:2c26b74a3e48 102 }
sanou8 21:2c26b74a3e48 103 }while(t<10);
vsluiter 0:32bb76391d89 104 }