File content as of revision 8:b6b09226a421:

#include "mbed.h"
#include "MODSERIAL.h"
#include "HIDScope.h"
#include "QEI.h"
#include "BiQuad.h"

MODSERIAL pc(USBTX, USBRX);
DigitalOut DirectionPin1(D4);
DigitalOut DirectionPin2(D7);
PwmOut PwmPin1(D5);
PwmOut PwmPin2(D6);
DigitalIn Knop1(D2);
DigitalIn Knop2(D3);
AnalogIn pot1 (A5);
AnalogIn pot2 (A4);
AnalogIn emg0( A0 );
AnalogIn emg1( A1 );
AnalogIn emg2( A2 );
AnalogIn emg3( A3 );

QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING);
QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING);

//DigitalOut LED(LED_RED);

Ticker      StateTicker;
Ticker      printTicker;

HIDScope    scope(4);

BiQuadChain bqc1;
BiQuadChain bqc2;
BiQuadChain bqc3;
BiQuadChain bqc4;
BiQuadChain bqc5;
BiQuadChain bqc6;
BiQuadChain bqc7;
BiQuadChain bqc8;
BiQuad BqNotch1_1( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01  );
BiQuad BqNotch2_1(  1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01);
BiQuad BqNotch1_2( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01  );
BiQuad BqNotch2_2(  1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01);
BiQuad BqNotch1_3( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01  );
BiQuad BqNotch2_3(  1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01);
BiQuad BqNotch1_4( 9.65081e-01, -1.56203e+00, 9.65081e-01,-1.56858e+00, 9.64241e-01  );
BiQuad BqNotch2_4(  1.00000e+00, -1.61855e+00, 1.00000e+00 ,-1.61100e+00, 9.65922e-01);
BiQuad BqHP1( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 );
BiQuad BqHP2( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 );
BiQuad BqHP3( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 );
BiQuad BqHP4( 9.86760e-01, -1.97352e+00, 9.86760e-01, -1.97334e+00, 9.73695e-01 );
BiQuad BqLP1( 8.76555e-05, 1.75311e-04, 8.76555e-05, -1.97334e+00, 9.73695e-01 );
BiQuad BqLP2( 8.76555e-05, 1.75311e-04, 8.76555e-05, -1.97334e+00, 9.73695e-01 );
BiQuad BqLP3( 8.76555e-05, 1.75311e-04, 8.76555e-05, -1.97334e+00, 9.73695e-01 );
BiQuad BqLP4( 8.76555e-05, 1.75311e-04, 8.76555e-05, -1.97334e+00, 9.73695e-01 );

volatile float Bicep_Right          = 0.0;
volatile float Bicep_Left           = 0.0;
volatile float Tricep_Right         = 0.0;
volatile float Tricep_Left          = 0.0;
volatile const float maxVelocity    = 8.4; // in rad/s
volatile const double pi            = 3.14159265358979; 
volatile float referenceVelocity1   = 0.5; //dit is de gecentreerde waarde en dus de nulstand
volatile float referenceVelocity2   = 0.5;

enum states{Calibration, Homing, Function};
    
volatile states Active_State = Calibration;

volatile int counts1 ;
volatile int counts2 ;
volatile float rad_m1;
volatile float rad_m2;
volatile float q_1;
volatile float q_2;
volatile float r_1;
volatile float r_2;
volatile const float r_3            = 2.0; //

volatile float FilterHP_Bi_R;
volatile float Filterabs_Bi_R;
volatile float Filtered_Bi_R;
volatile float FilterHP_Bi_L;
volatile float Filterabs_Bi_L;
volatile float Filtered_Bi_L;
volatile float FilterHP_Tri_R;
volatile float Filterabs_Tri_R;
volatile float Filtered_Tri_R;
volatile float FilterHP_Tri_L;
volatile float Filterabs_Tri_L;
volatile float Filtered_Tri_L;
    
void filter() 
{
    FilterHP_Bi_R = bqc1.step( emg0.read() );
    Filterabs_Bi_R = fabs(FilterHP_Bi_R); 
    Filtered_Bi_R = bqc2.step( Filterabs_Bi_R );
    
    FilterHP_Bi_L = bqc3.step( emg1.read() );
    Filterabs_Bi_L = fabs(FilterHP_Bi_L);
    Filtered_Bi_L = bqc4.step( Filterabs_Bi_L );
    
    FilterHP_Tri_R = bqc5.step( emg2.read() );
    Filterabs_Tri_R = fabs(FilterHP_Tri_R); 
    Filtered_Tri_R = bqc6.step( Filterabs_Tri_R );
    
    FilterHP_Tri_L = bqc7.step( emg3.read() );
    Filterabs_Tri_L = fabs(FilterHP_Tri_L);
    Filtered_Tri_L = bqc8.step( Filterabs_Tri_L );
}

void Encoding()
{
 
    counts1 = Encoder1.getPulses();
    counts2 = Encoder2.getPulses();
    // Hier gaat iets fout waardoor het 0 wordt!!!
    rad_m1 = ((2.0*pi)/32.0)* (float)counts1;
    rad_m2 = ((2.0*pi)/32.0)* (float)counts2;
    
   // pc.printf("%f  &  %f ....\n",rad_m1, rad_m2);
}

void EMG_Read()
{
    Bicep_Right     =   emg0.read();
    Bicep_Left      =   emg1.read();
    Tricep_Right    =   emg2.read();
    Tricep_Left     =   emg3.read();   
}

void sample()
{
    
    scope.set(0, Filtered_Bi_R );
    scope.set(1, Filtered_Bi_L );
    scope.set(2, Filtered_Tri_R );
    scope.set(3, Filtered_Tri_L );
  
    scope.send();
}

   
void velocity1()
    {
            if (pot1.read()>0.5f)
                {
                // Clockwise rotation
                referenceVelocity1 = (pot1.read()-0.5f) * 2.0f; 
                }
            
            else if (pot1.read() == 0.5f)
            {
                referenceVelocity1 = pot1.read() * 0.0f; 
            } 
            
            else if (pot1.read() < 0.5f)
                {
                // Counterclockwise rotation      
                referenceVelocity1 = 2.0f * (pot1.read()-0.5f) ;
                }
    }
    
void velocity2()
    {
            if (pot2.read()>0.5f)
                {
                // Clockwise rotation
                referenceVelocity2 = (pot2.read()-0.5f) * 2.0f; 
                }
            
            else if (pot2.read() == 0.5f)
            {
                referenceVelocity2 = pot2.read() * 0.0f; 
            } 
            
            else if (pot2.read() < 0.5f)
                {
                // Counterclockwise rotation      
                referenceVelocity2 = 2.0f * (pot2.read()-0.5f) ;
                }
    }    
    
void motor1()
    {  
        float u = referenceVelocity1;
        DirectionPin1 = u < 0.0f;
        PwmPin1 = fabs(u);
    }

void motor2()
    {  
        float u = referenceVelocity2;
        DirectionPin2 = u > 0.0f;
        PwmPin2 = fabs(u);
    }

void Printing()
{
    float v1 = fabs(referenceVelocity1) * maxVelocity;
    float v2 = fabs(referenceVelocity2) * maxVelocity;
    
    //eventueel nog counts -> rad/s 
    
    //pc.printf("%f \n %f snelheid Motor1 \n %f snelheid Motor2 \n", Bicep_Right,v1,v2);
    pc.printf("%i    %i \n",counts1,counts2);
}

void inverse_kinematics()
{
    float JacPs [2][2];
    JacPs[0][0] = 2.0;
    JacPs[0][1] = 3.0;
    JacPs[1][0] = 4.0;
    JacPs[1][1] = 5.0;
    pc.printf("%f    ", JacPs[0][0]);
}



void StateMachine() 
{
    switch (Active_State)
    {
        case Calibration:
                //calibration actions
                //pc.printf("Calibration State");
                if (Knop1==false)
                {
                    pc.printf("Entering Homing state \n");
                    Active_State = Homing;
                }
                filter();
                sample();
                //EMG_Read();
                Encoding();  
                
        break;
        
        case Homing:
                //Homing actions
                //pc.printf("Homing State");
                if (Knop2==false)
                {
                    pc.printf("Entering Funtioning State \n");
                    Active_State = Function;
                }
                filter();
                sample();
                //EMG_Read();
                Encoding();
        break;
        
        case Function:
            //pc.printf("Funtioning State");
                
                if (Knop2==false)
                {
                    pc.printf("Re-entering Homing State \n");
                    Active_State = Homing;
                }
                else if (Knop1==false)
                {
                    pc.printf("Re-entering Calibration State \n");
                    Active_State = Calibration;
                }
                
                filter();
                sample();
                //EMG_Read();
                Encoding();
                velocity1();
                velocity2();
                motor1();
                motor2();
                
        break;    
            
        default:
        pc.printf("UNKNOWN COMMAND");
    }
}    

int main()
{
    pc.baud(115200);    
    PwmPin1.period_us(30); //60 microseconds pwm period, 16.7 kHz 
    bqc1.add( &BqNotch1_1 ).add( &BqNotch2_1 ).add( &BqHP1 );
    bqc2.add(&BqLP1);
    bqc3.add( &BqNotch1_2 ).add( &BqNotch2_2 ).add( &BqHP2 );
    bqc4.add(&BqLP2);
    bqc5.add( &BqNotch1_3 ).add( &BqNotch2_3 ).add( &BqHP3 );
    bqc6.add(&BqLP3);
    bqc7.add( &BqNotch1_4 ).add( &BqNotch2_4 ).add( &BqHP4 );
    bqc8.add(&BqLP4);
    StateTicker.attach(StateMachine, 0.002);
   
    printTicker.attach(&Printing, 2.0);
    
    while(true)
    {
    }
}