File content as of revision 3:ed4676f76a5c:

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

#define IGNORECOUNT 100

PwmOut pwmpin1(D6);
PwmOut pwmpin2(D5);
AnalogIn potmeter1(A5);
AnalogIn potmeter2(A4);
DigitalIn button1(D2);
DigitalIn button2(D3);
DigitalOut directionpin1(D4);
DigitalOut directionpin2(D7);
QEI motor1(D13,D12,NC, 32);
QEI motor2(D11,D10,NC, 32);

//Define objects
AnalogIn    emg0( A0 );     // EMG at A0
BiQuad emg0bq1(0.8848578, -1.7697156, 0.8848578, -1.7539023, 0.7855289); // highpass at 30Hz  Q at around 1
BiQuad emg0bq2(0.0773021,0.1546042,0.0773021,-1.3098283,0.6190368); // lowpass at 130 Hz Q at around .6
BiQuad emg0bq3(0.9556457,-1.81774618, 0.955645, -1.817746, 0.9112914); // 50 Hz notch Q at 4.5
BiQuadChain emg0bqc1; // merged chain of three filters
BiQuadChain emg0bqc2;
BiQuadChain emg0bqc3;

AnalogIn    emg1( A1 );     // EMG at A1
BiQuad emg1bq1(0.8848578, -1.7697156, 0.8848578, -1.7539023, 0.7855289); // highpass at 30Hz  Q at around 1
BiQuad emg1bq2(0.0773021,0.1546042,0.0773021,-1.3098283,0.6190368); // lowpass at 130 Hz Q at around .6
BiQuad emg1bq3(0.9556457,-1.81774618, 0.955645, -1.817746, 0.9112914); // 50 Hz notch Q at 4.5
BiQuadChain emg1bqc; // merged chain of three filters


AnalogIn    emg2( A2 );     // EMG at A2
BiQuad emg2bq1(0.8848578, -1.7697156, 0.8848578, -1.7539023, 0.7855289); // highpass at 30Hz  Q at around 1
BiQuad emg2bq2(0.0773021,0.1546042,0.0773021,-1.3098283,0.6190368); // lowpass at 130 Hz Q at around .6
BiQuad emg2bq3(0.9556457,-1.81774618, 0.955645, -1.817746, 0.9112914); // 50 Hz notch Q at 4.5
BiQuadChain emg2bqc; // merged chain of three filters

DigitalIn kill_switch(SW2); //position has to be changed
DigitalIn next_switch(SW3); //name and position should be replaced

enum states{PositionCalibration, EmgCalibration, Movement, KILL};
states CurrentState;
Ticker sample_timer;
Ticker MotorsTicker;
Timer timer;

//for testing purposes
DigitalOut ledred(LED_RED);
DigitalOut ledgreen(LED_GREEN);
DigitalOut ledblue(LED_BLUE);
MODSERIAL pc(USBTX, USBRX);
HIDScope scope(5);

bool    emg0Bool    = 0;        // I don't know if these NEED to be global, but when I tried to put them in they wouldn't work...
int     emg0Ignore  = 0;
bool    emg1Bool    = 0;
int     emg1Ignore  = 0;
bool    emg2Bool    = 0;
int     emg2Ignore  = 0;

double  input = 0;              // raw input
double  filtHigh = 0;           // filtered after highpass
double  filtlow = 0;            // filtered after lowpass
double  filtNotch = 0;          // filtered after notch
double  emg0filteredAbs;

float threshold0;
float threshold1;
float threshold2;

volatile float pwm_value1 = 0.0;
volatile float pwm_value2 = 0.0;

/** Sample functions
 * these functions sample the emg and send it to HIDScope
 **/
bool emg0Filter(void){  

    input = emg0.read();
    scope.set( 0, input);
    filtHigh = emg0bqc1.step(emg0.read());
    scope.set( 1, filtHigh);
    filtlow = emg0bqc2.step(emg0.read());
    scope.set( 2, filtlow);
    filtNotch = emg0bqc3.step(emg0.read());
    scope.set( 3, filtNotch);
    
    /* this is the threshhold */ 
    emg0filteredAbs = fabs(filtNotch);
    if (emg0filteredAbs > threshold0) {  // when above threshold  set bool to 1, here can the parameters be changed using global variables
        emg0Bool = 1;
        emg0Ignore = IGNORECOUNT;   // here is the counter increased ( at 1000 Hz, this is 0.1 sec)
        }
    else if (emg0Ignore < 0){ // if the ignore-counter is down to zero, set the bool back to 0
         emg0Bool = 0;
        }
    else {
        emg0Ignore--;      // else decrease counter by one each time has passed without threshold being met
        }

    scope.set( 4, emg0Bool);
    scope.send();
    return emg0Bool;
}

bool emg1Filter(void){  
    double emg1filteredAbs = fabs( emg1bqc.step(emg1.read())); // Filter and make absolute
    /* this is the threshhold */ 
    if (emg1filteredAbs > threshold1) {  // when above threshold  set bool to 1 here can the parameters be changed using global variables
        emg1Bool = true;
        emg1Ignore = IGNORECOUNT;   // here is the counter increased ( at 1000 Hz, this is 0.1 sec)
        }
    else if (emg1Ignore < 0){ // if the ignore-counter is down to zero, set the bool back to 0
         emg1Bool = false;
        }
    else {
        emg1Ignore--;      // else decrease counter by one each time has passed without threshold being met
        }
    return emg1Bool;
}

bool emg2Filter(void){  
    double emg2filteredAbs = fabs( emg2bqc.step(emg2.read())); // Filter and make absolute
    /* this is the threshhold */ 
    if (emg2filteredAbs > threshold2) {  // when above threshold  set bool to 1 here can the parameters be changed using global variables
        emg2Bool = true;
        emg2Ignore = IGNORECOUNT;   // here is the counter increased ( at 1000 Hz, this is 0.1 sec)
        }
    else if (emg2Ignore < 0){ // if the ignore-counter is down to zero, set the bool back to 0
         emg2Bool = false;
        }
    else {
        emg2Ignore--;      // else decrease counter by one each time has passed without threshold being met
        }
    return emg2Bool;
}
void sample() {  
    bool Bool1 = emg0Filter(); // whatever name casper uses for the bool
    // bool Bool2 = emg1Filter();
    // bool Bool3 = emg2Filter();
}

void positionCalibration() {
    while(!button1){
        directionpin1 = true;
        pwm_value1 = 0.7f;
    } 
    pwm_value1 = 0.0f;
    while(!button2){
        directionpin2 = true;
        pwm_value2 = 0.7f;
    }
    pwm_value2 = 0.0f;
        
    // pwm_value1 = potmeter1;
    // pwm_value2 = potmeter2;
    
    if (!next_switch) {
        CurrentState = EmgCalibration;
        pc.printf("current state = EmgCalibration\n\r");
    }
}

void emg0Calibration() {
    int C = 500;           // half a second at 1000Hz
    double A0=0, A1=0, A2=0, A3=0, A4=0;
    double emg0FiAbs;
    while (C > 0){
        emg0FiAbs = fabs( emg1bqc.step(emg0.read()));
        if (C==500){                        //first instance make all values the first in case this is the highest
            A0=A1=A2=A3=A4=emg0FiAbs;
        }
        else if(emg0FiAbs > A0){            // if there is a higher value change the inputs to be the highest 5
            A4=A3;
            A3=A2;
            A2=A1;
            A1=A0;
            A0=emg0FiAbs;
        }
        C--;
        wait(0.001f);
        threshold0 = (A0+A1+A2+A3+A4)/5*0.4;  // average of the 5 highest values x 0,4 to create the threshold
     }
     
     if (!next_switch) {
        CurrentState = Movement;
        pc.printf("current state = Movement\n\r");
    }
}

void emg1Calibration() {
    
}

void emg2Calibration() {
    
}

void movement() {
    
}

void move_motors() {
    pwmpin1 = pwm_value1;
    pwmpin2 = pwm_value2;
}

int main()
{
    pc.baud(115200);
    pc.printf(" ** program reset **\n\r");
    pwmpin1.period_us(60);
    pwmpin2.period_us(60);
    directionpin1 = true;
    directionpin2 = true;
    
    ledred = true;
    ledgreen = true;
    ledblue = true;
    
    // emg filters
    // combining biquad chains is done in main, before the ticker, so only once.
    emg0bqc1.add( &emg0bq1 );  
    emg0bqc2.add( &emg0bq1 ).add( &emg0bq2 );
    emg0bqc3.add( &emg0bq1 ).add( &emg0bq2 ).add ( &emg0bq3 );    // combining biquad chains is done in main, before the ticker, so only once.
    
    MotorsTicker.attach(&move_motors, 0.02f); //ticker at 50Hz
    sample_timer.attach(&sample, 0.001);    //ticker at 1000Hz

    CurrentState = PositionCalibration;
    pc.printf("current state = PositionCalibration\n\r");
    
    while (true) {
        switch(CurrentState) {
            case PositionCalibration:
                positionCalibration();
                if (!kill_switch) {
                    CurrentState = KILL;   
                    pc.printf("current state = KILL\n\r"); 
                }
            break;
                
            case EmgCalibration:
                emg0Calibration();
                //emg1Calibration();
                //emg2Calibration();
                
                if (!kill_switch) {
                    CurrentState = KILL;   
                    pc.printf("current state = KILL\n\r");  
                }
            break;
            
            case Movement:
                movement();
                
                if (!kill_switch) {
                    CurrentState = KILL; 
                    pc.printf("current state = KILL\n\r");     
                }
            break;
            
            case KILL:
                bool u = true;
                ledgreen = true;
                ledblue = true;
                ledred = false;
                
                pwm_value1 = 0;
                pwm_value2 = 0;
                
                timer.start();
                if (timer.read_ms()> 2000) {
                    timer.stop();
                    timer.reset();
                    while(u) {
                        if (!kill_switch) {
                            timer.start();
                            u = false;
                            ledred = true;
                            CurrentState = PositionCalibration;
                            pc.printf("current state = PositionCalibration\n\r");
                            wait(1.0f); 
                        }
                    }
                }
            break;  
        }
        wait(0.2f);         
    }
}