pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 23:123d65f76236
- Parent:
- 22:eb8411807cca
- Child:
- 24:bfc240e381b4
--- a/main.cpp Tue Oct 25 13:40:55 2016 +0000 +++ b/main.cpp Tue Oct 25 14:29:09 2016 +0000 @@ -2,24 +2,33 @@ #include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" +#include "MODSERIAL.h" //Define objects AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++ AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ -//AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ +AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ Ticker sample_timer; //ticker -HIDScope scope(6); //open 3 channels in hidscope -DigitalOut richting_motor1(D4); //motor1 direction output -PwmOut pwm_motor1(D5); //motor1 velocity output +Ticker switch_function; //ticker +HIDScope scope(5); //open 3 channels in hidscope +MODSERIAL pc(USBTX, USBRX); //pc connection + +//motors +DigitalOut richting_motor1(D4); +PwmOut pwm_motor1(D5); +DigitalOut richting_motor2(D7); +PwmOut pwm_motor2(D6); DigitalOut led(LED_GREEN); //led included to check where code is //define variables //other int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation +int switch_signal_leftarm=0; // switching between motors. double cut_off_value_biceps =0.06; //gespecificeerd door floortje double cut_off_value_triceps=-0.03; //gespecificeerd door floortje double signal_right_arm; - +int n = 0; //start van de teller wordt op nul gesteld + //biceps arm 1, right arm double emg_biceps_right; double emg_filtered_high_biceps_right; @@ -36,19 +45,46 @@ double emg_filtered_high_notch_1_triceps_right; double emg_filtered_high_notch_1_2_triceps_right; +//biceps arm 1, left arm +double emg_biceps_left; +double emg_filtered_high_biceps_left; +double emg_abs_biceps_left; +double emg_filtered_biceps_left; +double emg_filtered_high_notch_1_biceps_left; +double emg_filtered_high_notch_1_2_biceps_left; + //before abs filtering + +//b1 = biceps right arm BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); + +//t1= triceps right arm BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); +//b2= biceps left arm +BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); +BiQuad filternotch1_b2 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); +BiQuad filternotch2_b2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); + //after abs filtering BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); +BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); +//function teller +void SwitchN() { // maakt simpele functie die 1 bij n optelt + if(switch_signal_leftarm==1) + { + n++; + } + } + //functions which are called in ticker to sample the analog signal + void filter(){ //biceps right arm read+filtering emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes @@ -66,10 +102,18 @@ emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); + //biceps left arm read+filtering + emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes + emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); + emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); + emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left); + emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float + emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); + //signal substraction of filter biceps and triceps. Biceps +,triceps - signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right; - //creating of on/off signal with the created on/off signals, with if statement + //creating of on/off signal with the created on/off signals, with if statement for right arm! if (signal_right_arm>cut_off_value_biceps) {onoffsignal_rightarm=1;} @@ -81,13 +125,25 @@ else {onoffsignal_rightarm=0;} + //creating on/off signal for switch (left arm) + + if (emg_filtered_biceps_left>cut_off_value_biceps) + { + switch_signal_leftarm=1; + } + + else + { + switch_signal_leftarm=0; + } + //send signals to scope scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1 - scope.set(2, signal_right_arm); // set emg signal to scope in channel 2 + scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2 scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3 - scope.set(4, emg_biceps_right); - scope.set(5, emg_triceps_right); + scope.set(4, switch_signal_leftarm); + scope.send(); //send all the signals to the scope } @@ -95,31 +151,59 @@ int main() { +pc.baud(115200); sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds - +switch_function.attach(&SwitchN,0.001); //endless loop - while(1) - { - if (onoffsignal_rightarm==1) - { - richting_motor1 = -1; //motordirection (ccw) - pwm_motor1 = 1; //motorspeed 1 - - } - else if(onoffsignal_rightarm==-1) - { - richting_motor1 = 1; //motordirection (cw) - pwm_motor1 = 1; //motorspeed 1 - } - - else if(onoffsignal_rightarm==0) - { - richting_motor1 = -1; //motordirection (ccw) - pwm_motor1 = 0; //motorspeed 0 - - } - - } + while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt + + if (onoffsignal_rightarm==-1) // als s ingedrukt wordt gebeurd het volgende + { + if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande + { + pc.printf("n is even \n\r"); // print lijn "n is even" + pc.printf("up \n\r"); // print lijn "up" + richting_motor1 = 1; + pwm_motor1 = 1; + + } + + else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande + { + pc.printf("n is odd \n\r"); // print lijn "n is odd" + pc.printf("left \n\r"); // print lijn "left" + richting_motor2 = 1; + pwm_motor2 = 1; + + } + + } + else if (onoffsignal_rightarm==1) // als d ingedrukt wordt gebeurd het volgende + { + if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende + { + pc.printf("n is even \n\r"); // print lijn "n is even" + pc.printf("down \n\r"); // print lijn "down" + richting_motor1 = -1; + pwm_motor1 = 1; + + } + else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande + { + pc.printf("n is odd \n\r"); // print lijn "n is odd" + pc.printf("right \n\r"); // print lijn "right" + richting_motor2 = -1; + pwm_motor2 = 1; + + } + } + else{ + pc.printf("motor staat stil \n\r"); + pwm_motor2=0; + pwm_motor1=0; + } + +} } \ No newline at end of file