pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 21:9b8be3dff01a
- Parent:
- 15:bb4a6c7836d8
- Child:
- 22:eb8411807cca
--- a/main.cpp Mon Oct 24 11:24:50 2016 +0000 +++ b/main.cpp Tue Oct 25 13:06:23 2016 +0000 @@ -4,42 +4,86 @@ #include "BiQuad.h" //Define objects -AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG in to c++ +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++ Ticker sample_timer; //ticker -HIDScope scope( 3); //open 3 channels in hidscope +HIDScope scope(6); //open 3 channels in hidscope DigitalOut richting_motor1(D4); //motor1 direction output PwmOut pwm_motor1(D5); //motor1 velocity output -DigitalOut led(LED_GREEN); +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 +double cut_off_value_biceps =0.06; //gespecificeerd door floortje +double cut_off_value_triceps=-0.06; //gespecificeerd door floortje +double signal_right_arm; + +//biceps arm 1, right arm double emg_biceps_right; double emg_filtered_high_biceps_right; double emg_abs_biceps_right; double emg_filtered_biceps_right; -int onoffsignal=0; -double cut_off_value=0.08; //gespecifeerd door floortje +double emg_filtered_high_notch_1_biceps_right; +double emg_filtered_high_notch_1_2_biceps_right; +//triceps arm 1, right arm +double emg_triceps_right; +double emg_filtered_high_triceps_right; +double emg_abs_triceps_right; +double emg_filtered_triceps_right; +double emg_filtered_high_notch_1_triceps_right; +double emg_filtered_high_notch_1_2_triceps_right; + +//before abs filtering BiQuad filterhigh(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); +BiQuad filternotch1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); +BiQuad filternotch2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); + +//after abs filtering BiQuad filterlow (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); -//functions which are called in ticker +//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 emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); - emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right); //fabs because float + emg_filtered_high_notch_1_biceps_right=filternotch1.step(emg_filtered_high_biceps_right); + emg_filtered_high_notch_1_2_biceps_right=filternotch2.step(emg_filtered_high_notch_1_biceps_right); + emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); - led=!led; + + //triceps right arm read+filtering + emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes + emg_filtered_high_triceps_right= filterhigh.step(emg_triceps_right); + emg_filtered_high_notch_1_triceps_right=filternotch1.step(emg_filtered_high_triceps_right); + emg_filtered_high_notch_1_2_triceps_right=filternotch2.step(emg_filtered_high_notch_1_triceps_right); + emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float + emg_filtered_triceps_right=filterlow.step(emg_abs_triceps_right); - if (emg_filtered_biceps_right>cut_off_value) - {onoffsignal=1;} + //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 + if (signal_right_arm>cut_off_value_biceps) + {onoffsignal_rightarm=1;} - else - {onoffsignal=0;} + else if (signal_right_arm<cut_off_value_triceps) + { + onoffsignal_rightarm=-1; + } + + else + {onoffsignal_rightarm=0;} //send signals to scope - scope.set(0, emg_biceps_right ); //set emg signal to scope in channel 1 - scope.set(1, emg_filtered_biceps_right); - scope.set(2, onoffsignal); + 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(3, onoffsignal_rightarm); // set emg signal to scope in channel 3 + scope.set(4, emg_biceps_right); + scope.set(5, emg_triceps_right); scope.send(); //send all the signals to the scope } @@ -53,19 +97,25 @@ while(1) { - if (onoffsignal==1) + if (onoffsignal_rightarm==1) { - richting_motor1 = 0; //motordirection (ccw) + richting_motor1 = -1; //motordirection (ccw) pwm_motor1 = 1; //motorspeed 1 } - else if(onoffsignal==0) + else if(onoffsignal_rightarm==-1) { - richting_motor1 = 0; //motordirection (ccw) - pwm_motor1 = 0; //motorspeed 0 + 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 + + } + } } \ No newline at end of file