File content as of revision 47:ddaa59d48aca:

//=====================================================================================
//libraries
#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++
Ticker      sample_timer;               //ticker
Ticker      ticker_switch;              //ticker
HIDScope    scope(5);                   //open 5 channels in hidscope
MODSERIAL pc(USBTX, USBRX);             //pc connection
DigitalOut red(LED_RED);
DigitalOut green(LED_GREEN);

//motors
DigitalOut richting_motor1(D7); ///motor 1 aansluiting op motor 1
PwmOut pwm_motor1(D6);
DigitalOut richting_motor2(D4);
PwmOut pwm_motor2(D5);

//=====================================================================================
//define variables
//other

double cut_off_value_biceps_right =0.04;              //gespecificeerd door floortje
double cut_off_value_biceps_left=-0.04;
double cut_off_value_triceps=-0.04;             
int switch_signal = 0; //start van de teller wordt op nul gesteld
 
int onoffsignal_biceps;
int switch_signal_triceps;

float speedmotor1=0.18;
float speedmotor2=1.0;

int cw=0;
int ccw=1;
 
//=======================================
//filter coefficients

//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 (9.9376e-01 , -1.8902e-00,   9.9376e-01 , -1.8902e-00 ,  9.875e-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 (9.9376e-01 , -1.8902e-00,   9.9376e-01 , -1.8902e-00 ,  9.875e-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 (9.9376e-01 , -1.8902e-00,   9.9376e-01 , -1.8902e-00 ,  9.875e-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);

//======================================================================
//voids
//======================================================================

//function teller
void switch_function() {                        // maakt simpele functie die 1 bij n optelt
    if(switch_signal_triceps==1)
    {
        switch_signal++;
        green=!green;
        red=!red;
        
    if (switch_signal%2==0)  
     {pc.printf("If you contract the biceps, the robot will go right \r\n");
     pc.printf("If you contract the triceps, the robot will go left \r\n");
     pc.printf("\r\n");
     }
       
    
    else
     {pc.printf("If you contract the biceps, the robot will go up \r\n");
     pc.printf("If you contract the triceps, the robot will go down \r\n");
    pc.printf("\r\n");
     }
     
    }    
    }
    
//functions which are called in ticker to sample the analog signal

void filter(){
        //biceps right arm read+filtering
       double emg_biceps_right=emg_biceps_right_in.read();                            //read the emg value from the elektrodes
       double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
       double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
       double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float
       double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
        
        //triceps right arm read+filtering
       double emg_triceps_right=emg_triceps_right_in.read();                            //read the emg value from the elektrodes
       double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
       double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
       double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float
       double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
        
        //biceps left arm read+filtering
       double emg_biceps_left=emg_biceps_left_in.read();                            //read the emg value from the elektrodes
       double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
       double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
       double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float
       double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
               
        //creating of on/off signal with the created on/off signals, with if statement   for right arm!    
       //signal substraction of filter biceps and triceps. right Biceps + left biceps -
       double signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left;
       double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right;       
        
        //creating of on/off signal with the created on/off signals, with if statement   for right arm!    
        if (signal_biceps_sum>cut_off_value_biceps_right)
        {onoffsignal_biceps=1;}
          
        else if (signal_biceps_sum<cut_off_value_biceps_left)
        {
        onoffsignal_biceps=-1;
        }    
        
        else
        {onoffsignal_biceps=0;}
                      
        //creating on/off signal for switch (left arm)
        
        if (bicepstriceps_rightarm<cut_off_value_triceps)
        {
        switch_signal_triceps=1;    
        }    
        
        else
        {
        switch_signal_triceps=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, emg_filtered_biceps_left);                     // set emg signal to scope in channel 2
        scope.set(3, onoffsignal_biceps);                          // set emg signal to scope in channel 3
        scope.set(4, switch_signal_triceps);
        
        scope.send();                       //send all the signals to the scope
                }

//program

int main()
{  
pc.baud(115200);
green=1;
red=0;

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
ticker_switch.attach(&switch_function,1.0);

pc.printf("We will start the demonstration\r\n");

    if (switch_signal%2==0)  
     {pc.printf("If you contract the biceps, the robot will go right \r\n");
     pc.printf("If you contract the triceps, the robot will go left \r\n");
      pc.printf("\r\n");
     }
       
    
    else
     {pc.printf("If you contract the biceps, the robot will go up \r\n");
     pc.printf("If you contract the triceps, the robot will go down \r\n");
      pc.printf("\r\n");
     }
     
//==============================================================================================
//endless loop


    while (true) {                        // zorgt er voor dat de code oneindig doorgelopen wordt  
    
        
    if (onoffsignal_biceps==-1)  //left biceps contracted                        
    {
         if (switch_signal%2==0)                     
         { 
           richting_motor1 = ccw; //motor 1, left
           pwm_motor1 = speedmotor1; 
                  
         } 
         
         else                           
         {
           richting_motor2 = ccw; //motor 2, up 
           pwm_motor2 = speedmotor2;
           
         }      
              
    }
    else if (onoffsignal_biceps==1)                     // als d ingedrukt wordt gebeurd het volgende
    {
         if (switch_signal%2==0)                     // als d is ingedrukt en n is even dan gebeurd het volgende
         {
           richting_motor1 = cw; //motor 1, right
           pwm_motor1 = speedmotor1;
           
        } 
         else                           // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande
         {
           richting_motor2 = cw; //motor 2. down
           pwm_motor2 = speedmotor2;
                
         }  
    }   
    else{
       
    pwm_motor2=0;
    pwm_motor1=0;
       }              
               
}
        
}