Diff: main.cpp

Revision:

49:818a0e90ed9c

Parent:

47:ddaa59d48aca

Child:

50:2c03357de7cc

diff -r ddaa59d48aca -r 818a0e90ed9c main.cpp
--- a/main.cpp	Thu Nov 03 08:43:08 2016 +0000
+++ b/main.cpp	Thu Nov 03 09:23:48 2016 +0000
@@ -1,82 +1,92 @@
-
 //=====================================================================================
 //libraries
-#include "mbed.h"
-#include "HIDScope.h"
-#include "BiQuad.h"  
-#include "MODSERIAL.h"
+#include "mbed.h"           //mbed revision 113
+#include "HIDScope.h"       //Hidscope by Tom Lankhorst
+#include "BiQuad.h"         //BiQuad by Tom Lankhorst
+#include "MODSERIAL.h"      //Modserial
 
 
 //=====================================================================================
 //Define objects
+
+//EMG
 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
+
+//Tickers
+Ticker      sample_timer;               //ticker for EMG signal sampling, analog becomes digital
+Ticker      ticker_switch;              //ticker for switch, every second it is possible to switch
+
+//Monitoring
 HIDScope    scope(5);                   //open 5 channels in hidscope
 MODSERIAL pc(USBTX, USBRX);             //pc connection
-DigitalOut red(LED_RED);
-DigitalOut green(LED_GREEN);
+DigitalOut red(LED_RED);                //LED on K64F board, 1 is out; 0 is on
+DigitalOut green(LED_GREEN);            //LED on K64f board, 1 is out; o is on
 
 //motors
-DigitalOut richting_motor1(D7); ///motor 1 aansluiting op motor 1
+DigitalOut richting_motor1(D7); //motor 1 connected to motor 1 at k64f board; for turningtable
 PwmOut pwm_motor1(D6);
-DigitalOut richting_motor2(D4);
+DigitalOut richting_motor2(D4); ///motor 2 connected to motor 2 at k64f board; for linear actuator
 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;
+//tresholds
+double treshold_biceps_right =0.04;                 //common values that work.
+double treshold_biceps_left=-0.04;                  // tested on multiple persons 
+double treshold_triceps=-0.04;                      //triceps and left biceps is specified negative, thus negative treshold
+
+//on/off and switch signals
+int switch_signal = 0; //start of counter, switch made by even and odd numbers
+int onoffsignal_biceps; 
 int switch_signal_triceps;
 
-float speedmotor1=0.18;
-float speedmotor2=1.0;
+//motorvariables
+float speedmotor1=0.18; //speed of motor 1 is 0.18pwm at start
+float speedmotor2=1.0;  //speed of motor 2 is 1.0 pwm at start
 
-int cw=0;
-int ccw=1;
+int cw=0;               //clockwise direction
+int ccw=1;              //counterclockwise direction
  
 //=======================================
 //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);
+BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);                 // second order highpass filter, with frequency of?
+BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00,   9.9376e-01 , -1.8902e-00 ,  9.875e-01);     // second order notch filter, with frequency of?
 
 //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);
+BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);                  // second order highpass filter, with frequency of?
+BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00,   9.9376e-01 , -1.8902e-00 ,  9.875e-01);      // second order notch filter, with frequency of?
 
 //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);
+BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);                  // second order highpass filter, with frequency of?
+BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00,   9.9376e-01 , -1.8902e-00 ,  9.875e-01);      // second order notch filter, with frequency of?
 
 //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);
+BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);                 // second order lowpass filter, with frequency of?
+BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);                 // second order lowpass filter, with frequency of?
+BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);                 // second order lowpass filter, with frequency of?
 
 //======================================================================
 //voids
 //======================================================================
 
 //function teller
-void switch_function() {                        // maakt simpele functie die 1 bij n optelt
+void switch_function() {                        // The switch function. Makes it possible to switch between the motors. It simply adds one at switch_signal.
     if(switch_signal_triceps==1)
     {
         switch_signal++;
+           
+    // To monitor what is happening: we will show the text in putty  and change led color from red to green or vice versa.
+    
         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 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");
      }
@@ -90,30 +100,31 @@
      
     }    
     }
-    
-//functions which are called in ticker to sample the analog signal
+ 
+//======================================================================   
+//functions which are called in ticker to sample the analog signal and make the on/off and switch 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);
+       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);                             //high pass filter, to remove offset
+       double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);      //notch filter, to remove noise
+       double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right);                                //rectify the signal, fabs because float   
+       double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);                                //low pass filter to envelope the signal
         
         //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);
+       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);                           //high pass filter, to remove offset
+       double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);    //notch filter, to remove noise
+       double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right);                              //rectify the signal, fabs because float   
+       double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);                              //low pass filter to envelope the signal
         
         //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);
+       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);                           //high pass filter, to remove offset
+       double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);    //notch filter, to remove noise
+       double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left);                              //rectify the signal, fabs because float   
+       double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);                              //low pass filter to envelope the signal
                
         //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 -
@@ -121,50 +132,50 @@
        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;}
+            if (signal_biceps_sum>treshold_biceps_right)
+            {onoffsignal_biceps=1;}
           
-        else if (signal_biceps_sum<cut_off_value_biceps_left)
-        {
-        onoffsignal_biceps=-1;
-        }    
+            else if (signal_biceps_sum<treshold_biceps_left)
+            {        onoffsignal_biceps=-1;       }    
         
-        else
-        {onoffsignal_biceps=0;}
+            else
+            {onoffsignal_biceps=0;}
                       
         //creating on/off signal for switch (left arm)
         
-        if (bicepstriceps_rightarm<cut_off_value_triceps)
-        {
-        switch_signal_triceps=1;    
-        }    
+            if (bicepstriceps_rightarm<treshold_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);
+        {        switch_signal_triceps=0;       }
+        
+        //send signals  to scope to monitor the EMG signals
+        scope.set(0, emg_filtered_biceps_right);                    //set emg signal of right biceps to scope in channel 0
+        scope.set(1, emg_filtered_triceps_right);                   // set emg signal of right triceps to scope in channel 1
+        scope.set(2, emg_filtered_biceps_left);                     // set emg signal of left biceps to scope in channel 2
+        scope.set(3, onoffsignal_biceps);                           // set on/off signal for the motors to scope in channel 3
+        scope.set(4, switch_signal_triceps);                        // set the switch signal to scope in channel 4 
         
         scope.send();                       //send all the signals to the scope
                 }
-
+//======================================================================   
 //program
-
+//======================================================================   
 int main()
 {  
-pc.baud(115200);
-green=1;
-red=0;
 
+pc.baud(115200); //connect with pc with baudrate 115200
+green=1;         //led is off (1), at beginning  
+red=0;           //led is on (0), at beginning
+
+//attach tickers to functions
 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);
 
+//Show the user what the starting motor will be and what will happen
 pc.printf("We will start the demonstration\r\n");
+pc.printf("\r\n\r\n\r\n");
+
 
     if (switch_signal%2==0)  
      {pc.printf("If you contract the biceps, the robot will go right \r\n");
@@ -183,47 +194,48 @@
 //endless loop
 
 
-    while (true) {                        // zorgt er voor dat de code oneindig doorgelopen wordt  
-    
+    while (true) {                        // neverending loop
         
     if (onoffsignal_biceps==-1)  //left biceps contracted                        
     {
-         if (switch_signal%2==0)                     
+         if (switch_signal%2==0) //switch even                    
          { 
-           richting_motor1 = ccw; //motor 1, left
-           pwm_motor1 = speedmotor1; 
+           richting_motor1 = ccw;    //motor 1, left
+           pwm_motor1 = speedmotor1; //speed of motor 1
                   
          } 
          
-         else                           
+         else                       //switch odd        
          {
-           richting_motor2 = ccw; //motor 2, up 
-           pwm_motor2 = speedmotor2;
+           richting_motor2 = ccw;   //motor 2, up 
+           pwm_motor2 = speedmotor2;//speed of motor 2
            
          }      
               
     }
-    else if (onoffsignal_biceps==1)                     // als d ingedrukt wordt gebeurd het volgende
+    else if (onoffsignal_biceps==1)                     //right biceps contracted
     {
-         if (switch_signal%2==0)                     // als d is ingedrukt en n is even dan gebeurd het volgende
+         if (switch_signal%2==0)                     //switch signal even
          {
-           richting_motor1 = cw; //motor 1, right
-           pwm_motor1 = speedmotor1;
+           richting_motor1 = cw;        //motor 1, right
+           pwm_motor1 = speedmotor1;    //speed motor 1
            
         } 
-         else                           // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande
+         else                         //switch signal odd
          {
-           richting_motor2 = cw; //motor 2. down
-           pwm_motor2 = speedmotor2;
+           richting_motor2 = cw;        //motor 2. down
+           pwm_motor2 = speedmotor2;    //speed motor 2
                 
          }  
     }   
-    else{
-       
+    else{ 
+    //no contraction of biceps   
     pwm_motor2=0;
     pwm_motor1=0;
        }              
                
-}
+}//while true closed
         
-}
\ No newline at end of file
+} //int main closed
+
+//=============================================================================================1
\ No newline at end of file