Timo de Vries / Mbed 2 deprecated Wearealltogheter

the mother code

Dependencies:   HIDScope MODSERIAL QEI mbed

Fork of EMG_filtering by Timo de Vries

main.cpp@23:fdde3e4b9e69, 2016-10-25 (annotated)

Committer:
Frostworks
Date:
Tue Oct 25 10:47:41 2016 +0000
Revision:
23:fdde3e4b9e69
Parent:
22:ad85b8acf8b5 
the mother code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
Frostworks 21:2b55d53e11f6 3 #include "MODSERIAL.h"
Frostworks 23:fdde3e4b9e69 4 #include "QEI.h"
Frostworks 23:fdde3e4b9e69 5
Frostworks 23:fdde3e4b9e69 6 DigitalOut led_g(LED_GREEN);
Frostworks 23:fdde3e4b9e69 7 DigitalOut led_b(LED_BLUE);
Frostworks 23:fdde3e4b9e69 8 DigitalOut led_r(LED_RED);
Frostworks 23:fdde3e4b9e69 9
Frostworks 23:fdde3e4b9e69 10 DigitalOut M1_Rotate(D2); // voltage only base rotation
Frostworks 23:fdde3e4b9e69 11 PwmOut M1_Speed(D3); // voltage only base rotation
Frostworks 23:fdde3e4b9e69 12
Frostworks 23:fdde3e4b9e69 13 MODSERIAL pc(USBTX, USBRX);
Frostworks 23:fdde3e4b9e69 14
Frostworks 23:fdde3e4b9e69 15 //QEI wheel(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding=X2_ENCODING)
Frostworks 23:fdde3e4b9e69 16 QEI motor2(D10,D11,NC,8400,QEI::X4_ENCODING);
Frostworks 23:fdde3e4b9e69 17 QEI motor3(D12,D13,NC,8400,QEI::X4_ENCODING);
Frostworks 23:fdde3e4b9e69 18
Frostworks 23:fdde3e4b9e69 19 DigitalOut M2_Rotate(D4); // encoder side pot 2 translation
Frostworks 23:fdde3e4b9e69 20 PwmOut M2_Speed(D5); // encoder side pot 2 translation
Frostworks 23:fdde3e4b9e69 21
Frostworks 23:fdde3e4b9e69 22 DigitalOut M3_Rotate(D7); // encoder side pot 1 spatel rotation
Frostworks 23:fdde3e4b9e69 23 PwmOut M3_Speed(D6); // encoder side pot 1 spatel rotation
Frostworks 23:fdde3e4b9e69 24
Frostworks 23:fdde3e4b9e69 25 DigitalIn links(SW3);
Frostworks 23:fdde3e4b9e69 26 DigitalIn rechts(SW2);
Frostworks 23:fdde3e4b9e69 27
Frostworks 23:fdde3e4b9e69 28 AnalogIn pot1(A4); // pot 1 motor 1
Frostworks 23:fdde3e4b9e69 29 AnalogIn pot2(A3); // pot 2 motor 3
vsluiter 0:32bb76391d89 30
vsluiter 4:8b298dfada81 31 //Define objects
tomlankhorst 19:2bf824669684 32 AnalogIn emg0( A0 );
tomlankhorst 19:2bf824669684 33 AnalogIn emg1( A1 );
Frostworks 23:fdde3e4b9e69 34 DigitalIn buttonCalibrate(D9);
Frostworks 23:fdde3e4b9e69 35
Frostworks 23:fdde3e4b9e69 36 bool draairechts;
Frostworks 23:fdde3e4b9e69 37 bool draailinks;
Frostworks 23:fdde3e4b9e69 38 bool turn = 0;
Frostworks 23:fdde3e4b9e69 39 float waiter = 0.1;
Frostworks 23:fdde3e4b9e69 40 float afstand = 200;
Frostworks 23:fdde3e4b9e69 41 float translation = 0;
Frostworks 23:fdde3e4b9e69 42 float degrees3 = 0;
Frostworks 23:fdde3e4b9e69 43
Frostworks 23:fdde3e4b9e69 44 float Puls_degree = (8400/360);
Frostworks 23:fdde3e4b9e69 45 float wheel1 = 16;
Frostworks 23:fdde3e4b9e69 46 float wheel2 = 31;
Frostworks 23:fdde3e4b9e69 47 float wheel3 = 41;
Frostworks 23:fdde3e4b9e69 48 float overbrenging = ((wheel2/wheel1)*(wheel3/wheel1));
Frostworks 23:fdde3e4b9e69 49 float pi = 3.14159265359;
Frostworks 21:2b55d53e11f6 50
Frostworks 21:2b55d53e11f6 51 volatile float x;
Frostworks 21:2b55d53e11f6 52 volatile float x_prev =0;
Frostworks 21:2b55d53e11f6 53 volatile float b; // filtered 'output' of ReadAnalogInAndFilter
Frostworks 21:2b55d53e11f6 54
Frostworks 22:ad85b8acf8b5 55 bool calibrate = false;
Frostworks 22:ad85b8acf8b5 56 double threshold_Left = 0;
Frostworks 22:ad85b8acf8b5 57 double threshold_Right= 0;
tomlankhorst 14:f83354387756 58 Ticker sample_timer;
Frostworks 23:fdde3e4b9e69 59 Ticker sample_timer2;
tomlankhorst 19:2bf824669684 60 HIDScope scope( 2 );
tomlankhorst 18:21d8e7a81cf5 61 DigitalOut led(LED1);
Frostworks 21:2b55d53e11f6 62 const double a1 = -1.6475;
Frostworks 21:2b55d53e11f6 63 const double a2 = 0.7009;
Frostworks 21:2b55d53e11f6 64 const double b0 = 0.8371;
Frostworks 21:2b55d53e11f6 65 const double b1 = -1.6742;
Frostworks 21:2b55d53e11f6 66 const double b2 = 0.8371;
Frostworks 21:2b55d53e11f6 67 const double c1 = -1.9645;
Frostworks 21:2b55d53e11f6 68 const double c2 = 0.9651;
Frostworks 21:2b55d53e11f6 69 const double d0 = 0.0001551;
Frostworks 21:2b55d53e11f6 70 const double d1 = 0.0003103;
Frostworks 21:2b55d53e11f6 71 const double d2 = 0.0001551;
Frostworks 21:2b55d53e11f6 72 double v1_high = 0;
Frostworks 21:2b55d53e11f6 73 double v2_high = 0;
Frostworks 21:2b55d53e11f6 74 double v1_low = 0;
Frostworks 21:2b55d53e11f6 75 double v2_low = 0;
Frostworks 22:ad85b8acf8b5 76 double highpassFilterLeft = 0;
Frostworks 22:ad85b8acf8b5 77 double lowpassFilterLeft = 0;
Frostworks 22:ad85b8acf8b5 78 double highpassFilterRight = 0;
Frostworks 22:ad85b8acf8b5 79 double lowpassFilterRight = 0;
vsluiter 2:e314bb3b2d99 80
Frostworks 21:2b55d53e11f6 81 double biquad1(double u, double&v1, double&v2, const double a1, const double a2, const double b0,
Frostworks 21:2b55d53e11f6 82 const double b1, const double b2)
Frostworks 21:2b55d53e11f6 83 {
Frostworks 21:2b55d53e11f6 84 double v = u - a1*v1 - a2*v2;
Frostworks 21:2b55d53e11f6 85 double y = b0*v + b1*v1 + b2*v2;
Frostworks 21:2b55d53e11f6 86 v2 = v1;
Frostworks 21:2b55d53e11f6 87 v1 = v;
Frostworks 21:2b55d53e11f6 88 return y;
Frostworks 21:2b55d53e11f6 89 }
Frostworks 22:ad85b8acf8b5 90 /*double biquad2(double u, double&v1, double&v2, const double c1, const double c2, const double d0,
Frostworks 21:2b55d53e11f6 91 const double d1, const double d2)
Frostworks 21:2b55d53e11f6 92 {
Frostworks 21:2b55d53e11f6 93 double v = u - c1*v1 - c2*v2;
Frostworks 21:2b55d53e11f6 94 double y = d0*v + d1*v1 + d2*v2;
Frostworks 21:2b55d53e11f6 95 v2 = v1;
Frostworks 21:2b55d53e11f6 96 v1 = v;
Frostworks 21:2b55d53e11f6 97 return y;
Frostworks 21:2b55d53e11f6 98 }
Frostworks 22:ad85b8acf8b5 99 */
tomlankhorst 14:f83354387756 100 /** Sample function
tomlankhorst 14:f83354387756 101 * this function samples the emg and sends it to HIDScope
tomlankhorst 14:f83354387756 102 **/
Frostworks 21:2b55d53e11f6 103
Frostworks 22:ad85b8acf8b5 104 void filterSampleLeft()
Frostworks 21:2b55d53e11f6 105 {
Frostworks 22:ad85b8acf8b5 106 highpassFilterLeft = fabs(biquad1(emg0.read(), v1_high, v2_high, a1, a2, b0, b1, b2));
Frostworks 22:ad85b8acf8b5 107 lowpassFilterLeft = biquad1(highpassFilterLeft, v1_low, v2_low, c1, c2, d0, d1, d2);
Frostworks 22:ad85b8acf8b5 108 scope.set(0, lowpassFilterLeft );
Frostworks 21:2b55d53e11f6 109 scope.send();
Frostworks 22:ad85b8acf8b5 110 //pc.printf("%f \n \r ", lowpassFilter);
Frostworks 21:2b55d53e11f6 111 }
Frostworks 22:ad85b8acf8b5 112 void filterSampleRight()
Frostworks 22:ad85b8acf8b5 113 {
Frostworks 22:ad85b8acf8b5 114 highpassFilterRight = fabs(biquad1(emg1.read(), v1_high, v2_high, a1, a2, b0, b1, b2));
Frostworks 22:ad85b8acf8b5 115 lowpassFilterRight = biquad1(highpassFilterRight, v1_low, v2_low, c1, c2, d0, d1, d2);
Frostworks 22:ad85b8acf8b5 116 scope.set(1, lowpassFilterRight );
Frostworks 22:ad85b8acf8b5 117 scope.send();
Frostworks 22:ad85b8acf8b5 118 //pc.printf("%f \n \r ", lowpassFilter);
Frostworks 22:ad85b8acf8b5 119 }
tomlankhorst 14:f83354387756 120 void sample()
vsluiter 2:e314bb3b2d99 121 {
tomlankhorst 19:2bf824669684 122 /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
tomlankhorst 19:2bf824669684 123 scope.set(0, emg0.read() );
tomlankhorst 19:2bf824669684 124 scope.set(1, emg1.read() );
Frostworks 21:2b55d53e11f6 125 /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
tomlankhorst 19:2bf824669684 126 * Ensure that enough channels are available (HIDScope scope( 2 ))
tomlankhorst 20:97059009a491 127 * Finally, send all channels to the PC at once */
Frostworks 21:2b55d53e11f6 128
Frostworks 21:2b55d53e11f6 129 x = emg0; // Capture data scope.set(0, x); // store data in first element of scope memory
Frostworks 21:2b55d53e11f6 130 b = (x_prev + x)/2.0; // averaging filter
Frostworks 21:2b55d53e11f6 131 x_prev = x; // Prepare for next round
Frostworks 21:2b55d53e11f6 132
vsluiter 11:ce72ec658a95 133 scope.send();
tomlankhorst 18:21d8e7a81cf5 134 /* To indicate that the function is working, the LED is toggled */
tomlankhorst 18:21d8e7a81cf5 135 led = !led;
Frostworks 21:2b55d53e11f6 136 pc.printf("%f, %f \n \r ", x, b);
vsluiter 2:e314bb3b2d99 137 }
Frostworks 23:fdde3e4b9e69 138 void GetDirections()
Frostworks 23:fdde3e4b9e69 139 {
Frostworks 23:fdde3e4b9e69 140 pc.baud(115200);
Frostworks 23:fdde3e4b9e69 141 if ((rechts == 0) && (links == 0) && (turn == 0)) {
Frostworks 23:fdde3e4b9e69 142 draailinks = 0;
Frostworks 23:fdde3e4b9e69 143 draairechts = 0;
Frostworks 23:fdde3e4b9e69 144 turn = 1;
Frostworks 23:fdde3e4b9e69 145 pc.printf("begin de actie \n \r ");
Frostworks 23:fdde3e4b9e69 146 wait(waiter);
vsluiter 0:32bb76391d89 147
Frostworks 23:fdde3e4b9e69 148 } else if ((rechts == 0) && (links == 0) && (turn == 1)) {
Frostworks 23:fdde3e4b9e69 149 draailinks = 0;
Frostworks 23:fdde3e4b9e69 150 draairechts = 0;
Frostworks 23:fdde3e4b9e69 151 turn = 0;
Frostworks 23:fdde3e4b9e69 152 pc.printf("breek de actie af \n \r ");
Frostworks 23:fdde3e4b9e69 153 wait(waiter);
Frostworks 23:fdde3e4b9e69 154 } else if ((rechts == 1) && (links == 1)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 155
Frostworks 23:fdde3e4b9e69 156 } else if ((rechts == 1) && (draailinks == 0)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 157 /* if the right button is pressed and the motor isn't rotating to the left,
Frostworks 23:fdde3e4b9e69 158 then start rotating to the right etc*/
Frostworks 23:fdde3e4b9e69 159 draairechts = !draairechts;
Frostworks 23:fdde3e4b9e69 160 pc.printf("draai naar rechts \n \r ");
Frostworks 23:fdde3e4b9e69 161 wait(waiter);
Frostworks 23:fdde3e4b9e69 162 } else if ((rechts == 1) && (draailinks == 1)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 163 draailinks = 0;
Frostworks 23:fdde3e4b9e69 164 draairechts = !draairechts;
Frostworks 23:fdde3e4b9e69 165 pc.printf("draai naar rechts na links \n \r ");
Frostworks 23:fdde3e4b9e69 166 wait(waiter);
Frostworks 23:fdde3e4b9e69 167 } else if ((links == 1) && (draairechts == 0)&& (turn == 0)) {
Frostworks 23:fdde3e4b9e69 168 draailinks = !draailinks;
Frostworks 23:fdde3e4b9e69 169 pc.printf("draai naar links \n \r ");
Frostworks 23:fdde3e4b9e69 170 wait(waiter);
Frostworks 23:fdde3e4b9e69 171 } else if ((links == 1) && (draairechts == 1) && (turn == 0)) {
Frostworks 23:fdde3e4b9e69 172 draairechts = 0;
Frostworks 23:fdde3e4b9e69 173 draailinks = !draailinks;
Frostworks 23:fdde3e4b9e69 174 pc.printf("draai naar links na rechts \n \r ");
Frostworks 23:fdde3e4b9e69 175 wait(waiter);
Frostworks 23:fdde3e4b9e69 176 }
Frostworks 23:fdde3e4b9e69 177 wait(2*waiter);
Frostworks 23:fdde3e4b9e69 178 }
Frostworks 23:fdde3e4b9e69 179
Frostworks 23:fdde3e4b9e69 180 float GetPositionM2()
Frostworks 23:fdde3e4b9e69 181 {
Frostworks 23:fdde3e4b9e69 182 float pulses2 = motor2.getPulses();
Frostworks 23:fdde3e4b9e69 183 float degrees2 = (pulses2/Puls_degree);
Frostworks 23:fdde3e4b9e69 184 float radians2 = (degrees2/360)*2*pi;
Frostworks 23:fdde3e4b9e69 185 float translation = ((radians2/overbrenging)*32.25);
Frostworks 23:fdde3e4b9e69 186
Frostworks 23:fdde3e4b9e69 187 return translation;
Frostworks 23:fdde3e4b9e69 188 }
Frostworks 23:fdde3e4b9e69 189 float GetRotationM3()
Frostworks 23:fdde3e4b9e69 190 {
Frostworks 23:fdde3e4b9e69 191 float pulses3 = motor3.getPulses();
Frostworks 23:fdde3e4b9e69 192 float degrees3 = (pulses3/Puls_degree);
Frostworks 23:fdde3e4b9e69 193 float radians3 = (degrees3/360)*2*pi;
Frostworks 23:fdde3e4b9e69 194
Frostworks 23:fdde3e4b9e69 195 return degrees3;
Frostworks 23:fdde3e4b9e69 196 }
Frostworks 23:fdde3e4b9e69 197 void GoBack()
Frostworks 23:fdde3e4b9e69 198 {
Frostworks 23:fdde3e4b9e69 199 while (GetPositionM2() > 0) {
Frostworks 23:fdde3e4b9e69 200 M3_Speed = 0;
Frostworks 23:fdde3e4b9e69 201 M2_Speed = 1;
Frostworks 23:fdde3e4b9e69 202 M2_Rotate = 0;
Frostworks 23:fdde3e4b9e69 203 pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
Frostworks 23:fdde3e4b9e69 204 led_r = 0;
Frostworks 23:fdde3e4b9e69 205 }
Frostworks 23:fdde3e4b9e69 206 M2_Speed = 0;
Frostworks 23:fdde3e4b9e69 207
Frostworks 23:fdde3e4b9e69 208
Frostworks 23:fdde3e4b9e69 209 while (GetRotationM3() > 0) {
Frostworks 23:fdde3e4b9e69 210 M3_Rotate = 1;
Frostworks 23:fdde3e4b9e69 211 M3_Speed = 0.2;
Frostworks 23:fdde3e4b9e69 212 led_r = 1;
Frostworks 23:fdde3e4b9e69 213 led_b = 0;
Frostworks 23:fdde3e4b9e69 214 pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
Frostworks 23:fdde3e4b9e69 215
Frostworks 23:fdde3e4b9e69 216 }
Frostworks 23:fdde3e4b9e69 217 M3_Speed = 0;
Frostworks 23:fdde3e4b9e69 218
Frostworks 23:fdde3e4b9e69 219 turn = 0;
Frostworks 23:fdde3e4b9e69 220
Frostworks 23:fdde3e4b9e69 221
Frostworks 23:fdde3e4b9e69 222 }
Frostworks 23:fdde3e4b9e69 223 void Burgerflip()
Frostworks 23:fdde3e4b9e69 224 {
Frostworks 23:fdde3e4b9e69 225 if (GetPositionM2() > afstand) {
Frostworks 23:fdde3e4b9e69 226 M3_Speed = 0.2;
Frostworks 23:fdde3e4b9e69 227 M3_Rotate = 0;
Frostworks 23:fdde3e4b9e69 228 M2_Speed = 0;
Frostworks 23:fdde3e4b9e69 229 } else if (GetPositionM2() < afstand) {
Frostworks 23:fdde3e4b9e69 230 M2_Speed = 1;
Frostworks 23:fdde3e4b9e69 231 M2_Rotate = 1;
Frostworks 23:fdde3e4b9e69 232
Frostworks 23:fdde3e4b9e69 233 }
Frostworks 23:fdde3e4b9e69 234 if (GetRotationM3() > 150) {
Frostworks 23:fdde3e4b9e69 235 GoBack();
Frostworks 23:fdde3e4b9e69 236 }
Frostworks 23:fdde3e4b9e69 237 }
vsluiter 0:32bb76391d89 238 int main()
Frostworks 21:2b55d53e11f6 239 {
Frostworks 23:fdde3e4b9e69 240 led_g = 1;
Frostworks 23:fdde3e4b9e69 241 led_b = 1;
Frostworks 23:fdde3e4b9e69 242 led_r = 1;
Frostworks 23:fdde3e4b9e69 243
tomlankhorst 14:f83354387756 244 /**Attach the 'sample' function to the timer 'sample_timer'.
tomlankhorst 19:2bf824669684 245 * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
vsluiter 4:8b298dfada81 246 */
Frostworks 22:ad85b8acf8b5 247 //sample_timer.attach(&sample, 0.001953125);
Frostworks 23:fdde3e4b9e69 248 sample_timer2.attach(&filterSampleLeft, 0.001953125); //512 Hz
Frostworks 22:ad85b8acf8b5 249 sample_timer.attach(&filterSampleRight, 0.001953125);
Frostworks 21:2b55d53e11f6 250 pc.baud(115200);
Frostworks 22:ad85b8acf8b5 251 pc.printf("please push the button to calibrate \n \r");
Frostworks 22:ad85b8acf8b5 252 while (1) {
Frostworks 22:ad85b8acf8b5 253 if (buttonCalibrate == 0) {
Frostworks 22:ad85b8acf8b5 254 calibrate = true;
Frostworks 22:ad85b8acf8b5 255 threshold_Left = lowpassFilterLeft*0.7;
Frostworks 22:ad85b8acf8b5 256 threshold_Right = lowpassFilterRight*0.7;
Frostworks 23:fdde3e4b9e69 257
Frostworks 21:2b55d53e11f6 258 }
Frostworks 22:ad85b8acf8b5 259 if (calibrate == true) {
Frostworks 22:ad85b8acf8b5 260 pc.printf("calibration complete, left = %f, right = %f \n \r", threshold_Left, threshold_Right);
Frostworks 23:fdde3e4b9e69 261 GetDirections();
Frostworks 23:fdde3e4b9e69 262 if (draairechts == true) {
Frostworks 23:fdde3e4b9e69 263 M1_Speed = 0.2;
Frostworks 23:fdde3e4b9e69 264 M1_Rotate = 0;
Frostworks 23:fdde3e4b9e69 265 } else if (draailinks == true) {
Frostworks 23:fdde3e4b9e69 266 M1_Speed = 0.2;
Frostworks 23:fdde3e4b9e69 267 M1_Rotate = 1;
Frostworks 23:fdde3e4b9e69 268 } else if (turn == 1) {
Frostworks 23:fdde3e4b9e69 269 /*M2_Speed = 0.5;
Frostworks 23:fdde3e4b9e69 270 M2_Rotate = 1;
Frostworks 23:fdde3e4b9e69 271 M3_Speed = 0.5;
Frostworks 23:fdde3e4b9e69 272 M3_Rotate = 1;*/
Frostworks 23:fdde3e4b9e69 273 Burgerflip();
Frostworks 23:fdde3e4b9e69 274 } else if (turn == 0) {
Frostworks 23:fdde3e4b9e69 275 M2_Speed = 0;
Frostworks 23:fdde3e4b9e69 276 M3_Speed = 0;
Frostworks 23:fdde3e4b9e69 277 }
Frostworks 23:fdde3e4b9e69 278 if ((draailinks == false) && (draairechts == false)) {
Frostworks 23:fdde3e4b9e69 279 M1_Speed = 0;
Frostworks 23:fdde3e4b9e69 280 }
Frostworks 23:fdde3e4b9e69 281 pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2());
Frostworks 23:fdde3e4b9e69 282 /* pulses = 8400 */
Frostworks 22:ad85b8acf8b5 283 /*empty loop, sample() is executed periodically*/
Frostworks 22:ad85b8acf8b5 284 }
Frostworks 22:ad85b8acf8b5 285 }
vsluiter 0:32bb76391d89 286 }