Aukie Hooglugt / Mbed 2 deprecated EMG_Project

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Dependencies:   HIDScope MODSERIAL- mbed-dsp mbed

Project_main.cpp@24:c6073b9efd5b, 2014-10-03 (annotated)

Committer:
Hooglugt
Date:
Fri Oct 03 10:43:22 2014 +0000
Revision:
24:c6073b9efd5b
Parent:
23:8d9a623dd713
Child:
25:ec41b972b250
Starting to implement enum and switches in the script (rewriting script)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hooglugt 23:8d9a623dd713 1 #include "mbed.h"
Hooglugt 23:8d9a623dd713 2 #include "MODSERIAL.h"
Hooglugt 23:8d9a623dd713 3 #include "HIDScope.h"
Hooglugt 24:c6073b9efd5b 4 #define TIMEB4NEXTCHOICE 2
Hooglugt 23:8d9a623dd713 5
Hooglugt 23:8d9a623dd713 6 //Define objects
Hooglugt 23:8d9a623dd713 7 AnalogIn emg0(PTB1); //Analog input
Hooglugt 23:8d9a623dd713 8 PwmOut emgfloat(PTD4);//Float voor EMG-waarde
Hooglugt 23:8d9a623dd713 9 PwmOut red(LED_RED); //PWM output
Hooglugt 23:8d9a623dd713 10 PwmOut green(LED_GREEN);
Hooglugt 23:8d9a623dd713 11 PwmOut blue(LED_BLUE);
Hooglugt 23:8d9a623dd713 12 int direction = 0;
Hooglugt 23:8d9a623dd713 13 int force = 0;
Hooglugt 23:8d9a623dd713 14
Hooglugt 23:8d9a623dd713 15 Ticker log_timer;
Hooglugt 23:8d9a623dd713 16 MODSERIAL pc(USBTX,USBRX);
Hooglugt 23:8d9a623dd713 17 HIDScope scope(2);
Hooglugt 23:8d9a623dd713 18
Hooglugt 23:8d9a623dd713 19 /** Looper function
Hooglugt 23:8d9a623dd713 20 * functions used for Ticker and Timeout should be of type void <name>(void)
Hooglugt 23:8d9a623dd713 21 * i.e. no input arguments, no output arguments.
Hooglugt 23:8d9a623dd713 22 * if you want to change a variable that you use in other places (for example in main)
Hooglugt 23:8d9a623dd713 23 * you will have to make that variable global in order to be able to reach it both from
Hooglugt 23:8d9a623dd713 24 * the function called at interrupt time, and in the main function.
Hooglugt 23:8d9a623dd713 25 * To make a variable global, define it under the includes.
Hooglugt 23:8d9a623dd713 26 * variables that are changed in the interrupt routine (written to) should be made
Hooglugt 23:8d9a623dd713 27 * 'volatile' to let the compiler know that those values may change outside the current context.
Hooglugt 23:8d9a623dd713 28 * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
Hooglugt 23:8d9a623dd713 29 * in the example below, the variable is not re-used in the main function, and is thus declared
Hooglugt 23:8d9a623dd713 30 * local in the looper function only.
Hooglugt 23:8d9a623dd713 31 **/
Hooglugt 23:8d9a623dd713 32 void looper()
Hooglugt 23:8d9a623dd713 33 {
Hooglugt 23:8d9a623dd713 34 /*variable to store value in*/
Hooglugt 23:8d9a623dd713 35 uint16_t emg_value;
Hooglugt 23:8d9a623dd713 36 /*put raw emg value both in emgfloat and in emg_value*/
Hooglugt 23:8d9a623dd713 37 emgfloat.write(emg0.read()); // read float value (0..1 = 0..3.3V)
Hooglugt 23:8d9a623dd713 38 emg_value = emg0.read_u16(); // read direct ADC result (0..4096 = 0..3.3V)
Hooglugt 23:8d9a623dd713 39 /*send value to PC. Line below is used to prevent buffer overrun */
Hooglugt 23:8d9a623dd713 40 if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
Hooglugt 24:c6073b9efd5b 41 //pc.printf("%u\n",emg_value);
Hooglugt 23:8d9a623dd713 42 scope.set(0,emg_value);
Hooglugt 23:8d9a623dd713 43 scope.set(1,emgfloat.read());
Hooglugt 23:8d9a623dd713 44 scope.send();
Hooglugt 23:8d9a623dd713 45 /**When not using the LED, the above could also have been done this way:
Hooglugt 23:8d9a623dd713 46 * pc.printf("%u\n", emg0.read_u16());
Hooglugt 23:8d9a623dd713 47 */
Hooglugt 23:8d9a623dd713 48 }
Hooglugt 23:8d9a623dd713 49
Hooglugt 23:8d9a623dd713 50
Hooglugt 23:8d9a623dd713 51
Hooglugt 23:8d9a623dd713 52 int main()
Hooglugt 23:8d9a623dd713 53 {
Hooglugt 23:8d9a623dd713 54 /*setup baudrate. Choose the same in your program on PC side*/
Hooglugt 23:8d9a623dd713 55 pc.baud(115200);
Hooglugt 23:8d9a623dd713 56 /*set the period for the PWM to the emgfloat PTD4*/
Hooglugt 23:8d9a623dd713 57 emgfloat.period_ms(2);
Hooglugt 23:8d9a623dd713 58 /**Here you attach the 'void looper(void)' function to the Ticker object
Hooglugt 23:8d9a623dd713 59 * The looper() function will be called every 0.001 seconds.
Hooglugt 23:8d9a623dd713 60 * Please mind that the parentheses after looper are omitted when using attach.
Hooglugt 23:8d9a623dd713 61 */
Hooglugt 23:8d9a623dd713 62 log_timer.attach(looper, 0.001);
Hooglugt 24:c6073b9efd5b 63
Hooglugt 24:c6073b9efd5b 64 enum Direction {LEFT, MID, RIGHT,UNSET};
Hooglugt 24:c6073b9efd5b 65 Direction direc = UNSET;
Hooglugt 24:c6073b9efd5b 66 enum Force {WEAK, NORMAL, STRONG,UNSET};
Hooglugt 24:c6073b9efd5b 67 Force force = UNSET;
Hooglugt 24:c6073b9efd5b 68
Hooglugt 23:8d9a623dd713 69 goto directionchoice;
Hooglugt 23:8d9a623dd713 70 while(1) { //Loop keuze DIRECTION
Hooglugt 23:8d9a623dd713 71 directionchoice:
Hooglugt 23:8d9a623dd713 72 for(int i=1; i<4; i++) {
Hooglugt 23:8d9a623dd713 73 if(i==1) { //red
Hooglugt 23:8d9a623dd713 74 red=0;
Hooglugt 23:8d9a623dd713 75 green=1;
Hooglugt 23:8d9a623dd713 76 blue=1;
Hooglugt 24:c6073b9efd5b 77 for (int lag=0; lag<20; lag++) {
Hooglugt 23:8d9a623dd713 78 if(emgfloat.read()>0.8) { // 0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 24:c6073b9efd5b 79 direc = LEFT;
Hooglugt 24:c6073b9efd5b 80 blue = 0;
Hooglugt 24:c6073b9efd5b 81 green = 0;
Hooglugt 24:c6073b9efd5b 82 red=1;
Hooglugt 24:c6073b9efd5b 83 pc.printf("LEFT");
Hooglugt 24:c6073b9efd5b 84 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 85 goto forcechoice;
Hooglugt 23:8d9a623dd713 86 } else {
Hooglugt 23:8d9a623dd713 87 wait(0.1);
Hooglugt 23:8d9a623dd713 88 }
Hooglugt 23:8d9a623dd713 89 }
Hooglugt 23:8d9a623dd713 90 }
Hooglugt 23:8d9a623dd713 91 if(i==2) { //green
Hooglugt 23:8d9a623dd713 92 red =1;
Hooglugt 23:8d9a623dd713 93 green=0;
Hooglugt 23:8d9a623dd713 94 blue=1;
Hooglugt 24:c6073b9efd5b 95 for (int lag=0; lag<20; lag++) {
Hooglugt 23:8d9a623dd713 96 if(emgfloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 24:c6073b9efd5b 97 direction = MID;
Hooglugt 24:c6073b9efd5b 98 blue = 0;
Hooglugt 24:c6073b9efd5b 99 green = 1;
Hooglugt 24:c6073b9efd5b 100 red=0;
Hooglugt 24:c6073b9efd5b 101 pc.printf("MID");
Hooglugt 24:c6073b9efd5b 102 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 103 goto forcechoice;
Hooglugt 23:8d9a623dd713 104 } else {
Hooglugt 23:8d9a623dd713 105 wait(0.1);
Hooglugt 23:8d9a623dd713 106 }
Hooglugt 23:8d9a623dd713 107 }
Hooglugt 23:8d9a623dd713 108 }
Hooglugt 23:8d9a623dd713 109 if(i==3) { //blue
Hooglugt 23:8d9a623dd713 110 red=1;
Hooglugt 23:8d9a623dd713 111 green=1;
Hooglugt 23:8d9a623dd713 112 blue=0;
Hooglugt 24:c6073b9efd5b 113 for (int lag=0; lag<20; lag++) {
Hooglugt 23:8d9a623dd713 114 if(emgfloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 115 direction = 3;
Hooglugt 24:c6073b9efd5b 116 blue = 1;
Hooglugt 24:c6073b9efd5b 117 green = 0;
Hooglugt 24:c6073b9efd5b 118 red=0;
Hooglugt 23:8d9a623dd713 119 pc.printf("C");
Hooglugt 24:c6073b9efd5b 120 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 121 goto forcechoice;
Hooglugt 23:8d9a623dd713 122 } else {
Hooglugt 23:8d9a623dd713 123 wait(0.1);
Hooglugt 23:8d9a623dd713 124 }
Hooglugt 23:8d9a623dd713 125 }
Hooglugt 23:8d9a623dd713 126 }
Hooglugt 23:8d9a623dd713 127 }
Hooglugt 23:8d9a623dd713 128 }
Hooglugt 23:8d9a623dd713 129 while(1) { //Loop keuze FORCE
Hooglugt 23:8d9a623dd713 130 forcechoice:
Hooglugt 23:8d9a623dd713 131 for(int i=1; i<4; i++) {
Hooglugt 23:8d9a623dd713 132 if(i==1) { //red
Hooglugt 23:8d9a623dd713 133 red=0;
Hooglugt 23:8d9a623dd713 134 green=1;
Hooglugt 23:8d9a623dd713 135 blue=1;
Hooglugt 24:c6073b9efd5b 136 for (int lag=0; lag<20; lag++) {
Hooglugt 23:8d9a623dd713 137 if(emgfloat.read()>0.8) { // 0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 138 force = 1;
Hooglugt 24:c6073b9efd5b 139 blue = 0;
Hooglugt 24:c6073b9efd5b 140 green = 0;
Hooglugt 24:c6073b9efd5b 141 red=1;
Hooglugt 24:c6073b9efd5b 142 pc.printf("D");
Hooglugt 24:c6073b9efd5b 143 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 144 goto choicesmade;
Hooglugt 23:8d9a623dd713 145 } else {
Hooglugt 23:8d9a623dd713 146 wait(0.1);
Hooglugt 23:8d9a623dd713 147 }
Hooglugt 23:8d9a623dd713 148 }
Hooglugt 23:8d9a623dd713 149 }
Hooglugt 23:8d9a623dd713 150 if(i==2) { //green
Hooglugt 23:8d9a623dd713 151 red =1;
Hooglugt 23:8d9a623dd713 152 green=0;
Hooglugt 23:8d9a623dd713 153 blue=1;
Hooglugt 24:c6073b9efd5b 154 for (int lag=0; lag<20; lag++) {
Hooglugt 23:8d9a623dd713 155 if(emgfloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 156 force = 2;
Hooglugt 24:c6073b9efd5b 157 blue = 0;
Hooglugt 24:c6073b9efd5b 158 green = 1;
Hooglugt 24:c6073b9efd5b 159 red=0;
Hooglugt 24:c6073b9efd5b 160 pc.printf("E");
Hooglugt 24:c6073b9efd5b 161 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 162 goto choicesmade;
Hooglugt 23:8d9a623dd713 163 } else {
Hooglugt 23:8d9a623dd713 164 wait(0.1);
Hooglugt 23:8d9a623dd713 165 }
Hooglugt 23:8d9a623dd713 166 }
Hooglugt 23:8d9a623dd713 167 }
Hooglugt 23:8d9a623dd713 168 if(i==3) { //blue
Hooglugt 23:8d9a623dd713 169 red=1;
Hooglugt 23:8d9a623dd713 170 green=1;
Hooglugt 23:8d9a623dd713 171 blue=0;
Hooglugt 24:c6073b9efd5b 172 for (int lag=0; lag<20; lag++) {
Hooglugt 23:8d9a623dd713 173 if(emgfloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 174 force = 3;
Hooglugt 24:c6073b9efd5b 175 blue = 1;
Hooglugt 24:c6073b9efd5b 176 green = 0;
Hooglugt 24:c6073b9efd5b 177 red=0;
Hooglugt 24:c6073b9efd5b 178 pc.printf("F");
Hooglugt 24:c6073b9efd5b 179 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 180 goto choicesmade;
Hooglugt 23:8d9a623dd713 181 } else {
Hooglugt 23:8d9a623dd713 182 wait(0.1);
Hooglugt 23:8d9a623dd713 183 }
Hooglugt 23:8d9a623dd713 184 }
Hooglugt 23:8d9a623dd713 185 }
Hooglugt 23:8d9a623dd713 186 }
Hooglugt 23:8d9a623dd713 187 }
Hooglugt 23:8d9a623dd713 188 choicesmade:
Hooglugt 23:8d9a623dd713 189 red = 0;
Hooglugt 23:8d9a623dd713 190 green = 0;
Hooglugt 23:8d9a623dd713 191 blue = 0;
Hooglugt 23:8d9a623dd713 192 }