Aukie Hooglugt / Mbed 2 deprecated EMG_Project

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Dependencies:   HIDScope MODSERIAL- mbed-dsp mbed

Project_main.cpp@25:ec41b972b250, 2014-10-03 (annotated)

Committer:
Hooglugt
Date:
Fri Oct 03 12:27:01 2014 +0000
Revision:
25:ec41b972b250
Parent:
24:c6073b9efd5b
Child:
26:9b43d9cb1fb2
alles in for/while loops met if en else statements - alle mogelijkheden met ints en geen enums of switches

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 25:ec41b972b250 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 25:ec41b972b250 54 pc.baud(115200); //baudrate instellen
Hooglugt 25:ec41b972b250 55 emgfloat.period_ms(2); //sets period for the PWM to the emgfloat PTD4
Hooglugt 25:ec41b972b250 56 log_timer.attach(looper, 0.001); // The looper() function will be called every 0.001 seconds (with the ticker object)
Hooglugt 24:c6073b9efd5b 57
Hooglugt 25:ec41b972b250 58 goto directionchoice; // goes to first while(1) for the deciding the direction
Hooglugt 24:c6073b9efd5b 59
Hooglugt 23:8d9a623dd713 60 while(1) { //Loop keuze DIRECTION
Hooglugt 25:ec41b972b250 61 directionchoice:
Hooglugt 23:8d9a623dd713 62 for(int i=1; i<4; i++) {
Hooglugt 23:8d9a623dd713 63 if(i==1) { //red
Hooglugt 23:8d9a623dd713 64 red=0;
Hooglugt 23:8d9a623dd713 65 green=1;
Hooglugt 23:8d9a623dd713 66 blue=1;
Hooglugt 24:c6073b9efd5b 67 for (int lag=0; lag<20; lag++) {
Hooglugt 25:ec41b972b250 68 if(emgfloat.read()>0.8) { // 0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 25:ec41b972b250 69 direction = 1;
Hooglugt 24:c6073b9efd5b 70 blue = 0;
Hooglugt 24:c6073b9efd5b 71 green = 0;
Hooglugt 24:c6073b9efd5b 72 red=1;
Hooglugt 25:ec41b972b250 73 pc.printf("A");
Hooglugt 25:ec41b972b250 74 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 25:ec41b972b250 75 goto forcechoice; // goes to second while(1) for the deciding the force
Hooglugt 23:8d9a623dd713 76 } else {
Hooglugt 23:8d9a623dd713 77 wait(0.1);
Hooglugt 23:8d9a623dd713 78 }
Hooglugt 23:8d9a623dd713 79 }
Hooglugt 23:8d9a623dd713 80 }
Hooglugt 23:8d9a623dd713 81 if(i==2) { //green
Hooglugt 23:8d9a623dd713 82 red =1;
Hooglugt 23:8d9a623dd713 83 green=0;
Hooglugt 23:8d9a623dd713 84 blue=1;
Hooglugt 24:c6073b9efd5b 85 for (int lag=0; lag<20; lag++) {
Hooglugt 23:8d9a623dd713 86 if(emgfloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 25:ec41b972b250 87 direction = 2;
Hooglugt 24:c6073b9efd5b 88 blue = 0;
Hooglugt 24:c6073b9efd5b 89 green = 1;
Hooglugt 24:c6073b9efd5b 90 red=0;
Hooglugt 25:ec41b972b250 91 pc.printf("B");
Hooglugt 25:ec41b972b250 92 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 93 goto forcechoice;
Hooglugt 23:8d9a623dd713 94 } else {
Hooglugt 23:8d9a623dd713 95 wait(0.1);
Hooglugt 23:8d9a623dd713 96 }
Hooglugt 23:8d9a623dd713 97 }
Hooglugt 23:8d9a623dd713 98 }
Hooglugt 23:8d9a623dd713 99 if(i==3) { //blue
Hooglugt 23:8d9a623dd713 100 red=1;
Hooglugt 23:8d9a623dd713 101 green=1;
Hooglugt 23:8d9a623dd713 102 blue=0;
Hooglugt 24:c6073b9efd5b 103 for (int lag=0; lag<20; lag++) {
Hooglugt 23:8d9a623dd713 104 if(emgfloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 105 direction = 3;
Hooglugt 24:c6073b9efd5b 106 blue = 1;
Hooglugt 24:c6073b9efd5b 107 green = 0;
Hooglugt 24:c6073b9efd5b 108 red=0;
Hooglugt 23:8d9a623dd713 109 pc.printf("C");
Hooglugt 25:ec41b972b250 110 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 111 goto forcechoice;
Hooglugt 23:8d9a623dd713 112 } else {
Hooglugt 23:8d9a623dd713 113 wait(0.1);
Hooglugt 23:8d9a623dd713 114 }
Hooglugt 23:8d9a623dd713 115 }
Hooglugt 23:8d9a623dd713 116 }
Hooglugt 25:ec41b972b250 117 }
Hooglugt 23:8d9a623dd713 118 }
Hooglugt 23:8d9a623dd713 119 while(1) { //Loop keuze FORCE
Hooglugt 25:ec41b972b250 120 forcechoice:
Hooglugt 23:8d9a623dd713 121 for(int i=1; i<4; i++) {
Hooglugt 23:8d9a623dd713 122 if(i==1) { //red
Hooglugt 23:8d9a623dd713 123 red=0;
Hooglugt 23:8d9a623dd713 124 green=1;
Hooglugt 23:8d9a623dd713 125 blue=1;
Hooglugt 24:c6073b9efd5b 126 for (int lag=0; lag<20; lag++) {
Hooglugt 23:8d9a623dd713 127 if(emgfloat.read()>0.8) { // 0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 128 force = 1;
Hooglugt 24:c6073b9efd5b 129 blue = 0;
Hooglugt 24:c6073b9efd5b 130 green = 0;
Hooglugt 24:c6073b9efd5b 131 red=1;
Hooglugt 24:c6073b9efd5b 132 pc.printf("D");
Hooglugt 25:ec41b972b250 133 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 134 goto choicesmade;
Hooglugt 23:8d9a623dd713 135 } else {
Hooglugt 23:8d9a623dd713 136 wait(0.1);
Hooglugt 23:8d9a623dd713 137 }
Hooglugt 23:8d9a623dd713 138 }
Hooglugt 23:8d9a623dd713 139 }
Hooglugt 23:8d9a623dd713 140 if(i==2) { //green
Hooglugt 23:8d9a623dd713 141 red =1;
Hooglugt 23:8d9a623dd713 142 green=0;
Hooglugt 23:8d9a623dd713 143 blue=1;
Hooglugt 24:c6073b9efd5b 144 for (int lag=0; lag<20; lag++) {
Hooglugt 23:8d9a623dd713 145 if(emgfloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 146 force = 2;
Hooglugt 24:c6073b9efd5b 147 blue = 0;
Hooglugt 24:c6073b9efd5b 148 green = 1;
Hooglugt 24:c6073b9efd5b 149 red=0;
Hooglugt 24:c6073b9efd5b 150 pc.printf("E");
Hooglugt 25:ec41b972b250 151 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 152 goto choicesmade;
Hooglugt 23:8d9a623dd713 153 } else {
Hooglugt 23:8d9a623dd713 154 wait(0.1);
Hooglugt 23:8d9a623dd713 155 }
Hooglugt 23:8d9a623dd713 156 }
Hooglugt 23:8d9a623dd713 157 }
Hooglugt 23:8d9a623dd713 158 if(i==3) { //blue
Hooglugt 23:8d9a623dd713 159 red=1;
Hooglugt 23:8d9a623dd713 160 green=1;
Hooglugt 23:8d9a623dd713 161 blue=0;
Hooglugt 24:c6073b9efd5b 162 for (int lag=0; lag<20; lag++) {
Hooglugt 23:8d9a623dd713 163 if(emgfloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 164 force = 3;
Hooglugt 24:c6073b9efd5b 165 blue = 1;
Hooglugt 24:c6073b9efd5b 166 green = 0;
Hooglugt 24:c6073b9efd5b 167 red=0;
Hooglugt 24:c6073b9efd5b 168 pc.printf("F");
Hooglugt 25:ec41b972b250 169 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 170 goto choicesmade;
Hooglugt 23:8d9a623dd713 171 } else {
Hooglugt 23:8d9a623dd713 172 wait(0.1);
Hooglugt 23:8d9a623dd713 173 }
Hooglugt 23:8d9a623dd713 174 }
Hooglugt 23:8d9a623dd713 175 }
Hooglugt 23:8d9a623dd713 176 }
Hooglugt 23:8d9a623dd713 177 }
Hooglugt 25:ec41b972b250 178 choicesmade:
Hooglugt 25:ec41b972b250 179
Hooglugt 25:ec41b972b250 180 if(direction == 0 || force == 0) {
Hooglugt 25:ec41b972b250 181 pc.printf("error");
Hooglugt 25:ec41b972b250 182 }
Hooglugt 25:ec41b972b250 183 if(direction == 1 && force == 1) { // links zwak
Hooglugt 25:ec41b972b250 184 pc.printf("links zwak");
Hooglugt 25:ec41b972b250 185 }
Hooglugt 25:ec41b972b250 186 if(direction == 1 && force == 2) { // links normaal
Hooglugt 25:ec41b972b250 187 pc.printf("links normaal");
Hooglugt 25:ec41b972b250 188 }
Hooglugt 25:ec41b972b250 189 if(direction == 1 && force == 3) { // links sterk
Hooglugt 25:ec41b972b250 190 pc.printf("links sterk");
Hooglugt 25:ec41b972b250 191 }
Hooglugt 25:ec41b972b250 192 if(direction == 2 && force == 1) { // mid zwak
Hooglugt 25:ec41b972b250 193 pc.printf("mid zwak");
Hooglugt 25:ec41b972b250 194 }
Hooglugt 25:ec41b972b250 195 if(direction == 2 && force == 2) { // mid normaal
Hooglugt 25:ec41b972b250 196 pc.printf("mid normaal");
Hooglugt 25:ec41b972b250 197 }
Hooglugt 25:ec41b972b250 198 if(direction == 2 && force == 3) { // mid sterk
Hooglugt 25:ec41b972b250 199 pc.printf("mid sterk");
Hooglugt 25:ec41b972b250 200 }
Hooglugt 25:ec41b972b250 201 if(direction == 3 && force == 1) { // rechts zwak
Hooglugt 25:ec41b972b250 202 pc.printf("rechts zwak");
Hooglugt 25:ec41b972b250 203 }
Hooglugt 25:ec41b972b250 204 if(direction == 3 && force == 2) { // rechts normaal
Hooglugt 25:ec41b972b250 205 pc.printf("rechts normaal");
Hooglugt 25:ec41b972b250 206 }
Hooglugt 25:ec41b972b250 207 if(direction == 3 && force == 3) { // rechts sterk
Hooglugt 25:ec41b972b250 208 pc.printf("rechts sterk");
Hooglugt 25:ec41b972b250 209 }
Hooglugt 25:ec41b972b250 210
Hooglugt 23:8d9a623dd713 211 red = 0;
Hooglugt 23:8d9a623dd713 212 green = 0;
Hooglugt 23:8d9a623dd713 213 blue = 0;
Hooglugt 25:ec41b972b250 214
Hooglugt 25:ec41b972b250 215 }