Aukie Hooglugt / Mbed 2 deprecated EMG_Project

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Dependencies:   HIDScope MODSERIAL- mbed-dsp mbed

Project_main.cpp@28:f4b09acf78c9, 2014-10-06 (annotated)

Committer:
Hooglugt
Date:
Mon Oct 06 11:42:41 2014 +0000
Revision:
28:f4b09acf78c9
Parent:
27:54167d54b0c5 
correcte poorten toegevoegd voor bi en triceps

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 27:54167d54b0c5 4 #define TIMEB4NEXTCHOICE 1
Hooglugt 27:54167d54b0c5 5 #define TIMEBETWEENBLINK 10
Hooglugt 23:8d9a623dd713 6
Hooglugt 23:8d9a623dd713 7 //Define objects
Hooglugt 27:54167d54b0c5 8 AnalogIn emg0(PTB1); //Analog input biceps
Hooglugt 28:f4b09acf78c9 9 AnalogIn emg1(PTB2); //Analog input triceps
Hooglugt 27:54167d54b0c5 10
Hooglugt 27:54167d54b0c5 11 PwmOut emg_bifloat(PTD4); //Float voor EMG-waarde biceps
Hooglugt 27:54167d54b0c5 12 PwmOut emg_trifloat(PTA4); //Float voor EMG-waarde triceps
Hooglugt 27:54167d54b0c5 13
Hooglugt 27:54167d54b0c5 14 PwmOut red(LED_RED); //PWM output
Hooglugt 23:8d9a623dd713 15 PwmOut green(LED_GREEN);
Hooglugt 23:8d9a623dd713 16 PwmOut blue(LED_BLUE);
Hooglugt 27:54167d54b0c5 17
Hooglugt 23:8d9a623dd713 18 int direction = 0;
Hooglugt 23:8d9a623dd713 19 int force = 0;
Hooglugt 23:8d9a623dd713 20
Hooglugt 23:8d9a623dd713 21 Ticker log_timer;
Hooglugt 23:8d9a623dd713 22 MODSERIAL pc(USBTX,USBRX);
Hooglugt 23:8d9a623dd713 23 HIDScope scope(2);
Hooglugt 23:8d9a623dd713 24
Hooglugt 23:8d9a623dd713 25 /** Looper function
Hooglugt 23:8d9a623dd713 26 * functions used for Ticker and Timeout should be of type void <name>(void)
Hooglugt 23:8d9a623dd713 27 * i.e. no input arguments, no output arguments.
Hooglugt 23:8d9a623dd713 28 * if you want to change a variable that you use in other places (for example in main)
Hooglugt 23:8d9a623dd713 29 * you will have to make that variable global in order to be able to reach it both from
Hooglugt 23:8d9a623dd713 30 * the function called at interrupt time, and in the main function.
Hooglugt 23:8d9a623dd713 31 * To make a variable global, define it under the includes.
Hooglugt 23:8d9a623dd713 32 * variables that are changed in the interrupt routine (written to) should be made
Hooglugt 23:8d9a623dd713 33 * 'volatile' to let the compiler know that those values may change outside the current context.
Hooglugt 23:8d9a623dd713 34 * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
Hooglugt 23:8d9a623dd713 35 * in the example below, the variable is not re-used in the main function, and is thus declared
Hooglugt 23:8d9a623dd713 36 * local in the looper function only.
Hooglugt 23:8d9a623dd713 37 **/
Hooglugt 23:8d9a623dd713 38 void looper()
Hooglugt 23:8d9a623dd713 39 {
Hooglugt 23:8d9a623dd713 40 /*variable to store value in*/
Hooglugt 27:54167d54b0c5 41 uint16_t emg_bivalue;
Hooglugt 23:8d9a623dd713 42 /*put raw emg value both in emgfloat and in emg_value*/
Hooglugt 27:54167d54b0c5 43 emg_bifloat.write(emg0.read()); // read float value (0..1 = 0..3.3V) biceps
Hooglugt 27:54167d54b0c5 44 emg_bivalue = emg0.read_u16(); // read direct ADC result (0..4096 = 0..3.3V) biceps
Hooglugt 27:54167d54b0c5 45
Hooglugt 27:54167d54b0c5 46 uint16_t emg_trivalue;
Hooglugt 27:54167d54b0c5 47 /*put raw emg value both in emgfloat and in emg_value*/
Hooglugt 27:54167d54b0c5 48 emg_trifloat.write(emg1.read()); // read float value (0..1 = 0..3.3V) biceps
Hooglugt 27:54167d54b0c5 49 emg_trivalue = emg1.read_u16(); // read direct ADC result (0..4096 = 0..3.3V) biceps
Hooglugt 27:54167d54b0c5 50
Hooglugt 23:8d9a623dd713 51 /*send value to PC. Line below is used to prevent buffer overrun */
Hooglugt 23:8d9a623dd713 52 if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
Hooglugt 27:54167d54b0c5 53 //pc.printf("%u\n",emg_value);
Hooglugt 27:54167d54b0c5 54
Hooglugt 27:54167d54b0c5 55 scope.set(0,emg_bivalue);
Hooglugt 27:54167d54b0c5 56 scope.set(1,emg_bifloat.read());
Hooglugt 27:54167d54b0c5 57 scope.set(2,emg_trivalue);
Hooglugt 27:54167d54b0c5 58 scope.set(3,emg_trifloat.read());
Hooglugt 23:8d9a623dd713 59 scope.send();
Hooglugt 27:54167d54b0c5 60
Hooglugt 23:8d9a623dd713 61 }
Hooglugt 23:8d9a623dd713 62
Hooglugt 23:8d9a623dd713 63
Hooglugt 23:8d9a623dd713 64
Hooglugt 23:8d9a623dd713 65 int main()
Hooglugt 23:8d9a623dd713 66 {
Hooglugt 25:ec41b972b250 67 pc.baud(115200); //baudrate instellen
Hooglugt 27:54167d54b0c5 68 emg_bifloat.period_ms(2); //sets period for the PWM to the emgfloat PTD4
Hooglugt 27:54167d54b0c5 69 emg_trifloat.period_ms(2);
Hooglugt 25:ec41b972b250 70 log_timer.attach(looper, 0.001); // The looper() function will be called every 0.001 seconds (with the ticker object)
Hooglugt 26:9b43d9cb1fb2 71
Hooglugt 25:ec41b972b250 72 goto directionchoice; // goes to first while(1) for the deciding the direction
Hooglugt 26:9b43d9cb1fb2 73
Hooglugt 23:8d9a623dd713 74 while(1) { //Loop keuze DIRECTION
Hooglugt 25:ec41b972b250 75 directionchoice:
Hooglugt 23:8d9a623dd713 76 for(int i=1; i<4; i++) {
Hooglugt 23:8d9a623dd713 77 if(i==1) { //red
Hooglugt 23:8d9a623dd713 78 red=0;
Hooglugt 23:8d9a623dd713 79 green=1;
Hooglugt 23:8d9a623dd713 80 blue=1;
Hooglugt 26:9b43d9cb1fb2 81 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 28:f4b09acf78c9 82 if(emg_bifloat.read()>0.8) { // 0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 25:ec41b972b250 83 direction = 1;
Hooglugt 24:c6073b9efd5b 84 blue = 0;
Hooglugt 24:c6073b9efd5b 85 green = 0;
Hooglugt 24:c6073b9efd5b 86 red=1;
Hooglugt 26:9b43d9cb1fb2 87 pc.printf("links ");
Hooglugt 25:ec41b972b250 88 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 25:ec41b972b250 89 goto forcechoice; // goes to second while(1) for the deciding the force
Hooglugt 23:8d9a623dd713 90 } else {
Hooglugt 23:8d9a623dd713 91 wait(0.1);
Hooglugt 23:8d9a623dd713 92 }
Hooglugt 23:8d9a623dd713 93 }
Hooglugt 23:8d9a623dd713 94 }
Hooglugt 23:8d9a623dd713 95 if(i==2) { //green
Hooglugt 23:8d9a623dd713 96 red =1;
Hooglugt 23:8d9a623dd713 97 green=0;
Hooglugt 23:8d9a623dd713 98 blue=1;
Hooglugt 26:9b43d9cb1fb2 99 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 28:f4b09acf78c9 100 if(emg_bifloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 25:ec41b972b250 101 direction = 2;
Hooglugt 24:c6073b9efd5b 102 blue = 0;
Hooglugt 24:c6073b9efd5b 103 green = 1;
Hooglugt 24:c6073b9efd5b 104 red=0;
Hooglugt 26:9b43d9cb1fb2 105 pc.printf("mid ");
Hooglugt 25:ec41b972b250 106 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 107 goto forcechoice;
Hooglugt 23:8d9a623dd713 108 } else {
Hooglugt 23:8d9a623dd713 109 wait(0.1);
Hooglugt 23:8d9a623dd713 110 }
Hooglugt 23:8d9a623dd713 111 }
Hooglugt 23:8d9a623dd713 112 }
Hooglugt 23:8d9a623dd713 113 if(i==3) { //blue
Hooglugt 23:8d9a623dd713 114 red=1;
Hooglugt 23:8d9a623dd713 115 green=1;
Hooglugt 23:8d9a623dd713 116 blue=0;
Hooglugt 26:9b43d9cb1fb2 117 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 28:f4b09acf78c9 118 if(emg_bifloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 119 direction = 3;
Hooglugt 24:c6073b9efd5b 120 blue = 1;
Hooglugt 24:c6073b9efd5b 121 green = 0;
Hooglugt 24:c6073b9efd5b 122 red=0;
Hooglugt 26:9b43d9cb1fb2 123 pc.printf("rechts ");
Hooglugt 25:ec41b972b250 124 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 125 goto forcechoice;
Hooglugt 23:8d9a623dd713 126 } else {
Hooglugt 23:8d9a623dd713 127 wait(0.1);
Hooglugt 23:8d9a623dd713 128 }
Hooglugt 23:8d9a623dd713 129 }
Hooglugt 23:8d9a623dd713 130 }
Hooglugt 25:ec41b972b250 131 }
Hooglugt 23:8d9a623dd713 132 }
Hooglugt 23:8d9a623dd713 133 while(1) { //Loop keuze FORCE
Hooglugt 25:ec41b972b250 134 forcechoice:
Hooglugt 23:8d9a623dd713 135 for(int i=1; i<4; i++) {
Hooglugt 23:8d9a623dd713 136 if(i==1) { //red
Hooglugt 23:8d9a623dd713 137 red=0;
Hooglugt 23:8d9a623dd713 138 green=1;
Hooglugt 23:8d9a623dd713 139 blue=1;
Hooglugt 26:9b43d9cb1fb2 140 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 28:f4b09acf78c9 141 if(emg_bifloat.read()>0.8) { // 0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 142 force = 1;
Hooglugt 24:c6073b9efd5b 143 blue = 0;
Hooglugt 24:c6073b9efd5b 144 green = 0;
Hooglugt 24:c6073b9efd5b 145 red=1;
Hooglugt 26:9b43d9cb1fb2 146 pc.printf("zwak ");
Hooglugt 25:ec41b972b250 147 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om cyaan lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 148 goto choicesmade;
Hooglugt 23:8d9a623dd713 149 } else {
Hooglugt 23:8d9a623dd713 150 wait(0.1);
Hooglugt 23:8d9a623dd713 151 }
Hooglugt 23:8d9a623dd713 152 }
Hooglugt 23:8d9a623dd713 153 }
Hooglugt 23:8d9a623dd713 154 if(i==2) { //green
Hooglugt 23:8d9a623dd713 155 red =1;
Hooglugt 23:8d9a623dd713 156 green=0;
Hooglugt 23:8d9a623dd713 157 blue=1;
Hooglugt 26:9b43d9cb1fb2 158 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 28:f4b09acf78c9 159 if(emg_bifloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 160 force = 2;
Hooglugt 24:c6073b9efd5b 161 blue = 0;
Hooglugt 24:c6073b9efd5b 162 green = 1;
Hooglugt 24:c6073b9efd5b 163 red=0;
Hooglugt 26:9b43d9cb1fb2 164 pc.printf("normaal ");
Hooglugt 25:ec41b972b250 165 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om paars lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 166 goto choicesmade;
Hooglugt 23:8d9a623dd713 167 } else {
Hooglugt 23:8d9a623dd713 168 wait(0.1);
Hooglugt 23:8d9a623dd713 169 }
Hooglugt 23:8d9a623dd713 170 }
Hooglugt 23:8d9a623dd713 171 }
Hooglugt 23:8d9a623dd713 172 if(i==3) { //blue
Hooglugt 23:8d9a623dd713 173 red=1;
Hooglugt 23:8d9a623dd713 174 green=1;
Hooglugt 23:8d9a623dd713 175 blue=0;
Hooglugt 26:9b43d9cb1fb2 176 for (int lag=0; lag<TIMEBETWEENBLINK; lag++) {
Hooglugt 28:f4b09acf78c9 177 if(emg_bifloat.read()>0.8) { //0.8 klopt niet als grenswaarde. #nofilter
Hooglugt 23:8d9a623dd713 178 force = 3;
Hooglugt 24:c6073b9efd5b 179 blue = 1;
Hooglugt 24:c6073b9efd5b 180 green = 0;
Hooglugt 24:c6073b9efd5b 181 red=0;
Hooglugt 26:9b43d9cb1fb2 182 pc.printf("sterk ");
Hooglugt 25:ec41b972b250 183 wait(TIMEB4NEXTCHOICE); // Tijdelijke wait om oranje lampje aan te zetten ter controle selectie
Hooglugt 23:8d9a623dd713 184 goto choicesmade;
Hooglugt 23:8d9a623dd713 185 } else {
Hooglugt 23:8d9a623dd713 186 wait(0.1);
Hooglugt 23:8d9a623dd713 187 }
Hooglugt 23:8d9a623dd713 188 }
Hooglugt 23:8d9a623dd713 189 }
Hooglugt 23:8d9a623dd713 190 }
Hooglugt 23:8d9a623dd713 191 }
Hooglugt 25:ec41b972b250 192 choicesmade:
Hooglugt 25:ec41b972b250 193
Hooglugt 26:9b43d9cb1fb2 194 red = 0;
Hooglugt 26:9b43d9cb1fb2 195 green = 0;
Hooglugt 26:9b43d9cb1fb2 196 blue = 0; // wit lampje
Hooglugt 26:9b43d9cb1fb2 197
Hooglugt 25:ec41b972b250 198 if(direction == 0 || force == 0) {
Hooglugt 25:ec41b972b250 199 pc.printf("error");
Hooglugt 25:ec41b972b250 200 }
Hooglugt 25:ec41b972b250 201 if(direction == 1 && force == 1) { // links zwak
Hooglugt 25:ec41b972b250 202 pc.printf("links zwak");
Hooglugt 25:ec41b972b250 203 }
Hooglugt 25:ec41b972b250 204 if(direction == 1 && force == 2) { // links normaal
Hooglugt 25:ec41b972b250 205 pc.printf("links normaal");
Hooglugt 25:ec41b972b250 206 }
Hooglugt 25:ec41b972b250 207 if(direction == 1 && force == 3) { // links sterk
Hooglugt 25:ec41b972b250 208 pc.printf("links sterk");
Hooglugt 25:ec41b972b250 209 }
Hooglugt 25:ec41b972b250 210 if(direction == 2 && force == 1) { // mid zwak
Hooglugt 25:ec41b972b250 211 pc.printf("mid zwak");
Hooglugt 25:ec41b972b250 212 }
Hooglugt 25:ec41b972b250 213 if(direction == 2 && force == 2) { // mid normaal
Hooglugt 25:ec41b972b250 214 pc.printf("mid normaal");
Hooglugt 25:ec41b972b250 215 }
Hooglugt 25:ec41b972b250 216 if(direction == 2 && force == 3) { // mid sterk
Hooglugt 25:ec41b972b250 217 pc.printf("mid sterk");
Hooglugt 25:ec41b972b250 218 }
Hooglugt 25:ec41b972b250 219 if(direction == 3 && force == 1) { // rechts zwak
Hooglugt 25:ec41b972b250 220 pc.printf("rechts zwak");
Hooglugt 25:ec41b972b250 221 }
Hooglugt 25:ec41b972b250 222 if(direction == 3 && force == 2) { // rechts normaal
Hooglugt 25:ec41b972b250 223 pc.printf("rechts normaal");
Hooglugt 25:ec41b972b250 224 }
Hooglugt 25:ec41b972b250 225 if(direction == 3 && force == 3) { // rechts sterk
Hooglugt 25:ec41b972b250 226 pc.printf("rechts sterk");
Hooglugt 25:ec41b972b250 227 }
Hooglugt 25:ec41b972b250 228 }