Margreeth de Breij / Mbed 2 deprecated DefinitiefScript

Het complete motorscript met alle gewenste functies

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of Motor_EMG_Definitief by Margreeth de Breij

main.cpp@7:111e13da9bc0, 2015-10-28 (annotated)

Committer:
Rvs94
Date:
Wed Oct 28 11:02:42 2015 +0000
Revision:
7:111e13da9bc0
Parent:
6:d1d747050fcc
Child:
8:86a13efe98c8
Grenzen voor motor 1 toegevoegd, nog niet getest

Who changed what in which revision?

UserRevisionLine numberNew contents of line
laura94 0:5816557b2064 1 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 2 // Motorscript voor 2 motoren voor de "SJOEL ROBOT", Groep 7
laura94 0:5816557b2064 3 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 4 // Libraries
laura94 0:5816557b2064 5 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 6 #include "mbed.h"
laura94 0:5816557b2064 7 #include "MODSERIAL.h"
laura94 0:5816557b2064 8 #include "HIDScope.h"
laura94 0:5816557b2064 9 #include "QEI.h"
laura94 0:5816557b2064 10 #include "biquadFilter.h"
laura94 0:5816557b2064 11
laura94 0:5816557b2064 12 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 13 // Constanten/Inputs/Outputs
laura94 0:5816557b2064 14 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 15 MODSERIAL pc(USBTX, USBRX); // To/From PC
laura94 0:5816557b2064 16 QEI Encoder2(D3, D2, NC, 32); // Encoder Motor 2
laura94 0:5816557b2064 17 QEI Encoder1(D13,D12,NC, 32); // Encoder Motor 1
Rvs94 1:3f49c8818619 18 HIDScope scope(6); // Scope, 4 channels
laura94 0:5816557b2064 19
laura94 0:5816557b2064 20 // LEDs
laura94 0:5816557b2064 21 DigitalOut LedR(LED_RED);
laura94 0:5816557b2064 22 DigitalOut LedG(LED_GREEN);
laura94 0:5816557b2064 23 DigitalOut LedB(LED_BLUE);
laura94 0:5816557b2064 24
laura94 0:5816557b2064 25 // Motor
laura94 0:5816557b2064 26 DigitalOut motor1direction(D7); // Motor 1, Direction & Speed
laura94 0:5816557b2064 27 PwmOut motor1speed(D6);
laura94 0:5816557b2064 28 DigitalOut motor2direction(D4); // Motor 2, Direction & Speed
laura94 0:5816557b2064 29 PwmOut motor2speed(D5);
laura94 0:5816557b2064 30
laura94 0:5816557b2064 31 //EMG
laura94 0:5816557b2064 32 AnalogIn EMG_left(A0); //Analog input
laura94 0:5816557b2064 33 AnalogIn EMG_right(A1);
laura94 0:5816557b2064 34
laura94 0:5816557b2064 35 // Tickers
laura94 0:5816557b2064 36 Ticker ScopeTime;
laura94 0:5816557b2064 37 Ticker myControllerTicker2;
laura94 0:5816557b2064 38 Ticker myControllerTicker1;
laura94 0:5816557b2064 39 Ticker SampleEMGLeft;
laura94 0:5816557b2064 40 Ticker SampleEMGRight;
laura94 0:5816557b2064 41 Ticker ScopeTimer;
laura94 0:5816557b2064 42 Ticker serial;
laura94 0:5816557b2064 43 Ticker MovingAverageLeft;
laura94 0:5816557b2064 44 Ticker MovingAverageRight;
laura94 0:5816557b2064 45
laura94 0:5816557b2064 46 // Constants
laura94 0:5816557b2064 47 double reference2, reference1;
laura94 0:5816557b2064 48 double position2 = 0, position1 = 0;
laura94 0:5816557b2064 49 double m2_ref = 0, m1_ref = 0;
laura94 0:5816557b2064 50 int count = 0;
Rvs94 4:92a3b38a5302 51 double Grens2 = 70, Grens1 = 70;
Rvs94 4:92a3b38a5302 52 double Stapgrootte = 1;
laura94 0:5816557b2064 53
laura94 0:5816557b2064 54 // Declaring variables
laura94 0:5816557b2064 55 double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0;
laura94 0:5816557b2064 56 double EMG_L_fh=0;
laura94 0:5816557b2064 57 double EMG_left_value;
laura94 0:5816557b2064 58 double EMG_left_f1;
laura94 0:5816557b2064 59 double EMG_left_f2;
laura94 0:5816557b2064 60 double EMG_left_f3;
laura94 0:5816557b2064 61 double EMG_left_abs;
laura94 0:5816557b2064 62
laura94 0:5816557b2064 63 double EMG_right_value;
laura94 0:5816557b2064 64 double EMG_right_f1;
laura94 0:5816557b2064 65 double EMG_right_f2;
laura94 0:5816557b2064 66 double EMG_right_f3;
laura94 0:5816557b2064 67 double EMG_right_abs;
laura94 0:5816557b2064 68 double Threshold1;
laura94 0:5816557b2064 69 double Threshold2;
laura94 0:5816557b2064 70 double Threshold3;
laura94 0:5816557b2064 71 double Threshold4;
laura94 0:5816557b2064 72
laura94 0:5816557b2064 73 int N = 50;
laura94 0:5816557b2064 74 double MAF_left[50];
laura94 0:5816557b2064 75 double EMG_left_MAF;
laura94 0:5816557b2064 76 double MAF_right[50];
laura94 0:5816557b2064 77 double EMG_right_MAF;
laura94 0:5816557b2064 78
laura94 0:5816557b2064 79
laura94 0:5816557b2064 80 //Sample time (motor-step)
Rvs94 2:7873c44b0568 81 const double m2_Ts = 0.001, m1_Ts = 0.001;
laura94 0:5816557b2064 82
laura94 0:5816557b2064 83 //Controller gain Motor 2 & 1
laura94 6:d1d747050fcc 84 const double m2_Kp = 0.1523/5,m2_Ki = 0.08585/5, m2_Kd = 0.004534/5;
laura94 6:d1d747050fcc 85 const double m1_Kp = 0.1523/5,m1_Ki = 0.08585/5, m1_Kd = 0.004534/5;
laura94 0:5816557b2064 86 double m2_err_int = 0, m2_prev_err = 0;
laura94 0:5816557b2064 87 double m1_err_int = 0, m1_prev_err = 0;
laura94 0:5816557b2064 88
laura94 0:5816557b2064 89 // coëfficiënten
Rvs94 1:3f49c8818619 90 const double BiGainEMG_H1 = 0.796821;
laura94 0:5816557b2064 91 const double EMGH1_a1 = -1.47500228332, EMGH1_a2 = 0.55273994299, EMGH1_b0 = 1.0*BiGainEMG_H1, EMGH1_b1 = -1.99922446977*BiGainEMG_H1, EMGH1_b2 = 1.0*BiGainEMG_H1; //coefficients for high-pass filter
laura94 0:5816557b2064 92
laura94 0:5816557b2064 93 const double BiGainEMG_L1= 0.001041;
laura94 0:5816557b2064 94 const double EMGL1_a1 = -1.87506717001, EMGL1_a2 = 0.87923101463, EMGL1_b0 = 1.0*BiGainEMG_L1, EMGL1_b1 = 2.00000000000*BiGainEMG_L1, EMGL1_b2 = 1.0*BiGainEMG_L1; // coefficients for low-pass filter
laura94 0:5816557b2064 95
laura94 0:5816557b2064 96 const double BiGainEMG_N1 = 1.0;
laura94 0:5816557b2064 97 const double EMGN1_a1 = -1.58174308681, EMGN1_a2 = 0.96540248979, EMGN1_b0 = 1.0*BiGainEMG_N1, EMGN1_b1 = -1.61816176147*BiGainEMG_N1, EMGN1_b2 = 1.0*BiGainEMG_N1; //coefficients for notch filter
laura94 0:5816557b2064 98
laura94 0:5816557b2064 99 // Creating the filters
laura94 0:5816557b2064 100 biquadFilter EMG_highpass1 (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter
laura94 0:5816557b2064 101 biquadFilter EMG_lowpass1 (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter
laura94 0:5816557b2064 102 biquadFilter EMG_notch1 (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter
laura94 0:5816557b2064 103
laura94 0:5816557b2064 104 biquadFilter EMG_highpass1R (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter
laura94 0:5816557b2064 105 biquadFilter EMG_lowpass1R (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter
laura94 0:5816557b2064 106 biquadFilter EMG_notch1R (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter
laura94 0:5816557b2064 107
laura94 0:5816557b2064 108
laura94 0:5816557b2064 109 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 110 // General Functions
laura94 0:5816557b2064 111 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 112
laura94 0:5816557b2064 113 //HIDScope
laura94 0:5816557b2064 114 void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt
laura94 0:5816557b2064 115 {
Rvs94 1:3f49c8818619 116 scope.set(0, position2);
Rvs94 1:3f49c8818619 117 scope.set(1, position1);
Rvs94 1:3f49c8818619 118 scope.set(2, EMG_left_MAF);
Rvs94 1:3f49c8818619 119 scope.set(3, EMG_right_MAF);
Rvs94 1:3f49c8818619 120 scope.set(4, count);
laura94 0:5816557b2064 121 scope.send();
laura94 0:5816557b2064 122
laura94 0:5816557b2064 123 }
laura94 0:5816557b2064 124
laura94 0:5816557b2064 125 // Reusable PID controller
laura94 0:5816557b2064 126 double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev)
laura94 0:5816557b2064 127 {
laura94 0:5816557b2064 128 // Derivative
laura94 0:5816557b2064 129 double e_der = (e-e_prev)/Ts;
laura94 0:5816557b2064 130 e_prev = e;
laura94 0:5816557b2064 131 // Integral
laura94 0:5816557b2064 132 e_int = e_int + Ts*e;
laura94 0:5816557b2064 133 // PID
laura94 0:5816557b2064 134 return Kp * e + Ki*e_int + Kd*e_der;
laura94 0:5816557b2064 135 }
laura94 0:5816557b2064 136
laura94 0:5816557b2064 137 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 138 //EMG functions
laura94 0:5816557b2064 139 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 140
laura94 0:5816557b2064 141 // EMG filtering function
laura94 0:5816557b2064 142 void EMGfilterLeft()
laura94 0:5816557b2064 143 {
laura94 0:5816557b2064 144 EMG_left_value = EMG_left.read();
laura94 0:5816557b2064 145 EMG_left_f1 = EMG_highpass1.step(EMG_left_value);
laura94 0:5816557b2064 146 EMG_left_abs = fabs(EMG_left_f1);
laura94 0:5816557b2064 147 EMG_left_f2 = EMG_lowpass1.step(EMG_left_abs);
laura94 0:5816557b2064 148 EMG_left_f3 = EMG_notch1.step(EMG_left_f2);
laura94 0:5816557b2064 149
laura94 0:5816557b2064 150 }
laura94 0:5816557b2064 151
laura94 0:5816557b2064 152 void EMGfilterRight()
laura94 0:5816557b2064 153 {
laura94 0:5816557b2064 154 EMG_right_value = EMG_right.read();
laura94 0:5816557b2064 155 EMG_right_f1 = EMG_highpass1R.step(EMG_right_value);
laura94 0:5816557b2064 156 EMG_right_abs = fabs(EMG_right_f1);
laura94 0:5816557b2064 157 EMG_right_f2 = EMG_lowpass1R.step(EMG_right_abs);
laura94 0:5816557b2064 158 EMG_right_f3 = EMG_notch1R.step(EMG_right_f2);
laura94 0:5816557b2064 159 }
laura94 0:5816557b2064 160
laura94 0:5816557b2064 161 // Movingaverage Filter
laura94 0:5816557b2064 162 void MovingAverageFilterLeft()
laura94 0:5816557b2064 163 {
laura94 0:5816557b2064 164 EMG_left_MAF = (MAF_left[0]+MAF_left[1]+MAF_left[2]+MAF_left[3]+MAF_left[4]+MAF_left[5]+MAF_left[6]+MAF_left[7]+MAF_left[8]+MAF_left[9]+MAF_left[10]+MAF_left[11]+MAF_left[12]+MAF_left[13]+MAF_left[14]+MAF_left[15]+MAF_left[16]+MAF_left[17]+MAF_left[18]+MAF_left[19]+MAF_left[20]+MAF_left[21]+MAF_left[22]+MAF_left[23]+MAF_left[24]+MAF_left[25]+MAF_left[26]+MAF_left[27]+MAF_left[28]+MAF_left[29]+MAF_left[30]+MAF_left[31]+MAF_left[32]+MAF_left[33]+MAF_left[34]+MAF_left[35]+MAF_left[36]+MAF_left[37]+MAF_left[38]+MAF_left[39]+MAF_left[40]+MAF_left[41]+MAF_left[42]+MAF_left[43]+MAF_left[44]+MAF_left[45]+MAF_left[46]+MAF_left[47]+MAF_left[48]+MAF_left[49])/N;
laura94 0:5816557b2064 165 MAF_left[49] = MAF_left[48], MAF_left[48] = MAF_left[47], MAF_left[47] = MAF_left[46], MAF_left[46] = MAF_left[45], MAF_left[45] = MAF_left[44], MAF_left[44] = MAF_left[43], MAF_left[43] = MAF_left[42], MAF_left[42] = MAF_left[41], MAF_left[41] = MAF_left[40], MAF_left[40] = MAF_left[39], MAF_left[39] = MAF_left[38], MAF_left[38] = MAF_left[37], MAF_left[37] = MAF_left[36], MAF_left[36] = MAF_left[35], MAF_left[35] = MAF_left[34], MAF_left[34] = MAF_left[33], MAF_left[33] = MAF_left[32], MAF_left[32] = MAF_left[31], MAF_left[31] = MAF_left[30], MAF_left[30] = MAF_left[29], MAF_left[29] = MAF_left[28], MAF_left[28] = MAF_left[27], MAF_left[27] = MAF_left[26], MAF_left[26] = MAF_left[25];
laura94 0:5816557b2064 166 MAF_left[25] = MAF_left[24], MAF_left[24] = MAF_left[23], MAF_left[23] = MAF_left[22], MAF_left[22] = MAF_left[21], MAF_left[21] = MAF_left[20], MAF_left[20] = MAF_left[19], MAF_left[19] = MAF_left[18], MAF_left[18] = MAF_left[17], MAF_left[17] = MAF_left[16], MAF_left[16] = MAF_left[15], MAF_left[15] = MAF_left[14], MAF_left[14] = MAF_left[13], MAF_left[13] = MAF_left[12], MAF_left[12] = MAF_left[11], MAF_left[11] = MAF_left[10], MAF_left[10] = MAF_left[9], MAF_left[9] = MAF_left[8], MAF_left[8] = MAF_left[7], MAF_left[7] = MAF_left[6], MAF_left[6] = MAF_left[5], MAF_left[5] = MAF_left[4], MAF_left[4] = MAF_left[3], MAF_left[3] = MAF_left[2], MAF_left[2] = MAF_left[1], MAF_left[1] = MAF_left[0];
laura94 0:5816557b2064 167 MAF_left[0] = EMG_left_f3;
laura94 0:5816557b2064 168 }
laura94 0:5816557b2064 169
laura94 0:5816557b2064 170 void MovingAverageFilterRight()
laura94 0:5816557b2064 171 {
laura94 0:5816557b2064 172 EMG_right_MAF = (MAF_right[0]+MAF_right[1]+MAF_right[2]+MAF_right[3]+MAF_right[4]+MAF_right[5]+MAF_right[6]+MAF_right[7]+MAF_right[8]+MAF_right[9]+MAF_right[10]+MAF_right[11]+MAF_right[12]+MAF_right[13]+MAF_right[14]+MAF_right[15]+MAF_right[16]+MAF_right[17]+MAF_right[18]+MAF_right[19]+MAF_right[20]+MAF_right[21]+MAF_right[22]+MAF_right[23]+MAF_right[24]+MAF_right[25]+MAF_right[26]+MAF_right[27]+MAF_right[28]+MAF_right[29]+MAF_right[30]+MAF_right[31]+MAF_right[32]+MAF_right[33]+MAF_right[34]+MAF_right[35]+MAF_right[36]+MAF_right[37]+MAF_right[38]+MAF_right[39]+MAF_right[40]+MAF_right[41]+MAF_right[42]+MAF_right[43]+MAF_right[44]+MAF_right[45]+MAF_right[46]+MAF_right[47]+MAF_right[48]+MAF_right[49])/N;
laura94 0:5816557b2064 173 MAF_right[49] = MAF_right[48], MAF_right[48] = MAF_right[47], MAF_right[47] = MAF_right[46], MAF_right[46] = MAF_right[45], MAF_right[45] = MAF_right[44], MAF_right[44] = MAF_right[43], MAF_right[43] = MAF_right[42], MAF_right[42] = MAF_right[41], MAF_right[41] = MAF_right[40], MAF_right[40] = MAF_right[39], MAF_right[39] = MAF_right[38], MAF_right[38] = MAF_right[37], MAF_right[37] = MAF_right[36], MAF_right[36] = MAF_right[35], MAF_right[35] = MAF_right[34], MAF_right[34] = MAF_right[33], MAF_right[33] = MAF_right[32], MAF_right[32] = MAF_right[31], MAF_right[31] = MAF_right[30], MAF_right[30] = MAF_right[29], MAF_right[29] = MAF_right[28], MAF_right[28] = MAF_right[27], MAF_right[27] = MAF_right[26], MAF_right[26] = MAF_right[25];
laura94 0:5816557b2064 174 MAF_right[25] = MAF_right[24], MAF_right[24] = MAF_right[23], MAF_right[23] = MAF_right[22], MAF_right[22] = MAF_right[21], MAF_right[21] = MAF_right[20], MAF_right[20] = MAF_right[19], MAF_right[19] = MAF_right[18], MAF_right[18] = MAF_right[17], MAF_right[17] = MAF_right[16], MAF_right[16] = MAF_right[15], MAF_right[15] = MAF_right[14], MAF_right[14] = MAF_right[13], MAF_right[13] = MAF_right[12], MAF_right[12] = MAF_right[11], MAF_right[11] = MAF_right[10], MAF_right[10] = MAF_right[9], MAF_right[9] = MAF_right[8], MAF_right[8] = MAF_right[7], MAF_right[7] = MAF_right[6], MAF_right[6] = MAF_right[5], MAF_right[5] = MAF_right[4], MAF_right[4] = MAF_right[3], MAF_right[3] = MAF_right[2], MAF_right[2] = MAF_right[1], MAF_right[1] = MAF_right[0];
laura94 0:5816557b2064 175 MAF_right[0] = EMG_right_f3;
laura94 0:5816557b2064 176 }
laura94 0:5816557b2064 177
laura94 0:5816557b2064 178 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 179 // Motor control functions
laura94 0:5816557b2064 180 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 181
laura94 0:5816557b2064 182 // Motor2 control
laura94 0:5816557b2064 183 void motor2_Controller()
laura94 0:5816557b2064 184 {
laura94 0:5816557b2064 185 // Setpoint motor 2
laura94 0:5816557b2064 186 reference2 = m2_ref; // Reference in degrees
Rvs94 1:3f49c8818619 187 position2 = 360.0*Encoder2.getPulses()/(32.0*131.0); // Position in degrees
laura94 0:5816557b2064 188 // Speed control
laura94 0:5816557b2064 189 double m2_P1 = PID( reference2 - position2, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err);
laura94 0:5816557b2064 190 double m2_P2 = m2_P1;
laura94 0:5816557b2064 191 motor2speed = abs(m2_P2);
laura94 0:5816557b2064 192 // Direction control
laura94 0:5816557b2064 193 if(m2_P2 > 0)
laura94 0:5816557b2064 194 {
laura94 0:5816557b2064 195 motor2direction = 0;
laura94 0:5816557b2064 196 }
laura94 0:5816557b2064 197 else
laura94 0:5816557b2064 198 {
laura94 0:5816557b2064 199 motor2direction = 1;
laura94 0:5816557b2064 200 }
laura94 0:5816557b2064 201 }
laura94 0:5816557b2064 202
laura94 0:5816557b2064 203 // Motor1 control
laura94 0:5816557b2064 204 void motor1_Controller()
laura94 0:5816557b2064 205 {
laura94 0:5816557b2064 206 // Setpoint Motor 1
laura94 0:5816557b2064 207 reference1 = m1_ref; // Reference in degrees
Rvs94 1:3f49c8818619 208 position1 = 360.0*Encoder1.getPulses()/(32.0*131.0); // Position in degrees
laura94 0:5816557b2064 209 // Speed control
laura94 0:5816557b2064 210 double m1_P1 = PID( reference1 - position1, m1_Kp, m1_Ki, m1_Kd, m1_Ts, m1_err_int, m1_prev_err);
laura94 0:5816557b2064 211 double m1_P2 = m1_P1;
laura94 0:5816557b2064 212 motor1speed = abs(m1_P2);
laura94 0:5816557b2064 213 // Direction control
laura94 0:5816557b2064 214 if(m1_P2 > 0)
laura94 0:5816557b2064 215 {
laura94 0:5816557b2064 216 motor1direction = 1;
laura94 0:5816557b2064 217 }
laura94 0:5816557b2064 218 else
laura94 0:5816557b2064 219 {
laura94 0:5816557b2064 220 motor1direction = 0;
laura94 0:5816557b2064 221 }
laura94 0:5816557b2064 222 }
laura94 0:5816557b2064 223
laura94 0:5816557b2064 224 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 225 // Main function
laura94 0:5816557b2064 226 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 227 int main()
laura94 0:5816557b2064 228 {
laura94 0:5816557b2064 229 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 230 // Initalizing
laura94 0:5816557b2064 231 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 232 //LEDs OFF
laura94 0:5816557b2064 233 LedR = LedB = LedG = 1;
laura94 0:5816557b2064 234
laura94 0:5816557b2064 235 //PC connection & check
laura94 0:5816557b2064 236 pc.baud(115200);
laura94 0:5816557b2064 237 pc.printf("Tot aan loop werkt\n");
laura94 0:5816557b2064 238
laura94 0:5816557b2064 239 // Tickers
laura94 0:5816557b2064 240 ScopeTime.attach(&ScopeSend, 0.01f); // 100 Hz, Scope
Rvs94 2:7873c44b0568 241 myControllerTicker2.attach(&motor2_Controller, m2_Ts ); // 100 Hz, Motor 2
Rvs94 2:7873c44b0568 242 myControllerTicker1.attach(&motor1_Controller, m1_Ts ); // 100 Hz, Motor 1
laura94 0:5816557b2064 243 SampleEMGLeft.attach(&EMGfilterLeft, 0.01f);
laura94 0:5816557b2064 244 SampleEMGRight.attach(&EMGfilterRight, 0.01f);
laura94 0:5816557b2064 245 MovingAverageLeft.attach(&MovingAverageFilterLeft, 0.01f);
laura94 0:5816557b2064 246 MovingAverageRight.attach(&MovingAverageFilterRight, 0.01f);
Rvs94 1:3f49c8818619 247 //--------------------------------------------------------------------------------------------------------------------------//
Rvs94 1:3f49c8818619 248 // Determing Threshold
Rvs94 1:3f49c8818619 249 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 250 wait(20);
laura94 0:5816557b2064 251
Rvs94 1:3f49c8818619 252 LedG.write(1);
Rvs94 1:3f49c8818619 253 wait(0.2);
Rvs94 1:3f49c8818619 254 LedG.write(0);
Rvs94 1:3f49c8818619 255 wait(0.2);
Rvs94 1:3f49c8818619 256 LedG.write(1);
Rvs94 1:3f49c8818619 257 wait(0.2);
Rvs94 1:3f49c8818619 258 LedG.write(0);
Rvs94 1:3f49c8818619 259 wait(0.2);
Rvs94 1:3f49c8818619 260 LedG.write(1);
Rvs94 1:3f49c8818619 261 wait(0.2);
Rvs94 1:3f49c8818619 262 LedG.write(0);
Rvs94 1:3f49c8818619 263 wait(2);
Rvs94 7:111e13da9bc0 264 Threshold1 = 0.5*EMG_left_MAF;
Rvs94 1:3f49c8818619 265 Threshold2 = 0.2*EMG_left_MAF;
Rvs94 1:3f49c8818619 266 LedG.write(1);
Rvs94 1:3f49c8818619 267 LedR.write(0);
Rvs94 1:3f49c8818619 268 wait(2);
Rvs94 1:3f49c8818619 269 LedR.write(1);
Rvs94 1:3f49c8818619 270
Rvs94 1:3f49c8818619 271 wait(2);
Rvs94 1:3f49c8818619 272 LedB.write(1);
Rvs94 1:3f49c8818619 273 wait(0.2);
Rvs94 1:3f49c8818619 274 LedB.write(0);
Rvs94 1:3f49c8818619 275 wait(0.2);
Rvs94 1:3f49c8818619 276 LedB.write(1);
Rvs94 1:3f49c8818619 277 wait(0.2);
Rvs94 1:3f49c8818619 278 LedB.write(0);
Rvs94 1:3f49c8818619 279 wait(0.2);
Rvs94 1:3f49c8818619 280 LedB.write(1);
Rvs94 1:3f49c8818619 281 wait(0.2);
Rvs94 1:3f49c8818619 282 LedB.write(0);
Rvs94 1:3f49c8818619 283 wait(2);
Rvs94 7:111e13da9bc0 284 Threshold3 = 0.5*EMG_right_MAF;
Rvs94 1:3f49c8818619 285 Threshold4 = 0.2*EMG_right_MAF;
Rvs94 1:3f49c8818619 286 LedB.write(1);
Rvs94 1:3f49c8818619 287 pc.printf("T1 = %f, T2 = %f, T3 = %f, T4 = %f\n", Threshold1, Threshold2, Threshold3, Threshold4);
Rvs94 1:3f49c8818619 288 LedR.write(0);
Rvs94 1:3f49c8818619 289 wait(2);
Rvs94 1:3f49c8818619 290 LedR.write(1);
laura94 0:5816557b2064 291
laura94 0:5816557b2064 292
laura94 0:5816557b2064 293 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 294 // Control Program
laura94 0:5816557b2064 295 //--------------------------------------------------------------------------------------------------------------------------//
laura94 0:5816557b2064 296 while(true)
laura94 0:5816557b2064 297 {
laura94 0:5816557b2064 298 //char c = pc.getc();
laura94 0:5816557b2064 299 // 1 Program UP
Rvs94 1:3f49c8818619 300 if ((EMG_right_MAF >= Threshold3) && (EMG_left_MAF >= Threshold1)) //if(c == 'e') //
laura94 0:5816557b2064 301 {
laura94 0:5816557b2064 302 count = count + 1;
laura94 0:5816557b2064 303 if(count > 2)
laura94 0:5816557b2064 304 {
laura94 0:5816557b2064 305 count = 2;
laura94 0:5816557b2064 306 }
Rvs94 1:3f49c8818619 307 wait(2);
laura94 0:5816557b2064 308 }
laura94 0:5816557b2064 309 // 1 Program DOWN
laura94 0:5816557b2064 310 // if(c == 'd') // Hoe gaat dit aangestuurd worden?
laura94 0:5816557b2064 311 // {
laura94 0:5816557b2064 312 // count = count - 1;
laura94 0:5816557b2064 313 // if(count < 0)
laura94 0:5816557b2064 314 // {
laura94 0:5816557b2064 315 // count = 0;
laura94 0:5816557b2064 316 // }
laura94 0:5816557b2064 317 // }
laura94 0:5816557b2064 318 // PROGRAM 0: Motor 2 control and indirect control of motor 1, Green LED
laura94 0:5816557b2064 319 if(count == 0)
laura94 0:5816557b2064 320 {
laura94 0:5816557b2064 321
laura94 0:5816557b2064 322 LedR = LedB = 1;
laura94 0:5816557b2064 323 LedG = 0;
Rvs94 3:86ca263a83dc 324 if ((EMG_right_MAF >= Threshold3) && (EMG_left_MAF <= Threshold1)) //if(c == 'r') //
laura94 0:5816557b2064 325 {
laura94 0:5816557b2064 326 m2_ref = m2_ref + Stapgrootte;
Rvs94 4:92a3b38a5302 327 m1_ref = m1_ref + Stapgrootte;
laura94 0:5816557b2064 328 if (m2_ref > Grens2)
laura94 0:5816557b2064 329 {
laura94 0:5816557b2064 330 m2_ref = Grens2;
Rvs94 4:92a3b38a5302 331 m1_ref = Grens1;
laura94 0:5816557b2064 332 }
Rvs94 4:92a3b38a5302 333 wait(0.05);
laura94 0:5816557b2064 334 }
Rvs94 3:86ca263a83dc 335 if((EMG_right_MAF < Threshold3) && (EMG_left_MAF > Threshold1)) //if (c == 'f') //
laura94 0:5816557b2064 336 {
laura94 0:5816557b2064 337 m2_ref = m2_ref - Stapgrootte;
Rvs94 4:92a3b38a5302 338 m1_ref = m1_ref - Stapgrootte;
laura94 0:5816557b2064 339 if (m2_ref < -1*Grens2)
laura94 0:5816557b2064 340 {
laura94 0:5816557b2064 341 m2_ref = -1*Grens2;
Rvs94 4:92a3b38a5302 342 m1_ref = -1*Grens1;
laura94 0:5816557b2064 343 }
Rvs94 4:92a3b38a5302 344 wait(0.05);
laura94 0:5816557b2064 345 }
Rvs94 1:3f49c8818619 346 }
laura94 0:5816557b2064 347 // PROGRAM 1: Motor 1 control, Red LED
laura94 0:5816557b2064 348 if(count == 1)
laura94 0:5816557b2064 349 {
laura94 0:5816557b2064 350 LedG = LedB = 1;
laura94 0:5816557b2064 351 LedR = 0;
Rvs94 7:111e13da9bc0 352 //Linker grenzen
Rvs94 7:111e13da9bc0 353 if ((EMG_right_MAF <= Threshold3) && (EMG_left_MAF >= Threshold1) && (m2_ref > 0)) // if(c == 't') //
laura94 0:5816557b2064 354 {
laura94 0:5816557b2064 355 m1_ref = m1_ref + Stapgrootte;
Rvs94 1:3f49c8818619 356
Rvs94 7:111e13da9bc0 357 if (m1_ref > -1*m2_ref + 80 )
laura94 0:5816557b2064 358 {
Rvs94 7:111e13da9bc0 359 m1_ref = -1*m2_ref + 80;
laura94 0:5816557b2064 360 }
Rvs94 4:92a3b38a5302 361 wait(0.05);
laura94 0:5816557b2064 362 }
Rvs94 7:111e13da9bc0 363 if ((EMG_left_MAF < Threshold1) && (EMG_right_MAF > Threshold3) && (m2_ref > 0)) //if(c == 'g') //
Rvs94 7:111e13da9bc0 364 {
Rvs94 7:111e13da9bc0 365 m1_ref = m1_ref - Stapgrootte;
Rvs94 7:111e13da9bc0 366
Rvs94 7:111e13da9bc0 367 if (m1_ref < -1*Grens1)
Rvs94 7:111e13da9bc0 368 {
Rvs94 7:111e13da9bc0 369 m1_ref = -1*Grens1;
Rvs94 7:111e13da9bc0 370 }
Rvs94 7:111e13da9bc0 371 wait(0.05);
Rvs94 7:111e13da9bc0 372 }
Rvs94 7:111e13da9bc0 373 //Rechter grenzen
Rvs94 7:111e13da9bc0 374 if ((EMG_right_MAF <= Threshold3) && (EMG_left_MAF >= Threshold1) && (m2_ref <= 0)) // if(c == 't') //
Rvs94 7:111e13da9bc0 375 {
Rvs94 7:111e13da9bc0 376 m1_ref = m1_ref + Stapgrootte;
Rvs94 7:111e13da9bc0 377
Rvs94 7:111e13da9bc0 378 if (m1_ref > -1*m2_ref - 80 )
Rvs94 7:111e13da9bc0 379 {
Rvs94 7:111e13da9bc0 380 m1_ref = -1*m2_ref - 80;
Rvs94 7:111e13da9bc0 381 }
Rvs94 7:111e13da9bc0 382 wait(0.05);
Rvs94 7:111e13da9bc0 383 }
Rvs94 7:111e13da9bc0 384 if ((EMG_left_MAF < Threshold1) && (EMG_right_MAF > Threshold3) && (m2_ref <= 0)) //if(c == 'g') //
laura94 0:5816557b2064 385 {
laura94 0:5816557b2064 386 m1_ref = m1_ref - Stapgrootte;
Rvs94 1:3f49c8818619 387
laura94 0:5816557b2064 388 if (m1_ref < -1*Grens1)
laura94 0:5816557b2064 389 {
laura94 0:5816557b2064 390 m1_ref = -1*Grens1;
laura94 0:5816557b2064 391 }
Rvs94 4:92a3b38a5302 392 wait(0.05);
laura94 0:5816557b2064 393 }
laura94 0:5816557b2064 394 }
laura94 0:5816557b2064 395 // PROGRAM 2: Firing mechanism & Reset, Blue LED
laura94 0:5816557b2064 396 if(count == 2)
laura94 0:5816557b2064 397 {
laura94 0:5816557b2064 398
laura94 0:5816557b2064 399 LedR = LedG = 1;
laura94 0:5816557b2064 400 LedB = 0;
laura94 0:5816557b2064 401 //VUUUUR!! (To Do)
laura94 0:5816557b2064 402 wait(1);
laura94 0:5816557b2064 403 m2_ref = 0;
laura94 0:5816557b2064 404 m1_ref = 0;
laura94 0:5816557b2064 405 count = 0;
laura94 0:5816557b2064 406 }
Rvs94 1:3f49c8818619 407
laura94 0:5816557b2064 408 }
laura94 0:5816557b2064 409 }