Make 2 motors turn

Dependencies:   MODSERIAL mbed HIDScope biquadFilter

Fork of Minor_test_serial by Marijke Zondag

Files at this revision

API Documentation at this revision

Comitter:
MarijkeZondag
Date:
Mon Oct 22 17:03:36 2018 +0000
Parent:
21:1da43fdbd254
Commit message:
comments;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
diff -r 1da43fdbd254 -r 8e61050064a9 main.cpp
--- a/main.cpp	Mon Oct 22 13:44:40 2018 +0000
+++ b/main.cpp	Mon Oct 22 17:03:36 2018 +0000
@@ -4,52 +4,44 @@
 #include "HIDScope.h"
 #include <math.h>
 
-AnalogIn emg0_in            (A0);
-AnalogIn emg1_in            (A1);
-AnalogIn emg2_in            (A2);
+//ATTENTION:   set mBed to version 151
+//          set QEI to version 0, (gebruiken wij (nog) niet, is voor encoder)
+//          set MODSERIAL to version 44
+//          set HIDScope to version 7
+//          set biquadFilter to version 7
+
+AnalogIn emg0_in            (A0);                   //First raw EMG signal input
+AnalogIn emg1_in            (A1);                   //Second raw EMG signal input
+AnalogIn emg2_in            (A2);                   //Third raw EMG signal input
 
 InterruptIn button1         (D10);                  //Let op, is deze niet bezet? En 11? Even checken, als er een error komt, kan het hier zitten.
-InterruptIn button2         (D11);
-InterruptIn encoderA        (D9);
-InterruptIn encoderB        (D8);
+InterruptIn button2         (D11);                  //Buttons for switch calibration states
 
-DigitalOut directionpin1    (D4);
-DigitalOut directionpin2    (D7);
-DigitalOut ledr             (LED_RED);
+DigitalOut ledr             (LED_RED);              //LEDs to show in which state you are in
 DigitalOut ledb             (LED_BLUE);
 DigitalOut ledg             (LED_GREEN);
 
-PwmOut pwmpin1              (D5);
-PwmOut pwmpin2              (D6);
+MODSERIAL pc(USBTX, USBRX);                         //Serial communication to see if the code works step by step
 
-
-MODSERIAL pc(USBTX, USBRX);
+HIDScope    scope( 3 );                             //HIDScope set to 3 channels for 3 muscles
 
 //HIDscope
-Ticker      sample_timer;
-HIDScope    scope( 3 );
+Ticker      sample_timer;                           //Ticker for HIDScope
+Ticker      filter_tick;                            //Ticker for EMG filter
+Ticker      MovAg_tick;                             //Ticker to calculate Moving Average
 
 //Global variables
-int encoder     = 0;                   //Starting point encoder
-const float T   = 0.001f;              //Ticker period
+int encoder     = 0;                                //Starting point encoder (wordt nu nog niet gebruikt in de code)
+const float T   = 0.001f;                           //Ticker period
 
 //EMG filter
-double emgfilter0, emgfilter1, emgfilter2;                                                       //Filtered EMG data 0, 1 and 2
-const int windowsize = 150;                                                                         //Size of the array over which the moving average (MovAg) is calculated
+double emgfilter0, emgfilter1, emgfilter2;                                                       //Variables for filtered EMG data channel 0, 1 and 2
+const int windowsize = 150;                                                                      //Size of the array over which the moving average (MovAg) is calculated. (random number)
 double sum, sum1, sum2, sum3;                                                                    //variables used to sum elements in array
-double StoreArray0[windowsize], StoreArray1[windowsize], StoreArray2[windowsize];  //Empty arrays to calculate MoveAg
-double movAg0,movAg1,movAg2;                                                                     //outcome of MovAg
+double StoreArray0[windowsize], StoreArray1[windowsize], StoreArray2[windowsize];                //Empty arrays to calculate MoveAg
+double movAg0,movAg1,movAg2;                                                                     //outcome of MovAg (moet dit een array zijn??)
 
-//calibration
-int x = -1;
-int emg_cal = 0;
-const int sizeCal = 2000;
-double StoreCal0[sizeCal], StoreCal1[sizeCal], StoreCal2[sizeCal];
-double Mean0,Mean1,Mean2;
-double Threshold0 = 1, Threshold1 = 1, Threshold2 = 1;
-
-
-//Biquad
+//Biquad                                                                                         //Variables for the biquad band filters (alle 3 dezelfde maar je kan niet 3x 'emg0band' aanroepen ofzo)
 BiQuadChain emg0band;
 BiQuad emg0band1( 7.29441e-01, -1.89276e-08, -7.29450e-01, -1.64507e-01, -7.26543e-01 );
 BiQuad emg0band2( 1.00000e+00, 1.99999e+00, 9.99994e-01, 1.72349e+00, 7.79616e-01 );
@@ -65,27 +57,23 @@
 BiQuad emg2band2( 1.00000e+00, 1.99999e+00, 9.99994e-01, 1.72349e+00, 7.79616e-01 );
 BiQuad emg2band3( 1.00000e+00, -1.99999e+00, 9.99994e-01, -1.93552e+00, 9.39358e-01 );
 
-BiQuad notch1( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 );                //Notch filter
+BiQuad notch1( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 );                //Notch filter biquad coefficients
 BiQuad notch2( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 );                //Notch filter
 BiQuad notch3( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 );                //Notch filter
 
+//Functions
 
-//Tickers
-Ticker filter_tick;
-Ticker MovAg_tick;
-
-//Functions
+//HIDScope connection
 void sample()
 {
     /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
-    scope.set(0, emg0_in.read() );
+    scope.set(0, emg0_in.read() );  //Raw EMG plot
     scope.set(1, emg1_in.read() );
     scope.set(2, emg2_in.read() );
-    /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) 
-    *  Ensure that enough channels are available (HIDScope scope( 2 ))
-    *  Finally, send all channels to the PC at once */
-    scope.send();
-    /* To indicate that the function is working, the LED is toggled */
+    
+    //scope.set(0, movAg0.read() ); Werkt niet!! Hoe dan wel moving average in HIDScope??
+    
+    scope.send(); //Send data to HIDScope server
 }
 
 void EMGFilter0()
@@ -139,6 +127,7 @@
     movAg0 = sum1/windowsize;                        //calculates an average in the array
     movAg1 = sum2/windowsize;
     movAg2 = sum3/windowsize;
+    //serial getallen sturen, als het 1 getal is gaat hier wat fout, als het een reeks is dan gaat er bij de input naar HIDscope wat fout.
 }
 
 void emg_filtered()             //Call all filter functions
@@ -149,227 +138,19 @@
     MovAg();
 }
 
-void switch_to_calibrate()
-{
-    x++;
-    
-    if(x==0)                    //If x = 0, led is red
-    {
-        ledr = 0;
-        ledb = 1;
-        ledg = 1;
-    }
-    else if (x==1)              //If x = 1, led is blue
-    {
-        ledr = 1;
-        ledb = 0;
-        ledg = 1;
-    }
-    else if (x == 2)            //If x = 2, led is green
-    {
-        ledr = 1;
-        ledb = 1;
-        ledg = 0;
-    }
-    else                        //If x = 3, led is white
-    {
-        ledr = 0;
-        ledb = 0;
-        ledg = 0;
-    }
-   
-    if(x==4)                    //Reset back to x = 0
-    {
-        x = -1;
-    }
-}
-    
-        
-void calibrate(void)
-{
-    switch(x)
-    {
-        case 0: 
-        {
-            sum = 0.0;
-            for(int j = 0; j<=sizeCal-1; j++)
-            {
-                StoreCal0[j] = emgfilter0;
-                sum+=StoreCal0[j];
-                wait(0.001f);
-            }
-            Mean0       = sum/sizeCal;
-            Threshold0  = Mean0/2;
-            break;
-        }
-        case 1:
-        {
-            sum = 0.0;
-            for(int j = 0; j<=sizeCal-1; j++)
-            {
-                StoreCal1[j] = emgfilter1;
-                sum+=StoreCal1[j];
-                wait(0.001f);
-            }
-            Mean1       = sum/sizeCal;
-            Threshold1  = Mean1/2;
-            break;
-        }
-        case 2:
-        {
-            sum = 0.0;
-            for(int j = 0; j<=sizeCal-1; j++)
-            {
-                StoreCal1[j] = emgfilter2;
-                sum+=StoreCal2[j];
-                wait(0.001f);
-            }
-            Mean2       = sum/sizeCal;
-            Threshold2  = Mean2/2;
-            break;
-        }
-        case 3:                                     //EMG is calibrated, robot can be set to Home position.
-        {
-            emg_cal = 1;
-            wait(0.001f);
-            break;
-        }
-        default:                                    //Ensures nothing happens if x is not 0,1 or 2.
-        {
-            break;
-        }
-    }
-}
-            
-void encoderA_rise()       
-{
-    if(encoderB==false)
-    {
-        encoder++;
-    }
-    else
-    {
-        encoder--;
-    }
-}
-
-void encoderA_fall()      
-{
-    if(encoderB==true)
-    {
-        encoder++;
-    }
-    else
-    {
-        encoder--;
-    }
-}
-
-void encoderB_rise()       
-{
-    if(encoderA==true)
-    {
-        encoder++;
-    }
-    else
-    {
-        encoder--;
-    }
-}
-
-void encoderB_fall()      
-{
-    if(encoderA==false)
-    {
-        encoder++;
-    }
-    else
-    {
-        encoder--;
-    }
-}
-
-
 // Main function start.
 
 int main()
-{ 
-    //pc.baud(115200);
-    //pc.printf("hello\n\r");
-    
-    ledr = 0;       //Begin led = red, first state of calibration
-    ledb = 1;
-    ledg = 1;
-    
-    sample_timer.attach(&sample, 0.002);        //HIDscope 
-    
-    filter_tick.attach(&emg_filtered,T);        //EMG signals filtered + moving average every T sec.
-    button1.rise(switch_to_calibrate);          //Switch state of calibration (which muscle)
-    wait(0.2f);
-    button2.rise(calibrate);                    //calibrate threshold for 3 muscles
-    wait(0.2f);
-       
-    pwmpin1.period_us(60);                      //60 microseconds PWM period, 16.7 kHz 
+{         
+        pc.baud(115200);
+        pc.printf("hello\n\r");
+
+        while(true)
+        {
 
-    encoderA.rise(&encoderA_rise);
-    encoderA.fall(&encoderA_fall);
-    encoderB.rise(&encoderB_rise);
-    encoderB.fall(&encoderB_fall);
-    
-    if(emg_cal==1)
-    { 
-         while (true)
-                {
-                //Motor aansturen en encoder uitlezen
-                  //float u1 = potmetervalue1;
-                  //float u2 = potmetervalue2;
-                  
-                  //float m1 = ((u1*2.0f)-1.0f);
-                  //float m2 = ((u2*2.0f)-1.0f);
-                
-                  //pwmpin1 = fabs(m1*0.6f)+0.4f;     //pwm duty cycle can only be positive, floating, 0.4f is "inefficiënt", dit tellen we erbij op, en keer 0.6 om te corrigeren voor de helling.        
-                
-                if(emgfilter0>Threshold0)
-                {
-                       pwmpin1 = 1;
-                       directionpin1.write(1);
-                }
-                else
-                {
-                       pwmpin1 = 0;
-                }
-                
-                if(emgfilter1>Threshold1)
-                {
-                       pwmpin2 = 1;
-                       directionpin2.write(1);
-                }
-                else
-                {
-                       pwmpin2 = 0;
-                }
-                if(emgfilter2>Threshold2)
-                {
-                       pwmpin1 = 1;
-                       pwmpin2 = 2;
-                       directionpin1.write(1);
-                       directionpin2.write(1);
-                }
-                else
-                {
-                       pwmpin1 = 0;
-                       pwmpin2 = 0;
-                }
-                       
-                       //Indien waar, motor draait rechtsom. Indien niet waar, motor draait linksom. 
-                //wait(0.01f);                   //zodat de code niet oneindig doorgaat.
-                //pwmpin2 = fabs(m2*0.6f)+0.4f;    
-                //directionpin2.write(m2>0);   
-                
-                //float encoderDegrees = float(encoder)*(360.0/8400.0);
-                        
-                //pc.printf("Encoder count: %f \n\r",encoderDegrees);
+        sample_timer.attach(&sample, 0.002);
+        filter_tick.attach(&emg_filtered,T);        //EMG signals filtered + moving average every T sec.
+        pc.printf("\n\r Moving average EMG 3 is: %d \n\r",movAg2);
         
-    }
+        }
 }
-}