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kalibratie stappen project EMG
Dependencies: HIDScope MODSERIAL biquadFilter mbed
Fork of Milestone_sample by
main.cpp
- Committer:
- MarijkeZondag
- Date:
- 2018-10-24
- Revision:
- 22:91ad5984b2f2
- Parent:
- 21:1da43fdbd254
File content as of revision 22:91ad5984b2f2:
#include "mbed.h" #include "MODSERIAL.h" #include <math.h> AnalogIn emg0_in (A0); AnalogIn emg1_in (A1); AnalogIn emg2_in (A2); InterruptIn button1 (D10); //Is this one available? We need to make a map of which pins are used for what. InterruptIn button2 (D11); DigitalOut directionpin1 (D4); //Motor direction pin DigitalOut directionpin2 (D7); DigitalOut ledr (LED_RED); DigitalOut ledb (LED_BLUE); DigitalOut ledg (LED_GREEN); PwmOut pwmpin1 (D5); //Pulse width modulation --> speed motor PwmOut pwmpin2 (D6); MODSERIAL pc(USBTX, USBRX); //Serial communication to test if the code works //EMG filter variables (also necessary for calibration parts) double emg0_filt, emg1_filt, emg2_filt; //Variables for filtered EMG data channel 0, 1 and 2 double emg0_raw, emg1_raw, emg2_raw; 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 (moet dit een array zijn??) //Calibration variables int x = -1; //Start switch, colour LED is blue. int emg_cal = 0; //if emg_cal is set to 1, motors can begin to work in this code (!!) const int sizeCal = 2000; //size of the dataset used for calibration double StoreCal0[sizeCal], StoreCal1[sizeCal], StoreCal2[sizeCal]; //arrays to put the dataset of the calibration in double Mean0,Mean1,Mean2; //average of maximum tightening double Threshold0, Threshold1, Threshold2; //Threshold variables //Functions void switch_to_calibrate() { x++; //Every time function gets called, x increases. Every button press --> new calibration state. //Starts with x = -1. So when function gets called 1 time, x = 0. In the end, x = 4 will reset to -1. 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 or 4, led is white { ledr = 0; ledb = 0; ledg = 0; } if(x==4) //Reset back to x = -1 { x = -1; } } void calibrate(void) { switch(x) { case 0: //If calibration state 0: { sum = 0.0; for(int j = 0; j<=sizeCal-1; j++) //Array filled with datapoints from the EMGfilter signal of muscle 0 { StoreCal0[j] = emg0_filt; sum+=StoreCal0[j]; wait(0.001f); //Does there need to be a wait? } Mean0 = sum/sizeCal; //Calculate mean of the datapoints in the calibration set (2000 samples) Threshold0 = Mean0/2; //Threshold calculation = 0.5*mean break; //Stop. Threshold is calculated, we will use this further in the code } case 1: //If calibration state 1: { sum = 0.0; for(int j = 0; j<=sizeCal-1; j++) //Array filled with datapoints from the EMGfilter signal of muscle 1 { StoreCal1[j] = emg1_filt; sum+=StoreCal1[j]; wait(0.001f); } Mean1 = sum/sizeCal; Threshold1 = Mean1/2; break; } case 2: //If calibration state 2: { sum = 0.0; for(int j = 0; j<=sizeCal-1; j++) //Array filled with datapoints from the EMGfilter signal of muscle 2 { StoreCal1[j] = emg2_filt; 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; //This is the setting for which the motors can begin turning in this code (!!) wait(0.001f); break; } default: //Ensures nothing happens if x is not 0,1 or 2. { break; } } } int main() { pc.baud(115200); pc.printf("hello\n\r"); //Check does code work ledr = 1; //Begin led = blue, press button for first state of calibration --> led will turn red ledb = 0; ledg = 1; 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 if(emg_cal==1) //After calibration is finished, emg_cal will be 1. Otherwise 0. { while (true) { if(emg0_filt>Threshold0) //If the filtered EMG signal of muscle 0 is higher than the threshold, motor1 will turn in 1 direction { pwmpin1 = 1; directionpin1.write(1); } else //If it is not higher than the threshold, the motor will not turn at all. { pwmpin1 = 0; } if(emg1_filt>Threshold1) //If the filtered EMG signal of muscle 1 is higher than the threshold, motor2 will turn in 1 direction { pwmpin2 = 1; directionpin2.write(1); } else //If not higher than the threshold, motor will not turn at all { pwmpin2 = 0; } if(emg2_filt>Threshold2) //If the filtered EMG signal of muscle 2 is higher than the threshold, motor 1 and 2 will turn { pwmpin1 = 1; pwmpin2 = 2; directionpin1.write(1); directionpin2.write(1); } else //If not higher than the threshold, motors will not turn at all { pwmpin1 = 0; pwmpin2 = 0; } } } //Opmerkingen Marijke: ik ben niet zeker van waar ik de while loop moet plaatsen. //Misschien is aan het einde buiten de if beter, schrijf dan while(1){}. //De manier van aansturen van de motoren is nu puur om te testen of de kalibratie werkt. Op deze manier kunnen //We namelijk niet met 2 spieren 2 motoren tegelijk aansturen. }