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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Project_script_union_final
by 
Jorine Oosting
Revision 24:6d63ad38fef7, committed 2018-10-30
- Comitter:
- MarijkeZondag
- Date:
- Tue Oct 30 13:09:58 2018 +0000
- Parent:
- 23:97a976a8f0fc
- Child:
- 25:bbef09ff226b
- Commit message:
- Motoren met 3 spieren aansturen werkt
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Oct 30 10:37:45 2018 +0000
+++ b/main.cpp Tue Oct 30 13:09:58 2018 +0000
@@ -250,63 +250,46 @@
{
while(emg_cal==1) //After calibration is finished, emg_cal will be 1. Otherwise 0.
{
- // pc.printf("Movag0 = %f , Movag1 = %f, Movag2 = %f \n\r",movAg0, movAg1, movAg2);
- // pc.printf("Thresh0 = %f , Thresh1 = %f, Thresh2 = %f \n\r",Threshold0, Threshold1, Threshold2);
- // wait(2.0f);
- if(movAg0>Threshold0) //If the filtered EMG signal of muscle 0 is higher than the threshold, motor1 will turn in 1 direction
+ if(movAg0>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); //translatie vooruit
- ledr = 1; //Blue
+ ledr = 1; //Blue
ledb = 0;
ledg = 1;
}
- else //If it is not higher than the threshold, the motor will not turn at all.
- {
- pwmpin1 = 0;
- ledr = 0; //white
- ledb = 0;
- ledg = 0;
- }
-
- if(movAg1>Threshold1) //If the filtered EMG signal of muscle 1 is higher than the threshold, motor2 will turn in 1 direction
+ else if(movAg1>Threshold1) //If the filtered EMG signal of muscle 1 is higher than the threshold, motor2 will turn in 1 direction
{
pwmpin2 = 1;
- directionpin2.write(0); //rotatie omhoog
- ledr = 0; //red
+ directionpin2.write(1); //rotatie omhoog
+ ledr = 0; //red
ledb = 1;
ledg = 1;
}
- else //If not higher than the threshold, motor will not turn at all
+ else if(movAg2>Threshold2) //If the filtered EMG signal of muscle 2 is higher than the threshold, motor 1 and 2 will turn
{
- pwmpin2 = 0;
- ledr = 0; //white
- ledb = 0;
- ledg = 0;
- }
- // if(movAg2>Threshold2) //If the filtered EMG signal of muscle 2 is higher than the threshold, motor 1 and 2 will turn
- //{
- // pwmpin1 = 1;
- //pwmpin2 = 1;
- // directionpin1.write(0); //translatie achteruit
- // directionpin2.write(1); //rotatie omlaag
+
+ pwmpin1 = 1;
+ pwmpin2 = 1;
+ directionpin1.write(0); //translatie achteruit
+ directionpin2.write(0); //rotatie omlaag
- //ledr = 1; //green
- //ledb = 1;
- //ledg = 0;
- //}
- //else //If not higher than the threshold, motors will not turn at all
- //{
- // pwmpin1 = 0;
- // pwmpin2 = 0;
+ ledr = 1; //green
+ ledb = 1;
+ ledg = 0;
+ }
+ else //If not higher than the threshold, motors will not turn at all
+ {
+ pwmpin1 = 0; //Motoren doen niets
+ pwmpin2 = 0;
- // ledr = 0; //white
- // ledb = 0;
- // ledg = 0;
- //}
+ ledr = 0; //white
+ ledb = 0;
+ ledg = 0;
+ }
break;
}
@@ -332,9 +315,9 @@
// HIDScope_tick.attach(&HIDScope_sample,T); //EMG signals raw + filtered to HIDScope every T sec.
button1.rise(switch_to_calibrate); //Switch state of calibration (which muscle)
- wait(0.2f);
+ wait(0.2f); //Wait to avoid bouncing of button
button2.rise(calibrate); //Calibrate threshold for 3 muscles
- wait(0.2f);
+ wait(0.2f); //Wait to avoid bouncing of button
pc.printf("x is %i\n\r",x);
pc.printf("Movag0 = %f , Movag1 = %f, Movag2 = %f \n\r",movAg0, movAg1, movAg2);