Renate de Boer
/
script_voor_project_copy
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Dependencies: Servoaansturing mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 25:582e0b1a9a78
- Parent:
- 24:764b71885785
--- a/main.cpp Tue Oct 29 09:34:25 2019 +0000
+++ b/main.cpp Tue Oct 29 10:19:07 2019 +0000
@@ -176,9 +176,9 @@
filtered_EMG_calf=bqck2.step(filtered_EMG_calf_abs);
// De gefilterde EMG-signalen kunnen tevens visueel worden weergegeven in de HIDScope
- scope.set(0, filtered_EMG_biceps_right);
- scope.set(1, normalized_EMG_biceps_right);
- scope.set(2, filtered_EMG_calf);
+ scope.set(0, normalized_EMG_biceps_right);
+ scope.set(1, normalized_EMG_biceps_left);
+ scope.set(2, normalized_EMG_calf);
scope.send();
// Tijdens de kalibratie moet vervolgens een maximale spierspanning worden bepaald, die
@@ -313,122 +313,51 @@
if (normalized_EMG_biceps_right >= 0.3)
{
motor1.write(0.3);
- motor2.write(0.3);
- // motor1_dir.write(1);
- // motor2.write(0);
- // motor2_dir.write(1);
- if (normalized_EMG_calf >= 0.3)
- {
- motor1.write(0.1);
- motor2.write(0.1);
- motor1_dir = !motor1_dir;
- motor2_dir = !motor2_dir;
- motor1.write(0.3);
- motor2.write(0.3);
- }
- if (normalized_EMG_biceps_left >= 0.3)
- {
- motor1.write(0.8);
- motor2.write(0.8);
- // motor2_dir.write(1);
- // motor1.write(0);
- // motor1_dir.write(1);
- if (normalized_EMG_calf >= 0.3)
- {
- motor1.write(0.1);
- motor2.write(0.1);
- motor1_dir = !motor1_dir;
- motor2_dir = !motor2_dir;
- motor1.write(0.8);
- motor2.write(0.8);
- }
- }
- }
+ //motor2.write(0.3);
+ //if (normalized_EMG_calf >= 0.3)
+ //{
+ // motor1.write(0.2);
+ // motor2.write(0.2);
+ //motor1_dir = !motor1_dir;
+ //motor2_dir = !motor2_dir;
+ // motor1.write(0.3);
+ // motor2.write(0.3);
+ //}
+ }
+
if (normalized_EMG_biceps_right < 0.3)
{
motor1.write(0);
- motor2.write(0);
+ //motor2.write(0);
if (normalized_EMG_biceps_left >= 0.3)
- {
- motor1.write(0.8);
- motor2.write(0.8);
- // motor1.write(0);
- // motor1_dir.write(1);
- if (normalized_EMG_calf >= 0.3)
- {
- motor1.write(0.1);
- motor2.write(0.1);
- motor1_dir = !motor1_dir;
- motor2_dir = !motor2_dir;
- motor1.write(0.8);
- motor2.write(0.8);
- }
- }
- }
- if (normalized_EMG_biceps_left >= 0.3)
+ {
+ //motor1.write(0.8);
+ motor2.write(0.8);
+ //if (normalized_EMG_calf >= 0.3)
+ //{
+ //motor1.write(0.2);
+ //motor2.write(0.2);
+ //motor1_dir = !motor1_dir;
+ //motor2_dir = !motor2_dir;
+ //motor1.write(0.8);
+ //motor2.write(0.8);
+ //}
+ }
+ }
+
+ if (Power_button_pressed.read() == false) // Normaal waarde 1 bij indrukken, nu nul -> false
{
- motor1.write(0.8);
- motor2.write(0.8);
- // motor1.write(0);
- // motor1_dir.write(1);
- if (normalized_EMG_calf >= 0.3)
- {
- motor1.write(0.1);
- motor2.write(0.1);
- motor1_dir = !motor1_dir;
- motor2_dir = !motor2_dir;
- motor1.write(0.8);
- motor2.write(0.8);
- }
- if (normalized_EMG_biceps_right >= 0.3)
- {
- motor1.write(0.3);
- motor2.write(0.3);
- if (normalized_EMG_calf >= 0.3)
- {
- motor1.write(0.1);
- motor2.write(0.1);
- motor1_dir = !motor1_dir;
- motor2_dir = !motor2_dir;
- motor1.write(0.3);
- motor2.write(0.3);
- }
- }
+ motors_off();
+ currentState = Motors_off;
+ stateChanged = true;
+ pc.printf("Terug naar de state Motors_off\r\n");
}
- if (normalized_EMG_biceps_left < 0.3)
- {
- motor1.write(0);
- motor2.write(0);
- if (normalized_EMG_biceps_right >= 0.3)
- {
- motor1.write(0.3);
- motor2.write(0.3);
- // motor2.write(0);
- // motor2_dir.write(1);
- if (normalized_EMG_calf >= 0.3)
- {
- motor1.write(0.1);
- motor2.write(0.1);
- motor1_dir = !motor1_dir;
- motor2_dir = !motor2_dir;
- motor1.write(0.3);
- motor2.write(0.3);
- }
- }
- }
+
+ if (Emergency_button_pressed.read() == false)
+ {
+ emergency();
+ }
}
-
- if (Power_button_pressed.read() == false) // Normaal waarde 1 bij indrukken, nu nul -> false
- {
- motors_off();
- currentState = Motors_off;
- stateChanged = true;
- pc.printf("Terug naar de state Motors_off\r\n");
- }
- if (Emergency_button_pressed.read() == false)
- {
- emergency();
- }
// wait(25);
// else
// {