File content as of revision 9:355dd95199c3:

#include "mbed.h"
#include "MODSERIAL.h"
#include "HIDScope.h"
#include "QEI.h"

MODSERIAL pc(USBTX, USBRX);
DigitalOut DirectionPin1(D4);
DigitalOut DirectionPin2(D7);
PwmOut PwmPin1(D5);
PwmOut PwmPin2(D6);
DigitalIn Knop1(D2);
DigitalIn Knop2(D3);
DigitalIn Knop3(PTA4);
DigitalIn Knop4(PTC6);
AnalogIn pot1 (A5);
AnalogIn pot2 (A4);
AnalogIn emg0( A0 );
AnalogIn emg1( A1 );
AnalogIn emg2( A2 );
AnalogIn emg3( A3 );
DigitalOut led_G(LED_GREEN);
DigitalOut led_R(LED_RED);
DigitalOut led_B(LED_BLUE);

QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING);
QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING);

Ticker      StateTicker;
Ticker      printTicker;

HIDScope    scope( 4 );

volatile float Bicep_Right          = 0.0;
volatile float Bicep_Left           = 0.0;
volatile float Tricep_Right         = 0.0;
volatile float Tricep_Left          = 0.0;

volatile const float pi             = 3.1415926; 
volatile const float rad_count      = 0.0007479;                                // 2pi/8400;
volatile const float maxVelocity    = 2.0f * pi;                                // in rad/s

volatile float referenceVelocity1   = 0.5;                                      // dit is de gecentreerde waarde en dus de nulstand
volatile float referenceVelocity2   = 0.5;

volatile int i   = 0;                                                           // Led blink status
volatile int ii  = 0;                                                           // Calibratie timer
volatile int iii = 0;                                                           // Start up timer

volatile float q_1;
volatile float q_2;
volatile float r_1;
volatile float r_2;
volatile const float r_3 = 0.035;
volatile float w_1;
volatile float w_2;

volatile float Flex_Bi_R;
volatile float Flex_Bi_L;
volatile float Flex_Tri_R;
volatile float Flex_Tri_L;
volatile float Threshold_Bi_R;
volatile float Threshold_Bi_L;
volatile float Threshold_Tri_R;
volatile float Threshold_Tri_L;

enum states{Starting, Calibration, Homing, Function};
    
volatile states Active_State = Starting;

volatile float vx;
volatile float vy;
volatile int counts1 ;
volatile int counts2 ;
volatile float rad_m1;
volatile float rad_m2;
    
void Encoding()
{
 
    counts1 = Encoder1.getPulses();
    counts2 = Encoder2.getPulses();
    
    rad_m1 = rad_count * (float)counts1;
    rad_m2 = rad_count * (float)counts2;
}

void BlinkLed()
{
    if(i==1)
    {
            static int rr = 0;
            rr++;
            if (rr == 1)
            {
                led_R = !led_R;
            }
            else if (rr == 100)
            {
                rr = 0;
            }
    }     
    else if(i==2)
    {        
            static int gg = 0;
            gg++;
            if (gg == 1)
            {
                led_G = !led_G;
            }
            else if (gg == 100)
            { 
                gg = 0;
            }
    }
    else if (i==3)
    {            
            static int bb = 0;
            bb++;
            if (bb == 1)
            {
                led_B = !led_B;
            }
            else if (bb == 100)
            {
                bb = 0;
            }
    }
    else 
    {
        led_R=led_G=led_B=1;
    }  
}

void EMG_Read()
{
    Bicep_Right     =   emg0.read();
    Bicep_Left      =   emg1.read();
    Tricep_Right    =   emg2.read();
    Tricep_Left     =   emg3.read();   
}

void sample()
{
    
    scope.set(0, emg0.read() );
    scope.set(1, emg1.read() );
    scope.set(2, emg2.read() );
    scope.set(3, emg3.read() );
  
    scope.send();
}

void Inverse()
{
    q_1= rad_m1;                                                                // uit Encoder
    q_2= rad_m2+(pi/2.0f);                                                      // uit Encoder
    r_1= -0.2f;
    r_2= -0.2f;
    
        float u = -r_2*sin(q_1)*cos(q_2)-(r_2)*cos(q_1)*sin(q_2);
        float z = 2.0f*(r_2*cos(q_1)*cos(q_2))-r_3;
        float y = r_2*cos(q_1)*cos(q_2)-r_2*sin(q_1)*sin(q_2)+2.0f*(r_1*cos(q_1))-r_3;
        float x = (-2.0f)*r_2*sin(q_1)*cos(q_2);
        float D = 1.0f/(u*z-x*y);                                               // Determinant
        printf("Determinant is %f\r\n", D);
        
        float a = D*z;                                                          // Inverse jacobian a,b,c,d vormen 2 bij 2 matrix
        float b = -D*x;                                                         // Inverse jacobian
        float c = -D*y;                                                         // Inverse jacobian
        float d = D*u;                                                          // Inverse jacobian
        
        float vx = pot1.read();//0.01f;                                                       // uit emg data
        float vy = pot2.read();//0.0f;                                                        // uit emg data
        
        w_1 = vx*a+vy*b;
        w_2 = vx*c+vy*d;
        
        /*
        printf("%f\r\n", w_1);
        printf("%f\r\n", w_2);
        */     
}
/*   
void velocity1()
    {
            if (pot1.read()>0.5f)
                {
                // Clockwise rotation
                referenceVelocity1 = (pot1.read()-0.5f) * 2.0f; 
                }
            
            else if (pot1.read() == 0.5f)
            {
                referenceVelocity1 = pot1.read() * 0.0f; 
            } 
            
            else if (pot1.read() < 0.5f)
                {
                // Counterclockwise rotation      
                referenceVelocity1 = 2.0f * (pot1.read()-0.5f) ;
                }
    }
    
void velocity2()
    {
            if (pot2.read()>0.5f)
                {
                // Clockwise rotation
                referenceVelocity2 = (pot2.read()-0.5f) * 2.0f; 
                }
            
            else if (pot2.read() == 0.5f)
            {
                referenceVelocity2 = pot2.read() * 0.0f; 
            } 
            
            else if (pot2.read() < 0.5f)
                {
                // Counterclockwise rotation      
                referenceVelocity2 = 2.0f * (pot2.read()-0.5f) ;
                }
    }    
*/    
void motor1()
    {          
        float u_v1 = w_1; //referenceVelocity1       
        float u = u_v1/ (2.0f * pi);
        DirectionPin1 = u < 0.0f;
        PwmPin1 = fabs(u);
    }

void motor2()
    {  
        float u_v2 = w_2; //referenceVelocity2
        float u = u_v2/ (2.0f * pi);
        DirectionPin2 = u > 0.0f;
        PwmPin2 = fabs(u);
    }
   
void Calibrating()
{
    static float n = 0.0;
    static float m = 0.0;
    static float l = 0.0;
    static float k = 0.0;
    
    //static int ii; 
    ii++;
    
            if (ii<=2500)
            {
                if (ii == 0)
                {
                    pc.printf("Relax your muscles please. \r\n");
                }
                else if (ii == 2250)
                {
                    pc.printf("Flex your right bicep now please.\r\n");
                }
                //chillen
            }
            else if (ii>2500 && ii<5000) //
            {
                n = n + emg0.read();// dit wordt de variable naam na het filter
            }
            else if (ii == 5000)
            {
                Flex_Bi_R = n / 2500.0f;
                pc.printf("You can relax your right bicep, thank you. \r\nYour mean flexing value was %f\r\n\r\n", Flex_Bi_R);
            }
            else if (ii>5000 && ii<=6000)
            {
                if (ii == 5750)
                {
                    pc.printf("Flex your left bicep now please. \r\n");
                }
                //chillen
            }
            else if(ii>6000 && ii<8500)
            {
                m = m + emg1.read();
            }
            else if (ii == 8500)
            {
                Flex_Bi_L = m / 2500.0f;
                pc.printf("You can relax your left bicep, thank you. \r\nYour mean flexing value was %f\r\n\r\n", Flex_Bi_L);
            }
            else if (ii>8500 && ii<=9500)
            {
                if (ii == 9250)
                {
                    pc.printf("Flex your right tricep now please. \r\n");
                }
                //chillen
            }
            else if (ii>9500 && ii<12000)
            {
                l = l + emg2.read();
            }
            else if (ii == 12000)
            {
                Flex_Tri_R = l / 2500.0f;
                pc.printf("You can relax your right tricep, thank you. \r\nYour mean flexing value was %f\r\n\r\n", Flex_Tri_R);
            }
            else if (ii>12000 && ii <=13000)
            {
                if (ii == 12750)
                {
                    pc.printf("Flex your left tricep now please. \r\n");
                }
                //chillen
            }
            else if (ii>13000 && ii<15500)
            {
                k = k + emg3.read();
            }
            else if (ii == 15500)
            {
                Flex_Tri_L = k / 2500.0f;
                pc.printf("You can relax your left tricep, thank you. \r\nYour mean flexing value was %f\r\n\r\nThe calibration has been completed, the system is now operatable. \r\n",Flex_Tri_L);
            }
            
Threshold_Bi_R  = 0.75f * Flex_Bi_R;
Threshold_Bi_L  = 0.75f * Flex_Bi_L;
Threshold_Tri_R = 0.75f * Flex_Tri_R;
Threshold_Tri_L = 0.75f * Flex_Tri_L;                  

            if (ii == 16500)
            {
                pc.printf("\r\nThreshold value right bicep  = %f\r\nThreshold value left bicep   = %f\r\nThreshold value right tricep = %f\r\nThreshold value left tricep  = %f\r\n\r\n",Threshold_Bi_R,Threshold_Bi_L,Threshold_Tri_R,Threshold_Tri_L);
            }
            else if (ii == 20000)
            {
                pc.printf("\r\nAutomatic switch to Homing State\r\n");
                Active_State = Homing;
            }
}

void Start_Up()
{
    i++;
    iii++;
    if (iii == 1)
    {
        pc.printf("System is starting...\r\nWaiting for further input...\r\n");
    }
    
    else if (iii == 30000)
    {
        pc.printf("1 minute without input..\r\nReseting start-up...\r\n");
        iii = 0;
    }    
    else if (iii == 40001)                                                      // sleeping state is only added for designing purposes and will most likely never be used
    {                                                                           // when working with patients. Furthermore it cannot be reached automaticly
        pc.printf("Sleeping... Press button 4 to wake me up!\r\n\r\n");
        iii++;
    }
    else if (iii == 45000)
    {
        iii = 40000;
    }
}

void OFF()
{
    PwmPin1 = PwmPin2 = 0;
}

void Going_Home()
{
    //Here we will reset the position of the arm back to the home state
    
    if (counts1 == 0)                                                           // this 0 is a filler value and can later be determined to the angle of the 
    {                                                                           // 0-state of the arm
        PwmPin1=0.0f;
    }
    else if (counts1 > 0)
    {
        DirectionPin1 = true;                                                   //uitzoeken of dit klopt, is afhankelijk welke richting opgedraaid moet worden..
        PwmPin1 = 0.6f;
    }
    else if (counts1 < 0)
    {
        DirectionPin1 = false;
        PwmPin1 = 0.6f;
    }
    
    if (counts2 == 0)                                                           //Homing for M1 naar begin staat
    {
        PwmPin2=0.0f;
    }
    else if (counts2 > 0)
    {
        DirectionPin2 = true;                                                   //uitzoeken of dit klopt, is afhankelijk welke richting opgedraaid moet worden..
        PwmPin2 = 0.6f;
    }
    else if (counts2 < 0)
    {
        DirectionPin2 = false;
        PwmPin2 = 0.6f;
    } 
    
    if (counts1 == 0 && counts2 == 0)
    {
        pc.printf("Homing is completed\r\nAutomatic switch to the Functioning State\r\n");
        Active_State = Function;
    }
}

void Printing()
{
    float v1 = PwmPin1 * maxVelocity;
    float v2 = PwmPin2 * maxVelocity;
    
        if (Active_State == Function)
        {
            pc.printf("q1    = %f [rad] \r\nq2    = %f [rad] \r\nq1dot = %f [rad/s] \r\nq2dot = %f [rad/s] \r\n\r\n\r\n\r\n\r\n", rad_m1, rad_m2, v1, v2);
        }
        
    pc.printf("%f %f",vx, vy);
}

void StateMachine() 
{
    switch (Active_State)
    {
        case Starting:   
        OFF();            
        Start_Up();
        BlinkLed();
        
        if (!Knop4 == true)
        {
            Active_State = Calibration;
            pc.printf("Entering Calibration State \r\n");
        }
        else if (!Knop3 == true)
        {
            Active_State = Homing;
            pc.printf("Entering Homing State \r\n");
        }
                                   
        break;
        
        case Calibration:
                //calibration actions
                //pc.printf("Calibration State");
                
                Calibrating();
                OFF();
                
                if (!Knop1 && !Knop2)
                {
                    pc.printf("Switched to Sleeping State\r\n");
                    Active_State = Starting;
                    iii = 40001;
                }
                else if (Knop1==false)
                {
                    pc.printf("Manual switch to Homing state \r\n");
                    Active_State = Homing;
                }

                    
                
                sample();
                EMG_Read();
                Encoding();    
        break;
        
        case Homing:
                //Homing actions
                //pc.printf("Homing State");
                Going_Home();
                
                if (!Knop1 && !Knop2)
                {
                    pc.printf("Switched to Sleeping State\r\n");
                    Active_State = Starting;
                    iii = 40000;
                }
                else if (Knop2==false)
                {
                    pc.printf("Manual switch to Funtioning State \r\n");
                    Active_State = Function;
                }
                else if (Knop3==false)
                {
                    Active_State = Calibration;
                    pc.printf("Re-entering Calibration State \r\n");
                }
                
                
                sample();
                EMG_Read();
                Encoding();
        break;
        
        case Function:
            //pc.printf("Funtioning State");
                
                if (Knop4==false)
                { 
                    pc.printf("Re-entering Calibration State \r\n");
                    Active_State = Calibration;
                    ii=0;
                }
                else if (Knop3==false)
                {
                    pc.printf("Re-entering Homing State \r\n");
                    Active_State = Homing;
                }
                else if (!Knop1 && !Knop2)
                {
                    pc.printf("Switched to Sleeping State\r\n");
                    Active_State = Starting;
                    iii = 40000;
                }
               
                sample();
                EMG_Read();
                Encoding();
                //velocity1();
                //velocity2();
                motor1();
                motor2();                
        break;    
            
        default:
        pc.printf("UNKNOWN COMMAND");
    }
}    

int main()
{
    pc.baud(115200);    
    PwmPin1.period_us(30); //60 microseconds pwm period, 16.7 kHz 
    
    StateTicker.attach(&StateMachine, 0.002);
   
    printTicker.attach(&Printing, 4.0);
    
    while(true)
    {
    }
}