Tim Luten
/
DEMO_TEST_LIJN
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Dependencies: Demo_TEST3 QEI biquadFilter mbed
Fork of
Demo_TEST3
by 
Biorobotica TIC
Diff: main.cpp
- Revision:
- 3:be5ac89a0b53
- Parent:
- 2:36ad60c0aa01
- Child:
- 4:5ceb8f058874
--- a/main.cpp Thu Oct 18 14:16:08 2018 +0000
+++ b/main.cpp Fri Oct 19 08:05:58 2018 +0000
@@ -1,11 +1,11 @@
#include "mbed.h"
#include "math.h"
#include "BiQuad.h"
-//#include "Servo.h"
-#include "HIDScope.h"
+#include "Servo.h"
+//#include "HIDScope.h"
-//Servo myservo(D7);
+
//Define objects
AnalogIn emgL( A0 ); // EMG Left Arm
AnalogIn emgR( A1 ); // EMG Right Arm
@@ -13,12 +13,12 @@
DigitalOut ledR(LED_RED);
DigitalOut ledG(LED_GREEN); // Informative LED for gaining zero and max
DigitalIn TestButton(PTA4); // Button used for gaining zero and max
-DigitalIn onoff(PTC6); // Button used for switching between zero and max
+DigitalIn zeromax(PTC6); // Button used for switching between zero and max
Ticker emgSampleTicker; // Ticker for sample frequency
-DigitalOut signalL(D4); // Output to motorshield, emg left biceps
-DigitalOut signalR(D5);
-HIDScope scope( 2 ); // Output to motorshield, emg right biceps
-
+//HIDScope scope( 4 );
+Servo myservo(D13);
+DigitalOut motor1direction(D7);
+PwmOut motor1control(D6);
int P= 200; // Number of points for moving average first emg
@@ -54,9 +54,10 @@
void emgSample() { // EMG function
-
- double emgFilteredR = bqcR.step( emgR.read() );
- double emgabsR = abs(emgFilteredR); // Absolute value of EMG signal right biceps
+
+ double emgNOFilteredR = bq3R.step(emgR.read()); // Filtered HP value of EMG signal left biceps
+ double emgHPFilteredR = bq2R.step(emgNOFilteredR); // Filtered HP value of EMG signal left biceps
+ double emgabsR = fabs(emgHPFilteredR); // Absolute value of EMG signal left biceps
double emgNOFilteredL = bq3L.step(emgL.read()); // Filtered HP value of EMG signal left biceps
double emgHPFilteredL = bq2L.step(emgNOFilteredL); // Filtered HP value of EMG signal left biceps
@@ -79,13 +80,6 @@
}
movmeanL = sumL/P;
- /* 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, emgL.read() );
- scope.set(1, movmeanL);
- /* 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(); // Moving average value left biceps
for(int i = P-1; i >= 0; i--){ // For-loop used for moving average
if (i == 0) {
@@ -101,11 +95,22 @@
sumR = sumR + B[n];
}
movmeanR = sumR/P; //dit is de moving average waarde // Moving average value right biceps
+
+ /* 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, emgL.read() );
+ //scope.set(1, movmeanL);
+ //scope.set(2, emgR.read());
+ //scope.set(3, movmeanR);
+ /* 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(); // Moving average value left biceps
if (TestButton==0 & k<200) { // Loop used for gaining max and zero value
Lvector[k] = movmeanL;
Rvector[k] = movmeanR;
+
if (x==0){
ledB = !ledB; // SPIER NIET AANSPANNEN BIJ BLAUW
} // SPIER WEL AANSPANNEN BIJ ROOD
@@ -128,7 +133,7 @@
ledR = 1;
ledG = !ledG;
}
- else if (k == 201 && onoff ==0) { // Loop used for switching between zero and max
+ else if (k == 201 && zeromax ==0) { // Loop used for switching between zero and max
ledG = !ledG;
k = 0;
if (x==0) {
@@ -143,24 +148,6 @@
thresholdL = Lwaarde[0]+(Lwaarde[1]-Lwaarde[0])*(0.25f);
thresholdR = Rwaarde[0]+(Rwaarde[1]-Rwaarde[0])*(0.25f);
}
-
- if (movmeanL > thresholdL) // Signal sent to the motors
- {
- signalL = 1;
- }
- else
- {
- signalL = 0;
- }
-
- if (movmeanR > thresholdR)
- {
- signalR = 1;
- }
- else
- {
- signalR = 0;
- }
}
int main()
@@ -168,19 +155,26 @@
ledB = 1;
ledG = 1;
ledR = 1;
-bqcR.add( &bq1R ).add( &bq2R ).add( &bq3R ); // Filter for emg signal
emgSampleTicker.attach( &emgSample, 0.002 ); // Ticker for EMG function
Lwaarde[0] = 0.01; // Startvalue for zerovalue, to -
Rwaarde[0] = 0.01; // - prevent dividing by 0
while(1) {
- //
-// if (movmeanL > (0.02))
-// { myservo = 0.5;
-// wait(0.01);
-// }
-// else {
-// myservo = 0.0;
-// wait(0.01);
-// }
+
+ if (movmeanR > thresholdR)
+ { myservo = 0.5;
+ wait(0.01);
+ }
+ else {
+ myservo = 0.0;
+ wait(0.01);
+ }
+
+ if (movmeanL > thresholdL)
+ { motor1control.write(0.8);
+ motor1direction.write(true);
+ }
+ else {
+ motor1control.write(0);
+ }
}
}
\ No newline at end of file