Kilian Buitenhuis / Mbed 2 deprecated State_machine

changed the location of all constants to Constants.h

Dependencies:   HIDScope QEI biquadFilter mbed

Fork of State_machine by Casper Kroon

main.cpp@2:3f67b4833256, 2018-10-30 (annotated)

Committer:
CasperK
Date:
Tue Oct 30 15:58:07 2018 +0000
Revision:
2:3f67b4833256
Parent:
1:afb820c6fc0d
Child:
3:ed4676f76a5c
Added emg and emg-calibration, not tested yet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
CasperK 0:1b2c842eca42 1 #include "mbed.h"
CasperK 1:afb820c6fc0d 2 #include "QEI.h"
CasperK 1:afb820c6fc0d 3 #include "HIDScope.h"
CasperK 1:afb820c6fc0d 4 #include "MODSERIAL.h"
CasperK 2:3f67b4833256 5 #include "BiQuad.h"
CasperK 2:3f67b4833256 6 #include "math.h"
CasperK 2:3f67b4833256 7
CasperK 2:3f67b4833256 8 #define IGNORECOUNT 100
CasperK 1:afb820c6fc0d 9
CasperK 1:afb820c6fc0d 10 PwmOut pwmpin1(D6);
CasperK 1:afb820c6fc0d 11 PwmOut pwmpin2(D5);
CasperK 1:afb820c6fc0d 12 AnalogIn potmeter1(A5);
CasperK 1:afb820c6fc0d 13 AnalogIn potmeter2(A4);
CasperK 1:afb820c6fc0d 14 DigitalIn button1(D2);
CasperK 1:afb820c6fc0d 15 DigitalIn button2(D3);
CasperK 1:afb820c6fc0d 16 DigitalOut directionpin1(D4);
CasperK 1:afb820c6fc0d 17 DigitalOut directionpin2(D7);
CasperK 1:afb820c6fc0d 18 QEI motor1(D13,D12,NC, 32);
CasperK 1:afb820c6fc0d 19 QEI motor2(D11,D10,NC, 32);
CasperK 1:afb820c6fc0d 20
CasperK 2:3f67b4833256 21 //Define objects
CasperK 2:3f67b4833256 22 AnalogIn emg0( A0 ); // EMG at A0
CasperK 2:3f67b4833256 23 BiQuad emg0bq1(0.8848578, -1.7697156, 0.8848578, -1.7539023, 0.7855289); // highpass at 30Hz Q at around 1
CasperK 2:3f67b4833256 24 BiQuad emg0bq2(0.0773021,0.1546042,0.0773021,-1.3098283,0.6190368); // lowpass at 130 Hz Q at around .6
CasperK 2:3f67b4833256 25 BiQuad emg0bq3(0.9556457,-1.81774618, 0.955645, -1.817746, 0.9112914); // 50 Hz notch Q at 4.5
CasperK 2:3f67b4833256 26 BiQuadChain emg0bqc; // merged chain of three filters
CasperK 2:3f67b4833256 27
CasperK 2:3f67b4833256 28 AnalogIn emg1( A1 ); // EMG at A1
CasperK 2:3f67b4833256 29 BiQuad emg1bq1(0.8848578, -1.7697156, 0.8848578, -1.7539023, 0.7855289); // highpass at 30Hz Q at around 1
CasperK 2:3f67b4833256 30 BiQuad emg1bq2(0.0773021,0.1546042,0.0773021,-1.3098283,0.6190368); // lowpass at 130 Hz Q at around .6
CasperK 2:3f67b4833256 31 BiQuad emg1bq3(0.9556457,-1.81774618, 0.955645, -1.817746, 0.9112914); // 50 Hz notch Q at 4.5
CasperK 2:3f67b4833256 32 BiQuadChain emg1bqc; // merged chain of three filters
CasperK 2:3f67b4833256 33
CasperK 2:3f67b4833256 34
CasperK 2:3f67b4833256 35 AnalogIn emg2( A2 ); // EMG at A2
CasperK 2:3f67b4833256 36 BiQuad emg2bq1(0.8848578, -1.7697156, 0.8848578, -1.7539023, 0.7855289); // highpass at 30Hz Q at around 1
CasperK 2:3f67b4833256 37 BiQuad emg2bq2(0.0773021,0.1546042,0.0773021,-1.3098283,0.6190368); // lowpass at 130 Hz Q at around .6
CasperK 2:3f67b4833256 38 BiQuad emg2bq3(0.9556457,-1.81774618, 0.955645, -1.817746, 0.9112914); // 50 Hz notch Q at 4.5
CasperK 2:3f67b4833256 39 BiQuadChain emg2bqc; // merged chain of three filters
CasperK 2:3f67b4833256 40
CasperK 1:afb820c6fc0d 41 DigitalIn kill_switch(SW2); //position has to be changed
CasperK 1:afb820c6fc0d 42 DigitalIn next_switch(SW3); //name and position should be replaced
CasperK 1:afb820c6fc0d 43
CasperK 2:3f67b4833256 44 enum states{PositionCalibration, EmgCalibration, Movement, KILL};
CasperK 2:3f67b4833256 45 states CurrentState;
CasperK 2:3f67b4833256 46 Ticker sample_timer;
CasperK 2:3f67b4833256 47 Ticker MotorsTicker;
CasperK 2:3f67b4833256 48 Timer timer;
CasperK 2:3f67b4833256 49
CasperK 1:afb820c6fc0d 50 //for testing purposes
CasperK 1:afb820c6fc0d 51 DigitalOut ledred(LED_RED);
CasperK 1:afb820c6fc0d 52 DigitalOut ledgreen(LED_GREEN);
CasperK 1:afb820c6fc0d 53 DigitalOut ledblue(LED_BLUE);
CasperK 2:3f67b4833256 54 MODSERIAL pc(USBTX, USBRX);
CasperK 2:3f67b4833256 55 HIDScope scope(2);
CasperK 1:afb820c6fc0d 56
CasperK 2:3f67b4833256 57 bool emg0Bool = 0; // I don't know if these NEED to be global, but when I tried to put them in they wouldn't work...
CasperK 2:3f67b4833256 58 int emg0Ignore = 0;
CasperK 2:3f67b4833256 59 bool emg1Bool = 0;
CasperK 2:3f67b4833256 60 int emg1Ignore = 0;
CasperK 2:3f67b4833256 61 bool emg2Bool = 0;
CasperK 2:3f67b4833256 62 int emg2Ignore = 0;
CasperK 1:afb820c6fc0d 63
CasperK 2:3f67b4833256 64 float threshold0;
CasperK 2:3f67b4833256 65 float threshold1;
CasperK 2:3f67b4833256 66 float threshold2;
CasperK 1:afb820c6fc0d 67
CasperK 1:afb820c6fc0d 68 volatile float pwm_value1 = 0.0;
CasperK 1:afb820c6fc0d 69 volatile float pwm_value2 = 0.0;
CasperK 0:1b2c842eca42 70
CasperK 2:3f67b4833256 71 /** Sample functions
CasperK 2:3f67b4833256 72 * these functions sample the emg and send it to HIDScope
CasperK 2:3f67b4833256 73 **/
CasperK 2:3f67b4833256 74 bool emg0Filter(void){
CasperK 2:3f67b4833256 75 double emg0filteredAbs = fabs( emg0bqc.step(emg0.read())); // Filter and make absolute,
CasperK 2:3f67b4833256 76 /* this is the threshhold */
CasperK 2:3f67b4833256 77 if (emg0filteredAbs > threshold0) { // when above threshold set bool to 1, here can the parameters be changed using global variables
CasperK 2:3f67b4833256 78 emg0Bool = true;
CasperK 2:3f67b4833256 79 emg0Ignore = IGNORECOUNT; // here is the counter increased ( at 1000 Hz, this is 0.1 sec)
CasperK 2:3f67b4833256 80 }
CasperK 2:3f67b4833256 81 else if (emg0Ignore < 0){ // if the ignore-counter is down to zero, set the bool back to 0
CasperK 2:3f67b4833256 82 emg0Bool = false;
CasperK 2:3f67b4833256 83 }
CasperK 2:3f67b4833256 84 else {
CasperK 2:3f67b4833256 85 emg0Ignore--; // else decrease counter by one each time has passed without threshold being met
CasperK 2:3f67b4833256 86 }
CasperK 2:3f67b4833256 87 return emg0Bool;
CasperK 2:3f67b4833256 88 }
CasperK 2:3f67b4833256 89
CasperK 2:3f67b4833256 90 bool emg1Filter(void){
CasperK 2:3f67b4833256 91 double emg1filteredAbs = fabs( emg1bqc.step(emg1.read())); // Filter and make absolute
CasperK 2:3f67b4833256 92 /* this is the threshhold */
CasperK 2:3f67b4833256 93 if (emg1filteredAbs > threshold1) { // when above threshold set bool to 1 here can the parameters be changed using global variables
CasperK 2:3f67b4833256 94 emg1Bool = true;
CasperK 2:3f67b4833256 95 emg1Ignore = IGNORECOUNT; // here is the counter increased ( at 1000 Hz, this is 0.1 sec)
CasperK 2:3f67b4833256 96 }
CasperK 2:3f67b4833256 97 else if (emg1Ignore < 0){ // if the ignore-counter is down to zero, set the bool back to 0
CasperK 2:3f67b4833256 98 emg1Bool = false;
CasperK 2:3f67b4833256 99 }
CasperK 2:3f67b4833256 100 else {
CasperK 2:3f67b4833256 101 emg1Ignore--; // else decrease counter by one each time has passed without threshold being met
CasperK 2:3f67b4833256 102 }
CasperK 2:3f67b4833256 103 return emg1Bool;
CasperK 2:3f67b4833256 104 }
CasperK 2:3f67b4833256 105
CasperK 2:3f67b4833256 106 bool emg2Filter(void){
CasperK 2:3f67b4833256 107 double emg2filteredAbs = fabs( emg2bqc.step(emg2.read())); // Filter and make absolute
CasperK 2:3f67b4833256 108 /* this is the threshhold */
CasperK 2:3f67b4833256 109 if (emg2filteredAbs > threshold2) { // when above threshold set bool to 1 here can the parameters be changed using global variables
CasperK 2:3f67b4833256 110 emg2Bool = true;
CasperK 2:3f67b4833256 111 emg2Ignore = IGNORECOUNT; // here is the counter increased ( at 1000 Hz, this is 0.1 sec)
CasperK 2:3f67b4833256 112 }
CasperK 2:3f67b4833256 113 else if (emg2Ignore < 0){ // if the ignore-counter is down to zero, set the bool back to 0
CasperK 2:3f67b4833256 114 emg2Bool = false;
CasperK 2:3f67b4833256 115 }
CasperK 2:3f67b4833256 116 else {
CasperK 2:3f67b4833256 117 emg2Ignore--; // else decrease counter by one each time has passed without threshold being met
CasperK 2:3f67b4833256 118 }
CasperK 2:3f67b4833256 119 return emg2Bool;
CasperK 2:3f67b4833256 120 }
CasperK 2:3f67b4833256 121 void sample() {
CasperK 2:3f67b4833256 122 bool Bool1 = emg0Filter(); // whatever name casper uses for the bool
CasperK 2:3f67b4833256 123 bool Bool2 = emg1Filter();
CasperK 2:3f67b4833256 124 bool Bool3 = emg2Filter();
CasperK 2:3f67b4833256 125 }
CasperK 2:3f67b4833256 126
CasperK 1:afb820c6fc0d 127 void positionCalibration() {
CasperK 1:afb820c6fc0d 128 while(!button1){
CasperK 2:3f67b4833256 129 directionpin1 = true;
CasperK 2:3f67b4833256 130 pwm_value1 = 0.7f;
CasperK 1:afb820c6fc0d 131 }
CasperK 2:3f67b4833256 132 pwm_value1 = 0.0f;
CasperK 1:afb820c6fc0d 133 while(!button2){
CasperK 1:afb820c6fc0d 134 directionpin2 = true;
CasperK 1:afb820c6fc0d 135 pwm_value2 = 0.7f;
CasperK 1:afb820c6fc0d 136 }
CasperK 1:afb820c6fc0d 137 pwm_value2 = 0.0f;
CasperK 1:afb820c6fc0d 138
CasperK 1:afb820c6fc0d 139 // pwm_value1 = potmeter1;
CasperK 1:afb820c6fc0d 140 // pwm_value2 = potmeter2;
CasperK 1:afb820c6fc0d 141
CasperK 1:afb820c6fc0d 142 if (!next_switch) {
CasperK 1:afb820c6fc0d 143 CurrentState = EmgCalibration;
CasperK 1:afb820c6fc0d 144 pc.printf("current state = EmgCalibration\n\r");
CasperK 1:afb820c6fc0d 145 }
CasperK 1:afb820c6fc0d 146 }
CasperK 1:afb820c6fc0d 147
CasperK 2:3f67b4833256 148 void emg0Calibration() {
CasperK 2:3f67b4833256 149 int C = 500; // half a second at 1000Hz
CasperK 2:3f67b4833256 150 double A0=0, A1=0, A2=0, A3=0, A4=0;
CasperK 2:3f67b4833256 151 double emg0FiAbs;
CasperK 2:3f67b4833256 152 while (C > 0){
CasperK 2:3f67b4833256 153 emg0FiAbs = fabs( emg1bqc.step(emg0.read()));
CasperK 2:3f67b4833256 154 if (C==500){ //first instance make all values the first in case this is the highest
CasperK 2:3f67b4833256 155 A0=A1=A2=A3=A4=emg0FiAbs;
CasperK 2:3f67b4833256 156 }
CasperK 2:3f67b4833256 157 else if(emg0FiAbs > A0){ // if there is a higher value change the inputs to be the highest 5
CasperK 2:3f67b4833256 158 A4=A3;
CasperK 2:3f67b4833256 159 A3=A2;
CasperK 2:3f67b4833256 160 A2=A1;
CasperK 2:3f67b4833256 161 A1=A0;
CasperK 2:3f67b4833256 162 A0=emg0FiAbs;
CasperK 2:3f67b4833256 163 }
CasperK 2:3f67b4833256 164 C--;
CasperK 2:3f67b4833256 165 wait(0.001f);
CasperK 2:3f67b4833256 166 threshold0 = (A0+A1+A2+A3+A4)/5*0.4; // average of the 5 highest values x 0,4 to create the threshold
CasperK 2:3f67b4833256 167 }
CasperK 2:3f67b4833256 168
CasperK 2:3f67b4833256 169 if (!next_switch) {
CasperK 1:afb820c6fc0d 170 CurrentState = Movement;
CasperK 1:afb820c6fc0d 171 pc.printf("current state = Movement\n\r");
CasperK 1:afb820c6fc0d 172 }
CasperK 1:afb820c6fc0d 173 }
CasperK 1:afb820c6fc0d 174
CasperK 2:3f67b4833256 175 void emg1Calibration() {
CasperK 2:3f67b4833256 176
CasperK 2:3f67b4833256 177 }
CasperK 2:3f67b4833256 178
CasperK 2:3f67b4833256 179 void emg2Calibration() {
CasperK 2:3f67b4833256 180
CasperK 2:3f67b4833256 181 }
CasperK 2:3f67b4833256 182
CasperK 1:afb820c6fc0d 183 void movement() {
CasperK 1:afb820c6fc0d 184
CasperK 1:afb820c6fc0d 185 }
CasperK 1:afb820c6fc0d 186
CasperK 1:afb820c6fc0d 187 void move_motors() {
CasperK 1:afb820c6fc0d 188 pwmpin1 = pwm_value1;
CasperK 1:afb820c6fc0d 189 pwmpin2 = pwm_value2;
CasperK 1:afb820c6fc0d 190 }
CasperK 0:1b2c842eca42 191
CasperK 0:1b2c842eca42 192 int main()
CasperK 0:1b2c842eca42 193 {
CasperK 1:afb820c6fc0d 194 pc.baud(115200);
CasperK 1:afb820c6fc0d 195 pc.printf(" ** program reset **\n\r");
CasperK 1:afb820c6fc0d 196 pwmpin1.period_us(60);
CasperK 1:afb820c6fc0d 197 pwmpin2.period_us(60);
CasperK 1:afb820c6fc0d 198 directionpin1 = true;
CasperK 1:afb820c6fc0d 199 directionpin2 = true;
CasperK 1:afb820c6fc0d 200
CasperK 2:3f67b4833256 201 // emg filters
CasperK 2:3f67b4833256 202 // combining biquad chains is done in main, before the ticker, so only once.
CasperK 2:3f67b4833256 203 emg0bqc.add( &emg0bq1 ).add( &emg0bq2 ).add ( &emg0bq3 );
CasperK 2:3f67b4833256 204 emg1bqc.add( &emg1bq1 ).add( &emg1bq2 ).add ( &emg1bq3 );
CasperK 2:3f67b4833256 205 emg1bqc.add( &emg1bq1 ).add( &emg1bq2 ).add ( &emg1bq3 );
CasperK 2:3f67b4833256 206
CasperK 2:3f67b4833256 207 MotorsTicker.attach(&move_motors, 0.02f); //ticker at 50Hz
CasperK 2:3f67b4833256 208 sample_timer.attach(&sample, 0.001); //ticker at 1000Hz
CasperK 2:3f67b4833256 209
CasperK 1:afb820c6fc0d 210 CurrentState = PositionCalibration;
CasperK 1:afb820c6fc0d 211 pc.printf("current state = PositionCalibration\n\r");
CasperK 0:1b2c842eca42 212
CasperK 0:1b2c842eca42 213 while (true) {
CasperK 1:afb820c6fc0d 214 switch(CurrentState) {
CasperK 0:1b2c842eca42 215 case PositionCalibration:
CasperK 1:afb820c6fc0d 216 positionCalibration();
CasperK 1:afb820c6fc0d 217 if (!kill_switch) {
CasperK 1:afb820c6fc0d 218 CurrentState = KILL;
CasperK 1:afb820c6fc0d 219 pc.printf("current state = KILL\n\r");
CasperK 1:afb820c6fc0d 220 }
CasperK 1:afb820c6fc0d 221 break;
CasperK 1:afb820c6fc0d 222
CasperK 0:1b2c842eca42 223 case EmgCalibration:
CasperK 2:3f67b4833256 224 emg0Calibration();
CasperK 2:3f67b4833256 225 emg1Calibration();
CasperK 2:3f67b4833256 226 emg2Calibration();
CasperK 1:afb820c6fc0d 227
CasperK 1:afb820c6fc0d 228 if (!kill_switch) {
CasperK 1:afb820c6fc0d 229 CurrentState = KILL;
CasperK 1:afb820c6fc0d 230 pc.printf("current state = KILL\n\r");
CasperK 0:1b2c842eca42 231 }
CasperK 1:afb820c6fc0d 232 break;
CasperK 0:1b2c842eca42 233
CasperK 0:1b2c842eca42 234 case Movement:
CasperK 1:afb820c6fc0d 235 movement();
CasperK 1:afb820c6fc0d 236
CasperK 1:afb820c6fc0d 237 if (!kill_switch) {
CasperK 1:afb820c6fc0d 238 CurrentState = KILL;
CasperK 1:afb820c6fc0d 239 pc.printf("current state = KILL\n\r");
CasperK 0:1b2c842eca42 240 }
CasperK 1:afb820c6fc0d 241 break;
CasperK 0:1b2c842eca42 242
CasperK 0:1b2c842eca42 243 case KILL:
CasperK 1:afb820c6fc0d 244 bool u = true;
CasperK 1:afb820c6fc0d 245 ledgreen = true;
CasperK 1:afb820c6fc0d 246 ledblue = true;
CasperK 1:afb820c6fc0d 247 ledred = false;
CasperK 2:3f67b4833256 248
CasperK 2:3f67b4833256 249 pwm_value1 = 0;
CasperK 2:3f67b4833256 250 pwm_value2 = 0;
CasperK 2:3f67b4833256 251
CasperK 2:3f67b4833256 252 timer.start();
CasperK 2:3f67b4833256 253 if (timer.read_ms()> 2000) {
CasperK 2:3f67b4833256 254 timer.stop();
CasperK 2:3f67b4833256 255 timer.reset();
CasperK 2:3f67b4833256 256 while(u) {
CasperK 2:3f67b4833256 257 if (!kill_switch) {
CasperK 2:3f67b4833256 258 timer.start();
CasperK 2:3f67b4833256 259 u = false;
CasperK 2:3f67b4833256 260 ledred = true;
CasperK 2:3f67b4833256 261 CurrentState = PositionCalibration;
CasperK 2:3f67b4833256 262 pc.printf("current state = PositionCalibration\n\r");
CasperK 2:3f67b4833256 263 wait(1.0f);
CasperK 2:3f67b4833256 264 }
CasperK 1:afb820c6fc0d 265 }
CasperK 0:1b2c842eca42 266 }
CasperK 1:afb820c6fc0d 267 break;
CasperK 1:afb820c6fc0d 268 }
CasperK 1:afb820c6fc0d 269 wait(0.2f);
CasperK 0:1b2c842eca42 270 }
CasperK 0:1b2c842eca42 271 }