Casper Maas / Mbed 2 deprecated StateMachine_EMg_RKI_PID_MOTORwerkend

fork demo mode 20:58

Dependencies:   biquadFilter MODSERIAL QEI mbed

Fork of StateMachine_EMg_RKI_PID_MOTOR by Casper Maas

main.cpp@6:f55ab7e38a7f, 2018-11-01 (annotated)

Committer:
gastongab
Date:
Thu Nov 01 15:40:37 2018 +0000
Revision:
6:f55ab7e38a7f
Parent:
5:19f59a855475
Child:
7:88fa84742b3c
EMG Is af;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aschut 0:90750f158475 1 //Voor het toevoegen van een button:
aschut 0:90750f158475 2 #include "mbed.h"
aschut 0:90750f158475 3 #include <iostream>
gastongab 2:0a8622662f6d 4 #include "BiQuad.h"
gastongab 2:0a8622662f6d 5 #include "BiQuadchains_zelfbeun.h"
gastongab 2:0a8622662f6d 6 #include "MODSERIAL.h"
gastongab 2:0a8622662f6d 7
gastongab 2:0a8622662f6d 8 MODSERIAL pc(USBTX, USBRX);
gastongab 2:0a8622662f6d 9
aschut 0:90750f158475 10 DigitalOut gpo(D0);
aschut 0:90750f158475 11
aschut 0:90750f158475 12 DigitalIn button2(SW3);
aschut 0:90750f158475 13 DigitalIn button1(SW2); //or SW2
aschut 0:90750f158475 14
aschut 0:90750f158475 15 DigitalOut led1(LED_GREEN);
aschut 0:90750f158475 16 DigitalOut led2(LED_RED);
aschut 0:90750f158475 17 DigitalOut led3(LED_BLUE);
aschut 0:90750f158475 18
gastongab 2:0a8622662f6d 19 //EMG tickers, these tickers are called in the mainscript with fsample 500Hz, also sends to HIDscope with same fsample
gastongab 2:0a8622662f6d 20 Ticker sample_ticker; //ticker for filtering pref. with 1000Hz, define in tick.attach
gastongab 4:c7be673eb4a1 21 Ticker threshold_check_ticker;
gastongab 2:0a8622662f6d 22 Timer t; //timer try out for Astrid
gastongab 2:0a8622662f6d 23 Timer timer_calibration; //timer for EMG calibration
gastongab 2:0a8622662f6d 24
gastongab 2:0a8622662f6d 25
gastongab 2:0a8622662f6d 26
gastongab 2:0a8622662f6d 27 //Input system
gastongab 2:0a8622662f6d 28 AnalogIn emg1(A0); //right biceps
gastongab 2:0a8622662f6d 29 AnalogIn emg2(A1); //right triceps
gastongab 2:0a8622662f6d 30 AnalogIn emg3(A2); //left biceps
gastongab 2:0a8622662f6d 31 AnalogIn emg4(A3); //left triceps
gastongab 2:0a8622662f6d 32
gastongab 2:0a8622662f6d 33 //Filtered EMG signals from the end of the chains
gastongab 4:c7be673eb4a1 34 volatile double emg1_filtered, emg2_filtered, emg3_filtered, emg4_filtered;
gastongab 4:c7be673eb4a1 35 int i = 0;
gastongab 2:0a8622662f6d 36
gastongab 2:0a8622662f6d 37 void emgsample(){
gastongab 2:0a8622662f6d 38 //All EMG signal through Highpass
gastongab 2:0a8622662f6d 39 double emgread1 = emg1.read();
gastongab 2:0a8622662f6d 40 double emgread2 = emg2.read();
gastongab 2:0a8622662f6d 41 double emgread3 = emg3.read();
gastongab 2:0a8622662f6d 42 double emgread4 = emg4.read();
gastongab 2:0a8622662f6d 43
gastongab 2:0a8622662f6d 44 double emg1_highpassed = highp1.step(emgread1);
gastongab 2:0a8622662f6d 45 double emg2_highpassed = highp2.step(emgread2);
gastongab 2:0a8622662f6d 46 double emg3_highpassed = highp3.step(emgread3);
gastongab 2:0a8622662f6d 47 double emg4_highpassed = highp4.step(emgread4);
gastongab 2:0a8622662f6d 48
gastongab 2:0a8622662f6d 49 //All EMG highpassed through Notch
gastongab 2:0a8622662f6d 50 double emg1_notched = notch1.step(emg1_highpassed);
gastongab 2:0a8622662f6d 51 double emg2_notched = notch2.step(emg2_highpassed);
gastongab 2:0a8622662f6d 52 double emg3_notched = notch3.step(emg3_highpassed);
gastongab 2:0a8622662f6d 53 double emg4_notched = notch4.step(emg4_highpassed);
gastongab 2:0a8622662f6d 54
gastongab 2:0a8622662f6d 55 //All EMG notched rectify
gastongab 2:0a8622662f6d 56 double emg1_abs = abs(emg1_notched);
gastongab 2:0a8622662f6d 57 double emg2_abs = abs(emg2_notched);
gastongab 2:0a8622662f6d 58 double emg3_abs = abs(emg3_notched);
gastongab 2:0a8622662f6d 59 double emg4_abs = abs(emg4_notched);
gastongab 2:0a8622662f6d 60
gastongab 2:0a8622662f6d 61 //All EMG abs into lowpass
gastongab 2:0a8622662f6d 62 emg1_filtered = lowp1.step(emg1_abs);
gastongab 2:0a8622662f6d 63 emg2_filtered = lowp2.step(emg2_abs);
gastongab 2:0a8622662f6d 64 emg3_filtered = lowp3.step(emg3_abs);
gastongab 2:0a8622662f6d 65 emg4_filtered = lowp4.step(emg4_abs);
gastongab 2:0a8622662f6d 66
gastongab 2:0a8622662f6d 67
gastongab 2:0a8622662f6d 68 }
gastongab 2:0a8622662f6d 69
gastongab 2:0a8622662f6d 70
gastongab 2:0a8622662f6d 71 //Define doubles for calibration and ticker
gastongab 2:0a8622662f6d 72 double ts = 0.001; //tijdsstap
gastongab 2:0a8622662f6d 73 double calibration_time = 55; //time EMG calibration should take
gastongab 2:0a8622662f6d 74
gastongab 2:0a8622662f6d 75 volatile double temp_highest_emg1 = 0; //highest detected value right biceps
gastongab 2:0a8622662f6d 76 volatile double temp_highest_emg2 = 0;
gastongab 2:0a8622662f6d 77 volatile double temp_highest_emg3 = 0;
gastongab 2:0a8622662f6d 78 volatile double temp_highest_emg4 = 0;
gastongab 2:0a8622662f6d 79
gastongab 2:0a8622662f6d 80 //Doubles for calculation threshold
gastongab 6:f55ab7e38a7f 81 double biceps_p_t = 0.4; //set threshold at percentage of highest value
gastongab 6:f55ab7e38a7f 82 double triceps_p_t = 0.5; //set threshold at percentage of highest value
gastongab 4:c7be673eb4a1 83 volatile double threshold1;
gastongab 4:c7be673eb4a1 84 volatile double threshold2;
gastongab 4:c7be673eb4a1 85 volatile double threshold3;
gastongab 4:c7be673eb4a1 86 volatile double threshold4;
gastongab 2:0a8622662f6d 87
gastongab 2:0a8622662f6d 88 void CalibrationEMG()
gastongab 4:c7be673eb4a1 89 {
gastongab 2:0a8622662f6d 90 //static float samples = calibration_time/ts;
gastongab 2:0a8622662f6d 91 while(timer_calibration<55){
gastongab 2:0a8622662f6d 92 if(timer_calibration>0 && timer_calibration<10)
gastongab 4:c7be673eb4a1 93 {
gastongab 2:0a8622662f6d 94 led1=!led1;
gastongab 2:0a8622662f6d 95 if(emg1_filtered>temp_highest_emg1)
gastongab 2:0a8622662f6d 96 {
gastongab 2:0a8622662f6d 97 temp_highest_emg1= emg1_filtered;
gastongab 5:19f59a855475 98 pc.printf("Temp1 = %f \r\n",temp_highest_emg1);
gastongab 2:0a8622662f6d 99 }
gastongab 2:0a8622662f6d 100 }
gastongab 2:0a8622662f6d 101 if(timer_calibration>10 && timer_calibration<15)
gastongab 2:0a8622662f6d 102 {
gastongab 2:0a8622662f6d 103 led1=0;
gastongab 2:0a8622662f6d 104 led2=0;
gastongab 2:0a8622662f6d 105 led3=0;
gastongab 2:0a8622662f6d 106 }
gastongab 2:0a8622662f6d 107 if(timer_calibration>15 && timer_calibration<25)
gastongab 4:c7be673eb4a1 108 {
gastongab 2:0a8622662f6d 109 led2=!led2;
gastongab 2:0a8622662f6d 110 if(emg2_filtered>temp_highest_emg2)
gastongab 2:0a8622662f6d 111 {
gastongab 2:0a8622662f6d 112 temp_highest_emg2= emg2_filtered;
gastongab 4:c7be673eb4a1 113 pc.printf("Temp2 = %f \r\n",temp_highest_emg2);
gastongab 2:0a8622662f6d 114 }
gastongab 2:0a8622662f6d 115 }
gastongab 2:0a8622662f6d 116 if(timer_calibration>25 && timer_calibration<30)
gastongab 2:0a8622662f6d 117 {
gastongab 2:0a8622662f6d 118 led1=0;
gastongab 2:0a8622662f6d 119 led2=0;
gastongab 2:0a8622662f6d 120 led3=0;
gastongab 2:0a8622662f6d 121 }
gastongab 2:0a8622662f6d 122 if(timer_calibration>30 && timer_calibration<40)
gastongab 2:0a8622662f6d 123 {
gastongab 2:0a8622662f6d 124 led3=!led3;
gastongab 2:0a8622662f6d 125 if(emg3_filtered>temp_highest_emg3)
gastongab 2:0a8622662f6d 126 {
gastongab 2:0a8622662f6d 127 temp_highest_emg3= emg3_filtered;
gastongab 5:19f59a855475 128 pc.printf("Temp3 = %f \r\n",temp_highest_emg3);
gastongab 2:0a8622662f6d 129 }
gastongab 2:0a8622662f6d 130 }
gastongab 2:0a8622662f6d 131 if(timer_calibration>40 && timer_calibration<45)
gastongab 2:0a8622662f6d 132 {
gastongab 2:0a8622662f6d 133 led1=0;
gastongab 2:0a8622662f6d 134 led2=0;
gastongab 2:0a8622662f6d 135 led3=0;
gastongab 2:0a8622662f6d 136 }
gastongab 2:0a8622662f6d 137 if(timer_calibration>45 && timer_calibration<55)
gastongab 2:0a8622662f6d 138 {
gastongab 2:0a8622662f6d 139 led2=!led2;
gastongab 2:0a8622662f6d 140 led3=!led3;
gastongab 5:19f59a855475 141 if(emg4_filtered>temp_highest_emg4)
gastongab 2:0a8622662f6d 142 {
gastongab 5:19f59a855475 143 temp_highest_emg4= emg4_filtered;
gastongab 5:19f59a855475 144 pc.printf("Temp4 = %f \r\n",temp_highest_emg4);
gastongab 2:0a8622662f6d 145 }
gastongab 2:0a8622662f6d 146 }
gastongab 2:0a8622662f6d 147 led1=1;
gastongab 2:0a8622662f6d 148 led2=1;
gastongab 2:0a8622662f6d 149 led3=1;
gastongab 2:0a8622662f6d 150
gastongab 2:0a8622662f6d 151
gastongab 2:0a8622662f6d 152 }
gastongab 2:0a8622662f6d 153
gastongab 2:0a8622662f6d 154 pc.printf("Highest value right biceps= %f \r\n", temp_highest_emg1);
gastongab 2:0a8622662f6d 155 pc.printf("Highest value right triceps= %f \r\n", temp_highest_emg2);
gastongab 2:0a8622662f6d 156 pc.printf("Highest value left biceps= %f \r\n", temp_highest_emg3);
gastongab 2:0a8622662f6d 157 pc.printf("Highest value left triceps= %f \r\n", temp_highest_emg4);
gastongab 2:0a8622662f6d 158
gastongab 4:c7be673eb4a1 159
gastongab 6:f55ab7e38a7f 160 threshold1 = temp_highest_emg1*biceps_p_t; //Right Biceps
gastongab 6:f55ab7e38a7f 161 threshold2 = temp_highest_emg2*triceps_p_t; //Right Triceps
gastongab 6:f55ab7e38a7f 162 threshold3 = temp_highest_emg3*biceps_p_t; //Left Biceps
gastongab 6:f55ab7e38a7f 163 threshold4 = temp_highest_emg4*triceps_p_t; //Left Triceps
gastongab 2:0a8622662f6d 164 }
gastongab 2:0a8622662f6d 165
gastongab 4:c7be673eb4a1 166 //Check if emg_filtered has reached their threshold
gastongab 4:c7be673eb4a1 167 int bicepsR;
gastongab 4:c7be673eb4a1 168 int tricepsR;
gastongab 4:c7be673eb4a1 169 int bicepsL;
gastongab 4:c7be673eb4a1 170 int tricepsL;
gastongab 4:c7be673eb4a1 171
gastongab 2:0a8622662f6d 172 void threshold_check(){
gastongab 4:c7be673eb4a1 173
gastongab 2:0a8622662f6d 174 //EMG1 threshold check
gastongab 2:0a8622662f6d 175 if(emg1_filtered>threshold1){
gastongab 4:c7be673eb4a1 176 bicepsR = 1;
gastongab 2:0a8622662f6d 177 }
gastongab 2:0a8622662f6d 178 else{
gastongab 4:c7be673eb4a1 179 bicepsR= 0;
gastongab 2:0a8622662f6d 180 }
gastongab 2:0a8622662f6d 181 //EMG2 threshold check
gastongab 2:0a8622662f6d 182 if(emg2_filtered>threshold2){
gastongab 4:c7be673eb4a1 183 tricepsR = 1;
gastongab 2:0a8622662f6d 184 }
gastongab 2:0a8622662f6d 185 else{
gastongab 4:c7be673eb4a1 186 tricepsR= 0;
gastongab 2:0a8622662f6d 187 }
gastongab 2:0a8622662f6d 188 //EMG3 threshold check
gastongab 2:0a8622662f6d 189 if(emg3_filtered>threshold3){
gastongab 4:c7be673eb4a1 190 bicepsL = 1;
gastongab 2:0a8622662f6d 191 }
gastongab 2:0a8622662f6d 192 else{
gastongab 4:c7be673eb4a1 193 bicepsL= 0;
gastongab 2:0a8622662f6d 194 }
gastongab 2:0a8622662f6d 195 //EMG4 threshold check
gastongab 2:0a8622662f6d 196 if(emg4_filtered>threshold4){
gastongab 4:c7be673eb4a1 197 tricepsL = 1;
gastongab 2:0a8622662f6d 198 }
gastongab 2:0a8622662f6d 199 else{
gastongab 4:c7be673eb4a1 200 tricepsL= 0;
gastongab 2:0a8622662f6d 201 }
gastongab 4:c7be673eb4a1 202
gastongab 4:c7be673eb4a1 203 /*
gastongab 4:c7be673eb4a1 204 pc.printf("Biceps Right = %i", bicepsR);
gastongab 4:c7be673eb4a1 205 pc.printf("Triceps Right = %i",tricepsR);
gastongab 4:c7be673eb4a1 206 pc.printf("Biceps Left = %i", bicepsL);
gastongab 4:c7be673eb4a1 207 pc.printf("Triceps Left = %i", tricepsL);
gastongab 4:c7be673eb4a1 208 */
gastongab 4:c7be673eb4a1 209
gastongab 2:0a8622662f6d 210
gastongab 2:0a8622662f6d 211 }
aschut 0:90750f158475 212
gastongab 4:c7be673eb4a1 213
gastongab 4:c7be673eb4a1 214 //Activate ticker for Movement state, filtering and Threshold checking
gastongab 4:c7be673eb4a1 215 void movement_ticker_activator(){
gastongab 4:c7be673eb4a1 216 sample_ticker.attach(&emgsample, ts);
gastongab 4:c7be673eb4a1 217 threshold_check_ticker.attach(&threshold_check, ts);
gastongab 4:c7be673eb4a1 218 }
gastongab 4:c7be673eb4a1 219 void movement_ticker_deactivator(){
gastongab 4:c7be673eb4a1 220 sample_ticker.detach();
gastongab 4:c7be673eb4a1 221 threshold_check_ticker.detach();
gastongab 4:c7be673eb4a1 222 }
gastongab 4:c7be673eb4a1 223
aschut 0:90750f158475 224 enum states {MOTORS_OFF,CALIBRATION,HOMING,DEMO,MOVEMENT,CLICK};
gastongab 2:0a8622662f6d 225 states currentState = MOTORS_OFF; //Chosen startingposition for states
aschut 0:90750f158475 226 bool stateChanged = true; // Make sure the initialization of first state is executed
aschut 0:90750f158475 227
aschut 0:90750f158475 228 void ProcessStateMachine(void)
aschut 0:90750f158475 229 {
aschut 0:90750f158475 230 switch (currentState)
aschut 0:90750f158475 231 {
aschut 0:90750f158475 232 case MOTORS_OFF:
aschut 0:90750f158475 233 // Actions
aschut 0:90750f158475 234 if (stateChanged)
aschut 0:90750f158475 235 {
aschut 0:90750f158475 236 // state initialization: rood
aschut 0:90750f158475 237 led1 = 1;
aschut 0:90750f158475 238 led2 = 0;
aschut 0:90750f158475 239 led3 = 1;
aschut 0:90750f158475 240 wait (1);
aschut 0:90750f158475 241 stateChanged = false;
aschut 0:90750f158475 242 }
aschut 0:90750f158475 243
aschut 0:90750f158475 244 // State transition logic: Als button 1 word ingedrukt --> calibratie, anders motor uithouden
aschut 0:90750f158475 245 if (!button1)
aschut 0:90750f158475 246 {
aschut 0:90750f158475 247 currentState = CALIBRATION;
aschut 0:90750f158475 248 stateChanged = true;
aschut 0:90750f158475 249 }
aschut 0:90750f158475 250 else if (!button2)
aschut 0:90750f158475 251 {
aschut 0:90750f158475 252 currentState = HOMING ;
aschut 0:90750f158475 253 stateChanged = true;
aschut 0:90750f158475 254 }
aschut 0:90750f158475 255 else
aschut 0:90750f158475 256 {
aschut 0:90750f158475 257 currentState = MOTORS_OFF;
aschut 0:90750f158475 258 stateChanged = true;
aschut 0:90750f158475 259 }
aschut 0:90750f158475 260
aschut 0:90750f158475 261 break;
aschut 0:90750f158475 262
aschut 0:90750f158475 263 case CALIBRATION:
aschut 0:90750f158475 264 // Actions
aschut 0:90750f158475 265 if (stateChanged)
aschut 0:90750f158475 266 {
aschut 0:90750f158475 267 // state initialization: oranje
gastongab 2:0a8622662f6d 268 temp_highest_emg1 = 0; //highest detected value right biceps
gastongab 2:0a8622662f6d 269 temp_highest_emg2 = 0;
gastongab 2:0a8622662f6d 270 temp_highest_emg3 = 0;
gastongab 2:0a8622662f6d 271 temp_highest_emg4 = 0;
gastongab 2:0a8622662f6d 272
gastongab 2:0a8622662f6d 273 timer_calibration.reset();
gastongab 2:0a8622662f6d 274 timer_calibration.start();
gastongab 4:c7be673eb4a1 275
gastongab 4:c7be673eb4a1 276 sample_ticker.attach(&emgsample, ts);
gastongab 4:c7be673eb4a1 277 CalibrationEMG();
gastongab 4:c7be673eb4a1 278 sample_ticker.detach();
gastongab 4:c7be673eb4a1 279 timer_calibration.stop();
gastongab 4:c7be673eb4a1 280
aschut 0:90750f158475 281
aschut 0:90750f158475 282 stateChanged = false;
aschut 0:90750f158475 283 }
aschut 0:90750f158475 284
aschut 0:90750f158475 285 // State transition logic: automatisch terug naar motors off.
aschut 0:90750f158475 286
aschut 0:90750f158475 287 currentState = MOTORS_OFF;
aschut 0:90750f158475 288 stateChanged = true;
aschut 0:90750f158475 289 break;
aschut 0:90750f158475 290
aschut 0:90750f158475 291 case HOMING:
aschut 0:90750f158475 292 // Actions
aschut 0:90750f158475 293 if (stateChanged)
aschut 0:90750f158475 294 {
aschut 0:90750f158475 295 // state initialization: green
gastongab 3:3a9fdac2ba69 296 t.reset();
aschut 0:90750f158475 297 t.start();
aschut 0:90750f158475 298 led1 = 0;
aschut 0:90750f158475 299 led2 = 1;
aschut 0:90750f158475 300 led3 = 1;
aschut 0:90750f158475 301 wait (1);
aschut 0:90750f158475 302
aschut 0:90750f158475 303 stateChanged = false;
aschut 0:90750f158475 304 }
aschut 0:90750f158475 305
aschut 0:90750f158475 306 // State transition logic: naar DEMO (button1), naar MOVEMENT(button2)
aschut 0:90750f158475 307 if (!button1)
aschut 0:90750f158475 308 {
aschut 0:90750f158475 309 currentState = DEMO;
aschut 0:90750f158475 310 stateChanged = true;
aschut 0:90750f158475 311 }
aschut 0:90750f158475 312 else if (!button2)
aschut 0:90750f158475 313 {
aschut 0:90750f158475 314 currentState = MOVEMENT ;
aschut 0:90750f158475 315 stateChanged = true;
aschut 0:90750f158475 316 }
aschut 0:90750f158475 317 else if (t>300)
aschut 0:90750f158475 318 {
aschut 0:90750f158475 319 t.stop();
aschut 0:90750f158475 320 t.reset();
aschut 0:90750f158475 321 currentState = MOTORS_OFF ;
aschut 0:90750f158475 322 stateChanged = true;
aschut 0:90750f158475 323 }
aschut 0:90750f158475 324 else
aschut 0:90750f158475 325 {
aschut 0:90750f158475 326 currentState = HOMING ;
aschut 0:90750f158475 327 stateChanged = true;
aschut 0:90750f158475 328 }
aschut 0:90750f158475 329 break;
aschut 0:90750f158475 330
aschut 0:90750f158475 331 case DEMO:
aschut 0:90750f158475 332 // Actions
aschut 0:90750f158475 333 if (stateChanged)
aschut 0:90750f158475 334 {
aschut 0:90750f158475 335 // state initialization: light blue
aschut 0:90750f158475 336 led1 = 0;
aschut 0:90750f158475 337 led2 = 1;
aschut 0:90750f158475 338 led3 = 0;
aschut 0:90750f158475 339 wait (1);
aschut 0:90750f158475 340
aschut 0:90750f158475 341 stateChanged = false;
aschut 0:90750f158475 342 }
aschut 0:90750f158475 343
aschut 0:90750f158475 344 // State transition logic: automatisch terug naar HOMING
aschut 0:90750f158475 345 currentState = HOMING;
aschut 0:90750f158475 346 stateChanged = true;
aschut 0:90750f158475 347 break;
aschut 0:90750f158475 348
aschut 0:90750f158475 349 case MOVEMENT:
aschut 0:90750f158475 350 // Actions
aschut 0:90750f158475 351 if (stateChanged)
aschut 0:90750f158475 352 {
aschut 0:90750f158475 353 // state initialization: purple
gastongab 4:c7be673eb4a1 354 t.reset();
aschut 0:90750f158475 355 t.start();
gastongab 4:c7be673eb4a1 356
aschut 0:90750f158475 357 led1 = 1;
aschut 0:90750f158475 358 led2 = 0;
gastongab 4:c7be673eb4a1 359 led3 = 0;
gastongab 4:c7be673eb4a1 360 wait(2);
gastongab 4:c7be673eb4a1 361
gastongab 4:c7be673eb4a1 362 movement_ticker_activator();
gastongab 3:3a9fdac2ba69 363
gastongab 4:c7be673eb4a1 364 led1 = 0;
gastongab 4:c7be673eb4a1 365 led2 = 0;
gastongab 4:c7be673eb4a1 366 led3 = 0;
gastongab 4:c7be673eb4a1 367 wait(2);
gastongab 4:c7be673eb4a1 368
gastongab 4:c7be673eb4a1 369
aschut 0:90750f158475 370 stateChanged = false;
aschut 0:90750f158475 371 }
aschut 0:90750f158475 372
aschut 0:90750f158475 373 // State transition logic: naar CLICK (button1), naar MOTORS_OFF(button2) anders naar MOVEMENT
aschut 0:90750f158475 374 if (!button1)
aschut 0:90750f158475 375 {
gastongab 4:c7be673eb4a1 376 movement_ticker_deactivator();
aschut 0:90750f158475 377 currentState = CLICK;
aschut 1:070092564648 378 stateChanged = true;
aschut 0:90750f158475 379 }
aschut 0:90750f158475 380 else if (!button2)
aschut 0:90750f158475 381 {
gastongab 4:c7be673eb4a1 382 movement_ticker_deactivator();
aschut 0:90750f158475 383 currentState = MOTORS_OFF ;
aschut 0:90750f158475 384 stateChanged = true;
aschut 0:90750f158475 385 }
aschut 0:90750f158475 386 else if (t>300)
aschut 0:90750f158475 387 {
gastongab 4:c7be673eb4a1 388 movement_ticker_deactivator();
aschut 0:90750f158475 389 t.stop();
aschut 0:90750f158475 390 t.reset();
aschut 0:90750f158475 391 currentState = HOMING ;
aschut 0:90750f158475 392 stateChanged = true;
aschut 0:90750f158475 393 }
aschut 0:90750f158475 394 else
gastongab 4:c7be673eb4a1 395 {
gastongab 4:c7be673eb4a1 396 //For every muscle a different colour if threshold is passed
gastongab 4:c7be673eb4a1 397 if(bicepsR==1){
gastongab 4:c7be673eb4a1 398 led1 = 0;
gastongab 4:c7be673eb4a1 399 led2 = 1;
gastongab 4:c7be673eb4a1 400 led3 = 1;
gastongab 4:c7be673eb4a1 401 }
gastongab 4:c7be673eb4a1 402 else if (bicepsR==0 && tricepsR==0 && bicepsL==0 && tricepsL==0 ){
gastongab 4:c7be673eb4a1 403 led1 = 1;
gastongab 4:c7be673eb4a1 404 led2 = 1;
gastongab 4:c7be673eb4a1 405 led3 = 1;
gastongab 4:c7be673eb4a1 406 }
gastongab 4:c7be673eb4a1 407 if(tricepsR==1){
gastongab 4:c7be673eb4a1 408 led1 = 1;
gastongab 4:c7be673eb4a1 409 led2 = 0;
gastongab 4:c7be673eb4a1 410 led3 = 1;
gastongab 4:c7be673eb4a1 411 }
gastongab 4:c7be673eb4a1 412 else if (bicepsR==0 && tricepsR==0 && bicepsL==0 && tricepsL==0 ){
gastongab 4:c7be673eb4a1 413 led1 = 1;
gastongab 4:c7be673eb4a1 414 led2 = 1;
gastongab 4:c7be673eb4a1 415 led3 = 1;
gastongab 4:c7be673eb4a1 416 }
gastongab 4:c7be673eb4a1 417 if(bicepsL==1){
gastongab 4:c7be673eb4a1 418 led1 = 1;
gastongab 4:c7be673eb4a1 419 led2 = 1;
gastongab 4:c7be673eb4a1 420 led3 = 0;
gastongab 4:c7be673eb4a1 421 }
gastongab 4:c7be673eb4a1 422 else if (bicepsR==0 && tricepsR==0 && bicepsL==0 && tricepsL==0 ){
gastongab 4:c7be673eb4a1 423 led1 = 1;
gastongab 4:c7be673eb4a1 424 led2 = 1;
gastongab 4:c7be673eb4a1 425 led3 = 1;
gastongab 4:c7be673eb4a1 426 }
gastongab 4:c7be673eb4a1 427 if(tricepsL==1){
gastongab 4:c7be673eb4a1 428 led1 = 1;
gastongab 4:c7be673eb4a1 429 led2 = 0;
gastongab 4:c7be673eb4a1 430 led3 = 0;
gastongab 4:c7be673eb4a1 431 }
gastongab 4:c7be673eb4a1 432 else if (bicepsR==0 && tricepsR==0 && bicepsL==0 && tricepsL==0 ){
gastongab 4:c7be673eb4a1 433 led1 = 1;
gastongab 4:c7be673eb4a1 434 led2 = 1;
gastongab 4:c7be673eb4a1 435 led3 = 1;
gastongab 4:c7be673eb4a1 436 }
aschut 0:90750f158475 437 currentState = MOVEMENT ;
gastongab 4:c7be673eb4a1 438 stateChanged = false;
aschut 0:90750f158475 439 }
gastongab 4:c7be673eb4a1 440
aschut 0:90750f158475 441 break;
aschut 0:90750f158475 442
aschut 0:90750f158475 443 case CLICK:
aschut 0:90750f158475 444 // Actions
aschut 0:90750f158475 445 if (stateChanged)
aschut 0:90750f158475 446 {
aschut 0:90750f158475 447 // state initialization: blue
aschut 0:90750f158475 448 led1 = 1;
aschut 0:90750f158475 449 led2 = 1;
aschut 0:90750f158475 450 led3 = 0;
aschut 0:90750f158475 451 wait (1);
aschut 0:90750f158475 452
aschut 0:90750f158475 453 stateChanged = false;
aschut 0:90750f158475 454 }
aschut 0:90750f158475 455
aschut 0:90750f158475 456 // State transition logic: automatisch terug naar MOVEMENT.
aschut 0:90750f158475 457
aschut 0:90750f158475 458 currentState = MOVEMENT;
aschut 0:90750f158475 459 stateChanged = true;
aschut 0:90750f158475 460 break;
aschut 0:90750f158475 461
gastongab 4:c7be673eb4a1 462 }
aschut 0:90750f158475 463 }
aschut 0:90750f158475 464
aschut 0:90750f158475 465 int main()
aschut 0:90750f158475 466 {
gastongab 4:c7be673eb4a1 467 //BiQuad Chain add
gastongab 4:c7be673eb4a1 468 highp1.add( &highp1_1 ).add( &highp1_2 );
gastongab 4:c7be673eb4a1 469 notch1.add( &notch1_1 ).add( &notch1_2 );
gastongab 4:c7be673eb4a1 470 lowp1.add( &lowp1_1 ).add(&lowp1_2);
gastongab 4:c7be673eb4a1 471
gastongab 4:c7be673eb4a1 472 highp2.add( &highp2_1 ).add( &highp2_2 );
gastongab 4:c7be673eb4a1 473 notch2.add( &notch2_1 ).add( &notch2_2 );
gastongab 4:c7be673eb4a1 474 lowp2.add( &lowp2_1 ).add(&lowp2_2);
gastongab 4:c7be673eb4a1 475
gastongab 4:c7be673eb4a1 476 highp3.add( &highp3_1 ).add( &highp3_2 );
gastongab 4:c7be673eb4a1 477 notch3.add( &notch3_1 ).add( &notch3_2 );
gastongab 4:c7be673eb4a1 478 lowp3.add( &lowp3_1 ).add(&lowp3_2);
gastongab 4:c7be673eb4a1 479
gastongab 4:c7be673eb4a1 480 highp4.add( &highp4_1 ).add( &highp4_2 );
gastongab 4:c7be673eb4a1 481 notch4.add( &notch4_1 ).add( &notch4_2 );
gastongab 4:c7be673eb4a1 482 lowp4.add( &lowp4_1 ).add(&lowp4_2);
gastongab 4:c7be673eb4a1 483
gastongab 2:0a8622662f6d 484 pc.baud(115200);
aschut 0:90750f158475 485 led1 = 1;
aschut 0:90750f158475 486 led2 = 1;
aschut 0:90750f158475 487 led3 = 1;
gastongab 4:c7be673eb4a1 488
gastongab 4:c7be673eb4a1 489 while (true)
gastongab 4:c7be673eb4a1 490 {
aschut 0:90750f158475 491 ProcessStateMachine();
aschut 0:90750f158475 492
aschut 0:90750f158475 493 }
aschut 0:90750f158475 494
aschut 0:90750f158475 495 }
aschut 0:90750f158475 496
aschut 0:90750f158475 497
aschut 0:90750f158475 498
aschut 0:90750f158475 499
aschut 0:90750f158475 500
aschut 0:90750f158475 501