met knopjes, voor Wubs, zit PID in dus restrictie.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
main.cpp@41:9ea3d5921f07, 2016-11-01 (annotated)
- Committer:
- daniQQue
- Date:
- Tue Nov 01 09:14:55 2016 +0000
- Revision:
- 41:9ea3d5921f07
- Parent:
- 40:187ef29de53d
- Child:
- 42:7164ccd2aa14
aangepaste versie: bicepsen motoren aansturen, triceps switch
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
daniQQue | 0:34c739fcc3e0 | 1 | //libraries |
daniQQue | 0:34c739fcc3e0 | 2 | #include "mbed.h" |
daniQQue | 0:34c739fcc3e0 | 3 | #include "HIDScope.h" |
daniQQue | 14:5b17697cf775 | 4 | #include "BiQuad.h" |
daniQQue | 40:187ef29de53d | 5 | #include "MODSERIAL.h" |
daniQQue | 0:34c739fcc3e0 | 6 | |
daniQQue | 0:34c739fcc3e0 | 7 | //Define objects |
daniQQue | 40:187ef29de53d | 8 | AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++ |
daniQQue | 40:187ef29de53d | 9 | AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ |
daniQQue | 40:187ef29de53d | 10 | AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ |
daniQQue | 0:34c739fcc3e0 | 11 | Ticker sample_timer; //ticker |
daniQQue | 40:187ef29de53d | 12 | Ticker switch_function; //ticker |
daniQQue | 40:187ef29de53d | 13 | HIDScope scope(5); //open 3 channels in hidscope |
daniQQue | 40:187ef29de53d | 14 | MODSERIAL pc(USBTX, USBRX); //pc connection |
daniQQue | 40:187ef29de53d | 15 | DigitalOut red(LED_RED); |
daniQQue | 40:187ef29de53d | 16 | DigitalOut green(LED_GREEN); |
daniQQue | 40:187ef29de53d | 17 | |
daniQQue | 40:187ef29de53d | 18 | //motors |
daniQQue | 40:187ef29de53d | 19 | DigitalOut richting_motor1(D4); |
daniQQue | 40:187ef29de53d | 20 | PwmOut pwm_motor1(D5); |
daniQQue | 40:187ef29de53d | 21 | DigitalOut richting_motor2(D7); |
daniQQue | 40:187ef29de53d | 22 | PwmOut pwm_motor2(D6); |
daniQQue | 0:34c739fcc3e0 | 23 | |
daniQQue | 0:34c739fcc3e0 | 24 | //define variables |
daniQQue | 40:187ef29de53d | 25 | //other |
daniQQue | 41:9ea3d5921f07 | 26 | int onoffsignal_biceps=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation |
daniQQue | 41:9ea3d5921f07 | 27 | int switch_signal_triceps=0; // switching between motors. |
daniQQue | 41:9ea3d5921f07 | 28 | double cut_off_value_biceps_right =0.04; //gespecificeerd door floortje |
daniQQue | 41:9ea3d5921f07 | 29 | double cut_off_value_biceps_left=-0.04; |
daniQQue | 41:9ea3d5921f07 | 30 | double cut_off_value_triceps=0.05; //gespecificeerd door floortje |
daniQQue | 41:9ea3d5921f07 | 31 | double signal_biceps_sum; |
daniQQue | 40:187ef29de53d | 32 | int n = 0; //start van de teller wordt op nul gesteld |
daniQQue | 40:187ef29de53d | 33 | |
daniQQue | 40:187ef29de53d | 34 | //biceps arm 1, right arm |
daniQQue | 15:bb4a6c7836d8 | 35 | double emg_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 36 | double emg_filtered_high_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 37 | double emg_abs_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 38 | double emg_filtered_biceps_right; |
daniQQue | 40:187ef29de53d | 39 | double emg_filtered_high_notch_1_biceps_right; |
daniQQue | 40:187ef29de53d | 40 | //double emg_filtered_high_notch_1_2_biceps_right; |
daniQQue | 40:187ef29de53d | 41 | |
daniQQue | 40:187ef29de53d | 42 | //triceps arm 1, right arm |
daniQQue | 40:187ef29de53d | 43 | double emg_triceps_right; |
daniQQue | 40:187ef29de53d | 44 | double emg_filtered_high_triceps_right; |
daniQQue | 40:187ef29de53d | 45 | double emg_abs_triceps_right; |
daniQQue | 40:187ef29de53d | 46 | double emg_filtered_triceps_right; |
daniQQue | 40:187ef29de53d | 47 | double emg_filtered_high_notch_1_triceps_right; |
daniQQue | 40:187ef29de53d | 48 | |
daniQQue | 40:187ef29de53d | 49 | //biceps arm 1, left arm |
daniQQue | 40:187ef29de53d | 50 | double emg_biceps_left; |
daniQQue | 40:187ef29de53d | 51 | double emg_filtered_high_biceps_left; |
daniQQue | 40:187ef29de53d | 52 | double emg_abs_biceps_left; |
daniQQue | 40:187ef29de53d | 53 | double emg_filtered_biceps_left; |
daniQQue | 40:187ef29de53d | 54 | double emg_filtered_high_notch_1_biceps_left; |
daniQQue | 40:187ef29de53d | 55 | |
daniQQue | 40:187ef29de53d | 56 | //before abs filtering |
daniQQue | 40:187ef29de53d | 57 | |
daniQQue | 40:187ef29de53d | 58 | //b1 = biceps right arm |
daniQQue | 40:187ef29de53d | 59 | BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 40:187ef29de53d | 60 | BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); |
daniQQue | 40:187ef29de53d | 61 | |
daniQQue | 40:187ef29de53d | 62 | //t1= triceps right arm |
daniQQue | 40:187ef29de53d | 63 | BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 40:187ef29de53d | 64 | BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); |
daniQQue | 5:688b1b5530d8 | 65 | |
daniQQue | 40:187ef29de53d | 66 | //b2= biceps left arm |
daniQQue | 40:187ef29de53d | 67 | BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 40:187ef29de53d | 68 | BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); |
daniQQue | 40:187ef29de53d | 69 | |
daniQQue | 40:187ef29de53d | 70 | //after abs filtering |
daniQQue | 40:187ef29de53d | 71 | BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 40:187ef29de53d | 72 | BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 40:187ef29de53d | 73 | BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 10:7255b59224cc | 74 | |
daniQQue | 40:187ef29de53d | 75 | //function teller |
daniQQue | 40:187ef29de53d | 76 | void SwitchN() { // maakt simpele functie die 1 bij n optelt |
daniQQue | 41:9ea3d5921f07 | 77 | if(switch_signal_triceps==1) |
daniQQue | 40:187ef29de53d | 78 | { |
daniQQue | 40:187ef29de53d | 79 | n++; |
daniQQue | 40:187ef29de53d | 80 | green=!green; |
daniQQue | 40:187ef29de53d | 81 | red=!red; |
daniQQue | 40:187ef29de53d | 82 | if (n%2==0) |
daniQQue | 41:9ea3d5921f07 | 83 | {pc.printf("If you contract the biceps of right arm, the robot will go up \r\n"); |
daniQQue | 41:9ea3d5921f07 | 84 | pc.printf("If you contract the biceps of left arm, the robot will go down \r\n"); |
daniQQue | 41:9ea3d5921f07 | 85 | pc.printf("\r\n"); |
daniQQue | 40:187ef29de53d | 86 | } |
daniQQue | 40:187ef29de53d | 87 | |
daniQQue | 40:187ef29de53d | 88 | else |
daniQQue | 41:9ea3d5921f07 | 89 | {pc.printf("If you contract the right arm, the robot will go right \r\n"); |
daniQQue | 41:9ea3d5921f07 | 90 | pc.printf("If you contract biceps of the left rm, the robot will go left \r\n"); |
daniQQue | 41:9ea3d5921f07 | 91 | pc.printf("\r\n"); |
daniQQue | 40:187ef29de53d | 92 | |
daniQQue | 40:187ef29de53d | 93 | } |
daniQQue | 40:187ef29de53d | 94 | } |
daniQQue | 41:9ea3d5921f07 | 95 | } |
daniQQue | 40:187ef29de53d | 96 | |
daniQQue | 40:187ef29de53d | 97 | //functions which are called in ticker to sample the analog signal |
daniQQue | 40:187ef29de53d | 98 | |
daniQQue | 0:34c739fcc3e0 | 99 | void filter(){ |
daniQQue | 40:187ef29de53d | 100 | //biceps right arm read+filtering |
daniQQue | 15:bb4a6c7836d8 | 101 | emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 40:187ef29de53d | 102 | emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); |
daniQQue | 40:187ef29de53d | 103 | emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); |
daniQQue | 40:187ef29de53d | 104 | //emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right); |
daniQQue | 40:187ef29de53d | 105 | emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float |
daniQQue | 40:187ef29de53d | 106 | emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); |
daniQQue | 40:187ef29de53d | 107 | |
daniQQue | 40:187ef29de53d | 108 | //triceps right arm read+filtering |
daniQQue | 40:187ef29de53d | 109 | emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 40:187ef29de53d | 110 | emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); |
daniQQue | 40:187ef29de53d | 111 | emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); |
daniQQue | 40:187ef29de53d | 112 | //emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right); |
daniQQue | 40:187ef29de53d | 113 | emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float |
daniQQue | 40:187ef29de53d | 114 | emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); |
daniQQue | 7:42d0e38196f1 | 115 | |
daniQQue | 40:187ef29de53d | 116 | //biceps left arm read+filtering |
daniQQue | 40:187ef29de53d | 117 | emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes |
daniQQue | 40:187ef29de53d | 118 | emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); |
daniQQue | 40:187ef29de53d | 119 | emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); |
daniQQue | 40:187ef29de53d | 120 | emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float |
daniQQue | 40:187ef29de53d | 121 | emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); |
daniQQue | 40:187ef29de53d | 122 | |
daniQQue | 41:9ea3d5921f07 | 123 | //signal substraction of filter biceps and triceps. right Biceps + left biceps - |
daniQQue | 41:9ea3d5921f07 | 124 | signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left; |
daniQQue | 40:187ef29de53d | 125 | |
daniQQue | 40:187ef29de53d | 126 | //creating of on/off signal with the created on/off signals, with if statement for right arm! |
daniQQue | 41:9ea3d5921f07 | 127 | if (signal_biceps_sum>cut_off_value_biceps_right) |
daniQQue | 41:9ea3d5921f07 | 128 | {onoffsignal_biceps=1;} |
daniQQue | 7:42d0e38196f1 | 129 | |
daniQQue | 41:9ea3d5921f07 | 130 | else if (signal_biceps_sum<cut_off_value_biceps_left) |
daniQQue | 40:187ef29de53d | 131 | { |
daniQQue | 41:9ea3d5921f07 | 132 | onoffsignal_biceps=-1; |
daniQQue | 40:187ef29de53d | 133 | } |
daniQQue | 40:187ef29de53d | 134 | |
daniQQue | 40:187ef29de53d | 135 | else |
daniQQue | 41:9ea3d5921f07 | 136 | {onoffsignal_biceps=0;} |
daniQQue | 7:42d0e38196f1 | 137 | |
daniQQue | 40:187ef29de53d | 138 | //creating on/off signal for switch (left arm) |
daniQQue | 40:187ef29de53d | 139 | |
daniQQue | 41:9ea3d5921f07 | 140 | if (emg_filtered_triceps_right>cut_off_value_triceps) |
daniQQue | 40:187ef29de53d | 141 | { |
daniQQue | 41:9ea3d5921f07 | 142 | switch_signal_triceps=1; |
daniQQue | 40:187ef29de53d | 143 | } |
daniQQue | 40:187ef29de53d | 144 | |
daniQQue | 40:187ef29de53d | 145 | else |
daniQQue | 40:187ef29de53d | 146 | { |
daniQQue | 41:9ea3d5921f07 | 147 | switch_signal_triceps=0; |
daniQQue | 40:187ef29de53d | 148 | } |
daniQQue | 40:187ef29de53d | 149 | |
daniQQue | 0:34c739fcc3e0 | 150 | //send signals to scope |
daniQQue | 40:187ef29de53d | 151 | scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 |
daniQQue | 40:187ef29de53d | 152 | scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1 |
daniQQue | 40:187ef29de53d | 153 | scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2 |
daniQQue | 41:9ea3d5921f07 | 154 | |
daniQQue | 40:187ef29de53d | 155 | |
daniQQue | 40:187ef29de53d | 156 | scope.send(); //send all the signals to the scope |
daniQQue | 0:34c739fcc3e0 | 157 | } |
daniQQue | 0:34c739fcc3e0 | 158 | |
daniQQue | 0:34c739fcc3e0 | 159 | //program |
daniQQue | 0:34c739fcc3e0 | 160 | |
daniQQue | 0:34c739fcc3e0 | 161 | int main() |
daniQQue | 0:34c739fcc3e0 | 162 | { |
daniQQue | 40:187ef29de53d | 163 | pc.baud(115200); |
daniQQue | 40:187ef29de53d | 164 | green=0; |
daniQQue | 40:187ef29de53d | 165 | red=1; |
daniQQue | 40:187ef29de53d | 166 | |
daniQQue | 0:34c739fcc3e0 | 167 | sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds |
daniQQue | 41:9ea3d5921f07 | 168 | switch_function.attach(&SwitchN,1.5); |
daniQQue | 0:34c739fcc3e0 | 169 | //endless loop |
daniQQue | 0:34c739fcc3e0 | 170 | |
daniQQue | 40:187ef29de53d | 171 | |
daniQQue | 40:187ef29de53d | 172 | while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt |
daniQQue | 40:187ef29de53d | 173 | |
daniQQue | 8:cd0cb71b69f2 | 174 | |
daniQQue | 41:9ea3d5921f07 | 175 | if (onoffsignal_biceps==-1) // als s ingedrukt wordt gebeurd het volgende |
daniQQue | 40:187ef29de53d | 176 | { |
daniQQue | 40:187ef29de53d | 177 | if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande |
daniQQue | 40:187ef29de53d | 178 | { |
daniQQue | 40:187ef29de53d | 179 | richting_motor1 = 1; |
daniQQue | 40:187ef29de53d | 180 | pwm_motor1 = 1; |
daniQQue | 40:187ef29de53d | 181 | |
daniQQue | 40:187ef29de53d | 182 | } |
daniQQue | 40:187ef29de53d | 183 | |
daniQQue | 40:187ef29de53d | 184 | else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande |
daniQQue | 40:187ef29de53d | 185 | { |
daniQQue | 40:187ef29de53d | 186 | richting_motor2 = 1; |
daniQQue | 40:187ef29de53d | 187 | pwm_motor2 = 1; |
daniQQue | 40:187ef29de53d | 188 | |
daniQQue | 40:187ef29de53d | 189 | } |
daniQQue | 40:187ef29de53d | 190 | |
daniQQue | 8:cd0cb71b69f2 | 191 | } |
daniQQue | 41:9ea3d5921f07 | 192 | else if (onoffsignal_biceps==1) // als d ingedrukt wordt gebeurd het volgende |
daniQQue | 40:187ef29de53d | 193 | { |
daniQQue | 40:187ef29de53d | 194 | if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende |
daniQQue | 40:187ef29de53d | 195 | { |
daniQQue | 40:187ef29de53d | 196 | richting_motor1 = 0; |
daniQQue | 40:187ef29de53d | 197 | pwm_motor1 = 1; |
daniQQue | 40:187ef29de53d | 198 | |
daniQQue | 40:187ef29de53d | 199 | } |
daniQQue | 40:187ef29de53d | 200 | else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande |
daniQQue | 40:187ef29de53d | 201 | { |
daniQQue | 40:187ef29de53d | 202 | richting_motor2 = 0; |
daniQQue | 40:187ef29de53d | 203 | pwm_motor2 = 1; |
daniQQue | 40:187ef29de53d | 204 | |
daniQQue | 40:187ef29de53d | 205 | } |
daniQQue | 40:187ef29de53d | 206 | } |
daniQQue | 40:187ef29de53d | 207 | else{ |
daniQQue | 40:187ef29de53d | 208 | |
daniQQue | 40:187ef29de53d | 209 | pwm_motor2=0; |
daniQQue | 40:187ef29de53d | 210 | pwm_motor1=0; |
daniQQue | 40:187ef29de53d | 211 | } |
daniQQue | 40:187ef29de53d | 212 | |
daniQQue | 40:187ef29de53d | 213 | } |
daniQQue | 0:34c739fcc3e0 | 214 | |
daniQQue | 0:34c739fcc3e0 | 215 | } |