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@39:c933a6c2b730, 2016-10-31 (annotated)
- Committer:
- daniQQue
- Date:
- Mon Oct 31 15:11:42 2016 +0000
- Revision:
- 39:c933a6c2b730
- Parent:
- 38:23601b26bb84
- Child:
- 40:187ef29de53d
1 EMG signal biceps, new notch filter with new coefficients from matlab, works perfectly!!
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 | 0:34c739fcc3e0 | 5 | |
daniQQue | 0:34c739fcc3e0 | 6 | //Define objects |
daniQQue | 15:bb4a6c7836d8 | 7 | AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG in to c++ |
daniQQue | 0:34c739fcc3e0 | 8 | Ticker sample_timer; //ticker |
daniQQue | 14:5b17697cf775 | 9 | HIDScope scope( 3); //open 3 channels in hidscope |
daniQQue | 8:cd0cb71b69f2 | 10 | DigitalOut richting_motor1(D4); //motor1 direction output |
daniQQue | 8:cd0cb71b69f2 | 11 | PwmOut pwm_motor1(D5); //motor1 velocity output |
daniQQue | 0:34c739fcc3e0 | 12 | DigitalOut led(LED_GREEN); |
daniQQue | 0:34c739fcc3e0 | 13 | |
daniQQue | 0:34c739fcc3e0 | 14 | //define variables |
daniQQue | 15:bb4a6c7836d8 | 15 | double emg_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 16 | double emg_filtered_high_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 17 | double emg_abs_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 18 | double emg_filtered_biceps_right; |
daniQQue | 7:42d0e38196f1 | 19 | int onoffsignal=0; |
daniQQue | 38:23601b26bb84 | 20 | double cut_off_value=0.04; //gespecifeerd door floortje |
daniQQue | 5:688b1b5530d8 | 21 | |
daniQQue | 37:60dd2e42bf8f | 22 | BiQuad filterhigh(9.1497e-01, -1.8299e+00, 9.1497e-01, -1.8227e+00, 8.3718e-01); // |
daniQQue | 37:60dd2e42bf8f | 23 | BiQuad filterlow ( 3.9130e-05 , 7.8260e-05 , 3.9130e-05, -1.9822e+00 , 9.8239e-01); // |
daniQQue | 39:c933a6c2b730 | 24 | BiQuad notch( 9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); |
daniQQue | 10:7255b59224cc | 25 | |
daniQQue | 15:bb4a6c7836d8 | 26 | //functions which are called in ticker |
daniQQue | 0:34c739fcc3e0 | 27 | void filter(){ |
daniQQue | 15:bb4a6c7836d8 | 28 | emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 15:bb4a6c7836d8 | 29 | emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); |
daniQQue | 38:23601b26bb84 | 30 | double emg_filtered_notch=notch.step(emg_filtered_high_biceps_right); |
daniQQue | 38:23601b26bb84 | 31 | emg_abs_biceps_right=fabs(emg_filtered_notch); //fabs because float |
daniQQue | 15:bb4a6c7836d8 | 32 | emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); |
daniQQue | 0:34c739fcc3e0 | 33 | led=!led; |
daniQQue | 7:42d0e38196f1 | 34 | |
daniQQue | 15:bb4a6c7836d8 | 35 | if (emg_filtered_biceps_right>cut_off_value) |
daniQQue | 7:42d0e38196f1 | 36 | {onoffsignal=1;} |
daniQQue | 7:42d0e38196f1 | 37 | |
daniQQue | 7:42d0e38196f1 | 38 | else |
daniQQue | 37:60dd2e42bf8f | 39 | {onoffsignal=0;} |
daniQQue | 7:42d0e38196f1 | 40 | |
daniQQue | 0:34c739fcc3e0 | 41 | //send signals to scope |
daniQQue | 39:c933a6c2b730 | 42 | scope.set(0, emg_biceps_right ); //set emg signal to scope in channel 1 |
daniQQue | 37:60dd2e42bf8f | 43 | scope.set(1, emg_abs_biceps_right); |
daniQQue | 37:60dd2e42bf8f | 44 | scope.set(2, emg_filtered_biceps_right); |
daniQQue | 37:60dd2e42bf8f | 45 | scope.send(); //send all the signals to the scope |
daniQQue | 0:34c739fcc3e0 | 46 | } |
daniQQue | 0:34c739fcc3e0 | 47 | |
daniQQue | 0:34c739fcc3e0 | 48 | //program |
daniQQue | 0:34c739fcc3e0 | 49 | |
daniQQue | 0:34c739fcc3e0 | 50 | int main() |
daniQQue | 0:34c739fcc3e0 | 51 | { |
daniQQue | 0:34c739fcc3e0 | 52 | 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 | 4:7d9ca9c1dcce | 53 | |
daniQQue | 0:34c739fcc3e0 | 54 | //endless loop |
daniQQue | 0:34c739fcc3e0 | 55 | |
daniQQue | 0:34c739fcc3e0 | 56 | while(1) |
daniQQue | 8:cd0cb71b69f2 | 57 | { |
daniQQue | 8:cd0cb71b69f2 | 58 | if (onoffsignal==1) |
daniQQue | 8:cd0cb71b69f2 | 59 | { |
daniQQue | 8:cd0cb71b69f2 | 60 | richting_motor1 = 0; //motordirection (ccw) |
daniQQue | 10:7255b59224cc | 61 | pwm_motor1 = 1; //motorspeed 1 |
daniQQue | 8:cd0cb71b69f2 | 62 | |
daniQQue | 8:cd0cb71b69f2 | 63 | } |
daniQQue | 8:cd0cb71b69f2 | 64 | else if(onoffsignal==0) |
daniQQue | 8:cd0cb71b69f2 | 65 | { |
daniQQue | 8:cd0cb71b69f2 | 66 | richting_motor1 = 0; //motordirection (ccw) |
daniQQue | 8:cd0cb71b69f2 | 67 | pwm_motor1 = 0; //motorspeed 0 |
daniQQue | 8:cd0cb71b69f2 | 68 | |
daniQQue | 8:cd0cb71b69f2 | 69 | } |
daniQQue | 8:cd0cb71b69f2 | 70 | |
daniQQue | 8:cd0cb71b69f2 | 71 | } |
daniQQue | 0:34c739fcc3e0 | 72 | |
daniQQue | 0:34c739fcc3e0 | 73 | } |