met knopjes, voor Wubs, zit PID in dus restrictie.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 40:187ef29de53d
- Parent:
- 39:c933a6c2b730
- Child:
- 41:9ea3d5921f07
- Child:
- 44:c79e5944ac91
--- a/main.cpp Mon Oct 31 15:11:42 2016 +0000 +++ b/main.cpp Tue Nov 01 08:48:08 2016 +0000 @@ -2,72 +2,212 @@ #include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" +#include "MODSERIAL.h" //Define objects -AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG in to c++ +AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++ +AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ +AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ Ticker sample_timer; //ticker -HIDScope scope( 3); //open 3 channels in hidscope -DigitalOut richting_motor1(D4); //motor1 direction output -PwmOut pwm_motor1(D5); //motor1 velocity output -DigitalOut led(LED_GREEN); +Ticker switch_function; //ticker +HIDScope scope(5); //open 3 channels in hidscope +MODSERIAL pc(USBTX, USBRX); //pc connection +DigitalOut red(LED_RED); +DigitalOut green(LED_GREEN); + +//motors +DigitalOut richting_motor1(D4); +PwmOut pwm_motor1(D5); +DigitalOut richting_motor2(D7); +PwmOut pwm_motor2(D6); //define variables +//other +int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation +int switch_signal_leftarm=0; // switching between motors. +double cut_off_value_biceps =0.04; //gespecificeerd door floortje +double cut_off_value_triceps=-0.03; //gespecificeerd door floortje +double signal_right_arm; +int n = 0; //start van de teller wordt op nul gesteld + +//biceps arm 1, right arm double emg_biceps_right; double emg_filtered_high_biceps_right; double emg_abs_biceps_right; double emg_filtered_biceps_right; -int onoffsignal=0; -double cut_off_value=0.04; //gespecifeerd door floortje +double emg_filtered_high_notch_1_biceps_right; +//double emg_filtered_high_notch_1_2_biceps_right; + +//triceps arm 1, right arm +double emg_triceps_right; +double emg_filtered_high_triceps_right; +double emg_abs_triceps_right; +double emg_filtered_triceps_right; +double emg_filtered_high_notch_1_triceps_right; + +//biceps arm 1, left arm +double emg_biceps_left; +double emg_filtered_high_biceps_left; +double emg_abs_biceps_left; +double emg_filtered_biceps_left; +double emg_filtered_high_notch_1_biceps_left; + +//before abs filtering + +//b1 = biceps right arm +BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); +BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); + +//t1= triceps right arm +BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); +BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); -BiQuad filterhigh(9.1497e-01, -1.8299e+00, 9.1497e-01, -1.8227e+00, 8.3718e-01); // -BiQuad filterlow ( 3.9130e-05 , 7.8260e-05 , 3.9130e-05, -1.9822e+00 , 9.8239e-01); // -BiQuad notch( 9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); +//b2= biceps left arm +BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); +BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); + +//after abs filtering +BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); +BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); +BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); -//functions which are called in ticker +//function teller +void SwitchN() { // maakt simpele functie die 1 bij n optelt + if(switch_signal_leftarm==1) + { + n++; + green=!green; + red=!red; + if (n%2==0) + {pc.printf("If you contract the biceps, the robot will go up \r\n"); + pc.printf("If you contract the triceps, the robot will go down \r\n"); + } + + else + {pc.printf("If you contract the biceps, the robot will go right \r\n"); + pc.printf("If you contract the triceps, the robot will go left \r\n"); + } + + } + } + +//functions which are called in ticker to sample the analog signal + void filter(){ + //biceps right arm read+filtering emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes - emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); - double emg_filtered_notch=notch.step(emg_filtered_high_biceps_right); - emg_abs_biceps_right=fabs(emg_filtered_notch); //fabs because float - emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); - led=!led; + emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); + emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); + //emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right); + emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float + emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); + + //triceps right arm read+filtering + emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes + emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); + emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); + //emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right); + emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float + emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); - if (emg_filtered_biceps_right>cut_off_value) - {onoffsignal=1;} + //biceps left arm read+filtering + emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes + emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); + emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); + emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float + emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); + + //signal substraction of filter biceps and triceps. Biceps +,triceps - + signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right; + + //creating of on/off signal with the created on/off signals, with if statement for right arm! + if (signal_right_arm>cut_off_value_biceps) + {onoffsignal_rightarm=1;} - else - {onoffsignal=0;} + else if (signal_right_arm<cut_off_value_triceps) + { + onoffsignal_rightarm=-1; + } + + else + {onoffsignal_rightarm=0;} + //creating on/off signal for switch (left arm) + + if (emg_filtered_biceps_left>cut_off_value_biceps) + { + switch_signal_leftarm=1; + } + + else + { + switch_signal_leftarm=0; + } + //send signals to scope - scope.set(0, emg_biceps_right ); //set emg signal to scope in channel 1 - scope.set(1, emg_abs_biceps_right); - scope.set(2, emg_filtered_biceps_right); - scope.send(); //send all the signals to the scope + scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 + scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1 + scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2 + scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3 + scope.set(4, switch_signal_leftarm); + + scope.send(); //send all the signals to the scope } //program int main() { +pc.baud(115200); +green=0; +red=1; + 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 - +switch_function.attach(&SwitchN,1.0); //endless loop - while(1) - { - if (onoffsignal==1) - { - richting_motor1 = 0; //motordirection (ccw) - pwm_motor1 = 1; //motorspeed 1 + + while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt + - } - else if(onoffsignal==0) - { - richting_motor1 = 0; //motordirection (ccw) - pwm_motor1 = 0; //motorspeed 0 - + if (onoffsignal_rightarm==-1) // als s ingedrukt wordt gebeurd het volgende + { + if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande + { + richting_motor1 = 1; + pwm_motor1 = 1; + + } + + else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande + { + richting_motor2 = 1; + pwm_motor2 = 1; + + } + } - - } + else if (onoffsignal_rightarm==1) // als d ingedrukt wordt gebeurd het volgende + { + if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende + { + richting_motor1 = 0; + pwm_motor1 = 1; + + } + else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande + { + richting_motor2 = 0; + pwm_motor2 = 1; + + } + } + else{ + + pwm_motor2=0; + pwm_motor1=0; + } + +} } \ No newline at end of file