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
- Committer:
- daniQQue
- Date:
- 2016-10-24
- Revision:
- 19:fb98ff1d06ed
- Parent:
- 18:d7695ac04de3
- Child:
- 20:a0495210915b
File content as of revision 19:fb98ff1d06ed:
//libraries #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++ 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 MODSERIAL pc(USBTX,USBRX); //connection with computer DigitalOut led(LED_GREEN); //include led DigitalIn button (D9); //button //define constant const int freq=1000; //chosen sample frequency //define variables 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=0.20; double max_right_biceps; BiQuad filterhigh(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); BiQuad filterlow (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); //functions which are called in ticker void filter(){ emg_biceps_right = emg_biceps_right_in.read(); //read the emg value from the electrodes emg_filtered_high_biceps_right = filterhigh.step(emg_biceps_right); emg_abs_biceps_right =fabs(emg_filtered_high_biceps_right); //fabs because float emg_filtered_biceps_right =filterlow.step(emg_abs_biceps_right); //gefilterd met high, abs, low led=!led; if (emg_filtered_biceps_right>cut_off_value) {onoffsignal=1;} else {onoffsignal=0;} //send signals to scope scope.set(0, emg_biceps_right ); //set emg signal to scope in channel 1 scope.set(1, emg_filtered_biceps_right); scope.set(2, onoffsignal); scope.send(); //send all the signals to the scope } void calibration(){ if(button==0) { for(int n =0; n<2000;n++) //read for 5000 samples as calibration { 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); //highpass emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right); //fabs because float emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); //lowpass to envelope if (emg_filtered_biceps_right > max_right_biceps) //determine what the highest reachable emg signal is { max_right_biceps = emg_filtered_biceps_right; } } cut_off_value=0.2*max_right_biceps; pc.printf(" change of cv %f ",cut_off_value ); } } //program int main() { pc.baud(115200); //start pc connection baudrate 115200 sample_timer.attach (&filter, 1/freq); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds sample_timer.attach (&calibration,1/freq); //continously execute callibration, only affects it when button is pressed for a while. //endless loop while(1) { if (onoffsignal==1) { richting_motor1 = 0; //motordirection (ccw) pwm_motor1 = 1; //motorspeed 1 } else if(onoffsignal==0) { richting_motor1 = 0; //motordirection (ccw) pwm_motor1 = 0; //motorspeed 0 } } }