Wil je hier nog je PID controler kort uitleggen? Is sneller denk ik. Rest is gedaan volgens mij. Hier zit kall in.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of another_try_from_scratch_on_emg by
main.cpp@40:187ef29de53d, 2016-11-01 (annotated)
- Committer:
- daniQQue
- Date:
- Tue Nov 01 08:48:08 2016 +0000
- Revision:
- 40:187ef29de53d
- Parent:
- 39:c933a6c2b730
- Child:
- 41:9ea3d5921f07
- Child:
- 44:c79e5944ac91
werkend, met tekst in putty en lampje aan/uit. Zonder kalibratie
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 | 40:187ef29de53d | 26 | int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation |
daniQQue | 40:187ef29de53d | 27 | int switch_signal_leftarm=0; // switching between motors. |
daniQQue | 40:187ef29de53d | 28 | double cut_off_value_biceps =0.04; //gespecificeerd door floortje |
daniQQue | 40:187ef29de53d | 29 | double cut_off_value_triceps=-0.03; //gespecificeerd door floortje |
daniQQue | 40:187ef29de53d | 30 | double signal_right_arm; |
daniQQue | 40:187ef29de53d | 31 | int n = 0; //start van de teller wordt op nul gesteld |
daniQQue | 40:187ef29de53d | 32 | |
daniQQue | 40:187ef29de53d | 33 | //biceps arm 1, right arm |
daniQQue | 15:bb4a6c7836d8 | 34 | double emg_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 35 | double emg_filtered_high_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 36 | double emg_abs_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 37 | double emg_filtered_biceps_right; |
daniQQue | 40:187ef29de53d | 38 | double emg_filtered_high_notch_1_biceps_right; |
daniQQue | 40:187ef29de53d | 39 | //double emg_filtered_high_notch_1_2_biceps_right; |
daniQQue | 40:187ef29de53d | 40 | |
daniQQue | 40:187ef29de53d | 41 | //triceps arm 1, right arm |
daniQQue | 40:187ef29de53d | 42 | double emg_triceps_right; |
daniQQue | 40:187ef29de53d | 43 | double emg_filtered_high_triceps_right; |
daniQQue | 40:187ef29de53d | 44 | double emg_abs_triceps_right; |
daniQQue | 40:187ef29de53d | 45 | double emg_filtered_triceps_right; |
daniQQue | 40:187ef29de53d | 46 | double emg_filtered_high_notch_1_triceps_right; |
daniQQue | 40:187ef29de53d | 47 | |
daniQQue | 40:187ef29de53d | 48 | //biceps arm 1, left arm |
daniQQue | 40:187ef29de53d | 49 | double emg_biceps_left; |
daniQQue | 40:187ef29de53d | 50 | double emg_filtered_high_biceps_left; |
daniQQue | 40:187ef29de53d | 51 | double emg_abs_biceps_left; |
daniQQue | 40:187ef29de53d | 52 | double emg_filtered_biceps_left; |
daniQQue | 40:187ef29de53d | 53 | double emg_filtered_high_notch_1_biceps_left; |
daniQQue | 40:187ef29de53d | 54 | |
daniQQue | 40:187ef29de53d | 55 | //before abs filtering |
daniQQue | 40:187ef29de53d | 56 | |
daniQQue | 40:187ef29de53d | 57 | //b1 = biceps right arm |
daniQQue | 40:187ef29de53d | 58 | BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 40:187ef29de53d | 59 | BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); |
daniQQue | 40:187ef29de53d | 60 | |
daniQQue | 40:187ef29de53d | 61 | //t1= triceps right arm |
daniQQue | 40:187ef29de53d | 62 | BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 40:187ef29de53d | 63 | BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); |
daniQQue | 5:688b1b5530d8 | 64 | |
daniQQue | 40:187ef29de53d | 65 | //b2= biceps left arm |
daniQQue | 40:187ef29de53d | 66 | BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 40:187ef29de53d | 67 | BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); |
daniQQue | 40:187ef29de53d | 68 | |
daniQQue | 40:187ef29de53d | 69 | //after abs filtering |
daniQQue | 40:187ef29de53d | 70 | BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 40:187ef29de53d | 71 | BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 40:187ef29de53d | 72 | BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 10:7255b59224cc | 73 | |
daniQQue | 40:187ef29de53d | 74 | //function teller |
daniQQue | 40:187ef29de53d | 75 | void SwitchN() { // maakt simpele functie die 1 bij n optelt |
daniQQue | 40:187ef29de53d | 76 | if(switch_signal_leftarm==1) |
daniQQue | 40:187ef29de53d | 77 | { |
daniQQue | 40:187ef29de53d | 78 | n++; |
daniQQue | 40:187ef29de53d | 79 | green=!green; |
daniQQue | 40:187ef29de53d | 80 | red=!red; |
daniQQue | 40:187ef29de53d | 81 | if (n%2==0) |
daniQQue | 40:187ef29de53d | 82 | {pc.printf("If you contract the biceps, the robot will go up \r\n"); |
daniQQue | 40:187ef29de53d | 83 | pc.printf("If you contract the triceps, the robot will go down \r\n"); |
daniQQue | 40:187ef29de53d | 84 | } |
daniQQue | 40:187ef29de53d | 85 | |
daniQQue | 40:187ef29de53d | 86 | else |
daniQQue | 40:187ef29de53d | 87 | {pc.printf("If you contract the biceps, the robot will go right \r\n"); |
daniQQue | 40:187ef29de53d | 88 | pc.printf("If you contract the triceps, the robot will go left \r\n"); |
daniQQue | 40:187ef29de53d | 89 | } |
daniQQue | 40:187ef29de53d | 90 | |
daniQQue | 40:187ef29de53d | 91 | } |
daniQQue | 40:187ef29de53d | 92 | } |
daniQQue | 40:187ef29de53d | 93 | |
daniQQue | 40:187ef29de53d | 94 | //functions which are called in ticker to sample the analog signal |
daniQQue | 40:187ef29de53d | 95 | |
daniQQue | 0:34c739fcc3e0 | 96 | void filter(){ |
daniQQue | 40:187ef29de53d | 97 | //biceps right arm read+filtering |
daniQQue | 15:bb4a6c7836d8 | 98 | emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 40:187ef29de53d | 99 | emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); |
daniQQue | 40:187ef29de53d | 100 | emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); |
daniQQue | 40:187ef29de53d | 101 | //emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right); |
daniQQue | 40:187ef29de53d | 102 | emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float |
daniQQue | 40:187ef29de53d | 103 | emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); |
daniQQue | 40:187ef29de53d | 104 | |
daniQQue | 40:187ef29de53d | 105 | //triceps right arm read+filtering |
daniQQue | 40:187ef29de53d | 106 | emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 40:187ef29de53d | 107 | emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); |
daniQQue | 40:187ef29de53d | 108 | emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); |
daniQQue | 40:187ef29de53d | 109 | //emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right); |
daniQQue | 40:187ef29de53d | 110 | emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float |
daniQQue | 40:187ef29de53d | 111 | emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); |
daniQQue | 7:42d0e38196f1 | 112 | |
daniQQue | 40:187ef29de53d | 113 | //biceps left arm read+filtering |
daniQQue | 40:187ef29de53d | 114 | emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes |
daniQQue | 40:187ef29de53d | 115 | emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); |
daniQQue | 40:187ef29de53d | 116 | emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); |
daniQQue | 40:187ef29de53d | 117 | emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float |
daniQQue | 40:187ef29de53d | 118 | emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); |
daniQQue | 40:187ef29de53d | 119 | |
daniQQue | 40:187ef29de53d | 120 | //signal substraction of filter biceps and triceps. Biceps +,triceps - |
daniQQue | 40:187ef29de53d | 121 | signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right; |
daniQQue | 40:187ef29de53d | 122 | |
daniQQue | 40:187ef29de53d | 123 | //creating of on/off signal with the created on/off signals, with if statement for right arm! |
daniQQue | 40:187ef29de53d | 124 | if (signal_right_arm>cut_off_value_biceps) |
daniQQue | 40:187ef29de53d | 125 | {onoffsignal_rightarm=1;} |
daniQQue | 7:42d0e38196f1 | 126 | |
daniQQue | 40:187ef29de53d | 127 | else if (signal_right_arm<cut_off_value_triceps) |
daniQQue | 40:187ef29de53d | 128 | { |
daniQQue | 40:187ef29de53d | 129 | onoffsignal_rightarm=-1; |
daniQQue | 40:187ef29de53d | 130 | } |
daniQQue | 40:187ef29de53d | 131 | |
daniQQue | 40:187ef29de53d | 132 | else |
daniQQue | 40:187ef29de53d | 133 | {onoffsignal_rightarm=0;} |
daniQQue | 7:42d0e38196f1 | 134 | |
daniQQue | 40:187ef29de53d | 135 | //creating on/off signal for switch (left arm) |
daniQQue | 40:187ef29de53d | 136 | |
daniQQue | 40:187ef29de53d | 137 | if (emg_filtered_biceps_left>cut_off_value_biceps) |
daniQQue | 40:187ef29de53d | 138 | { |
daniQQue | 40:187ef29de53d | 139 | switch_signal_leftarm=1; |
daniQQue | 40:187ef29de53d | 140 | } |
daniQQue | 40:187ef29de53d | 141 | |
daniQQue | 40:187ef29de53d | 142 | else |
daniQQue | 40:187ef29de53d | 143 | { |
daniQQue | 40:187ef29de53d | 144 | switch_signal_leftarm=0; |
daniQQue | 40:187ef29de53d | 145 | } |
daniQQue | 40:187ef29de53d | 146 | |
daniQQue | 0:34c739fcc3e0 | 147 | //send signals to scope |
daniQQue | 40:187ef29de53d | 148 | scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 |
daniQQue | 40:187ef29de53d | 149 | scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1 |
daniQQue | 40:187ef29de53d | 150 | scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2 |
daniQQue | 40:187ef29de53d | 151 | scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3 |
daniQQue | 40:187ef29de53d | 152 | scope.set(4, switch_signal_leftarm); |
daniQQue | 40:187ef29de53d | 153 | |
daniQQue | 40:187ef29de53d | 154 | scope.send(); //send all the signals to the scope |
daniQQue | 0:34c739fcc3e0 | 155 | } |
daniQQue | 0:34c739fcc3e0 | 156 | |
daniQQue | 0:34c739fcc3e0 | 157 | //program |
daniQQue | 0:34c739fcc3e0 | 158 | |
daniQQue | 0:34c739fcc3e0 | 159 | int main() |
daniQQue | 0:34c739fcc3e0 | 160 | { |
daniQQue | 40:187ef29de53d | 161 | pc.baud(115200); |
daniQQue | 40:187ef29de53d | 162 | green=0; |
daniQQue | 40:187ef29de53d | 163 | red=1; |
daniQQue | 40:187ef29de53d | 164 | |
daniQQue | 0:34c739fcc3e0 | 165 | 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 | 40:187ef29de53d | 166 | switch_function.attach(&SwitchN,1.0); |
daniQQue | 0:34c739fcc3e0 | 167 | //endless loop |
daniQQue | 0:34c739fcc3e0 | 168 | |
daniQQue | 40:187ef29de53d | 169 | |
daniQQue | 40:187ef29de53d | 170 | while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt |
daniQQue | 40:187ef29de53d | 171 | |
daniQQue | 8:cd0cb71b69f2 | 172 | |
daniQQue | 40:187ef29de53d | 173 | if (onoffsignal_rightarm==-1) // als s ingedrukt wordt gebeurd het volgende |
daniQQue | 40:187ef29de53d | 174 | { |
daniQQue | 40:187ef29de53d | 175 | if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande |
daniQQue | 40:187ef29de53d | 176 | { |
daniQQue | 40:187ef29de53d | 177 | richting_motor1 = 1; |
daniQQue | 40:187ef29de53d | 178 | pwm_motor1 = 1; |
daniQQue | 40:187ef29de53d | 179 | |
daniQQue | 40:187ef29de53d | 180 | } |
daniQQue | 40:187ef29de53d | 181 | |
daniQQue | 40:187ef29de53d | 182 | else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande |
daniQQue | 40:187ef29de53d | 183 | { |
daniQQue | 40:187ef29de53d | 184 | richting_motor2 = 1; |
daniQQue | 40:187ef29de53d | 185 | pwm_motor2 = 1; |
daniQQue | 40:187ef29de53d | 186 | |
daniQQue | 40:187ef29de53d | 187 | } |
daniQQue | 40:187ef29de53d | 188 | |
daniQQue | 8:cd0cb71b69f2 | 189 | } |
daniQQue | 40:187ef29de53d | 190 | else if (onoffsignal_rightarm==1) // als d ingedrukt wordt gebeurd het volgende |
daniQQue | 40:187ef29de53d | 191 | { |
daniQQue | 40:187ef29de53d | 192 | if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende |
daniQQue | 40:187ef29de53d | 193 | { |
daniQQue | 40:187ef29de53d | 194 | richting_motor1 = 0; |
daniQQue | 40:187ef29de53d | 195 | pwm_motor1 = 1; |
daniQQue | 40:187ef29de53d | 196 | |
daniQQue | 40:187ef29de53d | 197 | } |
daniQQue | 40:187ef29de53d | 198 | else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande |
daniQQue | 40:187ef29de53d | 199 | { |
daniQQue | 40:187ef29de53d | 200 | richting_motor2 = 0; |
daniQQue | 40:187ef29de53d | 201 | pwm_motor2 = 1; |
daniQQue | 40:187ef29de53d | 202 | |
daniQQue | 40:187ef29de53d | 203 | } |
daniQQue | 40:187ef29de53d | 204 | } |
daniQQue | 40:187ef29de53d | 205 | else{ |
daniQQue | 40:187ef29de53d | 206 | |
daniQQue | 40:187ef29de53d | 207 | pwm_motor2=0; |
daniQQue | 40:187ef29de53d | 208 | pwm_motor1=0; |
daniQQue | 40:187ef29de53d | 209 | } |
daniQQue | 40:187ef29de53d | 210 | |
daniQQue | 40:187ef29de53d | 211 | } |
daniQQue | 0:34c739fcc3e0 | 212 | |
daniQQue | 0:34c739fcc3e0 | 213 | } |