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@13:6c2daab3547b, 2016-10-24 (annotated)
- Committer:
- daniQQue
- Date:
- Mon Oct 24 09:55:48 2016 +0000
- Revision:
- 13:6c2daab3547b
- Parent:
- 12:a76f9b33fbcb
- Child:
- 14:5b17697cf775
1 scope, coeff floor;
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 | 4:7d9ca9c1dcce | 4 | #include "biquadFilter.h" |
daniQQue | 0:34c739fcc3e0 | 5 | |
daniQQue | 0:34c739fcc3e0 | 6 | //Define objects |
daniQQue | 0:34c739fcc3e0 | 7 | AnalogIn emg0( A0 ); //analog in to get EMG in to c++ |
daniQQue | 0:34c739fcc3e0 | 8 | Ticker sample_timer; //ticker |
daniQQue | 13:6c2daab3547b | 9 | HIDScope scope(1); //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 | 0:34c739fcc3e0 | 15 | double emg_0_value; |
daniQQue | 10:7255b59224cc | 16 | double emg_gefilterd; |
daniQQue | 7:42d0e38196f1 | 17 | double emg_abs; |
daniQQue | 7:42d0e38196f1 | 18 | int onoffsignal=0; |
daniQQue | 13:6c2daab3547b | 19 | double cut_off_value=0.; //gespecifeerd door floortje |
daniQQue | 5:688b1b5530d8 | 20 | |
daniQQue | 13:6c2daab3547b | 21 | biquadFilter filterhigh1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 10:7255b59224cc | 22 | |
daniQQue | 8:cd0cb71b69f2 | 23 | |
daniQQue | 0:34c739fcc3e0 | 24 | void filter(){ |
daniQQue | 13:6c2daab3547b | 25 | emg_0_value=emg0.read(); //read the emg value from the elektrodes |
daniQQue | 10:7255b59224cc | 26 | emg_gefilterd= filterhigh1.step(emg_0_value); |
daniQQue | 10:7255b59224cc | 27 | emg_abs=abs(emg_gefilterd); |
daniQQue | 0:34c739fcc3e0 | 28 | led=!led; |
daniQQue | 7:42d0e38196f1 | 29 | |
daniQQue | 13:6c2daab3547b | 30 | if (emg_abs>cut_off_value) |
daniQQue | 7:42d0e38196f1 | 31 | {onoffsignal=1;} |
daniQQue | 7:42d0e38196f1 | 32 | |
daniQQue | 7:42d0e38196f1 | 33 | else |
daniQQue | 7:42d0e38196f1 | 34 | {onoffsignal=0;} |
daniQQue | 7:42d0e38196f1 | 35 | |
daniQQue | 0:34c739fcc3e0 | 36 | //send signals to scope |
daniQQue | 1:30d46f7e5150 | 37 | scope.set(0, emg_0_value ); //set emg signal to scope in channel 1 |
daniQQue | 0:34c739fcc3e0 | 38 | scope.send(); //send all the signals to the scope |
daniQQue | 0:34c739fcc3e0 | 39 | } |
daniQQue | 0:34c739fcc3e0 | 40 | |
daniQQue | 0:34c739fcc3e0 | 41 | //program |
daniQQue | 0:34c739fcc3e0 | 42 | |
daniQQue | 0:34c739fcc3e0 | 43 | int main() |
daniQQue | 0:34c739fcc3e0 | 44 | { |
daniQQue | 0:34c739fcc3e0 | 45 | 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 | 46 | |
daniQQue | 0:34c739fcc3e0 | 47 | //endless loop |
daniQQue | 0:34c739fcc3e0 | 48 | |
daniQQue | 0:34c739fcc3e0 | 49 | while(1) |
daniQQue | 8:cd0cb71b69f2 | 50 | { |
daniQQue | 8:cd0cb71b69f2 | 51 | if (onoffsignal==1) |
daniQQue | 8:cd0cb71b69f2 | 52 | { |
daniQQue | 8:cd0cb71b69f2 | 53 | richting_motor1 = 0; //motordirection (ccw) |
daniQQue | 10:7255b59224cc | 54 | pwm_motor1 = 1; //motorspeed 1 |
daniQQue | 8:cd0cb71b69f2 | 55 | |
daniQQue | 8:cd0cb71b69f2 | 56 | } |
daniQQue | 8:cd0cb71b69f2 | 57 | else if(onoffsignal==0) |
daniQQue | 8:cd0cb71b69f2 | 58 | { |
daniQQue | 8:cd0cb71b69f2 | 59 | richting_motor1 = 0; //motordirection (ccw) |
daniQQue | 8:cd0cb71b69f2 | 60 | pwm_motor1 = 0; //motorspeed 0 |
daniQQue | 8:cd0cb71b69f2 | 61 | |
daniQQue | 8:cd0cb71b69f2 | 62 | } |
daniQQue | 8:cd0cb71b69f2 | 63 | |
daniQQue | 8:cd0cb71b69f2 | 64 | } |
daniQQue | 0:34c739fcc3e0 | 65 | |
daniQQue | 0:34c739fcc3e0 | 66 | } |