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@29:76b2cc33690c, 2016-10-28 (annotated)
- Committer:
- daniQQue
- Date:
- Fri Oct 28 08:53:21 2016 +0000
- Revision:
- 29:76b2cc33690c
- Parent:
- 28:e2553066989e
- Child:
- 30:a7bae1c036a3
Met doubles in void en: interrupt ipv ticker
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 | 23:123d65f76236 | 5 | #include "MODSERIAL.h" |
daniQQue | 0:34c739fcc3e0 | 6 | |
daniQQue | 0:34c739fcc3e0 | 7 | //Define objects |
daniQQue | 21:9b8be3dff01a | 8 | AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++ |
daniQQue | 21:9b8be3dff01a | 9 | AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ |
daniQQue | 23:123d65f76236 | 10 | AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ |
daniQQue | 29:76b2cc33690c | 11 | InterruptIn button_calibration_biceps (SW3); //button to start calibration biceps |
daniQQue | 29:76b2cc33690c | 12 | InterruptIn button_calibration_triceps (SW2); // button to start calibration tricps |
daniQQue | 26:38dc21b9ba7d | 13 | |
daniQQue | 26:38dc21b9ba7d | 14 | Ticker sample_timer; //ticker |
daniQQue | 26:38dc21b9ba7d | 15 | Ticker switch_function; //ticker |
daniQQue | 26:38dc21b9ba7d | 16 | HIDScope scope(5); //open 3 channels in hidscope |
daniQQue | 26:38dc21b9ba7d | 17 | MODSERIAL pc(USBTX, USBRX); //pc connection |
daniQQue | 23:123d65f76236 | 18 | |
daniQQue | 23:123d65f76236 | 19 | //motors |
daniQQue | 23:123d65f76236 | 20 | DigitalOut richting_motor1(D4); |
daniQQue | 23:123d65f76236 | 21 | PwmOut pwm_motor1(D5); |
daniQQue | 23:123d65f76236 | 22 | DigitalOut richting_motor2(D7); |
daniQQue | 23:123d65f76236 | 23 | PwmOut pwm_motor2(D6); |
daniQQue | 26:38dc21b9ba7d | 24 | |
daniQQue | 26:38dc21b9ba7d | 25 | //digital out |
daniQQue | 26:38dc21b9ba7d | 26 | |
daniQQue | 21:9b8be3dff01a | 27 | DigitalOut led(LED_GREEN); //led included to check where code is |
daniQQue | 0:34c739fcc3e0 | 28 | |
daniQQue | 0:34c739fcc3e0 | 29 | //define variables |
daniQQue | 21:9b8be3dff01a | 30 | //other |
daniQQue | 21:9b8be3dff01a | 31 | int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation |
daniQQue | 23:123d65f76236 | 32 | int switch_signal_leftarm=0; // switching between motors. |
daniQQue | 26:38dc21b9ba7d | 33 | double cut_off_value_biceps =0.06; //gespecificeerd door floortje |
daniQQue | 26:38dc21b9ba7d | 34 | double cut_off_value_triceps=-0.03; //gespecificeerd door floorte |
daniQQue | 26:38dc21b9ba7d | 35 | double signal_right_arm; //signal right arm |
daniQQue | 26:38dc21b9ba7d | 36 | double max_biceps; //calibration maximum biceps |
daniQQue | 26:38dc21b9ba7d | 37 | double max_triceps; //calibration maximum triceps |
daniQQue | 26:38dc21b9ba7d | 38 | int n = 0; //start van de teller wordt op nul gesteld, om te kunnen switchen |
daniQQue | 23:123d65f76236 | 39 | |
daniQQue | 15:bb4a6c7836d8 | 40 | double emg_biceps_right; |
daniQQue | 21:9b8be3dff01a | 41 | double emg_triceps_right; |
daniQQue | 28:e2553066989e | 42 | double emg_biceps_left; |
daniQQue | 21:9b8be3dff01a | 43 | |
daniQQue | 28:e2553066989e | 44 | //Biquads defined |
daniQQue | 23:123d65f76236 | 45 | |
daniQQue | 23:123d65f76236 | 46 | //b1 = biceps right arm |
daniQQue | 22:eb8411807cca | 47 | BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 22:eb8411807cca | 48 | BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); |
daniQQue | 22:eb8411807cca | 49 | BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); |
daniQQue | 23:123d65f76236 | 50 | |
daniQQue | 23:123d65f76236 | 51 | //t1= triceps right arm |
daniQQue | 22:eb8411807cca | 52 | BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 22:eb8411807cca | 53 | BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); |
daniQQue | 22:eb8411807cca | 54 | BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); |
daniQQue | 21:9b8be3dff01a | 55 | |
daniQQue | 23:123d65f76236 | 56 | //b2= biceps left arm |
daniQQue | 23:123d65f76236 | 57 | BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 23:123d65f76236 | 58 | BiQuad filternotch1_b2 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); |
daniQQue | 23:123d65f76236 | 59 | BiQuad filternotch2_b2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); |
daniQQue | 23:123d65f76236 | 60 | |
daniQQue | 21:9b8be3dff01a | 61 | //after abs filtering |
daniQQue | 22:eb8411807cca | 62 | BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 22:eb8411807cca | 63 | BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 23:123d65f76236 | 64 | BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 10:7255b59224cc | 65 | |
daniQQue | 23:123d65f76236 | 66 | //function teller |
daniQQue | 23:123d65f76236 | 67 | void SwitchN() { // maakt simpele functie die 1 bij n optelt |
daniQQue | 23:123d65f76236 | 68 | if(switch_signal_leftarm==1) |
daniQQue | 23:123d65f76236 | 69 | { |
daniQQue | 23:123d65f76236 | 70 | n++; |
daniQQue | 25:58f351d9fcc4 | 71 | wait(0.5f); |
daniQQue | 23:123d65f76236 | 72 | } |
daniQQue | 23:123d65f76236 | 73 | } |
daniQQue | 23:123d65f76236 | 74 | |
daniQQue | 21:9b8be3dff01a | 75 | //functions which are called in ticker to sample the analog signal |
daniQQue | 23:123d65f76236 | 76 | |
daniQQue | 0:34c739fcc3e0 | 77 | void filter(){ |
daniQQue | 21:9b8be3dff01a | 78 | //biceps right arm read+filtering |
daniQQue | 15:bb4a6c7836d8 | 79 | emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 28:e2553066989e | 80 | double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); |
daniQQue | 28:e2553066989e | 81 | double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); |
daniQQue | 28:e2553066989e | 82 | double emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right); |
daniQQue | 28:e2553066989e | 83 | double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float |
daniQQue | 28:e2553066989e | 84 | double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); |
daniQQue | 21:9b8be3dff01a | 85 | |
daniQQue | 21:9b8be3dff01a | 86 | //triceps right arm read+filtering |
daniQQue | 21:9b8be3dff01a | 87 | emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 28:e2553066989e | 88 | double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); |
daniQQue | 28:e2553066989e | 89 | double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); |
daniQQue | 28:e2553066989e | 90 | double emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right); |
daniQQue | 28:e2553066989e | 91 | double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float |
daniQQue | 28:e2553066989e | 92 | double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); |
daniQQue | 7:42d0e38196f1 | 93 | |
daniQQue | 23:123d65f76236 | 94 | //biceps left arm read+filtering |
daniQQue | 23:123d65f76236 | 95 | emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes |
daniQQue | 28:e2553066989e | 96 | double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); |
daniQQue | 28:e2553066989e | 97 | double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); |
daniQQue | 28:e2553066989e | 98 | double emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left); |
daniQQue | 28:e2553066989e | 99 | double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float |
daniQQue | 28:e2553066989e | 100 | double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); |
daniQQue | 23:123d65f76236 | 101 | |
daniQQue | 21:9b8be3dff01a | 102 | //signal substraction of filter biceps and triceps. Biceps +,triceps - |
daniQQue | 28:e2553066989e | 103 | double signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right; |
daniQQue | 21:9b8be3dff01a | 104 | |
daniQQue | 23:123d65f76236 | 105 | //creating of on/off signal with the created on/off signals, with if statement for right arm! |
daniQQue | 21:9b8be3dff01a | 106 | if (signal_right_arm>cut_off_value_biceps) |
daniQQue | 21:9b8be3dff01a | 107 | {onoffsignal_rightarm=1;} |
daniQQue | 7:42d0e38196f1 | 108 | |
daniQQue | 21:9b8be3dff01a | 109 | else if (signal_right_arm<cut_off_value_triceps) |
daniQQue | 21:9b8be3dff01a | 110 | { |
daniQQue | 21:9b8be3dff01a | 111 | onoffsignal_rightarm=-1; |
daniQQue | 21:9b8be3dff01a | 112 | } |
daniQQue | 21:9b8be3dff01a | 113 | |
daniQQue | 21:9b8be3dff01a | 114 | else |
daniQQue | 21:9b8be3dff01a | 115 | {onoffsignal_rightarm=0;} |
daniQQue | 7:42d0e38196f1 | 116 | |
daniQQue | 23:123d65f76236 | 117 | //creating on/off signal for switch (left arm) |
daniQQue | 23:123d65f76236 | 118 | |
daniQQue | 23:123d65f76236 | 119 | if (emg_filtered_biceps_left>cut_off_value_biceps) |
daniQQue | 23:123d65f76236 | 120 | { |
daniQQue | 23:123d65f76236 | 121 | switch_signal_leftarm=1; |
daniQQue | 23:123d65f76236 | 122 | } |
daniQQue | 23:123d65f76236 | 123 | |
daniQQue | 23:123d65f76236 | 124 | else |
daniQQue | 23:123d65f76236 | 125 | { |
daniQQue | 23:123d65f76236 | 126 | switch_signal_leftarm=0; |
daniQQue | 23:123d65f76236 | 127 | } |
daniQQue | 23:123d65f76236 | 128 | |
daniQQue | 0:34c739fcc3e0 | 129 | //send signals to scope |
daniQQue | 25:58f351d9fcc4 | 130 | scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 // change into raw signal! |
daniQQue | 25:58f351d9fcc4 | 131 | scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1// change into raw signal! |
daniQQue | 25:58f351d9fcc4 | 132 | scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2 |
daniQQue | 25:58f351d9fcc4 | 133 | scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3 |
daniQQue | 23:123d65f76236 | 134 | scope.set(4, switch_signal_leftarm); |
daniQQue | 23:123d65f76236 | 135 | |
daniQQue | 0:34c739fcc3e0 | 136 | scope.send(); //send all the signals to the scope |
daniQQue | 0:34c739fcc3e0 | 137 | } |
daniQQue | 0:34c739fcc3e0 | 138 | |
daniQQue | 29:76b2cc33690c | 139 | //calibration function for biceps |
daniQQue | 27:b8d61361d709 | 140 | void calibration_biceps(){ |
daniQQue | 27:b8d61361d709 | 141 | if(button_calibration_biceps==0) |
daniQQue | 26:38dc21b9ba7d | 142 | { |
daniQQue | 26:38dc21b9ba7d | 143 | for(int n =0; n<2000;n++) //read for 5000 samples as calibration |
daniQQue | 26:38dc21b9ba7d | 144 | { |
daniQQue | 28:e2553066989e | 145 | emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 28:e2553066989e | 146 | double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); |
daniQQue | 28:e2553066989e | 147 | double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); |
daniQQue | 28:e2553066989e | 148 | double emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right); |
daniQQue | 28:e2553066989e | 149 | double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float |
daniQQue | 28:e2553066989e | 150 | double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); |
daniQQue | 28:e2553066989e | 151 | |
daniQQue | 28:e2553066989e | 152 | if (emg_filtered_biceps_right > max_biceps) //determine what the highest reachable emg signal is |
daniQQue | 26:38dc21b9ba7d | 153 | { |
daniQQue | 28:e2553066989e | 154 | max_biceps = emg_filtered_biceps_right; |
daniQQue | 27:b8d61361d709 | 155 | |
daniQQue | 26:38dc21b9ba7d | 156 | } |
daniQQue | 27:b8d61361d709 | 157 | wait(0.001f); //to sample at same freq; 1000Hz |
daniQQue | 26:38dc21b9ba7d | 158 | } |
daniQQue | 28:e2553066989e | 159 | cut_off_value_biceps=0.2*max_biceps; |
daniQQue | 28:e2553066989e | 160 | pc.printf(" change of cv %f ",cut_off_value_biceps ); |
daniQQue | 26:38dc21b9ba7d | 161 | } |
daniQQue | 26:38dc21b9ba7d | 162 | } |
daniQQue | 26:38dc21b9ba7d | 163 | |
daniQQue | 0:34c739fcc3e0 | 164 | //program |
daniQQue | 0:34c739fcc3e0 | 165 | |
daniQQue | 0:34c739fcc3e0 | 166 | int main() |
daniQQue | 0:34c739fcc3e0 | 167 | { |
daniQQue | 23:123d65f76236 | 168 | pc.baud(115200); |
daniQQue | 0:34c739fcc3e0 | 169 | 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 | 28:e2553066989e | 170 | switch_function.attach(&SwitchN,0.1); |
daniQQue | 29:76b2cc33690c | 171 | button_calibration_biceps.fall(&calibration_biceps,0.001); //to call calibration biceps, stop everything else |
daniQQue | 0:34c739fcc3e0 | 172 | //endless loop |
daniQQue | 0:34c739fcc3e0 | 173 | |
daniQQue | 23:123d65f76236 | 174 | while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt |
daniQQue | 23:123d65f76236 | 175 | |
daniQQue | 24:bfc240e381b4 | 176 | if (onoffsignal_rightarm==1) // als s ingedrukt wordt gebeurd het volgende |
daniQQue | 23:123d65f76236 | 177 | { |
daniQQue | 23:123d65f76236 | 178 | if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande |
daniQQue | 23:123d65f76236 | 179 | { |
daniQQue | 28:e2553066989e | 180 | |
daniQQue | 24:bfc240e381b4 | 181 | richting_motor1 = 2.5; |
daniQQue | 23:123d65f76236 | 182 | pwm_motor1 = 1; |
daniQQue | 23:123d65f76236 | 183 | |
daniQQue | 23:123d65f76236 | 184 | } |
daniQQue | 23:123d65f76236 | 185 | |
daniQQue | 23:123d65f76236 | 186 | else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande |
daniQQue | 23:123d65f76236 | 187 | { |
daniQQue | 28:e2553066989e | 188 | |
daniQQue | 24:bfc240e381b4 | 189 | richting_motor2 = 2.5; |
daniQQue | 23:123d65f76236 | 190 | pwm_motor2 = 1; |
daniQQue | 23:123d65f76236 | 191 | |
daniQQue | 23:123d65f76236 | 192 | } |
daniQQue | 23:123d65f76236 | 193 | |
daniQQue | 23:123d65f76236 | 194 | } |
daniQQue | 24:bfc240e381b4 | 195 | else if (onoffsignal_rightarm==-1) // als d ingedrukt wordt gebeurd het volgende |
daniQQue | 23:123d65f76236 | 196 | { |
daniQQue | 23:123d65f76236 | 197 | if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende |
daniQQue | 23:123d65f76236 | 198 | { |
daniQQue | 28:e2553066989e | 199 | |
daniQQue | 24:bfc240e381b4 | 200 | richting_motor1 = 0; |
daniQQue | 23:123d65f76236 | 201 | pwm_motor1 = 1; |
daniQQue | 23:123d65f76236 | 202 | |
daniQQue | 23:123d65f76236 | 203 | } |
daniQQue | 23:123d65f76236 | 204 | else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande |
daniQQue | 23:123d65f76236 | 205 | { |
daniQQue | 28:e2553066989e | 206 | |
daniQQue | 24:bfc240e381b4 | 207 | richting_motor2 = 0; |
daniQQue | 23:123d65f76236 | 208 | pwm_motor2 = 1; |
daniQQue | 23:123d65f76236 | 209 | |
daniQQue | 23:123d65f76236 | 210 | } |
daniQQue | 23:123d65f76236 | 211 | } |
daniQQue | 23:123d65f76236 | 212 | else{ |
daniQQue | 23:123d65f76236 | 213 | pwm_motor2=0; |
daniQQue | 23:123d65f76236 | 214 | pwm_motor1=0; |
daniQQue | 23:123d65f76236 | 215 | } |
daniQQue | 23:123d65f76236 | 216 | |
daniQQue | 23:123d65f76236 | 217 | } |
daniQQue | 0:34c739fcc3e0 | 218 | |
daniQQue | 0:34c739fcc3e0 | 219 | } |