Diff: main.cpp

Revision:

42:7164ccd2aa14

Parent:

41:9ea3d5921f07

Child:

43:7d0b2dc05b80

--- a/main.cpp	Tue Nov 01 09:14:55 2016 +0000
+++ b/main.cpp	Tue Nov 01 10:30:56 2016 +0000
@@ -8,13 +8,17 @@
 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++
+
+InterruptIn   button_calibration_biceps (SW3);                //button to start calibration biceps
+InterruptIn   button_calibration_triceps (SW2);               // button to start calibration tricps
+
 Ticker      sample_timer;           //ticker
 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);
-
+DigitalOut blue(LED_BLUE);
 //motors
 DigitalOut richting_motor1(D4);
 PwmOut pwm_motor1(D5);
@@ -25,12 +29,18 @@
 //other
 int    onoffsignal_biceps=0;              // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation
 int    switch_signal_triceps=0;             // switching between motors. 
-double cut_off_value_biceps_right =0.04;              //gespecificeerd door floortje
-double cut_off_value_biceps_left=-0.04;
-double cut_off_value_triceps=0.05;             //gespecificeerd door floortje
+volatile double cut_off_value_biceps_right =0.04;              //gespecificeerd door floortje
+volatile double cut_off_value_biceps_left  =-0.04;
+volatile double cut_off_value_triceps=0.04;             //gespecificeerd door floortje
 double signal_biceps_sum;
-int n = 0; //start van de teller wordt op nul gesteld
- 
+int motorswitch= 0; //start van de teller wordt op nul gesteld
+
+//variables and constants for calibration
+const float percentage_max_triceps=0.3;
+const float percentage_max_biceps =0.3;
+double max_biceps;                          //calibration maximum biceps
+double max_triceps;                         //calibration maximum triceps
+
 //biceps  arm 1, right arm
 double emg_biceps_right;
 double emg_filtered_high_biceps_right;
@@ -76,40 +86,119 @@
 void SwitchN() {                        // maakt simpele functie die 1 bij n optelt
     if(switch_signal_triceps==1)
     {
-        n++;
-        green=!green;
-        red=!red;
-    if (n%2==0)  
-     {pc.printf("If you contract the biceps of right arm, the robot will go up \r\n");
+        motorswitch++;
+        
+    if (motorswitch%2==0)  
+      {pc.printf("If you contract the right arm, the robot will go right \r\n");
+     pc.printf("If you contract biceps of the left arm, the robot will go left \r\n");
+    pc.printf("\r\n");
+        green=0;
+        red=1;
+          }
+    
+    else
+    {pc.printf("If you contract the biceps of right arm, the robot will go up \r\n");
      pc.printf("If you contract the biceps of left arm, the robot will go down \r\n");
      pc.printf("\r\n");
-     }
-    
-    else
-     {pc.printf("If you contract the right arm, the robot will go right \r\n");
-     pc.printf("If you contract biceps of the left rm, the robot will go left \r\n");
-    pc.printf("\r\n");
-        
+        green=1;
+        red=0;
+   
     }    
+
     }
     }
     
 //functions which are called in ticker to sample the analog signal
 
+//callibration
+void calibration_biceps(){
+        pc.printf("start of calibration biceps, contract maximal \n");
+        red=1;
+        green=1;
+        blue=0;
+        
+        for(int n =0; n<3000;n++)                                                  //read for 2000 samples as calibration
+                {
+        emg_biceps_right=emg_biceps_right_in.read();                            //read the emg value from the elektrodes
+        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_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);
+                                
+            if (emg_filtered_biceps_right > max_biceps)                    //determine what the highest reachable emg signal is
+                {
+            max_biceps = emg_filtered_biceps_right;
+            
+                }
+                wait(0.001f); //to sample at same freq; 1000Hz
+                }
+            cut_off_value_biceps_right=percentage_max_biceps*max_biceps; 
+            cut_off_value_biceps_left=-cut_off_value_biceps_right;
+            //toggle lights
+            blue=!blue;
+            
+            pc.printf(" end of calibration\r\n",cut_off_value_biceps_right );   
+            pc.printf(" change of cv biceps: %f ",cut_off_value_biceps_right );
+            
+            wait(0.5f);
+              
+            if (motorswitch%2==0)
+            {green=0;
+            red=1;}
+            
+            else       {green=1;
+            red=0;}
+            
+                }
+                
+void calibration_triceps(){
+        red=1;
+        green=1;
+        blue=0;
+      
+        pc.printf("start of calibration triceps\r\n");
+
+        for(int n =0; n<3000;n++)                                                  //read for 2000 samples as calibration
+                {
+        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_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_triceps_right > max_triceps)                    //determine what the highest reachable emg signal is
+                {
+            max_triceps = emg_filtered_triceps_right;
+            
+                }
+                wait(0.001f); //to sample at same freq; 1000Hz
+                }
+            cut_off_value_triceps=percentage_max_triceps*max_triceps; 
+            pc.printf(" end of calibration\r\n");   
+            pc.printf(" change of cv triceps: %f ",cut_off_value_triceps ); 
+            blue=!blue;
+            wait(0.5f);
+            if (motorswitch%2==0)
+            {green=0;
+            red=1;}
+            
+            else       {green=1;
+            red=0;}  
+            
+                }
+
 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_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_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);
         
@@ -160,12 +249,31 @@
 
 int main()
 {  
-pc.baud(115200);
-green=0;
-red=1;
+pc.baud(115200); //connect with pc with baudrate 115200
+
+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);                   //switch is every second available
+button_calibration_biceps.fall (&calibration_biceps);   //to call calibration biceps, stop everything else
+button_calibration_triceps.fall(&calibration_triceps);  //to call calibration triceps, stop everything else
 
-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,1.5);
+  if (motorswitch%2==0)  
+      { pc.printf("If you contract the right arm, the robot will go right \r\n");
+        pc.printf("If you contract biceps of the left arm, the robot will go left \r\n");
+        pc.printf("\r\n");
+    green=0;
+    red=1;
+    blue=1;
+          }
+    
+    else
+    {pc.printf("If you contract the biceps of right arm, the robot will go up \r\n");
+     pc.printf("If you contract the biceps of left arm, the robot will go down \r\n");
+     pc.printf("\r\n");
+    green=1;
+    red=0;
+    blue=1;
+           
+    }    
 //endless loop
 
 
@@ -174,10 +282,12 @@
         
     if (onoffsignal_biceps==-1)                           // als s ingedrukt wordt gebeurd het volgende
     {
-         if (n%2==0)                     // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
+         if (motorswitch%2==0)                     // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
          { 
            richting_motor1 = 1;
            pwm_motor1 = 1; 
+          
+           
                   
          } 
          
@@ -185,22 +295,24 @@
          {
            richting_motor2 = 1;
            pwm_motor2 = 1;
-           
+          
          }      
               
     }
     else if (onoffsignal_biceps==1)                     // als d ingedrukt wordt gebeurd het volgende
     {
-         if (n%2==0)                     // als d is ingedrukt en n is even dan gebeurd het volgende
+         if (motorswitch%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;
+            
                 
          }  
     }