Daniqe Kottelenberg / Mbed 2 deprecated another_try_from_scratch_on_emg

emg with text

Dependencies:   HIDScope MODSERIAL biquadFilter mbed

Fork of emg_import by Daniqe Kottelenberg

main.cpp@45:08bddea67bd8, 2016-11-02 (annotated)

Committer:
daniQQue
Date:
Wed Nov 02 16:18:25 2016 +0000
Revision:
45:08bddea67bd8
Parent:
44:c79e5944ac91
Child:
46:4a8889f9dc9f
versie die werkt om 17:17 lege paal!, motoren aangestuurd met emg! geen kalibratie! geen encoder! alleen aansturing!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daniQQue 45:08bddea67bd8 1 //==========================================
daniQQue 0:34c739fcc3e0 2 //libraries
daniQQue 0:34c739fcc3e0 3 #include "mbed.h"
daniQQue 0:34c739fcc3e0 4 #include "HIDScope.h"
daniQQue 14:5b17697cf775 5 #include "BiQuad.h"
daniQQue 40:187ef29de53d 6 #include "MODSERIAL.h"
daniQQue 0:34c739fcc3e0 7
daniQQue 45:08bddea67bd8 8 //=========================================
daniQQue 0:34c739fcc3e0 9 //Define objects
daniQQue 40:187ef29de53d 10 AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++
daniQQue 40:187ef29de53d 11 AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++
daniQQue 40:187ef29de53d 12 AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++
daniQQue 0:34c739fcc3e0 13 Ticker sample_timer; //ticker
daniQQue 45:08bddea67bd8 14 Ticker ticker_switch; //ticker
daniQQue 40:187ef29de53d 15 HIDScope scope(5); //open 3 channels in hidscope
daniQQue 40:187ef29de53d 16 MODSERIAL pc(USBTX, USBRX); //pc connection
daniQQue 40:187ef29de53d 17 DigitalOut red(LED_RED);
daniQQue 40:187ef29de53d 18 DigitalOut green(LED_GREEN);
daniQQue 40:187ef29de53d 19
daniQQue 40:187ef29de53d 20 //motors
daniQQue 40:187ef29de53d 21 DigitalOut richting_motor1(D4);
daniQQue 40:187ef29de53d 22 PwmOut pwm_motor1(D5);
daniQQue 40:187ef29de53d 23 DigitalOut richting_motor2(D7);
daniQQue 40:187ef29de53d 24 PwmOut pwm_motor2(D6);
daniQQue 0:34c739fcc3e0 25
daniQQue 0:34c739fcc3e0 26 //define variables
daniQQue 40:187ef29de53d 27 //other
daniQQue 40:187ef29de53d 28 int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation
daniQQue 40:187ef29de53d 29 int switch_signal_leftarm=0; // switching between motors.
daniQQue 45:08bddea67bd8 30 double cut_off_value_biceps_right =0.04; //gespecificeerd door floortje
daniQQue 45:08bddea67bd8 31 double cut_off_value_biceps_left=-0.04;
daniQQue 45:08bddea67bd8 32 double cut_off_value_triceps=-0.04;
daniQQue 45:08bddea67bd8 33 int switch_signal = 0; //start van de teller wordt op nul gesteld
daniQQue 45:08bddea67bd8 34
daniQQue 45:08bddea67bd8 35 int onoffsignal_biceps;
daniQQue 45:08bddea67bd8 36 int switch_signal_triceps;
daniQQue 40:187ef29de53d 37
daniQQue 44:c79e5944ac91 38 //=======================================
daniQQue 44:c79e5944ac91 39 //filter coefficients
daniQQue 40:187ef29de53d 40
daniQQue 40:187ef29de53d 41 //b1 = biceps right arm
daniQQue 40:187ef29de53d 42 BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 40:187ef29de53d 43 BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
daniQQue 40:187ef29de53d 44
daniQQue 40:187ef29de53d 45 //t1= triceps right arm
daniQQue 40:187ef29de53d 46 BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 40:187ef29de53d 47 BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
daniQQue 5:688b1b5530d8 48
daniQQue 40:187ef29de53d 49 //b2= biceps left arm
daniQQue 40:187ef29de53d 50 BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 40:187ef29de53d 51 BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
daniQQue 40:187ef29de53d 52
daniQQue 40:187ef29de53d 53 //after abs filtering
daniQQue 40:187ef29de53d 54 BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 40:187ef29de53d 55 BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 40:187ef29de53d 56 BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 10:7255b59224cc 57
daniQQue 45:08bddea67bd8 58 //======================================================================
daniQQue 45:08bddea67bd8 59 //voids
daniQQue 45:08bddea67bd8 60 //======================================================================
daniQQue 45:08bddea67bd8 61
daniQQue 40:187ef29de53d 62 //function teller
daniQQue 45:08bddea67bd8 63 void switch_function() { // maakt simpele functie die 1 bij n optelt
daniQQue 45:08bddea67bd8 64 if(switch_signal_triceps==1)
daniQQue 40:187ef29de53d 65 {
daniQQue 45:08bddea67bd8 66 switch_signal++;
daniQQue 40:187ef29de53d 67 green=!green;
daniQQue 40:187ef29de53d 68 red=!red;
daniQQue 45:08bddea67bd8 69 if (switch_signal%2==0)
daniQQue 40:187ef29de53d 70 {pc.printf("If you contract the biceps, the robot will go up \r\n");
daniQQue 40:187ef29de53d 71 pc.printf("If you contract the triceps, the robot will go down \r\n");
daniQQue 40:187ef29de53d 72 }
daniQQue 40:187ef29de53d 73
daniQQue 40:187ef29de53d 74 else
daniQQue 40:187ef29de53d 75 {pc.printf("If you contract the biceps, the robot will go right \r\n");
daniQQue 40:187ef29de53d 76 pc.printf("If you contract the triceps, the robot will go left \r\n");
daniQQue 40:187ef29de53d 77 }
daniQQue 40:187ef29de53d 78
daniQQue 40:187ef29de53d 79 }
daniQQue 40:187ef29de53d 80 }
daniQQue 40:187ef29de53d 81
daniQQue 40:187ef29de53d 82 //functions which are called in ticker to sample the analog signal
daniQQue 40:187ef29de53d 83
daniQQue 0:34c739fcc3e0 84 void filter(){
daniQQue 40:187ef29de53d 85 //biceps right arm read+filtering
daniQQue 44:c79e5944ac91 86 double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 44:c79e5944ac91 87 double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 44:c79e5944ac91 88 double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 44:c79e5944ac91 89 double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float
daniQQue 44:c79e5944ac91 90 double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 40:187ef29de53d 91
daniQQue 40:187ef29de53d 92 //triceps right arm read+filtering
daniQQue 44:c79e5944ac91 93 double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 44:c79e5944ac91 94 double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
daniQQue 44:c79e5944ac91 95 double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
daniQQue 44:c79e5944ac91 96 double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float
daniQQue 44:c79e5944ac91 97 double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
daniQQue 7:42d0e38196f1 98
daniQQue 40:187ef29de53d 99 //biceps left arm read+filtering
daniQQue 44:c79e5944ac91 100 double emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes
daniQQue 44:c79e5944ac91 101 double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
daniQQue 44:c79e5944ac91 102 double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
daniQQue 44:c79e5944ac91 103 double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float
daniQQue 44:c79e5944ac91 104 double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
daniQQue 40:187ef29de53d 105
daniQQue 40:187ef29de53d 106 //creating of on/off signal with the created on/off signals, with if statement for right arm!
daniQQue 44:c79e5944ac91 107 //signal substraction of filter biceps and triceps. right Biceps + left biceps -
daniQQue 44:c79e5944ac91 108 double signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left;
daniQQue 44:c79e5944ac91 109 double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right;
daniQQue 45:08bddea67bd8 110
daniQQue 44:c79e5944ac91 111 //creating of on/off signal with the created on/off signals, with if statement for right arm!
daniQQue 44:c79e5944ac91 112 if (signal_biceps_sum>cut_off_value_biceps_right)
daniQQue 44:c79e5944ac91 113 {onoffsignal_biceps=1;}
daniQQue 7:42d0e38196f1 114
daniQQue 44:c79e5944ac91 115 else if (signal_biceps_sum<cut_off_value_biceps_left)
daniQQue 40:187ef29de53d 116 {
daniQQue 44:c79e5944ac91 117 onoffsignal_biceps=-1;
daniQQue 40:187ef29de53d 118 }
daniQQue 40:187ef29de53d 119
daniQQue 40:187ef29de53d 120 else
daniQQue 44:c79e5944ac91 121 {onoffsignal_biceps=0;}
daniQQue 7:42d0e38196f1 122
daniQQue 40:187ef29de53d 123 //creating on/off signal for switch (left arm)
daniQQue 40:187ef29de53d 124
daniQQue 44:c79e5944ac91 125 if (bicepstriceps_rightarm<cut_off_value_triceps)
daniQQue 40:187ef29de53d 126 {
daniQQue 44:c79e5944ac91 127 switch_signal_triceps=1;
daniQQue 40:187ef29de53d 128 }
daniQQue 40:187ef29de53d 129
daniQQue 40:187ef29de53d 130 else
daniQQue 40:187ef29de53d 131 {
daniQQue 44:c79e5944ac91 132 switch_signal_triceps=0;
daniQQue 40:187ef29de53d 133 }
daniQQue 0:34c739fcc3e0 134 //send signals to scope
daniQQue 40:187ef29de53d 135 scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0
daniQQue 40:187ef29de53d 136 scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1
daniQQue 40:187ef29de53d 137 scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2
daniQQue 45:08bddea67bd8 138 scope.set(3, onoffsignal_biceps); // set emg signal to scope in channel 3
daniQQue 45:08bddea67bd8 139 scope.set(4, switch_signal_triceps);
daniQQue 40:187ef29de53d 140
daniQQue 40:187ef29de53d 141 scope.send(); //send all the signals to the scope
daniQQue 0:34c739fcc3e0 142 }
daniQQue 0:34c739fcc3e0 143
daniQQue 0:34c739fcc3e0 144 //program
daniQQue 0:34c739fcc3e0 145
daniQQue 0:34c739fcc3e0 146 int main()
daniQQue 0:34c739fcc3e0 147 {
daniQQue 40:187ef29de53d 148 pc.baud(115200);
daniQQue 40:187ef29de53d 149 green=0;
daniQQue 40:187ef29de53d 150 red=1;
daniQQue 40:187ef29de53d 151
daniQQue 0:34c739fcc3e0 152 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 45:08bddea67bd8 153 ticker_switch.attach(&switch_function,1.0);
daniQQue 44:c79e5944ac91 154
daniQQue 45:08bddea67bd8 155 if (switch_signal%2==0)
daniQQue 45:08bddea67bd8 156 {pc.printf("If you contract the biceps, the robot will go up \r\n");
daniQQue 45:08bddea67bd8 157 pc.printf("If you contract the triceps, the robot will go down \r\n");
daniQQue 45:08bddea67bd8 158 }
daniQQue 45:08bddea67bd8 159
daniQQue 45:08bddea67bd8 160 else
daniQQue 45:08bddea67bd8 161 {pc.printf("If you contract the biceps, the robot will go right \r\n");
daniQQue 45:08bddea67bd8 162 pc.printf("If you contract the triceps, the robot will go left \r\n");
daniQQue 45:08bddea67bd8 163 }
daniQQue 45:08bddea67bd8 164
daniQQue 44:c79e5944ac91 165 //==============================================================================================
daniQQue 0:34c739fcc3e0 166 //endless loop
daniQQue 0:34c739fcc3e0 167
daniQQue 40:187ef29de53d 168
daniQQue 40:187ef29de53d 169 while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt
daniQQue 40:187ef29de53d 170
daniQQue 8:cd0cb71b69f2 171
daniQQue 45:08bddea67bd8 172 if (onoffsignal_biceps==-1) //left biceps contracted
daniQQue 40:187ef29de53d 173 {
daniQQue 45:08bddea67bd8 174 if (switch_signal%2==0)
daniQQue 40:187ef29de53d 175 {
daniQQue 45:08bddea67bd8 176 richting_motor1 = 1; //motor 1, left
daniQQue 40:187ef29de53d 177 pwm_motor1 = 1;
daniQQue 40:187ef29de53d 178
daniQQue 40:187ef29de53d 179 }
daniQQue 40:187ef29de53d 180
daniQQue 45:08bddea67bd8 181 else
daniQQue 40:187ef29de53d 182 {
daniQQue 45:08bddea67bd8 183 richting_motor2 = 1; //motor 2, up
daniQQue 40:187ef29de53d 184 pwm_motor2 = 1;
daniQQue 40:187ef29de53d 185
daniQQue 40:187ef29de53d 186 }
daniQQue 40:187ef29de53d 187
daniQQue 8:cd0cb71b69f2 188 }
daniQQue 45:08bddea67bd8 189 else if (onoffsignal_biceps==1) // als d ingedrukt wordt gebeurd het volgende
daniQQue 40:187ef29de53d 190 {
daniQQue 45:08bddea67bd8 191 if (switch_signal%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende
daniQQue 40:187ef29de53d 192 {
daniQQue 45:08bddea67bd8 193 richting_motor1 = 0; //motor 1, right
daniQQue 40:187ef29de53d 194 pwm_motor1 = 1;
daniQQue 40:187ef29de53d 195
daniQQue 40:187ef29de53d 196 }
daniQQue 40:187ef29de53d 197 else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande
daniQQue 40:187ef29de53d 198 {
daniQQue 45:08bddea67bd8 199 richting_motor2 = 0; //motor 2. down
daniQQue 40:187ef29de53d 200 pwm_motor2 = 1;
daniQQue 40:187ef29de53d 201
daniQQue 40:187ef29de53d 202 }
daniQQue 40:187ef29de53d 203 }
daniQQue 40:187ef29de53d 204 else{
daniQQue 40:187ef29de53d 205
daniQQue 40:187ef29de53d 206 pwm_motor2=0;
daniQQue 40:187ef29de53d 207 pwm_motor1=0;
daniQQue 40:187ef29de53d 208 }
daniQQue 40:187ef29de53d 209
daniQQue 40:187ef29de53d 210 }
daniQQue 0:34c739fcc3e0 211
daniQQue 0:34c739fcc3e0 212 }