Diff: main.cpp

Revision:

45:08bddea67bd8

Parent:

44:c79e5944ac91

Child:

46:4a8889f9dc9f

--- a/main.cpp	Wed Nov 02 15:25:03 2016 +0000
+++ b/main.cpp	Wed Nov 02 16:18:25 2016 +0000
@@ -1,15 +1,17 @@
+//==========================================
 //libraries
 #include "mbed.h"
 #include "HIDScope.h"
 #include "BiQuad.h"  
 #include "MODSERIAL.h"
 
+//=========================================
 //Define objects
 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++
 Ticker      sample_timer;           //ticker
-Ticker      switch_function;         //ticker
+Ticker      ticker_switch;         //ticker
 HIDScope    scope(5);               //open 3 channels in hidscope
 MODSERIAL pc(USBTX, USBRX);            //pc connection
 DigitalOut red(LED_RED);
@@ -25,9 +27,13 @@
 //other
 int    onoffsignal_rightarm=0;              // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation
 int    switch_signal_leftarm=0;             // switching between motors. 
-double cut_off_value_biceps =0.04;              //gespecificeerd door floortje
-double cut_off_value_triceps=-0.03;             //gespecificeerd door floortje
-int n = 0; //start van de teller wordt op nul gesteld
+double cut_off_value_biceps_right =0.04;              //gespecificeerd door floortje
+double cut_off_value_biceps_left=-0.04;
+double cut_off_value_triceps=-0.04;             
+int switch_signal = 0; //start van de teller wordt op nul gesteld
+ 
+int onoffsignal_biceps;
+int switch_signal_triceps;
  
 //=======================================
 //filter coefficients
@@ -49,14 +55,18 @@
 BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
 BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
 
+//======================================================================
+//voids
+//======================================================================
+
 //function teller
-void SwitchN() {                        // maakt simpele functie die 1 bij n optelt
-    if(switch_signal_leftarm==1)
+void switch_function() {                        // maakt simpele functie die 1 bij n optelt
+    if(switch_signal_triceps==1)
     {
-        n++;
+        switch_signal++;
         green=!green;
         red=!red;
-    if (n%2==0)  
+    if (switch_signal%2==0)  
      {pc.printf("If you contract the biceps, the robot will go up \r\n");
      pc.printf("If you contract the triceps, the robot will go down \r\n");
      }
@@ -92,14 +102,12 @@
        double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
        double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float
        double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
-          
-        //signal substraction of filter biceps and triceps. Biceps +,triceps -
-       double signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
                
         //creating of on/off signal with the created on/off signals, with if statement   for right arm!    
        //signal substraction of filter biceps and triceps. right Biceps + left biceps -
        double signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left;
        double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right;       
+        
         //creating of on/off signal with the created on/off signals, with if statement   for right arm!    
         if (signal_biceps_sum>cut_off_value_biceps_right)
         {onoffsignal_biceps=1;}
@@ -127,8 +135,8 @@
         scope.set(0, emg_filtered_biceps_right);            //set emg signal to scope in channel 0
         scope.set(1, emg_filtered_triceps_right);           // set emg signal to scope in channel 1
         scope.set(2, emg_filtered_biceps_left);                     // set emg signal to scope in channel 2
-        scope.set(3, onoffsignal_rightarm);                          // set emg signal to scope in channel 3
-        scope.set(4, switch_signal_leftarm);
+        scope.set(3, onoffsignal_biceps);                          // set emg signal to scope in channel 3
+        scope.set(4, switch_signal_triceps);
         
         scope.send();                       //send all the signals to the scope
                 }
@@ -142,8 +150,18 @@
 red=1;
 
 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);
+ticker_switch.attach(&switch_function,1.0);
 
+if (switch_signal%2==0)  
+     {pc.printf("If you contract the biceps, the robot will go up \r\n");
+     pc.printf("If you contract the triceps, the robot will go down \r\n");
+     }
+    
+    else
+     {pc.printf("If you contract the biceps, the robot will go right \r\n");
+     pc.printf("If you contract the triceps, the robot will go left \r\n");
+     }
+     
 //==============================================================================================
 //endless loop
 
@@ -151,34 +169,34 @@
     while (true) {                        // zorgt er voor dat de code oneindig doorgelopen wordt  
     
         
-    if (onoffsignal_rightarm==-1)                           // als s ingedrukt wordt gebeurd het volgende
+    if (onoffsignal_biceps==-1)  //left biceps contracted                        
     {
-         if (n%2==0)                     // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
+         if (switch_signal%2==0)                     
          { 
-           richting_motor1 = 1;
+           richting_motor1 = 1; //motor 1, left
            pwm_motor1 = 1; 
                   
          } 
          
-         else                           // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
+         else                           
          {
-           richting_motor2 = 1;
+           richting_motor2 = 1; //motor 2, up 
            pwm_motor2 = 1;
            
          }      
               
     }
-    else if (onoffsignal_rightarm==1)                     // als d ingedrukt wordt gebeurd het volgende
+    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 (switch_signal%2==0)                     // als d is ingedrukt en n is even dan gebeurd het volgende
          {
-           richting_motor1 = 0;
+           richting_motor1 = 0; //motor 1, right
            pwm_motor1 = 1;
            
         } 
          else                           // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande
          {
-           richting_motor2 = 0;
+           richting_motor2 = 0; //motor 2. down
            pwm_motor2 = 1;
                 
          }