Diff: main.cpp

Revision:

23:123d65f76236

Parent:

22:eb8411807cca

Child:

24:bfc240e381b4

--- a/main.cpp	Tue Oct 25 13:40:55 2016 +0000
+++ b/main.cpp	Tue Oct 25 14:29:09 2016 +0000
@@ -2,24 +2,33 @@
 #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++
+AnalogIn    emg_biceps_left_in  (A2);               //analog in to get EMG biceps  (l) in to c++
 Ticker      sample_timer;           //ticker
-HIDScope    scope(6);              //open 3 channels in hidscope
-DigitalOut richting_motor1(D4);     //motor1 direction output    
-PwmOut pwm_motor1(D5);              //motor1 velocity  output
+Ticker      switch_function;         //ticker
+HIDScope    scope(5);               //open 3 channels in hidscope
+MODSERIAL pc(USBTX, USBRX);            //pc connection
+
+//motors
+DigitalOut richting_motor1(D4);
+PwmOut pwm_motor1(D5);
+DigitalOut richting_motor2(D7);
+PwmOut pwm_motor2(D6);
 DigitalOut  led(LED_GREEN);         //led included to check where code is
 
 //define variables
 //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 =0.06;              //gespecificeerd door floortje
 double cut_off_value_triceps=-0.03;             //gespecificeerd door floortje
 double signal_right_arm;
-
+int n = 0; //start van de teller wordt op nul gesteld
+ 
 //biceps  arm 1, right arm
 double emg_biceps_right;
 double emg_filtered_high_biceps_right;
@@ -36,19 +45,46 @@
 double emg_filtered_high_notch_1_triceps_right;
 double emg_filtered_high_notch_1_2_triceps_right;
 
+//biceps  arm 1, left arm
+double emg_biceps_left;
+double emg_filtered_high_biceps_left;
+double emg_abs_biceps_left;
+double emg_filtered_biceps_left;
+double emg_filtered_high_notch_1_biceps_left;
+double emg_filtered_high_notch_1_2_biceps_left;
+
 //before abs filtering
+
+//b1 = biceps right arm
 BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
 BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00  , 9.9103e-01);
 BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00,  -1.8965e+00 , 9.9127e-01);
+
+//t1= triceps right arm
 BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
 BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00  , 9.9103e-01);
 BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00,  -1.8965e+00 , 9.9127e-01);
 
+//b2= biceps left arm
+BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
+BiQuad filternotch1_b2 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00  , 9.9103e-01);
+BiQuad filternotch2_b2(1.0000e+00, -1.9022e+00, 1.0000e+00,  -1.8965e+00 , 9.9127e-01);
+
 //after abs filtering
 BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
 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);
 
+//function teller
+void SwitchN() {                        // maakt simpele functie die 1 bij n optelt
+    if(switch_signal_leftarm==1)
+    {
+        n++;
+    }    
+    }
+    
 //functions which are called in ticker to sample the analog signal
+
 void filter(){
         //biceps right arm read+filtering
         emg_biceps_right=emg_biceps_right_in.read();                            //read the emg value from the elektrodes
@@ -66,10 +102,18 @@
         emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float
         emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
         
+        //biceps left arm read+filtering
+        emg_biceps_left=emg_biceps_left_in.read();                            //read the emg value from the elektrodes
+        emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
+        emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
+        emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left);
+        emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float
+        emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
+          
         //signal substraction of filter biceps and triceps. Biceps +,triceps -
         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      
+        //creating of on/off signal with the created on/off signals, with if statement   for right arm!    
         if (signal_right_arm>cut_off_value_biceps)
         {onoffsignal_rightarm=1;}
           
@@ -81,13 +125,25 @@
         else
         {onoffsignal_rightarm=0;}
                       
+        //creating on/off signal for switch (left arm)
+        
+        if (emg_filtered_biceps_left>cut_off_value_biceps)
+        {
+        switch_signal_leftarm=1;    
+        }    
+        
+        else
+        {
+        switch_signal_leftarm=0;              
+        }
+        
         //send signals  to scope
         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, signal_right_arm);                     // set emg signal to scope in channel 2
+        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, emg_biceps_right);
-        scope.set(5, emg_triceps_right);
+        scope.set(4, switch_signal_leftarm);
+        
         scope.send();                       //send all the signals to the scope
                 }
 
@@ -95,31 +151,59 @@
 
 int main()
 {  
+pc.baud(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,0.001);
 //endless loop
 
-    while(1) 
-    {    
-        if (onoffsignal_rightarm==1)
-        {
-        richting_motor1 = -1;    //motordirection (ccw)
-        pwm_motor1 = 1;         //motorspeed 1  
-        
-        }
-        else if(onoffsignal_rightarm==-1)
-        {
-        richting_motor1 = 1;    //motordirection (cw)
-        pwm_motor1 = 1;         //motorspeed 1       
-         }
-        
-        else if(onoffsignal_rightarm==0)
-        {
-        richting_motor1 = -1;    //motordirection (ccw)
-        pwm_motor1 = 0;         //motorspeed 0   
-    
-        }
-            
-    } 
+    while (true) {                        // zorgt er voor dat de code oneindig doorgelopen wordt  
+       
+    if (onoffsignal_rightarm==-1)                           // als s ingedrukt wordt gebeurd het volgende
+    {
+         if (n%2==0)                     // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
+         {
+           pc.printf("n is even \n\r"); // print lijn "n is even"
+           pc.printf("up \n\r");        // print lijn "up"   
+           richting_motor1 = 1;
+           pwm_motor1 = 1; 
+                  
+         } 
+         
+         else                           // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
+         {
+           pc.printf("n is odd \n\r");  // print lijn "n is odd"
+           pc.printf("left \n\r");      // print lijn "left"
+           richting_motor2 = 1;
+           pwm_motor2 = 1;
+           
+         }      
+              
+    }
+    else if (onoffsignal_rightarm==1)                     // als d ingedrukt wordt gebeurd het volgende
+    {
+         if (n%2==0)                     // als d is ingedrukt en n is even dan gebeurd het volgende
+         {
+           pc.printf("n is even \n\r"); // print lijn "n is even"
+           pc.printf("down \n\r");      // print lijn "down"   
+           richting_motor1 = -1;
+           pwm_motor1 = 1;
+           
+        } 
+         else                           // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
+         {
+           pc.printf("n is odd \n\r"); // print lijn "n is odd"
+           pc.printf("right \n\r");    // print lijn "right"
+           richting_motor2 = -1;
+           pwm_motor2 = 1;
+                
+         }  
+    }   
+    else{
+       pc.printf("motor staat stil \n\r");
+    pwm_motor2=0;
+    pwm_motor1=0;
+       }              
+               
+}
         
 }
\ No newline at end of file