Diff: main.cpp

Revision:

40:187ef29de53d

Parent:

39:c933a6c2b730

Child:

41:9ea3d5921f07

Child:

44:c79e5944ac91

--- a/main.cpp	Mon Oct 31 15:11:42 2016 +0000
+++ b/main.cpp	Tue Nov 01 08:48:08 2016 +0000
@@ -2,72 +2,212 @@
 #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 in to c++
+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
-HIDScope    scope( 3);              //open 3 channels in hidscope
-DigitalOut richting_motor1(D4);     //motor1 direction output    
-PwmOut pwm_motor1(D5);              //motor1 velocity  output
-DigitalOut  led(LED_GREEN);
+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);
+
+//motors
+DigitalOut richting_motor1(D4);
+PwmOut pwm_motor1(D5);
+DigitalOut richting_motor2(D7);
+PwmOut pwm_motor2(D6);
 
 //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 =0.04;              //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;
 double emg_abs_biceps_right;
 double emg_filtered_biceps_right;
-int    onoffsignal=0;
-double cut_off_value=0.04; //gespecifeerd door floortje
+double emg_filtered_high_notch_1_biceps_right;
+//double emg_filtered_high_notch_1_2_biceps_right;
+
+//triceps arm 1, right arm
+double emg_triceps_right;
+double emg_filtered_high_triceps_right;
+double emg_abs_triceps_right;
+double emg_filtered_triceps_right;
+double emg_filtered_high_notch_1_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;
+
+//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 (9.9376e-01 , -1.8902e-00,   9.9376e-01 , -1.8902e-00 ,  9.875e-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 (9.9376e-01 , -1.8902e-00,   9.9376e-01 , -1.8902e-00 ,  9.875e-01);
 
-BiQuad filterhigh(9.1497e-01, -1.8299e+00, 9.1497e-01, -1.8227e+00, 8.3718e-01); //
-BiQuad filterlow ( 3.9130e-05  , 7.8260e-05  , 3.9130e-05,   -1.9822e+00 ,  9.8239e-01); //   
-BiQuad notch( 9.9376e-01 , -1.8902e-00,   9.9376e-01 , -1.8902e-00 ,  9.875e-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 (9.9376e-01 , -1.8902e-00,   9.9376e-01 , -1.8902e-00 ,  9.875e-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);
 
-//functions which are called in ticker
+//function teller
+void SwitchN() {                        // maakt simpele functie die 1 bij n optelt
+    if(switch_signal_leftarm==1)
+    {
+        n++;
+        green=!green;
+        red=!red;
+    if (n%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");
+     }
+        
+    }    
+    }
+    
+//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
-        emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right);
-        double emg_filtered_notch=notch.step(emg_filtered_high_biceps_right);
-        emg_abs_biceps_right=fabs(emg_filtered_notch); //fabs because float
-        emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right);
-        led=!led;
+        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_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);
         
-        if (emg_filtered_biceps_right>cut_off_value)
-        {onoffsignal=1;}
+        //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_abs_biceps_left=fabs(emg_filtered_high_notch_1_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   for right arm!    
+        if (signal_right_arm>cut_off_value_biceps)
+        {onoffsignal_rightarm=1;}
           
-        else 
-       {onoffsignal=0;}
+        else if (signal_right_arm<cut_off_value_triceps)
+        {
+        onoffsignal_rightarm=-1;
+        }    
+        
+        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_biceps_right );           //set emg signal to scope in channel 1
-        scope.set(1, emg_abs_biceps_right);    
-        scope.set(2, emg_filtered_biceps_right);
-       scope.send();                       //send all the signals to the 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, 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.send();                       //send all the signals to the scope
                 }
 
 //program
 
 int main()
 {  
+pc.baud(115200);
+green=0;
+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);
 //endless loop
 
-    while(1) 
-    {    
-        if (onoffsignal==1)
-        {
-        richting_motor1 = 0;    //motordirection (ccw)
-        pwm_motor1 = 1;         //motorspeed 1  
+
+    while (true) {                        // zorgt er voor dat de code oneindig doorgelopen wordt  
+    
         
-        }
-        else if(onoffsignal==0)
-        {
-        richting_motor1 = 0;    //motordirection (ccw)
-        pwm_motor1 = 0;         //motorspeed 0
-        
+    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
+         { 
+           richting_motor1 = 1;
+           pwm_motor1 = 1; 
+                  
+         } 
+         
+         else                           // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
+         {
+           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
+         {
+           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;
+                
+         }  
+    }   
+    else{
+       
+    pwm_motor2=0;
+    pwm_motor1=0;
+       }              
+               
+}
         
 }
\ No newline at end of file