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Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of emg_import by Daniqe Kottelenberg

main.cpp@44:969348be74a5, 2016-11-01 (annotated)

Committer:
daniQQue
Date:
Tue Nov 01 15:40:43 2016 +0000
Revision:
44:969348be74a5
Parent:
42:7164ccd2aa14
Child:
45:d0e9f586cd03
terug naar werkend script, goede kall (nu in ticker), motors draaien lang door

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daniQQue 0:34c739fcc3e0 1 //libraries
daniQQue 0:34c739fcc3e0 2 #include "mbed.h"
daniQQue 0:34c739fcc3e0 3 #include "HIDScope.h"
daniQQue 14:5b17697cf775 4 #include "BiQuad.h"
daniQQue 40:187ef29de53d 5 #include "MODSERIAL.h"
daniQQue 0:34c739fcc3e0 6
daniQQue 0:34c739fcc3e0 7 //Define objects
daniQQue 40:187ef29de53d 8 AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++
daniQQue 40:187ef29de53d 9 AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++
daniQQue 40:187ef29de53d 10 AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++
daniQQue 42:7164ccd2aa14 11
daniQQue 44:969348be74a5 12 DigitalIn button_calibration_biceps (SW3); //button to start calibration biceps
daniQQue 44:969348be74a5 13 DigitalIn button_calibration_triceps (SW2); // button to start calibration tricps
daniQQue 42:7164ccd2aa14 14
daniQQue 0:34c739fcc3e0 15 Ticker sample_timer; //ticker
daniQQue 40:187ef29de53d 16 Ticker switch_function; //ticker
daniQQue 44:969348be74a5 17 Ticker ticker_calibration_biceps;
daniQQue 44:969348be74a5 18 Ticker ticker_calibration_triceps;
daniQQue 40:187ef29de53d 19 HIDScope scope(5); //open 3 channels in hidscope
daniQQue 44:969348be74a5 20
daniQQue 40:187ef29de53d 21 MODSERIAL pc(USBTX, USBRX); //pc connection
daniQQue 40:187ef29de53d 22 DigitalOut red(LED_RED);
daniQQue 40:187ef29de53d 23 DigitalOut green(LED_GREEN);
daniQQue 42:7164ccd2aa14 24 DigitalOut blue(LED_BLUE);
daniQQue 40:187ef29de53d 25 //motors
daniQQue 40:187ef29de53d 26 DigitalOut richting_motor1(D4);
daniQQue 40:187ef29de53d 27 PwmOut pwm_motor1(D5);
daniQQue 40:187ef29de53d 28 DigitalOut richting_motor2(D7);
daniQQue 40:187ef29de53d 29 PwmOut pwm_motor2(D6);
daniQQue 0:34c739fcc3e0 30
daniQQue 0:34c739fcc3e0 31 //define variables
daniQQue 40:187ef29de53d 32 //other
daniQQue 41:9ea3d5921f07 33 int onoffsignal_biceps=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation
daniQQue 41:9ea3d5921f07 34 int switch_signal_triceps=0; // switching between motors.
daniQQue 42:7164ccd2aa14 35 volatile double cut_off_value_biceps_right =0.04; //gespecificeerd door floortje
daniQQue 42:7164ccd2aa14 36 volatile double cut_off_value_biceps_left =-0.04;
daniQQue 44:969348be74a5 37 volatile double cut_off_value_triceps=-0.04; //gespecificeerd door floortje
daniQQue 41:9ea3d5921f07 38 double signal_biceps_sum;
daniQQue 44:969348be74a5 39 double bicepstriceps_rightarm;
daniQQue 42:7164ccd2aa14 40 int motorswitch= 0; //start van de teller wordt op nul gesteld
daniQQue 42:7164ccd2aa14 41
daniQQue 42:7164ccd2aa14 42 //variables and constants for calibration
daniQQue 42:7164ccd2aa14 43 const float percentage_max_triceps=0.3;
daniQQue 42:7164ccd2aa14 44 const float percentage_max_biceps =0.3;
daniQQue 42:7164ccd2aa14 45 double max_biceps; //calibration maximum biceps
daniQQue 42:7164ccd2aa14 46 double max_triceps; //calibration maximum triceps
daniQQue 42:7164ccd2aa14 47
daniQQue 40:187ef29de53d 48 //biceps arm 1, right arm
daniQQue 15:bb4a6c7836d8 49 double emg_biceps_right;
daniQQue 15:bb4a6c7836d8 50 double emg_filtered_high_biceps_right;
daniQQue 15:bb4a6c7836d8 51 double emg_abs_biceps_right;
daniQQue 15:bb4a6c7836d8 52 double emg_filtered_biceps_right;
daniQQue 40:187ef29de53d 53 double emg_filtered_high_notch_1_biceps_right;
daniQQue 40:187ef29de53d 54 //double emg_filtered_high_notch_1_2_biceps_right;
daniQQue 40:187ef29de53d 55
daniQQue 40:187ef29de53d 56 //triceps arm 1, right arm
daniQQue 40:187ef29de53d 57 double emg_triceps_right;
daniQQue 40:187ef29de53d 58 double emg_filtered_high_triceps_right;
daniQQue 40:187ef29de53d 59 double emg_abs_triceps_right;
daniQQue 40:187ef29de53d 60 double emg_filtered_triceps_right;
daniQQue 40:187ef29de53d 61 double emg_filtered_high_notch_1_triceps_right;
daniQQue 40:187ef29de53d 62
daniQQue 40:187ef29de53d 63 //biceps arm 1, left arm
daniQQue 40:187ef29de53d 64 double emg_biceps_left;
daniQQue 40:187ef29de53d 65 double emg_filtered_high_biceps_left;
daniQQue 40:187ef29de53d 66 double emg_abs_biceps_left;
daniQQue 40:187ef29de53d 67 double emg_filtered_biceps_left;
daniQQue 40:187ef29de53d 68 double emg_filtered_high_notch_1_biceps_left;
daniQQue 40:187ef29de53d 69
daniQQue 40:187ef29de53d 70 //before abs filtering
daniQQue 40:187ef29de53d 71
daniQQue 40:187ef29de53d 72 //b1 = biceps right arm
daniQQue 40:187ef29de53d 73 BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 40:187ef29de53d 74 BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
daniQQue 40:187ef29de53d 75
daniQQue 40:187ef29de53d 76 //t1= triceps right arm
daniQQue 40:187ef29de53d 77 BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 40:187ef29de53d 78 BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
daniQQue 5:688b1b5530d8 79
daniQQue 40:187ef29de53d 80 //b2= biceps left arm
daniQQue 40:187ef29de53d 81 BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 40:187ef29de53d 82 BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
daniQQue 40:187ef29de53d 83
daniQQue 40:187ef29de53d 84 //after abs filtering
daniQQue 40:187ef29de53d 85 BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 40:187ef29de53d 86 BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 40:187ef29de53d 87 BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 10:7255b59224cc 88
daniQQue 40:187ef29de53d 89 //function teller
daniQQue 40:187ef29de53d 90 void SwitchN() { // maakt simpele functie die 1 bij n optelt
daniQQue 41:9ea3d5921f07 91 if(switch_signal_triceps==1)
daniQQue 40:187ef29de53d 92 {
daniQQue 42:7164ccd2aa14 93 motorswitch++;
daniQQue 42:7164ccd2aa14 94
daniQQue 42:7164ccd2aa14 95 if (motorswitch%2==0)
daniQQue 42:7164ccd2aa14 96 {pc.printf("If you contract the right arm, the robot will go right \r\n");
daniQQue 42:7164ccd2aa14 97 pc.printf("If you contract biceps of the left arm, the robot will go left \r\n");
daniQQue 42:7164ccd2aa14 98 pc.printf("\r\n");
daniQQue 42:7164ccd2aa14 99 green=0;
daniQQue 42:7164ccd2aa14 100 red=1;
daniQQue 42:7164ccd2aa14 101 }
daniQQue 42:7164ccd2aa14 102
daniQQue 42:7164ccd2aa14 103 else
daniQQue 42:7164ccd2aa14 104 {pc.printf("If you contract the biceps of right arm, the robot will go up \r\n");
daniQQue 41:9ea3d5921f07 105 pc.printf("If you contract the biceps of left arm, the robot will go down \r\n");
daniQQue 41:9ea3d5921f07 106 pc.printf("\r\n");
daniQQue 42:7164ccd2aa14 107 green=1;
daniQQue 42:7164ccd2aa14 108 red=0;
daniQQue 42:7164ccd2aa14 109
daniQQue 40:187ef29de53d 110 }
daniQQue 42:7164ccd2aa14 111
daniQQue 40:187ef29de53d 112 }
daniQQue 41:9ea3d5921f07 113 }
daniQQue 40:187ef29de53d 114
daniQQue 40:187ef29de53d 115 //functions which are called in ticker to sample the analog signal
daniQQue 40:187ef29de53d 116
daniQQue 42:7164ccd2aa14 117 //callibration
daniQQue 42:7164ccd2aa14 118 void calibration_biceps(){
daniQQue 44:969348be74a5 119 if (button_calibration_biceps==0){
daniQQue 42:7164ccd2aa14 120 pc.printf("start of calibration biceps, contract maximal \n");
daniQQue 42:7164ccd2aa14 121 red=1;
daniQQue 42:7164ccd2aa14 122 green=1;
daniQQue 42:7164ccd2aa14 123 blue=0;
daniQQue 42:7164ccd2aa14 124
daniQQue 44:969348be74a5 125 for(int n =0; n<1500;n++) //read for 2000 samples as calibration
daniQQue 42:7164ccd2aa14 126 {
daniQQue 42:7164ccd2aa14 127 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 42:7164ccd2aa14 128 emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 42:7164ccd2aa14 129 emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 42:7164ccd2aa14 130 emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float
daniQQue 42:7164ccd2aa14 131 emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 42:7164ccd2aa14 132
daniQQue 42:7164ccd2aa14 133 if (emg_filtered_biceps_right > max_biceps) //determine what the highest reachable emg signal is
daniQQue 42:7164ccd2aa14 134 {
daniQQue 42:7164ccd2aa14 135 max_biceps = emg_filtered_biceps_right;
daniQQue 42:7164ccd2aa14 136
daniQQue 42:7164ccd2aa14 137 }
daniQQue 42:7164ccd2aa14 138 wait(0.001f); //to sample at same freq; 1000Hz
daniQQue 42:7164ccd2aa14 139 }
daniQQue 42:7164ccd2aa14 140 cut_off_value_biceps_right=percentage_max_biceps*max_biceps;
daniQQue 42:7164ccd2aa14 141 cut_off_value_biceps_left=-cut_off_value_biceps_right;
daniQQue 42:7164ccd2aa14 142 //toggle lights
daniQQue 42:7164ccd2aa14 143 blue=!blue;
daniQQue 42:7164ccd2aa14 144
daniQQue 42:7164ccd2aa14 145 pc.printf(" end of calibration\r\n",cut_off_value_biceps_right );
daniQQue 42:7164ccd2aa14 146 pc.printf(" change of cv biceps: %f ",cut_off_value_biceps_right );
daniQQue 42:7164ccd2aa14 147
daniQQue 44:969348be74a5 148 wait(0.2f);
daniQQue 42:7164ccd2aa14 149
daniQQue 42:7164ccd2aa14 150 if (motorswitch%2==0)
daniQQue 42:7164ccd2aa14 151 {green=0;
daniQQue 42:7164ccd2aa14 152 red=1;}
daniQQue 42:7164ccd2aa14 153
daniQQue 42:7164ccd2aa14 154 else {green=1;
daniQQue 42:7164ccd2aa14 155 red=0;}
daniQQue 44:969348be74a5 156 }
daniQQue 42:7164ccd2aa14 157 }
daniQQue 42:7164ccd2aa14 158
daniQQue 42:7164ccd2aa14 159 void calibration_triceps(){
daniQQue 44:969348be74a5 160 if(button_calibration_triceps==0){
daniQQue 42:7164ccd2aa14 161 red=1;
daniQQue 42:7164ccd2aa14 162 green=1;
daniQQue 42:7164ccd2aa14 163 blue=0;
daniQQue 42:7164ccd2aa14 164
daniQQue 42:7164ccd2aa14 165 pc.printf("start of calibration triceps\r\n");
daniQQue 42:7164ccd2aa14 166
daniQQue 44:969348be74a5 167 for(int n =0; n<1500;n++) //read for 2000 samples as calibration
daniQQue 42:7164ccd2aa14 168 {
daniQQue 42:7164ccd2aa14 169 emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 42:7164ccd2aa14 170 emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
daniQQue 42:7164ccd2aa14 171 emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
daniQQue 42:7164ccd2aa14 172 emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float
daniQQue 42:7164ccd2aa14 173 emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
daniQQue 42:7164ccd2aa14 174
daniQQue 42:7164ccd2aa14 175 if (emg_filtered_triceps_right > max_triceps) //determine what the highest reachable emg signal is
daniQQue 42:7164ccd2aa14 176 {
daniQQue 42:7164ccd2aa14 177 max_triceps = emg_filtered_triceps_right;
daniQQue 42:7164ccd2aa14 178
daniQQue 42:7164ccd2aa14 179 }
daniQQue 42:7164ccd2aa14 180 wait(0.001f); //to sample at same freq; 1000Hz
daniQQue 42:7164ccd2aa14 181 }
daniQQue 44:969348be74a5 182 cut_off_value_triceps=-percentage_max_triceps*max_triceps;
daniQQue 42:7164ccd2aa14 183 pc.printf(" end of calibration\r\n");
daniQQue 42:7164ccd2aa14 184 pc.printf(" change of cv triceps: %f ",cut_off_value_triceps );
daniQQue 42:7164ccd2aa14 185 blue=!blue;
daniQQue 44:969348be74a5 186 wait(0.2f);
daniQQue 42:7164ccd2aa14 187 if (motorswitch%2==0)
daniQQue 42:7164ccd2aa14 188 {green=0;
daniQQue 42:7164ccd2aa14 189 red=1;}
daniQQue 42:7164ccd2aa14 190
daniQQue 42:7164ccd2aa14 191 else {green=1;
daniQQue 42:7164ccd2aa14 192 red=0;}
daniQQue 44:969348be74a5 193 }
daniQQue 42:7164ccd2aa14 194 }
daniQQue 42:7164ccd2aa14 195
daniQQue 0:34c739fcc3e0 196 void filter(){
daniQQue 40:187ef29de53d 197 //biceps right arm read+filtering
daniQQue 15:bb4a6c7836d8 198 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 40:187ef29de53d 199 emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 40:187ef29de53d 200 emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 44:969348be74a5 201 emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float
daniQQue 40:187ef29de53d 202 emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 40:187ef29de53d 203
daniQQue 40:187ef29de53d 204 //triceps right arm read+filtering
daniQQue 40:187ef29de53d 205 emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 40:187ef29de53d 206 emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
daniQQue 40:187ef29de53d 207 emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
daniQQue 40:187ef29de53d 208 emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float
daniQQue 40:187ef29de53d 209 emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
daniQQue 7:42d0e38196f1 210
daniQQue 40:187ef29de53d 211 //biceps left arm read+filtering
daniQQue 40:187ef29de53d 212 emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes
daniQQue 40:187ef29de53d 213 emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
daniQQue 40:187ef29de53d 214 emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
daniQQue 40:187ef29de53d 215 emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float
daniQQue 40:187ef29de53d 216 emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
daniQQue 40:187ef29de53d 217
daniQQue 41:9ea3d5921f07 218 //signal substraction of filter biceps and triceps. right Biceps + left biceps -
daniQQue 41:9ea3d5921f07 219 signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left;
daniQQue 44:969348be74a5 220 bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right;
daniQQue 40:187ef29de53d 221 //creating of on/off signal with the created on/off signals, with if statement for right arm!
daniQQue 41:9ea3d5921f07 222 if (signal_biceps_sum>cut_off_value_biceps_right)
daniQQue 41:9ea3d5921f07 223 {onoffsignal_biceps=1;}
daniQQue 7:42d0e38196f1 224
daniQQue 41:9ea3d5921f07 225 else if (signal_biceps_sum<cut_off_value_biceps_left)
daniQQue 40:187ef29de53d 226 {
daniQQue 41:9ea3d5921f07 227 onoffsignal_biceps=-1;
daniQQue 40:187ef29de53d 228 }
daniQQue 40:187ef29de53d 229
daniQQue 40:187ef29de53d 230 else
daniQQue 41:9ea3d5921f07 231 {onoffsignal_biceps=0;}
daniQQue 7:42d0e38196f1 232
daniQQue 40:187ef29de53d 233 //creating on/off signal for switch (left arm)
daniQQue 40:187ef29de53d 234
daniQQue 44:969348be74a5 235 if (bicepstriceps_rightarm<cut_off_value_triceps)
daniQQue 40:187ef29de53d 236 {
daniQQue 41:9ea3d5921f07 237 switch_signal_triceps=1;
daniQQue 40:187ef29de53d 238 }
daniQQue 40:187ef29de53d 239
daniQQue 40:187ef29de53d 240 else
daniQQue 40:187ef29de53d 241 {
daniQQue 41:9ea3d5921f07 242 switch_signal_triceps=0;
daniQQue 40:187ef29de53d 243 }
daniQQue 40:187ef29de53d 244
daniQQue 0:34c739fcc3e0 245 //send signals to scope
daniQQue 40:187ef29de53d 246 scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0
daniQQue 40:187ef29de53d 247 scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1
daniQQue 40:187ef29de53d 248 scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2
daniQQue 44:969348be74a5 249 scope.set(3, onoffsignal_biceps);
daniQQue 40:187ef29de53d 250
daniQQue 40:187ef29de53d 251 scope.send(); //send all the signals to the scope
daniQQue 0:34c739fcc3e0 252 }
daniQQue 0:34c739fcc3e0 253
daniQQue 0:34c739fcc3e0 254 //program
daniQQue 0:34c739fcc3e0 255
daniQQue 0:34c739fcc3e0 256 int main()
daniQQue 0:34c739fcc3e0 257 {
daniQQue 42:7164ccd2aa14 258 pc.baud(115200); //connect with pc with baudrate 115200
daniQQue 42:7164ccd2aa14 259
daniQQue 42:7164ccd2aa14 260 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 42:7164ccd2aa14 261 switch_function.attach(&SwitchN,1.0); //switch is every second available
daniQQue 44:969348be74a5 262 ticker_calibration_biceps.attach (&calibration_biceps,2.0); //to call calibration biceps, stop everything else
daniQQue 44:969348be74a5 263 ticker_calibration_triceps.attach(&calibration_triceps,2.0); //to call calibration triceps, stop everything else
daniQQue 40:187ef29de53d 264
daniQQue 44:969348be74a5 265 if (motorswitch%2==0) {
daniQQue 44:969348be74a5 266 pc.printf("If you contract the right arm, the robot will go right \r\n");
daniQQue 42:7164ccd2aa14 267 pc.printf("If you contract biceps of the left arm, the robot will go left \r\n");
daniQQue 42:7164ccd2aa14 268 pc.printf("\r\n");
daniQQue 44:969348be74a5 269 green=0;
daniQQue 44:969348be74a5 270 red=1;
daniQQue 44:969348be74a5 271 blue=1;
daniQQue 42:7164ccd2aa14 272 }
daniQQue 42:7164ccd2aa14 273
daniQQue 42:7164ccd2aa14 274 else
daniQQue 42:7164ccd2aa14 275 {pc.printf("If you contract the biceps of right arm, the robot will go up \r\n");
daniQQue 42:7164ccd2aa14 276 pc.printf("If you contract the biceps of left arm, the robot will go down \r\n");
daniQQue 42:7164ccd2aa14 277 pc.printf("\r\n");
daniQQue 42:7164ccd2aa14 278 green=1;
daniQQue 42:7164ccd2aa14 279 red=0;
daniQQue 42:7164ccd2aa14 280 blue=1;
daniQQue 42:7164ccd2aa14 281
daniQQue 42:7164ccd2aa14 282 }
daniQQue 0:34c739fcc3e0 283 //endless loop
daniQQue 0:34c739fcc3e0 284
daniQQue 40:187ef29de53d 285
daniQQue 40:187ef29de53d 286 while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt
daniQQue 40:187ef29de53d 287
daniQQue 8:cd0cb71b69f2 288
daniQQue 41:9ea3d5921f07 289 if (onoffsignal_biceps==-1) // als s ingedrukt wordt gebeurd het volgende
daniQQue 40:187ef29de53d 290 {
daniQQue 42:7164ccd2aa14 291 if (motorswitch%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
daniQQue 40:187ef29de53d 292 {
daniQQue 40:187ef29de53d 293 richting_motor1 = 1;
daniQQue 44:969348be74a5 294 pwm_motor1 = 0.5;
daniQQue 44:969348be74a5 295 pc.printf("ccw m1\r\n");
daniQQue 42:7164ccd2aa14 296
daniQQue 40:187ef29de53d 297
daniQQue 40:187ef29de53d 298 }
daniQQue 40:187ef29de53d 299
daniQQue 40:187ef29de53d 300 else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 40:187ef29de53d 301 {
daniQQue 40:187ef29de53d 302 richting_motor2 = 1;
daniQQue 40:187ef29de53d 303 pwm_motor2 = 1;
daniQQue 42:7164ccd2aa14 304
daniQQue 40:187ef29de53d 305 }
daniQQue 40:187ef29de53d 306
daniQQue 8:cd0cb71b69f2 307 }
daniQQue 41:9ea3d5921f07 308 else if (onoffsignal_biceps==1) // als d ingedrukt wordt gebeurd het volgende
daniQQue 40:187ef29de53d 309 {
daniQQue 42:7164ccd2aa14 310 if (motorswitch%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende
daniQQue 40:187ef29de53d 311 {
daniQQue 40:187ef29de53d 312 richting_motor1 = 0;
daniQQue 44:969348be74a5 313 pwm_motor1 = 0.5;
daniQQue 44:969348be74a5 314 pc.printf("cw 1 aan\r\n");
daniQQue 40:187ef29de53d 315
daniQQue 42:7164ccd2aa14 316
daniQQue 40:187ef29de53d 317 }
daniQQue 40:187ef29de53d 318 else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande
daniQQue 40:187ef29de53d 319 {
daniQQue 40:187ef29de53d 320 richting_motor2 = 0;
daniQQue 40:187ef29de53d 321 pwm_motor2 = 1;
daniQQue 42:7164ccd2aa14 322
daniQQue 40:187ef29de53d 323
daniQQue 40:187ef29de53d 324 }
daniQQue 40:187ef29de53d 325 }
daniQQue 40:187ef29de53d 326 else{
daniQQue 40:187ef29de53d 327
daniQQue 40:187ef29de53d 328 pwm_motor2=0;
daniQQue 40:187ef29de53d 329 pwm_motor1=0;
daniQQue 40:187ef29de53d 330 }
daniQQue 40:187ef29de53d 331
daniQQue 40:187ef29de53d 332 }
daniQQue 44:969348be74a5 333 }