File content as of revision 20:d40b6cba4280:

#include "mbed.h"
#include "HIDScope.h"
#include "arm_math.h"
#include "MODSERIAL.h"
#include "encoder.h"

#define TSAMP 0.01
#define K_P (0.1)
#define K_I (0.03  *TSAMP)
#define K_D (0.001 /TSAMP)
#define I_LIMIT 1.

#define M1_PWM PTC8
#define M1_DIR PTC9
#define M2_PWM PTA5
#define M2_DIR PTA4

//Groene kabel moet op de GROUND en blauw op de 3.3v aansluiting

Serial pc(USBTX, USBRX);

DigitalOut myled1(LED_RED);
DigitalOut myled2(LED_GREEN);
DigitalOut myled3(LED_BLUE);

//Define objects
AnalogIn    emg0(PTB1); //Analog input
AnalogIn    emg1(PTB2); //Analog input
HIDScope scope(2);

//motor 25D
Encoder motor1(PTD3,PTD5,true); //wit, geel
PwmOut pwm_motor1(M2_PWM);
DigitalOut motordir1(M2_DIR);

//motor2 37D
Encoder motor2(PTD2, PTD0,true); //wit, geel
PwmOut pwm_motor2(M1_PWM);
DigitalOut motordir2(M1_DIR);

float speed1;
float hoek1;
float speed2;
float hoek2;

bool flip=false;

void attime()
{
    flip = !flip;
}


// EMG

arm_biquad_casd_df1_inst_f32 lowpass_biceps;
arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
//lowpass filter settings: Fc = 225 Hz, Fs = 500 Hz, Gain = -3 dB
float lowpass_const[] = {0.8005910266528647, 1.6011820533057295, 0.8005910266528647, -1.5610153912536877, -0.6413487153577715};
//state values
float lowpass_biceps_states[4];
float lowpass_deltoid_states[4];
arm_biquad_casd_df1_inst_f32 highnotch_biceps;
arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
//highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB
float highnotch_const[] = {0.956542835577484, -1.913085671154968, 0.956542835577484, 1.911196288237583, -0.914975054072353,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
//state values
float highnotch_biceps_states[8];
float highnotch_deltoid_states[8];

//De globale variabele voor het gefilterde EMG signaal
float filtered_biceps;
float filtered_deltoid;
float filtered_average_bi;
float filtered_average_del;


void average_biceps(float filtered_biceps,float *average)
{
    static float total=0;
    static float number=0;
    total = total + filtered_biceps;
    number = number + 1;
    if ( number == 500) {
        *average = total/500;
        total = 0;
        number = 0;
    }
}

void average_deltoid(float filtered_input,float *average_output)
{
    static float total=0;
    static float number=0;
    total = total + filtered_input;
    number = number + 1;
    if ( number == 500) {
        *average_output = total/500;
        total = 0;
        number = 0;
    }
}

/** Looper function
* functions used for Ticker and Timeout should be of type void <name>(void)
* i.e. no input arguments, no output arguments.
* if you want to change a variable that you use in other places (for example in main)
* you will have to make that variable global in order to be able to reach it both from
* the function called at interrupt time, and in the main function.
* To make a variable global, define it under the includes.
* variables that are changed in the interrupt routine (written to) should be made
* 'volatile' to let the compiler know that those values may change outside the current context.
* i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
* in the example below, the variable is not re-used in the main function, and is thus declared
* local in the looper function only.
**/


void looper()
{
    /*variable to store value in*/
    uint16_t emg_value1;
    uint16_t emg_value2;

    float emg_value1_f32;
    float emg_value2_f32;
    /*put raw emg value both in red and in emg_value*/
    emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
    emg_value1_f32 = emg0.read();

    emg_value2 = emg1.read_u16();
    emg_value2_f32 = emg1.read();

    //process emg biceps
    arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
    filtered_biceps = fabs(filtered_biceps);
    arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
    average_biceps(filtered_biceps,&filtered_average_bi);
    //process emg deltoid
    arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value2_f32, &filtered_deltoid, 1 );
    filtered_deltoid = fabs(filtered_deltoid);
    arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
    average_deltoid(filtered_deltoid, &filtered_average_del);

    /*send value to PC. */
    //scope.set(0,emg_value1);     //Raw EMG signal biceps
    //scope.set(1,emg_value2);    //Raw EMG signal Deltoid
    //scope.set(0,filtered_biceps);  //processed float biceps
    scope.set(0,filtered_average_bi); //processed float deltoid
    //scope.set(2,filtered_deltoid);  //processed float biceps
    scope.set(1,filtered_average_del); //processed float deltoid
    scope.send();

}

// LED AANSTURING

Ticker ledticker;


void BlinkRed(int n)
{
    for (int i=0; i<n; i++) {
        myled1 = 1;
        myled2 = 1;
        myled3 = 1;
        wait(0.1);
        myled1 = 0;
        myled2 = 1;
        myled3 = 1;
        wait(0.1);
    }
}

void greenblink()
{
    if(myled2.read())
        myled2 = 0;
    else
        myled2 = 1;
}

void BlinkGreen()
{
    myled1= 1;
    myled3 =1;
    ledticker.attach(&greenblink,.5);
    /*  myled1 = 1;
      myled2 = 1;
      myled3 = 1;
      wait(0.1);
      myled1 = 0;
      myled2 = 1;
      myled3 = 1;
      wait(0.1);*/
}

void stopblinkgreen()
{
    ledticker.detach();
}


void BlinkGreen1 ()
{

    myled1 = 1;
    myled2 = 1;
    myled3 = 1;
    wait(0.1);
    myled1 = 1;
    myled2 = 0;
    myled3 = 1;
    wait(0.1);
}


void BlinkBlue(int n)
{
    for (int i=0; i<n; i++) {
        myled1 = 1;
        myled2 = 1;
        myled3 = 1;
        wait(0.1);
        myled1 = 1;
        myled2 = 1;
        myled3 = 0;
        wait(0.1);
    }
}

void ShineGreen ()
{
    myled1 = 1;
    myled2 = 0;
    myled3 = 1;
}

void ShineBlue ()
{
    myled1 = 1;
    myled2 = 1;
    myled3 = 0;
}

void ShineRed ()
{
    myled1 = 0;
    myled2 = 1;
    myled3 = 1;
}

// MOTORFUNCTIES

void motor2_speed_low ()
{
    wait(1);
    speed2 = 1;
    motordir2=1;
    pwm_motor2.write(0.3); //Deze snelheid kan lager worden ingesteld om accurator te zijn.
    wait(0.3);             //naar 140 graden
    pwm_motor2.write(0);    //CCW
    wait(1);
    motordir2=0;
    pwm_motor2.write(speed2); //Deze snelheid moet maximaal om het balletje te slaan.
    wait(0.20);             //balletje slaan, 160 graden
    pwm_motor2.write(0);
    wait(1);
    motordir2=1;            //CW
    pwm_motor2.write(0.1); //Deze kan lager worden ingesteld om accurater terug te gaan.
    wait(1);            //terug naar begin positie, 20 graden
    pwm_motor2.write(0);
}

void motor2_speed_mid ()
{
    wait(1);
    speed2 = 1;
    motordir2=1;
    pwm_motor2.write(0.3); //Deze snelheid kan lager worden ingesteld om accurator te zijn.
    wait(0.3);             //naar 140 graden
    pwm_motor2.write(0);    //CCW
    wait(1);
    motordir2=0;
    pwm_motor2.write(speed2); //Deze snelheid moet maximaal om het balletje te slaan.
    wait(0.20);             //balletje slaan, 160 graden
    pwm_motor2.write(0);
    wait(1);
    motordir2=1;            //CW
    pwm_motor2.write(0.1); //Deze kan lager worden ingesteld om accurater terug te gaan.
    wait(1);            //terug naar begin positie, 20 graden
    pwm_motor2.write(0);
}

void motor2_speed_high ()
{
    wait(1);
    speed2 = 1;
    motordir2=1;
    pwm_motor2.write(0.3); //Deze snelheid kan lager worden ingesteld om accurator te zijn.
    wait(0.3);             //naar 140 graden
    pwm_motor2.write(0);    //CCW
    wait(1);
    motordir2=0;
    pwm_motor2.write(speed2); //Deze snelheid moet maximaal om het balletje te slaan.
    wait(0.20);             //balletje slaan, 160 graden
    pwm_motor2.write(0);
    wait(1);
    motordir2=1;            //CW
    pwm_motor2.write(0.1); //Deze kan lager worden ingesteld om accurater terug te gaan.
    wait(1);            //terug naar begin positie, 20 graden
    pwm_motor2.write(0);
}

void motor1_links()
{
    speed1 = 0.7;
    hoek1 = 0.09; //in seconde
    wait(1);
    motordir1=0;            //aangeven van directie (0 = CCW)
    pwm_motor1.write(speed1);  //snelheid van de motor
    wait(hoek1);             //Hierdoor kun je het aantal graden bepalen die de as draait
    pwm_motor1.write(0);
}


void motor1_rechts()
{
    speed1 = 0.7;
    hoek1 = 0.09; //in seconde
    wait(1);
    motordir1=1;            //aangeven van directie (1 = CW)
    pwm_motor1.write(speed1);  //snelheid van de motor
    wait(hoek1);             //Hierdoor kun je het aantal graden bepalen die de as draait
    pwm_motor1.write(0);
}

int main()
{
    pc.baud(115200);

    Ticker log_timer;
    //set up filters. Use external array for constants
    arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 , lowpass_const, lowpass_biceps_states);
    arm_biquad_cascade_df1_init_f32(&lowpass_deltoid,1 , lowpass_const, lowpass_deltoid_states);
    arm_biquad_cascade_df1_init_f32(&highnotch_biceps,2 ,highnotch_const,highnotch_biceps_states);
    arm_biquad_cascade_df1_init_f32(&highnotch_deltoid,2 ,highnotch_const,highnotch_deltoid_states);
    /**Here you attach the 'void looper(void)' function to the Ticker object
    * The looper() function will be called every 0.01 seconds.
    * Please mind that the parentheses after looper are omitted when using attach.
    */
    log_timer.attach(looper, 0.001);
    while(1) { //Loop
        /*Empty!*/
        /*Everything is handled by the interrupt routine now!*/

        while(1) {
            static float count = 0;
            pc.printf("Span de biceps aan om het instellen te starten.\n");
            do {
                ShineRed();
            } while(filtered_average_bi < 0.05 && filtered_average_del <0.05); // In rust, geen meting
            if (filtered_average_bi > 0.05) {
                BlinkRed(10);
                BlinkGreen();
                while (1) {
                    pc.printf("In de loop.\n");
                    if (filtered_average_bi > 0.05 && filtered_average_del > 0.05) {
                        stopblinkgreen();
                        pc.printf("ShineGreen.\n");
                        ShineGreen();
                        wait (4);
                        break;
                    }
                    if (filtered_average_bi < 0.05 && filtered_average_del > 0.05) {
                        stopblinkgreen();
                        pc.printf("ShineBlue.\n");
                        ShineBlue();
                        motor1_links();
                        wait(4);
                        break;
                    } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.05)

                    {
                        stopblinkgreen();
                        pc.printf("ShineRed.\n");
                        ShineRed();
                        motor1_rechts();
                        wait (4);
                        break;
                    }
                }
                BlinkGreen();
                while (1) {
                    pc.printf("In de loop.\n");
                    if (filtered_average_bi > 0.05 && filtered_average_del > 0.05) {
                        stopblinkgreen();
                        pc.printf("ShineGreen.\n");
                        ShineGreen();
                        motor2_speed_mid ();
                        wait (4);
                        break;
                    }
                    if (filtered_average_bi < 0.05 && filtered_average_del > 0.05) {
                        stopblinkgreen();
                        pc.printf("ShineBlue.\n");
                        ShineBlue();
                        motor2_speed_low ();
                        wait(4);
                        break;
                    } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.05)

                    {
                        stopblinkgreen();
                        pc.printf("ShineRed.\n");
                        ShineRed();
                        motor2_speed_high ();
                        wait (4);
                        break;
                    }
                }

            }

        }
    }
}