Jesse Kaiser / Mbed 2 deprecated EMGcontrol_XY_Table

4 directional EMG control of the XY table. Made during my bachelor end assignment.

Dependencies:   C12832_lcd HIDScope mbed-dsp mbed

main.cpp@59:ba22a8c26dee, 2015-06-16 (annotated)

Committer:
jessekaiser
Date:
Tue Jun 16 09:33:08 2015 +0000
Revision:
59:ba22a8c26dee
Parent:
58:3ea066215c31
Child:
60:664f9b907c02
Eindconcept 8. Motor control in de while loop

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 56:6ea03cce1175 1 /*Code by Jesse Kaiser, s1355783 for control of the 2DOF Planar Table
jessekaiser 56:6ea03cce1175 2 Some variables are also numbered at the end. The numbers stands for the muscle that controls it.
jessekaiser 56:6ea03cce1175 3 Biceps = 1
jessekaiser 56:6ea03cce1175 4 Triceps = 2
jessekaiser 56:6ea03cce1175 5 Pectoralis Major = 3
jessekaiser 56:6ea03cce1175 6 Deltoid = 4
jessekaiser 56:6ea03cce1175 7 The "x" and "y" at the end of variables stand for the X-Spindle or Y-Spindle respectivly.
jessekaiser 56:6ea03cce1175 8 */
jessekaiser 56:6ea03cce1175 9
jessekaiser 0:3acdd563582f 10 #include "mbed.h"
jessekaiser 10:7f94cd65c910 11 #include "C12832_lcd.h"
jessekaiser 56:6ea03cce1175 12 #include "arm_math.h"
jessekaiser 57:0a278c60d28b 13 //#include "HIDScope.h"
jessekaiser 0:3acdd563582f 14
jessekaiser 58:3ea066215c31 15 #define K_Gain 10 //Gain of the filtered EMG signal
jessekaiser 56:6ea03cce1175 16 #define Damp 5 //Deceleration of the motor
jessekaiser 56:6ea03cce1175 17 #define Mass 1 // Mass value
jessekaiser 57:0a278c60d28b 18 #define dt 0.10 //Sample frequency
jessekaiser 57:0a278c60d28b 19 #define MAX_bi 0.09 //Can be used for normalisation of the EMG signal of the biceps
jessekaiser 57:0a278c60d28b 20 #define MAX_tri 0.10
jessekaiser 57:0a278c60d28b 21 #define MAX_pect 0.10
jessekaiser 57:0a278c60d28b 22 #define MAX_delt 0.05
jessekaiser 57:0a278c60d28b 23 #define EMG_tresh1 0.03
jessekaiser 57:0a278c60d28b 24 #define EMG_tresh2 0.03
jessekaiser 57:0a278c60d28b 25 #define EMG_tresh3 0.02
jessekaiser 57:0a278c60d28b 26 #define EMG_tresh4 0.03
jessekaiser 31:372ff8d49430 27
jessekaiser 56:6ea03cce1175 28 //Motor control
jessekaiser 56:6ea03cce1175 29 DigitalOut Dirx(p21);
jessekaiser 56:6ea03cce1175 30 PwmOut Stepx(p22);
jessekaiser 56:6ea03cce1175 31 DigitalOut Diry(p23);
jessekaiser 56:6ea03cce1175 32 PwmOut Stepy(p24);
jessekaiser 56:6ea03cce1175 33
jessekaiser 56:6ea03cce1175 34 //Signal to and from computer
jessekaiser 56:6ea03cce1175 35 Serial pc(USBTX, USBRX);
jessekaiser 56:6ea03cce1175 36
jessekaiser 56:6ea03cce1175 37 //Position sensors
jessekaiser 56:6ea03cce1175 38 AnalogIn Posx(p19);
jessekaiser 58:3ea066215c31 39 AnalogIn Posy(p20);
jessekaiser 58:3ea066215c31 40 DigitalOut Enablex(p25);
jessekaiser 58:3ea066215c31 41 DigitalOut Enabley(p26);
jessekaiser 56:6ea03cce1175 42
jessekaiser 56:6ea03cce1175 43 //Microstepping
jessekaiser 0:3acdd563582f 44 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 45 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 46 DigitalOut MS3(p29);
jessekaiser 56:6ea03cce1175 47
jessekaiser 57:0a278c60d28b 48 //EMG inputs
jessekaiser 56:6ea03cce1175 49 AnalogIn emg1(p15); //EMG bordje bovenop, biceps
jessekaiser 56:6ea03cce1175 50 AnalogIn emg2(p16); //triceps
jessekaiser 56:6ea03cce1175 51 AnalogIn emg3(p17);
jessekaiser 56:6ea03cce1175 52 AnalogIn emg4(p18);
jessekaiser 56:6ea03cce1175 53
jessekaiser 57:0a278c60d28b 54 //HIDScope scope(4);
jessekaiser 57:0a278c60d28b 55 //Ticker scopeTimer;
jessekaiser 56:6ea03cce1175 56
jessekaiser 56:6ea03cce1175 57 //lcd
jessekaiser 30:0a8f849e0292 58 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 59
jessekaiser 56:6ea03cce1175 60 //Variables for motor control
jessekaiser 57:0a278c60d28b 61 float setpoint = 1000; //Frequentie setpoint
jessekaiser 56:6ea03cce1175 62 float step_freq1 = 1;
jessekaiser 56:6ea03cce1175 63 float step_freq2 = 1;
jessekaiser 56:6ea03cce1175 64 float step_freq3 = 1;
jessekaiser 56:6ea03cce1175 65 float step_freq4 = 1;
jessekaiser 56:6ea03cce1175 66
jessekaiser 56:6ea03cce1175 67 //EMG filter
jessekaiser 56:6ea03cce1175 68 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
jessekaiser 56:6ea03cce1175 69 arm_biquad_casd_df1_inst_f32 lowpass_triceps;
jessekaiser 56:6ea03cce1175 70 arm_biquad_casd_df1_inst_f32 lowpass_pect;
jessekaiser 56:6ea03cce1175 71 arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
jessekaiser 56:6ea03cce1175 72 //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
jessekaiser 56:6ea03cce1175 73 float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
jessekaiser 56:6ea03cce1175 74 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
jessekaiser 56:6ea03cce1175 75 arm_biquad_casd_df1_inst_f32 highnotch_triceps;
jessekaiser 56:6ea03cce1175 76 arm_biquad_casd_df1_inst_f32 highnotch_pect;
jessekaiser 56:6ea03cce1175 77 arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
jessekaiser 56:6ea03cce1175 78 //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, notch Fc = 50, Fs = 500 Hz
jessekaiser 56:6ea03cce1175 79 float highnotch_const[] = {0.8370879899975344, -1.6741759799950688, 0.8370879899975344, 1.6474576182593796, -0.7008943417307579, 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
jessekaiser 56:6ea03cce1175 80
jessekaiser 56:6ea03cce1175 81 //state values
jessekaiser 56:6ea03cce1175 82 float lowpass_biceps_states[4];
jessekaiser 56:6ea03cce1175 83 float highnotch_biceps_states[8];
jessekaiser 56:6ea03cce1175 84 float lowpass_triceps_states[4];
jessekaiser 56:6ea03cce1175 85 float highnotch_triceps_states[8];
jessekaiser 56:6ea03cce1175 86 float lowpass_pect_states[4];
jessekaiser 56:6ea03cce1175 87 float highnotch_pect_states[8];
jessekaiser 56:6ea03cce1175 88 float lowpass_deltoid_states[4];
jessekaiser 56:6ea03cce1175 89 float highnotch_deltoid_states[8];
jessekaiser 56:6ea03cce1175 90
jessekaiser 56:6ea03cce1175 91 //global variabels
jessekaiser 56:6ea03cce1175 92 float filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid;
jessekaiser 56:6ea03cce1175 93 float speed_old1, speed_old2, speed_old3, speed_old4;
jessekaiser 56:6ea03cce1175 94 float acc1, acc2, acc3, acc4;
jessekaiser 56:6ea03cce1175 95 float force1, force2, force3, force4;
jessekaiser 56:6ea03cce1175 96 float speed1, speed2, speed3, speed4;
jessekaiser 56:6ea03cce1175 97 float damping1, damping2, damping3, damping4;
jessekaiser 56:6ea03cce1175 98
jessekaiser 56:6ea03cce1175 99 void looper_emg()
jessekaiser 56:6ea03cce1175 100 {
jessekaiser 56:6ea03cce1175 101 float emg_value1_f32, emg_value2_f32, emg_value3_f32, emg_value4_f32;
jessekaiser 56:6ea03cce1175 102 emg_value1_f32 = emg1.read();
jessekaiser 56:6ea03cce1175 103 emg_value2_f32 = emg2.read();
jessekaiser 56:6ea03cce1175 104 emg_value3_f32 = emg3.read();
jessekaiser 56:6ea03cce1175 105 emg_value4_f32 = emg4.read();
jessekaiser 56:6ea03cce1175 106
jessekaiser 56:6ea03cce1175 107 //process emg biceps
jessekaiser 56:6ea03cce1175 108 arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); //High pass and notch filter
jessekaiser 58:3ea066215c31 109 filtered_biceps = fabs(filtered_biceps)*K_Gain; //Rectifier, The Gain is already implemented.
jessekaiser 56:6ea03cce1175 110 arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); //low pass filter
jessekaiser 56:6ea03cce1175 111
jessekaiser 56:6ea03cce1175 112 //process emg triceps
jessekaiser 56:6ea03cce1175 113 arm_biquad_cascade_df1_f32(&highnotch_triceps, &emg_value2_f32, &filtered_triceps, 1 );
jessekaiser 58:3ea066215c31 114 filtered_triceps = fabs(filtered_triceps)*K_Gain;
jessekaiser 56:6ea03cce1175 115 arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_triceps, &filtered_triceps, 1 );
jessekaiser 56:6ea03cce1175 116
jessekaiser 56:6ea03cce1175 117 //process emg pectoralis major
jessekaiser 56:6ea03cce1175 118 arm_biquad_cascade_df1_f32(&highnotch_pect, &emg_value3_f32, &filtered_pect, 1 );
jessekaiser 58:3ea066215c31 119 filtered_pect = fabs(filtered_pect)*K_Gain;
jessekaiser 56:6ea03cce1175 120 arm_biquad_cascade_df1_f32(&lowpass_pect, &filtered_pect, &filtered_pect, 1 );
jessekaiser 56:6ea03cce1175 121
jessekaiser 56:6ea03cce1175 122 //process emg deltoid
jessekaiser 56:6ea03cce1175 123 arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value4_f32, &filtered_deltoid, 1 );
jessekaiser 58:3ea066215c31 124 filtered_deltoid = fabs(filtered_deltoid)*K_Gain;
jessekaiser 56:6ea03cce1175 125 arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
jessekaiser 56:6ea03cce1175 126
jessekaiser 58:3ea066215c31 127 /*send value to PC.
jessekaiser 56:6ea03cce1175 128 scope.set(0,filtered_biceps); //Filtered EMG signal
jessekaiser 56:6ea03cce1175 129 scope.set(1,filtered_triceps);
jessekaiser 56:6ea03cce1175 130 scope.set(2,filtered_pect);
jessekaiser 57:0a278c60d28b 131 scope.set(3,filtered_deltoid);*/
jessekaiser 56:6ea03cce1175 132 }
jessekaiser 56:6ea03cce1175 133
jessekaiser 59:ba22a8c26dee 134
jessekaiser 59:ba22a8c26dee 135 int main()
jessekaiser 56:6ea03cce1175 136 {
jessekaiser 59:ba22a8c26dee 137 // Attach the HIDScope::send method from the scope object to the timer at 500Hz. Hier wordt de sample freq aangegeven.
jessekaiser 59:ba22a8c26dee 138 // scopeTimer.attach_us(&scope, &HIDScope::send, 2e3);
jessekaiser 59:ba22a8c26dee 139
jessekaiser 59:ba22a8c26dee 140 Ticker emgtimer; //biceps
jessekaiser 59:ba22a8c26dee 141 arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
jessekaiser 59:ba22a8c26dee 142 arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
jessekaiser 59:ba22a8c26dee 143 //triceps
jessekaiser 59:ba22a8c26dee 144 arm_biquad_cascade_df1_init_f32(&lowpass_triceps, 1 , lowpass_const, lowpass_triceps_states);
jessekaiser 59:ba22a8c26dee 145 arm_biquad_cascade_df1_init_f32(&highnotch_triceps, 2 , highnotch_const, highnotch_triceps_states);
jessekaiser 59:ba22a8c26dee 146 //pectoralis major
jessekaiser 59:ba22a8c26dee 147 arm_biquad_cascade_df1_init_f32(&lowpass_pect, 1 , lowpass_const, lowpass_pect_states);
jessekaiser 59:ba22a8c26dee 148 arm_biquad_cascade_df1_init_f32(&highnotch_pect, 2 , highnotch_const, highnotch_pect_states);
jessekaiser 59:ba22a8c26dee 149 //deltoid
jessekaiser 59:ba22a8c26dee 150 arm_biquad_cascade_df1_init_f32(&lowpass_deltoid, 1 , lowpass_const, lowpass_deltoid_states);
jessekaiser 59:ba22a8c26dee 151 arm_biquad_cascade_df1_init_f32(&highnotch_deltoid, 2 , highnotch_const, highnotch_deltoid_states);
jessekaiser 59:ba22a8c26dee 152 emgtimer.attach(looper_emg, 0.01);
jessekaiser 59:ba22a8c26dee 153
jessekaiser 59:ba22a8c26dee 154 /*Ticker looptimer1;
jessekaiser 59:ba22a8c26dee 155 looptimer1.attach(looper_motorx, 0.01); //X-Spindle motor, why this freq?
jessekaiser 59:ba22a8c26dee 156
jessekaiser 59:ba22a8c26dee 157 Ticker looptimer2;
jessekaiser 59:ba22a8c26dee 158 looptimer2.attach(looper_motory, 0.01); //Y-Spindle motor*/
jessekaiser 59:ba22a8c26dee 159
jessekaiser 59:ba22a8c26dee 160 //Microstepping control, now configured as half stepping (MS1=1,MS2=0,MS3=0)
jessekaiser 59:ba22a8c26dee 161 MS1 = 1;
jessekaiser 59:ba22a8c26dee 162 MS2 = 0;
jessekaiser 59:ba22a8c26dee 163 MS3 = 0;
jessekaiser 59:ba22a8c26dee 164 Stepx.write(0.5); // Duty cycle of 50%
jessekaiser 59:ba22a8c26dee 165 Stepy.write(0.5);
jessekaiser 59:ba22a8c26dee 166
jessekaiser 59:ba22a8c26dee 167 //if (Posx < 0.50) {
jessekaiser 59:ba22a8c26dee 168 // Stepx.period(1.0/3000); //if the speed and distance is known. The motor can be brought to a home position.
jessekaiser 59:ba22a8c26dee 169 //Need to know rpm to m/s.
jessekaiser 59:ba22a8c26dee 170
jessekaiser 59:ba22a8c26dee 171
jessekaiser 59:ba22a8c26dee 172 while (1) {
jessekaiser 59:ba22a8c26dee 173
jessekaiser 56:6ea03cce1175 174 //Forward
jessekaiser 58:3ea066215c31 175 force1 = (filtered_biceps/MAX_bi); //MAX_bi is used to normalize the signal
jessekaiser 56:6ea03cce1175 176 force1 = force1 - damping1;
jessekaiser 56:6ea03cce1175 177 acc1 = force1/Mass;
jessekaiser 56:6ea03cce1175 178 speed1 = speed_old1 + (acc1 * dt);
jessekaiser 56:6ea03cce1175 179 damping1 = speed1 * Damp;
jessekaiser 56:6ea03cce1175 180 step_freq1 = (setpoint*speed1);
jessekaiser 56:6ea03cce1175 181 speed_old1 = speed1;
jessekaiser 51:75a8c7191555 182
jessekaiser 56:6ea03cce1175 183 //Achteruit triceps
jessekaiser 58:3ea066215c31 184 force2 = (filtered_triceps/MAX_tri);
jessekaiser 56:6ea03cce1175 185 force2 = force2 - damping2;
jessekaiser 56:6ea03cce1175 186 acc2 = force2/Mass;
jessekaiser 56:6ea03cce1175 187 speed2 = speed_old2 + (acc2 * dt);
jessekaiser 56:6ea03cce1175 188 damping2 = speed2 * Damp;
jessekaiser 56:6ea03cce1175 189 step_freq2 = (setpoint*speed2);
jessekaiser 56:6ea03cce1175 190 speed_old2 = speed2;
jessekaiser 58:3ea066215c31 191
jessekaiser 57:0a278c60d28b 192 if (filtered_biceps > filtered_triceps || Posy < 0.20) {
jessekaiser 56:6ea03cce1175 193 Diry = 1;
jessekaiser 56:6ea03cce1175 194 speed2 = 0.01;
jessekaiser 56:6ea03cce1175 195 speed_old2 = 0.01;
jessekaiser 56:6ea03cce1175 196 Stepy.period(1.0/step_freq1);
jessekaiser 56:6ea03cce1175 197 }
jessekaiser 57:0a278c60d28b 198 if (filtered_triceps > filtered_biceps || Posy > 0.70) {
jessekaiser 56:6ea03cce1175 199 Diry = 0;
jessekaiser 56:6ea03cce1175 200 speed1 = 0.01;
jessekaiser 56:6ea03cce1175 201 speed_old1 = 0.01;
jessekaiser 56:6ea03cce1175 202 Stepy.period(1.0/step_freq2);
jessekaiser 56:6ea03cce1175 203 }
jessekaiser 56:6ea03cce1175 204 //Speed limit
jessekaiser 56:6ea03cce1175 205 if (speed1 > 1) {
jessekaiser 56:6ea03cce1175 206 speed1 = 1;
jessekaiser 58:3ea066215c31 207 Stepy.period(1.0/setpoint);
jessekaiser 58:3ea066215c31 208 //step_freq1 = setpoint;
jessekaiser 56:6ea03cce1175 209 }
jessekaiser 56:6ea03cce1175 210 if (speed2 > 1) {
jessekaiser 56:6ea03cce1175 211 speed2 = 1;
jessekaiser 58:3ea066215c31 212 Stepy.period(1.0/setpoint);
jessekaiser 58:3ea066215c31 213 //step_freq2 = setpoint;
jessekaiser 56:6ea03cce1175 214 }
jessekaiser 56:6ea03cce1175 215 //EMG treshold
jessekaiser 57:0a278c60d28b 216 if (filtered_biceps < EMG_tresh1 && filtered_triceps < EMG_tresh2) {
jessekaiser 56:6ea03cce1175 217 Enabley = 1; //Enable = 1 turns the motor off.
jessekaiser 56:6ea03cce1175 218 speed1 = 0.01;
jessekaiser 56:6ea03cce1175 219 speed_old1 = 0.01;
jessekaiser 56:6ea03cce1175 220 speed2 = 0.01;
jessekaiser 56:6ea03cce1175 221 speed_old2 = 0.01;
jessekaiser 56:6ea03cce1175 222 } else {
jessekaiser 56:6ea03cce1175 223 Enabley = 0;
jessekaiser 56:6ea03cce1175 224 }
jessekaiser 56:6ea03cce1175 225
jessekaiser 56:6ea03cce1175 226 //To the left
jessekaiser 58:3ea066215c31 227 force3 = (filtered_pect/MAX_pect);
jessekaiser 56:6ea03cce1175 228 force3 = force3 - damping3;
jessekaiser 56:6ea03cce1175 229 acc3 = force3/Mass;
jessekaiser 56:6ea03cce1175 230 speed3 = speed_old3 + (acc3 * dt);
jessekaiser 56:6ea03cce1175 231 damping3 = speed3 * Damp;
jessekaiser 56:6ea03cce1175 232 step_freq3 = (setpoint*speed3);
jessekaiser 56:6ea03cce1175 233 speed_old3 = speed3;
jessekaiser 56:6ea03cce1175 234
jessekaiser 56:6ea03cce1175 235 //To the right
jessekaiser 58:3ea066215c31 236 force4 = (filtered_deltoid/MAX_delt);
jessekaiser 56:6ea03cce1175 237 force4 = force4 - damping4;
jessekaiser 56:6ea03cce1175 238 acc4 = force4/Mass;
jessekaiser 56:6ea03cce1175 239 speed4 = speed_old4 + (acc4 * dt);
jessekaiser 56:6ea03cce1175 240 damping4 = speed4 * Damp;
jessekaiser 56:6ea03cce1175 241 step_freq4 = (setpoint*speed4);
jessekaiser 56:6ea03cce1175 242 speed_old4 = speed4;
jessekaiser 58:3ea066215c31 243
jessekaiser 57:0a278c60d28b 244 if (filtered_pect > filtered_deltoid || Posx < 0.30) {
jessekaiser 56:6ea03cce1175 245 Dirx = 0;
jessekaiser 56:6ea03cce1175 246 speed4 = 0.01;
jessekaiser 56:6ea03cce1175 247 speed_old4 = 0.01;
jessekaiser 56:6ea03cce1175 248 Stepx.period(1.0/step_freq3);
jessekaiser 56:6ea03cce1175 249 }
jessekaiser 57:0a278c60d28b 250 if (filtered_deltoid > filtered_pect || Posx > 0.86) {
jessekaiser 56:6ea03cce1175 251 Dirx = 1;
jessekaiser 56:6ea03cce1175 252 speed3 = 0.01;
jessekaiser 56:6ea03cce1175 253 speed_old3 = 0.01;
jessekaiser 56:6ea03cce1175 254 Stepx.period(1.0/step_freq4);
jessekaiser 56:6ea03cce1175 255 }
jessekaiser 56:6ea03cce1175 256 //Speed limit
jessekaiser 56:6ea03cce1175 257 if (speed3 > 1) {
jessekaiser 56:6ea03cce1175 258 speed3 = 1;
jessekaiser 58:3ea066215c31 259 Stepx.period(1.0/setpoint);
jessekaiser 58:3ea066215c31 260 //step_freq3 = setpoint;
jessekaiser 56:6ea03cce1175 261 }
jessekaiser 56:6ea03cce1175 262 if (speed4 > 1) {
jessekaiser 56:6ea03cce1175 263 speed4 = 1;
jessekaiser 58:3ea066215c31 264 Stepx.period(1.0/setpoint);
jessekaiser 58:3ea066215c31 265 //step_freq4 = setpoint;
jessekaiser 56:6ea03cce1175 266 }
jessekaiser 56:6ea03cce1175 267 //EMG treshold
jessekaiser 57:0a278c60d28b 268 if (filtered_pect < EMG_tresh3 && filtered_deltoid < EMG_tresh4) {
jessekaiser 56:6ea03cce1175 269 Enablex = 1; //Enable = 1 turns the motor off.
jessekaiser 56:6ea03cce1175 270 speed3 = 0.01;
jessekaiser 56:6ea03cce1175 271 speed_old3 = 0.01;
jessekaiser 56:6ea03cce1175 272 speed4 = 0.01;
jessekaiser 56:6ea03cce1175 273 speed_old4 = 0.01;
jessekaiser 56:6ea03cce1175 274 } else {
jessekaiser 56:6ea03cce1175 275 Enablex = 0;
jessekaiser 56:6ea03cce1175 276 }
jessekaiser 56:6ea03cce1175 277
jessekaiser 58:3ea066215c31 278
jessekaiser 57:0a278c60d28b 279 //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
jessekaiser 57:0a278c60d28b 280 lcd.printf("%.2f, %.2f %.2f %.2f \n", filtered_biceps, filtered_triceps, filtered_pect, filtered_deltoid); //Filtered EMG values
jessekaiser 56:6ea03cce1175 281 //lcd.printf("1 %.0f, 2 %.0f, 3 %.0f, 4 %.0f \n", step_freq1, step_freq2, step_freq3, step_freq4); //step_freq value of every EMG sensor
jessekaiser 58:3ea066215c31 282 //lcd.printf("%.2f, %.2f %.2f %.2f \n", gain_biceps, gain_triceps, gain_pect, gain_deltoid);
jessekaiser 58:3ea066215c31 283 //lcd.printf("%.2f, %.2f %.2f %.2f \n", norm_biceps, norm_triceps, norm_pect, norm_deltoid);
jessekaiser 58:3ea066215c31 284 wait(0.01);
jessekaiser 0:3acdd563582f 285 }
jessekaiser 56:6ea03cce1175 286 }