Peter Knoben / Mbed 2 deprecated ShowIt_robot_control

Final Version

Dependencies:   AnglePosition2 Encoder FastPWM MovementClean PIDController Servo SignalNumberClean biquadFilter mbed

Fork of ShowItv2 by Peter Knoben

main.cpp@8:24f6744d47b2, 2017-11-01 (annotated)

Committer:
peterknoben
Date:
Wed Nov 01 22:23:25 2017 +0000
Revision:
8:24f6744d47b2
Parent:
7:105e3ae0fb19
Child:
10:614050a50c2f
working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
peterknoben 3:c768a37620c9 1 #include "MODSERIAL.h"
peterknoben 1:406519ff0f17 2 #include "AnglePosition.h"
peterknoben 1:406519ff0f17 3 #include "PIDControl.h"
peterknoben 3:c768a37620c9 4 #include "BiQuad.h"
peterknoben 3:c768a37620c9 5 #include "signalnumber.h"
peterknoben 4:e15fc329b88b 6 #include "Movement.h"
DBerendsen 0:5f4bc2d63814 7 #include "mbed.h"
DBerendsen 0:5f4bc2d63814 8 #include "encoder.h"
DBerendsen 0:5f4bc2d63814 9 #include "Servo.h"
peterknoben 1:406519ff0f17 10 #include "FastPWM.h"
peterknoben 8:24f6744d47b2 11 #include "HIDScope.h"
DBerendsen 0:5f4bc2d63814 12
peterknoben 4:e15fc329b88b 13 //This code is for Mbed 2
DBerendsen 0:5f4bc2d63814 14 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 15 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 16 //------------------------------------------------------------------------------
peterknoben 3:c768a37620c9 17 MODSERIAL pc(USBTX, USBRX); //Establish connection
peterknoben 8:24f6744d47b2 18 Ticker MyControllerTicker; //Declare Ticker for Motors
peterknoben 8:24f6744d47b2 19 Ticker MyTickerMode; //Declare Ticker
peterknoben 3:c768a37620c9 20 Ticker MyTickerMean; //Declare Ticker Signalprocessing
peterknoben 3:c768a37620c9 21
peterknoben 8:24f6744d47b2 22 InterruptIn But1(PTA4); //Declare button for min calibration
peterknoben 8:24f6744d47b2 23 InterruptIn Mode(PTC6); //Declare button for max calibration
peterknoben 3:c768a37620c9 24
peterknoben 1:406519ff0f17 25 AnglePosition Angle; //Declare Angle calculater
peterknoben 1:406519ff0f17 26 PIDControl PID; //Declare PID Controller
peterknoben 4:e15fc329b88b 27 SignalNumber SignalLeft; //Declare Signal determiner for Left arm
peterknoben 4:e15fc329b88b 28 SignalNumber SignalRight; //Declare Signal determiner for Right arm
peterknoben 5:b4abbd3c513c 29 SignalNumber SignalMode;
peterknoben 4:e15fc329b88b 30 Movement MoveLeft; //Declare Movement determiner
peterknoben 4:e15fc329b88b 31 Movement MoveRight;
peterknoben 3:c768a37620c9 32
peterknoben 4:e15fc329b88b 33 AnalogIn emg0( A0 ); //Set Inputpin for EMG 0 signal Left
peterknoben 4:e15fc329b88b 34 AnalogIn emg2( A2 ); //Set Inputpin for EMG 2 signal Right
peterknoben 4:e15fc329b88b 35 AnalogIn emg4( A4 ); //Set Inputpin for EMG 4 signal Mode
peterknoben 5:b4abbd3c513c 36 DigitalOut Up( D9 ); //Set digital in for mode selection
peterknoben 5:b4abbd3c513c 37 DigitalOut Down( D8 );
peterknoben 4:e15fc329b88b 38 DigitalOut Led_red(LED_RED);
peterknoben 4:e15fc329b88b 39 DigitalOut Led_green(LED_GREEN);
peterknoben 4:e15fc329b88b 40 DigitalOut Led_blue(LED_BLUE);
peterknoben 1:406519ff0f17 41
peterknoben 1:406519ff0f17 42 const float CONTROLLER_TS = 0.02; //Motor frequency
peterknoben 4:e15fc329b88b 43 const float MEAN_TS = 0.002; //Filter frequency
peterknoben 4:e15fc329b88b 44
peterknoben 3:c768a37620c9 45 //------------------------------------------------------------------------------
peterknoben 3:c768a37620c9 46 //-----------------------------EMG Signals--------------------------------------
peterknoben 3:c768a37620c9 47 //------------------------------------------------------------------------------
peterknoben 4:e15fc329b88b 48 // Filtering the signal and getting the usefull information out of it.
peterknoben 8:24f6744d47b2 49 const int n = 1500; //Window size for the mean value, also adjust in signalnumber.cpp
peterknoben 8:24f6744d47b2 50 const int action =100; //Number of same mean values to change the signalnumber
peterknoben 8:24f6744d47b2 51 const int m = 1500; //Number of samples for calibration
peterknoben 5:b4abbd3c513c 52 int CaseLeft, CaseRight, CaseMode; //Strength of the muscles
peterknoben 5:b4abbd3c513c 53 float emg_offsetLeft, emg_offsetmaxLeft; //Calibration offsets from zero to one for the left arm
peterknoben 5:b4abbd3c513c 54 float emg_offsetRight, emg_offsetmaxRight; //Calibration offsets from zero to one for the right arm
peterknoben 5:b4abbd3c513c 55 float emg_offsetMode, emg_offsetmaxMode;
peterknoben 5:b4abbd3c513c 56 float mean_value_left, mean_value_right, mean_value_mode; //Mean value of the filtered system
peterknoben 5:b4abbd3c513c 57 float kLeft, kRight, kMode; //Scaling factors
peterknoben 6:edd30e11f3c7 58 float Signal_filteredLeft, Signal_filteredRight, Signal_filteredMode;
peterknoben 3:c768a37620c9 59
peterknoben 4:e15fc329b88b 60 //BiQuad filter variables
peterknoben 6:edd30e11f3c7 61 BiQuad LP1L( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad
peterknoben 6:edd30e11f3c7 62 BiQuad HP2L( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad
peterknoben 6:edd30e11f3c7 63 BiQuad NO3L( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad
peterknoben 6:edd30e11f3c7 64 BiQuad LP1R( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad
peterknoben 6:edd30e11f3c7 65 BiQuad HP2R( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad
peterknoben 6:edd30e11f3c7 66 BiQuad NO3R( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad
peterknoben 6:edd30e11f3c7 67 BiQuad LP1M( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad
peterknoben 6:edd30e11f3c7 68 BiQuad HP2M( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad
peterknoben 6:edd30e11f3c7 69 BiQuad NO3M( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad
peterknoben 6:edd30e11f3c7 70 BiQuadChain BiQuad_filter_Left;
peterknoben 6:edd30e11f3c7 71 BiQuadChain BiQuad_filter_Right;
peterknoben 6:edd30e11f3c7 72 BiQuadChain BiQuad_filter_Mode;
peterknoben 3:c768a37620c9 73
peterknoben 7:105e3ae0fb19 74 float FilterLeft(float input){
peterknoben 7:105e3ae0fb19 75 float Signal_filtered= BiQuad_filter_Left.step(input);
peterknoben 7:105e3ae0fb19 76 return Signal_filtered;
peterknoben 7:105e3ae0fb19 77 }
peterknoben 7:105e3ae0fb19 78 float FilterRight(float input){
peterknoben 7:105e3ae0fb19 79 float Signal_filtered= BiQuad_filter_Right.step(input);
peterknoben 7:105e3ae0fb19 80 return Signal_filtered;
peterknoben 7:105e3ae0fb19 81 }
peterknoben 7:105e3ae0fb19 82 float FilterMode(float input){
peterknoben 7:105e3ae0fb19 83 float Signal_filtered= BiQuad_filter_Mode.step(input);
peterknoben 7:105e3ae0fb19 84 return Signal_filtered;
peterknoben 7:105e3ae0fb19 85 }
peterknoben 5:b4abbd3c513c 86
peterknoben 5:b4abbd3c513c 87 //Calibration-------------------------------------------------------------------
peterknoben 4:e15fc329b88b 88 void setled(){
peterknoben 5:b4abbd3c513c 89 Led_red=0; Led_green=1; Led_blue=1;
peterknoben 5:b4abbd3c513c 90 }
peterknoben 8:24f6744d47b2 91
peterknoben 5:b4abbd3c513c 92 // One calibration
peterknoben 5:b4abbd3c513c 93 void maxcalibration(){
peterknoben 5:b4abbd3c513c 94 pc.printf("start max calibration \r\n");
peterknoben 8:24f6744d47b2 95 emg_offsetmaxLeft = SignalLeft.calibrate(m, FilterLeft(emg0));
peterknoben 8:24f6744d47b2 96 emg_offsetmaxRight = SignalRight.calibrate(m, FilterRight(emg2));
peterknoben 8:24f6744d47b2 97 emg_offsetmaxMode = SignalMode.calibrate(m, FilterMode(emg4));
peterknoben 5:b4abbd3c513c 98 kLeft = 1/emg_offsetmaxLeft;
peterknoben 5:b4abbd3c513c 99 kRight = 1/emg_offsetmaxRight;
peterknoben 5:b4abbd3c513c 100 kMode = 1/emg_offsetmaxMode;
peterknoben 5:b4abbd3c513c 101 Led_red=1; //Set led to Green
peterknoben 3:c768a37620c9 102 }
peterknoben 3:c768a37620c9 103
peterknoben 5:b4abbd3c513c 104 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 105 //---------------------------------Servo----------------------------------------
peterknoben 5:b4abbd3c513c 106 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 107 void servo(){
peterknoben 8:24f6744d47b2 108 Signal_filteredLeft = fabs(FilterLeft(emg0));//*kLeft
peterknoben 7:105e3ae0fb19 109 Signal_filteredRight = fabs(FilterRight(emg2)); //*kRight
peterknoben 8:24f6744d47b2 110 CaseLeft = SignalLeft.getnumberLeft(n, action, Signal_filteredLeft);
peterknoben 8:24f6744d47b2 111 CaseRight = SignalRight.getnumberRight(n, action, Signal_filteredRight);
peterknoben 5:b4abbd3c513c 112 if (CaseLeft>=3){
peterknoben 6:edd30e11f3c7 113 Up = 0;
peterknoben 6:edd30e11f3c7 114 Up = 1;
peterknoben 5:b4abbd3c513c 115 }
peterknoben 5:b4abbd3c513c 116 else if (CaseRight >=3){
peterknoben 6:edd30e11f3c7 117 Down = 0;
peterknoben 5:b4abbd3c513c 118 Down = 1;
peterknoben 5:b4abbd3c513c 119 }
peterknoben 5:b4abbd3c513c 120 }
peterknoben 5:b4abbd3c513c 121 int milli =0;
peterknoben 5:b4abbd3c513c 122
peterknoben 5:b4abbd3c513c 123 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 124 //---------------------------Mode selection-------------------------------------
peterknoben 5:b4abbd3c513c 125 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 126 int mode =0;
peterknoben 5:b4abbd3c513c 127
peterknoben 5:b4abbd3c513c 128 //Recieving mode selection from EMG mode signal
peterknoben 5:b4abbd3c513c 129 void mode_selection(){
peterknoben 5:b4abbd3c513c 130 if(mode ==6){
peterknoben 5:b4abbd3c513c 131 mode=1;
peterknoben 5:b4abbd3c513c 132 }
peterknoben 5:b4abbd3c513c 133 else{
peterknoben 5:b4abbd3c513c 134 mode++;
peterknoben 5:b4abbd3c513c 135 }
peterknoben 5:b4abbd3c513c 136 if (mode==3||mode==6){
peterknoben 5:b4abbd3c513c 137 servo();
peterknoben 5:b4abbd3c513c 138 }
peterknoben 5:b4abbd3c513c 139 pc.printf("\r\n mode = %i \r\n", mode);
peterknoben 5:b4abbd3c513c 140 }
peterknoben 5:b4abbd3c513c 141
peterknoben 5:b4abbd3c513c 142 // Control mode selection-------------------------------------------------------
peterknoben 5:b4abbd3c513c 143
peterknoben 5:b4abbd3c513c 144 //Determine the signalnumbers (i.e. speed) based on the strenght of the EMG signals
peterknoben 3:c768a37620c9 145 void signalnumber(){
peterknoben 4:e15fc329b88b 146 //Left
peterknoben 8:24f6744d47b2 147 Signal_filteredLeft = fabs(FilterLeft(emg0)*kLeft);//*kLeft
peterknoben 8:24f6744d47b2 148 // mean_value_left = SignalLeft.getmeanLeft(n, Signal_filteredLeft);
peterknoben 8:24f6744d47b2 149 mean_value_left = SignalLeft.getmeanLeft(n, fabs(FilterLeft(emg0.read())*kLeft));
peterknoben 8:24f6744d47b2 150 CaseLeft = SignalLeft.getnumberLeft(n, action, Signal_filteredLeft);
peterknoben 4:e15fc329b88b 151 //Right
peterknoben 8:24f6744d47b2 152 Signal_filteredRight = fabs(FilterRight(emg2)*kRight);//*kRight
peterknoben 8:24f6744d47b2 153 // mean_value_right = SignalRight.getmeanRight(n, Signal_filteredRight);
peterknoben 8:24f6744d47b2 154 mean_value_right = SignalRight.getmeanRight(n, fabs(FilterRight(emg2.read())*kRight));
peterknoben 8:24f6744d47b2 155 CaseRight = SignalRight.getnumberRight(n, action, Signal_filteredRight);
peterknoben 5:b4abbd3c513c 156 //Mode
peterknoben 8:24f6744d47b2 157 /*
peterknoben 8:24f6744d47b2 158 Signal_filteredMode = fabs(FilterMode(emg4));//*kMode
peterknoben 8:24f6744d47b2 159 mean_value_mode = SignalMode.getmeanMode(n, Signal_filteredMode);
peterknoben 8:24f6744d47b2 160 CaseMode = SignalMode.getnumberMode(n, action, Signal_filteredMode);
peterknoben 8:24f6744d47b2 161 if(CaseMode >= 3){
peterknoben 5:b4abbd3c513c 162 milli ++;
peterknoben 5:b4abbd3c513c 163 if(milli>=150){
peterknoben 5:b4abbd3c513c 164 mode_selection();
peterknoben 5:b4abbd3c513c 165 milli=0;
peterknoben 5:b4abbd3c513c 166 }
peterknoben 5:b4abbd3c513c 167 }
peterknoben 5:b4abbd3c513c 168 else{
peterknoben 5:b4abbd3c513c 169 milli=0;
peterknoben 6:edd30e11f3c7 170 }*/
peterknoben 3:c768a37620c9 171 }
peterknoben 3:c768a37620c9 172
peterknoben 1:406519ff0f17 173 //------------------------------------------------------------------------------
peterknoben 1:406519ff0f17 174 //-------------------------Kinematic Constants----------------------------------
peterknoben 1:406519ff0f17 175 //------------------------------------------------------------------------------
peterknoben 4:e15fc329b88b 176 const double RAD_PER_PULSE = 0.00074799825*2; //Number of radials per pulse from the encoder
peterknoben 4:e15fc329b88b 177 const double PI = 3.14159265358979323846; //Pi
peterknoben 8:24f6744d47b2 178 const float max_rangex = 500.0, max_rangey = 300.0; //Max range on the y axis
peterknoben 8:24f6744d47b2 179 const float x_offset = 156.15, y_offset = -76.97; //Starting positions from the shoulder joint
peterknoben 4:e15fc329b88b 180 const float alpha_offset = -(21.52/180)*PI; //Begin angle Alpha at zero zero
peterknoben 4:e15fc329b88b 181 const float beta_offset = 0.0; //Begin angle Beta at zero zero
peterknoben 8:24f6744d47b2 182 const float L1 = 450.0, L2 = 490.0; //Length of the bodies
peterknoben 5:b4abbd3c513c 183
DBerendsen 0:5f4bc2d63814 184 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 185 //--------------------------------Motor1----------------------------------------
DBerendsen 0:5f4bc2d63814 186 //------------------------------------------------------------------------------
peterknoben 1:406519ff0f17 187 FastPWM motor1(D5);
DBerendsen 0:5f4bc2d63814 188 DigitalOut motor1DirectionPin(D4);
DBerendsen 0:5f4bc2d63814 189 DigitalIn ENC2A(D12);
DBerendsen 0:5f4bc2d63814 190 DigitalIn ENC2B(D13);
DBerendsen 0:5f4bc2d63814 191 Encoder encoder1(D13,D12);
peterknoben 1:406519ff0f17 192 const float MOTOR1_KP = 40.0;
peterknoben 1:406519ff0f17 193 const float MOTOR1_KI = 0.0;
peterknoben 1:406519ff0f17 194 const float MOTOR1_KD = 15.0;
peterknoben 5:b4abbd3c513c 195 double M1_v1 = 0.0, M1_v2 = 0.0; //Calculation values
DBerendsen 0:5f4bc2d63814 196 const double motor1_gain = 2*PI;
peterknoben 1:406519ff0f17 197 const float M1_N = 0.5;
peterknoben 8:24f6744d47b2 198 float position_math_l =0, position_math_r=0;
DBerendsen 0:5f4bc2d63814 199
DBerendsen 0:5f4bc2d63814 200 void motor1_control(){
peterknoben 8:24f6744d47b2 201 float reference_alpha = Angle.getbeta(max_rangex, max_rangey, x_offset, y_offset, beta_offset, L1, L2, position_math_l, position_math_r);
DBerendsen 0:5f4bc2d63814 202 float position_alpha = RAD_PER_PULSE * encoder1.getPosition();
DBerendsen 0:5f4bc2d63814 203 float error_alpha = reference_alpha-position_alpha;
peterknoben 1:406519ff0f17 204 float magnitude1 = PID.get(error_alpha, MOTOR1_KP, MOTOR1_KI, MOTOR1_KD, CONTROLLER_TS, M1_N, M1_v1, M1_v2) / motor1_gain;
DBerendsen 0:5f4bc2d63814 205 motor1 = fabs(magnitude1);
peterknoben 1:406519ff0f17 206 // Determine Motor Direction
peterknoben 1:406519ff0f17 207 if (magnitude1 < 0){
DBerendsen 0:5f4bc2d63814 208 motor1DirectionPin = 1;
DBerendsen 0:5f4bc2d63814 209 }
DBerendsen 0:5f4bc2d63814 210 else{
DBerendsen 0:5f4bc2d63814 211 motor1DirectionPin = 0;
DBerendsen 0:5f4bc2d63814 212 }
DBerendsen 0:5f4bc2d63814 213 }
DBerendsen 0:5f4bc2d63814 214
DBerendsen 0:5f4bc2d63814 215 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 216 //--------------------------------Motor2----------------------------------------
DBerendsen 0:5f4bc2d63814 217 //------------------------------------------------------------------------------
peterknoben 1:406519ff0f17 218 FastPWM motor2(D6);
DBerendsen 0:5f4bc2d63814 219 DigitalOut motor2DirectionPin(D7);
DBerendsen 0:5f4bc2d63814 220 DigitalIn ENC1A(D10);
DBerendsen 0:5f4bc2d63814 221 DigitalIn ENC1B(D11);
DBerendsen 0:5f4bc2d63814 222 Encoder encoder2(D10,D11);
peterknoben 1:406519ff0f17 223 const float MOTOR2_KP = 60.0;
peterknoben 1:406519ff0f17 224 const float MOTOR2_KI = 0.0;
peterknoben 1:406519ff0f17 225 const float MOTOR2_KD = 15.0;
peterknoben 5:b4abbd3c513c 226 double M2_v1 = 0.0, M2_v2 = 0.0; //Calculation values
DBerendsen 0:5f4bc2d63814 227 const double motor2_gain = 2*PI;
peterknoben 1:406519ff0f17 228 const float M2_N = 0.5;
DBerendsen 0:5f4bc2d63814 229
DBerendsen 0:5f4bc2d63814 230 void motor2_control(){
peterknoben 8:24f6744d47b2 231 float reference_beta = Angle.getalpha(max_rangex, max_rangey, x_offset, y_offset, alpha_offset, L1, L2, position_math_l, position_math_r);
DBerendsen 0:5f4bc2d63814 232 float position_beta = RAD_PER_PULSE * -encoder2.getPosition();
DBerendsen 0:5f4bc2d63814 233 float error_beta = reference_beta-position_beta;
peterknoben 1:406519ff0f17 234 float magnitude2 = PID.get(error_beta, MOTOR2_KP, MOTOR2_KI, MOTOR2_KD, CONTROLLER_TS, M2_N, M1_v1, M1_v2) / motor2_gain;
DBerendsen 0:5f4bc2d63814 235 motor2 = fabs(magnitude2);
peterknoben 1:406519ff0f17 236 //Determine Motor Direction
DBerendsen 0:5f4bc2d63814 237 if (magnitude2 > 0){
DBerendsen 0:5f4bc2d63814 238 motor2DirectionPin = 1;
DBerendsen 0:5f4bc2d63814 239 }
DBerendsen 0:5f4bc2d63814 240 else{
DBerendsen 0:5f4bc2d63814 241 motor2DirectionPin = 0;
DBerendsen 0:5f4bc2d63814 242 }
DBerendsen 0:5f4bc2d63814 243 }
peterknoben 5:b4abbd3c513c 244
peterknoben 8:24f6744d47b2 245 //------------------------------------------------------------------------------
peterknoben 8:24f6744d47b2 246 //----------------------------Motor controller----------------------------------
peterknoben 8:24f6744d47b2 247 //------------------------------------------------------------------------------
peterknoben 8:24f6744d47b2 248 int direction_l, direction_r;
peterknoben 8:24f6744d47b2 249
peterknoben 5:b4abbd3c513c 250 void motor_control(){
peterknoben 8:24f6744d47b2 251 direction_l = MoveLeft.getdirectionLeft(mode);
peterknoben 8:24f6744d47b2 252 direction_r = MoveRight.getdirectionRight(mode);
peterknoben 8:24f6744d47b2 253 position_math_l= MoveLeft.getpositionLeft(CaseLeft, mode, max_rangex);
peterknoben 8:24f6744d47b2 254 position_math_r= MoveRight.getpositionRight(CaseRight, mode, max_rangey);
peterknoben 8:24f6744d47b2 255 // motor1_control();
peterknoben 8:24f6744d47b2 256 // motor2_control();
peterknoben 5:b4abbd3c513c 257 }
DBerendsen 0:5f4bc2d63814 258 //------------------------------------------------------------------------------
peterknoben 8:24f6744d47b2 259 //-------------------------------HID Scope--------------------------------------
DBerendsen 0:5f4bc2d63814 260 //------------------------------------------------------------------------------
peterknoben 8:24f6744d47b2 261
peterknoben 8:24f6744d47b2 262 HIDScope scope(4);
peterknoben 8:24f6744d47b2 263 Ticker scopeTimer;
peterknoben 8:24f6744d47b2 264 Ticker controllerTimer;
peterknoben 8:24f6744d47b2 265
peterknoben 8:24f6744d47b2 266 void HID_Monitor(){
peterknoben 8:24f6744d47b2 267 scope.set(0, fabs(FilterLeft(emg0.read())));
peterknoben 8:24f6744d47b2 268 scope.set(1, fabs(FilterRight(emg2.read())));
peterknoben 8:24f6744d47b2 269 scope.set(2, SignalLeft.getmeanLeft(n, fabs(FilterLeft(emg0.read()))));
peterknoben 8:24f6744d47b2 270 scope.set(3, SignalRight.getmeanRight(n, fabs(FilterRight(emg2.read()))));
peterknoben 8:24f6744d47b2 271 }
peterknoben 8:24f6744d47b2 272
peterknoben 8:24f6744d47b2 273 //Working
peterknoben 8:24f6744d47b2 274 //SignalLeft.getmeanLeft(n, fabs(FilterLeft(emg0.read())))
peterknoben 8:24f6744d47b2 275 //SignalRight.getmeanRight(n, fabs(FilterRight(emg2.read())))
peterknoben 8:24f6744d47b2 276
peterknoben 8:24f6744d47b2 277 //------------------------------------------------------------------------------
peterknoben 8:24f6744d47b2 278 //------------------------------Main--------------------------------------------
DBerendsen 0:5f4bc2d63814 279 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 280
DBerendsen 0:5f4bc2d63814 281 int main(){
DBerendsen 0:5f4bc2d63814 282 pc.baud(115200);
peterknoben 4:e15fc329b88b 283 setled();
peterknoben 6:edd30e11f3c7 284 BiQuad_filter_Left.add( &LP1L ).add( &HP2L ).add( &NO3L);
peterknoben 6:edd30e11f3c7 285 BiQuad_filter_Right.add( &LP1R ).add( &HP2R ).add( &NO3R);
peterknoben 6:edd30e11f3c7 286 BiQuad_filter_Mode.add( &LP1M ).add( &HP2M ).add( &NO3M);
peterknoben 4:e15fc329b88b 287 But1.rise(&maxcalibration);
peterknoben 6:edd30e11f3c7 288 Mode.rise(&mode_selection);
peterknoben 5:b4abbd3c513c 289 motor1.period(0.0001f); motor2.period(0.0001f);
peterknoben 8:24f6744d47b2 290 MyControllerTicker.attach(&motor_control, CONTROLLER_TS); //Determining motorposiitons
peterknoben 8:24f6744d47b2 291 MyTickerMean.attach(&signalnumber, MEAN_TS); //Detemining the signalnumbers
peterknoben 5:b4abbd3c513c 292 // MyTickerMode.attach(&signalmode, MEAN_TS);
peterknoben 4:e15fc329b88b 293
peterknoben 8:24f6744d47b2 294 //Scope
peterknoben 8:24f6744d47b2 295 scopeTimer.attach_us(&scope, &HIDScope::send, 2e4);
peterknoben 8:24f6744d47b2 296 controllerTimer.attach_us(&HID_Monitor, 1e3);
peterknoben 8:24f6744d47b2 297
peterknoben 5:b4abbd3c513c 298 while(1) {
peterknoben 8:24f6744d47b2 299 pc.printf(" direction %i , %i Signal numbers %i %i Position %f %f \r\n", direction_l, direction_r, CaseLeft, CaseRight, position_math_l, position_math_r);
peterknoben 5:b4abbd3c513c 300 wait(0.1f);
peterknoben 5:b4abbd3c513c 301 }
peterknoben 1:406519ff0f17 302 }
peterknoben 1:406519ff0f17 303
peterknoben 1:406519ff0f17 304