Ralph Gerlings / Mbed 2 deprecated backto1motor

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Dependencies:   HIDScope MODSERIAL PID QEI biquadFilter mbed

Fork of cpfromralph1 by Remi van Veen

main.cpp@23:e5db011bd410, 2016-11-03 (annotated)

Committer:
relvorelvo
Date:
Thu Nov 03 12:17:16 2016 +0000
Revision:
23:e5db011bd410
Parent:
22:68ab712b62b2
Child:
24:26659f1de039
Only needs a boolean for the right arm and some fine tuning of the filters and the cut-off voltage (noted in the script with maxpart1 & maxpart3)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
relvorelvo 21:136a1ab8163c 3 #include "BiQuad.h"
relvorelvo 21:136a1ab8163c 4 #include "MODSERIAL.h"
vsluiter 0:32bb76391d89 5
vsluiter 4:8b298dfada81 6 //Define objects
relvorelvo 23:e5db011bd410 7 AnalogIn emg1_in( A0 );
relvorelvo 23:e5db011bd410 8 AnalogIn emg2_in( A1 );
relvorelvo 23:e5db011bd410 9 AnalogIn emg3_in( A2 );
relvorelvo 23:e5db011bd410 10 DigitalIn max_reader1( SW2 );
relvorelvo 23:e5db011bd410 11 DigitalIn max_reader3( SW3 );
relvorelvo 23:e5db011bd410 12
tomlankhorst 19:2bf824669684 13
relvorelvo 23:e5db011bd410 14 Ticker main_timer;
relvorelvo 23:e5db011bd410 15 Ticker max_read1;
relvorelvo 23:e5db011bd410 16 Ticker max_read3;
relvorelvo 23:e5db011bd410 17 HIDScope scope( 5 );
relvorelvo 23:e5db011bd410 18 DigitalOut red(LED_RED);
relvorelvo 23:e5db011bd410 19 DigitalOut blue(LED_BLUE);
relvorelvo 23:e5db011bd410 20 DigitalOut green(LED_GREEN);
relvorelvo 23:e5db011bd410 21 MODSERIAL pc(USBTX, USBRX);
relvorelvo 21:136a1ab8163c 22
relvorelvo 21:136a1ab8163c 23
relvorelvo 21:136a1ab8163c 24 // EMG variables
relvorelvo 23:e5db011bd410 25 //Right Biceps
relvorelvo 23:e5db011bd410 26 double emg1;
relvorelvo 23:e5db011bd410 27 double emg1highfilter;
relvorelvo 23:e5db011bd410 28 double emg1notchfilter;
relvorelvo 23:e5db011bd410 29 double emg1abs;
relvorelvo 23:e5db011bd410 30 double emg1lowfilter;
relvorelvo 23:e5db011bd410 31 double emg1peak;
relvorelvo 23:e5db011bd410 32 // Left Biceps
relvorelvo 23:e5db011bd410 33 double emg2;
relvorelvo 23:e5db011bd410 34 double emg2highfilter;
relvorelvo 23:e5db011bd410 35 double emg2notchfilter;
relvorelvo 23:e5db011bd410 36 double emg2abs;
relvorelvo 23:e5db011bd410 37 double emg2lowfilter;
relvorelvo 23:e5db011bd410 38 double emg2peak;
relvorelvo 23:e5db011bd410 39 double max1;
relvorelvo 23:e5db011bd410 40 double maxpart1;
relvorelvo 23:e5db011bd410 41 // Left Lower Arm OR Triceps
relvorelvo 23:e5db011bd410 42 double emg3;
relvorelvo 23:e5db011bd410 43 double emg3highfilter;
relvorelvo 23:e5db011bd410 44 double emg3notchfilter;
relvorelvo 23:e5db011bd410 45 double emg3abs;
relvorelvo 23:e5db011bd410 46 double emg3lowfilter;
relvorelvo 23:e5db011bd410 47 double emg3peak;
relvorelvo 23:e5db011bd410 48 double max3;
relvorelvo 23:e5db011bd410 49 double maxpart3;
vsluiter 2:e314bb3b2d99 50
relvorelvo 21:136a1ab8163c 51 // Filter settings
relvorelvo 23:e5db011bd410 52 // Right Biceps
relvorelvo 23:e5db011bd410 53 BiQuad filterhigh1(9.704e-01,-1.9408,9.704e-01,-1.9389,9.427e-01); /* Filter at 10 Hz */
relvorelvo 23:e5db011bd410 54 BiQuad filternotch1(9.495e-01,-1.8062,9.495e-01,-1.8062,8.992e-01); /* Filter at 50 Hz */
relvorelvo 23:e5db011bd410 55 BiQuad filterlow1(2.119e-03,4.238e-03,2.119e-03,-1.9016,9.101e-01); /* Filter at 15 Hz */
relvorelvo 23:e5db011bd410 56 BiQuad filterpeak1(1.0123,-1.983,9.761e-01,-1.9838,9.8855e-01); /* Gain peak at 11 Hz */
relvorelvo 23:e5db011bd410 57 // Left Biceps
relvorelvo 23:e5db011bd410 58 BiQuad filterhigh2(9.704e-01,-1.9408,9.704e-01,-1.9389,9.427e-01);
relvorelvo 23:e5db011bd410 59 BiQuad filternotch2(9.495e-01,-1.8062,9.495e-01,-1.8062,8.992e-01);
relvorelvo 23:e5db011bd410 60 BiQuad filterlow3(2.119e-03,4.238e-03,2.119e-03,-1.9016,9.101e-01);
relvorelvo 23:e5db011bd410 61 BiQuad filterpeak2(1.0123,-1.983,9.761e-01,-1.9838,9.8855e-01);
relvorelvo 23:e5db011bd410 62 // Left Lower Arm OR Triceps
relvorelvo 23:e5db011bd410 63 BiQuad filterhigh3(9.704e-01,-1.9408,9.704e-01,-1.9389,9.427e-01);
relvorelvo 23:e5db011bd410 64 BiQuad filternotch3(9.495e-01,-1.8062,9.495e-01,-1.8062,8.992e-01);
relvorelvo 23:e5db011bd410 65 BiQuad filterlow3(2.119e-03,4.238e-03,2.119e-03,-1.9016,9.101e-01);
relvorelvo 23:e5db011bd410 66 BiQuad filterpeak3(1.0123,-1.983,9.761e-01,-1.9838,9.8855e-01);
relvorelvo 23:e5db011bd410 67 //
relvorelvo 21:136a1ab8163c 68
relvorelvo 23:e5db011bd410 69 // Finding max values for correct motor switch
relvorelvo 23:e5db011bd410 70 void get_max1(){
relvorelvo 23:e5db011bd410 71 if (max_reader1==0){
relvorelvo 23:e5db011bd410 72 green = !green;
relvorelvo 23:e5db011bd410 73 red = 1;
relvorelvo 23:e5db011bd410 74 blue = 1;
relvorelvo 23:e5db011bd410 75 for(int n=0;n<2000;n++){
relvorelvo 23:e5db011bd410 76
relvorelvo 23:e5db011bd410 77 emg1 = emg1_in.read();
relvorelvo 23:e5db011bd410 78 emg1highfilter = filterhigh1.step(emg1);
relvorelvo 23:e5db011bd410 79 emg1notchfilter = filternotch1.step(emg1highfilter);
relvorelvo 23:e5db011bd410 80 emg1abs = fabs(emg1notchfilter);
relvorelvo 23:e5db011bd410 81 emg1lowfilter = filterlow1.step(emg1abs);
relvorelvo 23:e5db011bd410 82 emg1peak = filterpeak1.step(emg1lowfilter);
relvorelvo 23:e5db011bd410 83
relvorelvo 23:e5db011bd410 84 if (max1<emg1peak){
relvorelvo 23:e5db011bd410 85 max1 = emg1peak;
relvorelvo 23:e5db011bd410 86 }
relvorelvo 23:e5db011bd410 87 wait(0.001f);
relvorelvo 23:e5db011bd410 88 }
relvorelvo 23:e5db011bd410 89 wait(0.2f);
relvorelvo 23:e5db011bd410 90 green = 1;
relvorelvo 23:e5db011bd410 91 }
relvorelvo 23:e5db011bd410 92 maxpart1 = 0.35*max1;
relvorelvo 23:e5db011bd410 93 }
relvorelvo 21:136a1ab8163c 94
relvorelvo 23:e5db011bd410 95 void get_max3(){
relvorelvo 23:e5db011bd410 96 if (max_reader3==0){
relvorelvo 23:e5db011bd410 97 green = 1;
relvorelvo 23:e5db011bd410 98 blue = 1;
relvorelvo 23:e5db011bd410 99 red = !red;
relvorelvo 23:e5db011bd410 100 for(int n=0;n<2000;n++){
relvorelvo 23:e5db011bd410 101
relvorelvo 23:e5db011bd410 102 emg3 = emg3_in.read();
relvorelvo 23:e5db011bd410 103 emg3highfilter = filterhigh3.step(emg3);
relvorelvo 23:e5db011bd410 104 emg3notchfilter = filternotch3.step(emg3highfilter);
relvorelvo 23:e5db011bd410 105 emg3abs = fabs(emg3notchfilter);
relvorelvo 23:e5db011bd410 106 emg3lowfilter = filterlow3.step(emg3abs);
relvorelvo 23:e5db011bd410 107 emg3peak = filterpeak3.step(emg3lowfilter);
relvorelvo 23:e5db011bd410 108
relvorelvo 23:e5db011bd410 109 if (max3<emg3peak){
relvorelvo 23:e5db011bd410 110 max3 = emg3peak;
relvorelvo 23:e5db011bd410 111 }
relvorelvo 23:e5db011bd410 112 wait(0.001f);
relvorelvo 23:e5db011bd410 113 }
relvorelvo 23:e5db011bd410 114 wait(0.2f);
relvorelvo 23:e5db011bd410 115 red = 1;
relvorelvo 23:e5db011bd410 116 }
relvorelvo 23:e5db011bd410 117 maxpart3 = 0.3*max3;
vsluiter 2:e314bb3b2d99 118 }
vsluiter 0:32bb76391d89 119
relvorelvo 23:e5db011bd410 120 // Filtering & Scope
relvorelvo 23:e5db011bd410 121 void filter() {
relvorelvo 23:e5db011bd410 122 // Right Biceps
relvorelvo 23:e5db011bd410 123 emg1 = emg1_in.read();
relvorelvo 23:e5db011bd410 124 emg1highfilter = filterhigh1.step(emg1);
relvorelvo 23:e5db011bd410 125 emg1notchfilter = filternotch1.step(emg1highfilter);
relvorelvo 23:e5db011bd410 126 emg1abs = fabs(emg1notchfilter);
relvorelvo 23:e5db011bd410 127 emg1lowfilter = filterlow1.step(emg1abs);
relvorelvo 23:e5db011bd410 128 emg1peak = filterpeak1.step(emg1lowfilter);
relvorelvo 23:e5db011bd410 129 // Left Biceps
relvorelvo 23:e5db011bd410 130 emg2 = emg2_in.read();
relvorelvo 23:e5db011bd410 131 emg2highfilter = filterhigh2.step(emg2);
relvorelvo 23:e5db011bd410 132 emg2notchfilter = filternotch2.step(emg2highfilter);
relvorelvo 23:e5db011bd410 133 emg2abs = fabs(emg2notchfilter);
relvorelvo 23:e5db011bd410 134 emg2lowfilter = filterlow2.step(emg2abs);
relvorelvo 23:e5db011bd410 135 emg2peak = filterpeak2.step(emg2lowfilter);
relvorelvo 23:e5db011bd410 136 // Left Lower Arm OR Triceps
relvorelvo 23:e5db011bd410 137 emg3 = emg3_in.read();
relvorelvo 23:e5db011bd410 138 emg3highfilter = filterhigh3.step(emg3);
relvorelvo 23:e5db011bd410 139 emg3notchfilter = filternotch3.step(emg3highfilter);
relvorelvo 23:e5db011bd410 140 emg3abs = fabs(emg3notchfilter);
relvorelvo 23:e5db011bd410 141 emg3lowfilter = filterlow3.step(emg3abs);
relvorelvo 23:e5db011bd410 142 emg3peak = filterpeak3.step(emg3lowfilter);
relvorelvo 23:e5db011bd410 143
relvorelvo 23:e5db011bd410 144
relvorelvo 23:e5db011bd410 145 /* Compare measurement to the calibrated value to decide actions */
relvorelvo 23:e5db011bd410 146 if (maxpart1<emg1peak){
relvorelvo 23:e5db011bd410 147 red = 0;
relvorelvo 23:e5db011bd410 148 blue = 1;
relvorelvo 23:e5db011bd410 149 green = 1;
relvorelvo 23:e5db011bd410 150 }
relvorelvo 23:e5db011bd410 151 else {
relvorelvo 23:e5db011bd410 152 if (maxpart1<emg2peak){
relvorelvo 23:e5db011bd410 153 red = 1;
relvorelvo 23:e5db011bd410 154 blue = 0;
relvorelvo 23:e5db011bd410 155 green = 1;
relvorelvo 23:e5db011bd410 156 }
relvorelvo 23:e5db011bd410 157
relvorelvo 23:e5db011bd410 158 else {
relvorelvo 23:e5db011bd410 159 if (maxpart3<emg2peak){
relvorelvo 23:e5db011bd410 160 red = 1;
relvorelvo 23:e5db011bd410 161 blue = 1;
relvorelvo 23:e5db011bd410 162 green = 0;
relvorelvo 23:e5db011bd410 163 }
relvorelvo 23:e5db011bd410 164
relvorelvo 23:e5db011bd410 165 else {
relvorelvo 23:e5db011bd410 166 red = 1;
relvorelvo 23:e5db011bd410 167 blue = 1;
relvorelvo 23:e5db011bd410 168 green = 1;
relvorelvo 23:e5db011bd410 169 }
relvorelvo 23:e5db011bd410 170 }
relvorelvo 23:e5db011bd410 171 }
relvorelvo 23:e5db011bd410 172 /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
relvorelvo 23:e5db011bd410 173 scope.set(0, emg1peak );
relvorelvo 23:e5db011bd410 174 scope.set(1, emg2peak );
relvorelvo 23:e5db011bd410 175 scope.set(2, maxpart1 );
relvorelvo 23:e5db011bd410 176 scope.set(3, emg3peak );
relvorelvo 23:e5db011bd410 177 scope.set(4, maxpart3 );
relvorelvo 23:e5db011bd410 178
relvorelvo 23:e5db011bd410 179 scope.send();
relvorelvo 23:e5db011bd410 180 }
tomlankhorst 15:0da764eea774 181
relvorelvo 23:e5db011bd410 182 int main(){
relvorelvo 22:68ab712b62b2 183
relvorelvo 23:e5db011bd410 184 main_timer.attach(&filter, 0.001);
relvorelvo 23:e5db011bd410 185 max_read1.attach(&get_max1, 2);
relvorelvo 23:e5db011bd410 186 max_read3.attach(&get_max3, 2);
tomlankhorst 15:0da764eea774 187 while(1) {}
vsluiter 0:32bb76391d89 188 }