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@24:26659f1de039, 2016-11-03 (annotated)

Committer:
relvorelvo
Date:
Thu Nov 03 13:40:17 2016 +0000
Revision:
24:26659f1de039
Parent:
23:e5db011bd410
Child:
25:07187cf76863
fine tuned and all, only boolean for right arm is still needed

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 24:26659f1de039 32 double maxpart1;
relvorelvo 23:e5db011bd410 33 // Left Biceps
relvorelvo 23:e5db011bd410 34 double emg2;
relvorelvo 23:e5db011bd410 35 double emg2highfilter;
relvorelvo 23:e5db011bd410 36 double emg2notchfilter;
relvorelvo 23:e5db011bd410 37 double emg2abs;
relvorelvo 23:e5db011bd410 38 double emg2lowfilter;
relvorelvo 23:e5db011bd410 39 double emg2peak;
relvorelvo 23:e5db011bd410 40 double max1;
relvorelvo 24:26659f1de039 41 double maxpart2;
relvorelvo 23:e5db011bd410 42 // Left Lower Arm OR Triceps
relvorelvo 23:e5db011bd410 43 double emg3;
relvorelvo 23:e5db011bd410 44 double emg3highfilter;
relvorelvo 23:e5db011bd410 45 double emg3notchfilter;
relvorelvo 23:e5db011bd410 46 double emg3abs;
relvorelvo 23:e5db011bd410 47 double emg3lowfilter;
relvorelvo 23:e5db011bd410 48 double emg3peak;
relvorelvo 23:e5db011bd410 49 double max3;
relvorelvo 23:e5db011bd410 50 double maxpart3;
vsluiter 2:e314bb3b2d99 51
relvorelvo 21:136a1ab8163c 52 // Filter settings
relvorelvo 23:e5db011bd410 53 // Right Biceps
relvorelvo 23:e5db011bd410 54 BiQuad filterhigh1(9.704e-01,-1.9408,9.704e-01,-1.9389,9.427e-01); /* Filter at 10 Hz */
relvorelvo 23:e5db011bd410 55 BiQuad filternotch1(9.495e-01,-1.8062,9.495e-01,-1.8062,8.992e-01); /* Filter at 50 Hz */
relvorelvo 24:26659f1de039 56 BiQuad filterpeak1(1.0033,-1.984,9.852e-01,-1.9838,9.8855e-01); /* Gain peak at 11 Hz */
relvorelvo 24:26659f1de039 57 BiQuad filterlow1(1.368e-03,2.737e-03,1.369e-03,-1.9219,9.274e-01); /* Filter at 15 Hz */
relvorelvo 23:e5db011bd410 58 // Left Biceps
relvorelvo 23:e5db011bd410 59 BiQuad filterhigh2(9.704e-01,-1.9408,9.704e-01,-1.9389,9.427e-01);
relvorelvo 23:e5db011bd410 60 BiQuad filternotch2(9.495e-01,-1.8062,9.495e-01,-1.8062,8.992e-01);
relvorelvo 24:26659f1de039 61 BiQuad filterpeak2(1.0033,-1.984,9.852e-01,-1.9838,9.8855e-01);
relvorelvo 24:26659f1de039 62 BiQuad filterlow2(1.368e-03,2.737e-03,1.369e-03,-1.9219,9.274e-01);
relvorelvo 23:e5db011bd410 63 // Left Lower Arm OR Triceps
relvorelvo 23:e5db011bd410 64 BiQuad filterhigh3(9.704e-01,-1.9408,9.704e-01,-1.9389,9.427e-01);
relvorelvo 23:e5db011bd410 65 BiQuad filternotch3(9.495e-01,-1.8062,9.495e-01,-1.8062,8.992e-01);
relvorelvo 24:26659f1de039 66 BiQuad filterpeak3(1.0033,-1.984,9.852e-01,-1.9838,9.8855e-01);
relvorelvo 24:26659f1de039 67 BiQuad filterlow3(1.368e-03,2.737e-03,1.369e-03,-1.9219,9.274e-01);
relvorelvo 23:e5db011bd410 68 //
relvorelvo 21:136a1ab8163c 69
relvorelvo 23:e5db011bd410 70 // Finding max values for correct motor switch
relvorelvo 23:e5db011bd410 71 void get_max1(){
relvorelvo 23:e5db011bd410 72 if (max_reader1==0){
relvorelvo 23:e5db011bd410 73 green = !green;
relvorelvo 23:e5db011bd410 74 red = 1;
relvorelvo 23:e5db011bd410 75 blue = 1;
relvorelvo 23:e5db011bd410 76 for(int n=0;n<2000;n++){
relvorelvo 23:e5db011bd410 77
relvorelvo 23:e5db011bd410 78 emg1 = emg1_in.read();
relvorelvo 23:e5db011bd410 79 emg1highfilter = filterhigh1.step(emg1);
relvorelvo 23:e5db011bd410 80 emg1notchfilter = filternotch1.step(emg1highfilter);
relvorelvo 23:e5db011bd410 81 emg1abs = fabs(emg1notchfilter);
relvorelvo 23:e5db011bd410 82 emg1lowfilter = filterlow1.step(emg1abs);
relvorelvo 23:e5db011bd410 83 emg1peak = filterpeak1.step(emg1lowfilter);
relvorelvo 23:e5db011bd410 84
relvorelvo 23:e5db011bd410 85 if (max1<emg1peak){
relvorelvo 23:e5db011bd410 86 max1 = emg1peak;
relvorelvo 23:e5db011bd410 87 }
relvorelvo 23:e5db011bd410 88 wait(0.001f);
relvorelvo 23:e5db011bd410 89 }
relvorelvo 23:e5db011bd410 90 wait(0.2f);
relvorelvo 23:e5db011bd410 91 green = 1;
relvorelvo 23:e5db011bd410 92 }
relvorelvo 24:26659f1de039 93 maxpart1 = 0.28*max1;
relvorelvo 24:26659f1de039 94 maxpart2 = 0.18*max1;
relvorelvo 23:e5db011bd410 95 }
relvorelvo 21:136a1ab8163c 96
relvorelvo 23:e5db011bd410 97 void get_max3(){
relvorelvo 23:e5db011bd410 98 if (max_reader3==0){
relvorelvo 23:e5db011bd410 99 green = 1;
relvorelvo 23:e5db011bd410 100 blue = 1;
relvorelvo 23:e5db011bd410 101 red = !red;
relvorelvo 23:e5db011bd410 102 for(int n=0;n<2000;n++){
relvorelvo 23:e5db011bd410 103
relvorelvo 23:e5db011bd410 104 emg3 = emg3_in.read();
relvorelvo 23:e5db011bd410 105 emg3highfilter = filterhigh3.step(emg3);
relvorelvo 23:e5db011bd410 106 emg3notchfilter = filternotch3.step(emg3highfilter);
relvorelvo 23:e5db011bd410 107 emg3abs = fabs(emg3notchfilter);
relvorelvo 23:e5db011bd410 108 emg3lowfilter = filterlow3.step(emg3abs);
relvorelvo 23:e5db011bd410 109 emg3peak = filterpeak3.step(emg3lowfilter);
relvorelvo 23:e5db011bd410 110
relvorelvo 23:e5db011bd410 111 if (max3<emg3peak){
relvorelvo 23:e5db011bd410 112 max3 = emg3peak;
relvorelvo 23:e5db011bd410 113 }
relvorelvo 23:e5db011bd410 114 wait(0.001f);
relvorelvo 23:e5db011bd410 115 }
relvorelvo 23:e5db011bd410 116 wait(0.2f);
relvorelvo 23:e5db011bd410 117 red = 1;
relvorelvo 23:e5db011bd410 118 }
relvorelvo 24:26659f1de039 119 maxpart3 = 0.28*max3;
vsluiter 2:e314bb3b2d99 120 }
vsluiter 0:32bb76391d89 121
relvorelvo 23:e5db011bd410 122 // Filtering & Scope
relvorelvo 23:e5db011bd410 123 void filter() {
relvorelvo 23:e5db011bd410 124 // Right Biceps
relvorelvo 23:e5db011bd410 125 emg1 = emg1_in.read();
relvorelvo 23:e5db011bd410 126 emg1highfilter = filterhigh1.step(emg1);
relvorelvo 23:e5db011bd410 127 emg1notchfilter = filternotch1.step(emg1highfilter);
relvorelvo 23:e5db011bd410 128 emg1abs = fabs(emg1notchfilter);
relvorelvo 23:e5db011bd410 129 emg1lowfilter = filterlow1.step(emg1abs);
relvorelvo 23:e5db011bd410 130 emg1peak = filterpeak1.step(emg1lowfilter);
relvorelvo 23:e5db011bd410 131 // Left Biceps
relvorelvo 23:e5db011bd410 132 emg2 = emg2_in.read();
relvorelvo 23:e5db011bd410 133 emg2highfilter = filterhigh2.step(emg2);
relvorelvo 23:e5db011bd410 134 emg2notchfilter = filternotch2.step(emg2highfilter);
relvorelvo 23:e5db011bd410 135 emg2abs = fabs(emg2notchfilter);
relvorelvo 23:e5db011bd410 136 emg2lowfilter = filterlow2.step(emg2abs);
relvorelvo 23:e5db011bd410 137 emg2peak = filterpeak2.step(emg2lowfilter);
relvorelvo 23:e5db011bd410 138 // Left Lower Arm OR Triceps
relvorelvo 23:e5db011bd410 139 emg3 = emg3_in.read();
relvorelvo 23:e5db011bd410 140 emg3highfilter = filterhigh3.step(emg3);
relvorelvo 23:e5db011bd410 141 emg3notchfilter = filternotch3.step(emg3highfilter);
relvorelvo 23:e5db011bd410 142 emg3abs = fabs(emg3notchfilter);
relvorelvo 23:e5db011bd410 143 emg3lowfilter = filterlow3.step(emg3abs);
relvorelvo 23:e5db011bd410 144 emg3peak = filterpeak3.step(emg3lowfilter);
relvorelvo 23:e5db011bd410 145
relvorelvo 23:e5db011bd410 146
relvorelvo 23:e5db011bd410 147 /* Compare measurement to the calibrated value to decide actions */
relvorelvo 23:e5db011bd410 148 if (maxpart1<emg1peak){
relvorelvo 23:e5db011bd410 149 red = 0;
relvorelvo 23:e5db011bd410 150 blue = 1;
relvorelvo 23:e5db011bd410 151 green = 1;
relvorelvo 23:e5db011bd410 152 }
relvorelvo 23:e5db011bd410 153 else {
relvorelvo 24:26659f1de039 154 if (maxpart2<emg2peak){
relvorelvo 23:e5db011bd410 155 red = 1;
relvorelvo 23:e5db011bd410 156 blue = 0;
relvorelvo 23:e5db011bd410 157 green = 1;
relvorelvo 23:e5db011bd410 158 }
relvorelvo 23:e5db011bd410 159
relvorelvo 23:e5db011bd410 160 else {
relvorelvo 24:26659f1de039 161 if (maxpart3<emg3peak){
relvorelvo 23:e5db011bd410 162 red = 1;
relvorelvo 23:e5db011bd410 163 blue = 1;
relvorelvo 23:e5db011bd410 164 green = 0;
relvorelvo 23:e5db011bd410 165 }
relvorelvo 23:e5db011bd410 166
relvorelvo 23:e5db011bd410 167 else {
relvorelvo 23:e5db011bd410 168 red = 1;
relvorelvo 23:e5db011bd410 169 blue = 1;
relvorelvo 23:e5db011bd410 170 green = 1;
relvorelvo 23:e5db011bd410 171 }
relvorelvo 23:e5db011bd410 172 }
relvorelvo 23:e5db011bd410 173 }
relvorelvo 23:e5db011bd410 174 /* 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 175 scope.set(0, emg1peak );
relvorelvo 23:e5db011bd410 176 scope.set(1, emg2peak );
relvorelvo 23:e5db011bd410 177 scope.set(2, maxpart1 );
relvorelvo 23:e5db011bd410 178 scope.set(3, emg3peak );
relvorelvo 23:e5db011bd410 179 scope.set(4, maxpart3 );
relvorelvo 23:e5db011bd410 180
relvorelvo 23:e5db011bd410 181 scope.send();
relvorelvo 23:e5db011bd410 182 }
tomlankhorst 15:0da764eea774 183
relvorelvo 23:e5db011bd410 184 int main(){
relvorelvo 22:68ab712b62b2 185
relvorelvo 23:e5db011bd410 186 main_timer.attach(&filter, 0.001);
relvorelvo 23:e5db011bd410 187 max_read1.attach(&get_max1, 2);
relvorelvo 23:e5db011bd410 188 max_read3.attach(&get_max3, 2);
tomlankhorst 15:0da764eea774 189 while(1) {}
vsluiter 0:32bb76391d89 190 }