Sem Bertelink / Mbed 2 deprecated MOD09_Biorobotics_Groep_14lol

lololololol

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@29:5a846abba59e, 2019-10-30 (annotated)

Committer:
SjorsdeBruin
Date:
Wed Oct 30 11:05:31 2019 +0000
Revision:
29:5a846abba59e
Parent:
28:8c90a46b613e
Child:
30:a16519224d58
wat aangepast qua het gebruik van 2 motoren/hoeken. manuele aansturing m.b.v. toetsenbord, maar werkt nog niet.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hendrikvg 17:cacf9e75eda7 1 #include "QEI.h"
Hendrikvg 15:80b3ac2b8448 2 #include "mbed.h"
Hendrikvg 20:ac1b4ffa3323 3 #include "BiQuad.h"
Hendrikvg 14:20f11bb58244 4 #include "FastPWM.h"
Hendrikvg 17:cacf9e75eda7 5 #include "HIDScope.h"
Hendrikvg 16:40183eeadb6d 6 #include "MODSERIAL.h"
Hendrikvg 9:12b9865e7373 7
Hendrikvg 21:394a7a1deb73 8 // Pins
Hendrikvg 21:394a7a1deb73 9 MODSERIAL pc(USBTX, USBRX);
SjorsdeBruin 26:088e397ec26f 10
SjorsdeBruin 26:088e397ec26f 11 QEI encoder_1(D10,D11,NC,8400,QEI::X4_ENCODING);
SjorsdeBruin 26:088e397ec26f 12 QEI encoder_2(D12,D13,NC,8400,QEI::X4_ENCODING);
Hendrikvg 24:a9ec9b836fd9 13
Hendrikvg 21:394a7a1deb73 14 FastPWM PWM_motor_1(D6);
Hendrikvg 23:78898ddfb103 15 FastPWM PWM_motor_2(D5);
Hendrikvg 24:a9ec9b836fd9 16
Hendrikvg 20:ac1b4ffa3323 17 DigitalOut direction_motor_1(D7);
Hendrikvg 23:78898ddfb103 18 DigitalOut direction_motor_2(D4);
SjorsdeBruin 26:088e397ec26f 19
Hendrikvg 24:a9ec9b836fd9 20 DigitalOut led_red(LED1);
Hendrikvg 24:a9ec9b836fd9 21 DigitalOut led_green(LED2);
Hendrikvg 24:a9ec9b836fd9 22 DigitalOut led_blue(LED3);
Hendrikvg 24:a9ec9b836fd9 23
SjorsdeBruin 26:088e397ec26f 24 AnalogIn emg_bl(A0);
SjorsdeBruin 26:088e397ec26f 25 AnalogIn emg_br(A1);
SjorsdeBruin 26:088e397ec26f 26 AnalogIn emg_leg(A2);
Hendrikvg 24:a9ec9b836fd9 27
Hendrikvg 21:394a7a1deb73 28 InterruptIn button_1(SW2);
Hendrikvg 21:394a7a1deb73 29 InterruptIn button_2(SW3);
Hendrikvg 17:cacf9e75eda7 30
Hendrikvg 24:a9ec9b836fd9 31
Hendrikvg 15:80b3ac2b8448 32 // variables
SjorsdeBruin 28:8c90a46b613e 33 const float pi = 3.1416;
SjorsdeBruin 28:8c90a46b613e 34 const float l = 0.535;
Hendrikvg 21:394a7a1deb73 35 Ticker TickerStateMachine;
Hendrikvg 23:78898ddfb103 36 Ticker motor_control;
Hendrikvg 23:78898ddfb103 37 Ticker write_scope;
Hendrikvg 21:394a7a1deb73 38 Timer sinus_time;
Hendrikvg 24:a9ec9b836fd9 39 Timeout rest_timeout;
Hendrikvg 24:a9ec9b836fd9 40 Timeout mvc_timeout;
SjorsdeBruin 26:088e397ec26f 41 Timeout led_timeout;
Hendrikvg 21:394a7a1deb73 42 enum states {start, motor_calibration, demo_mode, emg_calibration, vertical_movement, horizontal_movement};
Hendrikvg 21:394a7a1deb73 43 states CurrentState = start;
Hendrikvg 21:394a7a1deb73 44 bool StateChanged = true;
Hendrikvg 24:a9ec9b836fd9 45 enum substates {rest_biceps_left, mvc_biceps_left, rest_biceps_right, mvc_biceps_right, rest_biceps_leg, mvc_biceps_leg};
Hendrikvg 24:a9ec9b836fd9 46 substates CurrentSubstate = rest_biceps_left;
Hendrikvg 24:a9ec9b836fd9 47 bool SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 48 volatile bool pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 49 volatile bool pressed_2 = false;
SjorsdeBruin 27:d37b3a0e0f2b 50 HIDScope scope(6);
SjorsdeBruin 26:088e397ec26f 51
Hendrikvg 23:78898ddfb103 52 //volatile float theta_error_1;
SjorsdeBruin 29:5a846abba59e 53 volatile float theta_ref1;
Hendrikvg 23:78898ddfb103 54 //volatile float theta_error_2;
SjorsdeBruin 29:5a846abba59e 55 volatile float theta_ref2;
SjorsdeBruin 26:088e397ec26f 56 float Ts = 0.01;
Hendrikvg 23:78898ddfb103 57 float Kp;
Hendrikvg 23:78898ddfb103 58 float Ki;
Hendrikvg 23:78898ddfb103 59 float Kd;
SjorsdeBruin 28:8c90a46b613e 60 float thetav_1;
SjorsdeBruin 28:8c90a46b613e 61 float thetav_2;
SjorsdeBruin 29:5a846abba59e 62 float theta_1 = (40.0f*pi)/180.0f;
SjorsdeBruin 29:5a846abba59e 63 float theta_2 = (175.0f*pi)/180.0f;
SjorsdeBruin 29:5a846abba59e 64 float theta_error1;
SjorsdeBruin 29:5a846abba59e 65 float theta_error2;
SjorsdeBruin 29:5a846abba59e 66 float torque_1;
SjorsdeBruin 29:5a846abba59e 67 float torque_2;
SjorsdeBruin 28:8c90a46b613e 68 float x;
SjorsdeBruin 28:8c90a46b613e 69 float y;
SjorsdeBruin 28:8c90a46b613e 70 volatile float EMGx_velocity=0.02;
SjorsdeBruin 28:8c90a46b613e 71 volatile float EMGy_velocity=0;
SjorsdeBruin 29:5a846abba59e 72 char beweging;
SjorsdeBruin 26:088e397ec26f 73
SjorsdeBruin 27:d37b3a0e0f2b 74 BiQuad Lowpass_bl ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 75 BiQuad Highpass_bl ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 76 BiQuad notch_bl (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 27:d37b3a0e0f2b 77 BiQuad Lowpass_br ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 78 BiQuad Highpass_br ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 79 BiQuad notch_br (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 27:d37b3a0e0f2b 80 BiQuad Lowpass_leg ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 81 BiQuad Highpass_leg ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 82 BiQuad notch_leg (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 26:088e397ec26f 83
Hendrikvg 24:a9ec9b836fd9 84 int n = 0;
Hendrikvg 24:a9ec9b836fd9 85
SjorsdeBruin 26:088e397ec26f 86 float emgFiltered_bl;
SjorsdeBruin 26:088e397ec26f 87 float emgFiltered_br;
SjorsdeBruin 26:088e397ec26f 88 float emgFiltered_leg;
SjorsdeBruin 26:088e397ec26f 89 float emg;
SjorsdeBruin 26:088e397ec26f 90 float xmvc_value = 1e-11;
Hendrikvg 24:a9ec9b836fd9 91
Hendrikvg 24:a9ec9b836fd9 92 float sum = 0;
SjorsdeBruin 26:088e397ec26f 93 float xrest_value;
Hendrikvg 24:a9ec9b836fd9 94 float rest_value_bl;
Hendrikvg 24:a9ec9b836fd9 95 float rest_value_br;
Hendrikvg 24:a9ec9b836fd9 96 float rest_value_leg;
Hendrikvg 24:a9ec9b836fd9 97
Hendrikvg 24:a9ec9b836fd9 98 float mvc_value_bl;
Hendrikvg 24:a9ec9b836fd9 99 float mvc_value_br;
Hendrikvg 24:a9ec9b836fd9 100 float mvc_value_leg;
Hendrikvg 24:a9ec9b836fd9 101
SjorsdeBruin 28:8c90a46b613e 102 float treshold_bl = 0.5;
SjorsdeBruin 28:8c90a46b613e 103 float treshold_br = 0.5;
SjorsdeBruin 28:8c90a46b613e 104 float treshold_leg = 0.5;
SjorsdeBruin 28:8c90a46b613e 105
SjorsdeBruin 28:8c90a46b613e 106 bool previous_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 107 bool current_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 108
SjorsdeBruin 28:8c90a46b613e 109
Hendrikvg 21:394a7a1deb73 110 // functies
SjorsdeBruin 26:088e397ec26f 111 void ledred()
SjorsdeBruin 26:088e397ec26f 112 {
SjorsdeBruin 26:088e397ec26f 113 led_red = 0;
SjorsdeBruin 26:088e397ec26f 114 led_green = 1;
SjorsdeBruin 26:088e397ec26f 115 led_blue = 1;
SjorsdeBruin 26:088e397ec26f 116 }
SjorsdeBruin 26:088e397ec26f 117 void ledgreen()
SjorsdeBruin 26:088e397ec26f 118 {
SjorsdeBruin 26:088e397ec26f 119 led_green=0;
SjorsdeBruin 26:088e397ec26f 120 led_blue=1;
SjorsdeBruin 26:088e397ec26f 121 led_red=1;
SjorsdeBruin 26:088e397ec26f 122 }
SjorsdeBruin 26:088e397ec26f 123 void ledblue()
SjorsdeBruin 26:088e397ec26f 124 {
SjorsdeBruin 26:088e397ec26f 125 led_green=1;
SjorsdeBruin 26:088e397ec26f 126 led_blue=0;
SjorsdeBruin 26:088e397ec26f 127 led_red=1;
SjorsdeBruin 26:088e397ec26f 128 }
SjorsdeBruin 26:088e397ec26f 129 void ledyellow()
SjorsdeBruin 26:088e397ec26f 130 {
SjorsdeBruin 26:088e397ec26f 131 led_green=0;
SjorsdeBruin 26:088e397ec26f 132 led_blue=1;
SjorsdeBruin 26:088e397ec26f 133 led_red=0;
SjorsdeBruin 26:088e397ec26f 134 }
SjorsdeBruin 26:088e397ec26f 135 void ledmagenta()
SjorsdeBruin 26:088e397ec26f 136 {
SjorsdeBruin 26:088e397ec26f 137 led_green=1;
SjorsdeBruin 26:088e397ec26f 138 led_blue=0;
SjorsdeBruin 26:088e397ec26f 139 led_red=0;
SjorsdeBruin 26:088e397ec26f 140 }
SjorsdeBruin 26:088e397ec26f 141 void ledcyan()
SjorsdeBruin 26:088e397ec26f 142 {
SjorsdeBruin 26:088e397ec26f 143 led_green=0;
SjorsdeBruin 26:088e397ec26f 144 led_blue=0;
SjorsdeBruin 26:088e397ec26f 145 led_red=1;
SjorsdeBruin 26:088e397ec26f 146 }
SjorsdeBruin 26:088e397ec26f 147 void ledwhite()
SjorsdeBruin 26:088e397ec26f 148 {
SjorsdeBruin 26:088e397ec26f 149 led_green=0;
SjorsdeBruin 26:088e397ec26f 150 led_blue=0;
SjorsdeBruin 26:088e397ec26f 151 led_red=0;
SjorsdeBruin 26:088e397ec26f 152 }
SjorsdeBruin 26:088e397ec26f 153 void ledoff()
SjorsdeBruin 26:088e397ec26f 154 {
SjorsdeBruin 26:088e397ec26f 155 led_green=1;
SjorsdeBruin 26:088e397ec26f 156 led_blue=1;
SjorsdeBruin 26:088e397ec26f 157 led_red=1;
SjorsdeBruin 26:088e397ec26f 158 }
SjorsdeBruin 26:088e397ec26f 159
SjorsdeBruin 26:088e397ec26f 160
SjorsdeBruin 29:5a846abba59e 161 void CalculateError()
Hendrikvg 21:394a7a1deb73 162 {
SjorsdeBruin 29:5a846abba59e 163 theta_error1 = theta_ref1-theta_1;
SjorsdeBruin 29:5a846abba59e 164 theta_error2 = theta_ref2-theta_2;
Hendrikvg 21:394a7a1deb73 165 }
Hendrikvg 20:ac1b4ffa3323 166
SjorsdeBruin 29:5a846abba59e 167 void Controller()
Hendrikvg 21:394a7a1deb73 168 {
SjorsdeBruin 29:5a846abba59e 169 float K = 1;
SjorsdeBruin 29:5a846abba59e 170 float ti = 0.1;
SjorsdeBruin 29:5a846abba59e 171 float td = 10;
SjorsdeBruin 29:5a846abba59e 172 Kp = K*(1+td/ti);
SjorsdeBruin 29:5a846abba59e 173 Ki = K/ti;
SjorsdeBruin 29:5a846abba59e 174 Kd = K*td;
SjorsdeBruin 29:5a846abba59e 175
SjorsdeBruin 29:5a846abba59e 176 float error_integral1 = 0;
SjorsdeBruin 29:5a846abba59e 177 float error_integral2 = 0;
SjorsdeBruin 29:5a846abba59e 178 float error_prev1 = 0;
SjorsdeBruin 29:5a846abba59e 179 float error_prev2 = 0;
Hendrikvg 21:394a7a1deb73 180 static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
Hendrikvg 24:a9ec9b836fd9 181
Hendrikvg 20:ac1b4ffa3323 182 // Proportional part:
SjorsdeBruin 29:5a846abba59e 183 float torque_p1 = Kp * theta_error1;
SjorsdeBruin 29:5a846abba59e 184 float torque_p2 = Kp * theta_error2;
SjorsdeBruin 29:5a846abba59e 185
Hendrikvg 20:ac1b4ffa3323 186 // Integral part:
SjorsdeBruin 29:5a846abba59e 187 error_integral1 = error_integral1 + theta_error1 * Ts;
SjorsdeBruin 29:5a846abba59e 188 error_integral2 = error_integral2 + theta_error2 * Ts;
SjorsdeBruin 29:5a846abba59e 189 float torque_i1 = Ki * error_integral1;
SjorsdeBruin 29:5a846abba59e 190 float torque_i2 = Ki * error_integral2;
Hendrikvg 24:a9ec9b836fd9 191
Hendrikvg 20:ac1b4ffa3323 192 // Derivative part:
SjorsdeBruin 29:5a846abba59e 193 float error_derivative1 = (theta_error1 - error_prev1)/Ts;
SjorsdeBruin 29:5a846abba59e 194 float error_derivative2 = (theta_error2 - error_prev2)/Ts;
SjorsdeBruin 29:5a846abba59e 195 float filtered_error_derivative1 = LowPassFilter.step(error_derivative1);
SjorsdeBruin 29:5a846abba59e 196 float filtered_error_derivative2 = LowPassFilter.step(error_derivative2);
SjorsdeBruin 29:5a846abba59e 197 float torque_d1 = Kd * filtered_error_derivative1;
SjorsdeBruin 29:5a846abba59e 198 float torque_d2 = Kd * filtered_error_derivative2;
SjorsdeBruin 29:5a846abba59e 199 error_prev1 = theta_error1;
SjorsdeBruin 29:5a846abba59e 200 error_prev2 = theta_error2;
Hendrikvg 24:a9ec9b836fd9 201
Hendrikvg 20:ac1b4ffa3323 202 // Sum all parts and return it
SjorsdeBruin 29:5a846abba59e 203 torque_1 = torque_p1 + torque_i1 + torque_d1;
SjorsdeBruin 29:5a846abba59e 204 torque_2 = torque_p2 + torque_i2 + torque_d2;
SjorsdeBruin 29:5a846abba59e 205
Hendrikvg 21:394a7a1deb73 206 }
Hendrikvg 16:40183eeadb6d 207
SjorsdeBruin 28:8c90a46b613e 208 void AngleVelocity()
SjorsdeBruin 28:8c90a46b613e 209 {
SjorsdeBruin 28:8c90a46b613e 210 float DET_jacobian= 1.0f/((-l*sin(theta_1)-l*sin(theta_1+theta_2))*(l*cos(theta_1+theta_2))-(-l*sin(theta_1+theta_2))*(l*cos(theta_1)+l*cos(theta_1+theta_2)));
SjorsdeBruin 28:8c90a46b613e 211 thetav_1=DET_jacobian*l*cos(theta_1+theta_2)*EMGx_velocity + DET_jacobian*l*sin(theta_1+theta_2)*EMGy_velocity;
SjorsdeBruin 28:8c90a46b613e 212 thetav_2= DET_jacobian*-l*cos(theta_1)-l*cos(theta_1+theta_2)*EMGx_velocity + DET_jacobian*-l*sin(theta_1)-l*sin(theta_1+theta_2)*EMGy_velocity;
SjorsdeBruin 28:8c90a46b613e 213 }
SjorsdeBruin 28:8c90a46b613e 214
SjorsdeBruin 28:8c90a46b613e 215 void JointAngle()
SjorsdeBruin 28:8c90a46b613e 216 {
SjorsdeBruin 29:5a846abba59e 217 theta_ref1=theta_1+thetav_1*Ts;
SjorsdeBruin 29:5a846abba59e 218 theta_ref2=theta_2+thetav_2*Ts;
SjorsdeBruin 28:8c90a46b613e 219 x=cos(theta_ref1)*l+cos(theta_ref1+theta_ref2)*l;
SjorsdeBruin 28:8c90a46b613e 220 y=sin(theta_ref1)*l+sin(theta_ref1+theta_ref2)*l;
SjorsdeBruin 29:5a846abba59e 221 if (sqrt(pow(x,2)+pow(y,2))>1.0f) {
SjorsdeBruin 28:8c90a46b613e 222 theta_1=theta_ref1;
SjorsdeBruin 28:8c90a46b613e 223 theta_2=theta_ref2;
SjorsdeBruin 28:8c90a46b613e 224 }
SjorsdeBruin 28:8c90a46b613e 225 }
SjorsdeBruin 28:8c90a46b613e 226
Hendrikvg 24:a9ec9b836fd9 227 void CalculateDirectionMotor()
Hendrikvg 21:394a7a1deb73 228 {
SjorsdeBruin 29:5a846abba59e 229 Controller();
SjorsdeBruin 29:5a846abba59e 230 direction_motor_1 = torque_1 <= 0.0f;
SjorsdeBruin 29:5a846abba59e 231 direction_motor_2 = torque_2 <= 0.0f;
Hendrikvg 21:394a7a1deb73 232 }
Hendrikvg 20:ac1b4ffa3323 233
Hendrikvg 23:78898ddfb103 234 void ReadEncoder()
Hendrikvg 23:78898ddfb103 235 {
Hendrikvg 23:78898ddfb103 236 theta_1 = ((360.0f/64.0f)*(float)encoder_1.getPulses())/131.25f; // 360/64 voor de 64 CPR Encoder, 131.25 omdat de gear ratio 131.25:1 is. Hiermee is 1 omwenteling 360.
Hendrikvg 23:78898ddfb103 237 theta_2 = ((360.0f/64.0f)*(float)encoder_2.getPulses())/131.25f;
Hendrikvg 23:78898ddfb103 238 }
Hendrikvg 16:40183eeadb6d 239
Hendrikvg 24:a9ec9b836fd9 240 void MotorControl()
Hendrikvg 23:78898ddfb103 241 {
SjorsdeBruin 29:5a846abba59e 242 Controller();
Hendrikvg 21:394a7a1deb73 243 ReadEncoder();
Hendrikvg 22:6cc93216b323 244 CalculateDirectionMotor();
SjorsdeBruin 29:5a846abba59e 245 PWM_motor_1.write(fabs(torque_1)/360.0f);
SjorsdeBruin 29:5a846abba59e 246 PWM_motor_2.write(fabs(torque_2)/360.0f);
Hendrikvg 21:394a7a1deb73 247 }
Hendrikvg 21:394a7a1deb73 248
Hendrikvg 21:394a7a1deb73 249 void go_next_1()
Hendrikvg 21:394a7a1deb73 250 {
Hendrikvg 24:a9ec9b836fd9 251 pressed_1 = !pressed_1;
Hendrikvg 21:394a7a1deb73 252 }
Hendrikvg 21:394a7a1deb73 253
Hendrikvg 21:394a7a1deb73 254 void go_next_2()
Hendrikvg 21:394a7a1deb73 255 {
Hendrikvg 24:a9ec9b836fd9 256 pressed_2 = !pressed_2;
Hendrikvg 24:a9ec9b836fd9 257 }
Hendrikvg 24:a9ec9b836fd9 258
SjorsdeBruin 27:d37b3a0e0f2b 259 bool emg_switch(float treshold, float emg_input) {
SjorsdeBruin 27:d37b3a0e0f2b 260 if(emg_input > treshold){
SjorsdeBruin 28:8c90a46b613e 261 current_value_emg_leg = true;
SjorsdeBruin 28:8c90a46b613e 262 } else {
SjorsdeBruin 28:8c90a46b613e 263 current_value_emg_leg = false;
SjorsdeBruin 28:8c90a46b613e 264 }
SjorsdeBruin 28:8c90a46b613e 265 if(current_value_emg_leg == true && previous_value_emg_leg == false) {
SjorsdeBruin 28:8c90a46b613e 266 previous_value_emg_leg = current_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 267 return true;
SjorsdeBruin 28:8c90a46b613e 268 } else {
SjorsdeBruin 28:8c90a46b613e 269 previous_value_emg_leg = current_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 270 return false;
SjorsdeBruin 28:8c90a46b613e 271 }
SjorsdeBruin 28:8c90a46b613e 272 }
SjorsdeBruin 28:8c90a46b613e 273
SjorsdeBruin 28:8c90a46b613e 274 bool emg_trigger(float treshold, float emg_input) {
SjorsdeBruin 28:8c90a46b613e 275 if(emg_input > treshold) {
SjorsdeBruin 27:d37b3a0e0f2b 276 return true;
SjorsdeBruin 27:d37b3a0e0f2b 277 } else {
SjorsdeBruin 27:d37b3a0e0f2b 278 return false;
SjorsdeBruin 27:d37b3a0e0f2b 279 }
SjorsdeBruin 27:d37b3a0e0f2b 280 }
SjorsdeBruin 27:d37b3a0e0f2b 281
SjorsdeBruin 26:088e397ec26f 282 float EmgCalibration(float emgFiltered, float mvc_value, float rest_value)
Hendrikvg 24:a9ec9b836fd9 283 {
Hendrikvg 24:a9ec9b836fd9 284 float emgCalibrated;
Hendrikvg 24:a9ec9b836fd9 285 if (emgFiltered <= rest_value) {
SjorsdeBruin 27:d37b3a0e0f2b 286 return 0.0f;
SjorsdeBruin 27:d37b3a0e0f2b 287 //emgCalibrated = 0;
Hendrikvg 24:a9ec9b836fd9 288 }
SjorsdeBruin 27:d37b3a0e0f2b 289
Hendrikvg 24:a9ec9b836fd9 290 if (emgFiltered >= mvc_value) {
SjorsdeBruin 27:d37b3a0e0f2b 291 return 1.1f;
SjorsdeBruin 27:d37b3a0e0f2b 292 //emgCalibrated = 1;
Hendrikvg 24:a9ec9b836fd9 293 } else {
Hendrikvg 24:a9ec9b836fd9 294 emgCalibrated = (emgFiltered-rest_value)/(mvc_value-rest_value);
Hendrikvg 24:a9ec9b836fd9 295 }
Hendrikvg 24:a9ec9b836fd9 296 return emgCalibrated;
Hendrikvg 24:a9ec9b836fd9 297 }
Hendrikvg 24:a9ec9b836fd9 298
Hendrikvg 24:a9ec9b836fd9 299 void emgsample()
Hendrikvg 24:a9ec9b836fd9 300 {
SjorsdeBruin 27:d37b3a0e0f2b 301 emgFiltered_bl = Highpass_bl.step(emg_bl.read());
SjorsdeBruin 27:d37b3a0e0f2b 302 emgFiltered_bl = notch_bl.step(emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 303 emgFiltered_bl = fabs(emgFiltered_bl);
SjorsdeBruin 27:d37b3a0e0f2b 304 emgFiltered_bl = Lowpass_bl.step(emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 305
SjorsdeBruin 27:d37b3a0e0f2b 306 emgFiltered_br = Highpass_br.step(emg_br.read());
SjorsdeBruin 27:d37b3a0e0f2b 307 emgFiltered_br = notch_br.step(emgFiltered_br);
Hendrikvg 24:a9ec9b836fd9 308 emgFiltered_br = fabs(emgFiltered_br);
SjorsdeBruin 27:d37b3a0e0f2b 309 emgFiltered_br = Lowpass_br.step(emgFiltered_br);
Hendrikvg 24:a9ec9b836fd9 310
SjorsdeBruin 27:d37b3a0e0f2b 311 emgFiltered_leg = Highpass_leg.step(emg_leg.read());
SjorsdeBruin 27:d37b3a0e0f2b 312 emgFiltered_leg = notch_leg.step(emgFiltered_leg);
Hendrikvg 24:a9ec9b836fd9 313 emgFiltered_leg = fabs(emgFiltered_leg);
SjorsdeBruin 27:d37b3a0e0f2b 314 emgFiltered_leg = Lowpass_leg.step(emgFiltered_leg);
Hendrikvg 24:a9ec9b836fd9 315 }
Hendrikvg 24:a9ec9b836fd9 316
Hendrikvg 24:a9ec9b836fd9 317 void rest()
Hendrikvg 24:a9ec9b836fd9 318 {
SjorsdeBruin 26:088e397ec26f 319 if (CurrentSubstate == rest_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 320 emg = emgFiltered_bl;
SjorsdeBruin 26:088e397ec26f 321 //pc.printf("emg: %f \n\r",emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 322 }
SjorsdeBruin 26:088e397ec26f 323 if (CurrentSubstate == rest_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 324 emg = emgFiltered_br;
Hendrikvg 24:a9ec9b836fd9 325 }
SjorsdeBruin 26:088e397ec26f 326 if (CurrentSubstate == rest_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 327 emg = emgFiltered_leg;
Hendrikvg 24:a9ec9b836fd9 328 }
SjorsdeBruin 26:088e397ec26f 329 if (n < 500) {
SjorsdeBruin 26:088e397ec26f 330 ledred();
Hendrikvg 24:a9ec9b836fd9 331 sum = sum + emg;
SjorsdeBruin 26:088e397ec26f 332 //pc.printf("sum: %f \n\r",sum);
Hendrikvg 24:a9ec9b836fd9 333 n++;
SjorsdeBruin 26:088e397ec26f 334 rest_timeout.attach(rest,0.001f);
Hendrikvg 24:a9ec9b836fd9 335 }
SjorsdeBruin 26:088e397ec26f 336 if (n == 500) {
Hendrikvg 24:a9ec9b836fd9 337 sum = sum + emg;
SjorsdeBruin 26:088e397ec26f 338 //pc.printf("sum: %f \n\r",sum);
Hendrikvg 24:a9ec9b836fd9 339 n++;
SjorsdeBruin 26:088e397ec26f 340 xrest_value = float (sum/n);
SjorsdeBruin 26:088e397ec26f 341 if (CurrentSubstate == rest_biceps_left) {
SjorsdeBruin 26:088e397ec26f 342 rest_value_bl = xrest_value;
SjorsdeBruin 26:088e397ec26f 343 pc.printf("rest_value_bl %f \n\r", rest_value_bl);
Hendrikvg 24:a9ec9b836fd9 344 CurrentSubstate = mvc_biceps_left;
Hendrikvg 24:a9ec9b836fd9 345 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 346 ledblue();
SjorsdeBruin 26:088e397ec26f 347
Hendrikvg 24:a9ec9b836fd9 348 }
SjorsdeBruin 26:088e397ec26f 349 if (CurrentSubstate == rest_biceps_right) {
SjorsdeBruin 26:088e397ec26f 350 rest_value_br = xrest_value;
SjorsdeBruin 26:088e397ec26f 351 pc.printf("rest_value_br %f \n\r", rest_value_br);
Hendrikvg 24:a9ec9b836fd9 352 CurrentSubstate = mvc_biceps_right;
Hendrikvg 24:a9ec9b836fd9 353 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 354 ledmagenta();
Hendrikvg 24:a9ec9b836fd9 355 }
SjorsdeBruin 26:088e397ec26f 356 if (CurrentSubstate == rest_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 357 rest_value_leg = xrest_value;
SjorsdeBruin 26:088e397ec26f 358 pc.printf("rest_value_leg %f \n\r", rest_value_leg);
SjorsdeBruin 26:088e397ec26f 359 pc.printf("rest_value_bl %f \n\r", rest_value_bl);
Hendrikvg 24:a9ec9b836fd9 360 CurrentSubstate = mvc_biceps_leg;
Hendrikvg 24:a9ec9b836fd9 361 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 362 ledwhite();
Hendrikvg 24:a9ec9b836fd9 363 }
Hendrikvg 24:a9ec9b836fd9 364 }
Hendrikvg 24:a9ec9b836fd9 365 }
Hendrikvg 24:a9ec9b836fd9 366
Hendrikvg 24:a9ec9b836fd9 367 void mvc()
Hendrikvg 24:a9ec9b836fd9 368 {
SjorsdeBruin 26:088e397ec26f 369 if (CurrentSubstate == mvc_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 370 emg = emgFiltered_bl;
Hendrikvg 24:a9ec9b836fd9 371 }
SjorsdeBruin 26:088e397ec26f 372 if (CurrentSubstate == mvc_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 373 emg = emgFiltered_br;
Hendrikvg 24:a9ec9b836fd9 374 }
SjorsdeBruin 26:088e397ec26f 375 if (CurrentSubstate == mvc_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 376 emg = emgFiltered_leg;
Hendrikvg 24:a9ec9b836fd9 377 }
SjorsdeBruin 26:088e397ec26f 378 if (emg >= xmvc_value) {
Hendrikvg 24:a9ec9b836fd9 379 xmvc_value = emg;
SjorsdeBruin 26:088e397ec26f 380 }
Hendrikvg 24:a9ec9b836fd9 381 n++;
SjorsdeBruin 26:088e397ec26f 382 if (n < 1000) {
SjorsdeBruin 26:088e397ec26f 383 mvc_timeout.attach(mvc,0.001f);
SjorsdeBruin 26:088e397ec26f 384 ledred();
Hendrikvg 24:a9ec9b836fd9 385 }
SjorsdeBruin 26:088e397ec26f 386 if (n == 1000) {
SjorsdeBruin 26:088e397ec26f 387 if (CurrentSubstate == mvc_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 388 mvc_value_bl = xmvc_value;
SjorsdeBruin 26:088e397ec26f 389 pc.printf("mvc_value_bl %f \n\r", mvc_value_bl);
Hendrikvg 24:a9ec9b836fd9 390 CurrentSubstate = rest_biceps_right;
Hendrikvg 24:a9ec9b836fd9 391 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 392 ledyellow();
Hendrikvg 24:a9ec9b836fd9 393 }
SjorsdeBruin 26:088e397ec26f 394 if (CurrentSubstate == mvc_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 395 mvc_value_br = xmvc_value;
SjorsdeBruin 26:088e397ec26f 396 pc.printf("mvc_value_br %f \n\r", mvc_value_br);
Hendrikvg 24:a9ec9b836fd9 397 CurrentSubstate = rest_biceps_leg;
Hendrikvg 24:a9ec9b836fd9 398 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 399 ledcyan();
Hendrikvg 24:a9ec9b836fd9 400 }
SjorsdeBruin 26:088e397ec26f 401 if (CurrentSubstate == mvc_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 402 mvc_value_leg = xmvc_value;
SjorsdeBruin 26:088e397ec26f 403 pc.printf("mvc_value_leg %f \n\r", mvc_value_leg);
Hendrikvg 24:a9ec9b836fd9 404 CurrentState = vertical_movement;
Hendrikvg 24:a9ec9b836fd9 405 StateChanged = true;
SjorsdeBruin 26:088e397ec26f 406 ledoff();
Hendrikvg 24:a9ec9b836fd9 407 }
Hendrikvg 24:a9ec9b836fd9 408 xmvc_value = 1e-11;
Hendrikvg 24:a9ec9b836fd9 409 }
Hendrikvg 24:a9ec9b836fd9 410 }
Hendrikvg 24:a9ec9b836fd9 411
Hendrikvg 24:a9ec9b836fd9 412 void WriteScope()
Hendrikvg 24:a9ec9b836fd9 413 {
SjorsdeBruin 26:088e397ec26f 414 emgsample();
Hendrikvg 24:a9ec9b836fd9 415 scope.set(0, EmgCalibration(emgFiltered_bl, mvc_value_bl, rest_value_bl));
SjorsdeBruin 26:088e397ec26f 416 scope.set(1, EmgCalibration(emgFiltered_br, mvc_value_br, rest_value_br));
Hendrikvg 24:a9ec9b836fd9 417 scope.set(2, EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg));
SjorsdeBruin 27:d37b3a0e0f2b 418 scope.set(3, emgFiltered_bl);
SjorsdeBruin 27:d37b3a0e0f2b 419 scope.set(4, emgFiltered_br);
SjorsdeBruin 27:d37b3a0e0f2b 420 scope.set(5, emgFiltered_leg);
Hendrikvg 24:a9ec9b836fd9 421 scope.send();
Hendrikvg 24:a9ec9b836fd9 422 }
Hendrikvg 24:a9ec9b836fd9 423
Hendrikvg 24:a9ec9b836fd9 424 void SubstateTransition()
Hendrikvg 24:a9ec9b836fd9 425 {
SjorsdeBruin 26:088e397ec26f 426 if (SubstateChanged == true) {
SjorsdeBruin 26:088e397ec26f 427 SubstateChanged = false;
SjorsdeBruin 26:088e397ec26f 428 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 429 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 430 if (CurrentSubstate == rest_biceps_left) {
SjorsdeBruin 26:088e397ec26f 431 ledgreen();
SjorsdeBruin 26:088e397ec26f 432 pc.printf("groen \n\r");
SjorsdeBruin 26:088e397ec26f 433 pc.printf("Initiating rest_biceps_left\n\r");
SjorsdeBruin 26:088e397ec26f 434 }
SjorsdeBruin 26:088e397ec26f 435 if (CurrentSubstate == mvc_biceps_left) {
SjorsdeBruin 26:088e397ec26f 436 //ledblue();
SjorsdeBruin 26:088e397ec26f 437 pc.printf("Initiating mvc_biceps_left\n\r");
SjorsdeBruin 26:088e397ec26f 438 }
SjorsdeBruin 26:088e397ec26f 439 if (CurrentSubstate == rest_biceps_right) {
SjorsdeBruin 26:088e397ec26f 440 //ledyellow();
SjorsdeBruin 26:088e397ec26f 441 pc.printf("Initiating rest_biceps_right\n\r");
SjorsdeBruin 26:088e397ec26f 442 }
SjorsdeBruin 26:088e397ec26f 443 if (CurrentSubstate == mvc_biceps_right) {
SjorsdeBruin 26:088e397ec26f 444 //ledmagenta();
SjorsdeBruin 26:088e397ec26f 445 pc.printf("Initiating mvc_biceps_right\n\r");
SjorsdeBruin 26:088e397ec26f 446 }
SjorsdeBruin 26:088e397ec26f 447 if (CurrentSubstate == rest_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 448 //ledcyan();
SjorsdeBruin 26:088e397ec26f 449 pc.printf("Initiating rest_biceps_leg\n\r");
SjorsdeBruin 26:088e397ec26f 450 }
SjorsdeBruin 26:088e397ec26f 451 if (CurrentSubstate == mvc_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 452 //ledwhite();
SjorsdeBruin 26:088e397ec26f 453 pc.printf("Initiating mvc_biceps_leg\n\r");
SjorsdeBruin 26:088e397ec26f 454 }
SjorsdeBruin 26:088e397ec26f 455 }
Hendrikvg 21:394a7a1deb73 456 }
Hendrikvg 21:394a7a1deb73 457
Hendrikvg 21:394a7a1deb73 458 void while_start()
Hendrikvg 21:394a7a1deb73 459 {
Hendrikvg 21:394a7a1deb73 460 // Do startup stuff
Hendrikvg 21:394a7a1deb73 461 CurrentState = motor_calibration;
Hendrikvg 21:394a7a1deb73 462 StateChanged = true;
Hendrikvg 21:394a7a1deb73 463 }
Hendrikvg 21:394a7a1deb73 464
Hendrikvg 21:394a7a1deb73 465 void while_motor_calibration()
Hendrikvg 21:394a7a1deb73 466 {
SjorsdeBruin 29:5a846abba59e 467
Hendrikvg 21:394a7a1deb73 468 // Do motor calibration stuff
SjorsdeBruin 29:5a846abba59e 469
Hendrikvg 24:a9ec9b836fd9 470 if (pressed_1) { // bool aanmaken voor demo (switch oid aanmaken)
Hendrikvg 21:394a7a1deb73 471 CurrentState = demo_mode;
Hendrikvg 21:394a7a1deb73 472 StateChanged = true;
Hendrikvg 21:394a7a1deb73 473 }
Hendrikvg 24:a9ec9b836fd9 474 if (pressed_2) { // bool aanmaken voor EMG (switch oid aanmaken)
Hendrikvg 21:394a7a1deb73 475 CurrentState = emg_calibration;
Hendrikvg 21:394a7a1deb73 476 StateChanged = true;
Hendrikvg 21:394a7a1deb73 477 }
Hendrikvg 21:394a7a1deb73 478 }
Hendrikvg 21:394a7a1deb73 479
Hendrikvg 21:394a7a1deb73 480 void while_demo_mode()
Hendrikvg 21:394a7a1deb73 481 {
Hendrikvg 21:394a7a1deb73 482 // Do demo mode stuff
SjorsdeBruin 26:088e397ec26f 483 if ((pressed_1) || (pressed_2)) {
Hendrikvg 21:394a7a1deb73 484 CurrentState = emg_calibration;
Hendrikvg 21:394a7a1deb73 485 StateChanged = true;
Hendrikvg 21:394a7a1deb73 486 }
Hendrikvg 21:394a7a1deb73 487 }
Hendrikvg 21:394a7a1deb73 488
Hendrikvg 21:394a7a1deb73 489 void while_emg_calibration()
Hendrikvg 21:394a7a1deb73 490 {
Hendrikvg 21:394a7a1deb73 491 // Do emg calibration stuff
Hendrikvg 24:a9ec9b836fd9 492 switch (CurrentSubstate) {
Hendrikvg 24:a9ec9b836fd9 493 case rest_biceps_left:
Hendrikvg 24:a9ec9b836fd9 494 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 495 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 496 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 497 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 498 n = 0;
SjorsdeBruin 26:088e397ec26f 499 sum = 0;
Hendrikvg 24:a9ec9b836fd9 500 rest();
Hendrikvg 24:a9ec9b836fd9 501 }
Hendrikvg 24:a9ec9b836fd9 502 break;
Hendrikvg 24:a9ec9b836fd9 503 case mvc_biceps_left:
Hendrikvg 24:a9ec9b836fd9 504 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 505 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 506 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 507 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 508 n = 0;
Hendrikvg 24:a9ec9b836fd9 509 mvc();
Hendrikvg 24:a9ec9b836fd9 510 }
Hendrikvg 24:a9ec9b836fd9 511 break;
Hendrikvg 24:a9ec9b836fd9 512 case rest_biceps_right:
Hendrikvg 24:a9ec9b836fd9 513 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 514 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 515 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 516 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 517 n = 0;
SjorsdeBruin 26:088e397ec26f 518 sum = 0;
Hendrikvg 24:a9ec9b836fd9 519 rest();
Hendrikvg 24:a9ec9b836fd9 520 }
Hendrikvg 24:a9ec9b836fd9 521 break;
Hendrikvg 24:a9ec9b836fd9 522 case mvc_biceps_right:
Hendrikvg 24:a9ec9b836fd9 523 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 524 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 525 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 526 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 527 n = 0;
Hendrikvg 24:a9ec9b836fd9 528 mvc();
Hendrikvg 24:a9ec9b836fd9 529 }
Hendrikvg 24:a9ec9b836fd9 530 break;
Hendrikvg 24:a9ec9b836fd9 531 case rest_biceps_leg:
Hendrikvg 24:a9ec9b836fd9 532 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 533 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 534 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 535 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 536 n = 0;
SjorsdeBruin 26:088e397ec26f 537 sum = 0;
Hendrikvg 24:a9ec9b836fd9 538 rest();
Hendrikvg 24:a9ec9b836fd9 539 }
Hendrikvg 24:a9ec9b836fd9 540 break;
Hendrikvg 24:a9ec9b836fd9 541 case mvc_biceps_leg:
Hendrikvg 24:a9ec9b836fd9 542 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 543 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 544 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 545 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 546 n = 0;
Hendrikvg 24:a9ec9b836fd9 547 mvc();
Hendrikvg 24:a9ec9b836fd9 548 }
Hendrikvg 24:a9ec9b836fd9 549 break;
Hendrikvg 24:a9ec9b836fd9 550 default:
Hendrikvg 24:a9ec9b836fd9 551 pc.printf("Unknown or unimplemented state reached!\n\r");
Hendrikvg 21:394a7a1deb73 552 }
Hendrikvg 21:394a7a1deb73 553 }
Hendrikvg 21:394a7a1deb73 554
Hendrikvg 21:394a7a1deb73 555 void while_vertical_movement()
Hendrikvg 21:394a7a1deb73 556 {
SjorsdeBruin 29:5a846abba59e 557 /*
Hendrikvg 21:394a7a1deb73 558 // Do vertical movement stuff
SjorsdeBruin 28:8c90a46b613e 559 if (emg_trigger(treshold_bl,EmgCalibration(emgFiltered_bl, mvc_value_bl, rest_value_bl))) {
SjorsdeBruin 28:8c90a46b613e 560 EMGy_velocity = -0.02f;
SjorsdeBruin 28:8c90a46b613e 561 }
SjorsdeBruin 28:8c90a46b613e 562 else if (emg_trigger(treshold_br,EmgCalibration(emgFiltered_br, mvc_value_br, rest_value_br))) {
SjorsdeBruin 28:8c90a46b613e 563 EMGy_velocity = 0.02f;
SjorsdeBruin 28:8c90a46b613e 564 }
SjorsdeBruin 28:8c90a46b613e 565 else {
SjorsdeBruin 28:8c90a46b613e 566 EMGy_velocity = 0.0f;
SjorsdeBruin 28:8c90a46b613e 567 }
SjorsdeBruin 28:8c90a46b613e 568 if ((pressed_1) || (pressed_2) || (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))) { // EMG gebaseerde threshold aanmaken
Hendrikvg 21:394a7a1deb73 569 CurrentState = horizontal_movement;
Hendrikvg 21:394a7a1deb73 570 StateChanged = true;
SjorsdeBruin 29:5a846abba59e 571 }*/
SjorsdeBruin 29:5a846abba59e 572 if (beweging =='s') {
SjorsdeBruin 29:5a846abba59e 573 EMGy_velocity = -0.02f;
Hendrikvg 21:394a7a1deb73 574 }
SjorsdeBruin 29:5a846abba59e 575 else if (beweging == 'w') {
SjorsdeBruin 29:5a846abba59e 576 EMGy_velocity = 0.02f;
SjorsdeBruin 29:5a846abba59e 577 }
SjorsdeBruin 29:5a846abba59e 578 else {
SjorsdeBruin 29:5a846abba59e 579 EMGy_velocity = 0.0f;
SjorsdeBruin 29:5a846abba59e 580 }
SjorsdeBruin 29:5a846abba59e 581 if ((pressed_1) || (pressed_2) /*|| (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))*/) { // EMG gebaseerde threshold aanmaken
SjorsdeBruin 29:5a846abba59e 582 CurrentState = horizontal_movement;
SjorsdeBruin 29:5a846abba59e 583 StateChanged = true;
SjorsdeBruin 29:5a846abba59e 584 }
Hendrikvg 21:394a7a1deb73 585 }
Hendrikvg 17:cacf9e75eda7 586
Hendrikvg 21:394a7a1deb73 587 void while_horizontal_movement()
Hendrikvg 21:394a7a1deb73 588 {
Hendrikvg 21:394a7a1deb73 589 // Do horizontal movement stuff
SjorsdeBruin 29:5a846abba59e 590 /*
SjorsdeBruin 28:8c90a46b613e 591 if (emg_trigger(treshold_bl,EmgCalibration(emgFiltered_bl, mvc_value_bl, rest_value_bl))) {
SjorsdeBruin 28:8c90a46b613e 592 EMGx_velocity = -0.02f;
SjorsdeBruin 28:8c90a46b613e 593 }
SjorsdeBruin 28:8c90a46b613e 594 else if (emg_trigger(treshold_br,EmgCalibration(emgFiltered_br, mvc_value_br, rest_value_br))) {
SjorsdeBruin 28:8c90a46b613e 595 EMGx_velocity = 0.02f;
SjorsdeBruin 28:8c90a46b613e 596 }
SjorsdeBruin 28:8c90a46b613e 597 else {
SjorsdeBruin 28:8c90a46b613e 598 EMGx_velocity = 0.0f;
SjorsdeBruin 28:8c90a46b613e 599 }
SjorsdeBruin 28:8c90a46b613e 600 if ((pressed_1) || (pressed_2) || (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))) { // EMG gebaseerde threshold aanmaken
Hendrikvg 21:394a7a1deb73 601 CurrentState = vertical_movement;
Hendrikvg 21:394a7a1deb73 602 StateChanged = true;
Hendrikvg 21:394a7a1deb73 603 }
SjorsdeBruin 29:5a846abba59e 604 */
SjorsdeBruin 29:5a846abba59e 605 if (beweging == 'a') {
SjorsdeBruin 29:5a846abba59e 606 EMGx_velocity = -0.02f;
SjorsdeBruin 29:5a846abba59e 607 pc.printf(" you pressed %c \n\r" , beweging);
SjorsdeBruin 29:5a846abba59e 608 }
SjorsdeBruin 29:5a846abba59e 609 else if (beweging == 'd') {
SjorsdeBruin 29:5a846abba59e 610 EMGx_velocity = 0.02f;
SjorsdeBruin 29:5a846abba59e 611 }
SjorsdeBruin 29:5a846abba59e 612 else {
SjorsdeBruin 29:5a846abba59e 613 EMGx_velocity = 0.0f;
SjorsdeBruin 29:5a846abba59e 614 }
SjorsdeBruin 29:5a846abba59e 615 if ((pressed_1) || (pressed_2) /*|| (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))*/) { // EMG gebaseerde threshold aanmaken
SjorsdeBruin 29:5a846abba59e 616 CurrentState = vertical_movement;
SjorsdeBruin 29:5a846abba59e 617 StateChanged = true;
SjorsdeBruin 29:5a846abba59e 618 }
SjorsdeBruin 29:5a846abba59e 619 }
SjorsdeBruin 29:5a846abba59e 620
Hendrikvg 21:394a7a1deb73 621
Hendrikvg 21:394a7a1deb73 622 void StateTransition()
Hendrikvg 21:394a7a1deb73 623 {
Hendrikvg 24:a9ec9b836fd9 624 if (StateChanged) {
SjorsdeBruin 26:088e397ec26f 625 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 626 pressed_2 = false;
Hendrikvg 24:a9ec9b836fd9 627 if (CurrentState == start) {
Hendrikvg 21:394a7a1deb73 628 pc.printf("Initiating start.\n\r");
Hendrikvg 21:394a7a1deb73 629 }
Hendrikvg 24:a9ec9b836fd9 630 if (CurrentState == motor_calibration) {
Hendrikvg 21:394a7a1deb73 631 pc.printf("Initiating motor_calibration.\n\r");
Hendrikvg 21:394a7a1deb73 632 }
Hendrikvg 24:a9ec9b836fd9 633 if (CurrentState == demo_mode) {
Hendrikvg 21:394a7a1deb73 634 pc.printf("Initiating demo_mode.\n\r");
Hendrikvg 21:394a7a1deb73 635 }
Hendrikvg 24:a9ec9b836fd9 636 if (CurrentState == emg_calibration) {
Hendrikvg 21:394a7a1deb73 637 pc.printf("Initiating emg_calibration.\n\r");
Hendrikvg 21:394a7a1deb73 638 }
Hendrikvg 24:a9ec9b836fd9 639 if (CurrentState == vertical_movement) {
Hendrikvg 21:394a7a1deb73 640 pc.printf("Initiating vertical_movement.\n\r");
Hendrikvg 21:394a7a1deb73 641 }
Hendrikvg 24:a9ec9b836fd9 642 if (CurrentState == horizontal_movement) {
Hendrikvg 21:394a7a1deb73 643 pc.printf("Initiating horizontal_movement.\n\r");
Hendrikvg 21:394a7a1deb73 644 }
Hendrikvg 21:394a7a1deb73 645 StateChanged = false;
Hendrikvg 21:394a7a1deb73 646 }
Hendrikvg 21:394a7a1deb73 647 }
Hendrikvg 21:394a7a1deb73 648
Hendrikvg 21:394a7a1deb73 649 void StateMachine()
Hendrikvg 21:394a7a1deb73 650 {
Hendrikvg 24:a9ec9b836fd9 651 switch(CurrentState) {
Hendrikvg 21:394a7a1deb73 652 case start:
Hendrikvg 21:394a7a1deb73 653 StateTransition();
Hendrikvg 21:394a7a1deb73 654 while_start();
Hendrikvg 21:394a7a1deb73 655 break;
Hendrikvg 21:394a7a1deb73 656 case motor_calibration:
Hendrikvg 21:394a7a1deb73 657 StateTransition();
Hendrikvg 21:394a7a1deb73 658 while_motor_calibration();
Hendrikvg 21:394a7a1deb73 659 break;
Hendrikvg 21:394a7a1deb73 660 case demo_mode:
Hendrikvg 21:394a7a1deb73 661 StateTransition();
Hendrikvg 21:394a7a1deb73 662 while_demo_mode();
Hendrikvg 21:394a7a1deb73 663 break;
Hendrikvg 21:394a7a1deb73 664 case emg_calibration:
Hendrikvg 21:394a7a1deb73 665 StateTransition();
Hendrikvg 21:394a7a1deb73 666 while_emg_calibration();
Hendrikvg 21:394a7a1deb73 667 break;
Hendrikvg 21:394a7a1deb73 668 case vertical_movement:
Hendrikvg 21:394a7a1deb73 669 StateTransition();
Hendrikvg 21:394a7a1deb73 670 while_vertical_movement();
Hendrikvg 21:394a7a1deb73 671 break;
Hendrikvg 21:394a7a1deb73 672 case horizontal_movement:
Hendrikvg 21:394a7a1deb73 673 StateTransition();
Hendrikvg 21:394a7a1deb73 674 while_horizontal_movement();
Hendrikvg 21:394a7a1deb73 675 break;
Hendrikvg 21:394a7a1deb73 676 default:
Hendrikvg 21:394a7a1deb73 677 pc.printf("Unknown or unimplemented state reached!\n\r");
Hendrikvg 21:394a7a1deb73 678 }
Hendrikvg 21:394a7a1deb73 679 }
Hendrikvg 21:394a7a1deb73 680
Hendrikvg 15:80b3ac2b8448 681 // main
Hendrikvg 24:a9ec9b836fd9 682 int main()
Hendrikvg 24:a9ec9b836fd9 683 {
RobertoO 0:67c50348f842 684 pc.baud(115200);
Hendrikvg 17:cacf9e75eda7 685 pc.printf("Hello World!\n\r");
SjorsdeBruin 26:088e397ec26f 686 ledoff();
Hendrikvg 21:394a7a1deb73 687 button_1.fall(go_next_1);
Hendrikvg 21:394a7a1deb73 688 button_2.fall(go_next_2);
SjorsdeBruin 26:088e397ec26f 689 //sinus_time.start();
SjorsdeBruin 29:5a846abba59e 690 PWM_motor_1.period_ms(10);
SjorsdeBruin 29:5a846abba59e 691 PWM_motor_2.period_ms(10);
SjorsdeBruin 29:5a846abba59e 692 motor_control.attach(&MotorControl, Ts);
SjorsdeBruin 27:d37b3a0e0f2b 693 write_scope.attach(&WriteScope, 0.01);
SjorsdeBruin 29:5a846abba59e 694 TickerStateMachine.attach(StateMachine,1.00f);
SjorsdeBruin 29:5a846abba59e 695 beweging = pc.getc();
Hendrikvg 21:394a7a1deb73 696 while(true) {
Hendrikvg 21:394a7a1deb73 697 StateMachine();
Hendrikvg 21:394a7a1deb73 698 }
SjorsdeBruin 26:088e397ec26f 699 }