Sem Bertelink / Mbed 2 deprecated MOD09_Biorobotics_Groep_14lol

lololololol

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@30:a16519224d58, 2019-10-30 (annotated)

Committer:
SjorsdeBruin
Date:
Wed Oct 30 14:43:34 2019 +0000
Revision:
30:a16519224d58
Parent:
29:5a846abba59e
Child:
31:465a6e1e1db6
nog steeds niet werkend

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
SjorsdeBruin 29:5a846abba59e 52 volatile float theta_ref1;
SjorsdeBruin 29:5a846abba59e 53 volatile float theta_ref2;
SjorsdeBruin 26:088e397ec26f 54 float Ts = 0.01;
Hendrikvg 23:78898ddfb103 55 float Kp;
Hendrikvg 23:78898ddfb103 56 float Ki;
Hendrikvg 23:78898ddfb103 57 float Kd;
SjorsdeBruin 29:5a846abba59e 58 float theta_1 = (40.0f*pi)/180.0f;
SjorsdeBruin 29:5a846abba59e 59 float theta_2 = (175.0f*pi)/180.0f;
SjorsdeBruin 29:5a846abba59e 60 float theta_error1;
SjorsdeBruin 29:5a846abba59e 61 float theta_error2;
SjorsdeBruin 29:5a846abba59e 62 float torque_1;
SjorsdeBruin 29:5a846abba59e 63 float torque_2;
SjorsdeBruin 28:8c90a46b613e 64 float x;
SjorsdeBruin 28:8c90a46b613e 65 float y;
SjorsdeBruin 28:8c90a46b613e 66 volatile float EMGx_velocity=0.02;
SjorsdeBruin 28:8c90a46b613e 67 volatile float EMGy_velocity=0;
SjorsdeBruin 29:5a846abba59e 68 char beweging;
SjorsdeBruin 26:088e397ec26f 69
SjorsdeBruin 30:a16519224d58 70
SjorsdeBruin 27:d37b3a0e0f2b 71 BiQuad Lowpass_bl ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 72 BiQuad Highpass_bl ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 73 BiQuad notch_bl (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 27:d37b3a0e0f2b 74 BiQuad Lowpass_br ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 75 BiQuad Highpass_br ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 76 BiQuad notch_br (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 27:d37b3a0e0f2b 77 BiQuad Lowpass_leg ( 1.55148e-04, 3.10297e-04, 1.55148e-04, -1.96446e+00, 9.65081e-01 );
SjorsdeBruin 27:d37b3a0e0f2b 78 BiQuad Highpass_leg ( 9.40809e-01, -9.40809e-01, 0.00000e+00, -8.81619e-01, 0.00000e+00);
SjorsdeBruin 27:d37b3a0e0f2b 79 BiQuad notch_leg (9.98432e-01, -1.89913e+00, 9.98432e-01, -1.89913e+00, 9.96886e-01);
SjorsdeBruin 26:088e397ec26f 80
Hendrikvg 24:a9ec9b836fd9 81 int n = 0;
Hendrikvg 24:a9ec9b836fd9 82
SjorsdeBruin 26:088e397ec26f 83 float emgFiltered_bl;
SjorsdeBruin 26:088e397ec26f 84 float emgFiltered_br;
SjorsdeBruin 26:088e397ec26f 85 float emgFiltered_leg;
SjorsdeBruin 26:088e397ec26f 86 float emg;
SjorsdeBruin 26:088e397ec26f 87 float xmvc_value = 1e-11;
Hendrikvg 24:a9ec9b836fd9 88
Hendrikvg 24:a9ec9b836fd9 89 float sum = 0;
SjorsdeBruin 26:088e397ec26f 90 float xrest_value;
Hendrikvg 24:a9ec9b836fd9 91 float rest_value_bl;
Hendrikvg 24:a9ec9b836fd9 92 float rest_value_br;
Hendrikvg 24:a9ec9b836fd9 93 float rest_value_leg;
Hendrikvg 24:a9ec9b836fd9 94
Hendrikvg 24:a9ec9b836fd9 95 float mvc_value_bl;
Hendrikvg 24:a9ec9b836fd9 96 float mvc_value_br;
Hendrikvg 24:a9ec9b836fd9 97 float mvc_value_leg;
Hendrikvg 24:a9ec9b836fd9 98
SjorsdeBruin 28:8c90a46b613e 99 float treshold_bl = 0.5;
SjorsdeBruin 28:8c90a46b613e 100 float treshold_br = 0.5;
SjorsdeBruin 28:8c90a46b613e 101 float treshold_leg = 0.5;
SjorsdeBruin 28:8c90a46b613e 102
SjorsdeBruin 28:8c90a46b613e 103 bool previous_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 104 bool current_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 105
SjorsdeBruin 28:8c90a46b613e 106
Hendrikvg 21:394a7a1deb73 107 // functies
SjorsdeBruin 26:088e397ec26f 108 void ledred()
SjorsdeBruin 26:088e397ec26f 109 {
SjorsdeBruin 26:088e397ec26f 110 led_red = 0;
SjorsdeBruin 26:088e397ec26f 111 led_green = 1;
SjorsdeBruin 26:088e397ec26f 112 led_blue = 1;
SjorsdeBruin 26:088e397ec26f 113 }
SjorsdeBruin 26:088e397ec26f 114 void ledgreen()
SjorsdeBruin 26:088e397ec26f 115 {
SjorsdeBruin 26:088e397ec26f 116 led_green=0;
SjorsdeBruin 26:088e397ec26f 117 led_blue=1;
SjorsdeBruin 26:088e397ec26f 118 led_red=1;
SjorsdeBruin 26:088e397ec26f 119 }
SjorsdeBruin 26:088e397ec26f 120 void ledblue()
SjorsdeBruin 26:088e397ec26f 121 {
SjorsdeBruin 26:088e397ec26f 122 led_green=1;
SjorsdeBruin 26:088e397ec26f 123 led_blue=0;
SjorsdeBruin 26:088e397ec26f 124 led_red=1;
SjorsdeBruin 26:088e397ec26f 125 }
SjorsdeBruin 26:088e397ec26f 126 void ledyellow()
SjorsdeBruin 26:088e397ec26f 127 {
SjorsdeBruin 26:088e397ec26f 128 led_green=0;
SjorsdeBruin 26:088e397ec26f 129 led_blue=1;
SjorsdeBruin 26:088e397ec26f 130 led_red=0;
SjorsdeBruin 26:088e397ec26f 131 }
SjorsdeBruin 26:088e397ec26f 132 void ledmagenta()
SjorsdeBruin 26:088e397ec26f 133 {
SjorsdeBruin 26:088e397ec26f 134 led_green=1;
SjorsdeBruin 26:088e397ec26f 135 led_blue=0;
SjorsdeBruin 26:088e397ec26f 136 led_red=0;
SjorsdeBruin 26:088e397ec26f 137 }
SjorsdeBruin 26:088e397ec26f 138 void ledcyan()
SjorsdeBruin 26:088e397ec26f 139 {
SjorsdeBruin 26:088e397ec26f 140 led_green=0;
SjorsdeBruin 26:088e397ec26f 141 led_blue=0;
SjorsdeBruin 26:088e397ec26f 142 led_red=1;
SjorsdeBruin 26:088e397ec26f 143 }
SjorsdeBruin 26:088e397ec26f 144 void ledwhite()
SjorsdeBruin 26:088e397ec26f 145 {
SjorsdeBruin 26:088e397ec26f 146 led_green=0;
SjorsdeBruin 26:088e397ec26f 147 led_blue=0;
SjorsdeBruin 26:088e397ec26f 148 led_red=0;
SjorsdeBruin 26:088e397ec26f 149 }
SjorsdeBruin 26:088e397ec26f 150 void ledoff()
SjorsdeBruin 26:088e397ec26f 151 {
SjorsdeBruin 26:088e397ec26f 152 led_green=1;
SjorsdeBruin 26:088e397ec26f 153 led_blue=1;
SjorsdeBruin 26:088e397ec26f 154 led_red=1;
SjorsdeBruin 26:088e397ec26f 155 }
SjorsdeBruin 26:088e397ec26f 156
SjorsdeBruin 29:5a846abba59e 157 void Controller()
Hendrikvg 21:394a7a1deb73 158 {
SjorsdeBruin 29:5a846abba59e 159 float K = 1;
SjorsdeBruin 29:5a846abba59e 160 float ti = 0.1;
SjorsdeBruin 29:5a846abba59e 161 float td = 10;
SjorsdeBruin 29:5a846abba59e 162 Kp = K*(1+td/ti);
SjorsdeBruin 29:5a846abba59e 163 Ki = K/ti;
SjorsdeBruin 29:5a846abba59e 164 Kd = K*td;
SjorsdeBruin 29:5a846abba59e 165
SjorsdeBruin 30:a16519224d58 166 theta_error1 = theta_ref1-theta_1;
SjorsdeBruin 30:a16519224d58 167 theta_error2 = theta_ref2-theta_2;
SjorsdeBruin 30:a16519224d58 168
SjorsdeBruin 29:5a846abba59e 169 float error_integral1 = 0;
SjorsdeBruin 29:5a846abba59e 170 float error_integral2 = 0;
SjorsdeBruin 29:5a846abba59e 171 float error_prev1 = 0;
SjorsdeBruin 29:5a846abba59e 172 float error_prev2 = 0;
Hendrikvg 21:394a7a1deb73 173 static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
Hendrikvg 24:a9ec9b836fd9 174
Hendrikvg 20:ac1b4ffa3323 175 // Proportional part:
SjorsdeBruin 29:5a846abba59e 176 float torque_p1 = Kp * theta_error1;
SjorsdeBruin 29:5a846abba59e 177 float torque_p2 = Kp * theta_error2;
SjorsdeBruin 29:5a846abba59e 178
Hendrikvg 20:ac1b4ffa3323 179 // Integral part:
SjorsdeBruin 29:5a846abba59e 180 error_integral1 = error_integral1 + theta_error1 * Ts;
SjorsdeBruin 29:5a846abba59e 181 error_integral2 = error_integral2 + theta_error2 * Ts;
SjorsdeBruin 29:5a846abba59e 182 float torque_i1 = Ki * error_integral1;
SjorsdeBruin 29:5a846abba59e 183 float torque_i2 = Ki * error_integral2;
Hendrikvg 24:a9ec9b836fd9 184
Hendrikvg 20:ac1b4ffa3323 185 // Derivative part:
SjorsdeBruin 29:5a846abba59e 186 float error_derivative1 = (theta_error1 - error_prev1)/Ts;
SjorsdeBruin 29:5a846abba59e 187 float error_derivative2 = (theta_error2 - error_prev2)/Ts;
SjorsdeBruin 29:5a846abba59e 188 float filtered_error_derivative1 = LowPassFilter.step(error_derivative1);
SjorsdeBruin 29:5a846abba59e 189 float filtered_error_derivative2 = LowPassFilter.step(error_derivative2);
SjorsdeBruin 29:5a846abba59e 190 float torque_d1 = Kd * filtered_error_derivative1;
SjorsdeBruin 29:5a846abba59e 191 float torque_d2 = Kd * filtered_error_derivative2;
SjorsdeBruin 29:5a846abba59e 192 error_prev1 = theta_error1;
SjorsdeBruin 29:5a846abba59e 193 error_prev2 = theta_error2;
Hendrikvg 24:a9ec9b836fd9 194
Hendrikvg 20:ac1b4ffa3323 195 // Sum all parts and return it
SjorsdeBruin 29:5a846abba59e 196 torque_1 = torque_p1 + torque_i1 + torque_d1;
SjorsdeBruin 29:5a846abba59e 197 torque_2 = torque_p2 + torque_i2 + torque_d2;
Hendrikvg 21:394a7a1deb73 198 }
Hendrikvg 16:40183eeadb6d 199
SjorsdeBruin 30:a16519224d58 200 void Kinematics()
SjorsdeBruin 28:8c90a46b613e 201 {
SjorsdeBruin 28:8c90a46b613e 202 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 30:a16519224d58 203 float thetav_1=DET_jacobian*l*cos(theta_1+theta_2)*EMGx_velocity + DET_jacobian*l*sin(theta_1+theta_2)*EMGy_velocity;
SjorsdeBruin 30:a16519224d58 204 float 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 29:5a846abba59e 205 theta_ref1=theta_1+thetav_1*Ts;
SjorsdeBruin 29:5a846abba59e 206 theta_ref2=theta_2+thetav_2*Ts;
SjorsdeBruin 28:8c90a46b613e 207 x=cos(theta_ref1)*l+cos(theta_ref1+theta_ref2)*l;
SjorsdeBruin 28:8c90a46b613e 208 y=sin(theta_ref1)*l+sin(theta_ref1+theta_ref2)*l;
SjorsdeBruin 29:5a846abba59e 209 if (sqrt(pow(x,2)+pow(y,2))>1.0f) {
SjorsdeBruin 30:a16519224d58 210 theta_ref1 = theta_1;
SjorsdeBruin 30:a16519224d58 211 theta_ref2 = theta_2;
SjorsdeBruin 28:8c90a46b613e 212 }
SjorsdeBruin 28:8c90a46b613e 213 }
Hendrikvg 24:a9ec9b836fd9 214 void CalculateDirectionMotor()
Hendrikvg 21:394a7a1deb73 215 {
SjorsdeBruin 30:a16519224d58 216 Kinematics();
SjorsdeBruin 29:5a846abba59e 217 Controller();
SjorsdeBruin 29:5a846abba59e 218 direction_motor_1 = torque_1 <= 0.0f;
SjorsdeBruin 29:5a846abba59e 219 direction_motor_2 = torque_2 <= 0.0f;
Hendrikvg 21:394a7a1deb73 220 }
Hendrikvg 20:ac1b4ffa3323 221
Hendrikvg 23:78898ddfb103 222 void ReadEncoder()
Hendrikvg 23:78898ddfb103 223 {
SjorsdeBruin 30:a16519224d58 224 theta_1 = (((2.0f*pi)/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.
SjorsdeBruin 30:a16519224d58 225 theta_2 = (((2.0f*pi)/64.0f)*(float)encoder_2.getPulses())/131.25f;
Hendrikvg 23:78898ddfb103 226 }
Hendrikvg 16:40183eeadb6d 227
Hendrikvg 24:a9ec9b836fd9 228 void MotorControl()
Hendrikvg 23:78898ddfb103 229 {
Hendrikvg 21:394a7a1deb73 230 ReadEncoder();
Hendrikvg 22:6cc93216b323 231 CalculateDirectionMotor();
SjorsdeBruin 30:a16519224d58 232 PWM_motor_1.write(fabs(torque_1)/(2.0f*pi));
SjorsdeBruin 30:a16519224d58 233 PWM_motor_2.write(fabs(torque_2)/(2.0f*pi));
Hendrikvg 21:394a7a1deb73 234 }
Hendrikvg 21:394a7a1deb73 235
Hendrikvg 21:394a7a1deb73 236 void go_next_1()
Hendrikvg 21:394a7a1deb73 237 {
Hendrikvg 24:a9ec9b836fd9 238 pressed_1 = !pressed_1;
Hendrikvg 21:394a7a1deb73 239 }
Hendrikvg 21:394a7a1deb73 240
Hendrikvg 21:394a7a1deb73 241 void go_next_2()
Hendrikvg 21:394a7a1deb73 242 {
Hendrikvg 24:a9ec9b836fd9 243 pressed_2 = !pressed_2;
Hendrikvg 24:a9ec9b836fd9 244 }
Hendrikvg 24:a9ec9b836fd9 245
SjorsdeBruin 27:d37b3a0e0f2b 246 bool emg_switch(float treshold, float emg_input) {
SjorsdeBruin 27:d37b3a0e0f2b 247 if(emg_input > treshold){
SjorsdeBruin 28:8c90a46b613e 248 current_value_emg_leg = true;
SjorsdeBruin 28:8c90a46b613e 249 } else {
SjorsdeBruin 28:8c90a46b613e 250 current_value_emg_leg = false;
SjorsdeBruin 28:8c90a46b613e 251 }
SjorsdeBruin 28:8c90a46b613e 252 if(current_value_emg_leg == true && previous_value_emg_leg == false) {
SjorsdeBruin 28:8c90a46b613e 253 previous_value_emg_leg = current_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 254 return true;
SjorsdeBruin 28:8c90a46b613e 255 } else {
SjorsdeBruin 28:8c90a46b613e 256 previous_value_emg_leg = current_value_emg_leg;
SjorsdeBruin 28:8c90a46b613e 257 return false;
SjorsdeBruin 28:8c90a46b613e 258 }
SjorsdeBruin 28:8c90a46b613e 259 }
SjorsdeBruin 28:8c90a46b613e 260
SjorsdeBruin 28:8c90a46b613e 261 bool emg_trigger(float treshold, float emg_input) {
SjorsdeBruin 28:8c90a46b613e 262 if(emg_input > treshold) {
SjorsdeBruin 27:d37b3a0e0f2b 263 return true;
SjorsdeBruin 27:d37b3a0e0f2b 264 } else {
SjorsdeBruin 27:d37b3a0e0f2b 265 return false;
SjorsdeBruin 27:d37b3a0e0f2b 266 }
SjorsdeBruin 27:d37b3a0e0f2b 267 }
SjorsdeBruin 27:d37b3a0e0f2b 268
SjorsdeBruin 26:088e397ec26f 269 float EmgCalibration(float emgFiltered, float mvc_value, float rest_value)
Hendrikvg 24:a9ec9b836fd9 270 {
Hendrikvg 24:a9ec9b836fd9 271 float emgCalibrated;
Hendrikvg 24:a9ec9b836fd9 272 if (emgFiltered <= rest_value) {
SjorsdeBruin 27:d37b3a0e0f2b 273 return 0.0f;
SjorsdeBruin 27:d37b3a0e0f2b 274 //emgCalibrated = 0;
Hendrikvg 24:a9ec9b836fd9 275 }
SjorsdeBruin 27:d37b3a0e0f2b 276
Hendrikvg 24:a9ec9b836fd9 277 if (emgFiltered >= mvc_value) {
SjorsdeBruin 27:d37b3a0e0f2b 278 return 1.1f;
SjorsdeBruin 27:d37b3a0e0f2b 279 //emgCalibrated = 1;
Hendrikvg 24:a9ec9b836fd9 280 } else {
Hendrikvg 24:a9ec9b836fd9 281 emgCalibrated = (emgFiltered-rest_value)/(mvc_value-rest_value);
Hendrikvg 24:a9ec9b836fd9 282 }
Hendrikvg 24:a9ec9b836fd9 283 return emgCalibrated;
Hendrikvg 24:a9ec9b836fd9 284 }
Hendrikvg 24:a9ec9b836fd9 285
Hendrikvg 24:a9ec9b836fd9 286 void emgsample()
Hendrikvg 24:a9ec9b836fd9 287 {
SjorsdeBruin 27:d37b3a0e0f2b 288 emgFiltered_bl = Highpass_bl.step(emg_bl.read());
SjorsdeBruin 27:d37b3a0e0f2b 289 emgFiltered_bl = notch_bl.step(emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 290 emgFiltered_bl = fabs(emgFiltered_bl);
SjorsdeBruin 27:d37b3a0e0f2b 291 emgFiltered_bl = Lowpass_bl.step(emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 292
SjorsdeBruin 27:d37b3a0e0f2b 293 emgFiltered_br = Highpass_br.step(emg_br.read());
SjorsdeBruin 27:d37b3a0e0f2b 294 emgFiltered_br = notch_br.step(emgFiltered_br);
Hendrikvg 24:a9ec9b836fd9 295 emgFiltered_br = fabs(emgFiltered_br);
SjorsdeBruin 27:d37b3a0e0f2b 296 emgFiltered_br = Lowpass_br.step(emgFiltered_br);
Hendrikvg 24:a9ec9b836fd9 297
SjorsdeBruin 27:d37b3a0e0f2b 298 emgFiltered_leg = Highpass_leg.step(emg_leg.read());
SjorsdeBruin 27:d37b3a0e0f2b 299 emgFiltered_leg = notch_leg.step(emgFiltered_leg);
Hendrikvg 24:a9ec9b836fd9 300 emgFiltered_leg = fabs(emgFiltered_leg);
SjorsdeBruin 27:d37b3a0e0f2b 301 emgFiltered_leg = Lowpass_leg.step(emgFiltered_leg);
Hendrikvg 24:a9ec9b836fd9 302 }
Hendrikvg 24:a9ec9b836fd9 303
Hendrikvg 24:a9ec9b836fd9 304 void rest()
Hendrikvg 24:a9ec9b836fd9 305 {
SjorsdeBruin 26:088e397ec26f 306 if (CurrentSubstate == rest_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 307 emg = emgFiltered_bl;
SjorsdeBruin 26:088e397ec26f 308 //pc.printf("emg: %f \n\r",emgFiltered_bl);
Hendrikvg 24:a9ec9b836fd9 309 }
SjorsdeBruin 26:088e397ec26f 310 if (CurrentSubstate == rest_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 311 emg = emgFiltered_br;
Hendrikvg 24:a9ec9b836fd9 312 }
SjorsdeBruin 26:088e397ec26f 313 if (CurrentSubstate == rest_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 314 emg = emgFiltered_leg;
Hendrikvg 24:a9ec9b836fd9 315 }
SjorsdeBruin 26:088e397ec26f 316 if (n < 500) {
SjorsdeBruin 26:088e397ec26f 317 ledred();
Hendrikvg 24:a9ec9b836fd9 318 sum = sum + emg;
SjorsdeBruin 26:088e397ec26f 319 //pc.printf("sum: %f \n\r",sum);
Hendrikvg 24:a9ec9b836fd9 320 n++;
SjorsdeBruin 26:088e397ec26f 321 rest_timeout.attach(rest,0.001f);
Hendrikvg 24:a9ec9b836fd9 322 }
SjorsdeBruin 26:088e397ec26f 323 if (n == 500) {
Hendrikvg 24:a9ec9b836fd9 324 sum = sum + emg;
SjorsdeBruin 26:088e397ec26f 325 //pc.printf("sum: %f \n\r",sum);
Hendrikvg 24:a9ec9b836fd9 326 n++;
SjorsdeBruin 26:088e397ec26f 327 xrest_value = float (sum/n);
SjorsdeBruin 26:088e397ec26f 328 if (CurrentSubstate == rest_biceps_left) {
SjorsdeBruin 26:088e397ec26f 329 rest_value_bl = xrest_value;
SjorsdeBruin 26:088e397ec26f 330 pc.printf("rest_value_bl %f \n\r", rest_value_bl);
Hendrikvg 24:a9ec9b836fd9 331 CurrentSubstate = mvc_biceps_left;
Hendrikvg 24:a9ec9b836fd9 332 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 333 ledblue();
SjorsdeBruin 26:088e397ec26f 334
Hendrikvg 24:a9ec9b836fd9 335 }
SjorsdeBruin 26:088e397ec26f 336 if (CurrentSubstate == rest_biceps_right) {
SjorsdeBruin 26:088e397ec26f 337 rest_value_br = xrest_value;
SjorsdeBruin 26:088e397ec26f 338 pc.printf("rest_value_br %f \n\r", rest_value_br);
Hendrikvg 24:a9ec9b836fd9 339 CurrentSubstate = mvc_biceps_right;
Hendrikvg 24:a9ec9b836fd9 340 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 341 ledmagenta();
Hendrikvg 24:a9ec9b836fd9 342 }
SjorsdeBruin 26:088e397ec26f 343 if (CurrentSubstate == rest_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 344 rest_value_leg = xrest_value;
SjorsdeBruin 26:088e397ec26f 345 pc.printf("rest_value_leg %f \n\r", rest_value_leg);
SjorsdeBruin 26:088e397ec26f 346 pc.printf("rest_value_bl %f \n\r", rest_value_bl);
Hendrikvg 24:a9ec9b836fd9 347 CurrentSubstate = mvc_biceps_leg;
Hendrikvg 24:a9ec9b836fd9 348 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 349 ledwhite();
Hendrikvg 24:a9ec9b836fd9 350 }
Hendrikvg 24:a9ec9b836fd9 351 }
Hendrikvg 24:a9ec9b836fd9 352 }
Hendrikvg 24:a9ec9b836fd9 353
Hendrikvg 24:a9ec9b836fd9 354 void mvc()
Hendrikvg 24:a9ec9b836fd9 355 {
SjorsdeBruin 26:088e397ec26f 356 if (CurrentSubstate == mvc_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 357 emg = emgFiltered_bl;
Hendrikvg 24:a9ec9b836fd9 358 }
SjorsdeBruin 26:088e397ec26f 359 if (CurrentSubstate == mvc_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 360 emg = emgFiltered_br;
Hendrikvg 24:a9ec9b836fd9 361 }
SjorsdeBruin 26:088e397ec26f 362 if (CurrentSubstate == mvc_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 363 emg = emgFiltered_leg;
Hendrikvg 24:a9ec9b836fd9 364 }
SjorsdeBruin 26:088e397ec26f 365 if (emg >= xmvc_value) {
Hendrikvg 24:a9ec9b836fd9 366 xmvc_value = emg;
SjorsdeBruin 26:088e397ec26f 367 }
Hendrikvg 24:a9ec9b836fd9 368 n++;
SjorsdeBruin 26:088e397ec26f 369 if (n < 1000) {
SjorsdeBruin 26:088e397ec26f 370 mvc_timeout.attach(mvc,0.001f);
SjorsdeBruin 26:088e397ec26f 371 ledred();
Hendrikvg 24:a9ec9b836fd9 372 }
SjorsdeBruin 26:088e397ec26f 373 if (n == 1000) {
SjorsdeBruin 26:088e397ec26f 374 if (CurrentSubstate == mvc_biceps_left) {
Hendrikvg 24:a9ec9b836fd9 375 mvc_value_bl = xmvc_value;
SjorsdeBruin 26:088e397ec26f 376 pc.printf("mvc_value_bl %f \n\r", mvc_value_bl);
Hendrikvg 24:a9ec9b836fd9 377 CurrentSubstate = rest_biceps_right;
Hendrikvg 24:a9ec9b836fd9 378 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 379 ledyellow();
Hendrikvg 24:a9ec9b836fd9 380 }
SjorsdeBruin 26:088e397ec26f 381 if (CurrentSubstate == mvc_biceps_right) {
Hendrikvg 24:a9ec9b836fd9 382 mvc_value_br = xmvc_value;
SjorsdeBruin 26:088e397ec26f 383 pc.printf("mvc_value_br %f \n\r", mvc_value_br);
Hendrikvg 24:a9ec9b836fd9 384 CurrentSubstate = rest_biceps_leg;
Hendrikvg 24:a9ec9b836fd9 385 SubstateChanged = true;
SjorsdeBruin 26:088e397ec26f 386 ledcyan();
Hendrikvg 24:a9ec9b836fd9 387 }
SjorsdeBruin 26:088e397ec26f 388 if (CurrentSubstate == mvc_biceps_leg) {
Hendrikvg 24:a9ec9b836fd9 389 mvc_value_leg = xmvc_value;
SjorsdeBruin 26:088e397ec26f 390 pc.printf("mvc_value_leg %f \n\r", mvc_value_leg);
Hendrikvg 24:a9ec9b836fd9 391 CurrentState = vertical_movement;
Hendrikvg 24:a9ec9b836fd9 392 StateChanged = true;
SjorsdeBruin 26:088e397ec26f 393 ledoff();
Hendrikvg 24:a9ec9b836fd9 394 }
Hendrikvg 24:a9ec9b836fd9 395 xmvc_value = 1e-11;
Hendrikvg 24:a9ec9b836fd9 396 }
Hendrikvg 24:a9ec9b836fd9 397 }
Hendrikvg 24:a9ec9b836fd9 398
Hendrikvg 24:a9ec9b836fd9 399 void WriteScope()
Hendrikvg 24:a9ec9b836fd9 400 {
SjorsdeBruin 26:088e397ec26f 401 emgsample();
Hendrikvg 24:a9ec9b836fd9 402 scope.set(0, EmgCalibration(emgFiltered_bl, mvc_value_bl, rest_value_bl));
SjorsdeBruin 26:088e397ec26f 403 scope.set(1, EmgCalibration(emgFiltered_br, mvc_value_br, rest_value_br));
Hendrikvg 24:a9ec9b836fd9 404 scope.set(2, EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg));
SjorsdeBruin 27:d37b3a0e0f2b 405 scope.set(3, emgFiltered_bl);
SjorsdeBruin 27:d37b3a0e0f2b 406 scope.set(4, emgFiltered_br);
SjorsdeBruin 27:d37b3a0e0f2b 407 scope.set(5, emgFiltered_leg);
Hendrikvg 24:a9ec9b836fd9 408 scope.send();
Hendrikvg 24:a9ec9b836fd9 409 }
Hendrikvg 24:a9ec9b836fd9 410
Hendrikvg 24:a9ec9b836fd9 411 void SubstateTransition()
Hendrikvg 24:a9ec9b836fd9 412 {
SjorsdeBruin 26:088e397ec26f 413 if (SubstateChanged == true) {
SjorsdeBruin 26:088e397ec26f 414 SubstateChanged = false;
SjorsdeBruin 26:088e397ec26f 415 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 416 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 417 if (CurrentSubstate == rest_biceps_left) {
SjorsdeBruin 26:088e397ec26f 418 ledgreen();
SjorsdeBruin 26:088e397ec26f 419 pc.printf("groen \n\r");
SjorsdeBruin 26:088e397ec26f 420 pc.printf("Initiating rest_biceps_left\n\r");
SjorsdeBruin 26:088e397ec26f 421 }
SjorsdeBruin 26:088e397ec26f 422 if (CurrentSubstate == mvc_biceps_left) {
SjorsdeBruin 26:088e397ec26f 423 //ledblue();
SjorsdeBruin 26:088e397ec26f 424 pc.printf("Initiating mvc_biceps_left\n\r");
SjorsdeBruin 26:088e397ec26f 425 }
SjorsdeBruin 26:088e397ec26f 426 if (CurrentSubstate == rest_biceps_right) {
SjorsdeBruin 26:088e397ec26f 427 //ledyellow();
SjorsdeBruin 26:088e397ec26f 428 pc.printf("Initiating rest_biceps_right\n\r");
SjorsdeBruin 26:088e397ec26f 429 }
SjorsdeBruin 26:088e397ec26f 430 if (CurrentSubstate == mvc_biceps_right) {
SjorsdeBruin 26:088e397ec26f 431 //ledmagenta();
SjorsdeBruin 26:088e397ec26f 432 pc.printf("Initiating mvc_biceps_right\n\r");
SjorsdeBruin 26:088e397ec26f 433 }
SjorsdeBruin 26:088e397ec26f 434 if (CurrentSubstate == rest_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 435 //ledcyan();
SjorsdeBruin 26:088e397ec26f 436 pc.printf("Initiating rest_biceps_leg\n\r");
SjorsdeBruin 26:088e397ec26f 437 }
SjorsdeBruin 26:088e397ec26f 438 if (CurrentSubstate == mvc_biceps_leg) {
SjorsdeBruin 26:088e397ec26f 439 //ledwhite();
SjorsdeBruin 26:088e397ec26f 440 pc.printf("Initiating mvc_biceps_leg\n\r");
SjorsdeBruin 26:088e397ec26f 441 }
SjorsdeBruin 26:088e397ec26f 442 }
Hendrikvg 21:394a7a1deb73 443 }
Hendrikvg 21:394a7a1deb73 444
Hendrikvg 21:394a7a1deb73 445 void while_start()
Hendrikvg 21:394a7a1deb73 446 {
Hendrikvg 21:394a7a1deb73 447 // Do startup stuff
Hendrikvg 21:394a7a1deb73 448 CurrentState = motor_calibration;
Hendrikvg 21:394a7a1deb73 449 StateChanged = true;
Hendrikvg 21:394a7a1deb73 450 }
Hendrikvg 21:394a7a1deb73 451
Hendrikvg 21:394a7a1deb73 452 void while_motor_calibration()
Hendrikvg 21:394a7a1deb73 453 {
SjorsdeBruin 29:5a846abba59e 454
Hendrikvg 21:394a7a1deb73 455 // Do motor calibration stuff
SjorsdeBruin 29:5a846abba59e 456
Hendrikvg 24:a9ec9b836fd9 457 if (pressed_1) { // bool aanmaken voor demo (switch oid aanmaken)
Hendrikvg 21:394a7a1deb73 458 CurrentState = demo_mode;
Hendrikvg 21:394a7a1deb73 459 StateChanged = true;
Hendrikvg 21:394a7a1deb73 460 }
Hendrikvg 24:a9ec9b836fd9 461 if (pressed_2) { // bool aanmaken voor EMG (switch oid aanmaken)
Hendrikvg 21:394a7a1deb73 462 CurrentState = emg_calibration;
Hendrikvg 21:394a7a1deb73 463 StateChanged = true;
Hendrikvg 21:394a7a1deb73 464 }
Hendrikvg 21:394a7a1deb73 465 }
Hendrikvg 21:394a7a1deb73 466
Hendrikvg 21:394a7a1deb73 467 void while_demo_mode()
Hendrikvg 21:394a7a1deb73 468 {
Hendrikvg 21:394a7a1deb73 469 // Do demo mode stuff
SjorsdeBruin 26:088e397ec26f 470 if ((pressed_1) || (pressed_2)) {
Hendrikvg 21:394a7a1deb73 471 CurrentState = emg_calibration;
Hendrikvg 21:394a7a1deb73 472 StateChanged = true;
Hendrikvg 21:394a7a1deb73 473 }
Hendrikvg 21:394a7a1deb73 474 }
Hendrikvg 21:394a7a1deb73 475
Hendrikvg 21:394a7a1deb73 476 void while_emg_calibration()
Hendrikvg 21:394a7a1deb73 477 {
Hendrikvg 21:394a7a1deb73 478 // Do emg calibration stuff
Hendrikvg 24:a9ec9b836fd9 479 switch (CurrentSubstate) {
Hendrikvg 24:a9ec9b836fd9 480 case rest_biceps_left:
Hendrikvg 24:a9ec9b836fd9 481 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 482 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 483 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 484 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 485 n = 0;
SjorsdeBruin 26:088e397ec26f 486 sum = 0;
Hendrikvg 24:a9ec9b836fd9 487 rest();
Hendrikvg 24:a9ec9b836fd9 488 }
Hendrikvg 24:a9ec9b836fd9 489 break;
Hendrikvg 24:a9ec9b836fd9 490 case mvc_biceps_left:
Hendrikvg 24:a9ec9b836fd9 491 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 492 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 493 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 494 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 495 n = 0;
Hendrikvg 24:a9ec9b836fd9 496 mvc();
Hendrikvg 24:a9ec9b836fd9 497 }
Hendrikvg 24:a9ec9b836fd9 498 break;
Hendrikvg 24:a9ec9b836fd9 499 case rest_biceps_right:
Hendrikvg 24:a9ec9b836fd9 500 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 501 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 502 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 503 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 504 n = 0;
SjorsdeBruin 26:088e397ec26f 505 sum = 0;
Hendrikvg 24:a9ec9b836fd9 506 rest();
Hendrikvg 24:a9ec9b836fd9 507 }
Hendrikvg 24:a9ec9b836fd9 508 break;
Hendrikvg 24:a9ec9b836fd9 509 case mvc_biceps_right:
Hendrikvg 24:a9ec9b836fd9 510 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 511 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 512 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 513 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 514 n = 0;
Hendrikvg 24:a9ec9b836fd9 515 mvc();
Hendrikvg 24:a9ec9b836fd9 516 }
Hendrikvg 24:a9ec9b836fd9 517 break;
Hendrikvg 24:a9ec9b836fd9 518 case rest_biceps_leg:
Hendrikvg 24:a9ec9b836fd9 519 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 520 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 521 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 522 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 523 n = 0;
SjorsdeBruin 26:088e397ec26f 524 sum = 0;
Hendrikvg 24:a9ec9b836fd9 525 rest();
Hendrikvg 24:a9ec9b836fd9 526 }
Hendrikvg 24:a9ec9b836fd9 527 break;
Hendrikvg 24:a9ec9b836fd9 528 case mvc_biceps_leg:
Hendrikvg 24:a9ec9b836fd9 529 SubstateTransition();
SjorsdeBruin 26:088e397ec26f 530 if ((pressed_1) || (pressed_2)) {
SjorsdeBruin 26:088e397ec26f 531 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 532 pressed_2 = false;
SjorsdeBruin 26:088e397ec26f 533 n = 0;
Hendrikvg 24:a9ec9b836fd9 534 mvc();
Hendrikvg 24:a9ec9b836fd9 535 }
Hendrikvg 24:a9ec9b836fd9 536 break;
Hendrikvg 24:a9ec9b836fd9 537 default:
Hendrikvg 24:a9ec9b836fd9 538 pc.printf("Unknown or unimplemented state reached!\n\r");
Hendrikvg 21:394a7a1deb73 539 }
Hendrikvg 21:394a7a1deb73 540 }
Hendrikvg 21:394a7a1deb73 541
Hendrikvg 21:394a7a1deb73 542 void while_vertical_movement()
Hendrikvg 21:394a7a1deb73 543 {
SjorsdeBruin 29:5a846abba59e 544 /*
Hendrikvg 21:394a7a1deb73 545 // Do vertical movement stuff
SjorsdeBruin 28:8c90a46b613e 546 if (emg_trigger(treshold_bl,EmgCalibration(emgFiltered_bl, mvc_value_bl, rest_value_bl))) {
SjorsdeBruin 28:8c90a46b613e 547 EMGy_velocity = -0.02f;
SjorsdeBruin 28:8c90a46b613e 548 }
SjorsdeBruin 28:8c90a46b613e 549 else if (emg_trigger(treshold_br,EmgCalibration(emgFiltered_br, mvc_value_br, rest_value_br))) {
SjorsdeBruin 28:8c90a46b613e 550 EMGy_velocity = 0.02f;
SjorsdeBruin 28:8c90a46b613e 551 }
SjorsdeBruin 28:8c90a46b613e 552 else {
SjorsdeBruin 28:8c90a46b613e 553 EMGy_velocity = 0.0f;
SjorsdeBruin 28:8c90a46b613e 554 }
SjorsdeBruin 28:8c90a46b613e 555 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 556 CurrentState = horizontal_movement;
Hendrikvg 21:394a7a1deb73 557 StateChanged = true;
SjorsdeBruin 29:5a846abba59e 558 }*/
SjorsdeBruin 30:a16519224d58 559
SjorsdeBruin 30:a16519224d58 560 while (beweging =='s') {
SjorsdeBruin 29:5a846abba59e 561 EMGy_velocity = -0.02f;
SjorsdeBruin 30:a16519224d58 562 pc.printf("beweging %c \n\r", beweging);
SjorsdeBruin 30:a16519224d58 563 pc.printf("beweging %f \n\r", EMGy_velocity);
SjorsdeBruin 30:a16519224d58 564
Hendrikvg 21:394a7a1deb73 565 }
SjorsdeBruin 30:a16519224d58 566 while (beweging == 'w') {
SjorsdeBruin 29:5a846abba59e 567 EMGy_velocity = 0.02f;
SjorsdeBruin 30:a16519224d58 568 pc.printf("beweging %c \n\r", beweging);
SjorsdeBruin 30:a16519224d58 569 pc.printf("beweging %f \n\r", EMGy_velocity);
SjorsdeBruin 29:5a846abba59e 570 }
SjorsdeBruin 30:a16519224d58 571 while(beweging != 's' || beweging !='w'){
SjorsdeBruin 29:5a846abba59e 572 EMGy_velocity = 0.0f;
SjorsdeBruin 29:5a846abba59e 573 }
SjorsdeBruin 29:5a846abba59e 574 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 575 CurrentState = horizontal_movement;
SjorsdeBruin 29:5a846abba59e 576 StateChanged = true;
SjorsdeBruin 29:5a846abba59e 577 }
Hendrikvg 21:394a7a1deb73 578 }
Hendrikvg 17:cacf9e75eda7 579
Hendrikvg 21:394a7a1deb73 580 void while_horizontal_movement()
Hendrikvg 21:394a7a1deb73 581 {
Hendrikvg 21:394a7a1deb73 582 // Do horizontal movement stuff
SjorsdeBruin 29:5a846abba59e 583 /*
SjorsdeBruin 28:8c90a46b613e 584 if (emg_trigger(treshold_bl,EmgCalibration(emgFiltered_bl, mvc_value_bl, rest_value_bl))) {
SjorsdeBruin 28:8c90a46b613e 585 EMGx_velocity = -0.02f;
SjorsdeBruin 28:8c90a46b613e 586 }
SjorsdeBruin 28:8c90a46b613e 587 else if (emg_trigger(treshold_br,EmgCalibration(emgFiltered_br, mvc_value_br, rest_value_br))) {
SjorsdeBruin 28:8c90a46b613e 588 EMGx_velocity = 0.02f;
SjorsdeBruin 28:8c90a46b613e 589 }
SjorsdeBruin 28:8c90a46b613e 590 else {
SjorsdeBruin 28:8c90a46b613e 591 EMGx_velocity = 0.0f;
SjorsdeBruin 28:8c90a46b613e 592 }
SjorsdeBruin 28:8c90a46b613e 593 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 594 CurrentState = vertical_movement;
Hendrikvg 21:394a7a1deb73 595 StateChanged = true;
Hendrikvg 21:394a7a1deb73 596 }
SjorsdeBruin 29:5a846abba59e 597 */
SjorsdeBruin 29:5a846abba59e 598 if (beweging == 'a') {
SjorsdeBruin 29:5a846abba59e 599 EMGx_velocity = -0.02f;
SjorsdeBruin 29:5a846abba59e 600 pc.printf(" you pressed %c \n\r" , beweging);
SjorsdeBruin 29:5a846abba59e 601 }
SjorsdeBruin 30:a16519224d58 602 if (beweging == 'd') {
SjorsdeBruin 29:5a846abba59e 603 EMGx_velocity = 0.02f;
SjorsdeBruin 30:a16519224d58 604 pc.printf(" you pressed %c \n\r" , beweging);
SjorsdeBruin 29:5a846abba59e 605 }
SjorsdeBruin 29:5a846abba59e 606 else {
SjorsdeBruin 29:5a846abba59e 607 EMGx_velocity = 0.0f;
SjorsdeBruin 29:5a846abba59e 608 }
SjorsdeBruin 29:5a846abba59e 609 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 610 CurrentState = vertical_movement;
SjorsdeBruin 29:5a846abba59e 611 StateChanged = true;
SjorsdeBruin 29:5a846abba59e 612 }
SjorsdeBruin 29:5a846abba59e 613 }
SjorsdeBruin 29:5a846abba59e 614
Hendrikvg 21:394a7a1deb73 615
Hendrikvg 21:394a7a1deb73 616 void StateTransition()
Hendrikvg 21:394a7a1deb73 617 {
Hendrikvg 24:a9ec9b836fd9 618 if (StateChanged) {
SjorsdeBruin 26:088e397ec26f 619 pressed_1 = false;
SjorsdeBruin 26:088e397ec26f 620 pressed_2 = false;
Hendrikvg 24:a9ec9b836fd9 621 if (CurrentState == start) {
Hendrikvg 21:394a7a1deb73 622 pc.printf("Initiating start.\n\r");
Hendrikvg 21:394a7a1deb73 623 }
Hendrikvg 24:a9ec9b836fd9 624 if (CurrentState == motor_calibration) {
Hendrikvg 21:394a7a1deb73 625 pc.printf("Initiating motor_calibration.\n\r");
Hendrikvg 21:394a7a1deb73 626 }
Hendrikvg 24:a9ec9b836fd9 627 if (CurrentState == demo_mode) {
Hendrikvg 21:394a7a1deb73 628 pc.printf("Initiating demo_mode.\n\r");
Hendrikvg 21:394a7a1deb73 629 }
Hendrikvg 24:a9ec9b836fd9 630 if (CurrentState == emg_calibration) {
Hendrikvg 21:394a7a1deb73 631 pc.printf("Initiating emg_calibration.\n\r");
Hendrikvg 21:394a7a1deb73 632 }
Hendrikvg 24:a9ec9b836fd9 633 if (CurrentState == vertical_movement) {
Hendrikvg 21:394a7a1deb73 634 pc.printf("Initiating vertical_movement.\n\r");
Hendrikvg 21:394a7a1deb73 635 }
Hendrikvg 24:a9ec9b836fd9 636 if (CurrentState == horizontal_movement) {
Hendrikvg 21:394a7a1deb73 637 pc.printf("Initiating horizontal_movement.\n\r");
Hendrikvg 21:394a7a1deb73 638 }
Hendrikvg 21:394a7a1deb73 639 StateChanged = false;
Hendrikvg 21:394a7a1deb73 640 }
Hendrikvg 21:394a7a1deb73 641 }
Hendrikvg 21:394a7a1deb73 642
Hendrikvg 21:394a7a1deb73 643 void StateMachine()
Hendrikvg 21:394a7a1deb73 644 {
Hendrikvg 24:a9ec9b836fd9 645 switch(CurrentState) {
Hendrikvg 21:394a7a1deb73 646 case start:
Hendrikvg 21:394a7a1deb73 647 StateTransition();
Hendrikvg 21:394a7a1deb73 648 while_start();
Hendrikvg 21:394a7a1deb73 649 break;
Hendrikvg 21:394a7a1deb73 650 case motor_calibration:
Hendrikvg 21:394a7a1deb73 651 StateTransition();
Hendrikvg 21:394a7a1deb73 652 while_motor_calibration();
Hendrikvg 21:394a7a1deb73 653 break;
Hendrikvg 21:394a7a1deb73 654 case demo_mode:
Hendrikvg 21:394a7a1deb73 655 StateTransition();
Hendrikvg 21:394a7a1deb73 656 while_demo_mode();
Hendrikvg 21:394a7a1deb73 657 break;
Hendrikvg 21:394a7a1deb73 658 case emg_calibration:
Hendrikvg 21:394a7a1deb73 659 StateTransition();
Hendrikvg 21:394a7a1deb73 660 while_emg_calibration();
Hendrikvg 21:394a7a1deb73 661 break;
Hendrikvg 21:394a7a1deb73 662 case vertical_movement:
Hendrikvg 21:394a7a1deb73 663 StateTransition();
Hendrikvg 21:394a7a1deb73 664 while_vertical_movement();
Hendrikvg 21:394a7a1deb73 665 break;
Hendrikvg 21:394a7a1deb73 666 case horizontal_movement:
Hendrikvg 21:394a7a1deb73 667 StateTransition();
Hendrikvg 21:394a7a1deb73 668 while_horizontal_movement();
Hendrikvg 21:394a7a1deb73 669 break;
Hendrikvg 21:394a7a1deb73 670 default:
Hendrikvg 21:394a7a1deb73 671 pc.printf("Unknown or unimplemented state reached!\n\r");
Hendrikvg 21:394a7a1deb73 672 }
Hendrikvg 21:394a7a1deb73 673 }
Hendrikvg 21:394a7a1deb73 674
Hendrikvg 15:80b3ac2b8448 675 // main
Hendrikvg 24:a9ec9b836fd9 676 int main()
Hendrikvg 24:a9ec9b836fd9 677 {
RobertoO 0:67c50348f842 678 pc.baud(115200);
Hendrikvg 17:cacf9e75eda7 679 pc.printf("Hello World!\n\r");
SjorsdeBruin 26:088e397ec26f 680 ledoff();
Hendrikvg 21:394a7a1deb73 681 button_1.fall(go_next_1);
Hendrikvg 21:394a7a1deb73 682 button_2.fall(go_next_2);
SjorsdeBruin 26:088e397ec26f 683 //sinus_time.start();
SjorsdeBruin 29:5a846abba59e 684 PWM_motor_1.period_ms(10);
SjorsdeBruin 29:5a846abba59e 685 PWM_motor_2.period_ms(10);
SjorsdeBruin 29:5a846abba59e 686 motor_control.attach(&MotorControl, Ts);
SjorsdeBruin 27:d37b3a0e0f2b 687 write_scope.attach(&WriteScope, 0.01);
SjorsdeBruin 30:a16519224d58 688
SjorsdeBruin 30:a16519224d58 689 void CalculateDirectionMotor();
SjorsdeBruin 30:a16519224d58 690 void MotorControl();
SjorsdeBruin 30:a16519224d58 691
SjorsdeBruin 30:a16519224d58 692
SjorsdeBruin 29:5a846abba59e 693 TickerStateMachine.attach(StateMachine,1.00f);
SjorsdeBruin 29:5a846abba59e 694 beweging = pc.getc();
Hendrikvg 21:394a7a1deb73 695 while(true) {
Hendrikvg 21:394a7a1deb73 696 StateMachine();
Hendrikvg 21:394a7a1deb73 697 }
SjorsdeBruin 26:088e397ec26f 698 }