now with PID controler XXXD
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of another_try_from_scratch_on_emg by
main.cpp@9:464c447ce82d, 2016-10-21 (annotated)
- Committer:
- daniQQue
- Date:
- Fri Oct 21 14:07:00 2016 +0000
- Revision:
- 9:464c447ce82d
- Parent:
- 8:cd0cb71b69f2
- Child:
- 10:7255b59224cc
filter werkt nog niet
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
daniQQue | 0:34c739fcc3e0 | 1 | //libraries |
daniQQue | 0:34c739fcc3e0 | 2 | #include "mbed.h" |
daniQQue | 0:34c739fcc3e0 | 3 | #include "HIDScope.h" |
daniQQue | 4:7d9ca9c1dcce | 4 | #include "biquadFilter.h" |
daniQQue | 0:34c739fcc3e0 | 5 | |
daniQQue | 0:34c739fcc3e0 | 6 | //Define objects |
daniQQue | 0:34c739fcc3e0 | 7 | AnalogIn emg0( A0 ); //analog in to get EMG in to c++ |
daniQQue | 0:34c739fcc3e0 | 8 | Ticker sample_timer; //ticker |
daniQQue | 8:cd0cb71b69f2 | 9 | HIDScope scope( 3); //open 3 channels in hidscope |
daniQQue | 8:cd0cb71b69f2 | 10 | DigitalOut richting_motor1(D4); //motor1 direction output |
daniQQue | 8:cd0cb71b69f2 | 11 | PwmOut pwm_motor1(D5); //motor1 velocity output |
daniQQue | 0:34c739fcc3e0 | 12 | DigitalOut led(LED_GREEN); |
daniQQue | 0:34c739fcc3e0 | 13 | |
daniQQue | 0:34c739fcc3e0 | 14 | //define variables |
daniQQue | 0:34c739fcc3e0 | 15 | double emg_0_value; |
daniQQue | 9:464c447ce82d | 16 | double emg_gefilterd_high; |
daniQQue | 9:464c447ce82d | 17 | double emg_gefilterd_low; |
daniQQue | 7:42d0e38196f1 | 18 | double emg_abs; |
daniQQue | 7:42d0e38196f1 | 19 | int onoffsignal=0; |
daniQQue | 7:42d0e38196f1 | 20 | double cut_off_value=0.05; //gespecifeerd door floortje |
daniQQue | 5:688b1b5530d8 | 21 | |
daniQQue | 9:464c447ce82d | 22 | biquadFilter filterhigh1(9.1497e-01,-1.8299e+00,9.1497e-01, -1.8227e+00, 8.3718e-01); |
daniQQue | 9:464c447ce82d | 23 | biquadFilter filterlow1 (3.9130e-05, 7.8260e-05, 3.9130e-05, -1.9822e+00, 9.8239e-01); |
daniQQue | 8:cd0cb71b69f2 | 24 | |
daniQQue | 0:34c739fcc3e0 | 25 | void filter(){ |
daniQQue | 0:34c739fcc3e0 | 26 | emg_0_value=emg0.read(); //read the emg value from the elektrodes |
daniQQue | 9:464c447ce82d | 27 | emg_gefilterd_high= filterhigh1.step(emg_0_value); |
daniQQue | 9:464c447ce82d | 28 | emg_abs=abs(emg_gefilterd_high); |
daniQQue | 9:464c447ce82d | 29 | emg_gefilterd_low = filterlow1.step(emg_abs); |
daniQQue | 0:34c739fcc3e0 | 30 | led=!led; |
daniQQue | 7:42d0e38196f1 | 31 | |
daniQQue | 7:42d0e38196f1 | 32 | if (emg_abs>cut_off_value) |
daniQQue | 7:42d0e38196f1 | 33 | {onoffsignal=1;} |
daniQQue | 7:42d0e38196f1 | 34 | |
daniQQue | 7:42d0e38196f1 | 35 | else |
daniQQue | 7:42d0e38196f1 | 36 | {onoffsignal=0;} |
daniQQue | 7:42d0e38196f1 | 37 | |
daniQQue | 0:34c739fcc3e0 | 38 | //send signals to scope |
daniQQue | 1:30d46f7e5150 | 39 | scope.set(0, emg_0_value ); //set emg signal to scope in channel 1 |
daniQQue | 9:464c447ce82d | 40 | scope.set(1, emg_gefilterd_low); |
daniQQue | 7:42d0e38196f1 | 41 | scope.set(2, onoffsignal); |
daniQQue | 0:34c739fcc3e0 | 42 | scope.send(); //send all the signals to the scope |
daniQQue | 0:34c739fcc3e0 | 43 | } |
daniQQue | 0:34c739fcc3e0 | 44 | |
daniQQue | 0:34c739fcc3e0 | 45 | //program |
daniQQue | 0:34c739fcc3e0 | 46 | |
daniQQue | 0:34c739fcc3e0 | 47 | int main() |
daniQQue | 0:34c739fcc3e0 | 48 | { |
daniQQue | 0:34c739fcc3e0 | 49 | sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds |
daniQQue | 4:7d9ca9c1dcce | 50 | |
daniQQue | 0:34c739fcc3e0 | 51 | //endless loop |
daniQQue | 0:34c739fcc3e0 | 52 | |
daniQQue | 0:34c739fcc3e0 | 53 | while(1) |
daniQQue | 8:cd0cb71b69f2 | 54 | { |
daniQQue | 8:cd0cb71b69f2 | 55 | if (onoffsignal==1) |
daniQQue | 8:cd0cb71b69f2 | 56 | { |
daniQQue | 8:cd0cb71b69f2 | 57 | richting_motor1 = 0; //motordirection (ccw) |
daniQQue | 9:464c447ce82d | 58 | pwm_motor1 = 5; //motorspeed 1 |
daniQQue | 8:cd0cb71b69f2 | 59 | |
daniQQue | 8:cd0cb71b69f2 | 60 | } |
daniQQue | 8:cd0cb71b69f2 | 61 | else if(onoffsignal==0) |
daniQQue | 8:cd0cb71b69f2 | 62 | { |
daniQQue | 8:cd0cb71b69f2 | 63 | richting_motor1 = 0; //motordirection (ccw) |
daniQQue | 8:cd0cb71b69f2 | 64 | pwm_motor1 = 0; //motorspeed 0 |
daniQQue | 8:cd0cb71b69f2 | 65 | |
daniQQue | 8:cd0cb71b69f2 | 66 | } |
daniQQue | 8:cd0cb71b69f2 | 67 | |
daniQQue | 8:cd0cb71b69f2 | 68 | } |
daniQQue | 0:34c739fcc3e0 | 69 | |
daniQQue | 0:34c739fcc3e0 | 70 | } |