now with PID controler XXXD
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of another_try_from_scratch_on_emg by
main.cpp@24:bfc240e381b4, 2016-10-25 (annotated)
- Committer:
- daniQQue
- Date:
- Tue Oct 25 14:39:40 2016 +0000
- Revision:
- 24:bfc240e381b4
- Parent:
- 23:123d65f76236
- Child:
- 25:58f351d9fcc4
- Child:
- 35:ec45badf4821
werkt bij floor, maar switch time mag langer;
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 | 14:5b17697cf775 | 4 | #include "BiQuad.h" |
daniQQue | 23:123d65f76236 | 5 | #include "MODSERIAL.h" |
daniQQue | 0:34c739fcc3e0 | 6 | |
daniQQue | 0:34c739fcc3e0 | 7 | //Define objects |
daniQQue | 21:9b8be3dff01a | 8 | AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++ |
daniQQue | 21:9b8be3dff01a | 9 | AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ |
daniQQue | 23:123d65f76236 | 10 | AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ |
daniQQue | 0:34c739fcc3e0 | 11 | Ticker sample_timer; //ticker |
daniQQue | 23:123d65f76236 | 12 | Ticker switch_function; //ticker |
daniQQue | 23:123d65f76236 | 13 | HIDScope scope(5); //open 3 channels in hidscope |
daniQQue | 23:123d65f76236 | 14 | MODSERIAL pc(USBTX, USBRX); //pc connection |
daniQQue | 23:123d65f76236 | 15 | |
daniQQue | 23:123d65f76236 | 16 | //motors |
daniQQue | 23:123d65f76236 | 17 | DigitalOut richting_motor1(D4); |
daniQQue | 23:123d65f76236 | 18 | PwmOut pwm_motor1(D5); |
daniQQue | 23:123d65f76236 | 19 | DigitalOut richting_motor2(D7); |
daniQQue | 23:123d65f76236 | 20 | PwmOut pwm_motor2(D6); |
daniQQue | 21:9b8be3dff01a | 21 | DigitalOut led(LED_GREEN); //led included to check where code is |
daniQQue | 0:34c739fcc3e0 | 22 | |
daniQQue | 0:34c739fcc3e0 | 23 | //define variables |
daniQQue | 21:9b8be3dff01a | 24 | //other |
daniQQue | 21:9b8be3dff01a | 25 | int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation |
daniQQue | 23:123d65f76236 | 26 | int switch_signal_leftarm=0; // switching between motors. |
daniQQue | 21:9b8be3dff01a | 27 | double cut_off_value_biceps =0.06; //gespecificeerd door floortje |
daniQQue | 22:eb8411807cca | 28 | double cut_off_value_triceps=-0.03; //gespecificeerd door floortje |
daniQQue | 21:9b8be3dff01a | 29 | double signal_right_arm; |
daniQQue | 23:123d65f76236 | 30 | int n = 0; //start van de teller wordt op nul gesteld |
daniQQue | 23:123d65f76236 | 31 | |
daniQQue | 21:9b8be3dff01a | 32 | //biceps arm 1, right arm |
daniQQue | 15:bb4a6c7836d8 | 33 | double emg_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 34 | double emg_filtered_high_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 35 | double emg_abs_biceps_right; |
daniQQue | 15:bb4a6c7836d8 | 36 | double emg_filtered_biceps_right; |
daniQQue | 21:9b8be3dff01a | 37 | double emg_filtered_high_notch_1_biceps_right; |
daniQQue | 21:9b8be3dff01a | 38 | double emg_filtered_high_notch_1_2_biceps_right; |
daniQQue | 5:688b1b5530d8 | 39 | |
daniQQue | 21:9b8be3dff01a | 40 | //triceps arm 1, right arm |
daniQQue | 21:9b8be3dff01a | 41 | double emg_triceps_right; |
daniQQue | 21:9b8be3dff01a | 42 | double emg_filtered_high_triceps_right; |
daniQQue | 21:9b8be3dff01a | 43 | double emg_abs_triceps_right; |
daniQQue | 21:9b8be3dff01a | 44 | double emg_filtered_triceps_right; |
daniQQue | 21:9b8be3dff01a | 45 | double emg_filtered_high_notch_1_triceps_right; |
daniQQue | 21:9b8be3dff01a | 46 | double emg_filtered_high_notch_1_2_triceps_right; |
daniQQue | 21:9b8be3dff01a | 47 | |
daniQQue | 23:123d65f76236 | 48 | //biceps arm 1, left arm |
daniQQue | 23:123d65f76236 | 49 | double emg_biceps_left; |
daniQQue | 23:123d65f76236 | 50 | double emg_filtered_high_biceps_left; |
daniQQue | 23:123d65f76236 | 51 | double emg_abs_biceps_left; |
daniQQue | 23:123d65f76236 | 52 | double emg_filtered_biceps_left; |
daniQQue | 23:123d65f76236 | 53 | double emg_filtered_high_notch_1_biceps_left; |
daniQQue | 23:123d65f76236 | 54 | double emg_filtered_high_notch_1_2_biceps_left; |
daniQQue | 23:123d65f76236 | 55 | |
daniQQue | 21:9b8be3dff01a | 56 | //before abs filtering |
daniQQue | 23:123d65f76236 | 57 | |
daniQQue | 23:123d65f76236 | 58 | //b1 = biceps right arm |
daniQQue | 22:eb8411807cca | 59 | BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 22:eb8411807cca | 60 | BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); |
daniQQue | 22:eb8411807cca | 61 | BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); |
daniQQue | 23:123d65f76236 | 62 | |
daniQQue | 23:123d65f76236 | 63 | //t1= triceps right arm |
daniQQue | 22:eb8411807cca | 64 | BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 22:eb8411807cca | 65 | BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); |
daniQQue | 22:eb8411807cca | 66 | BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); |
daniQQue | 21:9b8be3dff01a | 67 | |
daniQQue | 23:123d65f76236 | 68 | //b2= biceps left arm |
daniQQue | 23:123d65f76236 | 69 | BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 23:123d65f76236 | 70 | BiQuad filternotch1_b2 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); |
daniQQue | 23:123d65f76236 | 71 | BiQuad filternotch2_b2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); |
daniQQue | 23:123d65f76236 | 72 | |
daniQQue | 21:9b8be3dff01a | 73 | //after abs filtering |
daniQQue | 22:eb8411807cca | 74 | BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 22:eb8411807cca | 75 | BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 23:123d65f76236 | 76 | BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 10:7255b59224cc | 77 | |
daniQQue | 23:123d65f76236 | 78 | //function teller |
daniQQue | 23:123d65f76236 | 79 | void SwitchN() { // maakt simpele functie die 1 bij n optelt |
daniQQue | 23:123d65f76236 | 80 | if(switch_signal_leftarm==1) |
daniQQue | 23:123d65f76236 | 81 | { |
daniQQue | 23:123d65f76236 | 82 | n++; |
daniQQue | 24:bfc240e381b4 | 83 | wait(0.05f); |
daniQQue | 23:123d65f76236 | 84 | } |
daniQQue | 23:123d65f76236 | 85 | } |
daniQQue | 23:123d65f76236 | 86 | |
daniQQue | 21:9b8be3dff01a | 87 | //functions which are called in ticker to sample the analog signal |
daniQQue | 23:123d65f76236 | 88 | |
daniQQue | 0:34c739fcc3e0 | 89 | void filter(){ |
daniQQue | 21:9b8be3dff01a | 90 | //biceps right arm read+filtering |
daniQQue | 15:bb4a6c7836d8 | 91 | emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 22:eb8411807cca | 92 | emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right); |
daniQQue | 22:eb8411807cca | 93 | emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); |
daniQQue | 22:eb8411807cca | 94 | emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right); |
daniQQue | 21:9b8be3dff01a | 95 | emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float |
daniQQue | 22:eb8411807cca | 96 | emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); |
daniQQue | 21:9b8be3dff01a | 97 | |
daniQQue | 21:9b8be3dff01a | 98 | //triceps right arm read+filtering |
daniQQue | 21:9b8be3dff01a | 99 | emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 22:eb8411807cca | 100 | emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right); |
daniQQue | 22:eb8411807cca | 101 | emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); |
daniQQue | 22:eb8411807cca | 102 | emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right); |
daniQQue | 21:9b8be3dff01a | 103 | emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float |
daniQQue | 22:eb8411807cca | 104 | emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); |
daniQQue | 7:42d0e38196f1 | 105 | |
daniQQue | 23:123d65f76236 | 106 | //biceps left arm read+filtering |
daniQQue | 23:123d65f76236 | 107 | emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes |
daniQQue | 23:123d65f76236 | 108 | emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); |
daniQQue | 23:123d65f76236 | 109 | emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); |
daniQQue | 23:123d65f76236 | 110 | emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left); |
daniQQue | 23:123d65f76236 | 111 | emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float |
daniQQue | 23:123d65f76236 | 112 | emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); |
daniQQue | 23:123d65f76236 | 113 | |
daniQQue | 21:9b8be3dff01a | 114 | //signal substraction of filter biceps and triceps. Biceps +,triceps - |
daniQQue | 21:9b8be3dff01a | 115 | signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right; |
daniQQue | 21:9b8be3dff01a | 116 | |
daniQQue | 23:123d65f76236 | 117 | //creating of on/off signal with the created on/off signals, with if statement for right arm! |
daniQQue | 21:9b8be3dff01a | 118 | if (signal_right_arm>cut_off_value_biceps) |
daniQQue | 21:9b8be3dff01a | 119 | {onoffsignal_rightarm=1;} |
daniQQue | 7:42d0e38196f1 | 120 | |
daniQQue | 21:9b8be3dff01a | 121 | else if (signal_right_arm<cut_off_value_triceps) |
daniQQue | 21:9b8be3dff01a | 122 | { |
daniQQue | 21:9b8be3dff01a | 123 | onoffsignal_rightarm=-1; |
daniQQue | 21:9b8be3dff01a | 124 | } |
daniQQue | 21:9b8be3dff01a | 125 | |
daniQQue | 21:9b8be3dff01a | 126 | else |
daniQQue | 21:9b8be3dff01a | 127 | {onoffsignal_rightarm=0;} |
daniQQue | 7:42d0e38196f1 | 128 | |
daniQQue | 23:123d65f76236 | 129 | //creating on/off signal for switch (left arm) |
daniQQue | 23:123d65f76236 | 130 | |
daniQQue | 23:123d65f76236 | 131 | if (emg_filtered_biceps_left>cut_off_value_biceps) |
daniQQue | 23:123d65f76236 | 132 | { |
daniQQue | 23:123d65f76236 | 133 | switch_signal_leftarm=1; |
daniQQue | 23:123d65f76236 | 134 | } |
daniQQue | 23:123d65f76236 | 135 | |
daniQQue | 23:123d65f76236 | 136 | else |
daniQQue | 23:123d65f76236 | 137 | { |
daniQQue | 23:123d65f76236 | 138 | switch_signal_leftarm=0; |
daniQQue | 23:123d65f76236 | 139 | } |
daniQQue | 23:123d65f76236 | 140 | |
daniQQue | 0:34c739fcc3e0 | 141 | //send signals to scope |
daniQQue | 21:9b8be3dff01a | 142 | scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 |
daniQQue | 21:9b8be3dff01a | 143 | scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1 |
daniQQue | 23:123d65f76236 | 144 | scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2 |
daniQQue | 21:9b8be3dff01a | 145 | scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3 |
daniQQue | 23:123d65f76236 | 146 | scope.set(4, switch_signal_leftarm); |
daniQQue | 23:123d65f76236 | 147 | |
daniQQue | 0:34c739fcc3e0 | 148 | scope.send(); //send all the signals to the scope |
daniQQue | 0:34c739fcc3e0 | 149 | } |
daniQQue | 0:34c739fcc3e0 | 150 | |
daniQQue | 0:34c739fcc3e0 | 151 | //program |
daniQQue | 0:34c739fcc3e0 | 152 | |
daniQQue | 0:34c739fcc3e0 | 153 | int main() |
daniQQue | 0:34c739fcc3e0 | 154 | { |
daniQQue | 23:123d65f76236 | 155 | pc.baud(115200); |
daniQQue | 0:34c739fcc3e0 | 156 | 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 | 24:bfc240e381b4 | 157 | switch_function.attach(&SwitchN,0.1); |
daniQQue | 0:34c739fcc3e0 | 158 | //endless loop |
daniQQue | 0:34c739fcc3e0 | 159 | |
daniQQue | 23:123d65f76236 | 160 | while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt |
daniQQue | 23:123d65f76236 | 161 | |
daniQQue | 24:bfc240e381b4 | 162 | if (onoffsignal_rightarm==1) // als s ingedrukt wordt gebeurd het volgende |
daniQQue | 23:123d65f76236 | 163 | { |
daniQQue | 23:123d65f76236 | 164 | if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande |
daniQQue | 23:123d65f76236 | 165 | { |
daniQQue | 23:123d65f76236 | 166 | pc.printf("n is even \n\r"); // print lijn "n is even" |
daniQQue | 23:123d65f76236 | 167 | pc.printf("up \n\r"); // print lijn "up" |
daniQQue | 24:bfc240e381b4 | 168 | richting_motor1 = 2.5; |
daniQQue | 23:123d65f76236 | 169 | pwm_motor1 = 1; |
daniQQue | 23:123d65f76236 | 170 | |
daniQQue | 23:123d65f76236 | 171 | } |
daniQQue | 23:123d65f76236 | 172 | |
daniQQue | 23:123d65f76236 | 173 | else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande |
daniQQue | 23:123d65f76236 | 174 | { |
daniQQue | 23:123d65f76236 | 175 | pc.printf("n is odd \n\r"); // print lijn "n is odd" |
daniQQue | 23:123d65f76236 | 176 | pc.printf("left \n\r"); // print lijn "left" |
daniQQue | 24:bfc240e381b4 | 177 | richting_motor2 = 2.5; |
daniQQue | 23:123d65f76236 | 178 | pwm_motor2 = 1; |
daniQQue | 23:123d65f76236 | 179 | |
daniQQue | 23:123d65f76236 | 180 | } |
daniQQue | 23:123d65f76236 | 181 | |
daniQQue | 23:123d65f76236 | 182 | } |
daniQQue | 24:bfc240e381b4 | 183 | else if (onoffsignal_rightarm==-1) // als d ingedrukt wordt gebeurd het volgende |
daniQQue | 23:123d65f76236 | 184 | { |
daniQQue | 23:123d65f76236 | 185 | if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende |
daniQQue | 23:123d65f76236 | 186 | { |
daniQQue | 23:123d65f76236 | 187 | pc.printf("n is even \n\r"); // print lijn "n is even" |
daniQQue | 23:123d65f76236 | 188 | pc.printf("down \n\r"); // print lijn "down" |
daniQQue | 24:bfc240e381b4 | 189 | richting_motor1 = 0; |
daniQQue | 23:123d65f76236 | 190 | pwm_motor1 = 1; |
daniQQue | 23:123d65f76236 | 191 | |
daniQQue | 23:123d65f76236 | 192 | } |
daniQQue | 23:123d65f76236 | 193 | else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande |
daniQQue | 23:123d65f76236 | 194 | { |
daniQQue | 23:123d65f76236 | 195 | pc.printf("n is odd \n\r"); // print lijn "n is odd" |
daniQQue | 23:123d65f76236 | 196 | pc.printf("right \n\r"); // print lijn "right" |
daniQQue | 24:bfc240e381b4 | 197 | richting_motor2 = 0; |
daniQQue | 23:123d65f76236 | 198 | pwm_motor2 = 1; |
daniQQue | 23:123d65f76236 | 199 | |
daniQQue | 23:123d65f76236 | 200 | } |
daniQQue | 23:123d65f76236 | 201 | } |
daniQQue | 23:123d65f76236 | 202 | else{ |
daniQQue | 23:123d65f76236 | 203 | pc.printf("motor staat stil \n\r"); |
daniQQue | 23:123d65f76236 | 204 | pwm_motor2=0; |
daniQQue | 23:123d65f76236 | 205 | pwm_motor1=0; |
daniQQue | 23:123d65f76236 | 206 | } |
daniQQue | 23:123d65f76236 | 207 | |
daniQQue | 23:123d65f76236 | 208 | } |
daniQQue | 0:34c739fcc3e0 | 209 | |
daniQQue | 0:34c739fcc3e0 | 210 | } |