now with PID controler XXXD
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of another_try_from_scratch_on_emg by
main.cpp@18:d7695ac04de3, 2016-10-24 (annotated)
- Committer:
- daniQQue
- Date:
- Mon Oct 24 12:09:25 2016 +0000
- Revision:
- 18:d7695ac04de3
- Parent:
- 17:4548efffe193
- Child:
- 19:fb98ff1d06ed
; vergeet?
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 | 0:34c739fcc3e0 | 5 | |
daniQQue | 0:34c739fcc3e0 | 6 | //Define objects |
daniQQue | 18:d7695ac04de3 | 7 | AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG in to c++ |
daniQQue | 16:fd4521a4f0b3 | 8 | Ticker sample_timer; //ticker |
daniQQue | 18:d7695ac04de3 | 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 | 18:d7695ac04de3 | 13 | DigitalIn button (D9); |
daniQQue | 0:34c739fcc3e0 | 14 | |
daniQQue | 0:34c739fcc3e0 | 15 | //define variables |
daniQQue | 18:d7695ac04de3 | 16 | double emg_biceps_right; |
daniQQue | 18:d7695ac04de3 | 17 | double emg_filtered_high_biceps_right; |
daniQQue | 18:d7695ac04de3 | 18 | double emg_abs_biceps_right; |
daniQQue | 18:d7695ac04de3 | 19 | double emg_filtered_biceps_right; |
daniQQue | 7:42d0e38196f1 | 20 | int onoffsignal=0; |
daniQQue | 18:d7695ac04de3 | 21 | double cut_off_value=0.20; |
daniQQue | 18:d7695ac04de3 | 22 | double max_right_biceps; |
daniQQue | 18:d7695ac04de3 | 23 | |
daniQQue | 15:bb4a6c7836d8 | 24 | BiQuad filterhigh(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); |
daniQQue | 15:bb4a6c7836d8 | 25 | BiQuad filterlow (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); |
daniQQue | 10:7255b59224cc | 26 | |
daniQQue | 15:bb4a6c7836d8 | 27 | //functions which are called in ticker |
daniQQue | 0:34c739fcc3e0 | 28 | void filter(){ |
daniQQue | 18:d7695ac04de3 | 29 | emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 18:d7695ac04de3 | 30 | emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); |
daniQQue | 18:d7695ac04de3 | 31 | emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right); //fabs because float |
daniQQue | 18:d7695ac04de3 | 32 | emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); |
daniQQue | 18:d7695ac04de3 | 33 | led=!led; |
daniQQue | 7:42d0e38196f1 | 34 | |
daniQQue | 18:d7695ac04de3 | 35 | if (emg_filtered_biceps_right>cut_off_value) |
daniQQue | 7:42d0e38196f1 | 36 | {onoffsignal=1;} |
daniQQue | 7:42d0e38196f1 | 37 | |
daniQQue | 7:42d0e38196f1 | 38 | else |
daniQQue | 7:42d0e38196f1 | 39 | {onoffsignal=0;} |
daniQQue | 7:42d0e38196f1 | 40 | |
daniQQue | 0:34c739fcc3e0 | 41 | //send signals to scope |
daniQQue | 18:d7695ac04de3 | 42 | scope.set(0, emg_biceps_right ); //set emg signal to scope in channel 1 |
daniQQue | 18:d7695ac04de3 | 43 | scope.set(1, emg_filtered_biceps_right); |
daniQQue | 18:d7695ac04de3 | 44 | scope.set(2, onoffsignal); |
daniQQue | 0:34c739fcc3e0 | 45 | scope.send(); //send all the signals to the scope |
daniQQue | 0:34c739fcc3e0 | 46 | } |
daniQQue | 18:d7695ac04de3 | 47 | |
daniQQue | 18:d7695ac04de3 | 48 | void calibration(){ |
daniQQue | 18:d7695ac04de3 | 49 | for(int n =0; n<5000;n++){ //read for 5000 samples as calibration |
daniQQue | 18:d7695ac04de3 | 50 | emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes |
daniQQue | 18:d7695ac04de3 | 51 | emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); //highpass |
daniQQue | 18:d7695ac04de3 | 52 | emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right); //fabs because float |
daniQQue | 18:d7695ac04de3 | 53 | emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); //lowpass to envelope |
daniQQue | 18:d7695ac04de3 | 54 | if (emg_filtered_biceps_right > max_right_biceps){ //determine what the highest reachable emg signal is |
daniQQue | 18:d7695ac04de3 | 55 | max_right_biceps = emg_filtered_biceps_right; |
daniQQue | 18:d7695ac04de3 | 56 | } |
daniQQue | 18:d7695ac04de3 | 57 | |
daniQQue | 18:d7695ac04de3 | 58 | cut_off_value=0.2*max_right_biceps; |
daniQQue | 18:d7695ac04de3 | 59 | } |
daniQQue | 0:34c739fcc3e0 | 60 | //program |
daniQQue | 0:34c739fcc3e0 | 61 | |
daniQQue | 0:34c739fcc3e0 | 62 | int main() |
daniQQue | 18:d7695ac04de3 | 63 | { |
daniQQue | 0:34c739fcc3e0 | 64 | 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 | 65 | |
daniQQue | 0:34c739fcc3e0 | 66 | //endless loop |
daniQQue | 18:d7695ac04de3 | 67 | while(1) { |
daniQQue | 18:d7695ac04de3 | 68 | if(button==0){ |
daniQQue | 18:d7695ac04de3 | 69 | &calibri(); } //if button pressed calibration starts again! |
daniQQue | 18:d7695ac04de3 | 70 | |
daniQQue | 8:cd0cb71b69f2 | 71 | if (onoffsignal==1) |
daniQQue | 8:cd0cb71b69f2 | 72 | { |
daniQQue | 8:cd0cb71b69f2 | 73 | richting_motor1 = 0; //motordirection (ccw) |
daniQQue | 10:7255b59224cc | 74 | pwm_motor1 = 1; //motorspeed 1 |
daniQQue | 8:cd0cb71b69f2 | 75 | |
daniQQue | 8:cd0cb71b69f2 | 76 | } |
daniQQue | 8:cd0cb71b69f2 | 77 | else if(onoffsignal==0) |
daniQQue | 8:cd0cb71b69f2 | 78 | { |
daniQQue | 8:cd0cb71b69f2 | 79 | richting_motor1 = 0; //motordirection (ccw) |
daniQQue | 8:cd0cb71b69f2 | 80 | pwm_motor1 = 0; //motorspeed 0 |
daniQQue | 18:d7695ac04de3 | 81 | } |
daniQQue | 8:cd0cb71b69f2 | 82 | |
daniQQue | 18:d7695ac04de3 | 83 | } |
daniQQue | 0:34c739fcc3e0 | 84 | } |