now with PID controler XXXD
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of another_try_from_scratch_on_emg by
main.cpp
- Committer:
- daniQQue
- Date:
- 2016-10-24
- Revision:
- 17:4548efffe193
- Parent:
- 16:fd4521a4f0b3
- Child:
- 18:d7695ac04de3
File content as of revision 17:4548efffe193:
//libraries #include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" //Define objects AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG from right biceps in to c++ AnalogIn emg_triceps_right_in (A1); //analog in to get EMG from left biceps in to c++ Ticker sample_timer; //ticker HIDScope scope( 3); //open 3 channels in hidscope DigitalOut richting_motor1(D4); //motor1 direction output PwmOut pwm_motor1(D5); //motor1 velocity output DigitalOut led(LED_GREEN); //define variables int onoffsignal=0; double cut_off_value=0.08; //gespecifeerd door floortje double signalsum_right; double signalsum_right_filter_high; double signalsum_right_filter_high_abs; double signalsum_right_filtered; double biceps_right; double triceps_right; BiQuad filterhigh(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); BiQuad filterlow (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); //functions which are called in ticker void filter(){ biceps_right = emg_biceps_right_in.read(); //inladen data triceps_right = emg_triceps_right_in.read(); //inladen data signalsum_right = biceps_right-triceps_right; // inladen data signalsum_right_filter_high = filterhigh.step(signalsum_right); signalsum_right_filter_high_abs = fabs(signalsum_right_filter_high); signalsum_right_filtered = filterlow.step(signalsum_right_filtered); if (signalsum_right_filtered>cut_off_value) {onoffsignal=1;} else {onoffsignal=0;} //send signals to scope scope.set(0, biceps_right ); //set emg signal to scope in channel 1 scope.set(1, triceps_right); scope.set(2, signalsum_right_filtered); scope.send(); //send all the signals to the scope } //program int main() { 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 //endless loop while(1) { if (onoffsignal==1) { richting_motor1 = 0; //motordirection (ccw) pwm_motor1 = 1; //motorspeed 1 } else if(onoffsignal==0) { richting_motor1 = 0; //motordirection (ccw) pwm_motor1 = 0; //motorspeed 0 } } }