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:
- 2016-10-25
- Revision:
- 21:9b8be3dff01a
- Parent:
- 15:bb4a6c7836d8
- Child:
- 22:eb8411807cca
File content as of revision 21:9b8be3dff01a:
//libraries #include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" //Define objects AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++ AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ //AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ Ticker sample_timer; //ticker HIDScope scope(6); //open 3 channels in hidscope DigitalOut richting_motor1(D4); //motor1 direction output PwmOut pwm_motor1(D5); //motor1 velocity output DigitalOut led(LED_GREEN); //led included to check where code is //define variables //other int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation double cut_off_value_biceps =0.06; //gespecificeerd door floortje double cut_off_value_triceps=-0.06; //gespecificeerd door floortje double signal_right_arm; //biceps arm 1, right arm double emg_biceps_right; double emg_filtered_high_biceps_right; double emg_abs_biceps_right; double emg_filtered_biceps_right; double emg_filtered_high_notch_1_biceps_right; double emg_filtered_high_notch_1_2_biceps_right; //triceps arm 1, right arm double emg_triceps_right; double emg_filtered_high_triceps_right; double emg_abs_triceps_right; double emg_filtered_triceps_right; double emg_filtered_high_notch_1_triceps_right; double emg_filtered_high_notch_1_2_triceps_right; //before abs filtering BiQuad filterhigh(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); BiQuad filternotch1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); BiQuad filternotch2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); //after abs filtering BiQuad filterlow (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); //functions which are called in ticker to sample the analog signal void filter(){ //biceps right arm read+filtering emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); emg_filtered_high_notch_1_biceps_right=filternotch1.step(emg_filtered_high_biceps_right); emg_filtered_high_notch_1_2_biceps_right=filternotch2.step(emg_filtered_high_notch_1_biceps_right); emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); //triceps right arm read+filtering emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes emg_filtered_high_triceps_right= filterhigh.step(emg_triceps_right); emg_filtered_high_notch_1_triceps_right=filternotch1.step(emg_filtered_high_triceps_right); emg_filtered_high_notch_1_2_triceps_right=filternotch2.step(emg_filtered_high_notch_1_triceps_right); emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float emg_filtered_triceps_right=filterlow.step(emg_abs_triceps_right); //signal substraction of filter biceps and triceps. Biceps +,triceps - signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right; //creating of on/off signal with the created on/off signals, with if statement if (signal_right_arm>cut_off_value_biceps) {onoffsignal_rightarm=1;} else if (signal_right_arm<cut_off_value_triceps) { onoffsignal_rightarm=-1; } else {onoffsignal_rightarm=0;} //send signals to scope scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1 scope.set(2, signal_right_arm); // set emg signal to scope in channel 2 scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3 scope.set(4, emg_biceps_right); scope.set(5, emg_triceps_right); 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_rightarm==1) { richting_motor1 = -1; //motordirection (ccw) pwm_motor1 = 1; //motorspeed 1 } else if(onoffsignal_rightarm==-1) { richting_motor1 = 1; //motordirection (cw) pwm_motor1 = 1; //motorspeed 1 } else if(onoffsignal_rightarm==0) { richting_motor1 = -1; //motordirection (ccw) pwm_motor1 = 0; //motorspeed 0 } } }