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:
- 2016-10-28
- Revision:
- 35:ec45badf4821
- Parent:
- 24:bfc240e381b4
File content as of revision 35:ec45badf4821:
//libraries #include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" #include "MODSERIAL.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 Ticker switch_function; //ticker HIDScope scope(5); //open 3 channels in hidscope MODSERIAL pc(USBTX, USBRX); //pc connection //motors DigitalOut richting_motor1(D4); PwmOut pwm_motor1(D5); DigitalOut richting_motor2(D7); PwmOut pwm_motor2(D6); 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 int switch_signal_leftarm=0; // switching between motors. double cut_off_value_biceps =0.06; //gespecificeerd door floortje double cut_off_value_triceps=-0.03; //gespecificeerd door floortje double signal_right_arm; int n = 0; //start van de teller wordt op nul gesteld //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; //biceps arm 1, left arm double emg_biceps_left; double emg_filtered_high_biceps_left; double emg_abs_biceps_left; double emg_filtered_biceps_left; double emg_filtered_high_notch_1_biceps_left; double emg_filtered_high_notch_1_2_biceps_left; //before abs filtering //b1 = biceps right arm BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); //t1= triceps right arm BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); //b2= biceps left arm BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); BiQuad filternotch1_b2 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01); BiQuad filternotch2_b2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01); //after abs filtering BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); //function teller void SwitchN() { // maakt simpele functie die 1 bij n optelt if(switch_signal_leftarm==1) { n++; pc.printf("switch"); } } //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_b1.step(emg_biceps_right); emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.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_b1.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_t1.step(emg_triceps_right); emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.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_t1.step(emg_abs_triceps_right); //biceps left arm read+filtering emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left); emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left); emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); //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 for right arm! 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;} //creating on/off signal for switch (left arm) if (emg_filtered_biceps_left>cut_off_value_biceps) { switch_signal_leftarm=1; } else { switch_signal_leftarm=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, emg_filtered_biceps_left); // set emg signal to scope in channel 2 scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3 scope.set(4, switch_signal_leftarm); scope.send(); //send all the signals to the scope } //program int main() { pc.baud(115200); 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 switch_function.attach(&SwitchN,0.1); //endless loop while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt if (onoffsignal_rightarm==1) // als s ingedrukt wordt gebeurd het volgende { if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande { pc.printf("up \n\r"); // print lijn "up" richting_motor1 = 2.5; pwm_motor1 = 1; } else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande { pc.printf("left \n\r"); // print lijn "left" richting_motor2 = 2.5; pwm_motor2 = 1; } } else if (onoffsignal_rightarm==-1) // als d ingedrukt wordt gebeurd het volgende { if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende { pc.printf("down \n\r"); // print lijn "down" richting_motor1 = 0; pwm_motor1 = 1; } else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande { pc.printf("right \n\r"); // print lijn "right" richting_motor2 = 0; pwm_motor2 = 1; } } else{ pwm_motor2=0; pwm_motor1=0; } } }