Dependencies:
MODSERIAL
mbed
Revision 0:65c093df6044, committed 2016-09-23
- Comitter:
- willem_hoitzing
- Date:
- Fri Sep 23 12:27:06 2016 +0000
- Commit message:
- EMG
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib Fri Sep 23 12:27:06 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Sissors/code/MODSERIAL/#4737f8a5b018
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Sep 23 12:27:06 2016 +0000
@@ -0,0 +1,158 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+PwmOut pwm_M1(D6);
+DigitalOut dir_M1(D7);
+DigitalOut ledr(LED_RED);
+DigitalOut ledg(LED_GREEN);
+DigitalOut ledb(LED_BLUE);
+Serial pc(USBTX, USBRX);
+InterruptIn knop(SW2);
+Ticker combiner;
+Ticker updater;
+
+int cw = 0;
+int ccw = 1;
+
+// PARAMETERS
+int cal_time = 5; // Duur van kalibratie
+int n_cal = 10; // Aantal metingen tijdens kalibratie
+float threshold = 0.2;
+float Fs = 300; // Sample-frequentie [Hz]: aantal updates per seconde
+
+volatile float EMG_biceps = 0;
+volatile float EMG_triceps = 0;
+volatile float EMG_biceps_norm;
+volatile float EMG_triceps_norm;
+volatile float EMG_biceps_max;
+volatile float EMG_triceps_max;
+volatile float EMG_combined_signal;
+
+void input_b()
+{
+ EMG_biceps = EMG_biceps + 1;
+ pc.printf("EMG_biceps = %f \tEMG_triceps = %f", EMG_biceps, EMG_triceps);
+}
+
+void input_n()
+{
+ EMG_biceps = EMG_biceps - 1;
+ pc.printf("EMG_biceps = %f \tEMG_triceps = %f", EMG_biceps, EMG_triceps);
+}
+
+void input_t()
+{
+ EMG_triceps = EMG_triceps + 1;
+ pc.printf("EMG_biceps = %f \tEMG_triceps = %f", EMG_biceps, EMG_triceps);
+}
+
+void input_y()
+{
+ EMG_triceps = EMG_triceps - 1;
+ pc.printf("EMG_biceps = %f \tEMG_triceps = %f", EMG_biceps, EMG_triceps);
+}
+
+void combine_EMG()
+{
+// EMG_biceps = EMG_biceps_raw.read();
+ if(EMG_biceps > EMG_biceps_max)
+ {
+ EMG_biceps_norm = 1;
+ }
+ else
+ {
+ EMG_biceps_norm = EMG_biceps/EMG_biceps_max; // scaled 0-1
+ }
+// EMG_triceps = EMG_triceps_raw.read();
+ if(EMG_triceps > EMG_triceps_max)
+ {
+ EMG_triceps_norm = 1;
+ }
+ else
+ {
+ EMG_triceps_norm = EMG_triceps/EMG_triceps_max; // scaled 0-1
+ }
+ EMG_combined_signal = EMG_biceps_norm - EMG_triceps_norm;
+}
+
+void update_M1()
+{
+ if(EMG_combined_signal < (-1*threshold))
+ {
+ dir_M1 = ccw;
+ pwm_M1 = (-1/(1-threshold) * EMG_combined_signal + threshold/(threshold-1));
+ }
+ else if(EMG_combined_signal > threshold)
+ {
+ dir_M1 = cw;
+ pwm_M1 = (1/(1-threshold) * EMG_combined_signal + threshold/(threshold-1));
+ }
+ else
+ {
+ pwm_M1 = 0;
+ }
+}
+
+void calibrate()
+{
+ combiner.detach();
+ updater.detach();
+ pwm_M1 = 0;
+ pc.printf("Hold biceps at maximum contraction for %i seconds, starting in 3...", cal_time);
+ wait(1);
+ pc.printf(" 2...");
+ wait(1);
+ pc.printf(" 1...");
+ wait(1);
+ pc.printf("\r\nCalibrating...");
+
+// for(int meting = 1;meting >= n_cal;meting++);
+// {
+// read
+// total = total+read;
+// wait(cal_time/n_cal);
+// }
+//
+// EMG_max = total/n_cal;
+ EMG_biceps_max = 10;
+ EMG_triceps_max = 10;
+
+ combiner.attach(&combine_EMG, (1/Fs));
+ wait(1/(2*Fs));
+ updater.attach(&update_M1, (1/Fs));
+}
+
+char c;
+int main()
+{
+ pwm_M1 = 0;
+ dir_M1 = cw;
+ ledr = 1;
+ ledg = 1;
+ ledb = 1;
+ pc.baud(115200);
+ calibrate();
+ knop.fall(calibrate);
+ for(;;);
+ {
+ c = pc.getc();
+ wait(0.01);
+ switch(c)
+ {
+ case 'b':
+ input_b();
+ break;
+ case 'n':
+ input_n();
+ break;
+ case 't':
+ input_t();
+ break;
+ case 'y':
+ input_y();
+ break;
+ default:
+ pc.printf("\nUnknown command\n\r");
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Fri Sep 23 12:27:06 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/abea610beb85
\ No newline at end of file