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