Revision 92:12e2e57e900a, committed 2015-10-21

Comitter:

bjornnijhuis

Date:

Wed Oct 21 10:28:42 2015 +0000

Parent:

90:1d0c96a5bc5f

Child:

94:28e274481b60

Commit message:

Set EMG configuration to run before calibration of motors

Changed in this revision

--- a/emg.cpp	Wed Oct 21 11:13:10 2015 +0200
+++ b/emg.cpp	Wed Oct 21 10:28:42 2015 +0000
@@ -14,13 +14,7 @@
 // Define program constants
 const int     on = 0;                   // On-constant for LEDs for program readability
 const int     off = 1;                  // Off-constant for LEDs for program readability
-const int     sample = 0;               // Constant for mode switching for program readability
-const int     normalize = 1;            // Constant for mode switching for program readability
-
 bool ledsEnable = false;
-//**********************************************************************************************
-bool mode               = normalize;         // Set program mode
-//**********************************************************************************************
 
 // Initialize sampling constants
 double emg_val1 = 0, emg_val2 = 0, emg_filt_val1 = 0, emg_filt_val2 = 0;
@@ -214,13 +208,14 @@
 }
 
 
-void readEMG(){
-    if(mode==normalize && normalizing_timer.read_ms() == 0) {   // Start normalizing timer
+void readEMG()
+{
+    if(emg_mode==normalize && normalizing_timer.read_ms() == 0) {   // Start normalizing timer
         normalizing_timer.reset();
         normalizing_timer.start();
     }
 
-    if(mode ==normalize) {
+    if(emg_mode ==normalize) {
         emg_val1 = emg1.read();               // Sample EMG value 1 from AnalogIn
         emg_val2 = emg2.read();               // Sample EMG value 2 from AnalogIn
 
@@ -239,7 +234,7 @@
 
         // First normalizing step: channel 1
         if (normalizing_timer.read_ms() <= normalize_time && channel == 1) {
-            if (ledsEnable){
+            if (ledsEnable) {
                 redLed.write(off);
                 greenLed.write(on);
             }
@@ -249,13 +244,13 @@
             // Second normalizing step: wait time, switch channel
         } else if (normalizing_timer.read_ms() > normalize_time && channel == 1) {
             channel = 2;
-            if (ledsEnable){
+            if (ledsEnable) {
                 greenLed.write(off);
                 redLed.write(on);
             }
             // Third normalizing step: channel 2
         } else if (normalizing_timer.read_ms() >= (normalize_time + normalize_wait) && normalizing_timer.read_ms() <= (2*normalize_time + normalize_wait) && channel == 2) {
-            if (ledsEnable){
+            if (ledsEnable) {
                 redLed.write(off);
                 greenLed.write(on);
             }
@@ -266,17 +261,17 @@
         } else if (normalizing_timer.read_ms() > (2*normalize_time + normalize_wait)) {
             normalizing_timer.stop();
             normalizing_timer.reset();
-            if (ledsEnable){
+            if (ledsEnable) {
                 greenLed.write(off);
                 redLed.write(off);
                 blueLed.write(on);
             }
-            mode = sample;
+            emg_mode = sample;
         }
     }
 
 
-    if(mode ==sample) {
+    if(emg_mode ==sample) {
         emg_val1 = emg1.read();                             // Sample EMG value 1 from AnalogIn
         emg_val2 = emg2.read();                             // Sample EMG value 2 from AnalogIn
 
@@ -303,7 +298,7 @@
             EMG_check(thr_pass1, thr_pass2, x_velocity, y_velocity, z_velocity, emg_filt_val1, emg_filt_val2, EMG_timer.read_ms());
 
         } else {
-            if (ledsEnable){
+            if (ledsEnable) {
                 greenLed.write(off);
                 redLed.write(on);
                 blueLed.write(off);
@@ -312,8 +307,5 @@
     }
 
     // Graphical output to HIDScope for debugging/ program check
-
-
-
 }
 

--- a/emg.h	Wed Oct 21 11:13:10 2015 +0200
+++ b/emg.h	Wed Oct 21 10:28:42 2015 +0000
@@ -10,6 +10,10 @@
 extern DigitalOut  greenLed;
 extern DigitalOut  blueLed;
 
+extern const int normalize;
+extern const int sample;
+extern bool emg_mode;
+
 extern const double sample_frequency; 
 
 extern const int     normalize_time;
@@ -44,5 +48,6 @@
 extern const double a12_gain, a12_a1, a12_a2, a12_b0, a12_b1, a12_b2; 
 extern const double a13_gain, a13_a1,  a13_a2, a13_b0, a13_b1, a13_b2;
 
+
 void readEMG();
 #endif

--- a/main.cpp	Wed Oct 21 11:13:10 2015 +0200
+++ b/main.cpp	Wed Oct 21 10:28:42 2015 +0000
@@ -1,10 +1,10 @@
 /*
-   ________                      ____        __          __ 
+   ________                      ____        __          __
   / ____/ /_  ___  __________   / __ \____  / /_  ____  / /_
  / /   / __ \/ _ \/ ___/ ___/  / /_/ / __ \/ __ \/ __ \/ __/
-/ /___/ / / /  __(__  |__  )  / _, _/ /_/ / /_/ / /_/ / /_  
-\____/_/ /_/\___/____/____/  /_/ |_|\____/_.___/\____/\__/  
-                                                            
+/ /___/ / / /  __(__  |__  )  / _, _/ /_/ / /_/ / /_/ / /_
+\____/_/ /_/\___/____/____/  /_/ |_|\____/_.___/\____/\__/
+
 */
 
 #include "mbed.h"
@@ -14,57 +14,85 @@
 #include "debug.h"
 #include "emg.h"
 
+const int     sample = 0;               // Constant for EMG mode switching for program readability
+const int     normalize = 1;            // Constant for EMG mode switching for program readability
+
 bool start=false;
+bool emg_mode = normalize;              // Set EMG mode
+
 Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick;
 volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false;
 
-void switches_activate(){switches_go=true;};
-void debug_activate(){debug_go=true;};
-void motor_activate(){motor_go=true;};
-void emg_activate(){emg_go=true;};
-void safety_activate(){safety_go=true;};
-
-double motorCall = 0.01; // set motor frequency global so it can be used for speed.
-int main(){
-DigitalIn startButton(startPin);
-while(start == false){
-    if(startButton.read()==0){
-        start=true;
-    }
-}
-else{
-motorInit();    
-calibrateMotors(); // start calibration procedure
+void switches_activate()
+{
+    switches_go=true;
+};
+void debug_activate()
+{
+    debug_go=true;
+};
+void motor_activate()
+{
+    motor_go=true;
+};
+void emg_activate()
+{
+    emg_go=true;
+};
+void safety_activate()
+{
+    safety_go=true;
+};
 
-switchesTick.attach(&switches_activate, 0.02f);
-debugTick.attach(&debug_activate, 0.03f);
-motorTick.attach(&motor_activate, motorCall);
-EMGTick.attach(&emg_activate, 0.005f);
-safetyTick.attach(&safety_activate, 0.001f);
-
-
-    while (true) {
-        if(safety_go){
-            safety_go=false;
-            safety();
-        }
-        if(emg_go){
-            emg_go=false;
-            readEMG();
-        }
-        if(switches_go){
-            switches_go=false;
-            checkSwitches();
-        }
-        if(debug_go){
-            debug_go=false;
-            debugProcess();
-        }
-        if(motor_go){
-            motor_go=false;
-            motorControl();
-        // servoControl();
+double motorCall = 0.005; // set motor frequency global so it can be used for speed.
+int main()
+{
+    DigitalIn startButton(startPin);
+    while(start == false) {
+        if(startButton.read()==0) {
+            start=true;
         }
     }
-}
+    while (start == true) {
+        motorInit();
+
+        EMGTick.attach(&emg_activate, 0.005f);
+        switchesTick.attach(&switches_activate, 0.02f);
+        debugTick.attach(&debug_activate, 0.03f);
+        motorTick.attach(&motor_activate, motorCall);
+        safetyTick.attach(&safety_activate, 0.001f);
+
+        while (emg_mode == normalize) {
+            if(emg_go) {
+                emg_go=false;
+                readEMG();
+            }
+        }
+
+        calibrateMotors();              // start calibration procedure
+
+        while (true) {
+            if(safety_go) {
+                safety_go=false;
+                safety();
+            }
+            if(emg_go) {
+                emg_go=false;
+                readEMG();
+            }
+            if(switches_go) {
+                switches_go=false;
+                checkSwitches();
+            }
+            if(debug_go) {
+                debug_go=false;
+                debugProcess();
+            }
+            if(motor_go) {
+                motor_go=false;
+                motorControl();
+                // servoControl();
+            }
+        }
+    }
 }
\ No newline at end of file