#include <SoftwareSerial.h>
#include <SdFat.h>
//========================================= inisiasi
#define outputA 5 //untuk encoder - white
#define outputB 6
#define RawEMG A0
int counter = 0;
int derajat = 0;
int EMG;
int aState;
int aLastState;
long timenow = 0 ;
long timeprev = 0;
//========================================= variable
#define MaxCount 30000
float freqsampling = 10000; //Hz
float timesampling = (1/freqsampling)*1000;
int encoderPPR = 2048; // real ppr*2
SdFatSdio sd;
File file;
void setup() {
pinMode (outputA, INPUT_PULLUP);
pinMode (outputB, INPUT_PULLUP);
Serial.begin(57600);
if (!sd.begin()) {
sd.initErrorHalt();
}
aLastState = digitalRead(outputA);
}
void doLogging(uint32_t timeStamp, int *data1, int *data2, int *data3, int nb)
{
//================================================= init
static uint32_t ifl = 0;
static uint32_t count = 0;
char filename[32];
if (!count)
{
//open file
sprintf(filename, "LAST_02-26_(1000Hz)_TRY4-%03d.csv", ifl); ifl++;
if (!file.open(filename, O_RDWR | O_CREAT)) sd.errorHalt("open failed");
// write header to file
file.println("timeStamp,counter,derajat,EMG");
// flag open file
count = 1;
}
if (count > 0)
{
// write to file
file.print(timeStamp);
for (int ii = 0; ii < nb; ii++)
{ file.print(',');
file.print(data1[ii]);
file.print(',');
file.print(data2[ii]);
file.print(',');
file.print(data3[ii]);
Serial.print(counter);
Serial.print(",");
Serial.print(derajat);
Serial.print(",");
Serial.println(EMG);
}
file.println();
count++;
if (count > MaxCount) count = 0;
}
if (!count)
{
Serial.println("+++++++++++++++++++++++++SAVING DATA+++++++++++++++++++++++++++++++++++++++++++++++++++");
file.close();
}
}
void loop() {
//========================================= read data
uint32_t t0 = millis();
EMG = analogRead (RawEMG); //reads EMG sensor
//float EMG = EMG * (5.0 / 1023.0);
aState = digitalRead(outputA); //reads the 'current' state of the outputA
//========================================= do ... every "timesampling"
timenow = millis();
if (timenow - timeprev > timesampling) {
timeprev = timenow;
// Serial.print(counter);
// Serial.print(",");
// Serial.print(derajat);
// Serial.print(",");
// Serial.println(EMG);
doLogging(t0, &counter, &derajat, &EMG, 1); // Save data
}
//========================================= counter encoder to degrees
if (aState != aLastState) { //if there's a shift (perubahan)
if (digitalRead(outputB) != aState) {
counter ++;
} else {
counter --;
}
if (counter > encoderPPR or counter < -encoderPPR)
{
counter = 0;
}
}
derajat = counter * 360 / encoderPPR;
aLastState = aState;
}