BMT M9 Groep01 / Mbed 2 deprecated test

emg_mk

Dependencies:   HIDScope MODSERIAL mbed-dsp mbed

main.cpp@12:197b7ca8dbe2, 2014-10-23 (annotated)

Committer:
Tanja2211
Date:
Thu Oct 23 13:28:31 2014 +0000
Revision:
12:197b7ca8dbe2
Parent:
11:5044290660b0 
poging

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1340735 0:abe0bc5c43b7 1 #include "mbed.h"
s1340735 0:abe0bc5c43b7 2 #include "HIDScope.h"
s1340735 0:abe0bc5c43b7 3 #include "MODSERIAL.h"
s1340735 0:abe0bc5c43b7 4 #include "arm_math.h"
s1340735 0:abe0bc5c43b7 5
s1340735 2:a86b09b00008 6 MODSERIAL pc(USBTX,USBRX);
s1340735 2:a86b09b00008 7
Tanja2211 9:a1890454e5a7 8 HIDScope scope(4);
s1340735 0:abe0bc5c43b7 9
Tanja2211 4:231bb8f5bc81 10 AnalogIn emgB(PTB1);//biceps
Tanja2211 4:231bb8f5bc81 11 AnalogIn emgT(PTB2); // tricep
s1340735 0:abe0bc5c43b7 12
s1340735 0:abe0bc5c43b7 13 //*** OBJECTS ***
s1340735 2:a86b09b00008 14 //bicep
Tanja2211 9:a1890454e5a7 15 uint16_t emg_valueB;
Tanja2211 9:a1890454e5a7 16 float emg_value_f32B;
s1340735 2:a86b09b00008 17 float filtered_emgB;
s1340735 0:abe0bc5c43b7 18 float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3;//B1=snelheidsstand 1, B2=snelheidsstand 2, B3=snelheidsstand 3
s1340735 0:abe0bc5c43b7 19 int yB1, yB2, yB3;
s1340735 0:abe0bc5c43b7 20 float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B;//moving average objects
s1340735 1:6a8b45298e54 21 int snelheidsstand;
s1340735 2:a86b09b00008 22 //tricep
Tanja2211 9:a1890454e5a7 23 uint16_t emg_valueT;
Tanja2211 9:a1890454e5a7 24 float emg_value_f32T;
s1340735 2:a86b09b00008 25 float filtered_emgT;
s1340735 2:a86b09b00008 26 float drempelwaardeT1, drempelwaardeT2;//T1=positie 1, T2=positie 2
s1340735 2:a86b09b00008 27 int yT1, yT2;
s1340735 2:a86b09b00008 28 float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, MOVAVG_T;//moving average objects
s1340735 2:a86b09b00008 29 int positie;
s1340735 2:a86b09b00008 30
s1340735 0:abe0bc5c43b7 31
s1340735 0:abe0bc5c43b7 32 //*** FILTERS ***
Tanja2211 9:a1890454e5a7 33 arm_biquad_casd_df1_inst_f32 lowpassT;
Tanja2211 9:a1890454e5a7 34 arm_biquad_casd_df1_inst_f32 lowpassB;
s1340735 0:abe0bc5c43b7 35 //constants for 50Hz lowpass
s1340735 0:abe0bc5c43b7 36 float lowpass_const[] = {0.2928920553, 0.5857841107, 0.2928920554, -0, -0.17156822136};//{a0 a1 a2 -b1 -b2} van online calculator
s1340735 0:abe0bc5c43b7 37 float lowpass_states[4];
s1340735 0:abe0bc5c43b7 38
Tanja2211 9:a1890454e5a7 39 arm_biquad_casd_df1_inst_f32 highpassT;
Tanja2211 9:a1890454e5a7 40 arm_biquad_casd_df1_inst_f32 highpassB;
s1340735 0:abe0bc5c43b7 41 //constants for 10Hz highpass
s1340735 0:abe0bc5c43b7 42 float highpass_const[] = {0.8005910267, -1.6011820533, 0.8005910267, 1.5610153913, -0.6413487154};//{a0 a1 a2 -b1 -b2}
s1340735 0:abe0bc5c43b7 43 float highpass_states[4];
s1340735 0:abe0bc5c43b7 44
s1340735 2:a86b09b00008 45 //*** CALIBRATIE ***//dit moet nog in de main komen! en ik snap dit niet :(
s1340735 2:a86b09b00008 46 //void Calibratie()
s1340735 2:a86b09b00008 47 //{
s1340735 2:a86b09b00008 48 //pc.printf("Calibratie drempelwaarde Triceps stand 1\n");
s1340735 2:a86b09b00008 49 //wait(0.5);
s1340735 2:a86b09b00008 50 // {
s1340735 2:a86b09b00008 51 // int i;
s1340735 2:a86b09b00008 52 // int j=19;
s1340735 2:a86b09b00008 53
s1340735 2:a86b09b00008 54 //for (i=0, i<=j; i++) {
s1340735 2:a86b09b00008 55 /*variable to store value in*/
s1340735 2:a86b09b00008 56 // uint16_t emg_valueT1i_C;
s1340735 0:abe0bc5c43b7 57
s1340735 2:a86b09b00008 58 // float emg_value_f32T1i_C;
s1340735 2:a86b09b00008 59 /*put raw emg value both in red and in emg_value*/
s1340735 2:a86b09b00008 60 // emg_valueT1i_C = emgT1i_C.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
s1340735 2:a86b09b00008 61 // emg_value_f32T1i_C = emgT1i_C.read();
s1340735 2:a86b09b00008 62
s1340735 2:a86b09b00008 63 //process emg
s1340735 2:a86b09b00008 64 // arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T1i_C, &filtered_emgT1i_C, 1 );
s1340735 2:a86b09b00008 65 // filtered_emgT1i_C = fabs(filtered_emgT1i_C);
s1340735 2:a86b09b00008 66 // arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT1i_C, &filtered_emgT1i_C, 1 );
s1340735 2:a86b09b00008 67 // }
s1340735 2:a86b09b00008 68 // }
s1340735 2:a86b09b00008 69 //}
s1340735 2:a86b09b00008 70 //******************************
s1340735 2:a86b09b00008 71 //Mean Triceps stand 1
s1340735 2:a86b09b00008 72 //void MeanTriceps()
s1340735 2:a86b09b00008 73 //{
s1340735 0:abe0bc5c43b7 74 //
s1340735 2:a86b09b00008 75 // float MeanT1=filtered_emgT10_C*0.05+filtered_emgT11_C*0.05+filtered_emgT12_C*0.05+filtered_emgT13_C*0.05+filtered_emgT14_C*0.05+filtered_emgT15_C*0.05+filtered_emgT16_C*0.05+filtered_emgT17_C*0.05+filtered_emgT18_C*0.05+filtered_emgT19_C*0.05+filtered_emgT110_C*0.05+filtered_emgT111_C*0.05+filtered_emgT112_C*0.05+filtered_emgT113_C*0.05+filtered_emgT114_C*0.05+filtered_emgT115_C*0.05+filtered_emgT116_C*0.05+filtered_emgT117_C*0.05+filtered_emgT118_C*0.05+filtered_emgT119_C*0.05;
s1340735 2:a86b09b00008 76 //
s1340735 2:a86b09b00008 77 //}
s1340735 2:a86b09b00008 78 //******************************
s1340735 0:abe0bc5c43b7 79
Tanja2211 9:a1890454e5a7 80
Tanja2211 9:a1890454e5a7 81
Tanja2211 9:a1890454e5a7 82
Tanja2211 9:a1890454e5a7 83 // *** TRICEPS en BICEPS EMG ***
Tanja2211 9:a1890454e5a7 84 void Triceps()
Tanja2211 9:a1890454e5a7 85 {
Tanja2211 9:a1890454e5a7 86 //Triceps lezen
Tanja2211 9:a1890454e5a7 87 emg_valueT = emgT.read_u16();
Tanja2211 9:a1890454e5a7 88 emg_value_f32T = emgT.read();
Tanja2211 9:a1890454e5a7 89
Tanja2211 9:a1890454e5a7 90 //Triceps filteren
Tanja2211 9:a1890454e5a7 91 arm_biquad_cascade_df1_f32(&highpassT, &emg_value_f32T, &filtered_emgT, 1 );
Tanja2211 12:197b7ca8dbe2 92 filtered_emgT = fabs(filtered_emgT);
Tanja2211 9:a1890454e5a7 93 arm_biquad_cascade_df1_f32(&lowpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 12:197b7ca8dbe2 94
Tanja2211 9:a1890454e5a7 95 //Triceps moving average
Tanja2211 9:a1890454e5a7 96 T0=filtered_emgT;
Tanja2211 9:a1890454e5a7 97 MOVAVG_T=T0*0.1+T1*0.1+T2*0.1+T3*0.1+T4*0.1+T5*0.1+T6*0.1+T7*0.1+T8*0.1+T9*0.1;
Tanja2211 9:a1890454e5a7 98 T9=T8;
Tanja2211 9:a1890454e5a7 99 T8=T7;
Tanja2211 9:a1890454e5a7 100 T7=T6;
Tanja2211 9:a1890454e5a7 101 T6=T5;
Tanja2211 9:a1890454e5a7 102 T5=T4;
Tanja2211 9:a1890454e5a7 103 T4=T3;
Tanja2211 9:a1890454e5a7 104 T3=T2;
Tanja2211 9:a1890454e5a7 105 T2=T1;
Tanja2211 9:a1890454e5a7 106 T1=T0;
Tanja2211 12:197b7ca8dbe2 107
Tanja2211 12:197b7ca8dbe2 108 //sturen naar scherm (Realterm)
Tanja2211 12:197b7ca8dbe2 109 pc.printf("%f\r\n",MOVAVG_T);//u=f filtered_emgT is een float
s1340735 10:9319e872c752 110
s1340735 10:9319e872c752 111 //sturen naar HID Scope
Tanja2211 9:a1890454e5a7 112 scope.set(0,emg_valueT); //ruwe data
Tanja2211 9:a1890454e5a7 113 scope.set(1,filtered_emgT); //filtered
Tanja2211 9:a1890454e5a7 114 scope.send();
Tanja2211 9:a1890454e5a7 115 }
Tanja2211 9:a1890454e5a7 116
s1340735 0:abe0bc5c43b7 117 void Biceps()
s1340735 0:abe0bc5c43b7 118 {
Tanja2211 9:a1890454e5a7 119 //Biceps lezen
s1340735 0:abe0bc5c43b7 120 emg_valueB = emgB.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
s1340735 0:abe0bc5c43b7 121 emg_value_f32B = emgB.read();
s1340735 0:abe0bc5c43b7 122
Tanja2211 9:a1890454e5a7 123 //Biceps filteren
Tanja2211 9:a1890454e5a7 124 arm_biquad_cascade_df1_f32(&highpassB, &emg_value_f32B, &filtered_emgB, 1 );
Tanja2211 12:197b7ca8dbe2 125 filtered_emgB = fabs(filtered_emgB);
Tanja2211 9:a1890454e5a7 126 arm_biquad_cascade_df1_f32(&lowpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 12:197b7ca8dbe2 127
Tanja2211 9:a1890454e5a7 128 //Biceps moving average
s1340735 0:abe0bc5c43b7 129 B0=filtered_emgB;
s1340735 0:abe0bc5c43b7 130 MOVAVG_B=B0*0.1+B1*0.1+B2*0.1+B3*0.1+B4*0.1+B5*0.1+B6*0.1+B7*0.1+B8*0.1+B9*0.1;
s1340735 0:abe0bc5c43b7 131 B9=B8;
s1340735 0:abe0bc5c43b7 132 B8=B7;
s1340735 0:abe0bc5c43b7 133 B7=B6;
s1340735 0:abe0bc5c43b7 134 B6=B5;
s1340735 0:abe0bc5c43b7 135 B5=B4;
s1340735 0:abe0bc5c43b7 136 B4=B3;
s1340735 0:abe0bc5c43b7 137 B3=B2;
s1340735 0:abe0bc5c43b7 138 B2=B1;
s1340735 0:abe0bc5c43b7 139 B1=B0;
Tanja2211 12:197b7ca8dbe2 140
Tanja2211 12:197b7ca8dbe2 141 //sturen naar scherm
Tanja2211 12:197b7ca8dbe2 142 pc.printf("%f\r\n",MOVAVG_B);
s1340735 0:abe0bc5c43b7 143
s1340735 10:9319e872c752 144 //naar HID Scope
Tanja2211 6:ad6d4bd69205 145 scope.set(2,emg_valueB); //ruwe data
Tanja2211 6:ad6d4bd69205 146 scope.set(3,filtered_emgB); //filtered
Tanja2211 5:3232d78cb7b3 147 scope.send();
s1340735 2:a86b09b00008 148 }
s1340735 0:abe0bc5c43b7 149
s1340735 0:abe0bc5c43b7 150 // *** MAIN ***
s1340735 2:a86b09b00008 151 int main()
Tanja2211 9:a1890454e5a7 152 {
Tanja2211 9:a1890454e5a7 153 pc.baud(115200);
s1340735 10:9319e872c752 154
s1340735 2:a86b09b00008 155 //bepaling van positie met triceps
s1340735 2:a86b09b00008 156 Ticker log_timerT;
Tanja2211 9:a1890454e5a7 157 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 9:a1890454e5a7 158 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
s1340735 2:a86b09b00008 159
Tanja2211 12:197b7ca8dbe2 160 log_timerT.attach(Triceps, 0.01);
Tanja2211 12:197b7ca8dbe2 161 wait(250); //log_timerT wordt 2000 keer uitgevoerd
Tanja2211 9:a1890454e5a7 162 log_timerT.detach();
s1340735 11:5044290660b0 163
s1340735 10:9319e872c752 164 // positie van batje met behulp van Triceps
Tanja2211 7:c13686aecc75 165 drempelwaardeT1=4;
s1340735 2:a86b09b00008 166 drempelwaardeT2=7;
s1340735 10:9319e872c752 167
s1340735 2:a86b09b00008 168 if (MOVAVG_T >= drempelwaardeT1) {
s1340735 2:a86b09b00008 169 yT1=1;
s1340735 2:a86b09b00008 170 if (MOVAVG_T >= drempelwaardeT1) {
s1340735 2:a86b09b00008 171 yT2=1;
s1340735 2:a86b09b00008 172 } else {
s1340735 2:a86b09b00008 173 yT2=0;
s1340735 2:a86b09b00008 174 }
s1340735 2:a86b09b00008 175 } else {
s1340735 2:a86b09b00008 176 yT1=0;
s1340735 2:a86b09b00008 177 }
s1340735 0:abe0bc5c43b7 178
s1340735 10:9319e872c752 179 //*** INPUT MOTOR 2 ***
s1340735 10:9319e872c752 180 positie=yT1+yT2;
s1340735 0:abe0bc5c43b7 181
s1340735 2:a86b09b00008 182 //controle positie op scherm
s1340735 2:a86b09b00008 183 if (positie==0) {
s1340735 2:a86b09b00008 184 pc.printf("Motor 2 gaat naar stand 0\n");
s1340735 2:a86b09b00008 185 } else {
s1340735 2:a86b09b00008 186 if (positie==1) {
s1340735 2:a86b09b00008 187 pc.printf("Motor 2 gaat naar stand 1\n");
s1340735 2:a86b09b00008 188 } else {
s1340735 2:a86b09b00008 189 if (positie==2) {
s1340735 2:a86b09b00008 190 pc.printf("Motor 1 beweegt met snelheid 2\n");
s1340735 2:a86b09b00008 191 }
s1340735 2:a86b09b00008 192 }
s1340735 2:a86b09b00008 193 }
s1340735 10:9319e872c752 194
s1340735 11:5044290660b0 195 wait(5);
s1340735 11:5044290660b0 196
s1340735 11:5044290660b0 197 Ticker log_timerB;
s1340735 11:5044290660b0 198 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
s1340735 11:5044290660b0 199 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
s1340735 11:5044290660b0 200
s1340735 11:5044290660b0 201 log_timerB.attach(Biceps,0.005);
Tanja2211 12:197b7ca8dbe2 202 wait(250);//log_timerB wordt 2000 keer uitgevoerd
s1340735 11:5044290660b0 203 log_timerB.detach();
s1340735 11:5044290660b0 204
s1340735 2:a86b09b00008 205 //bepaling van snelheidsstand met biceps
Tanja2211 9:a1890454e5a7 206
Tanja2211 7:c13686aecc75 207 drempelwaardeB1=4;
s1340735 2:a86b09b00008 208 drempelwaardeB2=6;
s1340735 2:a86b09b00008 209 drempelwaardeB3=10;
s1340735 2:a86b09b00008 210
s1340735 2:a86b09b00008 211 if (MOVAVG_B >= drempelwaardeB1) {
s1340735 2:a86b09b00008 212 yB1=1;
s1340735 2:a86b09b00008 213 if (MOVAVG_B >= drempelwaardeB2) {
s1340735 2:a86b09b00008 214 yB2=1;
s1340735 2:a86b09b00008 215 if (MOVAVG_B >= drempelwaardeB3) {
s1340735 2:a86b09b00008 216 yB3=1;
s1340735 0:abe0bc5c43b7 217 } else {
s1340735 2:a86b09b00008 218 yB3=0;
s1340735 0:abe0bc5c43b7 219 }
s1340735 0:abe0bc5c43b7 220 } else {
s1340735 2:a86b09b00008 221 yB2=0;
s1340735 0:abe0bc5c43b7 222 }
s1340735 2:a86b09b00008 223 } else {
s1340735 2:a86b09b00008 224 yB1=0;
s1340735 2:a86b09b00008 225 }
s1340735 0:abe0bc5c43b7 226
s1340735 10:9319e872c752 227 //*** INPUT MOTOR 1 ***
s1340735 10:9319e872c752 228 snelheidsstand=yB1+yB2+yB3;
s1340735 0:abe0bc5c43b7 229
s1340735 2:a86b09b00008 230 //controle snelheidsstand op scherm
s1340735 2:a86b09b00008 231 if (snelheidsstand==0) {
s1340735 2:a86b09b00008 232 pc.printf("Motor 1 beweegt niet\n");
s1340735 2:a86b09b00008 233 } else {
s1340735 1:6a8b45298e54 234 if (snelheidsstand==1) {
s1340735 1:6a8b45298e54 235 pc.printf("Motor 1 beweegt met snelheid 1\n");
s1340735 1:6a8b45298e54 236 } else {
s1340735 2:a86b09b00008 237 if (snelheidsstand==2) {
s1340735 2:a86b09b00008 238 pc.printf("Motor 1 beweegt met snelheid 2\n");
s1340735 2:a86b09b00008 239 } else {
s1340735 2:a86b09b00008 240 if (snelheidsstand==3) {
s1340735 2:a86b09b00008 241 pc.printf("Motor 1 beweegt met snelheid 3\n");
s1340735 2:a86b09b00008 242 }
s1340735 2:a86b09b00008 243 }
s1340735 1:6a8b45298e54 244 }
s1340735 1:6a8b45298e54 245 }
Tanja2211 9:a1890454e5a7 246
s1340735 10:9319e872c752 247 }