BMT M9 Groep01 / Mbed 2 deprecated test

emg_mk

Dependencies:   HIDScope MODSERIAL mbed-dsp mbed

main.cpp@6:ad6d4bd69205, 2014-10-22 (annotated)

Committer:
Tanja2211
Date:
Wed Oct 22 09:40:57 2014 +0000
Revision:
6:ad6d4bd69205
Parent:
5:3232d78cb7b3
Child:
7:c13686aecc75
:);

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 3:69ffa34e4239 8 HIDScope scope(4);//is dit 4 voor 2 spieren? en hoe zit het met scope.set?
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
s1340735 2:a86b09b00008 15 float filtered_emgB;
s1340735 0:abe0bc5c43b7 16 float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3;//B1=snelheidsstand 1, B2=snelheidsstand 2, B3=snelheidsstand 3
s1340735 0:abe0bc5c43b7 17 int yB1, yB2, yB3;
s1340735 0:abe0bc5c43b7 18 float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B;//moving average objects
s1340735 1:6a8b45298e54 19 int snelheidsstand;
s1340735 2:a86b09b00008 20 //tricep
s1340735 2:a86b09b00008 21 float filtered_emgT;
s1340735 2:a86b09b00008 22 float drempelwaardeT1, drempelwaardeT2;//T1=positie 1, T2=positie 2
s1340735 2:a86b09b00008 23 int yT1, yT2;
s1340735 2:a86b09b00008 24 float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, MOVAVG_T;//moving average objects
s1340735 2:a86b09b00008 25 int positie;
s1340735 2:a86b09b00008 26
s1340735 0:abe0bc5c43b7 27
s1340735 0:abe0bc5c43b7 28 //*** FILTERS ***
s1340735 0:abe0bc5c43b7 29 arm_biquad_casd_df1_inst_f32 lowpass;
s1340735 0:abe0bc5c43b7 30 //constants for 50Hz lowpass
s1340735 0:abe0bc5c43b7 31 float lowpass_const[] = {0.2928920553, 0.5857841107, 0.2928920554, -0, -0.17156822136};//{a0 a1 a2 -b1 -b2} van online calculator
s1340735 0:abe0bc5c43b7 32 float lowpass_states[4];
s1340735 0:abe0bc5c43b7 33
s1340735 0:abe0bc5c43b7 34 arm_biquad_casd_df1_inst_f32 highpass;
s1340735 0:abe0bc5c43b7 35 //constants for 10Hz highpass
s1340735 0:abe0bc5c43b7 36 float highpass_const[] = {0.8005910267, -1.6011820533, 0.8005910267, 1.5610153913, -0.6413487154};//{a0 a1 a2 -b1 -b2}
s1340735 0:abe0bc5c43b7 37 float highpass_states[4];
s1340735 0:abe0bc5c43b7 38
s1340735 2:a86b09b00008 39 //*** CALIBRATIE ***//dit moet nog in de main komen! en ik snap dit niet :(
s1340735 2:a86b09b00008 40 //void Calibratie()
s1340735 2:a86b09b00008 41 //{
s1340735 2:a86b09b00008 42 //pc.printf("Calibratie drempelwaarde Triceps stand 1\n");
s1340735 2:a86b09b00008 43 //wait(0.5);
s1340735 2:a86b09b00008 44 // {
s1340735 2:a86b09b00008 45 // int i;
s1340735 2:a86b09b00008 46 // int j=19;
s1340735 2:a86b09b00008 47
s1340735 2:a86b09b00008 48 //for (i=0, i<=j; i++) {
s1340735 2:a86b09b00008 49 /*variable to store value in*/
s1340735 2:a86b09b00008 50 // uint16_t emg_valueT1i_C;
s1340735 0:abe0bc5c43b7 51
s1340735 2:a86b09b00008 52 // float emg_value_f32T1i_C;
s1340735 2:a86b09b00008 53 /*put raw emg value both in red and in emg_value*/
s1340735 2:a86b09b00008 54 // 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 55 // emg_value_f32T1i_C = emgT1i_C.read();
s1340735 2:a86b09b00008 56
s1340735 2:a86b09b00008 57 //process emg
s1340735 2:a86b09b00008 58 // arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T1i_C, &filtered_emgT1i_C, 1 );
s1340735 2:a86b09b00008 59 // filtered_emgT1i_C = fabs(filtered_emgT1i_C);
s1340735 2:a86b09b00008 60 // arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT1i_C, &filtered_emgT1i_C, 1 );
s1340735 2:a86b09b00008 61 // }
s1340735 2:a86b09b00008 62 // }
s1340735 2:a86b09b00008 63 //}
s1340735 2:a86b09b00008 64 //******************************
s1340735 2:a86b09b00008 65 //Mean Triceps stand 1
s1340735 2:a86b09b00008 66 //void MeanTriceps()
s1340735 2:a86b09b00008 67 //{
s1340735 0:abe0bc5c43b7 68 //
s1340735 2:a86b09b00008 69 // 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 70 //
s1340735 2:a86b09b00008 71 //}
s1340735 2:a86b09b00008 72 //******************************
s1340735 0:abe0bc5c43b7 73
s1340735 0:abe0bc5c43b7 74 //*** BICEP EMG ***
s1340735 0:abe0bc5c43b7 75 void Biceps()
s1340735 0:abe0bc5c43b7 76 {
Tanja2211 6:ad6d4bd69205 77 uint16_t emg_valueB;
s1340735 0:abe0bc5c43b7 78 float emg_value_f32B;
s1340735 0:abe0bc5c43b7 79
s1340735 0:abe0bc5c43b7 80 //lezen
s1340735 0:abe0bc5c43b7 81 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 82 emg_value_f32B = emgB.read();
s1340735 0:abe0bc5c43b7 83
s1340735 0:abe0bc5c43b7 84 //filteren
s1340735 0:abe0bc5c43b7 85 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 );
s1340735 0:abe0bc5c43b7 86 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 );
s1340735 0:abe0bc5c43b7 87 filtered_emgB = fabs(filtered_emgB);
s1340735 0:abe0bc5c43b7 88
s1340735 0:abe0bc5c43b7 89 //moving average
s1340735 0:abe0bc5c43b7 90 B0=filtered_emgB;
s1340735 0:abe0bc5c43b7 91 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 92 B9=B8;
s1340735 0:abe0bc5c43b7 93 B8=B7;
s1340735 0:abe0bc5c43b7 94 B7=B6;
s1340735 0:abe0bc5c43b7 95 B6=B5;
s1340735 0:abe0bc5c43b7 96 B5=B4;
s1340735 0:abe0bc5c43b7 97 B4=B3;
s1340735 0:abe0bc5c43b7 98 B3=B2;
s1340735 0:abe0bc5c43b7 99 B2=B1;
s1340735 0:abe0bc5c43b7 100 B1=B0;
s1340735 0:abe0bc5c43b7 101
s1340735 2:a86b09b00008 102 //naar scherm
Tanja2211 6:ad6d4bd69205 103 scope.set(2,emg_valueB); //ruwe data
Tanja2211 6:ad6d4bd69205 104 scope.set(3,filtered_emgB); //filtered
Tanja2211 5:3232d78cb7b3 105 scope.send();
s1340735 2:a86b09b00008 106 }
s1340735 0:abe0bc5c43b7 107
s1340735 1:6a8b45298e54 108 // *** TRICEP EMG ***
s1340735 2:a86b09b00008 109 void Triceps()
s1340735 2:a86b09b00008 110 {
Tanja2211 6:ad6d4bd69205 111 uint16_t emg_valueT;
s1340735 2:a86b09b00008 112 float emg_value_f32T;
s1340735 2:a86b09b00008 113
s1340735 2:a86b09b00008 114 //lezen
s1340735 2:a86b09b00008 115 emg_valueT = emgT.read_u16();
s1340735 2:a86b09b00008 116 emg_value_f32T = emgT.read();
s1340735 2:a86b09b00008 117
s1340735 2:a86b09b00008 118 //filteren
s1340735 2:a86b09b00008 119 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 );
s1340735 2:a86b09b00008 120 filtered_emgT = fabs(filtered_emgT);
s1340735 2:a86b09b00008 121 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 );
s1340735 2:a86b09b00008 122
s1340735 2:a86b09b00008 123 //moving average
s1340735 2:a86b09b00008 124 T0=filtered_emgT;
s1340735 2:a86b09b00008 125 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;
s1340735 2:a86b09b00008 126 T9=T8;
s1340735 2:a86b09b00008 127 T8=T7;
s1340735 2:a86b09b00008 128 T7=T6;
s1340735 2:a86b09b00008 129 T6=T5;
s1340735 2:a86b09b00008 130 T5=T4;
s1340735 2:a86b09b00008 131 T4=T3;
s1340735 2:a86b09b00008 132 T3=T2;
s1340735 2:a86b09b00008 133 T2=T1;
s1340735 2:a86b09b00008 134 T1=T0;
s1340735 2:a86b09b00008 135
Tanja2211 6:ad6d4bd69205 136 scope.set(0,emg_valueT); //ruwe data
Tanja2211 6:ad6d4bd69205 137 scope.set(1,filtered_emgT); //filtered
s1340735 2:a86b09b00008 138 }
s1340735 0:abe0bc5c43b7 139
s1340735 0:abe0bc5c43b7 140 // *** MAIN ***
s1340735 2:a86b09b00008 141 int main()
s1340735 2:a86b09b00008 142 {
s1340735 2:a86b09b00008 143 //bepaling van positie met triceps
s1340735 2:a86b09b00008 144 Ticker log_timerT;
s1340735 2:a86b09b00008 145 arm_biquad_cascade_df1_init_f32(&lowpass,1,lowpass_const,lowpass_states);
s1340735 2:a86b09b00008 146 arm_biquad_cascade_df1_init_f32(&highpass,1,highpass_const,highpass_states);
s1340735 2:a86b09b00008 147
s1340735 2:a86b09b00008 148 log_timerT.attach(Triceps, 0.005);
s1340735 2:a86b09b00008 149 while(1) {}
s1340735 0:abe0bc5c43b7 150
s1340735 2:a86b09b00008 151 drempelwaardeT1=4.99;
s1340735 2:a86b09b00008 152 drempelwaardeT2=7;
s1340735 2:a86b09b00008 153 if (MOVAVG_T >= drempelwaardeT1) {
s1340735 2:a86b09b00008 154 yT1=1;
s1340735 2:a86b09b00008 155 if (MOVAVG_T >= drempelwaardeT1) {
s1340735 2:a86b09b00008 156 yT2=1;
s1340735 2:a86b09b00008 157 } else {
s1340735 2:a86b09b00008 158 yT2=0;
s1340735 2:a86b09b00008 159 }
s1340735 2:a86b09b00008 160 } else {
s1340735 2:a86b09b00008 161 yT1=0;
s1340735 2:a86b09b00008 162 }
s1340735 0:abe0bc5c43b7 163
s1340735 2:a86b09b00008 164 positie=yT1+yT2;//INPUT MOTOR 2
s1340735 0:abe0bc5c43b7 165
s1340735 2:a86b09b00008 166 //controle positie op scherm
s1340735 2:a86b09b00008 167 if (positie==0) {
s1340735 2:a86b09b00008 168 pc.printf("Motor 2 gaat naar stand 0\n");
s1340735 2:a86b09b00008 169 } else {
s1340735 2:a86b09b00008 170 if (positie==1) {
s1340735 2:a86b09b00008 171 pc.printf("Motor 2 gaat naar stand 1\n");
s1340735 2:a86b09b00008 172 } else {
s1340735 2:a86b09b00008 173 if (positie==2) {
s1340735 2:a86b09b00008 174 pc.printf("Motor 1 beweegt met snelheid 2\n");
s1340735 2:a86b09b00008 175 }
s1340735 2:a86b09b00008 176 }
s1340735 2:a86b09b00008 177 }
s1340735 2:a86b09b00008 178
s1340735 2:a86b09b00008 179
s1340735 2:a86b09b00008 180 //bepaling van snelheidsstand met biceps
s1340735 2:a86b09b00008 181 Ticker log_timerB;
s1340735 2:a86b09b00008 182 arm_biquad_cascade_df1_init_f32(&lowpass,1,lowpass_const,lowpass_states);
s1340735 2:a86b09b00008 183 arm_biquad_cascade_df1_init_f32(&highpass,1,highpass_const,highpass_states);
s1340735 2:a86b09b00008 184
s1340735 2:a86b09b00008 185 log_timerB.attach(Biceps, 0.005);
s1340735 2:a86b09b00008 186 while(1) {}
s1340735 2:a86b09b00008 187
s1340735 2:a86b09b00008 188 drempelwaardeB1=4.99;
s1340735 2:a86b09b00008 189 drempelwaardeB2=6;
s1340735 2:a86b09b00008 190 drempelwaardeB3=10;
s1340735 2:a86b09b00008 191
s1340735 2:a86b09b00008 192 if (MOVAVG_B >= drempelwaardeB1) {
s1340735 2:a86b09b00008 193 yB1=1;
s1340735 2:a86b09b00008 194 if (MOVAVG_B >= drempelwaardeB2) {
s1340735 2:a86b09b00008 195 yB2=1;
s1340735 2:a86b09b00008 196 if (MOVAVG_B >= drempelwaardeB3) {
s1340735 2:a86b09b00008 197 yB3=1;
s1340735 0:abe0bc5c43b7 198 } else {
s1340735 2:a86b09b00008 199 yB3=0;
s1340735 0:abe0bc5c43b7 200 }
s1340735 0:abe0bc5c43b7 201 } else {
s1340735 2:a86b09b00008 202 yB2=0;
s1340735 0:abe0bc5c43b7 203 }
s1340735 2:a86b09b00008 204 } else {
s1340735 2:a86b09b00008 205 yB1=0;
s1340735 2:a86b09b00008 206 }
s1340735 0:abe0bc5c43b7 207
s1340735 2:a86b09b00008 208 snelheidsstand=yB1+yB2+yB3;//INPUT MOTOR 1
s1340735 0:abe0bc5c43b7 209
s1340735 2:a86b09b00008 210 //controle snelheidsstand op scherm
s1340735 2:a86b09b00008 211 if (snelheidsstand==0) {
s1340735 2:a86b09b00008 212 pc.printf("Motor 1 beweegt niet\n");
s1340735 2:a86b09b00008 213 } else {
s1340735 1:6a8b45298e54 214 if (snelheidsstand==1) {
s1340735 1:6a8b45298e54 215 pc.printf("Motor 1 beweegt met snelheid 1\n");
s1340735 1:6a8b45298e54 216 } else {
s1340735 2:a86b09b00008 217 if (snelheidsstand==2) {
s1340735 2:a86b09b00008 218 pc.printf("Motor 1 beweegt met snelheid 2\n");
s1340735 2:a86b09b00008 219 } else {
s1340735 2:a86b09b00008 220 if (snelheidsstand==3) {
s1340735 2:a86b09b00008 221 pc.printf("Motor 1 beweegt met snelheid 3\n");
s1340735 2:a86b09b00008 222 }
s1340735 2:a86b09b00008 223 }
s1340735 1:6a8b45298e54 224 }
s1340735 1:6a8b45298e54 225 }
s1340735 1:6a8b45298e54 226 }