emg_mk
Dependencies: HIDScope MODSERIAL mbed-dsp mbed
main.cpp
- Committer:
- Tanja2211
- Date:
- 2014-10-22
- Revision:
- 6:ad6d4bd69205
- Parent:
- 5:3232d78cb7b3
- Child:
- 7:c13686aecc75
File content as of revision 6:ad6d4bd69205:
#include "mbed.h" #include "HIDScope.h" #include "MODSERIAL.h" #include "arm_math.h" MODSERIAL pc(USBTX,USBRX); HIDScope scope(4);//is dit 4 voor 2 spieren? en hoe zit het met scope.set? AnalogIn emgB(PTB1);//biceps AnalogIn emgT(PTB2); // tricep //*** OBJECTS *** //bicep float filtered_emgB; float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3;//B1=snelheidsstand 1, B2=snelheidsstand 2, B3=snelheidsstand 3 int yB1, yB2, yB3; float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B;//moving average objects int snelheidsstand; //tricep float filtered_emgT; float drempelwaardeT1, drempelwaardeT2;//T1=positie 1, T2=positie 2 int yT1, yT2; float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, MOVAVG_T;//moving average objects int positie; //*** FILTERS *** arm_biquad_casd_df1_inst_f32 lowpass; //constants for 50Hz lowpass float lowpass_const[] = {0.2928920553, 0.5857841107, 0.2928920554, -0, -0.17156822136};//{a0 a1 a2 -b1 -b2} van online calculator float lowpass_states[4]; arm_biquad_casd_df1_inst_f32 highpass; //constants for 10Hz highpass float highpass_const[] = {0.8005910267, -1.6011820533, 0.8005910267, 1.5610153913, -0.6413487154};//{a0 a1 a2 -b1 -b2} float highpass_states[4]; //*** CALIBRATIE ***//dit moet nog in de main komen! en ik snap dit niet :( //void Calibratie() //{ //pc.printf("Calibratie drempelwaarde Triceps stand 1\n"); //wait(0.5); // { // int i; // int j=19; //for (i=0, i<=j; i++) { /*variable to store value in*/ // uint16_t emg_valueT1i_C; // float emg_value_f32T1i_C; /*put raw emg value both in red and in emg_value*/ // emg_valueT1i_C = emgT1i_C.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) // emg_value_f32T1i_C = emgT1i_C.read(); //process emg // arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T1i_C, &filtered_emgT1i_C, 1 ); // filtered_emgT1i_C = fabs(filtered_emgT1i_C); // arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT1i_C, &filtered_emgT1i_C, 1 ); // } // } //} //****************************** //Mean Triceps stand 1 //void MeanTriceps() //{ // // 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; // //} //****************************** //*** BICEP EMG *** void Biceps() { uint16_t emg_valueB; float emg_value_f32B; //lezen emg_valueB = emgB.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) emg_value_f32B = emgB.read(); //filteren arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 ); arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 ); filtered_emgB = fabs(filtered_emgB); //moving average B0=filtered_emgB; 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; B9=B8; B8=B7; B7=B6; B6=B5; B5=B4; B4=B3; B3=B2; B2=B1; B1=B0; //naar scherm scope.set(2,emg_valueB); //ruwe data scope.set(3,filtered_emgB); //filtered scope.send(); } // *** TRICEP EMG *** void Triceps() { uint16_t emg_valueT; float emg_value_f32T; //lezen emg_valueT = emgT.read_u16(); emg_value_f32T = emgT.read(); //filteren arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 ); filtered_emgT = fabs(filtered_emgT); arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 ); //moving average T0=filtered_emgT; 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; T9=T8; T8=T7; T7=T6; T6=T5; T5=T4; T4=T3; T3=T2; T2=T1; T1=T0; scope.set(0,emg_valueT); //ruwe data scope.set(1,filtered_emgT); //filtered } // *** MAIN *** int main() { //bepaling van positie met triceps Ticker log_timerT; arm_biquad_cascade_df1_init_f32(&lowpass,1,lowpass_const,lowpass_states); arm_biquad_cascade_df1_init_f32(&highpass,1,highpass_const,highpass_states); log_timerT.attach(Triceps, 0.005); while(1) {} drempelwaardeT1=4.99; drempelwaardeT2=7; if (MOVAVG_T >= drempelwaardeT1) { yT1=1; if (MOVAVG_T >= drempelwaardeT1) { yT2=1; } else { yT2=0; } } else { yT1=0; } positie=yT1+yT2;//INPUT MOTOR 2 //controle positie op scherm if (positie==0) { pc.printf("Motor 2 gaat naar stand 0\n"); } else { if (positie==1) { pc.printf("Motor 2 gaat naar stand 1\n"); } else { if (positie==2) { pc.printf("Motor 1 beweegt met snelheid 2\n"); } } } //bepaling van snelheidsstand met biceps Ticker log_timerB; arm_biquad_cascade_df1_init_f32(&lowpass,1,lowpass_const,lowpass_states); arm_biquad_cascade_df1_init_f32(&highpass,1,highpass_const,highpass_states); log_timerB.attach(Biceps, 0.005); while(1) {} drempelwaardeB1=4.99; drempelwaardeB2=6; drempelwaardeB3=10; if (MOVAVG_B >= drempelwaardeB1) { yB1=1; if (MOVAVG_B >= drempelwaardeB2) { yB2=1; if (MOVAVG_B >= drempelwaardeB3) { yB3=1; } else { yB3=0; } } else { yB2=0; } } else { yB1=0; } snelheidsstand=yB1+yB2+yB3;//INPUT MOTOR 1 //controle snelheidsstand op scherm if (snelheidsstand==0) { pc.printf("Motor 1 beweegt niet\n"); } else { if (snelheidsstand==1) { pc.printf("Motor 1 beweegt met snelheid 1\n"); } else { if (snelheidsstand==2) { pc.printf("Motor 1 beweegt met snelheid 2\n"); } else { if (snelheidsstand==3) { pc.printf("Motor 1 beweegt met snelheid 3\n"); } } } } }