BMT M9 Groep01 / Mbed 2 deprecated test_emg

emg

Dependencies:   HIDScope MODSERIAL mbed-dsp mbed TouchButton

Fork of test by BMT M9 Groep01

main.cpp@40:42735d766db1, 2014-10-28 (annotated)

Committer:
s1340735
Date:
Tue Oct 28 14:02:14 2014 +0000
Revision:
40:42735d766db1
Parent:
39:012ff1795e6b
Child:
41:d86fced533a8
while

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 32:36bb6af01689 5 #include "mbed.h"
s1340735 32:36bb6af01689 6 #include "TouchButton.h"
s1340735 0:abe0bc5c43b7 7
s1340735 2:a86b09b00008 8 MODSERIAL pc(USBTX,USBRX);
s1340735 2:a86b09b00008 9
Tanja2211 9:a1890454e5a7 10 HIDScope scope(4);
s1340735 0:abe0bc5c43b7 11
s1340735 21:f0357a41f43e 12 AnalogIn emgB(PTB1); //biceps
s1340735 21:f0357a41f43e 13 AnalogIn emgT(PTB2); //tricep
s1340735 21:f0357a41f43e 14
s1340735 32:36bb6af01689 15 DigitalOut myled1(LED1);//red
s1340735 32:36bb6af01689 16 DigitalOut myled2(LED2);//green
s1340735 32:36bb6af01689 17 DigitalOut myled3(LED3);//blue
s1340735 32:36bb6af01689 18
s1340735 32:36bb6af01689 19 /* FRDM-KL25Z built-in touch slider
s1340735 36:ccc901c169b7 20 *******************
s1340735 36:ccc901c169b7 21 * * * *
s1340735 36:ccc901c169b7 22 * 1 * 2 * 3 *
s1340735 36:ccc901c169b7 23 * * * *
s1340735 36:ccc901c169b7 24 *******************
s1340735 33:bc0abe29bad1 25 * key 1 will light Red LED -> CALIBRATIE TRICEPS
s1340735 33:bc0abe29bad1 26 * key 2 will light Green LED -> CALIBRATIE BICEPS
s1340735 33:bc0abe29bad1 27 * key 3 will light Blue LED -> START
s1340735 32:36bb6af01689 28 */
s1340735 0:abe0bc5c43b7 29
s1340735 0:abe0bc5c43b7 30 //*** OBJECTS ***
s1340735 2:a86b09b00008 31 //bicep
s1340735 33:bc0abe29bad1 32 uint16_t emg_valueB;
s1340735 33:bc0abe29bad1 33 float emg_value_f32B;
s1340735 33:bc0abe29bad1 34 float filtered_emgB;
s1340735 0:abe0bc5c43b7 35 float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3;//B1=snelheidsstand 1, B2=snelheidsstand 2, B3=snelheidsstand 3
s1340735 0:abe0bc5c43b7 36 int yB1, yB2, yB3;
s1340735 21:f0357a41f43e 37 float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, B13, B14, B15, B16, B17, B18, B19, B20, B21, B22, B23, B24, B25, B26, B27, B28, B29, MOVAVG_B; //moving average objects
s1340735 21:f0357a41f43e 38 float B30, B31, B32, B33, B34, B35, B36, B37, B38, B39, B40, B41, B42, B43, B44, B45, B46, B47, B48, B49, B50, B51, B52, B53, B54, B55, B56, B57, B58, B59;
s1340735 1:6a8b45298e54 39 int snelheidsstand;
s1340735 2:a86b09b00008 40 //tricep
s1340735 33:bc0abe29bad1 41 uint16_t emg_valueT;
s1340735 33:bc0abe29bad1 42 float emg_value_f32T;
s1340735 33:bc0abe29bad1 43 float filtered_emgT;
s1340735 14:bebdb2ac5ec6 44 float drempelwaardeT;
s1340735 2:a86b09b00008 45 int yT1, yT2;
Tanja2211 15:e779bfbeb8ea 46 float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,MOVAVG_T; //moving average objects
s1340735 14:bebdb2ac5ec6 47 float MOVAVG_Positie1, MOVAVG_Positie2;
s1340735 2:a86b09b00008 48 int positie;
s1340735 2:a86b09b00008 49
s1340735 0:abe0bc5c43b7 50
s1340735 0:abe0bc5c43b7 51 //*** FILTERS ***
s1340735 19:fdebe6892633 52 arm_biquad_casd_df1_inst_f32 notchT;
s1340735 19:fdebe6892633 53 arm_biquad_casd_df1_inst_f32 notchB;
s1340735 21:f0357a41f43e 54 //constants for 50Hz
s1340735 21:f0357a41f43e 55 float notch_const[]= {0.5857841106784856, -1.3007020142696517e-16, 0.5857841106784856, 1.3007020142696517e-16, -0.17156822135697122}; //{a0 a1 a2 -b1 -b2}
s1340735 19:fdebe6892633 56 float notch_states[4];
s1340735 19:fdebe6892633 57
Tanja2211 9:a1890454e5a7 58 arm_biquad_casd_df1_inst_f32 lowpassT;
Tanja2211 9:a1890454e5a7 59 arm_biquad_casd_df1_inst_f32 lowpassB;
s1340735 19:fdebe6892633 60 //constants for 60Hz lowpass
s1340735 19:fdebe6892633 61 float lowpass_const[] = {0.39133426347022965, 0.7826685269404593, 0.39133426347022965, -0.3695259524151476, -0.19581110146577096};//{a0 a1 a2 -b1 -b2} van online calculator
s1340735 0:abe0bc5c43b7 62 float lowpass_states[4];
s1340735 0:abe0bc5c43b7 63
Tanja2211 9:a1890454e5a7 64 arm_biquad_casd_df1_inst_f32 highpassT;
Tanja2211 9:a1890454e5a7 65 arm_biquad_casd_df1_inst_f32 highpassB;
s1340735 19:fdebe6892633 66 //constants for 20Hz highpass
Tanja2211 17:5fd768d0504f 67 float highpass_const[] = {0.6389437261127494, -1.2778874522254988, 0.6389437261127494, 1.1429772843080923, -0.41279762014290533};//{a0 a1 a2 -b1 -b2}
s1340735 0:abe0bc5c43b7 68 float highpass_states[4];
s1340735 0:abe0bc5c43b7 69
Tanja2211 9:a1890454e5a7 70
Tanja2211 9:a1890454e5a7 71 // *** TRICEPS en BICEPS EMG ***
s1340735 34:514440ddca9a 72
Tanja2211 9:a1890454e5a7 73 void Triceps()
Tanja2211 9:a1890454e5a7 74 {
Tanja2211 9:a1890454e5a7 75 //Triceps lezen
Tanja2211 9:a1890454e5a7 76 emg_valueT = emgT.read_u16();
Tanja2211 9:a1890454e5a7 77 emg_value_f32T = emgT.read();
Tanja2211 9:a1890454e5a7 78
Tanja2211 9:a1890454e5a7 79 //Triceps filteren
Tanja2211 20:5cd52a0daab0 80 arm_biquad_cascade_df1_f32(&notchT, &emg_value_f32T, &filtered_emgT, 1);
s1340735 19:fdebe6892633 81 arm_biquad_cascade_df1_f32(&lowpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 9:a1890454e5a7 82 filtered_emgT = fabs(filtered_emgT);
Tanja2211 17:5fd768d0504f 83 arm_biquad_cascade_df1_f32(&highpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 20:5cd52a0daab0 84 filtered_emgT = fabs(filtered_emgT);
s1340735 21:f0357a41f43e 85
Tanja2211 9:a1890454e5a7 86 //Triceps moving average
Tanja2211 28:c6b19fdfba01 87 T0=filtered_emgT*100;
Tanja2211 15:e779bfbeb8ea 88 MOVAVG_T=T0*0.03333+T1*0.03333+T2*0.03333+T3*0.03333+T4*0.03333+T5*0.03333+T6*0.03333+T7*0.03333+T8*0.03333+T9*0.03333+T10*0.03333+T11*0.03333+T12*0.03333+T13*0.03333+T14*0.03333+T15*0.03333+T16*0.03333+T17*0.03333+T18*0.03333+T19*0.03333+T20*0.03333+T21*0.03333+T22*0.03333+T23*0.03333+T24*0.03333+T25*0.03333+T26*0.03333+T27*0.03333+T28*0.03333+T29*0.03333;
s1340735 33:bc0abe29bad1 89 T29=T28, T28=T27, T27=T26, T26=T25, T25=T24, T24=T23, T23=T22, T22=T21, T21=T20, T20=T19, T19=T18, T18=T17;
s1340735 33:bc0abe29bad1 90 T17=T16, T16=T15, T15=T14, T14=T13, T13=T12, T12=T11, T11=T10, T10=T9, T9=T8, T8=T7, T7=T6, T6=T5;
s1340735 33:bc0abe29bad1 91 T5=T4, T4=T3, T3=T2, T2=T1, T1=T0;
s1340735 21:f0357a41f43e 92
Tanja2211 16:e997a6fd802a 93 //sturen naar scherm (Realterm)
Tanja2211 16:e997a6fd802a 94 pc.printf("%f\r\n",MOVAVG_T);
Tanja2211 16:e997a6fd802a 95
s1340735 10:9319e872c752 96 //sturen naar HID Scope
Tanja2211 9:a1890454e5a7 97 scope.set(0,emg_valueT); //ruwe data
Tanja2211 9:a1890454e5a7 98 scope.set(1,filtered_emgT); //filtered
Tanja2211 9:a1890454e5a7 99 scope.send();
Tanja2211 9:a1890454e5a7 100 }
Tanja2211 9:a1890454e5a7 101
s1340735 0:abe0bc5c43b7 102 void Biceps()
s1340735 0:abe0bc5c43b7 103 {
Tanja2211 9:a1890454e5a7 104 //Biceps lezen
s1340735 0:abe0bc5c43b7 105 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 106 emg_value_f32B = emgB.read();
s1340735 0:abe0bc5c43b7 107
Tanja2211 9:a1890454e5a7 108 //Biceps filteren
s1340735 19:fdebe6892633 109 arm_biquad_cascade_df1_f32(&notchB, &emg_value_f32B, &filtered_emgB, 1 );
s1340735 19:fdebe6892633 110 arm_biquad_cascade_df1_f32(&lowpassB, &filtered_emgB, &filtered_emgB, 1 );
s1340735 0:abe0bc5c43b7 111 filtered_emgB = fabs(filtered_emgB);
Tanja2211 17:5fd768d0504f 112 arm_biquad_cascade_df1_f32(&highpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 20:5cd52a0daab0 113 filtered_emgB = fabs(filtered_emgB);
s1340735 21:f0357a41f43e 114
Tanja2211 9:a1890454e5a7 115 //Biceps moving average
Tanja2211 22:0be5dfa04f75 116 B0=filtered_emgB*1000;
s1340735 21:f0357a41f43e 117 MOVAVG_B=B0*0.01667+B1*0.01667+B2*0.01667+B3*0.01667+B4*0.01667+B5*0.01667+B6*0.01667+B7*0.01667+B8*0.01667+B9*0.01667+B10*0.01667+B11*0.01667+B12*0.01667+B13*0.01667+B14*0.01667+B15*0.01667+B16*0.01667+B17*0.01667+B18*0.01667+B19*0.01667+B20*0.01667+B21*0.01667+B22*0.01667+B23*0.01667+B24*0.01667+B25*0.01667+B26*0.01667+B27*0.01667+B28*0.01667+B29*0.01667+B30*0.01667+B31*0.01667+B32*0.01667+B33*0.01667+B34*0.01667+B35*0.01667+B36*0.01667+B37*0.01667+B38*0.01667+B39*0.01667+B40*0.01667+B41*0.01667+B42*0.01667+B43*0.01667+B44*0.01667+B45*0.01667+B46*0.01667+B47*0.01667+B48*0.01667+B49*0.01667+B50*0.01667+B51*0.01667+B52*0.01667+B53*0.01667+B54*0.01667+B55*0.01667+B56*0.01667+B57*0.01667+B58*0.01667+B59*0.01667;
s1340735 33:bc0abe29bad1 118 B59=B58, B58=B57, B57=B56, B56=B55, B55=B54, B54=B53, B53=B52, B52=B51, B51=B50, B50=B48, B49=B49;
s1340735 33:bc0abe29bad1 119 B48=B47, B47=B46, B46=B45, B45=B44, B43=B42, B42=B41, B41=B40, B40=B39, B39=B38, B38=B37, B37=B36;
s1340735 33:bc0abe29bad1 120 B36=B35, B35=B34, B34=B33, B33=B32, B32=B31, B31=B30, B30=B29, B29=B28, B28=B27, B27=B26, B26=B25;
s1340735 33:bc0abe29bad1 121 B25=B24, B24=B23, B23=B22, B22=B21, B21=B20, B20=B19, B19=B18, B18=B17, B17=B16, B16=B15, B15=B14;
s1340735 33:bc0abe29bad1 122 B14=B13, B13=B12, B12=B11, B11=B10, B10=B9, B9=B8, B8=B7, B7=B6, B6=B5, B5=B4, B4=B3;
s1340735 33:bc0abe29bad1 123 B3=B2, B2=B1, B1=B0;
s1340735 0:abe0bc5c43b7 124
s1340735 32:36bb6af01689 125 //sturen naar scherm
Tanja2211 16:e997a6fd802a 126 pc.printf("%f\r\n",MOVAVG_B);
Tanja2211 16:e997a6fd802a 127
s1340735 10:9319e872c752 128 //naar HID Scope
Tanja2211 6:ad6d4bd69205 129 scope.set(2,emg_valueB); //ruwe data
Tanja2211 6:ad6d4bd69205 130 scope.set(3,filtered_emgB); //filtered
Tanja2211 5:3232d78cb7b3 131 scope.send();
s1340735 2:a86b09b00008 132 }
s1340735 0:abe0bc5c43b7 133
s1340735 19:fdebe6892633 134
s1340735 32:36bb6af01689 135 // *** TRICEPS EN BICEPS CALIBRATIE ***
s1340735 32:36bb6af01689 136 void Calibratie_Triceps()
Tanja2211 9:a1890454e5a7 137 {
s1340735 32:36bb6af01689 138 //triceps drempelwaarde calibreren
s1340735 10:9319e872c752 139
s1340735 32:36bb6af01689 140 Ticker log_timerT;
s1340735 21:f0357a41f43e 141
s1340735 19:fdebe6892633 142 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 9:a1890454e5a7 143 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 9:a1890454e5a7 144 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
s1340735 2:a86b09b00008 145
s1340735 32:36bb6af01689 146 log_timerT.attach(Triceps, 0.005);
s1340735 32:36bb6af01689 147 wait(3);
s1340735 32:36bb6af01689 148 log_timerT.detach();
s1340735 32:36bb6af01689 149 }
s1340735 10:9319e872c752 150
s1340735 32:36bb6af01689 151 void Calibratie_Biceps()
s1340735 32:36bb6af01689 152 {
s1340735 32:36bb6af01689 153 Ticker log_timerB;
Tanja2211 26:e43cae7186f5 154
Tanja2211 26:e43cae7186f5 155 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 26:e43cae7186f5 156 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 26:e43cae7186f5 157 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 26:e43cae7186f5 158
s1340735 32:36bb6af01689 159 log_timerB.attach(Biceps, 0.005);
s1340735 34:514440ddca9a 160 wait(5);
s1340735 32:36bb6af01689 161 log_timerB.detach();
s1340735 32:36bb6af01689 162 }
s1340735 32:36bb6af01689 163
s1340735 32:36bb6af01689 164 // *** MAIN ***
s1340735 32:36bb6af01689 165 int main()
s1340735 32:36bb6af01689 166 {
s1340735 32:36bb6af01689 167 pc.baud(115200);
s1340735 32:36bb6af01689 168
s1340735 34:514440ddca9a 169 drempelwaardeT=0;
s1340735 34:514440ddca9a 170 drempelwaardeB1=0;
s1340735 34:514440ddca9a 171 drempelwaardeB2=0;
s1340735 34:514440ddca9a 172 drempelwaardeB3=0;
s1340735 35:e60f09b575d7 173
s1340735 36:ccc901c169b7 174 TouchButton TButton;
s1340735 36:ccc901c169b7 175
s1340735 37:8b15c29445d3 176 int key=0;//vraagt om calibratie
s1340735 36:ccc901c169b7 177 key = TButton.PressedButton();
s1340735 32:36bb6af01689 178
s1340735 39:012ff1795e6b 179 pc.printf("key 1 calibratie triceps\n");
s1340735 39:012ff1795e6b 180 pc.printf("key 2 caliratie biceps\n");
s1340735 39:012ff1795e6b 181 pc.printf("key 3 START\n");
Tanja2211 26:e43cae7186f5 182
s1340735 37:8b15c29445d3 183 wait(5);
s1340735 40:42735d766db1 184 while(true) {
s1340735 40:42735d766db1 185 if (key==1) {
Tanja2211 38:017fd93e9efe 186
s1340735 40:42735d766db1 187 //rood
s1340735 40:42735d766db1 188 myled1 = 0;
s1340735 40:42735d766db1 189 myled2 = 1;
s1340735 40:42735d766db1 190 myled3 = 1;
Tanja2211 38:017fd93e9efe 191
s1340735 40:42735d766db1 192 pc.printf("calibratie tricep aan\n");
s1340735 40:42735d766db1 193 wait(2);
Tanja2211 38:017fd93e9efe 194
s1340735 40:42735d766db1 195 Calibratie_Triceps();
s1340735 40:42735d766db1 196 drempelwaardeT=MOVAVG_T-1;
s1340735 40:42735d766db1 197 pc.printf("drempelwaarde triceps is %f\r\n", drempelwaardeT);
s1340735 40:42735d766db1 198 pc.printf("calibratie tricep klaar,\n");
s1340735 40:42735d766db1 199 wait(5);
s1340735 40:42735d766db1 200 }
Tanja2211 38:017fd93e9efe 201
s1340735 40:42735d766db1 202 if (key==2) {
s1340735 39:012ff1795e6b 203
s1340735 40:42735d766db1 204 //green
s1340735 37:8b15c29445d3 205 myled1 = 1;
s1340735 40:42735d766db1 206 myled2 = 0;
s1340735 40:42735d766db1 207 myled3 = 1;
Tanja2211 38:017fd93e9efe 208 wait(0.1);
Tanja2211 38:017fd93e9efe 209
s1340735 40:42735d766db1 210 pc.printf("calibratie bicep snelheid 1 aan\n");
s1340735 40:42735d766db1 211 wait(2);
s1340735 37:8b15c29445d3 212
s1340735 40:42735d766db1 213 Calibratie_Biceps();
s1340735 40:42735d766db1 214 drempelwaardeB1=MOVAVG_B-1;
s1340735 40:42735d766db1 215 pc.printf("drempelwaarde snelheid 1 is %f\r\n", drempelwaardeB1);
s1340735 40:42735d766db1 216 wait(5);
s1340735 36:ccc901c169b7 217
s1340735 40:42735d766db1 218 pc.printf("calibratie bicep snelheid 2 aan\n");
s1340735 40:42735d766db1 219 wait(2);
s1340735 37:8b15c29445d3 220
s1340735 40:42735d766db1 221 Calibratie_Biceps();
s1340735 40:42735d766db1 222 drempelwaardeB2=MOVAVG_B-1;
s1340735 40:42735d766db1 223 pc.printf("drempelwaarde snelheid 2 is %f\r\n", drempelwaardeB2);
s1340735 37:8b15c29445d3 224 wait(5);
s1340735 37:8b15c29445d3 225
s1340735 40:42735d766db1 226 pc.printf("calibratie bicep snelheid 2 aan\n");
s1340735 40:42735d766db1 227 wait(2);
s1340735 35:e60f09b575d7 228
s1340735 40:42735d766db1 229 Calibratie_Biceps();
s1340735 40:42735d766db1 230 wait(2);
s1340735 37:8b15c29445d3 231
s1340735 40:42735d766db1 232 drempelwaardeB2=MOVAVG_B-1;
s1340735 40:42735d766db1 233 pc.printf("drempelwaarde snelheid 3 is %f\r\n", drempelwaardeB3);
s1340735 40:42735d766db1 234
s1340735 40:42735d766db1 235 pc.printf("caliratie biceps is klaar\n");
s1340735 36:ccc901c169b7 236
s1340735 37:8b15c29445d3 237 wait(5);
s1340735 40:42735d766db1 238 }
s1340735 40:42735d766db1 239 if (key==3) {
s1340735 40:42735d766db1 240 if(drempelwaardeT==0) {
s1340735 40:42735d766db1 241 pc.printf("voer calibratie triceps uit\n");
s1340735 40:42735d766db1 242 }
s1340735 40:42735d766db1 243 if (drempelwaardeB1==0) {
s1340735 40:42735d766db1 244 pc.printf("voer calibratie biceps uit\n");
s1340735 40:42735d766db1 245 }
s1340735 40:42735d766db1 246 if (drempelwaardeB2==0) {
s1340735 40:42735d766db1 247 pc.printf("voer calibratie biceps uit\n");
s1340735 40:42735d766db1 248 }
s1340735 40:42735d766db1 249 if (drempelwaardeB3==0) {
s1340735 40:42735d766db1 250 pc.printf("voer calibratie biceps uit\n");
s1340735 40:42735d766db1 251 } else {
s1340735 35:e60f09b575d7 252
s1340735 40:42735d766db1 253 //blue
s1340735 40:42735d766db1 254 myled1 = 1;
s1340735 40:42735d766db1 255 myled2 = 1;
s1340735 40:42735d766db1 256 myled3 = 0;
s1340735 40:42735d766db1 257 wait(0.1);
s1340735 40:42735d766db1 258
s1340735 40:42735d766db1 259 pc.printf("eerst positie dan snelheid aangeven/n");
s1340735 40:42735d766db1 260
s1340735 40:42735d766db1 261 //bepaling van positie met triceps 1
s1340735 40:42735d766db1 262 Ticker log_timerT1;
s1340735 37:8b15c29445d3 263
s1340735 40:42735d766db1 264 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
s1340735 40:42735d766db1 265 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
s1340735 40:42735d766db1 266 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
s1340735 40:42735d766db1 267
s1340735 40:42735d766db1 268 log_timerT1.attach(Triceps, 0.005);
s1340735 40:42735d766db1 269 wait(10);
s1340735 40:42735d766db1 270 log_timerT1.detach();
s1340735 40:42735d766db1 271
s1340735 40:42735d766db1 272 MOVAVG_T=MOVAVG_Positie1;
s1340735 40:42735d766db1 273
s1340735 40:42735d766db1 274 // positie van batje met behulp van Triceps
s1340735 37:8b15c29445d3 275
s1340735 40:42735d766db1 276 if (MOVAVG_Positie1>= drempelwaardeT) {
s1340735 40:42735d766db1 277 yT1=1;
s1340735 40:42735d766db1 278 } else {
s1340735 40:42735d766db1 279 yT1=0;
s1340735 40:42735d766db1 280 }
s1340735 40:42735d766db1 281
s1340735 40:42735d766db1 282 pc.printf("Triceps eerste meting is klaar.\n");
s1340735 40:42735d766db1 283 wait(5);
s1340735 40:42735d766db1 284
s1340735 40:42735d766db1 285 //bepaling van positie met tricep 2
s1340735 40:42735d766db1 286 Ticker log_timerT2;
s1340735 40:42735d766db1 287
s1340735 40:42735d766db1 288 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
s1340735 40:42735d766db1 289 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
s1340735 40:42735d766db1 290 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
s1340735 37:8b15c29445d3 291
s1340735 40:42735d766db1 292 log_timerT2.attach(Triceps, 0.005);
s1340735 40:42735d766db1 293 wait(5);
s1340735 40:42735d766db1 294 log_timerT2.detach();
s1340735 40:42735d766db1 295
s1340735 40:42735d766db1 296 MOVAVG_T=MOVAVG_Positie2;
s1340735 40:42735d766db1 297
s1340735 40:42735d766db1 298 if (MOVAVG_Positie2 >= drempelwaardeT) {
s1340735 40:42735d766db1 299 yT2=1;
s1340735 40:42735d766db1 300 } else {
s1340735 40:42735d766db1 301 yT2=0;
s1340735 40:42735d766db1 302 }
s1340735 40:42735d766db1 303
s1340735 40:42735d766db1 304 pc.printf("Triceps tweede meting is klaar.\n");
s1340735 40:42735d766db1 305
s1340735 40:42735d766db1 306 //*** INPUT MOTOR 2 ***
s1340735 40:42735d766db1 307 positie=yT1+yT2;
s1340735 37:8b15c29445d3 308
s1340735 40:42735d766db1 309 //controle positie op scherm
s1340735 40:42735d766db1 310 if (positie==0) {
s1340735 40:42735d766db1 311 pc.printf("Motor 2 blijft op stand 1\n");
s1340735 40:42735d766db1 312 } else {
s1340735 40:42735d766db1 313 if (positie==1) {
s1340735 40:42735d766db1 314 pc.printf("Motor 2 gaat naar stand 2\n");
s1340735 37:8b15c29445d3 315 } else {
s1340735 40:42735d766db1 316 if (positie==2) {
s1340735 40:42735d766db1 317 pc.printf("Motor 2 gaat naar stand 3\n");
s1340735 40:42735d766db1 318 }
s1340735 40:42735d766db1 319 }
s1340735 40:42735d766db1 320 }
s1340735 40:42735d766db1 321
s1340735 40:42735d766db1 322 wait(5);
s1340735 40:42735d766db1 323
s1340735 40:42735d766db1 324 Ticker log_timerB;
s1340735 40:42735d766db1 325
s1340735 40:42735d766db1 326 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
s1340735 40:42735d766db1 327 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
s1340735 40:42735d766db1 328 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
s1340735 40:42735d766db1 329
s1340735 40:42735d766db1 330 log_timerB.attach(Biceps,0.005);
s1340735 40:42735d766db1 331 wait(5);
s1340735 40:42735d766db1 332 log_timerB.detach();
s1340735 40:42735d766db1 333
s1340735 40:42735d766db1 334 //bepaling van snelheidsstand met biceps
s1340735 40:42735d766db1 335
s1340735 40:42735d766db1 336 if (MOVAVG_B >= drempelwaardeB1) {
s1340735 40:42735d766db1 337 yB1=1;
s1340735 40:42735d766db1 338 if (MOVAVG_B >= drempelwaardeB2) {
s1340735 40:42735d766db1 339 yB2=1;
s1340735 40:42735d766db1 340 if (MOVAVG_B >= drempelwaardeB3) {
s1340735 40:42735d766db1 341 yB3=1;
s1340735 40:42735d766db1 342 } else {
s1340735 40:42735d766db1 343 yB3=0;
s1340735 40:42735d766db1 344 }
s1340735 40:42735d766db1 345 } else {
s1340735 40:42735d766db1 346 yB2=0;
s1340735 37:8b15c29445d3 347 }
s1340735 37:8b15c29445d3 348 } else {
s1340735 40:42735d766db1 349 yB1=0;
s1340735 37:8b15c29445d3 350 }
s1340735 36:ccc901c169b7 351
s1340735 40:42735d766db1 352 //*** INPUT MOTOR 1 ***
s1340735 40:42735d766db1 353 snelheidsstand=yB1+yB2+yB3;
s1340735 32:36bb6af01689 354
s1340735 40:42735d766db1 355 //controle snelheidsstand op scherm
s1340735 40:42735d766db1 356 if (snelheidsstand==0) {
s1340735 40:42735d766db1 357 pc.printf("Motor 1 beweegt niet\n");
s1340735 37:8b15c29445d3 358 } else {
s1340735 40:42735d766db1 359 if (snelheidsstand==1) {
s1340735 40:42735d766db1 360 pc.printf("Motor 1 beweegt met snelheid 1\n");
s1340735 37:8b15c29445d3 361 } else {
s1340735 40:42735d766db1 362 if (snelheidsstand==2) {
s1340735 40:42735d766db1 363 pc.printf("Motor 1 beweegt met snelheid 2\n");
s1340735 40:42735d766db1 364 } else {
s1340735 40:42735d766db1 365 if (snelheidsstand==3) {
s1340735 40:42735d766db1 366 pc.printf("Motor 1 beweegt met snelheid 3\n");
s1340735 40:42735d766db1 367 }
s1340735 32:36bb6af01689 368 }
s1340735 32:36bb6af01689 369 }
s1340735 32:36bb6af01689 370 }
s1340735 32:36bb6af01689 371 }
s1340735 35:e60f09b575d7 372 }
s1340735 40:42735d766db1 373
s1340735 36:ccc901c169b7 374 }
s1340735 40:42735d766db1 375 }