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@44:bcd0bb522bf5, 2014-10-28 (annotated)

Committer:
s1340735
Date:
Tue Oct 28 21:33:34 2014 +0000
Revision:
44:bcd0bb522bf5
Parent:
43:bc93d31b80f5
Child:
45:32ca80fb87e4
laatste versie :D

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)
s1340735 43:bc93d31b80f5 94 pc.printf("Moving average T %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 43:bc93d31b80f5 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 43:bc93d31b80f5 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 43:bc93d31b80f5 124
s1340735 32:36bb6af01689 125 //sturen naar scherm
s1340735 43:bc93d31b80f5 126 pc.printf("Moving average B %f\r\n",MOVAVG_B);
s1340735 43:bc93d31b80f5 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;
s1340735 43:bc93d31b80f5 154
Tanja2211 42:6430dd3a8ea2 155 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 42:6430dd3a8ea2 156 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 42:6430dd3a8ea2 157 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
s1340735 43:bc93d31b80f5 158
Tanja2211 42:6430dd3a8ea2 159 log_timerB.attach(Biceps, 0.005);
Tanja2211 41:d86fced533a8 160 wait(3);
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 43:bc93d31b80f5 176 int key=0;
s1340735 32:36bb6af01689 177
s1340735 39:012ff1795e6b 178 pc.printf("key 1 calibratie triceps\n");
s1340735 39:012ff1795e6b 179 pc.printf("key 2 caliratie biceps\n");
s1340735 39:012ff1795e6b 180 pc.printf("key 3 START\n");
Tanja2211 26:e43cae7186f5 181
s1340735 40:42735d766db1 182 while(true) {
Tanja2211 41:d86fced533a8 183 key = TButton.PressedButton();
s1340735 44:bcd0bb522bf5 184 if (key==1) {//duurt 8 seconden
s1340735 40:42735d766db1 185 //rood
s1340735 40:42735d766db1 186 myled1 = 0;
s1340735 40:42735d766db1 187 myled2 = 1;
s1340735 40:42735d766db1 188 myled3 = 1;
Tanja2211 38:017fd93e9efe 189
s1340735 40:42735d766db1 190 pc.printf("calibratie tricep aan\n");
s1340735 40:42735d766db1 191 wait(2);
Tanja2211 38:017fd93e9efe 192
s1340735 40:42735d766db1 193 Calibratie_Triceps();
s1340735 40:42735d766db1 194 drempelwaardeT=MOVAVG_T-1;
s1340735 40:42735d766db1 195 pc.printf("drempelwaarde triceps is %f\r\n", drempelwaardeT);
s1340735 43:bc93d31b80f5 196
s1340735 40:42735d766db1 197 pc.printf("calibratie tricep klaar,\n");
s1340735 43:bc93d31b80f5 198 wait(3);
s1340735 40:42735d766db1 199 }
Tanja2211 38:017fd93e9efe 200
s1340735 44:bcd0bb522bf5 201 if (key==2) {//duurt 26 seconden
s1340735 40:42735d766db1 202 //green
s1340735 37:8b15c29445d3 203 myled1 = 1;
s1340735 40:42735d766db1 204 myled2 = 0;
s1340735 40:42735d766db1 205 myled3 = 1;
Tanja2211 38:017fd93e9efe 206
s1340735 40:42735d766db1 207 pc.printf("calibratie bicep snelheid 1 aan\n");
s1340735 40:42735d766db1 208 wait(2);
s1340735 40:42735d766db1 209 Calibratie_Biceps();
s1340735 40:42735d766db1 210 drempelwaardeB1=MOVAVG_B-1;
s1340735 40:42735d766db1 211 pc.printf("drempelwaarde snelheid 1 is %f\r\n", drempelwaardeB1);
s1340735 43:bc93d31b80f5 212 wait(3);
s1340735 37:8b15c29445d3 213
s1340735 44:bcd0bb522bf5 214 pc.printf("calibratie biceps snelheid 2 aan\n");
s1340735 40:42735d766db1 215 wait(2);
s1340735 43:bc93d31b80f5 216 Calibratie_Biceps();
s1340735 43:bc93d31b80f5 217 drempelwaardeB2=MOVAVG_B-1;
s1340735 43:bc93d31b80f5 218 pc.printf("drempelwaarde snelheid 2 is %f\r\n", drempelwaardeB2);
s1340735 43:bc93d31b80f5 219 wait(3);
s1340735 35:e60f09b575d7 220
s1340735 44:bcd0bb522bf5 221 pc.printf("calibratie biceps snelheid 3 aan\n");
s1340735 40:42735d766db1 222 wait(2);
s1340735 43:bc93d31b80f5 223 Calibratie_Biceps();
s1340735 43:bc93d31b80f5 224 drempelwaardeB3=MOVAVG_B-1;
s1340735 40:42735d766db1 225 pc.printf("drempelwaarde snelheid 3 is %f\r\n", drempelwaardeB3);
s1340735 40:42735d766db1 226
s1340735 40:42735d766db1 227 pc.printf("caliratie biceps is klaar\n");
s1340735 37:8b15c29445d3 228 wait(5);
s1340735 40:42735d766db1 229 }
s1340735 43:bc93d31b80f5 230
s1340735 44:bcd0bb522bf5 231 if (key==3) {//duurt 34 seconden
s1340735 44:bcd0bb522bf5 232
s1340735 44:bcd0bb522bf5 233 //blue
s1340735 44:bcd0bb522bf5 234 myled1 = 1;
s1340735 44:bcd0bb522bf5 235 myled2 = 1;
s1340735 44:bcd0bb522bf5 236 myled3 = 0;
s1340735 44:bcd0bb522bf5 237
s1340735 43:bc93d31b80f5 238 if(drempelwaardeT==0) {
s1340735 43:bc93d31b80f5 239 pc.printf("geen waarde calibratie TRICEPS \n");
s1340735 43:bc93d31b80f5 240 }
s1340735 43:bc93d31b80f5 241 if (drempelwaardeB1==0) {
s1340735 43:bc93d31b80f5 242 pc.printf("geen waarde calibratie BICEPS 1 \n");
s1340735 43:bc93d31b80f5 243 }
s1340735 43:bc93d31b80f5 244 if (drempelwaardeB2==0) {
s1340735 43:bc93d31b80f5 245 pc.printf("geen waarde calibratie BICEPS 2 \n");
s1340735 43:bc93d31b80f5 246 }
s1340735 43:bc93d31b80f5 247 if (drempelwaardeB3==0) {
s1340735 43:bc93d31b80f5 248 pc.printf("geen waarde calibratie BICEPS 3 \n");
s1340735 43:bc93d31b80f5 249 } else {
s1340735 44:bcd0bb522bf5 250
s1340735 43:bc93d31b80f5 251 pc.printf("eerst positie dan snelheid aangeven /n");
s1340735 40:42735d766db1 252
s1340735 40:42735d766db1 253 //bepaling van positie met triceps 1
s1340735 40:42735d766db1 254 Ticker log_timerT1;
s1340735 37:8b15c29445d3 255
s1340735 40:42735d766db1 256 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
s1340735 40:42735d766db1 257 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
s1340735 40:42735d766db1 258 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
s1340735 40:42735d766db1 259
s1340735 40:42735d766db1 260 log_timerT1.attach(Triceps, 0.005);
s1340735 43:bc93d31b80f5 261 wait(5);
s1340735 40:42735d766db1 262 log_timerT1.detach();
s1340735 40:42735d766db1 263
s1340735 40:42735d766db1 264 MOVAVG_T=MOVAVG_Positie1;
s1340735 40:42735d766db1 265
s1340735 40:42735d766db1 266 // positie van batje met behulp van Triceps
s1340735 37:8b15c29445d3 267
s1340735 40:42735d766db1 268 if (MOVAVG_Positie1>= drempelwaardeT) {
s1340735 40:42735d766db1 269 yT1=1;
s1340735 40:42735d766db1 270 } else {
s1340735 40:42735d766db1 271 yT1=0;
s1340735 40:42735d766db1 272 }
s1340735 44:bcd0bb522bf5 273
s1340735 43:bc93d31b80f5 274 pc.printf("Triceps meting 1 is klaar.\n");
s1340735 44:bcd0bb522bf5 275 wait(3);
s1340735 40:42735d766db1 276
s1340735 40:42735d766db1 277 //bepaling van positie met tricep 2
s1340735 40:42735d766db1 278 Ticker log_timerT2;
s1340735 40:42735d766db1 279
s1340735 40:42735d766db1 280 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
s1340735 40:42735d766db1 281 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
s1340735 40:42735d766db1 282 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
s1340735 37:8b15c29445d3 283
s1340735 40:42735d766db1 284 log_timerT2.attach(Triceps, 0.005);
s1340735 40:42735d766db1 285 wait(5);
s1340735 40:42735d766db1 286 log_timerT2.detach();
s1340735 40:42735d766db1 287
s1340735 40:42735d766db1 288 MOVAVG_T=MOVAVG_Positie2;
s1340735 40:42735d766db1 289
s1340735 40:42735d766db1 290 if (MOVAVG_Positie2 >= drempelwaardeT) {
s1340735 40:42735d766db1 291 yT2=1;
s1340735 40:42735d766db1 292 } else {
s1340735 40:42735d766db1 293 yT2=0;
s1340735 40:42735d766db1 294 }
s1340735 40:42735d766db1 295
s1340735 43:bc93d31b80f5 296 pc.printf("Triceps meting 2 is klaar.\n");
s1340735 44:bcd0bb522bf5 297 wait(3);
s1340735 40:42735d766db1 298
s1340735 40:42735d766db1 299 //*** INPUT MOTOR 2 ***
s1340735 40:42735d766db1 300 positie=yT1+yT2;
s1340735 37:8b15c29445d3 301
s1340735 40:42735d766db1 302 //controle positie op scherm
s1340735 40:42735d766db1 303 if (positie==0) {
s1340735 40:42735d766db1 304 pc.printf("Motor 2 blijft op stand 1\n");
s1340735 40:42735d766db1 305 } else {
s1340735 40:42735d766db1 306 if (positie==1) {
s1340735 40:42735d766db1 307 pc.printf("Motor 2 gaat naar stand 2\n");
s1340735 37:8b15c29445d3 308 } else {
s1340735 40:42735d766db1 309 if (positie==2) {
s1340735 40:42735d766db1 310 pc.printf("Motor 2 gaat naar stand 3\n");
s1340735 40:42735d766db1 311 }
s1340735 40:42735d766db1 312 }
s1340735 40:42735d766db1 313 }
s1340735 40:42735d766db1 314
s1340735 40:42735d766db1 315 wait(5);
s1340735 40:42735d766db1 316
s1340735 40:42735d766db1 317 Ticker log_timerB;
s1340735 40:42735d766db1 318
s1340735 40:42735d766db1 319 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
s1340735 40:42735d766db1 320 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
s1340735 40:42735d766db1 321 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
s1340735 40:42735d766db1 322
s1340735 40:42735d766db1 323 log_timerB.attach(Biceps,0.005);
s1340735 40:42735d766db1 324 wait(5);
s1340735 40:42735d766db1 325 log_timerB.detach();
s1340735 40:42735d766db1 326
s1340735 40:42735d766db1 327 //bepaling van snelheidsstand met biceps
s1340735 40:42735d766db1 328
s1340735 40:42735d766db1 329 if (MOVAVG_B >= drempelwaardeB1) {
s1340735 40:42735d766db1 330 yB1=1;
s1340735 40:42735d766db1 331 if (MOVAVG_B >= drempelwaardeB2) {
s1340735 40:42735d766db1 332 yB2=1;
s1340735 40:42735d766db1 333 if (MOVAVG_B >= drempelwaardeB3) {
s1340735 40:42735d766db1 334 yB3=1;
s1340735 40:42735d766db1 335 } else {
s1340735 40:42735d766db1 336 yB3=0;
s1340735 40:42735d766db1 337 }
s1340735 40:42735d766db1 338 } else {
s1340735 40:42735d766db1 339 yB2=0;
s1340735 37:8b15c29445d3 340 }
s1340735 37:8b15c29445d3 341 } else {
s1340735 40:42735d766db1 342 yB1=0;
s1340735 37:8b15c29445d3 343 }
s1340735 44:bcd0bb522bf5 344 pc.printf("Biceps meting is klaar.\n");
s1340735 44:bcd0bb522bf5 345 wait(3);
s1340735 36:ccc901c169b7 346
s1340735 40:42735d766db1 347 //*** INPUT MOTOR 1 ***
s1340735 40:42735d766db1 348 snelheidsstand=yB1+yB2+yB3;
s1340735 32:36bb6af01689 349
s1340735 40:42735d766db1 350 //controle snelheidsstand op scherm
s1340735 40:42735d766db1 351 if (snelheidsstand==0) {
s1340735 40:42735d766db1 352 pc.printf("Motor 1 beweegt niet\n");
s1340735 37:8b15c29445d3 353 } else {
s1340735 40:42735d766db1 354 if (snelheidsstand==1) {
s1340735 40:42735d766db1 355 pc.printf("Motor 1 beweegt met snelheid 1\n");
s1340735 37:8b15c29445d3 356 } else {
s1340735 40:42735d766db1 357 if (snelheidsstand==2) {
s1340735 40:42735d766db1 358 pc.printf("Motor 1 beweegt met snelheid 2\n");
s1340735 40:42735d766db1 359 } else {
s1340735 40:42735d766db1 360 if (snelheidsstand==3) {
s1340735 40:42735d766db1 361 pc.printf("Motor 1 beweegt met snelheid 3\n");
s1340735 40:42735d766db1 362 }
s1340735 32:36bb6af01689 363 }
s1340735 32:36bb6af01689 364 }
s1340735 32:36bb6af01689 365 }
s1340735 44:bcd0bb522bf5 366 wait(5);
s1340735 32:36bb6af01689 367 }
s1340735 35:e60f09b575d7 368 }
s1340735 40:42735d766db1 369
s1340735 36:ccc901c169b7 370 }
s1340735 44:bcd0bb522bf5 371 }