M9 Biorobotics Group 8 / Mbed 2 deprecated CARD_program

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Dependencies:   mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM

Files at this revision

API Documentation at this revision

Revision 12:70f0710400c2, committed 2019-10-21

Comitter:
Jellehierck
Date:
Mon Oct 21 14:36:24 2019 +0000
Parent:
11:042170a9b93a
Child:
13:2724d2e747f1
Child:
15:421d3d9c563b
Commit message:
EMG Calibration (almost) finished, working on making scale factors

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Oct 21 14:07:30 2019 +0000
+++ b/main.cpp	Mon Oct 21 14:36:24 2019 +0000
@@ -27,13 +27,16 @@
 // Buttons
 InterruptIn button1(D11);
 InterruptIn button2(D10);
+InterruptIn button3(SW3);
 
 //variablen voor EMG
 double emg1;
 double emg2;
 double emg3;
-double emg1_mean;
-double emg1_stdev;
+double emg1_MVC;
+double emg1_MVC_stdev;
+double emg1_rest;
+double emg1_rest_stdev;
 
 vector<double> emg1_cal;
 
@@ -41,6 +44,7 @@
 // Initialize tickers
 Ticker tickSample;
 Timeout timeoutCalibrationMVC;
+Timeout timeoutCalibrationRest;
 Ticker tickSampleCalibration;
 
 // Sample rate
@@ -163,8 +167,8 @@
 {
     tickSampleCalibration.detach();
     
-    emg1_mean = getMean(emg1_cal);
-    emg1_stdev = getStdev(emg1_cal, emg1_mean);
+    emg1_MVC = getMean(emg1_cal);
+    emg1_MVC_stdev = getStdev(emg1_cal, emg1_MVC);
     
     emg1_cal.clear();
 
@@ -178,7 +182,33 @@
     led_b = 0;
 }
 
+void calibrationRestFinished()
+{
+    tickSampleCalibration.detach();
+    
+    emg1_rest = getMean(emg1_cal);
+    emg1_rest_stdev = getStdev(emg1_cal, emg1_rest);
+    
+    emg1_cal.clear();
 
+    led_b = 1;
+}
+
+void calibrationRest()
+{
+    timeoutCalibrationRest.attach( &calibrationRestFinished, Tcal);
+    tickSampleCalibration.attach( &sampleCalibration, Ts );
+    led_b = 0;
+}
+
+void makeScale()
+{
+    double margin_percentage = 10;
+    double factor1 = 1 / emg1_MVC;
+    double emg1_th = emg1_rest * factor1 + margin_percentage/100;
+    
+    pc.printf("Factor: %f   TH: %f\r\n", factor1, emg1_th); 
+}
 
 void main()
 {
@@ -203,12 +233,14 @@
     }
 
     button1.fall( &calibrationMVC );
+    button2.fall( &calibrationRest );
+    button3.fall( &makeScale );
 
     while(true) {
 
         // Show that system is running
         // led_g = !led_g;
-        pc.printf("EMG Mean: %f   stdev: %f\r\n", emg1_mean, emg1_stdev);
+        pc.printf("EMG MVC:  %f   stdev: %f\r\nEMG Rest: %f   stdev: %f\r\n", emg1_MVC, emg1_MVC_stdev, emg1_rest, emg1_rest_stdev);
         wait(0.5);
     }
 }
\ No newline at end of file