Filter emg 7-10-15 v1
Dependencies: HIDScope mbed MODSERIAL
main.cpp@19:6c0245063b96, 2015-10-13 (annotated)
- Committer:
- Bartvaart
- Date:
- Tue Oct 13 12:28:32 2015 +0000
- Revision:
- 19:6c0245063b96
- Parent:
- 18:eec0880fcded
- Child:
- 20:11e1244ad2ad
met extra filter voor trilling kabels;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Bartvaart | 0:557b1ff83a8a | 1 | #include "mbed.h" |
Bartvaart | 7:040591b3f019 | 2 | #include "HIDScope.h" |
Bartvaart | 5:b400209df739 | 3 | #include "Filterdesigns.h" |
Bartvaart | 17:cfe44346645c | 4 | #include "Kalibratie.h" |
Bartvaart | 17:cfe44346645c | 5 | #include "MODSERIAL.h" //bugfix |
Bartvaart | 18:eec0880fcded | 6 | #include "Mode.h" |
Bartvaart | 0:557b1ff83a8a | 7 | |
Bartvaart | 7:040591b3f019 | 8 | AnalogIn emg(A0); //Analog input van emg kabels |
Bartvaart | 18:eec0880fcded | 9 | HIDScope scope(3); //3 scopes |
Bartvaart | 0:557b1ff83a8a | 10 | Ticker EMGticker; |
Bartvaart | 17:cfe44346645c | 11 | MODSERIAL pc(USBTX, USBRX); //bugfix |
Bartvaart | 17:cfe44346645c | 12 | DigitalOut LedBlue(LED3); |
Bartvaart | 19:6c0245063b96 | 13 | DigitalIn button(PTA4); |
Bartvaart | 0:557b1ff83a8a | 14 | |
Bartvaart | 0:557b1ff83a8a | 15 | //Sample frequentie |
Bartvaart | 15:c1a8f28d6583 | 16 | double Fs = 500; //Hz |
Bartvaart | 1:98be4152a539 | 17 | double t = 1/ Fs; // voor EMGticker |
Bartvaart | 5:b400209df739 | 18 | |
Bartvaart | 17:cfe44346645c | 19 | bool readymax = 0; |
Bartvaart | 17:cfe44346645c | 20 | bool readymin = 0; |
Bartvaart | 18:eec0880fcded | 21 | double ymin; |
Bartvaart | 18:eec0880fcded | 22 | double ymax; |
Bartvaart | 18:eec0880fcded | 23 | double thresholdlow; |
Bartvaart | 18:eec0880fcded | 24 | double thresholdmid; |
Bartvaart | 18:eec0880fcded | 25 | double thresholdhigh; |
Bartvaart | 18:eec0880fcded | 26 | |
Bartvaart | 19:6c0245063b96 | 27 | void EMGkalibratie() |
Bartvaart | 19:6c0245063b96 | 28 | { |
Bartvaart | 18:eec0880fcded | 29 | LedBlue = 1; |
Bartvaart | 18:eec0880fcded | 30 | Init(); |
Bartvaart | 18:eec0880fcded | 31 | ymax = KalibratieMax(readymax); |
Bartvaart | 19:6c0245063b96 | 32 | wait(1); |
Bartvaart | 18:eec0880fcded | 33 | ymin = KalibratieMin(readymin); |
Bartvaart | 19:6c0245063b96 | 34 | |
Bartvaart | 18:eec0880fcded | 35 | // bepalen van thresholds voor aan/uit |
Bartvaart | 19:6c0245063b96 | 36 | thresholdlow = 0.08; // standaardwaarde |
Bartvaart | 19:6c0245063b96 | 37 | thresholdmid = 0.3 * ymax; // afhankelijk van max output gebruiker |
Bartvaart | 19:6c0245063b96 | 38 | thresholdhigh = 0.4 * ymax; |
Bartvaart | 19:6c0245063b96 | 39 | } |
Bartvaart | 7:040591b3f019 | 40 | |
Bartvaart | 19:6c0245063b96 | 41 | void EMGfilter() |
Bartvaart | 19:6c0245063b96 | 42 | { |
Bartvaart | 7:040591b3f019 | 43 | //uitlezen emg signaal |
Bartvaart | 7:040591b3f019 | 44 | double u = emg.read(); |
Bartvaart | 18:eec0880fcded | 45 | double y = Filterdesigns(u, ymin); |
Bartvaart | 18:eec0880fcded | 46 | //pc.printf("%f \n",y); //bugfix |
Bartvaart | 7:040591b3f019 | 47 | // Plotten in HIDscope |
Bartvaart | 18:eec0880fcded | 48 | int mode = Mode(y, ymax, thresholdlow, thresholdmid, thresholdhigh); //bepaald welk signaal de motor krijgt (aan, uit, middel) |
Bartvaart | 15:c1a8f28d6583 | 49 | scope.set(0,u); //ongefilterde waarde naar scope 1 |
Bartvaart | 15:c1a8f28d6583 | 50 | scope.set(1,y); //gefilterde waarde naar scope 2 |
Bartvaart | 19:6c0245063b96 | 51 | scope.set(2,mode); |
Bartvaart | 7:040591b3f019 | 52 | scope.send(); //stuur de waardes naar HIDscope |
Bartvaart | 19:6c0245063b96 | 53 | } |
Bartvaart | 0:557b1ff83a8a | 54 | |
Bartvaart | 19:6c0245063b96 | 55 | int main() |
Bartvaart | 19:6c0245063b96 | 56 | { |
Bartvaart | 19:6c0245063b96 | 57 | while(1) { |
Bartvaart | 19:6c0245063b96 | 58 | if(readymax == 0 || readymin == 0) { |
Bartvaart | 19:6c0245063b96 | 59 | EMGkalibratie(); |
Bartvaart | 19:6c0245063b96 | 60 | pc.printf("ymax = %f en ymin = %f \n",ymax, ymin); //bugfix |
Bartvaart | 19:6c0245063b96 | 61 | } |
Bartvaart | 17:cfe44346645c | 62 | EMGticker.attach(&EMGfilter, t); //500H |
Bartvaart | 19:6c0245063b96 | 63 | while(readymax == 1 && readymin == 1) { |
Bartvaart | 19:6c0245063b96 | 64 | if(button == 0) { |
Bartvaart | 19:6c0245063b96 | 65 | readymax = 0; |
Bartvaart | 19:6c0245063b96 | 66 | readymin = 0; |
Bartvaart | 19:6c0245063b96 | 67 | } |
Bartvaart | 17:cfe44346645c | 68 | } |
Bartvaart | 0:557b1ff83a8a | 69 | } |
Bartvaart | 19:6c0245063b96 | 70 | } |