Revision 2:56230ff9fc8f, committed 2013-11-05

Comitter:

jorick92

Date:

Tue Nov 05 07:53:04 2013 +0000

Parent:

1:1ffb9e3ae00f

Commit message:

std_dev v3

Changed in this revision

--- a/main.cpp	Mon Nov 04 13:26:18 2013 +0000
+++ b/main.cpp	Tue Nov 05 07:53:04 2013 +0000
@@ -38,13 +38,12 @@
 #define DEN3_3 -3.4119
 #define DEN4_3 0.8104
 
-float std_dev (float input, int sig_number){
- //   define variables
-    static int startcount=0;
-    float sum;
-    int size = 20;
-    float sig_out;
-    float mean;
+double std_dev(float value, int number) {
+      int n;
+      float sum;
+      float sq_sum;
+      float mean;
+      float variance;
     static int count_biceps=0;
     static int count_triceps=0;
     static int count_flexoren=0;
@@ -54,99 +53,76 @@
     static float keeper_flexoren[20];
     static float keeper_extensoren[20];
     
-    if (startcount >= size)
-        {//ja, dan gewoon std dev nemen, want keeper is al vol
-        switch(sig_number){
+    switch (number){
         case 1:
-            keeper_biceps[count_biceps]=input;
+            int n = sizeof(keeper_biceps)/sizeof(float);
+            keeper_biceps[count_biceps]=value;
             count_biceps++;
-            if(count_biceps >= size)
-                count_biceps=0;
-            //sizeof(keeper_biceps)/sizeof(float);
-            for(int i=0; i < size; i++)
-                {sum+=keeper_biceps[i];        
-                }
-            mean=sum/size;
-            sum=0;
-            for(int i=0; i < size; i++)
-            {sum+=(keeper_biceps[i]-mean)*(keeper_biceps[i]-mean);
+            if ( count_biceps >= n)
+                count_biceps = 0;
+            double sum = 0;
+            double sq_sum = 0;
+            for(int i = 0; i < n; ++i) {
+                sum += keeper_biceps[i];
+                sq_sum += keeper_biceps[i] * keeper_biceps[i];
             }
-            sig_out=sqrt(sum/size);
-            sum=0;
+            double mean = sum / n;
+            double variance = sq_sum / n - mean * mean;
+            return sqrt(variance);
             break;
         case 2:
-            keeper_triceps[count_triceps]=input;
+            n = sizeof(keeper_triceps)/sizeof(float);
+            keeper_triceps[count_triceps]=value;
             count_triceps++;
-            if(count_triceps==size)
-                count_triceps=0;
-            //sizeof(keeper_triceps) / sizeof(float);
-            for(int i=0; i < size; i++){
-                sum+=keeper_triceps[i];        
+            if ( count_triceps >= n)
+                count_triceps = 0;
+            sum = 0;
+            sq_sum = 0;
+            for(int i = 0; i < n; ++i) {
+                sum += keeper_triceps[i];
+                sq_sum += keeper_triceps[i] * keeper_triceps[i];
             }
-            mean=sum/size;
-            sum=0;
-            for(int i=0; i < size; i++){
-                sum+=(keeper_triceps[i]-mean)*(keeper_triceps[i]-mean);
-            }
-            sig_out=sqrt(sum/size);
-            sum=0;
+            mean = sum / n;
+            variance = sq_sum / n - mean * mean;
+            return sqrt(variance);
             break;
-        /*case 3:
-            keeper_flexoren[count_flexoren]=input;
+        case 3:
+            n = sizeof(keeper_flexoren)/sizeof(float);
+            keeper_flexoren[count_flexoren]=value;
             count_flexoren++;
-            if(count_flexoren==size) count_flexoren=0;
-    
-            size=sizeof(keeper_flexoren)/sizeof(float);
-            for(int i; i < size; i++){
-                sum+=keeper_flexoren[i];        
+            if ( count_flexoren >= n)
+                count_flexoren = 0;
+            sum = 0;
+            sq_sum = 0;
+            for(int i = 0; i < n; ++i) {
+                sum += keeper_flexoren[i];
+                sq_sum += keeper_flexoren[i] * keeper_flexoren[i];
             }
-            mean=sum/size;
-            sum=0;
-            for(int i; i < size; i++){
-                sum+=(keeper_flexoren[i]-mean)*(keeper_flexoren[i]-mean);
-            }
-            sig_out=sqrt(sum/size);
-            sum=0;
+            mean = sum / n;
+            variance = sq_sum / n - mean * mean;
+            return sqrt(variance);
             break;
         case 4:
-            keeper_extensoren[count_extensoren]=input;
+            n = sizeof(keeper_extensoren)/sizeof(float);
+            keeper_triceps[count_extensoren]=value;
             count_extensoren++;
-            if(count_extensoren==size) count_extensoren=0;
-    
-            size=sizeof(keeper_extensoren)/sizeof(float);
-            for(int i; i < size; i++){
-                sum+=keeper_extensoren[i];        
-            }
-            mean=sum/size;
-            sum=0;
-            for(int i; i < size; i++){
-                sum+=(keeper_extensoren[i]-mean)*(keeper_extensoren[i]-mean);
+            if ( count_extensoren >= n)
+                count_extensoren = 0;
+            sum = 0;
+            sq_sum = 0;
+            for(int i = 0; i < n; ++i) {
+                sum += keeper_extensoren[i];
+                sq_sum += keeper_extensoren[i] * keeper_extensoren[i];
             }
-            sig_out=sqrt(sum/size);
-            sum=0;
-            break;*/
-            } // einde switch
-        return sig_out;
-        } // einde if startcount ...
-        else
-            {startcount+=1;
-            switch(sig_number){
-            case 1:
-                keeper_biceps[count_biceps]=input;
-                count_biceps++;
-                if(count_biceps >= size)
-                    count_biceps=0;
-                break;
-            case 2:
-                keeper_triceps[count_triceps]=input;
-                count_triceps++;
-                if(count_triceps>=size)
-                    count_triceps=0;
-                break;
-            } // einde switch
-        } // einde else
-} // einde std_dev
-   
+            mean = sum / n;
+            variance = sq_sum / n - mean * mean;
+            return sqrt(variance);
+            break;
+    }
+    
+
+}
+
 float filter(int sig_number){
     float sig_out;
     // eerst variabelen definieren
@@ -207,15 +183,15 @@
             in0_biceps = emg_biceps.read() - offset_biceps;
             out4_biceps = out3_biceps; out3_biceps = out2_biceps; out2_biceps = out1_biceps; out1_biceps = out0_biceps;           
             out0_biceps = (NUM0*in0_biceps + NUM1*in1_biceps + NUM2*in2_biceps + NUM3*in3_biceps + NUM4*in4_biceps - DEN1*out1_biceps - DEN2*out2_biceps - DEN3*out3_biceps - DEN4*out4_biceps ) / DEN0;                      
-            /*
+            
             //signaal filteren op 5Hz LOWPASS
             in4_3_biceps = in3_3_biceps; in3_3_biceps = in2_3_biceps; in2_3_biceps = in1_3_biceps; in1_3_biceps = in0_3_biceps;
             in0_3_biceps = abs(out0_biceps); // ruw - offset -> filter 1 -> stdev (-> filter 3)
             out4_3_biceps = out3_3_biceps; out3_3_biceps = out2_3_biceps; out2_3_biceps = out1_3_biceps; out1_3_biceps = out0_3_biceps;           
             out0_3_biceps = (NUM0_3*in0_3_biceps + NUM1_3*in1_3_biceps + NUM2_3*in2_3_biceps + NUM3_3*in3_3_biceps + NUM4_3*in4_3_biceps - DEN1_3*out1_3_biceps - DEN2_3*out2_3_biceps - DEN3_3*out3_3_biceps - DEN4_3*out4_3_biceps ) / DEN0_3;    
-            */
+            
             
-            sig_out = out0_biceps;
+            sig_out = out0_3_biceps;
             break;
         case 2:
             // signaal filteren op 15 Hz HIGHPASS
@@ -226,13 +202,13 @@
             
        
             //signaal filteren op 5Hz LOWPASS
-            /*in4_3_triceps = in3_3_triceps; in3_3_triceps = in2_3_triceps; in2_3_triceps = in1_3_triceps; in1_3_triceps = in0_3_triceps;
+            in4_3_triceps = in3_3_triceps; in3_3_triceps = in2_3_triceps; in2_3_triceps = in1_3_triceps; in1_3_triceps = in0_3_triceps;
             in0_3_triceps = abs(out0_triceps);
             out4_3_triceps = out3_3_triceps; out3_3_triceps = out2_3_triceps; out2_3_triceps = out1_3_triceps; out1_3_triceps = out0_3_triceps;           
             out0_3_triceps = (NUM0_3*in0_3_triceps + NUM1_3*in1_3_triceps + NUM2_3*in2_3_triceps + NUM3_3*in3_3_triceps + NUM4_3*in4_3_triceps - DEN1_3*out1_3_triceps - DEN2_3*out2_3_triceps - DEN3_3*out3_3_triceps - DEN4_3*out4_3_triceps ) / DEN0_3;    
-            */
+            
             
-            sig_out = out0_triceps;
+            sig_out = out0_3_triceps;
             break;
         case 3:
             // signaal filteren op 15 Hz HIGHPASS
@@ -240,17 +216,17 @@
             in0_flexoren = emg_flexoren.read();
             out4_flexoren = out3_flexoren; out3_flexoren = out2_flexoren; out2_flexoren = out1_flexoren; out1_flexoren = out0_flexoren;           
             out0_flexoren = (NUM0*in0_flexoren + NUM1*in1_flexoren + NUM2*in2_flexoren + NUM3*in3_flexoren + NUM4*in4_flexoren - DEN1*out1_flexoren - DEN2*out2_flexoren - DEN3*out3_flexoren - DEN4*out4_flexoren ) / DEN0;                      
-    /*
+    
             
             //signaal filteren op 5Hz LOWPASS
             in4_3_flexoren = in3_3_flexoren; in3_3_flexoren = in2_3_flexoren; in2_3_flexoren = in1_3_flexoren; in1_3_flexoren = in0_3_flexoren;
-            in0_3_flexoren = abs(out0_2_flexoren);
+            in0_3_flexoren = abs(out0_flexoren);
             out4_3_flexoren = out3_3_flexoren; out3_3_flexoren = out2_3_flexoren; out2_3_flexoren = out1_3_flexoren; out1_3_flexoren = out0_3_flexoren;           
             out0_3_flexoren = (NUM0_3*in0_3_flexoren + NUM1_3*in1_3_flexoren + NUM2_3*in2_3_flexoren + NUM3_3*in3_3_flexoren + NUM4_3*in4_3_flexoren - DEN1_3*out1_3_flexoren - DEN2_3*out2_3_flexoren - DEN3_3*out3_3_flexoren - DEN4_3*out4_3_flexoren ) / DEN0_3;    
             
             
-            */
-            sig_out = out0_flexoren;
+            
+            sig_out = out0_3_flexoren;
             break;
         case 4:
             // signaal filteren op 15 Hz HIGHPASS
@@ -258,17 +234,17 @@
             in0_extensoren = emg_extensoren.read();
             out4_extensoren = out3_extensoren; out3_extensoren = out2_extensoren; out2_extensoren = out1_extensoren; out1_extensoren = out0_extensoren;           
             out0_extensoren = (NUM0*in0_extensoren + NUM1*in1_extensoren + NUM2*in2_extensoren + NUM3*in3_extensoren + NUM4*in4_extensoren - DEN1*out1_extensoren - DEN2*out2_extensoren - DEN3*out3_extensoren - DEN4*out4_extensoren ) / DEN0;                      
-    /*
+    
             
             //signaal filteren op 5Hz LOWPASS
             in4_3_extensoren = in3_3_extensoren; in3_3_extensoren = in2_3_extensoren; in2_3_extensoren = in1_3_extensoren; in1_3_extensoren = in0_3_extensoren;
-            in0_3_extensoren = abs(out0_2_extensoren);
+            in0_3_extensoren = abs(out0_extensoren);
             out4_3_extensoren = out3_3_extensoren; out3_3_extensoren = out2_3_extensoren; out2_3_extensoren = out1_3_extensoren; out1_3_extensoren = out0_3_extensoren;           
             out0_3_extensoren = (NUM0_3*in0_3_extensoren + NUM1_3*in1_3_extensoren + NUM2_3*in2_3_extensoren + NUM3_3*in3_3_extensoren + NUM4_3*in4_3_extensoren - DEN1_3*out1_3_extensoren - DEN2_3*out2_3_extensoren - DEN3_3*out3_3_extensoren - DEN4_3*out4_3_extensoren ) / DEN0_3;    
             
             
-     */       
-            sig_out = out0_extensoren;
+            
+            sig_out = out0_3_extensoren;
             break;
     }
     return sig_out;
@@ -280,11 +256,20 @@
     float emg_value_flexoren;
     float emg_value_extensoren;
     float dy;
+    
     //static int sig_count = 1;
-emg_value_biceps=std_dev(filter(1),1);
-emg_value_triceps=std_dev(filter(2),2);  
+
+    emg_value_biceps = filter(1);
+    emg_value_triceps = filter(2); 
+    emg_value_extensoren = filter(3);
+    emg_value_flexoren = filter(4);
+ 
+
+
+float dx;
+
 dy = emg_value_biceps-emg_value_triceps;
-    
+dx = emg_value_extensoren - emg_value_flexoren;    
     
     /*emg_value_flexoren = (100*filter(3)-44);
     emg_value_extensoren = (100*filter(4)-44);*/
@@ -304,7 +289,7 @@
     */     
     //dy = emg_value_biceps-emg_value_triceps;
     if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
-        pc.printf("%.6f, %.6f, %.6f\n",emg_value_biceps, emg_value_triceps, dy);
+        pc.printf("%.6f\n",dy);
     /**When not using the LED, the above could also have been done this way:
     * pc.printf("%.6\n", emg0.read());
     */