Diff: main.cpp

Revision:

1:96cd4c9c5465

Parent:

0:b3809a8d9af1

Child:

2:3bf615031d7a

--- a/main.cpp	Tue Oct 21 13:35:52 2014 +0000
+++ b/main.cpp	Wed Oct 22 14:16:53 2014 +0000
@@ -13,16 +13,16 @@
 #include "HIDScope.h"
 #include "arm_math.h"
 #include "encoder.h"
+#include "MODSERIAL.h"
 
-#define M1_PWM PTC8 //blauw
-#define M1_DIR PTC9 //groen
-#define M2_PWM PTA5 //blauw
-#define M2_DIR PTA4 //groen
+#define M2_PWM PTC8 //blauw
+#define M2_DIR PTC9 //groen
+#define M1_PWM PTA5 //kleine motor
+#define M1_DIR PTA4 //kleine motor
 #define TSAMP 0.005  // Sampletijd, 200Hz
-#define PI 3.1415926535897
 
-Encoder motor1(PTD2,PTD0); //geel,wit
-Encoder motor2(PTD5,PTA13);//geel,wit
+Encoder motor2(PTD2,PTD0); //geel,wit kleine mtor
+Encoder motor1(PTD5,PTA13);//geel,wit
 PwmOut pwm_motor1(M1_PWM);
 PwmOut pwm_motor2(M2_PWM);
 DigitalOut motordir2(M2_DIR);
@@ -31,76 +31,110 @@
 AnalogIn emg1(PTB1); //Triceps
 HIDScope scope(6);
 
-MODSERIAL pc (USBTX,USBRX,64,1024);
-pc.baud(115200);
+MODSERIAL pc(USBTX,USBRX,64,1024);
+
 
-int const   windowsamples = 60; //aantal samples waaruit het window voor MOVAG bestaat
+float emg0_value_f32,filtered_emg0_notch,filtered_emg0_notch_highpass,filtered_emg0_notch_highpass_lowpass,filtered_emg0_eindsignaal_abs,envelop_emg0; //variable to store value in for biceps 
+float emg1_value_f32,filtered_emg1_notch,filtered_emg1_notch_highpass,filtered_emg1_notch_highpass_lowpass,filtered_emg1_eindsignaal_abs,envelop_emg1; //variable to store value in for triceps 
 
-float emg0_value_f32,filtered_emg0_notch,filtered_emg0_notch_highpass,filtered_emg0_notch_highpass_lowpass,filtered_emg0_eindsignaal_abs; //variable to store value in for biceps 
-float emg1_value_f32,filtered_emg1_notch,filtered_emg1_notch_highpass,filtered_emg1_notch_highpass_lowpass,filtered_emg1_eindsignaal_abs; //variable to store value in for triceps 
-float xpos_max,xpos_min,xneg_max,xneg_min;     //kalibratiewaardes
-
-float emg_biceps [windowsamples];
-float emg_triceps [windowsamples];
+arm_biquad_casd_df1_inst_f32 notch_biceps;
+arm_biquad_casd_df1_inst_f32 notch_triceps;
+float notch_const[] = {0.9695312529087462, -0.0, 0.9695312529087462, 0.0, -0.9390625058174924}; //constants for 50Hz notch
+float notch_biceps_states[4]; //state values
+float notch_triceps_states[4];
 
-void meting()
-{
-    arm_biquad_casd_df1_inst_f32 notch;
-    //constants for 50Hz notch
-    float notch_const[] = {0.9695312529087462, -0.0, 0.9695312529087462, 0.0, -0.9390625058174924};
-    //state values
-    float notch_states[4];
-    arm_biquad_casd_df1_inst_f32 highpass;
-    //constants for 20Hz highpass
-    float highpass_const[] = {0.638945525159022, -1.277891050318045, 0.638945525159022, 1.142980502539901, -0.412801598096189};
-    //state values
-    float highpass_states[4];
-    //constants for 80Hz lowpass
-    arm_biquad_casd_df1_inst_f32 lowpass;
-    float lowpass_const[] = {0.638945525159022, 1.277891050318045, 0.638945525159022, -1.142980502539901, -0.412801598096189};
-    //state values
-    float lowpass_states[4];
- 
+arm_biquad_casd_df1_inst_f32 highpass_biceps;
+arm_biquad_casd_df1_inst_f32 highpass_triceps;
+//constants for 20Hz highpass
+float highpass_const[] = {0.638945525159022, -1.277891050318045, 0.638945525159022, 1.142980502539901, -0.412801598096189};
+//state values
+float highpass_biceps_states[4];
+float highpass_triceps_states[4];
+//constants for 80Hz lowpass
+arm_biquad_casd_df1_inst_f32 lowpass_biceps;
+arm_biquad_casd_df1_inst_f32 lowpass_triceps;
+float lowpass_const[] = {0.638945525159022, 1.277891050318045, 0.638945525159022, -1.142980502539901, -0.412801598096189};
+//state values
+float lowpass_biceps_states[4];
+float lowpass_triceps_states[4];
+
+arm_biquad_casd_df1_inst_f32 envelop_biceps;
+arm_biquad_casd_df1_inst_f32 envelop_triceps;
+float envelop_const[] = {0.005542711916075981, 0.011085423832151962, 0.005542711916075981, 1.7786300789392977, -0.8008009266036016};
+float envelop_biceps_states[4];
+float envelop_triceps_states[4];    
+
+enum slapstates {RUST,KALIBRATIE,RICHTEN,SLAAN};
+uint8_t state=RUST;
+
+void emgmeten(){
     /*put raw emg value in emg_value*/
     emg0_value_f32 = emg0.read();   
     emg1_value_f32 = emg1.read();
  
     //process emg biceps
-    arm_biquad_cascade_df1_f32(&notch, &emg0_value_f32, &filtered_emg0_notch, 1 );
-    arm_biquad_cascade_df1_f32(&highpass, &filtered_emg0_notch, &filtered_emg0_notch_highpass, 1 );
-    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emg0_notch_highpass, &filtered_emg0_notch_highpass_lowpass, 1 );
-    filtered_emg0_eindsignaal_abs = fabs(filtered_emg0_notch_highpass_lowpass);  
-    emg_biceps [0]= filtered_emg0_eindsignaal_abs;
+    arm_biquad_cascade_df1_f32(&notch_biceps, &emg0_value_f32, &filtered_emg0_notch, 1 );
+    arm_biquad_cascade_df1_f32(&highpass_biceps, &filtered_emg0_notch, &filtered_emg0_notch_highpass, 1 );
+    arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_emg0_notch_highpass, &filtered_emg0_notch_highpass_lowpass, 1 );
+    filtered_emg0_eindsignaal_abs = fabs(filtered_emg0_notch_highpass_lowpass);  //gelijkrichter
+    arm_biquad_cascade_df1_f32(&envelop_biceps, &filtered_emg0_eindsignaal_abs, &envelop_emg0, 1 );
     
     //process emg triceps
-    arm_biquad_cascade_df1_f32(&notch, &emg1_value_f32, &filtered_emg1_notch, 1 );
-    arm_biquad_cascade_df1_f32(&highpass, &filtered_emg1_notch, &filtered_emg1_notch_highpass, 1 );
-    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emg1_notch_highpass, &filtered_emg1_notch_highpass_lowpass, 1 );
-    filtered_emg1_eindsignaal_abs = fabs(filtered_emg1_notch_highpass_lowpass);  
-    emg_triceps [0]= filtered_emg1_eindsignaal_abs;
-    
-    //Movag
-    //Variabelen voor berekenen gemiddelden 
-    float avg0,avg1;
-    avg0=avg1=0;
-    
-    //Inhoud van een buffer (=gefilterd signaal) optellen
-    for(int x=0; x<windowsamples; x++) {
-        avg0 = avg0 + (emg_biceps[x]);
-        avg1 = avg1 + (emg_triceps[x]);
+    arm_biquad_cascade_df1_f32(&notch_triceps, &emg1_value_f32, &filtered_emg1_notch, 1 );
+    arm_biquad_cascade_df1_f32(&highpass_triceps, &filtered_emg1_notch, &filtered_emg1_notch_highpass, 1 );
+    arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_emg1_notch_highpass, &filtered_emg1_notch_highpass_lowpass, 1 );
+    filtered_emg1_eindsignaal_abs = fabs(filtered_emg1_notch_highpass_lowpass);  //gelijkrichter
+    arm_biquad_cascade_df1_f32(&envelop_triceps, &filtered_emg1_eindsignaal_abs, &envelop_emg1, 1 );
     }
-    
-    //Gemiddelde berekenen en relativeren tov maximum voluntary contraction
-    avg0 = gain_biceps*avg0/windowsamples/biceps_max;
-    avg1 = gain_triceps*avg1/windowsamples/triceps_max;
-}
+
 
 int main()
 {
-    Ticker log_timer;
-    log_timer.attach(meting, TSAMP);
-    while(1) //Loop
-    {
-      
-    }
-}    
\ No newline at end of file
+    while(1) {
+        pc.baud(38400); //PC baud rate is 38400 bits/seconde
+        Ticker emg_timer;
+        emg_timer.attach(emgmeten, TSAMP);
+        arm_biquad_cascade_df1_init_f32(&notch_biceps,1 , notch_const, notch_biceps_states);
+        arm_biquad_cascade_df1_init_f32(&highpass_biceps,1 ,highpass_const,highpass_biceps_states);
+        arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 ,lowpass_const,lowpass_biceps_states);
+        arm_biquad_cascade_df1_init_f32(&notch_triceps,1 , notch_const, notch_triceps_states);
+        arm_biquad_cascade_df1_init_f32(&highpass_triceps,1 ,highpass_const,highpass_triceps_states);
+        arm_biquad_cascade_df1_init_f32(&lowpass_triceps,1 ,lowpass_const,lowpass_triceps_states);
+        arm_biquad_cascade_df1_init_f32(&envelop_triceps,1 ,envelop_const,envelop_triceps_states);
+        arm_biquad_cascade_df1_init_f32(&envelop_biceps,1 ,envelop_const,envelop_biceps_states);
+        switch(state) {
+            case RUST: {                    //Aanzetten
+                
+                state = KALIBRATIE;
+                break;                         
+            }                               
+
+            case KALIBRATIE: {         
+                pc.printf("Kalibratie");
+                wait(1);   
+                                              
+                state = RICHTEN;                       
+                break;                          //Stopt acties in deze case
+            }                               
+
+           case RICHTEN: {         //Batje richten
+           pc.printf("Richten");
+           wait(1);
+           state = SLAAN;
+           break; 
+            }                              
+           case SLAAN: {         //Balletje slaan
+           pc.printf("Slaan!");
+           wait(1);
+           state = RICHTEN;
+           break; 
+            }  
+
+            default: {
+                state = RUST;
+            }                               //Accolade einde default
+
+        }                               //Accolade einde switch
+
+    }                               //Accolade einde main
+    }
\ No newline at end of file