the slap
Dependencies: Encoder HIDScope MODSERIAL TextLCD mbed-dsp mbed
Fork of The_SLAP_5_1 by
main.cpp
- Committer:
- Daanmk
- Date:
- 2014-10-27
- Revision:
- 3:81a6009303a9
- Parent:
- 2:3bf615031d7a
- Child:
- 4:a0b0c944846e
File content as of revision 3:81a6009303a9:
/***************************************/ /* */ /* BRONCODE GROEP 5, MODULE 9, 2014 */ /* *****-THE SLAP-****** */ /* */ /* -Dominique Clevers */ /* -Rianne van Dommelen */ /* -Daan de Muinck Keizer */ /* -David den Houting */ /* -Marjolein Thijssen */ /***************************************/ #include "mbed.h" #include "HIDScope.h" #include "arm_math.h" #include "encoder.h" #include "MODSERIAL.h" #include "TextLCD.h" #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 TextLCD lcd(PTE5, PTE3, PTE2, PTB11, PTB10, PTB9); // rs, e, d4-d7 CONTROLEREN!! (Pinnen wel vrij :) )! //TextLCD lcd(p15, p16, p17, p18, p19, p20, TextLCD::LCD16x4); // rs, e, d4-d7 ok 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); DigitalOut motordir1(M1_DIR); AnalogIn emg0(PTB0); //Biceps AnalogIn emg1(PTB1); //Triceps HIDScope scope(6); MODSERIAL pc(USBTX,USBRX,64,1024); float emg0_value_f32,filtered_emg0_notch,filtered_emg0_notch_highpass,filtered_emg0_notch_highpass_lowpass,filtered_emg0_eindsignaal_abs,envelop_emg0,pwm_to_motor1,max_value_biceps; //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,pwm_to_motor2,max_value_triceps; //variable to store value in for triceps 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]; 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}; //verschillende stadia definieren voor gebruik in CASES uint8_t state=RUST; volatile bool looptimerflag; void setlooptimerflag(void) { looptimerflag = true; } void keep_in_range(float * in, float min, float max); //keep in range 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(¬ch_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(¬ch_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 ); } int main() { while(1) { pc.baud(38400); //PC baud rate is 38400 bits/seconde Ticker emg_timer; emg_timer.attach(emgmeten, TSAMP); Ticker looptimer; looptimer.attach(setlooptimerflag,TSAMP); arm_biquad_cascade_df1_init_f32(¬ch_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(¬ch_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: { lcd.cls(); lcd.locate(0,0); lcd.printf("Kalibratie"); //regel 1 LCD scherm lcd.locate(0,1); lcd.printf("STAP 1: BICEPS"); //regel 2 LCD scherm wait(1); max_value_biceps=0; max_value_triceps=0; for(int x=0; x<200; x++);{ //BICEPS METING if (envelop_emg0 > max_value_biceps); { max_value_biceps = envelop_emg0; } } lcd.cls(); lcd.locate(0,0); lcd.printf("BICEPS OK"); //regel 1 LCD scherm lcd.locate(0,1); lcd.printf("STAP 2:TRICEPS"); //regel 2 LCD scherm wait(1); for(int x=0; x<200; x++); {//TRICEPS METING if (envelop_emg1 > max_value_triceps); { max_value_triceps = envelop_emg1; } } lcd.cls(); lcd.locate(0,0); lcd.printf("TRICEPS OK"); //regel 1 LCD scherm lcd.locate(0,1); lcd.printf("De waardes:"); //regel 2 LCD scherm wait(0.5); lcd.printf("%f,%f\n",max_value_biceps,max_value_triceps); state = RICHTEN; break; } case RICHTEN: { //Batje richten lcd.printf("Richten"); wait(1); max_value = 0; keep_in_range(&pwm_to_motor, -1,1); if(pwm_to_motor > 0) motordir1.write(1); else motordir1.write(0); pwm_motor1.write(abs(pwm_to_motor)); state = SLAAN; break; } case SLAAN: { //Balletje slaan lcd.printf("Slaan!"); wait(1); state = RICHTEN; break; } default: { state = RUST; } } } }