Dominique Clevers
/
testen_eindscript
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Dependencies: Encoder HIDScope MODSERIAL TextLCD mbed-dsp mbed
Revision 6:98a27fef0223, committed 2014-11-01
- Comitter:
- DominiqueC
- Date:
- Sat Nov 01 12:36:57 2014 +0000
- Parent:
- 5:5085197c02be
- Child:
- 7:c2c3d1ade6bd
- Commit message:
- Eindscript deltoid ;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sat Nov 01 12:29:20 2014 +0000
+++ b/main.cpp Sat Nov 01 12:36:57 2014 +0000
@@ -41,45 +41,45 @@
DigitalOut motordir2(M2_DIR);
DigitalOut motordir1(M1_DIR);
AnalogIn emg0(PTB0); //Biceps
-AnalogIn emg1(PTB1); //Triceps
+AnalogIn emg1(PTB1); //deltoid
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,min_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,min_value_triceps,metingstatus; //variable to store value in for triceps
+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_deltoid,min_value_deltoid,metingstatus; //variable to store value in for deltoid
arm_biquad_casd_df1_inst_f32 notch_biceps;
-arm_biquad_casd_df1_inst_f32 notch_triceps;
+arm_biquad_casd_df1_inst_f32 notch_deltoid;
// constants for 50 Hz notch (bandbreedte 2 Hz)
float notch_const[] = {0.9695312529087462, -0.0, 0.9695312529087462, 0.0, -0.9390625058174924}; //constants for 50Hz notch
//state values
float notch_biceps_states[4];
-float notch_triceps_states[4];
+float notch_deltoid_states[4];
arm_biquad_casd_df1_inst_f32 highpass_biceps;
-arm_biquad_casd_df1_inst_f32 highpass_triceps;
+arm_biquad_casd_df1_inst_f32 highpass_deltoid;
//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];
+float highpass_deltoid_states[4];
arm_biquad_casd_df1_inst_f32 lowpass_biceps;
-arm_biquad_casd_df1_inst_f32 lowpass_triceps;
+arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
//constants for 80Hz lowpass
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];
+float lowpass_deltoid_states[4];
arm_biquad_casd_df1_inst_f32 envelop_biceps;
-arm_biquad_casd_df1_inst_f32 envelop_triceps;
+arm_biquad_casd_df1_inst_f32 envelop_deltoid;
//constants for envelop
float envelop_const[] = {0.005542711916075981, 0.011085423832151962, 0.005542711916075981, 1.7786300789392977, -0.8008009266036016};
// state values
float envelop_biceps_states[4];
-float envelop_triceps_states[4];
+float envelop_deltoid_states[4];
enum slapstates {RUST,KALIBRATIE,RICHTEN,SLAAN,HOME}; //verschillende stadia definieren voor gebruik in CASES
uint8_t state=RUST;
@@ -139,12 +139,12 @@
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 );
+ //process emg deltoid
+ arm_biquad_cascade_df1_f32(¬ch_deltoid, &emg1_value_f32, &filtered_emg1_notch, 1 );
+ arm_biquad_cascade_df1_f32(&highpass_deltoid, &filtered_emg1_notch, &filtered_emg1_notch_highpass, 1 );
+ arm_biquad_cascade_df1_f32(&lowpass_deltoid, &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 );
+ arm_biquad_cascade_df1_f32(&envelop_deltoid, &filtered_emg1_eindsignaal_abs, &envelop_emg1, 1 );
}
@@ -162,10 +162,10 @@
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(¬ch_deltoid,1 , notch_const, notch_deltoid_states);
+ arm_biquad_cascade_df1_init_f32(&highpass_deltoid,1 ,highpass_const,highpass_deltoid_states);
+ arm_biquad_cascade_df1_init_f32(&lowpass_deltoid,1 ,lowpass_const,lowpass_deltoid_states);
+ arm_biquad_cascade_df1_init_f32(&envelop_deltoid,1 ,envelop_const,envelop_deltoid_states);
arm_biquad_cascade_df1_init_f32(&envelop_biceps,1 ,envelop_const,envelop_biceps_states);
while(true) {
@@ -179,7 +179,7 @@
case KALIBRATIE: { //kalibreren met maximale inspanning
max_value_biceps=0;
- max_value_triceps=0;
+ max_value_deltoid=0;
//maximale inspanning biceps
pc.printf("Kalibratie1: Span Biceps!"); //pc scherm
wait(5);
@@ -196,26 +196,26 @@
pc.printf("max value %f\n\r", max_value_biceps);
wait(5);
- //maximale inspanning triceps
- pc.printf("Kalibratie2: Span Triceps!"); //pc scherm
+ //maximale inspanning deltoid
+ pc.printf("Kalibratie2: Span deltoid!"); //pc scherm
wait(5);
tijdtimer.start();
pc.printf("Meting loopt"); //pc scherm
while (tijdtimer.read() <= 3) {
- if (envelop_emg1 > max_value_triceps) {
- max_value_triceps = envelop_emg1;
+ if (envelop_emg1 > max_value_deltoid) {
+ max_value_deltoid = envelop_emg1;
}
}
// tijdtimer.stop();
tijdtimer.reset();
- pc.printf("max value %f\n\r", max_value_triceps);
+ pc.printf("max value %f\n\r", max_value_deltoid);
wait(5);
state = RICHTEN;
break;
}// einde kalibratie case
- case RICHTEN: { //batje richten (gebruik biceps en triceps)
+ case RICHTEN: { //batje richten (gebruik biceps en deltoid)
wait(3);
pc.printf("Richten"); //regel 1 LCD scherm
pc.printf("Kies goal!"); //regel 2 LCD scherm
@@ -223,20 +223,15 @@
float new_pwm_km;
wait(5);
pc.printf("Meting loopt");
- float kalibratiewaarde_biceps,kalibratiewaarde_triceps;
- kalibratiewaarde_biceps=(envelop_emg0/max_value_biceps);
- kalibratiewaarde_triceps=(envelop_emg1/max_value_triceps);
- pc.printf("biceps %f\n\r", kalibratiewaarde_biceps);
- pc.printf("triceps %f\n\r", kalibratiewaarde_triceps); //WEGHALEN LATER
- //if (kalibratiewaarde_biceps > 0.3 && kalibratiewaarde_triceps <= 0.3) { //linker goal!
- if (kalibratiewaarde_triceps >= 0.35) {
+ float kalibratiewaarde_deltoid;
+ kalibratiewaarde_deltoid=(envelop_emg1/max_value_deltoid);
+ pc.printf("deltoid %f\n\r", kalibratiewaarde_deltoid); //WEGHALEN LATER
+ if (kalibratiewaarde_deltoid >= 0.35) {
setpointkm = -127; //11,12graden naar links
pc.printf("links");
- //} else if (kalibratiewaarde_biceps <= 0.3 && kalibratiewaarde_triceps > 0.3) { //rechter goal!
- } else if (kalibratiewaarde_triceps>0.1 && kalibratiewaarde_triceps<=0.35) {
+ } else if (kalibratiewaarde_deltoid>0.1 && kalibratiewaarde_deltoid<=0.35) {
setpointkm = 0; //11,12graden naar rechts
pc.printf("midden");
- //} else { //middelste goal!
} else {
setpointkm = 127;
pc.printf("rechts");
@@ -273,10 +268,10 @@
float kalibratiewaarde_biceps;
kalibratiewaarde_biceps=(envelop_emg0/max_value_biceps);
pc.printf("biceps %f\n\r", kalibratiewaarde_biceps); //WEGHALEN LATER
- if (kalibratiewaarde_biceps <= 0.3) { //kalibratiewaarde_biceps<0.3 goal onderin
+ if (kalibratiewaarde_biceps <= 0.2) { //kalibratiewaarde_biceps<0.3 goal onderin
thetadot=THETADOT0;
pc.printf("ONDERSTE GOAL");
- } else if (kalibratiewaarde_biceps>0.3 && kalibratiewaarde_biceps<=0.6) { //0.3<kalibratiewaarde_biceps<0.6 goal midden
+ } else if (kalibratiewaarde_biceps>0.2 && kalibratiewaarde_biceps<=0.6) { //0.3<kalibratiewaarde_biceps<0.6 goal midden
thetadot=THETADOT1;
pc.printf("MIDDELSTE GOAL");
} else { //goal bovenin