Guant intel·ligent per ajudar a la rehabilitació i a l'entrenament
Dependencies: BluetoothSoftSerial SoftSerial mbed
main.cpp@0:7db3f15dddd3, 2018-10-04 (annotated)
- Committer:
- RogerRF
- Date:
- Thu Oct 04 21:09:25 2018 +0000
- Revision:
- 0:7db3f15dddd3
Guant intel?ligent per ajudar a la rehabilitaci? i a l'entrenament
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
RogerRF | 0:7db3f15dddd3 | 1 | #include "mbed.h" |
RogerRF | 0:7db3f15dddd3 | 2 | #include "BluetoothSerial.h" |
RogerRF | 0:7db3f15dddd3 | 3 | |
RogerRF | 0:7db3f15dddd3 | 4 | #define TEMPS_L 0.25 |
RogerRF | 0:7db3f15dddd3 | 5 | #define TEMPS_M 0.2 |
RogerRF | 0:7db3f15dddd3 | 6 | #define TEMPS_S 0.1 |
RogerRF | 0:7db3f15dddd3 | 7 | #define LOOP_L 40 |
RogerRF | 0:7db3f15dddd3 | 8 | #define LOOP_M 50 |
RogerRF | 0:7db3f15dddd3 | 9 | #define LOOP_S 100 |
RogerRF | 0:7db3f15dddd3 | 10 | |
RogerRF | 0:7db3f15dddd3 | 11 | const int Vmax = 3.3; //3.3V que pot suportar el pin ADC |
RogerRF | 0:7db3f15dddd3 | 12 | |
RogerRF | 0:7db3f15dddd3 | 13 | BluetoothSerial bt(D5, D4); // TX, RX |
RogerRF | 0:7db3f15dddd3 | 14 | |
RogerRF | 0:7db3f15dddd3 | 15 | AnalogIn sensor0(A0); //dit petit |
RogerRF | 0:7db3f15dddd3 | 16 | AnalogIn sensor1(A1); //dit anular |
RogerRF | 0:7db3f15dddd3 | 17 | AnalogIn sensor2(A2); //dit mig |
RogerRF | 0:7db3f15dddd3 | 18 | AnalogIn sensor3(A3); //dit index |
RogerRF | 0:7db3f15dddd3 | 19 | AnalogIn sensor4(A4); //dit gros |
RogerRF | 0:7db3f15dddd3 | 20 | |
RogerRF | 0:7db3f15dddd3 | 21 | DigitalOut rLed(LED1, 1); //Vermell |
RogerRF | 0:7db3f15dddd3 | 22 | DigitalOut gLed(LED2, 1); //Verd |
RogerRF | 0:7db3f15dddd3 | 23 | DigitalOut bLed(LED3, 1); //Blau R+G+B = White |
RogerRF | 0:7db3f15dddd3 | 24 | |
RogerRF | 0:7db3f15dddd3 | 25 | float force0[LOOP_M], force1[LOOP_M], force2[LOOP_M], force3[LOOP_M], force4[LOOP_M]; |
RogerRF | 0:7db3f15dddd3 | 26 | |
RogerRF | 0:7db3f15dddd3 | 27 | /* |
RogerRF | 0:7db3f15dddd3 | 28 | * LEDS |
RogerRF | 0:7db3f15dddd3 | 29 | */ |
RogerRF | 0:7db3f15dddd3 | 30 | void Apagat() { |
RogerRF | 0:7db3f15dddd3 | 31 | rLed = 1; |
RogerRF | 0:7db3f15dddd3 | 32 | gLed = 1; |
RogerRF | 0:7db3f15dddd3 | 33 | bLed = 1; |
RogerRF | 0:7db3f15dddd3 | 34 | } |
RogerRF | 0:7db3f15dddd3 | 35 | |
RogerRF | 0:7db3f15dddd3 | 36 | void Blanc() { |
RogerRF | 0:7db3f15dddd3 | 37 | rLed = 0; |
RogerRF | 0:7db3f15dddd3 | 38 | gLed = 0; |
RogerRF | 0:7db3f15dddd3 | 39 | bLed = 0; |
RogerRF | 0:7db3f15dddd3 | 40 | } |
RogerRF | 0:7db3f15dddd3 | 41 | |
RogerRF | 0:7db3f15dddd3 | 42 | void Taronja() { |
RogerRF | 0:7db3f15dddd3 | 43 | rLed = 0; |
RogerRF | 0:7db3f15dddd3 | 44 | gLed = 0; |
RogerRF | 0:7db3f15dddd3 | 45 | bLed = 1; |
RogerRF | 0:7db3f15dddd3 | 46 | } |
RogerRF | 0:7db3f15dddd3 | 47 | |
RogerRF | 0:7db3f15dddd3 | 48 | void Vermell() { |
RogerRF | 0:7db3f15dddd3 | 49 | rLed = 0; |
RogerRF | 0:7db3f15dddd3 | 50 | gLed = 1; |
RogerRF | 0:7db3f15dddd3 | 51 | bLed = 1; |
RogerRF | 0:7db3f15dddd3 | 52 | } |
RogerRF | 0:7db3f15dddd3 | 53 | |
RogerRF | 0:7db3f15dddd3 | 54 | void Verd() { |
RogerRF | 0:7db3f15dddd3 | 55 | rLed = 1; |
RogerRF | 0:7db3f15dddd3 | 56 | gLed = 0; |
RogerRF | 0:7db3f15dddd3 | 57 | bLed = 1; |
RogerRF | 0:7db3f15dddd3 | 58 | } |
RogerRF | 0:7db3f15dddd3 | 59 | |
RogerRF | 0:7db3f15dddd3 | 60 | /* |
RogerRF | 0:7db3f15dddd3 | 61 | * Funcions que recopila la força de cada dit |
RogerRF | 0:7db3f15dddd3 | 62 | */ |
RogerRF | 0:7db3f15dddd3 | 63 | float dit_gros() |
RogerRF | 0:7db3f15dddd3 | 64 | { |
RogerRF | 0:7db3f15dddd3 | 65 | float f; |
RogerRF | 0:7db3f15dddd3 | 66 | float Vfsr0 = Vmax * sensor4.read(); |
RogerRF | 0:7db3f15dddd3 | 67 | |
RogerRF | 0:7db3f15dddd3 | 68 | if (Vfsr0 < 0.01) |
RogerRF | 0:7db3f15dddd3 | 69 | f = 0; |
RogerRF | 0:7db3f15dddd3 | 70 | else if (Vfsr0 <= 1) { |
RogerRF | 0:7db3f15dddd3 | 71 | f = 101.01 * Vfsr0; |
RogerRF | 0:7db3f15dddd3 | 72 | } else { |
RogerRF | 0:7db3f15dddd3 | 73 | f = 36.508 * Vfsr0; |
RogerRF | 0:7db3f15dddd3 | 74 | f += 56.473 * Vfsr0 * Vfsr0; |
RogerRF | 0:7db3f15dddd3 | 75 | } |
RogerRF | 0:7db3f15dddd3 | 76 | |
RogerRF | 0:7db3f15dddd3 | 77 | return f; |
RogerRF | 0:7db3f15dddd3 | 78 | } |
RogerRF | 0:7db3f15dddd3 | 79 | |
RogerRF | 0:7db3f15dddd3 | 80 | float dit_index() |
RogerRF | 0:7db3f15dddd3 | 81 | { |
RogerRF | 0:7db3f15dddd3 | 82 | float Vfsr1 = Vmax * sensor3.read(); |
RogerRF | 0:7db3f15dddd3 | 83 | float f; |
RogerRF | 0:7db3f15dddd3 | 84 | |
RogerRF | 0:7db3f15dddd3 | 85 | if (Vfsr1 < 0.01) |
RogerRF | 0:7db3f15dddd3 | 86 | f = 0; |
RogerRF | 0:7db3f15dddd3 | 87 | else if (Vfsr1 <= 1) { |
RogerRF | 0:7db3f15dddd3 | 88 | f = 101.01 * Vfsr1; |
RogerRF | 0:7db3f15dddd3 | 89 | } else { |
RogerRF | 0:7db3f15dddd3 | 90 | f = 36.508 * Vfsr1; |
RogerRF | 0:7db3f15dddd3 | 91 | f += 56.473 * Vfsr1 * Vfsr1; |
RogerRF | 0:7db3f15dddd3 | 92 | } |
RogerRF | 0:7db3f15dddd3 | 93 | |
RogerRF | 0:7db3f15dddd3 | 94 | return f; |
RogerRF | 0:7db3f15dddd3 | 95 | } |
RogerRF | 0:7db3f15dddd3 | 96 | |
RogerRF | 0:7db3f15dddd3 | 97 | float dit_mig() |
RogerRF | 0:7db3f15dddd3 | 98 | { |
RogerRF | 0:7db3f15dddd3 | 99 | float Vfsr2 = Vmax * sensor2.read(); |
RogerRF | 0:7db3f15dddd3 | 100 | float f; |
RogerRF | 0:7db3f15dddd3 | 101 | |
RogerRF | 0:7db3f15dddd3 | 102 | if (Vfsr2 < 0.01) |
RogerRF | 0:7db3f15dddd3 | 103 | f = 0; |
RogerRF | 0:7db3f15dddd3 | 104 | else if (Vfsr2 <= 1) { |
RogerRF | 0:7db3f15dddd3 | 105 | f = 101.01 * Vfsr2; |
RogerRF | 0:7db3f15dddd3 | 106 | }else { |
RogerRF | 0:7db3f15dddd3 | 107 | f = 36.508 * Vfsr2; |
RogerRF | 0:7db3f15dddd3 | 108 | f += 56.473 * Vfsr2 * Vfsr2; |
RogerRF | 0:7db3f15dddd3 | 109 | } |
RogerRF | 0:7db3f15dddd3 | 110 | |
RogerRF | 0:7db3f15dddd3 | 111 | return f; |
RogerRF | 0:7db3f15dddd3 | 112 | } |
RogerRF | 0:7db3f15dddd3 | 113 | |
RogerRF | 0:7db3f15dddd3 | 114 | float dit_anular() |
RogerRF | 0:7db3f15dddd3 | 115 | { |
RogerRF | 0:7db3f15dddd3 | 116 | float Vfsr3 = Vmax * sensor1.read(); |
RogerRF | 0:7db3f15dddd3 | 117 | float f; |
RogerRF | 0:7db3f15dddd3 | 118 | |
RogerRF | 0:7db3f15dddd3 | 119 | if (Vfsr3 < 0.01) |
RogerRF | 0:7db3f15dddd3 | 120 | f = 0; |
RogerRF | 0:7db3f15dddd3 | 121 | else if (Vfsr3 <= 1) { |
RogerRF | 0:7db3f15dddd3 | 122 | f = 101.01 * Vfsr3; |
RogerRF | 0:7db3f15dddd3 | 123 | } else { |
RogerRF | 0:7db3f15dddd3 | 124 | f = 36.508 * Vfsr3; |
RogerRF | 0:7db3f15dddd3 | 125 | f += 56.473 * Vfsr3 * Vfsr3; |
RogerRF | 0:7db3f15dddd3 | 126 | } |
RogerRF | 0:7db3f15dddd3 | 127 | |
RogerRF | 0:7db3f15dddd3 | 128 | return f; |
RogerRF | 0:7db3f15dddd3 | 129 | } |
RogerRF | 0:7db3f15dddd3 | 130 | |
RogerRF | 0:7db3f15dddd3 | 131 | float dit_petit() |
RogerRF | 0:7db3f15dddd3 | 132 | { |
RogerRF | 0:7db3f15dddd3 | 133 | float Vfsr4 = Vmax * sensor0.read(); |
RogerRF | 0:7db3f15dddd3 | 134 | float f; |
RogerRF | 0:7db3f15dddd3 | 135 | |
RogerRF | 0:7db3f15dddd3 | 136 | if (Vfsr4 < 0.01) |
RogerRF | 0:7db3f15dddd3 | 137 | f = 0; |
RogerRF | 0:7db3f15dddd3 | 138 | else if (Vfsr4 <= 1) { |
RogerRF | 0:7db3f15dddd3 | 139 | f = 101.01 * Vfsr4; |
RogerRF | 0:7db3f15dddd3 | 140 | } else { |
RogerRF | 0:7db3f15dddd3 | 141 | f = 36.508 * Vfsr4; |
RogerRF | 0:7db3f15dddd3 | 142 | f += 56.473 * Vfsr4 * Vfsr4; |
RogerRF | 0:7db3f15dddd3 | 143 | } |
RogerRF | 0:7db3f15dddd3 | 144 | |
RogerRF | 0:7db3f15dddd3 | 145 | return f; |
RogerRF | 0:7db3f15dddd3 | 146 | } |
RogerRF | 0:7db3f15dddd3 | 147 | |
RogerRF | 0:7db3f15dddd3 | 148 | /* |
RogerRF | 0:7db3f15dddd3 | 149 | * Llegir anterior: Llegeix i envia els resultats de l'exercici anterior al mobil |
RogerRF | 0:7db3f15dddd3 | 150 | * - Color Blanc |
RogerRF | 0:7db3f15dddd3 | 151 | */ |
RogerRF | 0:7db3f15dddd3 | 152 | void llegir_anterior() { |
RogerRF | 0:7db3f15dddd3 | 153 | int i; |
RogerRF | 0:7db3f15dddd3 | 154 | |
RogerRF | 0:7db3f15dddd3 | 155 | Blanc(); |
RogerRF | 0:7db3f15dddd3 | 156 | |
RogerRF | 0:7db3f15dddd3 | 157 | bt.puts("\n-------------------------"); |
RogerRF | 0:7db3f15dddd3 | 158 | bt.puts("EXERCICI ANTERIOR: \n"); |
RogerRF | 0:7db3f15dddd3 | 159 | |
RogerRF | 0:7db3f15dddd3 | 160 | for(i=0; i<LOOP_M; i++) { |
RogerRF | 0:7db3f15dddd3 | 161 | bt.printf("\r\n Dit gros: %.2f g", force4[i]); |
RogerRF | 0:7db3f15dddd3 | 162 | bt.printf("\r\n Dit index: %.2f g", force3[i]); |
RogerRF | 0:7db3f15dddd3 | 163 | bt.printf("\r\n Dit mig: %.2f g", force2[i]); |
RogerRF | 0:7db3f15dddd3 | 164 | bt.printf("\r\n Dit anular: %.2f g", force1[i]); |
RogerRF | 0:7db3f15dddd3 | 165 | bt.printf("\r\n Dit petit: %.2f g", force0[i]); |
RogerRF | 0:7db3f15dddd3 | 166 | bt.puts("\n"); |
RogerRF | 0:7db3f15dddd3 | 167 | } |
RogerRF | 0:7db3f15dddd3 | 168 | |
RogerRF | 0:7db3f15dddd3 | 169 | } |
RogerRF | 0:7db3f15dddd3 | 170 | |
RogerRF | 0:7db3f15dddd3 | 171 | /* |
RogerRF | 0:7db3f15dddd3 | 172 | * Actiu: Sistema actiu, llegeix i envia les dades del sensor al mobil |
RogerRF | 0:7db3f15dddd3 | 173 | * - Led Verd |
RogerRF | 0:7db3f15dddd3 | 174 | * L: wait(0.25) x 40 = 10 segons --> TEMPS_L i LOOP_L |
RogerRF | 0:7db3f15dddd3 | 175 | * M: wait(0.2) x 40 = 10 segons --> TEMPS_M i LOOP_M |
RogerRF | 0:7db3f15dddd3 | 176 | * S: wait(0.1) x 100 = 10 segons --> TEMPS_S i LOOP_S |
RogerRF | 0:7db3f15dddd3 | 177 | * |
RogerRF | 0:7db3f15dddd3 | 178 | */ |
RogerRF | 0:7db3f15dddd3 | 179 | void actiu() { |
RogerRF | 0:7db3f15dddd3 | 180 | int i; |
RogerRF | 0:7db3f15dddd3 | 181 | |
RogerRF | 0:7db3f15dddd3 | 182 | Verd(); |
RogerRF | 0:7db3f15dddd3 | 183 | bt.puts("\n\n---------------------"); |
RogerRF | 0:7db3f15dddd3 | 184 | |
RogerRF | 0:7db3f15dddd3 | 185 | for(i=0; i<LOOP_M; i++) |
RogerRF | 0:7db3f15dddd3 | 186 | { |
RogerRF | 0:7db3f15dddd3 | 187 | force4[i] = dit_gros(); |
RogerRF | 0:7db3f15dddd3 | 188 | force3[i] = dit_index(); |
RogerRF | 0:7db3f15dddd3 | 189 | force2[i] = dit_mig(); |
RogerRF | 0:7db3f15dddd3 | 190 | force1[i] = dit_anular(); |
RogerRF | 0:7db3f15dddd3 | 191 | force0[i] = dit_petit(); |
RogerRF | 0:7db3f15dddd3 | 192 | |
RogerRF | 0:7db3f15dddd3 | 193 | bt.puts("\n"); |
RogerRF | 0:7db3f15dddd3 | 194 | bt.printf("\r\n Dit gros: %.2f g", force4[i]); |
RogerRF | 0:7db3f15dddd3 | 195 | bt.printf("\r\n Dit index: %.2f g", force3[i]); |
RogerRF | 0:7db3f15dddd3 | 196 | bt.printf("\r\n Dit mig: %.2f g", force2[i]); |
RogerRF | 0:7db3f15dddd3 | 197 | bt.printf("\r\n Dit anular: %.2f g", force1[i]); |
RogerRF | 0:7db3f15dddd3 | 198 | bt.printf("\r\n Dit petit: %.2f g", force0[i]); |
RogerRF | 0:7db3f15dddd3 | 199 | bt.puts("\n"); |
RogerRF | 0:7db3f15dddd3 | 200 | |
RogerRF | 0:7db3f15dddd3 | 201 | wait(TEMPS_M); |
RogerRF | 0:7db3f15dddd3 | 202 | } |
RogerRF | 0:7db3f15dddd3 | 203 | bt.puts("\n\n---------------------"); |
RogerRF | 0:7db3f15dddd3 | 204 | } |
RogerRF | 0:7db3f15dddd3 | 205 | |
RogerRF | 0:7db3f15dddd3 | 206 | /* |
RogerRF | 0:7db3f15dddd3 | 207 | * Preparat: Sistema preparat per passar actiu. El sistema ja esta connectat via Bluetooth. |
RogerRF | 0:7db3f15dddd3 | 208 | * - Led Taronja |
RogerRF | 0:7db3f15dddd3 | 209 | */ |
RogerRF | 0:7db3f15dddd3 | 210 | void preparat() { |
RogerRF | 0:7db3f15dddd3 | 211 | for(int i=0; i<3; i++) { |
RogerRF | 0:7db3f15dddd3 | 212 | Taronja(); |
RogerRF | 0:7db3f15dddd3 | 213 | wait(1); |
RogerRF | 0:7db3f15dddd3 | 214 | Apagat(); |
RogerRF | 0:7db3f15dddd3 | 215 | wait(1); |
RogerRF | 0:7db3f15dddd3 | 216 | } |
RogerRF | 0:7db3f15dddd3 | 217 | } |
RogerRF | 0:7db3f15dddd3 | 218 | |
RogerRF | 0:7db3f15dddd3 | 219 | |
RogerRF | 0:7db3f15dddd3 | 220 | int main() { |
RogerRF | 0:7db3f15dddd3 | 221 | // Inicialitzacio variables |
RogerRF | 0:7db3f15dddd3 | 222 | int estat = 0; |
RogerRF | 0:7db3f15dddd3 | 223 | |
RogerRF | 0:7db3f15dddd3 | 224 | bt.puts("\r\n________________________________________________________"); |
RogerRF | 0:7db3f15dddd3 | 225 | bt.puts("\r\nSignificat dels colors dels leds de la placa FRDM KL25Z:"); |
RogerRF | 0:7db3f15dddd3 | 226 | bt.puts("\r\n- Color Vermell: Sistema inactiu"); |
RogerRF | 0:7db3f15dddd3 | 227 | bt.puts("\r\n- Color Taronja: Sistema preparat i en espera"); |
RogerRF | 0:7db3f15dddd3 | 228 | bt.puts("\r\n- Color Verd: Sistema actiu, es recopila les dades durant 10 segons"); |
RogerRF | 0:7db3f15dddd3 | 229 | bt.puts("\r\n- Color Blanc: Forces de l'exercici anterior"); |
RogerRF | 0:7db3f15dddd3 | 230 | bt.puts("\r\nEls exercicis s'han de realitzar en color verd."); |
RogerRF | 0:7db3f15dddd3 | 231 | bt.puts("\r\nSi es desconnecta el Bluetooth, apreta el reset de la placa."); |
RogerRF | 0:7db3f15dddd3 | 232 | |
RogerRF | 0:7db3f15dddd3 | 233 | while(1) { |
RogerRF | 0:7db3f15dddd3 | 234 | //Sistema inactiu |
RogerRF | 0:7db3f15dddd3 | 235 | Vermell(); |
RogerRF | 0:7db3f15dddd3 | 236 | wait(2); |
RogerRF | 0:7db3f15dddd3 | 237 | |
RogerRF | 0:7db3f15dddd3 | 238 | bt.puts("\n\r\n\r"); |
RogerRF | 0:7db3f15dddd3 | 239 | bt.puts("- Prem '1' per activar el sistema: "); |
RogerRF | 0:7db3f15dddd3 | 240 | bt.puts("- Prem '2' per veure els resultats de l'exercici anterior: "); |
RogerRF | 0:7db3f15dddd3 | 241 | bt.scanf("%d", &estat); |
RogerRF | 0:7db3f15dddd3 | 242 | wait(0.5); |
RogerRF | 0:7db3f15dddd3 | 243 | |
RogerRF | 0:7db3f15dddd3 | 244 | //Estat del sistema |
RogerRF | 0:7db3f15dddd3 | 245 | if(estat == 1) { |
RogerRF | 0:7db3f15dddd3 | 246 | preparat(); |
RogerRF | 0:7db3f15dddd3 | 247 | |
RogerRF | 0:7db3f15dddd3 | 248 | actiu(); |
RogerRF | 0:7db3f15dddd3 | 249 | } |
RogerRF | 0:7db3f15dddd3 | 250 | else if(estat == 2) { |
RogerRF | 0:7db3f15dddd3 | 251 | llegir_anterior(); |
RogerRF | 0:7db3f15dddd3 | 252 | } |
RogerRF | 0:7db3f15dddd3 | 253 | |
RogerRF | 0:7db3f15dddd3 | 254 | estat = 0; |
RogerRF | 0:7db3f15dddd3 | 255 | |
RogerRF | 0:7db3f15dddd3 | 256 | }//end while(1) |
RogerRF | 0:7db3f15dddd3 | 257 | |
RogerRF | 0:7db3f15dddd3 | 258 | } //end |