Bouke Scheltinga / Mbed 2 deprecated Werk_college_23sept

Werkcollege opgave 23 september BMT K9

Dependencies:   Encoder HIDScope MODSERIAL mbed QEI biquadFilter

main.cpp@24:a1ce6a87103c, 2015-10-09 (annotated)

Committer:
bscheltinga
Date:
Fri Oct 09 09:57:47 2015 +0000
Revision:
24:a1ce6a87103c
Parent:
23:c9c9c1d7864a
Child:
25:38ab6dd19d9b
Low and Highpassfilters met biquads via ASN

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bscheltinga 0:fe3896c6eeb0 1 #include "mbed.h"
bscheltinga 12:0a079e86348e 2 #include "HIDScope.h"
bscheltinga 0:fe3896c6eeb0 3 #include "MODSERIAL.h"
bscheltinga 13:04e10692e239 4 #include "biquadFilter.h" //Filter direct form II
bscheltinga 0:fe3896c6eeb0 5
bscheltinga 15:7870f7912904 6 //Define inputs
bscheltinga 20:d5f5c60adc43 7 AnalogIn emgL(A0); //Analog input left arm
bscheltinga 18:68067ffd169e 8 //AnalogIn emgR(PTB1); //Analog input right arm
bscheltinga 19:bd453bee03f6 9 DigitalOut led1(LED_GREEN);
bscheltinga 21:594915ba2bf9 10
bscheltinga 18:68067ffd169e 11 MODSERIAL pc(USBTX,USBRX);
bscheltinga 20:d5f5c60adc43 12 volatile bool control_go = false;
bscheltinga 20:d5f5c60adc43 13 Ticker control_tick;
bscheltinga 15:7870f7912904 14
bscheltinga 20:d5f5c60adc43 15 //Define constants
bscheltinga 24:a1ce6a87103c 16 float emgL_L, emgL_LH, emgLeft, emgL_H, emgL_Notch;
bscheltinga 23:c9c9c1d7864a 17 double B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B;
bscheltinga 15:7870f7912904 18
bscheltinga 24:a1ce6a87103c 19 const float la1 = 0.29358435979;
bscheltinga 24:a1ce6a87103c 20 const float la2 = 0.71930322156;
bscheltinga 24:a1ce6a87103c 21 const float lb0 = 1.00000000000;
bscheltinga 24:a1ce6a87103c 22 const float lb1 = 0.01516472727;
bscheltinga 24:a1ce6a87103c 23 const float lb2 = 1.00000000000; // Waarde van biquads via groep 1 2014
bscheltinga 22:14abcfdd1554 24 biquadFilter Lowpassfilter (la1, la2, lb0, lb1, lb2);
bscheltinga 15:7870f7912904 25
bscheltinga 24:a1ce6a87103c 26 const float ha1 = -0.29358436761;
bscheltinga 24:a1ce6a87103c 27 const float ha2 = 0.71930322175;
bscheltinga 24:a1ce6a87103c 28 const float hb0 = 1.000000000000;
bscheltinga 24:a1ce6a87103c 29 const float hb1 = -0.01516473660;
bscheltinga 24:a1ce6a87103c 30 const float hb2 = 1.000000000000; // Waarde van biquads via groep 1 2014
bscheltinga 22:14abcfdd1554 31 biquadFilter Highpassfilter (ha1, ha2, hb0, hb1, hb2);
bscheltinga 22:14abcfdd1554 32
bscheltinga 23:c9c9c1d7864a 33 HIDScope scope(4); // Aantal HIDScope kanalen
bscheltinga 21:594915ba2bf9 34
bscheltinga 21:594915ba2bf9 35 void ControlGo() //Control flag
bscheltinga 21:594915ba2bf9 36 {
bscheltinga 21:594915ba2bf9 37 control_go = true;
bscheltinga 21:594915ba2bf9 38 led1 = 0;
bscheltinga 21:594915ba2bf9 39 }
bscheltinga 0:fe3896c6eeb0 40
bscheltinga 13:04e10692e239 41 int main()
bscheltinga 13:04e10692e239 42 {
bscheltinga 22:14abcfdd1554 43 control_tick.attach(&ControlGo, 0.01);
bscheltinga 20:d5f5c60adc43 44 pc.baud(9600);
bscheltinga 20:d5f5c60adc43 45
bscheltinga 15:7870f7912904 46 while(true) {
bscheltinga 20:d5f5c60adc43 47
bscheltinga 20:d5f5c60adc43 48 if(control_go)
bscheltinga 23:c9c9c1d7864a 49
bscheltinga 23:c9c9c1d7864a 50 // [EMG FILTEREN MET HIGH- EN LOWPASSFILTER] //
bscheltinga 23:c9c9c1d7864a 51 emgLeft = emgL.read();
bscheltinga 23:c9c9c1d7864a 52 emgLeft = fabs(emgLeft);
bscheltinga 23:c9c9c1d7864a 53 emgL_L = Lowpassfilter.step(emgLeft); //emgL_L Linker bicep met lowpass filter
bscheltinga 24:a1ce6a87103c 54 emgL_H = Highpassfilter.step(emgLeft); //emgL_L met Highpassfilter
bscheltinga 24:a1ce6a87103c 55 emgL_Notch = Highpassfilter.step(emgL_L);
bscheltinga 23:c9c9c1d7864a 56
bscheltinga 24:a1ce6a87103c 57 // [MOVING AVERAGE]//
bscheltinga 24:a1ce6a87103c 58 B0 = emgL_LH;
bscheltinga 24:a1ce6a87103c 59 MOVAVG_B=B0*0.1+B1*0.1+B2*0.1+B3*0.1+B4*0.1+B5*0.1+B6*0.1+B7*0.1+B8*0.1+B9*0.1;
bscheltinga 24:a1ce6a87103c 60 B9=B8;
bscheltinga 24:a1ce6a87103c 61 B8=B7;
bscheltinga 24:a1ce6a87103c 62 B7=B6;
bscheltinga 24:a1ce6a87103c 63 B6=B5;
bscheltinga 24:a1ce6a87103c 64 B5=B4;
bscheltinga 24:a1ce6a87103c 65 B4=B3;
bscheltinga 24:a1ce6a87103c 66 B3=B2;
bscheltinga 24:a1ce6a87103c 67 B2=B1;
bscheltinga 24:a1ce6a87103c 68 B1=B0;
bscheltinga 23:c9c9c1d7864a 69
bscheltinga 20:d5f5c60adc43 70 scope.set(0,emgL.read());
bscheltinga 22:14abcfdd1554 71 scope.set(1,emgL_L);
bscheltinga 24:a1ce6a87103c 72 scope.set(2,emgL_H);
bscheltinga 24:a1ce6a87103c 73 scope.set(3,MOVAVG_B);
bscheltinga 20:d5f5c60adc43 74 scope.send();
bscheltinga 21:594915ba2bf9 75 led1 = 1; //De led gaat flikkeren wanneer deze loop uitgevoerd wordt
bscheltinga 20:d5f5c60adc43 76
bscheltinga 14:57d38789bff2 77 }
bscheltinga 14:57d38789bff2 78 }