Werkcollege opgave 23 september BMT K9
Dependencies: Encoder HIDScope MODSERIAL mbed QEI biquadFilter
main.cpp@23:c9c9c1d7864a, 2015-10-09 (annotated)
- Committer:
- bscheltinga
- Date:
- Fri Oct 09 09:26:55 2015 +0000
- Revision:
- 23:c9c9c1d7864a
- Parent:
- 22:14abcfdd1554
- Child:
- 24:a1ce6a87103c
Moving average toegevoegd. Werkt nog niet goed, geeft geen waardes
Who changed what in which revision?
User | Revision | Line number | New 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 | 23:c9c9c1d7864a | 16 | float emgL_L, emgL_LH, emgLeft; |
bscheltinga | 23:c9c9c1d7864a | 17 | double B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B; |
bscheltinga | 15:7870f7912904 | 18 | |
bscheltinga | 22:14abcfdd1554 | 19 | const float la1 = 0; |
bscheltinga | 22:14abcfdd1554 | 20 | const float la2 = 0.17156822136; |
bscheltinga | 22:14abcfdd1554 | 21 | const float lb0 = 0.2928920553; |
bscheltinga | 22:14abcfdd1554 | 22 | const float lb1 = 0.5857841107; |
bscheltinga | 22:14abcfdd1554 | 23 | const float lb2 = 0.2928920554; // Waarde van biquads via groep 1 2014 |
bscheltinga | 22:14abcfdd1554 | 24 | biquadFilter Lowpassfilter (la1, la2, lb0, lb1, lb2); |
bscheltinga | 15:7870f7912904 | 25 | |
bscheltinga | 22:14abcfdd1554 | 26 | const float ha1 = -1.5610153913; |
bscheltinga | 22:14abcfdd1554 | 27 | const float ha2 = 0.6413487154; |
bscheltinga | 22:14abcfdd1554 | 28 | const float hb0 = 0.8005910267; |
bscheltinga | 22:14abcfdd1554 | 29 | const float hb1 = -1.6011820533; |
bscheltinga | 22:14abcfdd1554 | 30 | const float hb2 = 0.8005910267; // 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 | 22:14abcfdd1554 | 54 | emgL_LH = Highpassfilter.step(emgL_L); //emgL_L met Highpassfilter |
bscheltinga | 23:c9c9c1d7864a | 55 | |
bscheltinga | 23:c9c9c1d7864a | 56 | // // [MOVING AVERAGE]// |
bscheltinga | 23:c9c9c1d7864a | 57 | // B0 = emgL_LH; |
bscheltinga | 23:c9c9c1d7864a | 58 | // 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 | 23:c9c9c1d7864a | 59 | // B9=B8; |
bscheltinga | 23:c9c9c1d7864a | 60 | // B8=B7; |
bscheltinga | 23:c9c9c1d7864a | 61 | // B7=B6; |
bscheltinga | 23:c9c9c1d7864a | 62 | // B6=B5; |
bscheltinga | 23:c9c9c1d7864a | 63 | // B5=B4; |
bscheltinga | 23:c9c9c1d7864a | 64 | // B4=B3; |
bscheltinga | 23:c9c9c1d7864a | 65 | // B3=B2; |
bscheltinga | 23:c9c9c1d7864a | 66 | // B2=B1; |
bscheltinga | 23:c9c9c1d7864a | 67 | // B1=B0; |
bscheltinga | 23:c9c9c1d7864a | 68 | |
bscheltinga | 20:d5f5c60adc43 | 69 | scope.set(0,emgL.read()); |
bscheltinga | 22:14abcfdd1554 | 70 | scope.set(1,emgL_L); |
bscheltinga | 22:14abcfdd1554 | 71 | scope.set(2,emgL_LH); |
bscheltinga | 23:c9c9c1d7864a | 72 | // scope.set(3,MOVAVG_B); |
bscheltinga | 20:d5f5c60adc43 | 73 | scope.send(); |
bscheltinga | 21:594915ba2bf9 | 74 | led1 = 1; //De led gaat flikkeren wanneer deze loop uitgevoerd wordt |
bscheltinga | 20:d5f5c60adc43 | 75 | |
bscheltinga | 14:57d38789bff2 | 76 | } |
bscheltinga | 14:57d38789bff2 | 77 | } |