Diff: main.cpp

Revision:

28:e2553066989e

Parent:

27:b8d61361d709

Child:

29:76b2cc33690c

--- a/main.cpp	Fri Oct 28 08:19:14 2016 +0000
+++ b/main.cpp	Fri Oct 28 08:35:31 2016 +0000
@@ -13,8 +13,8 @@
 
 Ticker      sample_timer;               //ticker
 Ticker      switch_function;            //ticker
-Ticker      calibration_ticker_biceps   //ticker
-Ticker      calibratio_ticker_triceps   //ticker
+Ticker      calibration_ticker_biceps;   //ticker
+Ticker      calibration_ticker_triceps;   //ticker
 HIDScope    scope(5);                   //open 3 channels in hidscope
 MODSERIAL pc(USBTX, USBRX);             //pc connection
 
@@ -39,31 +39,11 @@
 double max_triceps;                         //calibration maximum triceps
 int n = 0;                                  //start van de teller wordt op nul gesteld, om te kunnen switchen
  
-//biceps  arm 1, right arm
 double emg_biceps_right;
-double emg_filtered_high_biceps_right;
-double emg_abs_biceps_right;
-double emg_filtered_biceps_right;
-double emg_filtered_high_notch_1_biceps_right;
-double emg_filtered_high_notch_1_2_biceps_right;
-
-//triceps arm 1, right arm
 double emg_triceps_right;
-double emg_filtered_high_triceps_right;
-double emg_abs_triceps_right;
-double emg_filtered_triceps_right;
-double emg_filtered_high_notch_1_triceps_right;
-double emg_filtered_high_notch_1_2_triceps_right;
+double emg_biceps_left;
 
-//biceps  arm 1, left arm
-double emg_biceps_left;
-double emg_filtered_high_biceps_left;
-double emg_abs_biceps_left;
-double emg_filtered_biceps_left;
-double emg_filtered_high_notch_1_biceps_left;
-double emg_filtered_high_notch_1_2_biceps_left;
-
-//before abs filtering
+//Biquads defined
 
 //b1 = biceps right arm
 BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
@@ -99,30 +79,30 @@
 void filter(){
         //biceps right arm read+filtering
         emg_biceps_right=emg_biceps_right_in.read();                            //read the emg value from the elektrodes
-        emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
-        emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
-        emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
-        emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
-        emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
+        double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
+        double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
+        double emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
+        double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
+        double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
         
         //triceps right arm read+filtering
         emg_triceps_right=emg_triceps_right_in.read();                            //read the emg value from the elektrodes
-        emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
-        emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
-        emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right);
-        emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float
-        emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
+        double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
+        double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
+        double emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right);
+        double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float
+        double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
         
         //biceps left arm read+filtering
         emg_biceps_left=emg_biceps_left_in.read();                            //read the emg value from the elektrodes
-        emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
-        emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
-        emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left);
-        emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float
-        emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
+        double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
+        double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
+        double emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left);
+        double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float
+        double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
           
         //signal substraction of filter biceps and triceps. Biceps +,triceps -
-        signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
+        double signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
                
         //creating of on/off signal with the created on/off signals, with if statement   for right arm!    
         if (signal_right_arm>cut_off_value_biceps)
@@ -164,20 +144,22 @@
             {
             for(int n =0; n<2000;n++)                                                  //read for 5000 samples as calibration
                 {
-            emg_biceps_right=emg_biceps_right_in.read();                            //read the emg value from the elektrodes
-            emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right);      //highpass
-            emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right);              //fabs because float
-            emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right);         //lowpass to envelope
-                        
-            if (emg_filtered_biceps_right > max_right_biceps)                    //determine what the highest reachable emg signal is
+        emg_biceps_right=emg_biceps_right_in.read();                            //read the emg value from the elektrodes
+        double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);   
+        double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
+        double emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
+        double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
+        double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
+                                
+            if (emg_filtered_biceps_right > max_biceps)                    //determine what the highest reachable emg signal is
                 {
-            max_right_biceps = emg_filtered_biceps_right;
+            max_biceps = emg_filtered_biceps_right;
             
                 }
                 wait(0.001f); //to sample at same freq; 1000Hz
                 }
-            cut_off_value=0.2*max_right_biceps; 
-            pc.printf(" change of cv %f ",cut_off_value );   
+            cut_off_value_biceps=0.2*max_biceps; 
+            pc.printf(" change of cv %f ",cut_off_value_biceps );   
             }
                 }
 
@@ -187,7 +169,8 @@
 {  
 pc.baud(115200);
 sample_timer.attach(&filter, 0.001);        //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds
-switch_function.attach(&SwitchN,1);
+switch_function.attach(&SwitchN,0.1);                       
+calibration_ticker_biceps.attach(&calibration_biceps,0.001); //to call calibration biceps
 //endless loop
 
     while (true) {                        // zorgt er voor dat de code oneindig doorgelopen wordt  
@@ -196,8 +179,7 @@
     {
          if (n%2==0)                     // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
          {
-           pc.printf("n is even \n\r"); // print lijn "n is even"
-           pc.printf("up \n\r");        // print lijn "up"   
+           
            richting_motor1 = 2.5;
            pwm_motor1 = 1; 
                   
@@ -205,8 +187,7 @@
          
          else                           // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
          {
-           pc.printf("n is odd \n\r");  // print lijn "n is odd"
-           pc.printf("left \n\r");      // print lijn "left"
+           
            richting_motor2 = 2.5;
            pwm_motor2 = 1;
            
@@ -217,23 +198,20 @@
     {
          if (n%2==0)                     // als d is ingedrukt en n is even dan gebeurd het volgende
          {
-           pc.printf("n is even \n\r"); // print lijn "n is even"
-           pc.printf("down \n\r");      // print lijn "down"   
+       
            richting_motor1 = 0;
            pwm_motor1 = 1;
            
         } 
          else                           // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
          {
-           pc.printf("n is odd \n\r"); // print lijn "n is odd"
-           pc.printf("right \n\r");    // print lijn "right"
+           
            richting_motor2 = 0;
            pwm_motor2 = 1;
                 
          }  
     }   
     else{
-       pc.printf("motor staat stil \n\r");
     pwm_motor2=0;
     pwm_motor1=0;
        }