Diff: main.cpp

Revision:

8:6c8c94e8a72f

Parent:

7:1ca320a12035

--- a/main.cpp	Fri Oct 17 12:57:01 2014 +0000
+++ b/main.cpp	Mon Oct 20 12:01:00 2014 +0000
@@ -10,25 +10,24 @@
 PwmOut     motorsignal(PTD4);
 
 //Define objects
-AnalogIn    emg0(PTB1); //Analog input
-AnalogIn    emg1(PTB2); //Analog input
-HIDScope scope(4);
+AnalogIn    emg0(PTB0); //Analog input
+AnalogIn    emg1(PTB1); //Analog input
+HIDScope scope(2);
 
-arm_biquad_casd_df1_inst_f32 lowpass;
-//lowpass filter settings: Fc = 225 Hz, Fs = 500 Hz, Gain = -3 dB
-float lowpass_const[] = {0.8005910266528647, 1.6011820533057295, 0.8005910266528647, -1.5610153912536877, -0.6413487153577715};
+arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
+arm_biquad_casd_df1_inst_f32 lowpass_biceps;
+//notch filter settings: Fc = 50 Hz, Fs = 500 Hz, Gain = -3 dB
+float lowpass_const[] = {0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
 //state values
-float lowpass_states[4];
+float lowpass_deltoid_states[4];
+float lowpass_biceps_states[4];
+
 arm_biquad_casd_df1_inst_f32 highpass;
-//highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB
-float highpass_const[] = {0.956542835577484, -1.913085671154968, 0.956542835577484, 1.911196288237583, -0.914975054072353};
+//highpass filter settings: Fc = 55 Hz, Fs = 500 Hz, Gain = -3 dB
+float highpass_const[] = {0.6102141134156427, -1.2204282268312854, 0.6102141134156427, 1.0622412619253851, -0.3786151917371857};
 //state values
 float highpass_states[4];
-arm_biquad_casd_df1_inst_f32 notch;
-//highpass filter settings: Fc = 50 Hz, Fs = 500 Hz, Gain = -3 dB
-float notch_const[] = {0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
-//state values
-float notch_states[4];
+
 
 //De globale variabele voor het gefilterde EMG signaal
 float filtered_biceps;
@@ -68,20 +67,18 @@
     //process emg biceps
     arm_biquad_cascade_df1_f32(&highpass, &emg_value1_f32, &filtered_biceps, 1 );
     filtered_biceps = fabs(filtered_biceps);
-    arm_biquad_cascade_df1_f32(&notch, &filtered_biceps, &filtered_biceps, 1 );
     arm_biquad_cascade_df1_f32(&lowpass, &filtered_biceps, &filtered_biceps, 1 );
 
     //process emg deltoid
     arm_biquad_cascade_df1_f32(&highpass, &emg_value2_f32, &filtered_deltoid, 1 );
     filtered_deltoid = fabs(filtered_deltoid);
-    arm_biquad_cascade_df1_f32(&notch, &filtered_deltoid, &filtered_deltoid, 1 );
     arm_biquad_cascade_df1_f32(&lowpass, &filtered_deltoid, &filtered_deltoid, 1 );
 
     /*send value to PC. */
-    scope.set(0,emg_value1);     //Raw EMG signal biceps
-    scope.set(1,emg_value2);    //Raw EMG signal Deltoid
-    scope.set(2,filtered_biceps);  //processed float biceps
-    scope.set(3,filtered_deltoid); //processed float deltoid
+    //scope.set(0,emg_value1);     //Raw EMG signal biceps
+    //scope.set(1,emg_value2);    //Raw EMG signal Deltoid
+    scope.set(0,filtered_biceps);  //processed float biceps
+    scope.set(1,filtered_deltoid); //processed float deltoid
     scope.send();
 
 }
@@ -100,20 +97,20 @@
     }
 }
 
-void BlinkGreen ()
+void BlinkGreen (int n)
 {
-
-    myled1 = 1;
-    myled2 = 1;
-    myled3 = 1;
-    wait(0.1);
-    myled1 = 1;
-    myled2 = 0;
-    myled3 = 1;
-    wait(0.1);
+    for (int i=0; i<n; i++) {
+        myled1 = 1;
+        myled2 = 1;
+        myled3 = 1;
+        wait(0.1);
+        myled1 = 1;
+        myled2 = 0;
+        myled3 = 1;
+        wait(0.1);
+    }
 }
 
-
 void BlinkBlue(int n)
 {
     for (int i=0; i<n; i++) {
@@ -134,14 +131,14 @@
 
     Ticker log_timer;
     //set up filters. Use external array for constants
-    arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
-    arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const,highpass_states);
+    arm_biquad_cascade_df1_init_f32(&highpass,1,highpass_const,highpass_states);
+    arm_biquad_cascade_df1_init_f32(&lowpass,1,lowpass_const,lowpass_states);
 
     /**Here you attach the 'void looper(void)' function to the Ticker object
     * The looper() function will be called every 0.01 seconds.
     * Please mind that the parentheses after looper are omitted when using attach.
     */
-    log_timer.attach(looper, 0.001);
+    log_timer.attach(looper, 0.002);
     while(1) { //Loop
         /*Empty!*/
         /*Everything is handled by the interrupt routine now!*/
@@ -150,18 +147,17 @@
             while(1) {
                 pc.printf("Span de biceps aan om het instellen te starten");
                 do {
-                    BlinkGreen();
-                }
-                while(filtered_biceps < 0.04);
-                while(filtered_biceps > 0.04) {    //Wanneer het EMG signaal een piek geeft wordt het volgende uitgevoerd.
+                    BlinkGreen(6);
+                } while(filtered_biceps < 0.1);
+                while(filtered_biceps > 0.1) {    //Wanneer het EMG signaal een piek geeft wordt het volgende uitgevoerd.
                     BlinkRed(20);
                     if (filtered_deltoid > 0.1) {
                         BlinkBlue(20);
-                    } else if (filtered_biceps < 0.04 && filtered_deltoid < 0.1) {
+                    } else if (filtered_biceps < 0.1 && filtered_deltoid < 0.1) {
                         break;
                     }
 
-                    if(filtered_biceps > 0.04) {
+                    if(filtered_biceps > 0.1) {
                         myled1 = 1;
                         myled2 = 0;
                         myled3 = 1;