Er is uitleg bijgeschreven en pwm_percentage heeft een andere naam
Dependencies: Encoder HIDScope MODSERIAL mbed-dsp mbed
Fork of Lampje_EMG_Gr6 by
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(¬ch, &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(¬ch, &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;