Er is uitleg bijgeschreven en pwm_percentage heeft een andere naam
Dependencies: Encoder HIDScope MODSERIAL mbed-dsp mbed
Fork of Lampje_EMG_Gr6 by
main.cpp
- Committer:
- jessekaiser
- Date:
- 2014-10-16
- Revision:
- 4:40aa1fb60a24
- Parent:
- 3:0895fa0a6ca4
- Child:
- 5:03105d8bf72c
File content as of revision 4:40aa1fb60a24:
#include "mbed.h" #include "HIDScope.h" #include "arm_math.h" #include "MODSERIAL.h" Serial pc(USBTX, USBRX); // tx, rx DigitalOut myled1(LED_RED); DigitalOut myled2(LED_GREEN); DigitalOut myled3(LED_BLUE); PwmOut motorsignal(PTD4); //Define objects AnalogIn emg0(PTB1); //Analog input AnalogIn emg1(PTB2); //Analog input HIDScope scope(4); 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}; //state values float lowpass_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}; //state values float highpass_states[4]; //De globale variabele voor het gefilterde EMG signaal float filtered_biceps; float filtered_deltoid; /** Looper function * functions used for Ticker and Timeout should be of type void <name>(void) * i.e. no input arguments, no output arguments. * if you want to change a variable that you use in other places (for example in main) * you will have to make that variable global in order to be able to reach it both from * the function called at interrupt time, and in the main function. * To make a variable global, define it under the includes. * variables that are changed in the interrupt routine (written to) should be made * 'volatile' to let the compiler know that those values may change outside the current context. * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value" * in the example below, the variable is not re-used in the main function, and is thus declared * local in the looper function only. **/ void looper() { /*variable to store value in*/ uint16_t emg_value1; uint16_t emg_value2; float emg_value1_f32; float emg_value2_f32; /*put raw emg value both in red and in emg_value*/ emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) emg_value1_f32 = emg0.read(); emg_value2 = emg1.read_u16(); emg_value2_f32 = emg1.read(); //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(&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(&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.send(); } void BlinkRed(int n) { for (int i=0; i<n; i++) { myled1 = 1; myled2 = 1; myled3 = 1; wait(0.1); myled1 = 0; myled2 = 1; myled3 = 1; wait(0.1); } } void BlinkGreen () { 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++) { myled1 = 1; myled2 = 1; myled3 = 1; wait(0.1); myled1 = 1; myled2 = 1; myled3 = 0; wait(0.1); } } int main() { pc.baud(115200); 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); /**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); while(1) { //Loop /*Empty!*/ /*Everything is handled by the interrupt routine now!*/ { char c = '0'; 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. BlinkRed(20); if (filtered_deltoid > 0.04){ BlinkBlue(20) } else if (filtered_biceps < 0.04 && filtered_deltoid < 0.04) { break; } if(filtered_biceps > 0.04){ myled1 = 1; myled2 = 0; myled3 = 1; wait(5); //Dit wordt de duur van het slaan en teruggaan naar de beginpositie totdat er opnieuw gemeten kan worden. } } } } } }