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:
- irisl
- Date:
- 2014-10-20
- Revision:
- 8:6c8c94e8a72f
- Parent:
- 7:1ca320a12035
File content as of revision 8:6c8c94e8a72f:
#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(PTB0); //Analog input AnalogIn emg1(PTB1); //Analog input HIDScope scope(2); 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_deltoid_states[4]; float lowpass_biceps_states[4]; arm_biquad_casd_df1_inst_f32 highpass; //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]; //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(0,filtered_biceps); //processed float biceps scope.set(1,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 (int n) { 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++) { 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(&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, 0.002); while(1) { //Loop /*Empty!*/ /*Everything is handled by the interrupt routine now!*/ { while(1) { pc.printf("Span de biceps aan om het instellen te starten"); do { 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 < 0.1 && filtered_deltoid < 0.1) { break; } if(filtered_biceps > 0.1) { 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. } } } } } }