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:
- 2014-10-28
- Revision:
- 17:dbbe4e126203
- Parent:
- 16:d65458b85734
- Child:
- 18:ed2afe6953de
File content as of revision 17:dbbe4e126203:
#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(2); arm_biquad_casd_df1_inst_f32 lowpass_biceps; arm_biquad_casd_df1_inst_f32 lowpass_deltoid; //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_biceps_states[4]; float lowpass_deltoid_states[4]; arm_biquad_casd_df1_inst_f32 highnotch_biceps; arm_biquad_casd_df1_inst_f32 highnotch_deltoid; //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB float highnotch_const[] = {0.956542835577484, -1.913085671154968, 0.956542835577484, 1.911196288237583, -0.914975054072353,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533}; //state values float highnotch_biceps_states[8]; float highnotch_deltoid_states[8]; //De globale variabele voor het gefilterde EMG signaal float filtered_biceps; float filtered_deltoid; float filtered_average_bi; float filtered_average_del; void average_biceps(float filtered_biceps,float *average) { static float total=0; static float number=0; total = total + filtered_biceps; number = number + 1; if ( number == 250) { *average = total/250; total = 0; number = 0; } } void average_deltoid(float filtered_input,float *average_output) { static float total=0; static float number=0; total = total + filtered_input; number = number + 1; if ( number == 250) { *average_output = total/250; total = 0; number = 0; } } /** 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(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); filtered_biceps = fabs(filtered_biceps); arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); average_biceps(filtered_biceps,&filtered_average_bi); //process emg deltoid arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value2_f32, &filtered_deltoid, 1 ); filtered_deltoid = fabs(filtered_deltoid); arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 ); average_deltoid(filtered_deltoid, &filtered_average_del); /*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(0,filtered_average_bi); //processed float deltoid //scope.set(2,filtered_deltoid); //processed float biceps scope.set(1,filtered_average_del); //processed float deltoid scope.send(); } // LED AANSTURING Ticker ledticker; 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 greenblink() { if(myled2.read()) myled2 = 0; else myled2 = 1; } void BlinkGreen() { ledticker.attach(&greenblink,.5); /* myled1 = 1; myled2 = 1; myled3 = 1; wait(0.1); myled1 = 0; myled2 = 1; myled3 = 1; wait(0.1);*/ } void stopblinkred() { ledticker.detach(); } void BlinkGreen1 () { 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); } } void ShineGreen () { myled1 = 1; myled2 = 0; myled3 = 1; } void ShineBlue () { myled1 = 1; myled2 = 1; myled3 = 0; } void ShineRed () { myled1 = 0; myled2 = 1; myled3 = 1; } int main() { pc.baud(115200); Ticker log_timer; //set up filters. Use external array for constants arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 , lowpass_const, lowpass_biceps_states); arm_biquad_cascade_df1_init_f32(&lowpass_deltoid,1 , lowpass_const, lowpass_deltoid_states); arm_biquad_cascade_df1_init_f32(&highnotch_biceps,2 ,highnotch_const,highnotch_biceps_states); arm_biquad_cascade_df1_init_f32(&highnotch_deltoid,2 ,highnotch_const,highnotch_deltoid_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!*/ while(1) { pc.printf("Span de biceps aan om het instellen te starten"); do { ShineRed(); } while(filtered_average_bi < 0.05 && filtered_average_del <0.05); // In rust, geen meting if (filtered_average_bi > 0.05) { BlinkRed(15); while (1){ BlinkGreen(); if (filtered_average_bi > 0.05 && filtered_average_del < 0.05) { stopblinkred(); ShineRed(); wait (4); break; } if (filtered_average_bi < 0.05 && filtered_average_del > 0.05) { stopblinkred(); ShineBlue(); wait(4); break; } else if (filtered_average_bi > 0.05 && filtered_average_del > 0.05) { stopblinkred(); ShineGreen(); wait (4); break; } } } } } }