Jorick Leferink / Mbed 2 deprecated EMGStdevV4

emg eind code

Dependencies:   MODSERIAL mbed

Fork of EMGStdevV3 by Dan August

main.cpp@7:2d98f94eda27, 2013-11-06 (annotated)

Committer:
jorick92
Date:
Wed Nov 06 12:26:17 2013 +0000
Revision:
7:2d98f94eda27
Parent:
6:33f0741dbb5b 
eindding emg enzo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DanAuhust 0:59e2ea255892 1 #include "mbed.h"
DanAuhust 0:59e2ea255892 2 #include "MODSERIAL.h"
DanAuhust 0:59e2ea255892 3
DanAuhust 0:59e2ea255892 4 //Define objects
DanAuhust 0:59e2ea255892 5 AnalogIn emg_biceps(PTB0);
DanAuhust 0:59e2ea255892 6 AnalogIn emg_triceps(PTB1);
DanAuhust 0:59e2ea255892 7 AnalogIn emg_flexoren(PTB2);
DanAuhust 0:59e2ea255892 8 AnalogIn emg_extensoren(PTB3); //Analog input
jorick92 7:2d98f94eda27 9 PwmOut dy(PTA12); //PWM output
jorick92 7:2d98f94eda27 10 PwmOut dx(PTA4);
DanAuhust 0:59e2ea255892 11 Ticker timer;
DanAuhust 0:59e2ea255892 12 MODSERIAL pc(USBTX,USBRX,64,1024);
DanAuhust 0:59e2ea255892 13
DanAuhust 0:59e2ea255892 14 #define offset_biceps 0 // offset ruwe invoer met adapter motoren, waar toepassen?
DanAuhust 0:59e2ea255892 15
DanAuhust 0:59e2ea255892 16 //high pass filter constantes 15Hz cutoff 4e orde, Fs = 312,5Hz (geeft een wat mooiere waarde voor periode en is geen veelvoud van 50Hz)
DanAuhust 0:59e2ea255892 17 #define NUM0 0.6731 // constante
DanAuhust 0:59e2ea255892 18 #define NUM1 -2.6925 // z^-1
DanAuhust 0:59e2ea255892 19 #define NUM2 4.0388 // z^-2etc.
DanAuhust 0:59e2ea255892 20 #define NUM3 -2.6925
DanAuhust 0:59e2ea255892 21 #define NUM4 0.6731
DanAuhust 0:59e2ea255892 22
DanAuhust 0:59e2ea255892 23 #define DEN0 1 // constante
DanAuhust 0:59e2ea255892 24 #define DEN1 -3.2133
DanAuhust 0:59e2ea255892 25 #define DEN2 3.9348
DanAuhust 0:59e2ea255892 26 #define DEN3 -2.1689
DanAuhust 0:59e2ea255892 27 #define DEN4 0.4531
DanAuhust 0:59e2ea255892 28
DanAuhust 1:1ffb9e3ae00f 29 //lowpass filter constantes 4Hz 4e orde, Fs = 312,5 Hz
DanAuhust 0:59e2ea255892 30 #define NUM0_3 0.00000236 // constante
DanAuhust 0:59e2ea255892 31 #define NUM1_3 0.00000944 // z^-1
DanAuhust 0:59e2ea255892 32 #define NUM2_3 0.00001415 // z^-2etc.
DanAuhust 0:59e2ea255892 33 #define NUM3_3 0.00000944
DanAuhust 0:59e2ea255892 34 #define NUM4_3 0.00000236
DanAuhust 0:59e2ea255892 35
DanAuhust 0:59e2ea255892 36 #define DEN0_3 1 // constante
DanAuhust 0:59e2ea255892 37 #define DEN1_3 -3.7899
DanAuhust 0:59e2ea255892 38 #define DEN2_3 5.3914
DanAuhust 0:59e2ea255892 39 #define DEN3_3 -3.4119
DanAuhust 0:59e2ea255892 40 #define DEN4_3 0.8104
DanAuhust 0:59e2ea255892 41
DanAuhust 5:7644d6b16ceb 42 double std_dev(float value, int number) {
DanAuhust 5:7644d6b16ceb 43 int n = 20;
DanAuhust 5:7644d6b16ceb 44 static int startcount = 0;
DanAuhust 5:7644d6b16ceb 45 float sum;
DanAuhust 5:7644d6b16ceb 46 float sq_sum;
DanAuhust 5:7644d6b16ceb 47 float mean;
DanAuhust 5:7644d6b16ceb 48 float variance;
DanAuhust 0:59e2ea255892 49 static int count_biceps=0;
DanAuhust 0:59e2ea255892 50 static int count_triceps=0;
DanAuhust 0:59e2ea255892 51 static int count_flexoren=0;
DanAuhust 0:59e2ea255892 52 static int count_extensoren=0;
DanAuhust 0:59e2ea255892 53 static float keeper_biceps[20];
DanAuhust 0:59e2ea255892 54 static float keeper_triceps[20];
DanAuhust 0:59e2ea255892 55 static float keeper_flexoren[20];
DanAuhust 0:59e2ea255892 56 static float keeper_extensoren[20];
DanAuhust 5:7644d6b16ceb 57
DanAuhust 5:7644d6b16ceb 58 if (startcount >= n)
DanAuhust 5:7644d6b16ceb 59 {switch (number){
DanAuhust 0:59e2ea255892 60 case 1:
DanAuhust 5:7644d6b16ceb 61 //int n = sizeof(keeper_biceps)/sizeof(float);
DanAuhust 5:7644d6b16ceb 62 keeper_biceps[count_biceps]=value;
DanAuhust 0:59e2ea255892 63 count_biceps++;
DanAuhust 5:7644d6b16ceb 64 if ( count_biceps >= n)
DanAuhust 5:7644d6b16ceb 65 count_biceps = 0;
DanAuhust 5:7644d6b16ceb 66 double sum = 0;
DanAuhust 5:7644d6b16ceb 67 double sq_sum = 0;
DanAuhust 5:7644d6b16ceb 68 for(int i = 0; i < n; ++i) {
DanAuhust 5:7644d6b16ceb 69 sum += keeper_biceps[i];
DanAuhust 5:7644d6b16ceb 70 sq_sum += keeper_biceps[i] * keeper_biceps[i];
DanAuhust 0:59e2ea255892 71 }
DanAuhust 5:7644d6b16ceb 72 double mean = sum / n;
DanAuhust 5:7644d6b16ceb 73 double variance = sq_sum / n - mean * mean;
DanAuhust 5:7644d6b16ceb 74 return sqrt(variance);
DanAuhust 0:59e2ea255892 75 break;
DanAuhust 5:7644d6b16ceb 76
DanAuhust 0:59e2ea255892 77 case 2:
DanAuhust 5:7644d6b16ceb 78 //int n = sizeof(keeper_triceps)/sizeof(float);
DanAuhust 5:7644d6b16ceb 79 keeper_triceps[count_triceps]=value;
DanAuhust 0:59e2ea255892 80 count_triceps++;
DanAuhust 5:7644d6b16ceb 81 if ( count_triceps >= n)
DanAuhust 5:7644d6b16ceb 82 count_triceps = 0;
DanAuhust 5:7644d6b16ceb 83 sum = 0;
DanAuhust 5:7644d6b16ceb 84 sq_sum = 0;
DanAuhust 5:7644d6b16ceb 85 for(int i = 0; i < n; ++i) {
DanAuhust 5:7644d6b16ceb 86 sum += keeper_triceps[i];
DanAuhust 5:7644d6b16ceb 87 sq_sum += keeper_triceps[i] * keeper_triceps[i];
DanAuhust 0:59e2ea255892 88 }
DanAuhust 5:7644d6b16ceb 89 mean = sum / n;
DanAuhust 5:7644d6b16ceb 90 variance = sq_sum / n - mean * mean;
DanAuhust 5:7644d6b16ceb 91 return sqrt(variance);
DanAuhust 0:59e2ea255892 92 break;
DanAuhust 5:7644d6b16ceb 93
DanAuhust 3:e609cd999fd2 94 case 3:
DanAuhust 5:7644d6b16ceb 95 //n = sizeof(keeper_flexoren)/sizeof(float);
DanAuhust 5:7644d6b16ceb 96 keeper_flexoren[count_flexoren]=value;
DanAuhust 0:59e2ea255892 97 count_flexoren++;
DanAuhust 5:7644d6b16ceb 98 if ( count_flexoren >= n)
DanAuhust 5:7644d6b16ceb 99 count_flexoren = 0;
DanAuhust 5:7644d6b16ceb 100 sum = 0;
DanAuhust 5:7644d6b16ceb 101 sq_sum = 0;
DanAuhust 5:7644d6b16ceb 102 for(int i = 0; i < n; ++i) {
DanAuhust 5:7644d6b16ceb 103 sum += keeper_flexoren[i];
DanAuhust 5:7644d6b16ceb 104 sq_sum += keeper_flexoren[i] * keeper_flexoren[i];
DanAuhust 0:59e2ea255892 105 }
DanAuhust 5:7644d6b16ceb 106 mean = sum / n;
DanAuhust 5:7644d6b16ceb 107 variance = sq_sum / n - mean * mean;
DanAuhust 5:7644d6b16ceb 108 return sqrt(variance);
DanAuhust 0:59e2ea255892 109 break;
DanAuhust 5:7644d6b16ceb 110
DanAuhust 0:59e2ea255892 111 case 4:
DanAuhust 5:7644d6b16ceb 112 //n = sizeof(keeper_extensoren)/sizeof(float);
DanAuhust 6:33f0741dbb5b 113 keeper_extensoren[count_extensoren]=value;
DanAuhust 0:59e2ea255892 114 count_extensoren++;
DanAuhust 5:7644d6b16ceb 115 if ( count_extensoren >= n)
DanAuhust 5:7644d6b16ceb 116 count_extensoren = 0;
DanAuhust 5:7644d6b16ceb 117 sum = 0;
DanAuhust 5:7644d6b16ceb 118 sq_sum = 0;
DanAuhust 5:7644d6b16ceb 119 for(int i = 0; i < n; ++i) {
DanAuhust 5:7644d6b16ceb 120 sum += keeper_extensoren[i];
DanAuhust 5:7644d6b16ceb 121 sq_sum += keeper_extensoren[i] * keeper_extensoren[i];
DanAuhust 0:59e2ea255892 122 }
DanAuhust 5:7644d6b16ceb 123 mean = sum / n;
DanAuhust 5:7644d6b16ceb 124 variance = sq_sum / n - mean * mean;
DanAuhust 5:7644d6b16ceb 125 return sqrt(variance);
DanAuhust 3:e609cd999fd2 126 break;
DanAuhust 5:7644d6b16ceb 127 } // einde switch
DanAuhust 5:7644d6b16ceb 128 } // einde if
DanAuhust 5:7644d6b16ceb 129 else
DanAuhust 0:59e2ea255892 130 {startcount+=1;
DanAuhust 6:33f0741dbb5b 131 switch(number){
DanAuhust 0:59e2ea255892 132 case 1:
DanAuhust 6:33f0741dbb5b 133 keeper_biceps[count_biceps]=value;
DanAuhust 0:59e2ea255892 134 count_biceps++;
DanAuhust 5:7644d6b16ceb 135 if(count_biceps >= n)
DanAuhust 0:59e2ea255892 136 count_biceps=0;
DanAuhust 0:59e2ea255892 137 break;
DanAuhust 0:59e2ea255892 138 case 2:
DanAuhust 6:33f0741dbb5b 139 keeper_triceps[count_triceps]=value;
DanAuhust 0:59e2ea255892 140 count_triceps++;
DanAuhust 5:7644d6b16ceb 141 if(count_triceps >= n)
DanAuhust 0:59e2ea255892 142 count_triceps=0;
DanAuhust 0:59e2ea255892 143 break;
DanAuhust 3:e609cd999fd2 144 case 3:
DanAuhust 6:33f0741dbb5b 145 keeper_flexoren[count_flexoren]=value;
DanAuhust 3:e609cd999fd2 146 count_flexoren++;
DanAuhust 5:7644d6b16ceb 147 if(count_flexoren >= n)
DanAuhust 3:e609cd999fd2 148 count_flexoren=0;
DanAuhust 3:e609cd999fd2 149 break;
DanAuhust 3:e609cd999fd2 150 case 4:
DanAuhust 6:33f0741dbb5b 151 keeper_extensoren[count_extensoren]=value;
DanAuhust 3:e609cd999fd2 152 count_extensoren++;
DanAuhust 5:7644d6b16ceb 153 if(count_extensoren >= n)
DanAuhust 3:e609cd999fd2 154 count_extensoren=0;
DanAuhust 3:e609cd999fd2 155 break;
DanAuhust 0:59e2ea255892 156 } // einde switch
DanAuhust 0:59e2ea255892 157 } // einde else
DanAuhust 5:7644d6b16ceb 158 }
DanAuhust 5:7644d6b16ceb 159
DanAuhust 0:59e2ea255892 160 float filter(int sig_number){
DanAuhust 0:59e2ea255892 161 float sig_out;
DanAuhust 0:59e2ea255892 162 // eerst variabelen definieren
DanAuhust 0:59e2ea255892 163 //biceps
DanAuhust 0:59e2ea255892 164 //filter 1
DanAuhust 0:59e2ea255892 165 float in0_biceps =0;
DanAuhust 0:59e2ea255892 166 static float in1_biceps =0, in2_biceps = 0, in3_biceps = 0, in4_biceps = 0;
DanAuhust 0:59e2ea255892 167 static float out0_biceps = 0, out1_biceps = 0 , out2_biceps = 0, out3_biceps = 0, out4_biceps = 0;
DanAuhust 5:7644d6b16ceb 168
DanAuhust 0:59e2ea255892 169 //filter 3
DanAuhust 0:59e2ea255892 170 float in0_3_biceps =0;
DanAuhust 0:59e2ea255892 171 static float in1_3_biceps =0, in2_3_biceps = 0, in3_3_biceps = 0, in4_3_biceps = 0;
DanAuhust 0:59e2ea255892 172 static float out0_3_biceps = 0, out1_3_biceps = 0 , out2_3_biceps = 0, out3_3_biceps = 0, out4_3_biceps = 0;
DanAuhust 5:7644d6b16ceb 173
DanAuhust 0:59e2ea255892 174 //triceps
DanAuhust 0:59e2ea255892 175 //filter 1
DanAuhust 0:59e2ea255892 176 float in0_triceps =0;
DanAuhust 0:59e2ea255892 177 static float in1_triceps =0, in2_triceps = 0, in3_triceps = 0, in4_triceps = 0;
DanAuhust 0:59e2ea255892 178 static float out0_triceps = 0, out1_triceps = 0 , out2_triceps = 0, out3_triceps = 0, out4_triceps = 0;
DanAuhust 5:7644d6b16ceb 179
DanAuhust 0:59e2ea255892 180 //filter 3
DanAuhust 0:59e2ea255892 181 float in0_3_triceps =0;
DanAuhust 0:59e2ea255892 182 static float in1_3_triceps =0, in2_3_triceps = 0, in3_3_triceps = 0, in4_3_triceps = 0;
DanAuhust 0:59e2ea255892 183 static float out0_3_triceps = 0, out1_3_triceps = 0 , out2_3_triceps = 0, out3_3_triceps = 0, out4_3_triceps = 0;
DanAuhust 5:7644d6b16ceb 184
DanAuhust 0:59e2ea255892 185 //flexoren
DanAuhust 0:59e2ea255892 186 //filter 1
DanAuhust 0:59e2ea255892 187 float in0_flexoren =0;
DanAuhust 0:59e2ea255892 188 static float in1_flexoren =0, in2_flexoren = 0, in3_flexoren = 0, in4_flexoren = 0;
DanAuhust 0:59e2ea255892 189 static float out0_flexoren = 0, out1_flexoren = 0 , out2_flexoren = 0, out3_flexoren = 0, out4_flexoren = 0;
DanAuhust 0:59e2ea255892 190
DanAuhust 0:59e2ea255892 191 //filter 3
DanAuhust 0:59e2ea255892 192 float in0_3_flexoren =0;
DanAuhust 0:59e2ea255892 193 static float in1_3_flexoren =0, in2_3_flexoren = 0, in3_3_flexoren = 0, in4_3_flexoren = 0;
DanAuhust 0:59e2ea255892 194 static float out0_3_flexoren = 0, out1_3_flexoren = 0 , out2_3_flexoren = 0, out3_3_flexoren = 0, out4_3_flexoren = 0;
DanAuhust 5:7644d6b16ceb 195
DanAuhust 0:59e2ea255892 196 //extensoren
DanAuhust 0:59e2ea255892 197 //filter 1
DanAuhust 0:59e2ea255892 198 float in0_extensoren =0;
DanAuhust 0:59e2ea255892 199 static float in1_extensoren =0, in2_extensoren = 0, in3_extensoren = 0, in4_extensoren = 0;
DanAuhust 0:59e2ea255892 200 static float out0_extensoren = 0, out1_extensoren = 0 , out2_extensoren = 0, out3_extensoren = 0, out4_extensoren = 0;
DanAuhust 5:7644d6b16ceb 201
DanAuhust 0:59e2ea255892 202 //filter 3
DanAuhust 0:59e2ea255892 203 float in0_3_extensoren =0;
DanAuhust 0:59e2ea255892 204 static float in1_3_extensoren =0, in2_3_extensoren = 0, in3_3_extensoren = 0, in4_3_extensoren = 0;
DanAuhust 0:59e2ea255892 205 static float out0_3_extensoren = 0, out1_3_extensoren = 0 , out2_3_extensoren = 0, out3_3_extensoren = 0, out4_3_extensoren = 0;
DanAuhust 5:7644d6b16ceb 206
DanAuhust 0:59e2ea255892 207 switch(sig_number){
DanAuhust 0:59e2ea255892 208 case 1:
DanAuhust 0:59e2ea255892 209 // signaal filteren op 15 Hz HIGHPASS
DanAuhust 0:59e2ea255892 210 in4_biceps = in3_biceps; in3_biceps = in2_biceps; in2_biceps = in1_biceps; in1_biceps = in0_biceps;
DanAuhust 0:59e2ea255892 211 in0_biceps = emg_biceps.read() - offset_biceps;
DanAuhust 0:59e2ea255892 212 out4_biceps = out3_biceps; out3_biceps = out2_biceps; out2_biceps = out1_biceps; out1_biceps = out0_biceps;
DanAuhust 0:59e2ea255892 213 out0_biceps = (NUM0*in0_biceps + NUM1*in1_biceps + NUM2*in2_biceps + NUM3*in3_biceps + NUM4*in4_biceps - DEN1*out1_biceps - DEN2*out2_biceps - DEN3*out3_biceps - DEN4*out4_biceps ) / DEN0;
DanAuhust 5:7644d6b16ceb 214
DanAuhust 0:59e2ea255892 215 //signaal filteren op 5Hz LOWPASS
DanAuhust 6:33f0741dbb5b 216 /*in4_3_biceps = in3_3_biceps; in3_3_biceps = in2_3_biceps; in2_3_biceps = in1_3_biceps; in1_3_biceps = in0_3_biceps;
DanAuhust 0:59e2ea255892 217 in0_3_biceps = abs(out0_biceps); // ruw - offset -> filter 1 -> stdev (-> filter 3)
DanAuhust 0:59e2ea255892 218 out4_3_biceps = out3_3_biceps; out3_3_biceps = out2_3_biceps; out2_3_biceps = out1_3_biceps; out1_3_biceps = out0_3_biceps;
DanAuhust 5:7644d6b16ceb 219 out0_3_biceps = (NUM0_3*in0_3_biceps + NUM1_3*in1_3_biceps + NUM2_3*in2_3_biceps + NUM3_3*in3_3_biceps + NUM4_3*in4_3_biceps - DEN1_3*out1_3_biceps - DEN2_3*out2_3_biceps - DEN3_3*out3_3_biceps - DEN4_3*out4_3_biceps ) / DEN0_3;
DanAuhust 6:33f0741dbb5b 220 */
DanAuhust 6:33f0741dbb5b 221 sig_out = out0_biceps;
DanAuhust 0:59e2ea255892 222 break;
DanAuhust 5:7644d6b16ceb 223
DanAuhust 0:59e2ea255892 224 case 2:
DanAuhust 0:59e2ea255892 225 // signaal filteren op 15 Hz HIGHPASS
DanAuhust 0:59e2ea255892 226 in4_triceps = in3_triceps; in3_triceps = in2_triceps; in2_triceps = in1_triceps; in1_triceps = in0_triceps;
DanAuhust 0:59e2ea255892 227 in0_triceps = emg_triceps.read() - offset_biceps;
DanAuhust 0:59e2ea255892 228 out4_triceps = out3_triceps; out3_triceps = out2_triceps; out2_triceps = out1_triceps; out1_triceps = out0_triceps;
DanAuhust 0:59e2ea255892 229 out0_triceps = (NUM0*in0_triceps + NUM1*in1_triceps + NUM2*in2_triceps + NUM3*in3_triceps + NUM4*in4_triceps - DEN1*out1_triceps - DEN2*out2_triceps - DEN3*out3_triceps - DEN4*out4_triceps ) / DEN0;
DanAuhust 5:7644d6b16ceb 230
DanAuhust 0:59e2ea255892 231 //signaal filteren op 5Hz LOWPASS
DanAuhust 6:33f0741dbb5b 232 /*in4_3_triceps = in3_3_triceps; in3_3_triceps = in2_3_triceps; in2_3_triceps = in1_3_triceps; in1_3_triceps = in0_3_triceps;
DanAuhust 0:59e2ea255892 233 in0_3_triceps = abs(out0_triceps);
DanAuhust 0:59e2ea255892 234 out4_3_triceps = out3_3_triceps; out3_3_triceps = out2_3_triceps; out2_3_triceps = out1_3_triceps; out1_3_triceps = out0_3_triceps;
DanAuhust 0:59e2ea255892 235 out0_3_triceps = (NUM0_3*in0_3_triceps + NUM1_3*in1_3_triceps + NUM2_3*in2_3_triceps + NUM3_3*in3_3_triceps + NUM4_3*in4_3_triceps - DEN1_3*out1_3_triceps - DEN2_3*out2_3_triceps - DEN3_3*out3_3_triceps - DEN4_3*out4_3_triceps ) / DEN0_3;
DanAuhust 6:33f0741dbb5b 236 */
DanAuhust 6:33f0741dbb5b 237 sig_out = out0_triceps;
DanAuhust 0:59e2ea255892 238 break;
DanAuhust 5:7644d6b16ceb 239
DanAuhust 0:59e2ea255892 240 case 3:
DanAuhust 0:59e2ea255892 241 // signaal filteren op 15 Hz HIGHPASS
DanAuhust 0:59e2ea255892 242 in4_flexoren = in3_flexoren; in3_flexoren = in2_flexoren; in2_flexoren = in1_flexoren; in1_flexoren = in0_flexoren;
DanAuhust 0:59e2ea255892 243 in0_flexoren = emg_flexoren.read();
DanAuhust 0:59e2ea255892 244 out4_flexoren = out3_flexoren; out3_flexoren = out2_flexoren; out2_flexoren = out1_flexoren; out1_flexoren = out0_flexoren;
DanAuhust 0:59e2ea255892 245 out0_flexoren = (NUM0*in0_flexoren + NUM1*in1_flexoren + NUM2*in2_flexoren + NUM3*in3_flexoren + NUM4*in4_flexoren - DEN1*out1_flexoren - DEN2*out2_flexoren - DEN3*out3_flexoren - DEN4*out4_flexoren ) / DEN0;
DanAuhust 5:7644d6b16ceb 246
DanAuhust 0:59e2ea255892 247 //signaal filteren op 5Hz LOWPASS
DanAuhust 6:33f0741dbb5b 248 /*in4_3_flexoren = in3_3_flexoren; in3_3_flexoren = in2_3_flexoren; in2_3_flexoren = in1_3_flexoren; in1_3_flexoren = in0_3_flexoren;
DanAuhust 5:7644d6b16ceb 249 in0_3_flexoren = abs(out0_flexoren);
DanAuhust 0:59e2ea255892 250 out4_3_flexoren = out3_3_flexoren; out3_3_flexoren = out2_3_flexoren; out2_3_flexoren = out1_3_flexoren; out1_3_flexoren = out0_3_flexoren;
DanAuhust 0:59e2ea255892 251 out0_3_flexoren = (NUM0_3*in0_3_flexoren + NUM1_3*in1_3_flexoren + NUM2_3*in2_3_flexoren + NUM3_3*in3_3_flexoren + NUM4_3*in4_3_flexoren - DEN1_3*out1_3_flexoren - DEN2_3*out2_3_flexoren - DEN3_3*out3_3_flexoren - DEN4_3*out4_3_flexoren ) / DEN0_3;
DanAuhust 6:33f0741dbb5b 252 */
DanAuhust 6:33f0741dbb5b 253 sig_out = out0_flexoren;
DanAuhust 0:59e2ea255892 254 break;
DanAuhust 5:7644d6b16ceb 255
DanAuhust 0:59e2ea255892 256 case 4:
DanAuhust 0:59e2ea255892 257 // signaal filteren op 15 Hz HIGHPASS
DanAuhust 0:59e2ea255892 258 in4_extensoren = in3_extensoren; in3_extensoren = in2_extensoren; in2_extensoren = in1_extensoren; in1_extensoren = in0_extensoren;
DanAuhust 0:59e2ea255892 259 in0_extensoren = emg_extensoren.read();
DanAuhust 0:59e2ea255892 260 out4_extensoren = out3_extensoren; out3_extensoren = out2_extensoren; out2_extensoren = out1_extensoren; out1_extensoren = out0_extensoren;
DanAuhust 0:59e2ea255892 261 out0_extensoren = (NUM0*in0_extensoren + NUM1*in1_extensoren + NUM2*in2_extensoren + NUM3*in3_extensoren + NUM4*in4_extensoren - DEN1*out1_extensoren - DEN2*out2_extensoren - DEN3*out3_extensoren - DEN4*out4_extensoren ) / DEN0;
DanAuhust 5:7644d6b16ceb 262
DanAuhust 0:59e2ea255892 263 //signaal filteren op 5Hz LOWPASS
DanAuhust 6:33f0741dbb5b 264 /*in4_3_extensoren = in3_3_extensoren; in3_3_extensoren = in2_3_extensoren; in2_3_extensoren = in1_3_extensoren; in1_3_extensoren = in0_3_extensoren;
DanAuhust 5:7644d6b16ceb 265 in0_3_extensoren = abs(out0_extensoren);
DanAuhust 0:59e2ea255892 266 out4_3_extensoren = out3_3_extensoren; out3_3_extensoren = out2_3_extensoren; out2_3_extensoren = out1_3_extensoren; out1_3_extensoren = out0_3_extensoren;
DanAuhust 0:59e2ea255892 267 out0_3_extensoren = (NUM0_3*in0_3_extensoren + NUM1_3*in1_3_extensoren + NUM2_3*in2_3_extensoren + NUM3_3*in3_3_extensoren + NUM4_3*in4_3_extensoren - DEN1_3*out1_3_extensoren - DEN2_3*out2_3_extensoren - DEN3_3*out3_3_extensoren - DEN4_3*out4_3_extensoren ) / DEN0_3;
DanAuhust 6:33f0741dbb5b 268 */
DanAuhust 6:33f0741dbb5b 269 sig_out = out0_extensoren;
DanAuhust 0:59e2ea255892 270 break;
DanAuhust 0:59e2ea255892 271 }
DanAuhust 0:59e2ea255892 272 return sig_out;
DanAuhust 0:59e2ea255892 273 }
DanAuhust 0:59e2ea255892 274
DanAuhust 0:59e2ea255892 275 void looper()
DanAuhust 0:59e2ea255892 276 { float emg_value_biceps;
DanAuhust 0:59e2ea255892 277 float emg_value_triceps;
DanAuhust 0:59e2ea255892 278 float emg_value_flexoren;
DanAuhust 0:59e2ea255892 279 float emg_value_extensoren;
jorick92 7:2d98f94eda27 280 // float dy;
jorick92 7:2d98f94eda27 281 // float dx;
DanAuhust 0:59e2ea255892 282 //static int sig_count = 1;
DanAuhust 5:7644d6b16ceb 283
DanAuhust 5:7644d6b16ceb 284 emg_value_biceps = std_dev(filter(1),1);
DanAuhust 5:7644d6b16ceb 285 emg_value_triceps = std_dev(filter(2),2);
DanAuhust 6:33f0741dbb5b 286 emg_value_flexoren = std_dev(filter(3),3);
DanAuhust 6:33f0741dbb5b 287 emg_value_extensoren = std_dev(filter(4),4);
DanAuhust 3:e609cd999fd2 288
DanAuhust 6:33f0741dbb5b 289
DanAuhust 3:e609cd999fd2 290 if(emg_value_biceps < 4.5)
DanAuhust 3:e609cd999fd2 291 emg_value_biceps=0;
DanAuhust 3:e609cd999fd2 292 else if (emg_value_biceps > 13)
DanAuhust 3:e609cd999fd2 293 emg_value_biceps = 13;
jorick92 7:2d98f94eda27 294 emg_value_biceps = emg_value_biceps;
DanAuhust 6:33f0741dbb5b 295
DanAuhust 6:33f0741dbb5b 296 if(emg_value_triceps < 5)
DanAuhust 6:33f0741dbb5b 297 emg_value_triceps=0;
DanAuhust 6:33f0741dbb5b 298 else if (emg_value_triceps > 10)
DanAuhust 6:33f0741dbb5b 299 emg_value_triceps = 10;
DanAuhust 6:33f0741dbb5b 300 emg_value_triceps = emg_value_triceps;
DanAuhust 0:59e2ea255892 301
DanAuhust 6:33f0741dbb5b 302 if(emg_value_flexoren < 3) // was 2, wordt 3
DanAuhust 3:e609cd999fd2 303 emg_value_flexoren=0;
DanAuhust 3:e609cd999fd2 304 else if (emg_value_flexoren > 8)
DanAuhust 3:e609cd999fd2 305 emg_value_flexoren = 8;
jorick92 7:2d98f94eda27 306 emg_value_flexoren = 1.5 * emg_value_flexoren; // was 2, wordt 1.5
DanAuhust 6:33f0741dbb5b 307
DanAuhust 3:e609cd999fd2 308 if(emg_value_extensoren < 5)
DanAuhust 3:e609cd999fd2 309 emg_value_extensoren=0;
DanAuhust 3:e609cd999fd2 310 else if (emg_value_extensoren > 13)
DanAuhust 3:e609cd999fd2 311 emg_value_extensoren = 13;
DanAuhust 6:33f0741dbb5b 312
jorick92 7:2d98f94eda27 313 dy = (emg_value_biceps - emg_value_triceps)/30+0.5;
jorick92 7:2d98f94eda27 314 dx = (emg_value_flexoren - emg_value_extensoren)/30+0.5; // was gain 2, wordt 1
DanAuhust 3:e609cd999fd2 315
DanAuhust 0:59e2ea255892 316 if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
jorick92 7:2d98f94eda27 317 pc.printf("%.6f,%.6f\n",dx, dy);
DanAuhust 0:59e2ea255892 318 /**When not using the LED, the above could also have been done this way:
jorick92 7:2d98f94eda27 319 /* pc.printf("%.6\n", emg0.read());*/
jorick92 7:2d98f94eda27 320
DanAuhust 0:59e2ea255892 321 }
DanAuhust 0:59e2ea255892 322
DanAuhust 0:59e2ea255892 323 int main()
DanAuhust 5:7644d6b16ceb 324
DanAuhust 0:59e2ea255892 325 {
DanAuhust 0:59e2ea255892 326 /*setup baudrate. Choose the same in your program on PC side*/
DanAuhust 0:59e2ea255892 327 pc.baud(115200);
jorick92 7:2d98f94eda27 328 dy.period_ms(1);
jorick92 7:2d98f94eda27 329 dx.period_ms(1);
DanAuhust 0:59e2ea255892 330 /*set the period for the PWM to the red LED*/
DanAuhust 5:7644d6b16ceb 331 //red.period_ms(2);
DanAuhust 0:59e2ea255892 332 /**Here you attach the 'void looper(void)' function to the Ticker object
DanAuhust 0:59e2ea255892 333 * The looper() function will be called every 1/Fs seconds.
DanAuhust 0:59e2ea255892 334 * Please mind that the parentheses after looper are omitted when using attach.
DanAuhust 0:59e2ea255892 335 */
DanAuhust 0:59e2ea255892 336 timer.attach(looper,0.0032); //invullen in seconde. .0032 is niet eens afgerond, dus vandaar die frequentie.
DanAuhust 0:59e2ea255892 337 while(1) //Loop
DanAuhust 0:59e2ea255892 338 {
DanAuhust 0:59e2ea255892 339 /*Empty!*/
DanAuhust 0:59e2ea255892 340 /*Everything is handled by the interrupt routine now!*/
DanAuhust 0:59e2ea255892 341 }
DanAuhust 0:59e2ea255892 342 }