Galileo Hand Basic Example implemented on FRDM K64F
Dependencies: NOKIA_5110 mbed-dsp mbed
Fork of Nucleo_EMG_Galileo_Hand by
main.cpp@3:f784301a5166, 2015-09-02 (annotated)
- Committer:
- julioefajardo
- Date:
- Wed Sep 02 01:29:02 2015 +0000
- Revision:
- 3:f784301a5166
- Parent:
- 2:12f979d695db
- Child:
- 4:d8fd3c4484cc
Servos
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
julioefajardo | 0:f2b89c6a8a16 | 1 | #include "mbed.h" |
julioefajardo | 0:f2b89c6a8a16 | 2 | #include "arm_math.h" |
julioefajardo | 0:f2b89c6a8a16 | 3 | |
julioefajardo | 0:f2b89c6a8a16 | 4 | Ticker EMG_Sampler; |
julioefajardo | 0:f2b89c6a8a16 | 5 | Serial pc(SERIAL_TX, SERIAL_RX); |
julioefajardo | 0:f2b89c6a8a16 | 6 | DigitalOut myled(LED1); |
julioefajardo | 0:f2b89c6a8a16 | 7 | AnalogIn Ref(A0); |
julioefajardo | 0:f2b89c6a8a16 | 8 | AnalogIn E1(A1); |
julioefajardo | 0:f2b89c6a8a16 | 9 | AnalogIn E2(A2); |
julioefajardo | 0:f2b89c6a8a16 | 10 | AnalogIn E3(A3); |
julioefajardo | 3:f784301a5166 | 11 | PwmOut Thumb(D11); |
julioefajardo | 3:f784301a5166 | 12 | PwmOut Index(D10); |
julioefajardo | 3:f784301a5166 | 13 | PwmOut Middle(D9); |
julioefajardo | 3:f784301a5166 | 14 | PwmOut Pinky(D6); |
julioefajardo | 3:f784301a5166 | 15 | PwmOut ThumbRot(D5); |
julioefajardo | 0:f2b89c6a8a16 | 16 | |
julioefajardo | 0:f2b89c6a8a16 | 17 | float32_t EMG1, EMG2, EMG3; |
julioefajardo | 2:12f979d695db | 18 | float32_t samples[25]; |
julioefajardo | 2:12f979d695db | 19 | float32_t samples2[25]; |
julioefajardo | 2:12f979d695db | 20 | float32_t samples3[25]; |
julioefajardo | 2:12f979d695db | 21 | float32_t abs_output[25]; |
julioefajardo | 2:12f979d695db | 22 | float32_t abs_output2[25]; |
julioefajardo | 2:12f979d695db | 23 | float32_t abs_output3[25]; |
julioefajardo | 0:f2b89c6a8a16 | 24 | float32_t mean = 0.0f, mean2 = 0.0f, mean3 = 0.0f; |
julioefajardo | 0:f2b89c6a8a16 | 25 | uint8_t COCO = 0; |
julioefajardo | 0:f2b89c6a8a16 | 26 | |
julioefajardo | 0:f2b89c6a8a16 | 27 | void ADC_Sampler() { |
julioefajardo | 0:f2b89c6a8a16 | 28 | EMG1 = (E1.read()-Ref.read())*3.3f; |
julioefajardo | 0:f2b89c6a8a16 | 29 | EMG2 = (E2.read()-Ref.read())*3.3f; |
julioefajardo | 0:f2b89c6a8a16 | 30 | EMG3 = (E3.read()-Ref.read())*3.3f; |
julioefajardo | 0:f2b89c6a8a16 | 31 | pc.printf("%.10f,%.10f,%.10f\n\r",EMG1,EMG2,EMG3); |
julioefajardo | 0:f2b89c6a8a16 | 32 | uint32_t m = __get_PRIMASK(); |
julioefajardo | 0:f2b89c6a8a16 | 33 | __disable_irq(); |
julioefajardo | 0:f2b89c6a8a16 | 34 | for(int j=99;j>0;j--) { |
julioefajardo | 0:f2b89c6a8a16 | 35 | samples[j]=samples[j-1]; //Fill Array |
julioefajardo | 0:f2b89c6a8a16 | 36 | samples2[j]=samples2[j-1]; //Fill Array |
julioefajardo | 0:f2b89c6a8a16 | 37 | samples3[j]=samples3[j-1]; //Fill Array |
julioefajardo | 0:f2b89c6a8a16 | 38 | } |
julioefajardo | 0:f2b89c6a8a16 | 39 | samples[0]=EMG1; |
julioefajardo | 0:f2b89c6a8a16 | 40 | samples2[0]=EMG2; |
julioefajardo | 0:f2b89c6a8a16 | 41 | samples3[0]=EMG3; |
julioefajardo | 0:f2b89c6a8a16 | 42 | //copy 25 samples on array |
julioefajardo | 0:f2b89c6a8a16 | 43 | for(int j=99;j>0;j--){ |
julioefajardo | 0:f2b89c6a8a16 | 44 | samples[j]=samples[j-1]; |
julioefajardo | 0:f2b89c6a8a16 | 45 | samples2[j]=samples2[j-1]; |
julioefajardo | 0:f2b89c6a8a16 | 46 | samples3[j]=samples3[j-1]; |
julioefajardo | 0:f2b89c6a8a16 | 47 | } |
julioefajardo | 0:f2b89c6a8a16 | 48 | __set_PRIMASK(m); |
julioefajardo | 0:f2b89c6a8a16 | 49 | COCO = 1; |
julioefajardo | 0:f2b89c6a8a16 | 50 | } |
julioefajardo | 0:f2b89c6a8a16 | 51 | |
julioefajardo | 0:f2b89c6a8a16 | 52 | int main() { |
julioefajardo | 0:f2b89c6a8a16 | 53 | pc.baud(115200); //Serial com at 115200 bauds |
julioefajardo | 0:f2b89c6a8a16 | 54 | EMG_Sampler.attach(&ADC_Sampler, 0.001); //1ms ticker for ADC Sampler |
julioefajardo | 3:f784301a5166 | 55 | //Open -> 0.6ms - Close 2.4ms |
julioefajardo | 3:f784301a5166 | 56 | Thumb.period(0.02f/2.0f); |
julioefajardo | 3:f784301a5166 | 57 | Thumb.pulsewidth(0.0010f/2.0f); |
julioefajardo | 3:f784301a5166 | 58 | //Open -> 2.4ms - Close 0.6ms |
julioefajardo | 3:f784301a5166 | 59 | Index.period(0.02f*2.0f); |
julioefajardo | 3:f784301a5166 | 60 | Index.pulsewidth(0.0024f*2.0f); |
julioefajardo | 3:f784301a5166 | 61 | //Open -> 2.4ms - Close 0.6ms |
julioefajardo | 3:f784301a5166 | 62 | Middle.period(0.02f*2.0f); |
julioefajardo | 3:f784301a5166 | 63 | Middle.pulsewidth(0.0024f*2.0f); |
julioefajardo | 3:f784301a5166 | 64 | //Open -> 0.6ms - Close 2.4ms |
julioefajardo | 3:f784301a5166 | 65 | Pinky.period(0.02f*2.0f); |
julioefajardo | 3:f784301a5166 | 66 | Pinky.pulsewidth(0.0006f*2.0f); |
julioefajardo | 3:f784301a5166 | 67 | //Open -> 0.6ms - Close 2.4ms |
julioefajardo | 3:f784301a5166 | 68 | //ThumbRot.period(0.02f/2.0f); |
julioefajardo | 3:f784301a5166 | 69 | ThumbRot.pulsewidth(0.0006f*2.0f); |
julioefajardo | 3:f784301a5166 | 70 | |
julioefajardo | 0:f2b89c6a8a16 | 71 | myled = 1; |
julioefajardo | 0:f2b89c6a8a16 | 72 | while(1) { |
julioefajardo | 0:f2b89c6a8a16 | 73 | if(COCO){ |
julioefajardo | 0:f2b89c6a8a16 | 74 | //mean for threshold |
julioefajardo | 2:12f979d695db | 75 | arm_abs_f32(samples, abs_output, 25); //rectifier |
julioefajardo | 2:12f979d695db | 76 | arm_abs_f32(samples2, abs_output2, 25); //rectifier |
julioefajardo | 2:12f979d695db | 77 | arm_abs_f32(samples3, abs_output3, 25); //rectifier |
julioefajardo | 2:12f979d695db | 78 | arm_mean_f32(abs_output, 25, &mean); |
julioefajardo | 2:12f979d695db | 79 | arm_mean_f32(abs_output, 25, &mean2); |
julioefajardo | 2:12f979d695db | 80 | arm_mean_f32(abs_output, 25, &mean3); |
julioefajardo | 0:f2b89c6a8a16 | 81 | if ((mean>0.009f)&&(mean2>0.007f)&&(mean3>0.007f)) { |
julioefajardo | 0:f2b89c6a8a16 | 82 | myled = 0; |
julioefajardo | 3:f784301a5166 | 83 | Thumb.pulsewidth(0.0024f/2.0f); |
julioefajardo | 3:f784301a5166 | 84 | Index.pulsewidth(0.0006f*2.0f); |
julioefajardo | 3:f784301a5166 | 85 | Middle.pulsewidth(0.0006f*2.0f); |
julioefajardo | 3:f784301a5166 | 86 | Pinky.pulsewidth(0.0024f*2.0f); |
julioefajardo | 3:f784301a5166 | 87 | ThumbRot.pulsewidth(0.0024f*2.0f); |
julioefajardo | 0:f2b89c6a8a16 | 88 | } |
julioefajardo | 0:f2b89c6a8a16 | 89 | else { |
julioefajardo | 0:f2b89c6a8a16 | 90 | myled = 1; |
julioefajardo | 3:f784301a5166 | 91 | Thumb.pulsewidth(0.0010f/2.0f); |
julioefajardo | 3:f784301a5166 | 92 | Index.pulsewidth(0.0024f*2.0f); |
julioefajardo | 3:f784301a5166 | 93 | Middle.pulsewidth(0.0024f*2.0f); |
julioefajardo | 3:f784301a5166 | 94 | Pinky.pulsewidth(0.0006f*2.0f); |
julioefajardo | 3:f784301a5166 | 95 | ThumbRot.pulsewidth(0.0006f*2.0f); |
julioefajardo | 0:f2b89c6a8a16 | 96 | } |
julioefajardo | 0:f2b89c6a8a16 | 97 | COCO = 0; |
julioefajardo | 0:f2b89c6a8a16 | 98 | } |
julioefajardo | 0:f2b89c6a8a16 | 99 | } |
julioefajardo | 0:f2b89c6a8a16 | 100 | } |