Peter Knoben
Signalnumber bepalen
Dependencies: Encoder HIDScope biquadFilter mbed
Revision 0:9c203fdb48e0, committed 2017-10-26
- Comitter:
- peterknoben
- Date:
- Thu Oct 26 09:01:33 2017 +0000
- Commit message:
- Mean value en signalnumber bepalen
Changed in this revision
diff -r 000000000000 -r 9c203fdb48e0 Encoder.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder.lib Thu Oct 26 09:01:33 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/vsluiter/code/Encoder/#18b000b443af
diff -r 000000000000 -r 9c203fdb48e0 HIDScope.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Thu Oct 26 09:01:33 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tomlankhorst/code/HIDScope/#eade4ec5282b
diff -r 000000000000 -r 9c203fdb48e0 biquadFilter.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/biquadFilter.lib Thu Oct 26 09:01:33 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tomlankhorst/code/biquadFilter/#26861979d305
diff -r 000000000000 -r 9c203fdb48e0 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Oct 26 09:01:33 2017 +0000
@@ -0,0 +1,258 @@
+#include "mbed.h"
+#include "encoder.h"
+#include "BiQuad.h"
+#include "HIDScope.h"
+#include <complex>
+#include <iostream>
+
+
+AnalogIn potmeter1(A3);
+AnalogIn emg0( A0 );
+AnalogIn emg1( A1 );
+
+HIDScope scope( 3 );
+DigitalOut led(LED1);
+
+Ticker sample_timer;
+Ticker MyTickerMean;
+
+//Constants------------------------------------
+const int n = 10;
+//const int n2 = 10;
+float emg0_filtered[n] = {};
+//float mean_filtered[n2] = {};
+int count = 0;
+int count2 = 0;
+const float controller_TS = 0.1;
+float mean = 0.0;
+float sum = 0.0;
+
+
+//Constants EMG switch
+const float LeftFastmin=0.075;
+const float LeftFastmax=0.15;
+const float LeftSlowmin=0.2;
+const float LeftSlowmax=0.35;
+const float RightSlowmin=0.4;
+const float RightSlowmax=0.65;
+const float RightFastmin=0.7;
+const float RightFastmax=1.5;
+int SignalNumber = 0;
+int numberOfSet = 0;
+const int action =50;
+
+
+//Functions---------------------------------------
+float read_pot(double potmeter){
+ float pot_value = potmeter;
+ return pot_value;
+}
+/*
+float get_sum(float array[], const int n){
+ float sum_math = 0.0;
+ for (int m=0 ; m<n ; m++ ){
+ sum_math = sum_math + array[m];
+ }
+ return sum_math;
+}*/
+
+float get_sum(float array[], const int n){
+ float sum_math = 0.0;
+ for (int m=0 ; m<n ; m++ ){
+ sum_math = sum_math + array[m];
+ }
+ return sum_math;
+}
+
+
+
+float get_mean_value(){
+ emg0_filtered[count] = read_pot(potmeter1);
+ count++;
+ if (count == n){
+ count = 0;
+ }
+ float mean_math = get_sum(emg0_filtered,n)/n;
+ return mean_math;
+}
+
+//----------------------------------------------------
+
+
+void get_Signal_number(){
+ mean = get_mean_value();
+ //Check first case
+ if( mean < LeftFastmin ) {
+ if (count2 <action){
+ mean = get_mean_value();
+ if(mean < LeftFastmin){
+ count2++;
+ }
+ else{
+ count2=0;
+ SignalNumber=0;
+ }
+ }
+ else{
+ SignalNumber = 0;
+ count2=0;
+ }
+ }
+ //Check second case
+ else if(mean <= LeftFastmax and mean > LeftFastmin){
+ if (count2 <action){
+ mean = get_mean_value();
+ if(mean <=LeftFastmax and mean>LeftFastmin){
+ count2++;
+ }
+ else{
+ count2=0;
+ SignalNumber=0;
+ }
+ }
+ else{
+ SignalNumber = 1;
+ count2=0;
+ }
+ }
+ else if( mean <=LeftSlowmax and mean>LeftSlowmin) {
+ if (count2 <action){
+ mean = get_mean_value();
+ if(mean <=LeftSlowmax and mean>LeftSlowmin){
+ count2++;
+ }
+ else{
+ count2=0;
+ SignalNumber=0;
+ }
+ }
+ else{
+ SignalNumber = 2;
+ count2=0;
+ }
+ }
+ else if( mean <=RightSlowmax and mean>RightSlowmin) {
+ if (count2 <action){
+ mean = get_mean_value();
+ if(mean <=RightSlowmax and mean>RightSlowmin){
+ count2++;
+ }
+ else{
+ count2=0;
+ SignalNumber=0;
+ }
+ }
+ else{
+ SignalNumber = 3;
+ count2=0;
+ }
+ }
+ else if( mean <=RightFastmax and mean>RightFastmin ) {
+ if (count2 <action){
+ mean = get_mean_value();
+ if(mean <=RightFastmax and mean>RightFastmin){
+ count2++;
+ }
+ else{
+ count2=0;
+ SignalNumber=0;
+ }
+ }
+ else{
+ SignalNumber = 4;
+ count2=0;
+ }
+ }
+ else{
+ count2=0;
+ SignalNumber =0;
+ }
+}
+
+/*switch(SignalNumber)
+ {
+ case 0: //Standstill
+ motor1Direction=1;
+ motor1Speed=0;
+ printf("Motor 1 is standing still\n");
+ break;
+ case 1: //Move Left fast
+ motor1Direction=1;
+ motor1Speed=1;
+ printf("Motor 1 is moving left fast\n");
+ break;
+ case 2: //Move Left slow (movement speed is half of that of fast movement)
+ motor1Direction=1;
+ motor1Speed=0.5;
+ printf("Motor 1 is moving left slow\n");
+ break;
+ case 3: //Move right slow
+ motor1Direction=0;
+ motor1Speed=0.5;
+ printf("Motor 1 is moving right slow\n");
+ break;
+ case 4: //Move right fast
+ motor1Direction=0;
+ motor1Speed=1;
+ printf("Motor 1 is moving right fast\n");
+ break;
+ default : //if something is wrong, standstill
+ motor1Direction=1;
+ motor1Speed=0;
+ printf("Motor 1 is standing still, something went wrong\n")
+
+}*/
+
+
+
+
+///-----------------------------------------------------------------------
+/** Sample function
+ * this function samples the emg and sends it to HIDScope
+ **/
+
+// Example: 4th order Butterworth LP (w_c = 0.1*f_nyquist)
+BiQuad LP1( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad
+BiQuad HP2( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad
+BiQuad NO3( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad
+BiQuadChain BiQuad_filter;
+float Signal;
+float Signal_filtered;
+
+// Add the biquads to the chain
+
+
+void sample()
+{
+ Signal=(emg0+emg1)/2;
+ Signal_filtered= BiQuad_filter.step(Signal);
+ /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
+ scope.set(0, emg0.read() );
+ scope.set(1, emg1.read() );
+ scope.set(2, Signal_filtered);
+ /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
+ * Ensure that enough channels are available (HIDScope scope( 2 ))
+ * Finally, send all channels to the PC at once */
+ scope.send();
+ /* To indicate that the function is working, the LED is toggled */
+ led = !led;
+}
+
+
+
+
+
+
+
+
+int main()
+{
+ BiQuad_filter.add( &LP1 ).add( &HP2 ).add( &NO3);
+
+ MyTickerMean.attach(&get_Signal_number, controller_TS);
+ sample_timer.attach(&sample, 0.02);
+
+ while (true) {}
+
+}
+
diff -r 000000000000 -r 9c203fdb48e0 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Oct 26 09:01:33 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/aae6fcc7d9bb \ No newline at end of file