First Last / Mbed 2 deprecated BMT-K9-Groep7

Initial version

Dependencies:   MODSERIAL mbed

main.cpp@1:3687c7cb0648, 2013-10-17 (annotated)

Committer:
vsluiter
Date:
Thu Oct 17 09:23:51 2013 +0000
Revision:
1:3687c7cb0648
Parent:
0:3843c26cd5fd
Child:
2:60fc72e8ff66
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vsluiter 0:3843c26cd5fd 1 #include "mbed.h"
vsluiter 0:3843c26cd5fd 2 #include "MODSERIAL.h"
vsluiter 0:3843c26cd5fd 3
vsluiter 0:3843c26cd5fd 4 //Define objects
vsluiter 0:3843c26cd5fd 5 AnalogIn emg_biceps(PTB0); //Analog input
vsluiter 0:3843c26cd5fd 6 PwmOut red(LED_RED); // EMG meting
vsluiter 0:3843c26cd5fd 7 // PwmOut blue(LED_BLUE); // uitgangssignaal controle
vsluiter 0:3843c26cd5fd 8 // PwmOut green(LED_GREEN);
vsluiter 0:3843c26cd5fd 9
vsluiter 0:3843c26cd5fd 10 Ticker timer;
vsluiter 0:3843c26cd5fd 11 MODSERIAL pc(USBTX,USBRX,64,1024);
vsluiter 0:3843c26cd5fd 12
vsluiter 0:3843c26cd5fd 13 #define gain_biceps 1
vsluiter 0:3843c26cd5fd 14 #define maxcount 50
vsluiter 0:3843c26cd5fd 15
vsluiter 0:3843c26cd5fd 16 #define NUM0 0.8841 // constante
vsluiter 0:3843c26cd5fd 17 #define NUM1 -3.53647 // z^-1
vsluiter 0:3843c26cd5fd 18 #define NUM2 5.3046 // z^-2etc.
vsluiter 0:3843c26cd5fd 19 #define NUM3 -3.5364
vsluiter 0:3843c26cd5fd 20 #define NUM4 0.8841
vsluiter 0:3843c26cd5fd 21
vsluiter 0:3843c26cd5fd 22 #define DEN0 1 // constante
vsluiter 0:3843c26cd5fd 23 #define DEN1 -3.7538
vsluiter 0:3843c26cd5fd 24 #define DEN2 5.2912
vsluiter 0:3843c26cd5fd 25 #define DEN3 -3.3189
vsluiter 0:3843c26cd5fd 26 #define DEN4 0.7816
vsluiter 0:3843c26cd5fd 27
vsluiter 0:3843c26cd5fd 28 /* hou in de gaten welke waarden globaal gedefinieerd moeten worden*/
vsluiter 0:3843c26cd5fd 29 float count; float square_biceps; float sum_biceps; float mean_biceps;
vsluiter 0:3843c26cd5fd 30
vsluiter 0:3843c26cd5fd 31 void looper()
vsluiter 0:3843c26cd5fd 32 {
vsluiter 0:3843c26cd5fd 33 /*value0 is huidig, 1 is t-1, 2 is t-2 etc. Gebruik later aanduidingen ABCD. */
vsluiter 0:3843c26cd5fd 34 char startup = 0; float mean;
vsluiter 0:3843c26cd5fd 35 float sig_out_biceps;
vsluiter 0:3843c26cd5fd 36 float in0; float in1; float in2; float in3; float in4;
vsluiter 0:3843c26cd5fd 37 float out0; float out1; float out2; float out3; float out4;
vsluiter 0:3843c26cd5fd 38
vsluiter 0:3843c26cd5fd 39 if (startup != 1)
vsluiter 0:3843c26cd5fd 40 {in0 = 0; in1 = 0; in2 = 0; in3 = 0; in4 = 0;
vsluiter 0:3843c26cd5fd 41 out0 = 0; out1 = 0; out2 = 0; out3 = 0; out4 = 0;
vsluiter 0:3843c26cd5fd 42 count = 0; square_biceps = 0; sum_biceps = 0; mean_biceps = 0.2; startup = 1;}
vsluiter 0:3843c26cd5fd 43 in4 = in3; in3 = in4; in3 = in2; in2 = in1; in1 = in0;
vsluiter 0:3843c26cd5fd 44 in0 = emg_biceps.read();
vsluiter 0:3843c26cd5fd 45 red = in0;
vsluiter 0:3843c26cd5fd 46 /* rode led aan voor meting emg*/
vsluiter 0:3843c26cd5fd 47 out4 = out3; out3 = out2; out2 = out1; out1 = out0;
vsluiter 0:3843c26cd5fd 48 out0 = (NUM0*in0 + NUM1*in1 + NUM2*in2 + NUM3*in3 + NUM4*in4 - DEN1*out1 - DEN2*out2 - DEN3*out3 - DEN4*out4 ) / DEN0;
vsluiter 0:3843c26cd5fd 49
vsluiter 0:3843c26cd5fd 50 /*send value to PC. use 6 digits after decimal sign*/
vsluiter 0:3843c26cd5fd 51 //if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30) // ! Testen filter: gebruik de if om de serial optimaal te gebruiken.
vsluiter 0:3843c26cd5fd 52 //pc.printf("%.6f\n",emg_out_biceps);
vsluiter 0:3843c26cd5fd 53 /**When not using the LED, the above could also have been done this way:
vsluiter 0:3843c26cd5fd 54 * pc.printf("%.6\n", emg0.read());
vsluiter 0:3843c26cd5fd 55 */
vsluiter 0:3843c26cd5fd 56 float emg_abs; // square, mean en count eerder gedefinieerd
vsluiter 0:3843c26cd5fd 57 emg_abs = fabs(out0);
vsluiter 0:3843c26cd5fd 58 mean = mean_biceps;
vsluiter 0:3843c26cd5fd 59 sum_biceps += out0;
vsluiter 0:3843c26cd5fd 60 square_biceps += (emg_abs - mean)*(emg_abs - mean); //neem absolute waarde, kwadrateer, voeg toe aan vorige square
vsluiter 0:3843c26cd5fd 61 // voeg rest EMG's toe, variabelen alleen _spier geven als het nodig is.
vsluiter 0:3843c26cd5fd 62 count += 1; // hou bij hoeveel squares er zijn opgeteld
vsluiter 0:3843c26cd5fd 63 if (count >= maxcount)
vsluiter 0:3843c26cd5fd 64 { sig_out_biceps = sqrt(square_biceps/count);
vsluiter 0:3843c26cd5fd 65 mean_biceps = sum_biceps/count;
vsluiter 0:3843c26cd5fd 66 count= 0; square_biceps = 0; sum_biceps = 0; // en neem de RMS als er genoeg zijn geteld, stuur die door, en reset sqaure en count
vsluiter 1:3687c7cb0648 67 if(pc.txBufferGetSize(0)-pc.txBufferGetCount() > 30)
vsluiter 0:3843c26cd5fd 68 pc.printf("%.6f\n",sig_out_biceps);
vsluiter 0:3843c26cd5fd 69 }
vsluiter 0:3843c26cd5fd 70 }
vsluiter 0:3843c26cd5fd 71
vsluiter 0:3843c26cd5fd 72 int main()
vsluiter 0:3843c26cd5fd 73 {
vsluiter 0:3843c26cd5fd 74 /*setup baudrate. Choose the same in your program on PC side*/
vsluiter 0:3843c26cd5fd 75 pc.baud(115200);
vsluiter 0:3843c26cd5fd 76 /*set the period for the PWM to the red LED*/
vsluiter 0:3843c26cd5fd 77 red.period_ms(2); // periode pwm = 2*Fs , blijkbaar.
vsluiter 0:3843c26cd5fd 78 // blue.period_ms(2);
vsluiter 0:3843c26cd5fd 79 /**Here you attach the 'void looper(void)' function to the Ticker object0
vsluiter 0:3843c26cd5fd 80 * The looper() function will be called every 0.001 seconds.
vsluiter 0:3843c26cd5fd 81 * Please mind that the parentheses after looper are omitted when using attach.
vsluiter 0:3843c26cd5fd 82 */
vsluiter 0:3843c26cd5fd 83 timer.attach(looper, 0.001);
vsluiter 0:3843c26cd5fd 84 while(1) // Loop
vsluiter 0:3843c26cd5fd 85 {
vsluiter 0:3843c26cd5fd 86 // blue = sig_out_biceps;
vsluiter 0:3843c26cd5fd 87
vsluiter 0:3843c26cd5fd 88 }
vsluiter 0:3843c26cd5fd 89 }