First Last / Mbed 2 deprecated BMT-K9-Groep7

Initial version

Dependencies:   MODSERIAL mbed

main.cpp@4:d0b4c806f4ea, 2013-10-17 (annotated)

Committer:
vsluiter
Date:
Thu Oct 17 09:38:14 2013 +0000
Revision:
4:d0b4c806f4ea
Parent:
3:57c5633df1ca 
Initialization of variables moved to declarations

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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 2:60fc72e8ff66 13 #define GAIN_BICEPS 1
vsluiter 2:60fc72e8ff66 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 4:d0b4c806f4ea 28
vsluiter 0:3843c26cd5fd 29 /* hou in de gaten welke waarden globaal gedefinieerd moeten worden*/
vsluiter 4:d0b4c806f4ea 30 float count =0;
vsluiter 4:d0b4c806f4ea 31 float square_biceps = 0;
vsluiter 4:d0b4c806f4ea 32 float sum_biceps = 0;
vsluiter 4:d0b4c806f4ea 33 float mean_biceps = 0.2;
vsluiter 0:3843c26cd5fd 34
vsluiter 0:3843c26cd5fd 35 void looper()
vsluiter 0:3843c26cd5fd 36 {
vsluiter 0:3843c26cd5fd 37 /*value0 is huidig, 1 is t-1, 2 is t-2 etc. Gebruik later aanduidingen ABCD. */
vsluiter 3:57c5633df1ca 38 float mean;
vsluiter 0:3843c26cd5fd 39 float sig_out_biceps;
vsluiter 4:d0b4c806f4ea 40 //static variables keep their values between function calls
vsluiter 4:d0b4c806f4ea 41 //the assignents are only executed the first iteration.
vsluiter 4:d0b4c806f4ea 42 static float in0 =0,in1 =0 ,in2 = 0,in3 = 0,in4 = 0;
vsluiter 4:d0b4c806f4ea 43 static float out0 = 0,out1 = 0 ,out2 = 0,out3 = 0,out4 = 0;
vsluiter 2:60fc72e8ff66 44 float emg_abs; // square, mean en count eerder gedefinieerd
vsluiter 4:d0b4c806f4ea 45 // initialisation of globals should be done at initialization of program
vsluiter 4:d0b4c806f4ea 46 // count = 0; square_biceps = 0; sum_biceps = 0; mean_biceps = 0.2;
vsluiter 0:3843c26cd5fd 47 in4 = in3; in3 = in4; in3 = in2; in2 = in1; in1 = in0;
vsluiter 0:3843c26cd5fd 48 in0 = emg_biceps.read();
vsluiter 0:3843c26cd5fd 49 red = in0;
vsluiter 0:3843c26cd5fd 50 /* rode led aan voor meting emg*/
vsluiter 0:3843c26cd5fd 51 out4 = out3; out3 = out2; out2 = out1; out1 = out0;
vsluiter 0:3843c26cd5fd 52 out0 = (NUM0*in0 + NUM1*in1 + NUM2*in2 + NUM3*in3 + NUM4*in4 - DEN1*out1 - DEN2*out2 - DEN3*out3 - DEN4*out4 ) / DEN0;
vsluiter 0:3843c26cd5fd 53
vsluiter 0:3843c26cd5fd 54 /*send value to PC. use 6 digits after decimal sign*/
vsluiter 0:3843c26cd5fd 55 //if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30) // ! Testen filter: gebruik de if om de serial optimaal te gebruiken.
vsluiter 0:3843c26cd5fd 56 //pc.printf("%.6f\n",emg_out_biceps);
vsluiter 0:3843c26cd5fd 57 /**When not using the LED, the above could also have been done this way:
vsluiter 0:3843c26cd5fd 58 * pc.printf("%.6\n", emg0.read());
vsluiter 0:3843c26cd5fd 59 */
vsluiter 2:60fc72e8ff66 60
vsluiter 0:3843c26cd5fd 61 emg_abs = fabs(out0);
vsluiter 0:3843c26cd5fd 62 mean = mean_biceps;
vsluiter 0:3843c26cd5fd 63 sum_biceps += out0;
vsluiter 0:3843c26cd5fd 64 square_biceps += (emg_abs - mean)*(emg_abs - mean); //neem absolute waarde, kwadrateer, voeg toe aan vorige square
vsluiter 0:3843c26cd5fd 65 // voeg rest EMG's toe, variabelen alleen _spier geven als het nodig is.
vsluiter 0:3843c26cd5fd 66 count += 1; // hou bij hoeveel squares er zijn opgeteld
vsluiter 2:60fc72e8ff66 67 if (count >= MAXCOUNT)
vsluiter 0:3843c26cd5fd 68 { sig_out_biceps = sqrt(square_biceps/count);
vsluiter 0:3843c26cd5fd 69 mean_biceps = sum_biceps/count;
vsluiter 0:3843c26cd5fd 70 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 71 if(pc.txBufferGetSize(0)-pc.txBufferGetCount() > 30)
vsluiter 0:3843c26cd5fd 72 pc.printf("%.6f\n",sig_out_biceps);
vsluiter 0:3843c26cd5fd 73 }
vsluiter 0:3843c26cd5fd 74 }
vsluiter 0:3843c26cd5fd 75
vsluiter 0:3843c26cd5fd 76 int main()
vsluiter 0:3843c26cd5fd 77 {
vsluiter 0:3843c26cd5fd 78 /*setup baudrate. Choose the same in your program on PC side*/
vsluiter 0:3843c26cd5fd 79 pc.baud(115200);
vsluiter 0:3843c26cd5fd 80 /*set the period for the PWM to the red LED*/
vsluiter 0:3843c26cd5fd 81 red.period_ms(2); // periode pwm = 2*Fs , blijkbaar.
vsluiter 0:3843c26cd5fd 82 // blue.period_ms(2);
vsluiter 4:d0b4c806f4ea 83
vsluiter 4:d0b4c806f4ea 84
vsluiter 0:3843c26cd5fd 85 /**Here you attach the 'void looper(void)' function to the Ticker object0
vsluiter 0:3843c26cd5fd 86 * The looper() function will be called every 0.001 seconds.
vsluiter 0:3843c26cd5fd 87 * Please mind that the parentheses after looper are omitted when using attach.
vsluiter 0:3843c26cd5fd 88 */
vsluiter 0:3843c26cd5fd 89 timer.attach(looper, 0.001);
vsluiter 0:3843c26cd5fd 90 while(1) // Loop
vsluiter 0:3843c26cd5fd 91 {
vsluiter 0:3843c26cd5fd 92 // blue = sig_out_biceps;
vsluiter 0:3843c26cd5fd 93
vsluiter 0:3843c26cd5fd 94 }
vsluiter 0:3843c26cd5fd 95 }