Dan August / Mbed 2 deprecated EMGtovelocity

nu met gains, threshold en eerst opvullen

Dependencies:   MODSERIAL mbed

Fork of EMGStdevV3 by Dan August

main.cpp@7:763117f8ef51, 2013-11-06 (annotated)

Committer:
DanAuhust
Date:
Wed Nov 06 11:51:36 2013 +0000
Revision:
7:763117f8ef51
Parent:
6:33f0741dbb5b 
EMG to velocity control: output tussen 0 en 1.

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
DanAuhust 0:59e2ea255892 9 PwmOut red(LED_RED); //PWM output
DanAuhust 0:59e2ea255892 10 Ticker timer;
DanAuhust 0:59e2ea255892 11 MODSERIAL pc(USBTX,USBRX,64,1024);
DanAuhust 0:59e2ea255892 12
DanAuhust 0:59e2ea255892 13
DanAuhust 0:59e2ea255892 14 //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 15 #define NUM0 0.6731 // constante
DanAuhust 0:59e2ea255892 16 #define NUM1 -2.6925 // z^-1
DanAuhust 0:59e2ea255892 17 #define NUM2 4.0388 // z^-2etc.
DanAuhust 0:59e2ea255892 18 #define NUM3 -2.6925
DanAuhust 0:59e2ea255892 19 #define NUM4 0.6731
DanAuhust 0:59e2ea255892 20
DanAuhust 0:59e2ea255892 21 #define DEN0 1 // constante
DanAuhust 0:59e2ea255892 22 #define DEN1 -3.2133
DanAuhust 0:59e2ea255892 23 #define DEN2 3.9348
DanAuhust 0:59e2ea255892 24 #define DEN3 -2.1689
DanAuhust 0:59e2ea255892 25 #define DEN4 0.4531
DanAuhust 0:59e2ea255892 26
DanAuhust 1:1ffb9e3ae00f 27 //lowpass filter constantes 4Hz 4e orde, Fs = 312,5 Hz
DanAuhust 0:59e2ea255892 28 #define NUM0_3 0.00000236 // constante
DanAuhust 0:59e2ea255892 29 #define NUM1_3 0.00000944 // z^-1
DanAuhust 0:59e2ea255892 30 #define NUM2_3 0.00001415 // z^-2etc.
DanAuhust 0:59e2ea255892 31 #define NUM3_3 0.00000944
DanAuhust 0:59e2ea255892 32 #define NUM4_3 0.00000236
DanAuhust 0:59e2ea255892 33
DanAuhust 0:59e2ea255892 34 #define DEN0_3 1 // constante
DanAuhust 0:59e2ea255892 35 #define DEN1_3 -3.7899
DanAuhust 0:59e2ea255892 36 #define DEN2_3 5.3914
DanAuhust 0:59e2ea255892 37 #define DEN3_3 -3.4119
DanAuhust 0:59e2ea255892 38 #define DEN4_3 0.8104
DanAuhust 0:59e2ea255892 39
DanAuhust 5:7644d6b16ceb 40 double std_dev(float value, int number) {
DanAuhust 5:7644d6b16ceb 41 int n = 20;
DanAuhust 5:7644d6b16ceb 42 static int startcount = 0;
DanAuhust 5:7644d6b16ceb 43 float sum;
DanAuhust 5:7644d6b16ceb 44 float sq_sum;
DanAuhust 5:7644d6b16ceb 45 float mean;
DanAuhust 5:7644d6b16ceb 46 float variance;
DanAuhust 0:59e2ea255892 47 static int count_biceps=0;
DanAuhust 0:59e2ea255892 48 static int count_triceps=0;
DanAuhust 0:59e2ea255892 49 static int count_flexoren=0;
DanAuhust 0:59e2ea255892 50 static int count_extensoren=0;
DanAuhust 0:59e2ea255892 51 static float keeper_biceps[20];
DanAuhust 0:59e2ea255892 52 static float keeper_triceps[20];
DanAuhust 0:59e2ea255892 53 static float keeper_flexoren[20];
DanAuhust 0:59e2ea255892 54 static float keeper_extensoren[20];
DanAuhust 5:7644d6b16ceb 55
DanAuhust 5:7644d6b16ceb 56 if (startcount >= n)
DanAuhust 5:7644d6b16ceb 57 {switch (number){
DanAuhust 0:59e2ea255892 58 case 1:
DanAuhust 5:7644d6b16ceb 59 //int n = sizeof(keeper_biceps)/sizeof(float);
DanAuhust 5:7644d6b16ceb 60 keeper_biceps[count_biceps]=value;
DanAuhust 0:59e2ea255892 61 count_biceps++;
DanAuhust 5:7644d6b16ceb 62 if ( count_biceps >= n)
DanAuhust 5:7644d6b16ceb 63 count_biceps = 0;
DanAuhust 5:7644d6b16ceb 64 double sum = 0;
DanAuhust 5:7644d6b16ceb 65 double sq_sum = 0;
DanAuhust 5:7644d6b16ceb 66 for(int i = 0; i < n; ++i) {
DanAuhust 5:7644d6b16ceb 67 sum += keeper_biceps[i];
DanAuhust 5:7644d6b16ceb 68 sq_sum += keeper_biceps[i] * keeper_biceps[i];
DanAuhust 0:59e2ea255892 69 }
DanAuhust 5:7644d6b16ceb 70 double mean = sum / n;
DanAuhust 5:7644d6b16ceb 71 double variance = sq_sum / n - mean * mean;
DanAuhust 5:7644d6b16ceb 72 return sqrt(variance);
DanAuhust 0:59e2ea255892 73 break;
DanAuhust 5:7644d6b16ceb 74
DanAuhust 0:59e2ea255892 75 case 2:
DanAuhust 5:7644d6b16ceb 76 //int n = sizeof(keeper_triceps)/sizeof(float);
DanAuhust 5:7644d6b16ceb 77 keeper_triceps[count_triceps]=value;
DanAuhust 0:59e2ea255892 78 count_triceps++;
DanAuhust 5:7644d6b16ceb 79 if ( count_triceps >= n)
DanAuhust 5:7644d6b16ceb 80 count_triceps = 0;
DanAuhust 5:7644d6b16ceb 81 sum = 0;
DanAuhust 5:7644d6b16ceb 82 sq_sum = 0;
DanAuhust 5:7644d6b16ceb 83 for(int i = 0; i < n; ++i) {
DanAuhust 5:7644d6b16ceb 84 sum += keeper_triceps[i];
DanAuhust 5:7644d6b16ceb 85 sq_sum += keeper_triceps[i] * keeper_triceps[i];
DanAuhust 0:59e2ea255892 86 }
DanAuhust 5:7644d6b16ceb 87 mean = sum / n;
DanAuhust 5:7644d6b16ceb 88 variance = sq_sum / n - mean * mean;
DanAuhust 5:7644d6b16ceb 89 return sqrt(variance);
DanAuhust 0:59e2ea255892 90 break;
DanAuhust 5:7644d6b16ceb 91
DanAuhust 3:e609cd999fd2 92 case 3:
DanAuhust 5:7644d6b16ceb 93 //n = sizeof(keeper_flexoren)/sizeof(float);
DanAuhust 5:7644d6b16ceb 94 keeper_flexoren[count_flexoren]=value;
DanAuhust 0:59e2ea255892 95 count_flexoren++;
DanAuhust 5:7644d6b16ceb 96 if ( count_flexoren >= n)
DanAuhust 5:7644d6b16ceb 97 count_flexoren = 0;
DanAuhust 5:7644d6b16ceb 98 sum = 0;
DanAuhust 5:7644d6b16ceb 99 sq_sum = 0;
DanAuhust 5:7644d6b16ceb 100 for(int i = 0; i < n; ++i) {
DanAuhust 5:7644d6b16ceb 101 sum += keeper_flexoren[i];
DanAuhust 5:7644d6b16ceb 102 sq_sum += keeper_flexoren[i] * keeper_flexoren[i];
DanAuhust 0:59e2ea255892 103 }
DanAuhust 5:7644d6b16ceb 104 mean = sum / n;
DanAuhust 5:7644d6b16ceb 105 variance = sq_sum / n - mean * mean;
DanAuhust 5:7644d6b16ceb 106 return sqrt(variance);
DanAuhust 0:59e2ea255892 107 break;
DanAuhust 5:7644d6b16ceb 108
DanAuhust 0:59e2ea255892 109 case 4:
DanAuhust 5:7644d6b16ceb 110 //n = sizeof(keeper_extensoren)/sizeof(float);
DanAuhust 6:33f0741dbb5b 111 keeper_extensoren[count_extensoren]=value;
DanAuhust 0:59e2ea255892 112 count_extensoren++;
DanAuhust 5:7644d6b16ceb 113 if ( count_extensoren >= n)
DanAuhust 5:7644d6b16ceb 114 count_extensoren = 0;
DanAuhust 5:7644d6b16ceb 115 sum = 0;
DanAuhust 5:7644d6b16ceb 116 sq_sum = 0;
DanAuhust 5:7644d6b16ceb 117 for(int i = 0; i < n; ++i) {
DanAuhust 5:7644d6b16ceb 118 sum += keeper_extensoren[i];
DanAuhust 5:7644d6b16ceb 119 sq_sum += keeper_extensoren[i] * keeper_extensoren[i];
DanAuhust 0:59e2ea255892 120 }
DanAuhust 5:7644d6b16ceb 121 mean = sum / n;
DanAuhust 5:7644d6b16ceb 122 variance = sq_sum / n - mean * mean;
DanAuhust 5:7644d6b16ceb 123 return sqrt(variance);
DanAuhust 3:e609cd999fd2 124 break;
DanAuhust 5:7644d6b16ceb 125 } // einde switch
DanAuhust 5:7644d6b16ceb 126 } // einde if
DanAuhust 5:7644d6b16ceb 127 else
DanAuhust 0:59e2ea255892 128 {startcount+=1;
DanAuhust 6:33f0741dbb5b 129 switch(number){
DanAuhust 0:59e2ea255892 130 case 1:
DanAuhust 6:33f0741dbb5b 131 keeper_biceps[count_biceps]=value;
DanAuhust 0:59e2ea255892 132 count_biceps++;
DanAuhust 5:7644d6b16ceb 133 if(count_biceps >= n)
DanAuhust 0:59e2ea255892 134 count_biceps=0;
DanAuhust 0:59e2ea255892 135 break;
DanAuhust 0:59e2ea255892 136 case 2:
DanAuhust 6:33f0741dbb5b 137 keeper_triceps[count_triceps]=value;
DanAuhust 0:59e2ea255892 138 count_triceps++;
DanAuhust 5:7644d6b16ceb 139 if(count_triceps >= n)
DanAuhust 0:59e2ea255892 140 count_triceps=0;
DanAuhust 0:59e2ea255892 141 break;
DanAuhust 3:e609cd999fd2 142 case 3:
DanAuhust 6:33f0741dbb5b 143 keeper_flexoren[count_flexoren]=value;
DanAuhust 3:e609cd999fd2 144 count_flexoren++;
DanAuhust 5:7644d6b16ceb 145 if(count_flexoren >= n)
DanAuhust 3:e609cd999fd2 146 count_flexoren=0;
DanAuhust 3:e609cd999fd2 147 break;
DanAuhust 3:e609cd999fd2 148 case 4:
DanAuhust 6:33f0741dbb5b 149 keeper_extensoren[count_extensoren]=value;
DanAuhust 3:e609cd999fd2 150 count_extensoren++;
DanAuhust 5:7644d6b16ceb 151 if(count_extensoren >= n)
DanAuhust 3:e609cd999fd2 152 count_extensoren=0;
DanAuhust 3:e609cd999fd2 153 break;
DanAuhust 0:59e2ea255892 154 } // einde switch
DanAuhust 0:59e2ea255892 155 } // einde else
DanAuhust 5:7644d6b16ceb 156 }
DanAuhust 5:7644d6b16ceb 157
DanAuhust 0:59e2ea255892 158 float filter(int sig_number){
DanAuhust 0:59e2ea255892 159 float sig_out;
DanAuhust 0:59e2ea255892 160 // eerst variabelen definieren
DanAuhust 0:59e2ea255892 161 //biceps
DanAuhust 0:59e2ea255892 162 //filter 1
DanAuhust 0:59e2ea255892 163 float in0_biceps =0;
DanAuhust 0:59e2ea255892 164 static float in1_biceps =0, in2_biceps = 0, in3_biceps = 0, in4_biceps = 0;
DanAuhust 0:59e2ea255892 165 static float out0_biceps = 0, out1_biceps = 0 , out2_biceps = 0, out3_biceps = 0, out4_biceps = 0;
DanAuhust 5:7644d6b16ceb 166
DanAuhust 0:59e2ea255892 167 //filter 3
DanAuhust 0:59e2ea255892 168 float in0_3_biceps =0;
DanAuhust 0:59e2ea255892 169 static float in1_3_biceps =0, in2_3_biceps = 0, in3_3_biceps = 0, in4_3_biceps = 0;
DanAuhust 0:59e2ea255892 170 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 171
DanAuhust 0:59e2ea255892 172 //triceps
DanAuhust 0:59e2ea255892 173 //filter 1
DanAuhust 0:59e2ea255892 174 float in0_triceps =0;
DanAuhust 0:59e2ea255892 175 static float in1_triceps =0, in2_triceps = 0, in3_triceps = 0, in4_triceps = 0;
DanAuhust 0:59e2ea255892 176 static float out0_triceps = 0, out1_triceps = 0 , out2_triceps = 0, out3_triceps = 0, out4_triceps = 0;
DanAuhust 5:7644d6b16ceb 177
DanAuhust 0:59e2ea255892 178 //filter 3
DanAuhust 0:59e2ea255892 179 float in0_3_triceps =0;
DanAuhust 0:59e2ea255892 180 static float in1_3_triceps =0, in2_3_triceps = 0, in3_3_triceps = 0, in4_3_triceps = 0;
DanAuhust 0:59e2ea255892 181 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 182
DanAuhust 0:59e2ea255892 183 //flexoren
DanAuhust 0:59e2ea255892 184 //filter 1
DanAuhust 0:59e2ea255892 185 float in0_flexoren =0;
DanAuhust 0:59e2ea255892 186 static float in1_flexoren =0, in2_flexoren = 0, in3_flexoren = 0, in4_flexoren = 0;
DanAuhust 0:59e2ea255892 187 static float out0_flexoren = 0, out1_flexoren = 0 , out2_flexoren = 0, out3_flexoren = 0, out4_flexoren = 0;
DanAuhust 0:59e2ea255892 188
DanAuhust 0:59e2ea255892 189 //filter 3
DanAuhust 0:59e2ea255892 190 float in0_3_flexoren =0;
DanAuhust 0:59e2ea255892 191 static float in1_3_flexoren =0, in2_3_flexoren = 0, in3_3_flexoren = 0, in4_3_flexoren = 0;
DanAuhust 0:59e2ea255892 192 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 193
DanAuhust 0:59e2ea255892 194 //extensoren
DanAuhust 0:59e2ea255892 195 //filter 1
DanAuhust 0:59e2ea255892 196 float in0_extensoren =0;
DanAuhust 0:59e2ea255892 197 static float in1_extensoren =0, in2_extensoren = 0, in3_extensoren = 0, in4_extensoren = 0;
DanAuhust 0:59e2ea255892 198 static float out0_extensoren = 0, out1_extensoren = 0 , out2_extensoren = 0, out3_extensoren = 0, out4_extensoren = 0;
DanAuhust 5:7644d6b16ceb 199
DanAuhust 0:59e2ea255892 200 //filter 3
DanAuhust 0:59e2ea255892 201 float in0_3_extensoren =0;
DanAuhust 0:59e2ea255892 202 static float in1_3_extensoren =0, in2_3_extensoren = 0, in3_3_extensoren = 0, in4_3_extensoren = 0;
DanAuhust 0:59e2ea255892 203 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 204
DanAuhust 0:59e2ea255892 205 switch(sig_number){
DanAuhust 0:59e2ea255892 206 case 1:
DanAuhust 0:59e2ea255892 207 // signaal filteren op 15 Hz HIGHPASS
DanAuhust 0:59e2ea255892 208 in4_biceps = in3_biceps; in3_biceps = in2_biceps; in2_biceps = in1_biceps; in1_biceps = in0_biceps;
DanAuhust 0:59e2ea255892 209 in0_biceps = emg_biceps.read() - offset_biceps;
DanAuhust 0:59e2ea255892 210 out4_biceps = out3_biceps; out3_biceps = out2_biceps; out2_biceps = out1_biceps; out1_biceps = out0_biceps;
DanAuhust 0:59e2ea255892 211 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 212
DanAuhust 0:59e2ea255892 213 //signaal filteren op 5Hz LOWPASS
DanAuhust 6:33f0741dbb5b 214 /*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 215 in0_3_biceps = abs(out0_biceps); // ruw - offset -> filter 1 -> stdev (-> filter 3)
DanAuhust 0:59e2ea255892 216 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 217 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 218 */
DanAuhust 6:33f0741dbb5b 219 sig_out = out0_biceps;
DanAuhust 0:59e2ea255892 220 break;
DanAuhust 5:7644d6b16ceb 221
DanAuhust 0:59e2ea255892 222 case 2:
DanAuhust 0:59e2ea255892 223 // signaal filteren op 15 Hz HIGHPASS
DanAuhust 0:59e2ea255892 224 in4_triceps = in3_triceps; in3_triceps = in2_triceps; in2_triceps = in1_triceps; in1_triceps = in0_triceps;
DanAuhust 0:59e2ea255892 225 in0_triceps = emg_triceps.read() - offset_biceps;
DanAuhust 0:59e2ea255892 226 out4_triceps = out3_triceps; out3_triceps = out2_triceps; out2_triceps = out1_triceps; out1_triceps = out0_triceps;
DanAuhust 0:59e2ea255892 227 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 228
DanAuhust 0:59e2ea255892 229 //signaal filteren op 5Hz LOWPASS
DanAuhust 6:33f0741dbb5b 230 /*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 231 in0_3_triceps = abs(out0_triceps);
DanAuhust 0:59e2ea255892 232 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 233 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 234 */
DanAuhust 6:33f0741dbb5b 235 sig_out = out0_triceps;
DanAuhust 0:59e2ea255892 236 break;
DanAuhust 5:7644d6b16ceb 237
DanAuhust 0:59e2ea255892 238 case 3:
DanAuhust 0:59e2ea255892 239 // signaal filteren op 15 Hz HIGHPASS
DanAuhust 0:59e2ea255892 240 in4_flexoren = in3_flexoren; in3_flexoren = in2_flexoren; in2_flexoren = in1_flexoren; in1_flexoren = in0_flexoren;
DanAuhust 0:59e2ea255892 241 in0_flexoren = emg_flexoren.read();
DanAuhust 0:59e2ea255892 242 out4_flexoren = out3_flexoren; out3_flexoren = out2_flexoren; out2_flexoren = out1_flexoren; out1_flexoren = out0_flexoren;
DanAuhust 0:59e2ea255892 243 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 244
DanAuhust 0:59e2ea255892 245 //signaal filteren op 5Hz LOWPASS
DanAuhust 6:33f0741dbb5b 246 /*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 247 in0_3_flexoren = abs(out0_flexoren);
DanAuhust 0:59e2ea255892 248 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 249 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 250 */
DanAuhust 6:33f0741dbb5b 251 sig_out = out0_flexoren;
DanAuhust 0:59e2ea255892 252 break;
DanAuhust 5:7644d6b16ceb 253
DanAuhust 0:59e2ea255892 254 case 4:
DanAuhust 0:59e2ea255892 255 // signaal filteren op 15 Hz HIGHPASS
DanAuhust 0:59e2ea255892 256 in4_extensoren = in3_extensoren; in3_extensoren = in2_extensoren; in2_extensoren = in1_extensoren; in1_extensoren = in0_extensoren;
DanAuhust 0:59e2ea255892 257 in0_extensoren = emg_extensoren.read();
DanAuhust 0:59e2ea255892 258 out4_extensoren = out3_extensoren; out3_extensoren = out2_extensoren; out2_extensoren = out1_extensoren; out1_extensoren = out0_extensoren;
DanAuhust 0:59e2ea255892 259 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 260
DanAuhust 0:59e2ea255892 261 //signaal filteren op 5Hz LOWPASS
DanAuhust 6:33f0741dbb5b 262 /*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 263 in0_3_extensoren = abs(out0_extensoren);
DanAuhust 0:59e2ea255892 264 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 265 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 266 */
DanAuhust 6:33f0741dbb5b 267 sig_out = out0_extensoren;
DanAuhust 0:59e2ea255892 268 break;
DanAuhust 0:59e2ea255892 269 }
DanAuhust 0:59e2ea255892 270 return sig_out;
DanAuhust 0:59e2ea255892 271 }
DanAuhust 0:59e2ea255892 272
DanAuhust 0:59e2ea255892 273 void looper()
DanAuhust 0:59e2ea255892 274 { float emg_value_biceps;
DanAuhust 0:59e2ea255892 275 float emg_value_triceps;
DanAuhust 0:59e2ea255892 276 float emg_value_flexoren;
DanAuhust 0:59e2ea255892 277 float emg_value_extensoren;
DanAuhust 0:59e2ea255892 278 float dy;
DanAuhust 5:7644d6b16ceb 279 float dx;
DanAuhust 0:59e2ea255892 280 //static int sig_count = 1;
DanAuhust 5:7644d6b16ceb 281
DanAuhust 5:7644d6b16ceb 282 emg_value_biceps = std_dev(filter(1),1);
DanAuhust 5:7644d6b16ceb 283 emg_value_triceps = std_dev(filter(2),2);
DanAuhust 6:33f0741dbb5b 284 emg_value_flexoren = std_dev(filter(3),3);
DanAuhust 6:33f0741dbb5b 285 emg_value_extensoren = std_dev(filter(4),4);
DanAuhust 3:e609cd999fd2 286
DanAuhust 6:33f0741dbb5b 287
DanAuhust 3:e609cd999fd2 288 if(emg_value_biceps < 4.5)
DanAuhust 3:e609cd999fd2 289 emg_value_biceps=0;
DanAuhust 3:e609cd999fd2 290 else if (emg_value_biceps > 13)
DanAuhust 3:e609cd999fd2 291 emg_value_biceps = 13;
DanAuhust 6:33f0741dbb5b 292 emg_value_biceps = 1.5 * emg_value_biceps;
DanAuhust 6:33f0741dbb5b 293
DanAuhust 7:763117f8ef51 294 if(emg_value_triceps < 4.5)
DanAuhust 6:33f0741dbb5b 295 emg_value_triceps=0;
DanAuhust 6:33f0741dbb5b 296 else if (emg_value_triceps > 10)
DanAuhust 6:33f0741dbb5b 297 emg_value_triceps = 10;
DanAuhust 6:33f0741dbb5b 298 emg_value_triceps = emg_value_triceps;
DanAuhust 0:59e2ea255892 299
DanAuhust 6:33f0741dbb5b 300 if(emg_value_flexoren < 3) // was 2, wordt 3
DanAuhust 3:e609cd999fd2 301 emg_value_flexoren=0;
DanAuhust 3:e609cd999fd2 302 else if (emg_value_flexoren > 8)
DanAuhust 3:e609cd999fd2 303 emg_value_flexoren = 8;
DanAuhust 6:33f0741dbb5b 304 emg_value_flexoren = 1.5*emg_value_flexoren; // was 2, wordt 1.5
DanAuhust 6:33f0741dbb5b 305
DanAuhust 3:e609cd999fd2 306 if(emg_value_extensoren < 5)
DanAuhust 3:e609cd999fd2 307 emg_value_extensoren=0;
DanAuhust 3:e609cd999fd2 308 else if (emg_value_extensoren > 13)
DanAuhust 3:e609cd999fd2 309 emg_value_extensoren = 13;
DanAuhust 6:33f0741dbb5b 310
DanAuhust 7:763117f8ef51 311 dy = (emg_value_biceps - emg_value_triceps) / 30 - .5; // output biceps en triceps tussen 0 en 15
DanAuhust 7:763117f8ef51 312 dx = (emg_value_flexoren - emg_value_extensoren) / 30 -.5; // nu dx en dy waarden tussen 1 en 0, net als de potmeters
DanAuhust 3:e609cd999fd2 313
DanAuhust 0:59e2ea255892 314 if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
DanAuhust 7:763117f8ef51 315 pc.printf("%.6f, %.6f\n",dy,dx);
DanAuhust 7:763117f8ef51 316
DanAuhust 7:763117f8ef51 317
DanAuhust 7:763117f8ef51 318
DanAuhust 0:59e2ea255892 319 /**When not using the LED, the above could also have been done this way:
DanAuhust 0:59e2ea255892 320 * pc.printf("%.6\n", emg0.read());
DanAuhust 0:59e2ea255892 321 */
DanAuhust 0:59e2ea255892 322 }
DanAuhust 0:59e2ea255892 323
DanAuhust 0:59e2ea255892 324 int main()
DanAuhust 5:7644d6b16ceb 325
DanAuhust 0:59e2ea255892 326 {
DanAuhust 0:59e2ea255892 327 /*setup baudrate. Choose the same in your program on PC side*/
DanAuhust 0:59e2ea255892 328 pc.baud(115200);
DanAuhust 0:59e2ea255892 329 /*set the period for the PWM to the red LED*/
DanAuhust 5:7644d6b16ceb 330 //red.period_ms(2);
DanAuhust 0:59e2ea255892 331 /**Here you attach the 'void looper(void)' function to the Ticker object
DanAuhust 0:59e2ea255892 332 * The looper() function will be called every 1/Fs seconds.
DanAuhust 0:59e2ea255892 333 * Please mind that the parentheses after looper are omitted when using attach.
DanAuhust 0:59e2ea255892 334 */
DanAuhust 0:59e2ea255892 335 timer.attach(looper,0.0032); //invullen in seconde. .0032 is niet eens afgerond, dus vandaar die frequentie.
DanAuhust 0:59e2ea255892 336 while(1) //Loop
DanAuhust 0:59e2ea255892 337 {
DanAuhust 0:59e2ea255892 338 /*Empty!*/
DanAuhust 0:59e2ea255892 339 /*Everything is handled by the interrupt routine now!*/
DanAuhust 0:59e2ea255892 340 }
DanAuhust 0:59e2ea255892 341 }