File content as of revision 12:197b7ca8dbe2:

#include "mbed.h"
#include "HIDScope.h"
#include "MODSERIAL.h"
#include "arm_math.h"

MODSERIAL pc(USBTX,USBRX);

HIDScope scope(4);

AnalogIn emgB(PTB1);//biceps
AnalogIn emgT(PTB2); // tricep

//*** OBJECTS ***
//bicep
uint16_t emg_valueB;
float emg_value_f32B;
float filtered_emgB;
float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3;//B1=snelheidsstand 1, B2=snelheidsstand 2, B3=snelheidsstand 3
int yB1, yB2, yB3;
float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B;//moving average objects
int snelheidsstand;
//tricep
uint16_t emg_valueT;
float emg_value_f32T;
float filtered_emgT;
float drempelwaardeT1, drempelwaardeT2;//T1=positie 1, T2=positie 2
int yT1, yT2;
float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, MOVAVG_T;//moving average objects
int positie;


//*** FILTERS ***
arm_biquad_casd_df1_inst_f32 lowpassT;
arm_biquad_casd_df1_inst_f32 lowpassB;
//constants for 50Hz lowpass
float lowpass_const[] = {0.2928920553, 0.5857841107, 0.2928920554, -0, -0.17156822136};//{a0 a1 a2 -b1 -b2} van online calculator
float lowpass_states[4];

arm_biquad_casd_df1_inst_f32 highpassT;
arm_biquad_casd_df1_inst_f32 highpassB;
//constants for 10Hz highpass
float highpass_const[] = {0.8005910267, -1.6011820533, 0.8005910267, 1.5610153913, -0.6413487154};//{a0 a1 a2 -b1 -b2}
float highpass_states[4];

//*** CALIBRATIE ***//dit moet nog in de main komen! en ik snap dit niet :(
//void Calibratie()
//{
//pc.printf("Calibratie drempelwaarde Triceps stand 1\n");
//wait(0.5);
//   {
//  int i;
// int j=19;

//for (i=0, i<=j; i++) {
/*variable to store value in*/
//  uint16_t emg_valueT1i_C;

//  float emg_value_f32T1i_C;
/*put raw emg value both in red and in emg_value*/
//  emg_valueT1i_C = emgT1i_C.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
//  emg_value_f32T1i_C = emgT1i_C.read();

//process emg
//  arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T1i_C, &filtered_emgT1i_C, 1 );
// filtered_emgT1i_C = fabs(filtered_emgT1i_C);
// arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT1i_C, &filtered_emgT1i_C, 1 );
//    }
// }
//}
//******************************
//Mean Triceps stand 1
//void MeanTriceps()
//{
//
//    float MeanT1=filtered_emgT10_C*0.05+filtered_emgT11_C*0.05+filtered_emgT12_C*0.05+filtered_emgT13_C*0.05+filtered_emgT14_C*0.05+filtered_emgT15_C*0.05+filtered_emgT16_C*0.05+filtered_emgT17_C*0.05+filtered_emgT18_C*0.05+filtered_emgT19_C*0.05+filtered_emgT110_C*0.05+filtered_emgT111_C*0.05+filtered_emgT112_C*0.05+filtered_emgT113_C*0.05+filtered_emgT114_C*0.05+filtered_emgT115_C*0.05+filtered_emgT116_C*0.05+filtered_emgT117_C*0.05+filtered_emgT118_C*0.05+filtered_emgT119_C*0.05;
//
//}
//******************************




// *** TRICEPS en BICEPS EMG ***
void Triceps()
{
    //Triceps lezen
    emg_valueT = emgT.read_u16();
    emg_value_f32T = emgT.read();

    //Triceps filteren
    arm_biquad_cascade_df1_f32(&highpassT, &emg_value_f32T, &filtered_emgT, 1 );
    filtered_emgT = fabs(filtered_emgT);
    arm_biquad_cascade_df1_f32(&lowpassT, &filtered_emgT, &filtered_emgT, 1 );
    
    //Triceps moving average
    T0=filtered_emgT;
    MOVAVG_T=T0*0.1+T1*0.1+T2*0.1+T3*0.1+T4*0.1+T5*0.1+T6*0.1+T7*0.1+T8*0.1+T9*0.1;
    T9=T8;
    T8=T7;
    T7=T6;
    T6=T5;
    T5=T4;
    T4=T3;
    T3=T2;
    T2=T1;
    T1=T0;
    
    //sturen naar scherm (Realterm)
    pc.printf("%f\r\n",MOVAVG_T);//u=f filtered_emgT is een float

    //sturen naar HID Scope
    scope.set(0,emg_valueT);        //ruwe data
    scope.set(1,filtered_emgT);     //filtered
    scope.send();
}

void Biceps()
{
    //Biceps lezen
    emg_valueB = emgB.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
    emg_value_f32B = emgB.read();

    //Biceps filteren
    arm_biquad_cascade_df1_f32(&highpassB, &emg_value_f32B, &filtered_emgB, 1 );
    filtered_emgB = fabs(filtered_emgB);
    arm_biquad_cascade_df1_f32(&lowpassB, &filtered_emgB, &filtered_emgB, 1 );
    
    //Biceps moving average
    B0=filtered_emgB;
    MOVAVG_B=B0*0.1+B1*0.1+B2*0.1+B3*0.1+B4*0.1+B5*0.1+B6*0.1+B7*0.1+B8*0.1+B9*0.1;
    B9=B8;
    B8=B7;
    B7=B6;
    B6=B5;
    B5=B4;
    B4=B3;
    B3=B2;
    B2=B1;
    B1=B0;
    
    //sturen naar scherm
    pc.printf("%f\r\n",MOVAVG_B);

    //naar HID Scope
    scope.set(2,emg_valueB);        //ruwe data
    scope.set(3,filtered_emgB);     //filtered
    scope.send();
}

// *** MAIN ***
int main()
{
    pc.baud(115200);

    //bepaling van positie met triceps
    Ticker log_timerT;
    arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
    arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);

    log_timerT.attach(Triceps, 0.01);
    wait(250); //log_timerT wordt 2000 keer uitgevoerd
    log_timerT.detach();
    
    // positie van batje met behulp van Triceps
    drempelwaardeT1=4;
    drempelwaardeT2=7;

    if (MOVAVG_T >= drempelwaardeT1) {
        yT1=1;
        if (MOVAVG_T >= drempelwaardeT1) {
            yT2=1;
        } else {
            yT2=0;
        }
    } else {
        yT1=0;
    }

    //*** INPUT MOTOR 2 ***
    positie=yT1+yT2;

    //controle positie op scherm
    if (positie==0) {
        pc.printf("Motor 2 gaat naar stand 0\n");
    } else {
        if (positie==1) {
            pc.printf("Motor 2 gaat naar stand 1\n");
        } else {
            if (positie==2) {
                pc.printf("Motor 1 beweegt met snelheid 2\n");
            }
        }
    }

    wait(5);

    Ticker log_timerB;
    arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
    arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);

    log_timerB.attach(Biceps,0.005);
    wait(250);//log_timerB wordt 2000 keer uitgevoerd
    log_timerB.detach();
    
    //bepaling van snelheidsstand met biceps

    drempelwaardeB1=4;
    drempelwaardeB2=6;
    drempelwaardeB3=10;

    if (MOVAVG_B >= drempelwaardeB1) {
        yB1=1;
        if (MOVAVG_B >= drempelwaardeB2) {
            yB2=1;
            if (MOVAVG_B >= drempelwaardeB3) {
                yB3=1;
            } else {
                yB3=0;
            }
        } else {
            yB2=0;
        }
    } else {
        yB1=0;
    }

    //*** INPUT MOTOR 1 ***
    snelheidsstand=yB1+yB2+yB3;

    //controle snelheidsstand op scherm
    if (snelheidsstand==0) {
        pc.printf("Motor 1 beweegt niet\n");
    } else {
        if (snelheidsstand==1) {
            pc.printf("Motor 1 beweegt met snelheid 1\n");
        } else {
            if (snelheidsstand==2) {
                pc.printf("Motor 1 beweegt met snelheid 2\n");
            } else {
                if (snelheidsstand==3) {
                    pc.printf("Motor 1 beweegt met snelheid 3\n");
                }
            }
        }
    }

}