emg
Dependencies: HIDScope MODSERIAL mbed-dsp mbed TouchButton
Fork of test by
Revision 9:a1890454e5a7, committed 2014-10-23
- Comitter:
- Tanja2211
- Date:
- Thu Oct 23 07:40:07 2014 +0000
- Parent:
- 8:54fd13779d00
- Child:
- 10:9319e872c752
- Commit message:
- 2 voids
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Oct 22 10:08:24 2014 +0000 +++ b/main.cpp Thu Oct 23 07:40:07 2014 +0000 @@ -5,19 +5,23 @@ MODSERIAL pc(USBTX,USBRX); -HIDScope scope(4);//is dit 4 voor 2 spieren? en hoe zit het met scope.set? +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; @@ -26,12 +30,14 @@ //*** FILTERS *** -arm_biquad_casd_df1_inst_f32 lowpass; +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 highpass; +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]; @@ -71,22 +77,55 @@ //} //****************************** -//*** BICEP EMG *** + + + +// *** 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 ); + arm_biquad_cascade_df1_f32(&lowpassT, &filtered_emgT, &filtered_emgT, 1 ); + filtered_emgT = fabs(filtered_emgT); + + pc.printf("%u\n",filtered_emgT); + + //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; + scope.set(0,emg_valueT); //ruwe data + scope.set(1,filtered_emgT); //filtered + scope.send(); +} + void Biceps() { - uint16_t emg_valueB; - float emg_value_f32B; - - //lezen + //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(); - //filteren - arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 ); - arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 ); + //Biceps filteren + arm_biquad_cascade_df1_f32(&highpassB, &emg_value_f32B, &filtered_emgB, 1 ); + arm_biquad_cascade_df1_f32(&lowpassB, &filtered_emgB, &filtered_emgB, 1 ); filtered_emgB = fabs(filtered_emgB); - //moving average + pc.printf("%f\r\n",filtered_emgB); + + + //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; @@ -105,80 +144,31 @@ scope.send(); } -// *** TRICEP EMG *** -void Triceps() -{ - uint16_t emg_valueT; - float emg_value_f32T; - - //lezen - emg_valueT = emgT.read_u16(); - emg_value_f32T = emgT.read(); - - //filteren - arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 ); - filtered_emgT = fabs(filtered_emgT); - arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 ); - - //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; - - uint16_t emg_valueB; - float emg_value_f32B; - - //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(); - - //filteren - arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 ); - arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 ); - filtered_emgB = fabs(filtered_emgB); - - //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; - - //naar scherm - scope.set(0,emg_valueB); //ruwe data - scope.set(1,filtered_emgB); //filtered - - - scope.set(2,emg_valueT); //ruwe data - scope.set(3,filtered_emgT); //filtered - scope.send(); -} - // *** MAIN *** int main() -{ +{ + pc.baud(115200); //bepaling van positie met triceps Ticker log_timerT; - arm_biquad_cascade_df1_init_f32(&lowpass,1,lowpass_const,lowpass_states); - arm_biquad_cascade_df1_init_f32(&highpass,1,highpass_const,highpass_states); + 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, 0.005); - while(1) {} + wait(10); + log_timerT.detach(); + + 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(10); + log_timerB.detach(); + + +// positie van batje met behulp van Triceps drempelwaardeT1=4; drempelwaardeT2=7; if (MOVAVG_T >= drempelwaardeT1) { @@ -207,9 +197,9 @@ } } //bepaling van snelheidsstand met biceps - - arm_biquad_cascade_df1_init_f32(&lowpass,1,lowpass_const,lowpass_states); - arm_biquad_cascade_df1_init_f32(&highpass,1,highpass_const,highpass_states); + + arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states); + arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states); @@ -251,4 +241,5 @@ } } } + }