///<summary>A constructor that initializes the model with the appropriate Kalman filter values. </summary>
///<param name="r_coefficient"> The R coefficient of the Kalman filter. </param>
///<param name="q_coefficient"> The Q coefficient of the Kalman filter. </param>
public KalmanFilterEstimationController(double _R, double _Q, int _muscle_amplifcation, Body _body)
{
R = _R;
Q = _Q;
muscle_amplification = _muscle_amplifcation;
body = _body;
signal_processing = new SignalProcessing();
optimization_parameters = new List <double>();
}
///<summary>The default contructor initialzes internal variables to defaults.</summary>
public KalmanFilterEstimationController()
{
R = 0;
Q = 0;
muscle_amplification = 0;
body = new Body();
signal_processing = new SignalProcessing();
optimization_parameters = new List <double>();
}
public BiomechanicalEstimationController(double _timestep, Body _body, List <List <double> > _muscle_activation_coefficients)
{
W = 0.56;
A = 0.25;
gmax = 1.5;
timestep = _timestep;
muscle_activation_coefficients = _muscle_activation_coefficients;
body = _body;
signal_processing = new SignalProcessing();
optimization_parameters = new List <double>(2);
}
public BiomechanicalEstimationController()
{
W = 0.56;
A = 0.25;
gmax = 1.5;
timestep = 0;
muscle_activation_coefficients = new List <List <double> >();
body = new Body();
signal_processing = new SignalProcessing();
optimization_parameters = new List <double>();
}
public ElbowMotionTrackingController(int _window_size, int _biceps_emg_channel, int _triceps_emg_channel, ExperimentInterface _experiment_interface) //add other arguments from startup
{
experiment_interface = _experiment_interface;
subject = new Body();
emg_sampling_frequency = 2000;
time_step = 1 / emg_sampling_frequency;
window_size = _window_size;
brace_position = 0;
subject_position = 0;
biceps_emg_channel = _biceps_emg_channel;
triceps_emg_channel = _triceps_emg_channel;
brace_encoder_offset = 0;
gear_ratio = 713; //Taylor's brace gear ratio
save_motion_data = false;
save_system_data = false;
track_motion_data = false;
current_estimation_controller = 0;
upper_position_limit = 130;
lower_position_limit = -20;
command_position = 0;
command_frequency = Convert.ToDouble(experiment_interface.textBox8.Text);
counter = 0;
//initialize complex data types
estimation_controllers = new List <EstimationController>();
kfmm = new KalmanFilterEstimationController();
pmm = new ProportionalEstimationController(time_step);
npmm = new PolynomialEstimationController(time_step, 3);
estimation_controllers.Add(kfmm);
estimation_controllers.Add(pmm);
estimation_controllers.Add(npmm);
actuation_controller = new WearMEBraceController(epos, this);
epos_manager = new DeviceManager("EPOS", "MAXON_RS232", "RS232", experiment_interface.textBox9.Text);
epos_manager.Baudrate = 115200;
epos_manager.Timeout = 500;
trigno = new DelsysTrignoCSharpLibrary.Driver();
collection_arm = new CollectionArmLibrary.CollectionArm(experiment_interface.textBox13.Text, 38400);
subject_positions = new List <double>(window_size);
brace_positions = new List <double>(window_size);
triceps_emg = new List <double>(window_size);
biceps_emg = new List <double>(window_size);
position_estimates = new List <double>(window_size);
previous_biceps_emg = new List <double>(window_size);
previous_triceps_emg = new List <double>(window_size);
previous_subject_positions = new List <double>(window_size);
previous_brace_positions = new List <double>(window_size);
command_positions = new List <double>(window_size);
previous_biceps_emg_filter1 = new List <double>(window_size);
previous_triceps_emg_filter1 = new List <double>(window_size);
for (int i = 0; i < window_size; i++)
{
previous_biceps_emg.Add(0);
previous_triceps_emg.Add(0);
previous_subject_positions.Add(0);
previous_brace_positions.Add(0);
previous_biceps_emg_filter1.Add(0);
previous_triceps_emg_filter1.Add(0);
position_estimates.Add(0);
}
muscle_activation_parameters = new List <List <double> >();
kalman_filter_parameters = new List <double>();
proportional_parameters = new List <double>();
subject_motion_data = new List <List <double> >();
stop_watch = new Stopwatch();
stop_watch2 = new Stopwatch();
stop_watch3 = new Stopwatch();
finished_logging = true;
signal_processing = new SignalProcessing();
//Thread initialization
emg_data_thread = new EMGDataThread();
emg_data_thread.window_size = window_size;
emg_data_thread.trigno = trigno;
emg_data_thread.biceps_emg_channel = biceps_emg_channel;
emg_data_thread.triceps_emg_channel = triceps_emg_channel;
emg_data_worker = new BackgroundWorker();
emg_data_worker.DoWork += new DoWorkEventHandler(EMGDataWorker_DoWork);
emg_data_worker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(EMGDataWorker_RunWorkerCompleted);
subject_position_thread = new SubjectPositionThread();
subject_position_thread.collection_arm = collection_arm;
subject_position_worker = new BackgroundWorker();
subject_position_worker.DoWork += new DoWorkEventHandler(SubjectPositionWorker_DoWork);
subject_position_worker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(SubjectPositionWorker_RunWorkerCompleted);
logger_thread = new LoggerThread();
logger_worker = new BackgroundWorker();
logger_worker.DoWork += new DoWorkEventHandler(LoggerWorker_DoWork);
logger_worker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(LoggerWorker_RunWorkerCompleted);
tracking_loop_timer = 0;
data_log_timer = 0;
subject_position_timer = 0;
brace_position_timer = 0;
brace_command_timer = 0;
}