void FixedUpdate()
{
float rawEmg;
rawEmg = ChooseMode("real");
while (Queue.TryDequeue(out rawEmg))
{
bayesfilter = myBayesFilter.UpdateEst(Math.Abs(rawEmg) * 6e2f);
// Debug.Log(bayesfilter.ToString());
}
averagefilter = EmgAverage(10, Math.Abs(rawEmg * 80000 / 40));
butterworthfilter = ButterworthFilter(rawEmg * 80000 / 4);
float barHeight = 0.6e2f * Math.Max(0, (bayesfilter - 0.1f));
GetComponent <Rigidbody2D>().position = new Vector2(0, barHeight);
//Vector2 mousePosition = new Vector2(Input.mousePosition.x, Input.mousePosition.y);
//GetComponent<Rigidbody2D>().position = new Vector2(0, mousePosition.y);
listToHoldtime.Add(Time.time);
listToHoldrawEmg.Add(rawEmg);
listToHoldaveragefilter.Add(averagefilter);
listToHoldbutterworthfilter.Add(butterworthfilter);
listToHoldbayesfilter.Add(bayesfilter);
}
void FixedUpdate()
{
server.SendTo(Encoding.ASCII.GetBytes("H"), Remote); //发送信息
data = new byte[1024]; //对data清零
recv = server.ReceiveFrom(data, ref Remote); //获取客户端，获取服务端端数据，用引用给服务端赋值，实际上服务端已经定义好并不需要赋值
stringData = Encoding.ASCII.GetString(data, 0, recv); //字节数组转换为字符串 //输出接收到的数据
Console.WriteLine(stringData);
float v = Input.GetAxisRaw("Vertical");
float barHeight = 0.03f * Convert.ToInt32(stringData) - 0.1f;
barHeight = barHeight * 0.25f;
//float init_data = myMode.ChooseMode("real");
init_data = ChooseMode("real");
if (init_data == 0)
{
bayesfilter = 0;
}
else
{
//bayesfilter = (float)(myBayesian.UpdateEst(init_data/ 100 ));
bayesfilter = (float)(myBayesian.UpdateEst(init_data * 80000 / 25));//200
}
init_data = init_data * 80000;
//emgfilter = EmgAverage(10,Math.Abs(myEmg.emgData[0]));
//emgfilter = EmgFilter(myEmg.emgData[0]);
emgfilter = EmgFilter(init_data);
//emgfilter = emgfilter * 50000;
GetComponent <Rigidbody2D>().position = new Vector2(0, barHeight);
//GetComponent<Rigidbody2D>().position = new Vector2(0, bayesfilter*50);
//obj.transform.position = new Vector2(0, barHeight);
//print(barHeight*1000000);
listToHoldData.Add(barHeight);
//float t = Time.time;
listToHoldTime.Add(Time.time);
listToHoldInit.Add(init_data);
listToHoldemgfilter.Add(emgfilter);
listToHoldbayesfilter.Add(bayesfilter);
listToHoldstoredata.Add(init_data);
//Vector2 mousePosition = new Vector2(Input.mousePosition.x, Input.mousePosition.y);
//GetComponent<Rigidbody2D>().position = new Vector2(0, mousePosition.y);
}
void FixedUpdate() // 设为0.01s
{
float rawEmg = 0.0f;
IDrecord_f = TargetRacket_force.ID;
Lce = MoveRacket_force.Lce_mo;
if (TestClick.flag)
{
if (EnterClick.verify)
{
input1 = float.Parse(inputvariate1.text); // string to float(字符串转浮点型)
input2 = float.Parse(inputvariate2.text);
EnterClick.verify = false;
}
//print (input1);
//print (input2);
//print ("rawEmg");
rawEmg = ChooseMode("real");
while (Queue.TryDequeue(out rawEmg))
{
bayesfilter = myBayesFilter.UpdateEst(Math.Abs(rawEmg) * 6e2f);
// Debug.Log(bayesfilter.ToString());
}
averagefilter = EmgAverage(10, Math.Abs(rawEmg * 80000 / 40)); //均值滤波
butterworthfilter = ButterworthFilter(rawEmg * 80000 / 4); //巴特沃斯滤波
emg_send = Mathf.Max(0, bayesfilter * input1 + input2); //butterworthfilter bayesfilter
//for (double Lce = 1.0; Lce < 2.0; Lce += 0.01)
try
{
//Lce = Math.Sin(n * Math.PI / 180); // n= angle
//n++;
//Lce = Math.Abs(Lce) + 1;
//float Lce1 = (float)Lce;
// Sends a message to the host to which you have connected.
// Byte[] sendBytes1 = Encoding.ASCII.GetBytes("H");
// acq_pressureClient.Send(sendBytes1, sendBytes1.Length);
// Blocks until a message returns on this socket from a remote host.
// Byte[] receiveBytes1 = acq_pressureClient.Receive(ref RemoteIpEndPoint1);
// string recMsg1 = Encoding.ASCII.GetString(receiveBytes1); //receive message from DAQ
// barForceInMilliNewton = float.Parse(recMsg1);
// // Lce = k * barForceInMilliNewton + b; //1~2 ，
// Lce = 1 + barForceInMilliNewton/20000;
Byte[] sendBytes2 = Encoding.ASCII.GetBytes(Lce.ToString());
neuromorphicClient.Send(sendBytes2, sendBytes2.Length); //send spring length change to neuromorphic system
// Blocks until a message returns on this socket from a remote host.
Byte[] receiveBytes2 = neuromorphicClient.Receive(ref RemoteIpEndPoint2);
string recMsg2 = Encoding.ASCII.GetString(receiveBytes2); //receive message from neuromorphic system
muscle_force = float.Parse(recMsg2); //motorCommand-muscle_force muscle_force——0~18
neuromorphic_on_send = (int)((2000 - emg_send * 50) - muscle_force * 80);
neuromorphic_off_send = (int)((2000 - emg_send * 50) - Lce / 100);
if (NeuromorphicClick.enter_neuromorphic)
{
positioncur = neuromorphic_on_send; //send EMG + muscle force to linear motor
}
else
{
positioncur = neuromorphic_off_send; //send (EMG + 0) or (EMG + feedback_number) to linear motor
}
if (positioncur >= 2000)
{
positioncur = 2000;
}
// print (positioncur);
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
}
// float barHeight = 0.008f * barForceInMilliNewton;
// GetComponent<Rigidbody2D>().position = new Vector2(0, barHeight);
GetComponent <Rigidbody2D>().position = new Vector2(30, emg_send);
//Vector2 mousePosition = new Vector2(Input.mousePosition.x, Input.mousePosition.y);
//GetComponent<Rigidbody2D>().position = new Vector2(0, mousePosition.y);
//Send something to Motor
double positionangle1 = Math.Sin(n * Math.PI / 180) * 2000; //Write position
n++; //n = n + 1;
int position1 = (int)positionangle1;
//position = Math.Abs(position);
double positionangle2 = Math.Cos(n * Math.PI / 180) * 2000;
n++;
int position2 = (int)positionangle2;
byte ID = 0x01;
byte Instuction = 0x02;
byte MemAddr = 0x37;
//int position = 1300;
byte positioncur_L = (byte)(positioncur & 0xFF);
byte positioncur_H = (byte)(positioncur >> 8);
byte position2_L = (byte)(position2 & 0xFF);
byte position2_H = (byte)(position2 >> 8);
byte nLen = 0x02;
byte msgLen = (byte)(nLen + 0x02);
byte CheckSum1 = (byte)(msgLen + ID + Instuction + MemAddr + positioncur_L + positioncur_H);
byte CheckSum2 = (byte)(msgLen + ID + Instuction + MemAddr + position2_L + position2_H);
byteBuffer1[0] = 0x55; //帧头
byteBuffer1[1] = 0xAA;
byteBuffer1[2] = msgLen; //帧长度
byteBuffer1[3] = ID;
byteBuffer1[4] = Instuction;
byteBuffer1[5] = MemAddr;
byteBuffer1[6] = positioncur_L;
byteBuffer1[7] = positioncur_H;
byteBuffer1[8] = CheckSum1;
byteBuffer2[0] = 0x55;
byteBuffer2[1] = 0xAA;
byteBuffer2[2] = msgLen;
byteBuffer2[3] = ID;
byteBuffer2[4] = Instuction;
byteBuffer2[5] = MemAddr;
byteBuffer2[6] = position2_L;
byteBuffer2[7] = position2_H;
byteBuffer2[8] = CheckSum2;
sp1.Write(byteBuffer1, 0, byteBuffer1.Length);
System.Threading.Thread.Sleep(5);
// sp2.Write(byteBuffer2, 0, byteBuffer2.Length);
// System.Threading.Thread.Sleep(8);
}
if (TargetRacket_force.destroy_mark == false)
{
Levels[(int)IDrecord_f].allList(Time.time, IDrecord_f, rawEmg, averagefilter, butterworthfilter, bayesfilter, emg_send);
}
if (Input.GetKeyDown(KeyCode.Z))
{
cont_a = !cont_a;
obj_2.GetComponent <Renderer>().enabled = cont_a;
inputvariate1.gameObject.SetActive(!cont_a);
inputvariate2.gameObject.SetActive(!cont_a);
}
}
void FixedUpdate()
{
if (TestClick.flag)
{
if (EnterClick.verify)
{
input1 = float.Parse(inputvariate1.text); // string to float(字符串转浮点型)
input2 = float.Parse(inputvariate2.text);
EnterClick.verify = false;
}
//print (input1);
//print (input2);
//print ("emg");
init_data = ChooseMode("real");
if (init_data == 0)
{
bayesfilter = 0;
}
else
//bayesfilter = (float)(myBayesian.UpdateEst(init_data / 100));
{
bayesfilter = (float)(myBayesian.UpdateEst(init_data * 80000 / 100)); //200 0-1
//bayesfilter = Mathf.Max(0,(float)(myBayesian.UpdateEst(init_data * 80000 / input1)) + input2);// 200 0-1
emg_send = Mathf.Max(0, bayesfilter * input1 + input2);
init_data = init_data * 80000;
}
//emgfilter = EmgAverage(10, Math.Abs(myEmg.emgData[0]));
//emgfilter = EmgFilter(myEmg.emgData[0]);
emgfilter = EmgFilter(init_data);
emgfilter = emgfilter * 50000;
try
{
// Sends a message to the host to which you have connected.
Byte[] sendBytes = Encoding.ASCII.GetBytes(emg_send.ToString());
nanoTecClient.Send(sendBytes, sendBytes.Length);
// Blocks until a message returns on this socket from a remote host.
Byte[] receiveBytes = nanoTecClient.Receive(ref RemoteIpEndPoint);
string stringData = Encoding.ASCII.GetString(receiveBytes);
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
}
//float barHeight = bayesfilter * input1 + input2; //EMG信号条零点位置设置
GetComponent <Rigidbody2D>().position = new Vector2(20, emg_send);
//obj.transform.position = new Vector2(0, barHeight);
//print(barHeight * 1000000);
listToHoldemg_send.Add(emg_send);
//float t = Time.time;
listToHoldTime.Add(Time.time);
listToHoldInit.Add(init_data);
listToHoldemgfilter.Add(emgfilter);
listToHoldbayesfilter.Add(bayesfilter);
listToHoldstoredata.Add(init_data);
//Vector2 mousePosition = new Vector2(Input.mousePosition.x, Input.mousePosition.y);
//GetComponent<Rigidbody2D>().position = new Vector2(0, mousePosition.y);
}
}