Biorobotics 2019 - Group 10 - The Poolinator / Mbed 2 deprecated template_biorobotics

emg

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@2:c87703888e97, 2019-10-22 (annotated)

Committer:
pinkyKathlea
Date:
Tue Oct 22 15:37:02 2019 +0000
Revision:
2:c87703888e97
Parent:
1:b862262a9d14 
template biorobotics with biquad filter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobertoO 0:67c50348f842 1 #include "mbed.h"
pinkyKathlea 2:c87703888e97 2 #include "HIDScope.h"
pinkyKathlea 2:c87703888e97 3 #include "QEI.h"
RobertoO 1:b862262a9d14 4 #include "MODSERIAL.h"
pinkyKathlea 2:c87703888e97 5 #include "BiQuad.h"
pinkyKathlea 2:c87703888e97 6 #include "FastPWM.h"
pinkyKathlea 2:c87703888e97 7 #include <iostream>
pinkyKathlea 2:c87703888e97 8 #include <complex>
pinkyKathlea 2:c87703888e97 9 #include <vector>
RobertoO 0:67c50348f842 10
pinkyKathlea 2:c87703888e97 11 InterruptIn button(SW2);
pinkyKathlea 2:c87703888e97 12 DigitalOut led(LED1);
pinkyKathlea 2:c87703888e97 13 DigitalOut flash(LED3);
pinkyKathlea 2:c87703888e97 14 DigitalOut ledg(LED2);
pinkyKathlea 2:c87703888e97 15 //char c;
pinkyKathlea 2:c87703888e97 16
RobertoO 0:67c50348f842 17
RobertoO 1:b862262a9d14 18 MODSERIAL pc(USBTX, USBRX);
pinkyKathlea 2:c87703888e97 19 // Example: 4th order Butterworth LP (w_c = 0.1*f_nyquist)
pinkyKathlea 2:c87703888e97 20 BiQuad lowpass( 4.16599e-04, 8.33198e-04, 4.16599e-04, -1.47967e+00, 5.55822e-01 );
pinkyKathlea 2:c87703888e97 21 BiQuad bq2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.70096e+00, 7.88500e-01 );
pinkyKathlea 2:c87703888e97 22 BiQuadChain bqc;
pinkyKathlea 2:c87703888e97 23
pinkyKathlea 2:c87703888e97 24 AnalogIn emg0( A0 );
pinkyKathlea 2:c87703888e97 25 AnalogIn emg1( A1 );
pinkyKathlea 2:c87703888e97 26
pinkyKathlea 2:c87703888e97 27 Ticker sample_timer;
pinkyKathlea 2:c87703888e97 28 HIDScope scope( 2 );
pinkyKathlea 2:c87703888e97 29
pinkyKathlea 2:c87703888e97 30
pinkyKathlea 2:c87703888e97 31
pinkyKathlea 2:c87703888e97 32 void sample()
pinkyKathlea 2:c87703888e97 33 {
pinkyKathlea 2:c87703888e97 34 /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
pinkyKathlea 2:c87703888e97 35 scope.set(0, emg0.read() );
pinkyKathlea 2:c87703888e97 36 scope.set(1, emg1.read() );
pinkyKathlea 2:c87703888e97 37 /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
pinkyKathlea 2:c87703888e97 38 * Ensure that enough channels are available (HIDScope scope( 2 ))
pinkyKathlea 2:c87703888e97 39 * Finally, send all channels to the PC at once */
pinkyKathlea 2:c87703888e97 40 scope.send();
pinkyKathlea 2:c87703888e97 41 /* To indicate that the function is working, the LED is toggled */
pinkyKathlea 2:c87703888e97 42 led = !led;
pinkyKathlea 2:c87703888e97 43 }
RobertoO 0:67c50348f842 44
RobertoO 0:67c50348f842 45 int main()
RobertoO 0:67c50348f842 46 {
RobertoO 0:67c50348f842 47 pc.baud(115200);
RobertoO 1:b862262a9d14 48 pc.printf("\r\nStarting...\r\n\r\n");
pinkyKathlea 2:c87703888e97 49 //pc.attach(ProcessCharacter, MODSERIAL::RxIrq);
pinkyKathlea 2:c87703888e97 50 pc.getc();
pinkyKathlea 2:c87703888e97 51
pinkyKathlea 2:c87703888e97 52 // button.rise(&flip); // attach the address of the flip function to the rising edge
pinkyKathlea 2:c87703888e97 53
pinkyKathlea 2:c87703888e97 54
pinkyKathlea 2:c87703888e97 55 sample_timer.attach(&sample, 0.002);
pinkyKathlea 2:c87703888e97 56 // Add the biquads to the chain
pinkyKathlea 2:c87703888e97 57
pinkyKathlea 2:c87703888e97 58
pinkyKathlea 2:c87703888e97 59 while(1) { // wait around, interrupts will interrupt this!
pinkyKathlea 2:c87703888e97 60
RobertoO 0:67c50348f842 61 }
pinkyKathlea 2:c87703888e97 62
RobertoO 0:67c50348f842 63 }