Biorobotics group 22 / Mbed 2 deprecated Filter_Done_1

first test of done filter

Dependencies:   biquadFilter mbed HIDScope

main.cpp@11:50ef30ca2b59, 2016-10-31 (annotated)

Committer:
s1604554
Date:
Mon Oct 31 13:31:41 2016 +0000
Revision:
11:50ef30ca2b59
Parent:
10:bc2c13508fe5
Child:
12:b7025b3a111b
Final filter code (if it does not destroy putty)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1604554 0:eb47e42019a4 1 #include "mbed.h"
s1604554 0:eb47e42019a4 2 #include "BiQuad.h"
s1604554 0:eb47e42019a4 3 #include "stdlib.h"
s1604554 0:eb47e42019a4 4 #include <iostream>
s1604554 0:eb47e42019a4 5 #include <cmath>
s1604554 0:eb47e42019a4 6 #include <string>
s1604554 1:e7cf79380e24 7 #include "HIDScope.h"
s1604554 0:eb47e42019a4 8
s1604554 6:7223ff6719b7 9
s1604554 1:e7cf79380e24 10 AnalogIn emg0(A0);
carlmaykel 2:812bb0deedef 11 AnalogIn emg1(A1);
carlmaykel 2:812bb0deedef 12 DigitalOut led1(LED1);
s1604554 9:6196636f8879 13 HIDScope scope( 2 );
s1604554 7:f99e7ca907f1 14
s1604554 9:6196636f8879 15 Ticker emgticker;
s1604554 9:6196636f8879 16
s1604554 9:6196636f8879 17 BiQuadChain bqc;
s1604554 9:6196636f8879 18 BiQuad bq1( 8.17310e-01, 0.00000e+00, -8.17310e-01, -1.57627e-01, -6.34619e-01 ); //bandpass
s1604554 9:6196636f8879 19 BiQuad bq2( 6.68124e-01, -1.27085e+00, 6.68124e-01, -1.27085e+00, 3.36249e-01 ); //notchnotch
s1604554 10:bc2c13508fe5 20 //there is a rectifier between these two bqc's
s1604554 10:bc2c13508fe5 21 //gives you new highfrequency noise, so lowpass afterwards
s1604554 1:e7cf79380e24 22
s1604554 9:6196636f8879 23 BiQuadChain bqc2;
s1604554 11:50ef30ca2b59 24 BiQuad bq3( 2.00834e-02, 4.01667e-02, 2.00834e-02, -1.56102e+00, 6.41352e-01 ); //lowpass
s1604554 8:3c9f2e6ea1cd 25
s1604554 6:7223ff6719b7 26
s1604554 1:e7cf79380e24 27
s1604554 0:eb47e42019a4 28
s1604554 1:e7cf79380e24 29 void Sample ()
s1604554 1:e7cf79380e24 30 {
s1604554 1:e7cf79380e24 31
s1604554 1:e7cf79380e24 32 double emgSignal = emg0.read();
s1604554 6:7223ff6719b7 33
s1604554 1:e7cf79380e24 34
s1604554 4:81f889cd0c2e 35 double emgFiltered1 = bqc.step(emgSignal);
s1604554 4:81f889cd0c2e 36 double emgFiltered2 = fabs(emgFiltered1);
s1604554 9:6196636f8879 37 double emgFiltered3 = bqc2.step(emgFiltered2);
s1604554 0:eb47e42019a4 38
s1604554 6:7223ff6719b7 39 scope.set(0, emgSignal);
s1604554 9:6196636f8879 40 scope.set(1, emgFiltered3);
s1604554 6:7223ff6719b7 41 scope.send();
s1604554 7:f99e7ca907f1 42
s1604554 11:50ef30ca2b59 43 if (emgFiltered3 >= 0.1)
s1604554 7:f99e7ca907f1 44
s1604554 7:f99e7ca907f1 45 {
s1604554 6:7223ff6719b7 46 led1 = !led1;
s1604554 11:50ef30ca2b59 47
s1604554 11:50ef30ca2b59 48
s1604554 11:50ef30ca2b59 49 emgFiltered3 = true;
s1604554 7:f99e7ca907f1 50
s1604554 6:7223ff6719b7 51 }
s1604554 6:7223ff6719b7 52 }
s1604554 6:7223ff6719b7 53
s1604554 6:7223ff6719b7 54 int main()
s1604554 6:7223ff6719b7 55 {
s1604554 7:f99e7ca907f1 56
s1604554 11:50ef30ca2b59 57 led1 = 1;
s1604554 11:50ef30ca2b59 58
s1604554 7:f99e7ca907f1 59
s1604554 11:50ef30ca2b59 60 bqc.add( &bq1 ).add( &bq2 );
s1604554 11:50ef30ca2b59 61 bqc2.add( &bq3 );
s1604554 11:50ef30ca2b59 62 emgticker.attach(&Sample, 0.001);
s1604554 7:f99e7ca907f1 63
s1604554 7:f99e7ca907f1 64
s1604554 6:7223ff6719b7 65 while (true) {
s1604554 6:7223ff6719b7 66
s1604554 6:7223ff6719b7 67 }
s1604554 6:7223ff6719b7 68 }