Biorobotics group 22 / Mbed 2 deprecated Filter_Done_1

first test of done filter

Dependencies:   biquadFilter mbed HIDScope

main.cpp@12:b7025b3a111b, 2016-11-02 (annotated)

Committer:
s1604554
Date:
Wed Nov 02 16:34:51 2016 +0000
Revision:
12:b7025b3a111b
Parent:
11:50ef30ca2b59 
Code for just 1 peak works (camiel)

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 12:b7025b3a111b 13 DigitalOut led3(LED3);
s1604554 12:b7025b3a111b 14 HIDScope scope( 3 );
s1604554 12:b7025b3a111b 15 int counter;
s1604554 7:f99e7ca907f1 16
s1604554 12:b7025b3a111b 17 Ticker emgticker;
s1604554 9:6196636f8879 18
s1604554 9:6196636f8879 19 BiQuadChain bqc;
s1604554 9:6196636f8879 20 BiQuad bq1( 8.17310e-01, 0.00000e+00, -8.17310e-01, -1.57627e-01, -6.34619e-01 ); //bandpass
s1604554 9:6196636f8879 21 BiQuad bq2( 6.68124e-01, -1.27085e+00, 6.68124e-01, -1.27085e+00, 3.36249e-01 ); //notchnotch
s1604554 10:bc2c13508fe5 22 //there is a rectifier between these two bqc's
s1604554 10:bc2c13508fe5 23 //gives you new highfrequency noise, so lowpass afterwards
s1604554 1:e7cf79380e24 24
s1604554 9:6196636f8879 25 BiQuadChain bqc2;
s1604554 11:50ef30ca2b59 26 BiQuad bq3( 2.00834e-02, 4.01667e-02, 2.00834e-02, -1.56102e+00, 6.41352e-01 ); //lowpass
s1604554 12:b7025b3a111b 27 double a;
s1604554 6:7223ff6719b7 28
s1604554 1:e7cf79380e24 29
s1604554 0:eb47e42019a4 30
s1604554 1:e7cf79380e24 31 void Sample ()
s1604554 1:e7cf79380e24 32 {
s1604554 12:b7025b3a111b 33
s1604554 1:e7cf79380e24 34
s1604554 12:b7025b3a111b 35 double emgSignal = emg0.read();
s1604554 12:b7025b3a111b 36
s1604554 12:b7025b3a111b 37
s1604554 12:b7025b3a111b 38 double emgFiltered1 = bqc.step(emgSignal); //chain1
s1604554 12:b7025b3a111b 39 double emgFiltered2 = fabs(emgFiltered1); //rectifier
s1604554 12:b7025b3a111b 40 double emgFiltered3 = bqc2.step(emgFiltered2); //chain2
s1604554 12:b7025b3a111b 41
s1604554 12:b7025b3a111b 42 scope.set(0, emgSignal); //hidscope channel 1
s1604554 12:b7025b3a111b 43 scope.set(1, emgFiltered3);
s1604554 12:b7025b3a111b 44 scope.set(2, a); //hidscope channel 2
s1604554 12:b7025b3a111b 45 scope.send();
s1604554 12:b7025b3a111b 46
s1604554 12:b7025b3a111b 47 if (counter == 0) {
s1604554 12:b7025b3a111b 48 a = emgFiltered3;
s1604554 12:b7025b3a111b 49 }
s1604554 6:7223ff6719b7 50
s1604554 1:e7cf79380e24 51
s1604554 12:b7025b3a111b 52 if (a >= 0.1) //threshold value
s1604554 0:eb47e42019a4 53
s1604554 12:b7025b3a111b 54 {
s1604554 12:b7025b3a111b 55
s1604554 12:b7025b3a111b 56 a = 0;
s1604554 7:f99e7ca907f1 57
s1604554 12:b7025b3a111b 58 led1 = !led1;
s1604554 12:b7025b3a111b 59 counter++; //change LED on/off
s1604554 12:b7025b3a111b 60 } else if (a == 0) {
s1604554 12:b7025b3a111b 61 counter++;
s1604554 11:50ef30ca2b59 62
s1604554 6:7223ff6719b7 63 }
s1604554 12:b7025b3a111b 64
s1604554 12:b7025b3a111b 65 if (counter == 1000) {
s1604554 12:b7025b3a111b 66 led3 = !led3;
s1604554 12:b7025b3a111b 67 counter = 0;
s1604554 6:7223ff6719b7 68 }
s1604554 6:7223ff6719b7 69
s1604554 7:f99e7ca907f1 70
s1604554 12:b7025b3a111b 71 }
s1604554 12:b7025b3a111b 72
s1604554 11:50ef30ca2b59 73
s1604554 7:f99e7ca907f1 74
s1604554 12:b7025b3a111b 75 int main()
s1604554 12:b7025b3a111b 76 {
s1604554 12:b7025b3a111b 77 counter = 0;
s1604554 12:b7025b3a111b 78 led1 = 1; //off
s1604554 12:b7025b3a111b 79 led3 = 1; //off
s1604554 12:b7025b3a111b 80 bqc.add( &bq1 ).add( &bq2 );
s1604554 12:b7025b3a111b 81 bqc2.add( &bq3 ); //add both biquad chains
s1604554 12:b7025b3a111b 82 emgticker.attach(&Sample, 0.001); //attach ticker
s1604554 7:f99e7ca907f1 83
s1604554 7:f99e7ca907f1 84
s1604554 12:b7025b3a111b 85 while (true) {
s1604554 6:7223ff6719b7 86
s1604554 12:b7025b3a111b 87 }
s1604554 12:b7025b3a111b 88 }