Biorobotics / Mbed 2 deprecated EMG_TESTING_SIMPLE

a biquad working

Dependencies:   HIDScope mbed QEI

main.cpp@3:2f75bb307da3, 2015-10-27 (annotated)

Committer:
yohoo15
Date:
Tue Oct 27 13:22:39 2015 +0000
Revision:
3:2f75bb307da3
Parent:
2:241b572207fb
Child:
4:61d5e7417c4c
working;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yohoo15 0:fc207e186e8b 1 #include "mbed.h"
yohoo15 0:fc207e186e8b 2 //#include "read_filter_emg.h"
yohoo15 0:fc207e186e8b 3 //included for fabs() function
yohoo15 0:fc207e186e8b 4 #include <math.h>
yohoo15 0:fc207e186e8b 5 #include "HIDScope.h"
yohoo15 0:fc207e186e8b 6 #include <iostream>
yohoo15 3:2f75bb307da3 7 #include "QEI.h"
yohoo15 3:2f75bb307da3 8
yohoo15 3:2f75bb307da3 9 // Define pin for motor control
yohoo15 3:2f75bb307da3 10 DigitalOut directionPin(D4);
yohoo15 3:2f75bb307da3 11 PwmOut PWM(D5);
yohoo15 3:2f75bb307da3 12 DigitalIn buttonccw(PTA4);
yohoo15 3:2f75bb307da3 13 DigitalIn buttoncw(PTC6);
yohoo15 3:2f75bb307da3 14
yohoo15 3:2f75bb307da3 15 // define ticker
yohoo15 3:2f75bb307da3 16
yohoo15 3:2f75bb307da3 17
yohoo15 3:2f75bb307da3 18 Serial pc(USBTX, USBRX);
yohoo15 0:fc207e186e8b 19
yohoo15 0:fc207e186e8b 20 Ticker HIDScope_timer;
yohoo15 0:fc207e186e8b 21 Ticker Filteren_timer;
yohoo15 3:2f75bb307da3 22 Ticker aansturen;
yohoo15 3:2f75bb307da3 23
yohoo15 0:fc207e186e8b 24 HIDScope scope(2);
yohoo15 0:fc207e186e8b 25
yohoo15 0:fc207e186e8b 26 // defining flags
yohoo15 0:fc207e186e8b 27 volatile bool Flag_filteren = false;
yohoo15 0:fc207e186e8b 28 volatile bool Flag_HIDScope = false;
yohoo15 3:2f75bb307da3 29 volatile bool left_movement = false;
yohoo15 0:fc207e186e8b 30
yohoo15 0:fc207e186e8b 31 // making function flags.
yohoo15 0:fc207e186e8b 32 void Go_flag_filteren()
yohoo15 0:fc207e186e8b 33 {
yohoo15 0:fc207e186e8b 34 Flag_filteren = true;
yohoo15 0:fc207e186e8b 35 }
yohoo15 0:fc207e186e8b 36
yohoo15 0:fc207e186e8b 37 void Go_flag_HIDScope()
yohoo15 0:fc207e186e8b 38 {
yohoo15 0:fc207e186e8b 39 Flag_HIDScope = true;
yohoo15 0:fc207e186e8b 40 }
yohoo15 0:fc207e186e8b 41
yohoo15 0:fc207e186e8b 42 AnalogIn analog_emg_left(A0);
yohoo15 0:fc207e186e8b 43 //AnalogIn analog_emg_right(A1);
yohoo15 0:fc207e186e8b 44 double input = 0;
yohoo15 0:fc207e186e8b 45 double filter_signal_hid = 0;
yohoo15 0:fc207e186e8b 46 //double input_right = 0;
yohoo15 0:fc207e186e8b 47
yohoo15 2:241b572207fb 48
yohoo15 2:241b572207fb 49 //*** making the v for everything and conquer the world***
yohoo15 2:241b572207fb 50
yohoo15 2:241b572207fb 51 //for Notchfilter
yohoo15 2:241b572207fb 52 double notch_v11=0;
yohoo15 2:241b572207fb 53 double notch_v21=0;
yohoo15 2:241b572207fb 54 double notch_v12=0;
yohoo15 2:241b572207fb 55 double notch_v22=0;
yohoo15 2:241b572207fb 56 double notch_v13=0;
yohoo15 2:241b572207fb 57 double notch_v23=0;
yohoo15 2:241b572207fb 58
yohoo15 2:241b572207fb 59 //for highpass filter
yohoo15 2:241b572207fb 60 double high_v11=0;
yohoo15 2:241b572207fb 61 double high_v21=0;
yohoo15 2:241b572207fb 62 double high_v12=0;
yohoo15 2:241b572207fb 63 double high_v22=0;
yohoo15 2:241b572207fb 64 double high_v13=0;
yohoo15 2:241b572207fb 65 double high_v23=0;
yohoo15 2:241b572207fb 66
yohoo15 2:241b572207fb 67 // for lowpasfilter
yohoo15 1:ee877d784c40 68 double low_v11=0;
yohoo15 1:ee877d784c40 69 double low_v21=0;
yohoo15 1:ee877d784c40 70 double low_v12=0;
yohoo15 1:ee877d784c40 71 double low_v22=0;
yohoo15 1:ee877d784c40 72 double low_v13=0;
yohoo15 1:ee877d784c40 73 double low_v23=0;
yohoo15 2:241b572207fb 74
yohoo15 2:241b572207fb 75 // for moving average
yohoo15 2:241b572207fb 76 double n1 = 0;
yohoo15 2:241b572207fb 77 double n2 = 0;
yohoo15 2:241b572207fb 78 double n3 = 0;
yohoo15 2:241b572207fb 79 double n4 = 0;
yohoo15 2:241b572207fb 80 double n5 = 0;
yohoo15 0:fc207e186e8b 81
yohoo15 0:fc207e186e8b 82 double filter_left;
yohoo15 0:fc207e186e8b 83 double filter_right;
yohoo15 0:fc207e186e8b 84
yohoo15 0:fc207e186e8b 85 //general biquad filter that can be called in all the filter functions
yohoo15 0:fc207e186e8b 86 double biquad(double u, double &v1, double &v2, const double a1,
yohoo15 0:fc207e186e8b 87 const double a2, const double b0, const double b1, const double b2)
yohoo15 0:fc207e186e8b 88 {
yohoo15 0:fc207e186e8b 89 double v = u - a1*v1 - a2*v2;
yohoo15 0:fc207e186e8b 90 double y = b0*v + b1*v1 + b2*v2;
yohoo15 0:fc207e186e8b 91 //values of v2 and v1 are updated, as they are passed by reference
yohoo15 0:fc207e186e8b 92 //they update globally
yohoo15 0:fc207e186e8b 93 v2 = v1;
yohoo15 0:fc207e186e8b 94 v1 = v;
yohoo15 0:fc207e186e8b 95 return y;
yohoo15 0:fc207e186e8b 96 }
yohoo15 0:fc207e186e8b 97
yohoo15 2:241b572207fb 98 double moving_average(double y, double &n1, double &n2, double &n3, double &n4, double &n5)
yohoo15 2:241b572207fb 99 {
yohoo15 3:2f75bb307da3 100 double average = (y + n1 + n2 +n3 + n4 + n5)/5;
yohoo15 3:2f75bb307da3 101 n5 = n4;
yohoo15 3:2f75bb307da3 102 n4 = n3;
yohoo15 3:2f75bb307da3 103 n3 = n2;
yohoo15 3:2f75bb307da3 104 n2 = n1;
yohoo15 3:2f75bb307da3 105 n1 = y;
yohoo15 3:2f75bb307da3 106
yohoo15 3:2f75bb307da3 107 return average;
yohoo15 2:241b572207fb 108 }
yohoo15 3:2f75bb307da3 109 /*
yohoo15 3:2f75bb307da3 110 double threshold(double signal, const double lowtreshold, const double hightreshold)
yohoo15 3:2f75bb307da3 111 {
yohoo15 3:2f75bb307da3 112 if (signal > hightreshold)
yohoo15 3:2f75bb307da3 113 left = true;
yohoo15 3:2f75bb307da3 114 else if (signal <lowtreshold)
yohoo15 3:2f75bb307da3 115 left = false;
yohoo15 3:2f75bb307da3 116 }
yohoo15 3:2f75bb307da3 117 */
yohoo15 2:241b572207fb 118 //Specifying filter coefficients highpass
yohoo15 2:241b572207fb 119
yohoo15 2:241b572207fb 120 /* notch filter with 3 cascaded biquads*/
yohoo15 2:241b572207fb 121 //first notch biquad
yohoo15 2:241b572207fb 122 const double notch1_a1 = -1.55951422433;
yohoo15 2:241b572207fb 123 const double notch1_a2 = 0.92705680308;
yohoo15 2:241b572207fb 124 const double notch1_b0 = 1.00000000000;
yohoo15 2:241b572207fb 125 const double notch1_b1 = -1.61854515325;
yohoo15 2:241b572207fb 126 const double notch1_b2 = 1.00000000000;
yohoo15 2:241b572207fb 127
yohoo15 2:241b572207fb 128 //second notch biquad
yohoo15 2:241b572207fb 129 const double notch2_a1 = -1.54767435801;
yohoo15 2:241b572207fb 130 const double notch2_a2 = 0.96124842048;
yohoo15 2:241b572207fb 131 const double notch2_b0 = 1.00000000000;
yohoo15 2:241b572207fb 132 const double notch2_b1 = -1.61854515325;
yohoo15 2:241b572207fb 133 const double notch2_b2 = 1.00000000000;
yohoo15 2:241b572207fb 134
yohoo15 2:241b572207fb 135 //third notch biquad
yohoo15 2:241b572207fb 136 const double notch3_a1 = -1.62600366964;
yohoo15 2:241b572207fb 137 const double notch3_a2 = 0.96453460373;
yohoo15 2:241b572207fb 138 const double notch3_b0 = 1.00000000000;
yohoo15 2:241b572207fb 139 const double notch3_b1 = -1.61854515325;
yohoo15 2:241b572207fb 140 const double notch3_b2 = 1.00000000000;
yohoo15 2:241b572207fb 141
yohoo15 2:241b572207fb 142 /* high pass filter consists of three cascaded biquads
yohoo15 2:241b572207fb 143 blow coefficients for those three biquads */
yohoo15 2:241b572207fb 144 //first high pass biquad
yohoo15 2:241b572207fb 145 const double highp1_a1 = -0.67538034389;
yohoo15 2:241b572207fb 146 const double highp1_a2 = 0.12769255668;
yohoo15 2:241b572207fb 147 const double highp1_b0 = 1.00000000000;
yohoo15 2:241b572207fb 148 const double highp1_b1 = -2.00000000000;
yohoo15 2:241b572207fb 149 const double highp1_b2 = 1.00000000000;
yohoo15 2:241b572207fb 150
yohoo15 2:241b572207fb 151 //second high pass biquad
yohoo15 2:241b572207fb 152 const double highp2_a1 = -0.76475499450;
yohoo15 2:241b572207fb 153 const double highp2_a2 = 0.27692273367;
yohoo15 2:241b572207fb 154 const double highp2_b0 = 1.00000000000;
yohoo15 2:241b572207fb 155 const double highp2_b1 = -2.00000000000;
yohoo15 2:241b572207fb 156 const double highp2_b2 = 1.00000000000;
yohoo15 2:241b572207fb 157
yohoo15 2:241b572207fb 158 //third high pass biquad
yohoo15 2:241b572207fb 159 const double highp3_a1 = -0.99216561242;
yohoo15 2:241b572207fb 160 const double highp3_a2 = 0.65663360837;
yohoo15 2:241b572207fb 161 const double highp3_b0 = 1.00000000000;
yohoo15 2:241b572207fb 162 const double highp3_b1 = -2.00000000000;
yohoo15 2:241b572207fb 163 const double highp3_b2 = 1.00000000000;
yohoo15 0:fc207e186e8b 164
yohoo15 0:fc207e186e8b 165 /* lowpass filter consists of three cascaded biquads
yohoo15 0:fc207e186e8b 166 below the coefficients for those three biquads */
yohoo15 1:ee877d784c40 167 //first low pass biquad
yohoo15 1:ee877d784c40 168 const double lowp1_a1 = -1.05207469728;
yohoo15 1:ee877d784c40 169 const double lowp1_a2 = 0.28586907478;
yohoo15 0:fc207e186e8b 170 const double lowp1_b0 = 1.00000000000;
yohoo15 0:fc207e186e8b 171 const double lowp1_b1 = 2.00000000000;
yohoo15 0:fc207e186e8b 172 const double lowp1_b2 = 1.00000000000;
yohoo15 0:fc207e186e8b 173
yohoo15 1:ee877d784c40 174 //second low pass biquad
yohoo15 0:fc207e186e8b 175 const double lowp2_a1 = -1.16338171052;
yohoo15 0:fc207e186e8b 176 const double lowp2_a2 = 0.42191097989;
yohoo15 0:fc207e186e8b 177 const double lowp2_b0 = 1.00000000000;
yohoo15 0:fc207e186e8b 178 const double lowp2_b1 = 2.00000000000;
yohoo15 0:fc207e186e8b 179 const double lowp2_b2 = 1.00000000000;
yohoo15 0:fc207e186e8b 180
yohoo15 1:ee877d784c40 181 //third low pass biquad
yohoo15 1:ee877d784c40 182 const double lowp3_a1 = -1.42439823874;
yohoo15 1:ee877d784c40 183 const double lowp3_a2 = 0.74093118112;
yohoo15 1:ee877d784c40 184 const double lowp3_b0 = 1.00000000000;
yohoo15 1:ee877d784c40 185 const double lowp3_b1 = 2.00000000000;
yohoo15 1:ee877d784c40 186 const double lowp3_b2 = 1.00000000000;
yohoo15 0:fc207e186e8b 187
yohoo15 0:fc207e186e8b 188
yohoo15 0:fc207e186e8b 189
yohoo15 0:fc207e186e8b 190 double Filteren()
yohoo15 0:fc207e186e8b 191 {
yohoo15 0:fc207e186e8b 192 input = analog_emg_left.read();
yohoo15 2:241b572207fb 193 input = input-0.45; //FIRST SUBTRACT MEAN THEN FILTER
yohoo15 0:fc207e186e8b 194 //input_right = analog_emg_right.read();
yohoo15 3:2f75bb307da3 195
yohoo15 2:241b572207fb 196 // notch filter
yohoo15 2:241b572207fb 197 double y1 = biquad(input, notch_v11, notch_v21, notch1_a1, notch1_a2, notch1_b0, notch1_b1, notch1_b2);
yohoo15 2:241b572207fb 198 double y2 = biquad(y1, notch_v12, notch_v22, notch2_a1, notch2_a2, notch2_b0, notch2_b1, notch2_b2);
yohoo15 2:241b572207fb 199 double y3 = biquad(y2, notch_v13, notch_v23, notch3_a1, notch3_a2, notch3_b0, notch3_b1, notch3_b2);
yohoo15 3:2f75bb307da3 200
yohoo15 2:241b572207fb 201 //higpass filter
yohoo15 2:241b572207fb 202 double y4 = biquad(y3, high_v11, high_v21, highp1_a1, highp1_a2, highp1_b0, highp1_b1, highp1_b2);
yohoo15 2:241b572207fb 203 double y5 = biquad(y4, high_v12, high_v22, highp2_a1, highp2_a2, highp2_b0, highp2_b1, highp2_b2);
yohoo15 2:241b572207fb 204 double y6 = biquad(y5, high_v13, high_v23, highp3_a1, highp3_a2, highp3_b0, highp3_b1, highp3_b2);
yohoo15 2:241b572207fb 205
yohoo15 3:2f75bb307da3 206 //rectivier
yohoo15 2:241b572207fb 207 double y7 = fabs(y6);
yohoo15 2:241b572207fb 208
yohoo15 2:241b572207fb 209 //lowpas filter cascade
yohoo15 2:241b572207fb 210 double y8 = biquad(y7, low_v11, low_v21, lowp1_a1, lowp1_a2, lowp1_b0, lowp1_b1, lowp1_b2);
yohoo15 2:241b572207fb 211 double y9 = biquad(y8, low_v12, low_v22, lowp2_a1, lowp2_a2, lowp2_b0, lowp2_b1, lowp2_b2);
yohoo15 2:241b572207fb 212 double y10= biquad(y9, low_v13, low_v23, lowp3_a1, lowp3_a2, lowp3_b0, lowp3_b1, lowp3_b2);
yohoo15 3:2f75bb307da3 213
yohoo15 3:2f75bb307da3 214 // moving average
yohoo15 2:241b572207fb 215 double filter_signal = moving_average(y10,n1,n2,n3,n4,n5);
yohoo15 2:241b572207fb 216
yohoo15 3:2f75bb307da3 217 double high_threshold = 1200;
yohoo15 3:2f75bb307da3 218 double low_threshold = 500;
yohoo15 3:2f75bb307da3 219
yohoo15 3:2f75bb307da3 220 if (filter_signal > high_threshold) {
yohoo15 3:2f75bb307da3 221 left_movement = true;
yohoo15 3:2f75bb307da3 222 } else if (filter_signal < low_threshold) {
yohoo15 3:2f75bb307da3 223 left_movement = false;
yohoo15 3:2f75bb307da3 224 }
yohoo15 3:2f75bb307da3 225
yohoo15 2:241b572207fb 226 return(filter_signal);
yohoo15 0:fc207e186e8b 227 }
yohoo15 3:2f75bb307da3 228
yohoo15 3:2f75bb307da3 229 /*************************************************************motor control******************************************************************************************************/
yohoo15 3:2f75bb307da3 230
yohoo15 3:2f75bb307da3 231
yohoo15 0:fc207e186e8b 232 void HIDScope_kijken()
yohoo15 0:fc207e186e8b 233 {
yohoo15 0:fc207e186e8b 234 scope.set(0, input);
yohoo15 0:fc207e186e8b 235 scope.set(1, filter_signal_hid);
yohoo15 0:fc207e186e8b 236 scope.send();
yohoo15 0:fc207e186e8b 237 }
yohoo15 0:fc207e186e8b 238 int main()
yohoo15 0:fc207e186e8b 239 {
yohoo15 0:fc207e186e8b 240 HIDScope_timer.attach(&Go_flag_HIDScope, 0.002);
yohoo15 0:fc207e186e8b 241 Filteren_timer.attach(&Go_flag_filteren,0.004);
yohoo15 2:241b572207fb 242 while(1) {
yohoo15 2:241b572207fb 243 if(Flag_filteren) {
yohoo15 0:fc207e186e8b 244 Flag_filteren = false;
yohoo15 0:fc207e186e8b 245 filter_signal_hid = Filteren();
yohoo15 0:fc207e186e8b 246 }
yohoo15 0:fc207e186e8b 247
yohoo15 0:fc207e186e8b 248 if(Flag_HIDScope) {
yohoo15 0:fc207e186e8b 249 Flag_HIDScope = false;
yohoo15 0:fc207e186e8b 250 HIDScope_kijken();
yohoo15 0:fc207e186e8b 251 }
yohoo15 3:2f75bb307da3 252 if(left_movement) {
yohoo15 3:2f75bb307da3 253 pc.printf("left = true /n");
yohoo15 3:2f75bb307da3 254 }
yohoo15 2:241b572207fb 255 }
yohoo15 3:2f75bb307da3 256 }
yohoo15 3:2f75bb307da3 257