Biorobotics / Robot-Software

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Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed Servo

help_functions/processing_chain_emg.h@46:9b60a3c1acab, 2018-11-01 (annotated)

Committer:
Spekdon
Date:
Thu Nov 01 20:54:51 2018 +0000
Revision:
46:9b60a3c1acab
Parent:
41:e9d6fdf02074 
Presentation code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MaikOvermars 17:1f93c83e211f 1 #include "mbed.h"
MaikOvermars 17:1f93c83e211f 2 #include "BiQuad.h"
MaikOvermars 17:1f93c83e211f 3
MaikOvermars 17:1f93c83e211f 4 //Define objects
MaikOvermars 17:1f93c83e211f 5
MaikOvermars 17:1f93c83e211f 6 // filter chains for high pass, low pass and notch filters
MaikOvermars 25:734a26538711 7 BiQuadChain bqc0;
MaikOvermars 25:734a26538711 8 BiQuadChain bqc1;
MaikOvermars 41:e9d6fdf02074 9 BiQuadChain bqc2;
MaikOvermars 41:e9d6fdf02074 10 BiQuadChain bqc3;
MaikOvermars 17:1f93c83e211f 11
MaikOvermars 41:e9d6fdf02074 12 // Filters for sampling frequency 1000 Hz
MaikOvermars 25:734a26538711 13
MaikOvermars 41:e9d6fdf02074 14 // emg signal 0 filters
MaikOvermars 41:e9d6fdf02074 15 //BiQuad bq0low( 0.3913/10000.0, 0.7826/10000.0, 0.3913/10000.0, -1.9822, 0.9824); // 2 Hz cutoff
MaikOvermars 41:e9d6fdf02074 16 BiQuad bq0low( 0.0877/1000.0, 0.1753/1000.0, 0.0877/1000.0, -1.9733, 0.9737); // 3 Hz cutoff
MaikOvermars 41:e9d6fdf02074 17 //BiQuad bq0low( 0.3460/1000.0, 0.6921/1000.0, 0.3460/1000.0, -1.9467, 0.9481); // 6 Hz cutoff
MaikOvermars 41:e9d6fdf02074 18 BiQuad bq0high( 0.9150, -1.8299, 0.9150, -1.8227, 0.8372); //cutoff at 20 Hz
MaikOvermars 41:e9d6fdf02074 19 BiQuad bq0notch( 0.9695, -1.8442, 0.9695, -1.8442, 0.9391); //notch 50 Hz
MaikOvermars 41:e9d6fdf02074 20 BiQuad bq0notch2( 0.9695, -1.5687, 0.9695, -1.5687, 0.9391);//notch 100 Hz
MaikOvermars 41:e9d6fdf02074 21 BiQuad bq0notch3( 0.9695, -1.1398, 0.9695, -1.1398, 0.9391);//notch 150 Hz
MaikOvermars 41:e9d6fdf02074 22 BiQuad bq0notch4( 0.9695, -0.5992, 0.9695, -0.5992, 0.9391);//notch 200 Hz
MaikOvermars 17:1f93c83e211f 23
MaikOvermars 41:e9d6fdf02074 24 // emg signal 1 filters
MaikOvermars 41:e9d6fdf02074 25 //BiQuad bq1low( 0.3913/10000.0, 0.7826/10000.0, 0.3913/10000.0, -1.9822, 0.9824); // 2 Hz cutoff
MaikOvermars 41:e9d6fdf02074 26 BiQuad bq1low( 0.0877/1000.0, 0.1753/1000.0, 0.0877/1000.0, -1.9733, 0.9737); // 3 Hz cutoff
MaikOvermars 41:e9d6fdf02074 27 //BiQuad bq1low( 0.3460/1000.0, 0.6921/1000.0, 0.3460/1000.0, -1.9467, 0.9481); // 6 Hz cutoff
MaikOvermars 41:e9d6fdf02074 28 BiQuad bq1high( 0.9150, -1.8299, 0.9150, -1.8227, 0.8372); //cutoff at 20 Hz
MaikOvermars 41:e9d6fdf02074 29 BiQuad bq1notch( 0.9695, -1.8442, 0.9695, -1.8442, 0.9391); //notch 50 Hz
MaikOvermars 41:e9d6fdf02074 30 BiQuad bq1notch2( 0.9695, -1.5687, 0.9695, -1.5687, 0.9391);//notch 100 Hz
MaikOvermars 41:e9d6fdf02074 31 BiQuad bq1notch3( 0.9695, -1.1398, 0.9695, -1.1398, 0.9391);//notch 150 Hz
MaikOvermars 41:e9d6fdf02074 32 BiQuad bq1notch4( 0.9695, -0.5992, 0.9695, -0.5992, 0.9391);//notch 200 Hz
MaikOvermars 17:1f93c83e211f 33
MaikOvermars 41:e9d6fdf02074 34 // emg signal 2 filters
MaikOvermars 41:e9d6fdf02074 35 //BiQuad bq2low( 0.3913/10000.0, 0.7826/10000.0, 0.3913/10000.0, -1.9822, 0.9824); // 2 Hz cutoff
MaikOvermars 41:e9d6fdf02074 36 BiQuad bq2low( 0.0877/1000.0, 0.1753/1000.0, 0.0877/1000.0, -1.9733, 0.9737); // 3 Hz cutoff
MaikOvermars 41:e9d6fdf02074 37 //BiQuad bq2low( 0.3460/1000.0, 0.6921/1000.0, 0.3460/1000.0, -1.9467, 0.9481); // 6 Hz cutoff
MaikOvermars 41:e9d6fdf02074 38 BiQuad bq2high( 0.9150, -1.8299, 0.9150, -1.8227, 0.8372); //cutoff at 20 Hz
MaikOvermars 41:e9d6fdf02074 39 BiQuad bq2notch( 0.9695, -1.8442, 0.9695, -1.8442, 0.9391); //notch 50 Hz
MaikOvermars 41:e9d6fdf02074 40 BiQuad bq2notch2( 0.9695, -1.5687, 0.9695, -1.5687, 0.9391);//notch 100 Hz
MaikOvermars 41:e9d6fdf02074 41 BiQuad bq2notch3( 0.9695, -1.1398, 0.9695, -1.1398, 0.9391);//notch 150 Hz
MaikOvermars 41:e9d6fdf02074 42 BiQuad bq2notch4( 0.9695, -0.5992, 0.9695, -0.5992, 0.9391);//notch 200 Hz
MaikOvermars 17:1f93c83e211f 43
MaikOvermars 41:e9d6fdf02074 44 // emg signal 3 filters
MaikOvermars 41:e9d6fdf02074 45 //BiQuad bq3low( 0.3913/10000.0, 0.7826/10000.0, 0.3913/10000.0, -1.9822, 0.9824); // 2 Hz cutoff
MaikOvermars 41:e9d6fdf02074 46 BiQuad bq3low( 0.0877/1000.0, 0.1753/1000.0, 0.0877/1000.0, -1.9733, 0.9737); // 3 Hz cutoff
MaikOvermars 41:e9d6fdf02074 47 //BiQuad bq3low( 0.3460/1000.0, 0.6921/1000.0, 0.3460/1000.0, -1.9467, 0.9481); // 6 Hz cutoff
MaikOvermars 41:e9d6fdf02074 48 BiQuad bq3high( 0.9150, -1.8299, 0.9150, -1.8227, 0.8372); //cutoff at 20 Hz
MaikOvermars 41:e9d6fdf02074 49 BiQuad bq3notch( 0.9695, -1.8442, 0.9695, -1.8442, 0.9391); //notch 50 Hz
MaikOvermars 41:e9d6fdf02074 50 BiQuad bq3notch2( 0.9695, -1.5687, 0.9695, -1.5687, 0.9391);//notch 100 Hz
MaikOvermars 41:e9d6fdf02074 51 BiQuad bq3notch3( 0.9695, -1.1398, 0.9695, -1.1398, 0.9391);//notch 150 Hz
MaikOvermars 41:e9d6fdf02074 52 BiQuad bq3notch4( 0.9695, -0.5992, 0.9695, -0.5992, 0.9391);//notch 200 Hz
MaikOvermars 41:e9d6fdf02074 53
MaikOvermars 41:e9d6fdf02074 54
MaikOvermars 41:e9d6fdf02074 55 void processing_chain_emg(double &raw_emg_0, double &raw_emg_1, double &raw_emg_2, double &raw_emg_3, double &process_emg_0, double &process_emg_1, double &process_emg_2, double &process_emg_3) {
MaikOvermars 17:1f93c83e211f 56
MaikOvermars 17:1f93c83e211f 57 // we first filter high pass and notch, then rectifier and after that low pass
MaikOvermars 41:e9d6fdf02074 58 process_emg_0 = bq0low.step(fabs(bqc0.step( raw_emg_0 )));
MaikOvermars 41:e9d6fdf02074 59 process_emg_1 = bq1low.step(fabs(bqc1.step( raw_emg_1 )));
MaikOvermars 41:e9d6fdf02074 60 process_emg_2 = bq2low.step(fabs(bqc2.step( raw_emg_2 )));
MaikOvermars 41:e9d6fdf02074 61 process_emg_3 = bq3low.step(fabs(bqc3.step( raw_emg_3 )));
MaikOvermars 17:1f93c83e211f 62
MaikOvermars 17:1f93c83e211f 63 }
MaikOvermars 17:1f93c83e211f 64