De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@0:6972d0e91af1, 2019-10-20 (annotated)
- Committer:
- IsaRobin
- Date:
- Sun Oct 20 18:06:57 2019 +0000
- Revision:
- 0:6972d0e91af1
- Child:
- 1:059cca298369
filteren van EMG signaal
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
IsaRobin | 0:6972d0e91af1 | 1 | //c++ script for filtering of measured EMG signals |
IsaRobin | 0:6972d0e91af1 | 2 | #include "mbed.h" //Base library |
IsaRobin | 0:6972d0e91af1 | 3 | #include "HIDScope.h" // to see if program is working and EMG is filtered properly |
IsaRobin | 0:6972d0e91af1 | 4 | #include "QEI.h"// is needed for the encoder |
IsaRobin | 0:6972d0e91af1 | 5 | #include "MODSERIAL.h"// in order for connection with the pc |
IsaRobin | 0:6972d0e91af1 | 6 | #include "BiQuad.h" |
IsaRobin | 0:6972d0e91af1 | 7 | #include "FastPWM.h" |
IsaRobin | 0:6972d0e91af1 | 8 | #include "Arduino.h" //misschien handig omdat we het EMG arduino board gebruiken (?) |
IsaRobin | 0:6972d0e91af1 | 9 | #include "EMGFilters.h" |
IsaRobin | 0:6972d0e91af1 | 10 | #include <vector> // For easy array management |
IsaRobin | 0:6972d0e91af1 | 11 | |
IsaRobin | 0:6972d0e91af1 | 12 | // PC connection |
IsaRobin | 0:6972d0e91af1 | 13 | MODSERIAL pc(USBTX, USBRX); |
IsaRobin | 0:6972d0e91af1 | 14 | |
IsaRobin | 0:6972d0e91af1 | 15 | //EMG inputs definieren |
IsaRobin | 0:6972d0e91af1 | 16 | AnalogIn emg1_in (A1); //emg van rechterbicep, voor de x-richting |
IsaRobin | 0:6972d0e91af1 | 17 | AnalogIn emg2_in (A2); //emg van linkerbicep, voor de y-richting |
IsaRobin | 0:6972d0e91af1 | 18 | AnalogIn emg3_in (A3); //emg van een derde (nog te bepalen) spier, voor het vernaderen van de richting |
IsaRobin | 0:6972d0e91af1 | 19 | |
IsaRobin | 0:6972d0e91af1 | 20 | //variablen voor EMG |
IsaRobin | 0:6972d0e91af1 | 21 | double emg1; |
IsaRobin | 0:6972d0e91af1 | 22 | double emg2; |
IsaRobin | 0:6972d0e91af1 | 23 | double emg3; |
IsaRobin | 0:6972d0e91af1 | 24 | double notch1; |
IsaRobin | 0:6972d0e91af1 | 25 | double notch2; |
IsaRobin | 0:6972d0e91af1 | 26 | double notch3; |
IsaRobin | 0:6972d0e91af1 | 27 | double highpass1; |
IsaRobin | 0:6972d0e91af1 | 28 | double highpass2; |
IsaRobin | 0:6972d0e91af1 | 29 | double highpass3; |
IsaRobin | 0:6972d0e91af1 | 30 | double lowpass1; |
IsaRobin | 0:6972d0e91af1 | 31 | double lowpass2; |
IsaRobin | 0:6972d0e91af1 | 32 | double lowpass3; |
IsaRobin | 0:6972d0e91af1 | 33 | double rectify1; |
IsaRobin | 0:6972d0e91af1 | 34 | double rectify2; |
IsaRobin | 0:6972d0e91af1 | 35 | double rectify3; |
IsaRobin | 0:6972d0e91af1 | 36 | |
IsaRobin | 0:6972d0e91af1 | 37 | //values for EMG, dit moet nog aangepast worden aan de hand van de in matlab verkregen coefficienten |
IsaRobin | 0:6972d0e91af1 | 38 | const double n1 = 0,9956 //op internet staat overal a0, a1, b0, b1, b2 en dan voor iedere filter de volgende twee letters van het alfabet |
IsaRobin | 0:6972d0e91af1 | 39 | const double n2 = -1,8983 |
IsaRobin | 0:6972d0e91af1 | 40 | const double n3 = 0,9956 |
IsaRobin | 0:6972d0e91af1 | 41 | const double n4 = 1 |
IsaRobin | 0:6972d0e91af1 | 42 | const double n5 = -1,8983 |
IsaRobin | 0:6972d0e91af1 | 43 | const double n6 = 0.9913 |
IsaRobin | 0:6972d0e91af1 | 44 | const double h1 = 0,9229 |
IsaRobin | 0:6972d0e91af1 | 45 | const double h2 = -1,8459 |
IsaRobin | 0:6972d0e91af1 | 46 | const double h3 = 0,9229 |
IsaRobin | 0:6972d0e91af1 | 47 | const double h4 = 1 |
IsaRobin | 0:6972d0e91af1 | 48 | const double h5 = -1,8892 |
IsaRobin | 0:6972d0e91af1 | 49 | const double n6 = 0,8928 |
IsaRobin | 0:6972d0e91af1 | 50 | const double l1 = 1 |
IsaRobin | 0:6972d0e91af1 | 51 | const double l2 = 2 |
IsaRobin | 0:6972d0e91af1 | 52 | |
IsaRobin | 0:6972d0e91af1 | 53 | //BiQuad values, dit moet nog aangepast worden aan de hand van de in matlab verkregen coefficienten |
IsaRobin | 0:6972d0e91af1 | 54 | BiQuadChain notch; |
IsaRobin | 0:6972d0e91af1 | 55 | BiQuad N1( n1, n2, n3, n4, n5, n6); |
IsaRobin | 0:6972d0e91af1 | 56 | BiQuad N2( n1, n2, n3, n4, n5, n6); |
IsaRobin | 0:6972d0e91af1 | 57 | BiQuad N3( n1, n2, n3, n4, n5, n6); |
IsaRobin | 0:6972d0e91af1 | 58 | BiQuadChain highpass; |
IsaRobin | 0:6972d0e91af1 | 59 | BiQuad H1( h1, h2, h3, h4, h5, h6); |
IsaRobin | 0:6972d0e91af1 | 60 | BiQuad H2( h1, h2, h3, h4, h5, h6); |
IsaRobin | 0:6972d0e91af1 | 61 | BiQuad H3( h1, h2, h3, h4, h5, h6); |
IsaRobin | 0:6972d0e91af1 | 62 | BiQuadChain lowpass; |
IsaRobin | 0:6972d0e91af1 | 63 | BiQuad L1( l1, l2, l3, l4, l5, l6); |
IsaRobin | 0:6972d0e91af1 | 64 | BiQuad L2( l1, l2, l3, l4, l5, l6); |
IsaRobin | 0:6972d0e91af1 | 65 | BiQuad L3( l1, l2, l3, l4, l5, l6); |
IsaRobin | 0:6972d0e91af1 | 66 | |
IsaRobin | 0:6972d0e91af1 | 67 | //filteren van het EMG signaal |
IsaRobin | 0:6972d0e91af1 | 68 | //eerst dus EMG signaal uitlezen |
IsaRobin | 0:6972d0e91af1 | 69 | emg1 = emg1_in.read(); |
IsaRobin | 0:6972d0e91af1 | 70 | emg2 = emg2_in.read(); |
IsaRobin | 0:6972d0e91af1 | 71 | emg3 = emg3_in.read(); |
IsaRobin | 0:6972d0e91af1 | 72 | |
IsaRobin | 0:6972d0e91af1 | 73 | //notch filter toepassen |
IsaRobin | 0:6972d0e91af1 | 74 | notch1 = N1.step(emg1); |
IsaRobin | 0:6972d0e91af1 | 75 | notch2 = N2.step(emg2); |
IsaRobin | 0:6972d0e91af1 | 76 | notch3 = N3.step(emg3); |
IsaRobin | 0:6972d0e91af1 | 77 | |
IsaRobin | 0:6972d0e91af1 | 78 | //high pass filter |
IsaRobin | 0:6972d0e91af1 | 79 | high1 = H1.step(notch1); |
IsaRobin | 0:6972d0e91af1 | 80 | high2 = H2.step(notch2); |
IsaRobin | 0:6972d0e91af1 | 81 | high3 = H3.step(notch3); |
IsaRobin | 0:6972d0e91af1 | 82 | |
IsaRobin | 0:6972d0e91af1 | 83 | //rectify toepassen, oftewel absolute waarde van EMG signaal nemen |
IsaRobin | 0:6972d0e91af1 | 84 | absolute1 = fabs(high1); |
IsaRobin | 0:6972d0e91af1 | 85 | absolute2 = fabs(high2); |
IsaRobin | 0:6972d0e91af1 | 86 | absolute3 = fabs(high3); |
IsaRobin | 0:6972d0e91af1 | 87 | |
IsaRobin | 0:6972d0e91af1 | 88 | //low pass filter |
IsaRobin | 0:6972d0e91af1 | 89 | low1 = L1.step(absolute1); |
IsaRobin | 0:6972d0e91af1 | 90 | low2 = L2.step(absolute2); |
IsaRobin | 0:6972d0e91af1 | 91 | low3 = L3.step(absolute3); |