De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- Jellehierck
- Date:
- 2019-10-20
- Revision:
- 3:c0ece64850db
- Parent:
- 2:d3e9788ab1b3
- Child:
- 4:09a01d2db8f7
File content as of revision 3:c0ece64850db:
//c++ script for filtering of measured EMG signals #include "mbed.h" //Base library #include "HIDScope.h" // to see if program is working and EMG is filtered properly // #include "QEI.h"// is needed for the encoder // #include "MODSERIAL.h"// in order for connection with the pc #include "BiQuad.h" // #include "FastPWM.h" // #include "Arduino.h" //misschien handig omdat we het EMG arduino board gebruiken (?) // #include "EMGFilters.h" #include <vector> // For easy array management // PC serial connection // MODSERIAL pc(USBTX, USBRX); //EMG inputs definieren AnalogIn emg1_in (A1); //emg van rechterbicep, voor de x-richting AnalogIn emg2_in (A2); //emg van linkerbicep, voor de y-richting AnalogIn emg3_in (A3); //emg van een derde (nog te bepalen) spier, voor het vernaderen van de richting //variablen voor EMG double emg1; double emg2; double emg3; double notch1; double notch2; double notch3; double highpass1; double highpass2; double highpass3; double lowpass1; double lowpass2; double lowpass3; double rectify1; double rectify2; double rectify3; // Notch filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB in the following form: // b01 b11 b21 a01 a11 a21 BiQuad bq_notch(0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // Highpass filter coefficients (butter 4th order @10Hz cutoff) from MATLAB in the following form: // b01 b11 b21 a01 a11 a21 // b02 b12 b22 a02 a12 a22 BiQuad bq_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); BiQuad bq_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); BiQuadChain bqc_high; // Used to chain two 2nd other filters into a 4th order filter // Lowpass filter coefficients (butter 4th order @5Hz cutoff) from MATLAB in the following form: // b01 b11 b21 a01 a11 a21 // b02 b12 b22 a02 a12 a22 BiQuad bq_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138); BiQuad bq_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); BiQuadChain bqc_low; // Used to chain two 2nd other filters into a 4th order filter void sample() { emg1 = emg1_in.read(); emg2 = emg2_in.read(); emg3 = emg3_in.read(); } //notch filter toepassen notch1 = N1.step(emg1); notch2 = N2.step(emg2); notch3 = N3.step(emg3); //high pass filter high1 = H1.step(notch1); high2 = H2.step(notch2); high3 = H3.step(notch3); //rectify toepassen, oftewel absolute waarde van EMG signaal nemen absolute1 = fabs(high1); absolute2 = fabs(high2); absolute3 = fabs(high3); //low pass filter low1 = L1.step(absolute1); low2 = L2.step(absolute2); low3 = L3.step(absolute3);