Diff: main.cpp

Revision:

10:97a79aa10a56

Parent:

8:ea3de43c9e8b

Child:

11:042170a9b93a

--- a/main.cpp	Mon Oct 21 09:57:42 2019 +0000
+++ b/main.cpp	Mon Oct 21 12:52:47 2019 +0000
@@ -32,6 +32,8 @@
 double emg1;
 double emg2;
 double emg3;
+double emg1_mean;
+double emg1_stdev;
 
 vector<double> emg1_cal;
 
@@ -48,7 +50,8 @@
 
 // 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);
+// BiQuad bq_notch( 0.995636295063941,  -1.89829218816065,   0.995636295063941,  1, -1.89829218816065,   0.991272590127882);
+BiQuad bq_notch ( -1.1978e-16, 0.9561, 0.9780, -1.1978e-16, 0.9780 );
 
 // Highpass filter coefficients (butter 4th order @10Hz cutoff) from MATLAB in the following form:
 // b01 b11 b21 a01 a11 a21
@@ -137,9 +140,10 @@
 
     // Output raw EMG input
     scope.set(0, emg1 );
-
-    double emg1_n_hp = bqc_notch_high.step( emg1 ); // Filter notch and highpass
-    double emg1_rectify = fabs( emg1_n_hp ); // Filter lowpass (completes envelope)
+    
+    double emg1_n = bqc_notch.step( emg1 ); // Filter notch
+    double emg1_hp = bqc_high.step( emg1_n ); // Filter highpass
+    double emg1_rectify = fabs( emg1_n_hp ); // Rectify
     double emg1_env = bqc_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
 
     // Output EMG after filters
@@ -152,17 +156,17 @@
 void calibrationMVCFinished()
 {
     tickSampleCalibration.detach();
-    double emg1_mean = getMean(emg1_cal);
-    double emg1_stdev = getStdev(emg1_cal, emg1_mean);
+    emg1_mean = getMean(emg1_cal);
+    emg1_stdev = getStdev(emg1_cal, emg1_mean);
+    
+    emg1_cal.clear();
 
     led_b = 1;
-
-    pc.printf("EMG Mean: %f   stdev: %f\r\n", emg1_mean, emg1_stdev);
 }
 
 void calibrationMVC()
 {
-    timeoutCalibrationMVC.attach( &calibrationMVCFinished, 5.0f);
+    timeoutCalibrationMVC.attach( &calibrationMVCFinished, 10.0f);
     tickSampleCalibration.attach( &sampleCalibration, Ts );
     led_b = 0;
 }
@@ -177,7 +181,8 @@
     // tickSample.attach(&sample, Ts);
 
     // Create BQ chains to reduce computations
-    bqc_notch_high.add( &bq_notch ).add( &bq_H1 ).add( &bq_H2 );
+    bqc_notch.add( &bq_notch );
+    bqc_high.add( &bq_H1 ).add( &bq_H2 );
     bqc_low.add( &bq_L1 ).add( &bq_L2 );
 
     led_b = 1; // Turn led off at startup
@@ -196,6 +201,7 @@
 
         // Show that system is running
         // led_g = !led_g;
+        pc.printf("EMG Mean: %f   stdev: %f\r\n", emg1_mean, emg1_stdev);
         wait(0.5);
     }
 }
\ No newline at end of file