Module 9 Super Team / EMG1

Changed some stuff

Fork of EMG by Kevin Hetterscheid

emg.cpp@23:8647e71ca713, 2015-10-20 (annotated)

Committer:
AeroKev
Date:
Tue Oct 20 14:30:18 2015 +0000
Revision:
23:8647e71ca713
Parent:
22:8c9dda710584
Child:
24:b7b3e87e0687
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
AeroKev 19:34c129b055b6 3 #include "emg.h"
AeroKev 18:e753220c7ba6 4
vsluiter 4:8b298dfada81 5 //Define objects
AeroKev 21:49362a17495b 6 AnalogIn emgIn0(A0); //Analog input
AeroKev 21:49362a17495b 7 AnalogIn emgIn1(A1); //Analog input
AeroKev 21:49362a17495b 8 AnalogIn emgIn2(A2); //Analog input
AeroKev 18:e753220c7ba6 9
AeroKev 18:e753220c7ba6 10 double highV[4];
AeroKev 18:e753220c7ba6 11 double lowV[4];
AeroKev 18:e753220c7ba6 12
AeroKev 18:e753220c7ba6 13 double filter(double input, double coeff_input[], double coeff_output[], double prev_outputs[])
AeroKev 18:e753220c7ba6 14 {
AeroKev 18:e753220c7ba6 15 double new_input = input;
AeroKev 18:e753220c7ba6 16 for(int i=1; i<5; i++)
AeroKev 18:e753220c7ba6 17 new_input -= coeff_input[i] * prev_outputs[i-1];
AeroKev 18:e753220c7ba6 18
AeroKev 18:e753220c7ba6 19 double new_output = coeff_output[0] * new_input;
AeroKev 18:e753220c7ba6 20 for(int i=1; i<5; i++)
AeroKev 18:e753220c7ba6 21 new_output += coeff_output[i] * prev_outputs[i-1];
AeroKev 18:e753220c7ba6 22
AeroKev 18:e753220c7ba6 23 // Set the new output as the first value of the 'recent outputs'
AeroKev 18:e753220c7ba6 24 for(int i = 3; i > 0; i--)
AeroKev 18:e753220c7ba6 25 prev_outputs[i] = prev_outputs[i-1];
AeroKev 18:e753220c7ba6 26 prev_outputs[0] = new_input;
AeroKev 18:e753220c7ba6 27 return new_output;
AeroKev 18:e753220c7ba6 28 }
AeroKev 18:e753220c7ba6 29
AeroKev 18:e753220c7ba6 30 double fh_b[]= {0.7602, -3.0406, 4.5609, -3.0406, 0.7602};
AeroKev 18:e753220c7ba6 31 double fh_a[]= {1, -3.4532, 4.5041, -2.6273, 0.5778};
AeroKev 18:e753220c7ba6 32 double highpass_filter(double u)
AeroKev 18:e753220c7ba6 33 {
AeroKev 18:e753220c7ba6 34 return filter(u, fh_a, fh_b, highV);
AeroKev 18:e753220c7ba6 35 }
AeroKev 18:e753220c7ba6 36
AeroKev 21:49362a17495b 37 double fl_b[]= {0.00001329, 0.00005317, 0.00007976, 0.00005317, 0.00001329};
AeroKev 21:49362a17495b 38 double fl_a[]= {1.0000, -3.6717, 5.0680, -3.1160, 0.7199};
AeroKev 18:e753220c7ba6 39 double lowpass_filter(double u)
AeroKev 18:e753220c7ba6 40 {
AeroKev 18:e753220c7ba6 41 return filter(u, fl_a, fl_b, lowV);
AeroKev 18:e753220c7ba6 42 }
vsluiter 2:e314bb3b2d99 43
AeroKev 21:49362a17495b 44 /** Sample function
AeroKev 21:49362a17495b 45 * this function samples the emg and sends it to HIDScope
AeroKev 21:49362a17495b 46 **/
AeroKev 21:49362a17495b 47 double sample(int emgNum)
vsluiter 2:e314bb3b2d99 48 {
AeroKev 21:49362a17495b 49 double input = 0.0;
AeroKev 21:49362a17495b 50 if(emgNum == 1) input = emgIn1.read();
AeroKev 21:49362a17495b 51 if(emgNum == 2) input = emgIn2.read();
AeroKev 21:49362a17495b 52 else input = emgIn0.read();
AeroKev 18:e753220c7ba6 53 double output1 = highpass_filter(input);
AeroKev 18:e753220c7ba6 54 double output2 = fabs(output1);
AeroKev 18:e753220c7ba6 55 double output3 = lowpass_filter(output2);
AeroKev 18:e753220c7ba6 56
AeroKev 23:8647e71ca713 57 if(output3 >= 0 && output3 < 0.0507)
AeroKev 23:8647e71ca713 58 output3 = 0.0;
AeroKev 23:8647e71ca713 59 else if(output3 >= 0.0507 && output3 < 0.0966)
AeroKev 23:8647e71ca713 60 output3 = 0.5;
AeroKev 23:8647e71ca713 61 else if(output3 >= 0.0966 && output3 < 1)
AeroKev 23:8647e71ca713 62 output3 = 1.0;
AeroKev 23:8647e71ca713 63
AeroKev 21:49362a17495b 64 return output3;
AeroKev 21:49362a17495b 65 }