Module 9 Super Team / EMG1

Changed some stuff

Fork of EMG by Kevin Hetterscheid

emg.cpp@24:b7b3e87e0687, 2015-10-22 (annotated)

Committer:
AeroKev
Date:
Thu Oct 22 14:43:33 2015 +0000
Revision:
24:b7b3e87e0687
Parent:
23:8647e71ca713
Child:
25:6d1b035f4838
Child:
26:bd50afa17436
YAYSAHDIA;

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 24:b7b3e87e0687 3
AeroKev 24:b7b3e87e0687 4 #define MOV_AVG_NUM 100
AeroKev 18:e753220c7ba6 5
vsluiter 4:8b298dfada81 6 //Define objects
AeroKev 24:b7b3e87e0687 7 AnalogIn b_emg(A0); //Analog input bicep
AeroKev 24:b7b3e87e0687 8 AnalogIn t_emg(A1); //Analog input tricep
AeroKev 24:b7b3e87e0687 9 AnalogIn p_emg(A2); //Analog input bicep for push
AeroKev 18:e753220c7ba6 10
AeroKev 24:b7b3e87e0687 11 double b_highV[4];
AeroKev 24:b7b3e87e0687 12 double b_lowV[4];
AeroKev 24:b7b3e87e0687 13 double t_highV[4];
AeroKev 24:b7b3e87e0687 14 double t_lowV[4];
AeroKev 24:b7b3e87e0687 15 double p_highV[4];
AeroKev 24:b7b3e87e0687 16 double p_lowV[4];
AeroKev 24:b7b3e87e0687 17
AeroKev 24:b7b3e87e0687 18 //double lastOutputs[MOV_AVG_NUM-1];
AeroKev 18:e753220c7ba6 19
AeroKev 18:e753220c7ba6 20 double filter(double input, double coeff_input[], double coeff_output[], double prev_outputs[])
AeroKev 18:e753220c7ba6 21 {
AeroKev 18:e753220c7ba6 22 double new_input = input;
AeroKev 18:e753220c7ba6 23 for(int i=1; i<5; i++)
AeroKev 18:e753220c7ba6 24 new_input -= coeff_input[i] * prev_outputs[i-1];
AeroKev 18:e753220c7ba6 25
AeroKev 18:e753220c7ba6 26 double new_output = coeff_output[0] * new_input;
AeroKev 18:e753220c7ba6 27 for(int i=1; i<5; i++)
AeroKev 18:e753220c7ba6 28 new_output += coeff_output[i] * prev_outputs[i-1];
AeroKev 18:e753220c7ba6 29
AeroKev 18:e753220c7ba6 30 // Set the new output as the first value of the 'recent outputs'
AeroKev 18:e753220c7ba6 31 for(int i = 3; i > 0; i--)
AeroKev 18:e753220c7ba6 32 prev_outputs[i] = prev_outputs[i-1];
AeroKev 18:e753220c7ba6 33 prev_outputs[0] = new_input;
AeroKev 18:e753220c7ba6 34 return new_output;
AeroKev 18:e753220c7ba6 35 }
AeroKev 18:e753220c7ba6 36 double fh_b[]= {0.7602, -3.0406, 4.5609, -3.0406, 0.7602};
AeroKev 18:e753220c7ba6 37 double fh_a[]= {1, -3.4532, 4.5041, -2.6273, 0.5778};
AeroKev 24:b7b3e87e0687 38 double b_highpass_filter(double u)
AeroKev 24:b7b3e87e0687 39 {
AeroKev 24:b7b3e87e0687 40 return filter(u, fh_a, fh_b, t_highV);
AeroKev 24:b7b3e87e0687 41 }
AeroKev 24:b7b3e87e0687 42 double t_highpass_filter(double u)
AeroKev 18:e753220c7ba6 43 {
AeroKev 24:b7b3e87e0687 44 return filter(u, fh_a, fh_b, b_highV);
AeroKev 24:b7b3e87e0687 45 }
AeroKev 24:b7b3e87e0687 46 double p_highpass_filter(double u)
AeroKev 24:b7b3e87e0687 47 {
AeroKev 24:b7b3e87e0687 48 return filter(u, fh_a, fh_b, p_highV);
AeroKev 18:e753220c7ba6 49 }
AeroKev 18:e753220c7ba6 50
AeroKev 21:49362a17495b 51 double fl_b[]= {0.00001329, 0.00005317, 0.00007976, 0.00005317, 0.00001329};
AeroKev 21:49362a17495b 52 double fl_a[]= {1.0000, -3.6717, 5.0680, -3.1160, 0.7199};
AeroKev 24:b7b3e87e0687 53 double b_lowpass_filter(double u)
AeroKev 24:b7b3e87e0687 54 {
AeroKev 24:b7b3e87e0687 55 return filter(u, fl_a, fl_b, t_lowV);
AeroKev 24:b7b3e87e0687 56 }
AeroKev 24:b7b3e87e0687 57 double t_lowpass_filter(double u)
AeroKev 18:e753220c7ba6 58 {
AeroKev 24:b7b3e87e0687 59
AeroKev 24:b7b3e87e0687 60 return filter(u, fl_a, fl_b, b_lowV);
AeroKev 24:b7b3e87e0687 61 }
AeroKev 24:b7b3e87e0687 62 double p_lowpass_filter(double u)
AeroKev 24:b7b3e87e0687 63 {
AeroKev 24:b7b3e87e0687 64
AeroKev 24:b7b3e87e0687 65 return filter(u, fl_a, fl_b, p_lowV);
AeroKev 18:e753220c7ba6 66 }
vsluiter 2:e314bb3b2d99 67
AeroKev 24:b7b3e87e0687 68 double last_biceps = 0;
AeroKev 24:b7b3e87e0687 69 double last_triceps = 0;
AeroKev 24:b7b3e87e0687 70 double last_push = 0;
AeroKev 21:49362a17495b 71 /** Sample function
AeroKev 21:49362a17495b 72 * this function samples the emg and sends it to HIDScope
AeroKev 21:49362a17495b 73 **/
AeroKev 24:b7b3e87e0687 74 void sample(double& bicout, double& tricout, double& pushout)
vsluiter 2:e314bb3b2d99 75 {
AeroKev 24:b7b3e87e0687 76 double b_input = b_emg.read();
AeroKev 24:b7b3e87e0687 77 double output1 = b_highpass_filter(b_input);
AeroKev 18:e753220c7ba6 78 double output2 = fabs(output1);
AeroKev 24:b7b3e87e0687 79 double output3 = b_lowpass_filter(output2);
AeroKev 24:b7b3e87e0687 80
AeroKev 24:b7b3e87e0687 81 double t_input = t_emg.read();
AeroKev 24:b7b3e87e0687 82 double output4 = t_highpass_filter(t_input);
AeroKev 24:b7b3e87e0687 83 double output5 = fabs(output4);
AeroKev 24:b7b3e87e0687 84 double output6 = t_lowpass_filter(output5);
AeroKev 24:b7b3e87e0687 85
AeroKev 24:b7b3e87e0687 86 double p_input = p_emg.read();
AeroKev 24:b7b3e87e0687 87 double output7 = p_highpass_filter(p_input);
AeroKev 24:b7b3e87e0687 88 double output8 = fabs(output7);
AeroKev 24:b7b3e87e0687 89 double output9 = p_lowpass_filter(output8);
AeroKev 24:b7b3e87e0687 90
AeroKev 24:b7b3e87e0687 91 /*double tot = output3;
AeroKev 24:b7b3e87e0687 92 for(int i=0; i<MOV_AVG_NUM-1; i++) {
AeroKev 24:b7b3e87e0687 93 tot += lastOutputs[i];
AeroKev 24:b7b3e87e0687 94 if(i != 0) lastOutputs[i] = lastOutputs[i-1];
AeroKev 24:b7b3e87e0687 95 }
AeroKev 24:b7b3e87e0687 96 lastOutputs[0] = output3;
AeroKev 24:b7b3e87e0687 97 output3 = tot/MOV_AVG_NUM;*/
AeroKev 18:e753220c7ba6 98
AeroKev 24:b7b3e87e0687 99 /* Second, set the sampled emg value in channel zero (the first channel) in the 'HIDScope' variable named 'scope' */
AeroKev 24:b7b3e87e0687 100
AeroKev 24:b7b3e87e0687 101 if (last_biceps == 0 and output3 > 0.06) {
AeroKev 24:b7b3e87e0687 102 bicout = 1;
AeroKev 24:b7b3e87e0687 103 } else if (last_biceps == 1 and output3 < 0.045) {
AeroKev 24:b7b3e87e0687 104 bicout = 0;
AeroKev 24:b7b3e87e0687 105 } else {
AeroKev 24:b7b3e87e0687 106 bicout = last_biceps;
AeroKev 24:b7b3e87e0687 107 }
AeroKev 24:b7b3e87e0687 108 last_biceps = bicout;
AeroKev 24:b7b3e87e0687 109
AeroKev 24:b7b3e87e0687 110 /*if (output3>0.06) {//This is the output for the right bicep
AeroKev 24:b7b3e87e0687 111 bicout=1;
AeroKev 24:b7b3e87e0687 112 } else if(output3>0.04) {
AeroKev 24:b7b3e87e0687 113 bicout=0.5;
AeroKev 24:b7b3e87e0687 114 } else {
AeroKev 24:b7b3e87e0687 115 bicout=0;
AeroKev 24:b7b3e87e0687 116 }*/
AeroKev 23:8647e71ca713 117
AeroKev 24:b7b3e87e0687 118 /*if (output6>0.0561) {//this is the output for the right tricep
AeroKev 24:b7b3e87e0687 119 tricout=1;
AeroKev 24:b7b3e87e0687 120 } else if(output6>0.0380) {
AeroKev 24:b7b3e87e0687 121 tricout=0.5;
AeroKev 24:b7b3e87e0687 122 } else {
AeroKev 24:b7b3e87e0687 123 tricout=0;
AeroKev 24:b7b3e87e0687 124 }*/
AeroKev 24:b7b3e87e0687 125
AeroKev 24:b7b3e87e0687 126 if (last_triceps == 0 and output6 > 0.045) {
AeroKev 24:b7b3e87e0687 127 tricout = 1;
AeroKev 24:b7b3e87e0687 128 } else if(last_triceps == 1 and output6 < 0.04) {
AeroKev 24:b7b3e87e0687 129 tricout = 0;
AeroKev 24:b7b3e87e0687 130 } else {
AeroKev 24:b7b3e87e0687 131 tricout = last_triceps;
AeroKev 24:b7b3e87e0687 132 }
AeroKev 24:b7b3e87e0687 133 last_triceps = tricout;
AeroKev 24:b7b3e87e0687 134
AeroKev 24:b7b3e87e0687 135 if (output9>0.05) {//this is the output for the left bicep (the push motion)
AeroKev 24:b7b3e87e0687 136 pushout=1;
AeroKev 24:b7b3e87e0687 137 } else {
AeroKev 24:b7b3e87e0687 138 pushout=0;
AeroKev 24:b7b3e87e0687 139 }
AeroKev 21:49362a17495b 140 }