File content as of revision 28:5a12ce2fa441:

#include "mbed.h"
#include "HIDScope.h"
#define MOV_AVG_NUM     100
    
//Define objects
AnalogIn    b_emg(A0); //Analog input bicep
AnalogIn    t_emg(A1); //Analog input tricep
AnalogIn    p_emg(A2); //Analog input bicep for push

double b_highV[4];
double b_lowV[4];
double t_highV[4];
double t_lowV[4];
double p_highV[4];
double p_lowV[4];
double cal_mem[300];
double b_min;
double t_min;
double p_min;

void emg_cal(int emg){
    if(emg == 1){
        for(int i=0; i<300; i++){
            cal_mem[i] = b_emg.read();
        }
        b_min = min_element(cal_mem);
    }
    if(emg == 2){
        for(int i=0; i<300; i++){
            cal_mem[i] = t_emg.read();
        }
        t_min = min_element(cal_mem);
    }
    if(emg == 3){
        for(int i=0; i<300; i++){
            cal_mem[i] = p_emg.read();
        }
        p_min = min_element(cal_mem);
    }
}    
double filter(double input, double coeff_input[], double coeff_output[], double prev_outputs[])
{
    double new_input = input;
    for(int i=1; i<5; i++) 
        new_input -= coeff_input[i] * prev_outputs[i-1];

    double new_output = coeff_output[0] * new_input;
    for(int i=1; i<5; i++) 
        new_output += coeff_output[i] * prev_outputs[i-1];

    // Set the new output as the first value of the 'recent outputs'
    for(int i = 3; i > 0; i--)
        prev_outputs[i] = prev_outputs[i-1];
    prev_outputs[0] = new_input;
    return new_output;
}
double fh_b[]= {0.7602, -3.0406, 4.5609, -3.0406, 0.7602};
double fh_a[]= {1, -3.4532, 4.5041, -2.6273, 0.5778};
double b_highpass_filter(double u)
{
    return filter(u, fh_a, fh_b, t_highV);
    }
double t_highpass_filter(double u)
{
    return filter(u, fh_a, fh_b, b_highV);
}
double p_highpass_filter(double u)
{
    return filter(u, fh_a, fh_b, p_highV);
}

double fl_b[]= {0.00001329,    0.00005317,    0.00007976,   0.00005317,    0.00001329};
double fl_a[]= {1.0000,   -3.6717,    5.0680,   -3.1160,    0.7199};
double b_lowpass_filter(double u)
{
        return filter(u, fl_a, fl_b, t_lowV);
}
double t_lowpass_filter(double u)
{

    return filter(u, fl_a, fl_b, b_lowV);
}
double p_lowpass_filter(double u)
{

    return filter(u, fl_a, fl_b, p_lowV);
}

double last_biceps = 0;
double last_triceps = 0;
double last_push = 0;
/** Sample function
 * this function samples the emg and sends it to HIDScope
 **/
void sample(double& bicout, double& tricout, double& pushout)
{
    double b_input = b_emg.read();
    double output1 = b_highpass_filter(b_input);
    double output2 = fabs(output1);
    double output3 = b_lowpass_filter(output2);
      
    double t_input = t_emg.read();
    double output4 = t_highpass_filter(t_input);
    double output5 = fabs(output4);
    double output6 = t_lowpass_filter(output5);
    
    double p_input = p_emg.read();
    double output7 = p_highpass_filter(p_input);
    double output8 = fabs(output7);
    double output9 = p_lowpass_filter(output8);
    
    /*double tot = output3;
    for(int i=0; i<MOV_AVG_NUM-1; i++) {
        tot += lastOutputs[i];
        if(i != 0) lastOutputs[i] = lastOutputs[i-1];
    }
    lastOutputs[0] = output3;
    output3 = tot/MOV_AVG_NUM;*/
    
    /* Second, set the sampled emg value in channel zero (the first channel) in the 'HIDScope' variable named 'scope' */

    if (last_biceps == 0 and output3 > b_min+0.2*b_min) {
        bicout = 1;
    } else if (last_biceps == 1 and output3 < b_min-0.2*b_min) {
        bicout = 0;
    } else {
        bicout = last_biceps;   
    }
    last_biceps = bicout;
    
    /*if (output3>0.06) {//This is the output for the right bicep
        bicout=1;
    } else if(output3>0.04) {
        bicout=0.5;
    } else {
        bicout=0;
    }*/
    
    /*if (output6>0.0561) {//this is the output for the right tricep
        tricout=1;
    } else if(output6>0.0380) {
        tricout=0.5;
    } else {
        tricout=0;
    }*/
    
    if (last_triceps == 0 and output6 > t_min+0.1*t_min) {
        tricout = 1;
    } else if(last_triceps == 1 and output6 < t_min-0.01*t_min) {
        tricout = 0;    
    } else {
        tricout = last_triceps;
    }
    last_triceps = tricout;
    
    if (last_push ==0 and output9>p_min+0.2*p_min) {//this is the output for the left bicep (the push motion)
        pushout=1;
    } else if(last_triceps == 1 and output9<b_min-0.2*b_min) {
        pushout=0;
    } else {
        pushout = last_push;
    }
    last_push = pushout;
}