Project Paint / Mbed 2 deprecated EMG-Processing

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Dependencies:   biquadFilter mbed

calibrate.cpp@1:984b6b6812c7, 2016-11-02 (annotated)

Committer:
ofosakar
Date:
Wed Nov 02 13:19:42 2016 +0000
Revision:
1:984b6b6812c7
Parent:
0:44d3f99b08c1
Child:
2:8b790c03a760
Calibrating the EMG signals done.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ofosakar 0:44d3f99b08c1 1 #include "mbed.h"
ofosakar 0:44d3f99b08c1 2 #include "BiQuad.h"
ofosakar 0:44d3f99b08c1 3
ofosakar 1:984b6b6812c7 4 DigitalIn calibrating(SW2);
ofosakar 1:984b6b6812c7 5 InterruptIn calibrateButton(SW3);
ofosakar 0:44d3f99b08c1 6 AnalogIn calibrateEmg1(A0);
ofosakar 0:44d3f99b08c1 7 AnalogIn calibrateEmg2(A1);
ofosakar 0:44d3f99b08c1 8 Serial pc(USBTX, USBRX);
ofosakar 0:44d3f99b08c1 9
ofosakar 0:44d3f99b08c1 10 DigitalOut led_red(LED_RED);
ofosakar 0:44d3f99b08c1 11 DigitalOut led_green(LED_GREEN);
ofosakar 1:984b6b6812c7 12 DigitalOut led_blue(LED_BLUE);
ofosakar 1:984b6b6812c7 13
ofosakar 0:44d3f99b08c1 14
ofosakar 0:44d3f99b08c1 15
ofosakar 0:44d3f99b08c1 16 BiQuadChain calibrateBqc1;
ofosakar 0:44d3f99b08c1 17 BiQuadChain calibrateBqc2;
ofosakar 0:44d3f99b08c1 18 BiQuad calibrateBq11( 9.93756e-01, -1.89024e+00, 9.93756e-01, -1.89024e+00, 9.87512e-01 );
ofosakar 0:44d3f99b08c1 19 BiQuad calibrateBq12( 9.93756e-01, -1.89024e+00, 9.93756e-01, -1.89024e+00, 9.87512e-01 );
ofosakar 0:44d3f99b08c1 20
ofosakar 0:44d3f99b08c1 21 const int calibrateNumEmgCache = 100;
ofosakar 0:44d3f99b08c1 22 float calibrateEmgCache1[calibrateNumEmgCache]; //sorted from new to old;
ofosakar 0:44d3f99b08c1 23 float calibrateEmgCache2[calibrateNumEmgCache]; //sorted from new to old;
ofosakar 0:44d3f99b08c1 24
ofosakar 1:984b6b6812c7 25 volatile float threshold1 = 0.2;
ofosakar 1:984b6b6812c7 26 volatile float threshold2 = 0.2;
ofosakar 0:44d3f99b08c1 27
ofosakar 0:44d3f99b08c1 28 Ticker sampler;
ofosakar 0:44d3f99b08c1 29
ofosakar 0:44d3f99b08c1 30 float sample_frequency = 500.0f; //Hz
ofosakar 0:44d3f99b08c1 31 float Ts = 1.0f / sample_frequency;
ofosakar 0:44d3f99b08c1 32
ofosakar 0:44d3f99b08c1 33 volatile float total1;
ofosakar 0:44d3f99b08c1 34 volatile float total2;
ofosakar 0:44d3f99b08c1 35
ofosakar 0:44d3f99b08c1 36
ofosakar 0:44d3f99b08c1 37 volatile float average1;
ofosakar 0:44d3f99b08c1 38 volatile float average2;
ofosakar 0:44d3f99b08c1 39
ofosakar 0:44d3f99b08c1 40 volatile bool isCalibrating;
ofosakar 0:44d3f99b08c1 41
ofosakar 0:44d3f99b08c1 42 float rectifierC(float value) {
ofosakar 0:44d3f99b08c1 43 return fabs(value - 0.5f)*2.0f;
ofosakar 0:44d3f99b08c1 44 }
ofosakar 0:44d3f99b08c1 45 float movingAverageC(float newValue, float array[], int size) {
ofosakar 0:44d3f99b08c1 46 float sumC = 0;
ofosakar 0:44d3f99b08c1 47 for (int i = size - 2; i >= 0; i--) {
ofosakar 0:44d3f99b08c1 48 array[i+1] = array[i];
ofosakar 0:44d3f99b08c1 49 sumC += array[i];
ofosakar 0:44d3f99b08c1 50 }
ofosakar 0:44d3f99b08c1 51 array[0] = newValue;
ofosakar 0:44d3f99b08c1 52 sumC += newValue;
ofosakar 0:44d3f99b08c1 53 return sumC / size;
ofosakar 0:44d3f99b08c1 54 }
ofosakar 0:44d3f99b08c1 55
ofosakar 0:44d3f99b08c1 56 float sumC(float array[], int size) {
ofosakar 0:44d3f99b08c1 57 float sumC = 0;
ofosakar 0:44d3f99b08c1 58 for (int i = 0; i < size; i++) {
ofosakar 0:44d3f99b08c1 59 sumC += array[i];
ofosakar 0:44d3f99b08c1 60 }
ofosakar 0:44d3f99b08c1 61 return sumC;
ofosakar 0:44d3f99b08c1 62 }
ofosakar 0:44d3f99b08c1 63
ofosakar 0:44d3f99b08c1 64 float meanC(float array[], int size) {
ofosakar 0:44d3f99b08c1 65 return sumC(array, size) / size;
ofosakar 0:44d3f99b08c1 66 }
ofosakar 0:44d3f99b08c1 67
ofosakar 0:44d3f99b08c1 68 void sample() {
ofosakar 0:44d3f99b08c1 69
ofosakar 0:44d3f99b08c1 70 //TODO apply filters and such.
ofosakar 0:44d3f99b08c1 71 //Make use of EMG Processing library.
ofosakar 0:44d3f99b08c1 72 //For now we will just sumC the raw emg signals
ofosakar 0:44d3f99b08c1 73
ofosakar 0:44d3f99b08c1 74 float emgOne = calibrateEmg1.read();
ofosakar 0:44d3f99b08c1 75 float notch1 = calibrateBqc1.step( emgOne );
ofosakar 0:44d3f99b08c1 76
ofosakar 0:44d3f99b08c1 77 float emgTwo = calibrateEmg2.read();
ofosakar 0:44d3f99b08c1 78 float notch2 = calibrateBqc2.step( emgTwo );
ofosakar 0:44d3f99b08c1 79
ofosakar 0:44d3f99b08c1 80 float rect1 = rectifierC(notch1);
ofosakar 0:44d3f99b08c1 81 float rect2 = rectifierC(notch2);
ofosakar 0:44d3f99b08c1 82
ofosakar 0:44d3f99b08c1 83
ofosakar 0:44d3f99b08c1 84 float filtered1 = movingAverageC( rect1, calibrateEmgCache1, calibrateNumEmgCache);
ofosakar 0:44d3f99b08c1 85 float filtered2 = movingAverageC( rect2, calibrateEmgCache2, calibrateNumEmgCache);
ofosakar 0:44d3f99b08c1 86
ofosakar 0:44d3f99b08c1 87
ofosakar 0:44d3f99b08c1 88 }
ofosakar 0:44d3f99b08c1 89
ofosakar 0:44d3f99b08c1 90 void onPress() {
ofosakar 0:44d3f99b08c1 91 sampler.attach(&sample, Ts);
ofosakar 0:44d3f99b08c1 92 led_red = true;
ofosakar 0:44d3f99b08c1 93 led_green = false;
ofosakar 0:44d3f99b08c1 94
ofosakar 0:44d3f99b08c1 95 }
ofosakar 0:44d3f99b08c1 96
ofosakar 0:44d3f99b08c1 97 void onRelease() {
ofosakar 0:44d3f99b08c1 98 led_red = false;
ofosakar 0:44d3f99b08c1 99 led_green = true;
ofosakar 0:44d3f99b08c1 100 sampler.detach();
ofosakar 0:44d3f99b08c1 101 average1 = meanC(calibrateEmgCache1, calibrateNumEmgCache);
ofosakar 0:44d3f99b08c1 102 average2 = meanC(calibrateEmgCache2, calibrateNumEmgCache);
ofosakar 1:984b6b6812c7 103
ofosakar 0:44d3f99b08c1 104 pc.printf ("(avg1, avg2) = (%f, %f)\r\n", average1, average2); //Why NaN? am I deviding by zero?
ofosakar 0:44d3f99b08c1 105 }
ofosakar 0:44d3f99b08c1 106
ofosakar 1:984b6b6812c7 107 void calibrate() {
ofosakar 1:984b6b6812c7 108 while(calibrating) {
ofosakar 1:984b6b6812c7 109 led_red = false;
ofosakar 1:984b6b6812c7 110 wait(0.5);
ofosakar 1:984b6b6812c7 111 led_red = true;
ofosakar 1:984b6b6812c7 112 wait(0.5);
ofosakar 1:984b6b6812c7 113 }
ofosakar 1:984b6b6812c7 114
ofosakar 1:984b6b6812c7 115 // Button pressed for rest measurement
ofosakar 1:984b6b6812c7 116 led_red = true;
ofosakar 1:984b6b6812c7 117 sampler.attach(&sample, Ts);
ofosakar 1:984b6b6812c7 118 led_blue = false;
ofosakar 1:984b6b6812c7 119 wait(10);
ofosakar 1:984b6b6812c7 120 // 10 seconds sampled
ofosakar 1:984b6b6812c7 121 led_blue = true;
ofosakar 1:984b6b6812c7 122 sampler.detach();
ofosakar 1:984b6b6812c7 123 float restAvg1 = meanC(calibrateEmgCache1, calibrateNumEmgCache);
ofosakar 1:984b6b6812c7 124 float restAvg2 = meanC(calibrateEmgCache2, calibrateNumEmgCache);
ofosakar 1:984b6b6812c7 125
ofosakar 1:984b6b6812c7 126 int i =0;
ofosakar 1:984b6b6812c7 127 while(i<3) {
ofosakar 1:984b6b6812c7 128 led_green = false;
ofosakar 1:984b6b6812c7 129 wait(0.5);
ofosakar 1:984b6b6812c7 130 led_green = true;
ofosakar 1:984b6b6812c7 131 wait(0.5);
ofosakar 1:984b6b6812c7 132 i++;
ofosakar 1:984b6b6812c7 133 }
ofosakar 1:984b6b6812c7 134 led_green = true;
ofosakar 1:984b6b6812c7 135
ofosakar 1:984b6b6812c7 136 while(calibrating) {
ofosakar 1:984b6b6812c7 137 led_red = false;
ofosakar 1:984b6b6812c7 138 wait(0.5);
ofosakar 1:984b6b6812c7 139 led_red = true;
ofosakar 1:984b6b6812c7 140 wait(0.5);
ofosakar 1:984b6b6812c7 141 }
ofosakar 1:984b6b6812c7 142 // Button pressed for contracted measurement
ofosakar 1:984b6b6812c7 143 led_red = true;
ofosakar 1:984b6b6812c7 144 sampler.attach(&sample, Ts);
ofosakar 1:984b6b6812c7 145 led_blue = false;
ofosakar 1:984b6b6812c7 146 wait(10);
ofosakar 1:984b6b6812c7 147
ofosakar 1:984b6b6812c7 148 // 10 seconds sampled
ofosakar 1:984b6b6812c7 149 led_blue = true;
ofosakar 1:984b6b6812c7 150 sampler.detach();
ofosakar 1:984b6b6812c7 151
ofosakar 1:984b6b6812c7 152 i =0;
ofosakar 1:984b6b6812c7 153 while(i<3) {
ofosakar 1:984b6b6812c7 154 led_green = false;
ofosakar 1:984b6b6812c7 155 wait(0.5);
ofosakar 1:984b6b6812c7 156 led_green = true;
ofosakar 1:984b6b6812c7 157 wait(0.5);
ofosakar 1:984b6b6812c7 158 i++;
ofosakar 1:984b6b6812c7 159 }
ofosakar 1:984b6b6812c7 160
ofosakar 1:984b6b6812c7 161 float contAvg1 = meanC(calibrateEmgCache1, calibrateNumEmgCache);
ofosakar 1:984b6b6812c7 162 float contAvg2 = meanC(calibrateEmgCache2, calibrateNumEmgCache);
ofosakar 1:984b6b6812c7 163
ofosakar 1:984b6b6812c7 164 threshold1 = (contAvg1 + restAvg1)/2;
ofosakar 1:984b6b6812c7 165 threshold2 = (contAvg2 + restAvg2)/2;
ofosakar 1:984b6b6812c7 166 pc.printf("threshold1: %f\tthreshold2:%f\n\r", threshold1, threshold2);
ofosakar 1:984b6b6812c7 167
ofosakar 1:984b6b6812c7 168 }
ofosakar 1:984b6b6812c7 169
ofosakar 1:984b6b6812c7 170 int main()
ofosakar 1:984b6b6812c7 171 {
ofosakar 1:984b6b6812c7 172 pc.baud(115200);
ofosakar 1:984b6b6812c7 173 led_red = true;
ofosakar 1:984b6b6812c7 174 led_green = true;
ofosakar 1:984b6b6812c7 175 led_blue = true;
ofosakar 1:984b6b6812c7 176 calibrateButton.fall(&calibrate);
ofosakar 1:984b6b6812c7 177
ofosakar 1:984b6b6812c7 178 calibrate();
ofosakar 1:984b6b6812c7 179 pc.printf("threshold1: %f\tthreshold2:%f\n\r", threshold1, threshold2);
ofosakar 1:984b6b6812c7 180
ofosakar 0:44d3f99b08c1 181 //
ofosakar 0:44d3f99b08c1 182 // calibrateBqc1.add( &calibrateBq11 );
ofosakar 0:44d3f99b08c1 183 // calibrateBqc2.add( &calibrateBq12 );
ofosakar 0:44d3f99b08c1 184 //
ofosakar 0:44d3f99b08c1 185 // button.rise(&onRelease);
ofosakar 0:44d3f99b08c1 186 //
ofosakar 1:984b6b6812c7 187 while(true);
ofosakar 1:984b6b6812c7 188 }