File content as of revision 0:ae9240e8af8c:

#include "mbed.h"
#include "HIDScope.h"
#include "BiQuad.h"                       //require the HIDScope library
#include "MODSERIAL.h"
//Define objects
AnalogIn    emg(A0);                            //analog of EMG input
Ticker      sample_timer;
Ticker      motor_timer;
Ticker      cal_timer;
HIDScope    scope(2);                           //instantize a 2-channel HIDScope object
DigitalIn button1(PTA4);                        //test button for starting motor 1
DigitalOut led1(LED_RED);
DigitalOut led2(LED_BLUE);
MODSERIAL pc(USBTX,USBRX);

//The biquad filters required to transform the EMG signal into an usable signal
BiQuad filterhigh1(-1.1430, 0.4128, 0.6389, -1.2779, 0.6389);
BiQuad filterlow1(1.9556, 0.9565, 0.9780, 1.9561, 0.9780);
BiQuad notch(-1.1978e-16, 0.9561, 0.9780, -1.1978e-16, 0.9780);
BiQuad filterlow2(-1.9645, 0.9651, 1.5515e-4, 3.1030e-4, 1.5515e-4);
double emg_value;
double signalpart1;
double signalpart2;
double signalpart3;
double signalpart4;
double signalfinal;
double onoffsignal;
double maxcal=0;        
bool calyes=0;
Timer looptime;


void filter(){                                      //filter function
        looptime.start();
        if(calyes==1){
        emg_value = emg.read();                     //read the emg value from the elektrodes
        signalpart1 = notch.step(emg_value);        //Highpass filter for removing offset and artifacts
        signalpart2 = filterhigh1.step(signalpart1);//rectify the filtered signal
        signalpart3 = abs(signalpart2);             //low pass filter to envelope the emg
        signalpart4 = filterlow1.step(signalpart3); //notch filter to remove 50Hz signal
        signalfinal = filterlow2.step(signalpart4); //2nd low pass filter to envelope the emg
        onoffsignal=signalfinal/maxcal;             //divide the emg signal by the max EMG to calibrate the signal per person
        scope.set(0,emg_value);                     //set emg signal to scope in channel 1
        scope.set(1,onoffsignal);                   //set filtered signal to scope in channel 2
    scope.send();                                   //send the signals to the scope
        pc.printf("emg %f, filtered %f, loop %f \r\n",emg_value,onoffsignal, looptime.read());
        looptime.reset();
}
}
void checkmotor(){                                  //check the normalized signal and set actions if a threshold is passed
    if(calyes==1){                                  //if signal passes threshold value, red light goes on
    if(onoffsignal<=0.25){
             led1.write(1);
             led2.write(0);
             }
    else if(onoffsignal >= 0.5){                    //if signal does not pass threshold value, blue light goes on
                 led1.write(0);
                 led2.write(1);
             }
             }
}

void calibri(){                                             //calibration function
    if(button1.read()==false){
        for(int n =0; n<5000;n++){                          //read for 5000 samples as calibration
            emg_value = emg.read();                         //read the emg value from the elektrodes
            signalpart1 = notch.step(emg_value);            //Highpass filter for removing offset and artifacts
            signalpart2 = filterhigh1.step(signalpart1);    //rectify the filtered signal
            signalpart3 = abs(signalpart2);                 //low pass filter to envelope the emg
            signalpart4 = filterlow1.step(signalpart3);     //notch filter to remove 50Hz signal
            signalfinal = filterlow2.step(signalpart4);     //2nd low pass filter to envelope the emg
            double signalmeasure = signalfinal;
            if (signalmeasure > maxcal){                    //determine what the highest reachable emg signal is
                maxcal = signalmeasure;
                }
            }
        calyes=1;
    }  
    }
int main()                                                  //main loop
{
    pc.baud(115200);                                        //value required for putty
    led1.write(1);
    led2.write(1);
   
        sample_timer.attach(&filter, 0.002);                //continously execute the EMG reader and filter
        motor_timer.attach(&checkmotor, 0.002);             //continously execute the motor controller
        cal_timer.attach(&calibri, 0.002);                  //ticker to check if motor is being calibrated
        pc.printf("%d",signalfinal);

while(1){
 //while loop to keep system going                                                 
}     
}