Projectgroep 20 Biorobotics
Deze werkt van de jongen
Dependencies: Encoder HIDScope MODSERIAL biquadFilter mbed
Revision 0:ae9240e8af8c, committed 2017-10-30
- Comitter:
- paulineoonk
- Date:
- Mon Oct 30 16:11:48 2017 +0000
- Commit message:
- ..
Changed in this revision
diff -r 000000000000 -r ae9240e8af8c Encoder.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder.lib Mon Oct 30 16:11:48 2017 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/vsluiter/code/Encoder/#18b000b443af
diff -r 000000000000 -r ae9240e8af8c HIDScope.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Mon Oct 30 16:11:48 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/tomlankhorst/code/HIDScope/#d23c6edecc49
diff -r 000000000000 -r ae9240e8af8c MODSERIAL.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Mon Oct 30 16:11:48 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Sissors/code/MODSERIAL/#a3b2bc878529
diff -r 000000000000 -r ae9240e8af8c biquadFilter.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/biquadFilter.lib Mon Oct 30 16:11:48 2017 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/tomlankhorst/code/biquadFilter/#26861979d305
diff -r 000000000000 -r ae9240e8af8c main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 30 16:11:48 2017 +0000
@@ -0,0 +1,94 @@
+#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
+}
+}
\ No newline at end of file
diff -r 000000000000 -r ae9240e8af8c mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Oct 30 16:11:48 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/fb8e0ae1cceb \ No newline at end of file