group14 - k9
jongens kijk eens wat een mooie biquad
Revision 0:d8312eea7c50, committed 2015-10-12
- Comitter:
- Paashaas
- Date:
- Mon Oct 12 14:00:57 2015 +0000
- Commit message:
- biquad om emg signalen te filteren
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Mon Oct 12 14:00:57 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/tomlankhorst/code/HIDScope/#5020a2c0934b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 12 14:00:57 2015 +0000
@@ -0,0 +1,76 @@
+#include "mbed.h"
+#include "HIDScope.h"
+
+AnalogIn emg1(A0); //onderste board
+AnalogIn emg2(A1); // 2e board
+AnalogIn emg3(A2); // 3e board
+AnalogIn emg4(A3); // bovenste board
+
+Ticker sample_ticker; // naam van de emg-ticker
+
+HIDScope scope(4); // aantal kanalen voor je HIDScope
+
+//highpass filter 20 Hz
+const double numhigh_1 = 0.956543225556877;
+const double numhigh_2 = -1.91308645113754;
+const double numhigh_3 = 0.956543225556877;
+const double denhigh_2 = -1.91197067426073;
+const double denhigh_3 = 0.9149758348014341;
+
+//notchfilter 50Hz
+//biquad 1
+const double numnotch_1_1 = 1;
+const double numnotch_1_2 = -1.97538661427765;
+const double numnotch_1_3 = 1.00000018882502;
+const double dennotch_1_2 = -1.97024348390877;
+const double dennotch_1_3 = 0.995504923090779;
+
+//biquad 2
+const double numnotch_2_1 = 1;
+const double numnotch_2_2 = -1.97538624436946;
+const double numnotch_2_3 = 1.00000018882502;
+const double dennotch_2_2 = -1.97175302143845;
+const double dennotch_2_3 = 0.995629024908953;
+
+//lowpass filter 7 Hz - envelop
+const double numlow_1 = 0.000119046743110057;
+const double numlow_2 = 0.000238093486220118;
+const double numlow_3 = 0.000119046743110057;
+const double denlow_2 = -1.968902268531908;
+const double denlow_3 = 0.9693784555043481;
+
+// storage variables definieren
+double f1_v1 = 0, f1_v2 = 0, f2_v1 = 0, f2_v2 = 0, f3_v1 = 0, f3_v2 = 0, f4_v1 = 0, f4_v2 = 0;
+
+double biquad( double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2)
+
+{
+ double v = u - a1*v1 - a2*v2;
+ double y = b0*v + b1*v1 + b2*v2;
+ v2=v1;
+ v1=v;
+ return y;
+ }
+
+void myController()
+{
+// double u1=..., u2...;
+double u1 = emg1.read();
+double y1 = biquad(u1, f1_v1, f1_v2, denhigh_2, denhigh_3, numhigh_1, numhigh_2, numhigh_3);
+double y2 = abs(y1);
+double y3 = biquad(y2, f2_v1, f2_v2, dennotch_1_2, dennotch_1_3, numnotch_1_1, numnotch_1_2, numnotch_1_3);
+double y4 = biquad(y3, f3_v1, f3_v2, dennotch_2_2, dennotch_2_3, numnotch_2_1, numnotch_2_2, numnotch_2_3);
+double y5 = biquad(y4, f4_v1, f4_v2, denlow_2, denlow_3, nomlow_1, numlow_2, numlow_3);
+scope.set(0,u1);
+scope.set(1,y5);
+scope.send();
+}
+
+
+
+int main()
+{
+ sample_ticker.attach(&mycontroller,0.005);
+ while (true){
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Oct 12 14:00:57 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68 \ No newline at end of file