Diff: main.cpp

Revision:

4:0d80d02a257c

Parent:

3:15eeab5ba885

Child:

5:86f0b27c58ea

--- a/main.cpp	Mon Oct 14 17:36:48 2019 +0000
+++ b/main.cpp	Wed Oct 16 09:48:09 2019 +0000
@@ -10,10 +10,8 @@
 AnalogIn emg0( A0 ); // for movement up/down, named A
 AnalogIn emg1( A1 );
 
-AnalogIn emg2( A2 ); // for movement forward/backward, named B
-AnalogIn emg3( A3 );
-
-//int mark=0;  // allows us to know where we are exactly in the sampling process
+//AnalogIn emg2( A2 ); // for movement forward/backward, named B
+//AnalogIn emg3( A3 );
 
 const double pi=3.14;
 
@@ -23,52 +21,51 @@
 
 double raw_signal_0[2];  // has the values measured via the electrodes
 double raw_signal_1[2];
-double raw_signal_2[2];
-double raw_signal_3[2];
+//double raw_signal_2[2];
+//double raw_signal_3[2];
 
 double filt0[2]; // raw_emg_1 filtered by high pass filter
 double filt1[2];
-double filt2[2];
-double filt3[2];
+//double filt2[2];
+//double filt3[2];
 
 double filt_filt0[2]; // filt1 filtered by low pass filter
 double filt_filt1[2];
-double filt_filt2[2];
-double filt_filt3[2];
+//double filt_filt2[2];
+//double filt_filt3[2];
 
 double emgA;  // not an array
-double emgB;
+//double emgB;
 
 double emg_absA[2]; // absolute value applied to emg
-double emg_absB[2];
+//double emg_absB[2];
 
 double emg_filtA[2]; 
-double emg_filtB[2];
+//double emg_filtB[2];
 
 double emg_normA[2]; // normalization of emg_rms
-double emg_normB[2];
+//double emg_normB[2];
 
 bool modeA= false; // running motor at intermediate speed, derived from threshold
-bool modeB= false;
+//bool modeB= false;
 
 bool speedA= false; // running motor at high speed
-bool speedB= false;
+//bool speedB= false;
 
 double T=0.002; // time between two samples
  
  
 void sample()
 {
-    // raw_signal=[ value(T-2), value(T-1), value(T)]
     raw_signal_0[0]=raw_signal_0[1];
     raw_signal_1[0]=raw_signal_1[1];
-    raw_signal_2[0]=raw_signal_2[1];
-    raw_signal_3[0]=raw_signal_3[1];
+    //raw_signal_2[0]=raw_signal_2[1];
+    //raw_signal_3[0]=raw_signal_3[1];
      
     raw_signal_0[1]=emg0.read();
     raw_signal_1[1]=emg1.read();
-    raw_signal_2[1]=emg2.read();
-    raw_signal_3[1]=emg3.read();
+    //raw_signal_2[1]=emg2.read();
+    //raw_signal_3[1]=emg3.read();
 
     scope.set(0, fabs(emg0.read()- emg1.read() );
     scope.send();
@@ -86,10 +83,9 @@
     // initialization of the filt arrays
     filt0[0]=filt0[1];
     filt1[0]=filt1[1];
-    filt2[0]=filt2[1];
-    filt3[0]=filt3[1];
+    //filt2[0]=filt2[1];
+    //filt3[0]=filt3[1];
  
-    
     // initialization of the parameters
     double b0=(wclp*T)/(wclp*T+2);
     double b1=(wclp*T)/(wclp*T+2);
@@ -97,8 +93,8 @@
     
     filt0[1]=b0*raw_signal_0[1]+b1*raw_signal_0[0]-a1*filt0[0];
     filt1[1]=b0*raw_signal_1[1]+b1*raw_signal_1[0]-a1*filt1[0];
-    filt2[1]=b0*raw_signal_2[1]+b1*raw_signal_2[0]-a1*filt2[0];
-    filt3[1]=b0*raw_signal_3[1]+b1*raw_signal_3[0]-a1*filt3[0];
+    //filt2[1]=b0*raw_signal_2[1]+b1*raw_signal_2[0]-a1*filt2[0];
+    //filt3[1]=b0*raw_signal_3[1]+b1*raw_signal_3[0]-a1*filt3[0];
     
     
     // HIGH PASS FILTER
@@ -107,8 +103,8 @@
     // initialization by the mean of the two first values
     filt_filt0[0]=filt_filt0[1];
     filt_filt1[0]=filt_filt1[1];
-    filt_filt2[0]=filt_filt2[1];
-    filt_filt4[0]=filt_filt3[1];
+    //filt_filt2[0]=filt_filt2[1];
+    //filt_filt4[0]=filt_filt3[1];
     
     // initialization of the parameters
     double d0=2/(wchp*T+2);
@@ -117,8 +113,8 @@
     
     filt_filt0[1]=d0*filt0[1]+d1*filt0[0]-c1*filt_filt0[0];
     filt_filt1[1]=d0*filt1[1]+d1*filt1[0]-c1*filt_filt1[0];
-    filt_filt2[1]=d0*filt2[1]+d1*filt2[0]-c1*filt_filt2[0];
-    filt_filt3[1]=d0*filt3[1]+d1*filt3[0]-c1*filt_filt3[0];
+    //filt_filt2[1]=d0*filt2[1]+d1*filt2[0]-c1*filt_filt2[0];
+    //filt_filt3[1]=d0*filt3[1]+d1*filt3[0]-c1*filt_filt3[0];
      
     
     // DIFFERENCE OF THE SIGNALS AND ABSOLUTE VALUE
@@ -127,9 +123,9 @@
     emg_absA[0]=emg_absA[1];
     emg_absA[1]=fabs(emgA);
     
-    emgB=filt_filt2[1]-filt_filt3[1];
-    emg_absB[0]=emg_absB[1];
-    emg_absB[1]=fabs(emgB);
+    //emgB=filt_filt2[1]-filt_filt3[1];
+    //emg_absB[0]=emg_absB[1];
+    //emg_absB[1]=fabs(emgB);
     
     
     // APPLYING ANOTHER LOW PASS FILTER WITH SUPER LOW CUTOFF FREQUENCY
@@ -137,17 +133,17 @@
     double wcllp=2*pi; // low low pass cutoff frequency
     
     emg_filtA[0]=(emg_absA[0]+emg_absA[1])/2; // we take the mean of the two first values to initialize the signal
-    emg_filtB[0]=(emg_absB[0]+emg_absB[1])/2;  
+    //emg_filtB[0]=(emg_absB[0]+emg_absB[1])/2;  
     
     double k0=(wcllp*T)/(wcllp*T+2);
     double k1=(wcllp*T)/(wcllp*T+2);
     double l1=(wcllp*T-2)/(wcllp*T+2);
      
     emg_filtA[0]=emg_filtA[1];
-    emg_filtB[0]=emg_filtB[1];
+    //emg_filtB[0]=emg_filtB[1];
     
     emg_filtA[1]=k0*emg_absA[1]+k1*emg_absA[0]-l1*emg_filtA[0];
-    emg_filtB[1]=k0*emg_absB[1]+k1*emg_absB[0]-l1*emg_filtB[0];
+    //emg_filtB[1]=k0*emg_absB[1]+k1*emg_absB[0]-l1*emg_filtB[0];
     
     scope.set(1, emg_filtA[1] );
     scope.send();