Diff: main.cpp

Revision:

19:34456a1effc4

Parent:

18:12250e88037f

Child:

20:a0642e983da9

--- a/main.cpp	Tue Oct 06 14:38:12 2015 +0000
+++ b/main.cpp	Wed Oct 07 18:26:10 2015 +0000
@@ -1,48 +1,71 @@
 #include "mbed.h"
 #include "HIDScope.h"
+#include "MODSERIAL.h"
+#include "biquadFilter.h"
 
 //Define objects
     AnalogIn    EMG_left(A0); //Analog input
     AnalogIn    EMG_right(A1);   
     Ticker      SampleEMG;
     Ticker      ScopeTimer;
-    HIDScope    scope(1);
+    Ticker      serial;
+    HIDScope    scope(3);
+    DigitalOut led(LED_RED);
+    MODSERIAL pc(USBTX, USBRX);
+    
 
-// constant values
+// Declaring variables
     double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0;
+    double EMG_L_fh=0;
+    double EMG_left_value;
+    double EMG_f1;
+    double EMG_f2;    
 
 // coëfficiënten
-    const double BiGainEMG_Lh = 1, BiGainEMG_Ll=1;
-    const double EMG_L_fh_a1 = -0.96608908283*BiGainEMG_Lh, EMG_L_fh_a2 = 0.0*BiGainEMG_Lh, EMG_L_fh_b0 = 1.0*BiGainEMG_Lh, EMG_L_fh_b1 = 1.0*BiGainEMG_Lh, EMG_L_fh_b2 = 0.0*BiGainEMG_Lh; //coefficients for high-pass filter
-    const double EMG_L_fl_a1 = -0.96608908283*BiGainEMG_Ll, EMG_L_fl_a2 = 0.0*BiGainEMG_Ll, EMG_L_fl_b0 = 1.0*BiGainEMG_Ll, EMG_L_fl_b1 = 1.0*BiGainEMG_Ll, EMG_L_fl_b2 = 0.0*BiGainEMG_Ll; // coefficients for low-pass filter
+    const double BiGainEMG_Lh = 0.723601, BiGainEMG_Ll=0.983892;
+    const double EMGh_a1 = -1.74355513773*BiGainEMG_Lh, EMGh_a2 = 0.80079826172*BiGainEMG_Lh, EMGh_b0 = 1.0*BiGainEMG_Lh, EMGh_b1 = -1.99697722433*BiGainEMG_Lh, EMGh_b2 = 1.0*BiGainEMG_Lh; //coefficients for high-pass filter
+    const double EMGl_a1 = 1.96775103303*BiGainEMG_Ll, EMGl_a2 = 0.96827054038*BiGainEMG_Ll, EMGl_b0 = 1.0*BiGainEMG_Ll, EMGl_b1 = 1.99999993582*BiGainEMG_Ll, EMGl_b2 = 1.0*BiGainEMG_Ll; // coefficients for low-pass filter
+    biquadFilter EMG_highpass (EMGh_a1, EMGh_a2, EMGh_b0, EMGh_b1, EMGh_b2);        // creates the high pass filter
+    biquadFilter EMG_lowpass (EMGl_a1, EMGl_a2, EMGl_b0, EMGl_b1, EMGl_b2);         // creates the low pass filter
+    
+// EMG filtering function
+void EMGfilter()
+{
+    EMG_left_value = EMG_left.read();
+    EMG_f1 = EMG_highpass.step(EMG_left_value);
+    EMG_f2 = EMG_lowpass.step(EMG_f1);
+}
 
 // HIDScope
     void ScopeSend()
     {
-        scope.set(0, EMG_left.read());
+        scope.set(0, EMG_left_value);
+        scope.set(1, EMG_f1);
+        scope.set(2, EMG_f2);
         scope.send();
     }
     
-// Biquad filter
-    double biquad( double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2 )
+// Serial communication
+    void serial_()
     {
-        double v = u - a1*v1 - a2*v2;
-        double y = b0*v + b1*v1 + b2*v2;
-        v2 = v1; v1 = v;
-        return y;
+        pc.baud(115200);
+        pc.printf("%d\n", EMG_L_fh);
     }
-            
-// EMG filtering function
-void EMGfilter()
-{
-    double EMG_left_value = EMG_left.read();
-    double EMG_L_fh = biquad(EMG_left_value, EMG_L_f_v1, EMG_L_f_v2, EMG_L_fh_a1, EMG_L_fh_a2, EMG_L_fh_b0, EMG_L_fh_b1, EMG_L_fh_b2); 
-    double EMG_L_fhl = biquad(EMG_L_fh, EMG_L_f_v1, EMG_L_f_v2, EMG_L_fl_a1, EMG_L_fl_a2, EMG_L_fl_b0, EMG_L_fl_b1, EMG_L_fl_b2); 
-}
-
+    
 int main()
 {
     SampleEMG.attach(&EMGfilter, 0.002);
     ScopeTimer.attach(&ScopeSend, 0.002);
-    while(1) {}
+    while(1) 
+    {
+        if (EMG_f2 > 0.08)
+        {
+            led.write(0);
+        }
+        
+        else
+        {
+            led.write(1);
+        }
+    }
 }
\ No newline at end of file