main.cpp

00001 #include "mbed.h"
00002 #include "HIDScope.h"
00003 #include "MODSERIAL.h"
00004 #include "biquadFilter.h"
00005 
00006 //Define objects
00007     AnalogIn    EMG_left(A0); //Analog input
00008     AnalogIn    EMG_right(A1);   
00009     Ticker      SampleEMG;
00010     Ticker      ScopeTimer;
00011     Ticker      serial;
00012     HIDScope    scope(3);
00013     DigitalOut led(LED_RED);
00014     MODSERIAL pc(USBTX, USBRX);
00015     
00016 
00017 // Declaring variables
00018     double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0;
00019     double EMG_L_fh=0;
00020     double EMG_left_value;
00021     double EMG_f1;
00022     double EMG_f2;
00023     double Threshold = 0.08;    
00024 
00025 // coëfficiënten
00026     const double BiGainEMG_Lh = 0.723601, BiGainEMG_Ll=0.983892;
00027     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
00028     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
00029     
00030 // Filter creation    
00031     biquadFilter EMG_highpass (EMGh_a1, EMGh_a2, EMGh_b0, EMGh_b1, EMGh_b2);        // creates the high pass filter
00032     biquadFilter EMG_lowpass (EMGl_a1, EMGl_a2, EMGl_b0, EMGl_b1, EMGl_b2);         // creates the low pass filter
00033     
00034 // EMG filtering function
00035 void EMGfilter()
00036 {
00037     EMG_left_value = EMG_left.read();
00038     EMG_f1 = EMG_highpass.step(EMG_left_value);
00039     EMG_f2 = EMG_lowpass.step(EMG_f1);
00040 }
00041 
00042 // HIDScope
00043     void ScopeSend()
00044     {
00045         scope.set(0, EMG_left_value);
00046         scope.set(1, EMG_f1);
00047         scope.set(2, EMG_f2);
00048         scope.send();
00049     }
00050     
00051 // Serial communication
00052     void serial_()
00053     {
00054         pc.baud(115200);
00055         pc.printf("%d\n", EMG_L_fh);
00056     }
00057     
00058 int main()
00059 {
00060     SampleEMG.attach(&EMGfilter, 0.002);
00061     ScopeTimer.attach(&ScopeSend, 0.002);
00062     while(1) 
00063     {
00064         if (fabs(EMG_f2) > Threshold)
00065         {
00066             led.write(0);
00067         }
00068         
00069         else
00070         {
00071             led.write(1);
00072         }
00073     }
00074 }