Margreeth de Breij / Mbed 2 deprecated EMGV3

EMG script met 2e signaal, invalid build system

Dependencies:   HIDScope MODSERIAL biquadFilter mbed

Fork of EMG by Margreeth de Breij

main.cpp@28:38d21b78c6aa, 2015-10-14 (annotated)

Committer:
Margreeth95
Date:
Wed Oct 14 12:28:49 2015 +0000
Revision:
28:38d21b78c6aa
Parent:
27:aa5ffd7227a5 
EMG programma

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
Margreeth95 19:34456a1effc4 3 #include "MODSERIAL.h"
Margreeth95 19:34456a1effc4 4 #include "biquadFilter.h"
vsluiter 0:32bb76391d89 5
vsluiter 4:8b298dfada81 6 //Define objects
Margreeth95 18:12250e88037f 7 AnalogIn EMG_left(A0); //Analog input
Margreeth95 18:12250e88037f 8 AnalogIn EMG_right(A1);
Margreeth95 27:aa5ffd7227a5 9 Ticker SampleEMGLeft;
Margreeth95 27:aa5ffd7227a5 10 Ticker SampleEMGRight;
Margreeth95 18:12250e88037f 11 Ticker ScopeTimer;
Margreeth95 19:34456a1effc4 12 Ticker serial;
Margreeth95 27:aa5ffd7227a5 13 Ticker MovingAverageLeft;
Margreeth95 27:aa5ffd7227a5 14 Ticker MovingAverageRight;
Margreeth95 27:aa5ffd7227a5 15 HIDScope scope(4);
Margreeth95 19:34456a1effc4 16 DigitalOut led(LED_RED);
Margreeth95 19:34456a1effc4 17 MODSERIAL pc(USBTX, USBRX);
Margreeth95 19:34456a1effc4 18
Margreeth95 18:12250e88037f 19
Margreeth95 19:34456a1effc4 20 // Declaring variables
Margreeth95 18:12250e88037f 21 double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0;
Margreeth95 19:34456a1effc4 22 double EMG_L_fh=0;
Margreeth95 19:34456a1effc4 23 double EMG_left_value;
Margreeth95 22:207d314523ef 24 double EMG_left_f1;
Margreeth95 22:207d314523ef 25 double EMG_left_f2;
Margreeth95 24:6661dd6a1718 26 double EMG_left_f3;
Margreeth95 24:6661dd6a1718 27 double EMG_left_f4;
Margreeth95 24:6661dd6a1718 28 double EMG_left_f5;
Margreeth95 24:6661dd6a1718 29 double EMG_left_f6;
Margreeth95 22:207d314523ef 30 double EMG_left_abs;
Margreeth95 27:aa5ffd7227a5 31
Margreeth95 22:207d314523ef 32 double EMG_right_value;
Margreeth95 22:207d314523ef 33 double EMG_right_f1;
Margreeth95 22:207d314523ef 34 double EMG_right_f2;
Margreeth95 25:5e9cc994cd1f 35 double EMG_right_f3;
Margreeth95 25:5e9cc994cd1f 36 double EMG_right_f4;
Margreeth95 25:5e9cc994cd1f 37 double EMG_right_f5;
Margreeth95 25:5e9cc994cd1f 38 double EMG_right_f6;
Margreeth95 22:207d314523ef 39 double EMG_right_abs;
Margreeth95 25:5e9cc994cd1f 40 double Threshold1 = 0.02;
Margreeth95 24:6661dd6a1718 41 double Threshold2 = 0.06;
Margreeth95 24:6661dd6a1718 42
Margreeth95 25:5e9cc994cd1f 43 int N = 50;
Margreeth95 25:5e9cc994cd1f 44 double MAF_left[50];
Margreeth95 24:6661dd6a1718 45 double EMG_left_MAF;
Margreeth95 27:aa5ffd7227a5 46 double MAF_right[50];
Margreeth95 27:aa5ffd7227a5 47 double EMG_right_MAF;
Margreeth95 24:6661dd6a1718 48
Margreeth95 18:12250e88037f 49 // coëfficiënten
Margreeth95 24:6661dd6a1718 50 const double BiGainEMG_H1 = 0.795375, BiGainEMG_H2 = 0.895763;
Margreeth95 27:aa5ffd7227a5 51 const double EMGH1_a1 = -1.56308931068, EMGH1_a2 = 0.61765749583, EMGH1_b0 = 1.0*BiGainEMG_H1, EMGH1_b1 = -1.99909075151*BiGainEMG_H1, EMGH1_b2 = 1.0*BiGainEMG_H1; //coefficients for high-pass filter
Margreeth95 27:aa5ffd7227a5 52 const double EMGH2_a1 = -1.75651417587, EMGH2_a2 = 0.82183182692, EMGH2_b0 = 1.0*BiGainEMG_H2, EMGH2_b1 = -1.99470632157*BiGainEMG_H2, EMGH2_b2 = 1.0*BiGainEMG_H2; //coefficients for high-pass filter
Margreeth95 24:6661dd6a1718 53
Margreeth95 24:6661dd6a1718 54 const double BiGainEMG_L1=0.959332, BiGainEMG_L2 = 0.223396;
Margreeth95 27:aa5ffd7227a5 55 const double EMGL1_a1 = -1.55576653052, EMGL1_a2 = 0.61374320375, EMGL1_b0 = 1.0*BiGainEMG_L1, EMGL1_b1 = -0.90928276835*BiGainEMG_L1, EMGL1_b2 = 1.0*BiGainEMG_L1; // coefficients for low-pass filter
Margreeth95 27:aa5ffd7227a5 56 const double EMGL2_a1 = -1.79696141922, EMGL2_a2 = 0.85096669383, EMGL2_b0 = 1.0*BiGainEMG_L2, EMGL2_b1 = -1.75825311060*BiGainEMG_L2, EMGL2_b2 = 1.0*BiGainEMG_L2; // coefficients for low-pass filter
Margreeth95 24:6661dd6a1718 57
Margreeth95 24:6661dd6a1718 58 const double BiGainEMG_N1 = 1.0, BiGainEMG_N2 = 0.965081;
Margreeth95 27:aa5ffd7227a5 59 const double EMGN1_a1 = -1.56858163035, EMGN1_a2 = 0.96424138362, EMGN1_b0 = 1.0*BiGainEMG_N1, EMGN1_b1 = -1.61854514265*BiGainEMG_N1, EMGN1_b2 = 1.0*BiGainEMG_N1; //coefficients for notch filter
Margreeth95 27:aa5ffd7227a5 60 const double EMGN2_a1 = -1.61100357722, EMGN2_a2 = 0.96592170538, EMGN2_b0 = 1.0*BiGainEMG_N2, EMGN2_b1 = -1.61854514265*BiGainEMG_N2, EMGN2_b2 = 1.0*BiGainEMG_N2; //coefficients for notch filter
Margreeth95 24:6661dd6a1718 61
Margreeth95 20:a0642e983da9 62 // Filter creation
Margreeth95 24:6661dd6a1718 63 biquadFilter EMG_highpass1 (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter
Margreeth95 24:6661dd6a1718 64 biquadFilter EMG_highpass2 (EMGH2_a1, EMGH2_a2, EMGH2_b0, EMGH2_b1, EMGH2_b2);
Margreeth95 24:6661dd6a1718 65 biquadFilter EMG_lowpass1 (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter
Margreeth95 24:6661dd6a1718 66 biquadFilter EMG_lowpass2 (EMGL2_a1, EMGL2_a2, EMGL2_b0, EMGL2_b1, EMGL2_b2);
Margreeth95 24:6661dd6a1718 67 biquadFilter EMG_notch1 (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter
Margreeth95 24:6661dd6a1718 68 biquadFilter EMG_notch2 (EMGN2_a1, EMGN2_a2, EMGN2_b0, EMGN2_b1, EMGN2_b2);
Margreeth95 27:aa5ffd7227a5 69
Margreeth95 27:aa5ffd7227a5 70 biquadFilter EMG_highpass1R (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter
Margreeth95 27:aa5ffd7227a5 71 biquadFilter EMG_highpass2R (EMGH2_a1, EMGH2_a2, EMGH2_b0, EMGH2_b1, EMGH2_b2);
Margreeth95 27:aa5ffd7227a5 72 biquadFilter EMG_lowpass1R (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter
Margreeth95 27:aa5ffd7227a5 73 biquadFilter EMG_lowpass2R (EMGL2_a1, EMGL2_a2, EMGL2_b0, EMGL2_b1, EMGL2_b2);
Margreeth95 27:aa5ffd7227a5 74 biquadFilter EMG_notch1R (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter
Margreeth95 27:aa5ffd7227a5 75 biquadFilter EMG_notch2R (EMGN2_a1, EMGN2_a2, EMGN2_b0, EMGN2_b1, EMGN2_b2);
Margreeth95 27:aa5ffd7227a5 76
Margreeth95 19:34456a1effc4 77 // EMG filtering function
Margreeth95 27:aa5ffd7227a5 78 void EMGfilterLeft()
Margreeth95 19:34456a1effc4 79 {
Margreeth95 19:34456a1effc4 80 EMG_left_value = EMG_left.read();
Margreeth95 24:6661dd6a1718 81 EMG_left_f1 = EMG_highpass1.step(EMG_left_value);
Margreeth95 24:6661dd6a1718 82 EMG_left_f2 = EMG_highpass2.step(EMG_left_f1);
Margreeth95 22:207d314523ef 83 EMG_left_abs = fabs(EMG_left_f2);
Margreeth95 24:6661dd6a1718 84 EMG_left_f3 = EMG_lowpass1.step(EMG_left_abs);
Margreeth95 24:6661dd6a1718 85 EMG_left_f4 = EMG_lowpass2.step(EMG_left_f3);
Margreeth95 24:6661dd6a1718 86 EMG_left_f5 = EMG_notch1.step(EMG_left_f4);
Margreeth95 24:6661dd6a1718 87 EMG_left_f6 = EMG_notch1.step(EMG_left_f5);
Margreeth95 27:aa5ffd7227a5 88
Margreeth95 27:aa5ffd7227a5 89 }
Margreeth95 27:aa5ffd7227a5 90
Margreeth95 27:aa5ffd7227a5 91 void EMGfilterRight()
Margreeth95 27:aa5ffd7227a5 92 {
Margreeth95 25:5e9cc994cd1f 93 EMG_right_value = EMG_right.read();
Margreeth95 27:aa5ffd7227a5 94 EMG_right_f1 = EMG_highpass1R.step(EMG_right_value);
Margreeth95 27:aa5ffd7227a5 95 EMG_right_f2 = EMG_highpass2R.step(EMG_right_f1);
Margreeth95 25:5e9cc994cd1f 96 EMG_right_abs = fabs(EMG_right_f2);
Margreeth95 27:aa5ffd7227a5 97 EMG_right_f3 = EMG_lowpass1R.step(EMG_right_abs);
Margreeth95 27:aa5ffd7227a5 98 EMG_right_f4 = EMG_lowpass2R.step(EMG_right_f3);
Margreeth95 27:aa5ffd7227a5 99 EMG_right_f5 = EMG_notch1R.step(EMG_right_f4);
Margreeth95 27:aa5ffd7227a5 100 EMG_right_f6 = EMG_notch1R.step(EMG_right_f5);
Margreeth95 19:34456a1effc4 101 }
vsluiter 2:e314bb3b2d99 102
Margreeth95 24:6661dd6a1718 103 // Movingaverage Filter
Margreeth95 27:aa5ffd7227a5 104 void MovingAverageFilterLeft()
Margreeth95 24:6661dd6a1718 105 {
Margreeth95 25:5e9cc994cd1f 106 EMG_left_MAF = (MAF_left[0]+MAF_left[1]+MAF_left[2]+MAF_left[3]+MAF_left[4]+MAF_left[5]+MAF_left[6]+MAF_left[7]+MAF_left[8]+MAF_left[9]+MAF_left[10]+MAF_left[11]+MAF_left[12]+MAF_left[13]+MAF_left[14]+MAF_left[15]+MAF_left[16]+MAF_left[17]+MAF_left[18]+MAF_left[19]+MAF_left[20]+MAF_left[21]+MAF_left[22]+MAF_left[23]+MAF_left[24]+MAF_left[25]+MAF_left[26]+MAF_left[27]+MAF_left[28]+MAF_left[29]+MAF_left[30]+MAF_left[31]+MAF_left[32]+MAF_left[33]+MAF_left[34]+MAF_left[35]+MAF_left[36]+MAF_left[37]+MAF_left[38]+MAF_left[39]+MAF_left[40]+MAF_left[41]+MAF_left[42]+MAF_left[43]+MAF_left[44]+MAF_left[45]+MAF_left[46]+MAF_left[47]+MAF_left[48]+MAF_left[49])/N;
Margreeth95 28:38d21b78c6aa 107 MAF_left[49] = MAF_left[48], MAF_left[48] = MAF_left[47], MAF_left[47] = MAF_left[46], MAF_left[46] = MAF_left[45], MAF_left[45] = MAF_left[44], MAF_left[44] = MAF_left[43], MAF_left[43] = MAF_left[42], MAF_left[42] = MAF_left[41], MAF_left[41] = MAF_left[40], MAF_left[40] = MAF_left[39], MAF_left[39] = MAF_left[38], MAF_left[38] = MAF_left[37], MAF_left[37] = MAF_left[36], MAF_left[36] = MAF_left[35], MAF_left[35] = MAF_left[34], MAF_left[34] = MAF_left[33], MAF_left[33] = MAF_left[32], MAF_left[32] = MAF_left[31], MAF_left[31] = MAF_left[30], MAF_left[30] = MAF_left[29], MAF_left[29] = MAF_left[28], MAF_left[28] = MAF_left[27], MAF_left[27] = MAF_left[26], MAF_left[26] = MAF_left[25];
Margreeth95 28:38d21b78c6aa 108 MAF_left[25] = MAF_left[24], MAF_left[24] = MAF_left[23], MAF_left[23] = MAF_left[22], MAF_left[22] = MAF_left[21], MAF_left[21] = MAF_left[20], MAF_left[20] = MAF_left[19], MAF_left[19] = MAF_left[18], MAF_left[18] = MAF_left[17], MAF_left[17] = MAF_left[16], MAF_left[16] = MAF_left[15], MAF_left[15] = MAF_left[14], MAF_left[14] = MAF_left[13], MAF_left[13] = MAF_left[12], MAF_left[12] = MAF_left[11], MAF_left[11] = MAF_left[10], MAF_left[10] = MAF_left[9], MAF_left[9] = MAF_left[8], MAF_left[8] = MAF_left[7], MAF_left[7] = MAF_left[6], MAF_left[6] = MAF_left[5], MAF_left[5] = MAF_left[4], MAF_left[4] = MAF_left[3], MAF_left[3] = MAF_left[2], MAF_left[2] = MAF_left[1], MAF_left[1] = MAF_left[0];
Margreeth95 24:6661dd6a1718 109 MAF_left[0] = EMG_left_f6;
Margreeth95 24:6661dd6a1718 110 }
Margreeth95 24:6661dd6a1718 111
Margreeth95 27:aa5ffd7227a5 112 void MovingAverageFilterRight()
Margreeth95 27:aa5ffd7227a5 113 {
Margreeth95 27:aa5ffd7227a5 114 EMG_right_MAF = (MAF_right[0]+MAF_right[1]+MAF_right[2]+MAF_right[3]+MAF_right[4]+MAF_right[5]+MAF_right[6]+MAF_right[7]+MAF_right[8]+MAF_right[9]+MAF_right[10]+MAF_right[11]+MAF_right[12]+MAF_right[13]+MAF_right[14]+MAF_right[15]+MAF_right[16]+MAF_right[17]+MAF_right[18]+MAF_right[19]+MAF_right[20]+MAF_right[21]+MAF_right[22]+MAF_right[23]+MAF_right[24]+MAF_right[25]+MAF_right[26]+MAF_right[27]+MAF_right[28]+MAF_right[29]+MAF_right[30]+MAF_right[31]+MAF_right[32]+MAF_right[33]+MAF_right[34]+MAF_right[35]+MAF_right[36]+MAF_right[37]+MAF_right[38]+MAF_right[39]+MAF_right[40]+MAF_right[41]+MAF_right[42]+MAF_right[43]+MAF_right[44]+MAF_right[45]+MAF_right[46]+MAF_right[47]+MAF_right[48]+MAF_right[49])/N;
Margreeth95 28:38d21b78c6aa 115 MAF_right[49] = MAF_right[48], MAF_right[48] = MAF_right[47], MAF_right[47] = MAF_right[46], MAF_right[46] = MAF_right[45], MAF_right[45] = MAF_right[44], MAF_right[44] = MAF_right[43], MAF_right[43] = MAF_right[42], MAF_right[42] = MAF_right[41], MAF_right[41] = MAF_right[40], MAF_right[40] = MAF_right[39], MAF_right[39] = MAF_right[38], MAF_right[38] = MAF_right[37], MAF_right[37] = MAF_right[36], MAF_right[36] = MAF_right[35], MAF_right[35] = MAF_right[34], MAF_right[34] = MAF_right[33], MAF_right[33] = MAF_right[32], MAF_right[32] = MAF_right[31], MAF_right[31] = MAF_right[30], MAF_right[30] = MAF_right[29], MAF_right[29] = MAF_right[28], MAF_right[28] = MAF_right[27], MAF_right[27] = MAF_right[26], MAF_right[26] = MAF_right[25];
Margreeth95 28:38d21b78c6aa 116 MAF_right[25] = MAF_right[24], MAF_right[24] = MAF_right[23], MAF_right[23] = MAF_right[22], MAF_right[22] = MAF_right[21], MAF_right[21] = MAF_right[20], MAF_right[20] = MAF_right[19], MAF_right[19] = MAF_right[18], MAF_right[18] = MAF_right[17], MAF_right[17] = MAF_right[16], MAF_right[16] = MAF_right[15], MAF_right[15] = MAF_right[14], MAF_right[14] = MAF_right[13], MAF_right[13] = MAF_right[12], MAF_right[12] = MAF_right[11], MAF_right[11] = MAF_right[10], MAF_right[10] = MAF_right[9], MAF_right[9] = MAF_right[8], MAF_right[8] = MAF_right[7], MAF_right[7] = MAF_right[6], MAF_right[6] = MAF_right[5], MAF_right[5] = MAF_right[4], MAF_right[4] = MAF_right[3], MAF_right[3] = MAF_right[2], MAF_right[2] = MAF_right[1], MAF_right[1] = MAF_right[0];
Margreeth95 27:aa5ffd7227a5 117 MAF_right[0] = EMG_right_f6;
Margreeth95 27:aa5ffd7227a5 118 }
Margreeth95 27:aa5ffd7227a5 119
Margreeth95 27:aa5ffd7227a5 120
Margreeth95 18:12250e88037f 121 // HIDScope
Margreeth95 18:12250e88037f 122 void ScopeSend()
Margreeth95 18:12250e88037f 123 {
Margreeth95 19:34456a1effc4 124 scope.set(0, EMG_left_value);
Margreeth95 25:5e9cc994cd1f 125 scope.set(1, EMG_left_MAF);
Margreeth95 25:5e9cc994cd1f 126 scope.set(2, EMG_right_value);
Margreeth95 27:aa5ffd7227a5 127 scope.set(3, EMG_right_MAF);
Margreeth95 18:12250e88037f 128 scope.send();
Margreeth95 18:12250e88037f 129 }
Margreeth95 18:12250e88037f 130
vsluiter 0:32bb76391d89 131 int main()
vsluiter 0:32bb76391d89 132 {
Margreeth95 27:aa5ffd7227a5 133 SampleEMGLeft.attach(&EMGfilterLeft, 0.002);
Margreeth95 27:aa5ffd7227a5 134 SampleEMGRight.attach(&EMGfilterRight, 0.002);
Margreeth95 18:12250e88037f 135 ScopeTimer.attach(&ScopeSend, 0.002);
Margreeth95 27:aa5ffd7227a5 136 MovingAverageLeft.attach(&MovingAverageFilterLeft, 0.005);
Margreeth95 27:aa5ffd7227a5 137 MovingAverageRight.attach(&MovingAverageFilterRight, 0.005);
Margreeth95 19:34456a1effc4 138 while(1)
Margreeth95 19:34456a1effc4 139 {
Margreeth95 24:6661dd6a1718 140 if (EMG_left_f6 > Threshold1)
Margreeth95 19:34456a1effc4 141 {
Margreeth95 19:34456a1effc4 142 led.write(0);
Margreeth95 19:34456a1effc4 143 }
Margreeth95 19:34456a1effc4 144
Margreeth95 19:34456a1effc4 145 else
Margreeth95 19:34456a1effc4 146 {
Margreeth95 19:34456a1effc4 147 led.write(1);
Margreeth95 19:34456a1effc4 148 }
Margreeth95 19:34456a1effc4 149 }
vsluiter 0:32bb76391d89 150 }