EMG script met 2e signaal, invalid build system
Dependencies: HIDScope MODSERIAL biquadFilter mbed
Fork of EMG by
main.cpp@24:6661dd6a1718, 2015-10-12 (annotated)
- Committer:
- Margreeth95
- Date:
- Mon Oct 12 09:24:44 2015 +0000
- Revision:
- 24:6661dd6a1718
- Parent:
- 23:624827baffa6
- Child:
- 25:5e9cc994cd1f
Verschillende filters en shifting average toegevoegd
Who changed what in which revision?
User | Revision | Line number | New 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" |
Margreeth95 | 24:6661dd6a1718 | 5 | #include "MAF.h" |
vsluiter | 0:32bb76391d89 | 6 | |
vsluiter | 4:8b298dfada81 | 7 | //Define objects |
Margreeth95 | 18:12250e88037f | 8 | AnalogIn EMG_left(A0); //Analog input |
Margreeth95 | 18:12250e88037f | 9 | AnalogIn EMG_right(A1); |
Margreeth95 | 18:12250e88037f | 10 | Ticker SampleEMG; |
Margreeth95 | 18:12250e88037f | 11 | Ticker ScopeTimer; |
Margreeth95 | 19:34456a1effc4 | 12 | Ticker serial; |
Margreeth95 | 24:6661dd6a1718 | 13 | Ticker MovingAverage; |
Margreeth95 | 24:6661dd6a1718 | 14 | HIDScope scope(6); |
Margreeth95 | 19:34456a1effc4 | 15 | DigitalOut led(LED_RED); |
Margreeth95 | 19:34456a1effc4 | 16 | MODSERIAL pc(USBTX, USBRX); |
Margreeth95 | 19:34456a1effc4 | 17 | |
Margreeth95 | 18:12250e88037f | 18 | |
Margreeth95 | 19:34456a1effc4 | 19 | // Declaring variables |
Margreeth95 | 18:12250e88037f | 20 | double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0; |
Margreeth95 | 19:34456a1effc4 | 21 | double EMG_L_fh=0; |
Margreeth95 | 19:34456a1effc4 | 22 | double EMG_left_value; |
Margreeth95 | 22:207d314523ef | 23 | double EMG_left_f1; |
Margreeth95 | 22:207d314523ef | 24 | double EMG_left_f2; |
Margreeth95 | 24:6661dd6a1718 | 25 | double EMG_left_f3; |
Margreeth95 | 24:6661dd6a1718 | 26 | double EMG_left_f4; |
Margreeth95 | 24:6661dd6a1718 | 27 | double EMG_left_f5; |
Margreeth95 | 24:6661dd6a1718 | 28 | double EMG_left_f6; |
Margreeth95 | 22:207d314523ef | 29 | double EMG_left_abs; |
Margreeth95 | 22:207d314523ef | 30 | double EMG_right_value; |
Margreeth95 | 22:207d314523ef | 31 | double EMG_right_f1; |
Margreeth95 | 22:207d314523ef | 32 | double EMG_right_f2; |
Margreeth95 | 22:207d314523ef | 33 | double EMG_right_abs; |
Margreeth95 | 24:6661dd6a1718 | 34 | double Threshold1 = 0.03; |
Margreeth95 | 24:6661dd6a1718 | 35 | double Threshold2 = 0.06; |
Margreeth95 | 24:6661dd6a1718 | 36 | |
Margreeth95 | 24:6661dd6a1718 | 37 | int N = 20; |
Margreeth95 | 24:6661dd6a1718 | 38 | double MAF_left[20]; |
Margreeth95 | 24:6661dd6a1718 | 39 | double EMG_left_MAF; |
Margreeth95 | 24:6661dd6a1718 | 40 | |
Margreeth95 | 18:12250e88037f | 41 | // coëfficiënten |
Margreeth95 | 24:6661dd6a1718 | 42 | const double BiGainEMG_H1 = 0.795375, BiGainEMG_H2 = 0.895763; |
Margreeth95 | 24:6661dd6a1718 | 43 | const double EMGH1_a1 = -1.56308931068*BiGainEMG_H1, EMGH1_a2 = 0.61765749583*BiGainEMG_H1, EMGH1_b0 = 1.0*BiGainEMG_H1, EMGH1_b1 = -1.99909075151*BiGainEMG_H1, EMGH1_b2 = 1.0*BiGainEMG_H1; //coefficients for high-pass filter |
Margreeth95 | 24:6661dd6a1718 | 44 | const double EMGH2_a1 = -1.75651417587*BiGainEMG_H2, EMGH2_a2 = 0.82183182692*BiGainEMG_H2, 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 | 45 | |
Margreeth95 | 24:6661dd6a1718 | 46 | const double BiGainEMG_L1=0.959332, BiGainEMG_L2 = 0.223396; |
Margreeth95 | 24:6661dd6a1718 | 47 | const double EMGL1_a1 = -1.55576653052*BiGainEMG_L1, EMGL1_a2 = 0.61374320375*BiGainEMG_L1, EMGL1_b0 = 1.0*BiGainEMG_L1, EMGL1_b1 = -0.90928276835*BiGainEMG_L1, EMGL1_b2 = 1.0*BiGainEMG_L1; // coefficients for low-pass filter |
Margreeth95 | 24:6661dd6a1718 | 48 | const double EMGL2_a1 = -1.79696141922*BiGainEMG_L2, EMGL2_a2 = 0.85096669383*BiGainEMG_L2, 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 | 49 | |
Margreeth95 | 24:6661dd6a1718 | 50 | const double BiGainEMG_N1 = 1.0, BiGainEMG_N2 = 0.965081; |
Margreeth95 | 24:6661dd6a1718 | 51 | const double EMGN1_a1 = -1.56858163035*BiGainEMG_N1, EMGN1_a2 = 0.96424138362*BiGainEMG_N1, EMGN1_b0 = 1.0*BiGainEMG_N1, EMGN1_b1 = -1.61854514265*BiGainEMG_N1, EMGN1_b2 = 1.0*BiGainEMG_N1; //coefficients for high-pass filter |
Margreeth95 | 24:6661dd6a1718 | 52 | const double EMGN2_a1 = -1.61100357722*BiGainEMG_N2, EMGN2_a2 = 0.96592170538*BiGainEMG_N2, EMGN2_b0 = 1.0*BiGainEMG_N2, EMGN2_b1 = -1.61854514265*BiGainEMG_N2, EMGN2_b2 = 1.0*BiGainEMG_N2; //coefficients for high-pass filter |
Margreeth95 | 24:6661dd6a1718 | 53 | |
Margreeth95 | 20:a0642e983da9 | 54 | // Filter creation |
Margreeth95 | 24:6661dd6a1718 | 55 | biquadFilter EMG_highpass1 (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter |
Margreeth95 | 24:6661dd6a1718 | 56 | biquadFilter EMG_highpass2 (EMGH2_a1, EMGH2_a2, EMGH2_b0, EMGH2_b1, EMGH2_b2); |
Margreeth95 | 24:6661dd6a1718 | 57 | biquadFilter EMG_lowpass1 (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter |
Margreeth95 | 24:6661dd6a1718 | 58 | biquadFilter EMG_lowpass2 (EMGL2_a1, EMGL2_a2, EMGL2_b0, EMGL2_b1, EMGL2_b2); |
Margreeth95 | 24:6661dd6a1718 | 59 | biquadFilter EMG_notch1 (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter |
Margreeth95 | 24:6661dd6a1718 | 60 | biquadFilter EMG_notch2 (EMGN2_a1, EMGN2_a2, EMGN2_b0, EMGN2_b1, EMGN2_b2); |
Margreeth95 | 24:6661dd6a1718 | 61 | |
Margreeth95 | 19:34456a1effc4 | 62 | // EMG filtering function |
Margreeth95 | 22:207d314523ef | 63 | void EMGfilter() // Both EMG signals are filtered in one function and with the same filters |
Margreeth95 | 19:34456a1effc4 | 64 | { |
Margreeth95 | 19:34456a1effc4 | 65 | EMG_left_value = EMG_left.read(); |
Margreeth95 | 24:6661dd6a1718 | 66 | EMG_left_f1 = EMG_highpass1.step(EMG_left_value); |
Margreeth95 | 24:6661dd6a1718 | 67 | EMG_left_f2 = EMG_highpass2.step(EMG_left_f1); |
Margreeth95 | 22:207d314523ef | 68 | EMG_left_abs = fabs(EMG_left_f2); |
Margreeth95 | 24:6661dd6a1718 | 69 | EMG_left_f3 = EMG_lowpass1.step(EMG_left_abs); |
Margreeth95 | 24:6661dd6a1718 | 70 | EMG_left_f4 = EMG_lowpass2.step(EMG_left_f3); |
Margreeth95 | 24:6661dd6a1718 | 71 | EMG_left_f5 = EMG_notch1.step(EMG_left_f4); |
Margreeth95 | 24:6661dd6a1718 | 72 | EMG_left_f6 = EMG_notch1.step(EMG_left_f5); |
Margreeth95 | 24:6661dd6a1718 | 73 | |
Margreeth95 | 24:6661dd6a1718 | 74 | // EMG_right_value = EMG_right.read(); |
Margreeth95 | 24:6661dd6a1718 | 75 | // EMG_right_f1 = EMG_highpass.step(EMG_right_value); |
Margreeth95 | 24:6661dd6a1718 | 76 | // EMG_right_f1 = EMG_lowpass.step(EMG_right_f1); |
Margreeth95 | 24:6661dd6a1718 | 77 | // EMG_right_abs = fabs(EMG_right_f2); |
Margreeth95 | 19:34456a1effc4 | 78 | } |
vsluiter | 2:e314bb3b2d99 | 79 | |
Margreeth95 | 24:6661dd6a1718 | 80 | // Movingaverage Filter |
Margreeth95 | 24:6661dd6a1718 | 81 | void MovingAverageFilter() |
Margreeth95 | 24:6661dd6a1718 | 82 | { |
Margreeth95 | 24:6661dd6a1718 | 83 | int ArraySum; |
Margreeth95 | 24:6661dd6a1718 | 84 | for (int a = 0; a<N; a++) |
Margreeth95 | 24:6661dd6a1718 | 85 | { |
Margreeth95 | 24:6661dd6a1718 | 86 | ArraySum = ArraySum + MAF_left[a]; |
Margreeth95 | 24:6661dd6a1718 | 87 | } |
Margreeth95 | 24:6661dd6a1718 | 88 | EMG_left_MAF = ArraySum/N; |
Margreeth95 | 24:6661dd6a1718 | 89 | // EMG_left_MAF = (MAF_left[0]+MAF_left[1]+MAF_left[2]+MAF_left[3]+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])/20; |
Margreeth95 | 24:6661dd6a1718 | 90 | MAF_left[19] = MAF_left[18]; |
Margreeth95 | 24:6661dd6a1718 | 91 | MAF_left[18] = MAF_left[17]; |
Margreeth95 | 24:6661dd6a1718 | 92 | MAF_left[17] = MAF_left[16]; |
Margreeth95 | 24:6661dd6a1718 | 93 | MAF_left[16] = MAF_left[15]; |
Margreeth95 | 24:6661dd6a1718 | 94 | MAF_left[15] = MAF_left[14]; |
Margreeth95 | 24:6661dd6a1718 | 95 | MAF_left[14] = MAF_left[13]; |
Margreeth95 | 24:6661dd6a1718 | 96 | MAF_left[13] = MAF_left[12]; |
Margreeth95 | 24:6661dd6a1718 | 97 | MAF_left[12] = MAF_left[11]; |
Margreeth95 | 24:6661dd6a1718 | 98 | MAF_left[11] = MAF_left[10]; |
Margreeth95 | 24:6661dd6a1718 | 99 | MAF_left[10] = MAF_left[9]; |
Margreeth95 | 24:6661dd6a1718 | 100 | MAF_left[9] = MAF_left[8]; |
Margreeth95 | 24:6661dd6a1718 | 101 | MAF_left[8] = MAF_left[7]; |
Margreeth95 | 24:6661dd6a1718 | 102 | MAF_left[7] = MAF_left[6]; |
Margreeth95 | 24:6661dd6a1718 | 103 | MAF_left[6] = MAF_left[5]; |
Margreeth95 | 24:6661dd6a1718 | 104 | MAF_left[5] = MAF_left[4]; |
Margreeth95 | 24:6661dd6a1718 | 105 | MAF_left[4] = MAF_left[3]; |
Margreeth95 | 24:6661dd6a1718 | 106 | MAF_left[3] = MAF_left[2]; |
Margreeth95 | 24:6661dd6a1718 | 107 | MAF_left[2] = MAF_left[1]; |
Margreeth95 | 24:6661dd6a1718 | 108 | 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 | 18:12250e88037f | 112 | // HIDScope |
Margreeth95 | 18:12250e88037f | 113 | void ScopeSend() |
Margreeth95 | 18:12250e88037f | 114 | { |
Margreeth95 | 19:34456a1effc4 | 115 | scope.set(0, EMG_left_value); |
Margreeth95 | 24:6661dd6a1718 | 116 | scope.set(1, EMG_left_f2); |
Margreeth95 | 24:6661dd6a1718 | 117 | scope.set(2, EMG_left_abs); |
Margreeth95 | 24:6661dd6a1718 | 118 | scope.set(3, EMG_left_f4); |
Margreeth95 | 24:6661dd6a1718 | 119 | scope.set(4, EMG_left_f6); |
Margreeth95 | 24:6661dd6a1718 | 120 | scope.set(5, EMG_left_MAF); |
Margreeth95 | 18:12250e88037f | 121 | scope.send(); |
Margreeth95 | 18:12250e88037f | 122 | } |
Margreeth95 | 18:12250e88037f | 123 | |
vsluiter | 0:32bb76391d89 | 124 | int main() |
vsluiter | 0:32bb76391d89 | 125 | { |
Margreeth95 | 18:12250e88037f | 126 | SampleEMG.attach(&EMGfilter, 0.002); |
Margreeth95 | 18:12250e88037f | 127 | ScopeTimer.attach(&ScopeSend, 0.002); |
Margreeth95 | 24:6661dd6a1718 | 128 | MovingAverage.attach(&MovingAverageFilter, 0.002); |
Margreeth95 | 19:34456a1effc4 | 129 | while(1) |
Margreeth95 | 19:34456a1effc4 | 130 | { |
Margreeth95 | 24:6661dd6a1718 | 131 | if (EMG_left_f6 > Threshold1) |
Margreeth95 | 19:34456a1effc4 | 132 | { |
Margreeth95 | 19:34456a1effc4 | 133 | led.write(0); |
Margreeth95 | 19:34456a1effc4 | 134 | } |
Margreeth95 | 19:34456a1effc4 | 135 | |
Margreeth95 | 19:34456a1effc4 | 136 | else |
Margreeth95 | 19:34456a1effc4 | 137 | { |
Margreeth95 | 19:34456a1effc4 | 138 | led.write(1); |
Margreeth95 | 19:34456a1effc4 | 139 | } |
Margreeth95 | 19:34456a1effc4 | 140 | } |
vsluiter | 0:32bb76391d89 | 141 | } |