Het totale EMG script
Dependencies: HIDScope MODSERIAL biquadFilter mbed
Fork of EMGV5 by
main.cpp@22:207d314523ef, 2015-10-08 (annotated)
- Committer:
- Margreeth95
- Date:
- Thu Oct 08 17:47:14 2015 +0000
- Revision:
- 22:207d314523ef
- Parent:
- 20:a0642e983da9
- Child:
- 23:624827baffa6
2e EMG signaal toegevoegd, filterco?ffici?nten laagdoorlaatfilter aangepast. Nog niet getest.
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" |
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 | 18:12250e88037f | 9 | Ticker SampleEMG; |
Margreeth95 | 18:12250e88037f | 10 | Ticker ScopeTimer; |
Margreeth95 | 19:34456a1effc4 | 11 | Ticker serial; |
Margreeth95 | 22:207d314523ef | 12 | HIDScope scope(5); |
Margreeth95 | 19:34456a1effc4 | 13 | DigitalOut led(LED_RED); |
Margreeth95 | 19:34456a1effc4 | 14 | MODSERIAL pc(USBTX, USBRX); |
Margreeth95 | 19:34456a1effc4 | 15 | |
Margreeth95 | 18:12250e88037f | 16 | |
Margreeth95 | 19:34456a1effc4 | 17 | // Declaring variables |
Margreeth95 | 18:12250e88037f | 18 | double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0; |
Margreeth95 | 19:34456a1effc4 | 19 | double EMG_L_fh=0; |
Margreeth95 | 19:34456a1effc4 | 20 | double EMG_left_value; |
Margreeth95 | 22:207d314523ef | 21 | double EMG_left_f1; |
Margreeth95 | 22:207d314523ef | 22 | double EMG_left_f2; |
Margreeth95 | 22:207d314523ef | 23 | double EMG_left_abs; |
Margreeth95 | 22:207d314523ef | 24 | double EMG_right_value; |
Margreeth95 | 22:207d314523ef | 25 | double EMG_right_f1; |
Margreeth95 | 22:207d314523ef | 26 | double EMG_right_f2; |
Margreeth95 | 22:207d314523ef | 27 | double EMG_right_abs; |
Margreeth95 | 22:207d314523ef | 28 | double Threshold1 = 0.08; |
Margreeth95 | 22:207d314523ef | 29 | double Threshold2 = 0.06 |
Margreeth95 | 18:12250e88037f | 30 | |
Margreeth95 | 18:12250e88037f | 31 | // coëfficiënten |
Margreeth95 | 22:207d314523ef | 32 | const double BiGainEMG_Lh = 0.723601, BiGainEMG_Ll=0.959332; |
Margreeth95 | 22:207d314523ef | 33 | const double EMGh_a1 = -1.74355513773*BiGainEMG_Lh, EMGh_a2 = 0.80079826172*BiGainEMG_Lh, EMGh_b0 = 1.0*BiGainEMG_Lh, EMGh_b1 = 1.99999965990*BiGainEMG_Lh, EMGh_b2 = 1.0*BiGainEMG_Lh; //coefficients for high-pass filter |
Margreeth95 | 22:207d314523ef | 34 | const double EMGl_a1 = 1.91721405106*BiGainEMG_Ll, EMGl_a2 = 0.92055427516*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 |
Margreeth95 | 20:a0642e983da9 | 35 | |
Margreeth95 | 20:a0642e983da9 | 36 | // Filter creation |
Margreeth95 | 19:34456a1effc4 | 37 | biquadFilter EMG_highpass (EMGh_a1, EMGh_a2, EMGh_b0, EMGh_b1, EMGh_b2); // creates the high pass filter |
Margreeth95 | 19:34456a1effc4 | 38 | biquadFilter EMG_lowpass (EMGl_a1, EMGl_a2, EMGl_b0, EMGl_b1, EMGl_b2); // creates the low pass filter |
Margreeth95 | 19:34456a1effc4 | 39 | |
Margreeth95 | 19:34456a1effc4 | 40 | // EMG filtering function |
Margreeth95 | 22:207d314523ef | 41 | void EMGfilter() // Both EMG signals are filtered in one function and with the same filters |
Margreeth95 | 19:34456a1effc4 | 42 | { |
Margreeth95 | 19:34456a1effc4 | 43 | EMG_left_value = EMG_left.read(); |
Margreeth95 | 22:207d314523ef | 44 | EMG_left_f1 = EMG_highpass.step(EMG_left_value); |
Margreeth95 | 22:207d314523ef | 45 | EMG_left_f2 = EMG_lowpass.step(EMG_left_f1); |
Margreeth95 | 22:207d314523ef | 46 | EMG_left_abs = fabs(EMG_left_f2); |
Margreeth95 | 22:207d314523ef | 47 | |
Margreeth95 | 22:207d314523ef | 48 | EMG_right_value = EMG_right.read(); |
Margreeth95 | 22:207d314523ef | 49 | EMG_right_f1 = EMG_highpass.step(EMG_right_value); |
Margreeth95 | 22:207d314523ef | 50 | EMG_right_f1 = EMG_lowpass.step(EMG_right_f1); |
Margreeth95 | 22:207d314523ef | 51 | EMG_right_abs = fabs(EMG_right_f2); |
Margreeth95 | 19:34456a1effc4 | 52 | } |
vsluiter | 2:e314bb3b2d99 | 53 | |
Margreeth95 | 18:12250e88037f | 54 | // HIDScope |
Margreeth95 | 18:12250e88037f | 55 | void ScopeSend() |
Margreeth95 | 18:12250e88037f | 56 | { |
Margreeth95 | 19:34456a1effc4 | 57 | scope.set(0, EMG_left_value); |
Margreeth95 | 22:207d314523ef | 58 | scope.set(1, EMG_left_f2); |
Margreeth95 | 22:207d314523ef | 59 | scope.set(2, EMG_left_abs); |
Margreeth95 | 22:207d314523ef | 60 | scope.set(3, EMG_right_value); |
Margreeth95 | 22:207d314523ef | 61 | scope.set(4, EMG_right_abs); |
Margreeth95 | 18:12250e88037f | 62 | scope.send(); |
Margreeth95 | 18:12250e88037f | 63 | } |
Margreeth95 | 18:12250e88037f | 64 | |
vsluiter | 0:32bb76391d89 | 65 | int main() |
vsluiter | 0:32bb76391d89 | 66 | { |
Margreeth95 | 18:12250e88037f | 67 | SampleEMG.attach(&EMGfilter, 0.002); |
Margreeth95 | 18:12250e88037f | 68 | ScopeTimer.attach(&ScopeSend, 0.002); |
Margreeth95 | 19:34456a1effc4 | 69 | while(1) |
Margreeth95 | 19:34456a1effc4 | 70 | { |
Margreeth95 | 22:207d314523ef | 71 | if (EMG_left_abs > Threshold) |
Margreeth95 | 19:34456a1effc4 | 72 | { |
Margreeth95 | 19:34456a1effc4 | 73 | led.write(0); |
Margreeth95 | 19:34456a1effc4 | 74 | } |
Margreeth95 | 19:34456a1effc4 | 75 | |
Margreeth95 | 19:34456a1effc4 | 76 | else |
Margreeth95 | 19:34456a1effc4 | 77 | { |
Margreeth95 | 19:34456a1effc4 | 78 | led.write(1); |
Margreeth95 | 19:34456a1effc4 | 79 | } |
Margreeth95 | 19:34456a1effc4 | 80 | } |
vsluiter | 0:32bb76391d89 | 81 | } |