Het totale EMG script
Dependencies: HIDScope MODSERIAL biquadFilter mbed
Fork of EMGV5 by
main.cpp
- Committer:
- Margreeth95
- Date:
- 2015-10-13
- Revision:
- 27:aa5ffd7227a5
- Parent:
- 26:4c867b04c0d8
- Child:
- 28:38d21b78c6aa
File content as of revision 27:aa5ffd7227a5:
#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 SampleEMGLeft; Ticker SampleEMGRight; Ticker ScopeTimer; Ticker serial; Ticker MovingAverageLeft; Ticker MovingAverageRight; HIDScope scope(4); DigitalOut led(LED_RED); MODSERIAL pc(USBTX, USBRX); // Declaring variables double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0; double EMG_L_fh=0; double EMG_left_value; double EMG_left_f1; double EMG_left_f2; double EMG_left_f3; double EMG_left_f4; double EMG_left_f5; double EMG_left_f6; double EMG_left_abs; double EMG_right_value; double EMG_right_f1; double EMG_right_f2; double EMG_right_f3; double EMG_right_f4; double EMG_right_f5; double EMG_right_f6; double EMG_right_abs; double Threshold1 = 0.02; double Threshold2 = 0.06; int N = 50; double MAF_left[50]; double EMG_left_MAF; double MAF_right[50]; double EMG_right_MAF; // coëfficiënten const double BiGainEMG_H1 = 0.795375, BiGainEMG_H2 = 0.895763; 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 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 const double BiGainEMG_L1=0.959332, BiGainEMG_L2 = 0.223396; 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 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 const double BiGainEMG_N1 = 1.0, BiGainEMG_N2 = 0.965081; 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 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 // Filter creation biquadFilter EMG_highpass1 (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter biquadFilter EMG_highpass2 (EMGH2_a1, EMGH2_a2, EMGH2_b0, EMGH2_b1, EMGH2_b2); biquadFilter EMG_lowpass1 (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter biquadFilter EMG_lowpass2 (EMGL2_a1, EMGL2_a2, EMGL2_b0, EMGL2_b1, EMGL2_b2); biquadFilter EMG_notch1 (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter biquadFilter EMG_notch2 (EMGN2_a1, EMGN2_a2, EMGN2_b0, EMGN2_b1, EMGN2_b2); biquadFilter EMG_highpass1R (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter biquadFilter EMG_highpass2R (EMGH2_a1, EMGH2_a2, EMGH2_b0, EMGH2_b1, EMGH2_b2); biquadFilter EMG_lowpass1R (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter biquadFilter EMG_lowpass2R (EMGL2_a1, EMGL2_a2, EMGL2_b0, EMGL2_b1, EMGL2_b2); biquadFilter EMG_notch1R (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter biquadFilter EMG_notch2R (EMGN2_a1, EMGN2_a2, EMGN2_b0, EMGN2_b1, EMGN2_b2); // EMG filtering function void EMGfilterLeft() { EMG_left_value = EMG_left.read(); EMG_left_f1 = EMG_highpass1.step(EMG_left_value); EMG_left_f2 = EMG_highpass2.step(EMG_left_f1); EMG_left_abs = fabs(EMG_left_f2); EMG_left_f3 = EMG_lowpass1.step(EMG_left_abs); EMG_left_f4 = EMG_lowpass2.step(EMG_left_f3); EMG_left_f5 = EMG_notch1.step(EMG_left_f4); EMG_left_f6 = EMG_notch1.step(EMG_left_f5); } void EMGfilterRight() { EMG_right_value = EMG_right.read(); EMG_right_f1 = EMG_highpass1R.step(EMG_right_value); EMG_right_f2 = EMG_highpass2R.step(EMG_right_f1); EMG_right_abs = fabs(EMG_right_f2); EMG_right_f3 = EMG_lowpass1R.step(EMG_right_abs); EMG_right_f4 = EMG_lowpass2R.step(EMG_right_f3); EMG_right_f5 = EMG_notch1R.step(EMG_right_f4); EMG_right_f6 = EMG_notch1R.step(EMG_right_f5); } // Movingaverage Filter void MovingAverageFilterLeft() { 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; 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]; 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]; MAF_left[0] = EMG_left_f6; } void MovingAverageFilterRight() { 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; 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]; 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]; MAF_right[0] = EMG_right_f6; } // HIDScope void ScopeSend() { scope.set(0, EMG_left_value); scope.set(1, EMG_left_MAF); scope.set(2, EMG_right_value); scope.set(3, EMG_right_MAF); scope.send(); } int main() { SampleEMGLeft.attach(&EMGfilterLeft, 0.002); SampleEMGRight.attach(&EMGfilterRight, 0.002); ScopeTimer.attach(&ScopeSend, 0.002); MovingAverageLeft.attach(&MovingAverageFilterLeft, 0.005); MovingAverageRight.attach(&MovingAverageFilterRight, 0.005); while(1) { if (EMG_left_f6 > Threshold1) { led.write(0); } else { led.write(1); } } }