main.cpp

00001 #include "mbed.h"
00002 #include "HIDScope.h"
00003 #include "BiQuad.h"
00004 #include "BiQuad4.h"
00005 #include "FilterDesign.h"
00006 #include "FilterDesign2.h"
00007 
00008 // This part of the code is used for filtering the two EMG signals and determining if the robot has to move.
00009 
00010 //Define objects
00011 AnalogIn    emg1_raw( A0 );
00012 AnalogIn    emg2_raw( A1 );
00013 DigitalOut  ledr(LED_RED);
00014 DigitalOut  ledg(LED_GREEN);
00015 
00016 Ticker      sample_EMGtoHIDscope;   //Used to send to hidscope
00017 HIDScope    scope(4);       //Number of channels which needs to be send to the HIDScope
00018    
00019 int need_to_move_1;          // Does the robot needs to move in the first direction?
00020 int need_to_move_2;          // Does the robot needs to move in the second direction?
00021 double EMG_calibrated_max_1 = 2.00000;  // Maximum value of the first EMG signal found in the calibration state.
00022 double EMG_calibrated_max_2 = 2.00000;  // Maximum value of the second EMG signal found in the calibration state.
00023 
00024 float threshold_EMG = 0.25;         // Threshold on 25 percent of the maximum EMG
00025 
00026 double emg1_filtered = 0.00;
00027 double emg2_filtered = 0.00;
00028 
00029 
00030 // Sample: samples the EMG and sends it to HIDScope
00031 void sample()
00032 {
00033     emg1_filtered = FilterDesign(emg1_raw.read());
00034     emg2_filtered = FilterDesign2(emg2_raw.read());
00035     
00036     scope.set(0, emg1_raw.read());      // Raw EMG 1 send to scope 0
00037     scope.set(1, emg1_filtered);        // Filtered EMG 1 send to scope 1
00038     scope.set(2, emg2_raw.read());      // Raw EMG 2 send to scope 2
00039     scope.set(3, emg2_filtered);        // Filtered EMG 2 send to scope 3
00040     scope.send();                       // Send the data to the computer
00041 }
00042 
00043 int main()
00044 {   
00045     // Attach the 'sample' function to the timer 'sample_timer'. Frequency is 50 Hz.
00046     sample_EMGtoHIDscope.attach(&sample, 0.02f);
00047     
00048     while(1) {
00049         if (emg1_filtered >= (threshold_EMG*EMG_calibrated_max_1)){
00050             need_to_move_1 = 1; // The robot does have to move
00051             ledr = 1;           // Red LED off
00052             ledg = 0;           // Green LED on
00053             }
00054         else {
00055             need_to_move_1 = 0; // If the robot does not have to move
00056             ledr = 0;           // Red LED on 
00057             ledg = 1;           // Green LED off
00058             }
00059 
00060         if(emg2_filtered >= threshold*EMG_calibrated_max_2){
00061             need_to_move_2 = 1;
00062             ledr = 0;
00063             ledg = 1;
00064             }
00065         else {
00066             need_to_move_2 = 0;
00067             ledr = 1;
00068             ledg = 0;
00069             }
00070         }
00071 }