Nahuel Manterola
/
EMG_Controller_5
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Dependencies: HIDScope QEI biquadFilter mbed
Fork of
EMG_Controller
by 
Pascal van Baardwijk
Diff: emg.h
- Revision:
- 9:1cb2d5ab51e6
- Parent:
- 6:6cb7c0247560
- Child:
- 10:25d7600d1e38
--- a/emg.h Wed Oct 26 07:59:31 2016 +0000
+++ b/emg.h Thu Oct 27 11:46:55 2016 +0000
@@ -8,29 +8,35 @@
states state = STATE_DEFAULT;
//Creating two scope channels
-//HIDScope scope(2);
+//HIDScope scope(4);
//Notch filter
BiQuadChain notch_50;
-BiQuad bq1( 1.00000000000, -1.60956348896, 1.00000000000, -1.40195621505, 0.74203282402);
-BiQuad bq2( 1.00000000000, -1.60724786352, 1.00000000000, -1.33646101015, 0.85967899264);
-BiQuad bq3( 1.00000000000, -1.61186693071, 1.00000000000, -1.64415455961, 0.89726621230);
+BiQuad bq3( 0.98116526140, 0.00000000044, 0.98116526140, 0.00000000043, 0.95391787621);
+BiQuad bq4( 0.97224232015, 0.00000000043, 0.97224232015, -0.04036799459, 0.97670000725);
+BiQuad bq5( 1.00000000000, 0.00000000044, 1.00000000000, 0.04036799547, 0.9767000072);
//High pass filter
BiQuadChain high_pass;
-BiQuad bq4( 1.00000000000, -1.99999967822, 1.00000000000, -1.98388291862, 0.98395921205);
-BiQuad bq5( 1.00000000000, -1.99999812453, 1.00000000000, -1.99324612474, 0.99332432675);
+BiQuad bq6( 0.80254782780,-1.60509565560, 0.80254782780, -1.58011656361, 0.63006219630);
+BiQuad bq7( 0.90006571973,-1.80013143945, 0.900065719734, -1.77213098592, 0.8281459694);
+//BiQuad bq8( 0.92490714701,-1.84981429401, 0.92490714701, -1.90032503529, 0.9352152620);
+//Low pass filter
+BiQuadChain low_pass;
+BiQuad bq9( 0.00801840797, 0.01603681594, 0.00801840797,-1.65212256130, 0.68416767240);
+BiQuad bq10( 0.00836524486, 0.01673048973, 0.00836524486,-1.72511837232, 0.75857933411);
+BiQuad bq11( 0.00905039996, 0.01810079992, 0.00905039996,-1.86807725180, 0.9043110909);
//Ticker
Ticker emgSampleTicker;
//Timeout to change state after 5 seconds
Timeout change_state;
-//Timeout to change state after 10 seconds
+//Timeout to change state after 15 seconds
Timeout change_state2;
-//led
+//LED
DigitalOut led(LED_RED);
//Emg input
@@ -38,27 +44,19 @@
AnalogIn emg1( A1 );
AnalogIn emg2( A2 );
+//Go flag for emg sample
bool go_emgSample;
-bool go_find_minmax;
+
+//Variables for intermediate filter values
double emg_sample[3];
+double emg_low_passed_200[3];
double emg_notch[3];
double emg_high_passed[3];
-double emg_rectified;
+double emg_low_passed[3];
double min_emg[3];
double max_emg[3];
-const int n = 200;
-int counter = 0;
-double RMSArray0[n] = {0};
-double RMSArray1[n] = {0};
-double RMSArray2[n] = {0};
-double RMS0;
-double RMS1;
-double RMS2;
-double SumRMS0;
-double SumRMS1;
-double SumRMS2;
-
+//Calculating normalized outputs
double Norm_EMG_0;
double Norm_EMG_1;
double Norm_EMG_2;
@@ -71,8 +69,8 @@
}
void calibrate() {
- state = STATE_CALIBRATION;
- led.write(0);
+ state = STATE_CALIBRATION;
+ led.write(0);
}
void run() {
@@ -81,22 +79,6 @@
}
void EMG_filter();
-/*
-int main() {
- //combine biquads in biquad chains for notch/high- low-pass filters
- notch_50.add( &bq1 ).add( &bq2 ).add( &bq3 );
- high_pass.add( &bq4 ).add( &bq5 );
-
- change_state.attach( &calibrate,5);
- change_state2.attach( &run,10);
- emgSampleTicker.attach( &emgSample, 0.002);
- while( true ){
- if(go_emgSample == true){
- EMG_filter();
- }
- }
-}
-*/
void EMG_filter() {
if(go_emgSample == true){
@@ -105,84 +87,66 @@
emg_sample[1] = emg1.read();
emg_sample[2] = emg2.read();
- for (int i = 0; i < 3; i++){
- //filter out the 50Hz components with a notch filter
- //emg_notch[i] = notch_50.step(emg_sample[i]);
-
- //high pass the signal (removing motion artifacts and offset)
- emg_high_passed[i] = high_pass.step(emg_sample[i]);
- }
-
- //Calculating RMS
- SumRMS0 -= pow(RMSArray0[counter],2);
- SumRMS1 -= pow(RMSArray1[counter],2);
- SumRMS2 -= pow(RMSArray2[counter],2);
+ //filter out the 50Hz components with a notch filter
+ emg_notch[0] = notch_50.step(emg_sample[0]);
- RMSArray0[counter] = emg_high_passed[0];
- RMSArray1[counter] = emg_high_passed[1];
- RMSArray2[counter] = emg_high_passed[2];
-
- SumRMS0 += pow(RMSArray0[counter],2);
- SumRMS1 += pow(RMSArray1[counter],2);
- SumRMS2 += pow(RMSArray2[counter],2);
+ //high pass the signal (removing motion artifacts and offset)
+ emg_high_passed[0] = high_pass.step(emg_notch[0]);
+
+ //low pass the rectified emg signal
+ emg_low_passed[0] = low_pass.step(fabs(emg_high_passed[0]));
- counter++;
- if (counter == n){
- counter = 0;
- }
-
- RMS0 = sqrt(SumRMS0/n);
- RMS1 = sqrt(SumRMS1/n);
- RMS2 = sqrt(SumRMS2/n);
//Calculating min value and max value of emg signal
if(state == STATE_CALIBRATION)
{
if (start_calibration == 0) {
- min_emg[0] = RMS0;
- max_emg[0] = RMS0;
- min_emg[1] = RMS1;
- max_emg[1] = RMS1;
- min_emg[2] = RMS2;
- max_emg[2] = RMS2;
+ min_emg[0] = emg_low_passed[0];
+ max_emg[0] = emg_low_passed[0];
+ min_emg[1] = emg_low_passed[1];
+ max_emg[1] = emg_low_passed[1];
+ min_emg[2] = emg_low_passed[2];
+ max_emg[2] = emg_low_passed[2];
start_calibration++;
}
else {
//finding min and max of emg0
- if (RMS0 < min_emg[0]) {
- min_emg[0] = RMS0;
+ if (emg_low_passed[0] < min_emg[0]) {
+ min_emg[0] = emg_low_passed[0];
}
- else if (RMS0 > max_emg[0]) {
- max_emg[0] = RMS0;
+ else if (emg_low_passed[0] > max_emg[0]) {
+ max_emg[0] = emg_low_passed[0];
}
//finding min and max of emg1
- if (RMS1 < min_emg[1]) {
- min_emg[1] = RMS1;
+ if (emg_low_passed[1] < min_emg[1]) {
+ min_emg[1] = emg_low_passed[1];
}
- else if (RMS1 > max_emg[1]) {
- max_emg[1] = RMS1;
+ else if (emg_low_passed[1] > max_emg[1]) {
+ max_emg[1] = emg_low_passed[1];
}
//finding min and max of emg2
- if (RMS2 < min_emg[2]) {
- min_emg[2] = RMS2;
+ if (emg_low_passed[2] < min_emg[2]) {
+ min_emg[2] = emg_low_passed[2];
}
- else if (RMS2 > max_emg[2]) {
- max_emg[2] = RMS2;
+ else if (emg_low_passed[2] > max_emg[2]) {
+ max_emg[2] = emg_low_passed[2];
}
}
}
//calculating input_forces for controller
- Norm_EMG_0 = (RMS0 - min_emg[0])/(max_emg[0]-min_emg[0]);
- Norm_EMG_1 = (RMS1 - min_emg[1])/(max_emg[1]-min_emg[1]);
- Norm_EMG_2 = (RMS2 - min_emg[2])/(max_emg[2]-min_emg[2]);
+ Norm_EMG_0 = (emg_low_passed[0] - min_emg[0])/(max_emg[0]-min_emg[0]);
+ Norm_EMG_1 = (emg_low_passed[1] - min_emg[1])/(max_emg[1]-min_emg[1]);
+ Norm_EMG_2 = (emg_low_passed[2] - min_emg[2])/(max_emg[2]-min_emg[2]);
//Send scope data
- // scope.set(0,emg_sample[0]);
- //scope.set(1,Norm_EMG_0);
- //scope.set(2,input_force1);
+ //scope.set(0,emg_sample[0]);
+ //scope.set(1,emg_notch[0]);
+ //scope.set(2,emg_high_passed[0]);
+ //scope.set(3,input_force0);
+ //scope.set(2,emg_low_passed[0]);
//scope.set(3,input_force2);
//scope.send();