De EMG Lowpass maakt alle signalen gelijk
Dependencies: HIDScope biquadFilter mbed
Fork of EMGfilter by
Diff: main.cpp
- Revision:
- 7:a928724ef731
- Parent:
- 6:da06585e106c
- Child:
- 8:dc0858fead9f
- Child:
- 9:81637351bbd1
--- a/main.cpp Tue Oct 25 20:38:53 2016 +0000 +++ b/main.cpp Thu Oct 27 09:57:26 2016 +0000 @@ -8,31 +8,25 @@ states state = STATE_DEFAULT; //Creating two scope channels -HIDScope scope(3); - -//Low-pass filter at 200Hz to avoid alliasing -BiQuadChain low_pass_200; -BiQuad bq1( 0.73638326364, 1.47272205824, 0.73638326364, 1.36239603912, 0.48048795767); -BiQuad bq2( 0.83856791742, 1.67684080778, 0.83856791742, 1.68114429812, 0.7942832489); +HIDScope scope(4); //Notch filter BiQuadChain notch_50; -BiQuad bq3( 1.00007369335,-1.61815834791, 1.00007369335, -1.60983662066, 0.98986119869); -BiQuad bq4( 1.00000000000,-1.61803910919, 1.00000000000, -1.60936554071, 0.99545624832); -BiQuad bq5( 0.99035034846,-1.60242559561, 0.99035034846, -1.61934542233, 0.9955088075); +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 bq6( 0.83315051810,-1.66630103620, 0.83315051810, -1.55025104412, 0.60696783282); -BiQuad bq7( 0.86554941044,-1.73109882088, 0.86554941044, -1.74142633961, 0.78400451004); -BiQuad bq8( 0.92490714701,-1.84981429401, 0.92490714701, -1.90032503529, 0.9352152620); +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( 0.00040400257, 0.00080800515, 0.00040400257,-1.92223307595, 0.92384908624); -BiQuad bq10( 0.00040816681, 0.00081633362, 0.00040816681,-1.94204639240, 0.94367905964); -BiQuad bq11( 0.00041558628, 0.00083117256, 0.00041558628,-1.97734803172, 0.9790103768); - +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; @@ -60,7 +54,7 @@ double min_emg[3]; double max_emg[3]; -const int n = 200; +const int n = 100; int counter = 0; double RMSArray0[n] = {0}; double RMSArray1[n] = {0}; @@ -97,15 +91,14 @@ int main() { //combine biquads in biquad chains for notch/high- low-pass filters - low_pass_200.add( &bq1 ).add( &bq2 ); notch_50.add( &bq3 ).add( &bq4 ).add( &bq5 ); - high_pass.add( &bq6 ).add( &bq7 ).add( &bq8 ); + high_pass.add( &bq6 ).add( &bq7 ); low_pass.add( &bq9 ).add( &bq10 ).add( &bq11 ); led.write(1); change_state.attach( &calibrate,5); change_state2.attach( &run,15); - emgSampleTicker.attach( &emgSample, 0.002); + emgSampleTicker.attach( &emgSample, 0.005); //200Hz while( true ){ if(go_emgSample == true){ EMG_filter(); @@ -121,19 +114,14 @@ emg_sample[1] = emg1.read(); emg_sample[2] = emg2.read(); - for (int i = 0; i < 3; i++){ - //low pass at 200Hz to avoid alliasing - emg_low_passed_200[i] = low_pass_200.step(emg_sample[i]); - - //filter out the 50Hz components with a notch filter - emg_notch[i] = notch_50.step(emg_low_passed_200[i]); + //filter out the 50Hz components with a notch filter + emg_notch[0] = notch_50.step(emg_sample[0]); - //high pass the signal (removing motion artifacts and offset) - emg_high_passed[i] = high_pass.step(emg_notch[i]); + //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[i] = low_pass.step(fabs(emg_high_passed[i])); - } + //low pass the rectified emg signal + emg_low_passed[0] = low_pass.step(fabs(emg_high_passed[0])); //Calculating RMS SumRMS0 -= pow(RMSArray0[counter],2); @@ -203,8 +191,10 @@ //Send scope data scope.set(0,emg_sample[0]); - scope.set(1,RMS0); - scope.set(2,emg_low_passed[0]); + scope.set(1,emg_notch[0]); + scope.set(2,emg_high_passed[0]); + scope.set(3,emg_low_passed[0]); + //scope.set(2,emg_low_passed[0]); //scope.set(3,input_force2); scope.send();