File content as of revision 5:b400209df739:

#include "mbed.h"
#include "HIDScope.h"
#include "encoder.h"
#include "Filter.h"
#include "Meanvalue.h"
#include "Filterdesigns.h"

AnalogIn    emg(A0); //Analog input van emg kabels
Ticker      EMGticker;
HIDScope    scope(3); //2 scopes

// constante variabelen:

//Sample frequentie
double Fs = 500; //Hz
double t = 1/ Fs; // voor EMGticker

double gem = 0.4557; // gemiddelde waarde emgsignaal

//gemiddelde bepalen
double sum = 0;
double ymean = 0;
int a = 0;
int delay = 40;


// Filter1a: 50Hz Notch
double v1_50a = 0, v2_50a = 0;
const double a1_50a = -1.56858163817, a2_50a = 0.96424138921;
const double b0_50a = 1.00000000000, b1_50a = -1.61854514265, b2_50a = 1.00000000000;
const double gain_50a = 1.000000;

// Filter1b: 50Hz Notch
double v1_50b = 0, v2_50b = 0;
const double a1_50b = -1.61100357834, a2_50b = 0.96592171046;
const double b0_50b = 1.00000000000, b1_50b = -1.61854514265, b2_50b = 1.00000000000;
const double gain_50b = 0.965081;


// Filter1: 20Hz HighPass
double v1_HP = 0, v2_HP = 0;
const double a1_HP = -0.76475499450, a2_HP = 0.27692273367;
const double b0_HP = 1.00000000000, b1_HP = -2.00000000000, b2_HP = 1.00000000000;
const double gain_HP = 0.510419;

// Filter1: 5Hz LowPass
double v1_LP = 0, v2_LP = 0;
const double a1_LP = -1.16338171052, a2_LP = 0.42191097989;
const double b0_LP = 1.00000000000, b1_LP = 2.00000000000, b2_LP = 1.00000000000;
const double gain_LP = 0.064632;

void EMGfilter()
{
    //u = input waarde
    //y = output waarde

    double u = emg.read() - gem; // lees waarde van emg signaal uit
    
    // Op deze manier worden de waardes ingelezen in Filter. Zorg dus voor dezelfde volgorde, zodat de waardes goed uitgelezen worden!:
    // Filter(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2, const double gain)
    
    // 50Hz Notch filter
    double y50a = Filter(u, v1_50a, v2_50a, a1_50a, a2_50a, b0_50a, b1_50a, b2_50a, gain_50a);
    double y50b = Filter(y50a, v1_50b, v2_50b, a1_50b, a2_50b, b0_50b, b1_50b, b2_50b, gain_50b);
    
    // High Pass filter. Tot 20Hz wordt weggefliterd
    double yHP = Filter(y50b, v1_HP, v2_HP, a1_HP, a2_HP, b0_HP, b1_HP, b2_HP, gain_HP);
    
    // Absolute waarde wordt genomen.
    double y1 = fabs(yHP);
    
    // Low Pass filter. Alles vanaf 5Hz wordt weggefilterd 
    double yLP = Filter(y1, v1_LP, v2_LP, a1_LP, a2_LP, b0_LP, b1_LP, b2_LP, gain_LP);
    
    double y = 10 * yLP;
    
    double ymean = Meanvalue(y, sum, a, ymean, delay);
    
    // Plotten in HIDscope
    scope.set(0,u); //ongefilterde waarde naar scope 1
    scope.set(1,y); //gefilterde waarde naar scope 2
    scope.set(2,ymean); // gefilterde en gemiddelde waarde naar scope 3
    scope.send(); //stuur de waardes naar HIDscope
}


int main(){
    EMGticker.attach(&EMGfilter, t); //500Hz
    while(1){}
    }