File content as of revision 33:fcd4568f1c86:

#include "mbed.h"
#include "HIDScope.h"
#include "BiQuad.h"
#include "MODSERIAL.h"

//Define objects
//Define the button interrupt for the calibration
InterruptIn button_calibrate(PTA4);
InterruptIn button_change_mode(PTC6);

//Define the EMG inputs
AnalogIn    emg1( A0 );
AnalogIn    emg2( A1 );
AnalogIn    emg3( A2 );

//Define the Tickers
Ticker      pos_timer;
Ticker      sample_timer;

HIDScope    scope( 6 );
MODSERIAL pc(USBTX, USBRX);

volatile bool sampletimer = false;
volatile bool buttonflag = false;
volatile bool newcase = false;

double threshold = 0.04;
double samplefreq=0.002;
double emg02;
double emg12;
double emg22;
double ref_x=0.000;
double ref_y=0.000;
double speed=0.00002;
const int negative=-1;
char key;


// create a variable called 'state', define it
typedef enum { STATE_CALIBRATION, STATE_PAUZE, STATE_X, STATE_X_NEG, STATE_Y, STATE_Y_NEG, STATE_XY, STATE_XY_NEG } states;
states mystate = STATE_PAUZE;

//Define the needed Biquad chains
BiQuadChain bqc11;
BiQuadChain bqc13;
BiQuadChain bqc21;
BiQuadChain bqc23;
BiQuadChain bqc31;
BiQuadChain bqc33;

//Define the BiQuads for the filter of the first emg signal
//Notch filter
BiQuad bq111(0.9795,   -1.5849,    0.9795,    1.0000,   -1.5849,    0.9589);
BiQuad bq112(0.9833,   -1.5912,    0.9833,    1.0000,   -1.5793,    0.9787);
BiQuad bq113(0.9957,   -1.6111,    0.9957,    1.0000,   -1.6224,    0.9798);
//High pass filter
BiQuad bq121( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 );
//Low pass filter
BiQuad bq131( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );

//Define the BiQuads for the filter of the second emg signal
//Notch filter
BiQuad bq211 = bq111;
BiQuad bq212 = bq112;
BiQuad bq213 = bq113;
/*  High pass filter*/
BiQuad bq221 = bq121;
/*  Low pass filter*/
BiQuad bq231 = bq131;

//Define the BiQuads for the filter of the third emg signal
//notch filter
BiQuad bq311 = bq111;
BiQuad bq312 = bq112;
BiQuad bq313 = bq113;
//High pass filter
BiQuad bq321 = bq121;
//low pass filter
BiQuad bq331 = bq131;


void sampleflag()
{
    sampletimer=true;
}

void buttonflag_go()
{
    buttonflag=true;
}

void sample(states &mystate)
{
    states myoldstate=mystate;

   // key=pc.getcNb();

    if (pc.readable()==1) {
        key=pc.getc();
        speed=0.000326;
    } else {
        key ='p';
        speed=0.00002;
    }

    /* Read the emg signals and filter it*/

    scope.set(0, emg1.read());    //original signal
    emg02=bqc13.step(fabs(bqc11.step(emg1.read())));
    scope.set(1, emg02);
    /* Read the second emg signal and filter it*/
    scope.set(2, emg2.read());    //original signal
    emg12=bqc23.step(fabs(bqc21.step(emg2.read())));
    scope.set(3, emg12);
    /* Read the third emg signal and filter it*/
    scope.set(4, emg3.read());    //original signal
    emg22=bqc33.step(fabs(bqc31.step(emg3.read())));
    scope.set(5, emg22);

    /*   Ensure that enough channels are available (HIDScope scope( 2 ))
     *   Finally, send all channels to the PC at once */
    scope.send();


    if (emg02>threshold&&emg12>threshold&&emg22>threshold || key=='d') {
        mystate = STATE_XY_NEG;
        ref_x=ref_x+speed*negative;
        ref_y=ref_y+speed*negative;

    } else if (emg02>threshold&&emg12>threshold || key == 'a' ) {
        mystate = STATE_X_NEG;
        ref_x=ref_x+speed*negative;

    } else if (emg02>threshold&&emg22>threshold || key == 's') {
        mystate = STATE_Y_NEG;
        ref_y=ref_y+speed*negative;

    } else if (emg12>threshold&&emg22>threshold || key == 'e' ) {
        mystate = STATE_XY;
        ref_x=ref_x+speed;
        ref_y=ref_y+speed;

    } else if (emg12>threshold || key == 'q' ) {
        mystate = STATE_X;
        ref_x=ref_x+speed;

    } else if (emg22>threshold || key == 'w') {
        mystate = STATE_Y;
        ref_y=ref_y+speed;
    } else {
        mystate = STATE_PAUZE;
    }

    if (buttonflag==true) {
        mystate = STATE_CALIBRATION;
    }

    if (myoldstate==mystate) {
        newcase=false;

    } else {
        newcase=true;
    }
}

void my_pos()
{
    pc.printf("x_pos=%.4f\ty_pos=%.4f\n\r",ref_x,ref_y);

}

void print_state()
{
    if (newcase==true) {
        switch (mystate) {
            case STATE_CALIBRATION : { // calibration
                pc.printf("calibration\n\r");
                break;
            }
            case STATE_X : // run
                pc.printf("X\n\r");
                break;
            case STATE_X_NEG : // run
                pc.printf("Xneg\n\r");
                break;
            case STATE_Y : // execute mode 1
                pc.printf("Y\n\r");
                break;
            case STATE_Y_NEG : // execute mode 1
                pc.printf("Yneg\n\r");
                break;
            case STATE_XY : // execute mode 2
                pc.printf("XY\n\r");
                break;
            case STATE_XY_NEG : // execute mode 2
                pc.printf("XYneg\n\r");
                break;
            case STATE_PAUZE : // default
                pc.printf("PAUZE\n\r");
                break;
        }
    }
}

int main()
{
    pc.printf("RESET\n\r");
    pc.baud(115200);

    //make the Biquad chains
    bqc11.add( &bq111 ).add( &bq112 ).add( &bq113 ).add( &bq121 );
    bqc13.add( &bq131);
    bqc21.add( &bq211 ).add( &bq212 ).add( &bq213 ).add( &bq221 );
    bqc23.add( &bq231);
    bqc31.add( &bq311 ).add( &bq312 ).add( &bq313 ).add( &bq321 );
    bqc33.add( &bq331);
    /*Attach the 'sample' function to the timer 'sample_timer'.
      this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
    */
    sample_timer.attach(&sampleflag, samplefreq);
    button_calibrate.fall(&buttonflag_go);
    pos_timer.attach(&my_pos, 1);

    while(1) {
        if (sampletimer==true) {
            //sample(mystate);
            sample(mystate);
          //  print_state();
            sampletimer = false;
        }
    }
}