Richell Booyink / Mbed 2 deprecated EMG_Controlling

EMG controlling calibration + filters biorobotics group 13 BMT

Dependencies:   HIDScope biquadFilter mbed

main.cpp@7:d6416ed1672c, 2015-10-20 (annotated)

Committer:
RichellBooyink
Date:
Tue Oct 20 12:45:00 2015 +0000
Revision:
7:d6416ed1672c
Parent:
6:30698d9be7f8
Child:
8:63a7b61ca2ae
Filters including calibrations works ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RichellBooyink 0:2ded24549b70 1 #include "mbed.h"
RichellBooyink 0:2ded24549b70 2 #include "HIDScope.h"
RichellBooyink 0:2ded24549b70 3
RichellBooyink 4:8db85182a00d 4 AnalogIn EMG_bicepsleft(A0);
RichellBooyink 4:8db85182a00d 5 AnalogIn EMG_bicepsright (A1);
RichellBooyink 4:8db85182a00d 6 AnalogIn EMG_legleft (A2);
RichellBooyink 6:30698d9be7f8 7 AnalogIn EMG_legright (A3);
RichellBooyink 3:61f0fc41f3bc 8 HIDScope scope(4);
RichellBooyink 6:30698d9be7f8 9 Timer cali;
RichellBooyink 7:d6416ed1672c 10 Ticker filter;
RichellBooyink 0:2ded24549b70 11
RichellBooyink 0:2ded24549b70 12 // Filter1 = High pass filter tot 20 Hz
RichellBooyink 0:2ded24549b70 13 double fh1_v1=0, fh1_v2=0, fh2_v1=0, fh2_v2=0;
RichellBooyink 0:2ded24549b70 14 const double fh1_a1=-0.84909054461, fh1_a2=0.00000000000, fh1_b0= 1, fh1_b1=-1, fh1_b2=0;
RichellBooyink 0:2ded24549b70 15 const double fh2_a1=-1.82553264091, fh2_a2=0.85001416809, fh2_b0= 1, fh2_b1=-2, fh2_b2=1;
RichellBooyink 0:2ded24549b70 16 // Filter2 = Low pass filter na 60 Hz
RichellBooyink 0:2ded24549b70 17 double fl1_v1=0, fl1_v2=0, fl2_v1=0, fl2_v2=0;
RichellBooyink 0:2ded24549b70 18 const double fl1_a1=-0.66979455390, fl1_a2=0.00000000000, fl1_b0= 1, fl1_b1=1, fl1_b2=0;
RichellBooyink 0:2ded24549b70 19 const double fl2_a1=-1.55376616139, fl2_a2=0.68023470431, fl2_b0= 1, fl2_b1=2, fl2_b2=1;
RichellBooyink 0:2ded24549b70 20 // Filter3 = Notch filter at 50 Hz
RichellBooyink 0:2ded24549b70 21 double fno1_v1=0, fno1_v2=0, fno2_v1=0, fno2_v2=0, fno3_v1=0, fno3_v2=0;
RichellBooyink 0:2ded24549b70 22 const double fno1_a1 = -1.87934916386, fno1_a2= 0.97731851355, fno1_b0= 1, fno1_b1= -1.90090686046, fno1_b2= 1;
RichellBooyink 0:2ded24549b70 23 const double fno2_a1 = -1.88341028603, fno2_a2= 0.98825147717, fno2_b0= 1, fno2_b1= -1.90090686046, fno2_b2= 1;
RichellBooyink 0:2ded24549b70 24 const double fno3_a1 = -1.89635403726, fno3_a2= 0.98894004849, fno3_b0= 1, fno3_b1= -1.90090686046, fno3_b2= 1;
RichellBooyink 4:8db85182a00d 25 // Filter4 = Lowpass filter at 5 Hz
RichellBooyink 4:8db85182a00d 26 double flp1_v1=0, flp1_v2=0, flp2_v1=0, flp2_v2=0;
RichellBooyink 4:8db85182a00d 27 const double flp1_a1=-0.97922725527, flp1_a2=0.00000000000, flp1_b0= 1, flp1_b1=1, flp1_b2=0;
RichellBooyink 4:8db85182a00d 28 const double flp2_a1=-1.97879353121, flp2_a2=0.97922951943, flp2_b0= 1, flp2_b1=2, flp2_b2=1;
RichellBooyink 6:30698d9be7f8 29 double y1, y2, y3, y4, y5, y6, y7, y8, y9, u1, u2, u3, u4, u5, u6, u7,u8 , u9 ;
RichellBooyink 6:30698d9be7f8 30 double final_filter1, final_filter2, final_filter3, final_filter4;
RichellBooyink 6:30698d9be7f8 31 double fblmax = 0;
RichellBooyink 6:30698d9be7f8 32 double fbrmax = 0;
RichellBooyink 6:30698d9be7f8 33 double fllmax = 0;
RichellBooyink 6:30698d9be7f8 34 double flrmax = 0;
RichellBooyink 6:30698d9be7f8 35
RichellBooyink 6:30698d9be7f8 36 void Calibrations ()
RichellBooyink 6:30698d9be7f8 37 {
RichellBooyink 6:30698d9be7f8 38 cali.start();
RichellBooyink 6:30698d9be7f8 39 while (cali.read()<= 5) {
RichellBooyink 6:30698d9be7f8 40 if (final_filter1 >= fblmax) {
RichellBooyink 6:30698d9be7f8 41 fblmax=final_filter1;
RichellBooyink 6:30698d9be7f8 42 }
RichellBooyink 6:30698d9be7f8 43 if (final_filter2 >= fbrmax) {
RichellBooyink 6:30698d9be7f8 44 fbrmax = final_filter2;
RichellBooyink 6:30698d9be7f8 45 }
RichellBooyink 6:30698d9be7f8 46 if (final_filter3 >= fllmax) {
RichellBooyink 6:30698d9be7f8 47 fllmax=final_filter3;
RichellBooyink 6:30698d9be7f8 48 }
RichellBooyink 6:30698d9be7f8 49 if (final_filter4 >= flrmax) {
RichellBooyink 6:30698d9be7f8 50 flrmax=final_filter4;
RichellBooyink 6:30698d9be7f8 51 }
RichellBooyink 6:30698d9be7f8 52 }
RichellBooyink 6:30698d9be7f8 53 }
RichellBooyink 6:30698d9be7f8 54
RichellBooyink 3:61f0fc41f3bc 55
RichellBooyink 3:61f0fc41f3bc 56 // Standaard formule voor het biquad filter
RichellBooyink 3:61f0fc41f3bc 57 double biquad(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2)
RichellBooyink 3:61f0fc41f3bc 58
RichellBooyink 6:30698d9be7f8 59 {
RichellBooyink 3:61f0fc41f3bc 60 double v = u - a1*v1 - a2*v2;
RichellBooyink 3:61f0fc41f3bc 61 double y = b0*v + b1*v1 + b2*v2;
RichellBooyink 3:61f0fc41f3bc 62 v2=v1;
RichellBooyink 3:61f0fc41f3bc 63 v1=v;
RichellBooyink 3:61f0fc41f3bc 64 return y;
RichellBooyink 3:61f0fc41f3bc 65 }
RichellBooyink 3:61f0fc41f3bc 66
RichellBooyink 5:e78295b978ab 67 void Filters_bicepsleft()
RichellBooyink 0:2ded24549b70 68 {
RichellBooyink 4:8db85182a00d 69 u1 = EMG_bicepsleft.read();
RichellBooyink 2:e3259334299e 70 //Highpass
RichellBooyink 3:61f0fc41f3bc 71 y1 = biquad (u1, fh1_v1, fh1_v2, fh1_a1, fh1_a2, fh1_b0*0.924547, fh1_b1*0.924547, fh1_b2*0.924547);
RichellBooyink 3:61f0fc41f3bc 72 u2 = y1;
RichellBooyink 3:61f0fc41f3bc 73 y2 = biquad (u2, fh2_v1, fh2_v2, fh2_a1, fh2_a2, fh2_b0*0.918885, fh2_b1*0.918885, fh2_b2*0.918885);
RichellBooyink 2:e3259334299e 74 //Lowpass
RichellBooyink 2:e3259334299e 75 u3 = y2;
RichellBooyink 3:61f0fc41f3bc 76 y3 = biquad (u3, fl1_v1, fl1_v2, fl1_a1, fl1_a2, fl1_b0*0.165103, fl1_b1*0.165103, fl1_b2*0.165103);
RichellBooyink 2:e3259334299e 77 u4 = y3;
RichellBooyink 3:61f0fc41f3bc 78 y4 = biquad (u4, fl2_v1, fl2_v2, fl2_a1, fl2_a2, fl2_b0*0.031617, fl2_b1*0.031617, fl2_b2*0.031617);
RichellBooyink 2:e3259334299e 79 // Notch
RichellBooyink 2:e3259334299e 80 u5 = y4;
RichellBooyink 3:61f0fc41f3bc 81 y5 = biquad (u5, fno1_v1, fno1_v2, fno1_a1, fno1_a2, fno1_b0*1.004206, fno1_b1*1.004206, fno1_b2*1.004206);
RichellBooyink 2:e3259334299e 82 u6 = y5;
RichellBooyink 3:61f0fc41f3bc 83 y6 = biquad (u6, fno2_v1, fno2_v2, fno2_a1, fno2_a2, fno2_b0, fno2_b1, fno2_b2);
RichellBooyink 2:e3259334299e 84 u7 = y6;
RichellBooyink 3:61f0fc41f3bc 85 y7 = biquad (u7, fno3_v1, fno3_v2, fno3_a1, fno3_a2, fno3_b0*0.973227, fno3_b1*0.973227, fno3_b2*0.973227);
RichellBooyink 6:30698d9be7f8 86 // Rectify sample
RichellBooyink 4:8db85182a00d 87 y8 = fabs(y7);
RichellBooyink 6:30698d9be7f8 88 // Make it smooth
RichellBooyink 6:30698d9be7f8 89 u8 = y8;
RichellBooyink 4:8db85182a00d 90 y9 = biquad (u8, flp1_v1, flp1_v2, flp1_a1, flp1_a2, flp1_b0* 0.010386, flp1_b1* 0.010386, flp1_b2* 0.010386);
RichellBooyink 4:8db85182a00d 91 u9 = y9;
RichellBooyink 6:30698d9be7f8 92 final_filter1 = biquad(u9, flp2_v1, flp2_v2, flp2_a1, flp2_a2, flp2_b0*0.000109, flp2_b1*0.000109, flp2_b2*0.000109);
RichellBooyink 6:30698d9be7f8 93 }
RichellBooyink 6:30698d9be7f8 94
RichellBooyink 6:30698d9be7f8 95 void Filters_bicepsright()
RichellBooyink 5:e78295b978ab 96 {
RichellBooyink 5:e78295b978ab 97 u1 = EMG_bicepsright.read();
RichellBooyink 5:e78295b978ab 98 //Highpass
RichellBooyink 5:e78295b978ab 99 y1 = biquad (u1, fh1_v1, fh1_v2, fh1_a1, fh1_a2, fh1_b0*0.924547, fh1_b1*0.924547, fh1_b2*0.924547);
RichellBooyink 5:e78295b978ab 100 u2 = y1;
RichellBooyink 5:e78295b978ab 101 y2 = biquad (u2, fh2_v1, fh2_v2, fh2_a1, fh2_a2, fh2_b0*0.918885, fh2_b1*0.918885, fh2_b2*0.918885);
RichellBooyink 5:e78295b978ab 102 //Lowpass
RichellBooyink 5:e78295b978ab 103 u3 = y2;
RichellBooyink 5:e78295b978ab 104 y3 = biquad (u3, fl1_v1, fl1_v2, fl1_a1, fl1_a2, fl1_b0*0.165103, fl1_b1*0.165103, fl1_b2*0.165103);
RichellBooyink 5:e78295b978ab 105 u4 = y3;
RichellBooyink 5:e78295b978ab 106 y4 = biquad (u4, fl2_v1, fl2_v2, fl2_a1, fl2_a2, fl2_b0*0.031617, fl2_b1*0.031617, fl2_b2*0.031617);
RichellBooyink 5:e78295b978ab 107 // Notch
RichellBooyink 5:e78295b978ab 108 u5 = y4;
RichellBooyink 5:e78295b978ab 109 y5 = biquad (u5, fno1_v1, fno1_v2, fno1_a1, fno1_a2, fno1_b0*1.004206, fno1_b1*1.004206, fno1_b2*1.004206);
RichellBooyink 5:e78295b978ab 110 u6 = y5;
RichellBooyink 5:e78295b978ab 111 y6 = biquad (u6, fno2_v1, fno2_v2, fno2_a1, fno2_a2, fno2_b0, fno2_b1, fno2_b2);
RichellBooyink 5:e78295b978ab 112 u7 = y6;
RichellBooyink 5:e78295b978ab 113 y7 = biquad (u7, fno3_v1, fno3_v2, fno3_a1, fno3_a2, fno3_b0*0.973227, fno3_b1*0.973227, fno3_b2*0.973227);
RichellBooyink 6:30698d9be7f8 114 // Rectify sample
RichellBooyink 5:e78295b978ab 115 y8 = fabs(y7);
RichellBooyink 6:30698d9be7f8 116 // Make it smooth
RichellBooyink 6:30698d9be7f8 117 u8 = y8;
RichellBooyink 5:e78295b978ab 118 y9 = biquad (u8, flp1_v1, flp1_v2, flp1_a1, flp1_a2, flp1_b0* 0.010386, flp1_b1* 0.010386, flp1_b2* 0.010386);
RichellBooyink 5:e78295b978ab 119 u9 = y9;
RichellBooyink 6:30698d9be7f8 120 final_filter2 = biquad(u9, flp2_v1, flp2_v2, flp2_a1, flp2_a2, flp2_b0*0.000109, flp2_b1*0.000109, flp2_b2*0.000109);
RichellBooyink 6:30698d9be7f8 121 }
RichellBooyink 6:30698d9be7f8 122 void Filters_legleft()
RichellBooyink 5:e78295b978ab 123 {
RichellBooyink 5:e78295b978ab 124 u1 = EMG_legleft.read();
RichellBooyink 5:e78295b978ab 125 //Highpass
RichellBooyink 5:e78295b978ab 126 y1 = biquad (u1, fh1_v1, fh1_v2, fh1_a1, fh1_a2, fh1_b0*0.924547, fh1_b1*0.924547, fh1_b2*0.924547);
RichellBooyink 5:e78295b978ab 127 u2 = y1;
RichellBooyink 5:e78295b978ab 128 y2 = biquad (u2, fh2_v1, fh2_v2, fh2_a1, fh2_a2, fh2_b0*0.918885, fh2_b1*0.918885, fh2_b2*0.918885);
RichellBooyink 5:e78295b978ab 129 //Lowpass
RichellBooyink 5:e78295b978ab 130 u3 = y2;
RichellBooyink 5:e78295b978ab 131 y3 = biquad (u3, fl1_v1, fl1_v2, fl1_a1, fl1_a2, fl1_b0*0.165103, fl1_b1*0.165103, fl1_b2*0.165103);
RichellBooyink 5:e78295b978ab 132 u4 = y3;
RichellBooyink 5:e78295b978ab 133 y4 = biquad (u4, fl2_v1, fl2_v2, fl2_a1, fl2_a2, fl2_b0*0.031617, fl2_b1*0.031617, fl2_b2*0.031617);
RichellBooyink 5:e78295b978ab 134 // Notch
RichellBooyink 5:e78295b978ab 135 u5 = y4;
RichellBooyink 5:e78295b978ab 136 y5 = biquad (u5, fno1_v1, fno1_v2, fno1_a1, fno1_a2, fno1_b0*1.004206, fno1_b1*1.004206, fno1_b2*1.004206);
RichellBooyink 5:e78295b978ab 137 u6 = y5;
RichellBooyink 5:e78295b978ab 138 y6 = biquad (u6, fno2_v1, fno2_v2, fno2_a1, fno2_a2, fno2_b0, fno2_b1, fno2_b2);
RichellBooyink 5:e78295b978ab 139 u7 = y6;
RichellBooyink 5:e78295b978ab 140 y7 = biquad (u7, fno3_v1, fno3_v2, fno3_a1, fno3_a2, fno3_b0*0.973227, fno3_b1*0.973227, fno3_b2*0.973227);
RichellBooyink 6:30698d9be7f8 141 // Rectify sample
RichellBooyink 5:e78295b978ab 142 y8 = fabs(y7);
RichellBooyink 6:30698d9be7f8 143 // Make it smooth
RichellBooyink 6:30698d9be7f8 144 u8 = y8;
RichellBooyink 5:e78295b978ab 145 y9 = biquad (u8, flp1_v1, flp1_v2, flp1_a1, flp1_a2, flp1_b0* 0.010386, flp1_b1* 0.010386, flp1_b2* 0.010386);
RichellBooyink 5:e78295b978ab 146 u9 = y9;
RichellBooyink 6:30698d9be7f8 147 final_filter3 = biquad(u9, flp2_v1, flp2_v2, flp2_a1, flp2_a2, flp2_b0*0.000109, flp2_b1*0.000109, flp2_b2*0.000109);
RichellBooyink 6:30698d9be7f8 148 }
RichellBooyink 6:30698d9be7f8 149 void Filters_legright()
RichellBooyink 5:e78295b978ab 150 {
RichellBooyink 5:e78295b978ab 151 u1 = EMG_legright.read();
RichellBooyink 5:e78295b978ab 152 //Highpass
RichellBooyink 5:e78295b978ab 153 y1 = biquad (u1, fh1_v1, fh1_v2, fh1_a1, fh1_a2, fh1_b0*0.924547, fh1_b1*0.924547, fh1_b2*0.924547);
RichellBooyink 5:e78295b978ab 154 u2 = y1;
RichellBooyink 5:e78295b978ab 155 y2 = biquad (u2, fh2_v1, fh2_v2, fh2_a1, fh2_a2, fh2_b0*0.918885, fh2_b1*0.918885, fh2_b2*0.918885);
RichellBooyink 5:e78295b978ab 156 //Lowpass
RichellBooyink 5:e78295b978ab 157 u3 = y2;
RichellBooyink 5:e78295b978ab 158 y3 = biquad (u3, fl1_v1, fl1_v2, fl1_a1, fl1_a2, fl1_b0*0.165103, fl1_b1*0.165103, fl1_b2*0.165103);
RichellBooyink 5:e78295b978ab 159 u4 = y3;
RichellBooyink 5:e78295b978ab 160 y4 = biquad (u4, fl2_v1, fl2_v2, fl2_a1, fl2_a2, fl2_b0*0.031617, fl2_b1*0.031617, fl2_b2*0.031617);
RichellBooyink 5:e78295b978ab 161 // Notch
RichellBooyink 5:e78295b978ab 162 u5 = y4;
RichellBooyink 5:e78295b978ab 163 y5 = biquad (u5, fno1_v1, fno1_v2, fno1_a1, fno1_a2, fno1_b0*1.004206, fno1_b1*1.004206, fno1_b2*1.004206);
RichellBooyink 5:e78295b978ab 164 u6 = y5;
RichellBooyink 5:e78295b978ab 165 y6 = biquad (u6, fno2_v1, fno2_v2, fno2_a1, fno2_a2, fno2_b0, fno2_b1, fno2_b2);
RichellBooyink 5:e78295b978ab 166 u7 = y6;
RichellBooyink 5:e78295b978ab 167 y7 = biquad (u7, fno3_v1, fno3_v2, fno3_a1, fno3_a2, fno3_b0*0.973227, fno3_b1*0.973227, fno3_b2*0.973227);
RichellBooyink 6:30698d9be7f8 168 // Rectify sample
RichellBooyink 5:e78295b978ab 169 y8 = fabs(y7);
RichellBooyink 6:30698d9be7f8 170 // Make it smooth
RichellBooyink 6:30698d9be7f8 171 u8 = y8;
RichellBooyink 5:e78295b978ab 172 y9 = biquad (u8, flp1_v1, flp1_v2, flp1_a1, flp1_a2, flp1_b0* 0.010386, flp1_b1* 0.010386, flp1_b2* 0.010386);
RichellBooyink 5:e78295b978ab 173 u9 = y9;
RichellBooyink 6:30698d9be7f8 174 final_filter4 = biquad(u9, flp2_v1, flp2_v2, flp2_a1, flp2_a2, flp2_b0*0.000109, flp2_b1*0.000109, flp2_b2*0.000109);
RichellBooyink 6:30698d9be7f8 175 }
RichellBooyink 5:e78295b978ab 176 // Send signals to HIDScope
RichellBooyink 6:30698d9be7f8 177 void Filters_EMG ()
RichellBooyink 6:30698d9be7f8 178 {
RichellBooyink 6:30698d9be7f8 179 scope.set (0,final_filter1);
RichellBooyink 6:30698d9be7f8 180 scope.set (1,final_filter2);
RichellBooyink 6:30698d9be7f8 181 scope.set (2,final_filter3);
RichellBooyink 6:30698d9be7f8 182 scope.set (3,final_filter4);
RichellBooyink 1:16165e207e70 183 scope.send ();
RichellBooyink 6:30698d9be7f8 184 }
RichellBooyink 6:30698d9be7f8 185
RichellBooyink 0:2ded24549b70 186 int main ()
RichellBooyink 6:30698d9be7f8 187 {
RichellBooyink 7:d6416ed1672c 188 Calibrations();
RichellBooyink 6:30698d9be7f8 189 filter.attach_us(Filters_EMG,1e3);
RichellBooyink 6:30698d9be7f8 190 }
RichellBooyink 0:2ded24549b70 191
RichellBooyink 0:2ded24549b70 192
RichellBooyink 0:2ded24549b70 193
RichellBooyink 2:e3259334299e 194
RichellBooyink 2:e3259334299e 195