Richell Booyink / Mbed 2 deprecated EMG_Controlling

EMG controlling calibration + filters biorobotics group 13 BMT

Dependencies:   HIDScope biquadFilter mbed

main.cpp@2:e3259334299e, 2015-10-19 (annotated)

Committer:
RichellBooyink
Date:
Mon Oct 19 13:23:10 2015 +0000
Revision:
2:e3259334299e
Parent:
1:16165e207e70
Child:
3:61f0fc41f3bc
Made the input of the biquad the output of the previous biquad. So y1=u2

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 1:16165e207e70 4 AnalogIn EMG(A0);
RichellBooyink 1:16165e207e70 5 HIDScope scope (3);
RichellBooyink 1:16165e207e70 6
RichellBooyink 0:2ded24549b70 7 // Standaard formule voor het biquad filter
RichellBooyink 0:2ded24549b70 8 double biquad(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2)
RichellBooyink 0:2ded24549b70 9
RichellBooyink 2:e3259334299e 10 {
RichellBooyink 0:2ded24549b70 11 double v = u - a1*v1 - a2*v2;
RichellBooyink 0:2ded24549b70 12 double y = b0*v + b1*v1 + b2*v2;
RichellBooyink 0:2ded24549b70 13 v2=v1;
RichellBooyink 0:2ded24549b70 14 v1=v;
RichellBooyink 0:2ded24549b70 15 return y;
RichellBooyink 0:2ded24549b70 16 }
RichellBooyink 0:2ded24549b70 17 // Filter1 = High pass filter tot 20 Hz
RichellBooyink 0:2ded24549b70 18 double fh1_v1=0, fh1_v2=0, fh2_v1=0, fh2_v2=0;
RichellBooyink 0:2ded24549b70 19 const double fh1_a1=-0.84909054461, fh1_a2=0.00000000000, fh1_b0= 1, fh1_b1=-1, fh1_b2=0;
RichellBooyink 0:2ded24549b70 20 const double fh2_a1=-1.82553264091, fh2_a2=0.85001416809, fh2_b0= 1, fh2_b1=-2, fh2_b2=1;
RichellBooyink 0:2ded24549b70 21 // Filter2 = Low pass filter na 60 Hz
RichellBooyink 0:2ded24549b70 22 double fl1_v1=0, fl1_v2=0, fl2_v1=0, fl2_v2=0;
RichellBooyink 0:2ded24549b70 23 const double fl1_a1=-0.66979455390, fl1_a2=0.00000000000, fl1_b0= 1, fl1_b1=1, fl1_b2=0;
RichellBooyink 0:2ded24549b70 24 const double fl2_a1=-1.55376616139, fl2_a2=0.68023470431, fl2_b0= 1, fl2_b1=2, fl2_b2=1;
RichellBooyink 0:2ded24549b70 25 // Filter3 = Notch filter at 50 Hz
RichellBooyink 0:2ded24549b70 26 double fno1_v1=0, fno1_v2=0, fno2_v1=0, fno2_v2=0, fno3_v1=0, fno3_v2=0;
RichellBooyink 0:2ded24549b70 27 const double fno1_a1 = -1.87934916386, fno1_a2= 0.97731851355, fno1_b0= 1, fno1_b1= -1.90090686046, fno1_b2= 1;
RichellBooyink 0:2ded24549b70 28 const double fno2_a1 = -1.88341028603, fno2_a2= 0.98825147717, fno2_b0= 1, fno2_b1= -1.90090686046, fno2_b2= 1;
RichellBooyink 0:2ded24549b70 29 const double fno3_a1 = -1.89635403726, fno3_a2= 0.98894004849, fno3_b0= 1, fno3_b1= -1.90090686046, fno3_b2= 1;
RichellBooyink 2:e3259334299e 30 double y1, y2, y3, y4, y5, y6, y7, u1, u2, u3, u4, u5, u6, u7;
RichellBooyink 2:e3259334299e 31 void Filters()
RichellBooyink 0:2ded24549b70 32 {
RichellBooyink 2:e3259334299e 33 u1 = EMG.read();
RichellBooyink 2:e3259334299e 34 //Highpass
RichellBooyink 2:e3259334299e 35 y1 = u2;
RichellBooyink 2:e3259334299e 36 y1 = biquad (u1, fh1_v1, fh1_v2, fh1_a1, fh1_a2, fh1_b0, fh1_b1, fh1_b2);
RichellBooyink 2:e3259334299e 37 y2 = biquad (u2, fh2_v1, fh2_v2, fh2_a1, fh2_a2, fh2_b0, fh2_b1, fh2_b2);
RichellBooyink 2:e3259334299e 38 //Lowpass
RichellBooyink 2:e3259334299e 39 u3 = y2;
RichellBooyink 2:e3259334299e 40 u4 = y3;
RichellBooyink 2:e3259334299e 41 y3 = biquad (u3, fl1_v1, fl1_v2, fl1_a1, fl1_a2, fl1_b0, fl1_b1, fl1_b2);
RichellBooyink 2:e3259334299e 42 y4 = biquad (u4, fl2_v1, fl2_v2, fl2_a1, fl2_a2, fl2_b0, fl2_b1, fl2_b2);
RichellBooyink 2:e3259334299e 43 // Notch
RichellBooyink 2:e3259334299e 44 u5 = y4;
RichellBooyink 2:e3259334299e 45 u6 = y5;
RichellBooyink 2:e3259334299e 46 u7 = y6;
RichellBooyink 2:e3259334299e 47 y5 = biquad (u5, fno1_v1, fno1_v2, fno1_a1, fno1_a2, fno1_b0, fno1_b1, fno1_b2);
RichellBooyink 2:e3259334299e 48 y6 = biquad (u6, fno2_v1, fno2_v2, fno2_a1, fno2_a2, fno2_b0, fno2_b1, fno2_b2);
RichellBooyink 2:e3259334299e 49 y7 = biquad (u7, fno3_v1, fno3_v2, fno3_a1, fno3_a2, fno3_b0, fno3_b1, fno3_b2);
RichellBooyink 2:e3259334299e 50 scope.set (0, u1);
RichellBooyink 2:e3259334299e 51 scope.set (1, y2);
RichellBooyink 2:e3259334299e 52 scope.set (2, y4);
RichellBooyink 2:e3259334299e 53 scope.set (3, y7);
RichellBooyink 1:16165e207e70 54 scope.send ();
RichellBooyink 1:16165e207e70 55 }
RichellBooyink 2:e3259334299e 56 Ticker filter;
RichellBooyink 0:2ded24549b70 57 int main ()
RichellBooyink 2:e3259334299e 58 {filter.attach_us(Filters,1e3);}
RichellBooyink 0:2ded24549b70 59
RichellBooyink 0:2ded24549b70 60
RichellBooyink 0:2ded24549b70 61
RichellBooyink 2:e3259334299e 62
RichellBooyink 2:e3259334299e 63