EMG controlling calibration + filters biorobotics group 13 BMT
Dependencies: HIDScope biquadFilter mbed
Diff: main.cpp
- Revision:
- 2:e3259334299e
- Parent:
- 1:16165e207e70
- Child:
- 3:61f0fc41f3bc
--- a/main.cpp Thu Oct 15 14:55:16 2015 +0000 +++ b/main.cpp Mon Oct 19 13:23:10 2015 +0000 @@ -7,8 +7,7 @@ // Standaard formule voor het biquad filter double biquad(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2) -{ - u = EMG.read(); +{ double v = u - a1*v1 - a2*v2; double y = b0*v + b1*v1 + b2*v2; v2=v1; @@ -16,57 +15,49 @@ return y; } // Filter1 = High pass filter tot 20 Hz - double fh1_v1=0, fh1_v2=0, fh2_v1=0, fh2_v2=0; const double fh1_a1=-0.84909054461, fh1_a2=0.00000000000, fh1_b0= 1, fh1_b1=-1, fh1_b2=0; const double fh2_a1=-1.82553264091, fh2_a2=0.85001416809, fh2_b0= 1, fh2_b1=-2, fh2_b2=1; -Ticker FHIGH; -void Highpass_filter() -{ - biquad (u, fh1_v1, fh1_v2, fh1_a1, fh1_a2, fh1_b0, fh1_b1, fh1_b2); - biquad (u, fh2_v1, fh2_v2, fh2_a1, fh2_a2, fh2_b0, fh2_b1, fh2_b2); -} - // Filter2 = Low pass filter na 60 Hz double fl1_v1=0, fl1_v2=0, fl2_v1=0, fl2_v2=0; const double fl1_a1=-0.66979455390, fl1_a2=0.00000000000, fl1_b0= 1, fl1_b1=1, fl1_b2=0; const double fl2_a1=-1.55376616139, fl2_a2=0.68023470431, fl2_b0= 1, fl2_b1=2, fl2_b2=1; -Ticker FLOW; -void Lowpass_filter() -{ - biquad (u, fl1_v1, fl1_v2, fl1_a1, fl1_a2, fl1_b0, fl1_b1, fl1_b2); - biquad (u, fl2_v1, fl2_v2, fl2_a1, fl2_a2, fl2_b0, fl2_b1, fl2_b2); -} - // Filter3 = Notch filter at 50 Hz double fno1_v1=0, fno1_v2=0, fno2_v1=0, fno2_v2=0, fno3_v1=0, fno3_v2=0; const double fno1_a1 = -1.87934916386, fno1_a2= 0.97731851355, fno1_b0= 1, fno1_b1= -1.90090686046, fno1_b2= 1; const double fno2_a1 = -1.88341028603, fno2_a2= 0.98825147717, fno2_b0= 1, fno2_b1= -1.90090686046, fno2_b2= 1; const double fno3_a1 = -1.89635403726, fno3_a2= 0.98894004849, fno3_b0= 1, fno3_b1= -1.90090686046, fno3_b2= 1; -Ticker FNOTCH; -void Notch_filter () +double y1, y2, y3, y4, y5, y6, y7, u1, u2, u3, u4, u5, u6, u7; +void Filters() { - biquad (u, fno1_v1, fno1_v2, fno1_a1, fno1_a2, fno1_b0, fno1_b1, fno1_b2); - biquad (u, fno2_v1, fno2_v2, fno2_a1, fno2_a2, fno2_b0, fno2_b1, fno2_b2); - biquad (u, fno3_v1, fno3_v2, fno3_a1, fno3_a2, fno3_b0, fno3_b1, fno3_b2); -} - -// HIDScope -Ticker timer; -void signal (){ - scope.set (0, Highpass_filter); - scope.set (0, Lowpass_filter); - scope.set (0, Notch_filter); + u1 = EMG.read(); + //Highpass + y1 = u2; + y1 = biquad (u1, fh1_v1, fh1_v2, fh1_a1, fh1_a2, fh1_b0, fh1_b1, fh1_b2); + y2 = biquad (u2, fh2_v1, fh2_v2, fh2_a1, fh2_a2, fh2_b0, fh2_b1, fh2_b2); + //Lowpass + u3 = y2; + u4 = y3; + y3 = biquad (u3, fl1_v1, fl1_v2, fl1_a1, fl1_a2, fl1_b0, fl1_b1, fl1_b2); + y4 = biquad (u4, fl2_v1, fl2_v2, fl2_a1, fl2_a2, fl2_b0, fl2_b1, fl2_b2); + // Notch + u5 = y4; + u6 = y5; + u7 = y6; + y5 = biquad (u5, fno1_v1, fno1_v2, fno1_a1, fno1_a2, fno1_b0, fno1_b1, fno1_b2); + y6 = biquad (u6, fno2_v1, fno2_v2, fno2_a1, fno2_a2, fno2_b0, fno2_b1, fno2_b2); + y7 = biquad (u7, fno3_v1, fno3_v2, fno3_a1, fno3_a2, fno3_b0, fno3_b1, fno3_b2); + scope.set (0, u1); + scope.set (1, y2); + scope.set (2, y4); + scope.set (3, y7); scope.send (); } - +Ticker filter; int main () -{ - FHIGH.attach_us(Highpass_filter, 1e4); - FLOW.attach_us(Lowpass_filter, 1e4); - FNOTCH.attach_us (Notch_filter, 1e4); - timer.attach_us (signal, 1e4); -} +{filter.attach_us(Filters,1e3);} + +