Diff: main.cpp

Revision:

0:91d5c871dbf9

diff -r 000000000000 -r 91d5c871dbf9 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 26 11:07:02 2018 +0000
@@ -0,0 +1,101 @@
+#include "mbed.h"
+#include "HIDScope.h"
+#include "BiQuad.h"
+#include "MovingAverage.h"
+#include "MODSERIAL.h"
+#include "math.h"
+#define NSAMPLE 200
+
+//Define objects
+AnalogIn    emg0( A0 ); //Biceps Left
+AnalogIn    emg1( A1 ); //Biceps Right
+Ticker      sample_timer;
+InterruptIn button(PTC6);
+
+//Ticker      driving_timer;
+HIDScope    scope( 4 ); //Number of Channels
+DigitalOut  led1(LED_RED);
+DigitalOut  led2(LED_GREEN);
+DigitalOut  led3(LED_BLUE);
+MovingAverage <double>Movag_LB(NSAMPLE,0.0); //Make Moving Average, Define NSAMPLE above
+MovingAverage <double>Movag_RB(NSAMPLE,0.0);
+volatile double LB_Out;
+volatile double RB_Out;
+
+MODSERIAL pc(USBTX, USBRX);
+
+//Make Biquad filters Left(a0, a1, a2, b1, b2)
+BiQuadChain bqc1; //chain voor High Pass en Notch
+BiQuad bq1(0.39131200825291007, -0.7826240165058201, 0.39131200825291007, -0.36950493743858204, 0.1957430955730582); //High Pass Filter
+BiQuad bq2(9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01); //Notch Filter
+//BiQuad bq3(0.00044924972004654657, 0.0008984994400930931, 0.00044924972004654657, -1.6169385656964415, 0.6187355645766276); //Low Pass Filter
+
+//Make Biquad filters Right
+BiQuadChain bqc2; //chain voor High Pass en Notch
+BiQuad bq4(0.39131200825291007, -0.7826240165058201, 0.39131200825291007, -0.36950493743858204, 0.1957430955730582); //High Pass Filter
+BiQuad bq5(9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01); //Notch Filter
+
+volatile double MaxLeft = 0.0;
+volatile double MaxRight = 0.0;
+volatile double ThresholdLeft = 0.0;
+volatile double ThresholdRight = 0.0;
+
+//Function to read samples and filter and send to HIDScope
+void sample()
+{
+    //Filter Left Bicep
+    double LB_Filter_1 = bqc1.step(emg0.read()); //High Pass + Notch
+    double LB_Rectify = fabs(LB_Filter_1); //Rectify Signal
+    //double Filtered_emg_1 = bq3.step(LB_Rectify); //Low Pass
+    Movag_LB.Insert(LB_Rectify);
+    LB_Out = Movag_LB.GetAverage();
+
+    //Filter Right Bicep
+    double RB_Filter_1 = bqc2.step(emg1.read()); //High Pass + Notch
+    double RB_Rectify = fabs(RB_Filter_1); //Rectify Signal
+    //double Filtered_emg_1 = bq3.step(RB_Rectify); //Low Pass
+    Movag_RB.Insert(RB_Rectify);
+    RB_Out = Movag_RB.GetAverage();
+
+    scope.set(0, emg0.read() ); //Raw EMG signal left bicep
+    scope.set(1, LB_Out); // Filtered EMG signal left bicep
+    scope.set(2, emg1.read()); //Raw EMG signal  right bicep
+    scope.set(3, RB_Out); //Filtered EMG signal right bicep
+
+    scope.send();
+
+    if(LB_Out > MaxLeft) {
+        MaxLeft = LB_Out;
+        led2 = 0;
+    }
+    else {
+        led2 = 1;
+    }
+    if(RB_Out > MaxRight) {
+        MaxRight = RB_Out;
+        led3 = 0;
+        }
+    else {
+        led3 = 1;
+    }
+    ThresholdLeft = abs(0.15000*MaxLeft);
+    ThresholdRight = abs(0.15000*MaxRight);
+
+}
+
+void PrintThreshold()
+{
+    pc.baud(115200);
+    pc.printf("left: %.3f  threshold : %.3f\r\n right: %.3f  threshold : %.3f\r\n ",MaxLeft, ThresholdLeft,MaxRight,ThresholdRight);
+}
+
+
+int main()
+{
+    bqc1.add( &bq1 ).add( &bq2 ); //make BiQuadChain
+    bqc2.add( &bq4 ).add( &bq5 ); //make BiQuadChain
+    sample_timer.attach(&sample, 0.002); //read samples at 500 Hz
+    button.fall(&PrintThreshold);
+    while(1) {}
+}
+