main.cpp

00001 #include "mbed.h"
00002 #include "HIDScope.h"
00003 #include "BiQuad.h"
00004 #include "math.h" 
00005 
00006 
00007 //Define objects
00008 AnalogIn    emg0( A0 );
00009 AnalogIn    emg1( A1 );
00010 
00011 Ticker      sample_timer;
00012 HIDScope    scope( 3 );
00013 DigitalOut  led(LED1);
00014 
00015 /** Sample function
00016  * this function samples the emg and sends it to HIDScope
00017  **/
00018  int P= 200;
00019  double A[200];
00020  
00021  
00022 void sample()
00023 {
00024     /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
00025     scope.set(0, emg0.read() );
00026     scope.set(1, emg1.read() );
00027     /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) 
00028     *  Ensure that enough channels are available (HIDScope scope( 2 ))
00029     *  Finally, send all channels to the PC at once */
00030     scope.send();
00031     /* To indicate that the function is working, the LED is toggled */
00032     led = !led;
00033 }
00034 
00035 BiQuadChain bqc;
00036 BiQuad bq1( 0.6844323315947305,1.368864663189461, 0.6844323315947305,1.2243497755555954,0.5133795508233265);
00037 BiQuad bq2( 0.6844323315947306, -1.3688646631894612,  0.6844323315947306,   -1.2243497755555959, 0.5133795508233266);
00038 BiQuad bq3(  0.7566897754116633, -1.2243497755555959,  0.7566897754116633,   -1.2243497755555959, 0.5133795508233266);
00039 
00040 Ticker emgSampleTicker;
00041 AnalogIn emg( A0 );
00042 
00043 void emgSample() {
00044     
00045     double emgFiltered = bqc.step( emg.read() );
00046     double emgabs = abs(emgFiltered);
00047     scope.set(0, emgFiltered );
00048     scope.set(1, emgabs );
00049     
00050     for(int i = P-1; i >= 0; i--){
00051         if (i == 0) {
00052             A[i] = emgabs;
00053             }
00054          else {
00055              A[i] = A[i-1];
00056              }   
00057         }
00058     double sum = 0;
00059     for (int n = 0; n < P-1; n++) {
00060     sum = sum + A[n];
00061     }
00062     
00063     double movmean = sum/P;
00064     
00065     scope.set(2, movmean);
00066     scope.send();
00067 }
00068 
00069 
00070 int main()
00071 {   
00072 bqc.add( &bq1 ).add( &bq2 ).add( &bq3 );
00073 emgSampleTicker.attach( &emgSample, 0.002 );
00074     /**Attach the 'sample' function to the timer 'sample_timer'.
00075     * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
00076     */
00077     //sample_timer.attach(&sample, 0.01);
00078 
00079     /*empty loop, sample() is executed periodically*/
00080     while(1) {}
00081 }