Roy Theussing / Mbed 2 deprecated TestProgramm

to send emg signal to motor with test programm

Dependencies:   HIDScope biquadFilter mbed

Fork of EMGvoorjan by Roy Theussing

main.cpp@25:9c2fc98da6b3, 2017-10-24 (annotated)

Committer:
Roytsg
Date:
Tue Oct 24 10:11:31 2017 +0000
Revision:
25:9c2fc98da6b3
Parent:
24:fe3825337233
Child:
26:97a8adc9b895
movmean with 12 samples;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
Roytsg 21:77998ce2c0dd 3 #include "BiQuad.h"
Roytsg 23:b5a09f96c2d7 4 #include "math.h"
vsluiter 0:32bb76391d89 5
Roytsg 24:fe3825337233 6
vsluiter 4:8b298dfada81 7 //Define objects
tomlankhorst 19:2bf824669684 8 AnalogIn emg0( A0 );
tomlankhorst 19:2bf824669684 9 AnalogIn emg1( A1 );
tomlankhorst 19:2bf824669684 10
tomlankhorst 14:f83354387756 11 Ticker sample_timer;
Roytsg 24:fe3825337233 12 HIDScope scope( 3 );
tomlankhorst 18:21d8e7a81cf5 13 DigitalOut led(LED1);
vsluiter 2:e314bb3b2d99 14
tomlankhorst 14:f83354387756 15 /** Sample function
tomlankhorst 14:f83354387756 16 * this function samples the emg and sends it to HIDScope
tomlankhorst 14:f83354387756 17 **/
Roytsg 24:fe3825337233 18
Roytsg 24:fe3825337233 19 double a1 = 0;
Roytsg 24:fe3825337233 20 double a2 = 0;
Roytsg 24:fe3825337233 21 double a3 = 0;
Roytsg 24:fe3825337233 22 double a4 = 0;
Roytsg 24:fe3825337233 23 double a5 = 0;
Roytsg 25:9c2fc98da6b3 24 double a6 = 0;
Roytsg 25:9c2fc98da6b3 25 double a7 = 0;
Roytsg 25:9c2fc98da6b3 26 double a8 = 0;
Roytsg 25:9c2fc98da6b3 27 double a9 = 0;
Roytsg 25:9c2fc98da6b3 28 double a10 = 0;
Roytsg 25:9c2fc98da6b3 29 double a11 = 0;
Roytsg 25:9c2fc98da6b3 30 double a12 = 0;
Roytsg 24:fe3825337233 31
tomlankhorst 14:f83354387756 32 void sample()
vsluiter 2:e314bb3b2d99 33 {
tomlankhorst 19:2bf824669684 34 /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
tomlankhorst 19:2bf824669684 35 scope.set(0, emg0.read() );
tomlankhorst 19:2bf824669684 36 scope.set(1, emg1.read() );
tomlankhorst 19:2bf824669684 37 /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
tomlankhorst 19:2bf824669684 38 * Ensure that enough channels are available (HIDScope scope( 2 ))
tomlankhorst 20:97059009a491 39 * Finally, send all channels to the PC at once */
vsluiter 11:ce72ec658a95 40 scope.send();
tomlankhorst 18:21d8e7a81cf5 41 /* To indicate that the function is working, the LED is toggled */
tomlankhorst 18:21d8e7a81cf5 42 led = !led;
vsluiter 2:e314bb3b2d99 43 }
vsluiter 0:32bb76391d89 44
Roytsg 21:77998ce2c0dd 45 BiQuadChain bqc;
Roytsg 21:77998ce2c0dd 46 BiQuad bq1( 0.6844323315947305,1.368864663189461, 0.6844323315947305,1.2243497755555954,0.5133795508233265);
Roytsg 21:77998ce2c0dd 47 BiQuad bq2( 0.6844323315947306, -1.3688646631894612, 0.6844323315947306, -1.2243497755555959, 0.5133795508233266);
Roytsg 21:77998ce2c0dd 48 BiQuad bq3( 0.7566897754116633, -1.2243497755555959, 0.7566897754116633, -1.2243497755555959, 0.5133795508233266);
Roytsg 21:77998ce2c0dd 49
Roytsg 21:77998ce2c0dd 50 Ticker emgSampleTicker;
Roytsg 21:77998ce2c0dd 51 AnalogIn emg( A0 );
Roytsg 21:77998ce2c0dd 52
Roytsg 21:77998ce2c0dd 53 void emgSample() {
Roytsg 21:77998ce2c0dd 54
Roytsg 24:fe3825337233 55 double emgFiltered = bqc.step( emg.read() );
Roytsg 24:fe3825337233 56 double emgabs = abs(emgFiltered);
Roytsg 24:fe3825337233 57 scope.set(0, emgFiltered );
Roytsg 24:fe3825337233 58 scope.set(1, emgabs );
Roytsg 24:fe3825337233 59
Roytsg 25:9c2fc98da6b3 60 a12 = a11;
Roytsg 25:9c2fc98da6b3 61 a11 = a10;
Roytsg 25:9c2fc98da6b3 62 a9 = a8;
Roytsg 25:9c2fc98da6b3 63 a8 = a7;
Roytsg 25:9c2fc98da6b3 64 a7 = a6;
Roytsg 25:9c2fc98da6b3 65 a6 = a5;
Roytsg 24:fe3825337233 66 a5 = a4;
Roytsg 24:fe3825337233 67 a4 = a3;
Roytsg 24:fe3825337233 68 a3 = a2;
Roytsg 24:fe3825337233 69 a2 = a1;
Roytsg 24:fe3825337233 70 a1 = emgabs;
Roytsg 24:fe3825337233 71
Roytsg 24:fe3825337233 72 double moving = a1 + a2 + a3 + a4 + a5;
Roytsg 24:fe3825337233 73 double movmean = moving/5;
Roytsg 24:fe3825337233 74 scope.set(2, movmean );
Roytsg 24:fe3825337233 75
Roytsg 21:77998ce2c0dd 76 scope.send();
Roytsg 21:77998ce2c0dd 77 }
Roytsg 21:77998ce2c0dd 78
Roytsg 21:77998ce2c0dd 79
vsluiter 0:32bb76391d89 80 int main()
tomlankhorst 19:2bf824669684 81 {
Roytsg 21:77998ce2c0dd 82 bqc.add( &bq1 ).add( &bq2 ).add( &bq3 );
Roytsg 21:77998ce2c0dd 83 emgSampleTicker.attach( &emgSample, 0.002 );
tomlankhorst 14:f83354387756 84 /**Attach the 'sample' function to the timer 'sample_timer'.
tomlankhorst 19:2bf824669684 85 * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
vsluiter 4:8b298dfada81 86 */
Roytsg 21:77998ce2c0dd 87 //sample_timer.attach(&sample, 0.01);
tomlankhorst 15:0da764eea774 88
tomlankhorst 14:f83354387756 89 /*empty loop, sample() is executed periodically*/
tomlankhorst 15:0da764eea774 90 while(1) {}
vsluiter 0:32bb76391d89 91 }