to send emg signal to motor with test programm
Dependencies: HIDScope biquadFilter mbed
Fork of EMGvoorjan by
main.cpp
- Committer:
- Roytsg
- Date:
- 2017-10-24
- Revision:
- 26:97a8adc9b895
- Parent:
- 25:9c2fc98da6b3
- Child:
- 27:674193a62e06
File content as of revision 26:97a8adc9b895:
#include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" #include "math.h" //Define objects AnalogIn emg0( A0 ); AnalogIn emg1( A1 ); Ticker sample_timer; HIDScope scope( 3 ); DigitalOut led(LED1); /** Sample function * this function samples the emg and sends it to HIDScope **/ double A[10]; void sample() { /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */ scope.set(0, emg0.read() ); scope.set(1, emg1.read() ); /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) * Ensure that enough channels are available (HIDScope scope( 2 )) * Finally, send all channels to the PC at once */ scope.send(); /* To indicate that the function is working, the LED is toggled */ led = !led; } BiQuadChain bqc; BiQuad bq1( 0.6844323315947305,1.368864663189461, 0.6844323315947305,1.2243497755555954,0.5133795508233265); BiQuad bq2( 0.6844323315947306, -1.3688646631894612, 0.6844323315947306, -1.2243497755555959, 0.5133795508233266); BiQuad bq3( 0.7566897754116633, -1.2243497755555959, 0.7566897754116633, -1.2243497755555959, 0.5133795508233266); Ticker emgSampleTicker; AnalogIn emg( A0 ); void emgSample() { double emgFiltered = bqc.step( emg.read() ); double emgabs = abs(emgFiltered); scope.set(0, emgFiltered ); scope.set(1, emgabs ); for(int i = 9; i >= 0; i--){ if (i == 0) { A[i] = emgabs; } else { A[i] = A[i-1]; } } double sum = 0; for (int n = 0; n < 9; n++) { sum = sum + A[n]; } double movmean = sum/10; scope.set(2, movmean); scope.send(); } int main() { bqc.add( &bq1 ).add( &bq2 ).add( &bq3 ); emgSampleTicker.attach( &emgSample, 0.002 ); /**Attach the 'sample' function to the timer 'sample_timer'. * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz */ //sample_timer.attach(&sample, 0.01); /*empty loop, sample() is executed periodically*/ while(1) {} }