to send emg signal to motor with test programm
Dependencies: HIDScope biquadFilter mbed
Fork of TestProgramm by
main.cpp@23:b5a09f96c2d7, 2017-10-24 (annotated)
- Committer:
- Roytsg
- Date:
- Tue Oct 24 08:55:02 2017 +0000
- Revision:
- 23:b5a09f96c2d7
- Parent:
- 21:77998ce2c0dd
- Child:
- 24:fe3825337233
added absolute value and a second scope;
Who changed what in which revision?
User | Revision | Line number | New 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 | |
vsluiter | 4:8b298dfada81 | 6 | //Define objects |
tomlankhorst | 19:2bf824669684 | 7 | AnalogIn emg0( A0 ); |
tomlankhorst | 19:2bf824669684 | 8 | AnalogIn emg1( A1 ); |
tomlankhorst | 19:2bf824669684 | 9 | |
tomlankhorst | 14:f83354387756 | 10 | Ticker sample_timer; |
tomlankhorst | 19:2bf824669684 | 11 | HIDScope scope( 2 ); |
tomlankhorst | 18:21d8e7a81cf5 | 12 | DigitalOut led(LED1); |
vsluiter | 2:e314bb3b2d99 | 13 | |
tomlankhorst | 14:f83354387756 | 14 | /** Sample function |
tomlankhorst | 14:f83354387756 | 15 | * this function samples the emg and sends it to HIDScope |
tomlankhorst | 14:f83354387756 | 16 | **/ |
tomlankhorst | 14:f83354387756 | 17 | void sample() |
vsluiter | 2:e314bb3b2d99 | 18 | { |
tomlankhorst | 19:2bf824669684 | 19 | /* 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 | 20 | scope.set(0, emg0.read() ); |
tomlankhorst | 19:2bf824669684 | 21 | scope.set(1, emg1.read() ); |
tomlankhorst | 19:2bf824669684 | 22 | /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) |
tomlankhorst | 19:2bf824669684 | 23 | * Ensure that enough channels are available (HIDScope scope( 2 )) |
tomlankhorst | 20:97059009a491 | 24 | * Finally, send all channels to the PC at once */ |
vsluiter | 11:ce72ec658a95 | 25 | scope.send(); |
tomlankhorst | 18:21d8e7a81cf5 | 26 | /* To indicate that the function is working, the LED is toggled */ |
tomlankhorst | 18:21d8e7a81cf5 | 27 | led = !led; |
vsluiter | 2:e314bb3b2d99 | 28 | } |
vsluiter | 0:32bb76391d89 | 29 | |
Roytsg | 21:77998ce2c0dd | 30 | BiQuadChain bqc; |
Roytsg | 21:77998ce2c0dd | 31 | BiQuad bq1( 0.6844323315947305,1.368864663189461, 0.6844323315947305,1.2243497755555954,0.5133795508233265); |
Roytsg | 21:77998ce2c0dd | 32 | BiQuad bq2( 0.6844323315947306, -1.3688646631894612, 0.6844323315947306, -1.2243497755555959, 0.5133795508233266); |
Roytsg | 21:77998ce2c0dd | 33 | BiQuad bq3( 0.7566897754116633, -1.2243497755555959, 0.7566897754116633, -1.2243497755555959, 0.5133795508233266); |
Roytsg | 21:77998ce2c0dd | 34 | |
Roytsg | 21:77998ce2c0dd | 35 | Ticker emgSampleTicker; |
Roytsg | 21:77998ce2c0dd | 36 | AnalogIn emg( A0 ); |
Roytsg | 21:77998ce2c0dd | 37 | |
Roytsg | 21:77998ce2c0dd | 38 | void emgSample() { |
Roytsg | 21:77998ce2c0dd | 39 | |
Roytsg | 21:77998ce2c0dd | 40 | double emgFiltered = bqc.step( emg.read() ); |
Roytsg | 23:b5a09f96c2d7 | 41 | double emgabs = abs(emgFiltered); |
Roytsg | 21:77998ce2c0dd | 42 | scope.set(0, emgFiltered ); |
Roytsg | 23:b5a09f96c2d7 | 43 | scope.set(1, emgabs ); |
Roytsg | 21:77998ce2c0dd | 44 | scope.send(); |
Roytsg | 21:77998ce2c0dd | 45 | } |
Roytsg | 21:77998ce2c0dd | 46 | |
Roytsg | 21:77998ce2c0dd | 47 | |
vsluiter | 0:32bb76391d89 | 48 | int main() |
tomlankhorst | 19:2bf824669684 | 49 | { |
Roytsg | 21:77998ce2c0dd | 50 | bqc.add( &bq1 ).add( &bq2 ).add( &bq3 ); |
Roytsg | 21:77998ce2c0dd | 51 | emgSampleTicker.attach( &emgSample, 0.002 ); |
tomlankhorst | 14:f83354387756 | 52 | /**Attach the 'sample' function to the timer 'sample_timer'. |
tomlankhorst | 19:2bf824669684 | 53 | * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz |
vsluiter | 4:8b298dfada81 | 54 | */ |
Roytsg | 21:77998ce2c0dd | 55 | //sample_timer.attach(&sample, 0.01); |
tomlankhorst | 15:0da764eea774 | 56 | |
tomlankhorst | 14:f83354387756 | 57 | /*empty loop, sample() is executed periodically*/ |
tomlankhorst | 15:0da764eea774 | 58 | while(1) {} |
vsluiter | 0:32bb76391d89 | 59 | } |