![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Code for emg filtering and thus controlling the robotic movement.
Dependencies: HIDScope biquadFilter mbed
Fork of EMG by
Diff: main.cpp
- Revision:
- 14:f83354387756
- Parent:
- 13:18d4cef1fdb4
- Child:
- 15:0da764eea774
--- a/main.cpp Tue Sep 23 18:56:14 2014 +0000 +++ b/main.cpp Mon Sep 21 13:48:00 2015 +0000 @@ -3,57 +3,31 @@ #include "HIDScope.h" //Define objects -AnalogIn emg0(PTB1); //Analog input -PwmOut red(LED_RED); //PWM output -Ticker log_timer; -MODSERIAL pc(USBTX,USBRX); -HIDScope scope(2); +AnalogIn emg(A0); //Analog input +Ticker sample_timer; +HIDScope scope(1); -/** Looper function -* functions used for Ticker and Timeout should be of type void <name>(void) -* i.e. no input arguments, no output arguments. -* if you want to change a variable that you use in other places (for example in main) -* you will have to make that variable global in order to be able to reach it both from -* the function called at interrupt time, and in the main function. -* To make a variable global, define it under the includes. -* variables that are changed in the interrupt routine (written to) should be made -* 'volatile' to let the compiler know that those values may change outside the current context. -* i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value" -* in the example below, the variable is not re-used in the main function, and is thus declared -* local in the looper function only. -**/ -void looper() +/** Sample function + * this function samples the emg and sends it to HIDScope + **/ +void sample() { - /*variable to store value in*/ - uint16_t emg_value; - /*put raw emg value both in red and in emg_value*/ - red.write(emg0.read()); // read float value (0..1 = 0..3.3V) - emg_value = emg0.read_u16(); // read direct ADC result (0..4096 = 0..3.3V) - /*send value to PC. Line below is used to prevent buffer overrun */ - if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30) - pc.printf("%u\n",emg_value); + /* First, sample the EMG using the 'read' method of the 'AnalogIn' variable named 'emg' */ + double emg_value = emg.read(); + /* Second, set the sampled emg value in channel zero (the first channel) in the 'HIDScope' variable named 'scope' */ scope.set(0,emg_value); - scope.set(1,red.read()); + /* Repeat the step above if required for more channels (channel 0 up to 5 = 6 channels) + /* Finally, send all channels to the PC at once */ scope.send(); - /**When not using the LED, the above could also have been done this way: - * pc.printf("%u\n", emg0.read_u16()); - */ } int main() { - /*setup baudrate. Choose the same in your program on PC side*/ - pc.baud(115200); - /*set the period for the PWM to the red LED*/ - red.period_ms(2); - /**Here you attach the 'void looper(void)' function to the Ticker object - * The looper() function will be called every 0.01 seconds. - * Please mind that the parentheses after looper are omitted when using attach. + /**Attach the 'sample' function to the timer 'sample_timer'. + * this ensures that 'sample' is executed every... 0.002 seconds */ - log_timer.attach(looper, 0.005); - while(1) //Loop - { - /*Empty!*/ - /*Everything is handled by the interrupt routine now!*/ - } + sample_timer.attach(&sample, 0.002); + + /*empty loop, sample() is executed periodically*/ + while(1){} } \ No newline at end of file