Code for emg filtering and thus controlling the robotic movement.
Dependencies: HIDScope biquadFilter mbed
Fork of EMG by
main.cpp
- Committer:
- Technical_Muffin
- Date:
- 2015-10-21
- Revision:
- 18:3175fbe48b40
- Parent:
- 16:9f7797ffd0fb
File content as of revision 18:3175fbe48b40:
#include "mbed.h" #include "HIDScope.h" #include "biquadFilter.h" // Require the HIDScope library //Define objects AnalogIn emg(A0); //Analog input Ticker sample_timer; Ticker filter_timer HIDScope scope(2); biquadFilter filterhigh1(-1.1430 0.4128 0.6389 -1.2779 0.6389); biquadFilter filterlow1(1.9556 0.9565 0.9780 1.9561 0.9780); biquadFilter notch(-1.1978e-16 0.9561 0.9780 -1.1978e-16 0.9780); biquadFilter filterlow2(-1.9645 0.9651 1.5515e-4 3.1030e-4 1.5515e-4); /** Sample function * this function samples the emg and sends it to HIDScope **/ void sample() { /* 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); /* 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(); } void filtering() { double signalpart1 = filterhigh1(emg.read()); double signalpart2 = abs(signalpart1); double signalpart3 = filterlow1(signalpart2); double signalpart4 = notch(signalpart3); double signalfinal = filterlow2(signalpart4); scope.set(1,signalfinal); int main() { /**Attach the 'sample' function to the timer 'sample_timer'. * this ensures that 'sample' is executed every... 0.002 seconds */ sample_timer.attach(&sample, 0.002); filter_timer.attach(&filtering, 0.002); /*empty loop, sample() is executed periodically*/ while(1) {} }