K K / Mbed 2 deprecated EMG

Code for emg filtering and thus controlling the robotic movement.

Dependencies:   HIDScope biquadFilter mbed

Fork of EMG by Tom Tom

main.cpp@18:3175fbe48b40, 2015-10-21 (annotated)

Committer:
Technical_Muffin
Date:
Wed Oct 21 06:45:08 2015 +0000
Revision:
18:3175fbe48b40
Parent:
16:9f7797ffd0fb 
implemented biquad code, not yet tested if working

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"
Technical_Muffin 18:3175fbe48b40 3 #include "biquadFilter.h" // Require the HIDScope library
vsluiter 0:32bb76391d89 4
vsluiter 4:8b298dfada81 5 //Define objects
tomlankhorst 14:f83354387756 6 AnalogIn emg(A0); //Analog input
tomlankhorst 14:f83354387756 7 Ticker sample_timer;
Technical_Muffin 18:3175fbe48b40 8 Ticker filter_timer
Technical_Muffin 18:3175fbe48b40 9 HIDScope scope(2);
Technical_Muffin 18:3175fbe48b40 10 biquadFilter filterhigh1(-1.1430 0.4128 0.6389 -1.2779 0.6389);
Technical_Muffin 18:3175fbe48b40 11 biquadFilter filterlow1(1.9556 0.9565 0.9780 1.9561 0.9780);
Technical_Muffin 18:3175fbe48b40 12 biquadFilter notch(-1.1978e-16 0.9561 0.9780 -1.1978e-16 0.9780);
Technical_Muffin 18:3175fbe48b40 13 biquadFilter filterlow2(-1.9645 0.9651 1.5515e-4 3.1030e-4 1.5515e-4);
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 **/
tomlankhorst 14:f83354387756 18 void sample()
vsluiter 2:e314bb3b2d99 19 {
tomlankhorst 14:f83354387756 20 /* First, sample the EMG using the 'read' method of the 'AnalogIn' variable named 'emg' */
tomlankhorst 14:f83354387756 21 double emg_value = emg.read();
tomlankhorst 14:f83354387756 22 /* Second, set the sampled emg value in channel zero (the first channel) in the 'HIDScope' variable named 'scope' */
vsluiter 11:ce72ec658a95 23 scope.set(0,emg_value);
tomlankhorst 16:9f7797ffd0fb 24 /* Repeat the step above if required for more channels (channel 0 up to 5 = 6 channels) */
tomlankhorst 14:f83354387756 25 /* Finally, send all channels to the PC at once */
vsluiter 11:ce72ec658a95 26 scope.send();
vsluiter 2:e314bb3b2d99 27 }
Technical_Muffin 18:3175fbe48b40 28 void filtering()
Technical_Muffin 18:3175fbe48b40 29 {
Technical_Muffin 18:3175fbe48b40 30 double signalpart1 = filterhigh1(emg.read());
Technical_Muffin 18:3175fbe48b40 31 double signalpart2 = abs(signalpart1);
Technical_Muffin 18:3175fbe48b40 32 double signalpart3 = filterlow1(signalpart2);
Technical_Muffin 18:3175fbe48b40 33 double signalpart4 = notch(signalpart3);
Technical_Muffin 18:3175fbe48b40 34 double signalfinal = filterlow2(signalpart4);
Technical_Muffin 18:3175fbe48b40 35 scope.set(1,signalfinal);
vsluiter 0:32bb76391d89 36 int main()
vsluiter 0:32bb76391d89 37 {
tomlankhorst 14:f83354387756 38 /**Attach the 'sample' function to the timer 'sample_timer'.
tomlankhorst 14:f83354387756 39 * this ensures that 'sample' is executed every... 0.002 seconds
vsluiter 4:8b298dfada81 40 */
tomlankhorst 14:f83354387756 41 sample_timer.attach(&sample, 0.002);
Technical_Muffin 18:3175fbe48b40 42 filter_timer.attach(&filtering, 0.002);
tomlankhorst 15:0da764eea774 43
tomlankhorst 14:f83354387756 44 /*empty loop, sample() is executed periodically*/
tomlankhorst 15:0da764eea774 45 while(1) {}
vsluiter 0:32bb76391d89 46 }