K K / Mbed 2 deprecated EMG_movement_code

Combination code of movement and emg code with small changes for 2 motors.

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of EMG_converter_code by Gerlinde van de Haar

main.cpp@0:1883d922ada8, 2015-10-21 (annotated)

Committer:
Technical_Muffin
Date:
Wed Oct 21 15:23:36 2015 +0000
Revision:
0:1883d922ada8
Child:
1:9913e3886643
Code for converting emg signal to usable code.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Technical_Muffin 0:1883d922ada8 1 #include "mbed.h"
Technical_Muffin 0:1883d922ada8 2 #include "HIDScope.h"
Technical_Muffin 0:1883d922ada8 3 #include "biquadFilter.h" // Require the HIDScope library
Technical_Muffin 0:1883d922ada8 4
Technical_Muffin 0:1883d922ada8 5 //Define objects
Technical_Muffin 0:1883d922ada8 6 AnalogIn emg(A0); //Analog of EMG input
Technical_Muffin 0:1883d922ada8 7 Ticker sample_timer;
Technical_Muffin 0:1883d922ada8 8 HIDScope scope(2); // Instantize a 2-channel HIDScope object
Technical_Muffin 0:1883d922ada8 9 /*The biquad filters required to transform the EMG signal into an usable signal*/
Technical_Muffin 0:1883d922ada8 10 biquadFilter filterhigh1(-1.1430, 0.4128, 0.6389, -1.2779, 0.6389);
Technical_Muffin 0:1883d922ada8 11 biquadFilter filterlow1(1.9556, 0.9565, 0.9780, 1.9561, 0.9780);
Technical_Muffin 0:1883d922ada8 12 biquadFilter notch(-1.1978e-16, 0.9561, 0.9780, -1.1978e-16, 0.9780);
Technical_Muffin 0:1883d922ada8 13 biquadFilter filterlow2(-1.9645, 0.9651, 1.5515e-4, 3.1030e-4, 1.5515e-4);
Technical_Muffin 0:1883d922ada8 14
Technical_Muffin 0:1883d922ada8 15 /*
Technical_Muffin 0:1883d922ada8 16 */
Technical_Muffin 0:1883d922ada8 17 void filter()
Technical_Muffin 0:1883d922ada8 18 {
Technical_Muffin 0:1883d922ada8 19 /* Sample the EMG using the 'read' method of the 'AnalogIn' variable named 'emg' */
Technical_Muffin 0:1883d922ada8 20 double emg_value = emg.read();
Technical_Muffin 0:1883d922ada8 21 double signalpart1 = filterhigh1.step(emg_value);//Highpass filter for removing offset and artifacts
Technical_Muffin 0:1883d922ada8 22 double signalpart2 = abs(signalpart1);//rectify the filtered signal
Technical_Muffin 0:1883d922ada8 23 double signalpart3 = filterlow1.step(signalpart2);//low pass filter to envelope the emg
Technical_Muffin 0:1883d922ada8 24 double signalpart4 = notch.step(signalpart3);//notch filter to remove 50Hz signal
Technical_Muffin 0:1883d922ada8 25 double signalfinal = filterlow2.step(signalpart4);//2nd low pass filter to envelope the emg
Technical_Muffin 0:1883d922ada8 26 scope.set(0,emg_value);//emg_value
Technical_Muffin 0:1883d922ada8 27 scope.set(1,signalfinal);
Technical_Muffin 0:1883d922ada8 28 /* Second, set the sampled emg value in channel zero (the first channel) in the 'HIDScope' variable named 'scope' */
Technical_Muffin 0:1883d922ada8 29 /* Repeat the step above if required for more channels (channel 0 up to 5 = 6 channels) */
Technical_Muffin 0:1883d922ada8 30 /* Finally, send all channels to the PC at once */
Technical_Muffin 0:1883d922ada8 31 scope.send();
Technical_Muffin 0:1883d922ada8 32 }
Technical_Muffin 0:1883d922ada8 33
Technical_Muffin 0:1883d922ada8 34 int main()
Technical_Muffin 0:1883d922ada8 35 {
Technical_Muffin 0:1883d922ada8 36 /**Attach the 'sample' function to the timer 'sample_timer'.
Technical_Muffin 0:1883d922ada8 37 * this ensures that 'sample' is executed every... 0.002 seconds
Technical_Muffin 0:1883d922ada8 38 */
Technical_Muffin 0:1883d922ada8 39 sample_timer.attach(&filter, 0.002);
Technical_Muffin 0:1883d922ada8 40
Technical_Muffin 0:1883d922ada8 41 /*empty loop, sample() is executed periodically*/
Technical_Muffin 0:1883d922ada8 42 while(1) {}
Technical_Muffin 0:1883d922ada8 43 }