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
main.cpp
- Committer:
- Technical_Muffin
- Date:
- 2015-10-26
- Revision:
- 2:83659da3e5fe
- Parent:
- 1:9913e3886643
- Child:
- 3:a69f041108d4
File content as of revision 2:83659da3e5fe:
#include "mbed.h" #include "HIDScope.h" #include "biquadFilter.h" // Require the HIDScope library //Define objects AnalogIn emg(A0); //Analog of EMG input Ticker sample_timer; HIDScope scope(2); // Instantize a 2-channel HIDScope object DigitalIn button1(PTA4);//test button for starting motor 1 DigitalOut led1(LED_RED); /*The biquad filters required to transform the EMG signal into an usable signal*/ 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); double emg_value; double signalpart1; double signalpart2; double signalpart3; double signalpart4; double signalfinal; double onoffsignal; double maxcal=1; /* */ void filter(){ emg_value = emg.read();//read the emg value from the elektrodes signalpart1 = filterhigh1.step(emg_value);//Highpass filter for removing offset and artifacts signalpart2 = abs(signalpart1);//rectify the filtered signal signalpart3 = filterlow1.step(signalpart2);//low pass filter to envelope the emg signalpart4 = notch.step(signalpart3);//notch filter to remove 50Hz signal signalfinal = filterlow2.step(signalpart4);//2nd low pass filter to envelope the emg onoffsignal=signalfinal/maxcal;//divide the emg signal by the max EMG to calibrate the signal per person scope.set(0,emg_value);//set emg signal to scope in channel 1 scope.set(1,onoffsignal);//set filtered signal to scope in channel 2 scope.send();//send the signals to the scope } double normalcal(){ double signalmeasure =emg.read(); if (signalmeasure > maxcal){ signalmeasure = maxcal; } return maxcal; } const int button_pressed = 0; bool caldone =0; int main() { if(button1.read() == button_pressed){//as long as the button is pressed record the emg signal led1.write(!led1.read()); } /* double signalmeasure=emg.read();//read the emg values to check for max if(signalmeasure > maxcal){ maxcal = signalmeasure; } caldone=1; */ if(caldone==1){ sample_timer.attach(&filter, 0.002);//continously execute the EMG reader and filter } }