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:
- 2015-10-27
- Revision:
- 7:87d9904c1c19
- Parent:
- 6:ec965bb75d40
- Child:
- 8:5f13198a8e49
File content as of revision 7:87d9904c1c19:
#include "mbed.h" #include "HIDScope.h" #include "biquadFilter.h" // Require the HIDScope library #include "MODSERIAL.h" //Define objects AnalogIn emg(A0); //Analog of EMG input Ticker sample_timer; Ticker motor_timer; Ticker cal_timer; HIDScope scope(2); // Instantize a 2-channel HIDScope object DigitalIn button1(PTA4);//test button for starting motor 1 DigitalOut led1(LED_RED); DigitalOut led2(LED_BLUE); MODSERIAL pc(USBTX,USBRX); /*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=0; bool calyes=0; /* */ void filter(){ if(calyes==1){ emg_value = emg.read();//read the emg value from the elektrodes signalpart1 = notch.step(emg_value);//Highpass filter for removing offset and artifacts signalpart2 = filterhigh1.step(signalpart1);//rectify the filtered signal signalpart3 = abs(signalpart2);//low pass filter to envelope the emg signalpart4 = filterlow1.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 //pc.printf("emg signal %f, filtered signal %f \n",emg_value,onoffsignal); } } void checkmotor(){//check the normalized signal and set actions if a threshold is passed if(calyes==1){ if(onoffsignal<=0.25){ led1.write(1); led2.write(0); } else if(onoffsignal >= 0.5){ led1.write(0); led2.write(1); } } } void calibri(){//calibration function if(button1.read()==false){ for(int n =0; n<5000;n++){//read for 5000 samples as calibration emg_value = emg.read();//read the emg value from the elektrodes signalpart1 = notch.step(emg_value);//Highpass filter for removing offset and artifacts signalpart2 = filterhigh1.step(signalpart1);//rectify the filtered signal signalpart3 = abs(signalpart2);//low pass filter to envelope the emg signalpart4 = filterlow1.step(signalpart3);//notch filter to remove 50Hz signal signalfinal = filterlow2.step(signalpart4);//2nd low pass filter to envelope the emg double signalmeasure = signalfinal; if (signalmeasure > maxcal){//determine what the highest reachable emg signal is maxcal = signalmeasure; } } calyes=1; } } int main() { pc.baud(115200); led1.write(1); led2.write(1); sample_timer.attach(&filter, 0.002);//continously execute the EMG reader and filter motor_timer.attach(&checkmotor, 0.002);//continously execute the motor controller cal_timer.attach(&calibri, 0.002);//ticker to check if motor is being calibrated while(1){ //random while loop to keep system going } }