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@2:83659da3e5fe, 2015-10-26 (annotated)
- Committer:
- Technical_Muffin
- Date:
- Mon Oct 26 13:22:32 2015 +0000
- Revision:
- 2:83659da3e5fe
- Parent:
- 1:9913e3886643
- Child:
- 3:a69f041108d4
pre-commit before just testing the emg read without normalising the values
Who changed what in which revision?
User | Revision | Line number | New 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 | 2:83659da3e5fe | 9 | DigitalIn button1(PTA4);//test button for starting motor 1 |
Technical_Muffin | 2:83659da3e5fe | 10 | DigitalOut led1(LED_RED); |
Technical_Muffin | 0:1883d922ada8 | 11 | /*The biquad filters required to transform the EMG signal into an usable signal*/ |
Technical_Muffin | 0:1883d922ada8 | 12 | biquadFilter filterhigh1(-1.1430, 0.4128, 0.6389, -1.2779, 0.6389); |
Technical_Muffin | 0:1883d922ada8 | 13 | biquadFilter filterlow1(1.9556, 0.9565, 0.9780, 1.9561, 0.9780); |
Technical_Muffin | 0:1883d922ada8 | 14 | biquadFilter notch(-1.1978e-16, 0.9561, 0.9780, -1.1978e-16, 0.9780); |
Technical_Muffin | 0:1883d922ada8 | 15 | biquadFilter filterlow2(-1.9645, 0.9651, 1.5515e-4, 3.1030e-4, 1.5515e-4); |
Technical_Muffin | 1:9913e3886643 | 16 | double emg_value; |
Technical_Muffin | 1:9913e3886643 | 17 | double signalpart1; |
Technical_Muffin | 1:9913e3886643 | 18 | double signalpart2; |
Technical_Muffin | 1:9913e3886643 | 19 | double signalpart3; |
Technical_Muffin | 1:9913e3886643 | 20 | double signalpart4; |
Technical_Muffin | 1:9913e3886643 | 21 | double signalfinal; |
Technical_Muffin | 2:83659da3e5fe | 22 | double onoffsignal; |
Technical_Muffin | 2:83659da3e5fe | 23 | double maxcal=1; |
Technical_Muffin | 0:1883d922ada8 | 24 | /* |
Technical_Muffin | 0:1883d922ada8 | 25 | */ |
Technical_Muffin | 2:83659da3e5fe | 26 | void filter(){ |
Technical_Muffin | 1:9913e3886643 | 27 | emg_value = emg.read();//read the emg value from the elektrodes |
Technical_Muffin | 1:9913e3886643 | 28 | signalpart1 = filterhigh1.step(emg_value);//Highpass filter for removing offset and artifacts |
Technical_Muffin | 1:9913e3886643 | 29 | signalpart2 = abs(signalpart1);//rectify the filtered signal |
Technical_Muffin | 1:9913e3886643 | 30 | signalpart3 = filterlow1.step(signalpart2);//low pass filter to envelope the emg |
Technical_Muffin | 1:9913e3886643 | 31 | signalpart4 = notch.step(signalpart3);//notch filter to remove 50Hz signal |
Technical_Muffin | 1:9913e3886643 | 32 | signalfinal = filterlow2.step(signalpart4);//2nd low pass filter to envelope the emg |
Technical_Muffin | 2:83659da3e5fe | 33 | onoffsignal=signalfinal/maxcal;//divide the emg signal by the max EMG to calibrate the signal per person |
Technical_Muffin | 1:9913e3886643 | 34 | scope.set(0,emg_value);//set emg signal to scope in channel 1 |
Technical_Muffin | 2:83659da3e5fe | 35 | scope.set(1,onoffsignal);//set filtered signal to scope in channel 2 |
Technical_Muffin | 1:9913e3886643 | 36 | scope.send();//send the signals to the scope |
Technical_Muffin | 0:1883d922ada8 | 37 | } |
Technical_Muffin | 2:83659da3e5fe | 38 | double normalcal(){ |
Technical_Muffin | 2:83659da3e5fe | 39 | double signalmeasure =emg.read(); |
Technical_Muffin | 2:83659da3e5fe | 40 | if (signalmeasure > maxcal){ |
Technical_Muffin | 2:83659da3e5fe | 41 | signalmeasure = maxcal; |
Technical_Muffin | 2:83659da3e5fe | 42 | } |
Technical_Muffin | 2:83659da3e5fe | 43 | return maxcal; |
Technical_Muffin | 2:83659da3e5fe | 44 | } |
Technical_Muffin | 2:83659da3e5fe | 45 | const int button_pressed = 0; |
Technical_Muffin | 2:83659da3e5fe | 46 | bool caldone =0; |
Technical_Muffin | 0:1883d922ada8 | 47 | int main() |
Technical_Muffin | 0:1883d922ada8 | 48 | { |
Technical_Muffin | 2:83659da3e5fe | 49 | |
Technical_Muffin | 2:83659da3e5fe | 50 | if(button1.read() == button_pressed){//as long as the button is pressed record the emg signal |
Technical_Muffin | 2:83659da3e5fe | 51 | led1.write(!led1.read()); |
Technical_Muffin | 2:83659da3e5fe | 52 | } /* double signalmeasure=emg.read();//read the emg values to check for max |
Technical_Muffin | 2:83659da3e5fe | 53 | if(signalmeasure > maxcal){ |
Technical_Muffin | 2:83659da3e5fe | 54 | maxcal = signalmeasure; |
Technical_Muffin | 1:9913e3886643 | 55 | } |
Technical_Muffin | 2:83659da3e5fe | 56 | caldone=1; */ |
Technical_Muffin | 2:83659da3e5fe | 57 | |
Technical_Muffin | 1:9913e3886643 | 58 | if(caldone==1){ |
Technical_Muffin | 1:9913e3886643 | 59 | sample_timer.attach(&filter, 0.002);//continously execute the EMG reader and filter |
Technical_Muffin | 2:83659da3e5fe | 60 | } |
Technical_Muffin | 0:1883d922ada8 | 61 | } |