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@7:87d9904c1c19, 2015-10-27 (annotated)
- Committer:
- Technical_Muffin
- Date:
- Tue Oct 27 10:49:59 2015 +0000
- Revision:
- 7:87d9904c1c19
- Parent:
- 6:ec965bb75d40
- Child:
- 8:5f13198a8e49
working emg code, commented
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 | 3:a69f041108d4 | 4 | #include "MODSERIAL.h" |
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 | 5:46e201518dd3 | 8 | Ticker motor_timer; |
Technical_Muffin | 6:ec965bb75d40 | 9 | Ticker cal_timer; |
Technical_Muffin | 0:1883d922ada8 | 10 | HIDScope scope(2); // Instantize a 2-channel HIDScope object |
Technical_Muffin | 2:83659da3e5fe | 11 | DigitalIn button1(PTA4);//test button for starting motor 1 |
Technical_Muffin | 2:83659da3e5fe | 12 | DigitalOut led1(LED_RED); |
Technical_Muffin | 3:a69f041108d4 | 13 | DigitalOut led2(LED_BLUE); |
Technical_Muffin | 3:a69f041108d4 | 14 | MODSERIAL pc(USBTX,USBRX); |
Technical_Muffin | 0:1883d922ada8 | 15 | /*The biquad filters required to transform the EMG signal into an usable signal*/ |
Technical_Muffin | 0:1883d922ada8 | 16 | biquadFilter filterhigh1(-1.1430, 0.4128, 0.6389, -1.2779, 0.6389); |
Technical_Muffin | 0:1883d922ada8 | 17 | biquadFilter filterlow1(1.9556, 0.9565, 0.9780, 1.9561, 0.9780); |
Technical_Muffin | 0:1883d922ada8 | 18 | biquadFilter notch(-1.1978e-16, 0.9561, 0.9780, -1.1978e-16, 0.9780); |
Technical_Muffin | 0:1883d922ada8 | 19 | biquadFilter filterlow2(-1.9645, 0.9651, 1.5515e-4, 3.1030e-4, 1.5515e-4); |
Technical_Muffin | 1:9913e3886643 | 20 | double emg_value; |
Technical_Muffin | 1:9913e3886643 | 21 | double signalpart1; |
Technical_Muffin | 1:9913e3886643 | 22 | double signalpart2; |
Technical_Muffin | 1:9913e3886643 | 23 | double signalpart3; |
Technical_Muffin | 1:9913e3886643 | 24 | double signalpart4; |
Technical_Muffin | 1:9913e3886643 | 25 | double signalfinal; |
Technical_Muffin | 2:83659da3e5fe | 26 | double onoffsignal; |
Technical_Muffin | 4:fd29407c3115 | 27 | double maxcal=0; |
Technical_Muffin | 6:ec965bb75d40 | 28 | bool calyes=0; |
Technical_Muffin | 6:ec965bb75d40 | 29 | |
Technical_Muffin | 0:1883d922ada8 | 30 | /* |
Technical_Muffin | 0:1883d922ada8 | 31 | */ |
Technical_Muffin | 2:83659da3e5fe | 32 | void filter(){ |
Technical_Muffin | 6:ec965bb75d40 | 33 | if(calyes==1){ |
Technical_Muffin | 1:9913e3886643 | 34 | emg_value = emg.read();//read the emg value from the elektrodes |
Technical_Muffin | 3:a69f041108d4 | 35 | signalpart1 = notch.step(emg_value);//Highpass filter for removing offset and artifacts |
Technical_Muffin | 3:a69f041108d4 | 36 | signalpart2 = filterhigh1.step(signalpart1);//rectify the filtered signal |
Technical_Muffin | 3:a69f041108d4 | 37 | signalpart3 = abs(signalpart2);//low pass filter to envelope the emg |
Technical_Muffin | 3:a69f041108d4 | 38 | signalpart4 = filterlow1.step(signalpart3);//notch filter to remove 50Hz signal |
Technical_Muffin | 1:9913e3886643 | 39 | signalfinal = filterlow2.step(signalpart4);//2nd low pass filter to envelope the emg |
Technical_Muffin | 2:83659da3e5fe | 40 | onoffsignal=signalfinal/maxcal;//divide the emg signal by the max EMG to calibrate the signal per person |
Technical_Muffin | 1:9913e3886643 | 41 | scope.set(0,emg_value);//set emg signal to scope in channel 1 |
Technical_Muffin | 2:83659da3e5fe | 42 | scope.set(1,onoffsignal);//set filtered signal to scope in channel 2 |
Technical_Muffin | 1:9913e3886643 | 43 | scope.send();//send the signals to the scope |
Technical_Muffin | 6:ec965bb75d40 | 44 | //pc.printf("emg signal %f, filtered signal %f \n",emg_value,onoffsignal); |
Technical_Muffin | 6:ec965bb75d40 | 45 | } |
Technical_Muffin | 6:ec965bb75d40 | 46 | } |
Technical_Muffin | 7:87d9904c1c19 | 47 | void checkmotor(){//check the normalized signal and set actions if a threshold is passed |
Technical_Muffin | 6:ec965bb75d40 | 48 | if(calyes==1){ |
Technical_Muffin | 6:ec965bb75d40 | 49 | if(onoffsignal<=0.25){ |
Technical_Muffin | 6:ec965bb75d40 | 50 | led1.write(1); |
Technical_Muffin | 6:ec965bb75d40 | 51 | led2.write(0); |
Technical_Muffin | 6:ec965bb75d40 | 52 | } |
Technical_Muffin | 6:ec965bb75d40 | 53 | else if(onoffsignal >= 0.5){ |
Technical_Muffin | 6:ec965bb75d40 | 54 | led1.write(0); |
Technical_Muffin | 6:ec965bb75d40 | 55 | led2.write(1); |
Technical_Muffin | 6:ec965bb75d40 | 56 | } |
Technical_Muffin | 6:ec965bb75d40 | 57 | } |
Technical_Muffin | 0:1883d922ada8 | 58 | } |
Technical_Muffin | 5:46e201518dd3 | 59 | |
Technical_Muffin | 7:87d9904c1c19 | 60 | void calibri(){//calibration function |
Technical_Muffin | 6:ec965bb75d40 | 61 | if(button1.read()==false){ |
Technical_Muffin | 7:87d9904c1c19 | 62 | for(int n =0; n<5000;n++){//read for 5000 samples as calibration |
Technical_Muffin | 6:ec965bb75d40 | 63 | emg_value = emg.read();//read the emg value from the elektrodes |
Technical_Muffin | 6:ec965bb75d40 | 64 | signalpart1 = notch.step(emg_value);//Highpass filter for removing offset and artifacts |
Technical_Muffin | 6:ec965bb75d40 | 65 | signalpart2 = filterhigh1.step(signalpart1);//rectify the filtered signal |
Technical_Muffin | 6:ec965bb75d40 | 66 | signalpart3 = abs(signalpart2);//low pass filter to envelope the emg |
Technical_Muffin | 6:ec965bb75d40 | 67 | signalpart4 = filterlow1.step(signalpart3);//notch filter to remove 50Hz signal |
Technical_Muffin | 6:ec965bb75d40 | 68 | signalfinal = filterlow2.step(signalpart4);//2nd low pass filter to envelope the emg |
Technical_Muffin | 6:ec965bb75d40 | 69 | double signalmeasure = signalfinal; |
Technical_Muffin | 7:87d9904c1c19 | 70 | if (signalmeasure > maxcal){//determine what the highest reachable emg signal is |
Technical_Muffin | 6:ec965bb75d40 | 71 | maxcal = signalmeasure; |
Technical_Muffin | 6:ec965bb75d40 | 72 | } |
Technical_Muffin | 6:ec965bb75d40 | 73 | } |
Technical_Muffin | 6:ec965bb75d40 | 74 | calyes=1; |
Technical_Muffin | 6:ec965bb75d40 | 75 | } |
Technical_Muffin | 6:ec965bb75d40 | 76 | } |
Technical_Muffin | 0:1883d922ada8 | 77 | int main() |
Technical_Muffin | 0:1883d922ada8 | 78 | { |
Technical_Muffin | 4:fd29407c3115 | 79 | pc.baud(115200); |
Technical_Muffin | 3:a69f041108d4 | 80 | led1.write(1); |
Technical_Muffin | 3:a69f041108d4 | 81 | led2.write(1); |
Technical_Muffin | 6:ec965bb75d40 | 82 | |
Technical_Muffin | 4:fd29407c3115 | 83 | sample_timer.attach(&filter, 0.002);//continously execute the EMG reader and filter |
Technical_Muffin | 6:ec965bb75d40 | 84 | motor_timer.attach(&checkmotor, 0.002);//continously execute the motor controller |
Technical_Muffin | 6:ec965bb75d40 | 85 | cal_timer.attach(&calibri, 0.002);//ticker to check if motor is being calibrated |
Technical_Muffin | 6:ec965bb75d40 | 86 | |
Technical_Muffin | 5:46e201518dd3 | 87 | |
Technical_Muffin | 6:ec965bb75d40 | 88 | while(1){ |
Technical_Muffin | 7:87d9904c1c19 | 89 | //random while loop to keep system going |
Technical_Muffin | 5:46e201518dd3 | 90 | } |
Technical_Muffin | 0:1883d922ada8 | 91 | } |