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
Diff: main.cpp
- Revision:
- 0:1883d922ada8
- Child:
- 1:9913e3886643
diff -r 000000000000 -r 1883d922ada8 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed Oct 21 15:23:36 2015 +0000 @@ -0,0 +1,43 @@ +#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 +/*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); + +/* + */ +void filter() +{ + /* Sample the EMG using the 'read' method of the 'AnalogIn' variable named 'emg' */ + double emg_value = emg.read(); + double signalpart1 = filterhigh1.step(emg_value);//Highpass filter for removing offset and artifacts + double signalpart2 = abs(signalpart1);//rectify the filtered signal + double signalpart3 = filterlow1.step(signalpart2);//low pass filter to envelope the emg + double signalpart4 = notch.step(signalpart3);//notch filter to remove 50Hz signal + double signalfinal = filterlow2.step(signalpart4);//2nd low pass filter to envelope the emg + scope.set(0,emg_value);//emg_value + scope.set(1,signalfinal); + /* Second, set the sampled emg value in channel zero (the first channel) in the 'HIDScope' variable named 'scope' */ + /* Repeat the step above if required for more channels (channel 0 up to 5 = 6 channels) */ + /* Finally, send all channels to the PC at once */ + scope.send(); +} + +int main() +{ + /**Attach the 'sample' function to the timer 'sample_timer'. + * this ensures that 'sample' is executed every... 0.002 seconds + */ + sample_timer.attach(&filter, 0.002); + + /*empty loop, sample() is executed periodically*/ + while(1) {} +} \ No newline at end of file