Diff: main.cpp

Revision:

11:8196434745b4

Parent:

10:4af887af3a47

Child:

12:86b3885a6308

diff -r 4af887af3a47 -r 8196434745b4 main.cpp
--- a/main.cpp	Wed Oct 28 11:02:52 2015 +0000
+++ b/main.cpp	Wed Oct 28 11:46:55 2015 +0000
@@ -26,10 +26,10 @@
 PwmOut speed2(D5);//speed input for motor 2
 
 /*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);
+biquadFilter filterhigh1(-1.4542, 0.5741, 0.7571, -1.5142, 0.7571);
+biquadFilter filterlow1(0.4395, 0.2059, 0.4114, 0.8227, 0.4114);
+biquadFilter notch(-1.0958, 0.9723, 0.9862, -1.0958, 0.9862);
+biquadFilter filterlow2(-1.4542, 0.5741, 0.0300, 0.0599, 0.0300);
 double emg_value1;
 double signalpart11;
 double signalpart12;
@@ -76,14 +76,26 @@
         signalpart14 = filterlow1.step(signalpart13);//notch filter to remove 50Hz signal
         signalfinal1 = filterlow2.step(signalpart14);//2nd low pass filter to envelope the emg
         onoffsignal1=signalfinal1/maxcal;//divide the emg signal by the max EMG to calibrate the signal per person
+        //pc.printf("the emg 1 signal is: %f \n",onoffsignal1); 
+        emg_value2 = emg2.read();//read the emg value from the elektrodes
+        signalpart21 = notch.step(emg_value2);//Highpass filter for removing offset and artifacts
+        signalpart22 = filterhigh1.step(signalpart21);//rectify the filtered signal
+        signalpart23 = abs(signalpart22);//low pass filter to envelope the emg
+        signalpart24 = filterlow1.step(signalpart23);//notch filter to remove 50Hz signal
+        signalfinal2 = filterlow2.step(signalpart24);//2nd low pass filter to envelope the emg
+        onoffsignal2=signalfinal2/maxcal;//divide the emg signal by the max EMG to calibrate the signal per person
+        
         scope.set(0,emg_value1);//set emg signal to scope in channel 1
         scope.set(1,onoffsignal1);//set filtered signal to scope in channel 2
-        pc.printf("the emg 1 signal is: %f \n",onoffsignal1); 
-    scope.send();//send the signals to the scope
+        scope.set(2,emg_value2);//set emg signal to scope in channel 1
+        scope.set(3,onoffsignal2);//set filtered signal to scope in channel 2
+        scope.send();//send the signals to the scope
+        //pc.printf("the emg 2 signal is: %f \n",onoffsignal2); 
+
         //pc.printf("emg signal %f, filtered signal %f \n",emg_value,onoffsignal);
 }
 }
-
+/*
 void filter2(){
         if(calyes==1){
         emg_value2 = emg2.read();//read the emg value from the elektrodes
@@ -99,7 +111,8 @@
     scope.send();//send the signals to the scope
         //pc.printf("emg signal %f, filtered signal %f \n",emg_value,onoffsignal);
 }
-}
+}*/
+
 /*
 void checkmotor1(){//check the normalized signal and set actions if a threshold is passed not needed in ticker move to main function
     if(calyes==1){
@@ -179,7 +192,7 @@
     led3.write(1);
     speed1.write(0);
     speed2.write(0);
-        sample_timer1.attach(&filter1, 0.005);//continously execute the EMG reader and filter
+        sample_timer1.attach(filter1, 0.003125);//continously execute the EMG reader and filter
 //        sample_timer2.attach(&filter2, 0.005);//continously execute the EMG reader and filter
         //motor_timer1.attach(&checkmotor1, 0.002);//continously execute the motor controller
         //motor_timer2.attach(&checkmotor2, 0.002);//continously execute the motor controller