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:
- 3:a69f041108d4
- Parent:
- 2:83659da3e5fe
- Child:
- 4:fd29407c3115
diff -r 83659da3e5fe -r a69f041108d4 main.cpp --- a/main.cpp Mon Oct 26 13:22:32 2015 +0000 +++ b/main.cpp Mon Oct 26 14:05:37 2015 +0000 @@ -1,13 +1,15 @@ #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; 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); @@ -25,10 +27,10 @@ */ void filter(){ emg_value = emg.read();//read the emg value from the elektrodes - signalpart1 = filterhigh1.step(emg_value);//Highpass filter for removing offset and artifacts - signalpart2 = abs(signalpart1);//rectify the filtered signal - signalpart3 = filterlow1.step(signalpart2);//low pass filter to envelope the emg - signalpart4 = notch.step(signalpart3);//notch filter to remove 50Hz signal + 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 @@ -42,20 +44,22 @@ } return maxcal; } -const int button_pressed = 0; -bool caldone =0; + int main() { - - if(button1.read() == button_pressed){//as long as the button is pressed record the emg signal - led1.write(!led1.read()); - } /* double signalmeasure=emg.read();//read the emg values to check for max - if(signalmeasure > maxcal){ - maxcal = signalmeasure; - } - caldone=1; */ - - if(caldone==1){ - sample_timer.attach(&filter, 0.002);//continously execute the EMG reader and filter - } + led1.write(1); + led2.write(1); + sample_timer.attach(&filter, 0.002);//continously execute the EMG reader and filter + while(1){ + pc.baud(115200); + pc.printf("%f \n", onoffsignal); + if(onoffsignal==0.02){ + led1.write(0); + led2.write(1); + } + else if(onoffsignal == 0.05){ + led1.write(1); + led2.write(0); + } + } } \ No newline at end of file