Revision 12:86b3885a6308, committed 2015-10-28

Comitter:

Technical_Muffin

Date:

Wed Oct 28 13:14:16 2015 +0000

Parent:

11:8196434745b4

Commit message:

Working emg movement code. Apparently biquads need to be doubled and at seperate locations

Changed in this revision

--- a/main.cpp	Wed Oct 28 11:46:55 2015 +0000
+++ b/main.cpp	Wed Oct 28 13:14:16 2015 +0000
@@ -11,7 +11,7 @@
 Ticker      motor_timer1;
 Ticker      motor_timer2;
 Ticker      cal_timer;
-HIDScope    scope(4);        // Instantize a 2-channel HIDScope object
+HIDScope    scope(5);        // Instantize a 2-channel HIDScope object
 DigitalIn button1(PTA4);//test button for starting motor 1
 DigitalOut led1(LED_RED);
 DigitalOut led2(LED_BLUE);
@@ -29,7 +29,13 @@
 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);
+biquadFilter filterlow2(-1.9722, 0.9726, 9.50600294492288e-05, 0.000190120058898458, 9.50600294492288e-05);
+
+biquadFilter filterhigh12(-1.4542, 0.5741, 0.7571, -1.5142, 0.7571);
+biquadFilter filterlow12(0.4395, 0.2059, 0.4114, 0.8227, 0.4114);
+biquadFilter notch2(-1.0958, 0.9723, 0.9862, -1.0958, 0.9862);
+biquadFilter filterlow22(-1.9722, 0.9726, 9.50600294492288e-05, 0.000190120058898458, 9.50600294492288e-05);
+
 double emg_value1;
 double signalpart11;
 double signalpart12;
@@ -46,6 +52,8 @@
 double signalfinal2;
 double onoffsignal2;
 
+double test;
+
 
 double maxcal=1;        
 bool calyes=1;
@@ -72,46 +80,51 @@
         emg_value1 = emg1.read();//read the emg value from the elektrodes
         signalpart11 = notch.step(emg_value1);//Highpass filter for removing offset and artifacts
         signalpart12 = filterhigh1.step(signalpart11);//rectify the filtered signal
-        signalpart13 = abs(signalpart12);//low pass filter to envelope the emg
+        signalpart13 = fabs(signalpart12);//low pass filter to envelope the emg
         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
+        /*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
-        
+        onoffsignal2=signalfinal2/maxcal;*///divide the emg signal by the max EMG to calibrate the signal per person
+        //test=onoffsignal2-onoffsignal1;
         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
-        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); 
+        //scope.set(2,emg_value2);//set emg signal to scope in channel 3
+        //scope.set(3,onoffsignal2);//set filtered signal to scope in channel 4
+        //scope.set(4,test);
+        //scope.send();//send the signals to the scope
+
+        //pc.printf("the difference between the 2 signals is: %f \n",test); 
 
         //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
-        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
+        signalpart21 = notch2.step(emg_value2);//Highpass filter for removing offset and artifacts
+        signalpart22 = filterhigh12.step(signalpart21);//rectify the filtered signal
+        signalpart23 = fabs(signalpart22);//low pass filter to envelope the emg
+        signalpart24 = filterlow12.step(signalpart23);//notch filter to remove 50Hz signal
+        signalfinal2 = filterlow22.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(2,emg_value2);//set emg signal to scope in channel 1
         scope.set(3,onoffsignal2);//set filtered signal to scope in channel 2
-        pc.printf("the emg 2 signal is: %f \n",onoffsignal2); 
-    scope.send();//send the signals to the scope
+        //pc.printf("the emg 2 signal is: %f \n",onoffsignal2); 
+        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
@@ -193,7 +206,7 @@
     speed1.write(0);
     speed2.write(0);
         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
+        sample_timer2.attach(filter2, 0.003125);//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
       //  cal_timer.attach(&calibri, 0.002);//ticker to check if motor is being calibrated