File content as of revision 5:7c8176cdaa1c:

#include "mbed.h"
#include "HIDScope.h"                      //require the HIDScope library
#include "MODSERIAL.h"
#include "BiQuad.h"
# include "math.h"

//                       DEFINING                  
//Define Inputs
AnalogIn emg(A0);                               //analog of EMG input
InterruptIn button1(PTA4);                        //test button for starting motor 1
InterruptIn button2(SW2);                         //FOR DEBUGGING

//Define Outputs
DigitalOut led1(LED_RED);
DigitalOut led2(LED_BLUE);
DigitalOut led3(LED_GREEN);                     //FOR DEBUGGING
MODSERIAL pc(USBTX,USBRX);


//Define Tickers
Ticker      sample_timer;                       // Taking samples
Ticker      LED_timer;                          // Write the LED
Ticker      calibration_timer;                  // Check when to start calibration


//Define HIDscope
//HIDScope    scope(2);                           //instantize a 2-channel HIDScope object


//Define filters and define the floats which contains the values.
BiQuadChain bqc;
BiQuad bq1_low(1.34871e-3, 2.69742e-3, 1.34871e-3, -1.89346, 0.89885);
BiQuad bq2_high(0.96508, -1.93016, 0.96508, -1.92894, 0.93138);
BiQuad bq3_notch(0.91859, -1.82269, 0.91859, -1.82269, 0.83718);

double print; 
double emgFiltered;
double filteredAbs;
double emg_value;
double onoffsignal;
     
bool check_calibration=0;
double avg_emg;

//                      FUNCTIONS                
//function for filtering

void filter(){                                      
    if(check_calibration==1){
        
        emg_value = emg.read();
        emgFiltered = bqc.step( emg_value );
        filteredAbs = abs( emgFiltered );
    
        onoffsignal=filteredAbs/avg_emg;             //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
 //       scope.set(1,onoffsignal);                   //set filtered signal to scope in channel 2
 //       scope.send();                               //send the signals to the scope
//            pc.printf("emg signal %f, filtered signal %f \n",emg_value,onoffsignal);
    }
}

//function to check the threshold
void check_emg(){                                  
    if(check_calibration==1){                                      //if signal passes threshold value, red light goes on
            if(onoffsignal<=0.5){
                    led1.write(1);
                    led2.write(0);
            }
            else if(onoffsignal > 0.5){                //if signal does not pass threshold value, blue light goes on
                    led1.write(0);
                    led2.write(1);
            }
    }
}

//function to calibrate
int calibration(){
   pc.printf("check1\n\r");
                                            
   // if(button1.read()==false){
    
        
        
        led3.write(0);
       
        double signal_verzameling = 0;
        for(int n =0; n<5000;n++){   
           
                              //read for 5000 samples as calibration
           emg_value = emg.read();
            emgFiltered = bqc.step( emg_value );
            filteredAbs = abs(emgFiltered);
         
          
           // signal_verzameling[n]=  filteredAbs;
             signal_verzameling = signal_verzameling + filteredAbs ;
              pc.printf("signal_verzameling = %f \n\r",filteredAbs);
              wait(0.0005);
              if (n == 4999){
                  avg_emg = signal_verzameling / n;
                  pc.printf("avg_emg = %f\n\r",avg_emg);
                  }
            }  
          
             led3.write(1);
           // double lengte_array = sizeof(signal_verzameling);
      //     pc.printf("lengte_array = %f\n\r",lengte_array);
            
        //    for(int i = 0; i < lengte_array; i++){
      
     
      //    sum_array = sum_array + signal_verzameling[i] ;
      //      }
//avg_emg = sum_array / lengte_array;
     //   pc.printf("avg_emg = %f\n\r",avg_emg);
        
        
        
        
        check_calibration=1;
        led3.write(1);
   // }
    return 0;  
}
 
//                         MAIN                      
 
int main(){
     pc.baud(115200);

pc.printf("Lampjes zijn langs geweest");
    led1.write(1);
    led2.write(1);
    led3.write(1);
    
    
    
    bqc.add( &bq1_low ).add( &bq2_high ).add( &bq3_notch );

    sample_timer.attach(&filter, 0.002);                //continously execute the EMG reader and filter
    LED_timer.attach(&check_emg, 0.002);         //continously execute the motor controller
   //calibration_timer.attach(&calibration, 0.002);              //ticker to check if EMG is being calibrated
//    pc.printf("%d",filteredAbs);
    
    calibration();
    
    while(1){     //while loop to keep system going 
                                                        
    }     
}