Astrid Schut / Mbed 2 deprecated EMG_myo

Filterd vier EMG signalen en zend naar HIDscope

Dependencies:   MovingAverage mbed HIDScope biquadFilter

main.cpp@31:4011beb5a03c, 2019-04-20 (annotated)

Committer:
aschut
Date:
Sat Apr 20 20:08:23 2019 +0000
Revision:
31:4011beb5a03c
Parent:
30:0988a637a342 
Code om 4 EMG signalen te filteren en met hidscope af te lezen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
aschut 26:874d50f440d0 2 #include "HIDScope.h"
aschut 23:f01a1bd3b3c4 3 #include "BiQuad.h"
aschut 28:21746a69e96a 4 #include <iostream>
aschut 26:874d50f440d0 5
aschut 28:21746a69e96a 6 //test
aschut 28:21746a69e96a 7 double emg1_highpassed;
aschut 28:21746a69e96a 8
aschut 23:f01a1bd3b3c4 9 DigitalOut led1(LED_GREEN);
aschut 23:f01a1bd3b3c4 10 DigitalOut led2(LED_RED);
aschut 23:f01a1bd3b3c4 11 DigitalOut led3(LED_BLUE);
aschut 26:874d50f440d0 12
aschut 28:21746a69e96a 13 // Tickers
aschut 28:21746a69e96a 14 Ticker sample_ticker; //ticker voor filteren met 1000Hz
aschut 28:21746a69e96a 15 Ticker threshold_check_ticker; //ticker voor het checken van de threshold met 1000Hz
aschut 28:21746a69e96a 16 Timer timer_calibration; //timer voor EMG Kalibratie
aschut 30:0988a637a342 17 double ts = 0.001; //tijdsstap !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
aschut 28:21746a69e96a 18 double calibration_time = 37; //Kalibratie tijd
aschut 22:2405d2be193d 19
aschut 23:f01a1bd3b3c4 20 //Input
aschut 30:0988a637a342 21 AnalogIn emg1( A1 ); //Duim
aschut 30:0988a637a342 22 AnalogIn emg2( A2 ); //Bicep
aschut 30:0988a637a342 23 AnalogIn emg3( A3 ); //Dorsaal
aschut 30:0988a637a342 24 AnalogIn emg4( A4 ); //Palmair
tomlankhorst 19:2bf824669684 25
aschut 23:f01a1bd3b3c4 26 // GLOBALS EMG
aschut 28:21746a69e96a 27 //Gefilterde EMG signalen
aschut 23:f01a1bd3b3c4 28 volatile double emg1_filtered, emg2_filtered, emg3_filtered, emg4_filtered;
aschut 23:f01a1bd3b3c4 29
aschut 28:21746a69e96a 30 bool thresholdreach1 = false;
aschut 28:21746a69e96a 31 bool thresholdreach2 = false;
aschut 28:21746a69e96a 32 bool thresholdreach3 = false;
aschut 28:21746a69e96a 33 bool thresholdreach4 = false;
aschut 23:f01a1bd3b3c4 34
aschut 28:21746a69e96a 35 volatile double temp_highest_emg1 = 0; //Hoogste waarde gevonden tijdens kalibratie
aschut 23:f01a1bd3b3c4 36 volatile double temp_highest_emg2 = 0;
aschut 23:f01a1bd3b3c4 37 volatile double temp_highest_emg3 = 0;
aschut 23:f01a1bd3b3c4 38 volatile double temp_highest_emg4 = 0;
aschut 23:f01a1bd3b3c4 39
aschut 28:21746a69e96a 40 //Percentage van de hoogste waarde waar de bovenste treshold gezet moet worden
aschut 28:21746a69e96a 41 double Duim_p_t = 0.5;
aschut 28:21746a69e96a 42 double Bicep_p_t = 0.5;
aschut 28:21746a69e96a 43 double Dorsaal_p_t = 0.5;
aschut 28:21746a69e96a 44 double Palmair_p_t = 0.5;
aschut 25:56f5c2786f11 45
aschut 28:21746a69e96a 46 //Percentage van de hoogste waarde waar de onderste treshold gezet moet worden
aschut 28:21746a69e96a 47 double Duim_p_tL = 0.5;
aschut 28:21746a69e96a 48 double Bicep_p_tL = 0.5;
aschut 28:21746a69e96a 49 double Dorsaal_p_tL = 0.5;
aschut 28:21746a69e96a 50 double Palmair_p_tL = 0.5;
aschut 28:21746a69e96a 51
aschut 28:21746a69e96a 52 // Waarde bovenste treshold waar het signaal overheen moet om de arm te activeren
aschut 23:f01a1bd3b3c4 53 volatile double threshold1;
aschut 23:f01a1bd3b3c4 54 volatile double threshold2;
aschut 23:f01a1bd3b3c4 55 volatile double threshold3;
aschut 23:f01a1bd3b3c4 56 volatile double threshold4;
aschut 23:f01a1bd3b3c4 57
aschut 28:21746a69e96a 58 // Waarde onderste treshold waar het signaal onder moet om de arm te deactiveren
aschut 28:21746a69e96a 59 volatile double threshold1L;
aschut 28:21746a69e96a 60 volatile double threshold2L;
aschut 28:21746a69e96a 61 volatile double threshold3L;
aschut 28:21746a69e96a 62 volatile double threshold4L;
aschut 28:21746a69e96a 63
aschut 23:f01a1bd3b3c4 64 // thresholdreads bools
aschut 25:56f5c2786f11 65 int Duim;
aschut 25:56f5c2786f11 66 int Bicep;
aschut 28:21746a69e96a 67 int Dorsaal;
aschut 28:21746a69e96a 68 int Palmair;
aschut 23:f01a1bd3b3c4 69
aschut 23:f01a1bd3b3c4 70 // EMG OUTPUT
aschut 23:f01a1bd3b3c4 71 int EMGxplus;
aschut 23:f01a1bd3b3c4 72 int EMGxmin ;
aschut 23:f01a1bd3b3c4 73 int EMGyplus;
aschut 23:f01a1bd3b3c4 74 int EMGymin ;
aschut 23:f01a1bd3b3c4 75
aschut 26:874d50f440d0 76
aschut 24:0db52d2e1d2a 77 //EMG1!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
aschut 28:21746a69e96a 78 //Highpass vierde orde cutoff 20Hz, Band filter om 49, 50, 51Hz eruit te filteren
aschut 30:0988a637a342 79 BiQuadChain highp1;
aschut 28:21746a69e96a 80 BiQuad highp1_1( 0.8485, -1.6969, 0.8485, 1.0000, -1.7783, 0.7924 );
aschut 28:21746a69e96a 81 BiQuad highp1_2( 1.0000, -2.0000, 1.0000, 1.0000, -1.8934, 0.9085 );
aschut 28:21746a69e96a 82 BiQuad notch1_1( 0.9907, -1.8843, 0.9907, 1.0000, -1.8843, 0.9813 );
aschut 24:0db52d2e1d2a 83
aschut 28:21746a69e96a 84 //Lowpass first order cutoff 0.4Hz
aschut 28:21746a69e96a 85 BiQuad lowp1( 0.0013, 0.0013, 0, 1.0000, -0.9975, 0 );
aschut 24:0db52d2e1d2a 86
aschut 24:0db52d2e1d2a 87 //EMG2!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
aschut 30:0988a637a342 88 //Highpass vierde orde cutoff 20Hz, Band filter om 49, 50, 51Hz eruit te filteren
aschut 24:0db52d2e1d2a 89 BiQuadChain highp2;
aschut 30:0988a637a342 90 BiQuad highp2_1( 0.8485, -1.6969, 0.8485, 1.0000, -1.7783, 0.7924 );
aschut 30:0988a637a342 91 BiQuad highp2_2( 1.0000, -2.0000, 1.0000, 1.0000, -1.8934, 0.9085 );
aschut 30:0988a637a342 92 BiQuad notch2_1( 0.9907, -1.8843, 0.9907, 1.0000, -1.8843, 0.9813 );
aschut 24:0db52d2e1d2a 93
aschut 30:0988a637a342 94 //Lowpass first order cutoff 0.4Hz
aschut 30:0988a637a342 95 BiQuad lowp2( 0.0013, 0.0013, 0, 1.0000, -0.9975, 0 );
aschut 24:0db52d2e1d2a 96
aschut 24:0db52d2e1d2a 97 //EMG3!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
aschut 30:0988a637a342 98 //Highpass vierde orde cutoff 20Hz, Band filter om 49, 50, 51Hz eruit te filteren
aschut 24:0db52d2e1d2a 99 BiQuadChain highp3;
aschut 30:0988a637a342 100 BiQuad highp3_1( 0.8485, -1.6969, 0.8485, 1.0000, -1.7783, 0.7924 );
aschut 30:0988a637a342 101 BiQuad highp3_2( 1.0000, -2.0000, 1.0000, 1.0000, -1.8934, 0.9085 );
aschut 30:0988a637a342 102 BiQuad notch3_1( 0.9907, -1.8843, 0.9907, 1.0000, -1.8843, 0.9813 );
aschut 24:0db52d2e1d2a 103
aschut 30:0988a637a342 104 //Lowpass first order cutoff 0.4Hz
aschut 30:0988a637a342 105 BiQuad lowp3( 0.0013, 0.0013, 0, 1.0000, -0.9975, 0 );
aschut 24:0db52d2e1d2a 106
aschut 24:0db52d2e1d2a 107 //EMG4!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
aschut 30:0988a637a342 108 //Highpass vierde orde cutoff 20Hz, Band filter om 49, 50, 51Hz eruit te filteren
aschut 24:0db52d2e1d2a 109 BiQuadChain highp4;
aschut 30:0988a637a342 110 BiQuad highp4_1( 0.8485, -1.6969, 0.8485, 1.0000, -1.7783, 0.7924 );
aschut 30:0988a637a342 111 BiQuad highp4_2( 1.0000, -2.0000, 1.0000, 1.0000, -1.8934, 0.9085 );
aschut 30:0988a637a342 112 BiQuad notch4_1( 0.9907, -1.8843, 0.9907, 1.0000, -1.8843, 0.9813 );
aschut 24:0db52d2e1d2a 113
aschut 30:0988a637a342 114 //Lowpass first order cutoff 0.4Hz
aschut 30:0988a637a342 115 BiQuad lowp4( 0.0013, 0.0013, 0, 1.0000, -0.9975, 0 );
aschut 24:0db52d2e1d2a 116
aschut 23:f01a1bd3b3c4 117 // ~~~~~~~~~~~~~~~~~~~EMG FUNCTIONS~~~~~~~~~~~~~~~~~~
aschut 23:f01a1bd3b3c4 118 void emgsample()
aschut 23:f01a1bd3b3c4 119 {
aschut 25:56f5c2786f11 120
aschut 30:0988a637a342 121 // EMG signaal lezen
aschut 23:f01a1bd3b3c4 122 double emgread1 = emg1.read();
aschut 30:0988a637a342 123 double emgread2 = emg2.read();
aschut 23:f01a1bd3b3c4 124 double emgread3 = emg3.read();
aschut 23:f01a1bd3b3c4 125 double emgread4 = emg4.read();
aschut 30:0988a637a342 126
aschut 30:0988a637a342 127 // Vierde orde highpass filter + notch filter
aschut 30:0988a637a342 128 double emg1_highpassed = highp1.step(emgread1);
aschut 23:f01a1bd3b3c4 129 double emg2_highpassed = highp2.step(emgread2);
aschut 23:f01a1bd3b3c4 130 double emg3_highpassed = highp3.step(emgread3);
aschut 23:f01a1bd3b3c4 131 double emg4_highpassed = highp4.step(emgread4);
aschut 23:f01a1bd3b3c4 132
aschut 30:0988a637a342 133 //Rectificatie
aschut 28:21746a69e96a 134 double emg1_abs = abs(emg1_highpassed);
aschut 30:0988a637a342 135 double emg2_abs = abs(emg2_highpassed);
aschut 30:0988a637a342 136 double emg3_abs = abs(emg3_highpassed);
aschut 30:0988a637a342 137 double emg4_abs = abs(emg4_highpassed);
aschut 23:f01a1bd3b3c4 138
aschut 23:f01a1bd3b3c4 139 //All EMG abs into lowpass
aschut 30:0988a637a342 140 emg1_filtered = lowp1.step(emg1_abs);
aschut 30:0988a637a342 141 emg2_filtered = lowp2.step(emg2_abs);
aschut 30:0988a637a342 142 emg3_filtered = lowp3.step(emg3_abs);
aschut 30:0988a637a342 143 emg4_filtered = lowp4.step(emg4_abs);
aschut 25:56f5c2786f11 144
aschut 23:f01a1bd3b3c4 145 }
aschut 23:f01a1bd3b3c4 146
aschut 23:f01a1bd3b3c4 147 void CalibrationEMG()
aschut 23:f01a1bd3b3c4 148 {
aschut 28:21746a69e96a 149
aschut 28:21746a69e96a 150 while(timer_calibration<55) { //Duim
aschut 28:21746a69e96a 151 if(timer_calibration>0 && timer_calibration<7) {
aschut 23:f01a1bd3b3c4 152 led1=!led1;
aschut 23:f01a1bd3b3c4 153 if(emg1_filtered>temp_highest_emg1) {
aschut 23:f01a1bd3b3c4 154 temp_highest_emg1= emg1_filtered;
aschut 26:874d50f440d0 155
aschut 23:f01a1bd3b3c4 156 }
aschut 23:f01a1bd3b3c4 157 }
aschut 28:21746a69e96a 158 if(timer_calibration>7 && timer_calibration<10) {
aschut 23:f01a1bd3b3c4 159 led1=0;
aschut 23:f01a1bd3b3c4 160 led2=0;
aschut 23:f01a1bd3b3c4 161 led3=0;
aschut 23:f01a1bd3b3c4 162 }
aschut 28:21746a69e96a 163 if(timer_calibration>10 && timer_calibration<17) { //Bicep
aschut 23:f01a1bd3b3c4 164 led2=!led2;
aschut 23:f01a1bd3b3c4 165 if(emg2_filtered>temp_highest_emg2) {
aschut 23:f01a1bd3b3c4 166 temp_highest_emg2= emg2_filtered;
aschut 26:874d50f440d0 167
aschut 23:f01a1bd3b3c4 168 }
aschut 23:f01a1bd3b3c4 169 }
aschut 28:21746a69e96a 170 if(timer_calibration>17 && timer_calibration<20) {
aschut 23:f01a1bd3b3c4 171 led1=0;
aschut 23:f01a1bd3b3c4 172 led2=0;
aschut 23:f01a1bd3b3c4 173 led3=0;
aschut 23:f01a1bd3b3c4 174 }
aschut 28:21746a69e96a 175 if(timer_calibration>20 && timer_calibration<27) { //Dorsaal
aschut 23:f01a1bd3b3c4 176 led3=!led3;
aschut 23:f01a1bd3b3c4 177 if(emg3_filtered>temp_highest_emg3) {
aschut 23:f01a1bd3b3c4 178 temp_highest_emg3= emg3_filtered;
aschut 26:874d50f440d0 179
aschut 23:f01a1bd3b3c4 180 }
aschut 23:f01a1bd3b3c4 181 }
aschut 28:21746a69e96a 182 if(timer_calibration>27 && timer_calibration<30) {
aschut 23:f01a1bd3b3c4 183 led1=0;
aschut 23:f01a1bd3b3c4 184 led2=0;
aschut 23:f01a1bd3b3c4 185 led3=0;
aschut 23:f01a1bd3b3c4 186 }
aschut 28:21746a69e96a 187 if(timer_calibration>30 && timer_calibration<37) { //Palmair
aschut 23:f01a1bd3b3c4 188 led2=!led2;
aschut 23:f01a1bd3b3c4 189 led3=!led3;
aschut 23:f01a1bd3b3c4 190 if(emg4_filtered>temp_highest_emg4) {
aschut 23:f01a1bd3b3c4 191 temp_highest_emg4= emg4_filtered;
aschut 26:874d50f440d0 192
aschut 23:f01a1bd3b3c4 193 }
aschut 23:f01a1bd3b3c4 194 }
aschut 23:f01a1bd3b3c4 195 led1=1;
aschut 23:f01a1bd3b3c4 196 led2=1;
aschut 23:f01a1bd3b3c4 197 led3=1;
aschut 23:f01a1bd3b3c4 198
aschut 23:f01a1bd3b3c4 199
aschut 23:f01a1bd3b3c4 200 }
aschut 23:f01a1bd3b3c4 201
aschut 28:21746a69e96a 202 threshold1 = temp_highest_emg1*Duim_p_t;
aschut 28:21746a69e96a 203 threshold2 = temp_highest_emg2*Bicep_p_t;
aschut 28:21746a69e96a 204 threshold3 = temp_highest_emg3*Dorsaal_p_t;
aschut 28:21746a69e96a 205 threshold4 = temp_highest_emg4*Palmair_p_t;
aschut 28:21746a69e96a 206
aschut 28:21746a69e96a 207 threshold1L = temp_highest_emg1*Duim_p_tL;
aschut 28:21746a69e96a 208 threshold2L = temp_highest_emg2*Bicep_p_tL;
aschut 28:21746a69e96a 209 threshold3L = temp_highest_emg3*Dorsaal_p_tL;
aschut 28:21746a69e96a 210 threshold4L = temp_highest_emg4*Palmair_p_tL;
aschut 23:f01a1bd3b3c4 211 }
aschut 23:f01a1bd3b3c4 212
aschut 28:21746a69e96a 213 //Check of emg_filtered boven de threshold is
aschut 23:f01a1bd3b3c4 214 void threshold_check()
aschut 23:f01a1bd3b3c4 215 {
aschut 28:21746a69e96a 216 // EMG1 Check
aschut 28:21746a69e96a 217 if (thresholdreach1 == false){ //Als emg_filtered nog niet boven de bovenste threshold is geweest
aschut 28:21746a69e96a 218 //bovenste threshold check
aschut 23:f01a1bd3b3c4 219 if(emg1_filtered>threshold1) {
aschut 25:56f5c2786f11 220 Duim = 1;
aschut 28:21746a69e96a 221 thresholdreach1 = true;
aschut 28:21746a69e96a 222
aschut 23:f01a1bd3b3c4 223 } else {
aschut 25:56f5c2786f11 224 Duim= 0;
aschut 23:f01a1bd3b3c4 225 }
aschut 28:21746a69e96a 226 }
aschut 28:21746a69e96a 227 else{ //Als emg_filtered boven de bovenste threshold is geweest
aschut 28:21746a69e96a 228 //onderste threshold check
aschut 28:21746a69e96a 229 if(emg1_filtered<threshold1L) {
aschut 28:21746a69e96a 230 Duim = 0;
aschut 28:21746a69e96a 231 thresholdreach1 = false;
aschut 28:21746a69e96a 232
aschut 28:21746a69e96a 233 } else {
aschut 28:21746a69e96a 234 Duim= 1;
aschut 28:21746a69e96a 235 }
aschut 28:21746a69e96a 236 }
aschut 28:21746a69e96a 237
aschut 28:21746a69e96a 238 // EMG2 Check
aschut 28:21746a69e96a 239 if (thresholdreach2 == false){ //Als emg_filtered nog niet boven de bovenste threshold is geweest
aschut 28:21746a69e96a 240 //bovenste threshold check
aschut 23:f01a1bd3b3c4 241 if(emg2_filtered>threshold2) {
aschut 25:56f5c2786f11 242 Bicep = 1;
aschut 28:21746a69e96a 243 thresholdreach2 = true;
aschut 23:f01a1bd3b3c4 244 } else {
aschut 25:56f5c2786f11 245 Bicep= 0;
aschut 23:f01a1bd3b3c4 246 }
aschut 23:f01a1bd3b3c4 247 }
aschut 28:21746a69e96a 248 else{ //Als emg_filtered boven de bovenste threshold is geweest
aschut 28:21746a69e96a 249 //onderste threshold check
aschut 28:21746a69e96a 250 if(emg2_filtered<threshold2L) {
aschut 28:21746a69e96a 251 Bicep = 0;
aschut 28:21746a69e96a 252 thresholdreach2 = false;
aschut 28:21746a69e96a 253
aschut 23:f01a1bd3b3c4 254 } else {
aschut 28:21746a69e96a 255 Bicep= 1;
aschut 28:21746a69e96a 256 }
aschut 23:f01a1bd3b3c4 257 }
aschut 23:f01a1bd3b3c4 258
aschut 28:21746a69e96a 259 // EMG3 Check
aschut 28:21746a69e96a 260 if (thresholdreach3 == false){ //Als emg_filtered nog niet boven de bovenste threshold is geweest
aschut 28:21746a69e96a 261 //bovenste threshold check
aschut 28:21746a69e96a 262 if(emg3_filtered>threshold3) {
aschut 28:21746a69e96a 263 Dorsaal = 1;
aschut 28:21746a69e96a 264 thresholdreach3 = true;
aschut 28:21746a69e96a 265 } else {
aschut 28:21746a69e96a 266 Dorsaal= 0;
aschut 28:21746a69e96a 267 }
aschut 28:21746a69e96a 268 }
aschut 28:21746a69e96a 269 else{ //Als emg_filtered boven de bovenste threshold is geweest
aschut 28:21746a69e96a 270 //onderste threshold check
aschut 28:21746a69e96a 271 if(emg3_filtered<threshold3L) {
aschut 28:21746a69e96a 272 Dorsaal = 0;
aschut 28:21746a69e96a 273 thresholdreach3 = false;
aschut 28:21746a69e96a 274
aschut 28:21746a69e96a 275 } else {
aschut 28:21746a69e96a 276 Dorsaal= 1;
aschut 28:21746a69e96a 277 }
aschut 28:21746a69e96a 278 }
aschut 23:f01a1bd3b3c4 279
aschut 28:21746a69e96a 280 // EMG4 Check
aschut 28:21746a69e96a 281 if (thresholdreach4 == false){ //Als emg_filtered nog niet boven de bovenste threshold is geweest
aschut 28:21746a69e96a 282 //bovenste threshold check
aschut 28:21746a69e96a 283 if(emg4_filtered>threshold4) {
aschut 28:21746a69e96a 284 Palmair = 1;
aschut 28:21746a69e96a 285 thresholdreach4 = true;
aschut 28:21746a69e96a 286 } else {
aschut 28:21746a69e96a 287 Palmair= 0;
aschut 28:21746a69e96a 288 }
aschut 28:21746a69e96a 289 }
aschut 28:21746a69e96a 290 else{ //Als emg_filtered boven de bovenste threshold is geweest
aschut 28:21746a69e96a 291 //onderste threshold check
aschut 28:21746a69e96a 292 if(emg4_filtered<threshold4L) {
aschut 28:21746a69e96a 293 Palmair = 0;
aschut 28:21746a69e96a 294 thresholdreach4 = false;
aschut 28:21746a69e96a 295
aschut 28:21746a69e96a 296 } else {
aschut 28:21746a69e96a 297 Palmair= 1;
aschut 28:21746a69e96a 298 }
aschut 28:21746a69e96a 299 }
aschut 28:21746a69e96a 300
aschut 28:21746a69e96a 301 }
aschut 28:21746a69e96a 302
aschut 23:f01a1bd3b3c4 303
aschut 23:f01a1bd3b3c4 304
aschut 27:c0d748b7d5d1 305
aschut 27:c0d748b7d5d1 306
aschut 27:c0d748b7d5d1 307
aschut 27:c0d748b7d5d1 308
aschut 27:c0d748b7d5d1 309
tomlankhorst 14:f83354387756 310 Ticker sample_timer;
aschut 30:0988a637a342 311 HIDScope scope( 2 );
aschut 27:c0d748b7d5d1 312 DigitalOut led(LED1);
vsluiter 2:e314bb3b2d99 313
aschut 22:2405d2be193d 314
aschut 31:4011beb5a03c 315 void sample() //Send to HIDscope
vsluiter 2:e314bb3b2d99 316 {
aschut 27:c0d748b7d5d1 317
aschut 31:4011beb5a03c 318
aschut 31:4011beb5a03c 319 scope.set(0, emg1_filtered );
aschut 31:4011beb5a03c 320 scope.set(1, emg2_filtered);
aschut 30:0988a637a342 321 scope.set(2, emg3_filtered );
aschut 30:0988a637a342 322 scope.set(3, emg4_filtered);
aschut 27:c0d748b7d5d1 323
aschut 31:4011beb5a03c 324 scope.send();
vsluiter 2:e314bb3b2d99 325 }
vsluiter 0:32bb76391d89 326
aschut 27:c0d748b7d5d1 327
vsluiter 0:32bb76391d89 328 int main()
tomlankhorst 19:2bf824669684 329 {
aschut 30:0988a637a342 330 // Ticker voor EMG filtering
aschut 30:0988a637a342 331 sample_ticker.attach(&emgsample, ts);
aschut 26:874d50f440d0 332
aschut 24:0db52d2e1d2a 333 //BiQuad Chain add
aschut 30:0988a637a342 334 highp1.add( &highp1_1 ).add( &highp1_2 ).add( &notch1_1 );
aschut 30:0988a637a342 335 highp2.add( &highp2_1 ).add( &highp2_2 ).add( &notch2_1 );
aschut 30:0988a637a342 336 highp3.add( &highp3_1 ).add( &highp3_2 ).add( &notch3_1 );
aschut 30:0988a637a342 337 highp4.add( &highp4_1 ).add( &highp4_2 ).add( &notch4_1 );
aschut 30:0988a637a342 338
aschut 30:0988a637a342 339 // Ticker voor EMG uitlezen
aschut 30:0988a637a342 340
aschut 28:21746a69e96a 341
aschut 28:21746a69e96a 342 temp_highest_emg1 = 0; //highest detected value right Biceps
aschut 23:f01a1bd3b3c4 343 temp_highest_emg2 = 0;
aschut 23:f01a1bd3b3c4 344 temp_highest_emg3 = 0;
aschut 23:f01a1bd3b3c4 345 temp_highest_emg4 = 0;
aschut 23:f01a1bd3b3c4 346
aschut 23:f01a1bd3b3c4 347 timer_calibration.reset();
aschut 23:f01a1bd3b3c4 348 timer_calibration.start();
aschut 23:f01a1bd3b3c4 349
aschut 24:0db52d2e1d2a 350
aschut 30:0988a637a342 351 CalibrationEMG();
aschut 27:c0d748b7d5d1 352
aschut 30:0988a637a342 353 threshold_check_ticker.attach(&threshold_check, 0.001);
aschut 30:0988a637a342 354 led1 = 1;
aschut 30:0988a637a342 355 led2 = 1;
aschut 30:0988a637a342 356 led3 = 1;
aschut 30:0988a637a342 357 sample_timer.attach(&sample, 0.001);
aschut 30:0988a637a342 358 sample_ticker.detach();
aschut 30:0988a637a342 359 timer_calibration.stop();
aschut 24:0db52d2e1d2a 360
aschut 25:56f5c2786f11 361
aschut 23:f01a1bd3b3c4 362
tomlankhorst 15:0da764eea774 363
tomlankhorst 14:f83354387756 364 /*empty loop, sample() is executed periodically*/
aschut 24:0db52d2e1d2a 365 while(1) {
aschut 24:0db52d2e1d2a 366 wait(0.01);
aschut 24:0db52d2e1d2a 367 }
vsluiter 0:32bb76391d89 368 }