Diff: main.cpp

Revision:

23:f01a1bd3b3c4

Parent:

22:2405d2be193d

Child:

24:0db52d2e1d2a

--- a/main.cpp	Thu Mar 28 13:26:30 2019 +0000
+++ b/main.cpp	Thu Mar 28 14:09:33 2019 +0000
@@ -1,13 +1,197 @@
 #include "mbed.h"
 #include "HIDScope.h"
+#include "BiQuad.h"
+#include "BiQuadchains_zelfbeun.h"
+DigitalOut led1(LED_GREEN);
+DigitalOut led2(LED_RED);
+DigitalOut led3(LED_BLUE);
 
-//Define objects
+//EMG tickers, these tickers are called in the mainscript with fsample 500Hz, also sends to HIDscope with same fsample
+Ticker sample_ticker; //ticker for filtering pref. with 1000Hz, define in tick.attach
+Ticker threshold_check_ticker;
+Timer t; //timer try out for Astrid
+Timer timer_calibration; //timer for EMG calibration
 
+//Input
 AnalogIn    emg1( A1 );
 AnalogIn    emg2( A2 );
 AnalogIn    emg3( A3 );
 AnalogIn    emg4( A4 );
 
+// GLOBALS EMG
+//Filtered EMG signals from the end of the chains
+volatile double emg1_filtered, emg2_filtered, emg3_filtered, emg4_filtered;
+int i = 0;
+
+//Define doubles for calibration and ticker
+double ts = 0.001; //tijdsstap
+double calibration_time = 55; //time EMG calibration should take
+
+volatile double temp_highest_emg1 = 0; //highest detected value right biceps
+volatile double temp_highest_emg2 = 0;
+volatile double temp_highest_emg3 = 0;
+volatile double temp_highest_emg4 = 0;
+
+//Doubles for calculation threshold
+double biceps_p_t = 0.4; //set threshold at percentage of highest value
+double triceps_p_t = 0.5; //set threshold at percentage of highest value
+volatile double threshold1;
+volatile double threshold2;
+volatile double threshold3;
+volatile double threshold4;
+
+// thresholdreads bools
+int bicepsR;
+int tricepsR;
+int bicepsL;
+int tricepsL;
+
+//  EMG OUTPUT
+int EMGxplus;
+int EMGxmin ;
+int EMGyplus;
+int EMGymin ;
+
+// ~~~~~~~~~~~~~~~~~~~EMG FUNCTIONS~~~~~~~~~~~~~~~~~~
+void emgsample()
+{
+    //All EMG signal through Highpass
+    double emgread1 = emg1.read();
+    double emgread2 = emg2.read();
+    double emgread3 = emg3.read();
+    double emgread4 = emg4.read();
+
+    double emg1_highpassed = highp1.step(emgread1);
+    double emg2_highpassed = highp2.step(emgread2);
+    double emg3_highpassed = highp3.step(emgread3);
+    double emg4_highpassed = highp4.step(emgread4);
+
+    //All EMG highpassed through Notch
+    double emg1_notched = notch1.step(emg1_highpassed);
+    double emg2_notched = notch2.step(emg2_highpassed);
+    double emg3_notched = notch3.step(emg3_highpassed);
+    double emg4_notched = notch4.step(emg4_highpassed);
+
+    //All EMG notched rectify
+    double emg1_abs = abs(emg1_notched);
+    double emg2_abs = abs(emg2_notched);
+    double emg3_abs = abs(emg3_notched);
+    double emg4_abs = abs(emg4_notched);
+
+    //All EMG abs into lowpass
+    emg1_filtered = lowp1.step(emg1_abs);
+    emg2_filtered = lowp2.step(emg2_abs);
+    emg3_filtered = lowp3.step(emg3_abs);
+    emg4_filtered = lowp4.step(emg4_abs);
+
+}
+
+void CalibrationEMG()
+{
+    //static float samples = calibration_time/ts;
+    while(timer_calibration<55) {
+        if(timer_calibration>0 && timer_calibration<10) {
+            led1=!led1;
+            if(emg1_filtered>temp_highest_emg1) {
+                temp_highest_emg1= emg1_filtered;
+                //pc.printf("Temp1 = %f \r\n",temp_highest_emg1);
+            }
+        }
+        if(timer_calibration>10 && timer_calibration<15) {
+            led1=0;
+            led2=0;
+            led3=0;
+        }
+        if(timer_calibration>15 && timer_calibration<25) {
+            led2=!led2;
+            if(emg2_filtered>temp_highest_emg2) {
+                temp_highest_emg2= emg2_filtered;
+                //pc.printf("Temp2 = %f \r\n",temp_highest_emg2);
+            }
+        }
+        if(timer_calibration>25 && timer_calibration<30) {
+            led1=0;
+            led2=0;
+            led3=0;
+        }
+        if(timer_calibration>30 && timer_calibration<40) {
+            led3=!led3;
+            if(emg3_filtered>temp_highest_emg3) {
+                temp_highest_emg3= emg3_filtered;
+                //pc.printf("Temp3 = %f \r\n",temp_highest_emg3);
+            }
+        }
+        if(timer_calibration>40 && timer_calibration<45) {
+            led1=0;
+            led2=0;
+            led3=0;
+        }
+        if(timer_calibration>45 && timer_calibration<55) {
+            led2=!led2;
+            led3=!led3;
+            if(emg4_filtered>temp_highest_emg4) {
+                temp_highest_emg4= emg4_filtered;
+                //pc.printf("Temp4 = %f \r\n",temp_highest_emg4);
+            }
+        }
+        led1=1;
+        led2=1;
+        led3=1;
+
+
+    }
+
+    //pc.printf("Highest value right biceps= %f \r\n", temp_highest_emg1);
+    //pc.printf("Highest value right triceps= %f \r\n", temp_highest_emg2);
+    //pc.printf("Highest value left biceps= %f \r\n", temp_highest_emg3);
+    //pc.printf("Highest value left triceps= %f \r\n", temp_highest_emg4);
+
+
+    threshold1 = temp_highest_emg1*biceps_p_t;  //Right Biceps
+    threshold2 = temp_highest_emg2*triceps_p_t; //Right Triceps
+    threshold3 = temp_highest_emg3*biceps_p_t;  //Left Biceps
+    threshold4 = temp_highest_emg4*triceps_p_t; //Left Triceps
+}
+
+//Check if emg_filtered has reached their threshold
+void threshold_check()
+{
+
+    //EMG1 threshold check
+    if(emg1_filtered>threshold1) {
+        bicepsR = 1;
+    } else {
+        bicepsR= 0;
+    }
+    //EMG2 threshold check
+    if(emg2_filtered>threshold2) {
+        tricepsR = 1;
+    } else {
+        tricepsR= 0;
+    }
+    //EMG3 threshold check
+    if(emg3_filtered>threshold3) {
+        bicepsL = 1;
+    } else {
+        bicepsL= 0;
+    }
+    //EMG4 threshold check
+    if(emg4_filtered>threshold4) {
+        tricepsL = 1;
+    } else {
+        tricepsL= 0;
+    }
+
+    /*
+    pc.printf("Biceps Right = %i", bicepsR);
+    pc.printf("Triceps Right = %i",tricepsR);
+    pc.printf("Biceps Left = %i", bicepsL);
+    pc.printf("Triceps Left = %i", tricepsL);
+    */
+
+}
+
+
 Ticker      sample_timer;
 HIDScope    scope( 4 );
 DigitalOut  led(LED1);
@@ -18,8 +202,8 @@
    
     scope.set(0, emg1.read() );
     scope.set(1, emg2.read() );
-    scope.set(2, emg3.read() );
-    scope.set(3, emg4.read() );
+    scope.set(2, bicepsR );
+    scope.set(3, tricepsR);
     
     scope.send();
     
@@ -28,8 +212,23 @@
 
 int main()
 {   
+    sample_timer.attach(&sample, 0.002);
     
-    sample_timer.attach(&sample, 0.002);
+                temp_highest_emg1 = 0; //highest detected value right biceps
+                temp_highest_emg2 = 0;
+                temp_highest_emg3 = 0;
+                temp_highest_emg4 = 0;
+
+                timer_calibration.reset();
+                timer_calibration.start();
+
+                sample_ticker.attach(&emgsample, ts);
+                CalibrationEMG();
+                sample_ticker.detach();
+                timer_calibration.stop();
+                threshold_check_ticker.attach(threshold_check, ts)
+    
+    
 
     /*empty loop, sample() is executed periodically*/
     while(1) {}