Astrid Schut / Mbed 2 deprecated EMGreader

Code om 4 EMG te filteren, thresholds te zetten met kalibratie en met putty te kijken of die thresholds overschreden worden

Dependencies:   MovingAverage mbed biquadFilter MODSERIAL

main.cpp@0:c9891e1c62f0, 2019-04-16 (annotated)

Committer:
aschut
Date:
Tue Apr 16 11:03:47 2019 +0000
Revision:
0:c9891e1c62f0
Child:
1:ecd6dc3c839b
voor het goede script er in staat

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aschut 0:c9891e1c62f0 1 #include "mbed.h"
aschut 0:c9891e1c62f0 2 #include "BiQuad.h"
aschut 0:c9891e1c62f0 3 #include "MODSERIAL.h"
aschut 0:c9891e1c62f0 4 #include <iostream>
aschut 0:c9891e1c62f0 5 #include "MovingAverage.h"
aschut 0:c9891e1c62f0 6 #define NSAMPLE 100
aschut 0:c9891e1c62f0 7
aschut 0:c9891e1c62f0 8 DigitalOut led1(LED_GREEN);
aschut 0:c9891e1c62f0 9 DigitalOut led2(LED_RED);
aschut 0:c9891e1c62f0 10 DigitalOut led3(LED_BLUE);
aschut 0:c9891e1c62f0 11 MODSERIAL pc(USBTX, USBRX);
aschut 0:c9891e1c62f0 12
aschut 0:c9891e1c62f0 13 //MovingAverage
aschut 0:c9891e1c62f0 14 MovingAverage <float>Movag_1(NSAMPLE,0.0); //Make Moving Average, Define NSAMPLE above
aschut 0:c9891e1c62f0 15 MovingAverage <float>Movag_2(NSAMPLE,0.0); //Make Moving Average, Define NSAMPLE above
aschut 0:c9891e1c62f0 16 MovingAverage <float>Movag_3(NSAMPLE,0.0); //Make Moving Average, Define NSAMPLE above
aschut 0:c9891e1c62f0 17 MovingAverage <float>Movag_4(NSAMPLE,0.0); //Make Moving Average, Define NSAMPLE above
aschut 0:c9891e1c62f0 18
aschut 0:c9891e1c62f0 19 //EMG tickers, these tickers are called in the mainscript with fsample 500Hz, also sends to HIDscope with same fsample
aschut 0:c9891e1c62f0 20 Ticker sample_ticker; //ticker for filtering pref. with 1000Hz, define in tick.attach
aschut 0:c9891e1c62f0 21 Ticker threshold_check_ticker;
aschut 0:c9891e1c62f0 22 Timer t; //timer try out for Astrid
aschut 0:c9891e1c62f0 23 Timer timer_calibration; //timer for EMG calibration
aschut 0:c9891e1c62f0 24
aschut 0:c9891e1c62f0 25 //Input
aschut 0:c9891e1c62f0 26 AnalogIn emg1( A1 );
aschut 0:c9891e1c62f0 27 AnalogIn emg2( A2 );
aschut 0:c9891e1c62f0 28 AnalogIn emg3( A3 );
aschut 0:c9891e1c62f0 29 AnalogIn emg4( A4 );
aschut 0:c9891e1c62f0 30
aschut 0:c9891e1c62f0 31 // GLOBALS EMG
aschut 0:c9891e1c62f0 32 //Filtered EMG signals from the end of the chains
aschut 0:c9891e1c62f0 33 volatile double emg1_filtered, emg2_filtered, emg3_filtered, emg4_filtered;
aschut 0:c9891e1c62f0 34 int i = 0;
aschut 0:c9891e1c62f0 35
aschut 0:c9891e1c62f0 36 //Define doubles for calibration and ticker
aschut 0:c9891e1c62f0 37 double ts = 0.001; //tijdsstap
aschut 0:c9891e1c62f0 38 double calibration_time = 55; //time EMG calibration should take
aschut 0:c9891e1c62f0 39
aschut 0:c9891e1c62f0 40 volatile double temp_highest_emg1 = 0; //highest detected value right biceps
aschut 0:c9891e1c62f0 41 volatile double temp_highest_emg2 = 0;
aschut 0:c9891e1c62f0 42 volatile double temp_highest_emg3 = 0;
aschut 0:c9891e1c62f0 43 volatile double temp_highest_emg4 = 0;
aschut 0:c9891e1c62f0 44
aschut 0:c9891e1c62f0 45 //Doubles for calculation threshold
aschut 0:c9891e1c62f0 46 double duim_p_t = 0.4; //set threshold at percentage of highest value
aschut 0:c9891e1c62f0 47 double bicep_p_t = 0.4; //
aschut 0:c9891e1c62f0 48 double tricep_p_t = 0.4; //set threshold at percentage of highest value
aschut 0:c9891e1c62f0 49 double onderarm_p_t = 0.4;
aschut 0:c9891e1c62f0 50
aschut 0:c9891e1c62f0 51 volatile double threshold1;
aschut 0:c9891e1c62f0 52 volatile double threshold2;
aschut 0:c9891e1c62f0 53 volatile double threshold3;
aschut 0:c9891e1c62f0 54 volatile double threshold4;
aschut 0:c9891e1c62f0 55
aschut 0:c9891e1c62f0 56 // thresholdreads bools
aschut 0:c9891e1c62f0 57 int Duim;
aschut 0:c9891e1c62f0 58 int Bicep;
aschut 0:c9891e1c62f0 59 int Tricep;
aschut 0:c9891e1c62f0 60 int Onderarm;
aschut 0:c9891e1c62f0 61
aschut 0:c9891e1c62f0 62 // EMG OUTPUT
aschut 0:c9891e1c62f0 63 int EMGxplus;
aschut 0:c9891e1c62f0 64 int EMGxmin ;
aschut 0:c9891e1c62f0 65 int EMGyplus;
aschut 0:c9891e1c62f0 66 int EMGymin ;
aschut 0:c9891e1c62f0 67
aschut 0:c9891e1c62f0 68
aschut 0:c9891e1c62f0 69 //EMG1!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
aschut 0:c9891e1c62f0 70 //Highpass
aschut 0:c9891e1c62f0 71 BiQuadChain highp1;
aschut 0:c9891e1c62f0 72 BiQuad highp1_1( 9.21171e-01, -1.84234e+00, 9.21171e-01, -1.88661e+00, 8.90340e-01 );
aschut 0:c9891e1c62f0 73 BiQuad highp1_2( 1.00000e+00, -2.00000e+00, 1.00000e+00, -1.94922e+00, 9.53070e-01 );
aschut 0:c9891e1c62f0 74
aschut 0:c9891e1c62f0 75 //Notch
aschut 0:c9891e1c62f0 76 BiQuadChain notch1;
aschut 0:c9891e1c62f0 77 BiQuad notch1_1( 9.56543e-01, -1.82035e+00, 9.56543e-01, -1.84459e+00, 9.53626e-01 );
aschut 0:c9891e1c62f0 78 BiQuad notch1_2( 1.00000e+00, -1.90305e+00, 1.00000e+00, -1.87702e+00, 9.59471e-01 );
aschut 0:c9891e1c62f0 79
aschut 0:c9891e1c62f0 80 //Lowpass 4th order cutoff 3Hz
aschut 0:c9891e1c62f0 81 BiQuadChain lowp1;
aschut 0:c9891e1c62f0 82 BiQuad lowp1_1( 7.69910e-09, 1.53982e-08, 7.69910e-09, -1.96542e+00, 9.65769e-01 );
aschut 0:c9891e1c62f0 83 BiQuad lowp1_2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.98532e+00, 9.85677e-01 );
aschut 0:c9891e1c62f0 84
aschut 0:c9891e1c62f0 85 //EMG2!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
aschut 0:c9891e1c62f0 86 //Highpass
aschut 0:c9891e1c62f0 87 BiQuadChain highp2;
aschut 0:c9891e1c62f0 88 BiQuad highp2_1( 9.21171e-01, -1.84234e+00, 9.21171e-01, -1.88661e+00, 8.90340e-01 );
aschut 0:c9891e1c62f0 89 BiQuad highp2_2( 1.00000e+00, -2.00000e+00, 1.00000e+00, -1.94922e+00, 9.53070e-01 );
aschut 0:c9891e1c62f0 90
aschut 0:c9891e1c62f0 91 //Notch
aschut 0:c9891e1c62f0 92 BiQuadChain notch2;
aschut 0:c9891e1c62f0 93 BiQuad notch2_1( 9.56543e-01, -1.82035e+00, 9.56543e-01, -1.84459e+00, 9.53626e-01 );
aschut 0:c9891e1c62f0 94 BiQuad notch2_2( 1.00000e+00, -1.90305e+00, 1.00000e+00, -1.87702e+00, 9.59471e-01 );
aschut 0:c9891e1c62f0 95
aschut 0:c9891e1c62f0 96 //Lowpass 4th order cutoff 3Hz
aschut 0:c9891e1c62f0 97 BiQuadChain lowp2;
aschut 0:c9891e1c62f0 98 BiQuad lowp2_1( 7.69910e-09, 1.53982e-08, 7.69910e-09, -1.96542e+00, 9.65769e-01 );
aschut 0:c9891e1c62f0 99 BiQuad lowp2_2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.98532e+00, 9.85677e-01 );
aschut 0:c9891e1c62f0 100
aschut 0:c9891e1c62f0 101 //EMG3!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
aschut 0:c9891e1c62f0 102 //Highpass
aschut 0:c9891e1c62f0 103 BiQuadChain highp3;
aschut 0:c9891e1c62f0 104 BiQuad highp3_1( 9.21171e-01, -1.84234e+00, 9.21171e-01, -1.88661e+00, 8.90340e-01 );
aschut 0:c9891e1c62f0 105 BiQuad highp3_2( 1.00000e+00, -2.00000e+00, 1.00000e+00, -1.94922e+00, 9.53070e-01 );
aschut 0:c9891e1c62f0 106
aschut 0:c9891e1c62f0 107 //Notch
aschut 0:c9891e1c62f0 108 BiQuadChain notch3;
aschut 0:c9891e1c62f0 109 BiQuad notch3_1( 9.56543e-01, -1.82035e+00, 9.56543e-01, -1.84459e+00, 9.53626e-01 );
aschut 0:c9891e1c62f0 110 BiQuad notch3_2( 1.00000e+00, -1.90305e+00, 1.00000e+00, -1.87702e+00, 9.59471e-01 );
aschut 0:c9891e1c62f0 111
aschut 0:c9891e1c62f0 112 //Lowpass 4th order cutoff 3Hz
aschut 0:c9891e1c62f0 113 BiQuadChain lowp3;
aschut 0:c9891e1c62f0 114 BiQuad lowp3_1( 7.69910e-09, 1.53982e-08, 7.69910e-09, -1.96542e+00, 9.65769e-01 );
aschut 0:c9891e1c62f0 115 BiQuad lowp3_2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.98532e+00, 9.85677e-01 );
aschut 0:c9891e1c62f0 116
aschut 0:c9891e1c62f0 117 //EMG4!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
aschut 0:c9891e1c62f0 118 //Highpass
aschut 0:c9891e1c62f0 119 BiQuadChain highp4;
aschut 0:c9891e1c62f0 120 BiQuad highp4_1( 9.21171e-01, -1.84234e+00, 9.21171e-01, -1.88661e+00, 8.90340e-01 );
aschut 0:c9891e1c62f0 121 BiQuad highp4_2( 1.00000e+00, -2.00000e+00, 1.00000e+00, -1.94922e+00, 9.53070e-01 );
aschut 0:c9891e1c62f0 122
aschut 0:c9891e1c62f0 123 //Notch
aschut 0:c9891e1c62f0 124 BiQuadChain notch4;
aschut 0:c9891e1c62f0 125 BiQuad notch4_1( 9.56543e-01, -1.82035e+00, 9.56543e-01, -1.84459e+00, 9.53626e-01 );
aschut 0:c9891e1c62f0 126 BiQuad notch4_2( 1.00000e+00, -1.90305e+00, 1.00000e+00, -1.87702e+00, 9.59471e-01 );
aschut 0:c9891e1c62f0 127
aschut 0:c9891e1c62f0 128 //Lowpass 4th order cutoff 3Hz
aschut 0:c9891e1c62f0 129 BiQuadChain lowp4;
aschut 0:c9891e1c62f0 130 BiQuad lowp4_1( 7.69910e-09, 1.53982e-08, 7.69910e-09, -1.96542e+00, 9.65769e-01 );
aschut 0:c9891e1c62f0 131 BiQuad lowp4_2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.98532e+00, 9.85677e-01 );
aschut 0:c9891e1c62f0 132
aschut 0:c9891e1c62f0 133 // ~~~~~~~~~~~~~~~~~~~EMG FUNCTIONS~~~~~~~~~~~~~~~~~~
aschut 0:c9891e1c62f0 134 void emgsample()
aschut 0:c9891e1c62f0 135 {
aschut 0:c9891e1c62f0 136
aschut 0:c9891e1c62f0 137 //All EMG signal through Highpass
aschut 0:c9891e1c62f0 138 double emgread1 = emg1.read();
aschut 0:c9891e1c62f0 139 double emgread2 = emg2.read();
aschut 0:c9891e1c62f0 140 double emgread3 = emg3.read();
aschut 0:c9891e1c62f0 141 double emgread4 = emg4.read();
aschut 0:c9891e1c62f0 142
aschut 0:c9891e1c62f0 143 double emg1_highpassed = highp1.step(emgread1);
aschut 0:c9891e1c62f0 144 double emg2_highpassed = highp2.step(emgread2);
aschut 0:c9891e1c62f0 145 double emg3_highpassed = highp3.step(emgread3);
aschut 0:c9891e1c62f0 146 double emg4_highpassed = highp4.step(emgread4);
aschut 0:c9891e1c62f0 147
aschut 0:c9891e1c62f0 148 //All EMG highpassed through Notch
aschut 0:c9891e1c62f0 149 double emg1_notched = notch1.step(emg1_highpassed);
aschut 0:c9891e1c62f0 150 double emg2_notched = notch2.step(emg2_highpassed);
aschut 0:c9891e1c62f0 151 double emg3_notched = notch3.step(emg3_highpassed);
aschut 0:c9891e1c62f0 152 double emg4_notched = notch4.step(emg4_highpassed);
aschut 0:c9891e1c62f0 153
aschut 0:c9891e1c62f0 154 //All EMG notched rectify
aschut 0:c9891e1c62f0 155 double emg1_abs = abs(emg1_notched);
aschut 0:c9891e1c62f0 156 double emg2_abs = abs(emg2_notched);
aschut 0:c9891e1c62f0 157 double emg3_abs = abs(emg3_notched);
aschut 0:c9891e1c62f0 158 double emg4_abs = abs(emg4_notched);
aschut 0:c9891e1c62f0 159
aschut 0:c9891e1c62f0 160 //All EMG abs into lowpass
aschut 0:c9891e1c62f0 161 double emg1_lp = lowp1.step(emg1_abs);
aschut 0:c9891e1c62f0 162 double emg2_lp = lowp2.step(emg2_abs);
aschut 0:c9891e1c62f0 163 double emg3_lp = lowp3.step(emg3_abs);
aschut 0:c9891e1c62f0 164 double emg4_lp = lowp4.step(emg4_abs);
aschut 0:c9891e1c62f0 165
aschut 0:c9891e1c62f0 166 Movag_1.Insert(emg1_lp);
aschut 0:c9891e1c62f0 167 Movag_2.Insert(emg2_lp);
aschut 0:c9891e1c62f0 168 Movag_3.Insert(emg3_lp);
aschut 0:c9891e1c62f0 169 Movag_4.Insert(emg4_lp);
aschut 0:c9891e1c62f0 170
aschut 0:c9891e1c62f0 171 emg1_filtered = Movag_1.GetAverage();
aschut 0:c9891e1c62f0 172 emg2_filtered = Movag_2.GetAverage();
aschut 0:c9891e1c62f0 173 emg3_filtered = Movag_3.GetAverage();
aschut 0:c9891e1c62f0 174 emg4_filtered = Movag_4.GetAverage();
aschut 0:c9891e1c62f0 175
aschut 0:c9891e1c62f0 176
aschut 0:c9891e1c62f0 177
aschut 0:c9891e1c62f0 178 }
aschut 0:c9891e1c62f0 179
aschut 0:c9891e1c62f0 180 void CalibrationEMG()
aschut 0:c9891e1c62f0 181 {
aschut 0:c9891e1c62f0 182 //static float samples = calibration_time/ts;
aschut 0:c9891e1c62f0 183 while(timer_calibration<37) {
aschut 0:c9891e1c62f0 184 if(timer_calibration>0 && timer_calibration<7) {
aschut 0:c9891e1c62f0 185 led1=!led1;
aschut 0:c9891e1c62f0 186 if(emg1_filtered>temp_highest_emg1) {
aschut 0:c9891e1c62f0 187 temp_highest_emg1= emg1_filtered;
aschut 0:c9891e1c62f0 188 pc.printf("Temp1 = %f \r\n",temp_highest_emg1);
aschut 0:c9891e1c62f0 189 }
aschut 0:c9891e1c62f0 190 }
aschut 0:c9891e1c62f0 191 if(timer_calibration>7 && timer_calibration<10) {
aschut 0:c9891e1c62f0 192 led1=0;
aschut 0:c9891e1c62f0 193 led2=0;
aschut 0:c9891e1c62f0 194 led3=0;
aschut 0:c9891e1c62f0 195 }
aschut 0:c9891e1c62f0 196 if(timer_calibration>10 && timer_calibration<17) {
aschut 0:c9891e1c62f0 197 led2=!led2;
aschut 0:c9891e1c62f0 198 if(emg2_filtered>temp_highest_emg2) {
aschut 0:c9891e1c62f0 199 temp_highest_emg2= emg2_filtered;
aschut 0:c9891e1c62f0 200 pc.printf("Temp2 = %f \r\n",temp_highest_emg2);
aschut 0:c9891e1c62f0 201 }
aschut 0:c9891e1c62f0 202 }
aschut 0:c9891e1c62f0 203 if(timer_calibration>17 && timer_calibration<20) {
aschut 0:c9891e1c62f0 204 led1=0;
aschut 0:c9891e1c62f0 205 led2=0;
aschut 0:c9891e1c62f0 206 led3=0;
aschut 0:c9891e1c62f0 207 }
aschut 0:c9891e1c62f0 208 if(timer_calibration>20 && timer_calibration<27) {
aschut 0:c9891e1c62f0 209 led3=!led3;
aschut 0:c9891e1c62f0 210 if(emg3_filtered>temp_highest_emg3) {
aschut 0:c9891e1c62f0 211 temp_highest_emg3= emg3_filtered;
aschut 0:c9891e1c62f0 212 pc.printf("Temp3 = %f \r\n",temp_highest_emg3);
aschut 0:c9891e1c62f0 213 }
aschut 0:c9891e1c62f0 214 }
aschut 0:c9891e1c62f0 215 if(timer_calibration>27 && timer_calibration<30) {
aschut 0:c9891e1c62f0 216 led1=0;
aschut 0:c9891e1c62f0 217 led2=0;
aschut 0:c9891e1c62f0 218 led3=0;
aschut 0:c9891e1c62f0 219 }
aschut 0:c9891e1c62f0 220 if(timer_calibration>30 && timer_calibration<37) {
aschut 0:c9891e1c62f0 221 led2=!led2;
aschut 0:c9891e1c62f0 222 led3=!led3;
aschut 0:c9891e1c62f0 223 if(emg4_filtered>temp_highest_emg4) {
aschut 0:c9891e1c62f0 224 temp_highest_emg4= emg4_filtered;
aschut 0:c9891e1c62f0 225 pc.printf("Temp4 = %f \r\n",temp_highest_emg4);
aschut 0:c9891e1c62f0 226 }
aschut 0:c9891e1c62f0 227 }
aschut 0:c9891e1c62f0 228 led1=1;
aschut 0:c9891e1c62f0 229 led2=1;
aschut 0:c9891e1c62f0 230 led3=1;
aschut 0:c9891e1c62f0 231
aschut 0:c9891e1c62f0 232
aschut 0:c9891e1c62f0 233 }
aschut 0:c9891e1c62f0 234
aschut 0:c9891e1c62f0 235 pc.printf("Highest value Duim= %f \r\n", temp_highest_emg1);
aschut 0:c9891e1c62f0 236 pc.printf("Highest value Bicep= %f \r\n", temp_highest_emg2);
aschut 0:c9891e1c62f0 237 pc.printf("Highest value Tricep= %f \r\n", temp_highest_emg3);
aschut 0:c9891e1c62f0 238 pc.printf("Highest value Onderarm= %f \r\n", temp_highest_emg4);
aschut 0:c9891e1c62f0 239
aschut 0:c9891e1c62f0 240
aschut 0:c9891e1c62f0 241 threshold1 = temp_highest_emg1*duim_p_t; //Right Biceps
aschut 0:c9891e1c62f0 242 threshold2 = temp_highest_emg2*bicep_p_t; //Right Triceps
aschut 0:c9891e1c62f0 243 threshold3 = temp_highest_emg3*tricep_p_t; //Left Biceps
aschut 0:c9891e1c62f0 244 threshold4 = temp_highest_emg4*onderarm_p_t; //Left Triceps
aschut 0:c9891e1c62f0 245 }
aschut 0:c9891e1c62f0 246
aschut 0:c9891e1c62f0 247 //Check if emg_filtered has reached their threshold
aschut 0:c9891e1c62f0 248 void threshold_check()
aschut 0:c9891e1c62f0 249 {
aschut 0:c9891e1c62f0 250
aschut 0:c9891e1c62f0 251 //EMG1 threshold check
aschut 0:c9891e1c62f0 252 if(emg1_filtered>threshold1) {
aschut 0:c9891e1c62f0 253 Duim = 1;
aschut 0:c9891e1c62f0 254 led1 = !led1;
aschut 0:c9891e1c62f0 255 } else {
aschut 0:c9891e1c62f0 256 Duim= 0;
aschut 0:c9891e1c62f0 257 }
aschut 0:c9891e1c62f0 258 //EMG2 threshold check
aschut 0:c9891e1c62f0 259 if(emg2_filtered>threshold2) {
aschut 0:c9891e1c62f0 260 Bicep = 1;
aschut 0:c9891e1c62f0 261 led2 = !led2;
aschut 0:c9891e1c62f0 262 } else {
aschut 0:c9891e1c62f0 263 Bicep= 0;
aschut 0:c9891e1c62f0 264 }
aschut 0:c9891e1c62f0 265 //EMG3 threshold check
aschut 0:c9891e1c62f0 266 if(emg3_filtered>threshold3) {
aschut 0:c9891e1c62f0 267 Tricep = 1;
aschut 0:c9891e1c62f0 268 led3 = !led3;
aschut 0:c9891e1c62f0 269 } else {
aschut 0:c9891e1c62f0 270 Tricep= 0;
aschut 0:c9891e1c62f0 271 }
aschut 0:c9891e1c62f0 272 //EMG4 threshold check
aschut 0:c9891e1c62f0 273 if(emg4_filtered>threshold4) {
aschut 0:c9891e1c62f0 274 Onderarm = 1;
aschut 0:c9891e1c62f0 275 led1 = !led1;
aschut 0:c9891e1c62f0 276 led2 = !led1;
aschut 0:c9891e1c62f0 277 led3 = !led1;
aschut 0:c9891e1c62f0 278 } else {
aschut 0:c9891e1c62f0 279 Onderarm= 0;
aschut 0:c9891e1c62f0 280 }
aschut 0:c9891e1c62f0 281
aschut 0:c9891e1c62f0 282
aschut 0:c9891e1c62f0 283
aschut 0:c9891e1c62f0 284 }
aschut 0:c9891e1c62f0 285
aschut 0:c9891e1c62f0 286
aschut 0:c9891e1c62f0 287 Ticker sample_timer;
aschut 0:c9891e1c62f0 288
aschut 0:c9891e1c62f0 289
aschut 0:c9891e1c62f0 290
aschut 0:c9891e1c62f0 291 void sample()
aschut 0:c9891e1c62f0 292 {
aschut 0:c9891e1c62f0 293 pc.printf("Duim Right = %i\r\n", Duim);
aschut 0:c9891e1c62f0 294 pc.printf("Bicep Right = %i\r\n",Bicep);
aschut 0:c9891e1c62f0 295 pc.printf("tricep Left = %i\r\n", Tricep);
aschut 0:c9891e1c62f0 296 pc.printf("onderarm Left = %i\r\n", Onderarm);
aschut 0:c9891e1c62f0 297 wait(0.01);
aschut 0:c9891e1c62f0 298
aschut 0:c9891e1c62f0 299
aschut 0:c9891e1c62f0 300 }
aschut 0:c9891e1c62f0 301
aschut 0:c9891e1c62f0 302 int main()
aschut 0:c9891e1c62f0 303 {
aschut 0:c9891e1c62f0 304 sample_ticker.attach(&emgsample, ts);
aschut 0:c9891e1c62f0 305 pc.baud(115200);
aschut 0:c9891e1c62f0 306
aschut 0:c9891e1c62f0 307 //BiQuad Chain add
aschut 0:c9891e1c62f0 308 highp1.add( &highp1_1 ).add( &highp1_2 );
aschut 0:c9891e1c62f0 309 notch1.add( &notch1_1 ).add( &notch1_2 );
aschut 0:c9891e1c62f0 310 lowp1.add( &lowp1_1 ).add(&lowp1_2);
aschut 0:c9891e1c62f0 311
aschut 0:c9891e1c62f0 312 highp2.add( &highp2_1 ).add( &highp2_2 );
aschut 0:c9891e1c62f0 313 notch2.add( &notch2_1 ).add( &notch2_2 );
aschut 0:c9891e1c62f0 314 lowp2.add( &lowp2_1 ).add(&lowp2_2);
aschut 0:c9891e1c62f0 315
aschut 0:c9891e1c62f0 316 highp3.add( &highp3_1 ).add( &highp3_2 );
aschut 0:c9891e1c62f0 317 notch3.add( &notch3_1 ).add( &notch3_2 );
aschut 0:c9891e1c62f0 318 lowp3.add( &lowp3_1 ).add(&lowp3_2);
aschut 0:c9891e1c62f0 319
aschut 0:c9891e1c62f0 320 highp4.add( &highp4_1 ).add( &highp4_2 );
aschut 0:c9891e1c62f0 321 notch4.add( &notch4_1 ).add( &notch4_2 );
aschut 0:c9891e1c62f0 322 lowp4.add( &lowp4_1 ).add(&lowp4_2);
aschut 0:c9891e1c62f0 323
aschut 0:c9891e1c62f0 324
aschut 0:c9891e1c62f0 325
aschut 0:c9891e1c62f0 326 temp_highest_emg1 = 0; //highest detected value right biceps
aschut 0:c9891e1c62f0 327 temp_highest_emg2 = 0;
aschut 0:c9891e1c62f0 328 temp_highest_emg3 = 0;
aschut 0:c9891e1c62f0 329 temp_highest_emg4 = 0;
aschut 0:c9891e1c62f0 330
aschut 0:c9891e1c62f0 331 timer_calibration.reset();
aschut 0:c9891e1c62f0 332 timer_calibration.start();
aschut 0:c9891e1c62f0 333
aschut 0:c9891e1c62f0 334
aschut 0:c9891e1c62f0 335 CalibrationEMG();
aschut 0:c9891e1c62f0 336 threshold_check_ticker.attach(threshold_check, 0.1);
aschut 0:c9891e1c62f0 337 sample_timer.attach(&sample, 0.1);
aschut 0:c9891e1c62f0 338 //sample_ticker.detach();
aschut 0:c9891e1c62f0 339 timer_calibration.stop();
aschut 0:c9891e1c62f0 340
aschut 0:c9891e1c62f0 341
aschut 0:c9891e1c62f0 342
aschut 0:c9891e1c62f0 343
aschut 0:c9891e1c62f0 344 /*empty loop, sample() is executed periodically*/
aschut 0:c9891e1c62f0 345 while(1) {
aschut 0:c9891e1c62f0 346 wait(0.01);
aschut 0:c9891e1c62f0 347 }
aschut 0:c9891e1c62f0 348 }