Daniqe Kottelenberg / Mbed 2 deprecated another_try_from_scratch_on_emg

emg with text

Dependencies:   HIDScope MODSERIAL biquadFilter mbed

Fork of emg_import by Daniqe Kottelenberg

main.cpp@29:76b2cc33690c, 2016-10-28 (annotated)

Committer:
daniQQue
Date:
Fri Oct 28 08:53:21 2016 +0000
Revision:
29:76b2cc33690c
Parent:
28:e2553066989e
Child:
30:a7bae1c036a3
Met doubles in void en: interrupt ipv ticker

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daniQQue 0:34c739fcc3e0 1 //libraries
daniQQue 0:34c739fcc3e0 2 #include "mbed.h"
daniQQue 0:34c739fcc3e0 3 #include "HIDScope.h"
daniQQue 14:5b17697cf775 4 #include "BiQuad.h"
daniQQue 23:123d65f76236 5 #include "MODSERIAL.h"
daniQQue 0:34c739fcc3e0 6
daniQQue 0:34c739fcc3e0 7 //Define objects
daniQQue 21:9b8be3dff01a 8 AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++
daniQQue 21:9b8be3dff01a 9 AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++
daniQQue 23:123d65f76236 10 AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++
daniQQue 29:76b2cc33690c 11 InterruptIn button_calibration_biceps (SW3); //button to start calibration biceps
daniQQue 29:76b2cc33690c 12 InterruptIn button_calibration_triceps (SW2); // button to start calibration tricps
daniQQue 26:38dc21b9ba7d 13
daniQQue 26:38dc21b9ba7d 14 Ticker sample_timer; //ticker
daniQQue 26:38dc21b9ba7d 15 Ticker switch_function; //ticker
daniQQue 26:38dc21b9ba7d 16 HIDScope scope(5); //open 3 channels in hidscope
daniQQue 26:38dc21b9ba7d 17 MODSERIAL pc(USBTX, USBRX); //pc connection
daniQQue 23:123d65f76236 18
daniQQue 23:123d65f76236 19 //motors
daniQQue 23:123d65f76236 20 DigitalOut richting_motor1(D4);
daniQQue 23:123d65f76236 21 PwmOut pwm_motor1(D5);
daniQQue 23:123d65f76236 22 DigitalOut richting_motor2(D7);
daniQQue 23:123d65f76236 23 PwmOut pwm_motor2(D6);
daniQQue 26:38dc21b9ba7d 24
daniQQue 26:38dc21b9ba7d 25 //digital out
daniQQue 26:38dc21b9ba7d 26
daniQQue 21:9b8be3dff01a 27 DigitalOut led(LED_GREEN); //led included to check where code is
daniQQue 0:34c739fcc3e0 28
daniQQue 0:34c739fcc3e0 29 //define variables
daniQQue 21:9b8be3dff01a 30 //other
daniQQue 21:9b8be3dff01a 31 int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation
daniQQue 23:123d65f76236 32 int switch_signal_leftarm=0; // switching between motors.
daniQQue 26:38dc21b9ba7d 33 double cut_off_value_biceps =0.06; //gespecificeerd door floortje
daniQQue 26:38dc21b9ba7d 34 double cut_off_value_triceps=-0.03; //gespecificeerd door floorte
daniQQue 26:38dc21b9ba7d 35 double signal_right_arm; //signal right arm
daniQQue 26:38dc21b9ba7d 36 double max_biceps; //calibration maximum biceps
daniQQue 26:38dc21b9ba7d 37 double max_triceps; //calibration maximum triceps
daniQQue 26:38dc21b9ba7d 38 int n = 0; //start van de teller wordt op nul gesteld, om te kunnen switchen
daniQQue 23:123d65f76236 39
daniQQue 15:bb4a6c7836d8 40 double emg_biceps_right;
daniQQue 21:9b8be3dff01a 41 double emg_triceps_right;
daniQQue 28:e2553066989e 42 double emg_biceps_left;
daniQQue 21:9b8be3dff01a 43
daniQQue 28:e2553066989e 44 //Biquads defined
daniQQue 23:123d65f76236 45
daniQQue 23:123d65f76236 46 //b1 = biceps right arm
daniQQue 22:eb8411807cca 47 BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 22:eb8411807cca 48 BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 22:eb8411807cca 49 BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 23:123d65f76236 50
daniQQue 23:123d65f76236 51 //t1= triceps right arm
daniQQue 22:eb8411807cca 52 BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 22:eb8411807cca 53 BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 22:eb8411807cca 54 BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 21:9b8be3dff01a 55
daniQQue 23:123d65f76236 56 //b2= biceps left arm
daniQQue 23:123d65f76236 57 BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 23:123d65f76236 58 BiQuad filternotch1_b2 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 23:123d65f76236 59 BiQuad filternotch2_b2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 23:123d65f76236 60
daniQQue 21:9b8be3dff01a 61 //after abs filtering
daniQQue 22:eb8411807cca 62 BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 22:eb8411807cca 63 BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 23:123d65f76236 64 BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 10:7255b59224cc 65
daniQQue 23:123d65f76236 66 //function teller
daniQQue 23:123d65f76236 67 void SwitchN() { // maakt simpele functie die 1 bij n optelt
daniQQue 23:123d65f76236 68 if(switch_signal_leftarm==1)
daniQQue 23:123d65f76236 69 {
daniQQue 23:123d65f76236 70 n++;
daniQQue 25:58f351d9fcc4 71 wait(0.5f);
daniQQue 23:123d65f76236 72 }
daniQQue 23:123d65f76236 73 }
daniQQue 23:123d65f76236 74
daniQQue 21:9b8be3dff01a 75 //functions which are called in ticker to sample the analog signal
daniQQue 23:123d65f76236 76
daniQQue 0:34c739fcc3e0 77 void filter(){
daniQQue 21:9b8be3dff01a 78 //biceps right arm read+filtering
daniQQue 15:bb4a6c7836d8 79 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 80 double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 28:e2553066989e 81 double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 28:e2553066989e 82 double emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
daniQQue 28:e2553066989e 83 double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
daniQQue 28:e2553066989e 84 double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 21:9b8be3dff01a 85
daniQQue 21:9b8be3dff01a 86 //triceps right arm read+filtering
daniQQue 21:9b8be3dff01a 87 emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 88 double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
daniQQue 28:e2553066989e 89 double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
daniQQue 28:e2553066989e 90 double emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right);
daniQQue 28:e2553066989e 91 double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float
daniQQue 28:e2553066989e 92 double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
daniQQue 7:42d0e38196f1 93
daniQQue 23:123d65f76236 94 //biceps left arm read+filtering
daniQQue 23:123d65f76236 95 emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 96 double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
daniQQue 28:e2553066989e 97 double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
daniQQue 28:e2553066989e 98 double emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left);
daniQQue 28:e2553066989e 99 double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float
daniQQue 28:e2553066989e 100 double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
daniQQue 23:123d65f76236 101
daniQQue 21:9b8be3dff01a 102 //signal substraction of filter biceps and triceps. Biceps +,triceps -
daniQQue 28:e2553066989e 103 double signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
daniQQue 21:9b8be3dff01a 104
daniQQue 23:123d65f76236 105 //creating of on/off signal with the created on/off signals, with if statement for right arm!
daniQQue 21:9b8be3dff01a 106 if (signal_right_arm>cut_off_value_biceps)
daniQQue 21:9b8be3dff01a 107 {onoffsignal_rightarm=1;}
daniQQue 7:42d0e38196f1 108
daniQQue 21:9b8be3dff01a 109 else if (signal_right_arm<cut_off_value_triceps)
daniQQue 21:9b8be3dff01a 110 {
daniQQue 21:9b8be3dff01a 111 onoffsignal_rightarm=-1;
daniQQue 21:9b8be3dff01a 112 }
daniQQue 21:9b8be3dff01a 113
daniQQue 21:9b8be3dff01a 114 else
daniQQue 21:9b8be3dff01a 115 {onoffsignal_rightarm=0;}
daniQQue 7:42d0e38196f1 116
daniQQue 23:123d65f76236 117 //creating on/off signal for switch (left arm)
daniQQue 23:123d65f76236 118
daniQQue 23:123d65f76236 119 if (emg_filtered_biceps_left>cut_off_value_biceps)
daniQQue 23:123d65f76236 120 {
daniQQue 23:123d65f76236 121 switch_signal_leftarm=1;
daniQQue 23:123d65f76236 122 }
daniQQue 23:123d65f76236 123
daniQQue 23:123d65f76236 124 else
daniQQue 23:123d65f76236 125 {
daniQQue 23:123d65f76236 126 switch_signal_leftarm=0;
daniQQue 23:123d65f76236 127 }
daniQQue 23:123d65f76236 128
daniQQue 0:34c739fcc3e0 129 //send signals to scope
daniQQue 25:58f351d9fcc4 130 scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 // change into raw signal!
daniQQue 25:58f351d9fcc4 131 scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1// change into raw signal!
daniQQue 25:58f351d9fcc4 132 scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2
daniQQue 25:58f351d9fcc4 133 scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3
daniQQue 23:123d65f76236 134 scope.set(4, switch_signal_leftarm);
daniQQue 23:123d65f76236 135
daniQQue 0:34c739fcc3e0 136 scope.send(); //send all the signals to the scope
daniQQue 0:34c739fcc3e0 137 }
daniQQue 0:34c739fcc3e0 138
daniQQue 29:76b2cc33690c 139 //calibration function for biceps
daniQQue 27:b8d61361d709 140 void calibration_biceps(){
daniQQue 27:b8d61361d709 141 if(button_calibration_biceps==0)
daniQQue 26:38dc21b9ba7d 142 {
daniQQue 26:38dc21b9ba7d 143 for(int n =0; n<2000;n++) //read for 5000 samples as calibration
daniQQue 26:38dc21b9ba7d 144 {
daniQQue 28:e2553066989e 145 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 146 double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 28:e2553066989e 147 double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 28:e2553066989e 148 double emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
daniQQue 28:e2553066989e 149 double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
daniQQue 28:e2553066989e 150 double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 28:e2553066989e 151
daniQQue 28:e2553066989e 152 if (emg_filtered_biceps_right > max_biceps) //determine what the highest reachable emg signal is
daniQQue 26:38dc21b9ba7d 153 {
daniQQue 28:e2553066989e 154 max_biceps = emg_filtered_biceps_right;
daniQQue 27:b8d61361d709 155
daniQQue 26:38dc21b9ba7d 156 }
daniQQue 27:b8d61361d709 157 wait(0.001f); //to sample at same freq; 1000Hz
daniQQue 26:38dc21b9ba7d 158 }
daniQQue 28:e2553066989e 159 cut_off_value_biceps=0.2*max_biceps;
daniQQue 28:e2553066989e 160 pc.printf(" change of cv %f ",cut_off_value_biceps );
daniQQue 26:38dc21b9ba7d 161 }
daniQQue 26:38dc21b9ba7d 162 }
daniQQue 26:38dc21b9ba7d 163
daniQQue 0:34c739fcc3e0 164 //program
daniQQue 0:34c739fcc3e0 165
daniQQue 0:34c739fcc3e0 166 int main()
daniQQue 0:34c739fcc3e0 167 {
daniQQue 23:123d65f76236 168 pc.baud(115200);
daniQQue 0:34c739fcc3e0 169 sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds
daniQQue 28:e2553066989e 170 switch_function.attach(&SwitchN,0.1);
daniQQue 29:76b2cc33690c 171 button_calibration_biceps.fall(&calibration_biceps,0.001); //to call calibration biceps, stop everything else
daniQQue 0:34c739fcc3e0 172 //endless loop
daniQQue 0:34c739fcc3e0 173
daniQQue 23:123d65f76236 174 while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt
daniQQue 23:123d65f76236 175
daniQQue 24:bfc240e381b4 176 if (onoffsignal_rightarm==1) // als s ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 177 {
daniQQue 23:123d65f76236 178 if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
daniQQue 23:123d65f76236 179 {
daniQQue 28:e2553066989e 180
daniQQue 24:bfc240e381b4 181 richting_motor1 = 2.5;
daniQQue 23:123d65f76236 182 pwm_motor1 = 1;
daniQQue 23:123d65f76236 183
daniQQue 23:123d65f76236 184 }
daniQQue 23:123d65f76236 185
daniQQue 23:123d65f76236 186 else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 187 {
daniQQue 28:e2553066989e 188
daniQQue 24:bfc240e381b4 189 richting_motor2 = 2.5;
daniQQue 23:123d65f76236 190 pwm_motor2 = 1;
daniQQue 23:123d65f76236 191
daniQQue 23:123d65f76236 192 }
daniQQue 23:123d65f76236 193
daniQQue 23:123d65f76236 194 }
daniQQue 24:bfc240e381b4 195 else if (onoffsignal_rightarm==-1) // als d ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 196 {
daniQQue 23:123d65f76236 197 if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende
daniQQue 23:123d65f76236 198 {
daniQQue 28:e2553066989e 199
daniQQue 24:bfc240e381b4 200 richting_motor1 = 0;
daniQQue 23:123d65f76236 201 pwm_motor1 = 1;
daniQQue 23:123d65f76236 202
daniQQue 23:123d65f76236 203 }
daniQQue 23:123d65f76236 204 else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 205 {
daniQQue 28:e2553066989e 206
daniQQue 24:bfc240e381b4 207 richting_motor2 = 0;
daniQQue 23:123d65f76236 208 pwm_motor2 = 1;
daniQQue 23:123d65f76236 209
daniQQue 23:123d65f76236 210 }
daniQQue 23:123d65f76236 211 }
daniQQue 23:123d65f76236 212 else{
daniQQue 23:123d65f76236 213 pwm_motor2=0;
daniQQue 23:123d65f76236 214 pwm_motor1=0;
daniQQue 23:123d65f76236 215 }
daniQQue 23:123d65f76236 216
daniQQue 23:123d65f76236 217 }
daniQQue 0:34c739fcc3e0 218
daniQQue 0:34c739fcc3e0 219 }