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@32:955f9f235981, 2016-10-28 (annotated)

Committer:
daniQQue
Date:
Fri Oct 28 09:47:31 2016 +0000
Revision:
32:955f9f235981
Parent:
31:9333d3f48c88 
veranderde coefficienten

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 30:a7bae1c036a3 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 30:a7bae1c036a3 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 30:a7bae1c036a3 38 int n = 0; //start of counter is zero, to make switch work. It depens on even and odd.
daniQQue 23:123d65f76236 39
daniQQue 30:a7bae1c036a3 40 double emg_biceps_right; //emg biceps signal in, arm 1
daniQQue 30:a7bae1c036a3 41 double emg_triceps_right; //emg triceps signal in, arm 1
daniQQue 30:a7bae1c036a3 42 double emg_biceps_left; //emg biceps signal in, arm 2
daniQQue 30:a7bae1c036a3 43
daniQQue 30:a7bae1c036a3 44 float percentage_max_triceps=0.2;
daniQQue 30:a7bae1c036a3 45 float percentage_max_biceps =0.3;
daniQQue 21:9b8be3dff01a 46
daniQQue 28:e2553066989e 47 //Biquads defined
daniQQue 23:123d65f76236 48
daniQQue 23:123d65f76236 49 //b1 = biceps right arm
daniQQue 32:955f9f235981 50 BiQuad filterhigh_b1 (9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 32:955f9f235981 51 BiQuad filternotch1_b1 (0.9912, -3.7706, 5.5685, -3.7706, 0.9912);
daniQQue 32:955f9f235981 52 BiQuad filternotch2_b1( 1.0000, -3.7874, 5.5684, -3.7539, 0.9824);
daniQQue 23:123d65f76236 53
daniQQue 23:123d65f76236 54 //t1= triceps right arm
daniQQue 22:eb8411807cca 55 BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 32:955f9f235981 56 BiQuad filternotch1_t1 (0.9912, -3.7706, 5.5685, -3.7706, 0.9912);;
daniQQue 32:955f9f235981 57 BiQuad filternotch2_t1 ( 1.0000, -3.7874, 5.5684, -3.7539, 0.9824);
daniQQue 21:9b8be3dff01a 58
daniQQue 23:123d65f76236 59 //b2= biceps left arm
daniQQue 23:123d65f76236 60 BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 32:955f9f235981 61 BiQuad filternotch1_b2 (0.9912, -3.7706, 5.5685, -3.7706, 0.9912);
daniQQue 32:955f9f235981 62 BiQuad filternotch2_b2 ( 1.0000, -3.7874, 5.5684, -3.7539, 0.9824);
daniQQue 23:123d65f76236 63
daniQQue 21:9b8be3dff01a 64 //after abs filtering
daniQQue 22:eb8411807cca 65 BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 22:eb8411807cca 66 BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 23:123d65f76236 67 BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 10:7255b59224cc 68
daniQQue 23:123d65f76236 69 //function teller
daniQQue 23:123d65f76236 70 void SwitchN() { // maakt simpele functie die 1 bij n optelt
daniQQue 23:123d65f76236 71 if(switch_signal_leftarm==1)
daniQQue 23:123d65f76236 72 {
daniQQue 23:123d65f76236 73 n++;
daniQQue 25:58f351d9fcc4 74 wait(0.5f);
daniQQue 23:123d65f76236 75 }
daniQQue 23:123d65f76236 76 }
daniQQue 23:123d65f76236 77
daniQQue 21:9b8be3dff01a 78 //functions which are called in ticker to sample the analog signal
daniQQue 23:123d65f76236 79
daniQQue 0:34c739fcc3e0 80 void filter(){
daniQQue 21:9b8be3dff01a 81 //biceps right arm read+filtering
daniQQue 15:bb4a6c7836d8 82 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 83 double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 28:e2553066989e 84 double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 28:e2553066989e 85 double emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
daniQQue 28:e2553066989e 86 double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
daniQQue 28:e2553066989e 87 double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 21:9b8be3dff01a 88
daniQQue 21:9b8be3dff01a 89 //triceps right arm read+filtering
daniQQue 21:9b8be3dff01a 90 emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 91 double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
daniQQue 28:e2553066989e 92 double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
daniQQue 28:e2553066989e 93 double emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right);
daniQQue 28:e2553066989e 94 double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float
daniQQue 28:e2553066989e 95 double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
daniQQue 7:42d0e38196f1 96
daniQQue 23:123d65f76236 97 //biceps left arm read+filtering
daniQQue 23:123d65f76236 98 emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 99 double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
daniQQue 28:e2553066989e 100 double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
daniQQue 28:e2553066989e 101 double emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left);
daniQQue 28:e2553066989e 102 double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float
daniQQue 28:e2553066989e 103 double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
daniQQue 23:123d65f76236 104
daniQQue 21:9b8be3dff01a 105 //signal substraction of filter biceps and triceps. Biceps +,triceps -
daniQQue 28:e2553066989e 106 double signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
daniQQue 21:9b8be3dff01a 107
daniQQue 23:123d65f76236 108 //creating of on/off signal with the created on/off signals, with if statement for right arm!
daniQQue 21:9b8be3dff01a 109 if (signal_right_arm>cut_off_value_biceps)
daniQQue 21:9b8be3dff01a 110 {onoffsignal_rightarm=1;}
daniQQue 7:42d0e38196f1 111
daniQQue 21:9b8be3dff01a 112 else if (signal_right_arm<cut_off_value_triceps)
daniQQue 21:9b8be3dff01a 113 {
daniQQue 21:9b8be3dff01a 114 onoffsignal_rightarm=-1;
daniQQue 21:9b8be3dff01a 115 }
daniQQue 21:9b8be3dff01a 116
daniQQue 21:9b8be3dff01a 117 else
daniQQue 21:9b8be3dff01a 118 {onoffsignal_rightarm=0;}
daniQQue 7:42d0e38196f1 119
daniQQue 23:123d65f76236 120 //creating on/off signal for switch (left arm)
daniQQue 23:123d65f76236 121
daniQQue 23:123d65f76236 122 if (emg_filtered_biceps_left>cut_off_value_biceps)
daniQQue 23:123d65f76236 123 {
daniQQue 23:123d65f76236 124 switch_signal_leftarm=1;
daniQQue 23:123d65f76236 125 }
daniQQue 23:123d65f76236 126
daniQQue 23:123d65f76236 127 else
daniQQue 23:123d65f76236 128 {
daniQQue 23:123d65f76236 129 switch_signal_leftarm=0;
daniQQue 23:123d65f76236 130 }
daniQQue 23:123d65f76236 131
daniQQue 0:34c739fcc3e0 132 //send signals to scope
daniQQue 30:a7bae1c036a3 133 scope.set(0, emg_biceps_right); //set emg signal to scope in channel 0 // change into raw signal!
daniQQue 30:a7bae1c036a3 134 scope.set(1, emg_triceps_right); // set emg signal to scope in channel 1// change into raw signal!
daniQQue 31:9333d3f48c88 135 scope.set(2, emg_filtered_triceps_right); // set emg signal to scope in channel 2
daniQQue 31:9333d3f48c88 136 scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3
daniQQue 23:123d65f76236 137 scope.set(4, switch_signal_leftarm);
daniQQue 23:123d65f76236 138
daniQQue 0:34c739fcc3e0 139 scope.send(); //send all the signals to the scope
daniQQue 0:34c739fcc3e0 140 }
daniQQue 0:34c739fcc3e0 141
daniQQue 29:76b2cc33690c 142 //calibration function for biceps
daniQQue 27:b8d61361d709 143 void calibration_biceps(){
daniQQue 30:a7bae1c036a3 144 for(int n =0; n<2000;n++) //read for 2000 samples as calibration
daniQQue 26:38dc21b9ba7d 145 {
daniQQue 28:e2553066989e 146 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 147 double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 28:e2553066989e 148 double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 28:e2553066989e 149 double emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
daniQQue 28:e2553066989e 150 double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
daniQQue 28:e2553066989e 151 double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 28:e2553066989e 152
daniQQue 28:e2553066989e 153 if (emg_filtered_biceps_right > max_biceps) //determine what the highest reachable emg signal is
daniQQue 26:38dc21b9ba7d 154 {
daniQQue 28:e2553066989e 155 max_biceps = emg_filtered_biceps_right;
daniQQue 27:b8d61361d709 156
daniQQue 26:38dc21b9ba7d 157 }
daniQQue 27:b8d61361d709 158 wait(0.001f); //to sample at same freq; 1000Hz
daniQQue 26:38dc21b9ba7d 159 }
daniQQue 30:a7bae1c036a3 160 cut_off_value_biceps=percentage_max_biceps*max_biceps;
daniQQue 30:a7bae1c036a3 161 pc.printf(" change of cv biceps: %f ",cut_off_value_biceps );
daniQQue 30:a7bae1c036a3 162
daniQQue 30:a7bae1c036a3 163 }
daniQQue 30:a7bae1c036a3 164
daniQQue 30:a7bae1c036a3 165 //calibration function for biceps
daniQQue 30:a7bae1c036a3 166 void calibration_triceps(){
daniQQue 30:a7bae1c036a3 167 for(int n =0; n<2000;n++) //read for 2000 samples as calibration
daniQQue 30:a7bae1c036a3 168 {
daniQQue 31:9333d3f48c88 169 emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 30:a7bae1c036a3 170 double emg_filtered_high_triceps_right= filterhigh_b1.step(emg_triceps_right);
daniQQue 30:a7bae1c036a3 171 double emg_filtered_high_notch_1_triceps_right=filternotch1_b1.step(emg_filtered_high_triceps_right);
daniQQue 30:a7bae1c036a3 172 double emg_filtered_high_notch_1_2_triceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_triceps_right);
daniQQue 30:a7bae1c036a3 173 double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float
daniQQue 30:a7bae1c036a3 174 double emg_filtered_triceps_right=filterlow_b1.step(emg_abs_triceps_right);
daniQQue 30:a7bae1c036a3 175
daniQQue 30:a7bae1c036a3 176 if (emg_filtered_triceps_right > max_triceps) //determine what the highest reachable emg signal is
daniQQue 30:a7bae1c036a3 177 {
daniQQue 30:a7bae1c036a3 178 max_triceps = emg_filtered_triceps_right;
daniQQue 30:a7bae1c036a3 179
daniQQue 30:a7bae1c036a3 180 }
daniQQue 30:a7bae1c036a3 181 wait(0.001f); //to sample at same freq; 1000Hz
daniQQue 30:a7bae1c036a3 182 }
daniQQue 31:9333d3f48c88 183 cut_off_value_triceps=-percentage_max_triceps*max_triceps;
daniQQue 30:a7bae1c036a3 184 pc.printf(" change of cv triceps: %f ",cut_off_value_triceps );
daniQQue 30:a7bae1c036a3 185
daniQQue 26:38dc21b9ba7d 186 }
daniQQue 26:38dc21b9ba7d 187
daniQQue 0:34c739fcc3e0 188 //program
daniQQue 0:34c739fcc3e0 189
daniQQue 0:34c739fcc3e0 190 int main()
daniQQue 0:34c739fcc3e0 191 {
daniQQue 23:123d65f76236 192 pc.baud(115200);
daniQQue 0:34c739fcc3e0 193 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 30:a7bae1c036a3 194 switch_function.attach(&SwitchN,0.01);
daniQQue 31:9333d3f48c88 195 button_calibration_biceps.fall (&calibration_biceps); //to call calibration biceps, stop everything else
daniQQue 30:a7bae1c036a3 196 button_calibration_triceps.fall(&calibration_triceps); //to call calibration triceps, stop everything else
daniQQue 0:34c739fcc3e0 197 //endless loop
daniQQue 0:34c739fcc3e0 198
daniQQue 23:123d65f76236 199 while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt
daniQQue 23:123d65f76236 200
daniQQue 24:bfc240e381b4 201 if (onoffsignal_rightarm==1) // als s ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 202 {
daniQQue 23:123d65f76236 203 if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
daniQQue 23:123d65f76236 204 {
daniQQue 28:e2553066989e 205
daniQQue 24:bfc240e381b4 206 richting_motor1 = 2.5;
daniQQue 23:123d65f76236 207 pwm_motor1 = 1;
daniQQue 23:123d65f76236 208
daniQQue 23:123d65f76236 209 }
daniQQue 23:123d65f76236 210
daniQQue 23:123d65f76236 211 else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 212 {
daniQQue 28:e2553066989e 213
daniQQue 24:bfc240e381b4 214 richting_motor2 = 2.5;
daniQQue 23:123d65f76236 215 pwm_motor2 = 1;
daniQQue 23:123d65f76236 216
daniQQue 23:123d65f76236 217 }
daniQQue 23:123d65f76236 218
daniQQue 23:123d65f76236 219 }
daniQQue 24:bfc240e381b4 220 else if (onoffsignal_rightarm==-1) // als d ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 221 {
daniQQue 23:123d65f76236 222 if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende
daniQQue 23:123d65f76236 223 {
daniQQue 28:e2553066989e 224
daniQQue 24:bfc240e381b4 225 richting_motor1 = 0;
daniQQue 23:123d65f76236 226 pwm_motor1 = 1;
daniQQue 23:123d65f76236 227
daniQQue 23:123d65f76236 228 }
daniQQue 23:123d65f76236 229 else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 230 {
daniQQue 28:e2553066989e 231
daniQQue 24:bfc240e381b4 232 richting_motor2 = 0;
daniQQue 23:123d65f76236 233 pwm_motor2 = 1;
daniQQue 23:123d65f76236 234
daniQQue 23:123d65f76236 235 }
daniQQue 23:123d65f76236 236 }
daniQQue 23:123d65f76236 237 else{
daniQQue 23:123d65f76236 238 pwm_motor2=0;
daniQQue 23:123d65f76236 239 pwm_motor1=0;
daniQQue 23:123d65f76236 240 }
daniQQue 23:123d65f76236 241
daniQQue 23:123d65f76236 242 }
daniQQue 0:34c739fcc3e0 243
daniQQue 0:34c739fcc3e0 244 }