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@27:b8d61361d709, 2016-10-28 (annotated)

Committer:
daniQQue
Date:
Fri Oct 28 08:19:14 2016 +0000
Revision:
27:b8d61361d709
Parent:
26:38dc21b9ba7d
Child:
28:e2553066989e
verder met kal;

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 26:38dc21b9ba7d 11 DigitalIn button_calibration_biceps (SW3); //button to start calibration biceps
daniQQue 26:38dc21b9ba7d 12 DigitalIn 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 27:b8d61361d709 16 Ticker calibration_ticker_biceps //ticker
daniQQue 27:b8d61361d709 17 Ticker calibratio_ticker_triceps //ticker
daniQQue 26:38dc21b9ba7d 18 HIDScope scope(5); //open 3 channels in hidscope
daniQQue 26:38dc21b9ba7d 19 MODSERIAL pc(USBTX, USBRX); //pc connection
daniQQue 23:123d65f76236 20
daniQQue 23:123d65f76236 21 //motors
daniQQue 23:123d65f76236 22 DigitalOut richting_motor1(D4);
daniQQue 23:123d65f76236 23 PwmOut pwm_motor1(D5);
daniQQue 23:123d65f76236 24 DigitalOut richting_motor2(D7);
daniQQue 23:123d65f76236 25 PwmOut pwm_motor2(D6);
daniQQue 26:38dc21b9ba7d 26
daniQQue 26:38dc21b9ba7d 27 //digital out
daniQQue 26:38dc21b9ba7d 28
daniQQue 21:9b8be3dff01a 29 DigitalOut led(LED_GREEN); //led included to check where code is
daniQQue 0:34c739fcc3e0 30
daniQQue 0:34c739fcc3e0 31 //define variables
daniQQue 21:9b8be3dff01a 32 //other
daniQQue 21:9b8be3dff01a 33 int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation
daniQQue 23:123d65f76236 34 int switch_signal_leftarm=0; // switching between motors.
daniQQue 26:38dc21b9ba7d 35 double cut_off_value_biceps =0.06; //gespecificeerd door floortje
daniQQue 26:38dc21b9ba7d 36 double cut_off_value_triceps=-0.03; //gespecificeerd door floorte
daniQQue 26:38dc21b9ba7d 37 double signal_right_arm; //signal right arm
daniQQue 26:38dc21b9ba7d 38 double max_biceps; //calibration maximum biceps
daniQQue 26:38dc21b9ba7d 39 double max_triceps; //calibration maximum triceps
daniQQue 26:38dc21b9ba7d 40 int n = 0; //start van de teller wordt op nul gesteld, om te kunnen switchen
daniQQue 23:123d65f76236 41
daniQQue 21:9b8be3dff01a 42 //biceps arm 1, right arm
daniQQue 15:bb4a6c7836d8 43 double emg_biceps_right;
daniQQue 15:bb4a6c7836d8 44 double emg_filtered_high_biceps_right;
daniQQue 15:bb4a6c7836d8 45 double emg_abs_biceps_right;
daniQQue 15:bb4a6c7836d8 46 double emg_filtered_biceps_right;
daniQQue 21:9b8be3dff01a 47 double emg_filtered_high_notch_1_biceps_right;
daniQQue 21:9b8be3dff01a 48 double emg_filtered_high_notch_1_2_biceps_right;
daniQQue 5:688b1b5530d8 49
daniQQue 21:9b8be3dff01a 50 //triceps arm 1, right arm
daniQQue 21:9b8be3dff01a 51 double emg_triceps_right;
daniQQue 21:9b8be3dff01a 52 double emg_filtered_high_triceps_right;
daniQQue 21:9b8be3dff01a 53 double emg_abs_triceps_right;
daniQQue 21:9b8be3dff01a 54 double emg_filtered_triceps_right;
daniQQue 21:9b8be3dff01a 55 double emg_filtered_high_notch_1_triceps_right;
daniQQue 21:9b8be3dff01a 56 double emg_filtered_high_notch_1_2_triceps_right;
daniQQue 21:9b8be3dff01a 57
daniQQue 23:123d65f76236 58 //biceps arm 1, left arm
daniQQue 23:123d65f76236 59 double emg_biceps_left;
daniQQue 23:123d65f76236 60 double emg_filtered_high_biceps_left;
daniQQue 23:123d65f76236 61 double emg_abs_biceps_left;
daniQQue 23:123d65f76236 62 double emg_filtered_biceps_left;
daniQQue 23:123d65f76236 63 double emg_filtered_high_notch_1_biceps_left;
daniQQue 23:123d65f76236 64 double emg_filtered_high_notch_1_2_biceps_left;
daniQQue 23:123d65f76236 65
daniQQue 21:9b8be3dff01a 66 //before abs filtering
daniQQue 23:123d65f76236 67
daniQQue 23:123d65f76236 68 //b1 = biceps right arm
daniQQue 22:eb8411807cca 69 BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 22:eb8411807cca 70 BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 22:eb8411807cca 71 BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 23:123d65f76236 72
daniQQue 23:123d65f76236 73 //t1= triceps right arm
daniQQue 22:eb8411807cca 74 BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 22:eb8411807cca 75 BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 22:eb8411807cca 76 BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 21:9b8be3dff01a 77
daniQQue 23:123d65f76236 78 //b2= biceps left arm
daniQQue 23:123d65f76236 79 BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 23:123d65f76236 80 BiQuad filternotch1_b2 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 23:123d65f76236 81 BiQuad filternotch2_b2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 23:123d65f76236 82
daniQQue 21:9b8be3dff01a 83 //after abs filtering
daniQQue 22:eb8411807cca 84 BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 22:eb8411807cca 85 BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 23:123d65f76236 86 BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 10:7255b59224cc 87
daniQQue 23:123d65f76236 88 //function teller
daniQQue 23:123d65f76236 89 void SwitchN() { // maakt simpele functie die 1 bij n optelt
daniQQue 23:123d65f76236 90 if(switch_signal_leftarm==1)
daniQQue 23:123d65f76236 91 {
daniQQue 23:123d65f76236 92 n++;
daniQQue 25:58f351d9fcc4 93 wait(0.5f);
daniQQue 23:123d65f76236 94 }
daniQQue 23:123d65f76236 95 }
daniQQue 23:123d65f76236 96
daniQQue 21:9b8be3dff01a 97 //functions which are called in ticker to sample the analog signal
daniQQue 23:123d65f76236 98
daniQQue 0:34c739fcc3e0 99 void filter(){
daniQQue 21:9b8be3dff01a 100 //biceps right arm read+filtering
daniQQue 15:bb4a6c7836d8 101 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 22:eb8411807cca 102 emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 22:eb8411807cca 103 emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 22:eb8411807cca 104 emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
daniQQue 21:9b8be3dff01a 105 emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
daniQQue 22:eb8411807cca 106 emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 21:9b8be3dff01a 107
daniQQue 21:9b8be3dff01a 108 //triceps right arm read+filtering
daniQQue 21:9b8be3dff01a 109 emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 22:eb8411807cca 110 emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
daniQQue 22:eb8411807cca 111 emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
daniQQue 22:eb8411807cca 112 emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right);
daniQQue 21:9b8be3dff01a 113 emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float
daniQQue 22:eb8411807cca 114 emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
daniQQue 7:42d0e38196f1 115
daniQQue 23:123d65f76236 116 //biceps left arm read+filtering
daniQQue 23:123d65f76236 117 emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes
daniQQue 23:123d65f76236 118 emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
daniQQue 23:123d65f76236 119 emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
daniQQue 23:123d65f76236 120 emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left);
daniQQue 23:123d65f76236 121 emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float
daniQQue 23:123d65f76236 122 emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
daniQQue 23:123d65f76236 123
daniQQue 21:9b8be3dff01a 124 //signal substraction of filter biceps and triceps. Biceps +,triceps -
daniQQue 21:9b8be3dff01a 125 signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
daniQQue 21:9b8be3dff01a 126
daniQQue 23:123d65f76236 127 //creating of on/off signal with the created on/off signals, with if statement for right arm!
daniQQue 21:9b8be3dff01a 128 if (signal_right_arm>cut_off_value_biceps)
daniQQue 21:9b8be3dff01a 129 {onoffsignal_rightarm=1;}
daniQQue 7:42d0e38196f1 130
daniQQue 21:9b8be3dff01a 131 else if (signal_right_arm<cut_off_value_triceps)
daniQQue 21:9b8be3dff01a 132 {
daniQQue 21:9b8be3dff01a 133 onoffsignal_rightarm=-1;
daniQQue 21:9b8be3dff01a 134 }
daniQQue 21:9b8be3dff01a 135
daniQQue 21:9b8be3dff01a 136 else
daniQQue 21:9b8be3dff01a 137 {onoffsignal_rightarm=0;}
daniQQue 7:42d0e38196f1 138
daniQQue 23:123d65f76236 139 //creating on/off signal for switch (left arm)
daniQQue 23:123d65f76236 140
daniQQue 23:123d65f76236 141 if (emg_filtered_biceps_left>cut_off_value_biceps)
daniQQue 23:123d65f76236 142 {
daniQQue 23:123d65f76236 143 switch_signal_leftarm=1;
daniQQue 23:123d65f76236 144 }
daniQQue 23:123d65f76236 145
daniQQue 23:123d65f76236 146 else
daniQQue 23:123d65f76236 147 {
daniQQue 23:123d65f76236 148 switch_signal_leftarm=0;
daniQQue 23:123d65f76236 149 }
daniQQue 23:123d65f76236 150
daniQQue 0:34c739fcc3e0 151 //send signals to scope
daniQQue 25:58f351d9fcc4 152 scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 // change into raw signal!
daniQQue 25:58f351d9fcc4 153 scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1// change into raw signal!
daniQQue 25:58f351d9fcc4 154 scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2
daniQQue 25:58f351d9fcc4 155 scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3
daniQQue 23:123d65f76236 156 scope.set(4, switch_signal_leftarm);
daniQQue 23:123d65f76236 157
daniQQue 0:34c739fcc3e0 158 scope.send(); //send all the signals to the scope
daniQQue 0:34c739fcc3e0 159 }
daniQQue 0:34c739fcc3e0 160
daniQQue 26:38dc21b9ba7d 161 //calibration function
daniQQue 27:b8d61361d709 162 void calibration_biceps(){
daniQQue 27:b8d61361d709 163 if(button_calibration_biceps==0)
daniQQue 26:38dc21b9ba7d 164 {
daniQQue 26:38dc21b9ba7d 165 for(int n =0; n<2000;n++) //read for 5000 samples as calibration
daniQQue 26:38dc21b9ba7d 166 {
daniQQue 26:38dc21b9ba7d 167 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 26:38dc21b9ba7d 168 emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); //highpass
daniQQue 26:38dc21b9ba7d 169 emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right); //fabs because float
daniQQue 26:38dc21b9ba7d 170 emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); //lowpass to envelope
daniQQue 26:38dc21b9ba7d 171
daniQQue 26:38dc21b9ba7d 172 if (emg_filtered_biceps_right > max_right_biceps) //determine what the highest reachable emg signal is
daniQQue 26:38dc21b9ba7d 173 {
daniQQue 26:38dc21b9ba7d 174 max_right_biceps = emg_filtered_biceps_right;
daniQQue 27:b8d61361d709 175
daniQQue 26:38dc21b9ba7d 176 }
daniQQue 27:b8d61361d709 177 wait(0.001f); //to sample at same freq; 1000Hz
daniQQue 26:38dc21b9ba7d 178 }
daniQQue 26:38dc21b9ba7d 179 cut_off_value=0.2*max_right_biceps;
daniQQue 26:38dc21b9ba7d 180 pc.printf(" change of cv %f ",cut_off_value );
daniQQue 26:38dc21b9ba7d 181 }
daniQQue 26:38dc21b9ba7d 182 }
daniQQue 26:38dc21b9ba7d 183
daniQQue 0:34c739fcc3e0 184 //program
daniQQue 0:34c739fcc3e0 185
daniQQue 0:34c739fcc3e0 186 int main()
daniQQue 0:34c739fcc3e0 187 {
daniQQue 23:123d65f76236 188 pc.baud(115200);
daniQQue 0:34c739fcc3e0 189 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 25:58f351d9fcc4 190 switch_function.attach(&SwitchN,1);
daniQQue 0:34c739fcc3e0 191 //endless loop
daniQQue 0:34c739fcc3e0 192
daniQQue 23:123d65f76236 193 while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt
daniQQue 23:123d65f76236 194
daniQQue 24:bfc240e381b4 195 if (onoffsignal_rightarm==1) // als s ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 196 {
daniQQue 23:123d65f76236 197 if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
daniQQue 23:123d65f76236 198 {
daniQQue 23:123d65f76236 199 pc.printf("n is even \n\r"); // print lijn "n is even"
daniQQue 23:123d65f76236 200 pc.printf("up \n\r"); // print lijn "up"
daniQQue 24:bfc240e381b4 201 richting_motor1 = 2.5;
daniQQue 23:123d65f76236 202 pwm_motor1 = 1;
daniQQue 23:123d65f76236 203
daniQQue 23:123d65f76236 204 }
daniQQue 23:123d65f76236 205
daniQQue 23:123d65f76236 206 else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 207 {
daniQQue 23:123d65f76236 208 pc.printf("n is odd \n\r"); // print lijn "n is odd"
daniQQue 23:123d65f76236 209 pc.printf("left \n\r"); // print lijn "left"
daniQQue 24:bfc240e381b4 210 richting_motor2 = 2.5;
daniQQue 23:123d65f76236 211 pwm_motor2 = 1;
daniQQue 23:123d65f76236 212
daniQQue 23:123d65f76236 213 }
daniQQue 23:123d65f76236 214
daniQQue 23:123d65f76236 215 }
daniQQue 24:bfc240e381b4 216 else if (onoffsignal_rightarm==-1) // als d ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 217 {
daniQQue 23:123d65f76236 218 if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende
daniQQue 23:123d65f76236 219 {
daniQQue 23:123d65f76236 220 pc.printf("n is even \n\r"); // print lijn "n is even"
daniQQue 23:123d65f76236 221 pc.printf("down \n\r"); // print lijn "down"
daniQQue 24:bfc240e381b4 222 richting_motor1 = 0;
daniQQue 23:123d65f76236 223 pwm_motor1 = 1;
daniQQue 23:123d65f76236 224
daniQQue 23:123d65f76236 225 }
daniQQue 23:123d65f76236 226 else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 227 {
daniQQue 23:123d65f76236 228 pc.printf("n is odd \n\r"); // print lijn "n is odd"
daniQQue 23:123d65f76236 229 pc.printf("right \n\r"); // print lijn "right"
daniQQue 24:bfc240e381b4 230 richting_motor2 = 0;
daniQQue 23:123d65f76236 231 pwm_motor2 = 1;
daniQQue 23:123d65f76236 232
daniQQue 23:123d65f76236 233 }
daniQQue 23:123d65f76236 234 }
daniQQue 23:123d65f76236 235 else{
daniQQue 23:123d65f76236 236 pc.printf("motor staat stil \n\r");
daniQQue 23:123d65f76236 237 pwm_motor2=0;
daniQQue 23:123d65f76236 238 pwm_motor1=0;
daniQQue 23:123d65f76236 239 }
daniQQue 23:123d65f76236 240
daniQQue 23:123d65f76236 241 }
daniQQue 0:34c739fcc3e0 242
daniQQue 0:34c739fcc3e0 243 }