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@28:e2553066989e, 2016-10-28 (annotated)

Committer:
daniQQue
Date:
Fri Oct 28 08:35:31 2016 +0000
Revision:
28:e2553066989e
Parent:
27:b8d61361d709
Child:
29:76b2cc33690c
doubles weggehaald bij definities om script overzichterlijker te makeb

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 28:e2553066989e 16 Ticker calibration_ticker_biceps; //ticker
daniQQue 28:e2553066989e 17 Ticker calibration_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 15:bb4a6c7836d8 42 double emg_biceps_right;
daniQQue 21:9b8be3dff01a 43 double emg_triceps_right;
daniQQue 28:e2553066989e 44 double emg_biceps_left;
daniQQue 21:9b8be3dff01a 45
daniQQue 28:e2553066989e 46 //Biquads defined
daniQQue 23:123d65f76236 47
daniQQue 23:123d65f76236 48 //b1 = biceps right arm
daniQQue 22:eb8411807cca 49 BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 22:eb8411807cca 50 BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 22:eb8411807cca 51 BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 23:123d65f76236 52
daniQQue 23:123d65f76236 53 //t1= triceps right arm
daniQQue 22:eb8411807cca 54 BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 22:eb8411807cca 55 BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 22:eb8411807cca 56 BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 21:9b8be3dff01a 57
daniQQue 23:123d65f76236 58 //b2= biceps left arm
daniQQue 23:123d65f76236 59 BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 23:123d65f76236 60 BiQuad filternotch1_b2 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 23:123d65f76236 61 BiQuad filternotch2_b2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
daniQQue 23:123d65f76236 62
daniQQue 21:9b8be3dff01a 63 //after abs filtering
daniQQue 22:eb8411807cca 64 BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 22:eb8411807cca 65 BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 23:123d65f76236 66 BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 10:7255b59224cc 67
daniQQue 23:123d65f76236 68 //function teller
daniQQue 23:123d65f76236 69 void SwitchN() { // maakt simpele functie die 1 bij n optelt
daniQQue 23:123d65f76236 70 if(switch_signal_leftarm==1)
daniQQue 23:123d65f76236 71 {
daniQQue 23:123d65f76236 72 n++;
daniQQue 25:58f351d9fcc4 73 wait(0.5f);
daniQQue 23:123d65f76236 74 }
daniQQue 23:123d65f76236 75 }
daniQQue 23:123d65f76236 76
daniQQue 21:9b8be3dff01a 77 //functions which are called in ticker to sample the analog signal
daniQQue 23:123d65f76236 78
daniQQue 0:34c739fcc3e0 79 void filter(){
daniQQue 21:9b8be3dff01a 80 //biceps right arm read+filtering
daniQQue 15:bb4a6c7836d8 81 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 82 double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 28:e2553066989e 83 double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 28:e2553066989e 84 double emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
daniQQue 28:e2553066989e 85 double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
daniQQue 28:e2553066989e 86 double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 21:9b8be3dff01a 87
daniQQue 21:9b8be3dff01a 88 //triceps right arm read+filtering
daniQQue 21:9b8be3dff01a 89 emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 90 double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
daniQQue 28:e2553066989e 91 double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
daniQQue 28:e2553066989e 92 double emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right);
daniQQue 28:e2553066989e 93 double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float
daniQQue 28:e2553066989e 94 double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
daniQQue 7:42d0e38196f1 95
daniQQue 23:123d65f76236 96 //biceps left arm read+filtering
daniQQue 23:123d65f76236 97 emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 98 double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
daniQQue 28:e2553066989e 99 double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
daniQQue 28:e2553066989e 100 double emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left);
daniQQue 28:e2553066989e 101 double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float
daniQQue 28:e2553066989e 102 double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
daniQQue 23:123d65f76236 103
daniQQue 21:9b8be3dff01a 104 //signal substraction of filter biceps and triceps. Biceps +,triceps -
daniQQue 28:e2553066989e 105 double signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
daniQQue 21:9b8be3dff01a 106
daniQQue 23:123d65f76236 107 //creating of on/off signal with the created on/off signals, with if statement for right arm!
daniQQue 21:9b8be3dff01a 108 if (signal_right_arm>cut_off_value_biceps)
daniQQue 21:9b8be3dff01a 109 {onoffsignal_rightarm=1;}
daniQQue 7:42d0e38196f1 110
daniQQue 21:9b8be3dff01a 111 else if (signal_right_arm<cut_off_value_triceps)
daniQQue 21:9b8be3dff01a 112 {
daniQQue 21:9b8be3dff01a 113 onoffsignal_rightarm=-1;
daniQQue 21:9b8be3dff01a 114 }
daniQQue 21:9b8be3dff01a 115
daniQQue 21:9b8be3dff01a 116 else
daniQQue 21:9b8be3dff01a 117 {onoffsignal_rightarm=0;}
daniQQue 7:42d0e38196f1 118
daniQQue 23:123d65f76236 119 //creating on/off signal for switch (left arm)
daniQQue 23:123d65f76236 120
daniQQue 23:123d65f76236 121 if (emg_filtered_biceps_left>cut_off_value_biceps)
daniQQue 23:123d65f76236 122 {
daniQQue 23:123d65f76236 123 switch_signal_leftarm=1;
daniQQue 23:123d65f76236 124 }
daniQQue 23:123d65f76236 125
daniQQue 23:123d65f76236 126 else
daniQQue 23:123d65f76236 127 {
daniQQue 23:123d65f76236 128 switch_signal_leftarm=0;
daniQQue 23:123d65f76236 129 }
daniQQue 23:123d65f76236 130
daniQQue 0:34c739fcc3e0 131 //send signals to scope
daniQQue 25:58f351d9fcc4 132 scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0 // change into raw signal!
daniQQue 25:58f351d9fcc4 133 scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1// change into raw signal!
daniQQue 25:58f351d9fcc4 134 scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2
daniQQue 25:58f351d9fcc4 135 scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3
daniQQue 23:123d65f76236 136 scope.set(4, switch_signal_leftarm);
daniQQue 23:123d65f76236 137
daniQQue 0:34c739fcc3e0 138 scope.send(); //send all the signals to the scope
daniQQue 0:34c739fcc3e0 139 }
daniQQue 0:34c739fcc3e0 140
daniQQue 26:38dc21b9ba7d 141 //calibration function
daniQQue 27:b8d61361d709 142 void calibration_biceps(){
daniQQue 27:b8d61361d709 143 if(button_calibration_biceps==0)
daniQQue 26:38dc21b9ba7d 144 {
daniQQue 26:38dc21b9ba7d 145 for(int n =0; n<2000;n++) //read for 5000 samples as calibration
daniQQue 26:38dc21b9ba7d 146 {
daniQQue 28:e2553066989e 147 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 148 double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 28:e2553066989e 149 double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 28:e2553066989e 150 double emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
daniQQue 28:e2553066989e 151 double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
daniQQue 28:e2553066989e 152 double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 28:e2553066989e 153
daniQQue 28:e2553066989e 154 if (emg_filtered_biceps_right > max_biceps) //determine what the highest reachable emg signal is
daniQQue 26:38dc21b9ba7d 155 {
daniQQue 28:e2553066989e 156 max_biceps = emg_filtered_biceps_right;
daniQQue 27:b8d61361d709 157
daniQQue 26:38dc21b9ba7d 158 }
daniQQue 27:b8d61361d709 159 wait(0.001f); //to sample at same freq; 1000Hz
daniQQue 26:38dc21b9ba7d 160 }
daniQQue 28:e2553066989e 161 cut_off_value_biceps=0.2*max_biceps;
daniQQue 28:e2553066989e 162 pc.printf(" change of cv %f ",cut_off_value_biceps );
daniQQue 26:38dc21b9ba7d 163 }
daniQQue 26:38dc21b9ba7d 164 }
daniQQue 26:38dc21b9ba7d 165
daniQQue 0:34c739fcc3e0 166 //program
daniQQue 0:34c739fcc3e0 167
daniQQue 0:34c739fcc3e0 168 int main()
daniQQue 0:34c739fcc3e0 169 {
daniQQue 23:123d65f76236 170 pc.baud(115200);
daniQQue 0:34c739fcc3e0 171 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 172 switch_function.attach(&SwitchN,0.1);
daniQQue 28:e2553066989e 173 calibration_ticker_biceps.attach(&calibration_biceps,0.001); //to call calibration biceps
daniQQue 0:34c739fcc3e0 174 //endless loop
daniQQue 0:34c739fcc3e0 175
daniQQue 23:123d65f76236 176 while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt
daniQQue 23:123d65f76236 177
daniQQue 24:bfc240e381b4 178 if (onoffsignal_rightarm==1) // als s ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 179 {
daniQQue 23:123d65f76236 180 if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
daniQQue 23:123d65f76236 181 {
daniQQue 28:e2553066989e 182
daniQQue 24:bfc240e381b4 183 richting_motor1 = 2.5;
daniQQue 23:123d65f76236 184 pwm_motor1 = 1;
daniQQue 23:123d65f76236 185
daniQQue 23:123d65f76236 186 }
daniQQue 23:123d65f76236 187
daniQQue 23:123d65f76236 188 else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 189 {
daniQQue 28:e2553066989e 190
daniQQue 24:bfc240e381b4 191 richting_motor2 = 2.5;
daniQQue 23:123d65f76236 192 pwm_motor2 = 1;
daniQQue 23:123d65f76236 193
daniQQue 23:123d65f76236 194 }
daniQQue 23:123d65f76236 195
daniQQue 23:123d65f76236 196 }
daniQQue 24:bfc240e381b4 197 else if (onoffsignal_rightarm==-1) // als d ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 198 {
daniQQue 23:123d65f76236 199 if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende
daniQQue 23:123d65f76236 200 {
daniQQue 28:e2553066989e 201
daniQQue 24:bfc240e381b4 202 richting_motor1 = 0;
daniQQue 23:123d65f76236 203 pwm_motor1 = 1;
daniQQue 23:123d65f76236 204
daniQQue 23:123d65f76236 205 }
daniQQue 23:123d65f76236 206 else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 207 {
daniQQue 28:e2553066989e 208
daniQQue 24:bfc240e381b4 209 richting_motor2 = 0;
daniQQue 23:123d65f76236 210 pwm_motor2 = 1;
daniQQue 23:123d65f76236 211
daniQQue 23:123d65f76236 212 }
daniQQue 23:123d65f76236 213 }
daniQQue 23:123d65f76236 214 else{
daniQQue 23:123d65f76236 215 pwm_motor2=0;
daniQQue 23:123d65f76236 216 pwm_motor1=0;
daniQQue 23:123d65f76236 217 }
daniQQue 23:123d65f76236 218
daniQQue 23:123d65f76236 219 }
daniQQue 0:34c739fcc3e0 220
daniQQue 0:34c739fcc3e0 221 }