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@34:e788565f5d70, 2016-10-28 (annotated)

Committer:
daniQQue
Date:
Fri Oct 28 10:23:06 2016 +0000
Revision:
34:e788565f5d70
Parent:
31:9333d3f48c88 
n aangepast, ergens definite fou;

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 34:e788565f5d70 38 int count_switch = 0; //start of counter is zero, to make switch work. It depens on even and odd.
daniQQue 34:e788565f5d70 39 int n ;
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 22:eb8411807cca 50 BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 22:eb8411807cca 51 BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 22:eb8411807cca 52 BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
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 22:eb8411807cca 56 BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 22:eb8411807cca 57 BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
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 23:123d65f76236 61 BiQuad filternotch1_b2 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00 , 9.9103e-01);
daniQQue 23:123d65f76236 62 BiQuad filternotch2_b2(1.0000e+00, -1.9022e+00, 1.0000e+00, -1.8965e+00 , 9.9127e-01);
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 34:e788565f5d70 73 count_switch++;
daniQQue 25:58f351d9fcc4 74 wait(0.5f);
daniQQue 34:e788565f5d70 75 pc.printf("switch\r\n");
daniQQue 23:123d65f76236 76 }
daniQQue 23:123d65f76236 77 }
daniQQue 23:123d65f76236 78
daniQQue 21:9b8be3dff01a 79 //functions which are called in ticker to sample the analog signal
daniQQue 23:123d65f76236 80
daniQQue 0:34c739fcc3e0 81 void filter(){
daniQQue 21:9b8be3dff01a 82 //biceps right arm read+filtering
daniQQue 15:bb4a6c7836d8 83 emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 84 double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 28:e2553066989e 85 double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 28:e2553066989e 86 double emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
daniQQue 28:e2553066989e 87 double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_2_biceps_right); //fabs because float
daniQQue 28:e2553066989e 88 double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 21:9b8be3dff01a 89
daniQQue 21:9b8be3dff01a 90 //triceps right arm read+filtering
daniQQue 21:9b8be3dff01a 91 emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 92 double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
daniQQue 28:e2553066989e 93 double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
daniQQue 28:e2553066989e 94 double emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right);
daniQQue 28:e2553066989e 95 double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float
daniQQue 28:e2553066989e 96 double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
daniQQue 7:42d0e38196f1 97
daniQQue 23:123d65f76236 98 //biceps left arm read+filtering
daniQQue 23:123d65f76236 99 emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes
daniQQue 28:e2553066989e 100 double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
daniQQue 28:e2553066989e 101 double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
daniQQue 28:e2553066989e 102 double emg_filtered_high_notch_1_2_biceps_left=filternotch2_b2.step(emg_filtered_high_notch_1_biceps_left);
daniQQue 28:e2553066989e 103 double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_2_biceps_left); //fabs because float
daniQQue 28:e2553066989e 104 double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
daniQQue 23:123d65f76236 105
daniQQue 21:9b8be3dff01a 106 //signal substraction of filter biceps and triceps. Biceps +,triceps -
daniQQue 28:e2553066989e 107 double signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
daniQQue 21:9b8be3dff01a 108
daniQQue 23:123d65f76236 109 //creating of on/off signal with the created on/off signals, with if statement for right arm!
daniQQue 21:9b8be3dff01a 110 if (signal_right_arm>cut_off_value_biceps)
daniQQue 21:9b8be3dff01a 111 {onoffsignal_rightarm=1;}
daniQQue 7:42d0e38196f1 112
daniQQue 21:9b8be3dff01a 113 else if (signal_right_arm<cut_off_value_triceps)
daniQQue 21:9b8be3dff01a 114 {
daniQQue 21:9b8be3dff01a 115 onoffsignal_rightarm=-1;
daniQQue 21:9b8be3dff01a 116 }
daniQQue 21:9b8be3dff01a 117
daniQQue 21:9b8be3dff01a 118 else
daniQQue 21:9b8be3dff01a 119 {onoffsignal_rightarm=0;}
daniQQue 7:42d0e38196f1 120
daniQQue 23:123d65f76236 121 //creating on/off signal for switch (left arm)
daniQQue 23:123d65f76236 122
daniQQue 23:123d65f76236 123 if (emg_filtered_biceps_left>cut_off_value_biceps)
daniQQue 23:123d65f76236 124 {
daniQQue 23:123d65f76236 125 switch_signal_leftarm=1;
daniQQue 23:123d65f76236 126 }
daniQQue 23:123d65f76236 127
daniQQue 23:123d65f76236 128 else
daniQQue 23:123d65f76236 129 {
daniQQue 23:123d65f76236 130 switch_signal_leftarm=0;
daniQQue 23:123d65f76236 131 }
daniQQue 23:123d65f76236 132
daniQQue 0:34c739fcc3e0 133 //send signals to scope
daniQQue 30:a7bae1c036a3 134 scope.set(0, emg_biceps_right); //set emg signal to scope in channel 0 // change into raw signal!
daniQQue 30:a7bae1c036a3 135 scope.set(1, emg_triceps_right); // set emg signal to scope in channel 1// change into raw signal!
daniQQue 31:9333d3f48c88 136 scope.set(2, emg_filtered_triceps_right); // set emg signal to scope in channel 2
daniQQue 31:9333d3f48c88 137 scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3
daniQQue 23:123d65f76236 138 scope.set(4, switch_signal_leftarm);
daniQQue 23:123d65f76236 139
daniQQue 0:34c739fcc3e0 140 scope.send(); //send all the signals to the scope
daniQQue 0:34c739fcc3e0 141 }
daniQQue 0:34c739fcc3e0 142
daniQQue 29:76b2cc33690c 143 //calibration function for biceps
daniQQue 27:b8d61361d709 144 void calibration_biceps(){
daniQQue 30:a7bae1c036a3 145 for(int n =0; n<2000;n++) //read for 2000 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 30:a7bae1c036a3 161 cut_off_value_biceps=percentage_max_biceps*max_biceps;
daniQQue 30:a7bae1c036a3 162 pc.printf(" change of cv biceps: %f ",cut_off_value_biceps );
daniQQue 30:a7bae1c036a3 163
daniQQue 30:a7bae1c036a3 164 }
daniQQue 30:a7bae1c036a3 165
daniQQue 30:a7bae1c036a3 166 //calibration function for biceps
daniQQue 30:a7bae1c036a3 167 void calibration_triceps(){
daniQQue 30:a7bae1c036a3 168 for(int n =0; n<2000;n++) //read for 2000 samples as calibration
daniQQue 30:a7bae1c036a3 169 {
daniQQue 31:9333d3f48c88 170 emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 30:a7bae1c036a3 171 double emg_filtered_high_triceps_right= filterhigh_b1.step(emg_triceps_right);
daniQQue 30:a7bae1c036a3 172 double emg_filtered_high_notch_1_triceps_right=filternotch1_b1.step(emg_filtered_high_triceps_right);
daniQQue 30:a7bae1c036a3 173 double emg_filtered_high_notch_1_2_triceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_triceps_right);
daniQQue 30:a7bae1c036a3 174 double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_2_triceps_right); //fabs because float
daniQQue 30:a7bae1c036a3 175 double emg_filtered_triceps_right=filterlow_b1.step(emg_abs_triceps_right);
daniQQue 30:a7bae1c036a3 176
daniQQue 30:a7bae1c036a3 177 if (emg_filtered_triceps_right > max_triceps) //determine what the highest reachable emg signal is
daniQQue 30:a7bae1c036a3 178 {
daniQQue 30:a7bae1c036a3 179 max_triceps = emg_filtered_triceps_right;
daniQQue 30:a7bae1c036a3 180
daniQQue 30:a7bae1c036a3 181 }
daniQQue 30:a7bae1c036a3 182 wait(0.001f); //to sample at same freq; 1000Hz
daniQQue 30:a7bae1c036a3 183 }
daniQQue 31:9333d3f48c88 184 cut_off_value_triceps=-percentage_max_triceps*max_triceps;
daniQQue 30:a7bae1c036a3 185 pc.printf(" change of cv triceps: %f ",cut_off_value_triceps );
daniQQue 30:a7bae1c036a3 186
daniQQue 26:38dc21b9ba7d 187 }
daniQQue 26:38dc21b9ba7d 188
daniQQue 0:34c739fcc3e0 189 //program
daniQQue 0:34c739fcc3e0 190
daniQQue 0:34c739fcc3e0 191 int main()
daniQQue 0:34c739fcc3e0 192 {
daniQQue 23:123d65f76236 193 pc.baud(115200);
daniQQue 0:34c739fcc3e0 194 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 195 switch_function.attach(&SwitchN,0.01);
daniQQue 31:9333d3f48c88 196 button_calibration_biceps.fall (&calibration_biceps); //to call calibration biceps, stop everything else
daniQQue 30:a7bae1c036a3 197 button_calibration_triceps.fall(&calibration_triceps); //to call calibration triceps, stop everything else
daniQQue 0:34c739fcc3e0 198 //endless loop
daniQQue 0:34c739fcc3e0 199
daniQQue 23:123d65f76236 200 while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt
daniQQue 23:123d65f76236 201
daniQQue 24:bfc240e381b4 202 if (onoffsignal_rightarm==1) // als s ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 203 {
daniQQue 34:e788565f5d70 204 if (count_switch%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
daniQQue 23:123d65f76236 205 {
daniQQue 28:e2553066989e 206
daniQQue 24:bfc240e381b4 207 richting_motor1 = 2.5;
daniQQue 23:123d65f76236 208 pwm_motor1 = 1;
daniQQue 23:123d65f76236 209
daniQQue 23:123d65f76236 210 }
daniQQue 23:123d65f76236 211
daniQQue 23:123d65f76236 212 else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 213 {
daniQQue 28:e2553066989e 214
daniQQue 24:bfc240e381b4 215 richting_motor2 = 2.5;
daniQQue 23:123d65f76236 216 pwm_motor2 = 1;
daniQQue 23:123d65f76236 217
daniQQue 23:123d65f76236 218 }
daniQQue 23:123d65f76236 219
daniQQue 23:123d65f76236 220 }
daniQQue 24:bfc240e381b4 221 else if (onoffsignal_rightarm==-1) // als d ingedrukt wordt gebeurd het volgende
daniQQue 23:123d65f76236 222 {
daniQQue 34:e788565f5d70 223 if (count_switch%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende
daniQQue 23:123d65f76236 224 {
daniQQue 28:e2553066989e 225
daniQQue 24:bfc240e381b4 226 richting_motor1 = 0;
daniQQue 34:e788565f5d70 227 pwm_motor1 = 0.5;
daniQQue 23:123d65f76236 228
daniQQue 23:123d65f76236 229 }
daniQQue 23:123d65f76236 230 else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 23:123d65f76236 231 {
daniQQue 28:e2553066989e 232
daniQQue 24:bfc240e381b4 233 richting_motor2 = 0;
daniQQue 23:123d65f76236 234 pwm_motor2 = 1;
daniQQue 23:123d65f76236 235
daniQQue 23:123d65f76236 236 }
daniQQue 23:123d65f76236 237 }
daniQQue 23:123d65f76236 238 else{
daniQQue 23:123d65f76236 239 pwm_motor2=0;
daniQQue 23:123d65f76236 240 pwm_motor1=0;
daniQQue 23:123d65f76236 241 }
daniQQue 23:123d65f76236 242
daniQQue 23:123d65f76236 243 }
daniQQue 0:34c739fcc3e0 244
daniQQue 0:34c739fcc3e0 245 }