Diff: main.cpp

Revision:

44:c79e5944ac91

Parent:

40:187ef29de53d

Child:

45:08bddea67bd8

--- a/main.cpp	Tue Nov 01 08:48:08 2016 +0000
+++ b/main.cpp	Wed Nov 02 15:25:03 2016 +0000
@@ -27,32 +27,10 @@
 int    switch_signal_leftarm=0;             // switching between motors. 
 double cut_off_value_biceps =0.04;              //gespecificeerd door floortje
 double cut_off_value_triceps=-0.03;             //gespecificeerd door floortje
-double signal_right_arm;
 int n = 0; //start van de teller wordt op nul gesteld
  
-//biceps  arm 1, right arm
-double emg_biceps_right;
-double emg_filtered_high_biceps_right;
-double emg_abs_biceps_right;
-double emg_filtered_biceps_right;
-double emg_filtered_high_notch_1_biceps_right;
-//double emg_filtered_high_notch_1_2_biceps_right;
-
-//triceps arm 1, right arm
-double emg_triceps_right;
-double emg_filtered_high_triceps_right;
-double emg_abs_triceps_right;
-double emg_filtered_triceps_right;
-double emg_filtered_high_notch_1_triceps_right;
-
-//biceps  arm 1, left arm
-double emg_biceps_left;
-double emg_filtered_high_biceps_left;
-double emg_abs_biceps_left;
-double emg_filtered_biceps_left;
-double emg_filtered_high_notch_1_biceps_left;
-
-//before abs filtering
+//=======================================
+//filter coefficients
 
 //b1 = biceps right arm
 BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
@@ -95,55 +73,56 @@
 
 void filter(){
         //biceps right arm read+filtering
-        emg_biceps_right=emg_biceps_right_in.read();                            //read the emg value from the elektrodes
-        emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
-        emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
-        //emg_filtered_high_notch_1_2_biceps_right=filternotch2_b1.step(emg_filtered_high_notch_1_biceps_right);
-        emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float
-        emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
+       double emg_biceps_right=emg_biceps_right_in.read();                            //read the emg value from the elektrodes
+       double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
+       double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
+       double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float
+       double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
         
         //triceps right arm read+filtering
-        emg_triceps_right=emg_triceps_right_in.read();                            //read the emg value from the elektrodes
-        emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
-        emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
-        //emg_filtered_high_notch_1_2_triceps_right=filternotch2_t1.step(emg_filtered_high_notch_1_triceps_right);
-        emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float
-        emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
+       double emg_triceps_right=emg_triceps_right_in.read();                            //read the emg value from the elektrodes
+       double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
+       double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
+       double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float
+       double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
         
         //biceps left arm read+filtering
-        emg_biceps_left=emg_biceps_left_in.read();                            //read the emg value from the elektrodes
-        emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
-        emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
-        emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float
-        emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
+       double emg_biceps_left=emg_biceps_left_in.read();                            //read the emg value from the elektrodes
+       double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
+       double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
+       double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float
+       double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
           
         //signal substraction of filter biceps and triceps. Biceps +,triceps -
-        signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
+       double signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
                
         //creating of on/off signal with the created on/off signals, with if statement   for right arm!    
-        if (signal_right_arm>cut_off_value_biceps)
-        {onoffsignal_rightarm=1;}
+       //signal substraction of filter biceps and triceps. right Biceps + left biceps -
+       double signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left;
+       double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right;       
+        //creating of on/off signal with the created on/off signals, with if statement   for right arm!    
+        if (signal_biceps_sum>cut_off_value_biceps_right)
+        {onoffsignal_biceps=1;}
           
-        else if (signal_right_arm<cut_off_value_triceps)
+        else if (signal_biceps_sum<cut_off_value_biceps_left)
         {
-        onoffsignal_rightarm=-1;
+        onoffsignal_biceps=-1;
         }    
         
         else
-        {onoffsignal_rightarm=0;}
+        {onoffsignal_biceps=0;}
                       
         //creating on/off signal for switch (left arm)
         
-        if (emg_filtered_biceps_left>cut_off_value_biceps)
+        if (bicepstriceps_rightarm<cut_off_value_triceps)
         {
-        switch_signal_leftarm=1;    
+        switch_signal_triceps=1;    
         }    
         
         else
         {
-        switch_signal_leftarm=0;              
+        switch_signal_triceps=0;              
         }
-        
         //send signals  to scope
         scope.set(0, emg_filtered_biceps_right);            //set emg signal to scope in channel 0
         scope.set(1, emg_filtered_triceps_right);           // set emg signal to scope in channel 1
@@ -164,6 +143,8 @@
 
 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
 switch_function.attach(&SwitchN,1.0);
+
+//==============================================================================================
 //endless loop