File content as of revision 36:959f4719ab3a:

//libraries
#include "mbed.h"
#include "HIDScope.h"
#include "BiQuad.h"  

//Define objects
AnalogIn    emg_biceps_right_in( A0 );              //analog in to get EMG biceps  (r) in to c++
AnalogIn    emg_triceps_right_in(A1);               //analog in to get EMG triceps (r) in to c++
//AnalogIn    emg_biceps_left_in  (A2);               //analog in to get EMG biceps  (l) in to c++
Ticker      sample_timer;           //ticker
HIDScope    scope(6);              //open 3 channels in hidscope
DigitalOut richting_motor1(D4);     //motor1 direction output    
PwmOut pwm_motor1(D5);              //motor1 velocity  output
DigitalOut  led(LED_GREEN);         //led included to check where code is

//define variables
//other
int    onoffsignal_rightarm=0;              // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation
double cut_off_value_biceps =0.04;              //gespecificeerd door floortje
double cut_off_value_triceps=-0.02;             //gespecificeerd door floortje
double signal_right_arm;

//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;
double emg_filtered_high_notch_1_2_triceps_right;

//before abs filtering
BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
BiQuad filternotch1_b1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00  , 9.9103e-01);
BiQuad filternotch2_b1(1.0000e+00, -1.9022e+00, 1.0000e+00,  -1.8965e+00 , 9.9127e-01);
BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
BiQuad filternotch1_t1 (9.9115e-01, -1.8853e+00, 9.9115e-01 ,-1.8909e+00  , 9.9103e-01);
BiQuad filternotch2_t1(1.0000e+00, -1.9022e+00, 1.0000e+00,  -1.8965e+00 , 9.9127e-01);

//after abs filtering
BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);

//functions which are called in ticker to sample the analog signal
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_2_biceps_right); //fabs because float
        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_2_triceps_right); //fabs because float
        emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
        
        //signal substraction of filter biceps and triceps. Biceps +,triceps -
        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      
        if (signal_right_arm>cut_off_value_biceps)
        {onoffsignal_rightarm=1;}
          
        else if (signal_right_arm<cut_off_value_triceps)
        {
        onoffsignal_rightarm=-1;
        }    
        
        else
        {onoffsignal_rightarm=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
        scope.set(2, signal_right_arm);                     // set emg signal to scope in channel 2
        scope.set(3, onoffsignal_rightarm);                          // set emg signal to scope in channel 3
        scope.set(4, emg_biceps_right);
        scope.set(5, emg_triceps_right);
        scope.send();                       //send all the signals to the scope
                }

//program

int main()
{  
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

//endless loop

    while(1) 
    {    
        if (onoffsignal_rightarm==1)
        {
        richting_motor1 = 0;    //motordirection (ccw)
        pwm_motor1 = 1;         //motorspeed 1  
        
        }
        else if(onoffsignal_rightarm==-1)
        {
        richting_motor1 = 1;    //motordirection (cw)
        pwm_motor1 = 1;         //motorspeed 1       
         }
        
        else if(onoffsignal_rightarm==0)
        {
        richting_motor1 = -1;    //motordirection (ccw)
        pwm_motor1 = 0;         //motorspeed 0   
    
        }
            
    } 
        
}