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@44:c79e5944ac91, 2016-11-02 (annotated)

Committer:
daniQQue
Date:
Wed Nov 02 15:25:03 2016 +0000
Revision:
44:c79e5944ac91
Parent:
40:187ef29de53d
Child:
45:08bddea67bd8
geen kalibratie, biceps en triceps som, biceps som. nieuwe aansturing;

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 40:187ef29de53d 5 #include "MODSERIAL.h"
daniQQue 0:34c739fcc3e0 6
daniQQue 0:34c739fcc3e0 7 //Define objects
daniQQue 40:187ef29de53d 8 AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++
daniQQue 40:187ef29de53d 9 AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++
daniQQue 40:187ef29de53d 10 AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++
daniQQue 0:34c739fcc3e0 11 Ticker sample_timer; //ticker
daniQQue 40:187ef29de53d 12 Ticker switch_function; //ticker
daniQQue 40:187ef29de53d 13 HIDScope scope(5); //open 3 channels in hidscope
daniQQue 40:187ef29de53d 14 MODSERIAL pc(USBTX, USBRX); //pc connection
daniQQue 40:187ef29de53d 15 DigitalOut red(LED_RED);
daniQQue 40:187ef29de53d 16 DigitalOut green(LED_GREEN);
daniQQue 40:187ef29de53d 17
daniQQue 40:187ef29de53d 18 //motors
daniQQue 40:187ef29de53d 19 DigitalOut richting_motor1(D4);
daniQQue 40:187ef29de53d 20 PwmOut pwm_motor1(D5);
daniQQue 40:187ef29de53d 21 DigitalOut richting_motor2(D7);
daniQQue 40:187ef29de53d 22 PwmOut pwm_motor2(D6);
daniQQue 0:34c739fcc3e0 23
daniQQue 0:34c739fcc3e0 24 //define variables
daniQQue 40:187ef29de53d 25 //other
daniQQue 40:187ef29de53d 26 int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation
daniQQue 40:187ef29de53d 27 int switch_signal_leftarm=0; // switching between motors.
daniQQue 40:187ef29de53d 28 double cut_off_value_biceps =0.04; //gespecificeerd door floortje
daniQQue 40:187ef29de53d 29 double cut_off_value_triceps=-0.03; //gespecificeerd door floortje
daniQQue 40:187ef29de53d 30 int n = 0; //start van de teller wordt op nul gesteld
daniQQue 40:187ef29de53d 31
daniQQue 44:c79e5944ac91 32 //=======================================
daniQQue 44:c79e5944ac91 33 //filter coefficients
daniQQue 40:187ef29de53d 34
daniQQue 40:187ef29de53d 35 //b1 = biceps right arm
daniQQue 40:187ef29de53d 36 BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 40:187ef29de53d 37 BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
daniQQue 40:187ef29de53d 38
daniQQue 40:187ef29de53d 39 //t1= triceps right arm
daniQQue 40:187ef29de53d 40 BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 40:187ef29de53d 41 BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
daniQQue 5:688b1b5530d8 42
daniQQue 40:187ef29de53d 43 //b2= biceps left arm
daniQQue 40:187ef29de53d 44 BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
daniQQue 40:187ef29de53d 45 BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
daniQQue 40:187ef29de53d 46
daniQQue 40:187ef29de53d 47 //after abs filtering
daniQQue 40:187ef29de53d 48 BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 40:187ef29de53d 49 BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 40:187ef29de53d 50 BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
daniQQue 10:7255b59224cc 51
daniQQue 40:187ef29de53d 52 //function teller
daniQQue 40:187ef29de53d 53 void SwitchN() { // maakt simpele functie die 1 bij n optelt
daniQQue 40:187ef29de53d 54 if(switch_signal_leftarm==1)
daniQQue 40:187ef29de53d 55 {
daniQQue 40:187ef29de53d 56 n++;
daniQQue 40:187ef29de53d 57 green=!green;
daniQQue 40:187ef29de53d 58 red=!red;
daniQQue 40:187ef29de53d 59 if (n%2==0)
daniQQue 40:187ef29de53d 60 {pc.printf("If you contract the biceps, the robot will go up \r\n");
daniQQue 40:187ef29de53d 61 pc.printf("If you contract the triceps, the robot will go down \r\n");
daniQQue 40:187ef29de53d 62 }
daniQQue 40:187ef29de53d 63
daniQQue 40:187ef29de53d 64 else
daniQQue 40:187ef29de53d 65 {pc.printf("If you contract the biceps, the robot will go right \r\n");
daniQQue 40:187ef29de53d 66 pc.printf("If you contract the triceps, the robot will go left \r\n");
daniQQue 40:187ef29de53d 67 }
daniQQue 40:187ef29de53d 68
daniQQue 40:187ef29de53d 69 }
daniQQue 40:187ef29de53d 70 }
daniQQue 40:187ef29de53d 71
daniQQue 40:187ef29de53d 72 //functions which are called in ticker to sample the analog signal
daniQQue 40:187ef29de53d 73
daniQQue 0:34c739fcc3e0 74 void filter(){
daniQQue 40:187ef29de53d 75 //biceps right arm read+filtering
daniQQue 44:c79e5944ac91 76 double emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 44:c79e5944ac91 77 double emg_filtered_high_biceps_right= filterhigh_b1.step(emg_biceps_right);
daniQQue 44:c79e5944ac91 78 double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right);
daniQQue 44:c79e5944ac91 79 double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //fabs because float
daniQQue 44:c79e5944ac91 80 double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right);
daniQQue 40:187ef29de53d 81
daniQQue 40:187ef29de53d 82 //triceps right arm read+filtering
daniQQue 44:c79e5944ac91 83 double emg_triceps_right=emg_triceps_right_in.read(); //read the emg value from the elektrodes
daniQQue 44:c79e5944ac91 84 double emg_filtered_high_triceps_right= filterhigh_t1.step(emg_triceps_right);
daniQQue 44:c79e5944ac91 85 double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right);
daniQQue 44:c79e5944ac91 86 double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //fabs because float
daniQQue 44:c79e5944ac91 87 double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right);
daniQQue 7:42d0e38196f1 88
daniQQue 40:187ef29de53d 89 //biceps left arm read+filtering
daniQQue 44:c79e5944ac91 90 double emg_biceps_left=emg_biceps_left_in.read(); //read the emg value from the elektrodes
daniQQue 44:c79e5944ac91 91 double emg_filtered_high_biceps_left= filterhigh_b2.step(emg_biceps_left);
daniQQue 44:c79e5944ac91 92 double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left);
daniQQue 44:c79e5944ac91 93 double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //fabs because float
daniQQue 44:c79e5944ac91 94 double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left);
daniQQue 40:187ef29de53d 95
daniQQue 40:187ef29de53d 96 //signal substraction of filter biceps and triceps. Biceps +,triceps -
daniQQue 44:c79e5944ac91 97 double signal_right_arm=emg_filtered_biceps_right-emg_filtered_triceps_right;
daniQQue 40:187ef29de53d 98
daniQQue 40:187ef29de53d 99 //creating of on/off signal with the created on/off signals, with if statement for right arm!
daniQQue 44:c79e5944ac91 100 //signal substraction of filter biceps and triceps. right Biceps + left biceps -
daniQQue 44:c79e5944ac91 101 double signal_biceps_sum=emg_filtered_biceps_right-emg_filtered_biceps_left;
daniQQue 44:c79e5944ac91 102 double bicepstriceps_rightarm=emg_filtered_biceps_right-emg_filtered_triceps_right;
daniQQue 44:c79e5944ac91 103 //creating of on/off signal with the created on/off signals, with if statement for right arm!
daniQQue 44:c79e5944ac91 104 if (signal_biceps_sum>cut_off_value_biceps_right)
daniQQue 44:c79e5944ac91 105 {onoffsignal_biceps=1;}
daniQQue 7:42d0e38196f1 106
daniQQue 44:c79e5944ac91 107 else if (signal_biceps_sum<cut_off_value_biceps_left)
daniQQue 40:187ef29de53d 108 {
daniQQue 44:c79e5944ac91 109 onoffsignal_biceps=-1;
daniQQue 40:187ef29de53d 110 }
daniQQue 40:187ef29de53d 111
daniQQue 40:187ef29de53d 112 else
daniQQue 44:c79e5944ac91 113 {onoffsignal_biceps=0;}
daniQQue 7:42d0e38196f1 114
daniQQue 40:187ef29de53d 115 //creating on/off signal for switch (left arm)
daniQQue 40:187ef29de53d 116
daniQQue 44:c79e5944ac91 117 if (bicepstriceps_rightarm<cut_off_value_triceps)
daniQQue 40:187ef29de53d 118 {
daniQQue 44:c79e5944ac91 119 switch_signal_triceps=1;
daniQQue 40:187ef29de53d 120 }
daniQQue 40:187ef29de53d 121
daniQQue 40:187ef29de53d 122 else
daniQQue 40:187ef29de53d 123 {
daniQQue 44:c79e5944ac91 124 switch_signal_triceps=0;
daniQQue 40:187ef29de53d 125 }
daniQQue 0:34c739fcc3e0 126 //send signals to scope
daniQQue 40:187ef29de53d 127 scope.set(0, emg_filtered_biceps_right); //set emg signal to scope in channel 0
daniQQue 40:187ef29de53d 128 scope.set(1, emg_filtered_triceps_right); // set emg signal to scope in channel 1
daniQQue 40:187ef29de53d 129 scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2
daniQQue 40:187ef29de53d 130 scope.set(3, onoffsignal_rightarm); // set emg signal to scope in channel 3
daniQQue 40:187ef29de53d 131 scope.set(4, switch_signal_leftarm);
daniQQue 40:187ef29de53d 132
daniQQue 40:187ef29de53d 133 scope.send(); //send all the signals to the scope
daniQQue 0:34c739fcc3e0 134 }
daniQQue 0:34c739fcc3e0 135
daniQQue 0:34c739fcc3e0 136 //program
daniQQue 0:34c739fcc3e0 137
daniQQue 0:34c739fcc3e0 138 int main()
daniQQue 0:34c739fcc3e0 139 {
daniQQue 40:187ef29de53d 140 pc.baud(115200);
daniQQue 40:187ef29de53d 141 green=0;
daniQQue 40:187ef29de53d 142 red=1;
daniQQue 40:187ef29de53d 143
daniQQue 0:34c739fcc3e0 144 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 40:187ef29de53d 145 switch_function.attach(&SwitchN,1.0);
daniQQue 44:c79e5944ac91 146
daniQQue 44:c79e5944ac91 147 //==============================================================================================
daniQQue 0:34c739fcc3e0 148 //endless loop
daniQQue 0:34c739fcc3e0 149
daniQQue 40:187ef29de53d 150
daniQQue 40:187ef29de53d 151 while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt
daniQQue 40:187ef29de53d 152
daniQQue 8:cd0cb71b69f2 153
daniQQue 40:187ef29de53d 154 if (onoffsignal_rightarm==-1) // als s ingedrukt wordt gebeurd het volgende
daniQQue 40:187ef29de53d 155 {
daniQQue 40:187ef29de53d 156 if (n%2==0) // als s ingedrukt wordt en het getal is even gebeurd het onderstaande
daniQQue 40:187ef29de53d 157 {
daniQQue 40:187ef29de53d 158 richting_motor1 = 1;
daniQQue 40:187ef29de53d 159 pwm_motor1 = 1;
daniQQue 40:187ef29de53d 160
daniQQue 40:187ef29de53d 161 }
daniQQue 40:187ef29de53d 162
daniQQue 40:187ef29de53d 163 else // als s is ingedrukt maar het getal is niet even (dus oneven) gebeurdt het onderstaande
daniQQue 40:187ef29de53d 164 {
daniQQue 40:187ef29de53d 165 richting_motor2 = 1;
daniQQue 40:187ef29de53d 166 pwm_motor2 = 1;
daniQQue 40:187ef29de53d 167
daniQQue 40:187ef29de53d 168 }
daniQQue 40:187ef29de53d 169
daniQQue 8:cd0cb71b69f2 170 }
daniQQue 40:187ef29de53d 171 else if (onoffsignal_rightarm==1) // als d ingedrukt wordt gebeurd het volgende
daniQQue 40:187ef29de53d 172 {
daniQQue 40:187ef29de53d 173 if (n%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende
daniQQue 40:187ef29de53d 174 {
daniQQue 40:187ef29de53d 175 richting_motor1 = 0;
daniQQue 40:187ef29de53d 176 pwm_motor1 = 1;
daniQQue 40:187ef29de53d 177
daniQQue 40:187ef29de53d 178 }
daniQQue 40:187ef29de53d 179 else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande
daniQQue 40:187ef29de53d 180 {
daniQQue 40:187ef29de53d 181 richting_motor2 = 0;
daniQQue 40:187ef29de53d 182 pwm_motor2 = 1;
daniQQue 40:187ef29de53d 183
daniQQue 40:187ef29de53d 184 }
daniQQue 40:187ef29de53d 185 }
daniQQue 40:187ef29de53d 186 else{
daniQQue 40:187ef29de53d 187
daniQQue 40:187ef29de53d 188 pwm_motor2=0;
daniQQue 40:187ef29de53d 189 pwm_motor1=0;
daniQQue 40:187ef29de53d 190 }
daniQQue 40:187ef29de53d 191
daniQQue 40:187ef29de53d 192 }
daniQQue 0:34c739fcc3e0 193
daniQQue 0:34c739fcc3e0 194 }