Daniqe Kottelenberg
emg with text
Dependencies: HIDScope MODSERIAL biquadFilter mbed
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emg_import
by 
Daniqe Kottelenberg
Revision 49:818a0e90ed9c, committed 2016-11-03
- Comitter:
- daniQQue
- Date:
- Thu Nov 03 09:23:48 2016 +0000
- Parent:
- 47:ddaa59d48aca
- Commit message:
- met tekst erbij, niks veranderd aan werkende versie;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r ddaa59d48aca -r 818a0e90ed9c main.cpp
--- a/main.cpp Thu Nov 03 08:43:08 2016 +0000
+++ b/main.cpp Thu Nov 03 09:23:48 2016 +0000
@@ -1,82 +1,92 @@
-
//=====================================================================================
//libraries
-#include "mbed.h"
-#include "HIDScope.h"
-#include "BiQuad.h"
-#include "MODSERIAL.h"
+#include "mbed.h" //mbed revision 113
+#include "HIDScope.h" //Hidscope by Tom Lankhorst
+#include "BiQuad.h" //BiQuad by Tom Lankhorst
+#include "MODSERIAL.h" //Modserial
//=====================================================================================
//Define objects
+
+//EMG
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
-Ticker ticker_switch; //ticker
+
+//Tickers
+Ticker sample_timer; //ticker for EMG signal sampling, analog becomes digital
+Ticker ticker_switch; //ticker for switch, every second it is possible to switch
+
+//Monitoring
HIDScope scope(5); //open 5 channels in hidscope
MODSERIAL pc(USBTX, USBRX); //pc connection
-DigitalOut red(LED_RED);
-DigitalOut green(LED_GREEN);
+DigitalOut red(LED_RED); //LED on K64F board, 1 is out; 0 is on
+DigitalOut green(LED_GREEN); //LED on K64f board, 1 is out; o is on
//motors
-DigitalOut richting_motor1(D7); ///motor 1 aansluiting op motor 1
+DigitalOut richting_motor1(D7); //motor 1 connected to motor 1 at k64f board; for turningtable
PwmOut pwm_motor1(D6);
-DigitalOut richting_motor2(D4);
+DigitalOut richting_motor2(D4); ///motor 2 connected to motor 2 at k64f board; for linear actuator
PwmOut pwm_motor2(D5);
//=====================================================================================
//define variables
-//other
-double cut_off_value_biceps_right =0.04; //gespecificeerd door floortje
-double cut_off_value_biceps_left=-0.04;
-double cut_off_value_triceps=-0.04;
-int switch_signal = 0; //start van de teller wordt op nul gesteld
-
-int onoffsignal_biceps;
+//tresholds
+double treshold_biceps_right =0.04; //common values that work.
+double treshold_biceps_left=-0.04; // tested on multiple persons
+double treshold_triceps=-0.04; //triceps and left biceps is specified negative, thus negative treshold
+
+//on/off and switch signals
+int switch_signal = 0; //start of counter, switch made by even and odd numbers
+int onoffsignal_biceps;
int switch_signal_triceps;
-float speedmotor1=0.18;
-float speedmotor2=1.0;
+//motorvariables
+float speedmotor1=0.18; //speed of motor 1 is 0.18pwm at start
+float speedmotor2=1.0; //speed of motor 2 is 1.0 pwm at start
-int cw=0;
-int ccw=1;
+int cw=0; //clockwise direction
+int ccw=1; //counterclockwise direction
//=======================================
//filter coefficients
//b1 = biceps right arm
-BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
-BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
+BiQuad filterhigh_b1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of?
+BiQuad filternotch1_b1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of?
//t1= triceps right arm
-BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
-BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
+BiQuad filterhigh_t1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of?
+BiQuad filternotch1_t1 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of?
//b2= biceps left arm
-BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
-BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01);
+BiQuad filterhigh_b2(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); // second order highpass filter, with frequency of?
+BiQuad filternotch1_b2 (9.9376e-01 , -1.8902e-00, 9.9376e-01 , -1.8902e-00 , 9.875e-01); // second order notch filter, with frequency of?
//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);
-BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
+BiQuad filterlow_b1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of?
+BiQuad filterlow_t1 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of?
+BiQuad filterlow_b2 (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); // second order lowpass filter, with frequency of?
//======================================================================
//voids
//======================================================================
//function teller
-void switch_function() { // maakt simpele functie die 1 bij n optelt
+void switch_function() { // The switch function. Makes it possible to switch between the motors. It simply adds one at switch_signal.
if(switch_signal_triceps==1)
{
switch_signal++;
+
+ // To monitor what is happening: we will show the text in putty and change led color from red to green or vice versa.
+
green=!green;
red=!red;
if (switch_signal%2==0)
- {pc.printf("If you contract the biceps, the robot will go right \r\n");
+ {pc.printf("If you contract the biceps, the robot will go right \r\n");
pc.printf("If you contract the triceps, the robot will go left \r\n");
pc.printf("\r\n");
}
@@ -90,30 +100,31 @@
}
}
-
-//functions which are called in ticker to sample the analog signal
+
+//======================================================================
+//functions which are called in ticker to sample the analog signal and make the on/off and switch signal.
void filter(){
//biceps right arm read+filtering
- 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);
+ 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); //high pass filter, to remove offset
+ double emg_filtered_high_notch_1_biceps_right=filternotch1_b1.step(emg_filtered_high_biceps_right); //notch filter, to remove noise
+ double emg_abs_biceps_right=fabs(emg_filtered_high_notch_1_biceps_right); //rectify the signal, fabs because float
+ double emg_filtered_biceps_right=filterlow_b1.step(emg_abs_biceps_right); //low pass filter to envelope the signal
//triceps right arm read+filtering
- 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);
+ 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); //high pass filter, to remove offset
+ double emg_filtered_high_notch_1_triceps_right=filternotch1_t1.step(emg_filtered_high_triceps_right); //notch filter, to remove noise
+ double emg_abs_triceps_right=fabs(emg_filtered_high_notch_1_triceps_right); //rectify the signal, fabs because float
+ double emg_filtered_triceps_right=filterlow_t1.step(emg_abs_triceps_right); //low pass filter to envelope the signal
//biceps left arm read+filtering
- 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);
+ 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); //high pass filter, to remove offset
+ double emg_filtered_high_notch_1_biceps_left=filternotch1_b2.step(emg_filtered_high_biceps_left); //notch filter, to remove noise
+ double emg_abs_biceps_left=fabs(emg_filtered_high_notch_1_biceps_left); //rectify the signal, fabs because float
+ double emg_filtered_biceps_left=filterlow_b2.step(emg_abs_biceps_left); //low pass filter to envelope the signal
//creating of on/off signal with the created on/off signals, with if statement for right arm!
//signal substraction of filter biceps and triceps. right Biceps + left biceps -
@@ -121,50 +132,50 @@
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;}
+ if (signal_biceps_sum>treshold_biceps_right)
+ {onoffsignal_biceps=1;}
- else if (signal_biceps_sum<cut_off_value_biceps_left)
- {
- onoffsignal_biceps=-1;
- }
+ else if (signal_biceps_sum<treshold_biceps_left)
+ { onoffsignal_biceps=-1; }
- else
- {onoffsignal_biceps=0;}
+ else
+ {onoffsignal_biceps=0;}
//creating on/off signal for switch (left arm)
- if (bicepstriceps_rightarm<cut_off_value_triceps)
- {
- switch_signal_triceps=1;
- }
+ if (bicepstriceps_rightarm<treshold_triceps)
+ { switch_signal_triceps=1; }
else
- {
- 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
- scope.set(2, emg_filtered_biceps_left); // set emg signal to scope in channel 2
- scope.set(3, onoffsignal_biceps); // set emg signal to scope in channel 3
- scope.set(4, switch_signal_triceps);
+ { switch_signal_triceps=0; }
+
+ //send signals to scope to monitor the EMG signals
+ scope.set(0, emg_filtered_biceps_right); //set emg signal of right biceps to scope in channel 0
+ scope.set(1, emg_filtered_triceps_right); // set emg signal of right triceps to scope in channel 1
+ scope.set(2, emg_filtered_biceps_left); // set emg signal of left biceps to scope in channel 2
+ scope.set(3, onoffsignal_biceps); // set on/off signal for the motors to scope in channel 3
+ scope.set(4, switch_signal_triceps); // set the switch signal to scope in channel 4
scope.send(); //send all the signals to the scope
}
-
+//======================================================================
//program
-
+//======================================================================
int main()
{
-pc.baud(115200);
-green=1;
-red=0;
+pc.baud(115200); //connect with pc with baudrate 115200
+green=1; //led is off (1), at beginning
+red=0; //led is on (0), at beginning
+
+//attach tickers to functions
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
ticker_switch.attach(&switch_function,1.0);
+//Show the user what the starting motor will be and what will happen
pc.printf("We will start the demonstration\r\n");
+pc.printf("\r\n\r\n\r\n");
+
if (switch_signal%2==0)
{pc.printf("If you contract the biceps, the robot will go right \r\n");
@@ -183,47 +194,48 @@
//endless loop
- while (true) { // zorgt er voor dat de code oneindig doorgelopen wordt
-
+ while (true) { // neverending loop
if (onoffsignal_biceps==-1) //left biceps contracted
{
- if (switch_signal%2==0)
+ if (switch_signal%2==0) //switch even
{
- richting_motor1 = ccw; //motor 1, left
- pwm_motor1 = speedmotor1;
+ richting_motor1 = ccw; //motor 1, left
+ pwm_motor1 = speedmotor1; //speed of motor 1
}
- else
+ else //switch odd
{
- richting_motor2 = ccw; //motor 2, up
- pwm_motor2 = speedmotor2;
+ richting_motor2 = ccw; //motor 2, up
+ pwm_motor2 = speedmotor2;//speed of motor 2
}
}
- else if (onoffsignal_biceps==1) // als d ingedrukt wordt gebeurd het volgende
+ else if (onoffsignal_biceps==1) //right biceps contracted
{
- if (switch_signal%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende
+ if (switch_signal%2==0) //switch signal even
{
- richting_motor1 = cw; //motor 1, right
- pwm_motor1 = speedmotor1;
+ richting_motor1 = cw; //motor 1, right
+ pwm_motor1 = speedmotor1; //speed motor 1
}
- else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande
+ else //switch signal odd
{
- richting_motor2 = cw; //motor 2. down
- pwm_motor2 = speedmotor2;
+ richting_motor2 = cw; //motor 2. down
+ pwm_motor2 = speedmotor2; //speed motor 2
}
}
- else{
-
+ else{
+ //no contraction of biceps
pwm_motor2=0;
pwm_motor1=0;
}
-}
+}//while true closed
-}
\ No newline at end of file
+} //int main closed
+
+//=============================================================================================1
\ No newline at end of file