Revision 3:096e6a7bd90b, committed 2016-11-02

Comitter:

fabian101

Date:

Wed Nov 02 15:39:01 2016 +0000

Parent:

2:ad96602f71c0

Commit message:

biorobotics group 19 , 2 november

Changed in this revision

diff -r ad96602f71c0 -r 096e6a7bd90b SigInterpreter.cpp
--- a/SigInterpreter.cpp	Fri Oct 28 12:48:27 2016 +0000
+++ b/SigInterpreter.cpp	Wed Nov 02 15:39:01 2016 +0000
@@ -1,11 +1,44 @@
 #include "SigInterpreter.h"
 
-BiQuadChain bqc;
-BiQuad bq1(a1_1,a2_1,b0_1,b1_1,b2_1);
-BiQuad bq2(a1_2,a2_2,b0_2,b1_2,b2_2);
-BiQuad bq3(a1_3,a2_3,b0_3,b1_3,b2_3);
-BiQuad bq4(a1_4,a2_4,b0_4,b1_4,b2_4);
-BiQuad bq5(a1_5,a2_5,b0_5,b1_5,b2_5);
+/*
+const double b0_1 = 0.86746769957;
+const double b1_1 = -1.73493539914;
+const double b2_1 = 0.86746769957;
+const double a1_1 = -1.72399696946;
+const double a2_1 = 0.74581276783;
+
+const double b0_2 = 0.93721236427;
+const double b1_2 = -1.87442472855;
+const double b2_2 = 0.93721236427;
+const double a1_2 = -1.82350353127;
+const double a2_2 = 0.8862430266;
+
+*/
+BiQuad bq1_1(-1.72399696946,0.74581276783,0.86746769957,-1.73493539914,0.86746769957);
+BiQuad bq1_2(-1.82350353127,0.8862430266,0.93721236427,-1.87442472855,0.93721236427);
+BiQuad bq1_3( 3.00955e-10, 3.00615e-10, 0.00000e+00, -9.75178e-01, 0.00000e+00 );
+BiQuad bq1_4( 1.00000e+00, 2.00183e+00, 1.00183e+00, -1.95953e+00, 9.60149e-01 );
+BiQuad bq1_5( 1.00000e+00, 1.99930e+00, 9.99302e-01, -1.98396e+00, 9.84588e-01 );
+
+BiQuad bq2_1(-1.72399696946,0.74581276783,0.86746769957,-1.73493539914,0.86746769957);
+BiQuad bq2_2(-1.82350353127,0.8862430266,0.93721236427,-1.87442472855,0.93721236427);
+BiQuad bq2_3( 3.00955e-10, 3.00615e-10, 0.00000e+00, -9.75178e-01, 0.00000e+00 );
+BiQuad bq2_4( 1.00000e+00, 2.00183e+00, 1.00183e+00, -1.95953e+00, 9.60149e-01 );
+BiQuad bq2_5( 1.00000e+00, 1.99930e+00, 9.99302e-01, -1.98396e+00, 9.84588e-01 );
+
+BiQuad bq3_1(-1.72399696946,0.74581276783,0.86746769957,-1.73493539914,0.86746769957);
+BiQuad bq3_2(-1.82350353127,0.8862430266,0.93721236427,-1.87442472855,0.93721236427);
+BiQuad bq3_3( 3.00955e-10, 3.00615e-10, 0.00000e+00, -9.75178e-01, 0.00000e+00 );
+BiQuad bq3_4( 1.00000e+00, 2.00183e+00, 1.00183e+00, -1.95953e+00, 9.60149e-01 );
+BiQuad bq3_5( 1.00000e+00, 1.99930e+00, 9.99302e-01, -1.98396e+00, 9.84588e-01 );
+
+BiQuad bq4_1(-1.72399696946,0.74581276783,0.86746769957,-1.73493539914,0.86746769957);
+BiQuad bq4_2(-1.82350353127,0.8862430266,0.93721236427,-1.87442472855,0.93721236427);
+BiQuad bq4_3( 3.00955e-10, 3.00615e-10, 0.00000e+00, -9.75178e-01, 0.00000e+00 );
+BiQuad bq4_4( 1.00000e+00, 2.00183e+00, 1.00183e+00, -1.95953e+00, 9.60149e-01 );
+BiQuad bq4_5( 1.00000e+00, 1.99930e+00, 9.99302e-01, -1.98396e+00, 9.84588e-01 );
+
+
 
 AnalogIn emg1(A0);
 AnalogIn emg2(A1);
@@ -17,32 +50,28 @@
 
 }
 
-double SigInterpreter::readValue(int sig) {
+float SigInterpreter::readValue(int sig) {
     // returns the amplitude of EMG signal
     if(sig > 4 || sig < 1) 
     { 
         // nope
-        return 0.0;     // check later of dit idd goeie shit is
+        return 0.0;
     } 
     if (sig == 1) 
     {
-        float input = emg1.read();
-        return (filter(input));
+        return (filter1(emg1.read()));
     }
     if (sig == 2) 
     {
-        float input = emg2.read();
-        return (filter(input));
+        return (filter2(emg2.read()));
     } 
     if (sig == 3) 
     {
-        float input = emg3.read();
-        return (filter(input));
+        return (filter3(emg3.read()));
     }
     if (sig == 4) 
     {
-        float input = emg4.read();
-        return (filter(input));
+        return (filter4(emg4.read()));
     }
     else 
     {     
@@ -50,19 +79,52 @@
     }
 }
 
-double SigInterpreter::filter(float input){
+float SigInterpreter::filter1(float input){ 
   
-    float highpass1 = bq1.step(input);
+    highpass1 = bq1_1.step(input);
+    highpass2  = bq1_2.step(highpass1);
+    rect = fabs(highpass2);
+    lowpass1 = bq1_3.step(rect);
+    lowpass2 = bq1_4.step(lowpass1);
+    lowpass3 = bq1_5.step(lowpass2);
+    
+    return lowpass3;
+}
 
-    float highpass2 = bq2.step(highpass1);
-    /*
-    float lowpass1 = bq3.step(highpass2);
-   
-    float lowpass2 = bq4.step(lowpass1);
+float SigInterpreter::filter2(float input){ 
+  
+    highpass1 = bq2_1.step(input);
+    highpass2  = bq2_2.step(highpass1);
+    rect = fabs(highpass2);
+    lowpass1 = bq2_3.step(rect);
+    lowpass2 = bq2_4.step(lowpass1);
+    lowpass3 = bq2_5.step(lowpass2);
     
-    float lowpass3 = bq5.step(lowpass2);
-    */
-    
-    return fabs(input);
+    return lowpass3;
 }
 
+float SigInterpreter::filter3(float input){ 
+  
+    highpass1 = bq3_1.step(input);
+    highpass2  = bq3_2.step(highpass1);
+    rect = fabs(highpass2);
+    lowpass1 = bq3_3.step(rect);
+    lowpass2 = bq3_4.step(lowpass1);
+    lowpass3 = bq3_5.step(lowpass2);
+    
+    return lowpass3;
+}
+
+float SigInterpreter::filter4(float input){ 
+  
+    highpass1 = bq4_1.step(input);
+    highpass2  = bq4_2.step(highpass1);
+    rect = fabs(highpass2);
+    lowpass1 = bq4_3.step(rect);
+    lowpass2 = bq4_4.step(lowpass1);
+    lowpass3 = bq4_5.step(lowpass2);
+    
+    return lowpass3;
+}
+
+

diff -r ad96602f71c0 -r 096e6a7bd90b SigInterpreter.h
--- a/SigInterpreter.h	Fri Oct 28 12:48:27 2016 +0000
+++ b/SigInterpreter.h	Wed Nov 02 15:39:01 2016 +0000
@@ -3,17 +3,23 @@
 
 #include "initialize.h"
 
-
-
 class SigInterpreter {
 
 public:
 
     SigInterpreter();
-    double readValue(int);
-    double filter(float);
+    float readValue(int);
+    float filter1(float);
+    float filter2(float);
+    float filter3(float);
+    float filter4(float);
 
 private:
-    
+    float highpass1;
+    float highpass2;
+    float rect;
+    float lowpass1;
+    float lowpass2;
+    float lowpass3;
 };
 #endif /* SIGINTERPRETER_H */