Janet Huisman / Mbed 2 deprecated EMG_Original_converter_code

Dependencies:   HIDScope MODSERIAL biquadFilter mbed

Fork of EMG_converter_code by K K

main.cpp@8:87b07f148124, 2016-10-21 (annotated)

Committer:
huismaja
Date:
Fri Oct 21 08:23:08 2016 +0000
Revision:
8:87b07f148124
Parent:
7:87d9904c1c19
Child:
9:07188eb1e8a1
Original version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Technical_Muffin 0:1883d922ada8 1 #include "mbed.h"
huismaja 8:87b07f148124 2 #include "HIDScope.h" //Include the HIDScope library
huismaja 8:87b07f148124 3 #include "biquadFilter.h"
Technical_Muffin 3:a69f041108d4 4 #include "MODSERIAL.h"
huismaja 8:87b07f148124 5
Technical_Muffin 0:1883d922ada8 6 //Define objects
huismaja 8:87b07f148124 7 AnalogIn emg(A0); //Analog of EMG input
Technical_Muffin 0:1883d922ada8 8 Ticker sample_timer;
Technical_Muffin 5:46e201518dd3 9 Ticker motor_timer;
Technical_Muffin 6:ec965bb75d40 10 Ticker cal_timer;
Technical_Muffin 0:1883d922ada8 11 HIDScope scope(2); // Instantize a 2-channel HIDScope object
huismaja 8:87b07f148124 12 DigitalIn button1(PTA4);//test button for starting motor 1
huismaja 8:87b07f148124 13 DigitalOut led1(LED_RED);
huismaja 8:87b07f148124 14 DigitalOut led2(LED_BLUE);
huismaja 8:87b07f148124 15 MODSERIAL pc(USBTX,USBRX);
Technical_Muffin 0:1883d922ada8 16 /*The biquad filters required to transform the EMG signal into an usable signal*/
Technical_Muffin 0:1883d922ada8 17 biquadFilter filterhigh1(-1.1430, 0.4128, 0.6389, -1.2779, 0.6389);
Technical_Muffin 0:1883d922ada8 18 biquadFilter filterlow1(1.9556, 0.9565, 0.9780, 1.9561, 0.9780);
Technical_Muffin 0:1883d922ada8 19 biquadFilter notch(-1.1978e-16, 0.9561, 0.9780, -1.1978e-16, 0.9780);
Technical_Muffin 0:1883d922ada8 20 biquadFilter filterlow2(-1.9645, 0.9651, 1.5515e-4, 3.1030e-4, 1.5515e-4);
Technical_Muffin 1:9913e3886643 21 double emg_value;
Technical_Muffin 1:9913e3886643 22 double signalpart1;
Technical_Muffin 1:9913e3886643 23 double signalpart2;
Technical_Muffin 1:9913e3886643 24 double signalpart3;
Technical_Muffin 1:9913e3886643 25 double signalpart4;
Technical_Muffin 1:9913e3886643 26 double signalfinal;
Technical_Muffin 2:83659da3e5fe 27 double onoffsignal;
Technical_Muffin 4:fd29407c3115 28 double maxcal=0;
Technical_Muffin 6:ec965bb75d40 29 bool calyes=0;
Technical_Muffin 6:ec965bb75d40 30
Technical_Muffin 0:1883d922ada8 31 /*
Technical_Muffin 0:1883d922ada8 32 */
Technical_Muffin 2:83659da3e5fe 33 void filter(){
Technical_Muffin 6:ec965bb75d40 34 if(calyes==1){
Technical_Muffin 1:9913e3886643 35 emg_value = emg.read();//read the emg value from the elektrodes
Technical_Muffin 3:a69f041108d4 36 signalpart1 = notch.step(emg_value);//Highpass filter for removing offset and artifacts
Technical_Muffin 3:a69f041108d4 37 signalpart2 = filterhigh1.step(signalpart1);//rectify the filtered signal
Technical_Muffin 3:a69f041108d4 38 signalpart3 = abs(signalpart2);//low pass filter to envelope the emg
Technical_Muffin 3:a69f041108d4 39 signalpart4 = filterlow1.step(signalpart3);//notch filter to remove 50Hz signal
Technical_Muffin 1:9913e3886643 40 signalfinal = filterlow2.step(signalpart4);//2nd low pass filter to envelope the emg
Technical_Muffin 2:83659da3e5fe 41 onoffsignal=signalfinal/maxcal;//divide the emg signal by the max EMG to calibrate the signal per person
Technical_Muffin 1:9913e3886643 42 scope.set(0,emg_value);//set emg signal to scope in channel 1
Technical_Muffin 2:83659da3e5fe 43 scope.set(1,onoffsignal);//set filtered signal to scope in channel 2
huismaja 8:87b07f148124 44 scope.send();//send the signals to the scope
Technical_Muffin 6:ec965bb75d40 45 //pc.printf("emg signal %f, filtered signal %f \n",emg_value,onoffsignal);
Technical_Muffin 6:ec965bb75d40 46 }
Technical_Muffin 6:ec965bb75d40 47 }
Technical_Muffin 7:87d9904c1c19 48 void checkmotor(){//check the normalized signal and set actions if a threshold is passed
Technical_Muffin 6:ec965bb75d40 49 if(calyes==1){
Technical_Muffin 6:ec965bb75d40 50 if(onoffsignal<=0.25){
Technical_Muffin 6:ec965bb75d40 51 led1.write(1);
Technical_Muffin 6:ec965bb75d40 52 led2.write(0);
Technical_Muffin 6:ec965bb75d40 53 }
Technical_Muffin 6:ec965bb75d40 54 else if(onoffsignal >= 0.5){
Technical_Muffin 6:ec965bb75d40 55 led1.write(0);
Technical_Muffin 6:ec965bb75d40 56 led2.write(1);
Technical_Muffin 6:ec965bb75d40 57 }
Technical_Muffin 6:ec965bb75d40 58 }
Technical_Muffin 0:1883d922ada8 59 }
Technical_Muffin 5:46e201518dd3 60
Technical_Muffin 7:87d9904c1c19 61 void calibri(){//calibration function
Technical_Muffin 6:ec965bb75d40 62 if(button1.read()==false){
Technical_Muffin 7:87d9904c1c19 63 for(int n =0; n<5000;n++){//read for 5000 samples as calibration
Technical_Muffin 6:ec965bb75d40 64 emg_value = emg.read();//read the emg value from the elektrodes
Technical_Muffin 6:ec965bb75d40 65 signalpart1 = notch.step(emg_value);//Highpass filter for removing offset and artifacts
Technical_Muffin 6:ec965bb75d40 66 signalpart2 = filterhigh1.step(signalpart1);//rectify the filtered signal
Technical_Muffin 6:ec965bb75d40 67 signalpart3 = abs(signalpart2);//low pass filter to envelope the emg
Technical_Muffin 6:ec965bb75d40 68 signalpart4 = filterlow1.step(signalpart3);//notch filter to remove 50Hz signal
Technical_Muffin 6:ec965bb75d40 69 signalfinal = filterlow2.step(signalpart4);//2nd low pass filter to envelope the emg
Technical_Muffin 6:ec965bb75d40 70 double signalmeasure = signalfinal;
Technical_Muffin 7:87d9904c1c19 71 if (signalmeasure > maxcal){//determine what the highest reachable emg signal is
Technical_Muffin 6:ec965bb75d40 72 maxcal = signalmeasure;
Technical_Muffin 6:ec965bb75d40 73 }
Technical_Muffin 6:ec965bb75d40 74 }
Technical_Muffin 6:ec965bb75d40 75 calyes=1;
Technical_Muffin 6:ec965bb75d40 76 }
Technical_Muffin 6:ec965bb75d40 77 }
Technical_Muffin 0:1883d922ada8 78 int main()
Technical_Muffin 0:1883d922ada8 79 {
Technical_Muffin 4:fd29407c3115 80 pc.baud(115200);
Technical_Muffin 3:a69f041108d4 81 led1.write(1);
Technical_Muffin 3:a69f041108d4 82 led2.write(1);
Technical_Muffin 6:ec965bb75d40 83
Technical_Muffin 4:fd29407c3115 84 sample_timer.attach(&filter, 0.002);//continously execute the EMG reader and filter
Technical_Muffin 6:ec965bb75d40 85 motor_timer.attach(&checkmotor, 0.002);//continously execute the motor controller
Technical_Muffin 6:ec965bb75d40 86 cal_timer.attach(&calibri, 0.002);//ticker to check if motor is being calibrated
Technical_Muffin 6:ec965bb75d40 87
Technical_Muffin 5:46e201518dd3 88
Technical_Muffin 6:ec965bb75d40 89 while(1){
Technical_Muffin 7:87d9904c1c19 90 //random while loop to keep system going
Technical_Muffin 5:46e201518dd3 91 }
Technical_Muffin 0:1883d922ada8 92 }