Jelle Bakker / Mbed 2 deprecated EMG

EMG filtered

Dependencies:   HIDScope mbed

Fork of EMG by Tom Tom

main.cpp@23:5c304175d791, 2017-10-09 (annotated)

Committer:
poephoofd
Date:
Mon Oct 09 10:32:30 2017 +0000
Revision:
23:5c304175d791
Parent:
22:c7ccfe13d168 
Added abs and Low Pass Filter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
vsluiter 0:32bb76391d89 3
vsluiter 4:8b298dfada81 4 //Define objects
poephoofd 23:5c304175d791 5 AnalogIn EMGData_1( A0 );
tomlankhorst 19:2bf824669684 6 AnalogIn emg1( A1 );
tomlankhorst 19:2bf824669684 7
tomlankhorst 14:f83354387756 8 Ticker sample_timer;
tomlankhorst 19:2bf824669684 9 HIDScope scope( 2 );
tomlankhorst 18:21d8e7a81cf5 10 DigitalOut led(LED1);
poephoofd 23:5c304175d791 11
poephoofd 23:5c304175d791 12 volatile float EMGData_1_HiFil=0; //EMG Hi Filtered
poephoofd 23:5c304175d791 13 volatile float EMGData_1_HiFilAbs=0; //EMG Hi Filtered abs
poephoofd 23:5c304175d791 14 volatile float EMGData_1_HiLoFil=0; //EMG HiLo Filtered
poephoofd 23:5c304175d791 15
poephoofd 23:5c304175d791 16 double f_v1_EMG_1_Hi=0, f_v2_EMG_1_Hi=0; // set Hi filter variables EMG 1
poephoofd 23:5c304175d791 17 const double M1_F_A1_EMG_Hi=-1.561018075800718, M1_F_A2_EMG_Hi=0.641351538057563, M1_F_B0_EMG_Hi=0.800592403464570,
poephoofd 23:5c304175d791 18 M1_F_B1_EMG_Hi=-1.601184806929141, M1_F_B2_EMG_Hi=0.800592403464570;// set EMG filter coefficients
poephoofd 23:5c304175d791 19
poephoofd 23:5c304175d791 20 double f_v1_EMG_1_Lo=0, f_v2_EMG_1_Lo=0; // set Lo filter variables EMG 1
poephoofd 23:5c304175d791 21 const double M1_F_A1_EMG_Lo=-1.561018075800718, M1_F_A2_EMG_Lo=0.641351538057563, M1_F_B0_EMG_Lo=0.800592403464570,
poephoofd 23:5c304175d791 22 M1_F_B1_EMG_Lo=-1.601184806929141, M1_F_B2_EMG_Lo=0.800592403464570; // set EMG filter coefficients
vsluiter 2:e314bb3b2d99 23
tomlankhorst 14:f83354387756 24 /** Sample function
tomlankhorst 14:f83354387756 25 * this function samples the emg and sends it to HIDScope
tomlankhorst 14:f83354387756 26 **/
john111222333 21:173af3b4367d 27
john111222333 21:173af3b4367d 28 //IIRFilter
john111222333 21:173af3b4367d 29 double IIRFilter(double u, double &v1, double &v2, const double a1,
john111222333 21:173af3b4367d 30 const double a2, const double b0, const double b1, const double b2){
john111222333 21:173af3b4367d 31 double v = u-a1*v1-a2*v2;
john111222333 21:173af3b4367d 32 double y = b0*v + b1*v1 + b2*v2;
john111222333 21:173af3b4367d 33 v2=v1; v1=v;
john111222333 21:173af3b4367d 34 return y;
john111222333 21:173af3b4367d 35 }
john111222333 21:173af3b4367d 36
john111222333 21:173af3b4367d 37
tomlankhorst 14:f83354387756 38 void sample()
vsluiter 2:e314bb3b2d99 39 {
poephoofd 23:5c304175d791 40 EMGData_1_HiFil = IIRFilter(EMGData_1, f_v1_EMG_1_Hi, f_v2_EMG_1_Hi, M1_F_A1_EMG_Hi, M1_F_A2_EMG_Hi, M1_F_B0_EMG_Hi, M1_F_B1_EMG_Hi, M1_F_B2_EMG_Hi);
poephoofd 23:5c304175d791 41 EMGData_1_HiFilAbs = abs(EMGData_1_HiFil);
poephoofd 23:5c304175d791 42 EMGData_1_HiLoFil = IIRFilter(EMGData_1_HiFilAbs, f_v1_EMG_1_Lo, f_v2_EMG_1_Lo, M1_F_A1_EMG_Lo, M1_F_A2_EMG_Lo, M1_F_B0_EMG_Lo, M1_F_B1_EMG_Lo, M1_F_B2_EMG_Lo);
tomlankhorst 19:2bf824669684 43 /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
poephoofd 23:5c304175d791 44 scope.set(0, EMGData_1); // set scope channel 0 EMG
poephoofd 23:5c304175d791 45 scope.set(1, EMGData_1_HiLoFil); // set scope channel 1 EMG filtered
tomlankhorst 19:2bf824669684 46 /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels)
tomlankhorst 19:2bf824669684 47 * Ensure that enough channels are available (HIDScope scope( 2 ))
tomlankhorst 20:97059009a491 48 * Finally, send all channels to the PC at once */
vsluiter 11:ce72ec658a95 49 scope.send();
tomlankhorst 18:21d8e7a81cf5 50 /* To indicate that the function is working, the LED is toggled */
tomlankhorst 18:21d8e7a81cf5 51 led = !led;
vsluiter 2:e314bb3b2d99 52 }
vsluiter 0:32bb76391d89 53
vsluiter 0:32bb76391d89 54 int main()
tomlankhorst 19:2bf824669684 55 {
tomlankhorst 14:f83354387756 56 /**Attach the 'sample' function to the timer 'sample_timer'.
tomlankhorst 19:2bf824669684 57 * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
vsluiter 4:8b298dfada81 58 */
john111222333 21:173af3b4367d 59 sample_timer.attach(&sample, 0.005);
tomlankhorst 15:0da764eea774 60
tomlankhorst 14:f83354387756 61 /*empty loop, sample() is executed periodically*/
tomlankhorst 15:0da764eea774 62 while(1) {}
vsluiter 0:32bb76391d89 63 }