Diff: main.cpp

Revision:

22:207d314523ef

Parent:

20:a0642e983da9

Child:

23:624827baffa6

--- a/main.cpp	Thu Oct 08 16:12:47 2015 +0000
+++ b/main.cpp	Thu Oct 08 17:47:14 2015 +0000
@@ -9,7 +9,7 @@
     Ticker      SampleEMG;
     Ticker      ScopeTimer;
     Ticker      serial;
-    HIDScope    scope(3);
+    HIDScope    scope(5);
     DigitalOut led(LED_RED);
     MODSERIAL pc(USBTX, USBRX);
     
@@ -18,50 +18,57 @@
     double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0;
     double EMG_L_fh=0;
     double EMG_left_value;
-    double EMG_f1;
-    double EMG_f2;
-    double Threshold = 0.08;    
+    double EMG_left_f1;
+    double EMG_left_f2;
+    double EMG_left_abs;
+    double EMG_right_value;
+    double EMG_right_f1;
+    double EMG_right_f2;
+    double EMG_right_abs;
+    double Threshold1 = 0.08;
+    double Threshold2 = 0.06    
 
 // coëfficiënten
-    const double BiGainEMG_Lh = 0.723601, BiGainEMG_Ll=0.983892;
-    const double EMGh_a1 = -1.74355513773*BiGainEMG_Lh, EMGh_a2 = 0.80079826172*BiGainEMG_Lh, EMGh_b0 = 1.0*BiGainEMG_Lh, EMGh_b1 = -1.99697722433*BiGainEMG_Lh, EMGh_b2 = 1.0*BiGainEMG_Lh; //coefficients for high-pass filter
-    const double EMGl_a1 = 1.96775103303*BiGainEMG_Ll, EMGl_a2 = 0.96827054038*BiGainEMG_Ll, EMGl_b0 = 1.0*BiGainEMG_Ll, EMGl_b1 = 1.99999993582*BiGainEMG_Ll, EMGl_b2 = 1.0*BiGainEMG_Ll; // coefficients for low-pass filter
+    const double BiGainEMG_Lh = 0.723601, BiGainEMG_Ll=0.959332;
+    const double EMGh_a1 = -1.74355513773*BiGainEMG_Lh, EMGh_a2 = 0.80079826172*BiGainEMG_Lh, EMGh_b0 = 1.0*BiGainEMG_Lh, EMGh_b1 = 1.99999965990*BiGainEMG_Lh, EMGh_b2 = 1.0*BiGainEMG_Lh; //coefficients for high-pass filter
+    const double EMGl_a1 = 1.91721405106*BiGainEMG_Ll, EMGl_a2 = 0.92055427516*BiGainEMG_Ll, EMGl_b0 = 1.0*BiGainEMG_Ll, EMGl_b1 = 1.99999993582*BiGainEMG_Ll, EMGl_b2 = 1.0*BiGainEMG_Ll; // coefficients for low-pass filter
     
 // Filter creation    
     biquadFilter EMG_highpass (EMGh_a1, EMGh_a2, EMGh_b0, EMGh_b1, EMGh_b2);        // creates the high pass filter
     biquadFilter EMG_lowpass (EMGl_a1, EMGl_a2, EMGl_b0, EMGl_b1, EMGl_b2);         // creates the low pass filter
     
 // EMG filtering function
-void EMGfilter()
+void EMGfilter() // Both EMG signals are filtered in one function and with the same filters
 {
     EMG_left_value = EMG_left.read();
-    EMG_f1 = EMG_highpass.step(EMG_left_value);
-    EMG_f2 = EMG_lowpass.step(EMG_f1);
+    EMG_left_f1 = EMG_highpass.step(EMG_left_value);
+    EMG_left_f2 = EMG_lowpass.step(EMG_left_f1);
+    EMG_left_abs = fabs(EMG_left_f2);
+    
+    EMG_right_value = EMG_right.read();
+    EMG_right_f1 = EMG_highpass.step(EMG_right_value);
+    EMG_right_f1 = EMG_lowpass.step(EMG_right_f1);
+    EMG_right_abs = fabs(EMG_right_f2);
 }
 
 // HIDScope
     void ScopeSend()
     {
         scope.set(0, EMG_left_value);
-        scope.set(1, EMG_f1);
-        scope.set(2, EMG_f2);
+        scope.set(1, EMG_left_f2);
+        scope.set(2, EMG_left_abs);
+        scope.set(3, EMG_right_value);
+        scope.set(4, EMG_right_abs);
         scope.send();
     }
     
-// Serial communication
-    void serial_()
-    {
-        pc.baud(115200);
-        pc.printf("%d\n", EMG_L_fh);
-    }
-    
 int main()
 {
     SampleEMG.attach(&EMGfilter, 0.002);
     ScopeTimer.attach(&ScopeSend, 0.002);
     while(1) 
     {
-        if (fabs(EMG_f2) > Threshold)
+        if (EMG_left_abs > Threshold)
         {
             led.write(0);
         }