File content as of revision 0:9c203fdb48e0:

#include "mbed.h"
#include "encoder.h"
#include "BiQuad.h"
#include "HIDScope.h"
#include <complex>
#include <iostream>


AnalogIn potmeter1(A3);
AnalogIn    emg0( A0 );
AnalogIn    emg1( A1 );

HIDScope    scope( 3 );
DigitalOut  led(LED1);

Ticker sample_timer;
Ticker MyTickerMean;

//Constants------------------------------------
const int n = 10;
//const int n2 = 10;
float emg0_filtered[n] = {}; 
//float mean_filtered[n2] = {};
int count = 0;
int count2 = 0;
const float controller_TS = 0.1;
float mean = 0.0;
float sum = 0.0;


//Constants EMG switch
const float LeftFastmin=0.075;
const float LeftFastmax=0.15;
const float LeftSlowmin=0.2;
const float LeftSlowmax=0.35;
const float RightSlowmin=0.4;
const float RightSlowmax=0.65;
const float RightFastmin=0.7;
const float RightFastmax=1.5;
int SignalNumber = 0;
int numberOfSet = 0;
const int action =50;


//Functions---------------------------------------
float read_pot(double potmeter){
    float pot_value = potmeter;
    return pot_value;
}
/*
float get_sum(float array[], const int n){
    float sum_math = 0.0;
    for (int m=0 ; m<n ; m++ ){
        sum_math = sum_math + array[m];
    }
    return sum_math;   
}*/

float get_sum(float array[], const int n){
    float sum_math = 0.0;
    for (int m=0 ; m<n ; m++ ){
        sum_math = sum_math + array[m];
    }
    return sum_math;   
}
 


float get_mean_value(){
    emg0_filtered[count] = read_pot(potmeter1);
    count++;
    if (count == n){
        count = 0;
    }
    float mean_math = get_sum(emg0_filtered,n)/n;
    return mean_math;
}

//----------------------------------------------------


void get_Signal_number(){
    mean = get_mean_value();
    //Check first case
    if( mean < LeftFastmin ) {
        if (count2 <action){
            mean = get_mean_value();
            if(mean < LeftFastmin){
                count2++;
            }
            else{
                count2=0;
                SignalNumber=0;
            } 
        }
        else{
            SignalNumber = 0;
            count2=0;
        }
    }
     //Check second case  
     else if(mean <= LeftFastmax and mean > LeftFastmin){
        if (count2 <action){
            mean = get_mean_value();
            if(mean <=LeftFastmax and mean>LeftFastmin){
                count2++;
            }
            else{
                count2=0;
                SignalNumber=0;
            } 
        }
        else{
            SignalNumber = 1;
            count2=0;
        }
    }
     else if( mean <=LeftSlowmax and mean>LeftSlowmin) {
        if (count2 <action){
            mean = get_mean_value();
            if(mean <=LeftSlowmax and mean>LeftSlowmin){
                count2++;
            }
            else{
                count2=0;
                SignalNumber=0;
            } 
        }
        else{
            SignalNumber = 2;
            count2=0;
        }
     }
     else if( mean <=RightSlowmax and mean>RightSlowmin) {
        if (count2 <action){
            mean = get_mean_value();
            if(mean <=RightSlowmax and mean>RightSlowmin){
                count2++;
            }
            else{
                count2=0;
                SignalNumber=0;
            } 
        }
        else{
            SignalNumber = 3;
            count2=0;
        }
     }
     else if( mean <=RightFastmax and mean>RightFastmin ) {
        if (count2 <action){
            mean = get_mean_value();
            if(mean <=RightFastmax and mean>RightFastmin){
                count2++;
            }
            else{
                count2=0;
                SignalNumber=0;
            } 
        }
        else{
            SignalNumber = 4;
            count2=0;
        }
    }
    else{
        count2=0;
        SignalNumber =0;
    }
}       
        
/*switch(SignalNumber)
    {   
        case 0: //Standstill
         motor1Direction=1;
         motor1Speed=0;
         printf("Motor 1 is standing still\n");
         break;
        case 1: //Move Left fast
         motor1Direction=1;
         motor1Speed=1;
         printf("Motor 1 is moving left fast\n");
         break;
        case 2: //Move Left slow (movement speed is half of that of fast movement)
         motor1Direction=1;
         motor1Speed=0.5;
         printf("Motor 1 is moving left slow\n");
         break;
        case 3: //Move right slow
         motor1Direction=0;
         motor1Speed=0.5;
         printf("Motor 1 is moving right slow\n");
         break;
        case 4: //Move right fast
         motor1Direction=0;
         motor1Speed=1;
         printf("Motor 1 is moving right fast\n");
         break;
        default : //if something is wrong, standstill
         motor1Direction=1;
         motor1Speed=0;
         printf("Motor 1 is standing still, something went wrong\n")
        
}*/




///-----------------------------------------------------------------------
/** Sample function
 * this function samples the emg and sends it to HIDScope
 **/
 
// Example: 4th order Butterworth LP (w_c = 0.1*f_nyquist)
BiQuad LP1( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad
BiQuad HP2( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad
BiQuad NO3( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923,  0.41279762014290533); //Notch filter Biquad 
BiQuadChain BiQuad_filter;
float Signal;
float Signal_filtered;

// Add the biquads to the chain

 
void sample()
{
    Signal=(emg0+emg1)/2;
    Signal_filtered= BiQuad_filter.step(Signal);
    /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
    scope.set(0, emg0.read() );
    scope.set(1, emg1.read() );
    scope.set(2, Signal_filtered);
    /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) 
    *  Ensure that enough channels are available (HIDScope scope( 2 ))
    *  Finally, send all channels to the PC at once */
    scope.send();
    /* To indicate that the function is working, the LED is toggled */
    led = !led;
}


  





int main()
{
    BiQuad_filter.add( &LP1 ).add( &HP2 ).add( &NO3);

    MyTickerMean.attach(&get_Signal_number, controller_TS);
    sample_timer.attach(&sample, 0.02);
    
    while (true) {}
        
}