Poep Hoofd / Mbed 2 deprecated PoolRobot_Code

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   HIDScope mbed MODSERIAL QEI

EMG.cpp@16:a2a73d57d556, 2017-11-02 (annotated)

Committer:
john111222333
Date:
Thu Nov 02 15:07:53 2017 +0000
Revision:
16:a2a73d57d556
Parent:
15:a24b30061c5f 
not working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Alex_Kyrl 6:452e301a105a 1 #include "EMG.h"
Alex_Kyrl 11:dd1976534a03 2 // This is a class to set different emg sensors it gets the raw emg as input and returns the filterd envelope of the signal
Alex_Kyrl 6:452e301a105a 3
Alex_Kyrl 11:dd1976534a03 4 EMG::EMG(PinName data) : _data(data) , MainsReject(0.940809296, -1.525271192, 0.940809296, 1.000000000, -1.525271192, 0.881618592) , // set the coeficients of all filters used in the code
Alex_Kyrl 11:dd1976534a03 5 Low_pass( 0.145323884, 0.290647768, 0.145323884, 1.000000000, -0.671029091, 0.252324626) , // all of the filters are objects of the class BiQuad.h
Alex_Kyrl 11:dd1976534a03 6 HiPass(0.914969144, -1.829938288, 0.914969144, 1.000000000, -1.822694925, 0.837181651) ,
john111222333 7:c17f5473f4e1 7 LoPass( 0.003621682, 0.007243363, 0.003621682, 1.000000000, -1.822694925, 0.837181651)
Alex_Kyrl 6:452e301a105a 8 {
Alex_Kyrl 6:452e301a105a 9 cntr = 0;
john111222333 16:a2a73d57d556 10
john111222333 7:c17f5473f4e1 11 }
john111222333 15:a24b30061c5f 12
Alex_Kyrl 6:452e301a105a 13
john111222333 15:a24b30061c5f 14 double EMG::get_noise(){ // remove noise from the system (noise is conciderd 80Hz+)
john111222333 15:a24b30061c5f 15
john111222333 15:a24b30061c5f 16 return Low_pass.step(_data);
john111222333 15:a24b30061c5f 17 }
john111222333 15:a24b30061c5f 18
john111222333 15:a24b30061c5f 19 double EMG::get_notch(double data){ // remove 50Hz peak dew to all electrical network apliances
Alex_Kyrl 6:452e301a105a 20
Alex_Kyrl 6:452e301a105a 21 return MainsReject.step(data);
Alex_Kyrl 6:452e301a105a 22
Alex_Kyrl 6:452e301a105a 23 }
john111222333 15:a24b30061c5f 24
Alex_Kyrl 6:452e301a105a 25
Alex_Kyrl 11:dd1976534a03 26 double EMG::get_DC(double data){ // remove DC offset from the signal (High pass filter above 10Hz)
Alex_Kyrl 6:452e301a105a 27
Alex_Kyrl 6:452e301a105a 28 return HiPass.step(data);
Alex_Kyrl 6:452e301a105a 29
Alex_Kyrl 6:452e301a105a 30 }
Alex_Kyrl 6:452e301a105a 31
Alex_Kyrl 6:452e301a105a 32
Alex_Kyrl 11:dd1976534a03 33 double EMG::get_absolute(double data){ //get the absolute value of the signal
Alex_Kyrl 6:452e301a105a 34
john111222333 15:a24b30061c5f 35 return fabs(data);
Alex_Kyrl 6:452e301a105a 36
Alex_Kyrl 6:452e301a105a 37 }
Alex_Kyrl 6:452e301a105a 38
Alex_Kyrl 6:452e301a105a 39
Alex_Kyrl 11:dd1976534a03 40 double EMG::get_envelope(double data){ // return the envelope of the signal (low pass filter at 5Hz)
Alex_Kyrl 6:452e301a105a 41
Alex_Kyrl 6:452e301a105a 42 return LoPass.step(data);
Alex_Kyrl 6:452e301a105a 43 }
Alex_Kyrl 6:452e301a105a 44
Alex_Kyrl 11:dd1976534a03 45 double EMG::filter(){ // Aply all filters and absolute in series in order to get envelope of the EMG signal
john111222333 16:a2a73d57d556 46
Alex_Kyrl 6:452e301a105a 47 if(cntr<=500)
Alex_Kyrl 6:452e301a105a 48 {
Alex_Kyrl 6:452e301a105a 49 cntr++;
Alex_Kyrl 6:452e301a105a 50 return 0;
Alex_Kyrl 6:452e301a105a 51 }
john111222333 16:a2a73d57d556 52
Alex_Kyrl 6:452e301a105a 53 else
Alex_Kyrl 6:452e301a105a 54 {
john111222333 7:c17f5473f4e1 55 return get_envelope(get_absolute(get_DC(get_notch(get_noise()))));
john111222333 16:a2a73d57d556 56
Alex_Kyrl 6:452e301a105a 57 }
Alex_Kyrl 6:452e301a105a 58
john111222333 15:a24b30061c5f 59 }
john111222333 15:a24b30061c5f 60
john111222333 15:a24b30061c5f 61 double EMG::get_data(){
john111222333 15:a24b30061c5f 62
john111222333 15:a24b30061c5f 63 return _data;
john111222333 16:a2a73d57d556 64 }
john111222333 16:a2a73d57d556 65
john111222333 16:a2a73d57d556 66
john111222333 16:a2a73d57d556 67