new fork sure
Dependencies: HIDScope MODSERIAL PID QEI biquadFilter mbed
Fork of cpfromralph by
main.cpp@21:136a1ab8163c, 2016-11-02 (annotated)
- Committer:
- relvorelvo
- Date:
- Wed Nov 02 09:39:07 2016 +0000
- Revision:
- 21:136a1ab8163c
- Parent:
- 20:97059009a491
- Child:
- 22:68ab712b62b2
trial
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:32bb76391d89 | 1 | #include "mbed.h" |
vsluiter | 11:ce72ec658a95 | 2 | #include "HIDScope.h" |
relvorelvo | 21:136a1ab8163c | 3 | #include "BiQuad.h" |
relvorelvo | 21:136a1ab8163c | 4 | #include "MODSERIAL.h" |
vsluiter | 0:32bb76391d89 | 5 | |
vsluiter | 4:8b298dfada81 | 6 | //Define objects |
relvorelvo | 21:136a1ab8163c | 7 | AnalogIn emg1_in( A0 ); |
relvorelvo | 21:136a1ab8163c | 8 | AnalogIn emg2_in( A1 ); |
tomlankhorst | 19:2bf824669684 | 9 | |
tomlankhorst | 14:f83354387756 | 10 | Ticker sample_timer; |
relvorelvo | 21:136a1ab8163c | 11 | HIDScope scope( 4 ); |
relvorelvo | 21:136a1ab8163c | 12 | DigitalOut red(LED_RED); |
relvorelvo | 21:136a1ab8163c | 13 | DigitalOut blue(LED_BLUE); |
relvorelvo | 21:136a1ab8163c | 14 | DigitalOut green(LED_GREEN); |
relvorelvo | 21:136a1ab8163c | 15 | MODSERIAL pc(USBTX, USBRX); |
relvorelvo | 21:136a1ab8163c | 16 | |
relvorelvo | 21:136a1ab8163c | 17 | |
relvorelvo | 21:136a1ab8163c | 18 | // EMG variables |
relvorelvo | 21:136a1ab8163c | 19 | double emg1; |
relvorelvo | 21:136a1ab8163c | 20 | double emg1highfilter; |
relvorelvo | 21:136a1ab8163c | 21 | double emg1notchfilter; |
relvorelvo | 21:136a1ab8163c | 22 | double emg1abs |
relvorelvo | 21:136a1ab8163c | 23 | double emg1lowfilter; |
relvorelvo | 21:136a1ab8163c | 24 | |
relvorelvo | 21:136a1ab8163c | 25 | double emg2; |
relvorelvo | 21:136a1ab8163c | 26 | double emg2highfilter; |
relvorelvo | 21:136a1ab8163c | 27 | double emg2notchfilter; |
relvorelvo | 21:136a1ab8163c | 28 | double emg2abs |
relvorelvo | 21:136a1ab8163c | 29 | double emg2lowfilter; |
vsluiter | 2:e314bb3b2d99 | 30 | |
relvorelvo | 21:136a1ab8163c | 31 | // Filter settings |
relvorelvo | 21:136a1ab8163c | 32 | BiQuad filterhigh(9.704e-01,-1.9408,9.704e-01,-1.9389,9.427e-01); |
relvorelvo | 21:136a1ab8163c | 33 | BiQuad filternotch(9.495e-01,-1.8062,9.495e-01,-1.8062,8.992e-01) |
relvorelvo | 21:136a1ab8163c | 34 | BiQuad filterlow(8.883e-01,1.7671,8.835e-01,1.7227,8.114e-01) |
relvorelvo | 21:136a1ab8163c | 35 | |
relvorelvo | 21:136a1ab8163c | 36 | // Filtering |
relvorelvo | 21:136a1ab8163c | 37 | void filter() { |
relvorelvo | 21:136a1ab8163c | 38 | emg1=emg1_in.read(); |
relvorelvo | 21:136a1ab8163c | 39 | emg1highfilter=filterhigh.step(emg1); |
relvorelvo | 21:136a1ab8163c | 40 | emg1notchfilter=filternotch.step(emg1highfilter); |
relvorelvo | 21:136a1ab8163c | 41 | emg1abs=fabs(emg1notchfilter); |
relvorelvo | 21:136a1ab8163c | 42 | emg1lowfilter=filterlow(emg1abs); |
relvorelvo | 21:136a1ab8163c | 43 | |
relvorelvo | 21:136a1ab8163c | 44 | emg2=emg2_in.read(); |
relvorelvo | 21:136a1ab8163c | 45 | emg2highfilter=filterhigh.step(emg2); |
relvorelvo | 21:136a1ab8163c | 46 | emg2notchfilter=filternotch.step(emg2highfilter); |
relvorelvo | 21:136a1ab8163c | 47 | emg2abs=fabs(emg2notchfilter); |
relvorelvo | 21:136a1ab8163c | 48 | emg2lowfilter=filterlow(emg2abs); |
relvorelvo | 21:136a1ab8163c | 49 | |
tomlankhorst | 14:f83354387756 | 50 | void sample() |
vsluiter | 2:e314bb3b2d99 | 51 | { |
tomlankhorst | 19:2bf824669684 | 52 | /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */ |
relvorelvo | 21:136a1ab8163c | 53 | scope.set(0, emg1_in.read() ); |
relvorelvo | 21:136a1ab8163c | 54 | scope.set(1, emg1lowfilter.read() ); |
relvorelvo | 21:136a1ab8163c | 55 | scope.set(2, emg2_in.read() ); |
relvorelvo | 21:136a1ab8163c | 56 | scope.set() emg2lowfilter.read() ); |
tomlankhorst | 19:2bf824669684 | 57 | /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) |
tomlankhorst | 19:2bf824669684 | 58 | * Ensure that enough channels are available (HIDScope scope( 2 )) |
tomlankhorst | 20:97059009a491 | 59 | * Finally, send all channels to the PC at once */ |
vsluiter | 11:ce72ec658a95 | 60 | scope.send(); |
tomlankhorst | 18:21d8e7a81cf5 | 61 | /* To indicate that the function is working, the LED is toggled */ |
tomlankhorst | 18:21d8e7a81cf5 | 62 | led = !led; |
vsluiter | 2:e314bb3b2d99 | 63 | } |
vsluiter | 0:32bb76391d89 | 64 | |
vsluiter | 0:32bb76391d89 | 65 | int main() |
tomlankhorst | 19:2bf824669684 | 66 | { |
tomlankhorst | 14:f83354387756 | 67 | /**Attach the 'sample' function to the timer 'sample_timer'. |
tomlankhorst | 19:2bf824669684 | 68 | * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz |
vsluiter | 4:8b298dfada81 | 69 | */ |
relvorelvo | 21:136a1ab8163c | 70 | sample_timer.attach(&sample, 0.001); |
tomlankhorst | 15:0da764eea774 | 71 | |
tomlankhorst | 14:f83354387756 | 72 | /*empty loop, sample() is executed periodically*/ |
tomlankhorst | 15:0da764eea774 | 73 | while(1) {} |
vsluiter | 0:32bb76391d89 | 74 | } |