Marjolein Scheffers / Mbed 2 deprecated gr14_motor_HidScope

emg trial

Dependencies:   FastPWM HIDScope MODSERIAL mbed biquadFilter

main.cpp@2:0189c5170834, 2018-10-19 (annotated)

Committer:
s1680897
Date:
Fri Oct 19 14:04:19 2018 +0000
Revision:
2:0189c5170834
Parent:
1:e81ca29ae626
Child:
3:b96d952083be
EMG filter implemented, not checked. Want Hidscope liet maar ??n channel zien.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1680897 0:94b5c70f818b 1 #include "mbed.h"
s1680897 1:e81ca29ae626 2 #include "HIDScope.h"
s1680897 0:94b5c70f818b 3 #include "MODSERIAL.h"
s1680897 2:0189c5170834 4 #include "BiQuad.h"
s1680897 0:94b5c70f818b 5
s1680897 1:e81ca29ae626 6
s1680897 1:e81ca29ae626 7 // Two analog inputs to read from
s1680897 1:e81ca29ae626 8 AnalogIn a0(A0);
s1680897 1:e81ca29ae626 9 AnalogIn a1(A1);
s1680897 1:e81ca29ae626 10 DigitalOut ledr(LED_RED);
s1680897 0:94b5c70f818b 11 MODSERIAL pc(USBTX, USBRX);
s1680897 0:94b5c70f818b 12
s1680897 0:94b5c70f818b 13
s1680897 1:e81ca29ae626 14 // Define the HIDScope and Ticker objects
s1680897 2:0189c5170834 15 HIDScope scope(2);
s1680897 1:e81ca29ae626 16 Ticker scopeTimer;
s1680897 2:0189c5170834 17 Ticker EMGTicker;
s1680897 2:0189c5170834 18
s1680897 2:0189c5170834 19 // BiQuad filter
s1680897 2:0189c5170834 20 BiQuad HP_emg(1,-2,1,1.142980502539901,0.412801598096189); //Highpassfilter
s1680897 2:0189c5170834 21
s1680897 2:0189c5170834 22 double EMGdata;
s1680897 2:0189c5170834 23
s1680897 2:0189c5170834 24 void ReadEMG()
s1680897 2:0189c5170834 25 {
s1680897 2:0189c5170834 26 EMGdata = a0.read(); // store values in the scope
s1680897 2:0189c5170834 27 }
s1680897 2:0189c5170834 28
s1680897 2:0189c5170834 29 double EMG_HP(double EMGdata)
s1680897 1:e81ca29ae626 30 {
s1680897 2:0189c5170834 31 double HP_abs_EMGdata = HP_emg.step(EMGdata);
s1680897 2:0189c5170834 32
s1680897 2:0189c5170834 33 return fabs(HP_abs_EMGdata);
s1680897 1:e81ca29ae626 34 }
s1680897 0:94b5c70f818b 35
s1680897 2:0189c5170834 36 double Moving_mean(double HP_abs_EMGdata)
s1680897 1:e81ca29ae626 37 {
s1680897 2:0189c5170834 38 int P = 50;
s1680897 2:0189c5170834 39 double EMGarray[P];
s1680897 2:0189c5170834 40
s1680897 2:0189c5170834 41 for(int i = P-1; i >= 0; i--)
s1680897 2:0189c5170834 42 {
s1680897 2:0189c5170834 43 if (i == 0)
s1680897 2:0189c5170834 44 {
s1680897 2:0189c5170834 45 EMGarray[i] = HP_abs_EMGdata;
s1680897 2:0189c5170834 46 }
s1680897 2:0189c5170834 47 else
s1680897 2:0189c5170834 48 {
s1680897 2:0189c5170834 49 EMGarray[i] = EMGarray[i-1];
s1680897 2:0189c5170834 50 }
s1680897 2:0189c5170834 51 }
s1680897 2:0189c5170834 52
s1680897 2:0189c5170834 53 double sum = 0.0;
s1680897 2:0189c5170834 54
s1680897 2:0189c5170834 55 for(int j=0; j==P-1; j++)
s1680897 2:0189c5170834 56 {
s1680897 2:0189c5170834 57 sum += EMGarray[j];
s1680897 2:0189c5170834 58 }
s1680897 2:0189c5170834 59
s1680897 2:0189c5170834 60 double EMG_filt = sum / (double)P;
s1680897 2:0189c5170834 61
s1680897 2:0189c5170834 62 return(EMG_filt);
s1680897 1:e81ca29ae626 63 }
s1680897 0:94b5c70f818b 64
s1680897 2:0189c5170834 65 void EMG_filtering ()
s1680897 2:0189c5170834 66 {
s1680897 2:0189c5170834 67 ReadEMG();
s1680897 2:0189c5170834 68 scope.set(0, EMGdata);
s1680897 2:0189c5170834 69
s1680897 2:0189c5170834 70 volatile double HP_abs_EMGdata = EMG_HP(EMGdata);
s1680897 2:0189c5170834 71 volatile double EMG_filt = Moving_mean(HP_abs_EMGdata);
s1680897 2:0189c5170834 72
s1680897 2:0189c5170834 73 scope.set(1, EMG_filt);
s1680897 2:0189c5170834 74 //pc.printf("EMG filt= %f \n\r", EMG_filt);
s1680897 2:0189c5170834 75 }
s1680897 1:e81ca29ae626 76
s1680897 0:94b5c70f818b 77 int main()
s1680897 0:94b5c70f818b 78 {
s1680897 0:94b5c70f818b 79 pc.baud(115200);
s1680897 1:e81ca29ae626 80 // Attach the HIDScope::send method from the scope object to the timer at 50Hz
s1680897 1:e81ca29ae626 81 scopeTimer.attach_us(&scope, &HIDScope::send, 2e4);
s1680897 2:0189c5170834 82 EMGTicker.attach_us(EMG_filtering, 2e4);
s1680897 0:94b5c70f818b 83
s1680897 2:0189c5170834 84 while(1) {}
s1680897 1:e81ca29ae626 85
s1680897 0:94b5c70f818b 86 }