Revision 8:39519b33f767, committed 2018-10-30

Comitter:

s1680897

Date:

Tue Oct 30 14:20:49 2018 +0000

Parent:

7:d72cbd7055af

Commit message:

hjhlkj

Changed in this revision

--- a/main.cpp	Fri Oct 26 13:58:47 2018 +0000
+++ b/main.cpp	Tue Oct 30 14:20:49 2018 +0000
@@ -14,7 +14,7 @@
 
 
 // Define the HIDScope and Ticker objects
-HIDScope    scope(4);
+HIDScope    scope(2);
 Ticker      scopeTimer;
 Ticker      EMGTicker;
 
@@ -37,12 +37,6 @@
 BiQuad Notch_emg3(1,-1.225251386743515e-16,1,-1.187919512117619e-16,0.939062505817492); 
 BiQuad Notch_emg4(1,-1.225251386743515e-16,1,-1.187919512117619e-16,0.939062505817492);
 
-    //Low pass filters 25 Hz
-BiQuad LP_emg1(1,2,1,-0.942809041582063,0.333333333333333);
-BiQuad LP_emg2(1,2,1,-0.942809041582063,0.333333333333333);
-BiQuad LP_emg3(1,2,1,-0.942809041582063,0.333333333333333);
-BiQuad LP_emg4(1,2,1,-0.942809041582063,0.333333333333333);
-
 
 // Global variables
 float EMGdata1;
@@ -88,43 +82,7 @@
     return fabs(HP_abs_EMGdata);
 }
 
-
-/*
-// Lowpass filters
-
-// LP 1
-float LP_EMG1(float HP_abs_EMGdata)
-{
-    float EMG_filt = LP_emg1.step(HP_abs_EMGdata);
-    
-    return EMG_filt;
-}
-
-// LP 2
-float LP_EMG2(float HP_abs_EMGdata)
-{
-    float EMG_filt = LP_emg2.step(HP_abs_EMGdata);
-    
-    return EMG_filt;
-}
-
-// LP 3
-float LP_EMG3(float HP_abs_EMGdata)
-{
-    float EMG_filt = LP_emg3.step(HP_abs_EMGdata);
-    
-    return EMG_filt;
-}
-
-// LP 4
-float LP_EMG4(float HP_abs_EMGdata)
-{
-    float EMG_filt = LP_emg4.step(HP_abs_EMGdata);
-    
-    return EMG_filt;
-}
-*/
-
+// EMG moving filter
 float EMG_mean (float EMGarray[100])
 {
     float sum = 0.0;
@@ -139,103 +97,6 @@
     return EMG_filt;
 }
 
-// Moving mean of EMG data 1
-/* float Moving_mean1(float HP_abs_EMGdata1)
-{
-    int P1 = 200;
-    static float EMGarray1[200];
-
-    for(int i1 = P1-1; i1 >= 1; i1--) 
-        {
-            EMGarray1[i1] = EMGarray1[i1-1];
-        }
-    EMGarray1[0] = HP_abs_EMGdata1;
-
-    float sum1 = 0.0;
-
-    for(int j1=0; j1<200; j1++) 
-        {
-            sum1 += EMGarray1[j1];
-        }
-
-    float EMG_filt1 = sum1 / (float) P1;
-
-    return EMG_filt1;
-}
-
-// Moving mean of EMG data 2
-float Moving_mean2(float HP_abs_EMGdata2)
-{
-    int P2 = 200;
-    static float EMGarray2[200];
-
-    for(int i2 = P2-1; i2 >= 1; i2--) 
-        {
-            EMGarray2[i2] = EMGarray2[i2-1];
-        }
-    EMGarray2[0] = HP_abs_EMGdata2;
-
-    float sum2;
-
-    for(int j2=0; j2<200; j2++) 
-        {
-            sum2 += EMGarray2[j2];
-        }
-
-    float EMG_filt2 = sum2 / (float) P2;
-
-    return EMG_filt2;
-}
-
-// Moving mean of EMG data 3
-float Moving_mean3(float HP_abs_EMGdata3)
-{
-    int P3 = 200;
-    static float EMGarray3[200];
-
-    for(int i3 = P3-1; i3 >= 1; i3--) 
-        {
-            EMGarray3[i3] = EMGarray3[i3-1];
-        }
-    EMGarray3[0] = HP_abs_EMGdata3;
-
-    float sum3;
-
-    for(int j3=0; j3<200; j3++) 
-        {
-            sum3 += EMGarray3[j3];
-        }
-
-    float EMG_filt3 = sum3 / (float) P3;
-
-    return EMG_filt3;
-}
-
-// Moving mean of EMG data 4
-float Moving_mean4(float HP_abs_EMGdata)
-{
-    int P = 200;
-    static float EMGarray[200];
-
-    for(int i = P-1; i >= 1; i--) 
-        {
-            EMGarray[i] = EMGarray[i-1];
-        }
-    EMGarray[0] = HP_abs_EMGdata;
-
-    float sum;
-
-    for(int j=0; j<200; j++) 
-        {
-            sum += EMGarray[j];
-        }
-
-    float EMG_filt = sum / (float) P;
-
-    return EMG_filt;
-}
-*/
-
 // Filtered signal to output between -1 and 1
 float filt2kin (float EMG_filt1, float EMG_filt2, float max1, float max2)
 {
@@ -295,37 +156,32 @@
             EMG_array4[i] = EMG_array4[i-1];
         }
     EMG_array4[0] = HP_abs_EMGdata4;
-    
 
-    /* float EMG_filt1 = Moving_mean1(HP_abs_EMGdata1);
-    float EMG_filt2 = Moving_mean2(HP_abs_EMGdata2);
-    float EMG_filt3 = Moving_mean3(HP_abs_EMGdata3);
-    float EMG_filt4 = Moving_mean4(HP_abs_EMGdata4); */
     
     float EMG_filt1 = EMG_mean(EMG_array1);
     float EMG_filt2 = EMG_mean(EMG_array2);
     float EMG_filt3 = EMG_mean(EMG_array3);
     float EMG_filt4 = EMG_mean(EMG_array4);
 
-    float max1 = 0.45;
-    float max2 = 0.43;
-    float max3 = 0.45;
-    float max4 = 0.43;
+    float max1 = 0.01;
+    float max2 = 0.03;
+    float max3 = 0.02;
+    float max4 = 0.01;
 
     float kin_input_horizontal = filt2kin (EMG_filt1, EMG_filt2, max1, max2);
     float kin_input_vertical   = filt2kin (EMG_filt3, EMG_filt4, max3, max4);
 
-    scope.set(0, EMG_filt1);
-    scope.set(1, EMG_filt2);
-    scope.set(2, EMG_filt3);
-    scope.set(3, EMG_filt4);
+    scope.set(0, kin_input_horizontal);
+    scope.set(1, kin_input_vertical);
+    //scope.set(2, EMG_filt3);
+    //scope.set(3, EMG_filt4);
     
 
     count++;
 
-    if (count == 50) 
+    if (count == 100) 
     {
-        pc.printf("EMG filt 1 = %lf \t EMG filt 2 = %lf \n\r", EMG_filt1, EMG_filt2);
+        pc.printf("EMG filt 1 = %lf \t EMG filt 2 = %lf \t EMG filt 3 = %lf \t EMG filt 4 = %lf \n\r", EMG_filt1, EMG_filt2, EMG_filt3, EMG_filt4);
         count = 0;
     }
 }