Diff: main.cpp

Revision:

18:d7695ac04de3

Parent:

17:4548efffe193

Child:

19:fb98ff1d06ed

--- a/main.cpp	Mon Oct 24 11:45:07 2016 +0000
+++ b/main.cpp	Mon Oct 24 12:09:25 2016 +0000
@@ -4,60 +4,70 @@
 #include "BiQuad.h"  
 
 //Define objects
-AnalogIn    emg_biceps_right_in( A0 );              //analog in to get EMG from right biceps in to c++
-AnalogIn    emg_triceps_right_in (A1);              //analog in to get EMG from left biceps in to c++
+AnalogIn    emg_biceps_right_in( A0 );              //analog in to get EMG in to c++
 Ticker      sample_timer;                           //ticker
-HIDScope    scope( 3);              //open 3 channels in hidscope
+HIDScope    scope( 3);                              //open 3 channels in hidscope
 DigitalOut richting_motor1(D4);     //motor1 direction output    
 PwmOut pwm_motor1(D5);              //motor1 velocity  output
 DigitalOut  led(LED_GREEN);
+DigitalIn   button (D9);
 
 //define variables
+double emg_biceps_right;
+double emg_filtered_high_biceps_right;
+double emg_abs_biceps_right;
+double emg_filtered_biceps_right;
 int    onoffsignal=0;
-double cut_off_value=0.08; //gespecifeerd door floortje
-double signalsum_right;
-double signalsum_right_filter_high;
-double signalsum_right_filter_high_abs;
-double signalsum_right_filtered;
-double biceps_right;
-double triceps_right;
+double cut_off_value=0.20;
+double max_right_biceps; 
+
 BiQuad filterhigh(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01);
 BiQuad filterlow (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01);
 
 //functions which are called in ticker
 void filter(){
-      
-    biceps_right        =   emg_biceps_right_in.read();  //inladen data
-    triceps_right       =   emg_triceps_right_in.read(); //inladen data
-    signalsum_right     =   biceps_right-triceps_right; // inladen data
-    
-    signalsum_right_filter_high     =   filterhigh.step(signalsum_right);
-    signalsum_right_filter_high_abs =   fabs(signalsum_right_filter_high);
-    signalsum_right_filtered        =   filterlow.step(signalsum_right_filtered);      
+        emg_biceps_right=emg_biceps_right_in.read();                            //read the emg value from the elektrodes
+        emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right);
+        emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right); //fabs because float
+        emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right);
+        led=!led;
         
-        if (signalsum_right_filtered>cut_off_value)
+        if (emg_filtered_biceps_right>cut_off_value)
         {onoffsignal=1;}
           
         else 
         {onoffsignal=0;}
                       
         //send signals  to scope
-        scope.set(0, biceps_right );           //set emg signal to scope in channel 1
-        scope.set(1, triceps_right);    
-        scope.set(2, signalsum_right_filtered);
+        scope.set(0, emg_biceps_right );           //set emg signal to scope in channel 1
+        scope.set(1, emg_filtered_biceps_right);    
+        scope.set(2, onoffsignal);
         scope.send();                       //send all the signals to the scope
                 }
-
+                
+void calibration(){
+            for(int n =0; n<5000;n++){                                                  //read for 5000 samples as calibration
+            emg_biceps_right=emg_biceps_right_in.read();                            //read the emg value from the elektrodes
+            emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right);      //highpass
+            emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right);              //fabs because float
+            emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right);         //lowpass to envelope
+            if (emg_filtered_biceps_right > max_right_biceps){                      //determine what the highest reachable emg signal is
+                max_right_biceps = emg_filtered_biceps_right;
+                }
+            
+            cut_off_value=0.2*max_right_biceps;    
+            }
 //program
 
 int main()
-{  
+{
 sample_timer.attach(&filter, 0.001);        //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds
 
 //endless loop
-
-    while(1) 
-    {    
+    while(1) {
+         if(button==0){
+         &calibri(); } //if button pressed calibration starts again!
+         
         if (onoffsignal==1)
         {
         richting_motor1 = 0;    //motordirection (ccw)
@@ -68,9 +78,7 @@
         {
         richting_motor1 = 0;    //motordirection (ccw)
         pwm_motor1 = 0;         //motorspeed 0
-        
-    }
+        }
         
-    } 
-        
+    }        
 }
\ No newline at end of file