Dan August / Mbed 2 deprecated EMGnieuw

met ins en outs

Dependencies:   MODSERIAL mbed

Fork of new_program by Jorick Leferink

Files at this revision

API Documentation at this revision

Revision 2:b0b86581ba50, committed 2013-11-01

Comitter:
DanAuhust
Date:
Fri Nov 01 11:20:55 2013 +0000
Parent:
1:000418a0aedf
Commit message:
meting biceps en triceps met 4 filters, gain 100, threshold optioneel

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Oct 31 12:15:47 2013 +0000
+++ b/main.cpp	Fri Nov 01 11:20:55 2013 +0000
@@ -48,125 +48,232 @@
 #define DEN3_3 -2.4093
 #define DEN4_3 0.5175
 
-//variabelen definieren
-float in0_biceps =0;
-static float in1_biceps =0, in2_biceps = 0, in3_biceps = 0, in4_biceps = 0;
-static float out0_biceps = 0, out1_biceps = 0 , out2_biceps = 0, out3_biceps = 0, out4_biceps = 0;
-
-float in0_2_biceps =0;
-static float in1_2_biceps =0, in2_2_biceps = 0, in3_2_biceps = 0, in4_2_biceps = 0;
-static float out0_2_biceps = 0, out1_2_biceps = 0 , out2_2_biceps = 0, out3_2_biceps = 0, out4_2_biceps = 0;
+// highpass filter .5 Hz 2de orde, tegen storing motorshield
+#define NUM0_4 0.9780 // constante
+#define NUM1_4 -1.9561 // z^-1
+#define NUM2_4 0.9780 // z^-2etc.
 
-float in0_3_biceps =0;
-static float in1_3_biceps =0, in2_3_biceps = 0, in3_3_biceps = 0, in4_3_biceps = 0;
-static float out0_3_biceps = 0, out1_3_biceps = 0 , out2_3_biceps = 0, out3_3_biceps = 0, out4_3_biceps = 0;
-/** Looper function
-* functions used for Ticker and Timeout should be of type void <name>(void)
-* i.e. no input arguments, no output arguments.
-* if you want to change a variable that you use in other places (for example in main)
-* you will have to make that variable global in order to be able to reach it both from
-* the function called at interrupt time, and in the main function.
-* To make a variable global, define it under the includes.
-* variables that are changed in the interrupt routine (written to) should be made
-* 'volatile' to let the compiler know that those values may change outside the current context.
-* i.e.: "volatile float emg_value;" instead of "float emg_value"
-* in the example below, the variable is not re-used in the main function, and is thus declared
-* local in the looper function only.
-**/
-
-float filter(float value, int sig_number){
+#define DEN0_4 1 // constante
+#define DEN1_4 -1.9556
+#define DEN2_4 0.9565
+    
+float filter(int sig_number){
+    float sig_out;
     // eerst variabelen definieren
-    float emg_value; //output filters
+    
     //biceps
+        //filter 1
     float in0_biceps =0;
     static float in1_biceps =0, in2_biceps = 0, in3_biceps = 0, in4_biceps = 0;
     static float out0_biceps = 0, out1_biceps = 0 , out2_biceps = 0, out3_biceps = 0, out4_biceps = 0;
-
+        //filter 2
     float in0_2_biceps =0;
     static float in1_2_biceps =0, in2_2_biceps = 0, in3_2_biceps = 0, in4_2_biceps = 0;
     static float out0_2_biceps = 0, out1_2_biceps = 0 , out2_2_biceps = 0, out3_2_biceps = 0, out4_2_biceps = 0;
-
+        //filter 3
     float in0_3_biceps =0;
     static float in1_3_biceps =0, in2_3_biceps = 0, in3_3_biceps = 0, in4_3_biceps = 0;
     static float out0_3_biceps = 0, out1_3_biceps = 0 , out2_3_biceps = 0, out3_3_biceps = 0, out4_3_biceps = 0;
+        //filter 4
+    float in0_4_biceps =0;
+    static float in1_4_biceps =0, in2_4_biceps = 0;
+    static float out0_4_biceps = 0, out1_4_biceps = 0 , out2_4_biceps = 0; 
+   
     //triceps
+        //filter 1
     float in0_triceps =0;
     static float in1_triceps =0, in2_triceps = 0, in3_triceps = 0, in4_triceps = 0;
     static float out0_triceps = 0, out1_triceps = 0 , out2_triceps = 0, out3_triceps = 0, out4_triceps = 0;
-
+        //filter 2
     float in0_2_triceps =0;
     static float in1_2_triceps =0, in2_2_triceps = 0, in3_2_triceps = 0, in4_2_triceps = 0;
     static float out0_2_triceps = 0, out1_2_triceps = 0 , out2_2_triceps = 0, out3_2_triceps = 0, out4_2_triceps = 0;
-
+        //filter 3
     float in0_3_triceps =0;
     static float in1_3_triceps =0, in2_3_triceps = 0, in3_3_triceps = 0, in4_3_triceps = 0;
     static float out0_3_triceps = 0, out1_3_triceps = 0 , out2_3_triceps = 0, out3_3_triceps = 0, out4_3_triceps = 0;
+        //filter 4
+    float in0_4_triceps =0;
+    static float in1_4_triceps =0, in2_4_triceps = 0;
+    static float out0_4_triceps = 0, out1_4_triceps = 0 , out2_4_triceps = 0;
+    
     //flexoren
+        //filter 1
     float in0_flexoren =0;
     static float in1_flexoren =0, in2_flexoren = 0, in3_flexoren = 0, in4_flexoren = 0;
     static float out0_flexoren = 0, out1_flexoren = 0 , out2_flexoren = 0, out3_flexoren = 0, out4_flexoren = 0;
-
+        //filter 2
     float in0_2_flexoren =0;
     static float in1_2_flexoren =0, in2_2_flexoren = 0, in3_2_flexoren = 0, in4_2_flexoren = 0;
     static float out0_2_flexoren = 0, out1_2_flexoren = 0 , out2_2_flexoren = 0, out3_2_flexoren = 0, out4_2_flexoren = 0;
-
+        //filter 3
     float in0_3_flexoren =0;
     static float in1_3_flexoren =0, in2_3_flexoren = 0, in3_3_flexoren = 0, in4_3_flexoren = 0;
     static float out0_3_flexoren = 0, out1_3_flexoren = 0 , out2_3_flexoren = 0, out3_3_flexoren = 0, out4_3_flexoren = 0;
+        //filter 4
+    float in0_4_flexoren =0;
+    static float in1_4_flexoren =0, in2_4_flexoren = 0;
+    static float out0_4_flexoren = 0, out1_4_flexoren = 0 , out2_4_flexoren = 0;
+    
     //extensoren
+        //filter 1
     float in0_extensoren =0;
     static float in1_extensoren =0, in2_extensoren = 0, in3_extensoren = 0, in4_extensoren = 0;
     static float out0_extensoren = 0, out1_extensoren = 0 , out2_extensoren = 0, out3_extensoren = 0, out4_extensoren = 0;
-
+        //filter 2
     float in0_2_extensoren =0;
     static float in1_2_extensoren =0, in2_2_extensoren = 0, in3_2_extensoren = 0, in4_2_extensoren = 0;
     static float out0_2_extensoren = 0, out1_2_extensoren = 0 , out2_2_extensoren = 0, out3_2_extensoren = 0, out4_2_extensoren = 0;
-
+        //filter 3
     float in0_3_extensoren =0;
     static float in1_3_extensoren =0, in2_3_extensoren = 0, in3_3_extensoren = 0, in4_3_extensoren = 0;
     static float out0_3_extensoren = 0, out1_3_extensoren = 0 , out2_3_extensoren = 0, out3_3_extensoren = 0, out4_3_extensoren = 0;
+        //filter 4
+    float in0_4_extensoren =0;
+    static float in1_4_extensoren =0, in2_4_extensoren = 0;
+    static float out0_4_extensoren = 0, out1_4_extensoren = 0 , out2_4_extensoren = 0;
     
     
-    switch(sig_number){
-        case 1:
+    switch(sig_number){            
+        case 1:        
+            // signaal filteren op 15 Hz HIGHPASS
+            in4_biceps = in3_biceps; in3_biceps = in2_biceps; in2_biceps = in1_biceps; in1_biceps = in0_biceps;
+            in0_biceps = emg_biceps.read();
+            out4_biceps = out3_biceps; out3_biceps = out2_biceps; out2_biceps = out1_biceps; out1_biceps = out0_biceps;           
+            out0_biceps = (NUM0*in0_biceps + NUM1*in1_biceps + NUM2*in2_biceps + NUM3*in3_biceps + NUM4*in4_biceps - DEN1*out1_biceps - DEN2*out2_biceps - DEN3*out3_biceps - DEN4*out4_biceps ) / DEN0;                      
+            
+            //signaal filteren op 40 HZ LOWPASS
+            in4_2_biceps = in3_2_biceps; in3_2_biceps = in2_2_biceps; in2_2_biceps = in1_2_biceps; in1_2_biceps = in0_2_biceps;
+            in0_2_biceps = out0_biceps;
+            out4_2_biceps = out3_2_biceps; out3_2_biceps = out2_2_biceps; out2_2_biceps = out1_2_biceps; out1_2_biceps = out0_2_biceps;           
+            out0_2_biceps = (NUM0_2*in0_2_biceps + NUM1_2*in1_2_biceps + NUM2_2*in2_2_biceps + NUM3_2*in3_2_biceps + NUM4_2*in4_2_biceps - DEN1_2*out1_2_biceps - DEN2_2*out2_2_biceps - DEN3_2*out3_2_biceps - DEN4_2*out4_2_biceps ) / DEN0_2;
+      
+            //signaal filteren op 5Hz LOWPASS
+            in4_3_biceps = in3_3_biceps; in3_3_biceps = in2_3_biceps; in2_3_biceps = in1_3_biceps; in1_3_biceps = in0_3_biceps;
+            in0_3_biceps = abs(out0_2_biceps);
+            out4_3_biceps = out3_3_biceps; out3_3_biceps = out2_3_biceps; out2_3_biceps = out1_3_biceps; out1_3_biceps = out0_3_biceps;           
+            out0_3_biceps = (NUM0_3*in0_3_biceps + NUM1_3*in1_3_biceps + NUM2_3*in2_3_biceps + NUM3_3*in3_3_biceps + NUM4_3*in4_3_biceps - DEN1_3*out1_3_biceps - DEN2_3*out2_3_biceps - DEN3_3*out3_3_biceps - DEN4_3*out4_3_biceps ) / DEN0_3;    
+            
+            //signaal filteren op .5 HZ HIGHPASS
+            in2_4_biceps = in1_4_biceps; in1_4_biceps = in0_4_biceps;
+            in0_4_biceps = out0_3_biceps;
+            out2_4_biceps = out1_4_biceps; out1_4_biceps = out0_4_biceps;           
+            out0_4_biceps = (NUM0_4*in0_4_biceps + NUM1_4*in1_4_biceps + NUM2_4*in2_4_biceps - DEN1_4*out1_4_biceps - DEN2_4*out2_4_biceps ) / DEN0_4;
+            
+            sig_out = out0_4_biceps;
             break;
         case 2:
+            // signaal filteren op 15 Hz HIGHPASS
+            in4_triceps = in3_triceps; in3_triceps = in2_triceps; in2_triceps = in1_triceps; in1_triceps = in0_triceps;
+            in0_triceps = emg_triceps.read();
+            out4_triceps = out3_triceps; out3_triceps = out2_triceps; out2_triceps = out1_triceps; out1_triceps = out0_triceps;           
+            out0_triceps = (NUM0*in0_triceps + NUM1*in1_triceps + NUM2*in2_triceps + NUM3*in3_triceps + NUM4*in4_triceps - DEN1*out1_triceps - DEN2*out2_triceps - DEN3*out3_triceps - DEN4*out4_triceps ) / DEN0;                      
+            
+            //signaal filteren op 40 HZ LOWPASS
+            in4_2_triceps = in3_2_triceps; in3_2_triceps = in2_2_triceps; in2_2_triceps = in1_2_triceps; in1_2_triceps = in0_2_triceps;
+            in0_2_triceps = out0_triceps;
+            out4_2_triceps = out3_2_triceps; out3_2_triceps = out2_2_triceps; out2_2_triceps = out1_2_triceps; out1_2_triceps = out0_2_triceps;           
+            out0_2_triceps = (NUM0_2*in0_2_triceps + NUM1_2*in1_2_triceps + NUM2_2*in2_2_triceps + NUM3_2*in3_2_triceps + NUM4_2*in4_2_triceps - DEN1_2*out1_2_triceps - DEN2_2*out2_2_triceps - DEN3_2*out3_2_triceps - DEN4_2*out4_2_triceps ) / DEN0_2;
+      
+            //signaal filteren op 5Hz LOWPASS
+            in4_3_triceps = in3_3_triceps; in3_3_triceps = in2_3_triceps; in2_3_triceps = in1_3_triceps; in1_3_triceps = in0_3_triceps;
+            in0_3_triceps = abs(out0_2_triceps);
+            out4_3_triceps = out3_3_triceps; out3_3_triceps = out2_3_triceps; out2_3_triceps = out1_3_triceps; out1_3_triceps = out0_3_triceps;           
+            out0_3_triceps = (NUM0_3*in0_3_triceps + NUM1_3*in1_3_triceps + NUM2_3*in2_3_triceps + NUM3_3*in3_3_triceps + NUM4_3*in4_3_triceps - DEN1_3*out1_3_triceps - DEN2_3*out2_3_triceps - DEN3_3*out3_3_triceps - DEN4_3*out4_3_triceps ) / DEN0_3;    
+            
+            //signaal filteren op .5 HZ HIGHPASS
+            in2_4_triceps = in1_4_triceps; in1_4_triceps = in0_4_triceps;
+            in0_4_triceps = out0_3_triceps;
+            out2_4_triceps = out1_4_triceps; out1_4_triceps = out0_4_triceps;           
+            out0_4_triceps = (NUM0_4*in0_4_triceps + NUM1_4*in1_4_triceps + NUM2_4*in2_4_triceps - DEN1_4*out1_4_triceps - DEN2_4*out2_4_triceps ) / DEN0_4;
+            
+            sig_out = out0_4_triceps;
             break;
         case 3:
+            // signaal filteren op 15 Hz HIGHPASS
+            in4_flexoren = in3_flexoren; in3_flexoren = in2_flexoren; in2_flexoren = in1_flexoren; in1_flexoren = in0_flexoren;
+            in0_flexoren = emg_flexoren.read();
+            out4_flexoren = out3_flexoren; out3_flexoren = out2_flexoren; out2_flexoren = out1_flexoren; out1_flexoren = out0_flexoren;           
+            out0_flexoren = (NUM0*in0_flexoren + NUM1*in1_flexoren + NUM2*in2_flexoren + NUM3*in3_flexoren + NUM4*in4_flexoren - DEN1*out1_flexoren - DEN2*out2_flexoren - DEN3*out3_flexoren - DEN4*out4_flexoren ) / DEN0;                      
+    
+            //signaal filteren op 40 HZ LOWPASS
+            in4_2_flexoren = in3_2_flexoren; in3_2_flexoren = in2_2_flexoren; in2_2_flexoren = in1_2_flexoren; in1_2_flexoren = in0_2_flexoren;
+            in0_2_flexoren = out0_flexoren;
+            out4_2_flexoren = out3_2_flexoren; out3_2_flexoren = out2_2_flexoren; out2_2_flexoren = out1_2_flexoren; out1_2_flexoren = out0_2_flexoren;           
+            out0_2_flexoren = (NUM0_2*in0_2_flexoren + NUM1_2*in1_2_flexoren + NUM2_2*in2_2_flexoren + NUM3_2*in3_2_flexoren + NUM4_2*in4_2_flexoren - DEN1_2*out1_2_flexoren - DEN2_2*out2_2_flexoren - DEN3_2*out3_2_flexoren - DEN4_2*out4_2_flexoren ) / DEN0_2;
+      
+            //signaal filteren op 5Hz LOWPASS
+            in4_3_flexoren = in3_3_flexoren; in3_3_flexoren = in2_3_flexoren; in2_3_flexoren = in1_3_flexoren; in1_3_flexoren = in0_3_flexoren;
+            in0_3_flexoren = abs(out0_2_flexoren);
+            out4_3_flexoren = out3_3_flexoren; out3_3_flexoren = out2_3_flexoren; out2_3_flexoren = out1_3_flexoren; out1_3_flexoren = out0_3_flexoren;           
+            out0_3_flexoren = (NUM0_3*in0_3_flexoren + NUM1_3*in1_3_flexoren + NUM2_3*in2_3_flexoren + NUM3_3*in3_3_flexoren + NUM4_3*in4_3_flexoren - DEN1_3*out1_3_flexoren - DEN2_3*out2_3_flexoren - DEN3_3*out3_3_flexoren - DEN4_3*out4_3_flexoren ) / DEN0_3;    
+            
+            //signaal filteren op .5 HZ HIGHPASS
+            in2_4_flexoren = in1_4_flexoren; in1_4_flexoren = in0_4_flexoren;
+            in0_4_flexoren = out0_3_flexoren;
+            out2_4_flexoren = out1_4_flexoren; out1_4_flexoren = out0_4_flexoren;           
+            out0_4_flexoren = (NUM0_4*in0_4_flexoren + NUM1_4*in1_4_flexoren + NUM2_4*in2_4_flexoren - DEN1_4*out1_4_flexoren - DEN2_4*out2_4_flexoren ) / DEN0_4;
+            
+            sig_out = out0_4_flexoren;
             break;
         case 4:
+            // signaal filteren op 15 Hz HIGHPASS
+            in4_extensoren = in3_extensoren; in3_extensoren = in2_extensoren; in2_extensoren = in1_extensoren; in1_extensoren = in0_extensoren;
+            in0_extensoren = emg_extensoren.read();
+            out4_extensoren = out3_extensoren; out3_extensoren = out2_extensoren; out2_extensoren = out1_extensoren; out1_extensoren = out0_extensoren;           
+            out0_extensoren = (NUM0*in0_extensoren + NUM1*in1_extensoren + NUM2*in2_extensoren + NUM3*in3_extensoren + NUM4*in4_extensoren - DEN1*out1_extensoren - DEN2*out2_extensoren - DEN3*out3_extensoren - DEN4*out4_extensoren ) / DEN0;                      
+    
+            //signaal filteren op 40 HZ LOWPASS
+            in4_2_extensoren = in3_2_extensoren; in3_2_extensoren = in2_2_extensoren; in2_2_extensoren = in1_2_extensoren; in1_2_extensoren = in0_2_extensoren;
+            in0_2_extensoren = out0_extensoren;
+            out4_2_extensoren = out3_2_extensoren; out3_2_extensoren = out2_2_extensoren; out2_2_extensoren = out1_2_extensoren; out1_2_extensoren = out0_2_extensoren;           
+            out0_2_extensoren = (NUM0_2*in0_2_extensoren + NUM1_2*in1_2_extensoren + NUM2_2*in2_2_extensoren + NUM3_2*in3_2_extensoren + NUM4_2*in4_2_extensoren - DEN1_2*out1_2_extensoren - DEN2_2*out2_2_extensoren - DEN3_2*out3_2_extensoren - DEN4_2*out4_2_extensoren ) / DEN0_2;
+      
+            //signaal filteren op 5Hz LOWPASS
+            in4_3_extensoren = in3_3_extensoren; in3_3_extensoren = in2_3_extensoren; in2_3_extensoren = in1_3_extensoren; in1_3_extensoren = in0_3_extensoren;
+            in0_3_extensoren = abs(out0_2_extensoren);
+            out4_3_extensoren = out3_3_extensoren; out3_3_extensoren = out2_3_extensoren; out2_3_extensoren = out1_3_extensoren; out1_3_extensoren = out0_3_extensoren;           
+            out0_3_extensoren = (NUM0_3*in0_3_extensoren + NUM1_3*in1_3_extensoren + NUM2_3*in2_3_extensoren + NUM3_3*in3_3_extensoren + NUM4_3*in4_3_extensoren - DEN1_3*out1_3_extensoren - DEN2_3*out2_3_extensoren - DEN3_3*out3_3_extensoren - DEN4_3*out4_3_extensoren ) / DEN0_3;    
+            
+            //signaal filteren op .5 HZ HIGHPASS
+            in2_4_extensoren = in1_4_extensoren; in1_4_extensoren = in0_4_extensoren;
+            in0_4_extensoren = out0_3_extensoren;
+            out2_4_extensoren = out1_4_extensoren; out1_4_extensoren = out0_4_extensoren;           
+            out0_4_extensoren = (NUM0_4*in0_4_extensoren + NUM1_4*in1_4_extensoren + NUM2_4*in2_4_extensoren - DEN1_4*out1_4_extensoren - DEN2_4*out2_4_extensoren ) / DEN0_4;
+            
+            sig_out = out0_4_extensoren;
             break;
     }
+    return sig_out;
 }
 
 void looper()
-{   
-    
-    
-    /*put raw emg value both in red and in emg_value*/
-    
-    /*send value to PC. use 6 digits after decimal sign*/
-    
-    // signaal filteren op 15 Hz HIGHPASS
-    in4_biceps = in3_biceps; in3_biceps = in2_biceps; in2_biceps = in1_biceps; in1_biceps = in0_biceps;
-    in0_biceps = emg_biceps.read();
-    out4_biceps = out3_biceps; out3_biceps = out2_biceps; out2_biceps = out1_biceps; out1_biceps = out0_biceps;           
-    out0_biceps = (NUM0*in0_biceps + NUM1*in1_biceps + NUM2*in2_biceps + NUM3*in3_biceps + NUM4*in4_biceps - DEN1*out1_biceps - DEN2*out2_biceps - DEN3*out3_biceps - DEN4*out4_biceps ) / DEN0;                      
+{   float emg_value_biceps;
+    float emg_value_triceps;
+    float emg_value_flexoren;
+    float emg_value_extensoren;
+    float dy;
+    emg_value_biceps = 100*filter(1);
+    emg_value_triceps = 100*filter(2);
+    //emg_value_flexoren = 100*filter(3);
+    //emg_value_extensoren = 100*filter(4);
     
-    //signaal filteren op 40 HZ LOWPASS
-    in4_2_biceps = in3_2_biceps; in3_2_biceps = in2_2_biceps; in2_2_biceps = in1_2_biceps; in1_2_biceps = in0_2_biceps;
-    in0_2_biceps = out0_biceps;
-    out4_2_biceps = out3_2_biceps; out3_2_biceps = out2_2_biceps; out2_2_biceps = out1_2_biceps; out1_2_biceps = out0_2_biceps;           
-    out0_2_biceps = (NUM0_2*in0_2_biceps + NUM1_2*in1_2_biceps + NUM2_2*in2_2_biceps + NUM3_2*in3_2_biceps + NUM4_2*in4_2_biceps - DEN1_2*out1_2_biceps - DEN2_2*out2_2_biceps - DEN3_2*out3_2_biceps - DEN4_2*out4_2_biceps ) / DEN0_2;
-    
-    //signaal filteren op 5Hz LOWPASS
-    in4_3_biceps = in3_3_biceps; in3_3_biceps = in2_3_biceps; in2_3_biceps = in1_3_biceps; in1_3_biceps = in0_3_biceps;
-    in0_3_biceps = abs(out0_2_biceps);
-    out4_3_biceps = out3_3_biceps; out3_3_biceps = out2_3_biceps; out2_3_biceps = out1_3_biceps; out1_3_biceps = out0_3_biceps;           
-    out0_3_biceps = (NUM0_3*in0_3_biceps + NUM1_3*in1_3_biceps + NUM2_3*in2_3_biceps + NUM3_3*in3_3_biceps + NUM4_3*in4_3_biceps - DEN1_3*out1_3_biceps - DEN2_3*out2_3_biceps - DEN3_3*out3_3_biceps - DEN4_3*out4_3_biceps ) / DEN0_3;    
-    emg_value = out0_3_biceps;
+    /*if(emg_value_biceps < 0.10){
+        emg_value_biceps=0;
+        }
+    else {
+        emg_value_biceps = emg_value_biceps;
+         }
+    if(emg_value_triceps < 0.10){
+        emg_value_triceps=0;
+         }
+    else {
+        emg_value_triceps=emg_value_triceps;
+         }
+    */     
+    dy = emg_value_biceps-emg_value_triceps;
     if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
-        pc.printf("%.6f\n",emg_value);
+        pc.printf("%.6f, %.6f\n",emg_value_biceps,emg_value_triceps);
     /**When not using the LED, the above could also have been done this way:
     * pc.printf("%.6\n", emg0.read());
     */