Gravity: Analog EMG Sensor by OYMotion

SKU:SEN0240 Brand:DFRobot.

HEY. I WOULD LIKE HELP. I'M TRYING TO CONTROL A DC MOTOR WITH ENCODER. COULD SOMEONE HELP. PLEASE

#if defined(ARDUINO) && ARDUINO >= 100

#include "Arduino.h"

#else

#include "WProgram.h"

#endif

#include "EMGFilters.h"

#define SensorInputPin A1 //sensor input pin number SensorInputPin

//int sensorPin1 = A1

unsigned long threshold = 600; // threshold: Relaxed baseline values.(threshold=0:in the calibration process)

unsigned long EMG_num = 0; // EMG_num: The number of statistical signals

bool bandera=false;

EMGFilters myFilter;

/*

Set the input frequency.

The filters work only with fixed sample frequency of

`SAMPLE_FREQ_500HZ` or `SAMPLE_FREQ_1000HZ`.

Inputs at other sample rates will bypass

*/

SAMPLE_FREQUENCY sampleRate = SAMPLE_FREQ_500HZ;

/*

Set the frequency of power line hum to filter out.

For countries with 60Hz power line, change to "NOTCH_FREQ_60HZ"

*/

NOTCH_FREQUENCY humFreq = NOTCH_FREQ_50HZ;

int encoder0PinA = 6; //0

int encoder0PinB = 7; //1

int encoder0Pos = 0;

int encoder0PinALast = LOW;

int n0 = LOW;

long pos0 = 0;

int encoder1PinA = 6;

int encoder1PinB = 7;

int encoder1Pos = 0;

int encoder1PinALast = LOW;

int n1 = LOW;

long pos1 = 0;

int encoderPinALastR = 0;

int encoderPosR = 0;

unsigned long serialData;

int inbyte;

int digitalState;

int pinNumber;

int analogRate;

int mot5p = 9; // Motor 5

int mot5m = 8;

int mot6p = 3; // Motor 6

int mot6m = 2;

int sensorValue1 = 0; // variable to store the value coming from the sensor

int sensorValue2 = 0;

int sensorValue3 = 0;

int rotateVal4;

int rotateVal5;

void setup(){

myFilter.init(sampleRate, humFreq, true, true, true);

Serial.begin(115200);

pinMode(encoder0PinA, INPUT);

pinMode(encoder0PinB, INPUT);

pinMode(encoder1PinA, INPUT);

pinMode(encoder1PinB, INPUT);

}

void loop(){

int data = analogRead(SensorInputPin);

int dataAfterFilter = myFilter.update(data); // filter processing

int envelope = sq(dataAfterFilter); //Get envelope by squaring the input

envelope = (envelope > threshold) ? envelope : 0; // The data set below the base value is set to 0, indicating that it is in a relaxed state

/* if threshold=0,explain the status it is in the calibration process,the code bollow not run.

if get EMG singal,number++ and print

*/

if (threshold > 0)

{

{

serialRead();

rotateVal4 = serialData;

if (pos0>rotateVal4){

Stop(mot6p, mot6m);

}

else{

forward(mot5p, mot5m);

Read(n0, encoder0PinA, encoder0PinB, encoder0Pos);

}

}

{

serialRead();

rotateVal5 = serialData;

if (pos0>rotateVal5){

Stop(mot5p, mot5m);

}

else{

forward(mot6p, mot6m);

Read(n1, encoder1PinA, encoder1PinB, encoder1Pos);

}

}

}

Serial.print (encoderPosR);

Serial.print ("\n");

}

long getSerial()

{

serialData = 0;

while (inbyte != '/')

{

inbyte = Serial.read();

if (inbyte > 0 && inbyte != '/')

{

serialData = serialData * 10 + inbyte - '0';

Serial.println(serialData);

}

}

inbyte = 0;

return serialData;

}

long serialRead()

{

serialData = 0;

while (inbyte != '/')

{

inbyte = Serial.read();

if (inbyte > 0 && inbyte != '/')

{

serialData = serialData * 10 + inbyte - '0';

Serial.println(serialData);

}

}

inbyte = 0;

return serialData;

}

void forward(int x, int y) {

digitalWrite(x, LOW);

//digitalWrite(AIN_2, HIGH);

analogWrite(y, 93);

}

void reverse(int x, int y) {

//digitalWrite(AIN_1, HIGH);

analogWrite(x, 93);

digitalWrite(y, LOW);

}

void Stop(int x, int y) {

digitalWrite(x, LOW);

digitalWrite(y, LOW);

}

void Read(int n, int encoderPinA, int encoderPinB, int encoderPos){

// encoderPosR = encoderPos;

n = digitalRead(encoderPinA);

if ((encoderPinALastR == LOW) && (n == HIGH)) {

if (digitalRead(encoderPinB) == LOW) {

encoderPosR--;

} else {

encoderPosR++;

}

pos0 = encoderPosR;

Serial.print (encoderPosR);

Serial.print ("\n");

encoderPos = encoderPosR;

}

encoderPinALastR = n;

}

/*if get EMG signal,return 1;

*/

int getEMGCount(int gforce_envelope)

{

static long integralData = 0;

static long integralDataEve = 0;

static bool remainFlag = false;

static unsigned long timeMillis = 0;

static unsigned long timeBeginzero = 0;

static long fistNum = 0;

static int TimeStandard = 200;

/*

The integral is processed to continuously add the signal value

and compare the integral value of the previous sampling to determine whether the signal is continuous

*/

integralDataEve = integralData;

integralData += gforce_envelope;

/*

If the integral is constant, and it doesn't equal 0, then the time is recorded;

If the value of the integral starts to change again, the remainflag is true, and the time record will be re-entered next time

*/

if ((integralDataEve == integralData) && (integralDataEve != 0))

{

timeMillis = millis();

if (remainFlag)

{

timeBeginzero = timeMillis;

remainFlag = false;

return 0;

}

/* If the integral value exceeds 200 ms, the integral value is clear 0,return that get EMG signal */

if ((timeMillis - timeBeginzero) > TimeStandard)

{

integralDataEve = integralData = 0;

return 1;

}

return 0;

}

else {

remainFlag = true;

return 0;

}

}