7_EOGServoControl.ino

// Eye Blink Detection (Experimental!) - BioAmp EXG Pill
// https://github.com/upsidedownlabs/BioAmp-EXG-Pill

// Upside Down Labs invests time and resources providing this open source code,
// please support Upside Down Labs and open-source hardware by purchasing
// products from Upside Down Labs!

// Copyright (c) 2021 Upside Down Labs - contact@upsidedownlabs.tech

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include <math.h>
#if defined(ESP32) 
  // For ESP32 Servo library
  #include <ESP32Servo.h>
#else
  // Arduino Servo library
  #include <Servo.h>
#endif

#define SAMPLE_RATE 75
#define BAUD_RATE 115200
#define INPUT_PIN A2
#define OUTPUT_PIN 13
#define DATA_LENGTH 10

int data_index = 0;
bool peak = false;

const int buttonPin = 4;
const int ledPin = 8;
int ledState = HIGH;
int buttonState;
int lastButtonState = LOW;
unsigned long lastDebounceTime = 0;
unsigned long debounceDelay = 50;

// Servo open & close angles
#define SERVO_OPEN 10
#define SERVO_CLOSE 140

// Servo pin (Change as per your connection)
#define SERVO_PIN 2 // Pin2 for Muscle BioAmp Shield v0.3

Servo servo;
// Servo toggle flag
bool flag = 0;
// Last gesture timestamp
unsigned long lastGestureTime = 0;
// Delay between two actions
unsigned long gestureDelay = 240;

void setup() {
	// Serial connection begin
	Serial.begin(BAUD_RATE);
	// Setup Input & Output pin
	pinMode(INPUT_PIN, INPUT);
	pinMode(OUTPUT_PIN, OUTPUT);

  pinMode(buttonPin, INPUT);
  pinMode(ledPin, OUTPUT);

  digitalWrite(ledPin, ledState);
  servo.attach(SERVO_PIN);
  servo.write(0);
}       

void loop() {
  int reading = digitalRead(buttonPin);
  if (reading != lastButtonState) {
    // reset the debouncing timer
    lastDebounceTime = millis();
  }

  if ((millis() - lastDebounceTime) > debounceDelay) {
    // whatever the reading is at, it's been there for longer than the debounce
    // delay, so take it as the actual current state:

    // if the button state has changed:
    if (reading != buttonState) {
      buttonState = reading;

      // only toggle the LED if the new button state is HIGH
      if (buttonState == HIGH) {
        ledState = !ledState;
      }
    }
  }
	// Calculate elapsed time
	static unsigned long past = 0;
	unsigned long present = micros();
	unsigned long interval = present - past;
	past = present;

	// Run timer
	static long timer = 0;
	timer -= interval;

	// Sample
	if(timer < 0){
		timer += 1000000 / SAMPLE_RATE;
    	// Sample and Nomalize input data (-1 to 1)
		float sensor_value = analogRead(INPUT_PIN);
		float signal = EOGFilter(sensor_value)/512;
    	// Get peak
    	peak = Getpeak(signal);
    	//Print sensor_value and peak
    	Serial.print(signal);
    	Serial.print(",");
    	Serial.println(peak);
    	// Blink LED on peak
    	digitalWrite(OUTPUT_PIN, peak);
     
      if(peak and ledState) {
        if((millis() - lastGestureTime) > gestureDelay){
        if(flag == 1) {
          servo.write(SERVO_OPEN);
          flag = 0;
          lastGestureTime = millis();
        } else {
          servo.write(SERVO_CLOSE); 
          flag = 1; 
          lastGestureTime = millis();
        }
        }
      }
	}
 digitalWrite(ledPin, ledState);
 lastButtonState = reading;
}

bool Getpeak(float new_sample) {
	// Buffers for data, mean, and standard deviation
	static float data_buffer[DATA_LENGTH];
	static float mean_buffer[DATA_LENGTH];
	static float standard_deviation_buffer[DATA_LENGTH];
  
	// Check for peak
	if (new_sample - mean_buffer[data_index] > (DATA_LENGTH*1.2) * standard_deviation_buffer[data_index]) {
		data_buffer[data_index] = new_sample + data_buffer[data_index];
		peak = true;
	} else {
		data_buffer[data_index] = new_sample;
		peak = false;
	}

	// Calculate mean
	float sum = 0.0, mean, standard_deviation = 0.0;
	for (int i = 0; i < DATA_LENGTH; ++i){
		sum += data_buffer[(data_index + i) % DATA_LENGTH];
	}
	mean = sum/DATA_LENGTH;

	// Calculate standard deviation
	for (int i = 0; i < DATA_LENGTH; ++i){
		standard_deviation += pow(data_buffer[(i) % DATA_LENGTH] - mean, 2);
	}

	// Update mean buffer
	mean_buffer[data_index] = mean;

	// Update standard deviation buffer
	standard_deviation_buffer[data_index] =  sqrt(standard_deviation/DATA_LENGTH);

	// Update data_index
	data_index = (data_index+1)%DATA_LENGTH;

	// Return peak
	return peak;
}

// Band-Pass Butterworth IIR digital filter, generated using filter_gen.py.
// Sampling rate: 75.0 Hz, frequency: [0.5, 19.5] Hz.
// Filter is order 4, implemented as second-order sections (biquads).
// Reference: 
// https://docs.scipy.org/doc/scipy/reference/generated/scipy.signal.butter.html
// https://courses.ideate.cmu.edu/16-223/f2020/Arduino/FilterDemos/filter_gen.py
float EOGFilter(float input)
{
  float output = input;
  {
    static float z1, z2; // filter section state
    float x = output - 0.02977423*z1 - 0.04296318*z2;
    output = 0.09797471*x + 0.19594942*z1 + 0.09797471*z2;
    z2 = z1;
    z1 = x;
  }
  {
    static float z1, z2; // filter section state
    float x = output - 0.08383952*z1 - 0.46067709*z2;
    output = 1.00000000*x + 2.00000000*z1 + 1.00000000*z2;
    z2 = z1;
    z1 = x;
  }
  {
    static float z1, z2; // filter section state
    float x = output - -1.92167271*z1 - 0.92347975*z2;
    output = 1.00000000*x + -2.00000000*z1 + 1.00000000*z2;
    z2 = z1;
    z1 = x;
  }
  {
    static float z1, z2; // filter section state
    float x = output - -1.96758891*z1 - 0.96933514*z2;
    output = 1.00000000*x + -2.00000000*z1 + 1.00000000*z2;
    z2 = z1;
    z1 = x;
  }
  return output;
}