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Myo.m
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Myo.m
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% #######################################################################
%
% Authored by Yi Jui Lee
%
% Tested on MATLAB 2013a, Python 2.7
%
% ***********************************************************************
% Filename : Myo.m
%
% Version 1 (15 August 2015)
% ***********************************************************************
%% Official Myo MATLAB Interface
classdef Myo < handle
properties
acceleration = [];
gyroscope = [];
orientation = [];
pose = [];
emg = [];
end
%%
methods
function m = Myo()
disp('###########################################################################');
disp('# Myo Object Created #');
disp('# Please make sure that Myo Connect is running and Myo is connected #');
disp('###########################################################################');
disp(' ');
end
%%
function a1 = getAcceleration(m)
clc;
a1 = [0 0 0];
FileID1 = fopen('Acceleration.txt','w');
FileID2 = fopen('PythonVars.txt','wt');
SampleRate = input('Please type in desired sample rate (0-50Hz): ');
T = input('Please indicate the duration of program (seconds): ');
pythonvars = [SampleRate, T];
fprintf(FileID2,'%d\n',pythonvars);
fclose(FileID2);
eval('!matlab -nodesktop -nosplash -minimize -r "r1 = 1, try, terminate, catch, try, init_python, catch, exit, end, end" &');
t_initial = clock; ii = 0; t = 0;
while t < T
ii = ii+1;
t2 = clock;
t(ii) = etime(t2,t_initial);
disp(['Progress: ',num2str(((t(ii))/T)*100,'% .0f'),' % done...']);
FileID1 = fopen('Acceleration.txt');
Acceleration = textscan(FileID1,'%s %s %s');
fclose(FileID1);
if length(a1) < length(Acceleration{1})
FileID1 = fopen('Acceleration.txt');
Acceleration = textscan(FileID1,'%s %s %s','HeaderLines',length(a1));
fclose(FileID1);
for i = 1:length(Acceleration{1})
s = {Acceleration{1,1}{i,1} Acceleration{1,2}{i,1} Acceleration{1,3}{i,1}};
temp = strtok(s,'[ ]');
a1(end+1,:) = str2double(temp);
plot(a1)
drawnow
end
end
end
m.acceleration = a1;
pyquit;
end
%%
function a2 = getGyroscope(m)
clc
close all
a2 = [0 0 0];
FileID1 = fopen('Gyroscope.txt','w');
FileID2 = fopen('PythonVars.txt','wt');
SampleRate = input('Please type in desired sample rate (0-50Hz): ');
T = input('Please indicate the duration of program (seconds): ');
pythonvars = [SampleRate, T];
fprintf(FileID2,'%d\n',pythonvars);
fclose(FileID2);
eval('!matlab -nodesktop -nosplash -minimize -r "r2 = 1, try, terminate, catch, try, init_python, catch, exit, end, end" &')
t_initial = clock;
ii = 0;
t = 0;
while t < T
ii = ii+1;
t2 = clock;
t(ii) = etime(t2,t_initial);
disp(['Progress: ',num2str(((t(ii))/T)*100,'% .0f'),' % done...']);
FileID1 = fopen('Gyroscope.txt');
Gyroscope = textscan(FileID1,'%s %s %s');
fclose(FileID1);
if length(a2) < length(Gyroscope{1})
FileID1 = fopen('Gyroscope.txt');
Gyroscope = textscan(FileID1,'%s %s %s','HeaderLines',length(a2));
fclose(FileID1);
for i = 1:length(Gyroscope{1})
s = {Gyroscope{1,1}{i,1} Gyroscope{1,2}{i,1} Gyroscope{1,3}{i,1}};
temp = strtok(s,'[ ]');
a2(end+1,:) = str2double(temp);
plot(a2)
drawnow
end
end
end
m.gyroscope = a2;
pyquit
end
%%
function a3 = getOrientation(m)
clc;
a3 = [0 0 0 0]; roll = 0; pitch = 0; yaw = 0; a3_e = [roll pitch yaw];
FileID3 = fopen('Orientation.txt','w');
FileID2 = fopen('PythonVars.txt','wt');
SampleRate = input('Please type in desired sample rate (0-50Hz): ');
T = input('Please indicate the duration of program (seconds): ');
pythonvars = [SampleRate, T];
fprintf(FileID2,'%d\n',pythonvars);
fclose(FileID2);
eval('!matlab -nodesktop -nosplash -minimize -r "r3 = 1, try, terminate, catch, try, init_python, catch, exit, end, end" &')
t_initial = clock;
ii = 0;
t = 0;
while t < T
ii = ii+1;
t2 = clock;
t(ii) = etime(t2,t_initial);
disp(['Progress: ',num2str(((t(ii))/T)*100,'% .0f'),' % done...']);
FileID3 = fopen('Orientation.txt');
Orientation = textscan(FileID3,'%s %s %s %s');
fclose(FileID3);
[p1,q1] = size(a3);
[p2] = length(Orientation{1});
if (p1 < p2);
FileID3 = fopen('Orientation.txt');
Orientation = textscan(FileID3,'%s %s %s %s','HeaderLines',p1);
fclose(FileID3);
for i = 1:length(Orientation{1});
s = {Orientation{1,1}{i,1} Orientation{1,2}{i,1} Orientation{1,3}{i,1}, Orientation{1,4}{i,1}};
temp = strtok(s,'[ ]');
a3(end+1,:) = str2double(temp);
[roll, pitch, yaw] = quat2angle(a3(end,:));
a3_e(end+1,:) = [roll pitch yaw];
plot(a3_e);
drawnow
end
end
end
m.orientation = a3_e;
pyquit
end
%%
function a4 = getPose(m)
clc;
FileID2 = fopen('PythonVars.txt','wt');
SampleRate = 50; % assign random number
T = input('Please indicate the duration of program (seconds): ');
pythonvars = [SampleRate, T];
fprintf(FileID2,'%d\n',pythonvars);
fclose(FileID2);
eval('!matlab -nodesktop -nosplash -minimize -r "r4 = 1, try, terminate, catch, try, init_python, catch, exit, end, end" &')
t_initial = clock;
ii = 0;
t = 0;
a4{1,1} = 'rest>';
FileID4 = fopen('Pose.txt','w');
pin = 0;
while t < T
ii = ii+1;
t2 = clock;
t(ii) = etime(t2,t_initial);
disp(['Progress: ',num2str(((t(ii))/T)*100,'% .0f'),' % done...']);
FileID4 = fopen('Pose.txt');
Pose = textscan(FileID4,'%s %s');
fclose(FileID4);
if pin < length(Pose{1,2})
FileID4 = fopen('Pose.txt');
Pose = textscan(FileID4,'%s %s','HeaderLines',pin);
fclose(FileID4);
pin = pin + length(Pose{1,2});
for i = 1:length(Pose{1,2})
p = char([Pose{1,2}{i,1}])
a4{end+1,1} = p;
end
end
end
m.pose = a4;
pyquit
end
%%
function a5 = getEmg(m)
clc;
FileID2 = fopen('PythonVars.txt','wt');
SampleRate = input('Please type in desired sample rate (0-200Hz): ');
T = input('Please indicate the duration of program (seconds): ');
pythonvars = [SampleRate, T];
fprintf(FileID2,'%d\n',pythonvars);
fclose(FileID2);
eval('!matlab -nodesktop -nosplash -minimize -r "r5 = 1, try, terminate, catch, try, init_python, catch, exit, end, end" &')
t_initial = clock;
ii = 0;
t = 0;
a5 = [0 0 0 0 0 0 0 0];
FileID5 = fopen('Emg.txt','w');
while t < T
ii = ii+1;
t2 = clock;
t(ii) = etime(t2,t_initial);
disp(['Progress: ',num2str(((t(ii))/T)*100,'% .0f'),' % done...']);
FileID5 = fopen('Emg.txt');
Emg = textscan(FileID5,'%s %s %s %s %s %s %s %s');
fclose(FileID5);
[p1,q1] = size(a5);
[p2] = length(Emg{1});
if (p1 < p2);
FileID5 = fopen('Emg.txt');
Emg = textscan(FileID5,'%s %s %s %s %s %s %s %s','HeaderLines',p1);
fclose(FileID5);
for i = 1:length(Emg{1});
s = {Emg{1,1}{i,1} Emg{1,2}{i,1} Emg{1,3}{i,1} Emg{1,4}{i,1} Emg{1,5}{i,1} Emg{1,6}{i,1} Emg{1,7}{i,1} Emg{1,8}{i,1}};
temp = strtok(s,'[ ]');
a5(end+1,:) = str2double(temp);
plot(a5)
drawnow
end
end
end
m.emg = a5;
pyquit
end
%%
function [a1, a2, a3, a4, a5] = getAllData(m)
clc;
FileID7 = fopen('PythonVars.txt','wt');
SampleRate = input('Please type in desired sample rate (0-50Hz): ');
T = input('Please indicate the duration of program (seconds): ');
pythonvars = [SampleRate, T];
fprintf(FileID7,'%d\n',pythonvars);
fclose(FileID7);
eval('!matlab -nodesktop -nosplash -minimize -r "r6 = 1, try, terminate, catch, try, init_python, catch, exit, end, end" &')
t_initial = clock;
ii = 0;
t = 0;
a1 = [0 0 0];
a2 = [0 0 0];
a3 = [0 0 0 0];
a3_e = [0 0 0];
roll = 0; pitch = 0; yaw = 0; a3_e(end+1,:) = [roll pitch yaw];
a4{1,1} = 'rest>';
a5 = [0 0 0 0 0 0 0 0];
FileID1 = fopen('Acceleration.txt','w');
FileID2 = fopen('Gyroscope.txt','w');
FileID3 = fopen('Orientation.txt','w');
FileID4 = fopen('Pose.txt','w');
FileID5 = fopen('Emg.txt','w');
while t < T
ii = ii+1;
t2 = clock;
t(ii) = etime(t2,t_initial);
disp(['Progress: ',num2str(((t(ii))/T)*100,'% .0f'),' % done...']);
FileID1 = fopen('Acceleration.txt');
FileID2 = fopen('Gyroscope.txt');
FileID3 = fopen('Orientation.txt');
FileID4 = fopen('Pose.txt');
FileID5 = fopen('Emg.txt');
Acceleration = textscan(FileID1,'%s %s %s');
Gyroscope = textscan(FileID2,'%s %s %s');
Orientation = textscan(FileID3,'%s %s %s %s');
Pose = textscan(FileID4,'%s %s');
Emg = textscan(FileID4,'%s %s %s %s %s %s %s %s');
fclose(FileID1);
fclose(FileID2);
fclose(FileID3);
fclose(FileID4);
fclose(FileID5);
[p1,q1] = size(a1);
[p2] = length(Acceleration{1});
if (p1 < p2);
FileID1 = fopen('Acceleration.txt');
FileID2 = fopen('Gyroscope.txt');
FileID3 = fopen('Orientation.txt');
FileID4 = fopen('Pose.txt');
FileID5 = fopen('Emg.txt');
[p3,q3] = size(a1);
[p4,q4] = size(a2);
[p5,q5] = size(a3);
[p6,q6] = size(a4);
[p7,q7] = size(a5);
Acceleration = textscan(FileID1,'%s %s %s','HeaderLines',p3);
Gyroscope = textscan(FileID2,'%s %s %s','HeaderLines',p4);
Orientation = textscan(FileID3,'%s %s %s %s','HeaderLines',p5);
Pose = textscan(FileID4,'%s %s','HeaderLines',p6);
Emg = textscan(FileID5,'%s %s %s %s %s %s %s %s','HeaderLines',p7);
fclose(FileID1);
fclose(FileID2);
fclose(FileID3);
fclose(FileID4);
fclose(FileID5);
for i = 1:length(Acceleration{1});
s = {Acceleration{1,1}{i,1} Acceleration{1,2}{i,1} Acceleration{1,3}{i,1}};
temp = strtok(s,'[ ]');
a1(end+1,:) = str2double(temp);
plot(a1)
drawnow
end
for i = 1:length(Gyroscope{1});
s = {Gyroscope{1,1}{i,1} Gyroscope{1,2}{i,1} Gyroscope{1,3}{i,1}};
temp = strtok(s,'[ ]');
a2(end+1,:) = str2double(temp);
end
for i = 1:length(Orientation{1});
s = {Orientation{1,1}{i,1} Orientation{1,2}{i,1} Orientation{1,3}{i,1}, Orientation{1,4}{i,1}};
temp = strtok(s,'[ ]');
a3(end+1,:) = str2double(temp);
[roll, pitch, yaw] = quat2angle(a3(end,:));
a3_e(end+1,:) = [roll pitch yaw];
end
for i = 1:length(Pose{1,2});
a4{end+1,1} = [char([Pose{1,2}{i,1}])];
end
for i = 1:length(Emg{1});
s = {Emg{1,1}{i,1} Emg{1,2}{i,1} Emg{1,3}{i,1} Emg{1,4}{i,1} Emg{1,5}{i,1} Emg{1,6}{i,1} Emg{1,7}{i,1} Emg{1,8}{i,1}};
temp = strtok(s,'[ ]');
a5(end+1,:) = str2double(temp);
end
end
end
m.acceleration = a1;
m.gyroscope = a2;
m.orientation = a3_e;
m.pose = a4;
m.emg = a5;
pyquit
end
%%
function [a1, a2, a3_e, a4, a5] = getPostData(m)
% Data is processed and shown in the workspace (not in real time)
a1 = [0 0 0];
a2 = [0 0 0];
a3 = [0 0 0 0];
a4{1,1} = 'rest>';
a5 = [0 0 0 0 0 0 0 0];
a3_e = [0 0 0];
while 1
FileID1 = fopen('Acceleration.txt');
FileID2 = fopen('Gyroscope.txt');
FileID3 = fopen('Orientation.txt');
FileID4 = fopen('Pose.txt');
FileID5 = fopen('Emg.txt');
Acceleration = textscan(FileID1,'%s %s %s');
Gyroscope = textscan(FileID2,'%s %s %s');
Orientation = textscan(FileID3,'%s %s %s %s');
Pose = textscan(FileID4,'%s %s');
Emg = textscan(FileID5,'%s %s %s %s %s %s %s %s');
fclose(FileID1);
fclose(FileID2);
fclose(FileID3);
fclose(FileID4);
fclose(FileID5);
[p1,q1] = size(a1);
[p2] = length(Gyroscope{1});
if (p1 < p2);
FileID1 = fopen('Acceleration.txt');
FileID2 = fopen('Gyroscope.txt');
FileID3 = fopen('Orientation.txt');
FileID4 = fopen('Pose.txt');
FileID5 = fopen('Emg.txt');
[p3,q3] = size(a1);
[p4,q4] = size(a2);
[p5,q5] = size(a3);
[p6,q6] = size(a4);
[p7,q7] = size(a5);
% Read data from the last retrieved row
Acceleration = textscan(FileID1,'%s %s %s','HeaderLines',p3);
Gyroscope = textscan(FileID2,'%s %s %s','HeaderLines',p4);
Orientation = textscan(FileID3,'%s %s %s %s','HeaderLines',p5);
Pose = textscan(FileID4,'%s %s','HeaderLines',p6);
Emg = textscan(FileID5,'%s %s %s %s %s %s %s %s','HeaderLines',p7);
fclose(FileID1);
fclose(FileID2);
fclose(FileID3);
fclose(FileID4);
fclose(FileID5);
% Convert to real numbers
for i = 1:length(Acceleration{1});
a1(end+1,:) = str2num([Acceleration{1,1}{i,1} Acceleration{1,2}{i,1} Acceleration{1,3}{i,1}]);
end
for i = 1:length(Gyroscope{1});
a2(end+1,:) = str2num([Gyroscope{1,1}{i,1} Gyroscope{1,2}{i,1} Gyroscope{1,3}{i,1}]);
end
for i = 1:length(Orientation{1});
a3(end+1,:) = str2num([Orientation{1,1}{i,1} Orientation{1,2}{i,1} Orientation{1,3}{i,1}, Orientation{1,4}{i,1}]);
% % quaternion conversion
[roll, pitch, yaw] = quat2angle(a3(end,:));
a3_e(end+1,:) = [roll pitch yaw];
end
for i = 1:length(Pose{1,2});
a4{end+1,1} = [char([Pose{1,2}{i,1}])];
end
for i = 1:length(Emg{1});
a5(end+1,:) = str2num([Emg{1,1}{i,1} Emg{1,2}{i,1} Emg{1,3}{i,1} Emg{1,4}{i,1} Emg{1,5}{i,1} Emg{1,6}{i,1} Emg{1,7}{i,1} Emg{1,8}{i,1}]);
end
end
if [p1,q1] == size(a1);
break
end
end
m.acceleration = a1;
m.gyroscope = a2;
m.orientation = a3_e;
m.pose = a4;
m.emg = a5;
end
end
end