emg
Dependencies: HIDScope MODSERIAL mbed-dsp mbed TouchButton
Fork of test by
main.cpp@19:fdebe6892633, 2014-10-24 (annotated)
- Committer:
- s1340735
- Date:
- Fri Oct 24 11:53:19 2014 +0000
- Revision:
- 19:fdebe6892633
- Parent:
- 18:1110be4aab6e
- Child:
- 20:5cd52a0daab0
notch filter toegevoegd
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
s1340735 | 0:abe0bc5c43b7 | 1 | #include "mbed.h" |
s1340735 | 0:abe0bc5c43b7 | 2 | #include "HIDScope.h" |
s1340735 | 0:abe0bc5c43b7 | 3 | #include "MODSERIAL.h" |
s1340735 | 0:abe0bc5c43b7 | 4 | #include "arm_math.h" |
s1340735 | 0:abe0bc5c43b7 | 5 | |
s1340735 | 2:a86b09b00008 | 6 | MODSERIAL pc(USBTX,USBRX); |
s1340735 | 2:a86b09b00008 | 7 | |
Tanja2211 | 9:a1890454e5a7 | 8 | HIDScope scope(4); |
s1340735 | 0:abe0bc5c43b7 | 9 | |
Tanja2211 | 4:231bb8f5bc81 | 10 | AnalogIn emgB(PTB1);//biceps |
Tanja2211 | 4:231bb8f5bc81 | 11 | AnalogIn emgT(PTB2); // tricep |
s1340735 | 0:abe0bc5c43b7 | 12 | |
s1340735 | 0:abe0bc5c43b7 | 13 | //*** OBJECTS *** |
s1340735 | 2:a86b09b00008 | 14 | //bicep |
Tanja2211 | 9:a1890454e5a7 | 15 | uint16_t emg_valueB; |
Tanja2211 | 9:a1890454e5a7 | 16 | float emg_value_f32B; |
s1340735 | 2:a86b09b00008 | 17 | float filtered_emgB; |
s1340735 | 0:abe0bc5c43b7 | 18 | float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3;//B1=snelheidsstand 1, B2=snelheidsstand 2, B3=snelheidsstand 3 |
s1340735 | 0:abe0bc5c43b7 | 19 | int yB1, yB2, yB3; |
Tanja2211 | 15:e779bfbeb8ea | 20 | float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, B13, B14, B15, B16, B17, B18, B19, B20, B21, B22, B23, B24, B25, B26, B27, B28, B29,MOVAVG_B; //moving average objects |
s1340735 | 1:6a8b45298e54 | 21 | int snelheidsstand; |
s1340735 | 2:a86b09b00008 | 22 | //tricep |
Tanja2211 | 9:a1890454e5a7 | 23 | uint16_t emg_valueT; |
Tanja2211 | 9:a1890454e5a7 | 24 | float emg_value_f32T; |
s1340735 | 2:a86b09b00008 | 25 | float filtered_emgT; |
s1340735 | 14:bebdb2ac5ec6 | 26 | float drempelwaardeT; |
s1340735 | 2:a86b09b00008 | 27 | int yT1, yT2; |
Tanja2211 | 15:e779bfbeb8ea | 28 | float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,MOVAVG_T; //moving average objects |
s1340735 | 14:bebdb2ac5ec6 | 29 | float MOVAVG_Positie1, MOVAVG_Positie2; |
s1340735 | 2:a86b09b00008 | 30 | int positie; |
s1340735 | 2:a86b09b00008 | 31 | |
s1340735 | 0:abe0bc5c43b7 | 32 | |
s1340735 | 0:abe0bc5c43b7 | 33 | //*** FILTERS *** |
s1340735 | 19:fdebe6892633 | 34 | arm_biquad_casd_df1_inst_f32 notchT; |
s1340735 | 19:fdebe6892633 | 35 | arm_biquad_casd_df1_inst_f32 notchB; |
s1340735 | 19:fdebe6892633 | 36 | //constants for 50Hz |
s1340735 | 19:fdebe6892633 | 37 | float notch_const[]={0.5857841106784856, -1.3007020142696517e-16, 0.5857841106784856, 1.3007020142696517e-16, -0.17156822135697122};//{a0 a1 a2 -b1 -b2} |
s1340735 | 19:fdebe6892633 | 38 | float notch_states[4]; |
s1340735 | 19:fdebe6892633 | 39 | |
Tanja2211 | 9:a1890454e5a7 | 40 | arm_biquad_casd_df1_inst_f32 lowpassT; |
Tanja2211 | 9:a1890454e5a7 | 41 | arm_biquad_casd_df1_inst_f32 lowpassB; |
s1340735 | 19:fdebe6892633 | 42 | //constants for 60Hz lowpass |
s1340735 | 19:fdebe6892633 | 43 | float lowpass_const[] = {0.39133426347022965, 0.7826685269404593, 0.39133426347022965, -0.3695259524151476, -0.19581110146577096};//{a0 a1 a2 -b1 -b2} van online calculator |
s1340735 | 0:abe0bc5c43b7 | 44 | float lowpass_states[4]; |
s1340735 | 0:abe0bc5c43b7 | 45 | |
Tanja2211 | 9:a1890454e5a7 | 46 | arm_biquad_casd_df1_inst_f32 highpassT; |
Tanja2211 | 9:a1890454e5a7 | 47 | arm_biquad_casd_df1_inst_f32 highpassB; |
s1340735 | 19:fdebe6892633 | 48 | //constants for 20Hz highpass |
Tanja2211 | 17:5fd768d0504f | 49 | float highpass_const[] = {0.6389437261127494, -1.2778874522254988, 0.6389437261127494, 1.1429772843080923, -0.41279762014290533};//{a0 a1 a2 -b1 -b2} |
s1340735 | 0:abe0bc5c43b7 | 50 | float highpass_states[4]; |
s1340735 | 0:abe0bc5c43b7 | 51 | |
Tanja2211 | 9:a1890454e5a7 | 52 | |
Tanja2211 | 9:a1890454e5a7 | 53 | // *** TRICEPS en BICEPS EMG *** |
Tanja2211 | 9:a1890454e5a7 | 54 | void Triceps() |
Tanja2211 | 9:a1890454e5a7 | 55 | { |
Tanja2211 | 9:a1890454e5a7 | 56 | //Triceps lezen |
Tanja2211 | 9:a1890454e5a7 | 57 | emg_valueT = emgT.read_u16(); |
Tanja2211 | 9:a1890454e5a7 | 58 | emg_value_f32T = emgT.read(); |
Tanja2211 | 9:a1890454e5a7 | 59 | |
Tanja2211 | 9:a1890454e5a7 | 60 | //Triceps filteren |
s1340735 | 19:fdebe6892633 | 61 | arm_biquad_cascade_df1_f32(¬chT, &emg_value_f32T, %filtered_emgT, 1); |
s1340735 | 19:fdebe6892633 | 62 | arm_biquad_cascade_df1_f32(&lowpassT, &filtered_emgT, &filtered_emgT, 1 ); |
Tanja2211 | 9:a1890454e5a7 | 63 | filtered_emgT = fabs(filtered_emgT); |
Tanja2211 | 17:5fd768d0504f | 64 | arm_biquad_cascade_df1_f32(&highpassT, &filtered_emgT, &filtered_emgT, 1 ); |
s1340735 | 19:fdebe6892633 | 65 | //filtered_emgT = fabs(filtered_emgT); |
Tanja2211 | 16:e997a6fd802a | 66 | |
Tanja2211 | 9:a1890454e5a7 | 67 | //Triceps moving average |
Tanja2211 | 9:a1890454e5a7 | 68 | T0=filtered_emgT; |
Tanja2211 | 15:e779bfbeb8ea | 69 | MOVAVG_T=T0*0.03333+T1*0.03333+T2*0.03333+T3*0.03333+T4*0.03333+T5*0.03333+T6*0.03333+T7*0.03333+T8*0.03333+T9*0.03333+T10*0.03333+T11*0.03333+T12*0.03333+T13*0.03333+T14*0.03333+T15*0.03333+T16*0.03333+T17*0.03333+T18*0.03333+T19*0.03333+T20*0.03333+T21*0.03333+T22*0.03333+T23*0.03333+T24*0.03333+T25*0.03333+T26*0.03333+T27*0.03333+T28*0.03333+T29*0.03333; |
Tanja2211 | 15:e779bfbeb8ea | 70 | T29=T28; |
Tanja2211 | 15:e779bfbeb8ea | 71 | T28=T27; |
Tanja2211 | 15:e779bfbeb8ea | 72 | T27=T26; |
Tanja2211 | 15:e779bfbeb8ea | 73 | T26=T25; |
Tanja2211 | 15:e779bfbeb8ea | 74 | T25=T24; |
Tanja2211 | 15:e779bfbeb8ea | 75 | T24=T23; |
Tanja2211 | 15:e779bfbeb8ea | 76 | T23=T22; |
Tanja2211 | 15:e779bfbeb8ea | 77 | T22=T21; |
Tanja2211 | 15:e779bfbeb8ea | 78 | T21=T20; |
Tanja2211 | 15:e779bfbeb8ea | 79 | T19=T18; |
Tanja2211 | 15:e779bfbeb8ea | 80 | T18=T17; |
Tanja2211 | 15:e779bfbeb8ea | 81 | T17=T16; |
Tanja2211 | 15:e779bfbeb8ea | 82 | T16=T15; |
Tanja2211 | 15:e779bfbeb8ea | 83 | T15=T14; |
Tanja2211 | 15:e779bfbeb8ea | 84 | T14=T13; |
Tanja2211 | 15:e779bfbeb8ea | 85 | T13=T12; |
Tanja2211 | 15:e779bfbeb8ea | 86 | T12=T11; |
Tanja2211 | 15:e779bfbeb8ea | 87 | T11=T10; |
Tanja2211 | 15:e779bfbeb8ea | 88 | T10=T9; |
Tanja2211 | 9:a1890454e5a7 | 89 | T9=T8; |
Tanja2211 | 9:a1890454e5a7 | 90 | T8=T7; |
Tanja2211 | 9:a1890454e5a7 | 91 | T7=T6; |
Tanja2211 | 9:a1890454e5a7 | 92 | T6=T5; |
Tanja2211 | 9:a1890454e5a7 | 93 | T5=T4; |
Tanja2211 | 9:a1890454e5a7 | 94 | T4=T3; |
Tanja2211 | 9:a1890454e5a7 | 95 | T3=T2; |
Tanja2211 | 9:a1890454e5a7 | 96 | T2=T1; |
Tanja2211 | 9:a1890454e5a7 | 97 | T1=T0; |
Tanja2211 | 16:e997a6fd802a | 98 | |
Tanja2211 | 16:e997a6fd802a | 99 | //sturen naar scherm (Realterm) |
Tanja2211 | 16:e997a6fd802a | 100 | pc.printf("%f\r\n",MOVAVG_T); |
Tanja2211 | 16:e997a6fd802a | 101 | |
s1340735 | 10:9319e872c752 | 102 | //sturen naar HID Scope |
Tanja2211 | 9:a1890454e5a7 | 103 | scope.set(0,emg_valueT); //ruwe data |
Tanja2211 | 9:a1890454e5a7 | 104 | scope.set(1,filtered_emgT); //filtered |
Tanja2211 | 9:a1890454e5a7 | 105 | scope.send(); |
Tanja2211 | 9:a1890454e5a7 | 106 | } |
Tanja2211 | 9:a1890454e5a7 | 107 | |
s1340735 | 0:abe0bc5c43b7 | 108 | void Biceps() |
s1340735 | 0:abe0bc5c43b7 | 109 | { |
Tanja2211 | 9:a1890454e5a7 | 110 | //Biceps lezen |
s1340735 | 0:abe0bc5c43b7 | 111 | emg_valueB = emgB.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) |
s1340735 | 0:abe0bc5c43b7 | 112 | emg_value_f32B = emgB.read(); |
s1340735 | 0:abe0bc5c43b7 | 113 | |
Tanja2211 | 9:a1890454e5a7 | 114 | //Biceps filteren |
s1340735 | 19:fdebe6892633 | 115 | arm_biquad_cascade_df1_f32(¬chB, &emg_value_f32B, &filtered_emgB, 1 ); |
s1340735 | 19:fdebe6892633 | 116 | arm_biquad_cascade_df1_f32(&lowpassB, &filtered_emgB, &filtered_emgB, 1 ); |
s1340735 | 0:abe0bc5c43b7 | 117 | filtered_emgB = fabs(filtered_emgB); |
Tanja2211 | 17:5fd768d0504f | 118 | arm_biquad_cascade_df1_f32(&highpassB, &filtered_emgB, &filtered_emgB, 1 ); |
s1340735 | 19:fdebe6892633 | 119 | //filtered_emgT = fabs(filtered_emgB); |
Tanja2211 | 17:5fd768d0504f | 120 | |
Tanja2211 | 9:a1890454e5a7 | 121 | //Biceps moving average |
s1340735 | 0:abe0bc5c43b7 | 122 | B0=filtered_emgB; |
Tanja2211 | 15:e779bfbeb8ea | 123 | MOVAVG_B=B0*0.03333+B1*0.03333+B2*0.03333+B3*0.03333+B4*0.03333+B5*0.03333+B6*0.03333+B7*0.03333+B8*0.03333+B9*0.03333+B10*0.03333+B11*0.03333+B12*0.03333+B13*0.03333+B14*0.03333+B15*0.03333+B16*0.03333+B17*0.03333+B18*0.03333+B19*0.03333+B20*0.03333+B21*0.03333+B22*0.03333+B23*0.03333+B24*0.03333+B25*0.03333+B26*0.03333+B27*0.03333+B28*0.03333+B29*0.03333; |
Tanja2211 | 15:e779bfbeb8ea | 124 | B29=B28; |
Tanja2211 | 15:e779bfbeb8ea | 125 | B28=B27; |
Tanja2211 | 15:e779bfbeb8ea | 126 | B27=B26; |
Tanja2211 | 15:e779bfbeb8ea | 127 | B26=B25; |
Tanja2211 | 15:e779bfbeb8ea | 128 | B25=B24; |
Tanja2211 | 15:e779bfbeb8ea | 129 | B24=B23; |
Tanja2211 | 15:e779bfbeb8ea | 130 | B23=B22; |
Tanja2211 | 15:e779bfbeb8ea | 131 | B22=B21; |
Tanja2211 | 15:e779bfbeb8ea | 132 | B21=B20; |
Tanja2211 | 15:e779bfbeb8ea | 133 | B19=B18; |
Tanja2211 | 15:e779bfbeb8ea | 134 | B18=B17; |
Tanja2211 | 15:e779bfbeb8ea | 135 | B17=B16; |
Tanja2211 | 15:e779bfbeb8ea | 136 | B16=B15; |
Tanja2211 | 15:e779bfbeb8ea | 137 | B15=B14; |
Tanja2211 | 15:e779bfbeb8ea | 138 | B14=B13; |
Tanja2211 | 15:e779bfbeb8ea | 139 | B13=B12; |
Tanja2211 | 15:e779bfbeb8ea | 140 | B12=B11; |
Tanja2211 | 15:e779bfbeb8ea | 141 | B11=B10; |
Tanja2211 | 15:e779bfbeb8ea | 142 | B10=B9; |
s1340735 | 0:abe0bc5c43b7 | 143 | B9=B8; |
s1340735 | 0:abe0bc5c43b7 | 144 | B8=B7; |
s1340735 | 0:abe0bc5c43b7 | 145 | B7=B6; |
s1340735 | 0:abe0bc5c43b7 | 146 | B6=B5; |
s1340735 | 0:abe0bc5c43b7 | 147 | B5=B4; |
s1340735 | 0:abe0bc5c43b7 | 148 | B4=B3; |
s1340735 | 0:abe0bc5c43b7 | 149 | B3=B2; |
s1340735 | 0:abe0bc5c43b7 | 150 | B2=B1; |
s1340735 | 0:abe0bc5c43b7 | 151 | B1=B0; |
s1340735 | 0:abe0bc5c43b7 | 152 | |
Tanja2211 | 16:e997a6fd802a | 153 | //sturen naar scherm |
Tanja2211 | 16:e997a6fd802a | 154 | pc.printf("%f\r\n",MOVAVG_B); |
Tanja2211 | 16:e997a6fd802a | 155 | |
s1340735 | 10:9319e872c752 | 156 | //naar HID Scope |
Tanja2211 | 6:ad6d4bd69205 | 157 | scope.set(2,emg_valueB); //ruwe data |
Tanja2211 | 6:ad6d4bd69205 | 158 | scope.set(3,filtered_emgB); //filtered |
Tanja2211 | 5:3232d78cb7b3 | 159 | scope.send(); |
s1340735 | 2:a86b09b00008 | 160 | } |
s1340735 | 0:abe0bc5c43b7 | 161 | |
s1340735 | 19:fdebe6892633 | 162 | |
s1340735 | 0:abe0bc5c43b7 | 163 | // *** MAIN *** |
s1340735 | 2:a86b09b00008 | 164 | int main() |
Tanja2211 | 9:a1890454e5a7 | 165 | { |
Tanja2211 | 9:a1890454e5a7 | 166 | pc.baud(115200); |
s1340735 | 10:9319e872c752 | 167 | |
s1340735 | 14:bebdb2ac5ec6 | 168 | //bepaling van positie met triceps 1 |
s1340735 | 14:bebdb2ac5ec6 | 169 | Ticker log_timerT1; |
s1340735 | 19:fdebe6892633 | 170 | |
s1340735 | 19:fdebe6892633 | 171 | arm_biquad_cascade_df1_init_f32(¬chT,1,notch_const,notch_states); |
Tanja2211 | 9:a1890454e5a7 | 172 | arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states); |
Tanja2211 | 9:a1890454e5a7 | 173 | arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states); |
s1340735 | 2:a86b09b00008 | 174 | |
s1340735 | 14:bebdb2ac5ec6 | 175 | log_timerT1.attach(Triceps, 0.005); |
Tanja2211 | 16:e997a6fd802a | 176 | wait(30); //log_timerT wordt 2000 keer uitgevoerd |
s1340735 | 14:bebdb2ac5ec6 | 177 | log_timerT1.detach(); |
Tanja2211 | 15:e779bfbeb8ea | 178 | |
s1340735 | 14:bebdb2ac5ec6 | 179 | MOVAVG_T=MOVAVG_Positie1; |
Tanja2211 | 15:e779bfbeb8ea | 180 | |
s1340735 | 14:bebdb2ac5ec6 | 181 | //bepaling van positie met tricep 2 |
s1340735 | 14:bebdb2ac5ec6 | 182 | Ticker log_timerT2; |
s1340735 | 14:bebdb2ac5ec6 | 183 | |
s1340735 | 14:bebdb2ac5ec6 | 184 | log_timerT2.attach(Triceps, 0.005); |
Tanja2211 | 16:e997a6fd802a | 185 | wait(30); |
s1340735 | 14:bebdb2ac5ec6 | 186 | log_timerT2.detach(); |
Tanja2211 | 15:e779bfbeb8ea | 187 | |
s1340735 | 14:bebdb2ac5ec6 | 188 | MOVAVG_T=MOVAVG_Positie2; |
s1340735 | 14:bebdb2ac5ec6 | 189 | |
s1340735 | 10:9319e872c752 | 190 | // positie van batje met behulp van Triceps |
s1340735 | 14:bebdb2ac5ec6 | 191 | drempelwaardeT=0.0001; |
s1340735 | 10:9319e872c752 | 192 | |
s1340735 | 14:bebdb2ac5ec6 | 193 | if (MOVAVG_Positie1 >= drempelwaardeT) { |
s1340735 | 2:a86b09b00008 | 194 | yT1=1; |
s1340735 | 14:bebdb2ac5ec6 | 195 | if (MOVAVG_Positie2 >= drempelwaardeT) { |
s1340735 | 2:a86b09b00008 | 196 | yT2=1; |
s1340735 | 2:a86b09b00008 | 197 | } else { |
s1340735 | 2:a86b09b00008 | 198 | yT2=0; |
s1340735 | 2:a86b09b00008 | 199 | } |
s1340735 | 2:a86b09b00008 | 200 | } else { |
s1340735 | 2:a86b09b00008 | 201 | yT1=0; |
s1340735 | 2:a86b09b00008 | 202 | } |
Tanja2211 | 15:e779bfbeb8ea | 203 | |
s1340735 | 10:9319e872c752 | 204 | //*** INPUT MOTOR 2 *** |
s1340735 | 10:9319e872c752 | 205 | positie=yT1+yT2; |
s1340735 | 0:abe0bc5c43b7 | 206 | |
s1340735 | 2:a86b09b00008 | 207 | //controle positie op scherm |
s1340735 | 2:a86b09b00008 | 208 | if (positie==0) { |
s1340735 | 2:a86b09b00008 | 209 | pc.printf("Motor 2 gaat naar stand 0\n"); |
s1340735 | 2:a86b09b00008 | 210 | } else { |
s1340735 | 2:a86b09b00008 | 211 | if (positie==1) { |
s1340735 | 2:a86b09b00008 | 212 | pc.printf("Motor 2 gaat naar stand 1\n"); |
s1340735 | 2:a86b09b00008 | 213 | } else { |
s1340735 | 2:a86b09b00008 | 214 | if (positie==2) { |
s1340735 | 2:a86b09b00008 | 215 | pc.printf("Motor 1 beweegt met snelheid 2\n"); |
s1340735 | 2:a86b09b00008 | 216 | } |
s1340735 | 2:a86b09b00008 | 217 | } |
s1340735 | 2:a86b09b00008 | 218 | } |
s1340735 | 10:9319e872c752 | 219 | |
s1340735 | 11:5044290660b0 | 220 | wait(5); |
s1340735 | 11:5044290660b0 | 221 | |
s1340735 | 11:5044290660b0 | 222 | Ticker log_timerB; |
s1340735 | 19:fdebe6892633 | 223 | |
s1340735 | 19:fdebe6892633 | 224 | arm_biquad_cascade_df1_init_f32(¬chB,1,notch_const,notch_states); |
s1340735 | 11:5044290660b0 | 225 | arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states); |
s1340735 | 11:5044290660b0 | 226 | arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states); |
s1340735 | 11:5044290660b0 | 227 | |
s1340735 | 11:5044290660b0 | 228 | log_timerB.attach(Biceps,0.005); |
Tanja2211 | 18:1110be4aab6e | 229 | wait(60);//log_timerB wordt 2000 keer uitgevoerd |
s1340735 | 11:5044290660b0 | 230 | log_timerB.detach(); |
s1340735 | 14:bebdb2ac5ec6 | 231 | |
s1340735 | 2:a86b09b00008 | 232 | //bepaling van snelheidsstand met biceps |
Tanja2211 | 9:a1890454e5a7 | 233 | |
s1340735 | 14:bebdb2ac5ec6 | 234 | drempelwaardeB1=0.0001; |
s1340735 | 14:bebdb2ac5ec6 | 235 | drempelwaardeB2=0.001; |
s1340735 | 14:bebdb2ac5ec6 | 236 | drempelwaardeB3=0.01; |
s1340735 | 2:a86b09b00008 | 237 | |
s1340735 | 2:a86b09b00008 | 238 | if (MOVAVG_B >= drempelwaardeB1) { |
s1340735 | 2:a86b09b00008 | 239 | yB1=1; |
s1340735 | 2:a86b09b00008 | 240 | if (MOVAVG_B >= drempelwaardeB2) { |
s1340735 | 2:a86b09b00008 | 241 | yB2=1; |
s1340735 | 2:a86b09b00008 | 242 | if (MOVAVG_B >= drempelwaardeB3) { |
s1340735 | 2:a86b09b00008 | 243 | yB3=1; |
s1340735 | 0:abe0bc5c43b7 | 244 | } else { |
s1340735 | 2:a86b09b00008 | 245 | yB3=0; |
s1340735 | 0:abe0bc5c43b7 | 246 | } |
s1340735 | 0:abe0bc5c43b7 | 247 | } else { |
s1340735 | 2:a86b09b00008 | 248 | yB2=0; |
s1340735 | 0:abe0bc5c43b7 | 249 | } |
s1340735 | 2:a86b09b00008 | 250 | } else { |
s1340735 | 2:a86b09b00008 | 251 | yB1=0; |
s1340735 | 2:a86b09b00008 | 252 | } |
s1340735 | 0:abe0bc5c43b7 | 253 | |
s1340735 | 10:9319e872c752 | 254 | //*** INPUT MOTOR 1 *** |
s1340735 | 10:9319e872c752 | 255 | snelheidsstand=yB1+yB2+yB3; |
s1340735 | 0:abe0bc5c43b7 | 256 | |
s1340735 | 2:a86b09b00008 | 257 | //controle snelheidsstand op scherm |
s1340735 | 2:a86b09b00008 | 258 | if (snelheidsstand==0) { |
s1340735 | 2:a86b09b00008 | 259 | pc.printf("Motor 1 beweegt niet\n"); |
s1340735 | 2:a86b09b00008 | 260 | } else { |
s1340735 | 1:6a8b45298e54 | 261 | if (snelheidsstand==1) { |
s1340735 | 1:6a8b45298e54 | 262 | pc.printf("Motor 1 beweegt met snelheid 1\n"); |
s1340735 | 1:6a8b45298e54 | 263 | } else { |
s1340735 | 2:a86b09b00008 | 264 | if (snelheidsstand==2) { |
s1340735 | 2:a86b09b00008 | 265 | pc.printf("Motor 1 beweegt met snelheid 2\n"); |
s1340735 | 2:a86b09b00008 | 266 | } else { |
s1340735 | 2:a86b09b00008 | 267 | if (snelheidsstand==3) { |
s1340735 | 2:a86b09b00008 | 268 | pc.printf("Motor 1 beweegt met snelheid 3\n"); |
s1340735 | 2:a86b09b00008 | 269 | } |
s1340735 | 2:a86b09b00008 | 270 | } |
s1340735 | 1:6a8b45298e54 | 271 | } |
s1340735 | 1:6a8b45298e54 | 272 | } |
s1340735 | 10:9319e872c752 | 273 | } |