Diff: main.cpp

Revision:

2:e30dbfec6d1e

Parent:

1:f6110f80fa45

Child:

3:04f3cca82b22

--- a/main.cpp	Wed Sep 09 14:46:35 2015 +0000
+++ b/main.cpp	Mon Sep 21 09:06:32 2015 +0000
@@ -1,45 +1,52 @@
 #include "mbed.h"
 #include "MODSERIAL.h"
+#include "math.h"
 #include "HIDScope.h"
- 
-DigitalOut r_led(LED_RED);
-DigitalOut g_led(LED_GREEN);
-DigitalOut b_led(LED_BLUE);
- 
-DigitalIn button(PTA4);
+
+
+AnalogIn EMG(A0);
 MODSERIAL pc(USBTX, USBRX);
 
-const int baudrate = 115200;
+//const int baudrate = 115200;
 //const int ms_wait = 100;
 
 // Define the HIDScope and Ticker objects
-HIDScope    scope(2);
-Ticker      scopeTimer;
-Ticker      controllerTimer;
- 
-const float period_led = 0.2;
- // Two analog inputs to read from
-AnalogIn    a0(p2);
-AnalogIn    a1(p3);
- 
-void controlAndMeasure()
-{
-    // Do some control
-    // ** control code here **
- 
-    // Store values in the scope
-    scope.set(0,a0.read());
-    scope.set(1,a1.read());
-}
- 
+HIDScope    scope(1);
+Ticker scopeTimer;
+// Define the storage variables and filter coeicients for two filters
+
+
+ // Define the storage variables and filter coeicients for two filters
+ double f1_v1 = 0, f1_v2 = 0, f2_v1 = 0, f2_v2 = 0;
+ const double f1_a1 = 1.0, f1_a2 = 2.0, f1_b0 = 1.0, f1_b1 = 3.0, f1_b2 = 4.0;
+ const double f2_a1 = 1.5, f2_a2 = 1.0, f2_b0 = 0.2, f2_b1 = 1.5, f2_b2 = 3.0;
+
+ double biquad( double u, double &v1, double &v2, // Input and storage variables
+ const double a1, const double a2, const double b0, const double b1, const double b2 ){
+ double v = u − a1∗v1 − a2∗v2;
+ double y = b0∗v + b1∗v1 + b2∗v2;
+ v2 = v1; v1 = v;
+ return y;
+ }
+
+ // This is your controller, call it using a Ticker
+ void myController() {
+ // double u1 = ..., u2 = ... ;
+ double y1 = biquad( u1, f1_v1, f1_v2, f1_a1, f1_a2, f1_b0, f1_b1, f1_b2 );
+ double y2 = biquad( u2, f2_v1, f2_v2, f2_a1, f2_a2, f2_b0, f2_b1, f2_b2 );
+ }
+
+
+
+
+void scopeSend(){
+u1=EMG;
+u2=y1   ;
+scope.set(0,y2.read());
+scope.send();
+ }
 int main()
-{
-    // Attach the HIDScope::send method from the scope object to the timer at 50Hz
-    scopeTimer.attach_us(&scope, &HIDScope::send, 2e4); 
- 
-    // Attach the controlAndMeasure method to the controller timer at 1kHz
-    controllerTimer.attach_us(&controlAndMeasure, 1e3);
-    
-    while(1) { }
+{  scopeTimer.attach_us(&scopeSend,1e4);
+     while(1){}
         
 }
\ No newline at end of file