Revision 2:c87703888e97, committed 2019-10-22

Comitter:

pinkyKathlea

Date:

Tue Oct 22 15:37:02 2019 +0000

Parent:

1:b862262a9d14

Commit message:

template biorobotics with biquad filter

Changed in this revision

diff -r b862262a9d14 -r c87703888e97 main.cpp
--- a/main.cpp	Wed Sep 04 15:30:13 2019 +0000
+++ b/main.cpp	Tue Oct 22 15:37:02 2019 +0000
@@ -1,23 +1,63 @@
 #include "mbed.h"
-//#include "HIDScope.h"
-//#include "QEI.h"
+#include "HIDScope.h"
+#include "QEI.h"
 #include "MODSERIAL.h"
-//#include "BiQuad.h"
-//#include "FastPWM.h"
+#include "BiQuad.h"
+#include "FastPWM.h"
+#include <iostream>
+#include <complex>
+#include <vector>
 
-DigitalOut led(LED_RED);
+InterruptIn button(SW2);
+DigitalOut led(LED1);
+DigitalOut flash(LED3);
+DigitalOut ledg(LED2);
+//char c;
+
 
 MODSERIAL pc(USBTX, USBRX);
+// Example: 4th order Butterworth LP (w_c = 0.1*f_nyquist)
+ BiQuad lowpass( 4.16599e-04, 8.33198e-04, 4.16599e-04, -1.47967e+00, 5.55822e-01 );
+ BiQuad bq2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.70096e+00, 7.88500e-01 );
+ BiQuadChain bqc;
+ 
+AnalogIn    emg0( A0 );
+AnalogIn    emg1( A1 );
+
+Ticker      sample_timer;
+HIDScope    scope( 2 );
+
+
+
+void sample()
+{
+    /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
+    scope.set(0, emg0.read() );
+    scope.set(1, emg1.read() );
+    /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) 
+    *  Ensure that enough channels are available (HIDScope scope( 2 ))
+    *  Finally, send all channels to the PC at once */
+    scope.send();
+    /* To indicate that the function is working, the LED is toggled */
+    led = !led;
+}
 
 int main()
 {
     pc.baud(115200);
     pc.printf("\r\nStarting...\r\n\r\n");
-    
-    while (true) {
-        
-        led = !led;
-        
-        wait_ms(500);
+    //pc.attach(ProcessCharacter, MODSERIAL::RxIrq);
+    pc.getc();
+
+// button.rise(&flip);  // attach the address of the flip function to the rising edge
+ 
+ 
+        sample_timer.attach(&sample, 0.002);
+     // Add the biquads to the chain
+
+
+   while(1) {           // wait around, interrupts will interrupt this!
+
     }
+
 }