Biorobotics / Mbed 2 deprecated EMG_TESTING_SIMPLE

a biquad working

Dependencies:   HIDScope mbed QEI

main.cpp@4:61d5e7417c4c, 2015-10-27 (annotated)

Committer:
yohoo15
Date:
Tue Oct 27 14:13:48 2015 +0000
Revision:
4:61d5e7417c4c
Parent:
3:2f75bb307da3 
Work in progress;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yohoo15 0:fc207e186e8b 1 #include "mbed.h"
yohoo15 0:fc207e186e8b 2 //#include "read_filter_emg.h"
yohoo15 0:fc207e186e8b 3 //included for fabs() function
yohoo15 0:fc207e186e8b 4 #include <math.h>
yohoo15 0:fc207e186e8b 5 #include "HIDScope.h"
yohoo15 0:fc207e186e8b 6 #include <iostream>
yohoo15 3:2f75bb307da3 7 #include "QEI.h"
yohoo15 3:2f75bb307da3 8
yohoo15 3:2f75bb307da3 9
yohoo15 3:2f75bb307da3 10
yohoo15 3:2f75bb307da3 11
yohoo15 3:2f75bb307da3 12 Serial pc(USBTX, USBRX);
yohoo15 0:fc207e186e8b 13
yohoo15 0:fc207e186e8b 14 Ticker HIDScope_timer;
yohoo15 0:fc207e186e8b 15 Ticker Filteren_timer;
yohoo15 3:2f75bb307da3 16 Ticker aansturen;
yohoo15 3:2f75bb307da3 17
yohoo15 0:fc207e186e8b 18 HIDScope scope(2);
yohoo15 0:fc207e186e8b 19
yohoo15 0:fc207e186e8b 20 // defining flags
yohoo15 0:fc207e186e8b 21 volatile bool Flag_filteren = false;
yohoo15 0:fc207e186e8b 22 volatile bool Flag_HIDScope = false;
yohoo15 3:2f75bb307da3 23 volatile bool left_movement = false;
yohoo15 0:fc207e186e8b 24
yohoo15 0:fc207e186e8b 25 // making function flags.
yohoo15 0:fc207e186e8b 26 void Go_flag_filteren()
yohoo15 0:fc207e186e8b 27 {
yohoo15 0:fc207e186e8b 28 Flag_filteren = true;
yohoo15 0:fc207e186e8b 29 }
yohoo15 0:fc207e186e8b 30
yohoo15 0:fc207e186e8b 31 void Go_flag_HIDScope()
yohoo15 0:fc207e186e8b 32 {
yohoo15 0:fc207e186e8b 33 Flag_HIDScope = true;
yohoo15 0:fc207e186e8b 34 }
yohoo15 0:fc207e186e8b 35
yohoo15 0:fc207e186e8b 36 AnalogIn analog_emg_left(A0);
yohoo15 4:61d5e7417c4c 37 AnalogIn analog_emg_right(A1);
yohoo15 0:fc207e186e8b 38 double input = 0;
yohoo15 0:fc207e186e8b 39 double filter_signal_hid = 0;
yohoo15 0:fc207e186e8b 40 //double input_right = 0;
yohoo15 0:fc207e186e8b 41
yohoo15 2:241b572207fb 42
yohoo15 2:241b572207fb 43 //*** making the v for everything and conquer the world***
yohoo15 2:241b572207fb 44
yohoo15 2:241b572207fb 45 //for Notchfilter
yohoo15 2:241b572207fb 46 double notch_v11=0;
yohoo15 2:241b572207fb 47 double notch_v21=0;
yohoo15 2:241b572207fb 48 double notch_v12=0;
yohoo15 2:241b572207fb 49 double notch_v22=0;
yohoo15 2:241b572207fb 50 double notch_v13=0;
yohoo15 2:241b572207fb 51 double notch_v23=0;
yohoo15 2:241b572207fb 52
yohoo15 2:241b572207fb 53 //for highpass filter
yohoo15 2:241b572207fb 54 double high_v11=0;
yohoo15 2:241b572207fb 55 double high_v21=0;
yohoo15 2:241b572207fb 56 double high_v12=0;
yohoo15 2:241b572207fb 57 double high_v22=0;
yohoo15 2:241b572207fb 58 double high_v13=0;
yohoo15 2:241b572207fb 59 double high_v23=0;
yohoo15 2:241b572207fb 60
yohoo15 2:241b572207fb 61 // for lowpasfilter
yohoo15 1:ee877d784c40 62 double low_v11=0;
yohoo15 1:ee877d784c40 63 double low_v21=0;
yohoo15 1:ee877d784c40 64 double low_v12=0;
yohoo15 1:ee877d784c40 65 double low_v22=0;
yohoo15 1:ee877d784c40 66 double low_v13=0;
yohoo15 1:ee877d784c40 67 double low_v23=0;
yohoo15 2:241b572207fb 68
yohoo15 2:241b572207fb 69 // for moving average
yohoo15 2:241b572207fb 70 double n1 = 0;
yohoo15 2:241b572207fb 71 double n2 = 0;
yohoo15 2:241b572207fb 72 double n3 = 0;
yohoo15 2:241b572207fb 73 double n4 = 0;
yohoo15 2:241b572207fb 74 double n5 = 0;
yohoo15 0:fc207e186e8b 75
yohoo15 0:fc207e186e8b 76 double filter_left;
yohoo15 0:fc207e186e8b 77 double filter_right;
yohoo15 0:fc207e186e8b 78
yohoo15 0:fc207e186e8b 79 //general biquad filter that can be called in all the filter functions
yohoo15 0:fc207e186e8b 80 double biquad(double u, double &v1, double &v2, const double a1,
yohoo15 0:fc207e186e8b 81 const double a2, const double b0, const double b1, const double b2)
yohoo15 0:fc207e186e8b 82 {
yohoo15 0:fc207e186e8b 83 double v = u - a1*v1 - a2*v2;
yohoo15 0:fc207e186e8b 84 double y = b0*v + b1*v1 + b2*v2;
yohoo15 0:fc207e186e8b 85 //values of v2 and v1 are updated, as they are passed by reference
yohoo15 0:fc207e186e8b 86 //they update globally
yohoo15 0:fc207e186e8b 87 v2 = v1;
yohoo15 0:fc207e186e8b 88 v1 = v;
yohoo15 0:fc207e186e8b 89 return y;
yohoo15 0:fc207e186e8b 90 }
yohoo15 0:fc207e186e8b 91
yohoo15 2:241b572207fb 92 double moving_average(double y, double &n1, double &n2, double &n3, double &n4, double &n5)
yohoo15 2:241b572207fb 93 {
yohoo15 3:2f75bb307da3 94 double average = (y + n1 + n2 +n3 + n4 + n5)/5;
yohoo15 3:2f75bb307da3 95 n5 = n4;
yohoo15 3:2f75bb307da3 96 n4 = n3;
yohoo15 3:2f75bb307da3 97 n3 = n2;
yohoo15 3:2f75bb307da3 98 n2 = n1;
yohoo15 3:2f75bb307da3 99 n1 = y;
yohoo15 3:2f75bb307da3 100
yohoo15 3:2f75bb307da3 101 return average;
yohoo15 2:241b572207fb 102 }
yohoo15 3:2f75bb307da3 103 /*
yohoo15 3:2f75bb307da3 104 double threshold(double signal, const double lowtreshold, const double hightreshold)
yohoo15 3:2f75bb307da3 105 {
yohoo15 3:2f75bb307da3 106 if (signal > hightreshold)
yohoo15 3:2f75bb307da3 107 left = true;
yohoo15 3:2f75bb307da3 108 else if (signal <lowtreshold)
yohoo15 3:2f75bb307da3 109 left = false;
yohoo15 3:2f75bb307da3 110 }
yohoo15 3:2f75bb307da3 111 */
yohoo15 2:241b572207fb 112 //Specifying filter coefficients highpass
yohoo15 2:241b572207fb 113
yohoo15 2:241b572207fb 114 /* notch filter with 3 cascaded biquads*/
yohoo15 2:241b572207fb 115 //first notch biquad
yohoo15 2:241b572207fb 116 const double notch1_a1 = -1.55951422433;
yohoo15 2:241b572207fb 117 const double notch1_a2 = 0.92705680308;
yohoo15 2:241b572207fb 118 const double notch1_b0 = 1.00000000000;
yohoo15 2:241b572207fb 119 const double notch1_b1 = -1.61854515325;
yohoo15 2:241b572207fb 120 const double notch1_b2 = 1.00000000000;
yohoo15 2:241b572207fb 121
yohoo15 2:241b572207fb 122 //second notch biquad
yohoo15 2:241b572207fb 123 const double notch2_a1 = -1.54767435801;
yohoo15 2:241b572207fb 124 const double notch2_a2 = 0.96124842048;
yohoo15 2:241b572207fb 125 const double notch2_b0 = 1.00000000000;
yohoo15 2:241b572207fb 126 const double notch2_b1 = -1.61854515325;
yohoo15 2:241b572207fb 127 const double notch2_b2 = 1.00000000000;
yohoo15 2:241b572207fb 128
yohoo15 2:241b572207fb 129 //third notch biquad
yohoo15 2:241b572207fb 130 const double notch3_a1 = -1.62600366964;
yohoo15 2:241b572207fb 131 const double notch3_a2 = 0.96453460373;
yohoo15 2:241b572207fb 132 const double notch3_b0 = 1.00000000000;
yohoo15 2:241b572207fb 133 const double notch3_b1 = -1.61854515325;
yohoo15 2:241b572207fb 134 const double notch3_b2 = 1.00000000000;
yohoo15 2:241b572207fb 135
yohoo15 2:241b572207fb 136 /* high pass filter consists of three cascaded biquads
yohoo15 2:241b572207fb 137 blow coefficients for those three biquads */
yohoo15 2:241b572207fb 138 //first high pass biquad
yohoo15 2:241b572207fb 139 const double highp1_a1 = -0.67538034389;
yohoo15 2:241b572207fb 140 const double highp1_a2 = 0.12769255668;
yohoo15 2:241b572207fb 141 const double highp1_b0 = 1.00000000000;
yohoo15 2:241b572207fb 142 const double highp1_b1 = -2.00000000000;
yohoo15 2:241b572207fb 143 const double highp1_b2 = 1.00000000000;
yohoo15 2:241b572207fb 144
yohoo15 2:241b572207fb 145 //second high pass biquad
yohoo15 2:241b572207fb 146 const double highp2_a1 = -0.76475499450;
yohoo15 2:241b572207fb 147 const double highp2_a2 = 0.27692273367;
yohoo15 2:241b572207fb 148 const double highp2_b0 = 1.00000000000;
yohoo15 2:241b572207fb 149 const double highp2_b1 = -2.00000000000;
yohoo15 2:241b572207fb 150 const double highp2_b2 = 1.00000000000;
yohoo15 2:241b572207fb 151
yohoo15 2:241b572207fb 152 //third high pass biquad
yohoo15 2:241b572207fb 153 const double highp3_a1 = -0.99216561242;
yohoo15 2:241b572207fb 154 const double highp3_a2 = 0.65663360837;
yohoo15 2:241b572207fb 155 const double highp3_b0 = 1.00000000000;
yohoo15 2:241b572207fb 156 const double highp3_b1 = -2.00000000000;
yohoo15 2:241b572207fb 157 const double highp3_b2 = 1.00000000000;
yohoo15 0:fc207e186e8b 158
yohoo15 0:fc207e186e8b 159 /* lowpass filter consists of three cascaded biquads
yohoo15 0:fc207e186e8b 160 below the coefficients for those three biquads */
yohoo15 1:ee877d784c40 161 //first low pass biquad
yohoo15 1:ee877d784c40 162 const double lowp1_a1 = -1.05207469728;
yohoo15 1:ee877d784c40 163 const double lowp1_a2 = 0.28586907478;
yohoo15 0:fc207e186e8b 164 const double lowp1_b0 = 1.00000000000;
yohoo15 0:fc207e186e8b 165 const double lowp1_b1 = 2.00000000000;
yohoo15 0:fc207e186e8b 166 const double lowp1_b2 = 1.00000000000;
yohoo15 0:fc207e186e8b 167
yohoo15 1:ee877d784c40 168 //second low pass biquad
yohoo15 0:fc207e186e8b 169 const double lowp2_a1 = -1.16338171052;
yohoo15 0:fc207e186e8b 170 const double lowp2_a2 = 0.42191097989;
yohoo15 0:fc207e186e8b 171 const double lowp2_b0 = 1.00000000000;
yohoo15 0:fc207e186e8b 172 const double lowp2_b1 = 2.00000000000;
yohoo15 0:fc207e186e8b 173 const double lowp2_b2 = 1.00000000000;
yohoo15 0:fc207e186e8b 174
yohoo15 1:ee877d784c40 175 //third low pass biquad
yohoo15 1:ee877d784c40 176 const double lowp3_a1 = -1.42439823874;
yohoo15 1:ee877d784c40 177 const double lowp3_a2 = 0.74093118112;
yohoo15 1:ee877d784c40 178 const double lowp3_b0 = 1.00000000000;
yohoo15 1:ee877d784c40 179 const double lowp3_b1 = 2.00000000000;
yohoo15 1:ee877d784c40 180 const double lowp3_b2 = 1.00000000000;
yohoo15 0:fc207e186e8b 181
yohoo15 0:fc207e186e8b 182
yohoo15 0:fc207e186e8b 183
yohoo15 0:fc207e186e8b 184 double Filteren()
yohoo15 0:fc207e186e8b 185 {
yohoo15 0:fc207e186e8b 186 input = analog_emg_left.read();
yohoo15 2:241b572207fb 187 input = input-0.45; //FIRST SUBTRACT MEAN THEN FILTER
yohoo15 0:fc207e186e8b 188 //input_right = analog_emg_right.read();
yohoo15 3:2f75bb307da3 189
yohoo15 2:241b572207fb 190 // notch filter
yohoo15 2:241b572207fb 191 double y1 = biquad(input, notch_v11, notch_v21, notch1_a1, notch1_a2, notch1_b0, notch1_b1, notch1_b2);
yohoo15 2:241b572207fb 192 double y2 = biquad(y1, notch_v12, notch_v22, notch2_a1, notch2_a2, notch2_b0, notch2_b1, notch2_b2);
yohoo15 2:241b572207fb 193 double y3 = biquad(y2, notch_v13, notch_v23, notch3_a1, notch3_a2, notch3_b0, notch3_b1, notch3_b2);
yohoo15 3:2f75bb307da3 194
yohoo15 2:241b572207fb 195 //higpass filter
yohoo15 2:241b572207fb 196 double y4 = biquad(y3, high_v11, high_v21, highp1_a1, highp1_a2, highp1_b0, highp1_b1, highp1_b2);
yohoo15 2:241b572207fb 197 double y5 = biquad(y4, high_v12, high_v22, highp2_a1, highp2_a2, highp2_b0, highp2_b1, highp2_b2);
yohoo15 2:241b572207fb 198 double y6 = biquad(y5, high_v13, high_v23, highp3_a1, highp3_a2, highp3_b0, highp3_b1, highp3_b2);
yohoo15 2:241b572207fb 199
yohoo15 3:2f75bb307da3 200 //rectivier
yohoo15 2:241b572207fb 201 double y7 = fabs(y6);
yohoo15 2:241b572207fb 202
yohoo15 2:241b572207fb 203 //lowpas filter cascade
yohoo15 2:241b572207fb 204 double y8 = biquad(y7, low_v11, low_v21, lowp1_a1, lowp1_a2, lowp1_b0, lowp1_b1, lowp1_b2);
yohoo15 2:241b572207fb 205 double y9 = biquad(y8, low_v12, low_v22, lowp2_a1, lowp2_a2, lowp2_b0, lowp2_b1, lowp2_b2);
yohoo15 2:241b572207fb 206 double y10= biquad(y9, low_v13, low_v23, lowp3_a1, lowp3_a2, lowp3_b0, lowp3_b1, lowp3_b2);
yohoo15 3:2f75bb307da3 207
yohoo15 3:2f75bb307da3 208 // moving average
yohoo15 2:241b572207fb 209 double filter_signal = moving_average(y10,n1,n2,n3,n4,n5);
yohoo15 2:241b572207fb 210
yohoo15 3:2f75bb307da3 211 double high_threshold = 1200;
yohoo15 3:2f75bb307da3 212 double low_threshold = 500;
yohoo15 3:2f75bb307da3 213
yohoo15 3:2f75bb307da3 214 if (filter_signal > high_threshold) {
yohoo15 3:2f75bb307da3 215 left_movement = true;
yohoo15 3:2f75bb307da3 216 } else if (filter_signal < low_threshold) {
yohoo15 3:2f75bb307da3 217 left_movement = false;
yohoo15 3:2f75bb307da3 218 }
yohoo15 3:2f75bb307da3 219
yohoo15 2:241b572207fb 220 return(filter_signal);
yohoo15 0:fc207e186e8b 221 }
yohoo15 3:2f75bb307da3 222
yohoo15 4:61d5e7417c4c 223 /*************************************************************BEGIN motor control******************************************************************************************************/
yohoo15 4:61d5e7417c4c 224 // Define pin for motor control
yohoo15 4:61d5e7417c4c 225 DigitalOut directionPin(D4);
yohoo15 4:61d5e7417c4c 226 PwmOut PWM(D5);
yohoo15 4:61d5e7417c4c 227 DigitalIn buttonccw(PTA4);
yohoo15 4:61d5e7417c4c 228 DigitalIn buttoncw(PTC6);
yohoo15 4:61d5e7417c4c 229
yohoo15 4:61d5e7417c4c 230 QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in)
yohoo15 4:61d5e7417c4c 231 // define ticker
yohoo15 4:61d5e7417c4c 232
yohoo15 4:61d5e7417c4c 233 // define rotation direction and begin possition
yohoo15 4:61d5e7417c4c 234 const int cw = 1;
yohoo15 4:61d5e7417c4c 235 const int ccw = 0;
yohoo15 4:61d5e7417c4c 236 double setpoint = 0; //setpoint is in pulses
yohoo15 4:61d5e7417c4c 237
yohoo15 4:61d5e7417c4c 238 // saying buttons are not pressed
yohoo15 4:61d5e7417c4c 239 const int Buttoncw_pressed = 0;
yohoo15 4:61d5e7417c4c 240 const int Buttonccw_pressed = 0;
yohoo15 4:61d5e7417c4c 241
yohoo15 4:61d5e7417c4c 242 // Controller gain proportional and intergrator
yohoo15 4:61d5e7417c4c 243 const double motor1_Kp = 5; // more or les random number.
yohoo15 4:61d5e7417c4c 244 const double motor1_Ki = 0;
yohoo15 4:61d5e7417c4c 245 const double M1_timestep = 0.01; // reason ticker works with 100 Hz.
yohoo15 4:61d5e7417c4c 246 double motor1_error_integraal = 0; // initial value of integral error
yohoo15 4:61d5e7417c4c 247 // Defining pulses per revolution (calculating pulses to rotations in degree.)
yohoo15 4:61d5e7417c4c 248 const double pulses_per_revolution = 4200 ;//8400 counts is aangegeven op de motor for x4. 10 - 30 counts oveshoot. for moter 1(tape)! Motor 2 almost the same(nice)
yohoo15 4:61d5e7417c4c 249 /*
yohoo15 4:61d5e7417c4c 250 double Rotation = -2; // rotation
yohoo15 4:61d5e7417c4c 251 double movement = Rotation * pulses_per_revolution; // times 360 to make Rotations degree.
yohoo15 4:61d5e7417c4c 252 */
yohoo15 4:61d5e7417c4c 253
yohoo15 4:61d5e7417c4c 254 // defining flags
yohoo15 4:61d5e7417c4c 255 volatile bool flag_motor = false;
yohoo15 4:61d5e7417c4c 256
yohoo15 4:61d5e7417c4c 257 // making function flags.
yohoo15 4:61d5e7417c4c 258 void Go_flag_motor()
yohoo15 4:61d5e7417c4c 259 {
yohoo15 4:61d5e7417c4c 260 flag_motor = true;
yohoo15 4:61d5e7417c4c 261 }
yohoo15 4:61d5e7417c4c 262
yohoo15 3:2f75bb307da3 263
yohoo15 4:61d5e7417c4c 264 // To make a new setpoint
yohoo15 4:61d5e7417c4c 265 double making_setpoint(double direction){
yohoo15 4:61d5e7417c4c 266 if ( cw == direction){
yohoo15 4:61d5e7417c4c 267 setpoint = setpoint + (pulses_per_revolution/40000);
yohoo15 4:61d5e7417c4c 268 }
yohoo15 4:61d5e7417c4c 269 if ( ccw == direction){
yohoo15 4:61d5e7417c4c 270 setpoint = setpoint - (pulses_per_revolution/40000);
yohoo15 4:61d5e7417c4c 271 }
yohoo15 4:61d5e7417c4c 272 return(setpoint);
yohoo15 4:61d5e7417c4c 273
yohoo15 4:61d5e7417c4c 274 }
yohoo15 4:61d5e7417c4c 275
yohoo15 4:61d5e7417c4c 276 // Reusable P controller
yohoo15 4:61d5e7417c4c 277 double PI(double error, const double Kp, const double Ki, double Ts, double &e_int)
yohoo15 4:61d5e7417c4c 278 {
yohoo15 4:61d5e7417c4c 279
yohoo15 4:61d5e7417c4c 280 e_int = e_int + Ts * error;
yohoo15 4:61d5e7417c4c 281
yohoo15 4:61d5e7417c4c 282 double PI_output = (Kp * error) + (Ki * e_int);
yohoo15 4:61d5e7417c4c 283 return PI_output;
yohoo15 4:61d5e7417c4c 284 }
yohoo15 4:61d5e7417c4c 285 // Next task, measure the error and apply the output to the plant
yohoo15 4:61d5e7417c4c 286 void motor1_Controller()
yohoo15 4:61d5e7417c4c 287 {
yohoo15 4:61d5e7417c4c 288 double reference = setpoint; // setpoint is in pulses
yohoo15 4:61d5e7417c4c 289 double position = wheel.getPulses();
yohoo15 4:61d5e7417c4c 290 double error_pulses = (reference - position); // calculate the error in pulses
yohoo15 4:61d5e7417c4c 291 double error_rotation = error_pulses / pulses_per_revolution; //calculate how much the rotaions the motor has to turn
yohoo15 4:61d5e7417c4c 292
yohoo15 4:61d5e7417c4c 293 double output = abs(PI( error_rotation, motor1_Kp, motor1_Ki, M1_timestep, motor1_error_integraal ));
yohoo15 4:61d5e7417c4c 294
yohoo15 4:61d5e7417c4c 295 if(error_pulses > 0) {
yohoo15 4:61d5e7417c4c 296 directionPin.write(cw);
yohoo15 4:61d5e7417c4c 297
yohoo15 4:61d5e7417c4c 298 }
yohoo15 4:61d5e7417c4c 299 else if(error_pulses < 0) {
yohoo15 4:61d5e7417c4c 300 directionPin.write(ccw);
yohoo15 4:61d5e7417c4c 301 }
yohoo15 4:61d5e7417c4c 302 else{
yohoo15 4:61d5e7417c4c 303 output = 0;
yohoo15 4:61d5e7417c4c 304 }
yohoo15 4:61d5e7417c4c 305 PWM.write(output); // out of the if loop due to abs output
yohoo15 4:61d5e7417c4c 306
yohoo15 4:61d5e7417c4c 307
yohoo15 4:61d5e7417c4c 308 }
yohoo15 4:61d5e7417c4c 309
yohoo15 4:61d5e7417c4c 310 /*************************************************************END motor control******************************************************************************************************/
yohoo15 3:2f75bb307da3 311
yohoo15 0:fc207e186e8b 312 void HIDScope_kijken()
yohoo15 0:fc207e186e8b 313 {
yohoo15 0:fc207e186e8b 314 scope.set(0, input);
yohoo15 0:fc207e186e8b 315 scope.set(1, filter_signal_hid);
yohoo15 0:fc207e186e8b 316 scope.send();
yohoo15 0:fc207e186e8b 317 }
yohoo15 0:fc207e186e8b 318 int main()
yohoo15 0:fc207e186e8b 319 {
yohoo15 4:61d5e7417c4c 320 aansturen.attach( &Go_flag_motor, 0.01f ); // 100 Hz // timer 0.00001f motor keeps spinning
yohoo15 4:61d5e7417c4c 321 HIDScope_timer.attach(&Go_flag_HIDScope, 0.02);
yohoo15 4:61d5e7417c4c 322 Filteren_timer.attach(&Go_flag_filteren,0.04);
yohoo15 2:241b572207fb 323 while(1) {
yohoo15 2:241b572207fb 324 if(Flag_filteren) {
yohoo15 0:fc207e186e8b 325 Flag_filteren = false;
yohoo15 0:fc207e186e8b 326 filter_signal_hid = Filteren();
yohoo15 4:61d5e7417c4c 327
yohoo15 0:fc207e186e8b 328 }
yohoo15 0:fc207e186e8b 329
yohoo15 0:fc207e186e8b 330 if(Flag_HIDScope) {
yohoo15 0:fc207e186e8b 331 Flag_HIDScope = false;
yohoo15 0:fc207e186e8b 332 HIDScope_kijken();
yohoo15 4:61d5e7417c4c 333
yohoo15 0:fc207e186e8b 334 }
yohoo15 4:61d5e7417c4c 335
yohoo15 4:61d5e7417c4c 336 if(flag_motor) {
yohoo15 4:61d5e7417c4c 337 flag_motor = false;
yohoo15 4:61d5e7417c4c 338 motor1_Controller();
yohoo15 4:61d5e7417c4c 339
yohoo15 4:61d5e7417c4c 340 }
yohoo15 4:61d5e7417c4c 341
yohoo15 4:61d5e7417c4c 342
yohoo15 4:61d5e7417c4c 343
yohoo15 4:61d5e7417c4c 344 // Pussing buttons to get input signal
yohoo15 4:61d5e7417c4c 345
yohoo15 4:61d5e7417c4c 346 if(left_movement){
yohoo15 4:61d5e7417c4c 347 setpoint = making_setpoint(cw);
yohoo15 4:61d5e7417c4c 348
yohoo15 4:61d5e7417c4c 349 }
yohoo15 4:61d5e7417c4c 350 if(buttonccw.read() == Buttonccw_pressed) {
yohoo15 4:61d5e7417c4c 351 setpoint = making_setpoint(ccw);
yohoo15 3:2f75bb307da3 352 }
yohoo15 2:241b572207fb 353 }
yohoo15 3:2f75bb307da3 354 }
yohoo15 3:2f75bb307da3 355
yohoo15 4:61d5e7417c4c 356
yohoo15 4:61d5e7417c4c 357
yohoo15 4:61d5e7417c4c 358
yohoo15 4:61d5e7417c4c 359