Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

Diff: emg.cpp

Revision:
113:7af0ae9a24c0
Parent:
98:25528494287d
Child:
127:831f03471efb
--- a/emg.cpp	Wed Oct 28 10:47:04 2015 +0000
+++ b/emg.cpp	Wed Oct 28 10:54:59 2015 +0000
@@ -57,9 +57,9 @@
     emg_filt_val = biquad(emg_filt_val,f21_v1,f21_v2,f21_a1,f21_a2,f21_b0,f21_b1,f21_b2,f21_gain); // Apply highpass
     emg_filt_val = biquad(emg_filt_val,f22_v1,f22_v2,f22_a1,f22_a2,f22_b0,f22_b1,f22_b2,f22_gain);
     emg_filt_val = biquad(emg_filt_val,f23_v1,f23_v2,f23_a1,f23_a2,f23_b0,f23_b1,f23_b2,f23_gain);
-    emg_filt_val = biquad(emg_filt_val,f31_v1,f31_v2,f31_a1,f31_a2,f31_b0,f31_b1,f31_b2,f31_gain); // Apply lowpass
-    emg_filt_val = biquad(emg_filt_val,f32_v1,f32_v2,f32_a1,f32_a2,f32_b0,f32_b1,f32_b2,f32_gain);
-    emg_filt_val = biquad(emg_filt_val,f33_v1,f33_v2,f33_a1,f33_a2,f33_b0,f33_b1,f33_b2,f33_gain);
+    //emg_filt_val = biquad(emg_filt_val,f31_v1,f31_v2,f31_a1,f31_a2,f31_b0,f31_b1,f31_b2,f31_gain); // Apply lowpass
+    //emg_filt_val = biquad(emg_filt_val,f32_v1,f32_v2,f32_a1,f32_a2,f32_b0,f32_b1,f32_b2,f32_gain);
+    //emg_filt_val = biquad(emg_filt_val,f33_v1,f33_v2,f33_a1,f33_a2,f33_b0,f33_b1,f33_b2,f33_gain);
 
     // Rectify signal
     emg_filt_val = fabs(emg_filt_val);
@@ -81,9 +81,9 @@
     emg_filt_val = biquad(emg_filt_val,f21_v1b,f21_v2b,f21_a1,f21_a2,f21_b0,f21_b1,f21_b2,f21_gain); // Apply highpass
     emg_filt_val = biquad(emg_filt_val,f22_v1b,f22_v2b,f22_a1,f22_a2,f22_b0,f22_b1,f22_b2,f22_gain);
     emg_filt_val = biquad(emg_filt_val,f23_v1b,f23_v2b,f23_a1,f23_a2,f23_b0,f23_b1,f23_b2,f23_gain);
-    emg_filt_val = biquad(emg_filt_val,f31_v1b,f31_v2b,f31_a1,f31_a2,f31_b0,f31_b1,f31_b2,f31_gain); // Apply lowpass
-    emg_filt_val = biquad(emg_filt_val,f32_v1b,f32_v2b,f32_a1,f32_a2,f32_b0,f32_b1,f32_b2,f32_gain);
-    emg_filt_val = biquad(emg_filt_val,f33_v1b,f33_v2b,f33_a1,f33_a2,f33_b0,f33_b1,f33_b2,f33_gain);
+    //emg_filt_val = biquad(emg_filt_val,f31_v1b,f31_v2b,f31_a1,f31_a2,f31_b0,f31_b1,f31_b2,f31_gain); // Apply lowpass
+    //emg_filt_val = biquad(emg_filt_val,f32_v1b,f32_v2b,f32_a1,f32_a2,f32_b0,f32_b1,f32_b2,f32_gain);
+    //emg_filt_val = biquad(emg_filt_val,f33_v1b,f33_v2b,f33_a1,f33_a2,f33_b0,f33_b1,f33_b2,f33_gain);
 
     // Rectify signal
     emg_filt_val = fabs(emg_filt_val);