![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: emg.cpp
- Revision:
- 113:7af0ae9a24c0
- Parent:
- 98:25528494287d
- Child:
- 127:831f03471efb
diff -r 7b964afb97b4 -r 7af0ae9a24c0 emg.cpp --- 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);