File content as of revision 0:3db1f2a9d605:

#include "mbed.h"

// inputs EMG
AnalogIn emg0( A0 );
AnalogIn emg1( A1 );
AnalogIn emg3( A2 );

// Variabelen EMG
const double a1 =
const double a2 =
const double b0 =
const double b1 =
const double b2 =
const double c1 =
const double c2 =
const double d0 =
const double d1 =
const double d2 =

double highpassFilter1 = 0;
double lowpassFilter1 = 0;
double highpassFilter2 = 0;
double lowpassFilter2 = 0;

// Filteren
void filterEMG()
{
highpassFilter1 = fabs(biquad(emg0.read(), a1, a2, b0, b1, b2));
lowpassFilter1 = biquad(highpassFilter1, c1, c2, d0, d1, d2);
highpassFilter2 = fabs(biquad(emg1.read(), a1, a2, b0, b1, b2));
lowpassFilter2 = biquad(highpassFilter2, c1, c2, d0, d1, d2);
highpassFilter3 = fabs(biquad(emg2.read(), a1, a2, b0, b1, b2));
lowpassFilter3 = biquad(highpassFilter3, c1, c2, d0, d1, d2);
}

//calibrate (hier moet iets met maximale waarden enzo
dempelwaarde = int 0.5 * max_lowpassFilter3 

//Direction control
enum direction {Pos_RB, Pos_LB, Pos_RO, Pos_LO};
direction currentdirection = Pos_RB;
bool directionchanged = true;

int main()
{
    while ()
    {
        switch (currentdirection)
        {
            case Pos_RB:
            
            lowpassFilter1 = lowpassFilter1;
            lowpassFilter2 = lowpassFilter2;
            
            if (lowpassFilter3 > drempelwaarde)
            {
                currentdirection == Pos_LB;
                cirectionchanged = true;
                }
            break;    
            
            case Pos_LB:
            
            lowpassFilter1 = lowpassFilter1 * int -1;
            lowpassFilter2 = lowpassFilter2;
            
            if (lowpassFilter3 > drempelwaarde)
            
            {
                currentdirection == Pos_RO;
                cirectionchanged = true;
                }
            break;
                        
            case Pos_RO:
            
            lowpassFilter1 = lowpassFilter1;
            lowpassFilter2 = lowpassFilter2 * int -1;
                    
            if (lowpassFilter3 > drempelwaarde)
            {
                currentdirection == Pos_LO;
                cirectionchanged = true;
                }
            break;
                
            case Pos_LO:
            
            lowpassFilter1 = lowpassFilter1 * int -1;
            lowpassFilter2 = lowpassFilter2 * int -1;
            
            if (lowpassFilter3 > drempelwaarde)
            {
                currentdirection == Pos_RB;
                cirectionchanged = true;
                }
            break;
}