De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 17:e4e7b1fbb263
- Parent:
- 16:7acbcc4aa35c
- Child:
- 18:9f24792bb39a
--- a/main.cpp Tue Oct 22 10:25:22 2019 +0000 +++ b/main.cpp Fri Oct 25 07:50:35 2019 +0000 @@ -171,20 +171,30 @@ // Output raw EMG input scope.set(0, emg1 ); + scope.set(1, emg2 ); - double emg1_n = bqc_notch.step( emg1 ); // Filter notch - scope.set(1, emg1_n); - double emg1_hp = bqc_high.step( emg1_n ); // Filter highpass - scope.set(2, emg1_hp); - double emg1_rectify = fabs( emg1_hp ); // Rectify - scope.set(3, emg1_rectify); + double emg1_n = bqc_notch.step( emg1 ); // Filter notch + double emg1_hp = bqc_high.step( emg1_n ); // Filter highpass + double emg1_rectify = fabs( emg1_hp ); // Rectify double emg1_env = bqc_low.step( emg1_rectify ); // Filter lowpass (completes envelope) + + double emg2_n = bqc_notch.step( emg2 ); // Filter notch + double emg2_hp = bqc_high.step( emg2_n ); // Filter highpass + double emg2_rectify = fabs( emg2_hp ); // Rectify + double emg2_env = bqc_low.step( emg2_rectify ); // Filter lowpass (completes envelope) + + // scope.set(1, emg1_n); + // scope.set(1, emg1_n); + // scope.set(3, emg1_rectify); // Output EMG after filters - scope.set(4, emg1_env ); + scope.set(2, emg1_env ); + scope.set(3, emg2_env ); scope.send(); - emg1_cal.push_back(emg1_env); + // IF STATEMENT TOEVOEGEN VOOR CALIBRATIE + emg1_cal.push_back(emg1_env); // Add values to calibration vector + emg2_cal.push_back(emg2_env); // Add values to calibration vector } /*