Dan August / Mbed 2 deprecated EMGtovelocity

nu met gains, threshold en eerst opvullen

Dependencies:   MODSERIAL mbed

Fork of EMGStdevV3 by Dan August

Files at this revision

API Documentation at this revision

Revision 7:763117f8ef51, committed 2013-11-06

Comitter:
DanAuhust
Date:
Wed Nov 06 11:51:36 2013 +0000
Parent:
6:33f0741dbb5b
Commit message:
EMG to velocity control: output tussen 0 en 1.

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 33f0741dbb5b -r 763117f8ef51 main.cpp
--- a/main.cpp	Tue Nov 05 09:51:59 2013 +0000
+++ b/main.cpp	Wed Nov 06 11:51:36 2013 +0000
@@ -10,7 +10,6 @@
 Ticker timer;
 MODSERIAL pc(USBTX,USBRX,64,1024);
 
-#define offset_biceps 0 // offset ruwe invoer met adapter motoren, waar toepassen?
 
 //high pass filter constantes 15Hz cutoff 4e orde, Fs = 312,5Hz (geeft een wat mooiere waarde voor periode en is geen veelvoud van 50Hz)
 #define NUM0 0.6731 // constante
@@ -292,7 +291,7 @@
          emg_value_biceps = 13;
     emg_value_biceps = 1.5 * emg_value_biceps;
 
-    if(emg_value_triceps < 5)
+    if(emg_value_triceps < 4.5)
         emg_value_triceps=0;
     else if (emg_value_triceps > 10)
          emg_value_triceps = 10;
@@ -309,11 +308,14 @@
     else if (emg_value_extensoren > 13)
          emg_value_extensoren = 13;
 
-    dy = emg_value_biceps - emg_value_triceps;
-    dx = (emg_value_flexoren - emg_value_extensoren); // was gain 2, wordt 1
+    dy = (emg_value_biceps - emg_value_triceps) / 30 - .5; // output biceps en triceps tussen 0 en 15
+    dx = (emg_value_flexoren - emg_value_extensoren) / 30 -.5; // nu dx en dy waarden tussen 1 en 0, net als de potmeters
  
     if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
-        pc.printf("%.6f\n",dx);
+        pc.printf("%.6f, %.6f\n",dy,dx);
+        
+    
+        
     /**When not using the LED, the above could also have been done this way:
     * pc.printf("%.6\n", emg0.read());
     */