adsf
Dependencies: Encoder HIDScope MODSERIAL Matrix MatrixMath biquad-master mbed
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Diff: main.cpp
- Revision:
- 0:b6c8d56842ce
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- 2:293665548183
diff -r 000000000000 -r b6c8d56842ce main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Oct 13 08:59:23 2017 +0000 @@ -0,0 +1,78 @@ +/** + * Demo program for BiQuad and BiQuadChain classes + * author: T.J.W. Lankhorst <t.j.w.lankhorst@student.utwente.nl> and Matthijs and Roy and Dion + */ +#include "mbed.h" +#include "HIDScope.h" +#include <stdlib.h> +#include <iostream> +#include <iomanip> +#include <complex> +#include "BiQuad.h" + +AnalogIn emg0( A0 ); +AnalogIn emg1( A1 ); + +Ticker sample_timer; +HIDScope scope( 2 ); +DigitalOut led(LED1); +DigitalOut led2(LED_GREEN); + + + +// Example: 3th order Butterworth LP (w_c = 0.1*f_nyquist) + +BiQuadChain bqc; +BiQuad bq1( 0.9645651759199596, -1.5606992390030165, 0.9645651759199596, -1.5606992390030165, 0.9291303518399192 ); +BiQuad bq2( 1, 1, 1, 1, 1 ); +//BiQuad bq3( 0, 0, 0, 0, 0 ); + +void sample() +{ + /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */ + scope.set(0, bq1.step(emg0.read()) ); + scope.set(1, bq1.step(emg1.read()) ); + /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) + * Ensure that enough channels are available (HIDScope scope( 2 )) + * Finally, send all channels to the PC at once */ + scope.send(); + /* To indicate that the function is working, the LED is toggled */ + led = !led; +} + +int main() +{ + led2 = 0; + bqc = bq1 * bq2; //* bq3; + /**Attach the 'sample' function to the timer 'sample_timer'. + * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz + */ + sample_timer.attach(&sample, 0.002); + + /*empty loop, sample() is executed periodically*/ + while(true) { + + // Find the poles of the filter + std::cout << "Filter poles" << std::endl; + std::vector< std::complex<double> > poles = bqc.poles(); + for( size_t i = 0; i < poles.size(); i++ ) + std::cout << "\t" << poles[i] << std::endl; + + // Find the zeros of the filter + std::cout << "Filter zeros" << std::endl; + std::vector< std::complex<double> > zeros = bqc.zeros(); + for( size_t i = 0; i < poles.size(); i++ ) + std::cout << "\t" << zeros[i] << std::endl; + + // Is the filter stable? + std::cout << "This filter is " << (bqc.stable() ? "stable" : "instable") << std::endl; + + // Output the step-response of 20 samples + std::cout << "Step response 20 samples" << std::endl; + for( int i = 0; i < 20; i++ ) + std::cout << "\t" << bqc.step( 1.0 ) << std::endl; + + // Done0 + } + +} \ No newline at end of file