aanpassing met notch
Dependencies: Encoder HIDScope MODSERIAL mbed
Fork of TEST by
main.cpp@2:902c38ab4f5a, 2014-10-08 (annotated)
- Committer:
- Daanmk
- Date:
- Wed Oct 08 15:16:17 2014 +0000
- Revision:
- 2:902c38ab4f5a
- Parent:
- 1:c66edcd91108
- Child:
- 3:ef4d1423db92
filterhighpass;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Daanmk | 0:7ae2a1b6379e | 1 | /***************************************/ |
Daanmk | 0:7ae2a1b6379e | 2 | /* */ |
Daanmk | 0:7ae2a1b6379e | 3 | /* BRONCODE GROEP 5, MODULE 9, 2014 */ |
Daanmk | 0:7ae2a1b6379e | 4 | /* *****-THE SLAP-****** */ |
Daanmk | 0:7ae2a1b6379e | 5 | /* */ |
Daanmk | 0:7ae2a1b6379e | 6 | /* -Dominique Clevers */ |
Daanmk | 0:7ae2a1b6379e | 7 | /* -Rianne van Dommelen */ |
Daanmk | 0:7ae2a1b6379e | 8 | /* -Daan de Muinck Keizer */ |
Daanmk | 0:7ae2a1b6379e | 9 | /* -David den Houting */ |
Daanmk | 0:7ae2a1b6379e | 10 | /* -Marjolein Thijssen */ |
Daanmk | 0:7ae2a1b6379e | 11 | /***************************************/ |
Daanmk | 0:7ae2a1b6379e | 12 | #include "mbed.h" |
Daanmk | 0:7ae2a1b6379e | 13 | #include "MODSERIAL.h" |
Daanmk | 0:7ae2a1b6379e | 14 | #include "encoder.h" |
Daanmk | 0:7ae2a1b6379e | 15 | #include "HIDScope.h" |
Daanmk | 0:7ae2a1b6379e | 16 | //Define objects |
Daanmk | 2:902c38ab4f5a | 17 | #define A1 0.807313721035803 |
Daanmk | 2:902c38ab4f5a | 18 | #define A2 -0.263720649619515 |
Daanmk | 2:902c38ab4f5a | 19 | #define B1 -1.721118336253692 |
Daanmk | 2:902c38ab4f5a | 20 | #define B2 0.721118336253692 |
Daanmk | 2:902c38ab4f5a | 21 | HIDScope scope(2); |
Daanmk | 2:902c38ab4f5a | 22 | |
Daanmk | 0:7ae2a1b6379e | 23 | AnalogIn emgbc(PTB0); //Onderste bordje biceps meting |
Daanmk | 0:7ae2a1b6379e | 24 | AnalogIn emgtr(PTB1); //Tweede bordje triceps meting |
Daanmk | 0:7ae2a1b6379e | 25 | //DigitalOut motordirA(PTD3); |
Daanmk | 0:7ae2a1b6379e | 26 | //DigitalOut motordirB(PTD1); |
Daanmk | 0:7ae2a1b6379e | 27 | //Encoder motor1(PTD0,PTC9); |
Daanmk | 0:7ae2a1b6379e | 28 | //Encoder motor2(PTD5,PTC8); |
Daanmk | 0:7ae2a1b6379e | 29 | |
Daanmk | 0:7ae2a1b6379e | 30 | MODSERIAL pc(USBTX,USBRX); |
Daanmk | 2:902c38ab4f5a | 31 | |
Daanmk | 2:902c38ab4f5a | 32 | float filter(float); |
Daanmk | 0:7ae2a1b6379e | 33 | |
Daanmk | 2:902c38ab4f5a | 34 | int main() { |
Daanmk | 2:902c38ab4f5a | 35 | float x,y; |
Daanmk | 2:902c38ab4f5a | 36 | while(true) { |
Daanmk | 2:902c38ab4f5a | 37 | x = (emgbc.read()-0.5)*2; |
Daanmk | 2:902c38ab4f5a | 38 | y=filter(x); |
Daanmk | 2:902c38ab4f5a | 39 | scope.set(0,x); |
Daanmk | 2:902c38ab4f5a | 40 | scope.set(1,y); |
Daanmk | 2:902c38ab4f5a | 41 | scope.send(); |
Daanmk | 2:902c38ab4f5a | 42 | } |
Daanmk | 0:7ae2a1b6379e | 43 | } |
Daanmk | 0:7ae2a1b6379e | 44 | |
Daanmk | 2:902c38ab4f5a | 45 | float filter(float x) { |
Daanmk | 2:902c38ab4f5a | 46 | static float y,x1,y1,x2,y2; |
Daanmk | 2:902c38ab4f5a | 47 | y = A1*y1+A2*y2+x+B1*x1+B2*x2; |
Daanmk | 2:902c38ab4f5a | 48 | x2=x1; |
Daanmk | 2:902c38ab4f5a | 49 | x1=x; |
Daanmk | 2:902c38ab4f5a | 50 | y2=y1; |
Daanmk | 2:902c38ab4f5a | 51 | y1=y; |
Daanmk | 2:902c38ab4f5a | 52 | return y; |
Daanmk | 2:902c38ab4f5a | 53 | } |