File content as of revision 0:b3809a8d9af1:

/***************************************/
/*                                     */
/*   BRONCODE GROEP 5, MODULE 9, 2014  */
/*       *****-THE SLAP-******         */
/*                                     */
/* -Dominique Clevers                  */
/* -Rianne van Dommelen                */
/* -Daan de Muinck Keizer              */
/* -David den Houting                  */
/* -Marjolein Thijssen                 */
/***************************************/
#include "mbed.h"
#include "HIDScope.h"
#include "arm_math.h"
#include "encoder.h"

#define M1_PWM PTC8 //blauw
#define M1_DIR PTC9 //groen
#define M2_PWM PTA5 //blauw
#define M2_DIR PTA4 //groen
#define TSAMP 0.005  // Sampletijd, 200Hz
#define PI 3.1415926535897

Encoder motor1(PTD2,PTD0); //geel,wit
Encoder motor2(PTD5,PTA13);//geel,wit
PwmOut pwm_motor1(M1_PWM);
PwmOut pwm_motor2(M2_PWM);
DigitalOut motordir2(M2_DIR);
DigitalOut motordir1(M1_DIR);
AnalogIn emg0(PTB0); //Biceps
AnalogIn emg1(PTB1); //Triceps
HIDScope scope(6);

MODSERIAL pc (USBTX,USBRX,64,1024);
pc.baud(115200);

int const   windowsamples = 60; //aantal samples waaruit het window voor MOVAG bestaat

float emg0_value_f32,filtered_emg0_notch,filtered_emg0_notch_highpass,filtered_emg0_notch_highpass_lowpass,filtered_emg0_eindsignaal_abs; //variable to store value in for biceps 
float emg1_value_f32,filtered_emg1_notch,filtered_emg1_notch_highpass,filtered_emg1_notch_highpass_lowpass,filtered_emg1_eindsignaal_abs; //variable to store value in for triceps 
float xpos_max,xpos_min,xneg_max,xneg_min;     //kalibratiewaardes

float emg_biceps [windowsamples];
float emg_triceps [windowsamples];

void meting()
{
    arm_biquad_casd_df1_inst_f32 notch;
    //constants for 50Hz notch
    float notch_const[] = {0.9695312529087462, -0.0, 0.9695312529087462, 0.0, -0.9390625058174924};
    //state values
    float notch_states[4];
    arm_biquad_casd_df1_inst_f32 highpass;
    //constants for 20Hz highpass
    float highpass_const[] = {0.638945525159022, -1.277891050318045, 0.638945525159022, 1.142980502539901, -0.412801598096189};
    //state values
    float highpass_states[4];
    //constants for 80Hz lowpass
    arm_biquad_casd_df1_inst_f32 lowpass;
    float lowpass_const[] = {0.638945525159022, 1.277891050318045, 0.638945525159022, -1.142980502539901, -0.412801598096189};
    //state values
    float lowpass_states[4];
 
    /*put raw emg value in emg_value*/
    emg0_value_f32 = emg0.read();   
    emg1_value_f32 = emg1.read();
 
    //process emg biceps
    arm_biquad_cascade_df1_f32(&notch, &emg0_value_f32, &filtered_emg0_notch, 1 );
    arm_biquad_cascade_df1_f32(&highpass, &filtered_emg0_notch, &filtered_emg0_notch_highpass, 1 );
    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emg0_notch_highpass, &filtered_emg0_notch_highpass_lowpass, 1 );
    filtered_emg0_eindsignaal_abs = fabs(filtered_emg0_notch_highpass_lowpass);  
    emg_biceps [0]= filtered_emg0_eindsignaal_abs;
    
    //process emg triceps
    arm_biquad_cascade_df1_f32(&notch, &emg1_value_f32, &filtered_emg1_notch, 1 );
    arm_biquad_cascade_df1_f32(&highpass, &filtered_emg1_notch, &filtered_emg1_notch_highpass, 1 );
    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emg1_notch_highpass, &filtered_emg1_notch_highpass_lowpass, 1 );
    filtered_emg1_eindsignaal_abs = fabs(filtered_emg1_notch_highpass_lowpass);  
    emg_triceps [0]= filtered_emg1_eindsignaal_abs;
    
    //Movag
    //Variabelen voor berekenen gemiddelden 
    float avg0,avg1;
    avg0=avg1=0;
    
    //Inhoud van een buffer (=gefilterd signaal) optellen
    for(int x=0; x<windowsamples; x++) {
        avg0 = avg0 + (emg_biceps[x]);
        avg1 = avg1 + (emg_triceps[x]);
    }
    
    //Gemiddelde berekenen en relativeren tov maximum voluntary contraction
    avg0 = gain_biceps*avg0/windowsamples/biceps_max;
    avg1 = gain_triceps*avg1/windowsamples/triceps_max;
}

int main()
{
    Ticker log_timer;
    log_timer.attach(meting, TSAMP);
    while(1) //Loop
    {
      
    }
}