pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 14:5b17697cf775
- Parent:
- 13:6c2daab3547b
- Child:
- 15:bb4a6c7836d8
--- a/main.cpp Mon Oct 24 09:55:48 2016 +0000 +++ b/main.cpp Mon Oct 24 10:22:54 2016 +0000 @@ -1,12 +1,12 @@ //libraries #include "mbed.h" #include "HIDScope.h" -#include "biquadFilter.h" +#include "BiQuad.h" //Define objects AnalogIn emg0( A0 ); //analog in to get EMG in to c++ Ticker sample_timer; //ticker -HIDScope scope(1); //open 3 channels in hidscope +HIDScope scope( 3); //open 3 channels in hidscope DigitalOut richting_motor1(D4); //motor1 direction output PwmOut pwm_motor1(D5); //motor1 velocity output DigitalOut led(LED_GREEN); @@ -16,9 +16,9 @@ double emg_gefilterd; double emg_abs; int onoffsignal=0; -double cut_off_value=0.; //gespecifeerd door floortje +double cut_off_value=0.05; //gespecifeerd door floortje -biquadFilter filterhigh1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); +BiQuad filterhigh1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); void filter(){ @@ -35,6 +35,8 @@ //send signals to scope scope.set(0, emg_0_value ); //set emg signal to scope in channel 1 + scope.set(1, emg_gefilterd ); + scope.set(2, onoffsignal); scope.send(); //send all the signals to the scope }