pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 37:60dd2e42bf8f
- Parent:
- 15:bb4a6c7836d8
- Child:
- 38:23601b26bb84
--- a/main.cpp Mon Oct 24 11:24:50 2016 +0000 +++ b/main.cpp Fri Oct 28 12:53:42 2016 +0000 @@ -19,14 +19,18 @@ int onoffsignal=0; double cut_off_value=0.08; //gespecifeerd door floortje -BiQuad filterhigh(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); -BiQuad filterlow (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); +BiQuad filterhigh(9.1497e-01, -1.8299e+00, 9.1497e-01, -1.8227e+00, 8.3718e-01); // +BiQuad filterlow ( 3.9130e-05 , 7.8260e-05 , 3.9130e-05, -1.9822e+00 , 9.8239e-01); // +BiQuad notch1(9.9115e-01 ,-1.8853e+00 , 9.9115e-01 , -1.8909e+00 , 9.9103e-01); +BiQuad notch2( 1.0000e+00 , -1.9022e+00, 1.0000e+00 , -1.8965e+00 , 9.9127e-01); //functions which are called in ticker void filter(){ emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); - emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right); //fabs because float + double emg_filtered_notch1=notch1.step(emg_filtered_high_biceps_right); + double emg_filtered_notch2=notch2.step(emg_filtered_notch1); + emg_abs_biceps_right=fabs(emg_filtered_notch2); //fabs because float emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); led=!led; @@ -34,13 +38,13 @@ {onoffsignal=1;} else - {onoffsignal=0;} + {onoffsignal=0;} //send signals to scope - scope.set(0, emg_biceps_right ); //set emg signal to scope in channel 1 - scope.set(1, emg_filtered_biceps_right); - scope.set(2, onoffsignal); - scope.send(); //send all the signals to the scope + scope.set(0, emg_filtered_notch2 ); //set emg signal to scope in channel 1 + scope.set(1, emg_abs_biceps_right); + scope.set(2, emg_filtered_biceps_right); + scope.send(); //send all the signals to the scope } //program