pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 12:a76f9b33fbcb
- Parent:
- 10:7255b59224cc
- Child:
- 13:6c2daab3547b
--- a/main.cpp Mon Oct 24 08:44:48 2016 +0000 +++ b/main.cpp Mon Oct 24 09:41:19 2016 +0000 @@ -14,20 +14,23 @@ //define variables double emg_0_value; double emg_gefilterd; +double emg_gefilterd_2; double emg_abs; int onoffsignal=0; double cut_off_value=0.05; //gespecifeerd door floortje biquadFilter filterhigh1(0.9565, -1.9131, 0.9565, -1.9112, 0.9150); +biquadFilter filterlow(-1.9645, 0.9651, 1.5515e-4, 3.1030e-4, 1.5515e-4); void filter(){ emg_0_value=emg0.read(); //read the emg value from the electrodes emg_gefilterd= filterhigh1.step(emg_0_value); emg_abs=abs(emg_gefilterd); + emg_gefilterd_2=filterlow.step(emg_abs); led=!led; - if (emg_abs>cut_off_value) + if (emg_gefilterd_2>cut_off_value) {onoffsignal=1;} else @@ -35,7 +38,7 @@ //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(1, emg_gefilterd_2 ); scope.set(2, onoffsignal); scope.send(); //send all the signals to the scope }