pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 16:fd4521a4f0b3
- Parent:
- 15:bb4a6c7836d8
- Child:
- 17:4548efffe193
--- a/main.cpp Mon Oct 24 11:24:50 2016 +0000 +++ b/main.cpp Mon Oct 24 11:40:48 2016 +0000 @@ -4,42 +4,47 @@ #include "BiQuad.h" //Define objects -AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG in to c++ -Ticker sample_timer; //ticker +AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG from right biceps in to c++ +AnalogIn emg_tricept_right_in (A1); //analog in to get EMG from left biceps in to c++ +Ticker sample_timer; //ticker 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); //define variables -double emg_biceps_right; -double emg_filtered_high_biceps_right; -double emg_abs_biceps_right; -double emg_filtered_biceps_right; int onoffsignal=0; double cut_off_value=0.08; //gespecifeerd door floortje - +double signalsum_right; +double signalsum_right_filter_high; +double signalsum_right_filter_high_abs; +double signalsum_right_filtered; +double biceps_right; +double triceps_right; 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); //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 - emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); - led=!led; + + biceps_right = emg_biceps_right_in.read; //inladen data + triceps_right = emg_tricept_right_in.read; //inladen data + signalsum_right = biceps_right-triceps_right; // inladen data + + signalsum_right_filter_high = filterhigh.step(signalsum_right); + signalsum_right_filter_high_abs = fabs(signalsum_right_filter_high); + signalsum_right_filtered = filterlow.step(signalsum_right_filtered); - if (emg_filtered_biceps_right>cut_off_value) + if (signalsum_right_filtered>cut_off_value) {onoffsignal=1;} else {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.set(0, biceps_right ); //set emg signal to scope in channel 1 + scope.set(1, triceps_right); + scope.set(2, signalsum_right_filtered); scope.send(); //send all the signals to the scope }