pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
main.cpp
- Committer:
- daniQQue
- Date:
- 2016-10-28
- Revision:
- 37:60dd2e42bf8f
- Parent:
- 15:bb4a6c7836d8
- Child:
- 38:23601b26bb84
File content as of revision 37:60dd2e42bf8f:
//libraries #include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" //Define objects AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG 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 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); 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; if (emg_filtered_biceps_right>cut_off_value) {onoffsignal=1;} else {onoffsignal=0;} //send signals to 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 int main() { sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds //endless loop while(1) { if (onoffsignal==1) { richting_motor1 = 0; //motordirection (ccw) pwm_motor1 = 1; //motorspeed 1 } else if(onoffsignal==0) { richting_motor1 = 0; //motordirection (ccw) pwm_motor1 = 0; //motorspeed 0 } } }