pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
main.cpp
- Committer:
- daniQQue
- Date:
- 2016-10-24
- Revision:
- 12:a76f9b33fbcb
- Parent:
- 10:7255b59224cc
- Child:
- 13:6c2daab3547b
File content as of revision 12:a76f9b33fbcb:
//libraries #include "mbed.h" #include "HIDScope.h" #include "biquadFilter.h" //Define objects AnalogIn emg0( 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_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_gefilterd_2>cut_off_value) {onoffsignal=1;} else {onoffsignal=0;} //send signals to scope scope.set(0, emg_0_value ); //set emg signal to scope in channel 1 scope.set(1, emg_gefilterd_2 ); scope.set(2, onoffsignal); 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 } } }