Diff: main.cpp

Revision:

5:e96d03bd557c

Parent:

4:dfe39188f2b2

--- a/main.cpp	Thu Nov 01 14:11:05 2018 +0000
+++ b/main.cpp	Thu Nov 01 14:18:00 2018 +0000
@@ -4,80 +4,9 @@
 //#include "MODSERIAL.h"
 #include "BiQuad.h"
 #include "math.h"
-
+#include "Constants.h
 #define IGNORECOUNT 100
 
-PwmOut pwmpin1(D6);
-PwmOut pwmpin2(D5);
-AnalogIn potmeter1(A5);
-AnalogIn potmeter2(A4);
-DigitalIn button1(D2);
-DigitalIn button2(D3);
-DigitalOut directionpin1(D4);
-DigitalOut directionpin2(D7);
-QEI motor1(D13,D12,NC, 32);
-QEI motor2(D11,D10,NC, 32);
-
-//Define objects
-AnalogIn    emg0( A0 );     // EMG at A0
-BiQuad emg0bq1(0.8848578, -1.7697156, 0.8848578, -1.7539023, 0.7855289); // highpass at 30Hz  Q at around 1
-BiQuad emg0bq2(0.0773021,0.1546042,0.0773021,-1.3098283,0.6190368); // lowpass at 130 Hz Q at around .6
-BiQuad emg0bq3(0.9556457,-1.81774618, 0.955645, -1.817746, 0.9112914); // 50 Hz notch Q at 4.5
-BiQuadChain emg0bqc; // merged chain of three filters
-
-AnalogIn    emg1( A1 );     // EMG at A1
-BiQuad emg1bq1(0.8848578, -1.7697156, 0.8848578, -1.7539023, 0.7855289); // highpass at 30Hz  Q at around 1
-BiQuad emg1bq2(0.0773021,0.1546042,0.0773021,-1.3098283,0.6190368); // lowpass at 130 Hz Q at around .6
-BiQuad emg1bq3(0.9556457,-1.81774618, 0.955645, -1.817746, 0.9112914); // 50 Hz notch Q at 4.5
-BiQuadChain emg1bqc; // merged chain of three filters
-
-AnalogIn    emg2( A2 );     // EMG at A2
-BiQuad emg2bq1(0.8848578, -1.7697156, 0.8848578, -1.7539023, 0.7855289); // highpass at 30Hz  Q at around 1
-BiQuad emg2bq2(0.0773021,0.1546042,0.0773021,-1.3098283,0.6190368); // lowpass at 130 Hz Q at around .6
-BiQuad emg2bq3(0.9556457,-1.81774618, 0.955645, -1.817746, 0.9112914); // 50 Hz notch Q at 4.5
-BiQuadChain emg2bqc; // merged chain of three filters
-
-DigitalIn kill_switch(SW2); //position has to be changed
-DigitalIn next_switch(SW3); //name and position should be replaced
-
-enum position_states{PositionCalibration, EmgCalibration, Movement, KILL};
-enum emg_states{EMG0, EMG1, EMG2};
-position_states CurrentState;
-emg_states CalibrationState;
-
-Ticker sample_timer;
-Ticker MotorsTicker;
-Timer timer;
-
-//for testing purposes
-DigitalOut ledred(LED_RED);
-DigitalOut ledgreen(LED_GREEN);
-DigitalOut ledblue(LED_BLUE);
-//MODSERIAL pc(USBTX, USBRX);
-HIDScope scope(6);
-
-bool    emg0Bool    = 0;        // I don't know if these NEED to be global, but when I tried to put them in they wouldn't work...
-int     emg0Ignore  = 0;
-bool    emg1Bool    = 0;
-int     emg1Ignore  = 0;
-bool    emg2Bool    = 0;
-int     emg2Ignore  = 0;
-float   Calibration0;
-float   Calibration1;
-float   Calibration2;
-
-double  input = 0;              // raw input
-double  filtHigh = 0;           // filtered after highpass
-double  filtlow = 0;            // filtered after lowpass
-double  filtNotch = 0;          // filtered after notch
-double  emg0filteredAbs;
-
-float threshold0;
-float threshold1;
-float threshold2;
-
-volatile float pwm_value1 = 0.0;
-volatile float pwm_value2 = 0.0;
 
 void positionCalibration() {
     while(!button1) {