Kilian Buitenhuis / Mbed 2 deprecated State_machine

changed the location of all constants to Constants.h

Dependencies:   HIDScope QEI biquadFilter mbed

Fork of State_machine by Casper Kroon

Files at this revision

API Documentation at this revision

Revision 5:e96d03bd557c, committed 2018-11-01

Comitter:
Wabbitdrawing
Date:
Thu Nov 01 14:18:00 2018 +0000
Parent:
4:dfe39188f2b2
Commit message:
All constants in a seperate H library;

Changed in this revision

Constants.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Constants.h	Thu Nov 01 14:18:00 2018 +0000
@@ -0,0 +1,76 @@
+#ifndef CONSTANTS
+#define CONSTANTS
+
+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;
+
+#endif
\ No newline at end of file

--- 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) {