Diff: main.cpp

Revision:

2:7e0279519cbf

Parent:

0:5c4ee2c81f02

Child:

3:3e5d899a3c8a

--- a/main.cpp	Thu Oct 12 10:19:08 2017 +0000
+++ b/main.cpp	Thu Oct 12 13:11:30 2017 +0000
@@ -16,20 +16,22 @@
 double emgb = emg1.read();          //EMG2
 
 //Aanmaken filter variabelen
-float ah[3]={1, 0, 0.1716};
-float bh[3]={0.2929, -0.5858, 0.2929};
+double ah[3]={1, 0, 0.1716};
+double bh[3]={0.2929, -0.5858, 0.2929};
 
 //innitial conditions high pass filter
-float emg_hpf[3]={0, 0, 0};
-float emg_in[3]={0, 0, 0};
+double emg_hpf[3]={0, 0, 0};
+double emg_in[3]={0, 0, 0};
 
 // coëfficienten high pass filter
-float al[3]={1, -1.7347, 0.7660};
-float bl[3]={0.0078, 0.0156, 0.0078};
+double al[3]={1, -1.7347, 0.7660};
+double bl[3]={0.0078, 0.0156, 0.0078};
 
 //innitial conditions low pass filter
-float emg_lpf[3]={0, 0, 0};
-float emg_abs[3]={0, 0, 0};
+double emg_lpf[3]={0, 0, 0};
+double emg_abs[3]={0, 0, 0};
+
+double emg_lpfg;
 
 //Aanmaken van de verschillende tickers
 Ticker tick_sample;
@@ -41,7 +43,7 @@
 
         emga = emg0.read();
         emgb = emg1.read();
-        emg_in[0]=emga;
+        emg_in[0]=emga-emgb;
         
             //Filter
                     // high pass filter
@@ -64,10 +66,11 @@
                     emg_abs[1]=emg_abs[0];
                     emg_lpf[2]=emg_lpf[1];
                     emg_lpf[1]=emg_lpf[0];
+                    emg_lpfg = 5* emg_lpf[1];
                 
         if (emg_lpf[1]>0.05)
         {
-        motor1MagnitudePin = emg_lpf[1];
+        motor1MagnitudePin = emg_lpfg;
         motor1DirectionPin = 0;
         }
         else 
@@ -75,13 +78,12 @@
         motor1MagnitudePin = 0;
         motor1DirectionPin = 0;
         }
-    scope.set(0, emg0.read());
-    scope.send();
-    scope.set(1, emg_lpf[1]);
+    scope.set(0, emg_in[0]);
+    scope.set(1, emg_lpfg);
     scope.send();
 
         timer.stop();   
-    pc.printf("time taken was %f milliseconds\n\r", timer.read_ms());
+    pc.printf("time taken was %f milliseconds\n\r", timer.read_us());
         
     }
 
@@ -89,6 +91,6 @@
 int main()
 {
     //Deze tickers roepen de verschillende voids aan
-    pc.baud(9600);
+    pc.baud(115200);
     tick_sample.attach_us(&aansturing, 5000);    //Deze ticker roept de potmeter aan
 }