File content as of revision 3:3e5d899a3c8a:

#include "mbed.h"
#include "Serial.h"
#include "math.h"
#include "HIDScope.h"

Serial      pc(USBTX, USBRX);        //Serial PC connectie
AnalogIn    emg0( A0 );              //EMG1 op A0
AnalogIn    emg1( A1 );              //EMG2 op A1
DigitalOut  motor1DirectionPin(D4);  //Motorrichting op D4 (connected op het bord)
PwmOut      motor1MagnitudePin(D5);  //Motorkracht op D5 (connected op het bord)
Timer       timer;                   //timer voor duur script        
HIDScope    scope(2);                //Maakt de scopes aan   

//Benoemen van de variabelen die in de VOID's gebruikt gaan worden
double emga = emg0.read();          //EMG1
double emgb = emg1.read();          //EMG2

//Aanmaken filter variabelen
double ah[3]={1, 0, 0.1716};
double bh[3]={0.2929, -0.5858, 0.2929};

//innitial conditions high pass filter
double emg_hpf[3]={0, 0, 0};
double emg_in[3]={0, 0, 0};

// coëfficienten high pass filter
double al[3]={1, -1.7347, 0.7660};
double bl[3]={0.0078, 0.0156, 0.0078};

//innitial conditions low pass filter
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;

void aansturing()
    {
    timer.reset();
    timer.start();  

        emga = emg0.read();
        emgb = emg1.read();
        emg_in[0]=emga-emgb;
        
            //Filter
                    // high pass filter
                    emg_hpf[0]=bh[0]*emg_in[0]    +bh[1]*emg_in[1]  +bh[2]*emg_in[2]  -ah[1]*emg_hpf[1]  -ah[2]*emg_hpf[2];
        
                    emg_in[2]=emg_in[1];
                    emg_in[1]=emg_in[0];
                    emg_hpf[2]=emg_hpf[1];
                    emg_hpf[2]=emg_hpf[0];
        

                    //absolute value
                    emg_abs[0]=fabs(emg_hpf[0]);
        
        
                    //low pass filter
                    emg_lpf[0]=bl[0]*emg_abs[0]   +bl[1]*emg_abs[1] +bl[2]*emg_abs[2] -al[1]*emg_lpf[1] -al[2]*emg_lpf[2];
        
                    emg_abs[2]=emg_abs[1];
                    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_lpfg;
        motor1DirectionPin = 0;
        }
        else 
        {
        motor1MagnitudePin = 0;
        motor1DirectionPin = 0;
        }
    scope.set(0, emg_in[0]);
    scope.set(1, emg_lpfg);
    scope.send();

        timer.stop();   
    pc.printf("time taken was %d milliseconds\n\r", timer.read_us());
        
    }


int main()
{
    //Deze tickers roepen de verschillende voids aan
    pc.baud(115200);
    tick_sample.attach_us(&aansturing, 5000);    //Deze ticker roept de potmeter aan
}