File content as of revision 5:41d4aac93351:

#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   
int n=0;

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

// coëfficienten notch filter
double an[3]={1.0000, -0.0000, 0.9490};
double bn[3]={0.9745, -0.0000, 0.9745};

// innitial conditions notch filter
double emg_nf[3]={0,0,0};
double emg_in[3]={0, 0, 0};

//Aanmaken filter coëfficienten
double ah[3]={1.0000, -1.9933, 0.9934};
double bh[3]={0.9967, -1.9933, 0.9967};

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

// coëfficienten low pass filter
double al[5]={1.0000, -3.9179, 5.7571, -3.7603, 0.9212};
double bl[5]={0.0585e-6, 0.2338e-6, 0.3507e-6, 0.2338e-6, 0.0585e-6};

//innitial conditions low pass filter
double emg_lpf[5]={0, 0, 0, 0, 0};
double emg_abs[5]={0, 0, 0, 0, 0};

double emg_lpfg;

//Aanmaken van de verschillende tickers
Ticker tick_sample;


void aansturing()
    {
    timer.reset(); 

        emga=emg0.read();
        emg_in[0]=emga;
        
            //Filter cascade
                    // notch filter
                    emg_nf[0]=bn[0]*emg_in[0]    +bn[1]*emg_in[1]  +bn[2]*emg_in[2]  -an[1]*emg_nf[1]  -an[2]*emg_nf[2];
                                            
                    // high pass filter
                    emg_hpf[0]=bh[0]*emg_nf[0]    +bh[1]*emg_nf[1]  +bh[2]*emg_nf[2]  -ah[1]*emg_hpf[1]  -ah[2]*emg_hpf[2];
        
                    //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] +bl[3]*emg_abs[3] +bl[4]*emg_abs[4] -al[1]*emg_lpf[1] -al[2]*emg_lpf[2] -al[3]*emg_lpf[3] -al[4]*emg_lpf[4];
        
                    // RAM
                    emg_in[2]=emg_in[1];
                    emg_in[1]=emg_in[0];
                    
                    emg_nf[2]=emg_nf[1];
                    emg_nf[1]=emg_nf[0];
                    
                    emg_hpf[2]=emg_hpf[1];
                    emg_hpf[1]=emg_hpf[0];
                    
                    emg_abs[4]=emg_abs[3];
                    emg_abs[3]=emg_abs[2];
                    emg_abs[2]=emg_abs[1];
                    emg_abs[1]=emg_abs[0];
                    
                    emg_lpf[4]=emg_lpf[3];
                    emg_lpf[3]=emg_lpf[2];
                    emg_lpf[2]=emg_lpf[1];
                    emg_lpf[1]=emg_lpf[0];
                    
                      
                    

                
        if (emg_lpf[0]>0.01)
        {
        motor1MagnitudePin = emg_lpf[0];
        motor1DirectionPin = 0;
        }
        else 
        {
        motor1MagnitudePin = 0;
        motor1DirectionPin = 0;
        }
    scope.set(0, emg_in[1]);
    scope.set(1, emg_lpf[1]);
    scope.send();
  
    if (n==100)
    {
    pc.printf("time taken was %d microseconds\n\r", timer.read_us());
    n=0;
    }
    else 
    {
     n=n+1;       
    }  
        
}


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