Opgeschoonde code voor verslag
Dependencies: Encoder HIDScope MODSERIAL mbed
Fork of TotalCodegr13V2 by
Diff: main.cpp
- Revision:
- 11:b2dec8f3e75c
- Parent:
- 10:34ccb2fed2ef
- Child:
- 12:146ba6f95fe0
diff -r 34ccb2fed2ef -r b2dec8f3e75c main.cpp --- a/main.cpp Tue Oct 27 10:23:31 2015 +0000 +++ b/main.cpp Tue Oct 27 11:42:19 2015 +0000 @@ -15,8 +15,8 @@ AnalogIn PotMeter2(A5); AnalogIn EMG_bicepsright(A0); AnalogIn EMG_bicepsleft(A1); -AnalogIn EMG_tricepsright(A2); -AnalogIn EMG_tricepsleft(A3); +AnalogIn EMG_legright(A2); +AnalogIn EMG_legleft(A3); Ticker controller; Ticker ticker_regelaar; Ticker EMG_Filter; @@ -153,6 +153,7 @@ // script voor filters void Filters() { + // Biceps right A = EMG_bicepsright.read(); //Highpass y1 = biquad (A, ah1_v1, ah1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507); @@ -170,7 +171,7 @@ y9 = biquad (y8, alp1_v1, alp1_v2, flp1_a1, flp1_a2, flp1_b0*0.065187, flp1_b1* 0.065187, flp1_b2* 0.065187); final_filter1 = biquad(y9, alp2_v1, alp2_v2, flp2_a1, flp2_a2, flp2_b0*0.004525, flp2_b1*0.004525, flp2_b2*0.004525); - //Biceps right + //Biceps left B = EMG_bicepsleft.read(); //Highpass y10 = biquad (B, bh1_v1, bh1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507); @@ -188,8 +189,8 @@ y18 = biquad (y17, blp1_v1, blp1_v2, flp1_a1, flp1_a2, flp1_b0*0.065187, flp1_b1*0.065187, flp1_b2*0.065187); final_filter2 = biquad(y18, blp2_v1, blp2_v2, flp2_a1, flp2_a2, flp2_b0*0.004525, flp2_b1*0.004525, flp2_b2*0.004525); - /// EMG Filter left leg - C = EMG_tricepsright.read(); + /// EMG Filter right leg + C = EMG_legright.read(); //Highpass y19 = biquad (C, ch1_v1, ch1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507); y20 = biquad (y19, ch2_v1, ch2_v2, fh2_a1, fh2_a2, fh2_b0*0.697278, fh2_b1*0.697278, fh2_b2*0.697278); @@ -206,8 +207,8 @@ y27 = biquad (y26, clp1_v1, clp1_v2, flp1_a1, flp1_a2, flp1_b0*0.065187, flp1_b1*0.065187, flp1_b2*0.065187); final_filter3 = biquad(y27, clp2_v1, clp2_v2, flp2_a1, flp2_a2, flp2_b0*0.004525, flp2_b1*0.004525, flp2_b2*0.004525); - // EMG filter right leg - D = EMG_tricepsleft.read(); + // EMG filter left leg + D = EMG_legleft.read(); //Highpass y28 = biquad (D, dh1_v1, dh1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507); y29 = biquad (y28, dh2_v1, dh2_v2, fh2_a1, fh2_a2, fh2_b0*0.697278, fh2_b1*0.697278, fh2_b2*0.697278); @@ -236,11 +237,11 @@ void move_motor1() { - if (final_filter1 > 0.06 || button_1 == pressed) { + if (final_filter1 > 0.04 || button_1 == pressed) { pc.printf("motor1 cw \n\r"); motor1_direction = 0; //counterclockwise motor1_speed = 0.2; - } else if (final_filter3 > 0.07 || button_2 == pressed){ + } else if (final_filter2 > 0.04 || button_2 == pressed){ pc.printf("motor1 ccw \n\r"); motor1_direction = 1; //clockwise motor1_speed = 0.2; @@ -252,12 +253,12 @@ void move_motor2() { - if (button_1 == pressed) { + if (final_filter3 > 0.05) { pc.printf("motor2 cw \n\r"); motor2_direction = 1; //clockwise motor2_speed = 0.4; - } else if (button_2 == pressed) { - pc.printf("Moving 2 counterclockwise \n\r"); + } else if (final_filter4 > 0.05) { + pc.printf("motor2 ccw \n\r"); motor2_direction = 0; //counterclockwise motor2_speed = 0.4; } else {