Werkcollege opgave 23 september BMT K9
Dependencies: Encoder HIDScope MODSERIAL mbed QEI biquadFilter
Diff: main.cpp
- Revision:
- 26:1090acf98efc
- Parent:
- 25:38ab6dd19d9b
- Child:
- 27:85e5d36bb6c5
--- a/main.cpp Fri Oct 09 10:21:39 2015 +0000 +++ b/main.cpp Fri Oct 09 11:05:05 2015 +0000 @@ -3,25 +3,26 @@ #include "MODSERIAL.h" #include "biquadFilter.h" //Filter direct form II -//Define inputs +// [DEFINE INPUTS] // AnalogIn emgL(A0); //Analog input left arm //AnalogIn emgR(PTB1); //Analog input right arm DigitalOut led1(LED_GREEN); +// [DEFINE CONSTANTS] // +float emgL_L, emgL_LH, emgLeft, emgL_H, emgL_Notch; +double B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG; +HIDScope scope(4); // Aantal HIDScope kanalen MODSERIAL pc(USBTX,USBRX); volatile bool control_go = false; Ticker control_tick; -//Define constants -float emgL_L, emgL_LH, emgLeft, emgL_H, emgL_Notch; -double B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG; - +// [BIQUAD FILTERS] // const float la1 = 0.29358435979; const float la2 = 0.71930322156; const float lb0 = 1.00000000000; const float lb1 = 0.01516472727; const float lb2 = 1.00000000000; // Waarde van biquads via groep 1 2014 -biquadFilter Lowpassfilter (la1, la2, lb0, lb1, lb2); +biquadFilter Lowpassfilter1 (la1, la2, lb0, lb1, lb2); const float ha1 = -0.29358436761; const float ha2 = 0.71930322175; @@ -30,14 +31,15 @@ const float hb2 = 1.000000000000; // Waarde van biquads via groep 1 2014 biquadFilter Highpassfilter (ha1, ha2, hb0, hb1, hb2); -HIDScope scope(4); // Aantal HIDScope kanalen - +// [FUNCTIONS] // void ControlGo() //Control flag { control_go = true; led1 = 0; } + +// [MAIN FUNCTION] // int main() { control_tick.attach(&ControlGo, 0.005); @@ -54,7 +56,7 @@ emgL_H = Highpassfilter.step(emgLeft); //emgL_L met Highpassfilter emgL_Notch = Highpassfilter.step(emgL_L); //Highpass filter over de lowpass filter = Notch - // [MOVING AVERAGE]// Mov avg van lowpass filter + // [MOVING AVERAGE] // Mov avg van lowpass filter B0 = emgL_L; MOVAVG=B0*0.1+B1*0.1+B2*0.1+B3*0.1+B4*0.1+B5*0.1+B6*0.1+B7*0.1+B8*0.1+B9*0.1; B9=B8;