Werkcollege opgave 23 september BMT K9
Dependencies: Encoder HIDScope MODSERIAL mbed QEI biquadFilter
main.cpp
- Committer:
- bscheltinga
- Date:
- 2015-10-07
- Revision:
- 16:ca457fa8257f
- Parent:
- 15:7870f7912904
File content as of revision 16:ca457fa8257f:
#include "mbed.h" #include "HIDScope.h" #include "MODSERIAL.h" #include "biquadFilter.h" //Filter direct form II //Define inputs AnalogIn emgL(PTB0); //Analog input left arm AnalogIn emgR(PTB1); //Analog input right arm //Define constants float emgL_L; float emgL_LH; Ticker looptimer; volatile bool looptimerflag; const float la1 = 0; const float la2 = 0.17156822136; const float lb0 = 0.2928920553; const float lb1 = 0.5857841107; const float lb2 = 0.2928920554; // Waarde van biquads via groep 1 2014 biquadFilter Lowpassfilter (la1, la2, lb0, lb1, lb2); const float ha1 = -1.5610153913; const float ha2 = 0.6413487154; const float hb0 = 0.8005910267; const float hb1 = -1.6011820533; const float hb2 = 0.8005910267; // Waarde van biquads via groep 1 2014 biquadFilter Highpassfilter (ha1, ha2, hb0, hb1, hb2); HIDScope scope(3); void setlooptimerflag(void) { looptimerflag = true; } int main() { looptimer.attach(setlooptimerflag, 0.01); while(true) { while (looptimerflag !=true) { looptimerflag = false; emgL_L = Lowpassfilter.step(emgL); //emgL_L Linker bicep met lowpass filter emgL_LH = Highpassfilter.step(emgL_L); } scope.set(0,emgL); scope.set(1,emgL_L); scope.set(2,emgL_LH); scope.send(); } }