Werkcollege opgave 23 september BMT K9
Dependencies: Encoder HIDScope MODSERIAL mbed QEI biquadFilter
main.cpp@21:594915ba2bf9, 2015-10-09 (annotated)
- Committer:
- bscheltinga
- Date:
- Fri Oct 09 08:14:42 2015 +0000
- Revision:
- 21:594915ba2bf9
- Parent:
- 20:d5f5c60adc43
- Child:
- 22:14abcfdd1554
EMG Lowpassfilter werkend op HIDScope - Volgorde verandert en comments toegevoegd
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bscheltinga | 0:fe3896c6eeb0 | 1 | #include "mbed.h" |
bscheltinga | 12:0a079e86348e | 2 | #include "HIDScope.h" |
bscheltinga | 0:fe3896c6eeb0 | 3 | #include "MODSERIAL.h" |
bscheltinga | 13:04e10692e239 | 4 | #include "biquadFilter.h" //Filter direct form II |
bscheltinga | 0:fe3896c6eeb0 | 5 | |
bscheltinga | 15:7870f7912904 | 6 | //Define inputs |
bscheltinga | 20:d5f5c60adc43 | 7 | AnalogIn emgL(A0); //Analog input left arm |
bscheltinga | 18:68067ffd169e | 8 | //AnalogIn emgR(PTB1); //Analog input right arm |
bscheltinga | 19:bd453bee03f6 | 9 | DigitalOut led1(LED_GREEN); |
bscheltinga | 21:594915ba2bf9 | 10 | |
bscheltinga | 18:68067ffd169e | 11 | MODSERIAL pc(USBTX,USBRX); |
bscheltinga | 20:d5f5c60adc43 | 12 | volatile bool control_go = false; |
bscheltinga | 20:d5f5c60adc43 | 13 | Ticker control_tick; |
bscheltinga | 15:7870f7912904 | 14 | |
bscheltinga | 20:d5f5c60adc43 | 15 | //Define constants |
bscheltinga | 20:d5f5c60adc43 | 16 | float emgL_L; |
bscheltinga | 15:7870f7912904 | 17 | |
bscheltinga | 20:d5f5c60adc43 | 18 | const double a1 = 0; |
bscheltinga | 20:d5f5c60adc43 | 19 | const double a2 = 0.17156822136; |
bscheltinga | 20:d5f5c60adc43 | 20 | const double b0 = 0.2928920553; |
bscheltinga | 20:d5f5c60adc43 | 21 | const double b1 = 0.5857841107; |
bscheltinga | 20:d5f5c60adc43 | 22 | const double b2 = 0.2928920554; // Waarde van biquads via groep 1 2014 |
bscheltinga | 20:d5f5c60adc43 | 23 | biquadFilter Lowpassfilter (a1, a2, b0, b1, b2); |
bscheltinga | 15:7870f7912904 | 24 | |
bscheltinga | 21:594915ba2bf9 | 25 | HIDScope scope(2); // Aantal HIDScope kanalen |
bscheltinga | 21:594915ba2bf9 | 26 | |
bscheltinga | 21:594915ba2bf9 | 27 | void ControlGo() //Control flag |
bscheltinga | 21:594915ba2bf9 | 28 | { |
bscheltinga | 21:594915ba2bf9 | 29 | control_go = true; |
bscheltinga | 21:594915ba2bf9 | 30 | led1 = 0; |
bscheltinga | 21:594915ba2bf9 | 31 | } |
bscheltinga | 0:fe3896c6eeb0 | 32 | |
bscheltinga | 13:04e10692e239 | 33 | int main() |
bscheltinga | 13:04e10692e239 | 34 | { |
bscheltinga | 20:d5f5c60adc43 | 35 | control_tick.attach(&ControlGo, 1); |
bscheltinga | 20:d5f5c60adc43 | 36 | pc.baud(9600); |
bscheltinga | 20:d5f5c60adc43 | 37 | |
bscheltinga | 15:7870f7912904 | 38 | while(true) { |
bscheltinga | 20:d5f5c60adc43 | 39 | |
bscheltinga | 20:d5f5c60adc43 | 40 | if(control_go) |
bscheltinga | 20:d5f5c60adc43 | 41 | emgL_L = Lowpassfilter.step(emgL.read()); //emgL_L Linker bicep met lowpass filter |
bscheltinga | 20:d5f5c60adc43 | 42 | scope.set(0,emgL.read()); |
bscheltinga | 20:d5f5c60adc43 | 43 | scope.set(1,emgL.read()); |
bscheltinga | 20:d5f5c60adc43 | 44 | scope.send(); |
bscheltinga | 21:594915ba2bf9 | 45 | led1 = 1; //De led gaat flikkeren wanneer deze loop uitgevoerd wordt |
bscheltinga | 20:d5f5c60adc43 | 46 | |
bscheltinga | 14:57d38789bff2 | 47 | } |
bscheltinga | 14:57d38789bff2 | 48 | } |