met knopjes, voor Wubs, zit PID in dus restrictie.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 38:23601b26bb84
- Parent:
- 37:60dd2e42bf8f
- Child:
- 39:c933a6c2b730
--- a/main.cpp Fri Oct 28 12:53:42 2016 +0000 +++ b/main.cpp Fri Oct 28 13:05:13 2016 +0000 @@ -17,20 +17,18 @@ double emg_abs_biceps_right; double emg_filtered_biceps_right; int onoffsignal=0; -double cut_off_value=0.08; //gespecifeerd door floortje +double cut_off_value=0.04; //gespecifeerd door floortje BiQuad filterhigh(9.1497e-01, -1.8299e+00, 9.1497e-01, -1.8227e+00, 8.3718e-01); // BiQuad filterlow ( 3.9130e-05 , 7.8260e-05 , 3.9130e-05, -1.9822e+00 , 9.8239e-01); // -BiQuad notch1(9.9115e-01 ,-1.8853e+00 , 9.9115e-01 , -1.8909e+00 , 9.9103e-01); -BiQuad notch2( 1.0000e+00 , -1.9022e+00, 1.0000e+00 , -1.8965e+00 , 9.9127e-01); +BiQuad notch( 2.0083e-02 , 4.0167e-02, 2.0083e-02 , -1.5610e+00 , 6.4135e-01); //functions which are called in ticker void filter(){ emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); - double emg_filtered_notch1=notch1.step(emg_filtered_high_biceps_right); - double emg_filtered_notch2=notch2.step(emg_filtered_notch1); - emg_abs_biceps_right=fabs(emg_filtered_notch2); //fabs because float + double emg_filtered_notch=notch.step(emg_filtered_high_biceps_right); + emg_abs_biceps_right=fabs(emg_filtered_notch); //fabs because float emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); led=!led; @@ -41,7 +39,7 @@ {onoffsignal=0;} //send signals to scope - scope.set(0, emg_filtered_notch2 ); //set emg signal to scope in channel 1 + scope.set(0, emg_filtered_notch ); //set emg signal to scope in channel 1 scope.set(1, emg_abs_biceps_right); scope.set(2, emg_filtered_biceps_right); scope.send(); //send all the signals to the scope