met knopjes, voor Wubs, zit PID in dus restrictie.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
main.cpp
- Committer:
- daniQQue
- Date:
- 2016-10-24
- Revision:
- 13:6c2daab3547b
- Parent:
- 12:a76f9b33fbcb
- Child:
- 14:5b17697cf775
File content as of revision 13:6c2daab3547b:
//libraries #include "mbed.h" #include "HIDScope.h" #include "biquadFilter.h" //Define objects AnalogIn emg0( A0 ); //analog in to get EMG in to c++ Ticker sample_timer; //ticker HIDScope scope(1); //open 3 channels in hidscope DigitalOut richting_motor1(D4); //motor1 direction output PwmOut pwm_motor1(D5); //motor1 velocity output DigitalOut led(LED_GREEN); //define variables double emg_0_value; double emg_gefilterd; double emg_abs; int onoffsignal=0; double cut_off_value=0.; //gespecifeerd door floortje biquadFilter filterhigh1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); void filter(){ emg_0_value=emg0.read(); //read the emg value from the elektrodes emg_gefilterd= filterhigh1.step(emg_0_value); emg_abs=abs(emg_gefilterd); led=!led; if (emg_abs>cut_off_value) {onoffsignal=1;} else {onoffsignal=0;} //send signals to scope scope.set(0, emg_0_value ); //set emg signal to scope in channel 1 scope.send(); //send all the signals to the scope } //program int main() { sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds //endless loop while(1) { if (onoffsignal==1) { richting_motor1 = 0; //motordirection (ccw) pwm_motor1 = 1; //motorspeed 1 } else if(onoffsignal==0) { richting_motor1 = 0; //motordirection (ccw) pwm_motor1 = 0; //motorspeed 0 } } }