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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
a_pid_kal_end
by 
Daniqe Kottelenberg
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