2 losse EMG signalen van de biceps en deltoid
Dependencies: HIDScope MODSERIAL mbed-dsp mbed Encoder
Fork of Lampje_EMG_Gr6 by
Diff: main.cpp
- Revision:
- 27:691779624530
- Parent:
- 26:9859a71456fd
- Child:
- 28:c33a0658605e
diff -r 9859a71456fd -r 691779624530 main.cpp --- a/main.cpp Sat Nov 01 12:52:52 2014 +0000 +++ b/main.cpp Sat Nov 01 13:43:21 2014 +0000 @@ -71,7 +71,7 @@ float lowpass_deltoid_states[4]; arm_biquad_casd_df1_inst_f32 highnotch_biceps; arm_biquad_casd_df1_inst_f32 highnotch_deltoid; -//highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 49-51, Fs =500Hz, Gain = -3 dB (van Melvin) +//highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533}; //state values float highnotch_biceps_states[8]; @@ -403,7 +403,7 @@ void arm_begin () { - speed2_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht) + speed2_rad = 1.0; //positief is CCW, negatief CW (boven aanzicht) setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; if(setpoint2 > (0.0*2.0*PI/360)) { //setpoint in graden setpoint2 = (0.0*2.0*PI/360); @@ -460,37 +460,38 @@ wait_iterator1 = 0; } else if(staat1 ==1) { wait_iterator1++; - if(wait_iterator1 > 1000) + if(wait_iterator1 > 400) { staat1 = 2; - } else { - batje_begin_rechts(); + + batje_begin_rechts(); + } } } - if (batje_hoek == 2) { if(staat1 == 0) { batje_links(); wait_iterator1 = 0; } else if(staat1 ==1) { wait_iterator1++; - if(wait_iterator1 > 1000) + if(wait_iterator1 > 400) { staat1 = 2; - } else { - batje_begin_links (); + + batje_begin_links (); + } } } - if(arm_hoogte == 1) { if(staat2 == 0) { arm_laag(); wait_iterator2 = 0; } else if(staat2 == 1) { wait_iterator2++; - if(wait_iterator2 > 400) + if(wait_iterator2 > 400) { staat2 = 2; - } else { - arm_begin(); + + arm_begin(); + } } } if(arm_hoogte == 2) { @@ -499,10 +500,11 @@ wait_iterator2 = 0; } else if(staat2 == 1) { wait_iterator2++; - if(wait_iterator2 > 400) + if(wait_iterator2 > 400) { staat2 = 2; - } else { - arm_begin(); + + arm_begin(); + } } } if(arm_hoogte == 3) { @@ -511,14 +513,17 @@ wait_iterator2 = 0; } else if(staat2 == 1) { wait_iterator2++; - if(wait_iterator2 > 400) + if(wait_iterator2 > 400) { staat2 = 2; - } else { - arm_begin(); + + arm_begin(); + } } } + } + int main() {