Revision 2:4ae32e8863d5, committed 2013-11-06

Comitter:

jaccoton

Date:

Wed Nov 06 16:16:10 2013 +0000

Parent:

1:5deb5092d487

Commit message:

Uitleg van het script

Changed in this revision

diff -r 5deb5092d487 -r 4ae32e8863d5 main.cpp
--- a/main.cpp	Tue Nov 05 10:02:42 2013 +0000
+++ b/main.cpp	Wed Nov 06 16:16:10 2013 +0000
@@ -115,7 +115,7 @@
     zzzz2=0;
     ffff1=0;
     ffff2=0;
-    
+    float F,FF,FFF,FFFF;
     /*Variables to store direction in dependent on the EMG*/
     float emg_dir;
     float emg_dir2;
@@ -178,7 +178,7 @@
         z = y*0.3913+y1*-0.7827+y2*0.3913-z1*-0.3695-z2*0.1958; // Formula for low pass filter at 40Hz instead of a Notch filter
         z = abs(z); //Rectify the signal
         f = z*0.0036+z1*0.0072+z2*0.0036-f1*-1.8227-f2*0.8372;   // low pass filter at 5Hz
-        
+        F = f;
         
         
         z1 = z;                 // Store older values of variables
@@ -190,10 +190,10 @@
         f1 = f;
         f2 = f1;
         
-        if (f<0.1)
+        if (f<0.2)
         f=0;
         else 
-        f=f*3;
+        f=f;
         
          //pc.printf("%f \n \r",(s1*f));
         
@@ -203,6 +203,7 @@
         zz = yy*0.3913+yy1*-0.7827+yy2*0.3913-zz1*-0.3695-zz2*0.1958; // Formula for low pass filter at 40Hz instead of a Notch filter
         zz = abs(zz); //Rectify the signal
         ff = zz*0.0036+zz1*0.0072+zz2*0.0036-ff1*-1.8227-ff2*0.8372;   // low pass filter at 5Hz
+        FF = ff;
 
         zz1 = zz;                 // Store older values of variables
         zz2 = zz1;
@@ -212,16 +213,17 @@
         xx2 = xx1;
         ff1 = ff;
         ff2 = ff1;
-        if (ff<0.1)
+        if (ff<0.2)
         ff=0;
         else 
-        ff=ff*3;
+        ff=ff;
         /* EMG Filter 3*/
         xxx = emg2.read();                    //Reading EMG value
         yyy = 0.6389*xxx+1.2779*xxx1+0.6389*xxx2-yyy1*1.143-yyy2*0.4128;    //Formula for highpass filter at 20Hz as given in slides
         zzz = yyy*0.3913+yyy1*-0.7827+yyy2*0.3913-zzz1*-0.3695-zzz2*0.1958; // Formula for low pass filter at 40Hz instead of a Notch filter
         zzz = abs(zzz); //Rectify the signal
         fff = zzz*0.0036+zzz1*0.0072+zzz2*0.0036-fff1*-1.8227-fff2*0.8372;   // low pass filter at 5Hz
+        FFF = fff;
 
         zzz1 = zzz;                 // Store older values of variables
         zzz2 = zzz1;
@@ -241,6 +243,7 @@
         zzzz = yyyy*0.3913+yyyy1*-0.7827+yyyy2*0.3913-zzzz1*-0.3695-zzzz2*0.1958; // Formula for low pass filter at 40Hz instead of a Notch filter
         zzzz = abs(zzzz); //Rectify the signal
         ffff = zzzz*0.0036+zzzz1*0.0072+zzzz2*0.0036-ffff1*-1.8227-ffff2*0.8372;   // low pass filter at 5Hz
+        FFFF = ffff;
 
         zzzz1 = zzzz;                 // Store older values of variables
         zzzz2 = zzzz1;
@@ -282,7 +285,7 @@
         
         if (f>0.2){         //Defining a threshhold abvoe which theres unlikely to measure any activity of other muscles
         if (f>h);           //Looking for the biggest value of f
-        h=f;                //Storing it in h 
+        h=(f);                //Storing it in h 
         if (h1<h)           //if h is a value below the set maximum
         h1=h1+0.001;        //the variable of the setpoint will try to narrow it in steps of 0.005
         }