script dat de twee motoren los van elkaar laat draaien
Dependencies: mbed Encoder MODSERIAL
Diff: main.cpp
- Revision:
- 4:3f2f48dad1ff
- Parent:
- 3:4db5e8ed9657
--- a/main.cpp Tue Nov 05 11:27:38 2013 +0000 +++ b/main.cpp Wed Nov 06 16:33:03 2013 +0000 @@ -162,7 +162,7 @@ /* EMG Filter 1*/ //* EMG Filter 1*/ - x = emg0.read(); //Reading EMG value + //x = emg0.read(); //Reading EMG value y = 0.638945525159022*x+1.277891050318045*x1+0.638945525159022*x2-y1*1.142980502539901-y2*0.412801598096189; //Formula for highpass filter at 20Hz as given in slides z = y*0.391335772501769+y1*-0.782671545003537+y2*0.391335772501769-z1*-0.369527377351241-z2*0.195815712655833; // Formula for low pass filter at 40Hz instead of a Notch filter z = abs(z); //Rectify the signal @@ -184,7 +184,7 @@ //pc.printf("%f \n \r",(s1*f)); /* EMG Filter 2*/ - xx = emg1.read(); //Reading EMG value + //xx = emg1.read(); //Reading EMG value yy = 0.638945525159022*xx+1.277891050318045*xx1+0.638945525159022*xx2-yy1*1.142980502539901-yy2*0.412801598096189; //Formula for highpass filter at 20Hz as given in slides zz = yy*0.391335772501769+yy1*-0.782671545003537+yy2*0.391335772501769-zz1*-0.369527377351241-zz2*0.195815712655833; // Formula for low pass filter at 40Hz instead of a Notch filter zz = abs(zz); //Rectify the signal @@ -201,7 +201,7 @@ if (ff<0.1) ff=0; /* EMG Filter 3*/ - xxx = emg2.read(); //Reading EMG value + //xxx = emg2.read(); //Reading EMG value yyy = 0.638945525159022*xxx+1.277891050318045*xxx1+0.638945525159022*xxx2-yyy1*1.142980502539901-yyy2*0.412801598096189; //Formula for highpass filter at 20Hz as given in slides zzz = yyy*0.391335772501769+yyy1*-0.782671545003537+yyy2*0.391335772501769-zzz1*-0.369527377351241-zzz2*0.195815712655833; // Formula for low pass filter at 40Hz instead of a Notch filter zzz = abs(zzz); //Rectify the signal @@ -218,7 +218,7 @@ if (fff<0.1) fff=0; /* EMG Filter 4*/ - xxxx = emg3.read(); //Reading EMG value + //xxxx = emg3.read(); //Reading EMG value yyyy = 0.638945525159022*xxxx+1.277891050318045*xxxx1+0.638945525159022*xxxx2-yyyy1*1.142980502539901-yyyy2*0.412801598096189; //Formula for highpass filter at 20Hz as given in slides zzzz = yyyy*0.391335772501769+yyyy1*-0.782671545003537+yyyy2*0.391335772501769-zzzz1*-0.369527377351241-zzzz2*0.195815712655833; // Formula for low pass filter at 40Hz instead of a Notch filter zzzz = abs(zzzz); //Rectify the signal