Diff: main.cpp

Revision:

20:07723b8348e3

Parent:

19:f0875bc3b72f

--- a/main.cpp	Fri May 01 11:54:11 2015 +0000
+++ b/main.cpp	Fri May 01 12:24:34 2015 +0000
@@ -18,6 +18,9 @@
 DigitalIn Up(p15);
 DigitalIn Down(p12);
 
+float setpoint = 7000; //Frequentie
+float step_freq = 1;
+
 
 // Filter
 arm_biquad_casd_df1_inst_f32 lowpass_pot;
@@ -29,14 +32,29 @@
 float lowpass_pot_states[4];
 //globale variabele
 float filtered_pot;
+float filtered_average_pot;
 float pot_value1_f32;
-// EMG looper
+
+//Gemiddelde van de waarde nemen
+/*void average_pot(float filtered_pot,float *average)
+{
+    static float total=0;
+    static float number=0;
+    total = total + filtered_pot;
+    number = number + 1;
+    if ( number == 50) {
+        *average = total/50;
+        total = 0;
+        number = 0;
+    }
+}*/
+
 void looper()
 {
     /*variable to store value in*/
-   // uint16_t pot_value1;
+    // uint16_t pot_value1;
 
-    
+
     /*put raw emg value both in red and in emg_value*/
     //pot_value1 = Pot1.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
     pot_value1_f32 = Pot1.read() - 0.500;
@@ -44,43 +62,42 @@
     //process emg biceps
 
     arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 );
+    //average_pot(filtered_pot,&filtered_average_pot);
 
 }
-    int main() {
-        Ticker log_timer;
-        //set up filters. Use external array for constants
-        arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states);
-        log_timer.attach(looper, 0.01);
-        
-        Enable = 0;
-        float setpoint = 7000; //Frequentie
-        float step_freq = 1;
-        MS1 = 1;
-        MS2 = 0;
-        MS3 = 0;
-        //float p1;
-        //p1 = pot_value1_f32 - 0.500;
+void looper_motor()
+{
+    float new_step_freq;
+    new_step_freq = (setpoint*pot_value1_f32*2);
+    step_freq = abs(new_step_freq); //Geeft een frequentie in 100 stappen.
+    Step.period(1.0/step_freq);
+}
+int main()
+{
+    Ticker log_timer;
+    //set up filters. Use external array for constants
+    arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states);
+    log_timer.attach(looper, 0.01);
+
+    Ticker looptimer;
+    looptimer.attach(looper_motor, 0.01);
+
+    MS1 = 1;
+    MS2 = 0;
+    MS3 = 0;
+    Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
+    Step.write(0.5); // Duty cycle van 50%
 
 
-        Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
-        Step.write(0.5); // Duty cycle van 50%
-        // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder.
-        Enable = 1;
-        while (1) {
+    while (1) {
 
-            if (pot_value1_f32 < 0) { //Directie controle.
-                Dir = 0;
-            } else if (pot_value1_f32 > 0) {
-                Dir = 1;
-            }
-           // p1 = Pot1.read() - 0.500; //Offset creëren [-0.500;0.500]
-      
-            float new_step_freq;
-            new_step_freq = (setpoint*pot_value1_f32*2);
-            step_freq = abs(new_step_freq); //Geeft een frequentie in 100 stappen.
-            Step.period(1.0/step_freq);
-            //wait(0.01); //Hier nog ticker inbouwen
-            lcd.printf("Spd %.0f Hz p1 %.2f \n", step_freq, pot_value1_f32); //snelheid meting op lcd, zonder decimalen
+        if (pot_value1_f32 < 0) { //Directie controle.
+            Dir = 0;
+        } else if (pot_value1_f32 > 0) {
+            Dir = 1;
+        }
+        wait(0.01);
+        lcd.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd, zonder decimalen
 
-        }
+    }
 }
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