Diff: main.cpp

Revision:

28:593929bbdb98

Parent:

27:c7b1851c9bb7

Child:

29:83f005c637be

--- a/main.cpp	Mon May 18 09:52:02 2015 +0000
+++ b/main.cpp	Tue May 19 15:16:50 2015 +0000
@@ -20,7 +20,7 @@
 //Potmeter and EMG
 AnalogIn Pot1(p19);
 AnalogIn emg0(p17);
-//HIDScope scope(2);
+HIDScope scope(2);
 
 //lcd
 C12832_LCD lcd;
@@ -34,12 +34,12 @@
 arm_biquad_casd_df1_inst_f32 lowpass_pot;
 arm_biquad_casd_df1_inst_f32 lowpass_step;
 
-//lowpass filter settings: Fc = 1 Hz, Fs = 100 Hz, Gain = -3 dB onepole-lp
+//lowpass filter potmeter: Fcn = 0.1 Hz, Fs = 100 Hz
 float lowpass_const[] = {0.0201, 0.0402 , 0.0201, 1.5610, -0.6414};
 //Lowpass filter potmeter: Fc = 0.5 Hz, Fs = 500 Hz, 
 //float lowpass_const[] = {0.000009825916403675327, 0.000019651832807350654, 0.000009825916403675327, 1.991114207740345, -0.9911535114059596};
-//lowpass for step_freq: Fc = 2 Hz, Fs = 100, Gain = 6 dB
-//float lowpass1_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
+//lowpass filter potmeter: Fcn = 0.05 Hz, Fs = 500
+//float lowpass_const[] = {0.0055, 0.0111, 0.0055, 1.7786, -0.8008};
 
 //EMG filter
 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
@@ -54,7 +54,6 @@
 float lowpass_biceps_states[4];
 float highnotch_biceps_states[8];
 float lowpass_pot_states[4];
-float lowpass1_step_states[4];
 
 //global variabels
 float filtered_biceps;
@@ -83,7 +82,7 @@
     /*send value to PC. */
     //scope.set(0,emg_value1);  //Raw EMG signal biceps
     //scope.set(1,filtered_biceps); //Filtered signal
-    //scope.send();
+   // scope.send();
 }
 void looper_pot()
 {
@@ -92,6 +91,9 @@
 
     //process input
     arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 );
+    scope.set(0, filtered_pot); 
+    scope.set(1, Pot1.read());
+    scope.send();
 }
 
 
@@ -100,7 +102,7 @@
     float new_step_freq;
     new_step_freq = (setpoint*filtered_pot*2);
     step_freq = abs(new_step_freq); //Gives the PWM frequenty to the motor.
-    //arm_biquad_cascade_df1_f32(&lowpass_step, &step_freq, &filtered_step, 1);
+ 
 
     if (step_freq < 850) {
         Enable = 1;
@@ -117,10 +119,10 @@
     arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states);
     log_timer.attach(looper_pot, 0.01);
 
-    /*Ticker emgtimer;
+    Ticker emgtimer;
     arm_biquad_cascade_df1_init_f32(&lowpass_biceps, 1 , lowpass_const, lowpass_biceps_states);
     arm_biquad_cascade_df1_init_f32(&highnotch_biceps, 2 , highnotch_const, highnotch_biceps_states);
-    emgtimer.attach(looper_emg, 0.002);*/
+    emgtimer.attach(looper_emg, 0.005);
 
     Ticker looptimer;
     looptimer.attach(looper_motor, 0.01);
@@ -140,10 +142,10 @@
         }
         Step.write(0.5);
         lcd.printf("Freq %.0f Hz Filt %.4f \n", step_freq, filtered_pot); //snelheid meting op lcd
-        //pc.printf(" %.4f \n", Pot1.read());
+        //pc.printf(" %.4f \n", filtered_pot);
         //lcd.printf("filt %.3f raw %.3f \n", filtered_biceps, emg0.read());
         //pc.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
-        wait(0.002);
+        wait(0.01);
 
 
     }