Diff: main.cpp

Revision:

18:71a01477e264

Parent:

17:03f523424eb2

Child:

19:f0875bc3b72f

--- a/main.cpp	Wed Apr 29 14:57:07 2015 +0000
+++ b/main.cpp	Fri May 01 10:28:43 2015 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
 #include "C12832_lcd.h"
+#include "arm_math.h"
 
 #define P_GAIN 0.998
 
@@ -16,37 +17,67 @@
 BusIn Joystick(p12,p13,p14,p15,p16);
 DigitalIn Up(p15);
 DigitalIn Down(p12);
+
+
+// Filter
+arm_biquad_casd_df1_inst_f32 lowpass_p1;
+
+//lowpass filter settings: Fc = 2 Hz, Fs = 100 Hz, Gain = 6 dB
+float lowpass_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
+
+//state values
+float lowpass_p1_states[4];
+float filtered_p1;
+
+// EMG looper
+void looper()
+{
+    /*variable to store value in*/
+    uint16_t p1;
+    
+    float p1_f32;
+    /*put raw emg value both in red and in emg_value*/
+    p1 = Pot1.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
+    p1_f32 = Pot1.read()-0.5;
+
+    //process emg biceps
+    
+    arm_biquad_cascade_df1_f32(&lowpass_p1, &filtered_p1, &filtered_p1, 1 );
+   
+ float setpoint = 7000; //Frequentie
+    float step_freq = 1;
 int main()
-{
+{   Ticker log_timer;
+        //set up filters. Use external array for constants
+        arm_biquad_cascade_df1_init_f32(&lowpass_p1,1 , lowpass_const, lowpass_p1_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;
-    int dir1;
+    //float p1;
+   
 
     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) {
-
-        if (p1 < 0) { //Directie controle. 
+        
+        if (p1_f32 < 0) { //Directie controle. 
             Dir = 0;
-        } else if (p1 > 0) {
+        } else if (p1_f32 > 0) {
             Dir = 1;
         }
-        p1 = Pot1.read() - 0.500; //Offset creëren [-0.500;0.500]
+        //p1 = Pot1.read() - 0.500; //Offset creëren [-0.500;0.500]
         //Dir = dir1;
         float new_step_freq;
         //new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
-        new_step_freq = (setpoint*p1*2);
+        new_step_freq = (setpoint*filtered_p1*2);
         step_freq = abs(new_step_freq); //Geeft een frequentie in 100 stappen. 
         Step.period(1.0/step_freq); 
-        wait(0.1); //Hier nog ticker inbouwen
-        lcd.printf("Spd %.0f Hz p1 %.2f \n", step_freq, p1); //snelheid meting op lcd, zonder decimalen
+        wait(0.01); //Hier nog ticker inbouwen
+        lcd.printf("Spd %.0f Hz p1 %.2f \n", step_freq, filtered_p1); //snelheid meting op lcd, zonder decimalen
 
     }
-}
\ No newline at end of file