Diff: main.cpp

Revision:

26:b88ff19ff5dc

Parent:

25:144eb5822aa7

Child:

27:c7b1851c9bb7

--- a/main.cpp	Fri May 08 15:01:30 2015 +0000
+++ b/main.cpp	Mon May 11 15:37:58 2015 +0000
@@ -36,10 +36,10 @@
 arm_biquad_casd_df1_inst_f32 lowpass_pot;
 arm_biquad_casd_df1_inst_f32 lowpass_step;
 
-//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};
+//lowpass filter settings: Fc = 0.5 Hz, Fs = 100 Hz, Gain = -3 dB
+float lowpass_const[] = {0.06089863257570727, 0, 0, 0.9391013674242927, 0};
 //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};
+//float lowpass1_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
 
 //EMG filter
 arm_biquad_casd_df1_inst_f32 lowpass_biceps;
@@ -99,36 +99,36 @@
     float new_step_freq;
     new_step_freq = (setpoint*pot_value1_f32*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);
-    
+    //arm_biquad_cascade_df1_f32(&lowpass_step, &step_freq, &filtered_step, 1);
+
     if (step_freq < 700) {
-        Enable = 1; }
-        else {
-            Enable = 0;
-            }
+        Enable = 1;
+    } else {
+        Enable = 0;
+    }
     Step.period(1.0/step_freq);
-    
+
 }
 int main()
 {
-    /*Ticker log_timer;
+    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_pot, 0.01);*/
-    
-    Ticker emgtimer;
+    log_timer.attach(looper_pot, 0.01);
+
+    /*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, 0.01);
+    emgtimer.attach(looper_emg, 0.002);*/
 
     Ticker looptimer;
-    arm_biquad_cascade_df1_init_f32(&lowpass_step, 1, lowpass1_const, lowpass1_step_states);
+    //arm_biquad_cascade_df1_init_f32(&lowpass_step, 1, lowpass1_const, lowpass1_step_states);
     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.period(1./step_freq);
     Step.write(0.5); // Duty cycle van 50%
 
     while (1) {
@@ -138,13 +138,13 @@
         } else {
             Dir = 1;
         }
-    
-        //lcd.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
-        pc.printf("filt %.3f raw %.3f \n", filtered_biceps, emg0.read()); 
-        lcd.printf("filt %.3f raw %.3f \n", filtered_biceps, emg0.read()); 
+
+        lcd.printf("Raw %.4f Hz Filt %.4f \n", Pot1.read(), filtered_pot); //snelheid meting op lcd
+        //pc.printf(" %.4f \n", Pot1.read());
+        //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(0.1);
+        wait(0.01);
 
 
     }
-}
\ No newline at end of file
+}