Diff: main.cpp

Revision:

24:c4c5d30a3938

Parent:

23:4d050e85e863

Child:

25:144eb5822aa7

--- a/main.cpp	Fri May 08 12:00:17 2015 +0000
+++ b/main.cpp	Fri May 08 13:35:41 2015 +0000
@@ -12,7 +12,7 @@
 //Signal to and from computer
 Serial pc(USBTX, USBRX);
 
-DigitalOut Enable(p14);
+DigitalOut Enable(p25);
 
 //Microstepping
 DigitalOut MS1(p27);
@@ -22,15 +22,10 @@
 //Potmeter and EMG
 AnalogIn Pot1(p19);
 AnalogIn emg0(p20);
-HIDScope scope(2);
+//HIDScope scope(2);
 //lcd
 C12832_LCD lcd;
 
-//Joystick control (probably not necessary
-BusIn Joystick(p12,p13,p14,p15,p16);
-DigitalIn Up(p15);
-DigitalIn Down(p12);
-
 //Variables for motor control
 float setpoint = 7000; //Frequentie
 float step_freq = 1;
@@ -67,28 +62,16 @@
 float filtered_step;
 float pot_value1_f32;
 
-//Averaging (look if necessary)
-/*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_emg()
 {
     /*variable to store value in*/
-    uint16_t emg_value1;
+    //uint16_t emg_value1;
 
     float emg_value1_f32;
 
     /*put raw emg value both in red and in emg_value*/
-    emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
+    //emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
     emg_value1_f32 = emg0.read();
 
     //process emg biceps
@@ -97,9 +80,9 @@
     arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
 
     /*send value to PC. */
-    scope.set(0,emg_value1);  //Raw EMG signal biceps
-    scope.set(1,filtered_biceps); //Filtered signal
-    scope.send();
+    //scope.set(0,emg_value1);  //Raw EMG signal biceps
+    //scope.set(1,filtered_biceps); //Filtered signal
+    //scope.send();
 }
 void looper_pot()
 {
@@ -116,6 +99,12 @@
     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);
+    
+    if (step_freq < 700) {
+        Enable = 1; }
+        else {
+            Enable = 0;
+            }
     Step.period(1.0/step_freq);
     
 }
@@ -125,6 +114,11 @@
     //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;
+    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);*/
 
     Ticker looptimer;
     arm_biquad_cascade_df1_init_f32(&lowpass_step, 1, lowpass1_const, lowpass1_step_states);
@@ -133,7 +127,7 @@
     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); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
     Step.write(0.5); // Duty cycle van 50%
 
     while (1) {
@@ -143,10 +137,10 @@
         } else {
             Dir = 1;
         }
-
-
+    
         lcd.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
-        pc.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
+        pc.printf("filt %f \n", filtered_biceps); 
+       // pc.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
         wait(0.01);