Diff: main.cpp

Revision:

27:c7b1851c9bb7

Parent:

26:b88ff19ff5dc

Child:

28:593929bbdb98

--- a/main.cpp	Mon May 11 15:37:58 2015 +0000
+++ b/main.cpp	Mon May 18 09:52:02 2015 +0000
@@ -3,8 +3,6 @@
 #include "arm_math.h"
 #include "HIDScope.h"
 
-#define P_GAIN 0.998
-
 //Motor control
 DigitalOut Dir(p21);
 PwmOut Step(p22);
@@ -28,7 +26,7 @@
 C12832_LCD lcd;
 
 //Variables for motor control
-float setpoint = 7000; //Frequentie
+float setpoint = 6500; //Frequentie
 float step_freq = 1;
 
 
@@ -36,8 +34,10 @@
 arm_biquad_casd_df1_inst_f32 lowpass_pot;
 arm_biquad_casd_df1_inst_f32 lowpass_step;
 
-//lowpass filter settings: Fc = 0.5 Hz, Fs = 100 Hz, Gain = -3 dB
-float lowpass_const[] = {0.06089863257570727, 0, 0, 0.9391013674242927, 0};
+//lowpass filter settings: Fc = 1 Hz, Fs = 100 Hz, Gain = -3 dB onepole-lp
+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};
 
@@ -94,19 +94,20 @@
     arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 );
 }
 
+
 void looper_motor()
 {
     float new_step_freq;
-    new_step_freq = (setpoint*pot_value1_f32*2);
+    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 < 700) {
+    if (step_freq < 850) {
         Enable = 1;
     } else {
         Enable = 0;
     }
-    Step.period(1.0/step_freq);
+    Step.period(1.0/(100 + step_freq));
 
 }
 int main()
@@ -122,28 +123,27 @@
     emgtimer.attach(looper_emg, 0.002);*/
 
     Ticker looptimer;
-    //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);
+    //Step.period(1/step_freq);
     Step.write(0.5); // Duty cycle van 50%
 
     while (1) {
 
-        if (pot_value1_f32 < 0) { //Directie controle.
+        if (filtered_pot < 0) { //Directie controle.
             Dir = 0;
         } else {
             Dir = 1;
         }
-
-        lcd.printf("Raw %.4f Hz Filt %.4f \n", Pot1.read(), filtered_pot); //snelheid meting op lcd
+        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());
         //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(0.01);
+        wait(0.002);
 
 
     }