Diff: main.cpp

Revision:

19:f0875bc3b72f

Parent:

18:71a01477e264

Child:

20:07723b8348e3

--- a/main.cpp	Fri May 01 10:28:43 2015 +0000
+++ b/main.cpp	Fri May 01 11:54:11 2015 +0000
@@ -20,64 +20,67 @@
 
 
 // Filter
-arm_biquad_casd_df1_inst_f32 lowpass_p1;
+arm_biquad_casd_df1_inst_f32 lowpass_pot;
 
 //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;
-
+float lowpass_pot_states[4];
+//globale variabele
+float filtered_pot;
+float pot_value1_f32;
 // EMG looper
 void looper()
 {
     /*variable to store value in*/
-    uint16_t p1;
+   // uint16_t pot_value1;
+
     
-    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;
+    //pot_value1 = Pot1.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
+    pot_value1_f32 = Pot1.read() - 0.500;
 
     //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;
+
+    arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 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;
-   
-    MS1 = 1;
-    MS2 = 0;
-    MS3 = 0;
-    //float p1;
-   
+        arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_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;
+        //p1 = pot_value1_f32 - 0.500;
+
 
-    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_f32 < 0) { //Directie controle. 
-            Dir = 0;
-        } else if (p1_f32 > 0) {
-            Dir = 1;
+        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 (pot_value1_f32 < 0) { //Directie controle.
+                Dir = 0;
+            } else if (pot_value1_f32 > 0) {
+                Dir = 1;
+            }
+           // p1 = Pot1.read() - 0.500; //Offset creëren [-0.500;0.500]
+      
+            float new_step_freq;
+            new_step_freq = (setpoint*pot_value1_f32*2);
+            step_freq = abs(new_step_freq); //Geeft een frequentie in 100 stappen.
+            Step.period(1.0/step_freq);
+            //wait(0.01); //Hier nog ticker inbouwen
+            lcd.printf("Spd %.0f Hz p1 %.2f \n", step_freq, pot_value1_f32); //snelheid meting op lcd, zonder decimalen
+
         }
-        //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*filtered_p1*2);
-        step_freq = abs(new_step_freq); //Geeft een frequentie in 100 stappen. 
-        Step.period(1.0/step_freq); 
-        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
-
-    }
+}
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