File content as of revision 20:07723b8348e3:

#include "mbed.h"
#include "C12832_lcd.h"
#include "arm_math.h"

#define P_GAIN 0.998

DigitalOut Dir(p21);
PwmOut Step(p22);
DigitalOut Enable(p14);
DigitalOut MS1(p27);
DigitalOut MS2(p28);
DigitalOut MS3(p29);
AnalogIn Pot1(p19);
AnalogIn Pot2(p20);
C12832_LCD lcd;

BusIn Joystick(p12,p13,p14,p15,p16);
DigitalIn Up(p15);
DigitalIn Down(p12);

float setpoint = 7000; //Frequentie
float step_freq = 1;


// Filter
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_pot_states[4];
//globale variabele
float filtered_pot;
float filtered_average_pot;
float pot_value1_f32;

//Gemiddelde van de waarde nemen
/*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()
{
    /*variable to store value in*/
    // uint16_t pot_value1;


    /*put raw emg value both in red and in emg_value*/
    //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_pot, &pot_value1_f32, &filtered_pot, 1 );
    //average_pot(filtered_pot,&filtered_average_pot);

}
void looper_motor()
{
    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);
}
int main()
{
    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, 0.01);

    Ticker looptimer;
    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.write(0.5); // Duty cycle van 50%


    while (1) {

        if (pot_value1_f32 < 0) { //Directie controle.
            Dir = 0;
        } else if (pot_value1_f32 > 0) {
            Dir = 1;
        }
        wait(0.01);
        lcd.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd, zonder decimalen

    }
}