File content as of revision 19:f0875bc3b72f:

#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);


// 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 pot_value1_f32;
// EMG looper
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 );

}
    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);
        
        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 (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

        }
}