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Dependencies:   MODSERIAL mbed

Fork of EMG2spier by Dan August

main.cpp@2:5c6873981eac, 2013-10-25 (annotated)

Committer:
DanAuhust
Date:
Fri Oct 25 09:40:23 2013 +0000
Revision:
2:5c6873981eac
Parent:
1:fb33955ca402
Child:
3:b299102c7d19
nog steeds error 153 eruit werken

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DanAuhust 0:3a1196d78030 1 #include "mbed.h"
DanAuhust 0:3a1196d78030 2 #include "MODSERIAL.h"
DanAuhust 2:5c6873981eac 3 // test //
DanAuhust 0:3a1196d78030 4 //Define objects
DanAuhust 0:3a1196d78030 5 AnalogIn emg_biceps(PTB0); //Analog input
DanAuhust 0:3a1196d78030 6 AnalogIn emg_triceps(PTB1);
DanAuhust 0:3a1196d78030 7 // AnalogIn emg_flexoren(PTB2);
DanAuhust 0:3a1196d78030 8 // AnalogIn emg_extensoren(PTB3);
DanAuhust 0:3a1196d78030 9 PwmOut red(LED_RED); // sig_out biceps
DanAuhust 0:3a1196d78030 10 PwmOut blue(LED_BLUE); // sig_out triceps
DanAuhust 0:3a1196d78030 11 // PwmOut green(LED_GREEN);
DanAuhust 0:3a1196d78030 12
DanAuhust 0:3a1196d78030 13 Ticker timer;
DanAuhust 0:3a1196d78030 14 MODSERIAL pc(USBTX,USBRX,64,1024);
DanAuhust 0:3a1196d78030 15
DanAuhust 0:3a1196d78030 16 #define MAXCOUNT 40
DanAuhust 0:3a1196d78030 17 #define inertia 4
DanAuhust 0:3a1196d78030 18
DanAuhust 0:3a1196d78030 19 #define gain_biceps 1
DanAuhust 0:3a1196d78030 20 #define threshold_biceps 0.04
DanAuhust 0:3a1196d78030 21 #define border_biceps 0.1125 //25% van .57 - .12
DanAuhust 0:3a1196d78030 22
DanAuhust 0:3a1196d78030 23 #define gain_triceps 1
DanAuhust 0:3a1196d78030 24 #define threshold_triceps 0.1
DanAuhust 0:3a1196d78030 25 #define border_triceps 0.1237 //25% van .605 - .11 = .12375
DanAuhust 0:3a1196d78030 26
DanAuhust 0:3a1196d78030 27 #define NUM0 0.8841 // constante
DanAuhust 0:3a1196d78030 28 #define NUM1 -3.53647 // z^-1
DanAuhust 0:3a1196d78030 29 #define NUM2 5.3046 // z^-2etc.
DanAuhust 0:3a1196d78030 30 #define NUM3 -3.5364
DanAuhust 0:3a1196d78030 31 #define NUM4 0.8841
DanAuhust 0:3a1196d78030 32
DanAuhust 0:3a1196d78030 33 #define DEN0 1 // constante
DanAuhust 0:3a1196d78030 34 #define DEN1 -3.7538
DanAuhust 0:3a1196d78030 35 #define DEN2 5.2912
DanAuhust 0:3a1196d78030 36 #define DEN3 -3.3189
DanAuhust 0:3a1196d78030 37 #define DEN4 0.7816
DanAuhust 0:3a1196d78030 38
DanAuhust 0:3a1196d78030 39 //filter functie definieren. filter(signal_number)
DanAuhust 0:3a1196d78030 40 //signal_number=1 --> biceps filteren
DanAuhust 0:3a1196d78030 41 //signal_number=2 --> triceps filteren
DanAuhust 0:3a1196d78030 42 //signal_number=3 --> flexoren filteren
DanAuhust 0:3a1196d78030 43 //signal_number=4 --> extensoren filteren
DanAuhust 0:3a1196d78030 44
DanAuhust 0:3a1196d78030 45 float filter(int signal_number){
DanAuhust 0:3a1196d78030 46 //static variables keep their values between function calls
DanAuhust 0:3a1196d78030 47 //the assignents are only executed the first iteration.
DanAuhust 0:3a1196d78030 48
DanAuhust 0:3a1196d78030 49 //variabelen biceps definieren
DanAuhust 1:fb33955ca402 50 float in0_biceps =0;
DanAuhust 1:fb33955ca402 51 static float in1_biceps =0, in2_biceps = 0, in3_biceps = 0, in4_biceps = 0;
DanAuhust 0:3a1196d78030 52 static float out0_biceps = 0, out1_biceps = 0 , out2_biceps = 0, out3_biceps = 0, out4_biceps = 0;
DanAuhust 0:3a1196d78030 53
DanAuhust 0:3a1196d78030 54 // variabelen triceps definieren
DanAuhust 0:3a1196d78030 55 static float in0_triceps = 0, in1_triceps = 0, in2_triceps = 0, in3_triceps = 0, in4_triceps = 0;
DanAuhust 0:3a1196d78030 56 static float out0_triceps = 0, out1_triceps = 0, out2_triceps = 0, out3_triceps = 0, out4_triceps = 0;
DanAuhust 0:3a1196d78030 57
DanAuhust 0:3a1196d78030 58 //variabelen flexoren definieren
DanAuhust 0:3a1196d78030 59 static float in0_flexoren = 0, in1_flexoren = 0, in2_flexoren = 0, in3_flexoren = 0, in4_flexoren = 0;
DanAuhust 0:3a1196d78030 60 static float out0_flexoren = 0, out1_flexoren = 0, out2_flexoren = 0, out3_flexoren = 0, out4_flexoren = 0;
DanAuhust 0:3a1196d78030 61
DanAuhust 0:3a1196d78030 62 //variablen extensoren definieren
DanAuhust 0:3a1196d78030 63 static float in0_extensoren = 0, in1_extensoren = 0, in2_extensoren = 0, in3_extensoren = 0, in4_extensoren = 0;
DanAuhust 0:3a1196d78030 64 static float out0_extensoren = 0, out1_extensoren = 0, out2_extensoren = 0, out3_extensoren = 0, out4_extensoren = 0;
DanAuhust 0:3a1196d78030 65
DanAuhust 0:3a1196d78030 66 //overige variabelen definieren
DanAuhust 0:3a1196d78030 67 // verwijder static waar mogelijk, maakt programma iets sneller
DanAuhust 0:3a1196d78030 68 static float count_biceps = 0, count_triceps = 0, count_extensoren = 0, count_flexoren = 0;
DanAuhust 0:3a1196d78030 69 static float square_biceps = 0, square_triceps = 0, square_flexoren = 0, square_extensoren = 0;
DanAuhust 0:3a1196d78030 70 static float sum_biceps = 0, sum_triceps = 0, sum_flexoren = 0, sum_extensoren = 0;
DanAuhust 0:3a1196d78030 71 static float mean_biceps = 0.1, mean_triceps = 0.1, mean_flexoren = 0.1, mean_extensoren = 0.1;
DanAuhust 1:fb33955ca402 72 static float emg_biceps, emg_triceps, emg_flexoren, emg_extensoren; // output ruwe EMG
DanAuhust 0:3a1196d78030 73 static float sig_in_biceps, sig_in_triceps, sig_in_extensoren, sig_in_flexoren; // naam gewijzigd, output StDev
DanAuhust 0:3a1196d78030 74 static float sig_out_biceps, sig_out_triceps, sig_out_extensoren, sig_out_flexoren;
DanAuhust 1:fb33955ca402 75 float emg_abs, sig_out, deltaV;
DanAuhust 1:fb33955ca402 76 static float sig_prev_biceps = 0, sig_prev_triceps = 0, sig_prev_extensoren = 0, sig_prev_flexoren = 0;
DanAuhust 1:fb33955ca402 77 static int stat0_biceps, stat0_triceps, stat0_extensoren, stat0_flexoren;
DanAuhust 1:fb33955ca402 78 static int stat1_biceps = 0, stat1_triceps = 0, stat1_extensoren = 0, stat1_flexoren = 0;
DanAuhust 0:3a1196d78030 79
DanAuhust 0:3a1196d78030 80 switch (signal_number){
DanAuhust 0:3a1196d78030 81 case 1:
DanAuhust 0:3a1196d78030 82 //biceps filteren
DanAuhust 0:3a1196d78030 83 in4_biceps = in3_biceps; in3_biceps = in2_biceps; in2_biceps = in1_biceps; in1_biceps = in0_biceps;
DanAuhust 0:3a1196d78030 84 in0_biceps = emg_biceps.read();
DanAuhust 1:fb33955ca402 85 out4_biceps = out3_biceps; out3_biceps = out2_biceps; out2_biceps = out1_biceps; out1_biceps = out0_biceps;
DanAuhust 0:3a1196d78030 86 out0_biceps = (NUM0*in0_biceps + NUM1*in1_biceps + NUM2*in2_biceps + NUM3*in3_biceps + NUM4*in4_biceps - DEN1*out1_biceps - DEN2*out2_biceps - DEN3*out3_biceps - DEN4*out4_biceps ) / DEN0;
DanAuhust 0:3a1196d78030 87
DanAuhust 0:3a1196d78030 88 //std deviatie bepalen, om de N metingen
DanAuhust 0:3a1196d78030 89 emg_abs = fabs(out0_biceps);
DanAuhust 0:3a1196d78030 90 sum_biceps += out0_biceps;
DanAuhust 0:3a1196d78030 91 square_biceps += (emg_abs - mean_biceps)*(emg_abs - mean_biceps); //neem absolute waarde, kwadrateer, voeg toe aan vorige square
DanAuhust 0:3a1196d78030 92 // voeg rest EMG's toe, variabelen alleen _spier geven als het nodig is.
DanAuhust 0:3a1196d78030 93 count_biceps += 1; // hou bij hoeveel squares er zijn opgeteld
DanAuhust 0:3a1196d78030 94 if (count_biceps >= MAXCOUNT)
DanAuhust 0:3a1196d78030 95 { sig_in_biceps = sqrt(square_biceps/count_biceps);
DanAuhust 0:3a1196d78030 96 mean_biceps = sum_biceps/count_biceps;
DanAuhust 0:3a1196d78030 97 count_biceps = 0; square_biceps = 0; sum_biceps = 0; // en neem de RMS als er genoeg zijn geteld, stuur die door, en reset sqaure en count
DanAuhust 0:3a1196d78030 98 // nieuw:
DanAuhust 1:fb33955ca402 99 deltaV = sig_in_biceps - sig_prev_biceps;
DanAuhust 0:3a1196d78030 100 if (sig_in_biceps <= threshold_biceps) // threshold
DanAuhust 0:3a1196d78030 101 { stat0_biceps = 0;
DanAuhust 0:3a1196d78030 102 if (stat1_biceps == 1)
DanAuhust 0:3a1196d78030 103 sig_out_biceps = sig_prev_biceps + deltaV / inertia;
DanAuhust 0:3a1196d78030 104 else sig_out_biceps = 0;
DanAuhust 0:3a1196d78030 105 }
DanAuhust 0:3a1196d78030 106 else if ( deltaV >= border_biceps ) // stijging
DanAuhust 0:3a1196d78030 107 { stat0_biceps = 1;
DanAuhust 0:3a1196d78030 108 if (stat1_biceps == -1)
DanAuhust 0:3a1196d78030 109 sig_out_biceps = sig_prev_biceps + deltaV / inertia;
DanAuhust 0:3a1196d78030 110 else sig_out_biceps = sig_in_biceps;
DanAuhust 0:3a1196d78030 111 }
DanAuhust 0:3a1196d78030 112 else if ( deltaV <= -border_biceps ) // daling
DanAuhust 0:3a1196d78030 113 { stat0_biceps = -1;
DanAuhust 0:3a1196d78030 114 if (stat1_biceps == 1)
DanAuhust 0:3a1196d78030 115 sig_out_biceps = sig_prev_biceps + deltaV / inertia;
DanAuhust 0:3a1196d78030 116 else sig_out_biceps = sig_in_biceps;
DanAuhust 0:3a1196d78030 117 }
DanAuhust 0:3a1196d78030 118 else { stat0_biceps = 0;
DanAuhust 0:3a1196d78030 119 sig_out_biceps = sig_in_biceps;
DanAuhust 0:3a1196d78030 120 }
DanAuhust 0:3a1196d78030 121 sig_prev_biceps = sig_in_biceps;
DanAuhust 0:3a1196d78030 122 stat1_biceps = stat0_biceps;
DanAuhust 0:3a1196d78030 123 sig_out = sig_out_biceps;
DanAuhust 0:3a1196d78030 124 red = sig_out_biceps;
DanAuhust 0:3a1196d78030 125 }
DanAuhust 0:3a1196d78030 126 else sig_out = -1;
DanAuhust 0:3a1196d78030 127 break;
DanAuhust 0:3a1196d78030 128 case 2:
DanAuhust 0:3a1196d78030 129 //triceps filteren
DanAuhust 0:3a1196d78030 130 in4_triceps = in3_triceps; in3_triceps = in2_triceps; in2_triceps = in1_triceps; in1_triceps = in0_triceps;
DanAuhust 0:3a1196d78030 131 in0_triceps = emg_triceps.read();
DanAuhust 0:3a1196d78030 132 out4_triceps = out3_triceps; out3_triceps = out2_triceps; out2_triceps = out1_triceps; out1_triceps = out0_triceps;
DanAuhust 0:3a1196d78030 133 out0_biceps = (NUM0*in0_triceps + NUM1*in1_triceps + NUM2*in2_triceps + NUM3*in3_triceps + NUM4*in4_triceps - DEN1*out1_triceps - DEN2*out2_triceps - DEN3*out3_triceps - DEN4*out4_triceps ) / DEN0;
DanAuhust 0:3a1196d78030 134
DanAuhust 0:3a1196d78030 135 //std deviatie bepalen om de N metingen
DanAuhust 0:3a1196d78030 136 emg_abs = fabs(out0_triceps);
DanAuhust 0:3a1196d78030 137 sum_triceps += out0_triceps;
DanAuhust 0:3a1196d78030 138 square_triceps += (emg_abs - mean_triceps)*(emg_abs - mean_triceps); //neem absolute waarde, kwadrateer, voeg toe aan vorige square
DanAuhust 0:3a1196d78030 139 // voeg rest EMG's toe, variabelen alleen _spier geven als het nodig is.
DanAuhust 0:3a1196d78030 140 count_triceps += 1; // hou bij hoeveel squares er zijn opgeteld
DanAuhust 0:3a1196d78030 141
DanAuhust 0:3a1196d78030 142 if (count_triceps >= MAXCOUNT)
DanAuhust 0:3a1196d78030 143 { sig_in_triceps = sqrt(square_triceps/count_triceps);
DanAuhust 0:3a1196d78030 144 mean_triceps = sum_triceps/count_triceps;
DanAuhust 0:3a1196d78030 145 count_triceps = 0; square_triceps = 0; sum_triceps = 0;// en neem de RMS als er genoeg zijn geteld, stuur die door, en reset sqaure en count
DanAuhust 1:fb33955ca402 146 deltaV = sig_in_triceps - sig_prev_triceps;
DanAuhust 0:3a1196d78030 147 if (sig_in_triceps <= threshold_triceps) // threshold
DanAuhust 0:3a1196d78030 148 { stat0_triceps = 0;
DanAuhust 0:3a1196d78030 149 if (stat1_triceps == 1)
DanAuhust 0:3a1196d78030 150 sig_out_triceps = sig_prev_triceps + deltaV / inertia;
DanAuhust 0:3a1196d78030 151 else sig_out_triceps = 0;
DanAuhust 0:3a1196d78030 152 }
DanAuhust 0:3a1196d78030 153 else if ( deltaV >= border_triceps ) // stijging
DanAuhust 0:3a1196d78030 154 { stat0_triceps = 1;
DanAuhust 0:3a1196d78030 155 if (stat1_triceps == -1)
DanAuhust 0:3a1196d78030 156 sig_out_triceps = sig_prev_triceps + deltaV / inertia;
DanAuhust 0:3a1196d78030 157 else sig_out_triceps = sig_in_triceps;
DanAuhust 0:3a1196d78030 158 }
DanAuhust 0:3a1196d78030 159 else if ( deltaV <= -border_triceps ) // daling
DanAuhust 0:3a1196d78030 160 { stat0_triceps = -1;
DanAuhust 0:3a1196d78030 161 if (stat1_triceps == 1)
DanAuhust 0:3a1196d78030 162 sig_out_triceps = sig_prev_triceps + deltaV / inertia;
DanAuhust 0:3a1196d78030 163 else sig_out_triceps = sig_in_triceps;
DanAuhust 0:3a1196d78030 164 }
DanAuhust 0:3a1196d78030 165 else { stat0_triceps = 0;
DanAuhust 0:3a1196d78030 166 sig_out_triceps = sig_in_triceps;
DanAuhust 0:3a1196d78030 167 }
DanAuhust 0:3a1196d78030 168 sig_prev_triceps = sig_in_triceps;
DanAuhust 0:3a1196d78030 169 stat1_triceps = stat0_triceps;
DanAuhust 0:3a1196d78030 170 sig_out = sig_out_triceps;
DanAuhust 0:3a1196d78030 171 blue = sig_out_triceps;
DanAuhust 0:3a1196d78030 172 }
DanAuhust 0:3a1196d78030 173 else sig_out = -1;
DanAuhust 0:3a1196d78030 174 break;
DanAuhust 0:3a1196d78030 175 case 3:
DanAuhust 0:3a1196d78030 176 //flexoren filteren
DanAuhust 0:3a1196d78030 177 in4_flexoren = in3_flexoren; in3_flexoren = in2_flexoren; in2_flexoren = in1_flexoren; in1_flexoren = in0_flexoren;
DanAuhust 0:3a1196d78030 178 in0_flexoren = emg_flexoren.read();
DanAuhust 0:3a1196d78030 179 out4_flexoren = out3_flexoren; out3_flexoren = out2_flexoren; out2_flexoren = out1_flexoren; out1_flexoren = out0_flexoren;
DanAuhust 0:3a1196d78030 180 out0_flexoren = (NUM0*in0_flexoren + NUM1*in1_flexoren + NUM2*in2_flexoren + NUM3*in3_flexoren + NUM4*in4_flexoren - DEN1*out1_flexoren - DEN2*out2_flexoren - DEN3*out3_flexoren - DEN4*out4_flexoren) / DEN0;
DanAuhust 0:3a1196d78030 181
DanAuhust 0:3a1196d78030 182 //std deviatie bepalen om de N metingen
DanAuhust 0:3a1196d78030 183 emg_abs = fabs(out0_flexoren);
DanAuhust 0:3a1196d78030 184 sum_flexoren += out0_flexoren;
DanAuhust 0:3a1196d78030 185 square_flexoren += (emg_abs - mean_flexoren)*(emg_abs - mean_flexoren); //neem absolute waarde, kwadrateer, voeg toe aan vorige square
DanAuhust 0:3a1196d78030 186 // voeg rest EMG's toe, variabelen alleen _spier geven als het nodig is.
DanAuhust 0:3a1196d78030 187 count_flexoren += 1; // hou bij hoeveel squares er zijn opgeteld
DanAuhust 0:3a1196d78030 188 if (count_flexoren >= MAXCOUNT)
DanAuhust 0:3a1196d78030 189 { sig_in_flexoren = sqrt(square_flexoren/count_flexoren);
DanAuhust 0:3a1196d78030 190 mean_flexoren = sum_flexoren/count_flexoren;
DanAuhust 0:3a1196d78030 191 count_flexoren = 0; square_flexoren = 0; sum_flexoren = 0; // en neem de RMS als er genoeg zijn geteld, stuur die door, en reset sqaure en count
DanAuhust 0:3a1196d78030 192
DanAuhust 0:3a1196d78030 193 sig_out = sig_out_flexoren;
DanAuhust 0:3a1196d78030 194 }
DanAuhust 0:3a1196d78030 195 else sig_out = -1;
DanAuhust 0:3a1196d78030 196 break;
DanAuhust 0:3a1196d78030 197 case 4:
DanAuhust 0:3a1196d78030 198 //extensoren filteren
DanAuhust 0:3a1196d78030 199 in4_extensoren = in3_extensoren; in3_extensoren = in2_extensoren; in2_extensoren = in1_extensoren; in1_extensoren = in0_extensoren;
DanAuhust 0:3a1196d78030 200 in0_extensoren = emg_extensoren.read();
DanAuhust 0:3a1196d78030 201 out4_extensoren = out3_extensoren; out3_extensoren = out2_extensoren; out2_extensoren = out1_extensoren; out1_extensoren = out0_extensoren;
DanAuhust 0:3a1196d78030 202 out0_extensoren = (NUM0*in0_extensoren + NUM1*in1_extensoren + NUM2*in2_extensoren + NUM3*in3_extensoren + NUM4*in4_extensoren - DEN1*out1_extensoren - DEN2*out2_extensoren - DEN3*out3_extensoren - DEN4*out4_extensoren) / DEN0;
DanAuhust 0:3a1196d78030 203
DanAuhust 0:3a1196d78030 204 //std deviatie bepalen om de 50 metingen
DanAuhust 0:3a1196d78030 205 emg_abs = fabs(out0_extensoren);
DanAuhust 0:3a1196d78030 206 sum_extensoren += out0_extensoren;
DanAuhust 0:3a1196d78030 207 square_extensoren += (emg_abs - mean_extensoren)*(emg_abs - mean_extensoren); //neem absolute waarde, kwadrateer, voeg toe aan vorige square
DanAuhust 0:3a1196d78030 208 // voeg rest EMG's toe, variabelen alleen _spier geven als het nodig is.
DanAuhust 0:3a1196d78030 209 count_extensoren += 1; // hou bij hoeveel squares er zijn opgeteld
DanAuhust 0:3a1196d78030 210 if (count_extensoren >= MAXCOUNT)
DanAuhust 0:3a1196d78030 211 { sig_in_extensoren = sqrt(square_extensoren/count_extensoren);
DanAuhust 0:3a1196d78030 212 mean_extensoren = sum_extensoren/count_extensoren;
DanAuhust 0:3a1196d78030 213 count_extensoren = 0; square_extensoren = 0; sum_extensoren = 0; // en neem de RMS als er genoeg zijn geteld, stuur die door, en reset sqaure en count
DanAuhust 0:3a1196d78030 214
DanAuhust 0:3a1196d78030 215 sig_out=sig_out_extensoren;
DanAuhust 0:3a1196d78030 216 }
DanAuhust 0:3a1196d78030 217 else sig_out = -1;
DanAuhust 0:3a1196d78030 218 break;
DanAuhust 0:3a1196d78030 219 }
DanAuhust 0:3a1196d78030 220
DanAuhust 0:3a1196d78030 221 return sig_out;
DanAuhust 0:3a1196d78030 222
DanAuhust 0:3a1196d78030 223 }
DanAuhust 0:3a1196d78030 224
DanAuhust 0:3a1196d78030 225 void looper()
DanAuhust 0:3a1196d78030 226 {
DanAuhust 0:3a1196d78030 227 static float biceps, triceps, extensoren, flexoren, emg_filter_test;
DanAuhust 0:3a1196d78030 228
DanAuhust 0:3a1196d78030 229 emg_filter_test = filter(1);
DanAuhust 0:3a1196d78030 230 if (emg_filter_test != -1) biceps = emg_filter_test;
DanAuhust 0:3a1196d78030 231 emg_filter_test = filter(2);
DanAuhust 0:3a1196d78030 232 if (emg_filter_test != -1) triceps = emg_filter_test;
DanAuhust 0:3a1196d78030 233 /*emg_filter_test = filter(3);
DanAuhust 0:3a1196d78030 234 if (emg_filter_test != -1) flexoren = emg_filter_test;
DanAuhust 0:3a1196d78030 235 emg_filter_test = filter(4);
DanAuhust 0:3a1196d78030 236 if (emg_filter_test != -1) extensoren = emg_filter_test;
DanAuhust 0:3a1196d78030 237 */
DanAuhust 0:3a1196d78030 238 }
DanAuhust 0:3a1196d78030 239
DanAuhust 0:3a1196d78030 240 int main()
DanAuhust 0:3a1196d78030 241 {
DanAuhust 0:3a1196d78030 242 /*setup baudrate. Choose the same in your program on PC side*/
DanAuhust 0:3a1196d78030 243 pc.baud(115200);
DanAuhust 0:3a1196d78030 244 /*set the period for the PWM to the red LED*/
DanAuhust 0:3a1196d78030 245 red.period_ms(80); // periode pwm = 2*Fs , blijkbaar.
DanAuhust 0:3a1196d78030 246 blue.period_ms(80);
DanAuhust 0:3a1196d78030 247
DanAuhust 0:3a1196d78030 248
DanAuhust 0:3a1196d78030 249 /**Here you attach the 'void looper(void)' function to the Ticker object0
DanAuhust 0:3a1196d78030 250 * The looper() function will be called every 0.001 seconds.
DanAuhust 0:3a1196d78030 251 * Please mind that the parentheses after looper are omitted when using attach.
DanAuhust 0:3a1196d78030 252 */
DanAuhust 0:3a1196d78030 253 timer.attach(looper, 0.001);
DanAuhust 0:3a1196d78030 254 while(1) // Loop
DanAuhust 0:3a1196d78030 255 {
DanAuhust 1:fb33955ca402 256 // zie 'encoder' , timer bepaalt wanneer een if in de while-loop berekeningen doet voor de motor.
DanAuhust 0:3a1196d78030 257
DanAuhust 0:3a1196d78030 258 }
DanAuhust 0:3a1196d78030 259 }