File content as of revision 1:917c07a4f3ec:

#include "mbed.h"
#include "QEI.h"
#include "HIDScope.h"
#include "Biquad.h"
#include "controlandadjust.h"

//info out
HIDScope scope(4);
Ticker scope_ticker;
const float scope_frequency=500;
Serial pc(USBTX,USBRX);

////////////////ENCODERS
QEI encoder1(D12,D13,NC,32);
QEI encoder2(D10,D11,NC,32);

//////////////////////////////////CONTROLLER
controlandadjust mycontroller; // make a controller
//controller constants
float Kp=0.5;
float Ki=0.01;
float Kd=0.001;
Ticker control_ticker;
const float control_frequency=25;

double error1_int=0;// storage variables for the errors
double error2_int=0;
double error1_prev=0;
double error2_prev=0;

InterruptIn valuechangebutton(PTC6);//button to change controller constants

//safetyandthreshold
AnalogIn safety(A3);//pot 2, used for the safety cutoff value for the pwm
AnalogIn threshold(A2);//pot1, used to adjust threshold if signal differs per person

Ticker safetyandthreshold_ticker; // ticker to read potmeters
const float safetyandthreshold_frequency=1; // frequency for the ticker

////////////////////////////////FILTER
#include "filtervalues.h"
Ticker filter_ticker;
const float filter_frequency=500;
Biquad myfilter1;
Biquad myfilter2;

AnalogIn emg1_input(A0);
AnalogIn emg2_input(A1);

double filteredsignal1=0;
double filteredsignal2=0;

//////////////////////GO FLAGS AND ACTIVATION FUNCTIONS
volatile bool scopedata_go=false,
              control_go=false,
              filter_go=false,
              safetyandthreshold_go=false;

void scopedata_activate()
{
    scopedata_go=true;
}
void control_activate()
{
    control_go=true;
}
void filter_activate()
{
    filter_go=true;
}
void safetyandthreshold_activate()
{
    safetyandthreshold_go=true;
}


////////////////////////FUNCTIONS
//gather data and send to scope
void scopedata()
{
    scope.set(0,encoder1.getPulses());
    scope.set(1,encoder2.getPulses());
}
//read potmeters and adjust the safetyfactor and threshold
void safetyandthreshold()
{
    mycontroller.cutoff((ceil (10*safety.read()) )/10); // adjust the safetyfactor rounded to 1 decimal
    ///////////////////////NEED AN IDEA FOR THE THRESHOLD!!!!!!!!!!!!!!!!!!!!
}
/////filter
void filtereverything()
{
    //filter_timer.reset();
    // filter_timer.start();
    //pass1 so f1
    float pass1_emg1 = myfilter1.filter(emg1_input.read(), v1_f1_emg1 , v2_f1_emg1 , a1_f1 , a2_f1 , b0_f1 , b1_f1 , b2_f1);
    float pass1_emg2 = myfilter2.filter(emg2_input.read(), v1_f1_emg2 , v2_f1_emg2 , a1_f1 , a2_f1 , b0_f1 , b1_f1 , b2_f1);

    //pass2 so f2
    float pass2_emg1 = myfilter1.filter(pass1_emg1, v1_f2_emg1 , v2_f2_emg1 , a1_f2 , a2_f2 , b0_f2 , b1_f2 , b2_f2);
    float pass2_emg2 = myfilter2.filter(pass1_emg2, v1_f2_emg2 , v2_f2_emg2 , a1_f2 , a2_f2 , b0_f2 , b1_f2 , b2_f2);

    //pass3 so f3
    float pass3_emg1 = myfilter1.filter(pass2_emg1, v1_f3_emg1 , v2_f3_emg1 , a1_f3 , a2_f3 , b0_f3 , b1_f3 , b2_f3);
    float pass3_emg2 = myfilter2.filter(pass2_emg2, v1_f3_emg2 , v2_f3_emg2 , a1_f3 , a2_f3 , b0_f3 , b1_f3 , b2_f3);

    //pass4 so f4
    float pass4_emg1 = myfilter1.filter(pass3_emg1, v1_f4_emg1 , v2_f4_emg1 , a1_f4 , a2_f4 , b0_f4 , b1_f4 , b2_f4);
    float pass4_emg2 = myfilter2.filter(pass3_emg2, v1_f4_emg2 , v2_f4_emg2 , a1_f4 , a2_f4 , b0_f4 , b1_f4 , b2_f4);

    //pass5 so f5
    float pass5_emg1 = myfilter1.filter(pass4_emg1, v1_f5_emg1 , v2_f5_emg1 , a1_f5 , a2_f5 , b0_f5 , b1_f5 , b2_f5);
    float pass5_emg2 = myfilter2.filter(pass4_emg2, v1_f5_emg2 , v2_f5_emg2 , a1_f5 , a2_f5 , b0_f5 , b1_f5 , b2_f5);

    ///// take absolute value
    float pass5_emg1_abs=(fabs(pass5_emg1));
    float pass5_emg2_abs=(fabs(pass5_emg2));

    //pass6 so f6
    float pass6_emg1 = myfilter1.filter(pass5_emg1_abs, v1_f6_emg1 , v2_f6_emg1 , a1_f6 , a2_f6 , b0_f6 , b1_f6 , b2_f6);
    float pass6_emg2 = myfilter2.filter(pass5_emg2_abs, v1_f6_emg2 , v2_f6_emg2 , a1_f6 , a2_f6 , b0_f6 , b1_f6 , b2_f6);


    //pass7 so f7
    float pass7_emg1 = myfilter1.filter(pass6_emg1, v1_f7_emg1 , v2_f7_emg1 , a1_f7 , a2_f7 , b0_f7 , b1_f7 , b2_f7);
    float pass7_emg2 = myfilter2.filter(pass6_emg2, v1_f7_emg2 , v2_f7_emg2 , a1_f7 , a2_f7 , b0_f7 , b1_f7 , b2_f7);

    filteredsignal1=(pass7_emg1*10000000);
    filteredsignal2=(pass7_emg2*10000000);

    //filter_timer.stop();
}

void control(){
    ///call desired controller here
    }

//adjust controller values when sw2 is pressed
void valuechange()
{
    mycontroller.STOP();
    pc.printf("KP is now %f, enter new value\n",Kp);
    pc.scanf("%f", &Kp);

    pc.printf("KI is now %f, enter new value\n",Ki);
    pc.scanf("%f", &Ki);

    pc.printf("KD is now %f, enter new value\n",Kd);
    pc.scanf("%f", &Kd);
}

int main()
{
    //tickers
    safetyandthreshold_ticker.attach(&safetyandthreshold_activate,1.0/safetyandthreshold_frequency);
    filter_ticker.attach(&filter_activate,1.0/filter_frequency);
    control_ticker.attach(&control_activate,1.0/control_frequency);
    scope_ticker.attach(&scopedata_activate,1.0/scope_frequency);

    while(1) {
        if (scopedata_go==true) {
            scopedata();
            scopedata_go=false;
        }
        if (filter_go==true) {
            filtereverything();
            filter_go=false;
        }
        if (safetyandthreshold_go==true) {
            safetyandthreshold();
            safetyandthreshold_go=false;
        }
        if (control_go==true) {
            control();
            control_go=false;
        }
        if (valuechangebutton==0) {
            valuechange();
        }
    }
}