Peter Knoben / Mbed 2 deprecated kinematics_controlv4

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Dependencies:   AnglePosition2 Encoder FastPWM MODSERIAL Movement PIDController Servo SignalNumber2 biquadFilter mbed

Fork of kinematics_controlv2 by Peter Knoben

main.cpp@5:b4abbd3c513c, 2017-11-01 (annotated)

Committer:
peterknoben
Date:
Wed Nov 01 11:47:03 2017 +0000
Revision:
5:b4abbd3c513c
Parent:
4:e15fc329b88b 
fsd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
peterknoben 3:c768a37620c9 1 #include "MODSERIAL.h"
peterknoben 1:406519ff0f17 2 #include "AnglePosition.h"
peterknoben 1:406519ff0f17 3 #include "PIDControl.h"
peterknoben 3:c768a37620c9 4 #include "BiQuad.h"
peterknoben 3:c768a37620c9 5 #include "signalnumber.h"
peterknoben 4:e15fc329b88b 6 #include "Movement.h"
DBerendsen 0:5f4bc2d63814 7 #include "mbed.h"
DBerendsen 0:5f4bc2d63814 8 #include "encoder.h"
DBerendsen 0:5f4bc2d63814 9 #include "Servo.h"
peterknoben 1:406519ff0f17 10 #include "FastPWM.h"
DBerendsen 0:5f4bc2d63814 11
peterknoben 4:e15fc329b88b 12 //This code is for Mbed 2
DBerendsen 0:5f4bc2d63814 13 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 14 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 15 //------------------------------------------------------------------------------
peterknoben 3:c768a37620c9 16 MODSERIAL pc(USBTX, USBRX); //Establish connection
peterknoben 5:b4abbd3c513c 17 Ticker MyControllerTicker; //Declare Ticker Motor 1
peterknoben 5:b4abbd3c513c 18 Ticker MyTickerMode; //Declare Ticker Motor 2
peterknoben 3:c768a37620c9 19 Ticker MyTickerMean; //Declare Ticker Signalprocessing
peterknoben 3:c768a37620c9 20
peterknoben 4:e15fc329b88b 21 InterruptIn But2(PTA4); //Declare button for min calibration
peterknoben 4:e15fc329b88b 22 InterruptIn But1(PTC6); //Declare button for max calibration
peterknoben 3:c768a37620c9 23
peterknoben 1:406519ff0f17 24 AnglePosition Angle; //Declare Angle calculater
peterknoben 1:406519ff0f17 25 PIDControl PID; //Declare PID Controller
peterknoben 4:e15fc329b88b 26 SignalNumber SignalLeft; //Declare Signal determiner for Left arm
peterknoben 4:e15fc329b88b 27 SignalNumber SignalRight; //Declare Signal determiner for Right arm
peterknoben 5:b4abbd3c513c 28 SignalNumber SignalMode;
peterknoben 4:e15fc329b88b 29 Movement MoveLeft; //Declare Movement determiner
peterknoben 4:e15fc329b88b 30 Movement MoveRight;
peterknoben 3:c768a37620c9 31
peterknoben 4:e15fc329b88b 32 AnalogIn emg0( A0 ); //Set Inputpin for EMG 0 signal Left
peterknoben 5:b4abbd3c513c 33 //AnalogIn emg1( A1 ); //Set Inputpin for EMG 1 signal Left
peterknoben 4:e15fc329b88b 34 AnalogIn emg2( A2 ); //Set Inputpin for EMG 2 signal Right
peterknoben 5:b4abbd3c513c 35 //AnalogIn emg3( A3 ); //Set Inputpin for EMG 3 signal Right
peterknoben 4:e15fc329b88b 36 AnalogIn emg4( A4 ); //Set Inputpin for EMG 4 signal Mode
peterknoben 5:b4abbd3c513c 37 //AnalogIn emg5( A5 ); //Set Inputpin for EMG 5 signal Mode
peterknoben 5:b4abbd3c513c 38 DigitalOut Up( D9 ); //Set digital in for mode selection
peterknoben 5:b4abbd3c513c 39 DigitalOut Down( D8 );
peterknoben 4:e15fc329b88b 40 DigitalOut Led_red(LED_RED);
peterknoben 4:e15fc329b88b 41 DigitalOut Led_green(LED_GREEN);
peterknoben 4:e15fc329b88b 42 DigitalOut Led_blue(LED_BLUE);
peterknoben 1:406519ff0f17 43
peterknoben 1:406519ff0f17 44 const float CONTROLLER_TS = 0.02; //Motor frequency
peterknoben 4:e15fc329b88b 45 const float MEAN_TS = 0.002; //Filter frequency
peterknoben 4:e15fc329b88b 46
peterknoben 3:c768a37620c9 47
peterknoben 3:c768a37620c9 48 //------------------------------------------------------------------------------
peterknoben 3:c768a37620c9 49 //-----------------------------EMG Signals--------------------------------------
peterknoben 3:c768a37620c9 50 //------------------------------------------------------------------------------
peterknoben 4:e15fc329b88b 51 // Filtering the signal and getting the usefull information out of it.
peterknoben 4:e15fc329b88b 52 const int n = 400; //Window size for the mean value, also adjust in signalnumber.cpp
peterknoben 3:c768a37620c9 53 const int action =50; //Number of same mean values to change the signalnumber
peterknoben 4:e15fc329b88b 54 const int m = 300; //Number of samples for calibration
peterknoben 5:b4abbd3c513c 55 int CaseLeft, CaseRight, CaseMode; //Strength of the muscles
peterknoben 5:b4abbd3c513c 56 float emg_offsetLeft, emg_offsetmaxLeft; //Calibration offsets from zero to one for the left arm
peterknoben 5:b4abbd3c513c 57 float emg_offsetRight, emg_offsetmaxRight; //Calibration offsets from zero to one for the right arm
peterknoben 5:b4abbd3c513c 58 float emg_offsetMode, emg_offsetmaxMode;
peterknoben 5:b4abbd3c513c 59 float mean_value_left, mean_value_right, mean_value_mode; //Mean value of the filtered system
peterknoben 5:b4abbd3c513c 60 float kLeft, kRight, kMode; //Scaling factors
peterknoben 3:c768a37620c9 61
peterknoben 4:e15fc329b88b 62 //BiQuad filter variables
peterknoben 3:c768a37620c9 63 BiQuad LP1( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad
peterknoben 3:c768a37620c9 64 BiQuad HP2( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad
peterknoben 3:c768a37620c9 65 BiQuad NO3( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad
peterknoben 3:c768a37620c9 66 BiQuadChain BiQuad_filter;
peterknoben 3:c768a37620c9 67
peterknoben 5:b4abbd3c513c 68
peterknoben 5:b4abbd3c513c 69 //Calibration-------------------------------------------------------------------
peterknoben 4:e15fc329b88b 70 void setled(){
peterknoben 5:b4abbd3c513c 71 Led_red=0; Led_green=1; Led_blue=1;
peterknoben 5:b4abbd3c513c 72 }
peterknoben 5:b4abbd3c513c 73 // Zero calibration
peterknoben 5:b4abbd3c513c 74 void mincalibration(){
peterknoben 5:b4abbd3c513c 75 pc.printf("start min calibration \r\n");
peterknoben 5:b4abbd3c513c 76 emg_offsetLeft = SignalLeft.calibrate(m,emg0);
peterknoben 5:b4abbd3c513c 77 emg_offsetRight = SignalRight.calibrate(m,emg2);
peterknoben 5:b4abbd3c513c 78 emg_offsetMode = SignalMode.calibrate(m, emg4);
peterknoben 5:b4abbd3c513c 79 pc.printf("offsets: %f %f \r\n", emg_offsetLeft, emg_offsetRight);
peterknoben 5:b4abbd3c513c 80 Led_green=0; Led_red=0; //Set led to Yellow
peterknoben 5:b4abbd3c513c 81 }
peterknoben 5:b4abbd3c513c 82 // One calibration
peterknoben 5:b4abbd3c513c 83 void maxcalibration(){
peterknoben 5:b4abbd3c513c 84 pc.printf("start max calibration \r\n");
peterknoben 5:b4abbd3c513c 85 emg_offsetmaxLeft = SignalLeft.calibrate(m,(emg0))-emg_offsetLeft;
peterknoben 5:b4abbd3c513c 86 emg_offsetmaxRight = SignalRight.calibrate(m,(emg2))-emg_offsetRight;
peterknoben 5:b4abbd3c513c 87 emg_offsetmaxMode = SignalMode.calibrate(m, (emg4))-emg_offsetMode;
peterknoben 5:b4abbd3c513c 88 kLeft = 1/emg_offsetmaxLeft;
peterknoben 5:b4abbd3c513c 89 kRight = 1/emg_offsetmaxRight;
peterknoben 5:b4abbd3c513c 90 kMode = 1/emg_offsetmaxMode;
peterknoben 5:b4abbd3c513c 91 pc.printf("offsets: %f %f, scale %f %f \r\n", emg_offsetmaxLeft, emg_offsetmaxRight, kLeft, kRight);
peterknoben 5:b4abbd3c513c 92 Led_red=1; //Set led to Green
peterknoben 3:c768a37620c9 93 }
peterknoben 3:c768a37620c9 94
peterknoben 5:b4abbd3c513c 95 //Filtering the signals---------------------------------------------------------
peterknoben 4:e15fc329b88b 96 //Filter de EMG signals with a BiQuad filter
peterknoben 5:b4abbd3c513c 97 float Filter(float input, float offset){
peterknoben 5:b4abbd3c513c 98 float Signal=input-offset; //((input0+input1)/2)
peterknoben 3:c768a37620c9 99 float Signal_filtered= BiQuad_filter.step(Signal);
peterknoben 3:c768a37620c9 100 return Signal_filtered;
peterknoben 3:c768a37620c9 101 }
peterknoben 3:c768a37620c9 102
peterknoben 4:e15fc329b88b 103
peterknoben 5:b4abbd3c513c 104 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 105 //---------------------------------Servo----------------------------------------
peterknoben 5:b4abbd3c513c 106 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 107 void servo(){
peterknoben 5:b4abbd3c513c 108 float Signal_filteredLeft = fabs(Filter(emg0, emg_offsetLeft));
peterknoben 5:b4abbd3c513c 109 float Signal_filteredRight = fabs(Filter(emg2, emg_offsetRight));
peterknoben 5:b4abbd3c513c 110 CaseLeft = SignalLeft.getnumber(n, action, Signal_filteredLeft, kLeft);
peterknoben 5:b4abbd3c513c 111 CaseRight = SignalRight.getnumber(n, action, Signal_filteredRight, kRight);
peterknoben 5:b4abbd3c513c 112 if (CaseLeft>=3){
peterknoben 5:b4abbd3c513c 113 Up = 1;
peterknoben 5:b4abbd3c513c 114 Up = 0;
peterknoben 5:b4abbd3c513c 115 }
peterknoben 5:b4abbd3c513c 116 else if (CaseRight >=3){
peterknoben 5:b4abbd3c513c 117 Down = 1;
peterknoben 5:b4abbd3c513c 118 Down = 0;
peterknoben 5:b4abbd3c513c 119 }
peterknoben 5:b4abbd3c513c 120 }
peterknoben 5:b4abbd3c513c 121 int milli =0;
peterknoben 5:b4abbd3c513c 122
peterknoben 5:b4abbd3c513c 123 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 124 //---------------------------Mode selection-------------------------------------
peterknoben 5:b4abbd3c513c 125 //------------------------------------------------------------------------------
peterknoben 5:b4abbd3c513c 126 int mode =0;
peterknoben 5:b4abbd3c513c 127
peterknoben 5:b4abbd3c513c 128 //Recieving mode selection from EMG mode signal
peterknoben 5:b4abbd3c513c 129 void mode_selection(){
peterknoben 5:b4abbd3c513c 130 if(mode ==6){
peterknoben 5:b4abbd3c513c 131 mode=1;
peterknoben 5:b4abbd3c513c 132 }
peterknoben 5:b4abbd3c513c 133 else{
peterknoben 5:b4abbd3c513c 134 mode++;
peterknoben 5:b4abbd3c513c 135 }
peterknoben 5:b4abbd3c513c 136 if (mode==3||mode==6){
peterknoben 5:b4abbd3c513c 137 servo();
peterknoben 5:b4abbd3c513c 138 }
peterknoben 5:b4abbd3c513c 139 pc.printf("\r\n mode = %i \r\n", mode);
peterknoben 5:b4abbd3c513c 140 }
peterknoben 5:b4abbd3c513c 141
peterknoben 5:b4abbd3c513c 142 // Control mode selection-------------------------------------------------------
peterknoben 5:b4abbd3c513c 143
peterknoben 5:b4abbd3c513c 144 //Determine the signalnumbers (i.e. speed) based on the strenght of the EMG signals
peterknoben 3:c768a37620c9 145 void signalnumber(){
peterknoben 4:e15fc329b88b 146 //Left
peterknoben 5:b4abbd3c513c 147 float Signal_filteredLeft = fabs(Filter(emg0, emg_offsetLeft));
peterknoben 5:b4abbd3c513c 148 mean_value_left = SignalLeft.getmean(n, Signal_filteredLeft)*kLeft;
peterknoben 4:e15fc329b88b 149 CaseLeft = SignalLeft.getnumber(n, action, Signal_filteredLeft, kLeft);
peterknoben 4:e15fc329b88b 150 //Right
peterknoben 5:b4abbd3c513c 151 float Signal_filteredRight = fabs(Filter(emg2, emg_offsetRight));
peterknoben 5:b4abbd3c513c 152 mean_value_right = SignalRight.getmean(n, Signal_filteredRight)*kRight;
peterknoben 4:e15fc329b88b 153 CaseRight = SignalRight.getnumber(n, action, Signal_filteredRight, kRight);
peterknoben 5:b4abbd3c513c 154 //Mode
peterknoben 5:b4abbd3c513c 155 float Signal_filteredMode = fabs(Filter(emg4, emg_offsetMode));
peterknoben 5:b4abbd3c513c 156 mean_value_mode = SignalMode.getmean(n, Signal_filteredMode)*kMode;
peterknoben 5:b4abbd3c513c 157 CaseMode = SignalMode.getnumber(n, action, Signal_filteredMode, kMode);
peterknoben 5:b4abbd3c513c 158 if(CaseMode >= 3){
peterknoben 5:b4abbd3c513c 159 milli ++;
peterknoben 5:b4abbd3c513c 160 if(milli>=150){
peterknoben 5:b4abbd3c513c 161 mode_selection();
peterknoben 5:b4abbd3c513c 162 milli=0;
peterknoben 5:b4abbd3c513c 163 }
peterknoben 5:b4abbd3c513c 164 }
peterknoben 5:b4abbd3c513c 165 else{
peterknoben 5:b4abbd3c513c 166 milli=0;
peterknoben 5:b4abbd3c513c 167 }
peterknoben 3:c768a37620c9 168 }
peterknoben 3:c768a37620c9 169
peterknoben 5:b4abbd3c513c 170
peterknoben 5:b4abbd3c513c 171
peterknoben 1:406519ff0f17 172 //------------------------------------------------------------------------------
peterknoben 1:406519ff0f17 173 //-------------------------Kinematic Constants----------------------------------
peterknoben 1:406519ff0f17 174 //------------------------------------------------------------------------------
peterknoben 4:e15fc329b88b 175 const double RAD_PER_PULSE = 0.00074799825*2; //Number of radials per pulse from the encoder
peterknoben 4:e15fc329b88b 176 const double PI = 3.14159265358979323846; //Pi
peterknoben 4:e15fc329b88b 177 const float max_rangex = 500.0; //Max range on the x axis
peterknoben 4:e15fc329b88b 178 const float max_rangey = 300.0; //Max range on the y axis
peterknoben 4:e15fc329b88b 179 const float x_offset = 156.15; //Start x position from the shoulder joint
peterknoben 4:e15fc329b88b 180 const float y_offset = -76.97; //Start y position from the shoulder joint
peterknoben 4:e15fc329b88b 181 const float alpha_offset = -(21.52/180)*PI; //Begin angle Alpha at zero zero
peterknoben 4:e15fc329b88b 182 const float beta_offset = 0.0; //Begin angle Beta at zero zero
peterknoben 4:e15fc329b88b 183 const float L1 = 450.0; //Length of the first body
peterknoben 4:e15fc329b88b 184 const float L2 = 490.0; //Length of the second body
DBerendsen 0:5f4bc2d63814 185
DBerendsen 0:5f4bc2d63814 186
peterknoben 5:b4abbd3c513c 187
DBerendsen 0:5f4bc2d63814 188 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 189 //--------------------------------Motor1----------------------------------------
DBerendsen 0:5f4bc2d63814 190 //------------------------------------------------------------------------------
peterknoben 1:406519ff0f17 191 FastPWM motor1(D5);
DBerendsen 0:5f4bc2d63814 192 DigitalOut motor1DirectionPin(D4);
DBerendsen 0:5f4bc2d63814 193 DigitalIn ENC2A(D12);
DBerendsen 0:5f4bc2d63814 194 DigitalIn ENC2B(D13);
DBerendsen 0:5f4bc2d63814 195 Encoder encoder1(D13,D12);
peterknoben 1:406519ff0f17 196 const float MOTOR1_KP = 40.0;
peterknoben 1:406519ff0f17 197 const float MOTOR1_KI = 0.0;
peterknoben 1:406519ff0f17 198 const float MOTOR1_KD = 15.0;
peterknoben 5:b4abbd3c513c 199 double M1_v1 = 0.0, M1_v2 = 0.0; //Calculation values
DBerendsen 0:5f4bc2d63814 200 const double motor1_gain = 2*PI;
peterknoben 1:406519ff0f17 201 const float M1_N = 0.5;
peterknoben 5:b4abbd3c513c 202 static float position_math[2]={};
DBerendsen 0:5f4bc2d63814 203
DBerendsen 0:5f4bc2d63814 204 void motor1_control(){
peterknoben 4:e15fc329b88b 205 float reference_alpha = Angle.getbeta(max_rangex, max_rangey, x_offset, y_offset, beta_offset, L1, L2, position_math[0], position_math[1]);
DBerendsen 0:5f4bc2d63814 206 float position_alpha = RAD_PER_PULSE * encoder1.getPosition();
DBerendsen 0:5f4bc2d63814 207 float error_alpha = reference_alpha-position_alpha;
peterknoben 1:406519ff0f17 208 float magnitude1 = PID.get(error_alpha, MOTOR1_KP, MOTOR1_KI, MOTOR1_KD, CONTROLLER_TS, M1_N, M1_v1, M1_v2) / motor1_gain;
DBerendsen 0:5f4bc2d63814 209 motor1 = fabs(magnitude1);
peterknoben 1:406519ff0f17 210 // Determine Motor Direction
peterknoben 1:406519ff0f17 211 if (magnitude1 < 0){
DBerendsen 0:5f4bc2d63814 212 motor1DirectionPin = 1;
DBerendsen 0:5f4bc2d63814 213 }
DBerendsen 0:5f4bc2d63814 214 else{
DBerendsen 0:5f4bc2d63814 215 motor1DirectionPin = 0;
DBerendsen 0:5f4bc2d63814 216 }
DBerendsen 0:5f4bc2d63814 217 }
DBerendsen 0:5f4bc2d63814 218
DBerendsen 0:5f4bc2d63814 219 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 220 //--------------------------------Motor2----------------------------------------
DBerendsen 0:5f4bc2d63814 221 //------------------------------------------------------------------------------
peterknoben 1:406519ff0f17 222 FastPWM motor2(D6);
DBerendsen 0:5f4bc2d63814 223 DigitalOut motor2DirectionPin(D7);
DBerendsen 0:5f4bc2d63814 224 DigitalIn ENC1A(D10);
DBerendsen 0:5f4bc2d63814 225 DigitalIn ENC1B(D11);
DBerendsen 0:5f4bc2d63814 226 Encoder encoder2(D10,D11);
peterknoben 1:406519ff0f17 227 const float MOTOR2_KP = 60.0;
peterknoben 1:406519ff0f17 228 const float MOTOR2_KI = 0.0;
peterknoben 1:406519ff0f17 229 const float MOTOR2_KD = 15.0;
peterknoben 5:b4abbd3c513c 230 double M2_v1 = 0.0, M2_v2 = 0.0; //Calculation values
DBerendsen 0:5f4bc2d63814 231 const double motor2_gain = 2*PI;
peterknoben 1:406519ff0f17 232 const float M2_N = 0.5;
DBerendsen 0:5f4bc2d63814 233
DBerendsen 0:5f4bc2d63814 234 void motor2_control(){
peterknoben 4:e15fc329b88b 235 float reference_beta = Angle.getalpha(max_rangex, max_rangey, x_offset, y_offset, alpha_offset, L1, L2, position_math[0], position_math[1]);
DBerendsen 0:5f4bc2d63814 236 float position_beta = RAD_PER_PULSE * -encoder2.getPosition();
DBerendsen 0:5f4bc2d63814 237 float error_beta = reference_beta-position_beta;
peterknoben 1:406519ff0f17 238 float magnitude2 = PID.get(error_beta, MOTOR2_KP, MOTOR2_KI, MOTOR2_KD, CONTROLLER_TS, M2_N, M1_v1, M1_v2) / motor2_gain;
DBerendsen 0:5f4bc2d63814 239 motor2 = fabs(magnitude2);
peterknoben 1:406519ff0f17 240 //Determine Motor Direction
DBerendsen 0:5f4bc2d63814 241 if (magnitude2 > 0){
DBerendsen 0:5f4bc2d63814 242 motor2DirectionPin = 1;
DBerendsen 0:5f4bc2d63814 243 }
DBerendsen 0:5f4bc2d63814 244 else{
DBerendsen 0:5f4bc2d63814 245 motor2DirectionPin = 0;
DBerendsen 0:5f4bc2d63814 246 }
DBerendsen 0:5f4bc2d63814 247 }
peterknoben 5:b4abbd3c513c 248
peterknoben 5:b4abbd3c513c 249 void motor_control(){
peterknoben 5:b4abbd3c513c 250 position_math[0]= MoveLeft.getposition(CaseLeft, mode, 0, max_rangex);
peterknoben 5:b4abbd3c513c 251 position_math[1]= MoveRight.getposition(CaseRight, mode, 1, max_rangey);
peterknoben 5:b4abbd3c513c 252 motor1_control();
peterknoben 5:b4abbd3c513c 253 motor2_control();
peterknoben 5:b4abbd3c513c 254 }
DBerendsen 0:5f4bc2d63814 255 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 256 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 257 //------------------------------------------------------------------------------
DBerendsen 0:5f4bc2d63814 258
DBerendsen 0:5f4bc2d63814 259 int main(){
DBerendsen 0:5f4bc2d63814 260 pc.baud(115200);
peterknoben 4:e15fc329b88b 261 setled();
peterknoben 3:c768a37620c9 262 BiQuad_filter.add( &LP1 ).add( &HP2 ).add( &NO3);
peterknoben 4:e15fc329b88b 263 But2.rise(&mincalibration);
peterknoben 4:e15fc329b88b 264 But1.rise(&maxcalibration);
peterknoben 5:b4abbd3c513c 265 motor1.period(0.0001f); motor2.period(0.0001f);
peterknoben 5:b4abbd3c513c 266 MyControllerTicker.attach(&motor_control, CONTROLLER_TS);
peterknoben 3:c768a37620c9 267 MyTickerMean.attach(&signalnumber, MEAN_TS);
peterknoben 5:b4abbd3c513c 268 // MyTickerMode.attach(&signalmode, MEAN_TS);
peterknoben 5:b4abbd3c513c 269 // MyTickerMean.attach(&signalnumberright, MEAN_TS);
peterknoben 5:b4abbd3c513c 270 // MyTickerMean.attach(&signalmode,MEAN_TS);
peterknoben 4:e15fc329b88b 271
peterknoben 5:b4abbd3c513c 272 while(1) {
peterknoben 5:b4abbd3c513c 273 pc.printf("Mean %f %f %f \r\n", mean_value_left, mean_value_right, mean_value_mode);
peterknoben 5:b4abbd3c513c 274 // pc.printf("Case %i %i %i, mode = %i \r\n", CaseLeft, CaseRight, CaseMode, mode);
peterknoben 5:b4abbd3c513c 275 wait(0.1f);
peterknoben 5:b4abbd3c513c 276 }
peterknoben 1:406519ff0f17 277 }
peterknoben 1:406519ff0f17 278
peterknoben 1:406519ff0f17 279