now with PID controler XXXD
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of another_try_from_scratch_on_emg by
Diff: main.cpp
- Revision:
- 15:bb4a6c7836d8
- Parent:
- 14:5b17697cf775
- Child:
- 16:fd4521a4f0b3
- Child:
- 21:9b8be3dff01a
- Child:
- 37:60dd2e42bf8f
--- a/main.cpp Mon Oct 24 10:22:54 2016 +0000 +++ b/main.cpp Mon Oct 24 11:24:50 2016 +0000 @@ -4,7 +4,7 @@ #include "BiQuad.h" //Define objects -AnalogIn emg0( A0 ); //analog in to get EMG in to c++ +AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG in to c++ Ticker sample_timer; //ticker HIDScope scope( 3); //open 3 channels in hidscope DigitalOut richting_motor1(D4); //motor1 direction output @@ -12,30 +12,33 @@ DigitalOut led(LED_GREEN); //define variables -double emg_0_value; -double emg_gefilterd; -double emg_abs; +double emg_biceps_right; +double emg_filtered_high_biceps_right; +double emg_abs_biceps_right; +double emg_filtered_biceps_right; int onoffsignal=0; -double cut_off_value=0.05; //gespecifeerd door floortje +double cut_off_value=0.08; //gespecifeerd door floortje -BiQuad filterhigh1(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); +BiQuad filterhigh(9.5654e-01,-1.9131e+00,9.5654e-01,-1.9112e+00,9.1498e-01); +BiQuad filterlow (6.2942e-06, 1.2588e-05,6.2942e-06,-1.9929e+00,9.9292e-01); - +//functions which are called in ticker void filter(){ - emg_0_value=emg0.read(); //read the emg value from the elektrodes - emg_gefilterd= filterhigh1.step(emg_0_value); - emg_abs=abs(emg_gefilterd); + emg_biceps_right=emg_biceps_right_in.read(); //read the emg value from the elektrodes + emg_filtered_high_biceps_right= filterhigh.step(emg_biceps_right); + emg_abs_biceps_right=fabs(emg_filtered_high_biceps_right); //fabs because float + emg_filtered_biceps_right=filterlow.step(emg_abs_biceps_right); led=!led; - if (emg_abs>cut_off_value) + if (emg_filtered_biceps_right>cut_off_value) {onoffsignal=1;} else {onoffsignal=0;} //send signals to scope - scope.set(0, emg_0_value ); //set emg signal to scope in channel 1 - scope.set(1, emg_gefilterd ); + scope.set(0, emg_biceps_right ); //set emg signal to scope in channel 1 + scope.set(1, emg_filtered_biceps_right); scope.set(2, onoffsignal); scope.send(); //send all the signals to the scope }