now with PID controler XXXD
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of another_try_from_scratch_on_emg by
Diff: main.cpp
- Revision:
- 10:7255b59224cc
- Parent:
- 9:464c447ce82d
- Child:
- 11:b72827754bc3
- Child:
- 12:a76f9b33fbcb
diff -r 464c447ce82d -r 7255b59224cc main.cpp --- a/main.cpp Fri Oct 21 14:07:00 2016 +0000 +++ b/main.cpp Mon Oct 24 08:44:48 2016 +0000 @@ -13,20 +13,18 @@ //define variables double emg_0_value; -double emg_gefilterd_high; -double emg_gefilterd_low; +double emg_gefilterd; double emg_abs; int onoffsignal=0; double cut_off_value=0.05; //gespecifeerd door floortje -biquadFilter filterhigh1(9.1497e-01,-1.8299e+00,9.1497e-01, -1.8227e+00, 8.3718e-01); -biquadFilter filterlow1 (3.9130e-05, 7.8260e-05, 3.9130e-05, -1.9822e+00, 9.8239e-01); +biquadFilter filterhigh1(0.9565, -1.9131, 0.9565, -1.9112, 0.9150); + void filter(){ - emg_0_value=emg0.read(); //read the emg value from the elektrodes - emg_gefilterd_high= filterhigh1.step(emg_0_value); - emg_abs=abs(emg_gefilterd_high); - emg_gefilterd_low = filterlow1.step(emg_abs); + emg_0_value=emg0.read(); //read the emg value from the electrodes + emg_gefilterd= filterhigh1.step(emg_0_value); + emg_abs=abs(emg_gefilterd); led=!led; if (emg_abs>cut_off_value) @@ -37,7 +35,7 @@ //send signals to scope scope.set(0, emg_0_value ); //set emg signal to scope in channel 1 - scope.set(1, emg_gefilterd_low); + scope.set(1, emg_gefilterd ); scope.set(2, onoffsignal); scope.send(); //send all the signals to the scope } @@ -55,7 +53,7 @@ if (onoffsignal==1) { richting_motor1 = 0; //motordirection (ccw) - pwm_motor1 = 5; //motorspeed 1 + pwm_motor1 = 1; //motorspeed 1 } else if(onoffsignal==0)