Diff: main.cpp

Revision:

1:83531c955134

Parent:

0:73cf7fc57ab7

Child:

2:9c1bdcf6bc26

--- a/main.cpp	Thu Oct 11 13:58:41 2018 +0000
+++ b/main.cpp	Thu Oct 11 14:17:03 2018 +0000
@@ -8,11 +8,13 @@
 FastPWM pwmpin2(D6);            // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets)
 DigitalOut directionpin1(D4);   // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
 DigitalOut directionpin2(D7);   // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
-AnalogIn    emg0( A0 );         // EMG on Bicep 1
-AnalogIn    emg1( A1 );         // EMG on Bicep 2
-DigitalOut  led(LED1);          // Check for Sample function
-InterruptIn button1(PTC6);      // Interrupt1 for EMG 1
-InterruptIn button2(
+AnalogIn emg0( A0 );            // EMG on Bicep 1
+AnalogIn emg1( A1 );            // EMG on Bicep 2
+DigitalOut led(LED1);           // Check for Sample function
+InterruptIn button1(PTC6);      // Interrupt 1 for EMG 1
+DigitalOut ledb1(LED_RED);      // Check for button_pressed1 function
+InterruptIn button2(PTA4);      // Interrupt 2 for EMG 2
+DigitalOut ledb2(LED_GREEN);    // check for button_pressed2 function
 
 // Define variables
 Ticker sample_timer;            // Ticker for EMG sample function
@@ -34,6 +36,18 @@
     led = !led;
 }
 
+void button_pressed1()  // Indicates direction of motor 1 becomes negative
+    {
+        ledb1 = 0;              // Turns on red led as indication of negative direction for motor 1
+        u1 = -u1;               // Direction for motor 1 becomes negative  
+    }
+
+void button_pressed2()  // Indicates direction of motor 2 becomes negative
+    {
+        ledb2 = 0;              // Turns on green led as indication of negative direction for motor 2
+        u2 = -u2;               // Direction for motor 2 becomes negative  
+    }
+
 void motorfunction()            // Function for motor control
 {          
         u1 = EMG1_scale;                  // motor control signal
@@ -49,5 +63,7 @@
     sample_timer.attach(&sample, 0.002);  // 500 Hz
     pwmpin1.period_us(60.0); //60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to be done once)
     motor.attach(motorfunction,0.5);
+    button1.fall(&button_pressed1); // whenever button 1 falls, execute button_pressed1 function (blinks led red and changes motor direction)
+    button2.fall(&button_pressed2); // whenever button 2 falls, execute button_pressed1 function (blinks led green and changes motor direction)
     while(1) {}
 }
\ No newline at end of file