Diff: main.cpp

Revision:

2:9c1bdcf6bc26

Parent:

1:83531c955134

Child:

3:4b3ccfbae1c1

--- a/main.cpp	Thu Oct 11 14:17:03 2018 +0000
+++ b/main.cpp	Thu Oct 11 14:35:38 2018 +0000
@@ -4,17 +4,19 @@
 #include "HIDScope.h"
 
 // Define Pins
-FastPWM pwmpin1(D5);            // 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)
-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);      // 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
+FastPWM pwmpin1(D5);            // SPECIFIC PIN (does not need to be plugged in) 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)
+FastPWM pwmpin2(D6);            // SPECIFIC PIN (does not need to be plugged in) 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 (does not need to be plugged in) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
+DigitalOut directionpin2(D7);   // SPECIFIC PIN (does not need to be plugged in) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
+AnalogIn emg0( A0 );            // EMG on Bicep 1a
+AnalogIn emg1( A1 );            // EMG on Bicep 1b
+AnalogIn emg2( A2 );            // EMG on Bicep 2a                  CHECK IF THIS WORKS
+AnalogIn emg3( A3 );            // EMG on Bicep 2b                  CHECK IF THIS WORKS
+DigitalOut led(LED1);           // LED check for Sample function
+InterruptIn button1(PTC6);      // Button interrupt for EMG 1
+InterruptIn button2(PTA4);      // Button interrupt for EMG 2
+DigitalOut ledb1(LED_RED);      // LED check for button_pressed1 function
+DigitalOut ledb2(LED_GREEN);    // LED check for button_pressed2 function
 
 // Define variables
 Ticker sample_timer;            // Ticker for EMG sample function
@@ -25,45 +27,45 @@
 
 void sample()                   // Function for getting EMG signals
 {
-    /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
+    // Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope'
     scope.set(0, emg0.read() );
     scope.set(1, emg1.read() );
-    /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) 
-    *  Ensure that enough channels are available (HIDScope scope( 2 ))
-    *  Finally, send all channels to the PC at once */
+    scope.set(0, emg2.read() ); //          CHECK IF THIS WORKS
+    scope.set(1, emg3.read() ); //          CHECK IF THIS WORKS
+    // Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) 
+    // Ensure that enough channels are available (HIDScope scope( 2 ))
+    // Finally, send all channels to the PC at once
     scope.send();
-    /* To indicate that the function is working, the LED is toggled */
+    // To indicate that the function is working, the LED is toggled
     led = !led;
 }
 
-void button_pressed1()  // Indicates direction of motor 1 becomes negative
+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  
+        directionpin1 = 0;      // Direction for motor 1 becomes negative       CHECK IF THIS WORKS 
     }
 
-void button_pressed2()  // Indicates direction of motor 2 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  
+        directionpin2 = 0;      // Direction for motor 2 becomes negative       CHECK IF THIS WORKS 
     }
 
 void motorfunction()            // Function for motor control
 {          
-        u1 = EMG1_scale;                  // motor control signal
-        u2 = EMG2_scale;                  // motor control signal
-        directionpin1 = u1 > 0.0f;        // either true or false, determines direction (0 or 1)
-        directionpin2 = u2 > 0.0f;        // either true or false, determines direction (0 or 1)
-        pwmpin1 = fabs(u1);               // pwm duty cycle can only be positive, floating point absolute value (if value is >0, there still will be a positive value).
-        pwmpin2 = fabs(u2);               // pwm duty cycle can only be positive, floating point absolute value (if value is >0, there still will be a positive value).
+        u1 = EMG1_scale;        // Motor control signal
+        u2 = EMG2_scale;        // Motor control signal
+        pwmpin1 = fabs(u1);     // PWM duty cycle can only be positive, floating point absolute value (if value is >0, there still will be a positive value).
+        pwmpin2 = fabs(u2);     // PWM duty cycle can only be positive, floating point absolute value (if value is >0, there still will be a positive value).
 }
 
 int main()
 {   
     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)
+    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)
+    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) {}
 }
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