Biorobotics / Mbed 2 deprecated potMeter_control

Controls the rovot with pot meters and button, fall back for if the filters fail

Dependencies:   mbed

main.cpp@3:1f77b5e4eb42, 2015-10-29 (annotated)

Committer:
yohoo15
Date:
Thu Oct 29 14:39:37 2015 +0000
Revision:
3:1f77b5e4eb42
Parent:
2:90a9ed488f08 
with begin of vader jacob

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NickDGreg 0:7b9ca8e5811b 1 #include "mbed.h"
NickDGreg 0:7b9ca8e5811b 2
NickDGreg 0:7b9ca8e5811b 3 Serial pc(USBTX, USBRX);
NickDGreg 0:7b9ca8e5811b 4
NickDGreg 0:7b9ca8e5811b 5
NickDGreg 1:aa0d93df1af1 6 // Define pins for motor control
NickDGreg 1:aa0d93df1af1 7 //horizontal motor
NickDGreg 0:7b9ca8e5811b 8 DigitalOut directionPin(D4);
NickDGreg 0:7b9ca8e5811b 9 PwmOut PWM(D5);
NickDGreg 1:aa0d93df1af1 10 //keypress motor
NickDGreg 0:7b9ca8e5811b 11 DigitalOut directionPin_key(D7);
NickDGreg 0:7b9ca8e5811b 12 PwmOut PWM_key(D6);
NickDGreg 0:7b9ca8e5811b 13
NickDGreg 1:aa0d93df1af1 14 //button to press the key
NickDGreg 1:aa0d93df1af1 15 DigitalIn button_key(PTC6);
yohoo15 3:1f77b5e4eb42 16 DigitalIn button_song(PTA4);
NickDGreg 0:7b9ca8e5811b 17
NickDGreg 1:aa0d93df1af1 18 //pot meters to act as emg filter substitutes
NickDGreg 0:7b9ca8e5811b 19 AnalogIn left_pot(A0);
NickDGreg 0:7b9ca8e5811b 20 AnalogIn right_pot(A1);
NickDGreg 1:aa0d93df1af1 21
NickDGreg 1:aa0d93df1af1 22 //variables to hold the values of the pot meters
NickDGreg 0:7b9ca8e5811b 23 double emg_left;
NickDGreg 0:7b9ca8e5811b 24 double emg_right;
NickDGreg 0:7b9ca8e5811b 25
NickDGreg 1:aa0d93df1af1 26 //int to check if the button is pressed
NickDGreg 0:7b9ca8e5811b 27 const int Button_move_pressed = 0;
yohoo15 3:1f77b5e4eb42 28 const int Button_song_pressed = 0;
NickDGreg 0:7b9ca8e5811b 29
NickDGreg 1:aa0d93df1af1 30 //values for clockwise and counter clockwise movement
NickDGreg 0:7b9ca8e5811b 31 const int cw = 1;
NickDGreg 0:7b9ca8e5811b 32 const int ccw = 0;
NickDGreg 0:7b9ca8e5811b 33
NickDGreg 1:aa0d93df1af1 34
NickDGreg 0:7b9ca8e5811b 35
NickDGreg 0:7b9ca8e5811b 36 int main()
NickDGreg 0:7b9ca8e5811b 37 {
NickDGreg 0:7b9ca8e5811b 38 while(1) {
NickDGreg 2:90a9ed488f08 39 pc.printf("at the begin");
NickDGreg 0:7b9ca8e5811b 40
NickDGreg 1:aa0d93df1af1 41 //read the 'emg' values
NickDGreg 0:7b9ca8e5811b 42 emg_left = left_pot.read();
NickDGreg 0:7b9ca8e5811b 43 emg_right = right_pot.read();
NickDGreg 0:7b9ca8e5811b 44
NickDGreg 1:aa0d93df1af1 45 //if left above threashold and right below; move left
NickDGreg 0:7b9ca8e5811b 46 while (emg_left > 0.5 and emg_right < 0.5)
NickDGreg 0:7b9ca8e5811b 47 {
NickDGreg 0:7b9ca8e5811b 48 directionPin.write(cw);
NickDGreg 0:7b9ca8e5811b 49 PWM.write(1);
NickDGreg 1:aa0d93df1af1 50 //new left value to check (in while loop condition) if it has fallen below threashold
NickDGreg 0:7b9ca8e5811b 51 emg_left = left_pot.read();
NickDGreg 2:90a9ed488f08 52 pc.printf("left \n");
NickDGreg 0:7b9ca8e5811b 53 }
NickDGreg 0:7b9ca8e5811b 54
NickDGreg 0:7b9ca8e5811b 55 while (emg_right > 0.5 and emg_left < 0.5)
NickDGreg 0:7b9ca8e5811b 56 {
NickDGreg 0:7b9ca8e5811b 57 directionPin.write(ccw);
NickDGreg 0:7b9ca8e5811b 58 PWM.write(1);
NickDGreg 1:aa0d93df1af1 59 //new right value, to check in while loop condition
NickDGreg 0:7b9ca8e5811b 60 emg_right = right_pot.read();
NickDGreg 2:90a9ed488f08 61 pc.printf("right \n");
NickDGreg 0:7b9ca8e5811b 62 }
NickDGreg 1:aa0d93df1af1 63 if (button_key.read() == Button_move_pressed)
NickDGreg 0:7b9ca8e5811b 64 {
NickDGreg 0:7b9ca8e5811b 65 //move to key
NickDGreg 0:7b9ca8e5811b 66 directionPin_key.write(cw);
NickDGreg 1:aa0d93df1af1 67 PWM_key.write(1);
NickDGreg 1:aa0d93df1af1 68 wait(0.14); //time it takes pwm of one to reach the key
NickDGreg 1:aa0d93df1af1 69 //pause at the key for one second
NickDGreg 1:aa0d93df1af1 70 PWM_key.write(0);
NickDGreg 1:aa0d93df1af1 71 wait(1);
NickDGreg 1:aa0d93df1af1 72 //move bakc to the starting position
NickDGreg 0:7b9ca8e5811b 73 directionPin_key.write(ccw);
NickDGreg 1:aa0d93df1af1 74 PWM_key.write(1);
NickDGreg 1:aa0d93df1af1 75 //time needs to be slightly longer than moving forward (no answer why)
NickDGreg 1:aa0d93df1af1 76 wait(0.165f);
NickDGreg 2:90a9ed488f08 77 pc.printf("keypress \n");
NickDGreg 0:7b9ca8e5811b 78
NickDGreg 0:7b9ca8e5811b 79 }
NickDGreg 1:aa0d93df1af1 80
NickDGreg 1:aa0d93df1af1 81 /// set spped values of both motors to zero so if no muscles are contracted, no motors move
NickDGreg 1:aa0d93df1af1 82 //more of a safety catch than actually necessary
NickDGreg 0:7b9ca8e5811b 83 PWM_key.write(0);
NickDGreg 0:7b9ca8e5811b 84 PWM.write(0);
yohoo15 3:1f77b5e4eb42 85
yohoo15 3:1f77b5e4eb42 86 //cw to the right
yohoo15 3:1f77b5e4eb42 87 if (button_song.read() == Button_song_pressed){
yohoo15 3:1f77b5e4eb42 88
yohoo15 3:1f77b5e4eb42 89 //pressing va
yohoo15 3:1f77b5e4eb42 90 directionPin_key.write(cw);
yohoo15 3:1f77b5e4eb42 91 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 92 wait(0.14); //time it takes pwm of one to reach the key
yohoo15 3:1f77b5e4eb42 93 //pause at the key for one second
yohoo15 3:1f77b5e4eb42 94 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 95 wait(1);
yohoo15 3:1f77b5e4eb42 96 //move bakc to the starting position
yohoo15 3:1f77b5e4eb42 97 directionPin_key.write(ccw);
yohoo15 3:1f77b5e4eb42 98 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 99 //time needs to be slightly longer than moving forward (no answer why)
yohoo15 3:1f77b5e4eb42 100 wait(0.165f);
yohoo15 3:1f77b5e4eb42 101 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 102
yohoo15 3:1f77b5e4eb42 103 // go 1 key to right
yohoo15 3:1f77b5e4eb42 104 directionPin.write(cw);
yohoo15 3:1f77b5e4eb42 105 PWM.write(1);
yohoo15 3:1f77b5e4eb42 106 wait(2.2);
yohoo15 3:1f77b5e4eb42 107 PWM.write(0);
yohoo15 3:1f77b5e4eb42 108
yohoo15 3:1f77b5e4eb42 109 //pressing der
yohoo15 3:1f77b5e4eb42 110 directionPin_key.write(cw);
yohoo15 3:1f77b5e4eb42 111 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 112 wait(0.14); //time it takes pwm of one to reach the key
yohoo15 3:1f77b5e4eb42 113 //pause at the key for one second
yohoo15 3:1f77b5e4eb42 114 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 115 wait(1);
yohoo15 3:1f77b5e4eb42 116 //move bakc to the starting position
yohoo15 3:1f77b5e4eb42 117 directionPin_key.write(ccw);
yohoo15 3:1f77b5e4eb42 118 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 119 //time needs to be slightly longer than moving forward (no answer why)
yohoo15 3:1f77b5e4eb42 120 wait(0.165f);
yohoo15 3:1f77b5e4eb42 121 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 122
yohoo15 3:1f77b5e4eb42 123 // go 1 key to right
yohoo15 3:1f77b5e4eb42 124 directionPin.write(cw);
yohoo15 3:1f77b5e4eb42 125 PWM.write(1);
yohoo15 3:1f77b5e4eb42 126 wait(2.2);
yohoo15 3:1f77b5e4eb42 127 PWM.write(0);
yohoo15 3:1f77b5e4eb42 128
yohoo15 3:1f77b5e4eb42 129 //pressing ja
yohoo15 3:1f77b5e4eb42 130 directionPin_key.write(cw);
yohoo15 3:1f77b5e4eb42 131 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 132 wait(0.14); //time it takes pwm of one to reach the key
yohoo15 3:1f77b5e4eb42 133 //pause at the key for one second
yohoo15 3:1f77b5e4eb42 134 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 135 wait(1);
yohoo15 3:1f77b5e4eb42 136 //move bakc to the starting position
yohoo15 3:1f77b5e4eb42 137 directionPin_key.write(ccw);
yohoo15 3:1f77b5e4eb42 138 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 139 //time needs to be slightly longer than moving forward (no answer why)
yohoo15 3:1f77b5e4eb42 140 wait(0.165f);
yohoo15 3:1f77b5e4eb42 141 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 142
yohoo15 3:1f77b5e4eb42 143 // go 2 key to left
yohoo15 3:1f77b5e4eb42 144 directionPin.write(ccw);
yohoo15 3:1f77b5e4eb42 145 PWM.write(1);
yohoo15 3:1f77b5e4eb42 146 wait(4.5);
yohoo15 3:1f77b5e4eb42 147 PWM.write(0);
yohoo15 3:1f77b5e4eb42 148
yohoo15 3:1f77b5e4eb42 149 //pressing cob
yohoo15 3:1f77b5e4eb42 150 directionPin_key.write(cw);
yohoo15 3:1f77b5e4eb42 151 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 152 wait(0.14); //time it takes pwm of one to reach the key
yohoo15 3:1f77b5e4eb42 153 //pause at the key for one second
yohoo15 3:1f77b5e4eb42 154 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 155 wait(1);
yohoo15 3:1f77b5e4eb42 156 //move bakc to the starting position
yohoo15 3:1f77b5e4eb42 157 directionPin_key.write(ccw);
yohoo15 3:1f77b5e4eb42 158 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 159 //time needs to be slightly longer than moving forward (no answer why)
yohoo15 3:1f77b5e4eb42 160 wait(0.165f);
yohoo15 3:1f77b5e4eb42 161 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 162
yohoo15 3:1f77b5e4eb42 163 wait(1.5);
yohoo15 3:1f77b5e4eb42 164
yohoo15 3:1f77b5e4eb42 165 //pressing va
yohoo15 3:1f77b5e4eb42 166 directionPin_key.write(cw);
yohoo15 3:1f77b5e4eb42 167 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 168 wait(0.14); //time it takes pwm of one to reach the key
yohoo15 3:1f77b5e4eb42 169 //pause at the key for one second
yohoo15 3:1f77b5e4eb42 170 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 171 wait(1);
yohoo15 3:1f77b5e4eb42 172 //move bakc to the starting position
yohoo15 3:1f77b5e4eb42 173 directionPin_key.write(ccw);
yohoo15 3:1f77b5e4eb42 174 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 175 //time needs to be slightly longer than moving forward (no answer why)
yohoo15 3:1f77b5e4eb42 176 wait(0.165f);
yohoo15 3:1f77b5e4eb42 177 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 178
yohoo15 3:1f77b5e4eb42 179 // go 1 key to right
yohoo15 3:1f77b5e4eb42 180 directionPin.write(cw);
yohoo15 3:1f77b5e4eb42 181 PWM.write(1);
yohoo15 3:1f77b5e4eb42 182 wait(2.2);
yohoo15 3:1f77b5e4eb42 183 PWM.write(0);
yohoo15 3:1f77b5e4eb42 184
yohoo15 3:1f77b5e4eb42 185 //pressing der
yohoo15 3:1f77b5e4eb42 186 directionPin_key.write(cw);
yohoo15 3:1f77b5e4eb42 187 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 188 wait(0.14); //time it takes pwm of one to reach the key
yohoo15 3:1f77b5e4eb42 189 //pause at the key for one second
yohoo15 3:1f77b5e4eb42 190 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 191 wait(1);
yohoo15 3:1f77b5e4eb42 192 //move bakc to the starting position
yohoo15 3:1f77b5e4eb42 193 directionPin_key.write(ccw);
yohoo15 3:1f77b5e4eb42 194 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 195 //time needs to be slightly longer than moving forward (no answer why)
yohoo15 3:1f77b5e4eb42 196 wait(0.165f);
yohoo15 3:1f77b5e4eb42 197 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 198
yohoo15 3:1f77b5e4eb42 199 // go 1 key to right
yohoo15 3:1f77b5e4eb42 200 directionPin.write(cw);
yohoo15 3:1f77b5e4eb42 201 PWM.write(1);
yohoo15 3:1f77b5e4eb42 202 wait(2.2);
yohoo15 3:1f77b5e4eb42 203 PWM.write(0);
yohoo15 3:1f77b5e4eb42 204
yohoo15 3:1f77b5e4eb42 205 //pressing ja
yohoo15 3:1f77b5e4eb42 206 directionPin_key.write(cw);
yohoo15 3:1f77b5e4eb42 207 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 208 wait(0.14); //time it takes pwm of one to reach the key
yohoo15 3:1f77b5e4eb42 209 //pause at the key for one second
yohoo15 3:1f77b5e4eb42 210 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 211 wait(1);
yohoo15 3:1f77b5e4eb42 212 //move bakc to the starting position
yohoo15 3:1f77b5e4eb42 213 directionPin_key.write(ccw);
yohoo15 3:1f77b5e4eb42 214 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 215 //time needs to be slightly longer than moving forward (no answer why)
yohoo15 3:1f77b5e4eb42 216 wait(0.165f);
yohoo15 3:1f77b5e4eb42 217 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 218
yohoo15 3:1f77b5e4eb42 219 // go 2 key to left
yohoo15 3:1f77b5e4eb42 220 directionPin.write(ccw);
yohoo15 3:1f77b5e4eb42 221 PWM.write(1);
yohoo15 3:1f77b5e4eb42 222 wait(4.5);
yohoo15 3:1f77b5e4eb42 223 PWM.write(0);
yohoo15 3:1f77b5e4eb42 224
yohoo15 3:1f77b5e4eb42 225 //pressing cob
yohoo15 3:1f77b5e4eb42 226 directionPin_key.write(cw);
yohoo15 3:1f77b5e4eb42 227 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 228 wait(0.14); //time it takes pwm of one to reach the key
yohoo15 3:1f77b5e4eb42 229 //pause at the key for one second
yohoo15 3:1f77b5e4eb42 230 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 231 wait(1);
yohoo15 3:1f77b5e4eb42 232 //move bakc to the starting position
yohoo15 3:1f77b5e4eb42 233 directionPin_key.write(ccw);
yohoo15 3:1f77b5e4eb42 234 PWM_key.write(1);
yohoo15 3:1f77b5e4eb42 235 //time needs to be slightly longer than moving forward (no answer why)
yohoo15 3:1f77b5e4eb42 236 wait(0.165f);
yohoo15 3:1f77b5e4eb42 237 PWM_key.write(0);
yohoo15 3:1f77b5e4eb42 238 }
NickDGreg 0:7b9ca8e5811b 239 }
NickDGreg 0:7b9ca8e5811b 240 }
NickDGreg 0:7b9ca8e5811b 241