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@2:90a9ed488f08, 2015-10-29 (annotated)

Committer:
NickDGreg
Date:
Thu Oct 29 10:52:46 2015 +0000
Revision:
2:90a9ed488f08
Parent:
1:aa0d93df1af1
Child:
3:1f77b5e4eb42
it worked. shoulda checked the plug!! (it was unplugged)

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);
NickDGreg 0:7b9ca8e5811b 16
NickDGreg 1:aa0d93df1af1 17 //pot meters to act as emg filter substitutes
NickDGreg 0:7b9ca8e5811b 18 AnalogIn left_pot(A0);
NickDGreg 0:7b9ca8e5811b 19 AnalogIn right_pot(A1);
NickDGreg 1:aa0d93df1af1 20
NickDGreg 1:aa0d93df1af1 21 //variables to hold the values of the pot meters
NickDGreg 0:7b9ca8e5811b 22 double emg_left;
NickDGreg 0:7b9ca8e5811b 23 double emg_right;
NickDGreg 0:7b9ca8e5811b 24
NickDGreg 1:aa0d93df1af1 25 //int to check if the button is pressed
NickDGreg 0:7b9ca8e5811b 26 const int Button_move_pressed = 0;
NickDGreg 0:7b9ca8e5811b 27
NickDGreg 1:aa0d93df1af1 28 //values for clockwise and counter clockwise movement
NickDGreg 0:7b9ca8e5811b 29 const int cw = 1;
NickDGreg 0:7b9ca8e5811b 30 const int ccw = 0;
NickDGreg 0:7b9ca8e5811b 31
NickDGreg 1:aa0d93df1af1 32
NickDGreg 0:7b9ca8e5811b 33
NickDGreg 0:7b9ca8e5811b 34 int main()
NickDGreg 0:7b9ca8e5811b 35 {
NickDGreg 0:7b9ca8e5811b 36 while(1) {
NickDGreg 2:90a9ed488f08 37 pc.printf("at the begin");
NickDGreg 0:7b9ca8e5811b 38
NickDGreg 1:aa0d93df1af1 39 //read the 'emg' values
NickDGreg 0:7b9ca8e5811b 40 emg_left = left_pot.read();
NickDGreg 0:7b9ca8e5811b 41 emg_right = right_pot.read();
NickDGreg 0:7b9ca8e5811b 42
NickDGreg 1:aa0d93df1af1 43 //if left above threashold and right below; move left
NickDGreg 0:7b9ca8e5811b 44 while (emg_left > 0.5 and emg_right < 0.5)
NickDGreg 0:7b9ca8e5811b 45 {
NickDGreg 0:7b9ca8e5811b 46 directionPin.write(cw);
NickDGreg 0:7b9ca8e5811b 47 PWM.write(1);
NickDGreg 1:aa0d93df1af1 48 //new left value to check (in while loop condition) if it has fallen below threashold
NickDGreg 0:7b9ca8e5811b 49 emg_left = left_pot.read();
NickDGreg 2:90a9ed488f08 50 pc.printf("left \n");
NickDGreg 0:7b9ca8e5811b 51 }
NickDGreg 0:7b9ca8e5811b 52
NickDGreg 0:7b9ca8e5811b 53 while (emg_right > 0.5 and emg_left < 0.5)
NickDGreg 0:7b9ca8e5811b 54 {
NickDGreg 0:7b9ca8e5811b 55 directionPin.write(ccw);
NickDGreg 0:7b9ca8e5811b 56 PWM.write(1);
NickDGreg 1:aa0d93df1af1 57 //new right value, to check in while loop condition
NickDGreg 0:7b9ca8e5811b 58 emg_right = right_pot.read();
NickDGreg 2:90a9ed488f08 59 pc.printf("right \n");
NickDGreg 0:7b9ca8e5811b 60 }
NickDGreg 1:aa0d93df1af1 61 if (button_key.read() == Button_move_pressed)
NickDGreg 0:7b9ca8e5811b 62 {
NickDGreg 0:7b9ca8e5811b 63 //move to key
NickDGreg 0:7b9ca8e5811b 64 directionPin_key.write(cw);
NickDGreg 1:aa0d93df1af1 65 PWM_key.write(1);
NickDGreg 1:aa0d93df1af1 66 wait(0.14); //time it takes pwm of one to reach the key
NickDGreg 1:aa0d93df1af1 67 //pause at the key for one second
NickDGreg 1:aa0d93df1af1 68 PWM_key.write(0);
NickDGreg 1:aa0d93df1af1 69 wait(1);
NickDGreg 1:aa0d93df1af1 70 //move bakc to the starting position
NickDGreg 0:7b9ca8e5811b 71 directionPin_key.write(ccw);
NickDGreg 1:aa0d93df1af1 72 PWM_key.write(1);
NickDGreg 1:aa0d93df1af1 73 //time needs to be slightly longer than moving forward (no answer why)
NickDGreg 1:aa0d93df1af1 74 wait(0.165f);
NickDGreg 2:90a9ed488f08 75 pc.printf("keypress \n");
NickDGreg 0:7b9ca8e5811b 76
NickDGreg 0:7b9ca8e5811b 77 }
NickDGreg 1:aa0d93df1af1 78
NickDGreg 1:aa0d93df1af1 79 /// set spped values of both motors to zero so if no muscles are contracted, no motors move
NickDGreg 1:aa0d93df1af1 80 //more of a safety catch than actually necessary
NickDGreg 0:7b9ca8e5811b 81 PWM_key.write(0);
NickDGreg 0:7b9ca8e5811b 82 PWM.write(0);
NickDGreg 0:7b9ca8e5811b 83 }
NickDGreg 0:7b9ca8e5811b 84 }
NickDGreg 0:7b9ca8e5811b 85