Diff: main.cpp

Revision:

6:00011220b82b

Parent:

5:b4a0301ec8cc

Child:

7:bafc32b576c4

--- a/main.cpp	Tue Oct 25 07:03:16 2016 +0000
+++ b/main.cpp	Mon Oct 31 10:38:12 2016 +0000
@@ -1,19 +1,48 @@
 #include "mbed.h"
-#include "HIDScope.h"
-#include "BiQuad.h"
 #include "math.h"
 #include "MODSERIAL.h"
-#define SERIAL_BAUD 115200
+#include "HIDScope.h"
+#include "FastPWM.h"
+#include "QEI.h"
+#include "BiQuad.h"
+#define SERIAL_BAUD 115200  // baud rate for serial communication
 
+// Serial connection
 MODSERIAL pc(USBTX,USBRX);
+
 //EMG aansluitingen
 AnalogIn    emg0( A0 );     //Biceps Rechts
 AnalogIn    emg1( A1 );     //Bicpes Links
 AnalogIn    emg2( A2 );     //Upper leg
-//HIDScope
-//HIDScope    scope( 6 );         // aantal channels op de HIDscope
-//Button om Calibratie te beëindigen
-InterruptIn Button1(PTC6);          // DIT WORDT EEN ANDERE BUTTON
+
+// Potmeter 1 gives the reference position x
+AnalogIn pot1(A3);
+// Potmeter 2 gives the reference position y
+AnalogIn pot2(A4);
+
+// Setup Buttons
+InterruptIn button1(PTB9);                  // button 1
+InterruptIn button2(PTA1);                  // button 2
+InterruptIn button3(PTC6);                  // SW2
+InterruptIn button4(PTA4);                  // SW3
+
+// Set motor Pinouts
+DigitalOut motor1_dir(D4);
+FastPWM motor1_pwm(D5);
+DigitalOut motor2_dir(D7);
+FastPWM motor2_pwm(D6);
+
+// Set LED pins
+DigitalOut led(LED_RED);
+
+// Set HID scope
+HIDScope    scope(6);
+
+// Set encoder
+QEI m1_EncoderCW(D10,D11,NC,32);
+QEI m1_EncoderCCW(D11,D10,NC,32);
+QEI m2_EncoderCW(D13,D12,NC,32);
+QEI m2_EncoderCCW(D12,D13,NC,32);
 
 // Tickers
 Ticker      sample_timer;
@@ -317,7 +346,7 @@
         //potmeter dingen aanpassen
         
         pc.printf("calibreren is bezig\r\n");
-        Button1.fall(&EndCalibration);
+        button1.fall(&EndCalibration);
     }
     
     /**Attach the 'sample' function to the timer 'sample_timer'.