Group 9 BioRobotics
for counts to HIDScope with pot chaning motor stance
Dependencies: HIDScope QEI biquadFilter mbed
Revision 0:b6853d83b8b1, committed 2018-10-22
- Comitter:
- kweisbeek
- Date:
- Mon Oct 22 11:14:18 2018 +0000
- Commit message:
- for counts to HIDScope with pot switching motor stance
Changed in this revision
diff -r 000000000000 -r b6853d83b8b1 HIDScope.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Mon Oct 22 11:14:18 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/tomlankhorst/code/HIDScope/#eade4ec5282b
diff -r 000000000000 -r b6853d83b8b1 QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Mon Oct 22 11:14:18 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r b6853d83b8b1 biquadFilter.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/biquadFilter.lib Mon Oct 22 11:14:18 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/tomlankhorst/code/biquadFilter/#26861979d305
diff -r 000000000000 -r b6853d83b8b1 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 22 11:14:18 2018 +0000
@@ -0,0 +1,85 @@
+#include "mbed.h"
+#include "HIDScope.h"
+#include "QEI.h"
+
+//definitions and pin allocations
+HIDScope scope(2); // We’re going to send 2 channels of data
+Ticker AInTicker;
+//AnalogIn aIn1(A0);
+DigitalOut dirpin(D4);
+PwmOut pwmpin(D5);
+QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING); //channel A=D12, channel B=D13
+AnalogIn pot1(A1);
+AnalogIn pot2(A2);
+
+//volatile variable definitions
+volatile float x;
+volatile float x_prev =0;
+volatile float y; // filtered 'output' of ReadAnalogInAndFilter
+
+
+//functions
+int counts(){
+ int counts=Encoder.getPulses();
+ return counts;}
+
+float out1(){
+ float out_1 = (pot1 * 2.0f) - 1.0f; //scales potmeter signal from 0 to 1 into -1 to 1
+ return out_1;}
+
+int out2(){
+ float out_1 = (pot2 * 2.0f) - 1.0f; //scales potmeter signal from 0 to 1 into -1 to 1
+ if (out_1<-0.25){
+ return 0;}
+
+ else if ((out_1>-0.25)&&(out_1<0.25)){
+ return 1;}
+
+ else {
+ return 2;}
+ }
+
+void motor_pos1(){
+ dirpin.write(0);
+ pwmpin = 1.0f;}
+
+void motor_neg1(){
+ dirpin.write(1);
+ pwmpin = 1.0f;}
+
+void motor_pot(){
+ dirpin.write((out1())<0);
+ pwmpin = fabs(out1());}
+
+void ReadAnalogInAndFilter(){
+ x = counts(); // Capture data
+ scope.set(0, x); // store data in first element of scope memory
+ y = (x-x_prev)/0.001f; // averaging filter
+ scope.set(1, y); // store data in second element of scope memory
+ x_prev = x; // Prepare for next round
+ scope.send();} // send what's in scope memory to PC
+
+
+
+
+//main function
+int main(){
+ pwmpin.period_us(60);
+
+ //HIDScope timer attach
+ AInTicker.attach(&ReadAnalogInAndFilter, 0.01);
+
+ //Motor control
+ while (true) {
+ switch(out2()){
+ case 0:
+ motor_pos1();
+ break;
+ case 1:
+ motor_neg1();
+ break;
+ case 2:
+ motor_pot();
+ break;}
+ wait(0.1);}
+}
diff -r 000000000000 -r b6853d83b8b1 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Oct 22 11:14:18 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/aae6fcc7d9bb \ No newline at end of file