Diff: main.cpp

Revision:

10:56136a0da8c1

Parent:

9:d7a6a3619576

--- a/main.cpp	Fri Oct 26 09:40:09 2018 +0000
+++ b/main.cpp	Fri Oct 26 10:09:13 2018 +0000
@@ -8,14 +8,13 @@
 // In- en outputs 
 // -----------------------------------------------------------------------------
 
-/*
 // EMG related
 AnalogIn emg1(); // EMG signal 1
 AnalogIn emg2(); // EMG signal 2
 // if needed
 AnalogIn emg3(); // EMG signal 3
 AnalogIn emg4(); // EMG signal 4
-*/
+
 
 // Motor related
 DigitalOut dirpin_1(D4); // direction of motor 1
@@ -42,7 +41,7 @@
 // -----------------------------------------------------------------------------
 // Define stuff like tickers etc
 
-Ticker NAME; // Name a ticker, use each ticker only for 1 function! 
+Ticker ticker; // Name a ticker, use each ticker only for 1 function! 
 HIDScope scope(2); // Number of channels in HIDScope
 QEI Encoder(D13,D12,NC,64,QEI::X4_ENCODING); // Define the type of encoding: X4 encoding(default is X2)
 Serial pc(USBTX,USBRX);
@@ -75,7 +74,7 @@
     return counts;
     } 
     
-// potmeter 
+// Potmeter for contrlling motor 
 float potmeter()
 {
     float out_1 = pot_1 * 2.0f;
@@ -90,18 +89,6 @@
     return out_2;
     }
     
-// EMG filter
-// To process the EMG signal before information can be caught from it 
-// Kees mee bezig 
-
-// Motor calibration
-// To calibrate the motor angle to some mechanical boundaries
-// Kenneth mee bezig 
-
-// EMG calibration
-// To calibrate the EMG signal to some boundary values
-// Simon mee bezig 
-
 // Send information to HIDScope
 void hidscope() // Attach this to a ticker! 
 {
@@ -112,27 +99,67 @@
     scope.send(); // Send all channels to the PC at once
     }
     
+// EMG filter
+// To process the EMG signal before information can be caught from it 
+// Kees mee bezig 
+
+// WAIT
+// To do nothing
+void wait_mode()
+{
+    // go back to the initial values
+    // Copy here the variables list with initial values
+    motor_velocity = 0;
+    }
+
+// MOTOR_CAL
+// To calibrate the motor angle to some mechanical boundaries
+// Kenneth mee bezig 
+void motor_calibration()
+{
+    // Kenneths code here
+    }
+
+// EMG_CAL
+// To calibrate the EMG signal to some boundary values
+void emg_calibration()
+{
+    // code
+    }
+    
 // PID controller
 // To control the input signal before it goes into the motor control
 // Simon mee bezig
+void pid_controller()
+{
+    // Simons code here
+    }
 
-// Start
+// START
 // To move the robot to the starting position: middle
-void start() 
+void start_mode() 
 {
     // move to middle
     }
 
-// Operating mode
+// OPERATING
 // To control the robot with EMG signals
 // Gertjan bezig met motor aansturen
 
-// Demo mode
+// DEMO
 // To control the robot with a written code and write 'HELLO'
 // Voor het laatst bewaren
+void demo_mode()
+{
+    // code here
+    }
 
-// Emergency mode
+// FAILURE
 // To shut down the robot after an error etc 
+void failure()
+{
+    // code here
+    }
 
 // Main function
 // -----------------------------------------------------------------------------
@@ -141,7 +168,7 @@
     pc.baud(115200); // For TeraTerm, the baudrate, set also in TeraTerm itself! 
     pc.printf("Start code\r\n"); // To check if the program starts 
     pwmpin_1.period_us(60); // Setting period for PWM
-    NAME.attach(&hidscope,0.002f); // Send information to HIDScope
+    ticker.attach(&hidscope,0.002f); // Send information to HIDScope
     
     while(true){
         // timer
@@ -163,8 +190,11 @@
             
             if(StateChanged) // so if StateChanged is true
             {
+                pc.printf("State is WAIT\r\n");
+                
                 // Execute WAIT mode
-                pc.printf("State is WAIT\r\n");
+                wait_mode();
+                
                 StateChanged = false; // the state is still WAIT
                 }
                 
@@ -190,10 +220,14 @@
             {
                 t.reset();
                 t.start();
+                
                 // Execute MOTOR_CAL mode
+                motor_calibration();
+                
                 t.stop();
                 time_in_state = t.read();
                 pc.printf("Time here = %f\r\n", time_in_state);
+                
                 StateChanged = false; // the state is still MOTOR_CAL
                 }
             
@@ -219,10 +253,14 @@
             {
                 t.reset();
                 t.start();
+                
                 // Execute EMG_CAL mode
+                emg_calibration();
+                
                 t.stop();
                 time_in_state = t.read();
                 pc.printf("Time here = %f\r\n", time_in_state);
+                
                 StateChanged = false; // state is still EMG_CAL
                 }
             
@@ -248,10 +286,14 @@
             {
                 t.reset();
                 t.start();
+                
                 // Execute START mode
+                start_mode();
+                
                 t.stop();
                 time_in_state = t.read();
                 pc.printf("Time here = %f\r\n", time_in_state);
+                
                 StateChanged = false; // state is still START
                 }
             
@@ -276,7 +318,7 @@
             if(StateChanged) // so if StateChanged is true
             {
                 // Execute OPERATING mode
-                pc.printf("State is OPERATING\r\n");
+                
                 StateChanged = false; // state is still OPERATING
                 }
             
@@ -308,7 +350,8 @@
             if(StateChanged) // so if StateChanged is true
             {
                 // Execute FAILURE mode
-                pc.printf("State is FAILURE\r\n");
+                failure_mode();
+                
                 StateChanged = false; // state is still FAILURE
                 }
             
@@ -326,7 +369,8 @@
             if(StateChanged) // so if StateChanged is true
             {
                 // Execute DEMO mode
-                pc.printf("State is DEMO\r\n");
+                demo_mode();
+                
                 StateChanged = false; // state is still DEMO
                 }