Diff: main.cpp

Revision:

0:cb8857cf3ea4

Child:

1:1a8211e1f3f3

Child:

2:4b9c67f44848

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 19 12:32:35 2018 +0000
@@ -0,0 +1,83 @@
+#include "mbed.h"
+#include "HIDScope" // For displaying data
+#include "FastPWM" // For setting PWM for motor
+#include "MODSERIAL" // For getting information from keyboard 
+#include "QEI" // For encoder of motors 
+
+// In- en outputs //
+//-------------------------------------------------------------
+
+// EMG related
+AnalogIn emg1(A0); // EMG signal 1
+AnalogIn emg2(A1); // EMG signal 2
+/* if needed
+AnalogIn emg3(A0); // EMG signal 3
+AnalogIn emg4(A1); // EMG signal 4
+*/
+
+// Motor related
+DigitalOut dirpin_1(D4); // direction of motor 1
+PwmOut pwmpin_1(D5); // PWM pin of motor 1
+DigitalOut dirpin_2(D6); // direction of motor 2
+PwmOut pwmpin_2(D7); // PWM pin of motor 2
+
+// Extra stuff
+// Like LED lights, buttons etc 
+
+// Other stuff
+// ------------------------------------------------------------
+// Define stuff like tickers etc
+
+Ticker NAME; // 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)
+MODSERIAL pc(USBTX,USBRX);
+
+// Variables 
+// ------------------------------------------------------------ 
+// Define here all variables needed throughout the whole code 
+
+// Functions
+// ------------------------------------------------------------
+ 
+// Motor calibration
+// To calibrate the motor angle to some mechanical boundaries
+
+// EMG calibration
+// To calibrate the EMG signal to some boundary values
+
+// Send EMG to HIDScope
+void sample() // attach this to a ticker! 
+{
+    scope.set(0, emg1.read()); // send EMG 1 to channel 1 (=0)
+    scope.set(1, emg2.read()); // sent EMG 2 to channel 2 (=1)
+    /* If needed
+    scope.set(2, emg3.read()); // send EMG 3 to channel 3 (=2)
+    scope.set(3, emg4.read()); // sent EMG 4 to channel 4 (=3)
+    */
+    // Ensure that enough channels are available (HIDScope scope( 2 ))
+    scope.send(); // Send all channels to the PC at once
+}
+
+// Start
+// To move the robot to the starting position: middle
+
+// Operating mode
+// To control the robot with EMG signals
+
+// Processing EMG 
+// To process the raw EMG to a usable value, with filters etc
+
+// Demo mode
+// To control the robot with a written code and write 'HELLO'
+
+// Emergency mode
+// To shut down the robot after an error etc 
+
+// Main function
+// ------------------------------------------------------------
+int main()
+{
+    pc.baud(115200); // For TeraTerm, the baudrate, set also in TeraTerm itself! 
+    pc.printf("Start code\r\n"); // To check if the program starts 
+}
\ No newline at end of file