Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: HIDScope Servo mbed QEI biquadFilter
main.cpp
- Committer:
- s1725696
- Date:
- 2018-10-22
- Revision:
- 5:3581013d4505
- Parent:
- 4:8183e7b228f0
- Child:
- 6:f495a77c2c95
File content as of revision 5:3581013d4505:
#include "mbed.h" // Use revision 119!! #include "HIDScope.h" // For displaying data, select MBED - HID device, restart for every new code #include "QEI.h" // For reading the encoder of the motors #define SERIAL_BAUD 115200 // 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 PwmOut pwmpin_1(D5); // PWM pin of motor 1 DigitalOut dirpin_2(D7); // direction of motor 2 PwmOut pwmpin_2(D6); // PWM pin of motor 2 // Extra stuff // Like LED lights, buttons etc /* DigitalIn button_motorcal(); // button for motor calibration DigitalIn button_emergency(); // button for emergency mode DigitalIn button_start(); // button for start mode (from demo mode) DigitalIn button_demo(); // button for demo mode */ DigitalIn led_red(LED_RED); // red led DigitalIn led_green(LED_GREEN); // green led DigitalIn led_blue(LED_BLUE); // blue led AnalogIn pot_1(A1); // potmeter for simulating EMG input // 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) Serial pc(USBTX,USBRX); // Variables // ----------------------------------------------------------------------------- // Define here all variables needed throughout the whole code int counts; // Functions // ----------------------------------------------------------------------------- // Encoder // Getting encoder information from motors int encoder() { int counts = Encoder.getPulses(); return counts; } // potmeter float potmeter() { float out_1 = pot_1 * 2.0f; float out_2 = out_1 - 1.0f; dirpin_1.write(out_2 < 0); dirpin_2.write(out_2 < 0); pwmpin_1 = fabs (out_2); // Has to be positive value pwmpin_2 = fabs (out_2); return out_2; } // 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 // Send EMG to HIDScope void sample() // Attach this to a ticker! { scope.set(0, counts); // send counts to channel 1 (=0) // scope.set(1, velocity_encoder() ); // sent EMG 2 to channel 2 (=1) // 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 void start() { // move to middle } // Operating mode // To control the robot with EMG signals // Processing EMG // To process the raw EMG to a usable value, with filters etc // Simon en Kees mee bezig // Demo mode // To control the robot with a written code and write 'HELLO' // Voor het laatst bewaren // 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 pwmpin_1.period_us(60); // Needed for PWM, not exactly known why while(true){ counts = encoder(); float out_2 = potmeter(); sample(); pc.printf("potmeter value = %f ", out_2); pc.printf("counts = %i\r\n", counts); /* if (button_motorcal == true){ // execute motor calibration } elseif { // remain in waiting mode break; } */ wait(0.01); // loop the while loop every 0.01 seconds } }