Diff: main.cpp

Revision:

5:3581013d4505

Parent:

4:8183e7b228f0

Child:

6:f495a77c2c95

--- a/main.cpp	Mon Oct 22 07:08:45 2018 +0000
+++ b/main.cpp	Mon Oct 22 09:33:18 2018 +0000
@@ -1,48 +1,54 @@
-#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 
+#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 
 
-// In- en outputs //
+#define SERIAL_BAUD 115200
+
+// 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
+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(D6); // direction of motor 2
-PwmOut pwmpin_2(D7); // PWM pin of motor 2
+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(SW1); // button for motor calibration
-DigitalIn button_emergency(SW2); // button for emergency mode
-DigitalIn button_start(SW3); // button for start mode (from demo mode)
-DigitalIn button_demo(SW4); // button for demo mode 
+/*
+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! 
+// 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);
+Serial pc(USBTX,USBRX);
 
 // Variables 
 // ----------------------------------------------------------------------------- 
 // Define here all variables needed throughout the whole code 
+int counts;
 
 // Functions
 // -----------------------------------------------------------------------------
@@ -51,9 +57,24 @@
 // Getting encoder information from motors
 int encoder()
 {
-    counts = Encoder.getPulses();
+    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
@@ -65,12 +86,9 @@
 // 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)
-    */
+    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
 }
@@ -102,14 +120,27 @@
 {
     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){
-        if (button_motorcal == 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
+        }
+        
 }
\ No newline at end of file