M9 Biorobotics Group 8 / Mbed 2 deprecated Encoder-Motor-Control-EMG

Afgesplitste versie van motor control waarbij we ook iets met EMG gaan doen

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@2:6f5f300f0569, 2019-10-03 (annotated)

Committer:
Jellehierck
Date:
Thu Oct 03 14:56:22 2019 +0000
Revision:
2:6f5f300f0569
Parent:
1:68f74b2ceb7d
Child:
3:2d45e3d0b0f0
Trying out moving the motor. Issue: PWM out does not work yet.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
freek100 0:1843eec2b552 1 #include "mbed.h"
freek100 0:1843eec2b552 2 //#include "HIDScope.h"
freek100 0:1843eec2b552 3 #include "QEI.h"
freek100 0:1843eec2b552 4 #include "MODSERIAL.h"
freek100 0:1843eec2b552 5 //#include "BiQuad.h"
Jellehierck 2:6f5f300f0569 6 #include "FastPWM.h"
freek100 0:1843eec2b552 7
freek100 0:1843eec2b552 8 DigitalOut ledr(LED_RED);
freek100 0:1843eec2b552 9 DigitalOut ledg(LED_GREEN);
freek100 0:1843eec2b552 10 DigitalOut ledb(LED_BLUE);
freek100 0:1843eec2b552 11 PwmOut led1(D10);
freek100 0:1843eec2b552 12 DigitalIn button1(D2);
Jellehierck 2:6f5f300f0569 13 AnalogIn potmeter(A0);
freek100 0:1843eec2b552 14 DigitalIn sw(SW2);
freek100 0:1843eec2b552 15 MODSERIAL pc(USBTX, USBRX);
freek100 0:1843eec2b552 16 DigitalIn encA(D13);
freek100 0:1843eec2b552 17 DigitalIn encB(D12);
freek100 0:1843eec2b552 18 QEI encoder(D13,D12,NC,64,QEI::X4_ENCODING);
freek100 0:1843eec2b552 19
Jellehierck 2:6f5f300f0569 20 DigitalOut motor1Direction(D4);
Jellehierck 2:6f5f300f0569 21 FastPWM motor1Power(D5);
Jellehierck 2:6f5f300f0569 22 DigitalOut motor2Direction(D7);
Jellehierck 2:6f5f300f0569 23 FastPWM motor2Power(D6);
Jellehierck 2:6f5f300f0569 24
Jellehierck 2:6f5f300f0569 25 int counts; // Encoder counts
Jellehierck 2:6f5f300f0569 26 float degreein; // Angle of DC motor shaft input (before gearbox)
Jellehierck 2:6f5f300f0569 27 float factorin= 360/64; // Convert encoder counts to angle in degrees
Jellehierck 2:6f5f300f0569 28 float degreeout; // Angle of motor shaft output (after gearbox)
Jellehierck 2:6f5f300f0569 29 float gearratio= 131.25; // Gear ratio of gearbox
Jellehierck 2:6f5f300f0569 30
freek100 0:1843eec2b552 31 int main()
freek100 0:1843eec2b552 32 {
freek100 0:1843eec2b552 33 pc.baud(115200);
freek100 0:1843eec2b552 34 pc.printf("\r\nStarting...\r\n\r\n");
Jellehierck 2:6f5f300f0569 35
Jellehierck 2:6f5f300f0569 36 motor1Power.period(1e-3);
Jellehierck 2:6f5f300f0569 37
freek100 0:1843eec2b552 38 while (true) {
Jellehierck 2:6f5f300f0569 39 counts = encoder.getPulses(); // Get encoder pulses
Jellehierck 2:6f5f300f0569 40 degreein = counts*factorin; // Convert encoder data to angle
Jellehierck 2:6f5f300f0569 41 degreeout = degreein/gearratio; // Derived output angle
freek100 1:68f74b2ceb7d 42 //pc.printf("%f \r\n", degreein); //draaigraden van inputgear en zo ook encoder.
Jellehierck 2:6f5f300f0569 43 pc.printf("%f \r\n", degreeout); // Angle of output
Jellehierck 2:6f5f300f0569 44
Jellehierck 2:6f5f300f0569 45 float potValue = potmeter.read(); // Read potmeter
Jellehierck 2:6f5f300f0569 46 pc.printf("Potmeter: %f \r\n", potValue);
Jellehierck 2:6f5f300f0569 47
Jellehierck 2:6f5f300f0569 48 motor1Power.pulsewidth(potValue * 1e-3);
Jellehierck 2:6f5f300f0569 49
Jellehierck 2:6f5f300f0569 50 wait(0.5);
freek100 0:1843eec2b552 51 }
freek100 0:1843eec2b552 52 }