Diff: main.cpp

Revision:

7:9125918ca8c5

Parent:

6:c352578a95b3

--- a/main.cpp	Mon Oct 07 07:28:56 2019 +0000
+++ b/main.cpp	Mon Oct 07 11:47:45 2019 +0000
@@ -1,9 +1,11 @@
-#include "mbed.h"
+#include "mbed.h" // Base library
 //#include "HIDScope.h"
-#include "QEI.h"
-#include "MODSERIAL.h"
+#include "QEI.h" // For encoder
+#include "MODSERIAL.h" // To connect to pc
 //#include "BiQuad.h"
-#include "FastPWM.h"
+#include "FastPWM.h" // PWM manager
+#include <vector> // For easy array management
+using namespace  std;
 
 // Button and potmeter control
 InterruptIn button1(D11);
@@ -21,6 +23,9 @@
 DigitalOut motor1Direction(D7);
 FastPWM motor1Power(D6);
 
+// EMG
+AnalogIn emg1(A5);
+
 // PC connection
 MODSERIAL pc(USBTX, USBRX);
 
@@ -29,11 +34,11 @@
 Ticker encoderTicker;
 
 const float maxVelocity = 7.958701 * 0.75; // 76 RPM to rad/s at 75% efficiency due to 9V instead of 12V
-const float PWM_period = 1e-6;
+const float PWM_period = 1e-6; // PWM period in seconds
 
 volatile int counts; // Encoder counts
-volatile int countsPrev = 0;
-volatile int deltaCounts;
+volatile int countsPrev = 0; // Set previous encoder reading to zero
+volatile int deltaCounts; // Difference in encoder counts
 
 // motor1Direction = 1;
 volatile int motor1Toggle = 1;
@@ -41,6 +46,10 @@
 float factorin = 6.23185/64; // Convert encoder counts to angle in rad
 float gearratio = 131.25; // Gear ratio of gearbox
 
+vector<float> emg_samples; // Create empty scalable array for storing EMG samples
+volatile float currentEMG;
+
+// Expected velocity of motor
 float getRefVelocity()
 {
     float refVelocity;
@@ -53,12 +62,14 @@
     return refVelocity;
 }
 
+// Set the motor power
 void motorControl()
 {
     float potValue = potmeter.read();
     motor1Power.pulsewidth(potValue * PWM_period * motor1Toggle);
 }
 
+// Read encoder data
 void readEncoder()
 {
     counts = encoder.getPulses();
@@ -67,16 +78,24 @@
     countsPrev = counts;
 }
 
+// Reverse motor direction
 void flipDirection()
 {
     motor1Direction = !motor1Direction;
 }
 
+// Toggle power to the motor
 void toggleMotor()
 {
     motor1Toggle = !motor1Toggle;
 }
 
+// Read EMG
+void readEMG()
+{
+    currentEMG = emg1.read();
+}
+
 int main()
 {
     pc.baud(115200);
@@ -96,10 +115,13 @@
         float potValue = potmeter.read(); // Read potmeter
         float angle = counts * factorin / gearratio; // Angle of motor shaft in rad
         float omega = deltaCounts / T_encoder * factorin / gearratio; // Angular velocity of motor shaft in rad/s
+        
+        readEMG();
 
-        pc.printf("Potmeter: %f \r\n", potValue);
-        pc.printf("Counts: %i   DeltaCounts: %i\r\n", counts, deltaCounts);
-        pc.printf("Angle:  %f   Omega:       %f\r\n", angle, omega);
+        // pc.printf("Potmeter: %f \r\n", potValue);
+        // pc.printf("Direction: %i    On/off: %i\r\n", motor1Direction, motor1Toggle);
+        pc.printf("Angle:     %f    Omega:  %f\r\n", angle, omega);
+        pc.printf("currentEMG: %f\r\n", currentEMG);
 
         wait(0.5);
     }