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

Committer:
freek100
Date:
2019-09-20
Revision:
1:68f74b2ceb7d
Parent:
0:1843eec2b552
Child:
2:6f5f300f0569

File content as of revision 1:68f74b2ceb7d:

#include "mbed.h"
//#include "HIDScope.h"
#include "QEI.h"
#include "MODSERIAL.h"
//#include "BiQuad.h"
//#include "FastPWM.h"

DigitalOut ledr(LED_RED);
DigitalOut ledg(LED_GREEN);
DigitalOut ledb(LED_BLUE);
PwmOut led1(D10);
DigitalIn button1(D2);
AnalogIn potmeter(A1);
DigitalIn sw(SW2);
MODSERIAL pc(USBTX, USBRX);
DigitalIn encA(D13);
DigitalIn encB(D12);
QEI encoder(D13,D12,NC,64,QEI::X4_ENCODING);

int counts;
float degreein;
float factorin= 5.625;
float degreeout;
float gearratio= 131.25;
int main()
{
    pc.baud(115200);
    pc.printf("\r\nStarting...\r\n\r\n");
    while (true) {
        counts= encoder.getPulses();
        degreein= counts*factorin;
        degreeout= degreein/gearratio;
        //pc.printf("%f \r\n", degreein); //draaigraden van inputgear en zo ook encoder.
        pc.printf("%f \r\n", degreeout);
        wait(0.5); 
    }
}