![](/media/cache/group/9e3cc099b3b04bca937a1cca1da81b19.jpg.50x50_q85.jpg)
Afgesplitste versie van motor control waarbij we ook iets met EMG gaan doen
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- Jellehierck
- Date:
- 2019-10-07
- Revision:
- 7:9125918ca8c5
- Parent:
- 6:c352578a95b3
File content as of revision 7:9125918ca8c5:
#include "mbed.h" // Base library //#include "HIDScope.h" #include "QEI.h" // For encoder #include "MODSERIAL.h" // To connect to pc //#include "BiQuad.h" #include "FastPWM.h" // PWM manager #include <vector> // For easy array management using namespace std; // Button and potmeter control InterruptIn button1(D11); InterruptIn button2(D10); AnalogIn potmeter(A0); // Encoder DigitalIn encA(D13); DigitalIn encB(D12); QEI encoder(D13,D12,NC,64,QEI::X4_ENCODING); // Motor DigitalOut motor2Direction(D4); FastPWM motor2Power(D5); DigitalOut motor1Direction(D7); FastPWM motor1Power(D6); // EMG AnalogIn emg1(A5); // PC connection MODSERIAL pc(USBTX, USBRX); // Intializing tickers Ticker motorTicker; 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; // PWM period in seconds volatile int counts; // Encoder counts volatile int countsPrev = 0; // Set previous encoder reading to zero volatile int deltaCounts; // Difference in encoder counts // motor1Direction = 1; volatile int motor1Toggle = 1; 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; if (button1) { refVelocity = potmeter.read() * maxVelocity; } else { refVelocity = potmeter.read() * maxVelocity * -1; } 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(); deltaCounts = counts - countsPrev; 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); pc.printf("\r\nStarting...\r\n\r\n"); motor1Power.period(PWM_period); motorTicker.attach(motorControl, 0.01); float T_encoder = 0.1; encoderTicker.attach(readEncoder, T_encoder); button1.fall(&flipDirection); button2.fall(&toggleMotor); while (true) { 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("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); } }