Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

test_main.cpp@14:551049a798a3, 2016-11-03 (annotated)

Committer:
ronvbree
Date:
Thu Nov 03 13:15:00 2016 +0000
Revision:
14:551049a798a3
Parent:
11:57f0ab4d0e99
Child:
15:5d2bce2abd41
Child:
18:1c9dc6caab9d
fixed includes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jankoekenpan 5:23c850380b86 1 #include "mbed.h"
Jankoekenpan 8:874fe459b10a 2 #include "robot.h"
Jankoekenpan 1:7d218e9d2111 3
Jankoekenpan 1:7d218e9d2111 4 // ====== Hardware stuff ======
Jankoekenpan 1:7d218e9d2111 5
Jankoekenpan 5:23c850380b86 6 Robot robot;
Jankoekenpan 1:7d218e9d2111 7
Jankoekenpan 5:23c850380b86 8 AnalogIn emg1(A0);
Jankoekenpan 5:23c850380b86 9 AnalogIn emg2(A1);
Jankoekenpan 1:7d218e9d2111 10
Jankoekenpan 8:874fe459b10a 11 DigitalOut red(LED_RED);
Jankoekenpan 8:874fe459b10a 12 DigitalOut green(LED_GREEN);
Jankoekenpan 8:874fe459b10a 13 DigitalOut blue(LED_BLUE);
Jankoekenpan 8:874fe459b10a 14
Jankoekenpan 8:874fe459b10a 15 //====== Constants =====
Jankoekenpan 1:7d218e9d2111 16
Jankoekenpan 11:57f0ab4d0e99 17 enum RobotCommand{NOTHING, UP, DOWN, FORWARD, BACKWARD};
Jankoekenpan 9:3193094ba3b2 18 enum ProgramState{CALIBRATING, UPDOWN, FORBACK};
Jankoekenpan 1:7d218e9d2111 19
Jankoekenpan 8:874fe459b10a 20 const float sampleFrequency = 500;
Jankoekenpan 8:874fe459b10a 21 const float sampleTime = 1.0f/sampleFrequency;
Jankoekenpan 8:874fe459b10a 22
Jankoekenpan 8:874fe459b10a 23
Jankoekenpan 1:7d218e9d2111 24 //====== Program Variables ======
Jankoekenpan 1:7d218e9d2111 25
Jankoekenpan 1:7d218e9d2111 26 ProgramState progState;
Jankoekenpan 11:57f0ab4d0e99 27 RobotCommand robotCommand;
Jankoekenpan 1:7d218e9d2111 28
Jankoekenpan 8:874fe459b10a 29
Jankoekenpan 1:7d218e9d2111 30 //====== Functions ======
Jankoekenpan 1:7d218e9d2111 31
Jankoekenpan 1:7d218e9d2111 32
Jankoekenpan 1:7d218e9d2111 33 void calibrate(void) {
Jankoekenpan 5:23c850380b86 34 //Calibrate function -- blocking.
Jankoekenpan 8:874fe459b10a 35 //Calculates and sets both emg1threshold and emg2 threshold
Jankoekenpan 8:874fe459b10a 36
Jankoekenpan 8:874fe459b10a 37
Jankoekenpan 1:7d218e9d2111 38
Jankoekenpan 1:7d218e9d2111 39 }
Jankoekenpan 1:7d218e9d2111 40
Jankoekenpan 9:3193094ba3b2 41 void run() {
Jankoekenpan 9:3193094ba3b2 42 //Run function -- blocking
Jankoekenpan 9:3193094ba3b2 43 //runs the calibrated robot
Jankoekenpan 9:3193094ba3b2 44
Jankoekenpan 9:3193094ba3b2 45 }
Jankoekenpan 9:3193094ba3b2 46
Jankoekenpan 1:7d218e9d2111 47
Jankoekenpan 11:57f0ab4d0e99 48 //int main() {
Jankoekenpan 11:57f0ab4d0e99 49 // progState = CALIBRATING;
Jankoekenpan 11:57f0ab4d0e99 50 //
Jankoekenpan 11:57f0ab4d0e99 51 // calibrate();
Jankoekenpan 11:57f0ab4d0e99 52 //
Jankoekenpan 11:57f0ab4d0e99 53 // progState = UPDOWN;
Jankoekenpan 11:57f0ab4d0e99 54 // robotCommand = NOTHING;
Jankoekenpan 11:57f0ab4d0e99 55 //
Jankoekenpan 11:57f0ab4d0e99 56 // run();
Jankoekenpan 11:57f0ab4d0e99 57 //
Jankoekenpan 11:57f0ab4d0e99 58 // while(true);
Jankoekenpan 11:57f0ab4d0e99 59 // return 0;
Jankoekenpan 11:57f0ab4d0e99 60 //}