Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

test_main.cpp@11:57f0ab4d0e99, 2016-11-03 (annotated)

Committer:
Jankoekenpan
Date:
Thu Nov 03 08:26:56 2016 +0000
Revision:
11:57f0ab4d0e99
Parent:
9:3193094ba3b2
Child:
14:551049a798a3
comment out main to avoid compiler confusion

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jankoekenpan 1:7d218e9d2111 1 #include "arm.h"
Jankoekenpan 5:23c850380b86 2 #include "mbed.h"
Jankoekenpan 8:874fe459b10a 3 #include "robot.h"
Jankoekenpan 8:874fe459b10a 4 #include "filter.h"
Jankoekenpan 1:7d218e9d2111 5
Jankoekenpan 1:7d218e9d2111 6 // ====== Hardware stuff ======
Jankoekenpan 1:7d218e9d2111 7
Jankoekenpan 5:23c850380b86 8 Robot robot;
Jankoekenpan 1:7d218e9d2111 9
Jankoekenpan 5:23c850380b86 10 AnalogIn emg1(A0);
Jankoekenpan 5:23c850380b86 11 AnalogIn emg2(A1);
Jankoekenpan 1:7d218e9d2111 12
Jankoekenpan 8:874fe459b10a 13 DigitalOut red(LED_RED);
Jankoekenpan 8:874fe459b10a 14 DigitalOut green(LED_GREEN);
Jankoekenpan 8:874fe459b10a 15 DigitalOut blue(LED_BLUE);
Jankoekenpan 8:874fe459b10a 16
Jankoekenpan 8:874fe459b10a 17 //====== Constants =====
Jankoekenpan 1:7d218e9d2111 18
Jankoekenpan 11:57f0ab4d0e99 19 enum RobotCommand{NOTHING, UP, DOWN, FORWARD, BACKWARD};
Jankoekenpan 9:3193094ba3b2 20 enum ProgramState{CALIBRATING, UPDOWN, FORBACK};
Jankoekenpan 1:7d218e9d2111 21
Jankoekenpan 8:874fe459b10a 22 const float sampleFrequency = 500;
Jankoekenpan 8:874fe459b10a 23 const float sampleTime = 1.0f/sampleFrequency;
Jankoekenpan 8:874fe459b10a 24
Jankoekenpan 8:874fe459b10a 25
Jankoekenpan 1:7d218e9d2111 26 //====== Program Variables ======
Jankoekenpan 1:7d218e9d2111 27
Jankoekenpan 1:7d218e9d2111 28 ProgramState progState;
Jankoekenpan 11:57f0ab4d0e99 29 RobotCommand robotCommand;
Jankoekenpan 1:7d218e9d2111 30
Jankoekenpan 8:874fe459b10a 31
Jankoekenpan 1:7d218e9d2111 32 //====== Functions ======
Jankoekenpan 1:7d218e9d2111 33
Jankoekenpan 1:7d218e9d2111 34
Jankoekenpan 1:7d218e9d2111 35 void calibrate(void) {
Jankoekenpan 5:23c850380b86 36 //Calibrate function -- blocking.
Jankoekenpan 8:874fe459b10a 37 //Calculates and sets both emg1threshold and emg2 threshold
Jankoekenpan 8:874fe459b10a 38
Jankoekenpan 8:874fe459b10a 39
Jankoekenpan 1:7d218e9d2111 40
Jankoekenpan 1:7d218e9d2111 41 }
Jankoekenpan 1:7d218e9d2111 42
Jankoekenpan 9:3193094ba3b2 43 void run() {
Jankoekenpan 9:3193094ba3b2 44 //Run function -- blocking
Jankoekenpan 9:3193094ba3b2 45 //runs the calibrated robot
Jankoekenpan 9:3193094ba3b2 46
Jankoekenpan 9:3193094ba3b2 47 }
Jankoekenpan 9:3193094ba3b2 48
Jankoekenpan 1:7d218e9d2111 49
Jankoekenpan 11:57f0ab4d0e99 50 //int main() {
Jankoekenpan 11:57f0ab4d0e99 51 // progState = CALIBRATING;
Jankoekenpan 11:57f0ab4d0e99 52 //
Jankoekenpan 11:57f0ab4d0e99 53 // calibrate();
Jankoekenpan 11:57f0ab4d0e99 54 //
Jankoekenpan 11:57f0ab4d0e99 55 // progState = UPDOWN;
Jankoekenpan 11:57f0ab4d0e99 56 // robotCommand = NOTHING;
Jankoekenpan 11:57f0ab4d0e99 57 //
Jankoekenpan 11:57f0ab4d0e99 58 // run();
Jankoekenpan 11:57f0ab4d0e99 59 //
Jankoekenpan 11:57f0ab4d0e99 60 // while(true);
Jankoekenpan 11:57f0ab4d0e99 61 // return 0;
Jankoekenpan 11:57f0ab4d0e99 62 //}