Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

main.cpp@8:874fe459b10a, 2016-11-02 (annotated)

Committer:
Jankoekenpan
Date:
Wed Nov 02 11:09:32 2016 +0000
Revision:
8:874fe459b10a
Parent:
5:23c850380b86 
implemented filter; but still compiler errors wtf?

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 1:7d218e9d2111 19 enum DirectionState{UP = true, DOWN = false};
Jankoekenpan 1:7d218e9d2111 20 enum ProgramState{CALIBRATING, RUNNING};
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 1:7d218e9d2111 29 DirectionState dirState;
Jankoekenpan 1:7d218e9d2111 30
Jankoekenpan 1:7d218e9d2111 31 float emg1threshold;
Jankoekenpan 1:7d218e9d2111 32 float emg2threshold;
Jankoekenpan 1:7d218e9d2111 33
Jankoekenpan 8:874fe459b10a 34 Ticker sampler;
Jankoekenpan 8:874fe459b10a 35
Jankoekenpan 8:874fe459b10a 36 Filter filter1;
Jankoekenpan 8:874fe459b10a 37 Filter filter2;
Jankoekenpan 8:874fe459b10a 38
Jankoekenpan 1:7d218e9d2111 39 //====== Functions ======
Jankoekenpan 1:7d218e9d2111 40
Jankoekenpan 1:7d218e9d2111 41
Jankoekenpan 1:7d218e9d2111 42 void calibrate(void) {
Jankoekenpan 5:23c850380b86 43 //Calibrate function -- blocking.
Jankoekenpan 8:874fe459b10a 44 //Calculates and sets both emg1threshold and emg2 threshold
Jankoekenpan 8:874fe459b10a 45
Jankoekenpan 8:874fe459b10a 46
Jankoekenpan 1:7d218e9d2111 47
Jankoekenpan 1:7d218e9d2111 48 }
Jankoekenpan 1:7d218e9d2111 49
Jankoekenpan 1:7d218e9d2111 50
Jankoekenpan 1:7d218e9d2111 51 int main() {
Jankoekenpan 1:7d218e9d2111 52 progState = CALIBRATING;
Jankoekenpan 1:7d218e9d2111 53 calibrate();
Jankoekenpan 1:7d218e9d2111 54
Jankoekenpan 1:7d218e9d2111 55
Jankoekenpan 1:7d218e9d2111 56 while(true);
Jankoekenpan 1:7d218e9d2111 57 return 0;
Jankoekenpan 1:7d218e9d2111 58 }