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Facking kut filter werkt EINDELIJK !311!!111!!1!!!!!!!!!!!!!!!!!!!
Dependencies: HIDScope MODSERIAL Matrix QEI biquadFilter mbed
Fork of Turning_Motor_V6 by
Diff: main.cpp
- Revision:
- 2:dc9766657afb
- Parent:
- 1:4bf64d003f3a
- Child:
- 3:c8f0fc045505
diff -r 4bf64d003f3a -r dc9766657afb main.cpp --- a/main.cpp Mon Oct 15 13:55:45 2018 +0000 +++ b/main.cpp Mon Oct 22 08:15:41 2018 +0000 @@ -1,5 +1,8 @@ #include "mbed.h" #include "MODSERIAL.h" +#include "HIDScope.h" +#include "QEI.h" + MODSERIAL pc(USBTX, USBRX); DigitalOut DirectionPin1(D4); DigitalOut DirectionPin2(D7); @@ -8,15 +11,46 @@ DigitalIn Knop1(D2); AnalogIn pot1 (A5); AnalogIn pot2 (A4); +AnalogIn emg0( A0 ); +AnalogIn emg1( A1 ); +AnalogIn emg2( A2 ); +AnalogIn emg3( A3 ); -Ticker mycontrollerTicker1; -Ticker mycontrollerTicker2; -Ticker Velo1; -Ticker Velo2; +Ticker printTicker; +Ticker mycontrollerTicker1; +Ticker mycontrollerTicker2; +Ticker Velo1; +Ticker Velo2; +Ticker EMG_Read_Ticker; +Ticker sample_timer; +HIDScope scope( 4 ); -//const float maxVelocity=8.4; // in rad/s +volatile float Bicep_Right = 0.0; +volatile const float maxVelocity=8.4; // in rad/s volatile float referenceVelocity1 = 0.5; //dit is de gecentreerde waarde en dus de nulstand volatile float referenceVelocity2 = 0.5; + +volatile int counts1; +volatile int counts2; +QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING); +QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING); + +void EMG_Read() +{ + Bicep_Right = emg0.read(); +} + +void sample() +{ + + scope.set(0, emg0.read() ); + scope.set(1, emg1.read() ); + scope.set(2, emg2.read() ); + scope.set(3, emg3.read() ); + + scope.send(); +} + void velocity1() { @@ -72,15 +106,37 @@ PwmPin2 = fabs(u); } +void Printing() +{ + float v1 = fabs(referenceVelocity1) * maxVelocity; + float v2 = fabs(referenceVelocity2) * maxVelocity; + + //eventueel nog counts -> rad/s + + //pc.printf("%f \n %f snelheid Motor1 \n %f snelheid Motor2 \n", Bicep_Right,v1,v2); + pc.printf("%i counts van m1, %i counts van m2", counts1, counts2); + + +} + int main() { pc.baud(115200); PwmPin1.period_us(120); //60 microseconds pwm period, 16.7 kHz + + counts1 = Encoder1.getPulses(); + counts2 = Encoder2.getPulses(); + + sample_timer.attach(&sample, 0.002); + EMG_Read_Ticker.attach(&EMG_Read, 0.002); + mycontrollerTicker1.attach(motor1, 0.002);//500Hz Velo1.attach(velocity1, 0.002); mycontrollerTicker2.attach(motor2, 0.002); Velo2.attach(velocity2, 0.002); + printTicker.attach(&Printing, 2.0); + while(true) { }