Janine Klein Rot / Mbed 2 deprecated PIPO

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Dependencies:   mbed

main.cpp@0:c37e4d7f1f56, 2014-10-10 (annotated)

Committer:
JKleinRot
Date:
Fri Oct 10 13:20:35 2014 +0000
Revision:
0:c37e4d7f1f56
Child:
1:7066a6113fbe
2014-10-10 eerste begin

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JKleinRot 0:c37e4d7f1f56 1 #include "mbed.h" //Mbed bibliotheek inladen, standaard functies
JKleinRot 0:c37e4d7f1f56 2 #include "MODSERIAL.h" //MODSERIAL bibliotheek inladen, communicatie met PC
JKleinRot 0:c37e4d7f1f56 3 #include "encoder.h" //Encoder bibliotheek inladen, communicatie met encoder
JKleinRot 0:c37e4d7f1f56 4
JKleinRot 0:c37e4d7f1f56 5 #define BLABLA waarde //Constanten definiëren en een waarde toekennen
JKleinRot 0:c37e4d7f1f56 6
JKleinRot 0:c37e4d7f1f56 7 //Pinverdeling
JKleinRot 0:c37e4d7f1f56 8 Encoder motor_arm1(
JKleinRot 0:c37e4d7f1f56 9 Encoder motor_arm2( //
JKleinRot 0:c37e4d7f1f56 10
JKleinRot 0:c37e4d7f1f56 11 PwmOut pwm_motor_arm1
JKleinRot 0:c37e4d7f1f56 12 PwmOut pwm_motor_arm2
JKleinRot 0:c37e4d7f1f56 13
JKleinRot 0:c37e4d7f1f56 14 DigitalOut dir_motor_arm1
JKleinRot 0:c37e4d7f1f56 15 DigitalOut dir_motor_arm2
JKleinRot 0:c37e4d7f1f56 16
JKleinRot 0:c37e4d7f1f56 17 AnalogIn emg_bi
JKleinRot 0:c37e4d7f1f56 18 AnalogIn emg_tri
JKleinRot 0:c37e4d7f1f56 19
JKleinRot 0:c37e4d7f1f56 20 Ticker sample_EMG
JKleinRot 0:c37e4d7f1f56 21
JKleinRot 0:c37e4d7f1f56 22 //Floats, bools
JKleinRot 0:c37e4d7f1f56 23 bool rust = false
JKleinRot 0:c37e4d7f1f56 24 bool kalibratie_positie = false
JKleinRot 0:c37e4d7f1f56 25 bool kalibratie_EMG = false
JKleinRot 0:c37e4d7f1f56 26 char lcd_r1 = new char[16]; //LCD regel 1, 16 karakters
JKleinRot 0:c37e4d7f1f56 27 char lcd_r2 = new char[16]; //LCD regel 2, 16 karakters
JKleinRot 0:c37e4d7f1f56 28
JKleinRot 0:c37e4d7f1f56 29 //Beginwaarden voor variabelen
JKleinRot 0:c37e4d7f1f56 30
JKleinRot 0:c37e4d7f1f56 31 int main{
JKleinRot 0:c37e4d7f1f56 32 //pc baudrate
JKleinRot 0:c37e4d7f1f56 33 pc.baud(//opzoeken!!)
JKleinRot 0:c37e4d7f1f56 34
JKleinRot 0:c37e4d7f1f56 35 //ticker maken die iedere zoveel seconden de EMG data inlaadt
JKleinRot 0:c37e4d7f1f56 36 sample_EMG.attach(setsample_EMGflag,0.005);
JKleinRot 0:c37e4d7f1f56 37
JKleinRot 0:c37e4d7f1f56 38 while (1){
JKleinRot 0:c37e4d7f1f56 39 if (rust = false && kalibratie_positie = false && kalibratie_EMG = false){
JKleinRot 0:c37e4d7f1f56 40 lcd_r1 = " BMT M9 GR. 4 ";
JKleinRot 0:c37e4d7f1f56 41 lcd_r2 = "Hoi! Ik ben PIPO";
JKleinRot 0:c37e4d7f1f56 42 wait(2);
JKleinRot 0:c37e4d7f1f56 43 rust = true
JKleinRot 0:c37e4d7f1f56 44 }
JKleinRot 0:c37e4d7f1f56 45
JKleinRot 0:c37e4d7f1f56 46
JKleinRot 0:c37e4d7f1f56 47 if (rust = true && kalibratie_positie = false && kalibratie_EMG = false){
JKleinRot 0:c37e4d7f1f56 48 wait(1);
JKleinRot 0:c37e4d7f1f56 49
JKleinRot 0:c37e4d7f1f56 50 pwm_motor_arm1 = 0.02036
JKleinRot 0:c37e4d7f1f56 51 dir_motor_arm1 = // 1 of 0
JKleinRot 0:c37e4d7f1f56 52
JKleinRot 0:c37e4d7f1f56 53 while(motor_arm1 < 363){
JKleinRot 0:c37e4d7f1f56 54 pwm_motor_arm1 = 0.02036
JKleinRot 0:c37e4d7f1f56 55 }
JKleinRot 0:c37e4d7f1f56 56
JKleinRot 0:c37e4d7f1f56 57 pwm_motor_arm1 = 0
JKleinRot 0:c37e4d7f1f56 58 motor_arm1 = 0
JKleinRot 0:c37e4d7f1f56 59
JKleinRot 0:c37e4d7f1f56 60 pwm_motor_arm2 = 0.02398
JKleinRot 0:c37e4d7f1f56 61 dir_motor_arm2 = // 1 of 0
JKleinRot 0:c37e4d7f1f56 62
JKleinRot 0:c37e4d7f1f56 63 while(motor_arm_2 < 787){
JKleinRot 0:c37e4d7f1f56 64 pwm_motor_arm2 = 0.02398
JKleinRot 0:c37e4d7f1f56 65 }
JKleinRot 0:c37e4d7f1f56 66
JKleinRot 0:c37e4d7f1f56 67 pwm_motor_arm2 = 0
JKleinRot 0:c37e4d7f1f56 68 motor_arm2 = 0
JKleinRot 0:c37e4d7f1f56 69
JKleinRot 0:c37e4d7f1f56 70 lcd_r1 = " Beginpositie "
JKleinRot 0:c37e4d7f1f56 71 lcd_r2 = " ingesteld "
JKleinRot 0:c37e4d7f1f56 72 wait(2);
JKleinRot 0:c37e4d7f1f56 73 kalibratie_positie = true
JKleinRot 0:c37e4d7f1f56 74 }
JKleinRot 0:c37e4d7f1f56 75
JKleinRot 0:c37e4d7f1f56 76 if (rust = true && kalibratie_positie = true && kalibratie_EMG = false){
JKleinRot 0:c37e4d7f1f56 77 wait(1);
JKleinRot 0:c37e4d7f1f56 78
JKleinRot 0:c37e4d7f1f56 79 ybk = emg_bi.read();
JKleinRot 0:c37e4d7f1f56 80 ytk = emg_tri.read();
JKleinRot 0:c37e4d7f1f56 81
JKleinRot 0:c37e4d7f1f56 82 //detrend
JKleinRot 0:c37e4d7f1f56 83
JKleinRot 0:c37e4d7f1f56 84
JKleinRot 0:c37e4d7f1f56 85 //hoogdoorlaatfilter
JKleinRot 0:c37e4d7f1f56 86
JKleinRot 0:c37e4d7f1f56 87
JKleinRot 0:c37e4d7f1f56 88
JKleinRot 0:c37e4d7f1f56 89
JKleinRot 0:c37e4d7f1f56 90