Diff: main.cpp

Revision:

20:4424d447f3cd

Parent:

19:a37cae6964ca

Child:

21:bea7c8a08e1d

--- a/main.cpp	Thu Oct 17 11:01:37 2019 +0000
+++ b/main.cpp	Fri Oct 18 08:14:36 2019 +0000
@@ -2,7 +2,6 @@
 To-do:
     Add reference generator
     fully implement schmitt trigger 
-    EMG normalizing
     Homing 
     Turning the magnet on/off
     Inverse kinematics
@@ -21,12 +20,13 @@
 #define PI 3.14159265
 
 Serial pc(USBTX, USBRX);            //connect to pc
-HIDScope scope(3);                  //HIDScope instance
+HIDScope scope(1);                  //HIDScope instance
 DigitalOut motor1_direction(D4);    //rotation motor 1 on shield (always D6)
 FastPWM motor1_pwm(D5);             //pwm 1 on shield (always D7)
 DigitalOut motor2_direction(D7);    //rotation motor 2 on shield (always D4)
 FastPWM motor2_pwm(D6);             //pwm 2 on shield (always D5)
 Ticker loop_ticker;                 //used in main()
+Ticker scope_ticker;
 AnalogIn Pot1(A1);                  //pot 1 on biorobotics shield
 AnalogIn Pot2(A0);                  //pot 2 on biorobotics shield
 InterruptIn but1(D10);              //debounced button on biorobotics shield
@@ -70,8 +70,8 @@
 float dt = 0.001;
 float theta;
 float L;
-int enc1_zero = 0;  //the zero position of the encoders, to be determined from the
-int enc2_zero = 0;  //encoder calibration
+int enc1_zero = 0;//the zero position of the encoders, to be determined from the
+int enc2_zero = 0;//encoder calibration
 int EMG1_filtered;
 int EMG2_filtered;
 int enc1_value;
@@ -292,6 +292,8 @@
     motor2_direction = actuator.dir2;
     motor1_pwm.write(actuator.duty_cycle1);
     motor2_pwm.write(actuator.duty_cycle2);
+    
+    scope.set(0, EMG1_filtered);
 }
 
 void state_machine()
@@ -385,6 +387,7 @@
 
     but1.fall(&but1_interrupt);
     but2.fall(&but2_interrupt);
+    scope_ticker.attach(&scope, &HIDScope::send, 0.02);
     loop_ticker.attach(&main_loop, dt); //main loop at 1kHz
     pc.printf("Main_loop is running\n\r");
     while (true) {