Leon Klute / Mbed 2 deprecated EMG_Controller_6

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Dependencies:   HIDScope QEI biquadFilter mbed

Fork of EMG_Controller_5 by Nahuel Manterola

servoController.h@17:80316a7a917a, 2016-10-31 (annotated)

Committer:
LeeJon
Date:
Mon Oct 31 12:39:41 2016 +0000
Revision:
17:80316a7a917a
Parent:
13:0adbf6a5de37
Child:
18:7178416f2db5
wordt nu gecomment

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NahuelM 4:e59a99c5aa08 1 #include "mbed.h"
NahuelM 4:e59a99c5aa08 2
LeeJon 7:eed677b636d3 3 PwmOut ServoPWMpin(D9);
LeeJon 8:aa03407660f1 4 Timeout resetter;
NahuelM 4:e59a99c5aa08 5
LeeJon 8:aa03407660f1 6 bool readtime = 1;
NahuelM 4:e59a99c5aa08 7 double ServoAngle = 89 ;
NahuelM 4:e59a99c5aa08 8 float Pulsew = 0.0015;
LeeJon 13:0adbf6a5de37 9 double treshold = 0.6;
NahuelM 4:e59a99c5aa08 10 bool binary_input_signal = 0;
NahuelM 4:e59a99c5aa08 11 bool binary_input_signal_previous = 0;
NahuelM 4:e59a99c5aa08 12
LeeJon 8:aa03407660f1 13 void set21(){
LeeJon 8:aa03407660f1 14 readtime = 1;
LeeJon 8:aa03407660f1 15 }
LeeJon 8:aa03407660f1 16
LeeJon 5:bb77e2a6c1e8 17 void control_servo(double input_signal){
NahuelM 4:e59a99c5aa08 18 if (input_signal > treshold){ // convert the emg to a zero or a one
NahuelM 4:e59a99c5aa08 19 binary_input_signal = 1;
NahuelM 4:e59a99c5aa08 20 } else {
NahuelM 4:e59a99c5aa08 21 binary_input_signal = 0;
NahuelM 4:e59a99c5aa08 22 }
LeeJon 8:aa03407660f1 23 if((( binary_input_signal!= binary_input_signal_previous)&& binary_input_signal)&& readtime){
LeeJon 8:aa03407660f1 24 readtime = 0;
LeeJon 8:aa03407660f1 25 resetter.attach(&set21, 1);
NahuelM 4:e59a99c5aa08 26 if( ServoAngle < 45){ // check wether it is more opened or closed
NahuelM 4:e59a99c5aa08 27 ServoAngle = 89; // open
NahuelM 4:e59a99c5aa08 28 }
NahuelM 4:e59a99c5aa08 29 else{
NahuelM 4:e59a99c5aa08 30 ServoAngle = 1; // close
NahuelM 4:e59a99c5aa08 31 }
NahuelM 4:e59a99c5aa08 32 }
NahuelM 4:e59a99c5aa08 33 Pulsew = 0.0015+(ServoAngle)/180000; // calculate the pulsewidth in the range 1 to 2 milliseconds
NahuelM 4:e59a99c5aa08 34 ServoPWMpin.pulsewidth(Pulsew); // write the pulsewidth
NahuelM 4:e59a99c5aa08 35
NahuelM 4:e59a99c5aa08 36 binary_input_signal_previous = binary_input_signal;
LeeJon 7:eed677b636d3 37 }