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@11:c8b6a2b314c3, 2016-10-27 (annotated)

Committer:
NahuelM
Date:
Thu Oct 27 14:10:49 2016 +0000
Revision:
11:c8b6a2b314c3
Parent:
8:aa03407660f1
Child:
13:0adbf6a5de37
Filter in controller ingebouwd, kapot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NahuelM 4:e59a99c5aa08 1 #include "mbed.h"
NahuelM 4:e59a99c5aa08 2
NahuelM 4:e59a99c5aa08 3 Serial pc(USBTX,USBRX);
LeeJon 7:eed677b636d3 4 PwmOut ServoPWMpin(D9);
LeeJon 8:aa03407660f1 5 Timeout resetter;
NahuelM 4:e59a99c5aa08 6
LeeJon 8:aa03407660f1 7 bool readtime = 1;
NahuelM 4:e59a99c5aa08 8 double ServoAngle = 89 ;
NahuelM 4:e59a99c5aa08 9 float Pulsew = 0.0015;
pbaardwijk 6:6cb7c0247560 10 double treshold = 0.3;
NahuelM 4:e59a99c5aa08 11 bool binary_input_signal = 0;
NahuelM 4:e59a99c5aa08 12 bool binary_input_signal_previous = 0;
NahuelM 4:e59a99c5aa08 13
LeeJon 8:aa03407660f1 14 void set21(){
LeeJon 8:aa03407660f1 15 readtime = 1;
LeeJon 8:aa03407660f1 16 }
LeeJon 8:aa03407660f1 17
LeeJon 5:bb77e2a6c1e8 18 void control_servo(double input_signal){
NahuelM 11:c8b6a2b314c3 19 //pc.printf("/n/r %f", input_signal);
NahuelM 4:e59a99c5aa08 20 if (input_signal > treshold){ // convert the emg to a zero or a one
NahuelM 4:e59a99c5aa08 21 binary_input_signal = 1;
NahuelM 4:e59a99c5aa08 22 } else {
NahuelM 4:e59a99c5aa08 23 binary_input_signal = 0;
NahuelM 4:e59a99c5aa08 24 }
LeeJon 8:aa03407660f1 25 if((( binary_input_signal!= binary_input_signal_previous)&& binary_input_signal)&& readtime){
LeeJon 8:aa03407660f1 26 readtime = 0;
LeeJon 8:aa03407660f1 27 resetter.attach(&set21, 1);
NahuelM 4:e59a99c5aa08 28 if( ServoAngle < 45){ // check wether it is more opened or closed
NahuelM 4:e59a99c5aa08 29 ServoAngle = 89; // open
NahuelM 4:e59a99c5aa08 30 }
NahuelM 4:e59a99c5aa08 31 else{
NahuelM 4:e59a99c5aa08 32 ServoAngle = 1; // close
NahuelM 4:e59a99c5aa08 33 }
NahuelM 4:e59a99c5aa08 34 }
NahuelM 4:e59a99c5aa08 35 Pulsew = 0.0015+(ServoAngle)/180000; // calculate the pulsewidth in the range 1 to 2 milliseconds
NahuelM 4:e59a99c5aa08 36 ServoPWMpin.pulsewidth(Pulsew); // write the pulsewidth
NahuelM 11:c8b6a2b314c3 37 //pc.printf("\n\r Pulsew is %f",Pulsew);
NahuelM 4:e59a99c5aa08 38
NahuelM 4:e59a99c5aa08 39 binary_input_signal_previous = binary_input_signal;
LeeJon 7:eed677b636d3 40 }