Maik Overmars / Mbed 2 deprecated Assignment3QEI

read emg to turn motor shaft

Dependencies:   MODSERIAL QEI mbed

main.cpp@0:e46276179d7f, 2018-10-01 (annotated)

Committer:
MaikOvermars
Date:
Mon Oct 01 13:40:37 2018 +0000
Revision:
0:e46276179d7f
test emg to turn motor shaft

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MaikOvermars 0:e46276179d7f 1 #include "mbed.h"
MaikOvermars 0:e46276179d7f 2 #include "MODSERIAL.h"
MaikOvermars 0:e46276179d7f 3 #include "QEI.h"
MaikOvermars 0:e46276179d7f 4
MaikOvermars 0:e46276179d7f 5 PwmOut pwmpin(D5);
MaikOvermars 0:e46276179d7f 6 DigitalOut directionpin(D4);
MaikOvermars 0:e46276179d7f 7 AnalogIn potmeter(A2);
MaikOvermars 0:e46276179d7f 8
MaikOvermars 0:e46276179d7f 9 AnalogIn emg0( A0 );
MaikOvermars 0:e46276179d7f 10 AnalogIn emg1( A1 );
MaikOvermars 0:e46276179d7f 11
MaikOvermars 0:e46276179d7f 12 MODSERIAL pc(USBTX, USBRX);
MaikOvermars 0:e46276179d7f 13 QEI wheel (D13, D12, NC, 32);
MaikOvermars 0:e46276179d7f 14
MaikOvermars 0:e46276179d7f 15 float angle_resolution = (360.0/32.0)*(1.0/131.0); //degrees/counts
MaikOvermars 0:e46276179d7f 16
MaikOvermars 0:e46276179d7f 17 float mean(float *samples, int n) {
MaikOvermars 0:e46276179d7f 18 float sum = 0.0;
MaikOvermars 0:e46276179d7f 19 for (int i=0; i<n; i++) {
MaikOvermars 0:e46276179d7f 20 sum += samples[i];
MaikOvermars 0:e46276179d7f 21 }
MaikOvermars 0:e46276179d7f 22 return sum / (float)n;
MaikOvermars 0:e46276179d7f 23 }
MaikOvermars 0:e46276179d7f 24
MaikOvermars 0:e46276179d7f 25 int main()
MaikOvermars 0:e46276179d7f 26 {
MaikOvermars 0:e46276179d7f 27 pc.baud(115200);
MaikOvermars 0:e46276179d7f 28
MaikOvermars 0:e46276179d7f 29 pwmpin.period_us(60);
MaikOvermars 0:e46276179d7f 30 int pulses = 0;
MaikOvermars 0:e46276179d7f 31 float angle;
MaikOvermars 0:e46276179d7f 32 int n = 1;
MaikOvermars 0:e46276179d7f 33 int i = 0;
MaikOvermars 0:e46276179d7f 34 float meanmuscle;
MaikOvermars 0:e46276179d7f 35 float u[500];
MaikOvermars 0:e46276179d7f 36 while (true) {
MaikOvermars 0:e46276179d7f 37 u[i] = fabs(2*(emg0.read() - 0.5));
MaikOvermars 0:e46276179d7f 38
MaikOvermars 0:e46276179d7f 39 pulses = wheel.getPulses();
MaikOvermars 0:e46276179d7f 40 angle = pulses*angle_resolution;
MaikOvermars 0:e46276179d7f 41 if(n%500 == 0){
MaikOvermars 0:e46276179d7f 42 pc.printf("Angle is: %f degrees \r\n", meanmuscle);
MaikOvermars 0:e46276179d7f 43 meanmuscle = (mean(u,500)-0.1)*4;
MaikOvermars 0:e46276179d7f 44 directionpin = meanmuscle > 0.0f;
MaikOvermars 0:e46276179d7f 45 pwmpin = fabs(meanmuscle);
MaikOvermars 0:e46276179d7f 46 i=0;
MaikOvermars 0:e46276179d7f 47 }
MaikOvermars 0:e46276179d7f 48 n++;
MaikOvermars 0:e46276179d7f 49 i++;
MaikOvermars 0:e46276179d7f 50 wait(0.001);
MaikOvermars 0:e46276179d7f 51 }
MaikOvermars 0:e46276179d7f 52 }