Diff: servoController.h

Revision:

4:e59a99c5aa08

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servoController.h	Tue Oct 25 10:36:50 2016 +0000
@@ -0,0 +1,75 @@
+#include "mbed.h"
+
+Serial pc(USBTX,USBRX);
+
+PwmOut ServoPWMpin(D8);
+Ticker servoTick;
+float i = 0;
+char Key;
+double ServoAngle = 89 ;
+float Pulsew = 0.0015;
+const float Frequency = 10;
+double input_signal = 0;
+double cali_min = 0;
+double cali_max = 1;
+double treshold = 0.5;
+float treshold_multiplier = 0.5;
+bool binary_input_signal = 0;
+bool binary_input_signal_previous = 0;
+
+void control_servo(){
+    if (input_signal > treshold){                        // convert the emg to a zero or a one
+        binary_input_signal = 1;
+    } else {
+        binary_input_signal = 0;
+    }
+    if(( binary_input_signal!= binary_input_signal_previous)&& binary_input_signal){
+        if( ServoAngle < 45){                           // check wether it is more opened or closed
+            ServoAngle = 89;                            // open 
+        }
+        else{
+            ServoAngle = 1;                             // close 
+        }
+    }
+    Pulsew = 0.0015+(ServoAngle)/180000;                // calculate the pulsewidth in the range 1 to 2 milliseconds
+    ServoPWMpin.pulsewidth(Pulsew);                     // write the pulsewidth
+    pc.printf("\n\r Pulsew is %f",Pulsew);
+    
+    binary_input_signal_previous = binary_input_signal;
+}
+/*
+int main(){
+    pc.printf("\n\r ----------------------------------------\n\r --------------- START -----------------\n\r ----------------------------------------");
+    treshold = (cali_max-cali_min)*treshold_multiplier;
+    servoTick.attach(&control_servo, 1/Frequency);
+    ServoPWMpin.period(0.01f);                          // 0.01 second period
+    
+    while (true) {        
+        Key = pc.getc();                            // get the pressed key
+        switch(Key) {                               //Check to see which key pressed
+            case 0x2B:                              //It was the + key...
+                pc.printf("\n\r +!");
+                if( ServoAngle < 80){
+                    ServoAngle = ServoAngle+10;     // increase the angle
+                }
+                break;
+            case 0x2D:                              //It was the - Key key...
+                pc.printf("\n\r -!");
+                if( ServoAngle > 10){
+                    ServoAngle = ServoAngle-10;     // decrease the angle
+                }
+                break;
+            case 0x20:                              //It was the Spacebar key...
+                pc.printf("\n\r SPACE!");
+                if( ServoAngle < 45){               // Switch from open to closed or else otherwise
+                    ServoAngle = 89;                // open/close 
+                }
+                else{
+                    ServoAngle = 1;                 // open/close 
+                }
+                break;
+            }
+
+    }
+}
+*/
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