Nahuel Manterola / Mbed 2 deprecated EMG_Controller_5

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Dependencies:   HIDScope QEI biquadFilter mbed

Fork of EMG_Controller by Pascal van Baardwijk

servoController.h@7:eed677b636d3, 2016-10-25 (annotated)

Committer:
LeeJon
Date:
Tue Oct 25 12:35:29 2016 +0000
Revision:
7:eed677b636d3
Parent:
6:6cb7c0247560
Child:
8:aa03407660f1
opgeruimdere versie

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);
NahuelM 4:e59a99c5aa08 5
NahuelM 4:e59a99c5aa08 6 double ServoAngle = 89 ;
NahuelM 4:e59a99c5aa08 7 float Pulsew = 0.0015;
pbaardwijk 6:6cb7c0247560 8 double treshold = 0.3;
NahuelM 4:e59a99c5aa08 9 bool binary_input_signal = 0;
NahuelM 4:e59a99c5aa08 10 bool binary_input_signal_previous = 0;
NahuelM 4:e59a99c5aa08 11
LeeJon 5:bb77e2a6c1e8 12 void control_servo(double input_signal){
pbaardwijk 6:6cb7c0247560 13 pc.printf("/n/r %f", input_signal);
NahuelM 4:e59a99c5aa08 14 if (input_signal > treshold){ // convert the emg to a zero or a one
NahuelM 4:e59a99c5aa08 15 binary_input_signal = 1;
NahuelM 4:e59a99c5aa08 16 } else {
NahuelM 4:e59a99c5aa08 17 binary_input_signal = 0;
NahuelM 4:e59a99c5aa08 18 }
NahuelM 4:e59a99c5aa08 19 if(( binary_input_signal!= binary_input_signal_previous)&& binary_input_signal){
NahuelM 4:e59a99c5aa08 20 if( ServoAngle < 45){ // check wether it is more opened or closed
NahuelM 4:e59a99c5aa08 21 ServoAngle = 89; // open
NahuelM 4:e59a99c5aa08 22 }
NahuelM 4:e59a99c5aa08 23 else{
NahuelM 4:e59a99c5aa08 24 ServoAngle = 1; // close
NahuelM 4:e59a99c5aa08 25 }
NahuelM 4:e59a99c5aa08 26 }
NahuelM 4:e59a99c5aa08 27 Pulsew = 0.0015+(ServoAngle)/180000; // calculate the pulsewidth in the range 1 to 2 milliseconds
NahuelM 4:e59a99c5aa08 28 ServoPWMpin.pulsewidth(Pulsew); // write the pulsewidth
NahuelM 4:e59a99c5aa08 29 pc.printf("\n\r Pulsew is %f",Pulsew);
NahuelM 4:e59a99c5aa08 30
NahuelM 4:e59a99c5aa08 31 binary_input_signal_previous = binary_input_signal;
LeeJon 7:eed677b636d3 32 }