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

Diff: main.cpp

Revision:
4:e59a99c5aa08
Parent:
3:1d43dd4f37eb
Child:
5:bb77e2a6c1e8
--- a/main.cpp	Mon Oct 24 11:43:45 2016 +0000
+++ b/main.cpp	Tue Oct 25 10:36:50 2016 +0000
@@ -1,6 +1,7 @@
 #include "mbed.h"
 #include "QEI.h"
 
+#include "servoController.h"
 #include "emg.h"
 
 #define pi 3.14159265359;
@@ -13,12 +14,12 @@
 AnalogIn Potmeter2(A1);
 QEI Slide_Encoder(D12,D13,NC,64);
 QEI Lift_Encoder(D10,D11,NC,64);
-Serial pc(USBTX,USBRX);
+//Serial pc(USBTX,USBRX);
 Ticker Controller;
 
-char Key;
+//char Key;
 bool Controller_Flag=0;
-float Frequency = 30;
+//float Frequency = 30;
 float Frequency_PWM = 10000;
 
 float Slide_Radius = 12.5;
@@ -86,6 +87,10 @@
     change_state2.attach( &run,10);
     emgSampleTicker.attach( &emgSample, 0.002);
     
+    treshold = (cali_max-cali_min)*treshold_multiplier;
+    servoTick.attach(&control_servo, 1/Frequency);
+    ServoPWMpin.period(0.01f);                          // 0.01 second period
+    
     while (true) {
         pc.printf("\n\r%f", Norm_EMG_0);
          
@@ -96,6 +101,8 @@
         if (Controller_Flag == true){
             Slide_Controller();
             Lift_Controller();
+            control_servo();
+            
             Controller_Flag = false;
         }