Diff: main.cpp

Revision:

0:877f950fdfb5

Child:

1:f6b25b03b8e2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 01 13:20:19 2018 +0000
@@ -0,0 +1,91 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+#include "HIDScope.h"
+MODSERIAL pc(USBTX, USBRX);
+
+AnalogIn pot1(A0);
+AnalogIn pot2(A1);
+DigitalOut DirectionPin1(D4);
+PwmOut PwmPin1(D5);
+DigitalOut DirectionPin2(D7);
+PwmOut PwmPin2(D6);
+DigitalIn Knop1(D3);
+DigitalIn Knop2(D2);
+DigitalIn Knop3(PTA4);
+DigitalIn Knop4(PTC6);
+
+//Define objects
+AnalogIn    emg0( A0 );
+AnalogIn    emg1( A1 );
+
+Ticker      sample_timer;
+HIDScope    scope( 2 );
+DigitalOut  led(LED1);
+
+/** Sample function
+ * this function samples the emg and sends it to HIDScope
+ **/
+void sample()
+{
+    /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
+    scope.set(0, emg0.read() );
+    scope.set(1, emg1.read() );
+    /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) 
+    *  Ensure that enough channels are available (HIDScope scope( 2 ))
+    *  Finally, send all channels to the PC at once */
+    scope.send();
+    /* To indicate that the function is working, the LED is toggled */
+    led = !led;
+}
+
+
+int main()
+{
+    
+    pc.baud(115200);     
+    sample_timer.attach(&sample, 0.002);
+    PwmPin1.period_us(120); //60 microseconds pwm period, 16.7 kHz 
+    
+    for(;;)
+    {
+        if(Knop1==false) // Motor 1 rotates CW
+        {
+            float u = 0.8f; //determine useful value, this is not final
+            DirectionPin1 = u > 0.0f; //either true or false
+                                    // True = CW, for False = CW
+            PwmPin1 = fabs(u);
+            PwmPin2 = fabs(0.0); 
+        }
+        
+        else if (Knop2==false)// We see that Motor2 keeps rotating if we leave out the "else" statement, somehow the signal leaks
+        {
+            float u = 0.8f;
+            DirectionPin2 = u < 0.0f;
+            PwmPin1 = fabs(0.0);
+            PwmPin2 = fabs(u);
+        }
+    
+        else if (Knop3==false)
+        {
+            float u = 0.8f;
+            DirectionPin1 = u < 0.0f;
+            PwmPin1 = fabs(u);
+            PwmPin2 = fabs(0.0);  
+        }
+        
+        else if (Knop4==false)
+        {
+            float u = 0.8f;
+            DirectionPin2 = u > 0.0f;
+            PwmPin1 = fabs(0.0);
+            PwmPin2 = fabs(u);
+
+        }
+        
+        else
+        {  
+            float u = 0.0f;
+            PwmPin1 = PwmPin2 = fabs(u);
+        }
+    }
+}
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