Diff: main.cpp

Revision:

14:599896acf576

Parent:

13:bcf8ec7120ab

Child:

15:f029351f1f3a

--- a/main.cpp	Wed Oct 07 13:51:17 2015 +0000
+++ b/main.cpp	Wed Oct 07 21:21:24 2015 +0000
@@ -7,6 +7,12 @@
 
 MODSERIAL pc(USBTX,USBRX);
 
+//HIDScope    scope(2); // HIDSCOPE declared
+
+//Ticker Sample_Ticker;      // HIDSCOPE voor main
+//volatile bool get_sample;  // HIDSCOPE voor main
+
+
 // (DEBUGGING AND TESTING BUTTONS) (0 when pressed and 1 when not pressed) 
 DigitalIn buttonL1(PTC6);                // Button 1 (laag op board) for testing at the lower board
 DigitalIn buttonL2(PTA4);                // Button 2 (laag op board) for testing at the lower board
@@ -21,6 +27,7 @@
                     // stel setpoint tussen (0 en 360) en position tussen (0 en 360)
                     // max verschil: 360 -> dan pwm_to_motor 1 tot aan een verschil van 15 graden-> bij 15 moet pwm_to_motor ong 0.1 zijn 
                     // dus     0.1=15*gain      gain=0.0067
+                    // Als 3 graden verschil 0.1 dan 0.1/3=gain=0.33
                                                         
         double Gain_I_turn=0.025;  //(1/2000) //0.00000134
         // pwm_motor_I=(integrate_error_turn + sample_time*error)*gain;  pwm = (4*0.01 + 4)* Gain => 0.1 pwm gewenst (na 1 seconde een verschil van 4 graden)  
@@ -28,7 +35,7 @@
         
         double Gain_D_turn=1;                    
         // error_derivative_turn=(error - previous_error_turn)/sample_time
-        //   
+        // 
 
 double conversion_counts_to_degrees=0.085877862594198;
                     // gear ratio motor = 131
@@ -47,6 +54,7 @@
 void keep_in_range(double * in, double min, double max);
 void setlooptimerflag(void);
 double get_reference(double input);
+// void get_sample(); //HIDSCOPE
 
 
 // MAIN function
@@ -72,6 +80,8 @@
     Ticker looptimer;                                          // Ticker called looptimer to set a looptimerflag
     looptimer.attach(setlooptimerflag,sample_time);            // calls the looptimer flag every 0.01s
     
+    // Sample_Ticker.attach(&get_sample, (float)1/Fs); HIDSCOPE sample Ticker
+    
     pc.printf("Start infinite loop \n\r");
     wait (3);                                                  // Rest before starting system
     
@@ -162,6 +172,15 @@
         
         // Put pwm_motor to the motor
         pwm_motor_turn=(abs(pwm_to_motor_turn));
+        
+//        if(sample_go) // HIDSCOPE input => sample_go nu nog niet nodig opzich  // BLINK LEDS TOEVOEGEN
+//        {
+//            //sample_filter; (filter function zie EMG filter working script)
+//            scope.set(0,u); // HIDSCOPE channel 0 :
+//            scope.set(1,y); // HIDSCOPE channel 1 : 
+//            scope.send();   // Send channel info to HIDSCOPE
+//            sample_go = 0;
+//        } 
     }
 }
 }
@@ -185,3 +204,9 @@
 const float gain = 4.0;
 return (input-offset)*gain;
 }
+
+//// Get sample
+//void get_sample() // HIDSCOPE sample fuction
+//{
+//    get_sample = 1;
+//}
\ No newline at end of file