Diff: main.cpp

Revision:

21:c75210216204

Parent:

20:bdc62ee49197

Child:

22:eaf4cbd1dcec

--- a/main.cpp	Thu Oct 08 12:14:00 2015 +0000
+++ b/main.cpp	Thu Oct 08 12:30:00 2015 +0000
@@ -1,5 +1,5 @@
 #include "mbed.h"
-//#include "HIDScope.h"
+#include "HIDScope.h"
 #include "QEI.h"
 #include "MODSERIAL.h"
 #include "biquadFilter.h"
@@ -8,10 +8,10 @@
 MODSERIAL pc(USBTX,USBRX);
 DigitalOut  debug_led(LED_RED);         // Debug LED  
 
-//HIDScope    scope(2); // HIDSCOPE declared
+HIDScope    scope(2); // HIDSCOPE declared
 
-//Ticker Sample_Ticker;      // HIDSCOPE voor main
-//volatile bool get_sample;  // HIDSCOPE voor main
+Ticker Sample_Ticker;      // HIDSCOPE voor main
+volatile bool sample;  // HIDSCOPE voor main
 
 
 // (DEBUGGING AND TESTING BUTTONS) (0 when pressed and 1 when not pressed) 
@@ -57,7 +57,7 @@
 void keep_in_range(double * in, double min, double max);
 void setlooptimerflag(void);
 double get_reference(double input);
-// void get_sample(); //HIDSCOPE
+void get_sample(void); //HIDSCOPE
 
 
 // MAIN function
@@ -83,7 +83,7 @@
     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
+    Sample_Ticker.attach(&get_sample, sample_time); // HIDSCOPE sample Ticker
     
     pc.printf("Start infinite loop \n\r");
     wait (3);                                                  // Wait before starting system
@@ -185,15 +185,15 @@
         // 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,reference_turn); // HIDSCOPE channel 0 : Current Reference
-//            scope.set(0,position_turn); // HIDSCOPE channel 0 : Position_turn
-//            scope.set(1,pwm_to_motor_turn); // HIDSCOPE channel 1 : Pwm_to_motor_turn
-//            scope.send();   // Send channel info to HIDSCOPE
-//            sample_go = 0;
-//        } 
+        while(sample != true) // HIDSCOPE input => sample_go nu nog niet nodig opzich  // BLINK LEDS TOEVOEGEN
+        {
+            //sample_filter; (filter function zie EMG filter working script)
+            scope.set(0,reference_turn); // HIDSCOPE channel 0 : Current Reference
+            scope.set(0,position_turn); // HIDSCOPE channel 0 : Position_turn
+            scope.set(1,pwm_to_motor_turn); // HIDSCOPE channel 1 : Pwm_to_motor_turn
+            scope.send();   // Send channel info to HIDSCOPE
+            sample = false;
+        } 
         debug_led = !debug_led; // should flicker with freq 50 Hz
     }
 }
@@ -219,8 +219,8 @@
 return (input-offset)*gain;
 }
 
-//// Get sample
-//void get_sample() // HIDSCOPE sample fuction
-//{
-//    get_sample = 1;
-//}
+// Get sample
+void get_sample(void) // HIDSCOPE sample fuction
+{
+    sample = true;
+}