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Dependencies: Encoder HIDScope MODSERIAL QEI biquadFilter mbed
Diff: main.cpp
- Revision:
- 22:eaf4cbd1dcec
- Parent:
- 21:c75210216204
- Child:
- 23:335a3b843a5e
--- a/main.cpp Thu Oct 08 12:30:00 2015 +0000 +++ b/main.cpp Thu Oct 08 12:48:54 2015 +0000 @@ -10,8 +10,8 @@ HIDScope scope(2); // HIDSCOPE declared -Ticker Sample_Ticker; // HIDSCOPE voor main -volatile bool 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(void); //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, sample_time); // 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 @@ -97,17 +97,25 @@ pwm_motor_turn = 0.5f; // motorspeed pc.printf("positie = %d \r\n", motor_turn.getPulses()); } - // Change Reference button Positive - if (buttonH1.read() < 0.5){ //if button pressed - pc.printf("Reference after = %d \r\n", reference_turn); - reference_turn=reference_turn+45; - pc.printf("Reference after = %d \r\n", reference_turn); } - - // Change Reference button Negative - if (buttonH2.read() < 0.5){ //if button pressed - pc.printf("Reference after = %d \r\n", reference_turn); - reference_turn=reference_turn-45; - pc.printf("Reference after = %d \r\n", reference_turn); } +// // Change Reference button Positive +// if (buttonH1.read() < 0.5){ //if button pressed +// pc.printf("Reference after = %d \r\n", reference_turn); +// reference_turn=reference_turn+45; +// pc.printf("Reference after = %d \r\n", reference_turn); +// debug_led = !debug_led; } +// +// // Change Reference button Negative +// if (buttonH2.read() < 0.5){ //if button pressed +// pc.printf("Reference after = %d \r\n", reference_turn); +// reference_turn=reference_turn-45; +// pc.printf("Reference after = %d \r\n", reference_turn); +// debug_led = !debug_led; } + + if (buttonL1.read() < 0.5){ //if button pressed + motordirection_turn = cw; + pwm_motor_turn = 0; + wait(1000); + pc.printf("positie = %d \r\n", motor_turn.getPulses()); } // Wait until looptimer flag is true then execute PID controller. else @@ -185,16 +193,16 @@ // Put pwm_motor to the motor pwm_motor_turn=(abs(pwm_to_motor_turn)); - while(sample != true) // HIDSCOPE input => sample_go nu nog niet nodig opzich // BLINK LEDS TOEVOEGEN - { +// 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 +// sample = false; +// } + //debug_led = !debug_led; // should flicker with freq 50 Hz } } } @@ -219,8 +227,8 @@ return (input-offset)*gain; } -// Get sample -void get_sample(void) // HIDSCOPE sample fuction -{ - sample = true; -} +//// Get sample +//void get_sample(void) // HIDSCOPE sample fuction +//{ +// sample = true; +//}