Diff: Controller.h

Revision:

4:bfdcf3da7cff

Parent:

2:6b913f93bc0b

Child:

6:a4440eec3652

--- a/Controller.h	Wed Oct 26 12:40:26 2016 +0000
+++ b/Controller.h	Fri Oct 28 12:49:02 2016 +0000
@@ -1,16 +1,20 @@
+#include "SigInterpreter.h"
+
+SigInterpreter signal = SigInterpreter();
 const double PI = 3.141592653589793;
+//MODSERIAL pc(USBTX, USBRX);
 
 int xPulses = 0; // pulsecount
-int x_max = 33068;
+const int x_max = 33068;
 int yPulses = 0;
-int y_max = 17640;
+const int y_max = 17640;
 int prevXpulses = 0;
 int prevYpulses = 0;
 
-double rMax; // maxAmplitude emg signal
-double lMax;
-double uMax;
-double dMax;
+double rMax = 0; // maxAmplitude emg signal
+double lMax = 0;
+double uMax = 0;
+double dMax = 0;
 
 float motorValueX = 0; // requested speed
 float motorValueY = 0;
@@ -31,9 +35,9 @@
 double l = 0;
 double u = 0;
 double d = 0;
-int i = 1;
+int i = 0;
 
-int SAMPLES_PER_AVERAGE = 10;
+const int SAMPLES_PER_AVERAGE = 10;
 const int margin = 100; // margin pulses for calibration
 
 void calibrate();
@@ -46,46 +50,51 @@
 void initMotors();
 void initMotorvariables();
 
-SigInterpreter signal = SigInterpreter();
-PulseChecker pulses =  PulseChecker();
+HIDScope scope(2);
 
 const float Kc = 0.0;
 const float Ti = 0.0;
 const float Td = 0.0;
-float RATE = 0.01; // rate = interval motors will be updateed
+const float RATE = 0.001; // rate = interval motors will be updateed
+
+int counter = 0;
+int counter_motor = 0;
 
 PwmOut X_Magnitude(D5); // bind to horizontal motor
 DigitalOut X_Direction(D4);
 PID X_Controller(Kc, Ti, Td, RATE);
+QEI X_Motor(D12 ,D13 ,NC, 64 ,QEI::X4_ENCODING); 
 
 PwmOut Y_Magnitude(D6); // bind to Ytical motor
 DigitalOut Y_Direction(D7);
 PID Y_Controller(Kc, Ti, Td, RATE);
+QEI Y_Motor(D14 ,D15 ,NC, 64 ,QEI::X4_ENCODING); 
 
-InterruptIn calibrateButton(D2);
+//InterruptIn calibrateButton(D2);
+DigitalIn button(D2);
 Ticker motorControl;
-void setFlag();
-bool flag = true;
-bool calibrateFlag = true;
+void setUpdate_flag();
+volatile bool update_flag = false;
+const int CW = true;
 
-int CW = true;
+DigitalOut led(LED_BLUE);
 
 void initMotors(){
-    X_Magnitude.period_us(50);
+    X_Magnitude.period_ms(1);
     X_Magnitude.write(0.0);
     X_Direction.write(CW);
     
-    Y_Magnitude.period_us(50);
+    Y_Magnitude.period_ms(1);
     Y_Magnitude.write(0.0);
     Y_Direction.write(CW);
 }
 void initControllers(){
-    X_Controller.setInputLimits(-90.0,90.0); // fiX_ me
+    X_Controller.setInputLimits(-1.0,1.0); // fiX_ me
     X_Controller.setOutputLimits(-1.0,1.0);
     X_Controller.setBias(0);
-    X_Controller.setMode(0);
+    X_Controller.setMode(0); // fix me
     
-    Y_Controller.setInputLimits(-90.0,90.0); // fix me
+    Y_Controller.setInputLimits(-1.0,1.0); // fix me
     Y_Controller.setOutputLimits(-1.0,1.0);
     Y_Controller.setBias(0);
     Y_Controller.setMode(0);