mevlid yildirim
Minor BioRobotics BMT Hierbij publish ik mijn code public ter inspiratie voor komende jaarlagen. Het gaat om een serial robot met twee links en een haak als end-effector. Veel plezier ermee!
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 20:682ac5b520a0
- Parent:
- 19:483fc61778f0
- Child:
- 21:0d86a17f9974
--- a/main.cpp Wed Oct 30 15:11:06 2019 +0000
+++ b/main.cpp Wed Oct 30 18:36:52 2019 +0000
@@ -510,6 +510,17 @@
void main_loop() { //Beginning of main_loop()
// pc.printf("main_loop is running succesfully \r\n"); //confirmation that main_loop is running (als je dit erin zet krijg je elke duizendste dit bericht. Dit is niet gewenst)
+
+
+
+
+
+
+//test stuff:
+//Yref_motor1= 4200*pot2_rechts.read();
+//Yref_motor2= 4200*pot1_links.read();
+
+// 5.1 Measure Analog and Digital input signals ********************************
emg0_processing();
emg1_processing();
emg2_processing();
@@ -517,22 +528,14 @@
fencoder_motor1() ;
fencoder_motor2() ;
+// 5.2 Run state-machine(s) ****************************************************
+state_machine() ;
+// 5.3 Run controller(s) *******************************************************
PID_controller_motor1(error_integral_motor1, error1_prev_motor1);
PID_controller_motor2(error_integral_motor2, error1_prev_motor2);
+// 5.4 Send output signals to digital and PWM output pins **********************
motor1_controller();
motor2_controller();
-
-state_machine() ;
-
-//test stuff:
-Yref_motor1= 4200*pot2_rechts.read();
-Yref_motor2= 4200*pot1_links.read();
-
-// 5.1 Measure Analog and Digital input signals ********************************
-
-// 5.2 Run state-machine(s) ****************************************************
-// 5.3 Run controller(s) *******************************************************
-// 5.4 Send output signals to digital and PWM output pins **********************
} //Ending of main_loop()