Motor_Control_EMG
Dependencies: HIDScope MODSERIAL QEI Servo biquadFilter mbed
Fork of Motor_Control_buttons by
main.cpp@2:b20570f160c6, 2016-10-07 (annotated)
- Committer:
- huismaja
- Date:
- Fri Oct 07 17:40:28 2016 +0000
- Revision:
- 2:b20570f160c6
- Parent:
- 1:0d55a4bf2269
- Child:
- 3:0a4bfcb3f339
Control of 1 DC-motor in a void-loop instead of in the main-loop
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
huismaja | 0:6c8444d06e97 | 1 | #include "mbed.h" |
huismaja | 0:6c8444d06e97 | 2 | #include "MODSERIAL.h' |
huismaja | 0:6c8444d06e97 | 3 | |
huismaja | 1:0d55a4bf2269 | 4 | DigitalOut Direcion_M1(D4); |
huismaja | 1:0d55a4bf2269 | 5 | DigitalOut Speed_M1(D5); |
huismaja | 1:0d55a4bf2269 | 6 | //DigitalOut Speed_M2(D6); |
huismaja | 1:0d55a4bf2269 | 7 | //DigitalOut Direction_M2(D7); |
huismaja | 1:0d55a4bf2269 | 8 | |
huismaja | 2:b20570f160c6 | 9 | InterruptIn Switch_1(D8); |
huismaja | 2:b20570f160c6 | 10 | int counter_extension=1; |
huismaja | 2:b20570f160c6 | 11 | |
huismaja | 2:b20570f160c6 | 12 | MODSERIAL pc(USBTX, USBRX); |
huismaja | 0:6c8444d06e97 | 13 | |
huismaja | 2:b20570f160c6 | 14 | void extension (){ |
huismaja | 2:b20570f160c6 | 15 | switch (counter_extension){ |
huismaja | 2:b20570f160c6 | 16 | case 1: |
huismaja | 2:b20570f160c6 | 17 | digitalWrite(Direction_M1, 1); //The arm will get longer |
huismaja | 2:b20570f160c6 | 18 | analogWrite(Speed_M1, 255); //The motor is turned on |
huismaja | 2:b20570f160c6 | 19 | pc.printf("The arm will now get longer"); |
huismaja | 2:b20570f160c6 | 20 | wait(0.5f); |
huismaja | 2:b20570f160c6 | 21 | break; |
huismaja | 2:b20570f160c6 | 22 | case 2: |
huismaja | 2:b20570f160c6 | 23 | digitalWrite(Direction_M1, 1); //The arm will get longer |
huismaja | 2:b20570f160c6 | 24 | analogWrite(Speed_M1, 0); //The motor is turned off |
huismaja | 2:b20570f160c6 | 25 | pc.printf("The arm will now stop"); |
huismaja | 2:b20570f160c6 | 26 | wait(0.5f); |
huismaja | 2:b20570f160c6 | 27 | break; |
huismaja | 2:b20570f160c6 | 28 | case 3: |
huismaja | 2:b20570f160c6 | 29 | digitalWrite(Direction_M1, 0); //The arm will get shorter |
huismaja | 2:b20570f160c6 | 30 | analogWrite(Speed_M1, 255); //The motor is turned off |
huismaja | 2:b20570f160c6 | 31 | pc.printf("The arm will now get shorter"); |
huismaja | 2:b20570f160c6 | 32 | wait(0.5f); |
huismaja | 2:b20570f160c6 | 33 | break; |
huismaja | 2:b20570f160c6 | 34 | case 4: |
huismaja | 2:b20570f160c6 | 35 | digitalWrite(Direction_M1, 0); //The arm will get shorter |
huismaja | 2:b20570f160c6 | 36 | analogWrite(Speed_M1, 0); //The motor is turned off |
huismaja | 2:b20570f160c6 | 37 | pc.printf("The arm will now stop"); |
huismaja | 2:b20570f160c6 | 38 | wait(0.5f); |
huismaja | 2:b20570f160c6 | 39 | break; |
huismaja | 2:b20570f160c6 | 40 | } |
huismaja | 2:b20570f160c6 | 41 | } |
huismaja | 2:b20570f160c6 | 42 | |
huismaja | 2:b20570f160c6 | 43 | void switch_counter_extension (){ |
huismaja | 2:b20570f160c6 | 44 | counter_extension++; |
huismaja | 2:b20570f160c6 | 45 | if (counter_extension > 4){ |
huismaja | 2:b20570f160c6 | 46 | counter_extension=1; |
huismaja | 2:b20570f160c6 | 47 | } |
huismaja | 2:b20570f160c6 | 48 | extension(); |
huismaja | 2:b20570f160c6 | 49 | } |
huismaja | 0:6c8444d06e97 | 50 | |
huismaja | 0:6c8444d06e97 | 51 | int main(){ |
huismaja | 0:6c8444d06e97 | 52 | pc.baud(115200); |
huismaja | 0:6c8444d06e97 | 53 | pc.printf("RESET \n"); |
huismaja | 1:0d55a4bf2269 | 54 | |
huismaja | 1:0d55a4bf2269 | 55 | digitalWrite(Direction_M1, 1); //The arm will initially get longer |
huismaja | 1:0d55a4bf2269 | 56 | analogWrite(Speed_M1, 0); //The motor is initially turned off |
huismaja | 1:0d55a4bf2269 | 57 | |
huismaja | 2:b20570f160c6 | 58 | switch_1.rise(&switch_counter_extension); |
huismaja | 0:6c8444d06e97 | 59 | } |