Jesse Kaiser / Mbed 2 deprecated EMGcontrol_XY_Table

4 directional EMG control of the XY table. Made during my bachelor end assignment.

Dependencies:   C12832_lcd HIDScope mbed-dsp mbed

main.cpp@12:5099e4897586, 2015-04-28 (annotated)

Committer:
jessekaiser
Date:
Tue Apr 28 14:06:44 2015 +0000
Revision:
12:5099e4897586
Parent:
11:74ae4e5e11ab 
Poging joystick controle, mislukt;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 0:3acdd563582f 1 #include "mbed.h"
jessekaiser 10:7f94cd65c910 2 #include "C12832_lcd.h"
jessekaiser 0:3acdd563582f 3
jessekaiser 12:5099e4897586 4 #define P_GAIN 0.99
jessekaiser 11:74ae4e5e11ab 5
jessekaiser 0:3acdd563582f 6 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 7 PwmOut Step(p22);
jessekaiser 0:3acdd563582f 8 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 9 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 10 DigitalOut MS3(p29);
jessekaiser 10:7f94cd65c910 11 AnalogIn Pot1(p19);
jessekaiser 10:7f94cd65c910 12 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 13
jessekaiser 10:7f94cd65c910 14 BusIn Joystick(p12,p13,p14,p15,p16);
jessekaiser 12:5099e4897586 15 BusIn Up(p15);
jessekaiser 12:5099e4897586 16 BusIn Down(p12);
jessekaiser 12:5099e4897586 17
jessekaiser 12:5099e4897586 18 float setpoint = 2000; //Frequentie
jessekaiser 12:5099e4897586 19 float step_freq = 1;
jessekaiser 12:5099e4897586 20 float new_step_freq;
jessekaiser 12:5099e4897586 21
jessekaiser 12:5099e4897586 22 void Omhoog ()
jessekaiser 12:5099e4897586 23 {
jessekaiser 12:5099e4897586 24 Dir = 1;
jessekaiser 12:5099e4897586 25 new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
jessekaiser 12:5099e4897586 26 step_freq = new_step_freq;
jessekaiser 12:5099e4897586 27 Step.period(1.0/step_freq);
jessekaiser 12:5099e4897586 28 wait(0.01); //Hier nog ticker inbouwen
jessekaiser 12:5099e4897586 29 }
jessekaiser 12:5099e4897586 30 void Omlaag ()
jessekaiser 12:5099e4897586 31 {
jessekaiser 12:5099e4897586 32 Dir = 0;
jessekaiser 12:5099e4897586 33 new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
jessekaiser 12:5099e4897586 34 step_freq = new_step_freq;
jessekaiser 12:5099e4897586 35 Step.period(1.0/step_freq);
jessekaiser 12:5099e4897586 36 wait(0.01); //Hier nog ticker inbouwen
jessekaiser 12:5099e4897586 37 }
jessekaiser 12:5099e4897586 38
jessekaiser 12:5099e4897586 39
jessekaiser 0:3acdd563582f 40 int main()
jessekaiser 0:3acdd563582f 41 {
jessekaiser 12:5099e4897586 42
jessekaiser 4:e4341e3524dc 43 MS1 = 1;
jessekaiser 2:92a63245d11c 44 MS2 = 0;
jessekaiser 2:92a63245d11c 45 MS3 = 0;
jessekaiser 12:5099e4897586 46 //int p1;
jessekaiser 0:3acdd563582f 47
jessekaiser 9:649229691351 48 Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 9:649229691351 49 Step.write(0.5); // Duty cycle van 50%
jessekaiser 12:5099e4897586 50 Dir = 0; // Dir 1 is naar boven, Dir 0 naar onder.
jessekaiser 12:5099e4897586 51
jessekaiser 0:3acdd563582f 52 while (1) {
jessekaiser 12:5099e4897586 53
jessekaiser 12:5099e4897586 54 if (Up)
jessekaiser 12:5099e4897586 55 Omhoog ();
jessekaiser 12:5099e4897586 56
jessekaiser 12:5099e4897586 57 if (Down)
jessekaiser 12:5099e4897586 58 Omlaag ();
jessekaiser 12:5099e4897586 59
jessekaiser 10:7f94cd65c910 60
jessekaiser 0:3acdd563582f 61 }
jessekaiser 0:3acdd563582f 62 }