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@11:74ae4e5e11ab, 2015-04-28 (annotated)

Committer:
jessekaiser
Date:
Tue Apr 28 12:28:53 2015 +0000
Revision:
11:74ae4e5e11ab
Parent:
10:7f94cd65c910
Child:
12:5099e4897586
Child:
13:c4e80f6e7113
Potmeter besturing voor op en neer. Stapgewijs acceleratie;

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 11:74ae4e5e11ab 4 #define P_GAIN 0.9999
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 10:7f94cd65c910 15 DigitalIn Up(p15);
jessekaiser 10:7f94cd65c910 16 DigitalIn Down(p12);
jessekaiser 0:3acdd563582f 17 int main()
jessekaiser 0:3acdd563582f 18 {
jessekaiser 11:74ae4e5e11ab 19 float setpoint = 2000; //Frequentie
jessekaiser 9:649229691351 20 float step_freq = 1;
jessekaiser 4:e4341e3524dc 21 MS1 = 1;
jessekaiser 2:92a63245d11c 22 MS2 = 0;
jessekaiser 2:92a63245d11c 23 MS3 = 0;
jessekaiser 10:7f94cd65c910 24 int p1;
jessekaiser 0:3acdd563582f 25
jessekaiser 9:649229691351 26 Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 9:649229691351 27 Step.write(0.5); // Duty cycle van 50%
jessekaiser 10:7f94cd65c910 28 // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder.
jessekaiser 0:3acdd563582f 29 while (1) {
jessekaiser 10:7f94cd65c910 30 p1 = Pot1.read();
jessekaiser 10:7f94cd65c910 31 Dir = Pot1;
jessekaiser 9:649229691351 32 float new_step_freq;
jessekaiser 11:74ae4e5e11ab 33 new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
jessekaiser 9:649229691351 34 step_freq = new_step_freq;
jessekaiser 9:649229691351 35 Step.period(1.0/step_freq);
jessekaiser 10:7f94cd65c910 36 lcd.printf("Pot1 : %d \n", p1);
jessekaiser 10:7f94cd65c910 37 wait(0.01); //Hier nog ticker inbouwen
jessekaiser 10:7f94cd65c910 38
jessekaiser 0:3acdd563582f 39 }
jessekaiser 0:3acdd563582f 40 }