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@15:ae8b209e8493, 2015-04-29 (annotated)

Committer:
jessekaiser
Date:
Wed Apr 29 09:42:09 2015 +0000
Revision:
15:ae8b209e8493
Parent:
13:c4e80f6e7113
Child:
16:cdb6d66c2c4e
Child:
21:dcc0fd9dbb08
Child:
23:4d050e85e863
Working test setup. Motor moving.

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 15:ae8b209e8493 4 #define P_GAIN 0.998
jessekaiser 11:74ae4e5e11ab 5
jessekaiser 0:3acdd563582f 6 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 7 PwmOut Step(p22);
jessekaiser 15:ae8b209e8493 8 DigitalOut Enable(p14);
jessekaiser 0:3acdd563582f 9 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 10 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 11 DigitalOut MS3(p29);
jessekaiser 10:7f94cd65c910 12 AnalogIn Pot1(p19);
jessekaiser 13:c4e80f6e7113 13 AnalogIn Pot2(p20);
jessekaiser 15:ae8b209e8493 14 //C12832_LCD lcd;
jessekaiser 0:3acdd563582f 15
jessekaiser 10:7f94cd65c910 16 BusIn Joystick(p12,p13,p14,p15,p16);
jessekaiser 10:7f94cd65c910 17 DigitalIn Up(p15);
jessekaiser 10:7f94cd65c910 18 DigitalIn Down(p12);
jessekaiser 0:3acdd563582f 19 int main()
jessekaiser 0:3acdd563582f 20 {
jessekaiser 15:ae8b209e8493 21 Enable = 0;
jessekaiser 15:ae8b209e8493 22 float setpoint = 10000; //Frequentie
jessekaiser 9:649229691351 23 float step_freq = 1;
jessekaiser 4:e4341e3524dc 24 MS1 = 1;
jessekaiser 15:ae8b209e8493 25 MS2 = 1;
jessekaiser 2:92a63245d11c 26 MS3 = 0;
jessekaiser 13:c4e80f6e7113 27 float p1;
jessekaiser 13:c4e80f6e7113 28 float p2;
jessekaiser 9:649229691351 29 Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 9:649229691351 30 Step.write(0.5); // Duty cycle van 50%
jessekaiser 10:7f94cd65c910 31 // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder.
jessekaiser 15:ae8b209e8493 32 Enable = 1;
jessekaiser 0:3acdd563582f 33 while (1) {
jessekaiser 10:7f94cd65c910 34 p1 = Pot1.read();
jessekaiser 15:ae8b209e8493 35 Dir = 0;
jessekaiser 9:649229691351 36 float new_step_freq;
jessekaiser 11:74ae4e5e11ab 37 new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
jessekaiser 9:649229691351 38 step_freq = new_step_freq;
jessekaiser 9:649229691351 39 Step.period(1.0/step_freq);
jessekaiser 15:ae8b209e8493 40 //lcd.printf("Pot1 : %f \n", p1);
jessekaiser 15:ae8b209e8493 41 wait(0.01); //Hier nog ticker inbouwen
jessekaiser 10:7f94cd65c910 42
jessekaiser 0:3acdd563582f 43 }
jessekaiser 0:3acdd563582f 44 }