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@14:bbef6e8956dc, 2015-04-28 (annotated)

Committer:
jessekaiser
Date:
Tue Apr 28 15:34:41 2015 +0000
Revision:
14:bbef6e8956dc
Parent:
13:c4e80f6e7113 
Poging tot directie controle waarbij de motor opnieuw start met accelereren

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 14:bbef6e8956dc 4 #define P_GAIN 0.999
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 13:c4e80f6e7113 12 AnalogIn Pot2(p20);
jessekaiser 10:7f94cd65c910 13 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 14
jessekaiser 10:7f94cd65c910 15 BusIn Joystick(p12,p13,p14,p15,p16);
jessekaiser 10:7f94cd65c910 16 DigitalIn Up(p15);
jessekaiser 10:7f94cd65c910 17 DigitalIn Down(p12);
jessekaiser 0:3acdd563582f 18 int main()
jessekaiser 0:3acdd563582f 19 {
jessekaiser 14:bbef6e8956dc 20 float setpoint = 10000; //Frequentie
jessekaiser 14:bbef6e8956dc 21 float step_freq1 = 1;
jessekaiser 14:bbef6e8956dc 22 float step_freq2 = 1;
jessekaiser 14:bbef6e8956dc 23
jessekaiser 4:e4341e3524dc 24 MS1 = 1;
jessekaiser 2:92a63245d11c 25 MS2 = 0;
jessekaiser 2:92a63245d11c 26 MS3 = 0;
jessekaiser 14:bbef6e8956dc 27 //float p1;
jessekaiser 14:bbef6e8956dc 28 int p2;
jessekaiser 13:c4e80f6e7113 29
jessekaiser 0:3acdd563582f 30
jessekaiser 14:bbef6e8956dc 31 Step.period(1.); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 9:649229691351 32 Step.write(0.5); // Duty cycle van 50%
jessekaiser 14:bbef6e8956dc 33 Dir = Pot2; // Dir 1 is naar boven, Dir 0 naar onder.
jessekaiser 0:3acdd563582f 34 while (1) {
jessekaiser 14:bbef6e8956dc 35
jessekaiser 14:bbef6e8956dc 36 p2 = Pot2.read();
jessekaiser 14:bbef6e8956dc 37 float new_step_freq1;
jessekaiser 14:bbef6e8956dc 38 float new_step_freq2;
jessekaiser 14:bbef6e8956dc 39
jessekaiser 14:bbef6e8956dc 40 if (Dir = 1){
jessekaiser 14:bbef6e8956dc 41 step_freq2 = 1;
jessekaiser 14:bbef6e8956dc 42 new_step_freq1 = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq1);
jessekaiser 14:bbef6e8956dc 43 step_freq1 = new_step_freq1;
jessekaiser 14:bbef6e8956dc 44 Step.period(1.0/(step_freq1));
jessekaiser 14:bbef6e8956dc 45 //lcd.printf("Snelheid : %f Hz\n", p1);
jessekaiser 14:bbef6e8956dc 46 lcd.printf("Richting : %d \n", p2);
jessekaiser 14:bbef6e8956dc 47 wait(0.01); //Hier nog ticker inbouwen
jessekaiser 14:bbef6e8956dc 48 }
jessekaiser 14:bbef6e8956dc 49 if (Dir = 0) {
jessekaiser 14:bbef6e8956dc 50 step_freq1 = 1;
jessekaiser 14:bbef6e8956dc 51 new_step_freq2 = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq2);
jessekaiser 14:bbef6e8956dc 52 step_freq2 = new_step_freq2;
jessekaiser 14:bbef6e8956dc 53 Step.period(1.0/(step_freq2));
jessekaiser 14:bbef6e8956dc 54 //lcd.printf("Snelheid : %f Hz\n", p1);
jessekaiser 14:bbef6e8956dc 55 lcd.printf("Richting : %d \n", p2);
jessekaiser 14:bbef6e8956dc 56 wait(0.01); //Hier nog ticker inbouwen
jessekaiser 14:bbef6e8956dc 57
jessekaiser 14:bbef6e8956dc 58 }
jessekaiser 14:bbef6e8956dc 59
jessekaiser 10:7f94cd65c910 60
jessekaiser 0:3acdd563582f 61 }
jessekaiser 0:3acdd563582f 62 }