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@13:c4e80f6e7113, 2015-04-28 (annotated)

Committer:
jessekaiser
Date:
Tue Apr 28 14:26:30 2015 +0000
Revision:
13:c4e80f6e7113
Parent:
11:74ae4e5e11ab
Child:
14:bbef6e8956dc
Child:
15:ae8b209e8493
Nu wordt de potmeter gemeten tussen een interval van [0.00, 1.00].

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 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 11:74ae4e5e11ab 20 float setpoint = 2000; //Frequentie
jessekaiser 9:649229691351 21 float step_freq = 1;
jessekaiser 4:e4341e3524dc 22 MS1 = 1;
jessekaiser 2:92a63245d11c 23 MS2 = 0;
jessekaiser 2:92a63245d11c 24 MS3 = 0;
jessekaiser 13:c4e80f6e7113 25 float p1;
jessekaiser 13:c4e80f6e7113 26 float p2;
jessekaiser 13:c4e80f6e7113 27
jessekaiser 0:3acdd563582f 28
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 0:3acdd563582f 32 while (1) {
jessekaiser 10:7f94cd65c910 33 p1 = Pot1.read();
jessekaiser 10:7f94cd65c910 34 Dir = Pot1;
jessekaiser 9:649229691351 35 float new_step_freq;
jessekaiser 11:74ae4e5e11ab 36 new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
jessekaiser 9:649229691351 37 step_freq = new_step_freq;
jessekaiser 9:649229691351 38 Step.period(1.0/step_freq);
jessekaiser 13:c4e80f6e7113 39 lcd.printf("Pot1 : %f \n", p1);
jessekaiser 13:c4e80f6e7113 40 wait(1); //Hier nog ticker inbouwen
jessekaiser 10:7f94cd65c910 41
jessekaiser 0:3acdd563582f 42 }
jessekaiser 0:3acdd563582f 43 }