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@16:cdb6d66c2c4e, 2015-04-29 (annotated)

Committer:
jessekaiser
Date:
Wed Apr 29 13:15:26 2015 +0000
Revision:
16:cdb6d66c2c4e
Parent:
15:ae8b209e8493
Child:
17:03f523424eb2
Bezig met directiecontrole. Pot1 is nu een offset van -0,5 tot 0,5

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 16:cdb6d66c2c4e 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 16:cdb6d66c2c4e 22 float setpoint = 1000; //Frequentie
jessekaiser 9:649229691351 23 float step_freq = 1;
jessekaiser 4:e4341e3524dc 24 MS1 = 1;
jessekaiser 16:cdb6d66c2c4e 25 MS2 = 0;
jessekaiser 2:92a63245d11c 26 MS3 = 0;
jessekaiser 13:c4e80f6e7113 27 float p1;
jessekaiser 16:cdb6d66c2c4e 28 int p2;
jessekaiser 16:cdb6d66c2c4e 29
jessekaiser 16:cdb6d66c2c4e 30 //Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 9:649229691351 31 Step.write(0.5); // Duty cycle van 50%
jessekaiser 16:cdb6d66c2c4e 32 // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder.
jessekaiser 15:ae8b209e8493 33 Enable = 1;
jessekaiser 0:3acdd563582f 34 while (1) {
jessekaiser 16:cdb6d66c2c4e 35
jessekaiser 16:cdb6d66c2c4e 36 if (p1 < 0) { //Directie controle.
jessekaiser 16:cdb6d66c2c4e 37 p2 = 0;
jessekaiser 16:cdb6d66c2c4e 38 } else if (p1 > 0) {
jessekaiser 16:cdb6d66c2c4e 39 p2 = 1;
jessekaiser 16:cdb6d66c2c4e 40 }
jessekaiser 16:cdb6d66c2c4e 41 p1 = Pot1.read() - 0.50;
jessekaiser 16:cdb6d66c2c4e 42 Dir = p2;
jessekaiser 9:649229691351 43 float new_step_freq;
jessekaiser 11:74ae4e5e11ab 44 new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
jessekaiser 9:649229691351 45 step_freq = new_step_freq;
jessekaiser 9:649229691351 46 Step.period(1.0/step_freq);
jessekaiser 16:cdb6d66c2c4e 47
jessekaiser 15:ae8b209e8493 48 wait(0.01); //Hier nog ticker inbouwen
jessekaiser 16:cdb6d66c2c4e 49 lcd.printf("Spd %.0f Hz p1 %.2f \n", step_freq, p1); //snelheid meting op lcd, zonder decimalen
jessekaiser 10:7f94cd65c910 50
jessekaiser 0:3acdd563582f 51 }
jessekaiser 0:3acdd563582f 52 }