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@44:d5aa53e4778c, 2015-06-04 (annotated)

Committer:
jessekaiser
Date:
Thu Jun 04 14:36:52 2015 +0000
Revision:
44:d5aa53e4778c
Parent:
43:42bfab67c4a5
Child:
45:f5d74c7f8fbf
Working Test Setup!

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 44:d5aa53e4778c 4 #define P_GAIN 0.998
jessekaiser 31:372ff8d49430 5
jessekaiser 0:3acdd563582f 6 DigitalOut Dir(p21);
jessekaiser 0:3acdd563582f 7 PwmOut Step(p22);
jessekaiser 44:d5aa53e4778c 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 31:372ff8d49430 13 AnalogIn Pot2(p20);
jessekaiser 30:0a8f849e0292 14 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 15
jessekaiser 44:d5aa53e4778c 16 BusIn Joystick(p12,p13,p14,p15,p16);
jessekaiser 44:d5aa53e4778c 17 DigitalIn Up(p15);
jessekaiser 44:d5aa53e4778c 18 DigitalIn Down(p12);
jessekaiser 41:a666a531d52e 19 int main()
jessekaiser 41:a666a531d52e 20 {
jessekaiser 44:d5aa53e4778c 21 Enable = 0;
jessekaiser 44:d5aa53e4778c 22 float setpoint = 2500; //Frequentie
jessekaiser 44:d5aa53e4778c 23 float step_freq = 1;
jessekaiser 44:d5aa53e4778c 24 MS1 = 1;
jessekaiser 44:d5aa53e4778c 25 MS2 = 1;
jessekaiser 44:d5aa53e4778c 26 MS3 = 0;
jessekaiser 44:d5aa53e4778c 27 float p1;
jessekaiser 44:d5aa53e4778c 28 Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 44:d5aa53e4778c 29 Step.write(0.5); // Duty cycle van 50%
jessekaiser 44:d5aa53e4778c 30 // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder.
jessekaiser 44:d5aa53e4778c 31 Enable = 1;
jessekaiser 44:d5aa53e4778c 32 while (1) {
jessekaiser 44:d5aa53e4778c 33 p1 = Pot1.read();
jessekaiser 44:d5aa53e4778c 34 Dir = 0;
jessekaiser 44:d5aa53e4778c 35 float new_step_freq;
jessekaiser 44:d5aa53e4778c 36 new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
jessekaiser 44:d5aa53e4778c 37 step_freq = new_step_freq;
jessekaiser 44:d5aa53e4778c 38 Step.period(1.0/step_freq);
jessekaiser 44:d5aa53e4778c 39 lcd.printf("freq : %.0f \n", step_freq);
jessekaiser 44:d5aa53e4778c 40 wait(0.01); //Hier nog ticker inbouwen
jessekaiser 23:4d050e85e863 41
jessekaiser 0:3acdd563582f 42 }
jessekaiser 44:d5aa53e4778c 43 }