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@55:fa6d5ee5c854, 2015-06-11 (annotated)

Committer:
jessekaiser
Date:
Thu Jun 11 09:22:32 2015 +0000
Revision:
55:fa6d5ee5c854
Parent:
54:abb7f76a0473
Child:
56:6ea03cce1175
Working test setup3;

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 54:abb7f76a0473 4 #define P_GAIN 0.995
jessekaiser 31:372ff8d49430 5
jessekaiser 54:abb7f76a0473 6 DigitalOut Dir(p23);
jessekaiser 54:abb7f76a0473 7 PwmOut Step(p24);
jessekaiser 54:abb7f76a0473 8 AnalogIn Pos1(p17);
jessekaiser 54:abb7f76a0473 9 AnalogIn Pos2(p18);
jessekaiser 55:fa6d5ee5c854 10 DigitalOut Enable(p25);
jessekaiser 0:3acdd563582f 11 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 12 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 13 DigitalOut MS3(p29);
jessekaiser 10:7f94cd65c910 14 AnalogIn Pot1(p19);
jessekaiser 31:372ff8d49430 15 AnalogIn Pot2(p20);
jessekaiser 30:0a8f849e0292 16 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 17
jessekaiser 54:abb7f76a0473 18 Serial pc(USBTX, USBRX);
jessekaiser 51:75a8c7191555 19
jessekaiser 41:a666a531d52e 20 int main()
jessekaiser 41:a666a531d52e 21 {
jessekaiser 55:fa6d5ee5c854 22
jessekaiser 55:fa6d5ee5c854 23 float setpoint = 6500; //Frequentie
jessekaiser 54:abb7f76a0473 24 float step_freq = 1;
jessekaiser 44:d5aa53e4778c 25 MS1 = 1;
jessekaiser 45:f5d74c7f8fbf 26 MS2 = 0;
jessekaiser 44:d5aa53e4778c 27 MS3 = 0;
jessekaiser 54:abb7f76a0473 28
jessekaiser 54:abb7f76a0473 29 Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 54:abb7f76a0473 30 Step.write(0.5); // Duty cycle van 50%
jessekaiser 55:fa6d5ee5c854 31
jessekaiser 44:d5aa53e4778c 32 while (1) {
jessekaiser 55:fa6d5ee5c854 33 Dir = 1;
jessekaiser 55:fa6d5ee5c854 34 float rpm;
jessekaiser 54:abb7f76a0473 35 float new_step_freq;
jessekaiser 54:abb7f76a0473 36 new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
jessekaiser 54:abb7f76a0473 37 step_freq = new_step_freq;
jessekaiser 54:abb7f76a0473 38 Step.period(1.0/step_freq);
jessekaiser 55:fa6d5ee5c854 39 rpm = (step_freq/400)*60;
jessekaiser 54:abb7f76a0473 40
jessekaiser 55:fa6d5ee5c854 41 pc.printf("%.2f %.0f \n", Pos1.read(), rpm);
jessekaiser 54:abb7f76a0473 42 wait(0.01); //Hier nog ticker inbouwen
jessekaiser 23:4d050e85e863 43
jessekaiser 0:3acdd563582f 44 }
jessekaiser 54:abb7f76a0473 45 }