4 directional EMG control of the XY table. Made during my bachelor end assignment.
Dependencies: C12832_lcd HIDScope mbed-dsp mbed
Diff: main.cpp
- Revision:
- 16:cdb6d66c2c4e
- Parent:
- 15:ae8b209e8493
- Child:
- 17:03f523424eb2
--- a/main.cpp Wed Apr 29 09:42:09 2015 +0000 +++ b/main.cpp Wed Apr 29 13:15:26 2015 +0000 @@ -11,7 +11,7 @@ DigitalOut MS3(p29); AnalogIn Pot1(p19); AnalogIn Pot2(p20); -//C12832_LCD lcd; +C12832_LCD lcd; BusIn Joystick(p12,p13,p14,p15,p16); DigitalIn Up(p15); @@ -19,26 +19,34 @@ int main() { Enable = 0; - float setpoint = 10000; //Frequentie + float setpoint = 1000; //Frequentie float step_freq = 1; MS1 = 1; - MS2 = 1; + MS2 = 0; MS3 = 0; float p1; - float p2; - Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer. + int p2; + + //Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer. Step.write(0.5); // Duty cycle van 50% - // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder. + // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder. Enable = 1; while (1) { - p1 = Pot1.read(); - Dir = 0; + + if (p1 < 0) { //Directie controle. + p2 = 0; + } else if (p1 > 0) { + p2 = 1; + } + p1 = Pot1.read() - 0.50; + Dir = p2; float new_step_freq; new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq); step_freq = new_step_freq; Step.period(1.0/step_freq); - //lcd.printf("Pot1 : %f \n", p1); + wait(0.01); //Hier nog ticker inbouwen + lcd.printf("Spd %.0f Hz p1 %.2f \n", step_freq, p1); //snelheid meting op lcd, zonder decimalen } } \ No newline at end of file