![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
4 directional EMG control of the XY table. Made during my bachelor end assignment.
Dependencies: C12832_lcd HIDScope mbed-dsp mbed
main.cpp
- Committer:
- jessekaiser
- Date:
- 2015-04-29
- Revision:
- 17:03f523424eb2
- Parent:
- 16:cdb6d66c2c4e
- Child:
- 18:71a01477e264
File content as of revision 17:03f523424eb2:
#include "mbed.h" #include "C12832_lcd.h" #define P_GAIN 0.998 DigitalOut Dir(p21); PwmOut Step(p22); DigitalOut Enable(p14); DigitalOut MS1(p27); DigitalOut MS2(p28); DigitalOut MS3(p29); AnalogIn Pot1(p19); AnalogIn Pot2(p20); C12832_LCD lcd; BusIn Joystick(p12,p13,p14,p15,p16); DigitalIn Up(p15); DigitalIn Down(p12); int main() { Enable = 0; float setpoint = 7000; //Frequentie float step_freq = 1; MS1 = 1; MS2 = 0; MS3 = 0; float p1; int dir1; 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. Enable = 1; while (1) { if (p1 < 0) { //Directie controle. Dir = 0; } else if (p1 > 0) { Dir = 1; } p1 = Pot1.read() - 0.500; //Offset creëren [-0.500;0.500] //Dir = dir1; float new_step_freq; //new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq); new_step_freq = (setpoint*p1*2); step_freq = abs(new_step_freq); //Geeft een frequentie in 100 stappen. Step.period(1.0/step_freq); wait(0.1); //Hier nog ticker inbouwen lcd.printf("Spd %.0f Hz p1 %.2f \n", step_freq, p1); //snelheid meting op lcd, zonder decimalen } }