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

Committer:
jessekaiser
Date:
2015-04-28
Revision:
12:5099e4897586
Parent:
11:74ae4e5e11ab

File content as of revision 12:5099e4897586:

#include "mbed.h"
#include "C12832_lcd.h"

#define P_GAIN 0.99

DigitalOut Dir(p21);
PwmOut Step(p22);
DigitalOut MS1(p27);
DigitalOut MS2(p28);
DigitalOut MS3(p29);
AnalogIn Pot1(p19);
C12832_LCD lcd;

BusIn Joystick(p12,p13,p14,p15,p16);
BusIn Up(p15);
BusIn Down(p12);

float setpoint = 2000; //Frequentie
float step_freq = 1;
float new_step_freq;

void Omhoog ()
{
    Dir = 1;
    new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
    step_freq = new_step_freq;
    Step.period(1.0/step_freq);
    wait(0.01); //Hier nog ticker inbouwen
}
void Omlaag ()
{
    Dir = 0;
    new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
    step_freq = new_step_freq;
    Step.period(1.0/step_freq);
    wait(0.01); //Hier nog ticker inbouwen
}


int main()
{

    MS1 = 1;
    MS2 = 0;
    MS3 = 0;
    //int p1;

    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 = 0; // Dir 1 is naar boven, Dir 0 naar onder.
    
    while (1) {
        
        if (Up)
            Omhoog ();
        
        if (Down)
            Omlaag ();
     

    }
}