![](/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:
- 2015-06-10
- Revision:
- 54:abb7f76a0473
- Parent:
- 53:f783b3192dbb
- Child:
- 55:fa6d5ee5c854
File content as of revision 54:abb7f76a0473:
#include "mbed.h" #include "C12832_lcd.h" #define P_GAIN 0.995 DigitalOut Dir(p23); PwmOut Step(p24); AnalogIn Pos1(p17); AnalogIn Pos2(p18); DigitalOut Enable(p16); DigitalOut MS1(p27); DigitalOut MS2(p28); DigitalOut MS3(p29); AnalogIn Pot1(p19); AnalogIn Pot2(p20); C12832_LCD lcd; Serial pc(USBTX, USBRX); int main() { Enable = 0; float setpoint = 7000; //Frequentie float step_freq = 1; MS1 = 1; MS2 = 0; MS3 = 0; 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% Enable = 1; while (1) { Dir = 0; 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); pc.printf("%.2f %.0f \n", Pos1.read(), step_freq); wait(0.01); //Hier nog ticker inbouwen } }