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:
- 13:c4e80f6e7113
- Parent:
- 11:74ae4e5e11ab
- Child:
- 14:bbef6e8956dc
- Child:
- 15:ae8b209e8493
File content as of revision 13:c4e80f6e7113:
#include "mbed.h" #include "C12832_lcd.h" #define P_GAIN 0.9999 DigitalOut Dir(p21); PwmOut Step(p22); 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() { float setpoint = 2000; //Frequentie float step_freq = 1; MS1 = 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. Step.write(0.5); // Duty cycle van 50% // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder. while (1) { p1 = Pot1.read(); Dir = Pot1; 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(1); //Hier nog ticker inbouwen } }