4 directional EMG control of the XY table. Made during my bachelor end assignment.
Dependencies: C12832_lcd HIDScope mbed-dsp mbed
main.cpp@17:03f523424eb2, 2015-04-29 (annotated)
- Committer:
- jessekaiser
- Date:
- Wed Apr 29 14:57:07 2015 +0000
- Revision:
- 17:03f523424eb2
- Parent:
- 16:cdb6d66c2c4e
- Child:
- 18:71a01477e264
Potmeter als snelheid en directiemeter werkt. Alleen vertoont de motor teveel ruis. FIX DIT!
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jessekaiser | 0:3acdd563582f | 1 | #include "mbed.h" |
jessekaiser | 10:7f94cd65c910 | 2 | #include "C12832_lcd.h" |
jessekaiser | 0:3acdd563582f | 3 | |
jessekaiser | 15:ae8b209e8493 | 4 | #define P_GAIN 0.998 |
jessekaiser | 11:74ae4e5e11ab | 5 | |
jessekaiser | 0:3acdd563582f | 6 | DigitalOut Dir(p21); |
jessekaiser | 0:3acdd563582f | 7 | PwmOut Step(p22); |
jessekaiser | 15:ae8b209e8493 | 8 | DigitalOut Enable(p14); |
jessekaiser | 0:3acdd563582f | 9 | DigitalOut MS1(p27); |
jessekaiser | 0:3acdd563582f | 10 | DigitalOut MS2(p28); |
jessekaiser | 0:3acdd563582f | 11 | DigitalOut MS3(p29); |
jessekaiser | 10:7f94cd65c910 | 12 | AnalogIn Pot1(p19); |
jessekaiser | 13:c4e80f6e7113 | 13 | AnalogIn Pot2(p20); |
jessekaiser | 16:cdb6d66c2c4e | 14 | C12832_LCD lcd; |
jessekaiser | 0:3acdd563582f | 15 | |
jessekaiser | 10:7f94cd65c910 | 16 | BusIn Joystick(p12,p13,p14,p15,p16); |
jessekaiser | 10:7f94cd65c910 | 17 | DigitalIn Up(p15); |
jessekaiser | 10:7f94cd65c910 | 18 | DigitalIn Down(p12); |
jessekaiser | 0:3acdd563582f | 19 | int main() |
jessekaiser | 0:3acdd563582f | 20 | { |
jessekaiser | 15:ae8b209e8493 | 21 | Enable = 0; |
jessekaiser | 17:03f523424eb2 | 22 | float setpoint = 7000; //Frequentie |
jessekaiser | 9:649229691351 | 23 | float step_freq = 1; |
jessekaiser | 4:e4341e3524dc | 24 | MS1 = 1; |
jessekaiser | 16:cdb6d66c2c4e | 25 | MS2 = 0; |
jessekaiser | 2:92a63245d11c | 26 | MS3 = 0; |
jessekaiser | 13:c4e80f6e7113 | 27 | float p1; |
jessekaiser | 17:03f523424eb2 | 28 | int dir1; |
jessekaiser | 16:cdb6d66c2c4e | 29 | |
jessekaiser | 17:03f523424eb2 | 30 | Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer. |
jessekaiser | 9:649229691351 | 31 | Step.write(0.5); // Duty cycle van 50% |
jessekaiser | 16:cdb6d66c2c4e | 32 | // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder. |
jessekaiser | 15:ae8b209e8493 | 33 | Enable = 1; |
jessekaiser | 0:3acdd563582f | 34 | while (1) { |
jessekaiser | 16:cdb6d66c2c4e | 35 | |
jessekaiser | 16:cdb6d66c2c4e | 36 | if (p1 < 0) { //Directie controle. |
jessekaiser | 17:03f523424eb2 | 37 | Dir = 0; |
jessekaiser | 16:cdb6d66c2c4e | 38 | } else if (p1 > 0) { |
jessekaiser | 17:03f523424eb2 | 39 | Dir = 1; |
jessekaiser | 16:cdb6d66c2c4e | 40 | } |
jessekaiser | 17:03f523424eb2 | 41 | p1 = Pot1.read() - 0.500; //Offset creëren [-0.500;0.500] |
jessekaiser | 17:03f523424eb2 | 42 | //Dir = dir1; |
jessekaiser | 9:649229691351 | 43 | float new_step_freq; |
jessekaiser | 17:03f523424eb2 | 44 | //new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq); |
jessekaiser | 17:03f523424eb2 | 45 | new_step_freq = (setpoint*p1*2); |
jessekaiser | 17:03f523424eb2 | 46 | step_freq = abs(new_step_freq); //Geeft een frequentie in 100 stappen. |
jessekaiser | 17:03f523424eb2 | 47 | Step.period(1.0/step_freq); |
jessekaiser | 17:03f523424eb2 | 48 | wait(0.1); //Hier nog ticker inbouwen |
jessekaiser | 16:cdb6d66c2c4e | 49 | lcd.printf("Spd %.0f Hz p1 %.2f \n", step_freq, p1); //snelheid meting op lcd, zonder decimalen |
jessekaiser | 10:7f94cd65c910 | 50 | |
jessekaiser | 0:3acdd563582f | 51 | } |
jessekaiser | 0:3acdd563582f | 52 | } |