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@54:abb7f76a0473, 2015-06-10 (annotated)

Committer:
jessekaiser
Date:
Wed Jun 10 17:17:37 2015 +0000
Revision:
54:abb7f76a0473
Parent:
53:f783b3192dbb
Child:
55:fa6d5ee5c854
Test setup for max speed motors with potmeter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 0:3acdd563582f 1 #include "mbed.h"
jessekaiser 10:7f94cd65c910 2 #include "C12832_lcd.h"
jessekaiser 0:3acdd563582f 3
jessekaiser 54:abb7f76a0473 4 #define P_GAIN 0.995
jessekaiser 31:372ff8d49430 5
jessekaiser 54:abb7f76a0473 6 DigitalOut Dir(p23);
jessekaiser 54:abb7f76a0473 7 PwmOut Step(p24);
jessekaiser 54:abb7f76a0473 8 AnalogIn Pos1(p17);
jessekaiser 54:abb7f76a0473 9 AnalogIn Pos2(p18);
jessekaiser 54:abb7f76a0473 10 DigitalOut Enable(p16);
jessekaiser 0:3acdd563582f 11 DigitalOut MS1(p27);
jessekaiser 0:3acdd563582f 12 DigitalOut MS2(p28);
jessekaiser 0:3acdd563582f 13 DigitalOut MS3(p29);
jessekaiser 10:7f94cd65c910 14 AnalogIn Pot1(p19);
jessekaiser 31:372ff8d49430 15 AnalogIn Pot2(p20);
jessekaiser 30:0a8f849e0292 16 C12832_LCD lcd;
jessekaiser 0:3acdd563582f 17
jessekaiser 54:abb7f76a0473 18 Serial pc(USBTX, USBRX);
jessekaiser 51:75a8c7191555 19
jessekaiser 41:a666a531d52e 20 int main()
jessekaiser 41:a666a531d52e 21 {
jessekaiser 54:abb7f76a0473 22 Enable = 0;
jessekaiser 54:abb7f76a0473 23 float setpoint = 7000; //Frequentie
jessekaiser 54:abb7f76a0473 24 float step_freq = 1;
jessekaiser 44:d5aa53e4778c 25 MS1 = 1;
jessekaiser 45:f5d74c7f8fbf 26 MS2 = 0;
jessekaiser 44:d5aa53e4778c 27 MS3 = 0;
jessekaiser 54:abb7f76a0473 28
jessekaiser 54:abb7f76a0473 29 Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
jessekaiser 54:abb7f76a0473 30 Step.write(0.5); // Duty cycle van 50%
jessekaiser 54:abb7f76a0473 31
jessekaiser 54:abb7f76a0473 32 Enable = 1;
jessekaiser 44:d5aa53e4778c 33 while (1) {
jessekaiser 54:abb7f76a0473 34 Dir = 0;
jessekaiser 54:abb7f76a0473 35 float new_step_freq;
jessekaiser 54:abb7f76a0473 36 new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
jessekaiser 54:abb7f76a0473 37 step_freq = new_step_freq;
jessekaiser 54:abb7f76a0473 38 Step.period(1.0/step_freq);
jessekaiser 54:abb7f76a0473 39
jessekaiser 54:abb7f76a0473 40 pc.printf("%.2f %.0f \n", Pos1.read(), step_freq);
jessekaiser 54:abb7f76a0473 41 wait(0.01); //Hier nog ticker inbouwen
jessekaiser 23:4d050e85e863 42
jessekaiser 0:3acdd563582f 43 }
jessekaiser 54:abb7f76a0473 44 }