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4 directional EMG control of the XY table. Made during my bachelor end assignment.
Dependencies: C12832_lcd HIDScope mbed-dsp mbed
Diff: main.cpp
- Revision:
- 75:9fa809932adf
- Parent:
- 74:a9281e4ae9bb
- Child:
- 76:627b0537110e
diff -r a9281e4ae9bb -r 9fa809932adf main.cpp --- a/main.cpp Mon Jun 22 08:59:46 2015 +0000 +++ b/main.cpp Mon Jun 22 10:04:51 2015 +0000 @@ -27,15 +27,15 @@ #define error_tresh 0.01 //Motor control -DigitalOut Dirx(p21); -PwmOut Stepx(p22); +DigitalOut Dirx(p25); +PwmOut Stepx(p26); //Signal to and from computer Serial pc(USBTX, USBRX); //Position sensors -AnalogIn Posx(p19); -DigitalOut Enablex(p25); +AnalogIn Posx(p20); +DigitalOut Enablex(p30); //Microstepping DigitalOut MS1(p27); @@ -43,8 +43,8 @@ DigitalOut MS3(p29); //EMG inputs -AnalogIn emg1(p15); -AnalogIn emg2(p16); +AnalogIn emg1(p19); +AnalogIn emg2(p18); //HIDScope scope(4); //Ticker scopeTimer; @@ -177,7 +177,7 @@ lcd.printf("%.2f \n", Stepx.read()); - if (Ps_x < 0.50 && errorx > error_tresh) { + if (Ps_x < 0.83 && errorx > error_tresh) { Dirx = 0; cx = errorx * H_Gain; float hnew_step_freqx; @@ -187,7 +187,7 @@ wait(0.01); } - if (Ps_x > 0.50 && errorx > error_tresh) { + if (Ps_x > 0.83 && errorx > error_tresh) { Dirx = 1; cx = errorx * H_Gain; float hnew_step_freqx;