Lars van der Hoeven / Mbed 2 deprecated motorshield_01

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Dependencies:   MODSERIAL mbed HIDScope

main.cpp@2:fa2cc8d8e100, 2018-10-17 (annotated)

Committer:
VRRangel
Date:
Wed Oct 17 09:06:16 2018 +0000
Revision:
2:fa2cc8d8e100
Parent:
1:f75a3567978c 
inclusief code emg;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lars123 0:80f93308a3cd 1 #include "mbed.h"
lars123 0:80f93308a3cd 2 #include "MODSERIAL.h"
VRRangel 2:fa2cc8d8e100 3 #include "HIDScope.h"
lars123 0:80f93308a3cd 4
lars123 0:80f93308a3cd 5
lars123 0:80f93308a3cd 6 PwmOut Motor2PWR(D5);
lars123 0:80f93308a3cd 7 DigitalOut Motor2DIR(D4);
lars123 0:80f93308a3cd 8 PwmOut Motor1PWR(D6);
lars123 0:80f93308a3cd 9 DigitalOut Motor1DIR(D7);
VRRangel 2:fa2cc8d8e100 10 AnalogIn emg0(A0);
VRRangel 2:fa2cc8d8e100 11 AnalogIn emg1(A1);
VRRangel 2:fa2cc8d8e100 12 AnalogIn emg2(A2);
VRRangel 2:fa2cc8d8e100 13 AnalogIn Pot1(A4);
VRRangel 2:fa2cc8d8e100 14 AnalogIn Pot2(A5);
lars123 0:80f93308a3cd 15 MODSERIAL pc(USBTX, USBRX);
lars123 0:80f93308a3cd 16
VRRangel 2:fa2cc8d8e100 17
VRRangel 2:fa2cc8d8e100 18
lars123 0:80f93308a3cd 19 float x = 0;
lars123 0:80f93308a3cd 20 float y = 0;
lars123 0:80f93308a3cd 21 int main()
lars123 0:80f93308a3cd 22 {
lars123 1:f75a3567978c 23 Motor1PWR.period_us(60);
lars123 1:f75a3567978c 24 while(1) {
lars123 1:f75a3567978c 25 if(Pot1<0.45f) {
lars123 1:f75a3567978c 26 x = Pot1-1;
lars123 1:f75a3567978c 27 } else if(Pot1>0.55f) {
lars123 1:f75a3567978c 28 x = Pot1;
lars123 1:f75a3567978c 29 } else {
lars123 1:f75a3567978c 30 x = 0;
lars123 1:f75a3567978c 31 }
lars123 1:f75a3567978c 32
lars123 1:f75a3567978c 33 if(Pot2<0.45f) {
lars123 1:f75a3567978c 34 y = Pot2-1;
lars123 1:f75a3567978c 35 } else if(Pot2>0.55f) {
lars123 1:f75a3567978c 36 y = Pot2;
lars123 1:f75a3567978c 37 } else {
lars123 1:f75a3567978c 38 y = 0;
lars123 1:f75a3567978c 39 }
lars123 1:f75a3567978c 40 pc.printf("x = %f, y = %f\r\n",x,y);
lars123 1:f75a3567978c 41 Motor1PWR = fabs(y);
lars123 1:f75a3567978c 42 Motor1DIR = y > 0.0f;
lars123 1:f75a3567978c 43 Motor2PWR = fabs(x);
lars123 1:f75a3567978c 44 Motor2DIR = x > 0.0f;
lars123 1:f75a3567978c 45 wait(0.1f);
lars123 0:80f93308a3cd 46 }
VRRangel 2:fa2cc8d8e100 47
VRRangel 2:fa2cc8d8e100 48
lars123 1:f75a3567978c 49 return(0);
VRRangel 2:fa2cc8d8e100 50 }
VRRangel 2:fa2cc8d8e100 51
VRRangel 2:fa2cc8d8e100 52 HIDScope scope(3);
VRRangel 2:fa2cc8d8e100 53 Ticker scopeTimer;
VRRangel 2:fa2cc8d8e100 54
VRRangel 2:fa2cc8d8e100 55 float biceps_ra = 0.0;
VRRangel 2:fa2cc8d8e100 56 float biceps_la = 0.0;
VRRangel 2:fa2cc8d8e100 57 float triceps_ra = 0.0;
VRRangel 2:fa2cc8d8e100 58
VRRangel 2:fa2cc8d8e100 59 void EMG_Read()
VRRangel 2:fa2cc8d8e100 60 {
VRRangel 2:fa2cc8d8e100 61 biceps_ra = emg0.read();
VRRangel 2:fa2cc8d8e100 62 pc.printf("%f ", biceps_ra);
VRRangel 2:fa2cc8d8e100 63 }
VRRangel 2:fa2cc8d8e100 64
VRRangel 2:fa2cc8d8e100 65 void sample()
VRRangel 2:fa2cc8d8e100 66 {
VRRangel 2:fa2cc8d8e100 67 scope.set(0, emg0.read() );
VRRangel 2:fa2cc8d8e100 68 scope.set(1, emg1.read() );
VRRangel 2:fa2cc8d8e100 69 scope.set(2, emg2.read() );
VRRangel 2:fa2cc8d8e100 70
VRRangel 2:fa2cc8d8e100 71 scope.send();
lars123 0:80f93308a3cd 72 }