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Dependencies: HIDScope MODSERIAL Motordriver QEI Servo mbed
Fork of
The_Claw_with_EMG_Control_PID
by 
Meike Froklage
Revision 10:31e4c3d71ee6, committed 2016-11-02
- Comitter:
- meikefrok
- Date:
- Wed Nov 02 15:54:32 2016 +0000
- Parent:
- 9:90227be52903
- Child:
- 11:97f824629da5
- Commit message:
- vetgoed
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Wed Nov 02 15:54:32 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/tomlankhorst/code/HIDScope/#188304906687
--- a/main.cpp Wed Nov 02 15:30:54 2016 +0000
+++ b/main.cpp Wed Nov 02 15:54:32 2016 +0000
@@ -4,6 +4,7 @@
#include "motordriver.h"
#include "QEI.h"
#include "Servo.h"
+#include "HIDScope.h"
//======== Serial Communication ================================================
MODSERIAL pc(USBTX,USBRX);
@@ -23,6 +24,8 @@
// servo
Servo servo(D9);
+HIDScope scope(2); //scope has two ports for the two EMG signals
+
//======== Miscellaneous =======================================================
// button
InterruptIn btn(SW2);
@@ -47,7 +50,8 @@
// ticker
Ticker tick_part; // ticker to switch parts
Ticker tick_part_arm;
-Ticker sampleTicker;
+Ticker sampleTicker;
+Ticker measureTicker;
//======== Variables ===========================================================
// counters
@@ -276,11 +280,21 @@
rhf_y = biquad_rhf(rno2_y, rhf_v1, rhf_v2, rhf_a1, rhf_a2, rhf_b0, rhf_b1, rhf_b2);
rrect_y = fabs(rhf_y);
rlf_y = biquad_rlf(rrect_y, rlf_v1, rlf_v2, rlf_a1, rlf_a2, rlf_b0, rlf_b1, rlf_b2)/0.2;
+ scope.set(1, llf_y);
+ scope.set(0, rlf_y);
+ scope.send();
}
//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
//======== Functions and main ==============================================================
+void Measure(){
+ // encoder
+ position_cart = (Encoder_Cart.getPulses()*factor_cart) ;
+ ain_cart = pot_cart.read();
+
+}
+
// Switch between Cart, Arm and Claw
@@ -342,10 +356,6 @@
led_g = not LedOn;
led_b = not LedOn;
- // encoder
- position_cart = (Encoder_Cart.getPulses()*factor_cart) ;
- ain_cart = pot_cart.read();
-
wait(0.1);
pc.baud(115200);
pc.printf("Distance in mm: %i\n", position_cart);
@@ -455,6 +465,7 @@
tick_part.attach(&SwitchCart,kTimeToggle);
tick_part_arm.attach(&SwitchArm,kTimeToggle);
sampleTicker.attach(scopeSend,0.01);
+ measureTicker.attach(Measure, 0.01);
btn_cart.fall(&SetValue2);
btn_arm.fall(&SetValue3);
--- a/mbed.bld Wed Nov 02 15:30:54 2016 +0000 +++ b/mbed.bld Wed Nov 02 15:54:32 2016 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/2e9cc70d1897 \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/aae6fcc7d9bb \ No newline at end of file