Diff: main.cpp

Revision:

10:31e4c3d71ee6

Parent:

9:90227be52903

Child:

11:97f824629da5

--- 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);