Revision 4:fe0b7e7b1de9, committed 2018-10-03

Comitter:

michelvos12

Date:

Wed Oct 03 19:21:32 2018 +0000

Parent:

3:f00ddd66fe39

Commit message:

included emg to milestone 1, but motor not compleatly working

Changed in this revision

diff -r f00ddd66fe39 -r fe0b7e7b1de9 main.cpp
--- a/main.cpp	Fri Sep 28 11:33:57 2018 +0000
+++ b/main.cpp	Wed Oct 03 19:21:32 2018 +0000
@@ -1,59 +1,96 @@
+//______Libaries Included______//
 #include "mbed.h"
-#include "MODSERIAL.h"
-#include "HIDScope.h"
+#include "MODSERIAL.h"  //show stuf on screen
+#include "HIDScope.h"   //visualise the analog potmeter signal
+
+//______In/out puts____________//
+PwmOut pwmpin(D6);              //motor_1 pwn control = (motor speed)
+//PwmOut pwmpin2(D5);              //motor_2 pwn control = (motor speed)
+DigitalOut directionpin(D7);    //motor_1 (direction control)
+//DigitalOut directionpin2(D4);    //motor_2 (direction control)  
 
-PwmOut pwmpin(D6);
-PwmOut led(D10);
-AnalogIn potmeter(A5);
-DigitalIn button(D2);
-DigitalOut directionpin(D7);
-MODSERIAL pc(USBTX, USBRX);
+AnalogIn    emg0( A0 );         //emg sensor A0
+AnalogIn    emg1( A1 );         //emg sensor A1
+AnalogIn    emg2( A2 );         //emg sensor A3
+        
+AnalogIn potmeter(A5);          //potmeter pin (A5) (Control speed and direction)
+//AnalogIn potmeter2(A4);         //potmeter pin (A4) (Control speed and direction)
 
-HIDScope scope(2);
-Ticker ticker;
-enum states{forward, stop, backwards};
+PwmOut led(D10);                //led pot1
+//PwnOut led2(D9);                 //led pot2
+MODSERIAL pc(USBTX, USBRX);     //show stuf on screen
+//DigitalIn button(D2);           //not yet used 
+
+
+//______Global stuf____________//
+//HIDScope scope(2);                      //use 2 channels
+Ticker ticker;                          //moter ticker
+enum states{forward, stop, backwards};  //motor_1 states
 states CurrentState;
 
+//______For EMG________________//
+Ticker      sample_timer;       //emg ticker
+HIDScope    scope( 6 );         //6 channels in hidscope
+DigitalOut  led_emg(LED1);
+
+//______Global variables_______//
 volatile float x;
 volatile float y;
 volatile float scaled_potmeter;
 volatile float c;
 
-void sendData() {
-    scope.set(0,potmeter); //set the potmeter data to the first scope
-    scope.set(1,x);
-    scope.send(); //send the datapoints of the 2 motors
+//______Function: Hidscope_emg__//
+void sample()
+{
+    /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */
+    scope.set(0, emg0.read() );
+    scope.set(1, emg1.read() );
+    scope.set(2, emg2.read() );
+
+    scope.send();
+    /* To indicate that the function is working, the LED is toggled */
+    led_emg = !led_emg;
 }
 
+void sendData() {
+    scope.set(3,potmeter);  //set the potmeter data to the 3th scope
+    scope.set(4,x);
+    scope.send();           //send the datapoints of the potmeter
+}
+
+//______Funcion: Motor state + Makes moter do stuf___//
 void Proces_states(void){
     switch (CurrentState){       
-        case forward:
+        case forward:                   //Funcion: Forward
             directionpin = 1;
-            pwmpin.write(scaled_potmeter); //pwm of motor is potmeter value
-            led.write(scaled_potmeter); //led is potmeter value  
+            pwmpin.write(scaled_potmeter);  //pwm of motor is potmeter value
+            led.write(scaled_potmeter);     //led is potmeter value  
             break;
-        case stop:
-            // do nothing
+        case stop:                      //Funcion: Stop
+                                        // do nothing
             break;
-        case backwards:
+        case backwards:                 //Function: Backwards
             directionpin = 0;
             c = scaled_potmeter*-1;
-            pwmpin.write(c); //pwm of motor is potmeter value
-            led.write(c); //led is potmeter value 
+            pwmpin.write(c);            //pwm of motor is potmeter value
+            led.write(c);               //led is potmeter value 
             break; 
     }            
 }
 
+//______Funcion: Main____________//
 int main() {
-    x = 1; //placeholder value for potmeter of second motor
+    x = 1;                              //placeholder value for potmeter of second motor
     
-    pwmpin.period_us(60); //60 microseconds PWM period, 16.7 kHz
-    led.period_us(60); //60 microseconds
-    ticker.attach(&sendData, 0.005f); //send data to hidscope at 200Hz
+    pwmpin.period_us(60);               //60 microseconds PWM period, 16.7 kHz
+    led.period_us(60);                  //60 microseconds
+    ticker.attach(&sendData, 0.005f);   //send data to hidscope 1/0.005 = 200Hz
 
+//______Scale potmeter___________//
     while (true) {  
         scaled_potmeter = (potmeter*2)-1; //scale potmeter from 0-1 to (-1 to 1)
 
+//______Readout potmeter + giva and call to Proces_state______//
         if (scaled_potmeter > 0) {
             CurrentState = forward;
             pc.printf("state = forward\r\n");
@@ -69,8 +106,18 @@
             pc.printf("state = backwards\r\n");
             Proces_states(); 
         }   
+
         wait(0.2f);
+        
+/**Attach the 'sample' function to the timer 'sample_timer'.
+* this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
+*/
+    sample_timer.attach(&sample, 0.002);
+
+    /*empty loop, sample() is executed periodically*/
+    while(1) {}
     }
+
 }