![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
sdfa
Dependencies: AnglePosition2 Encoder FastPWM MODSERIAL Movement PIDController Servo SignalNumber2 biquadFilter mbed
Fork of kinematics_controlv2 by
main.cpp@4:e15fc329b88b, 2017-10-31 (annotated)
- Committer:
- peterknoben
- Date:
- Tue Oct 31 14:35:52 2017 +0000
- Revision:
- 4:e15fc329b88b
- Parent:
- 3:c768a37620c9
- Child:
- 5:b4abbd3c513c
sdfasdf
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
peterknoben | 3:c768a37620c9 | 1 | #include "MODSERIAL.h" |
peterknoben | 1:406519ff0f17 | 2 | #include "AnglePosition.h" |
peterknoben | 1:406519ff0f17 | 3 | #include "PIDControl.h" |
peterknoben | 3:c768a37620c9 | 4 | #include "BiQuad.h" |
peterknoben | 3:c768a37620c9 | 5 | #include "signalnumber.h" |
peterknoben | 4:e15fc329b88b | 6 | #include "Movement.h" |
DBerendsen | 0:5f4bc2d63814 | 7 | #include "mbed.h" |
DBerendsen | 0:5f4bc2d63814 | 8 | #include "encoder.h" |
DBerendsen | 0:5f4bc2d63814 | 9 | #include "Servo.h" |
peterknoben | 1:406519ff0f17 | 10 | #include "FastPWM.h" |
DBerendsen | 0:5f4bc2d63814 | 11 | |
peterknoben | 4:e15fc329b88b | 12 | //This code is for Mbed 2 |
DBerendsen | 0:5f4bc2d63814 | 13 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 14 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 15 | //------------------------------------------------------------------------------ |
peterknoben | 3:c768a37620c9 | 16 | MODSERIAL pc(USBTX, USBRX); //Establish connection |
peterknoben | 1:406519ff0f17 | 17 | Ticker MyControllerTicker1; //Declare Ticker Motor 1 |
peterknoben | 1:406519ff0f17 | 18 | Ticker MyControllerTicker2; //Declare Ticker Motor 2 |
peterknoben | 4:e15fc329b88b | 19 | Ticker MySampleTicker; //Declare Ticker HIDscope |
peterknoben | 3:c768a37620c9 | 20 | Ticker MyTickerMean; //Declare Ticker Signalprocessing |
peterknoben | 3:c768a37620c9 | 21 | |
peterknoben | 4:e15fc329b88b | 22 | InterruptIn But2(PTA4); //Declare button for min calibration |
peterknoben | 4:e15fc329b88b | 23 | InterruptIn But1(PTC6); //Declare button for max calibration |
peterknoben | 3:c768a37620c9 | 24 | |
peterknoben | 1:406519ff0f17 | 25 | AnglePosition Angle; //Declare Angle calculater |
peterknoben | 1:406519ff0f17 | 26 | PIDControl PID; //Declare PID Controller |
peterknoben | 4:e15fc329b88b | 27 | SignalNumber SignalLeft; //Declare Signal determiner for Left arm |
peterknoben | 4:e15fc329b88b | 28 | SignalNumber SignalRight; //Declare Signal determiner for Right arm |
peterknoben | 4:e15fc329b88b | 29 | Movement MoveLeft; //Declare Movement determiner |
peterknoben | 4:e15fc329b88b | 30 | Movement MoveRight; |
peterknoben | 3:c768a37620c9 | 31 | |
peterknoben | 4:e15fc329b88b | 32 | AnalogIn emg0( A0 ); //Set Inputpin for EMG 0 signal Left |
peterknoben | 4:e15fc329b88b | 33 | AnalogIn emg1( A1 ); //Set Inputpin for EMG 1 signal Left |
peterknoben | 4:e15fc329b88b | 34 | AnalogIn emg2( A2 ); //Set Inputpin for EMG 2 signal Right |
peterknoben | 4:e15fc329b88b | 35 | AnalogIn emg3( A3 ); //Set Inputpin for EMG 3 signal Right |
peterknoben | 4:e15fc329b88b | 36 | AnalogIn emg4( A4 ); //Set Inputpin for EMG 4 signal Mode |
peterknoben | 4:e15fc329b88b | 37 | AnalogIn emg5( A5 ); //Set Inputpin for EMG 5 signal Mode |
peterknoben | 4:e15fc329b88b | 38 | DigitalOut M( D9 ); //Set digital in for mode selection |
peterknoben | 4:e15fc329b88b | 39 | DigitalOut Led_red(LED_RED); |
peterknoben | 4:e15fc329b88b | 40 | DigitalOut Led_green(LED_GREEN); |
peterknoben | 4:e15fc329b88b | 41 | DigitalOut Led_blue(LED_BLUE); |
peterknoben | 1:406519ff0f17 | 42 | |
peterknoben | 1:406519ff0f17 | 43 | const float CONTROLLER_TS = 0.02; //Motor frequency |
peterknoben | 4:e15fc329b88b | 44 | const float MEAN_TS = 0.002; //Filter frequency |
peterknoben | 4:e15fc329b88b | 45 | |
peterknoben | 4:e15fc329b88b | 46 | //Testing methods |
peterknoben | 4:e15fc329b88b | 47 | /* |
peterknoben | 4:e15fc329b88b | 48 | AnalogIn potmeter1(A5); |
peterknoben | 4:e15fc329b88b | 49 | AnalogIn potmeter5(A3); //Set Inputpin for x axis |
peterknoben | 4:e15fc329b88b | 50 | AnalogIn potmeter2(A4); //Set Inputpin for y axis |
peterknoben | 4:e15fc329b88b | 51 | */ |
peterknoben | 4:e15fc329b88b | 52 | |
peterknoben | 4:e15fc329b88b | 53 | //------------------------------------------------------------------------------ |
peterknoben | 4:e15fc329b88b | 54 | //---------------------------Mode selection------------------------------------- |
peterknoben | 4:e15fc329b88b | 55 | //------------------------------------------------------------------------------ |
peterknoben | 4:e15fc329b88b | 56 | // From the other Mbed there will be send a signal to determine in which mode the system is in |
peterknoben | 4:e15fc329b88b | 57 | int mode =0; |
peterknoben | 4:e15fc329b88b | 58 | |
peterknoben | 4:e15fc329b88b | 59 | //Recieving mode selection from Mbed 1 |
peterknoben | 4:e15fc329b88b | 60 | void mode_selection(){ |
peterknoben | 4:e15fc329b88b | 61 | if(mode ==6){ |
peterknoben | 4:e15fc329b88b | 62 | mode=1; |
peterknoben | 4:e15fc329b88b | 63 | } |
peterknoben | 4:e15fc329b88b | 64 | else{ |
peterknoben | 4:e15fc329b88b | 65 | mode++; |
peterknoben | 4:e15fc329b88b | 66 | } |
peterknoben | 4:e15fc329b88b | 67 | pc.printf("mode = %i\r\n", mode); |
peterknoben | 4:e15fc329b88b | 68 | } |
peterknoben | 4:e15fc329b88b | 69 | |
peterknoben | 3:c768a37620c9 | 70 | |
peterknoben | 3:c768a37620c9 | 71 | |
peterknoben | 3:c768a37620c9 | 72 | //------------------------------------------------------------------------------ |
peterknoben | 3:c768a37620c9 | 73 | //-----------------------------EMG Signals-------------------------------------- |
peterknoben | 3:c768a37620c9 | 74 | //------------------------------------------------------------------------------ |
peterknoben | 4:e15fc329b88b | 75 | // Filtering the signal and getting the usefull information out of it. |
peterknoben | 4:e15fc329b88b | 76 | const int n = 400; //Window size for the mean value, also adjust in signalnumber.cpp |
peterknoben | 3:c768a37620c9 | 77 | const int action =50; //Number of same mean values to change the signalnumber |
peterknoben | 4:e15fc329b88b | 78 | const int m = 300; //Number of samples for calibration |
peterknoben | 4:e15fc329b88b | 79 | int CaseLeft; //Strength of the muscles Left |
peterknoben | 4:e15fc329b88b | 80 | int CaseRight; //Strength of the muscles Right |
peterknoben | 4:e15fc329b88b | 81 | float emg_offsetLeft; //Calibtarion value to get zero |
peterknoben | 4:e15fc329b88b | 82 | float emg_offsetmaxLeft; //Calibration value to scale to 1 |
peterknoben | 4:e15fc329b88b | 83 | float emg_offsetRight; //Calibtarion value to get zero |
peterknoben | 4:e15fc329b88b | 84 | float emg_offsetmaxRight; //Calibration value to scale to 1 |
peterknoben | 4:e15fc329b88b | 85 | float meanxL; //Temporary variable for mean value |
peterknoben | 4:e15fc329b88b | 86 | float meanxR; |
peterknoben | 4:e15fc329b88b | 87 | float kLeft; //Scaling factor mean value |
peterknoben | 4:e15fc329b88b | 88 | float kRight; //Scaling factor mean value |
peterknoben | 3:c768a37620c9 | 89 | |
peterknoben | 4:e15fc329b88b | 90 | //BiQuad filter variables |
peterknoben | 3:c768a37620c9 | 91 | BiQuad LP1( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad |
peterknoben | 3:c768a37620c9 | 92 | BiQuad HP2( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad |
peterknoben | 3:c768a37620c9 | 93 | BiQuad NO3( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad |
peterknoben | 3:c768a37620c9 | 94 | BiQuadChain BiQuad_filter; |
peterknoben | 3:c768a37620c9 | 95 | |
peterknoben | 4:e15fc329b88b | 96 | void setled(){ |
peterknoben | 4:e15fc329b88b | 97 | Led_red=0; |
peterknoben | 4:e15fc329b88b | 98 | Led_green=1; |
peterknoben | 4:e15fc329b88b | 99 | Led_blue=1; |
peterknoben | 3:c768a37620c9 | 100 | } |
peterknoben | 3:c768a37620c9 | 101 | |
peterknoben | 4:e15fc329b88b | 102 | // Calibration function |
peterknoben | 4:e15fc329b88b | 103 | void mincalibration(){ |
peterknoben | 4:e15fc329b88b | 104 | pc.printf("start cali \r\n"); |
peterknoben | 4:e15fc329b88b | 105 | emg_offsetLeft = SignalLeft.calibrate(m,((emg0+emg1)/2)); |
peterknoben | 4:e15fc329b88b | 106 | emg_offsetRight = SignalRight.calibrate(m,((emg2+emg3)/2)); |
peterknoben | 4:e15fc329b88b | 107 | // pc.printf("calibrated, offset = %f \r\n", emg_offset); |
peterknoben | 4:e15fc329b88b | 108 | Led_green=0; |
peterknoben | 4:e15fc329b88b | 109 | Led_red=0; |
peterknoben | 3:c768a37620c9 | 110 | } |
peterknoben | 3:c768a37620c9 | 111 | |
peterknoben | 4:e15fc329b88b | 112 | void maxcalibration(){ |
peterknoben | 4:e15fc329b88b | 113 | pc.printf("start cali max\r\n"); |
peterknoben | 4:e15fc329b88b | 114 | emg_offsetmaxLeft = SignalLeft.calibrate(m,((emg0+emg1)/2))-emg_offsetLeft; |
peterknoben | 4:e15fc329b88b | 115 | emg_offsetmaxRight = SignalRight.calibrate(m,((emg2+emg3)/2))-emg_offsetRight; |
peterknoben | 4:e15fc329b88b | 116 | kLeft = 1/emg_offsetmaxLeft; |
peterknoben | 4:e15fc329b88b | 117 | kRight = 1/emg_offsetmaxRight; |
peterknoben | 4:e15fc329b88b | 118 | // pc.printf("calibrated, offset = %f scale = %f \r\n",emg_offsetmax, k); |
peterknoben | 4:e15fc329b88b | 119 | Led_red=1; |
peterknoben | 4:e15fc329b88b | 120 | } |
peterknoben | 4:e15fc329b88b | 121 | |
peterknoben | 4:e15fc329b88b | 122 | //Filter de EMG signals with a BiQuad filter |
peterknoben | 3:c768a37620c9 | 123 | float Filter(float input0, float input1, float offset){ |
peterknoben | 4:e15fc329b88b | 124 | float Signal=input0-offset; //((input0+input1)/2) |
peterknoben | 3:c768a37620c9 | 125 | float Signal_filtered= BiQuad_filter.step(Signal); |
peterknoben | 3:c768a37620c9 | 126 | return Signal_filtered; |
peterknoben | 3:c768a37620c9 | 127 | } |
peterknoben | 3:c768a37620c9 | 128 | |
peterknoben | 4:e15fc329b88b | 129 | |
peterknoben | 4:e15fc329b88b | 130 | //Determine the signalnumbers (i.e. speed) based on the EMG signals |
peterknoben | 3:c768a37620c9 | 131 | void signalnumber(){ |
peterknoben | 4:e15fc329b88b | 132 | //Left |
peterknoben | 4:e15fc329b88b | 133 | float Signal_filteredLeft = fabs(Filter(emg0, emg1, emg_offsetLeft)); |
peterknoben | 4:e15fc329b88b | 134 | meanxL = SignalLeft.getmean(n, Signal_filteredLeft)*kLeft; //Testing variable |
peterknoben | 4:e15fc329b88b | 135 | CaseLeft = SignalLeft.getnumber(n, action, Signal_filteredLeft, kLeft); |
peterknoben | 4:e15fc329b88b | 136 | pc.printf("m %f C %i \r\n",meanxL, CaseLeft); //Testing print |
peterknoben | 4:e15fc329b88b | 137 | //Right |
peterknoben | 4:e15fc329b88b | 138 | float Signal_filteredRight = fabs(Filter(emg2, emg3, emg_offsetRight)); |
peterknoben | 4:e15fc329b88b | 139 | meanxR = SignalRight.getmean(n, Signal_filteredRight)*kRight; //Testing variable |
peterknoben | 4:e15fc329b88b | 140 | CaseRight = SignalRight.getnumber(n, action, Signal_filteredRight, kRight); |
peterknoben | 4:e15fc329b88b | 141 | pc.printf("m %f C %i \r\n",meanxR, CaseRight); //Testing print |
peterknoben | 3:c768a37620c9 | 142 | } |
peterknoben | 3:c768a37620c9 | 143 | |
peterknoben | 1:406519ff0f17 | 144 | //------------------------------------------------------------------------------ |
peterknoben | 1:406519ff0f17 | 145 | //-------------------------Kinematic Constants---------------------------------- |
peterknoben | 1:406519ff0f17 | 146 | //------------------------------------------------------------------------------ |
peterknoben | 4:e15fc329b88b | 147 | const double RAD_PER_PULSE = 0.00074799825*2; //Number of radials per pulse from the encoder |
peterknoben | 4:e15fc329b88b | 148 | const double PI = 3.14159265358979323846; //Pi |
peterknoben | 4:e15fc329b88b | 149 | const float max_rangex = 500.0; //Max range on the x axis |
peterknoben | 4:e15fc329b88b | 150 | const float max_rangey = 300.0; //Max range on the y axis |
peterknoben | 4:e15fc329b88b | 151 | const float x_offset = 156.15; //Start x position from the shoulder joint |
peterknoben | 4:e15fc329b88b | 152 | const float y_offset = -76.97; //Start y position from the shoulder joint |
peterknoben | 4:e15fc329b88b | 153 | const float alpha_offset = -(21.52/180)*PI; //Begin angle Alpha at zero zero |
peterknoben | 4:e15fc329b88b | 154 | const float beta_offset = 0.0; //Begin angle Beta at zero zero |
peterknoben | 4:e15fc329b88b | 155 | const float L1 = 450.0; //Length of the first body |
peterknoben | 4:e15fc329b88b | 156 | const float L2 = 490.0; //Length of the second body |
DBerendsen | 0:5f4bc2d63814 | 157 | |
DBerendsen | 0:5f4bc2d63814 | 158 | |
DBerendsen | 0:5f4bc2d63814 | 159 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 160 | //--------------------------------Motor1---------------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 161 | //------------------------------------------------------------------------------ |
peterknoben | 1:406519ff0f17 | 162 | FastPWM motor1(D5); |
DBerendsen | 0:5f4bc2d63814 | 163 | DigitalOut motor1DirectionPin(D4); |
DBerendsen | 0:5f4bc2d63814 | 164 | DigitalIn ENC2A(D12); |
DBerendsen | 0:5f4bc2d63814 | 165 | DigitalIn ENC2B(D13); |
DBerendsen | 0:5f4bc2d63814 | 166 | Encoder encoder1(D13,D12); |
peterknoben | 1:406519ff0f17 | 167 | const float MOTOR1_KP = 40.0; |
peterknoben | 1:406519ff0f17 | 168 | const float MOTOR1_KI = 0.0; |
peterknoben | 1:406519ff0f17 | 169 | const float MOTOR1_KD = 15.0; |
peterknoben | 1:406519ff0f17 | 170 | double M1_v1 = 0.0; |
peterknoben | 1:406519ff0f17 | 171 | double M1_v2 = 0.0; |
DBerendsen | 0:5f4bc2d63814 | 172 | const double motor1_gain = 2*PI; |
peterknoben | 1:406519ff0f17 | 173 | const float M1_N = 0.5; |
DBerendsen | 0:5f4bc2d63814 | 174 | |
DBerendsen | 0:5f4bc2d63814 | 175 | |
DBerendsen | 0:5f4bc2d63814 | 176 | void motor1_control(){ |
peterknoben | 4:e15fc329b88b | 177 | float *position_math; |
peterknoben | 4:e15fc329b88b | 178 | position_math[0]= MoveLeft.getposition(CaseLeft, mode, 0, max_rangex); |
peterknoben | 4:e15fc329b88b | 179 | position_math[1]= MoveRight.getposition(CaseRight, mode, 1, max_rangey); |
peterknoben | 4:e15fc329b88b | 180 | float reference_alpha = Angle.getbeta(max_rangex, max_rangey, x_offset, y_offset, beta_offset, L1, L2, position_math[0], position_math[1]); |
DBerendsen | 0:5f4bc2d63814 | 181 | float position_alpha = RAD_PER_PULSE * encoder1.getPosition(); |
DBerendsen | 0:5f4bc2d63814 | 182 | float error_alpha = reference_alpha-position_alpha; |
peterknoben | 1:406519ff0f17 | 183 | float magnitude1 = PID.get(error_alpha, MOTOR1_KP, MOTOR1_KI, MOTOR1_KD, CONTROLLER_TS, M1_N, M1_v1, M1_v2) / motor1_gain; |
DBerendsen | 0:5f4bc2d63814 | 184 | motor1 = fabs(magnitude1); |
peterknoben | 1:406519ff0f17 | 185 | // Determine Motor Direction |
peterknoben | 1:406519ff0f17 | 186 | if (magnitude1 < 0){ |
DBerendsen | 0:5f4bc2d63814 | 187 | motor1DirectionPin = 1; |
DBerendsen | 0:5f4bc2d63814 | 188 | } |
DBerendsen | 0:5f4bc2d63814 | 189 | else{ |
DBerendsen | 0:5f4bc2d63814 | 190 | motor1DirectionPin = 0; |
DBerendsen | 0:5f4bc2d63814 | 191 | } |
DBerendsen | 0:5f4bc2d63814 | 192 | } |
DBerendsen | 0:5f4bc2d63814 | 193 | |
DBerendsen | 0:5f4bc2d63814 | 194 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 195 | //--------------------------------Motor2---------------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 196 | //------------------------------------------------------------------------------ |
peterknoben | 1:406519ff0f17 | 197 | FastPWM motor2(D6); |
DBerendsen | 0:5f4bc2d63814 | 198 | DigitalOut motor2DirectionPin(D7); |
DBerendsen | 0:5f4bc2d63814 | 199 | DigitalIn ENC1A(D10); |
DBerendsen | 0:5f4bc2d63814 | 200 | DigitalIn ENC1B(D11); |
DBerendsen | 0:5f4bc2d63814 | 201 | Encoder encoder2(D10,D11); |
peterknoben | 1:406519ff0f17 | 202 | const float MOTOR2_KP = 60.0; |
peterknoben | 1:406519ff0f17 | 203 | const float MOTOR2_KI = 0.0; |
peterknoben | 1:406519ff0f17 | 204 | const float MOTOR2_KD = 15.0; |
DBerendsen | 0:5f4bc2d63814 | 205 | double m2_err_int = 0; |
DBerendsen | 0:5f4bc2d63814 | 206 | const double motor2_gain = 2*PI; |
peterknoben | 1:406519ff0f17 | 207 | const float M2_N = 0.5; |
peterknoben | 1:406519ff0f17 | 208 | double M2_v1 = 0.0; |
peterknoben | 1:406519ff0f17 | 209 | double M2_v2 = 0.0; |
DBerendsen | 0:5f4bc2d63814 | 210 | |
DBerendsen | 0:5f4bc2d63814 | 211 | |
DBerendsen | 0:5f4bc2d63814 | 212 | void motor2_control(){ |
peterknoben | 4:e15fc329b88b | 213 | float *position_math; |
peterknoben | 4:e15fc329b88b | 214 | position_math[0]= MoveLeft.getposition(CaseLeft, mode, 0, max_rangex); |
peterknoben | 4:e15fc329b88b | 215 | position_math[1]= MoveRight.getposition(CaseRight, mode, 1, max_rangey); |
peterknoben | 4:e15fc329b88b | 216 | float reference_beta = Angle.getalpha(max_rangex, max_rangey, x_offset, y_offset, alpha_offset, L1, L2, position_math[0], position_math[1]); |
DBerendsen | 0:5f4bc2d63814 | 217 | float position_beta = RAD_PER_PULSE * -encoder2.getPosition(); |
DBerendsen | 0:5f4bc2d63814 | 218 | float error_beta = reference_beta-position_beta; |
peterknoben | 1:406519ff0f17 | 219 | float magnitude2 = PID.get(error_beta, MOTOR2_KP, MOTOR2_KI, MOTOR2_KD, CONTROLLER_TS, M2_N, M1_v1, M1_v2) / motor2_gain; |
DBerendsen | 0:5f4bc2d63814 | 220 | motor2 = fabs(magnitude2); |
peterknoben | 1:406519ff0f17 | 221 | //Determine Motor Direction |
DBerendsen | 0:5f4bc2d63814 | 222 | if (magnitude2 > 0){ |
DBerendsen | 0:5f4bc2d63814 | 223 | motor2DirectionPin = 1; |
DBerendsen | 0:5f4bc2d63814 | 224 | } |
DBerendsen | 0:5f4bc2d63814 | 225 | else{ |
DBerendsen | 0:5f4bc2d63814 | 226 | motor2DirectionPin = 0; |
DBerendsen | 0:5f4bc2d63814 | 227 | } |
DBerendsen | 0:5f4bc2d63814 | 228 | } |
DBerendsen | 0:5f4bc2d63814 | 229 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 230 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 231 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 232 | |
DBerendsen | 0:5f4bc2d63814 | 233 | int main(){ |
DBerendsen | 0:5f4bc2d63814 | 234 | pc.baud(115200); |
peterknoben | 4:e15fc329b88b | 235 | setled(); |
peterknoben | 3:c768a37620c9 | 236 | BiQuad_filter.add( &LP1 ).add( &HP2 ).add( &NO3); |
peterknoben | 4:e15fc329b88b | 237 | But2.rise(&mincalibration); |
peterknoben | 4:e15fc329b88b | 238 | But1.rise(&maxcalibration); |
peterknoben | 4:e15fc329b88b | 239 | // M.rise(&mode_selection); |
peterknoben | 1:406519ff0f17 | 240 | motor1.period(0.0001f); |
peterknoben | 1:406519ff0f17 | 241 | motor2.period(0.0001f); |
DBerendsen | 0:5f4bc2d63814 | 242 | MyControllerTicker1.attach(&motor1_control, CONTROLLER_TS); |
DBerendsen | 0:5f4bc2d63814 | 243 | MyControllerTicker2.attach(&motor2_control, CONTROLLER_TS); |
peterknoben | 3:c768a37620c9 | 244 | MyTickerMean.attach(&signalnumber, MEAN_TS); |
peterknoben | 4:e15fc329b88b | 245 | |
DBerendsen | 0:5f4bc2d63814 | 246 | while(1) {} |
peterknoben | 1:406519ff0f17 | 247 | } |
peterknoben | 1:406519ff0f17 | 248 | |
peterknoben | 1:406519ff0f17 | 249 |