Peter Bartels / Mbed 2 deprecated K9_robotarm

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Dependencies:   Encoder HIDScope MMA8451Q MODSERIAL TextLCD mbed

main.cpp@0:77a3641d54d4, 2014-10-23 (annotated)

Committer:
phgbartels
Date:
Thu Oct 23 12:29:19 2014 +0000
Revision:
0:77a3641d54d4
K9-robotarm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
phgbartels 0:77a3641d54d4 1 //Script for Robotarm Quartile 9, Group 7
phgbartels 0:77a3641d54d4 2
phgbartels 0:77a3641d54d4 3 // including all libraries
phgbartels 0:77a3641d54d4 4 //#include "mbed.h" //Main functionality
phgbartels 0:77a3641d54d4 5 //#include "TextLCD.h" //LCD drivers
phgbartels 0:77a3641d54d4 6 //#include "encoder.h" //CPR motor counter
phgbartels 0:77a3641d54d4 7 //#include "rtos.h" //Real time operating system(onduidelijk wat deze library doet)
phgbartels 0:77a3641d54d4 8 //#include "MODSERIAL.h" //non-blocking serial communication (RTOS compatible) (onduidelijk wat deze library doet)
phgbartels 0:77a3641d54d4 9
phgbartels 0:77a3641d54d4 10 #include "mbed.h"
phgbartels 0:77a3641d54d4 11 #include "MMA8451Q.h"
phgbartels 0:77a3641d54d4 12
phgbartels 0:77a3641d54d4 13 #define MMA8451_I2C_ADDRESS (0x1d<<1)
phgbartels 0:77a3641d54d4 14 #include "MODSERIAL.h"
phgbartels 0:77a3641d54d4 15 #include "HIDScope.h"
phgbartels 0:77a3641d54d4 16 //using namespace std;
phgbartels 0:77a3641d54d4 17 // define MOTOR_POWER_LIMIT //Veiligheid
phgbartels 0:77a3641d54d4 18 // define POSITION_ARM_LIMIT //Veiligheid
phgbartels 0:77a3641d54d4 19 // define SPEED_ARM_LIMIT //Veiligheid
phgbartels 0:77a3641d54d4 20
phgbartels 0:77a3641d54d4 21 void accelerometer() {
phgbartels 0:77a3641d54d4 22 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
phgbartels 0:77a3641d54d4 23 PwmOut rled(LED_RED);
phgbartels 0:77a3641d54d4 24 PwmOut gled(LED_GREEN);
phgbartels 0:77a3641d54d4 25 PwmOut bled(LED_BLUE);
phgbartels 0:77a3641d54d4 26
phgbartels 0:77a3641d54d4 27 while (true) {
phgbartels 0:77a3641d54d4 28 rled = 1.0 - abs(acc.getAccX());
phgbartels 0:77a3641d54d4 29 gled = 1.0 - abs(acc.getAccY());
phgbartels 0:77a3641d54d4 30 bled = 1.0 - abs(acc.getAccZ());
phgbartels 0:77a3641d54d4 31 wait(0.1);
phgbartels 0:77a3641d54d4 32 }
phgbartels 0:77a3641d54d4 33 }
phgbartels 0:77a3641d54d4 34
phgbartels 0:77a3641d54d4 35
phgbartels 0:77a3641d54d4 36 //Define objects
phgbartels 0:77a3641d54d4 37 AnalogIn emg0(PTB1); //Analog input
phgbartels 0:77a3641d54d4 38 PwmOut red(LED_RED); //PWM output
phgbartels 0:77a3641d54d4 39 Ticker log_timer;
phgbartels 0:77a3641d54d4 40 MODSERIAL pc(USBTX,USBRX);
phgbartels 0:77a3641d54d4 41 HIDScope scope(2);
phgbartels 0:77a3641d54d4 42
phgbartels 0:77a3641d54d4 43 /** Looper function
phgbartels 0:77a3641d54d4 44 * functions used for Ticker and Timeout should be of type void <name>(void)
phgbartels 0:77a3641d54d4 45 * i.e. no input arguments, no output arguments.
phgbartels 0:77a3641d54d4 46 * if you want to change a variable that you use in other places (for example in main)
phgbartels 0:77a3641d54d4 47 * you will have to make that variable global in order to be able to reach it both from
phgbartels 0:77a3641d54d4 48 * the function called at interrupt time, and in the main function.
phgbartels 0:77a3641d54d4 49 * To make a variable global, define it under the includes.
phgbartels 0:77a3641d54d4 50 * variables that are changed in the interrupt routine (written to) should be made
phgbartels 0:77a3641d54d4 51 * 'volatile' to let the compiler know that those values may change outside the current context.
phgbartels 0:77a3641d54d4 52 * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
phgbartels 0:77a3641d54d4 53 * in the example below, the variable is not re-used in the main function, and is thus declared
phgbartels 0:77a3641d54d4 54 * local in the looper function only.
phgbartels 0:77a3641d54d4 55 **/
phgbartels 0:77a3641d54d4 56 void looper()
phgbartels 0:77a3641d54d4 57 {
phgbartels 0:77a3641d54d4 58 /*variable to store value in*/
phgbartels 0:77a3641d54d4 59 uint16_t emg_value;
phgbartels 0:77a3641d54d4 60 /*put raw emg value both in red and in emg_value*/
phgbartels 0:77a3641d54d4 61 red.write(emg0.read()); // read float value (0..1 = 0..3.3V)
phgbartels 0:77a3641d54d4 62 emg_value = emg0.read_u16(); // read direct ADC result (0..4096 = 0..3.3V)
phgbartels 0:77a3641d54d4 63 /*send value to PC. Line below is used to prevent buffer overrun */
phgbartels 0:77a3641d54d4 64 if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
phgbartels 0:77a3641d54d4 65 pc.printf("%u\n",emg_value);
phgbartels 0:77a3641d54d4 66 scope.set(0,emg_value);
phgbartels 0:77a3641d54d4 67 scope.set(1,red.read());
phgbartels 0:77a3641d54d4 68 scope.send();
phgbartels 0:77a3641d54d4 69 /**When not using the LED, the above could also have been done this way:
phgbartels 0:77a3641d54d4 70 * pc.printf("%u\n", emg0.read_u16());
phgbartels 0:77a3641d54d4 71 */
phgbartels 0:77a3641d54d4 72 }
phgbartels 0:77a3641d54d4 73
phgbartels 0:77a3641d54d4 74 void HIDscope()
phgbartels 0:77a3641d54d4 75 {
phgbartels 0:77a3641d54d4 76 /*setup baudrate. Choose the same in your program on PC side*/
phgbartels 0:77a3641d54d4 77 pc.baud(115200);
phgbartels 0:77a3641d54d4 78 /*set the period for the PWM to the red LED*/
phgbartels 0:77a3641d54d4 79 red.period_ms(2);
phgbartels 0:77a3641d54d4 80 /**Here you attach the 'void looper(void)' function to the Ticker object
phgbartels 0:77a3641d54d4 81 * The looper() function will be called every 0.01 seconds.
phgbartels 0:77a3641d54d4 82 * Please mind that the parentheses after looper are omitted when using attach.
phgbartels 0:77a3641d54d4 83 */
phgbartels 0:77a3641d54d4 84 log_timer.attach(looper, 0.005);
phgbartels 0:77a3641d54d4 85 while(1) //Loop
phgbartels 0:77a3641d54d4 86 {
phgbartels 0:77a3641d54d4 87 /*Empty!*/
phgbartels 0:77a3641d54d4 88 /*Everything is handled by the interrupt routine now!*/
phgbartels 0:77a3641d54d4 89 }
phgbartels 0:77a3641d54d4 90 }
phgbartels 0:77a3641d54d4 91 int main()
phgbartels 0:77a3641d54d4 92 {
phgbartels 0:77a3641d54d4 93 HIDscope();
phgbartels 0:77a3641d54d4 94 //accelerometer();
phgbartels 0:77a3641d54d4 95
phgbartels 0:77a3641d54d4 96 }
phgbartels 0:77a3641d54d4 97
phgbartels 0:77a3641d54d4 98
phgbartels 0:77a3641d54d4 99 //Nulpositie arm, ook na elke slag (terugkoppeling gebruiker ledje (groen/rood))
phgbartels 0:77a3641d54d4 100 //Nulmeting EMG, éénmalig bij opstarten (terugkoppeling gebruiker ledje (groen/rood))
phgbartels 0:77a3641d54d4 101 // Filteren --> werkelijke schaling (referentie)
phgbartels 0:77a3641d54d4 102 //Meten EMG 2x(kiezen vlakken hoogte/breedte)
phgbartels 0:77a3641d54d4 103 // RT - Filteren en Verwerking
phgbartels 0:77a3641d54d4 104 // RT - vergelijking tov van referentie
phgbartels 0:77a3641d54d4 105 // RT - terugkoppeling gebruiker via 3 gekleurde LEDjes (LEDjes aan)
phgbartels 0:77a3641d54d4 106 // Gebruiker akkoord geven nav LEDjes (LEDjes knipperen)
phgbartels 0:77a3641d54d4 107 //Akkoord doorsturen motor 2x
phgbartels 0:77a3641d54d4 108 // PWM
phgbartels 0:77a3641d54d4 109 // Direction
phgbartels 0:77a3641d54d4 110 //RT - Regelaar
phgbartels 0:77a3641d54d4 111 // RT - Terugkoppeling PWM (Encoder)
phgbartels 0:77a3641d54d4 112 // RT - Terugkoppeling Direction (Encoder)
phgbartels 0:77a3641d54d4 113 //Terug naar nulpositie arm
phgbartels 0:77a3641d54d4 114 // Vanaf hier mainscript weer doorlopen, behalve nulmeting EMG