Revision 0:77a3641d54d4, committed 2014-10-23

Comitter:

phgbartels

Date:

Thu Oct 23 12:29:19 2014 +0000

Commit message:

K9-robotarm

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.lib	Thu Oct 23 12:29:19 2014 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/vsluiter/code/Encoder/#18b000b443af

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HIDScope.lib	Thu Oct 23 12:29:19 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/tomlankhorst/code/HIDScope/#e44574634162

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MMA8451Q.lib	Thu Oct 23 12:29:19 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/emilmont/code/MMA8451Q/#c4d879a39775

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Thu Oct 23 12:29:19 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Sissors/code/MODSERIAL/#180e968a751e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.lib	Thu Oct 23 12:29:19 2014 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/simon/code/TextLCD/#308d188a2d3a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 23 12:29:19 2014 +0000
@@ -0,0 +1,114 @@
+//Script for Robotarm Quartile 9, Group 7
+
+// including all libraries 
+//#include "mbed.h"               //Main functionality
+//#include "TextLCD.h"            //LCD drivers 
+//#include "encoder.h"            //CPR motor counter
+//#include "rtos.h"             //Real time operating system(onduidelijk wat deze library doet)
+//#include "MODSERIAL.h"        //non-blocking serial communication (RTOS compatible) (onduidelijk wat deze library doet)
+
+#include "mbed.h"
+#include "MMA8451Q.h"
+
+#define MMA8451_I2C_ADDRESS (0x1d<<1)
+#include "MODSERIAL.h"
+#include "HIDScope.h"
+//using namespace std; 
+// define MOTOR_POWER_LIMIT     //Veiligheid
+// define POSITION_ARM_LIMIT     //Veiligheid
+// define SPEED_ARM_LIMIT       //Veiligheid
+
+void accelerometer() {
+    MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
+    PwmOut rled(LED_RED);
+    PwmOut gled(LED_GREEN);
+    PwmOut bled(LED_BLUE);
+
+    while (true) {
+        rled = 1.0 - abs(acc.getAccX());
+        gled = 1.0 - abs(acc.getAccY());
+        bled = 1.0 - abs(acc.getAccZ());
+        wait(0.1);
+    }
+}
+
+
+//Define objects
+AnalogIn    emg0(PTB1); //Analog input
+PwmOut      red(LED_RED); //PWM output
+Ticker log_timer;
+MODSERIAL pc(USBTX,USBRX);
+HIDScope scope(2);
+
+/** Looper function
+* functions used for Ticker and Timeout should be of type void <name>(void)
+* i.e. no input arguments, no output arguments.
+* if you want to change a variable that you use in other places (for example in main)
+* you will have to make that variable global in order to be able to reach it both from
+* the function called at interrupt time, and in the main function.
+* To make a variable global, define it under the includes.
+* variables that are changed in the interrupt routine (written to) should be made
+* 'volatile' to let the compiler know that those values may change outside the current context.
+* i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
+* in the example below, the variable is not re-used in the main function, and is thus declared
+* local in the looper function only.
+**/
+void looper()
+{
+    /*variable to store value in*/    
+    uint16_t emg_value;
+    /*put raw emg value both in red and in emg_value*/
+    red.write(emg0.read());      // read float value (0..1 = 0..3.3V)
+    emg_value = emg0.read_u16(); // read direct ADC result (0..4096 = 0..3.3V)
+    /*send value to PC. Line below is used to prevent buffer overrun */
+    if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
+        pc.printf("%u\n",emg_value);
+    scope.set(0,emg_value);
+    scope.set(1,red.read());
+    scope.send();
+    /**When not using the LED, the above could also have been done this way:
+    * pc.printf("%u\n", emg0.read_u16());
+    */
+}
+
+void HIDscope()
+{
+    /*setup baudrate. Choose the same in your program on PC side*/
+    pc.baud(115200);
+    /*set the period for the PWM to the red LED*/
+    red.period_ms(2);
+    /**Here you attach the 'void looper(void)' function to the Ticker object
+    * The looper() function will be called every 0.01 seconds.
+    * Please mind that the parentheses after looper are omitted when using attach.
+    */
+    log_timer.attach(looper, 0.005);
+    while(1) //Loop
+    {
+      /*Empty!*/
+      /*Everything is handled by the interrupt routine now!*/
+    }
+}
+int main() 
+{
+    HIDscope();
+    //accelerometer(); 
+
+}
+
+
+//Nulpositie arm, ook na elke slag (terugkoppeling gebruiker ledje (groen/rood))
+//Nulmeting EMG, éénmalig bij opstarten (terugkoppeling gebruiker ledje (groen/rood))
+//  Filteren --> werkelijke schaling (referentie)
+//Meten EMG 2x(kiezen vlakken hoogte/breedte)
+//  RT - Filteren en Verwerking 
+//      RT - vergelijking tov van referentie
+//      RT - terugkoppeling gebruiker via 3 gekleurde LEDjes (LEDjes aan)
+//  Gebruiker akkoord geven nav LEDjes (LEDjes knipperen)
+//Akkoord doorsturen motor 2x
+//  PWM
+//  Direction
+//RT - Regelaar
+//  RT - Terugkoppeling PWM (Encoder)
+//  RT - Terugkoppeling Direction (Encoder)
+//Terug naar nulpositie arm
+//  Vanaf hier mainscript weer doorlopen, behalve nulmeting EMG

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Oct 23 12:29:19 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/3d0ef94e36ec
\ No newline at end of file