Ralph Gerlings / Mbed 2 deprecated backto1motor

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Dependencies:   HIDScope MODSERIAL PID QEI biquadFilter mbed

Fork of cpfromralph1 by Remi van Veen

main.cpp@6:80c13d99aa55, 2013-10-03 (annotated)

Committer:
vsluiter
Date:
Thu Oct 03 13:47:49 2013 +0000
Revision:
6:80c13d99aa55
Parent:
5:4dacb7b72109
Child:
7:3396c3e33928
Added some measures to prevent overflow; Data rate is still too high, though

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 6:80c13d99aa55 2 #include "MODSERIAL.h"
vsluiter 0:32bb76391d89 3
vsluiter 4:8b298dfada81 4 //Define objects
ArvidKeemink 1:db54d9412d18 5 AnalogIn emg0(PTB0); //Analog input
ArvidKeemink 1:db54d9412d18 6 PwmOut red(LED_RED); //PWM output
vsluiter 2:e314bb3b2d99 7 Ticker timer;
vsluiter 6:80c13d99aa55 8 MODSERIAL pc(USBTX,USBRX,64,1024);
vsluiter 2:e314bb3b2d99 9
vsluiter 4:8b298dfada81 10 /** Looper function
vsluiter 4:8b298dfada81 11 * functions used for Ticker and Timeout should be of type void <name>(void)
vsluiter 4:8b298dfada81 12 * i.e. no input arguments, no output arguments.
vsluiter 4:8b298dfada81 13 * if you want to change a variable that you use in other places (for example in main)
vsluiter 4:8b298dfada81 14 * you will have to make that variable global in order to be able to reach it both from
vsluiter 4:8b298dfada81 15 * the function called at interrupt time, and in the main function.
vsluiter 4:8b298dfada81 16 * To make a variable global, define it under the includes.
vsluiter 4:8b298dfada81 17 * variables that are changed in the interrupt routine (written to) should be made
vsluiter 4:8b298dfada81 18 * 'volatile' to let the compiler know that those values may change outside the current context.
vsluiter 4:8b298dfada81 19 * i.e.: "volatile float emg_value;" instead of "float emg_value"
vsluiter 4:8b298dfada81 20 * in the example below, the variable is not re-used in the main function, and is thus declared
vsluiter 4:8b298dfada81 21 * local in the looper function only.
vsluiter 4:8b298dfada81 22 **/
vsluiter 2:e314bb3b2d99 23 void looper()
vsluiter 2:e314bb3b2d99 24 {
vsluiter 4:8b298dfada81 25 /*variable to store value in*/
vsluiter 4:8b298dfada81 26 float emg_value;
vsluiter 4:8b298dfada81 27 /*put raw emg value both in red and in emg_value*/
vsluiter 4:8b298dfada81 28 red = emg_value = emg0.read();
vsluiter 5:4dacb7b72109 29 /*send value to PC. use 6 digits after decimal sign*/
vsluiter 6:80c13d99aa55 30 if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
vsluiter 6:80c13d99aa55 31 pc.printf("%.6f\n",emg_value);
vsluiter 5:4dacb7b72109 32 /**When not using the LED, the above could also have been done this way:
vsluiter 5:4dacb7b72109 33 * pc.printf("%.6\n", emg0.read());
vsluiter 5:4dacb7b72109 34 */
vsluiter 2:e314bb3b2d99 35 }
vsluiter 0:32bb76391d89 36
vsluiter 0:32bb76391d89 37 int main()
vsluiter 0:32bb76391d89 38 {
vsluiter 4:8b298dfada81 39 /*setup baudrate. Choose the same in your program on PC side*/
vsluiter 2:e314bb3b2d99 40 pc.baud(115200);
vsluiter 4:8b298dfada81 41 /*set the period for the PWM to the red LED*/
vsluiter 2:e314bb3b2d99 42 red.period_ms(2);
vsluiter 4:8b298dfada81 43 /**Here you attach the 'void looper(void)' function to the Ticker object
vsluiter 4:8b298dfada81 44 * The looper() function will be called every 0.001 seconds.
vsluiter 4:8b298dfada81 45 * Please mind that the parentheses after looper are omitted when using attach.
vsluiter 4:8b298dfada81 46 */
vsluiter 2:e314bb3b2d99 47 timer.attach(looper, 0.001);
ArvidKeemink 1:db54d9412d18 48 while(1) //Loop
vsluiter 0:32bb76391d89 49 {
vsluiter 4:8b298dfada81 50 /*Empty!*/
vsluiter 4:8b298dfada81 51 /*Everything is handled by the interrupt routine now!*/
vsluiter 0:32bb76391d89 52 }
vsluiter 0:32bb76391d89 53 }