Diff: main.cpp

Revision:

5:532b9a72e012

Parent:

4:bb9bcbb22882

Child:

6:81dda0c8eb71

--- a/main.cpp	Mon Oct 07 09:32:26 2019 +0000
+++ b/main.cpp	Mon Oct 07 13:06:33 2019 +0000
@@ -12,10 +12,9 @@
 DigitalOut motor1_dir(D4);
 AnalogIn pod1(A0);
 AnalogIn pod2(A1);
-
-
 Ticker measure;
 
+//Initial parameters control
 int m1_count; 
 float m1_angle;
 float pi = 3.14;
@@ -25,6 +24,44 @@
 float motor1_er;
 float motor1_pwm_signal;
 
+//initial parameters time and HIDSCOPE
+volatile float theoretical_time = 0;
+static int frequency_theoretical_time = 20;
+static float duration_theoretical_time = (1/(float)frequency_theoretical_time);
+Ticker sample_timer;    //HIDSCOPE ticker, deze is langzamer dan en in periode met measure,
+                        //deze frequentie is frequency_time
+HIDScope scope( 2 );    //2 ingangen
+
+/** Sample function
+ * this function samples the emg and sends it to HIDScope
+ **/
+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, m1_count );
+    scope.set(1,  theoretical_time);
+    /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) 
+    *  Ensure that enough channels are available (HIDScope scope( 2 ))
+    *  Finally, send all channels to the PC at once */
+    scope.send();
+    /* To indicate that the function is working, the LED is toggled */
+    //led = !led; suppressed for now
+}
+
+/** Theoretical time function
+*This function calculates time based on sample numbers and frequency
+**/
+void theoretical_time_fun(){
+theoretical_time = theoretical_time + duration_theoretical_time; //increment by 1 second
+}
+void StepResponse(){
+theoretical_time_fun();
+sample();
+}
+
+/** Counter function
+* this functions counts the encoder for position referene
+**/
 void getCounts(){
     m1_count = motor1.getPulses();
     m1_angle = (float)m1_count / 4200.0f * (2.0f * pi);
@@ -64,6 +101,7 @@
     motor1_pwm.period(1.0/10000);
     motor1_dir = 0;
     measure.attach(MeasureandControl,0.01);
+    sample_timer.attach(StepResponse,duration_theoretical_time);
     while(true){
         pc.printf("\r\nMotor angle: %f Pod1 angle: %f K_p: %f Error: %f",m1_angle,pod1_angle,motor1_pwm_signal,motor1_er);
         wait(0.8);