Tristan Vlogman / Mbed 2 deprecated locomotion_pid_action_refactor_EMG

Control up to two motors using filtered EMG signals and a PID controller

Dependencies:   FastPWM HIDScope MODSERIAL QEI Matrix biquadFilter controller errorFetch mbed motorConfig refGen MatrixMath inverseKinematics

Fork of Minor_test_serial by First Last

main.cpp@12:0462757e1ed2, 2017-09-21 (annotated)

Committer:
tvlogman
Date:
Thu Sep 21 08:35:44 2017 +0000
Revision:
12:0462757e1ed2
Parent:
11:d1692be2de30
Child:
13:83e3672b24ee
Now counts revolutions as well.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:c8f15874531b 1 #include "mbed.h"
vsluiter 0:c8f15874531b 2 #include "MODSERIAL.h"
tvlogman 8:0067469c3389 3 #include "HIDScope.h"
tvlogman 9:5f0e796c9489 4 #include "QEI.h"
tvlogman 8:0067469c3389 5
tvlogman 12:0462757e1ed2 6 QEI Encoder(D12,D13,NC,64, QEI::X4_ENCODING);
tvlogman 10:e23cbcdde7e3 7 MODSERIAL pc(USBTX, USBRX);
tvlogman 8:0067469c3389 8
tvlogman 10:e23cbcdde7e3 9 Ticker encoderTicker;
tvlogman 10:e23cbcdde7e3 10 volatile int counts = 0;
tvlogman 12:0462757e1ed2 11 volatile float revs = 0.00;
tvlogman 7:1bffab95fc5f 12
tvlogman 10:e23cbcdde7e3 13 void readEncoder(){
tvlogman 10:e23cbcdde7e3 14 counts = Encoder.getPulses();
tvlogman 12:0462757e1ed2 15 revs = counts/64.0f;
tvlogman 12:0462757e1ed2 16 pc.printf("%i pulses \r\n", counts);
tvlogman 12:0462757e1ed2 17 pc.printf("%f revolutions \r\n", revs);
tvlogman 10:e23cbcdde7e3 18 }
vsluiter 0:c8f15874531b 19
tvlogman 7:1bffab95fc5f 20
vsluiter 0:c8f15874531b 21 int main()
tvlogman 10:e23cbcdde7e3 22 {
vsluiter 0:c8f15874531b 23 pc.baud(115200);
tvlogman 12:0462757e1ed2 24 encoderTicker.attach(readEncoder, 1.0);
tvlogman 10:e23cbcdde7e3 25 pc.printf("Encoder ticker attached and baudrate set");
tvlogman 11:d1692be2de30 26
vsluiter 0:c8f15874531b 27 }
tvlogman 7:1bffab95fc5f 28