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@9:5f0e796c9489, 2017-09-19 (annotated)

Committer:
tvlogman
Date:
Tue Sep 19 15:25:42 2017 +0000
Revision:
9:5f0e796c9489
Parent:
8:0067469c3389
Child:
10:e23cbcdde7e3
Screwed it up nicely; Work in progress

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 8:0067469c3389 6 HIDScope scope(2);
tvlogman 8:0067469c3389 7
tvlogman 8:0067469c3389 8 Ticker AInTicker;
tvlogman 9:5f0e796c9489 9 AnalogIn button1(A4);
tvlogman 8:0067469c3389 10
tvlogman 8:0067469c3389 11 volatile float x;
tvlogman 8:0067469c3389 12 volatile float x_prev =0;
tvlogman 8:0067469c3389 13 volatile float y; // filtered 'output' of ReadAnalogInAndFilter
tvlogman 8:0067469c3389 14 volatile float ledBrightness = 0.00;
tvlogman 8:0067469c3389 15
tvlogman 8:0067469c3389 16 void ReadAnalogInAndFilter()
tvlogman 8:0067469c3389 17 {
tvlogman 9:5f0e796c9489 18 x = button1; // Capture data
tvlogman 8:0067469c3389 19 scope.set(0, x); // store data in first element of scope memory
tvlogman 8:0067469c3389 20 y = (x_prev + x)/2.0; // averaging filter
tvlogman 8:0067469c3389 21 scope.set(1, y); // store data in second element of scope memory
tvlogman 8:0067469c3389 22 x_prev = x; // Prepare for next round
tvlogman 8:0067469c3389 23
tvlogman 8:0067469c3389 24 scope.send(); // send what's in scope memory to PC
tvlogman 8:0067469c3389 25 }
vsluiter 0:c8f15874531b 26
tvlogman 7:1bffab95fc5f 27 PwmOut ledPwm(D5);
tvlogman 7:1bffab95fc5f 28 float pwmPeriod = 1.0/5000.0;
tvlogman 7:1bffab95fc5f 29
tvlogman 7:1bffab95fc5f 30 AnalogIn pot(A5);
tvlogman 9:5f0e796c9489 31
tvlogman 8:0067469c3389 32 DigitalIn button2(D6);
tvlogman 8:0067469c3389 33
tvlogman 7:1bffab95fc5f 34
vsluiter 0:c8f15874531b 35 MODSERIAL pc(USBTX, USBRX);
vsluiter 0:c8f15874531b 36
tvlogman 7:1bffab95fc5f 37
vsluiter 0:c8f15874531b 38 int main()
vsluiter 0:c8f15874531b 39 {
tvlogman 7:1bffab95fc5f 40
vsluiter 0:c8f15874531b 41 pc.baud(115200);
tvlogman 8:0067469c3389 42 AInTicker.attach(&ReadAnalogInAndFilter, 0.01);
tvlogman 7:1bffab95fc5f 43 ledPwm.period(pwmPeriod);
tvlogman 9:5f0e796c9489 44 pc.printf("Hello world");
tvlogman 9:5f0e796c9489 45 int counts;
tvlogman 9:5f0e796c9489 46
tvlogman 9:5f0e796c9489 47 QEI Encoder(D12,D13,NC,32);
tvlogman 7:1bffab95fc5f 48
vsluiter 0:c8f15874531b 49 while (true) {
tvlogman 9:5f0e796c9489 50 counts = Encoder.getPulses();
tvlogman 9:5f0e796c9489 51 pc.printf("Number of pulses is %i", counts);
tvlogman 9:5f0e796c9489 52 wait(0.5);
tvlogman 7:1bffab95fc5f 53
vsluiter 0:c8f15874531b 54 }
tvlogman 7:1bffab95fc5f 55
vsluiter 0:c8f15874531b 56 }