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@13:83e3672b24ee, 2017-09-21 (annotated)

Committer:
tvlogman
Date:
Thu Sep 21 09:29:19 2017 +0000
Revision:
13:83e3672b24ee
Parent:
12:0462757e1ed2
Child:
14:664870b5d153
Motor works

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 13:83e3672b24ee 9 DigitalOut motor1_direction(D4);
tvlogman 13:83e3672b24ee 10 PwmOut motor1_pwm(D5);
tvlogman 13:83e3672b24ee 11 float pwmPeriod = 1.0/5000.0;
tvlogman 13:83e3672b24ee 12
tvlogman 10:e23cbcdde7e3 13 Ticker encoderTicker;
tvlogman 10:e23cbcdde7e3 14 volatile int counts = 0;
tvlogman 12:0462757e1ed2 15 volatile float revs = 0.00;
tvlogman 7:1bffab95fc5f 16
tvlogman 10:e23cbcdde7e3 17 void readEncoder(){
tvlogman 10:e23cbcdde7e3 18 counts = Encoder.getPulses();
tvlogman 12:0462757e1ed2 19 revs = counts/64.0f;
tvlogman 12:0462757e1ed2 20 pc.printf("%i pulses \r\n", counts);
tvlogman 12:0462757e1ed2 21 pc.printf("%f revolutions \r\n", revs);
tvlogman 10:e23cbcdde7e3 22 }
vsluiter 0:c8f15874531b 23
tvlogman 13:83e3672b24ee 24 int frequency_pwm = 10000; //10kHz PWM
tvlogman 13:83e3672b24ee 25
tvlogman 7:1bffab95fc5f 26
vsluiter 0:c8f15874531b 27 int main()
tvlogman 10:e23cbcdde7e3 28 {
tvlogman 13:83e3672b24ee 29 motor1_direction = true;
tvlogman 13:83e3672b24ee 30 motor1_pwm.period(pwmPeriod);//T=1/f
tvlogman 13:83e3672b24ee 31
vsluiter 0:c8f15874531b 32 pc.baud(115200);
tvlogman 12:0462757e1ed2 33 encoderTicker.attach(readEncoder, 1.0);
tvlogman 10:e23cbcdde7e3 34 pc.printf("Encoder ticker attached and baudrate set");
tvlogman 13:83e3672b24ee 35
tvlogman 13:83e3672b24ee 36
tvlogman 13:83e3672b24ee 37 while(true){
tvlogman 13:83e3672b24ee 38 for(int i = 0 ; i<=30 ; i= i+10)
tvlogman 13:83e3672b24ee 39 {
tvlogman 13:83e3672b24ee 40 motor1_pwm.write(i/100.0);//write Duty Cycle
tvlogman 13:83e3672b24ee 41 }
tvlogman 13:83e3672b24ee 42 }
tvlogman 11:d1692be2de30 43
vsluiter 0:c8f15874531b 44 }
tvlogman 7:1bffab95fc5f 45