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@11:d1692be2de30, 2017-09-21 (annotated)

Committer:
tvlogman
Date:
Thu Sep 21 08:20:49 2017 +0000
Revision:
11:d1692be2de30
Parent:
10:e23cbcdde7e3
Child:
12:0462757e1ed2
Encoder reading now works - removed HIDscope as that seemed to be the problem

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 10:e23cbcdde7e3 6 QEI Encoder(D12,D13,NC,32);
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 8:0067469c3389 11
tvlogman 7:1bffab95fc5f 12
tvlogman 10:e23cbcdde7e3 13 void readEncoder(){
tvlogman 10:e23cbcdde7e3 14 counts = Encoder.getPulses();
tvlogman 10:e23cbcdde7e3 15 pc.printf("%i pulses", counts);
tvlogman 10:e23cbcdde7e3 16 }
vsluiter 0:c8f15874531b 17
tvlogman 7:1bffab95fc5f 18
vsluiter 0:c8f15874531b 19 int main()
tvlogman 10:e23cbcdde7e3 20 {
vsluiter 0:c8f15874531b 21 pc.baud(115200);
tvlogman 11:d1692be2de30 22 encoderTicker.attach(readEncoder, 0.5);
tvlogman 10:e23cbcdde7e3 23 pc.printf("Encoder ticker attached and baudrate set");
tvlogman 11:d1692be2de30 24
vsluiter 0:c8f15874531b 25 }
tvlogman 7:1bffab95fc5f 26