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@10:e23cbcdde7e3, 2017-09-21 (annotated)

Committer:
tvlogman
Date:
Thu Sep 21 08:12:58 2017 +0000
Revision:
10:e23cbcdde7e3
Parent:
9:5f0e796c9489
Child:
11:d1692be2de30
With encoder reading - not doing anything just yet;

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 8:0067469c3389 7 HIDScope scope(2);
tvlogman 10:e23cbcdde7e3 8 MODSERIAL pc(USBTX, USBRX);
tvlogman 8:0067469c3389 9
tvlogman 10:e23cbcdde7e3 10 Ticker encoderTicker;
tvlogman 10:e23cbcdde7e3 11 volatile int counts = 0;
tvlogman 8:0067469c3389 12
tvlogman 7:1bffab95fc5f 13
tvlogman 10:e23cbcdde7e3 14 void readEncoder(){
tvlogman 10:e23cbcdde7e3 15 counts = Encoder.getPulses();
tvlogman 10:e23cbcdde7e3 16 pc.printf("%i pulses", counts);
tvlogman 10:e23cbcdde7e3 17 }
vsluiter 0:c8f15874531b 18
tvlogman 7:1bffab95fc5f 19
vsluiter 0:c8f15874531b 20 int main()
tvlogman 10:e23cbcdde7e3 21 {
vsluiter 0:c8f15874531b 22 pc.baud(115200);
tvlogman 10:e23cbcdde7e3 23 pc.printf("Encoder ticker attached and baudrate set");
tvlogman 10:e23cbcdde7e3 24 encoderTicker.attach(readEncoder, 2.0);
vsluiter 0:c8f15874531b 25 }
tvlogman 7:1bffab95fc5f 26