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

Diff: main.cpp

Revision:
12:0462757e1ed2
Parent:
11:d1692be2de30
Child:
13:83e3672b24ee
--- a/main.cpp	Thu Sep 21 08:20:49 2017 +0000
+++ b/main.cpp	Thu Sep 21 08:35:44 2017 +0000
@@ -3,23 +3,25 @@
 #include "HIDScope.h"
 #include "QEI.h"
 
-QEI Encoder(D12,D13,NC,32);
+QEI Encoder(D12,D13,NC,64, QEI::X4_ENCODING);
 MODSERIAL pc(USBTX, USBRX);
 
 Ticker encoderTicker;
 volatile int counts = 0;
-
+volatile float revs = 0.00;
 
 void readEncoder(){
     counts = Encoder.getPulses();
-    pc.printf("%i pulses", counts);
+    revs = counts/64.0f;
+    pc.printf("%i pulses \r\n", counts);
+    pc.printf("%f revolutions \r\n", revs);
     }
 
 
 int main()
     {
     pc.baud(115200);
-    encoderTicker.attach(readEncoder, 0.5);    
+    encoderTicker.attach(readEncoder, 1.0);    
     pc.printf("Encoder ticker attached and baudrate set");
 
     }