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:
9:5f0e796c9489
Parent:
8:0067469c3389
Child:
10:e23cbcdde7e3
--- a/main.cpp	Tue Sep 19 14:50:53 2017 +0000
+++ b/main.cpp	Tue Sep 19 15:25:42 2017 +0000
@@ -1,11 +1,12 @@
 #include "mbed.h"
 #include "MODSERIAL.h"
 #include "HIDScope.h"
+#include "QEI.h"
 
 HIDScope scope(2);
 
 Ticker AInTicker;
-AnalogIn aIn1(A0);
+AnalogIn button1(A4);
 
 volatile float x;
 volatile float x_prev =0; 
@@ -14,7 +15,7 @@
 
 void ReadAnalogInAndFilter()
 {
-        x = ledBrightness;   // Capture data
+        x = button1;   // Capture data
         scope.set(0, x);   // store data in first element of scope memory
         y = (x_prev + x)/2.0;   // averaging filter
         scope.set(1, y);  // store data in second element of scope memory
@@ -27,7 +28,7 @@
 float pwmPeriod = 1.0/5000.0;
 
 AnalogIn pot(A5);
-DigitalIn button1(D3);
+
 DigitalIn button2(D6);
 
 
@@ -40,20 +41,15 @@
     pc.baud(115200);
     AInTicker.attach(&ReadAnalogInAndFilter, 0.01);
     ledPwm.period(pwmPeriod);
+    pc.printf("Hello world");
+    int counts;
+
+    QEI Encoder(D12,D13,NC,32);
     
     while (true) {
-        if(!button1){
-            if(ledBrightness >= 0.05){
-                ledBrightness = ledBrightness - 0.05;                
-                }
-            }
-        if(!button2){
-            if(ledBrightness <= 0.95){
-                ledBrightness = ledBrightness + 0.05;
-                }
-            }
-        ledPwm = ledBrightness;
-        wait(0.1f);
+        counts = Encoder.getPulses();
+        pc.printf("Number of pulses is %i", counts);
+        wait(0.5);
         
     }