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:
17:616ce7bc1f96
Parent:
16:27430afe663e
Child:
18:65e24db15c69
Child:
19:f08b5cd2b7ce
--- a/main.cpp	Thu Sep 21 11:20:03 2017 +0000
+++ b/main.cpp	Thu Sep 21 11:53:09 2017 +0000
@@ -28,18 +28,16 @@
 volatile float x;
 volatile float x_prev =0; 
 volatile float y; // filtered 'output' of ReadAnalogInAndFilter 
-volatile float ledBrightness = 0.00;
 
-
+// Initializing encoder
 Ticker encoderTicker;
 volatile int counts = 0;
 volatile float revs = 0.00;
 
-
-
 void readEncoder(){
     counts = Encoder.getPulses();
-    revs = counts/64.0f;
+    revs = counts/(131*64.0f);
+    pc.printf("%0.2f revolutions \r\n", revs);
     
     // Displaying revs in HIDscope
     x = revs;   // Capture data