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:
18:65e24db15c69
Parent:
17:616ce7bc1f96
--- a/main.cpp	Thu Sep 21 11:53:09 2017 +0000
+++ b/main.cpp	Fri Sep 29 08:08:19 2017 +0000
@@ -9,7 +9,6 @@
 
 QEI Encoder(D12,D13,NC,64, QEI::X4_ENCODING);
 MODSERIAL pc(USBTX, USBRX);
-HIDScope scope(2);
 
 // Defining outputs
 DigitalOut motor1_direction(D4);
@@ -41,12 +40,9 @@
     
     // Displaying revs in HIDscope
     x = revs;   // 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
     x_prev = x; // Prepare for next round
     
-    scope.send(); // send what's in scope memory to PC
     }
     
 void killSwitch(){
@@ -66,12 +62,14 @@
 
 int main()
     {
+    pc.baud(115200);
+    pc.printf("Entered main function");
     motor1_direction = false;
     motor1_pwm.period(pwmPeriod);//T=1/f 
     sw2.fall(&killSwitch);
     sw3.fall(&turnMotorsOn);
     button1.rise(&M1switchDirection);
-    pc.baud(115200);
+    
     encoderTicker.attach(readEncoder, 0.1);
       
     pc.printf("Encoder ticker attached and baudrate set");