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:
13:83e3672b24ee
Parent:
12:0462757e1ed2
Child:
14:664870b5d153
--- a/main.cpp	Thu Sep 21 08:35:44 2017 +0000
+++ b/main.cpp	Thu Sep 21 09:29:19 2017 +0000
@@ -6,6 +6,10 @@
 QEI Encoder(D12,D13,NC,64, QEI::X4_ENCODING);
 MODSERIAL pc(USBTX, USBRX);
 
+DigitalOut motor1_direction(D4);
+PwmOut motor1_pwm(D5);
+float pwmPeriod = 1.0/5000.0;
+
 Ticker encoderTicker;
 volatile int counts = 0;
 volatile float revs = 0.00;
@@ -17,12 +21,25 @@
     pc.printf("%f revolutions \r\n", revs);
     }
 
+int frequency_pwm = 10000; //10kHz PWM
+
 
 int main()
     {
+    motor1_direction = true;
+    motor1_pwm.period(pwmPeriod);//T=1/f 
+
     pc.baud(115200);
     encoderTicker.attach(readEncoder, 1.0);    
     pc.printf("Encoder ticker attached and baudrate set");
+    
+
+    while(true){
+        for(int i = 0 ; i<=30 ; i= i+10)
+        {
+            motor1_pwm.write(i/100.0);//write Duty Cycle
+        }
+    }
 
     }