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:
10:e23cbcdde7e3
Parent:
9:5f0e796c9489
Child:
11:d1692be2de30
--- a/main.cpp	Tue Sep 19 15:25:42 2017 +0000
+++ b/main.cpp	Thu Sep 21 08:12:58 2017 +0000
@@ -3,54 +3,24 @@
 #include "HIDScope.h"
 #include "QEI.h"
 
+QEI Encoder(D12,D13,NC,32);
 HIDScope scope(2);
-
-Ticker AInTicker;
-AnalogIn button1(A4);
-
-volatile float x;
-volatile float x_prev =0; 
-volatile float y; // filtered 'output' of ReadAnalogInAndFilter 
-volatile float ledBrightness = 0.00;
+MODSERIAL pc(USBTX, USBRX);
 
-void ReadAnalogInAndFilter()
-{
-        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
-        x_prev = x; // Prepare for next round
-    
-        scope.send(); // send what's in scope memory to PC
-}
-
-PwmOut ledPwm(D5);
-float pwmPeriod = 1.0/5000.0;
-
-AnalogIn pot(A5);
-
-DigitalIn button2(D6);
+Ticker encoderTicker;
+volatile int counts = 0;
 
 
-MODSERIAL pc(USBTX, USBRX);
+void readEncoder(){
+    counts = Encoder.getPulses();
+    pc.printf("%i pulses", counts);
+    }
 
 
 int main()
-{
-    
+    {
     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) {
-        counts = Encoder.getPulses();
-        pc.printf("Number of pulses is %i", counts);
-        wait(0.5);
-        
+    pc.printf("Encoder ticker attached and baudrate set");
+    encoderTicker.attach(readEncoder, 2.0);    
     }
     
-}