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

main.cpp

Committer:
tvlogman
Date:
2017-09-21
Revision:
12:0462757e1ed2
Parent:
11:d1692be2de30
Child:
13:83e3672b24ee

File content as of revision 12:0462757e1ed2:

#include "mbed.h"
#include "MODSERIAL.h"
#include "HIDScope.h"
#include "QEI.h"

QEI Encoder(D12,D13,NC,64, QEI::X4_ENCODING);
MODSERIAL pc(USBTX, USBRX);

Ticker encoderTicker;
volatile int counts = 0;
volatile float revs = 0.00;

void readEncoder(){
    counts = Encoder.getPulses();
    revs = counts/64.0f;
    pc.printf("%i pulses \r\n", counts);
    pc.printf("%f revolutions \r\n", revs);
    }


int main()
    {
    pc.baud(115200);
    encoderTicker.attach(readEncoder, 1.0);    
    pc.printf("Encoder ticker attached and baudrate set");

    }