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
main.cpp
- Committer:
- tvlogman
- Date:
- 2017-09-19
- Revision:
- 9:5f0e796c9489
- Parent:
- 8:0067469c3389
- Child:
- 10:e23cbcdde7e3
File content as of revision 9:5f0e796c9489:
#include "mbed.h" #include "MODSERIAL.h" #include "HIDScope.h" #include "QEI.h" 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; 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); MODSERIAL pc(USBTX, USBRX); 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); } }