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:
- 2017-09-21
- Revision:
- 10:e23cbcdde7e3
- Parent:
- 9:5f0e796c9489
- Child:
- 11:d1692be2de30
File content as of revision 10:e23cbcdde7e3:
#include "mbed.h" #include "MODSERIAL.h" #include "HIDScope.h" #include "QEI.h" QEI Encoder(D12,D13,NC,32); HIDScope scope(2); MODSERIAL pc(USBTX, USBRX); Ticker encoderTicker; volatile int counts = 0; void readEncoder(){ counts = Encoder.getPulses(); pc.printf("%i pulses", counts); } int main() { pc.baud(115200); pc.printf("Encoder ticker attached and baudrate set"); encoderTicker.attach(readEncoder, 2.0); }