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
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Diff: main.cpp
- Revision:
- 12:0462757e1ed2
- Parent:
- 11:d1692be2de30
- Child:
- 13:83e3672b24ee
diff -r d1692be2de30 -r 0462757e1ed2 main.cpp --- a/main.cpp Thu Sep 21 08:20:49 2017 +0000 +++ b/main.cpp Thu Sep 21 08:35:44 2017 +0000 @@ -3,23 +3,25 @@ #include "HIDScope.h" #include "QEI.h" -QEI Encoder(D12,D13,NC,32); +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(); - pc.printf("%i pulses", counts); + 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, 0.5); + encoderTicker.attach(readEncoder, 1.0); pc.printf("Encoder ticker attached and baudrate set"); }