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

Revisions of main.cpp

Revision Date Message Actions
33:6f4858b98fe5 2017-10-20 Now works implementing a modular error-getting system File  Diff  Annotate
32:1bb406d2b3c3 2017-10-20 Broke it... gets strange error saying that class constructor for "Noncopyable" class is inaccessible.; File  Diff  Annotate
31:cc08254ab7b5 2017-10-17 Now implementing a working motorConfig library to replace setMotor1 function. File  Diff  Annotate
30:65f0c9ecf810 2017-10-16 Now with the controller contained in a seperate library; File  Diff  Annotate
29:9aa4d63a9bd1 2017-10-16 Working copy of locomotion_pid_action except this one uses a refGen library to get the reference. File  Diff  Annotate
28:8cd898ff43a2 2017-10-13 Fixed the direction problem! Changed pin of button2 as it was the same as the motor PWM out. File  Diff  Annotate
27:a4228ea8fb8f 2017-10-13 Most likely fixed motorValue issue, still testing though. File  Diff  Annotate
26:4f84448b4d46 2017-10-06 All the individual parts seem to be working, never gets to a total error of 0 though. Why? File  Diff  Annotate
25:df780572cfc8 2017-10-06 Changed names of the errors - not tested if it works yet. File  Diff  Annotate
24:672abc3f02b7 2017-10-06 First iteration - work in progress (doesn't work yet) File  Diff  Annotate
23:917179f72762 2017-10-06 Fixed the I-action bit: now I action is based on the position error multiplied by Ts added to the previous I error instead of the Ts multiplied by total I error. File  Diff  Annotate
22:2e473e9798c0 2017-10-06 I action never seems to go negative (intable) File  Diff  Annotate
21:d266d1e503ce 2017-10-06 Working P-controller implemented. Note that setting motor magnitude pin to anything under 0.35 doesn't seem to do much - that needs a fix. File  Diff  Annotate
20:4ce3fb543a45 2017-10-06 Fixed the direction problems, tried, tested, works. File  Diff  Annotate
19:f08b5cd2b7ce 2017-10-06 Added clarifying comments and (probably) fixed motor direction problems. Needs testing! File  Diff  Annotate
18:65e24db15c69 2017-09-29 Removed HIDscope - that seems to prevent the entire program from working File  Diff  Annotate
17:616ce7bc1f96 2017-09-21 Changed variable revs to represent driving shaft revs instead of motor revs File  Diff  Annotate
16:27430afe663e 2017-09-21 Added a reverse-direction button on button1 of the Biorobotics shield File  Diff  Annotate
15:b76b8cff4d8f 2017-09-21 Changed control scheme to finite state machine File  Diff  Annotate
14:664870b5d153 2017-09-21 Added killswitch on sw2 and switch-direction function File  Diff  Annotate
13:83e3672b24ee 2017-09-21 Motor works File  Diff  Annotate
12:0462757e1ed2 2017-09-21 Now counts revolutions as well.; File  Diff  Annotate
11:d1692be2de30 2017-09-21 Encoder reading now works - removed HIDscope as that seemed to be the problem File  Diff  Annotate
10:e23cbcdde7e3 2017-09-21 With encoder reading - not doing anything just yet; File  Diff  Annotate
9:5f0e796c9489 2017-09-19 Screwed it up nicely; Work in progress File  Diff  Annotate
8:0067469c3389 2017-09-19 Using Hidscope to read LED brightness - not screwed up (yet) File  Diff  Annotate
7:1bffab95fc5f 2017-09-19 Working potmeter controlled LED; File  Diff  Annotate
6:5f433011819f 2017-09-13 Added message "bananas" File  Diff  Annotate
5:d396168a1b20 2017-09-13 Added "they're just using coconuts" as a welcome message File  Diff  Annotate
4:f74c981d9bc0 2017-09-12 Added functionality to turn on various color LEDs when corresponding keys are pressed. File  Diff  Annotate
3:99a568200720 2017-09-12 Added variable keyPress which stores the character key pressed; File  Diff  Annotate
2:002f6b69ebaf 2017-09-12 Added listener for keystroke which toggles LED and prints key to serial port; File  Diff  Annotate
1:40470bc517f1 2017-09-11 Added \r's to force Carriage return File  Diff  Annotate
0:c8f15874531b 2015-09-02 Added MODSERIAL File  Diff  Annotate