Revision 3:c8f0fc045505, committed 2018-10-22

Comitter:

ThomBMT

Date:

Mon Oct 22 14:51:46 2018 +0000

Parent:

2:dc9766657afb

Child:

4:8f67b8327300

Commit message:

De encoders werken nog niet en ik snap niet waarom;

Changed in this revision

--- a/main.cpp	Mon Oct 22 08:15:41 2018 +0000
+++ b/main.cpp	Mon Oct 22 14:51:46 2018 +0000
@@ -16,6 +16,13 @@
 AnalogIn emg2( A2 );
 AnalogIn emg3( A3 );
 
+DigitalIn a1( D10);
+DigitalIn b1( D11);
+DigitalIn a2( D12);
+DigitalIn b2( D13);
+
+
+Ticker      EncodingTicker;
 Ticker      printTicker;
 Ticker      mycontrollerTicker1;
 Ticker      mycontrollerTicker2;
@@ -25,19 +32,33 @@
 Ticker      sample_timer;
 HIDScope    scope( 4 );
 
-volatile float Bicep_Right = 0.0;
-volatile const float maxVelocity=8.4; // in rad/s
-volatile float referenceVelocity1 = 0.5; //dit is de gecentreerde waarde en dus de nulstand
-volatile float referenceVelocity2 = 0.5;
+volatile float Bicep_Right          = 0.0;
+volatile float Bicep_Left           = 0.0;
+volatile float Tricep_Right         = 0.0;
+volatile float Tricep_Left          = 0.0;
+volatile const float maxVelocity    = 8.4; // in rad/s
+volatile float referenceVelocity1   = 0.5; //dit is de gecentreerde waarde en dus de nulstand
+volatile float referenceVelocity2   = 0.5;
 
 volatile int counts1;
 volatile int counts2;
-QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING);
-QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING);
+
+void Encoding()
+{
+    
+    QEI Encoder1(D12,D13,NC,32);
+    QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING);
+    counts1 = Encoder1.getPulses();
+    counts2 = Encoder2.getPulses();
+    
+}
 
 void EMG_Read()
 {
-    Bicep_Right = emg0.read();
+    Bicep_Right     =   emg0.read();
+    Bicep_Left      =   emg1.read();
+    Tricep_Right    =   emg2.read();
+    Tricep_Left     =   emg3.read();   
 }
 
 void sample()
@@ -54,7 +75,7 @@
    
 void velocity1()
     {
-            if ((pot1.read()>0.5f) || (Knop1 == true))//gezeik met die knop doet het niet ff uitzoeken nog
+            if (pot1.read()>0.5f)
                 {
                 // Clockwise rotation
                 referenceVelocity1 = (pot1.read()-0.5f) * 2.0f; 
@@ -114,7 +135,7 @@
     //eventueel nog counts -> rad/s 
     
     //pc.printf("%f \n %f snelheid Motor1 \n %f snelheid Motor2 \n", Bicep_Right,v1,v2);
-    pc.printf("%i counts van m1, %i counts van m2", counts1, counts2);
+    pc.printf("%f ", counts1);
     
     
 }
@@ -122,10 +143,9 @@
 int main()
 {
     pc.baud(115200);    
-    PwmPin1.period_us(120); //60 microseconds pwm period, 16.7 kHz 
+    PwmPin1.period_us(40); //60 microseconds pwm period, 16.7 kHz 
     
-    counts1 = Encoder1.getPulses();
-    counts2 = Encoder2.getPulses();
+    EncodingTicker.attach(&Encoding, 0.002);
     
     sample_timer.attach(&sample, 0.002);
     EMG_Read_Ticker.attach(&EMG_Read, 0.002);