Jesse Kaiser / Mbed 2 deprecated EMGcontrol_XY_Table

4 directional EMG control of the XY table. Made during my bachelor end assignment.

Dependencies:   C12832_lcd HIDScope mbed-dsp mbed

Files at this revision

API Documentation at this revision

Revision 68:2b778b6da923, committed 2015-06-19

Comitter:
jessekaiser
Date:
Fri Jun 19 09:19:43 2015 +0000
Parent:
67:fba5b64bb295
Child:
69:a1ba54587b35
Commit message:
Homing 7. It works!!

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Jun 19 09:11:25 2015 +0000
+++ b/main.cpp	Fri Jun 19 09:19:43 2015 +0000
@@ -235,15 +235,17 @@
     wait(1);
     Enablex = 0;
     Enabley = 0;
-    while(errorx > 0.03 && errory > 0.03) {
+    while(errorx > 0.03 || errory > 0.03) {
         lcd.printf("%.0f %.2f  \n", hstep_freqx, hstep_freqy );
 
         Ps_x = Posx.read();
         Ps_y = Posy.read();
+        errorx = fabs(Pt_x - Ps_x);
+        errory = fabs(Ps_y - Pt_y);
 
         if (Ps_x < 0.88 && errorx > 0.03) {
             Dirx = 0;
-            errorx = Pt_x - Ps_x;
+            //errorx = Pt_x - Ps_x;
             cx = errorx * H_Gain;
             
             float hnew_step_freqx;
@@ -254,7 +256,30 @@
         }
         if (Ps_y > 0.25 && errory > 0.03) {
             Diry = 0;
-            errory = Ps_y - Pt_y;
+            //errory = Ps_y - Pt_y;
+            cy = errory * H_Gain;
+            
+            float hnew_step_freqy;
+            hnew_step_freqy = ((1-P_Gain)*setpoint*cy) + (P_Gain*hstep_freqy);
+            hstep_freqy = hnew_step_freqy;
+            Stepy.period(1.0/hstep_freqy);
+            wait(0.01);
+        }
+        
+        if (Ps_x > 0.88 && errorx > 0.03) {
+            Dirx = 1;
+            //errorx = Pt_x - Ps_x;
+            cx = errorx * H_Gain;
+            
+            float hnew_step_freqx;
+            hnew_step_freqx = ((1-P_Gain)*setpoint*cx) + (P_Gain*hstep_freqx);
+            hstep_freqx = hnew_step_freqx;
+            Stepx.period(1.0/hstep_freqx);
+            wait(0.01);
+        }
+        if (Ps_y < 0.25 && errory > 0.03) {
+            Diry = 1;
+            //errory = Ps_y - Pt_y;
             cy = errory * H_Gain;
             
             float hnew_step_freqy;