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 37:3b9b18450612, committed 2015-05-27

Comitter:
jessekaiser
Date:
Wed May 27 14:55:50 2015 +0000
Parent:
36:d6e0a835bb2d
Child:
38:c592354f5080
Commit message:
Setpoint is now maximum speed. It can't go higher, even if you use more force.

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed May 27 14:49:14 2015 +0000
+++ b/main.cpp	Wed May 27 14:55:50 2015 +0000
@@ -3,7 +3,7 @@
 #include "arm_math.h"
 #include "HIDScope.h"
 
-#define K_Gain      8      //Gain of the filtered EMG signal
+#define K_Gain      16      //Gain of the filtered EMG signal
 #define Damp        4       //Deceleration of the motor
 #define Mass        1       // Mass value
 #define dt          0.002   //Sample frequency
@@ -84,12 +84,19 @@
     acc = force/Mass;
     speed = speed_old + (acc * dt);
     D = speed * Damp;
+     if (speed > 1) {
+        speed = 1;
+        step_freq = setpoint; 
+        }
+        else {
     step_freq = (setpoint*speed);
+    }
     Step.period(1.0/step_freq);
     speed_old = speed;
+   
 
     if (step_freq < MIN_freq) {
-        Enable = 1;
+        Enable = 1; 
     } else {
         Enable = 0;
     }