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 76:627b0537110e, committed 2015-06-22

Comitter:
jessekaiser
Date:
Mon Jun 22 10:17:32 2015 +0000
Parent:
75:9fa809932adf
Child:
77:f3290f86ae4f
Commit message:
Motor-x control 3

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Jun 22 10:04:51 2015 +0000
+++ b/main.cpp	Mon Jun 22 10:17:32 2015 +0000
@@ -22,8 +22,8 @@
 #define EMG_tresh3   0.01
 #define EMG_tresh4   0.01
 #define H_Gain  3.5
-#define Pt_x    0.50
-#define Pt_y    0.50
+#define Pt_x    0.83
+
 #define error_tresh 0.01
 
 //Motor control
@@ -163,9 +163,9 @@
  
         Enablex = 1;
         wait(1);
-        lcd.printf("Start homing");
+        pc.printf("Start homing");
         wait(2);
-        lcd.cls();
+        
         wait(1);
         Enablex = 0;
  
@@ -174,10 +174,10 @@
 
             Ps_x = Posx.read();
             errorx = fabs(Pt_x - Ps_x);
-            lcd.printf("%.2f  \n", Stepx.read());
+            pc.printf("%.2f  \n", Stepx.read());
 
 
-            if (Ps_x < 0.83 && errorx > error_tresh) {
+            if (Ps_x < Pt_x && errorx > error_tresh) {
                 Dirx = 0;
                 cx = errorx * H_Gain;
                 float hnew_step_freqx;
@@ -187,7 +187,7 @@
                 wait(0.01);
             }
 
-            if (Ps_x > 0.83 && errorx > error_tresh) {
+            if (Ps_x > Pt_x && errorx > error_tresh) {
                 Dirx = 1;
                 cx = errorx * H_Gain;
                 float hnew_step_freqx;
@@ -197,15 +197,15 @@
                 wait(0.01);
             }
         }
-        lcd.printf("Done");
+        pc.printf("Done");
         wait(5);
-        lcd.cls();
+        
         wait(1);
         Enablex = 1;
         wait(3);
-        lcd.printf("Start EMG Control");
+        pc.printf("Start EMG Control");
         wait(2);
-        lcd.cls();
+        
         wait(1);
         Enablex = 0;
         
@@ -234,8 +234,8 @@
 
     while (1) {
 
-        //lcd.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
-//        lcd.printf("%.2f %.2f  \n", Stepx.read(), step_freq2);
+        //pc.printf("x %.2f, y %.2f \n", Posx.read(), Posy.read());
+//        pc.printf("%.2f %.2f  \n", Stepx.read(), step_freq2);
         wait(0.01);
 
     }