BMT M9 groep 7 / Mbed 2 deprecated Motor_EMG_FinalV1

Werkende PID controller met EMG aansturing.

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of Motor_EMG_V3 by BMT M9 groep 7

Files at this revision

API Documentation at this revision

Revision 4:92a3b38a5302, committed 2015-10-26

Comitter:
Rvs94
Date:
Mon Oct 26 19:56:49 2015 +0000
Parent:
3:86ca263a83dc
Commit message:
Werkende PID regelaar met EMG aansturing. nieuwe K constanten nog niet toevoegd.

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 86ca263a83dc -r 92a3b38a5302 main.cpp
--- a/main.cpp	Thu Oct 22 10:59:03 2015 +0000
+++ b/main.cpp	Mon Oct 26 19:56:49 2015 +0000
@@ -48,8 +48,8 @@
     double position2 = 0, position1 = 0;
     double m2_ref = 0, m1_ref = 0;
     int count = 0;
-    double Grens2 = 90, Grens1 = 90;
-    double Stapgrootte = 5;
+    double Grens2 = 70, Grens1 = 70;
+    double Stapgrootte = 1;
    
 // Declaring variables
     double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0;
@@ -324,24 +324,24 @@
                 if ((EMG_right_MAF >= Threshold3) && (EMG_left_MAF <= Threshold1)) //if(c == 'r') //
                 {
                     m2_ref = m2_ref + Stapgrootte;
-                    m1_ref = m1_ref - Stapgrootte;
+                    m1_ref = m1_ref + Stapgrootte;
                     if (m2_ref > Grens2)
                     {
                         m2_ref = Grens2;
-                        m1_ref = -1*Grens1;
+                        m1_ref = Grens1;
                     }
-                    wait(0.1);
+                    wait(0.05);
                 }
                 if((EMG_right_MAF < Threshold3) && (EMG_left_MAF > Threshold1)) //if (c == 'f') //   
                 {
                     m2_ref = m2_ref - Stapgrootte;
-                    m1_ref = m1_ref + Stapgrootte;
+                    m1_ref = m1_ref - Stapgrootte;
                     if (m2_ref < -1*Grens2)
                     {
                         m2_ref = -1*Grens2;
-                        m1_ref = Grens1;
+                        m1_ref = -1*Grens1;
                     }
-                    wait(0.1);
+                    wait(0.05);
                 }
         }
     // PROGRAM 1: Motor 1 control, Red LED
@@ -349,7 +349,7 @@
         {
                 LedG = LedB = 1;
                 LedR = 0;
-                if ((EMG_right_MAF >= Threshold3) && (EMG_left_MAF <= Threshold1)) // if(c == 't') //
+                if ((EMG_right_MAF <= Threshold3) && (EMG_left_MAF >= Threshold1)) // if(c == 't') //
                 {
                     m1_ref = m1_ref + Stapgrootte;
                     
@@ -357,9 +357,9 @@
                     {
                         m1_ref = Grens1;
                     }
-                    wait(0.1);
+                    wait(0.05);
                 }
-                if ((EMG_left_MAF > Threshold1) && (EMG_right_MAF < Threshold3)) //if(c == 'g') //
+                if ((EMG_left_MAF < Threshold1) && (EMG_right_MAF > Threshold3)) //if(c == 'g') //
                 {
                     m1_ref = m1_ref - Stapgrootte;
                   
@@ -367,7 +367,7 @@
                     {
                         m1_ref = -1*Grens1;
                     }
-                    wait(0.1);
+                    wait(0.05);
                 }
         }
     // PROGRAM 2: Firing mechanism & Reset, Blue LED