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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Motor_EMG_FinalV1
by 
BMT M9 groep 7
Revision 2:7873c44b0568, committed 2015-10-22
- Comitter:
- Rvs94
- Date:
- Thu Oct 22 10:57:12 2015 +0000
- Parent:
- 1:3f49c8818619
- Child:
- 3:86ca263a83dc
- Commit message:
- Motor Ts aangepast naar 1000Hz
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Oct 22 10:46:10 2015 +0000
+++ b/main.cpp Thu Oct 22 10:57:12 2015 +0000
@@ -78,7 +78,7 @@
//Sample time (motor-step)
- const double m2_Ts = 0.01, m1_Ts = 0.01;
+ const double m2_Ts = 0.001, m1_Ts = 0.001;
//Controller gain Motor 2 & 1
const double m2_Kp = 2.1/57,m2_Ki = 3.9/57, m2_Kd = 0.1/57;
@@ -238,8 +238,8 @@
// Tickers
ScopeTime.attach(&ScopeSend, 0.01f); // 100 Hz, Scope
- myControllerTicker2.attach(&motor2_Controller, 0.01f ); // 100 Hz, Motor 2
- myControllerTicker1.attach(&motor1_Controller, 0.01f ); // 100 Hz, Motor 1
+ myControllerTicker2.attach(&motor2_Controller, m2_Ts ); // 100 Hz, Motor 2
+ myControllerTicker1.attach(&motor1_Controller, m1_Ts ); // 100 Hz, Motor 1
SampleEMGLeft.attach(&EMGfilterLeft, 0.01f);
SampleEMGRight.attach(&EMGfilterRight, 0.01f);
MovingAverageLeft.attach(&MovingAverageFilterLeft, 0.01f);