BMT M9 groep 7
Werkend aansturingsscript voor 2 motoren, incl werkende program switch. Motoren oscilleren nog iets. Vuur mechanisme ontbreekt nog.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
frdm_Motor_V2_3
by 
Robert Schulte
Revision 29:0f1c25496bdc, committed 2015-10-19
- Comitter:
- Rvs94
- Date:
- Mon Oct 19 09:55:33 2015 +0000
- Parent:
- 28:2eb768b9cb3b
- Commit message:
- Werkende aansturing motoren met EMG
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 2eb768b9cb3b -r 0f1c25496bdc main.cpp
--- a/main.cpp Mon Oct 19 09:22:05 2015 +0000
+++ b/main.cpp Mon Oct 19 09:55:33 2015 +0000
@@ -105,7 +105,7 @@
scope.set(0, reference2 - position2);
scope.set(1, position2);
scope.set(2, EMG_left_MAF);
- scope.set(3, EMG_left);
+ scope.set(3, EMG_right_MAF);
scope.send();
}
@@ -260,55 +260,61 @@
Threshold1 = 0.5*EMG_left_MAF;
Threshold2 = 0.2*EMG_left_MAF;
LedG.write(1);
+ LedR.write(0);
+ wait(2);
+ LedR.write(1);
+
+ wait(2);
+ LedB.write(1);
+ wait(0.2);
+ LedB.write(0);
+ wait(0.2);
+ LedB.write(1);
+ wait(0.2);
+ LedB.write(0);
+ wait(0.2);
+ LedB.write(1);
+ wait(0.2);
+ LedB.write(0);
+ wait(2);
+ Threshold3 = 0.5*EMG_right_MAF;
+ Threshold4 = 0.2*EMG_right_MAF;
+ LedB.write(1);
+ pc.printf("T1 = %f, T2 = %f, T3 = %f, T4 = %f\n", Threshold1, Threshold2, Threshold3, Threshold4);
+ LedR.write(0);
+ wait(2);
+ LedR.write(1);
- pc.printf("T1 = %f, T2 = %f\n", Threshold1, Threshold2);
- LedG.write(1);
//--------------------------------------------------------------------------------------------------------------------------//
// Control Program
//--------------------------------------------------------------------------------------------------------------------------//
while(true)
{
- char c = pc.getc();
- // 1 Program UP
- if(c == 'e')
- {
- count = count + 1;
- if(count > 2)
- {
- count = 2;
- }
-
- }
- // 1 Program DOWN
- if(c == 'd')
- {
- count = count - 1;
- if(count < 0)
- {
- count = 0;
- }
- }
// PROGRAM 0: Motor 2 control and indirect control of motor 1, Green LED
- if(count == 0)
+ if(true)
{
LedR = LedB = 1;
- LedG = 0;
+ LedG = 1;
if(EMG_left_MAF > Threshold1)
{
m2_ref = m2_ref + Stapgrootte;
m1_ref = m1_ref - Stapgrootte;
+ wait(0.1);
+ LedG = 0;
if (m2_ref > Grens2)
{
m2_ref = Grens2;
m1_ref = -1*Grens1;
}
}
- if(c == 'f')
+ if(EMG_right_MAF > Threshold3)
{
m2_ref = m2_ref - Stapgrootte;
m1_ref = m1_ref + Stapgrootte;
+ wait(0.1);
+ LedB = 0;
if (m2_ref < -1*Grens2)
{
m2_ref = -1*Grens2;
@@ -316,39 +322,5 @@
}
}
}
- // PROGRAM 1: Motor 1 control, Red LED
- if(count == 1)
- {
- LedG = LedB = 1;
- LedR = 0;
- if(c == 't')
- {
- m1_ref = m1_ref + Stapgrootte;
- if (m1_ref > Grens1)
- {
- m1_ref = Grens1;
- }
- }
- if(c == 'g')
- {
- m1_ref = m1_ref - Stapgrootte;
- if (m1_ref < -1*Grens1)
- {
- m1_ref = -1*Grens1;
- }
- }
- }
- // PROGRAM 2: Firing mechanism & Reset, Blue LED
- if(count == 2)
- {
-
- LedR = LedG = 1;
- LedB = 0;
- //VUUUUR!! (To Do)
- wait(1);
- m2_ref = 0;
- m1_ref = 0;
- }
}
-
}
\ No newline at end of file