Biorobotica TIC / Mbed 2 deprecated Demo_TEST3

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Dependencies:   QEI biquadFilter mbed

Fork of Demo_TEST by Biorobotica TIC

Files at this revision

API Documentation at this revision

Revision 11:01372da5a144, committed 2018-10-31

Comitter:
TimLu
Date:
Wed Oct 31 11:50:31 2018 +0000
Parent:
10:4034134fd7db
Commit message:
Poop;

Changed in this revision

Servo.lib Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 4034134fd7db -r 01372da5a144 Servo.lib
--- a/Servo.lib	Wed Oct 31 08:18:51 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://os.mbed.com/users/simon/code/Servo/#36b69a7ced07

diff -r 4034134fd7db -r 01372da5a144 main.cpp
--- a/main.cpp	Wed Oct 31 08:18:51 2018 +0000
+++ b/main.cpp	Wed Oct 31 11:50:31 2018 +0000
@@ -1,7 +1,6 @@
  #include "mbed.h"
 #include "math.h"
 #include "BiQuad.h"
-#include "Servo.h"
 #include <string>
 #include "QEI.h"
 
@@ -28,7 +27,7 @@
     double gearratio = 3.857142857;
     double radiuspulley = 0.015915;         // Radius pulley [m]
       
-    double K_v = 1.00;                      //velocity constant, max 6.667 ?
+    double K_v = 0.5;                      //velocity constant, max 6.667 ?
     double L0 = 0.09;                       // starting length
 
 
@@ -39,7 +38,7 @@
     hoekgraad2 = Encoder2.getPulses() * 0.0857142857;                // Angle arm [degree]
         //  double hoekrad2 = hoekgraad2 * 0.0174532925;
         //  double hoekarm = hoekgraad2 / gearratio;
-    translatie = hoekgraad /360.0 * 2.0 * pi * radiuspulley;     // Translatie arm [m]
+    translatie = hoekgraad / 360.0 * 2.0 * pi * radiuspulley;     // Translatie arm [m]
  }
 
 
@@ -48,7 +47,7 @@
     motor2direction = false;        // Nu staan motoren toch op het begin allebei in positieve stand?
     motor2direction = false;
     
-EncoderTicker.attach(&EncoderFunc, 0.005);
+EncoderTicker.attach(&EncoderFunc, 0.1);
 pc.baud(115200);
 pc.printf("hoekgraad=%f degrees\t translatie:%f meters /t hoekgraad2:%f degrees /n",hoekgraad, translatie, hoekgraad2);
 
@@ -125,11 +124,14 @@
             motor2control.write(q_dot_angle);
             wait(0.1); // %%%Berekening niet tegelijk, eventuele fout? %%%
             
-            void setMotor1(float motorValue) {
-            // Given motorValue<=1, writes the velocity to the pwm control.
-            // MotorValues outside range are truncated to within range.
-            motor1control.write(fabs(motorValue) > 1 ? 1 : fabs(motorValue));
             
+            //Printie op pc
+            pc.baud(115200);
+            pc.printf("q_dot_L = %f\r\n", q_dot_L );
+            pc.printf("q_dot_angle = %f\r\n", q_dot_angle );
+            pc.printf("J_inverse = \t %f , %f \r\n \t\t %f , %f \r\n",  J_inv_1_1 , J_inv_1_2 , J_inv_2_1 , J_inv_2_2 );
+            pc.printf("hoekgraad_trans = %f, translatie = %f, hoekgraad2 = %f \r\n", hoekgraad , translatie, hoekgraad2);
+        
             
         }       // End of while