Biorobotics Project / Mbed 2 deprecated motor_emg_xyz

state switch test, works but switches 2 times

Dependencies:   EMGFilter HIDScope MODSERIAL biquadFilter mbed

Files at this revision

API Documentation at this revision

Revision 2:810de22bca6a, committed 2017-10-27

Comitter:
vera1
Date:
Fri Oct 27 09:10:21 2017 +0000
Parent:
0:f49bda586fc5
Commit message:
working version.

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r f49bda586fc5 -r 810de22bca6a main.cpp
--- a/main.cpp	Thu Oct 26 10:09:33 2017 +0000
+++ b/main.cpp	Fri Oct 27 09:10:21 2017 +0000
@@ -51,6 +51,8 @@
 {
     if (go_calibration) {
         emg1.calibration();                 // Using the calibration function of the EMG_filter class
+        emg2.calibration();
+        //emg3.calibration();
     }
 }
 
@@ -73,7 +75,9 @@
 
 void r_processStateSwitch()
 {
+   
     while(go_switch) {
+        go_switch = false;
         switch(state) {
             case R_HORIZONTAL:
                 state = R_VERTICAL;
@@ -97,8 +101,7 @@
                 pc.printf("state is horizontal");
                 break;
                 }
-                wait(3.0f);
-                go_switch = false;
+                wait(1.0f);              
                 ledstatedef = 1;
                 ledstateswitch = 0;
         }   
@@ -124,7 +127,7 @@
 
 int main()
 {
-    pc.baud(115200);                    // Set baudrate for proper communication
+    pc.baud(9600);                    // Set baudrate for proper communication
     go_EMG = true;                      // Setting ticker variables
     go_calibration = true;              // Setting the timeout variable
     calibrationgo.attach(&calibrationGO, 5.0);     // Attach calibration timeout to calibration function
@@ -140,7 +143,7 @@
             go_switch = true;
 
         }
-
+        pc.printf("emg1 = %f, emg2 = %f\r\n", emg1.normalized, emg2.normalized);
 
         switch(state) {
             case R_HORIZONTAL: