Diff: main.cpp

Revision:

18:32e9db0d47c9

Parent:

17:ea90b7340cbb

Child:

19:3af738c38db0

--- a/main.cpp	Tue Nov 01 14:28:05 2016 +0000
+++ b/main.cpp	Wed Nov 02 10:35:47 2016 +0000
@@ -103,7 +103,7 @@
 volatile double x = 0.0;                             // beginpositie x en y
 volatile double y = 305.5;
 volatile const double pi = 3.14159265359; 
-volatile double Speed = 10;                          // Speed with which x and y are changed, in mm/s
+volatile double Speed = 30;                          // Speed with which x and y are changed, in mm/s
 volatile double Theta1Gear = 60.0;                   // Beginpositie op 60 graden
 volatile double Theta2Gear = 60.0;
 volatile const int LargeGear = 42;
@@ -269,22 +269,22 @@
     }
 
     // If Biceps links is actuated then:
-    if (outLinks >= 0.03){
+    if (outLinks >= 0.02){
         BicepsLeft = true;
-        blue = 0;
+        green = 0;
         }
     else{
         BicepsLeft = false;
-        blue = 1;
+        green = 1;
     }
      // If upper leg is actuated then:
     if (outBeen >= 0.02){
         Leg = true;
-        green = 0;
+        blue = 0;
         }
     else{
         Leg = false;
-        green = 1;
+        blue = 1;
     }
 }
 
@@ -397,7 +397,7 @@
     // omrekenen van grote tandwiel naar motortandwiel
     Theta1 = Theta1Gear*LargeGear/SmallGear;  // grote tandwiel heeft 42 tanden. Motortandwiel heeft er 12. 
         
-    pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta1, Theta1Gear);
+    //pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta1, Theta1Gear);
 }
 
 void CalcTheta2 (double Dia2) {
@@ -420,7 +420,7 @@
     // omrekenen van grote tandwiel naar motortandwiel
     Theta2 = Theta2Gear*LargeGear/SmallGear;  // grote tandwiel heeft 42 tanden. Motortandwiel heeft er 12.
 
-    pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta2, Theta2Gear);
+    //pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta2, Theta2Gear);
 }
 
 // als een van de hoeken te groot wordt, zet dan alles terug naar de vorige positie
@@ -436,7 +436,7 @@
         Theta1 = Theta1Gear*LargeGear/SmallGear;
         Theta2 = Theta2Gear*LargeGear/SmallGear; 
     }
-    pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta2, Theta2Gear);
+    //pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta2, Theta2Gear);
 }
 
 void CalculationsForTheta () {
@@ -450,7 +450,7 @@
     double Dia2 = CalcDia2 (x, y);
     CalcTheta1 (Dia1);
     CalcTheta2 (Dia2);
-    AngleLimits (Prev_Theta1_Gear, Prev_Theta2_Gear, Prev_x, Prev_y);       // laatste check
+    //AngleLimits (Prev_Theta1_Gear, Prev_Theta2_Gear, Prev_x, Prev_y);       // laatste check
 }    
 
 ////////////////////////// Code for control /////////////////////////////////////
@@ -599,8 +599,8 @@
     scope.set(4,m1_MotorValue);
     scope.set(5,m2_MotorValue);
     // Set the motorvalues
-    // SetMotor(1, m1_MotorValue);
-    // SetMotor(2, m2_MotorValue);
+    SetMotor(1, m1_MotorValue);
+    SetMotor(2, m2_MotorValue);
     // Set motorvalues for scope
     // Send data to HIDScope
     scope.send();
@@ -662,6 +662,7 @@
     // Set baud connection with PC
     pc.baud(SERIAL_BAUD);
     pc.printf("\r\n ***THERMONUCLEAR WARFARE COMMENCES*** \r\n");
+    pc.printf("\r\n ***   PROGRAM: CompleteFunction   *** \r\n");
     
     /* making the biquad chain for filtering the emg
     notch and high pass */
@@ -694,11 +695,11 @@
     pc.printf("\r\n Press Button 1 to start positioning the arms using PotControl\r\n");
     pc.printf("\r\n Make sure both potentiometers are positioned halfway! \r\n");
     pc.printf("\r\n ***************** \r\n");
-    pc.printf("\r\n Button1_value = %d \r\n", button1_value);
+    //pc.printf("\r\n Button1_value = %d \r\n", button1_value);
     while (button1_value == false)
     {   
-        pc.printf("\r\n Button1_value = %d \r\n", button1_value);
-        wait(5);
+        //pc.printf("\r\n Button1_value = %d \r\n", button1_value);
+        //wait(5);
     }
     PotControlTicker.attach(&PotControl,CONTROLLER_TS);
     
@@ -707,8 +708,8 @@
     pc.printf("\r\n ***************** \r\n");
     while (button1_value == true)
     {   
-        pc.printf("\r\n Button1_value = %d \r\n", button1_value);
-        wait(5);
+        //pc.printf("\r\n Button1_value = %d \r\n", button1_value);
+        //wait(5);
     }
     
     // Detach potcontrol
@@ -729,8 +730,8 @@
     pc.printf("\r\n ***************** \r\n");
     while (button1_value == false)
     {   
-        pc.printf("\r\n Button1_value = %d \r\n", button1_value);
-        wait(5);
+        //pc.printf("\r\n Button1_value = %d \r\n", button1_value);
+        //wait(5);
     }
     
     // Attach sample, calc and control tickers