Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

Diff: actuators.cpp

Revision:
103:4a37d19e8fcc
Parent:
102:b3ab436fbe8e
Child:
104:750d7e13137d
--- a/actuators.cpp	Thu Oct 22 10:12:27 2015 +0000
+++ b/actuators.cpp	Thu Oct 22 14:26:08 2015 +0000
@@ -54,10 +54,10 @@
     const double servo_inc = servo_vel * motorCall;     // Servo postion increment per cycle
     double servo_pos = 0;
     double servoPulsewidth = 0.0015;
-    double servoSpeed = 0;
-    double scaleXSpeed = 5;
-    double scaleYSpeed = 10;
-    double scaleZSpeed = 5;
+    double servoSpeed = 15;
+    double scaleXSpeed = 10;
+    double scaleYSpeed = 20;
+    double scaleZSpeed = 1;
     
     
     
@@ -125,9 +125,9 @@
 
 void motorControl(){
     // EMG signals to motor speeds
-        motor1SetSpeed = x_velocity*scaleXSpeed;
-        motor2SetSpeed = y_velocity*scaleYSpeed;
-        servoSpeed = z_velocity*scaleZSpeed;
+//        motor1SetSpeed = x_velocity*scaleXSpeed;
+//        motor2SetSpeed = y_velocity*scaleYSpeed;
+//        servoSpeed = z_velocity*scaleZSpeed;
 
 
     // get encoder positions in degrees