Diff: actuators.cpp

Revision:

102:b3ab436fbe8e

Parent:

101:b821e89fc108

Child:

103:4a37d19e8fcc

--- a/actuators.cpp	Thu Oct 22 09:34:31 2015 +0000
+++ b/actuators.cpp	Thu Oct 22 10:12:27 2015 +0000
@@ -4,6 +4,7 @@
 #include "config.h"
 #include "encoder.h"
 #include "HIDScope.h"
+#include "buttons.h"
 
     // functions for controlling the motors
     bool motorsEnable = false;
@@ -54,6 +55,11 @@
     double servo_pos = 0;
     double servoPulsewidth = 0.0015;
     double servoSpeed = 0;
+    double scaleXSpeed = 5;
+    double scaleYSpeed = 10;
+    double scaleZSpeed = 5;
+    
+    
     
     // Set calibration values
     double motorCalSpeed = 10; // deg/sec
@@ -119,9 +125,10 @@
 
 void motorControl(){
     // EMG signals to motor speeds
-    motor1SetSpeed = x_velocity*2;
-    motor2SetSpeed = y_velocity*20;
-    servoSpeed = z_velocity*20;
+        motor1SetSpeed = x_velocity*scaleXSpeed;
+        motor2SetSpeed = y_velocity*scaleYSpeed;
+        servoSpeed = z_velocity*scaleZSpeed;
+
 
     // get encoder positions in degrees
         // 131.25:1 gear ratio