control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: actuators.cpp
- Revision:
- 103:4a37d19e8fcc
- Parent:
- 102:b3ab436fbe8e
- Child:
- 104:750d7e13137d
diff -r b3ab436fbe8e -r 4a37d19e8fcc actuators.cpp --- 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