Diff: main.cpp

Revision:

22:ae8012b12890

Parent:

20:8064435d21da

--- a/main.cpp	Mon Oct 12 08:48:43 2015 +0000
+++ b/main.cpp	Mon Oct 12 09:33:34 2015 +0000
@@ -3,11 +3,13 @@
 #include "PID.h"
 #include "QEI.h"
 #include "HIDScope.h"
+
+#include "inits.h" // all globals, pin and variable initialization 
 #include "EMG.h"
-#include "inits.h" // all globals, pin and variable initialization 
 
 void setGoFlag(){
     if (goFlag==true){
+        //pc.printf("rate too high, error in setGoFlag \n\r");
         // flag is already set true: code too slow or frequency too high    
     }
     goFlag=true;
@@ -36,11 +38,6 @@
     
     endTimer.start(); //Run for 100 seconds.
     while (true){
-        if(sample_go && systemOn==true)
-        {
-            sample_filter();
-            sample_go = 0;
-        }
         if (goFlag==true && systemOn==true){
             // get 'emg' signal
             request_pos=y1;
@@ -97,14 +94,22 @@
             }
             
             // User feedback
-            scope.set(0, request);
-            scope.set(1, leftPwmDuty);
-            scope.set(2, leftVelocity);
-            scope.send();
+            //scope.set(0, request);
+            //scope.set(1, leftPwmDuty);
+            //scope.set(2, leftVelocity);
+            //scope.send();
             pc.printf("pot2: %f, request: %f, lefVelocity: %f, output: %f \n\r",pot2.read(),request,leftVelocity,leftPwmDuty);
         
             goFlag=false;
         }
+        if(sample_go && systemOn==true)
+        {
+            sample_filter();
+            scope.set(0, y1);
+            scope.set(1, y2);
+            scope.send();
+            sample_go = 0;
+        }
     }
 
     //Stop motors.