Revision 22:ae8012b12890, committed 2015-10-12

Comitter:

ewoud

Date:

Mon Oct 12 09:33:34 2015 +0000

Parent:

21:4ddbe49c258a

Commit message:

integration issues

Changed in this revision

--- a/EMG.lib	Mon Oct 12 08:48:43 2015 +0000
+++ b/EMG.lib	Mon Oct 12 09:33:34 2015 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/Numero-Uno/code/EMG/#b5f7b64b0fe4
+https://developer.mbed.org/teams/Numero-Uno/code/EMG/#84ff5b0f5406

--- a/inits.h	Mon Oct 12 08:48:43 2015 +0000
+++ b/inits.h	Mon Oct 12 09:33:34 2015 +0000
@@ -10,7 +10,7 @@
 // Globals
 //****************************************************************************/
 Serial pc(USBTX, USBRX);
-HIDScope    scope(3);        // Instantize a 2-channel HIDScope object
+HIDScope    scope(2);        // Instantize a 2-channel HIDScope object
 Ticker      scopeTimer;      // Instantize the timer for sending data to the PC 
 InterruptIn startButton(D3);
 InterruptIn stopButton(D2);

--- 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.