Diff: main.cpp

Revision:

4:5607088ef6f5

Parent:

3:36e706d6b3d2

Child:

5:daa916945271

--- a/main.cpp	Mon Oct 23 15:26:44 2017 +0000
+++ b/main.cpp	Mon Oct 30 12:11:06 2017 +0000
@@ -40,6 +40,7 @@
 
 double GetReferencePosition() 
 {
+    
     double emgNotch = NF.step(emg.read() );  // Notch filter
     double emgHP = HPF.step(emgNotch);       // High-pass filter: also normalises around 0.
     double emgAbsHP = abs(emgHP);            // Take absolute value
@@ -53,17 +54,19 @@
     scope.set(0,emgFiltered);
     scope.set(1,emg.read());
     scope.send();    
-    //pcbaud moet erbij
-    printf("emgFiltered = %d", emgFiltered);
+    pc.baud(115200);
+    printf("emgread = %d , emgFiltered = %d \r\n",emg.read(), emgFiltered);
     int maxwaarde = 4096;                   // = 64x64
     double refP = emgFiltered*maxwaarde;
     return refP;                            // value between 0 and 4096 
 }
+
 double Encoder ()
 {
     double Huidigepositie = motor1.getPosition ();
     return Huidigepositie;             // huidige positie = current position
 }
+/*
 double FeedBackControl(double error, double &e_prev, double &e_int)   // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking)
 {
     double kp = 0.001;                           // has jet to be scaled
@@ -82,7 +85,7 @@
     double motorValue = Proportional + Integrator + Derivative;
     return motorValue;
 }
-
+*/
 void SetMotor1(double motorValue)
 {
     if (motorValue >= 0)
@@ -107,9 +110,10 @@
 {
         // hier the control of the control system
     double refP = GetReferencePosition(); 
-    double Huidigepositie = Encoder(); 
-    double error = (refP - Huidigepositie);// make an error
-    double motorValue = FeedBackControl(error, e_prev, e_int);
+    //double Huidigepositie = Encoder(); 
+    //double error = (refP - Huidigepositie);// make an error
+    //double motorValue = FeedBackControl(error, e_prev, e_int);
+    double motorValue = refP;
     SetMotor1(motorValue);
 }