Revision 1:be295a50eb53, committed 2017-11-01

Comitter:

charloverwijk

Date:

Wed Nov 01 13:58:51 2017 +0000

Parent:

0:0a4a244cb867

Commit message:

State Machine

Changed in this revision

--- a/main.cpp	Wed Nov 01 08:17:54 2017 +0000
+++ b/main.cpp	Wed Nov 01 13:58:51 2017 +0000
@@ -1,9 +1,10 @@
 #include "mbed.h"
 
-enum States (Cal1, Cal2, Home, EMG);
+enum States (Cal1, Cal2, CalEMG, Home, EMG, Rest, Demo);
 int State, Counter;
 bool Position_controller_on;
 float Looptime = 0.002f;
+volatile vorigepositie
 
 int main()
 {
@@ -17,17 +18,49 @@
 void Loop_funtion()
 {   
     switch(State){
-        case Cal1: //Substract the motorpositions
-               if (fabs(Huidigepositie -
+        case Cal1: //Calibration motor 1
+               if (Huidigepositie1== 0)
+               {
+                    SetMotor1(value); //value is waarde encoder voor loodrechte hoeken,.
+                    if (fabs(huidigepositie1-home1)<0.01) {
+                        state=Cal2
+                    }
+                }
+                else {
+                    SetMotor1(0);
+                    Loop_function();
+                }
             break;
             
-        case Cal2: //Substract the motorpositions
+        case Cal2: //Calibration motor 2
+                 if (Huidigepositie2== 0)
+                 {
+                       if (encoder2.read)<0.01){
+                       state=CalEMG;
+                 }
+                 else {
+                     SetMotor2(0);
+                     Loop_function();
+                 }
+            break;
+        case CalEMG: // Calibration EMG
+            calibrationEMG();   //calculates average EMGFiltered at rest and measures max signal EMGFiltered.
+            //measure mean at restand substract always--> no treshold needed.
+            //1/MVC
+            state=SelectDevice;
+            break;    
+        case SelectDevice: //Looks at the difference between current position and home. Select aansturen EMG or buttons
+            if button=1; {
+                state=EMG;
+            }
+            if button=0; {
+                state=Demo;
+            }
             break;
             
-        case Home: //Looks at the difference between current position and home
+        case EMG: //Aansturen met EMG
             break;
-            
-        case EMG: //If the EMG is higher then a certain value then the pdotrefx will change otherwise the value will become 0
+        case Demo: // Aansturen met toetsenbord
             break;
 }