Diff: main.cpp

Revision:

11:b46a4c48c08f

Parent:

10:518a8617c86e

Child:

12:65b8d29bdd5d

--- a/main.cpp	Wed Nov 01 14:58:20 2017 +0000
+++ b/main.cpp	Wed Nov 01 16:18:49 2017 +0000
@@ -129,6 +129,9 @@
 //float MVCLT = 0.3;
 //float MVCRT = 0.3;
 
+// variabelen changePosition
+int goalx, goaly;
+
 void Filteren() 
 {
     looptime.reset();
@@ -188,7 +191,7 @@
     emgLPLB = LPFLB.step(emgAbsHPLB);
     emgSUMLB += emgLPLB;                         //SUM all rest values LB
     
-     emgNotchRB = NFRB.step(emgRB.read()); 
+    emgNotchRB = NFRB.step(emgRB.read()); 
     emgHPRB = HPFRB.step(emgNotchRB);
     emgAbsHPRB = abs(emgHPRB);
     emgLPRB = LPFRB.step(emgAbsHPRB);
@@ -274,8 +277,23 @@
                                          //PAS ALS DEZE TRUE IS, MOET DE MOTOR PAS BEWEGEN!!!
   //return maxi;
 }
-        
- 
+       
+double changePosition ()
+{
+    if (RBF>0.3) {
+        goalx++;    // hoe veel verder gaat hij? 1 cm? 10 cm?
+    }
+    if (RTF>0.3) {
+        goalx--;
+    }
+    if (LBF>0.3) {
+        goaly++;
+    }
+    if (LTF>0.3) {
+        goaly--;
+    }
+    pc.printf("goalx = %i, goaly = %i \n",goalx, goaly);
+} 
 
 /*
 double Encoder ()
@@ -339,6 +357,7 @@
     
     {
        Filteren();
+       changePosition();
         //rest
     }
     
@@ -351,10 +370,11 @@
 
 void Tickerfunctie()
 {
-    pc.printf("emgreadRB = %f , emgFiltered = %f, maxi = %f meanrest = %f\r\n",emgRB.read(), RBF, MVCRB, RESTMEANLB);
-    pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, loop = %f meanrest = %f \r\n",emgLB.read(), LBF, MVCLB,RESTMEANRB);
+    /*pc.printf("emgreadRB = %f , emgFiltered = %f, maxi = %f meanrest = %f\r\n",emgRB.read(), RBF, MVCRB, RESTMEANLB);
+    pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, meanrest = %f emgSUMLB %f ,Timescalibration %i\r\n",emgLB.read(), LBF, MVCLB,RESTMEANRB,emgSUMLB, Timescalibration);
     pc.printf("emgreadRT = %f , emgFilteredRT = %f, maxiRT = %f meanrest = %f \r\n",emgRT.read(), RTF, MVCRT,RESTMEANRT);
     pc.printf("emgreadLT = %f , emgFilteredLT = %f, maxiLT = %f meanrest = %f \r\n",emgLT.read(), LTF, MVCLT,RESTMEANLT);
+*/
 }
 
 int main()