Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed QEI HIDScope BiQuad4th_order biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 10:3f93fdb90c29
- Parent:
- 9:8b2d6ec577e3
- Child:
- 12:3e084e1a699e
- Child:
- 18:f36ac3ee081a
--- a/main.cpp Wed Oct 31 10:30:34 2018 +0000
+++ b/main.cpp Wed Oct 31 14:34:21 2018 +0000
@@ -68,6 +68,8 @@
int need_to_move_2; // Does the robot needs to move in the second direction?
double EMG_calibrated_max_1 = 2.00000; // Maximum value of the first EMG signal found in the calibration state.
double EMG_calibrated_max_2 = 2.00000; // Maximum value of the second EMG signal found in the calibration state.
+double emg1_cal = 0.00000; //measured value of the first emg
+double emg2_cal = 0.00000; //measured value of the second emg
// ----------------------------------------------
// ------- FUNCTIONS ----------------------------
@@ -195,8 +197,18 @@
// If enough time has passed (5 sec), and the EMG-signal drops below 10%
// of the maximum measured value, we move to the Homing state.
- wait(5.0f); // time_in_this_state > 5.0f
- // INSERT CALIBRATING
+ for (int i = 0; i <= 10; i++) //10 measuring points
+ {
+ if (emg1_cal > EMG_calibrated_max_1){
+ EMG_calibrated_max_1 = emg1_cal;}
+
+ if (emg2_cal > EMG_calibrated_max_2){
+ EMG_calibrated_max_2 = emg2_cal;}
+
+ //pc.printf("EMG1 = %f, EMG2 = %f \r\n",EMG_calibrated_max_1,EMG_calibrated_max_2);
+ wait(0.5f);
+ }
+
currentState = HOMING;
if (Fail_button == 0)
{