Dominique Clevers / Mbed 2 deprecated THESLAP_EINDSCRIPT

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Dependencies:   Encoder HIDScope MODSERIAL TextLCD mbed-dsp mbed

Files at this revision

API Documentation at this revision

Revision 6:2c11ee0c05b4, committed 2014-11-04

Comitter:
DominiqueC
Date:
Tue Nov 04 11:36:44 2014 +0000
Parent:
5:060d376291b5
Child:
7:20c2ebe52306
Commit message:
Presentatie

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Nov 04 11:02:05 2014 +0000
+++ b/main.cpp	Tue Nov 04 11:36:44 2014 +0000
@@ -24,13 +24,13 @@
 #define K_I_KM (0.0003  *TSAMP)
 #define K_D_KM (0.0 /TSAMP)
 #define K_P_GM (0.0022)
-#define K_I_GM (0.00005  *TSAMP)        //oud 0.0001
+#define K_I_GM (0.0001  *TSAMP)        //oud 0.0001
 #define K_D_GM (0.00000001 /TSAMP)
 #define I_LIMIT 1.
 #define RADTICKGM 0.003927
-#define THETADOT0 20.0      //ouid 6.85
-#define THETADOT1 11.5       //oud 7.77
-#define THETADOT2 14.00      //oud 9.21
+#define THETADOT0 30.0      //ouid 6.85
+#define THETADOT1 30.0       //oud 7.77
+#define THETADOT2 30.0      //oud 9.21
 
 TextLCD lcd(PTD2, PTA12, PTB2, PTB3, PTC2, PTA13);
 
@@ -252,17 +252,17 @@
                 float kalibratiewaarde_deltoid;
                 kalibratiewaarde_deltoid=(envelop_emg1/max_value_deltoid);
                 if (kalibratiewaarde_deltoid >= 0.35) {
-                    setpointkm = -127;          //11,12 graden naar links
+                    setpointkm = -229;          //11,12 graden naar links
                     lcd.cls();
                     lcd.locate(0,0);
                     lcd.printf("links");
-                } else if (kalibratiewaarde_deltoid>0.1 && kalibratiewaarde_deltoid<=0.35) {
+                } else if (kalibratiewaarde_deltoid>0.2 && kalibratiewaarde_deltoid<=0.35) {
                     setpointkm = 0;        //11,12graden naar rechts
                     lcd.cls();
                     lcd.locate(0,0);
                     lcd.printf("midden");
                 } else {
-                    setpointkm = 127;       //11,12 graden naar rechts
+                    setpointkm = 229;       //11,12 graden naar rechts //oud 127    //30 graden
                     lcd.cls();
                     lcd.locate(0,0);
                     lcd.printf("rechts");
@@ -392,7 +392,9 @@
                         motordir2 = 0;  //rechts
                     pwm_motor2.write(abs(new_pwm_km));
                 }
-                wait(10);
+                pwm_motor1.write(0);
+                pwm_motor2.write(0);
+                wait(20);
                 state = RICHTEN;      //optioneel
                 break;
             }